在stm32f103单片机程序中编写代码，将mpu9250加速度陀螺仪磁力计数据通过串口发送给DX-24蓝牙模块

以下是一个简单的示例程序，可以将MPU9250的加速度、陀螺仪和磁力计数据通过串口发送给DX-24蓝牙模块。在此示例中，使用USART1进行串口通信，波特率为115200。

#include "stm32f10x.h"
#include "MPU9250.h"

#define BAUDRATE 115200

void USART1_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    USART_InitTypeDef USART_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1 | RCC_APB2Periph_GPIOA, ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    USART_InitStructure.USART_BaudRate = BAUDRATE;
    USART_InitStructure.USART_WordLength = USART_WordLength_8b;
    USART_InitStructure.USART_StopBits = USART_StopBits_1;
    USART_InitStructure.USART_Parity = USART_Parity_No;
    USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
    USART_InitStructure.USART_Mode = USART_Mode_Tx;
    USART_Init(USART1, &USART_InitStructure);

    USART_Cmd(USART1, ENABLE);
}

void USART1_SendByte(uint8_t byte)
{
    while (USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET);
    USART_SendData(USART1, byte);
}

void USART1_SendString(char *str)
{
    while (*str != '\0') {
        USART1_SendByte(*str);
        str++;
    }
}

int main(void)
{
    MPU9250_Init();
    USART1_Init();

    while (1) {
        MPU9250_ReadAccel();
        MPU9250_ReadGyro();
        MPU9250_ReadMag();

        char buf[64];
        sprintf(buf, "Accel: %d, %d, %d\r\n", (int)mpu9250.ax, (int)mpu9250.ay, (int)mpu9250.az);
        USART1_SendString(buf);
        sprintf(buf, "Gyro: %d, %d, %d\r\n", (int)mpu9250.gx, (int)mpu9250.gy, (int)mpu9250.gz);
        USART1_SendString(buf);
        sprintf(buf, "Mag: %d, %d, %d\r\n", (int)mpu9250.mx, (int)mpu9250.my, (int)mpu9250.mz);
        USART1_SendString(buf);

        delay_ms(100);
    }
}

需要注意的是，在使用MPU9250之前，需要初始化该模块。可以使用以下代码：

void MPU9250_Init(void)
{
    I2C_InitTypeDef I2C_InitStructure;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE);

    GPIO_InitTypeDef GPIO_InitStructure;
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_11;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    I2C_DeInit(I2C2);
    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_Init(I2C2, &I2C_InitStructure);

    I2C_Cmd(I2C2, ENABLE);

    MPU9250_Reset();
    MPU9250_Setup();
}