mpu6050与stm32串口通信

要实现MPU6050与STM32的串口通信，可以按照以下步骤进行：

1. 接线：将MPU6050的SCL和SDA引脚连接到STM32的对应引脚，同时将MPU6050的VCC和GND引脚连接到STM32的正负电源引脚。

2. 配置串口：使用STM32的CubeMX软件配置串口，设置波特率、数据位、停止位、奇偶校验等参数，并生成相应的代码。

3. 初始化MPU6050：通过I2C总线协议初始化MPU6050，设置采样率、量程等参数，并将数据输出到FIFO缓存中。

4. 读取数据：通过串口读取FIFO缓存中的数据，并将其发送到上位机或其他设备中。

下面是一个简单的参考代码：

#include "stm32f1xx.h"
#include "stdio.h"

#define MPU6050_ADDR        0xD0
#define MPU6050_SMPLRT_DIV  0x19
#define MPU6050_CONFIG      0x1A
#define MPU6050_GYRO_CONFIG 0x1B
#define MPU6050_ACCEL_CONFIG    0x1C
#define MPU6050_FIFO_EN     0x23
#define MPU6050_ACCEL_XOUT_H    0x3B
#define MPU6050_ACCEL_XOUT_L    0x3C
#define MPU6050_ACCEL_YOUT_H    0x3D
#define MPU6050_ACCEL_YOUT_L    0x3E
#define MPU6050_ACCEL_ZOUT_H    0x3F
#define MPU6050_ACCEL_ZOUT_L    0x40

UART_HandleTypeDef huart1;

void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART1_UART_Init(void);
static void MPU6050_Init(void);
void MPU6050_Read_Accel(int16_t *accel);

int main(void)
{
  HAL_Init();
  SystemClock_Config();
  MX_GPIO_Init();
  MX_USART1_UART_Init();
  MPU6050_Init();
  int16_t accel[3];

  while (1)
  {
    MPU6050_Read_Accel(accel);
    printf("X: %d\tY: %d\tZ: %d\r\n", accel[0], accel[1], accel[2]);
    HAL_Delay(100);
  }
}

void MPU6050_Init(void)
{
  uint8_t tx_data[2];
  uint8_t rx_data[1];

  tx_data[0] = MPU6050_SMPLRT_DIV;
  tx_data[1] = 0x07;
  HAL_I2C_Master_Transmit(&hi2c1, MPU6050_ADDR, tx_data, 2, 1000);

  tx_data[0] = MPU6050_CONFIG;
  tx_data[1] = 0x00;
  HAL_I2C_Master_Transmit(&hi2c1, MPU6050_ADDR, tx_data, 2, 1000);

  tx_data[0] = MPU6050_GYRO_CONFIG;
  tx_data[1] = 0x08;
  HAL_I2C_Master_Transmit(&hi2c1, MPU6050_ADDR, tx_data, 2, 1000);

  tx_data[0] = MPU6050_ACCEL_CONFIG;
  tx_data[1] = 0x00;
  HAL_I2C_Master_Transmit(&hi2c1, MPU6050_ADDR, tx_data, 2, 1000);

  tx_data[0] = MPU6050_FIFO_EN;
  tx_data[1] = 0x80;
  HAL_I2C_Master_Transmit(&hi2c1, MPU6050_ADDR, tx_data, 2, 1000);

  HAL_I2C_Master_Transmit(&hi2c1, MPU6050_ADDR, tx_data, 1, 1000);
}

void MPU6050_Read_Accel(int16_t *accel)
{
  uint8_t tx_data[1] = { MPU6050_ACCEL_XOUT_H };
  uint8_t rx_data[6];
  HAL_I2C_Master_Transmit(&hi2c1, MPU6050_ADDR, tx_data, 1, 1000);
  HAL_I2C_Master_Receive(&hi2c1, MPU6050_ADDR, rx_data, 6, 1000);
  accel[0] = (rx_data[0] << 8) | rx_data[1];
  accel[1] = (rx_data[2] << 8) | rx_data[3];
  accel[2] = (rx_data[4] << 8) | rx_data[5];
}

static void MX_USART1_UART_Init(void)
{
  huart1.Instance = USART1;
  huart1.Init.BaudRate = 115200;
  huart1.Init.WordLength = UART_WORDLENGTH_8B;
  huart1.Init.StopBits = UART_STOPBITS_1;
  huart1.Init.Parity = UART_PARITY_NONE;
  huart1.Init.Mode = UART_MODE_TX_RX;
  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart1) != HAL_OK)
  {
    Error_Handler();
  }
}

void Error_Handler(void)
{
}

#ifdef  USE_FULL_ASSERT

void assert_failed(uint8_t *file, uint32_t line)
{

}
#endif

static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_USART1_CLK_ENABLE();
  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_RESET);
  GPIO_InitStruct.Pin = GPIO_PIN_9 | GPIO_PIN_10;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}

void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_OFF;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
    | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1;
  PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }
}

需要注意的是，代码中使用了HAL库对STM32的串口和I2C总线进行配置和操作。在使用前需要先导入相应的库文件，并且根据自己的实际情况修改代码中的引脚和参数。