MPU6050 STM32F407ZGT6程序

由于您没有提供具体的要求和细节，我无法提供完整的程序。但是，我可以提供一些基本的代码示例，以帮助您开始使用MPU6050与STM32F407ZGT6。

首先，您需要在STM32F407ZGT6上设置I2C总线，以便与MPU6050通信。这可以通过以下代码完成：

void I2C_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStruct;
    I2C_InitTypeDef I2C_InitStruct;

    // Enable I2C and GPIO clocks
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);

    // Configure GPIO pins for I2C
    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);

    // Connect GPIO pins to I2C peripheral
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_I2C1);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_I2C1);

    // Configure I2C peripheral
    I2C_InitStruct.I2C_ClockSpeed = 400000;
    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_Init(I2C1, &I2C_InitStruct);

    // Enable I2C peripheral
    I2C_Cmd(I2C1, ENABLE);
}

然后，您需要编写代码来读取MPU6050的加速度计和陀螺仪数据。以下代码演示了如何初始化MPU6050并读取数据：

#include "stm32f4xx.h"
#include "stm32f4xx_i2c.h"

#define MPU6050_ADDRESS     0x68

void MPU6050_Init(void)
{
    uint8_t data;

    // Power on reset
    data = 0x80;
    I2C_Write(MPU6050_ADDRESS, 0x6B, &data, 1);

    // Configure sample rate divider
    data = 0x07;
    I2C_Write(MPU6050_ADDRESS, 0x19, &data, 1);

    // Configure digital low pass filter
    data = 0x06;
    I2C_Write(MPU6050_ADDRESS, 0x1A, &data, 1);

    // Configure gyro full scale range
    data = 0x10;
    I2C_Write(MPU6050_ADDRESS, 0x1B, &data, 1);

    // Configure accelerometer full scale range
    data = 0x08;
    I2C_Write(MPU6050_ADDRESS, 0x1C, &data, 1);
}

void MPU6050_ReadAccelGyro(int16_t* accel_data, int16_t* gyro_data)
{
    uint8_t buffer[14];

    // Read raw data from MPU6050
    I2C_Read(MPU6050_ADDRESS, 0x3B, buffer, 14);

    // Convert raw data to 16-bit integers
    accel_data[0] = (buffer[0] << 8) | buffer[1];
    accel_data[1] = (buffer[2] << 8) | buffer[3];
    accel_data[2] = (buffer[4] << 8) | buffer[5];
    gyro_data[0] = (buffer[8] << 8) | buffer[9];
    gyro_data[1] = (buffer[10] << 8) | buffer[11];
    gyro_data[2] = (buffer[12] << 8) | buffer[13];
}

void I2C_Write(uint8_t address, uint8_t reg, uint8_t* data, uint8_t length)
{
    uint8_t i;

    // Send start condition
    I2C_GenerateSTART(I2C1, ENABLE);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));

    // Send device address with write bit
    I2C_Send7bitAddress(I2C1, address << 1, I2C_Direction_Transmitter);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));

    // Send register address
    I2C_SendData(I2C1, reg);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));

    // Send data
    for (i = 0; i < length; i++) {
        I2C_SendData(I2C1, data[i]);
        while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
    }

    // Send stop condition
    I2C_GenerateSTOP(I2C1, ENABLE);
}

void I2C_Read(uint8_t address, uint8_t reg, uint8_t* buffer, uint8_t length)
{
    uint8_t i;

    // Send start condition
    I2C_GenerateSTART(I2C1, ENABLE);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));

    // Send device address with write bit
    I2C_Send7bitAddress(I2C1, address << 1, I2C_Direction_Transmitter);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));

    // Send register address
    I2C_SendData(I2C1, reg);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));

    // Send repeated start condition
    I2C_GenerateSTART(I2C1, ENABLE);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));

    // Send device address with read bit
    I2C_Send7bitAddress(I2C1, address << 1, I2C_Direction_Receiver);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED));

    // Read data
    for (i = 0; i < length; i++) {
        if (i == length - 1) {
            I2C_AcknowledgeConfig(I2C1, DISABLE);
        }
        while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED));
        buffer[i] = I2C_ReceiveData(I2C1);
    }

    // Send stop condition
    I2C_AcknowledgeConfig(I2C1, ENABLE);
    I2C_GenerateSTOP(I2C1, ENABLE);
}

这些代码使用STM32F4的I2C库与MPU6050通信，并从加速度计和陀螺仪读取原始数据。您可以进一步处理数据以获得更有用的输出。

希望这可以帮助您开始使用MPU6050与STM32F407ZGT6。