STM32F407 MPU6050陀螺仪姿态解算 标准库函数代码

以下是一个基于标准库函数的STM32F407 MPU6050陀螺仪姿态解算的示例代码：

#include "stm32f4xx.h"
#include "math.h"

#define PI 3.14159265

int16_t AccX, AccY, AccZ, GyroX, GyroY, GyroZ;
float pitch = 0, roll = 0, yaw = 0;
float AccAngleX, AccAngleY, GyroAngleX, GyroAngleY, GyroAngleZ;

void Delay(__IO uint32_t nCount) {
    while(nCount--) {
    }
}

void MPU6050_Init() {
    // 初始化I2C
    ...
    
    // 初始化MPU6050
    I2C_WriteByte(MPU6050_ADDR, MPU6050_RA_PWR_MGMT_1, 0x00);
    I2C_WriteByte(MPU6050_ADDR, MPU6050_RA_SMPLRT_DIV, 0x07);
    I2C_WriteByte(MPU6050_ADDR, MPU6050_RA_CONFIG, 0x06);
    I2C_WriteByte(MPU6050_ADDR, MPU6050_RA_GYRO_CONFIG, 0x18);
    I2C_WriteByte(MPU6050_ADDR, MPU6050_RA_ACCEL_CONFIG, 0x01);
}

void MPU6050_GetData() {
    uint8_t buf[14];
    I2C_ReadBytes(MPU6050_ADDR, MPU6050_RA_ACCEL_XOUT_H, 14, buf);

    AccX = (buf[0] << 8) | buf[1];
    AccY = (buf[2] << 8) | buf[3];
    AccZ = (buf[4] << 8) | buf[5];
    GyroX = (buf[8] << 8) | buf[9];
    GyroY = (buf[10] << 8) | buf[11];
    GyroZ = (buf[12] << 8) | buf[13];
}

void MPU6050_CalcAngle() {
    AccAngleX = atan(AccY / sqrt(AccX * AccX + AccZ * AccZ)) * 180 / PI;
    AccAngleY = atan(-AccX / sqrt(AccY * AccY + AccZ * AccZ)) * 180 / PI;

    GyroAngleX = GyroX / 131.0;
    GyroAngleY = GyroY / 131.0;
    GyroAngleZ = GyroZ / 131.0;

    pitch = 0.98 * (pitch + GyroAngleX * 0.01) + 0.02 * AccAngleX;
    roll = 0.98 * (roll + GyroAngleY * 0.01) + 0.02 * AccAngleY;
    yaw += GyroAngleZ * 0.01;
}

int main(void) {
    MPU6050_Init();

    while(1) {
        MPU6050_GetData();
        MPU6050_CalcAngle();

        Delay(100);
    }
}

需要注意的是，以上代码中的 `I2C_ReadBytes` 和 `I2C_WriteByte` 函数需要根据实际情况进行实现。另外，MPU6050的数据采样率可以通过 `MPU6050_RA_SMPLRT_DIV` 寄存器进行配置，根据具体要求进行设置。