基于stm32f429的MPU6050代码，数据读取通过usart接发

好的，我可以为您提供一个基于STM32F429的MPU6050代码，通过USART接口将数据发送出去。请您注意：这里的代码仅供参考，具体实现需要根据您的具体需求进行修改。

首先，我们需要初始化MPU6050，具体代码如下：

#include "stm32f4xx.h"
#include "stdio.h"

#define MPU6050_ADDRESS 0xD0
#define USART_TX_BUFFER_SIZE 100

USART_InitTypeDef USART_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;

char usart_tx_buffer[USART_TX_BUFFER_SIZE];
uint8_t usart_tx_pos = 0;

void MPU6050_Init(void);
void MPU6050_Read_Accel(int16_t* Accel);
void MPU6050_Read_Gyro(int16_t* Gyro);
void USART_SendString(char* string);

void delay_ms(uint32_t ms)
{
    while (ms--)
    {
        uint32_t i = 5000;
        while (i--)
        {
            __NOP();
        }
    }
}

int main(void)
{
    SystemInit();
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    GPIO_PinAFConfig(GPIOA, GPIO_PinSource2, GPIO_AF_USART2);
    GPIO_PinAFConfig(GPIOA, GPIO_PinSource3, GPIO_AF_USART2);

    USART_StructInit(&USART_InitStructure);
    USART_InitStructure.USART_BaudRate = 115200;
    USART_InitStructure.USART_WordLength = USART_WordLength_8b;
    USART_InitStructure.USART_StopBits = USART_StopBits_1;
    USART_InitStructure.USART_Parity = USART_Parity_No;
    USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
    USART_InitStructure.USART_Mode = USART_Mode_Tx;
    USART_Init(USART2, &USART_InitStructure);
    USART_Cmd(USART2, ENABLE);

    MPU6050_Init();

    int16_t Accel[3] = {0};
    int16_t Gyro[3] = {0};

    while (1)
    {
        MPU6050_Read_Accel(Accel);
        MPU6050_Read_Gyro(Gyro);

        sprintf(usart_tx_buffer, "Accel(x=%d, y=%d, z=%d), Gyro(x=%d, y=%d, z=%d)\r\n", Accel[0], Accel[1], Accel[2], Gyro[0], Gyro[1], Gyro[2]);
        USART_SendString(usart_tx_buffer);

        delay_ms(100);
    }
}

void MPU6050_Init(void)
{
    uint8_t buffer[2];

    // 设置采样率为100Hz
    buffer[0] = 0x19;
    buffer[1] = 0x03;
    I2C_WriteBuffer(MPU6050_ADDRESS, buffer, 2);

    // 设置陀螺仪量程为2000dps
    buffer[0] = 0x1B;
    buffer[1] = 0x18;
    I2C_WriteBuffer(MPU6050_ADDRESS, buffer, 2);

    // 设置加速度计量程为16g
    buffer[0] = 0x1C;
    buffer[1] = 0x18;
    I2C_WriteBuffer(MPU6050_ADDRESS, buffer, 2);

    // 设置低通滤波器为20Hz
    buffer[0] = 0x1A;
    buffer[1] = 0x04;
    I2C_WriteBuffer(MPU6050_ADDRESS, buffer, 2);
}

void MPU6050_Read_Accel(int16_t* Accel)
{
    uint8_t buffer[6];

    // 读取加速度计数据
    I2C_ReadBuffer(MPU6050_ADDRESS, 0x3B, buffer, 6);

    // 将数据转化为加速度值
    Accel[0] = (int16_t)(buffer[0] << 8 | buffer[1]);
    Accel[1] = (int16_t)(buffer[2] << 8 | buffer[3]);
    Accel[2] = (int16_t)(buffer[4] << 8 | buffer[5]);
}

void MPU6050_Read_Gyro(int16_t* Gyro)
{
    uint8_t buffer[6];

    // 读取陀螺仪数据
    I2C_ReadBuffer(MPU6050_ADDRESS, 0x43, buffer, 6);

    // 将数据转化为角速度值
    Gyro[0] = (int16_t)(buffer[0] << 8 | buffer[1]);
    Gyro[1] = (int16_t)(buffer[2] << 8 | buffer[3]);
    Gyro[2] = (int16_t)(buffer[4] << 8 | buffer[5]);
}

void USART_SendString(char* string)
{
    while (*string)
    {
        USART_SendData(USART2, (uint16_t)(*string++));

        // 等待发送完成
        while (USART_GetFlagStatus(USART2, USART_FLAG_TXE) == RESET);
    }
}

上述代码中，我们通过`USART_SendString`函数将数据发送到USART2接口。每次读取MPU6050的加速度计和陀螺仪数据后，使用`sprintf`函数将数据格式化为字符串，并将其发送到USART2接口。

请注意，以上代码中的I2C读写函数需要您自己实现。此外，还需根据您的具体硬件配置，对代码进行适当地修改。