mpu6050二维旋转矩阵stm32示例
时间: 2023-10-19 10:09:09 浏览: 51
下面是一个基于 STM32 的 MPU6050 二维旋转矩阵的示例代码:
```c
#include "stm32f4xx.h"
#include "stm32f4xx_i2c.h"
#define MPU6050_ADDRESS 0xD0
I2C_InitTypeDef I2C_InitStruct;
GPIO_InitTypeDef GPIO_InitStruct;
uint8_t buffer[14];
int16_t AcX, AcY, AcZ, GyX, GyY, GyZ;
void I2C_Configuration(void) {
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_UP;
GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_I2C1);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_I2C1);
I2C_DeInit(I2C1);
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_InitStruct.I2C_ClockSpeed = 400000;
I2C_Init(I2C1, &I2C_InitStruct);
I2C_Cmd(I2C1, ENABLE);
}
void MPU6050_Init(void) {
uint8_t check;
uint8_t Data;
I2C_start(I2C1, MPU6050_ADDRESS<<1, I2C_Direction_Transmitter);
I2C_write(I2C1, 0x6B);
I2C_write(I2C1, 0x00);
I2C_stop(I2C1);
I2C_start(I2C1, MPU6050_ADDRESS<<1, I2C_Direction_Transmitter);
I2C_write(I2C1, 0x1B);
I2C_write(I2C1, 0x08);
I2C_stop(I2C1);
I2C_start(I2C1, MPU6050_ADDRESS<<1, I2C_Direction_Transmitter);
I2C_write(I2C1, 0x1C);
I2C_write(I2C1, 0x08);
I2C_stop(I2C1);
}
void MPU6050_Read(void) {
I2C_start(I2C1, MPU6050_ADDRESS<<1, I2C_Direction_Transmitter);
I2C_write(I2C1, 0x3B);
I2C_stop(I2C1);
I2C_start(I2C1, MPU6050_ADDRESS<<1, I2C_Direction_Receiver);
for(uint8_t i=0; i<14; i++) {
buffer[i] = I2C_read_ack(I2C1);
}
buffer[14] = I2C_read_nack(I2C1);
I2C_stop(I2C1);
AcX = (buffer[0]<<8|buffer[1]);
AcY = (buffer[2]<<8|buffer[3]);
AcZ = (buffer[4]<<8|buffer[5]);
GyX = (buffer[8]<<8|buffer[9]);
GyY = (buffer[10]<<8|buffer[11]);
GyZ = (buffer[12]<<8|buffer[13]);
}
void MPU6050_Calculate(float* pitch, float* roll) {
float x = AcX * 0.000061035f;
float y = AcY * 0.000061035f;
float z = AcZ * 0.000061035f;
*pitch = atan(x / sqrt(y * y + z * z)) * 57.29578f;
*roll = atan(y / sqrt(x * x + z * z)) * 57.29578f;
}
int main(void) {
I2C_Configuration();
MPU6050_Init();
while(1) {
MPU6050_Read();
float pitch, roll;
MPU6050_Calculate(&pitch, &roll);
// Do something with pitch and roll
}
}
```
需要注意的是,这个示例代码仅仅是读取 MPU6050 的数据并计算 pitch 和 roll 的角度,并没有真正的使用二维旋转矩阵来进行计算。如果你需要使用二维旋转矩阵来进行计算,请参考 MPU6050 的数据手册和相关的数学知识。