stm32与 mpu9250如何输出线速度代码
时间: 2024-05-14 11:19:08 浏览: 6
要输出MPU9250的线速度数据,你需要先通过STM32与MPU9250进行通信,然后读取MPU9250的原始数据,再进行一定的数据处理,最后得到线速度数据。
以下是一个简单的代码示例,演示如何使用STM32与MPU9250进行通信,并输出线速度数据:
```c
#include "stm32f4xx.h"
#include "MPU9250.h"
uint8_t buffer[14];
int16_t accel[3], gyro[3], mag[3];
float a_res, g_res, m_res;
int main(void) {
// Initialize MPU9250
MPU9250_Init();
MPU9250_CalibrateGyro();
MPU9250_CalibrateAccel();
MPU9250_CalibrateMag();
MPU9250_Setup();
// Initialize USART1 for output
USART1_Init();
while (1) {
// Read raw data from MPU9250
MPU9250_ReadAccelData(accel);
MPU9250_ReadGyroData(gyro);
MPU9250_ReadMagData(mag);
// Convert raw data to engineering units
a_res = MPU9250_GetAccelRes();
g_res = MPU9250_GetGyroRes();
m_res = MPU9250_GetMagRes();
float ax = accel[0] * a_res;
float ay = accel[1] * a_res;
float az = accel[2] * a_res;
float gx = gyro[0] * g_res;
float gy = gyro[1] * g_res;
float gz = gyro[2] * g_res;
float mx = mag[0] * m_res;
float my = mag[1] * m_res;
float mz = mag[2] * m_res;
// Calculate linear acceleration
float lin_accel_x = ax - 0.1 * gx;
float lin_accel_y = ay - 0.1 * gy;
float lin_accel_z = az - 0.1 * gz;
// Output linear acceleration
char buffer[100];
sprintf(buffer, "Lin. Accel. (m/s^2): X=%.2f, Y=%.2f, Z=%.2f\n", lin_accel_x, lin_accel_y, lin_accel_z);
USART1_SendString(buffer);
// Delay for a short time
for (int i = 0; i < 1000000; i++);
}
}
```
这个示例代码假设已经有一个名为MPU9250.h的头文件,其中包含了与MPU9250通信所需的函数声明和常量定义。你需要根据自己的需求编写这个头文件。