stc32g mpu6050检测到的上坡代码

以下是一个简单的STC32G和MPU6050结合的上坡检测代码，供你参考：

#include <reg52.h>
#include <intrins.h>

#define MPU6050_ADDRESS 0xD0

sbit SCL = P1^1;
sbit SDA = P1^0;

void delay(unsigned int t);
void I2C_start();
void I2C_stop();
void I2C_send_byte(unsigned char dat);
unsigned char I2C_receive_byte();
void MPU6050_init();
void MPU6050_read(unsigned char reg, unsigned char *buf, unsigned char len);
void MPU6050_write(unsigned char reg, unsigned char dat);
void MPU6050_get_accel(short *accel);
unsigned char detect_slope(short *accel);

void main()
{
    short accel[3];
    unsigned char slope;

    MPU6050_init();

    while(1)
    {
        MPU6050_get_accel(accel);
        slope = detect_slope(accel);

        if(slope)
        {
            // 发现上坡，执行相应的操作
            // ...
        }

        delay(10); // 延时10ms
    }
}

void delay(unsigned int t)
{
    while(t--)
    {
        _nop_();
        _nop_();
    }
}

void I2C_start()
{
    SDA = 1;
    SCL = 1;
    delay(1);
    SDA = 0;
    delay(1);
    SCL = 0;
}

void I2C_stop()
{
    SDA = 0;
    SCL = 1;
    delay(1);
    SDA = 1;
    delay(1);
}

void I2C_send_byte(unsigned char dat)
{
    unsigned char i;

    for(i = 0; i < 8; i++)
    {
        SDA = (dat & 0x80) >> 7;
        dat <<= 1;
        delay(1);
        SCL = 1;
        delay(1);
        SCL = 0;
    }

    SDA = 1;
    delay(1);
    SCL = 1;
    delay(1);
    SCL = 0;
}

unsigned char I2C_receive_byte()
{
    unsigned char i, dat = 0;

    SDA = 1;

    for(i = 0; i < 8; i++)
    {
        SCL = 1;
        delay(1);
        dat = (dat << 1) | SDA;
        SCL = 0;
        delay(1);
    }

    return dat;
}

void MPU6050_init()
{
    MPU6050_write(0x6B, 0x00); // 设置 MPU6050 为唤醒状态
    MPU6050_write(0x1C, 0x00); // 设置加速度计量程为 ±2g
}

void MPU6050_read(unsigned char reg, unsigned char *buf, unsigned char len)
{
    unsigned char i;

    I2C_start();
    I2C_send_byte(MPU6050_ADDRESS);
    I2C_send_byte(reg);

    I2C_start();
    I2C_send_byte(MPU6050_ADDRESS | 0x01);

    for(i = 0; i < len; i++)
    {
        buf[i] = I2C_receive_byte();

        if(i < len - 1)
        {
            SDA = 0;
            delay(1);
            SCL = 1;
            delay(1);
            SCL = 0;
        }
    }

    I2C_stop();
}

void MPU6050_write(unsigned char reg, unsigned char dat)
{
    I2C_start();
    I2C_send_byte(MPU6050_ADDRESS);
    I2C_send_byte(reg);
    I2C_send_byte(dat);
    I2C_stop();
}

void MPU6050_get_accel(short *accel)
{
    unsigned char buf[6];

    MPU6050_read(0x3B, buf, 6);

    accel[0] = (buf[0] << 8) | buf[1];
    accel[1] = (buf[2] << 8) | buf[3];
    accel[2] = (buf[4] << 8) | buf[5];
}

unsigned char detect_slope(short *accel)
{
    // 检测加速度计 z 轴的数值是否大于某个阈值，如果大于则认为是上坡
    return (accel[2] > 1000);
}

这段代码通过I2C总线读取MPU6050的加速度计数据，然后检测z轴的数值是否大于1000，如果大于则认为是上坡。你可以根据具体的需求，修改阈值或者检测方式。同时，你需要根据具体的硬件连接和MPU6050的设置，修改代码中的一些配置参数。