mpu6050二维旋转矩阵stm32示例

MPU6050是一种具有三轴加速度计和三轴陀螺仪的传感器。为了获取传感器的姿态，我们需要将传感器数据转换为二维旋转矩阵。下面是一个示例代码，用于在STM32上使用MPU6050获取二维旋转矩阵：

#include "stm32f10x.h"
#include "mpu6050.h"
#include <math.h>

#define PI 3.14159265358979323846f

float accel_scale = 16384.0f;
float gyro_scale = 131.0f;

float accel_x, accel_y, accel_z;
float gyro_x, gyro_y, gyro_z;
float pitch, roll;

void MPU6050_GetData(void)
{
    MPU6050_GetRawAccel(&accel_x, &accel_y, &accel_z);
    MPU6050_GetRawGyro(&gyro_x, &gyro_y, &gyro_z);

    accel_x /= accel_scale;
    accel_y /= accel_scale;
    accel_z /= accel_scale;

    gyro_x /= gyro_scale;
    gyro_y /= gyro_scale;
    gyro_z /= gyro_scale;
}

void MPU6050_CalculatePitchRoll(void)
{
    float pitch_acc, roll_acc;

    pitch_acc = atan2f(accel_y, sqrtf(accel_x*accel_x + accel_z*accel_z));
    roll_acc = atan2f(accel_x, sqrtf(accel_y*accel_y + accel_z*accel_z));

    pitch = 0.96f * (pitch + gyro_x * 0.001f) + 0.04f * pitch_acc;
    roll = 0.96f * (roll + gyro_y * 0.001f) + 0.04f * roll_acc;
}

void MPU6050_GetRotationMatrix(float* m)
{
    float sin_roll = sinf(roll);
    float cos_roll = cosf(roll);
    float sin_pitch = sinf(pitch);
    float cos_pitch = cosf(pitch);

    m[0] = cos_pitch;
    m[1] = sin_roll * sin_pitch;
    m[2] = -cos_roll * sin_pitch;
    m[3] = 0.0f;
    m[4] = cos_roll;
    m[5] = sin_roll;
    m[6] = sin_pitch;
    m[7] = -cos_pitch * sin_roll;
    m[8] = cos_pitch * cos_roll;
}

int main(void)
{
    MPU6050_Init();

    while (1)
    {
        MPU6050_GetData();
        MPU6050_CalculatePitchRoll();

        float m[9];
        MPU6050_GetRotationMatrix(m);

        // 使用旋转矩阵进行计算

        delay_ms(10);
    }
}

在上面的代码中，MPU6050_GetRawAccel()和MPU6050_GetRawGyro()函数用于获取原始的传感器数据，然后将其转换为实际的加速度和角速度值。然后，MPU6050_CalculatePitchRoll()函数用于计算姿态角度，最后，MPU6050_GetRotationMatrix()函数将姿态角度转换为旋转矩阵。这个旋转矩阵可以用于计算物体的旋转和转换。