在ccs中mpu6050的实验代码

在CCS（Code Composer Studio）中使用MPU6050进行实验的代码示例如下：

#include <stdint.h>
#include <stdbool.h>
#include <stdio.h>
#include <math.h>
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "driverlib/pin_map.h"
#include "driverlib/sysctl.h"
#include "driverlib/gpio.h"
#include "driverlib/i2c.h"

#define MPU6050_ADDR 0x68 // MPU6050的I2C地址

void MPU6050_Init(void);
void MPU6050_Read_Accel(int16_t *accelX, int16_t *accelY, int16_t *accelZ);

int main(void) {
    // 设置系统时钟为80MHz
    SysCtlClockSet(SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);

    // 启用I2C0
    SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C0);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);

    // 配置I2C引脚
    GPIOPinConfigure(GPIO_PB2_I2C0SCL);
    GPIOPinConfigure(GPIO_PB3_I2C0SDA);
    GPIOPinTypeI2CSCL(GPIO_PORTB_BASE, GPIO_PIN_2);
    GPIOPinTypeI2C(GPIO_PORTB_BASE, GPIO_PIN_3);

    // 配置I2C速度为400kHz
    I2CMasterInitExpClk(I2C0_BASE, SysCtlClockGet(), true);
    I2CMasterEnable(I2C0_BASE);

    // 初始化MPU6050
    MPU6050_Init();

    while (1) {
        int16_t accelX, accelY, accelZ;

        // 读取加速度数据
        MPU6050_Read_Accel(&accelX, &accelY, &accelZ);

        // 打印加速度数据
        printf("Accel: X = %d, Y = %d, Z = %d\n", accelX, accelY, accelZ);

        // 延时一段时间
        SysCtlDelay(SysCtlClockGet() / 3);
    }
}

void MPU6050_Init(void) {
    // 通过I2C写入寄存器来初始化MPU6050

    // 设置MPU6050的时钟源为陀螺仪X轴
    I2CMasterSlaveAddrSet(I2C0_BASE, MPU6050_ADDR, false);
    I2CMasterDataPut(I2C0_BASE, 0x6B); // PWR_MGMT_1寄存器地址
    I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_START);
    while (I2CMasterBusy(I2C0_BASE)) {}
    I2CMasterDataPut(I2C0_BASE, 0x01); // 陀螺仪X轴作为时钟源
    I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_FINISH);
    while (I2CMasterBusy(I2C0_BASE)) {}

    // 设置MPU6050的加速度计量程范围为+-2g
    I2CMasterSlaveAddrSet(I2C0_BASE, MPU6050_ADDR, false);
    I2CMasterDataPut(I2C0_BASE, 0x1C); // ACCEL_CONFIG寄存器地址
    I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_START);
    while (I2CMasterBusy(I2C0_BASE)) {}
    I2CMasterDataPut(I2C0_BASE, 0x00); // +-2g量程
    I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_FINISH);
    while (I2CMasterBusy(I2C0_BASE)) {}
}

void MPU6050_Read_Accel(int16_t *accelX, int16_t *accelY, int16_t *accelZ) {
    // 通过I2C读取MPU6050的加速度数据

    // 设置读取加速度数据的寄存器地址
    I2CMasterSlaveAddrSet(I2C0_BASE, MPU6050_ADDR, false);
    I2CMasterDataPut(I2C0_BASE, 0x3B); // ACCEL_XOUT_H寄存器地址
    I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_START);
    while (I2CMasterBusy(I2C0_BASE)) {}

    // 读取加速度数据
    I2CMasterSlaveAddrSet(I2C0_BASE, MPU6050_ADDR, true);
    I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_START);
    while (I2CMasterBusy(I2C0_BASE)) {}
    *accelX = (int16_t)(I2CMasterDataGet(I2C0_BASE) << 8);
    I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_CONT);
    while (I2CMasterBusy(I2C0_BASE)) {}
    *accelX |= (int16_t)I2CMasterDataGet(I2C0_BASE);

    I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_CONT);
    while (I2CMasterBusy(I2C0_BASE)) {}
    *accelY = (int16_t)(I2CMasterDataGet(I2C0_BASE) << 8);
    I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_CONT);
    while (I2CMasterBusy(I2C0_BASE)) {}
    *accelY |= (int16_t)I2CMasterDataGet(I2C0_BASE);

    I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_FINISH);
    while (I2CMasterBusy(I2C0_BASE)) {}
    *accelZ = (int16_t)(I2CMasterDataGet(I2C0_BASE) << 8);
    I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_FINISH);
}

这段代码通过I2C与MPU6050通信，初始化MPU6050并读取加速度数据。需要注意的是，这段代码的运行环境是CCS，需要将其导入CCS并配置好相关的硬件环境才能正常运行。