stm32f4mpu6050数据读取

您好！对于读取 MPU6050 的数据，您可以使用 STM32F4 开发板来实现。下面是一个简单的代码示例，演示了如何通过 I2C 读取 MPU6050 的加速度和陀螺仪数据：

#include "stm32f4xx.h"
#include "stm32f4xx_i2c.h"

#define MPU6050_ADDRESS 0x68

void I2C1_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStruct;
    I2C_InitTypeDef I2C_InitStruct;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);

    GPIO_InitStruct.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_9;
    GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStruct.GPIO_OType = GPIO_OType_OD;
    GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_Init(GPIOB, &GPIO_InitStruct);

    GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_I2C1);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_I2C1);

    I2C_InitStruct.I2C_ClockSpeed = 400000;
    I2C_InitStruct.I2C_Mode = I2C_Mode_I2C;
    I2C_InitStruct.I2C_DutyCycle = I2C_DutyCycle_2;
    I2C_InitStruct.I2C_OwnAddress1 = 0x00;
    I2C_InitStruct.I2C_Ack = I2C_Ack_Enable;
    I2C_InitStruct.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
    I2C_Init(I2C1, &I2C_InitStruct);

    I2C_Cmd(I2C1, ENABLE);
}

void MPU6050_Init(void)
{
    uint8_t tmp;

    // 初始化 I2C1
    I2C1_Init();

    // 启动 MPU6050 上电
    tmp = 0x00;
    I2C_GenerateSTART(I2C1, ENABLE);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT))
        ;
    I2C_Send7bitAddress(I2C1, MPU6050_ADDRESS << 1, I2C_Direction_Transmitter);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED))
        ;
    I2C_SendData(I2C1, 0x6B);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED))
        ;
    I2C_SendData(I2C1, tmp);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED))
        ;
    I2C_GenerateSTOP(I2C1, ENABLE);

    // 设置采样率为 1kHz
    tmp = 0x07;
    I2C_GenerateSTART(I2C1, ENABLE);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT))
        ;
    I2C_Send7bitAddress(I2C1, MPU6050_ADDRESS << 1, I2C_Direction_Transmitter);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED))
        ;
    I2C_SendData(I2C1, 0x19);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED))
        ;
    I2C_SendData(I2C1, tmp);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED))
        ;
    I2C_GenerateSTOP(I2C1, ENABLE);
}

void MPU6050_ReadData(int16_t *accelData, int16_t *gyroData)
{
    uint8_t buffer[14];

    I2C_GenerateSTART(I2C1, ENABLE);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT))
        ;
    I2C_Send7bitAddress(I2C1, MPU6050_ADDRESS << 1, I2C_Direction_Transmitter);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED))
        ;
    I2C_SendData(I2C1, 0x3B);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED))
        ;

    I2C_GenerateSTART(I2C1, ENABLE);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT))
        ;
    I2C_Send7bitAddress(I2C1, MPU6050_ADDRESS << 1, I2C_Direction_Receiver);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED))
        ;

    for (int i = 0; i < 13; 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_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED))
        ;
    buffer[13] = I2C_ReceiveData(I2C1);

    accelData[0] = (buffer[0] << 8) | buffer[1];
    accelData[1] = (buffer[2] << 8) | buffer[3];
    accelData[2] = (buffer[4] << 8) | buffer[5];

    gyroData[0] = (buffer[8] << 8) | buffer[9];
    gyroData[1] = (buffer[10] << 8) | buffer[11];
    gyroData[2] = (buffer[12] << 8) | buffer[13];
}

int main(void)
{
    int16_t accelData[3];
    int16_t gyroData[3];

    MPU6050_Init();

    while (1)
    {
        MPU6050_ReadData(accelData, gyroData);

        // 使用读取的数据进行后续操作

        // 延时一段时间
        for (volatile int i = 0; i < 100000; i++)
            ;
    }
}

这段代码使用 STM32F4 的 I2C1 接口来与 MPU6050 进行通信。首先通过 I2C 发送初始化命令，然后通过读取寄存器的方式获取加速度和陀螺仪数据。读取的数据可以在 `MPU6050_ReadData` 函数中处理或者通过其他方式进行使用。

请注意，这只是一个简单的示例，您可能需要根据您的具体需求进行适当的修改和调整。