用keil5写stm32检测陀螺仪模块是否在振动的程序

以下是使用Keil5编写的检测陀螺仪模块是否在振动的程序：

#include "stm32f10x.h"
#include "stdio.h"

#define GYRO_ADDRESS 0xD0 // 陀螺仪模块地址

void I2C_Configuration(void);
void delay(uint32_t time);
void GYRO_Init(void);

int main(void)
{
    I2C_Configuration();
    GYRO_Init();

    while(1)
    {
        uint8_t buffer[6];

        // 读取陀螺仪数值
        I2C_AcknowledgeConfig(I2C1, ENABLE);
        while(I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY));
        I2C_GenerateSTART(I2C1, ENABLE);
        while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));
        I2C_Send7bitAddress(I2C1, GYRO_ADDRESS, I2C_Direction_Receiver);
        while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED));
        for(int i = 0; i < 5; i++)
        {
            while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED));
            buffer[i] = I2C_ReceiveData(I2C1);
        }
        I2C_AcknowledgeConfig(I2C1, DISABLE);
        I2C_GenerateSTOP(I2C1, ENABLE);
        while(I2C_GetFlagStatus(I2C1, I2C_FLAG_STOPF));

        // 计算陀螺仪数值的平均值
        int16_t x = ((int16_t)buffer[0] << 8) | buffer[1];
        int16_t y = ((int16_t)buffer[2] << 8) | buffer[3];
        int16_t z = ((int16_t)buffer[4] << 8) | buffer[5];
        int16_t average = (x + y + z) / 3;

        // 判断陀螺仪是否在振动
        if(average > 100 || average < -100)
        {
            printf("Gyroscope is vibrating.\n");
        }
        else
        {
            printf("Gyroscope is not vibrating.\n");
        }

        delay(100);
    }
}

void I2C_Configuration(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    I2C_InitTypeDef I2C_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
    I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
    I2C_InitStructure.I2C_OwnAddress1 = 0x00;
    I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
    I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
    I2C_InitStructure.I2C_ClockSpeed = 400000;
    I2C_DeInit(I2C1);
    I2C_Init(I2C1, &I2C_InitStructure);
    I2C_Cmd(I2C1, ENABLE);
}

void delay(uint32_t time)
{
    while(time--);
}

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

    // 配置陀螺仪
    buffer[0] = 0x20;
    buffer[1] = 0x0F;
    I2C_AcknowledgeConfig(I2C1, ENABLE);
    while(I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY));
    I2C_GenerateSTART(I2C1, ENABLE);
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));
    I2C_Send7bitAddress(I2C1, GYRO_ADDRESS, I2C_Direction_Transmitter);
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));
    I2C_SendData(I2C1, buffer[0]);
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
    I2C_SendData(I2C1, buffer[1]);
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
    I2C_GenerateSTOP(I2C1, ENABLE);
    while(I2C_GetFlagStatus(I2C1, I2C_FLAG_STOPF));
}

程序的核心部分是读取陀螺仪数值并计算平均值，然后判断平均值是否超过一定阈值，如果超过，则判定为陀螺仪在振动。请注意，程序中的地址和配置可能需要根据你的具体陀螺仪模块进行修改。