stm32f103c8t6中MPU6050得到角度的代码

以下是使用STM32F103C8T6和MPU6050获取角度的示例代码。在代码中，我们使用的是I2C接口来读取MPU6050的数据。

#include "stm32f10x.h"
#include "math.h"

#define MPU_ADDRESS     0xD0    // MPU6050地址
#define PI              3.1415926

int16_t Accel_X, Accel_Y, Accel_Z;
int16_t Gyro_X, Gyro_Y, Gyro_Z;
float Accel_Xg, Accel_Yg, Accel_Zg;
float Gyro_Xdps, Gyro_Ydps, Gyro_Zdps;
float Pitch, Roll;

void I2C_Configuration(void)
{
    I2C_InitTypeDef I2C_InitStructure;
    GPIO_InitTypeDef GPIO_InitStructure;
    
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
    
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
    GPIO_Init(GPIOB, &GPIO_InitStructure);
    
    I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
    I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
    I2C_InitStructure.I2C_OwnAddress1 = 0x00;
    I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
    I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
    I2C_InitStructure.I2C_ClockSpeed = 400000;
    I2C_Init(I2C1, &I2C_InitStructure);
    I2C_Cmd(I2C1, ENABLE);
}

void MPU6050_Init(void)
{
    uint8_t check;
    uint8_t Data;
    
    I2C_Configuration();
    
    // 检查MPU6050是否存在
    I2C_ReadBuffer(MPU_ADDRESS, 0x75, &check, 1);
    if(check == 0x68)
    {
        // 使能MPU6050的加速度计和陀螺仪
        Data = 0x00;
        I2C_WriteBuffer(MPU_ADDRESS, 0x6B, &Data, 1);
        
        // 设置采样率为1000Hz
        Data = 0x07;
        I2C_WriteBuffer(MPU_ADDRESS, 0x19, &Data, 1);
        
        // 设置低通滤波器为20Hz
        Data = 0x04;
        I2C_WriteBuffer(MPU_ADDRESS, 0x1A, &Data, 1);
        
        // 设置陀螺仪的量程为±2000dps
        Data = 0x18;
        I2C_WriteBuffer(MPU_ADDRESS, 0x1B, &Data, 1);
        
        // 设置加速度计的量程为±2g
        Data = 0x00;
        I2C_WriteBuffer(MPU_ADDRESS, 0x1C, &Data, 1);
    }
}

void MPU6050_Read_Accel(void)
{
    uint8_t buffer[6];
    
    // 读取加速度计数据
    I2C_ReadBuffer(MPU_ADDRESS, 0x3B, buffer, 6);
    Accel_X = ((int16_t)buffer[0] << 8) | buffer[1];
    Accel_Y = ((int16_t)buffer[2] << 8) | buffer[3];
    Accel_Z = ((int16_t)buffer[4] << 8) | buffer[5];
    
    // 计算加速度值
    Accel_Xg = (float)Accel_X / 16384.0;
    Accel_Yg = (float)Accel_Y / 16384.0;
    Accel_Zg = (float)Accel_Z / 16384.0;
}

void MPU6050_Read_Gyro(void)
{
    uint8_t buffer[6];
    
    // 读取陀螺仪数据
    I2C_ReadBuffer(MPU_ADDRESS, 0x43, buffer, 6);
    Gyro_X = ((int16_t)buffer[0] << 8) | buffer[1];
    Gyro_Y = ((int16_t)buffer[2] << 8) | buffer[3];
    Gyro_Z = ((int16_t)buffer[4] << 8) | buffer[5];
    
    // 计算陀螺仪值
    Gyro_Xdps = (float)Gyro_X / 131.0;
    Gyro_Ydps = (float)Gyro_Y / 131.0;
    Gyro_Zdps = (float)Gyro_Z / 131.0;
}

void MPU6050_Calculate_Pitch_Roll(void)
{
    float Accel_total_vector, Accel_pitch_angle, Accel_roll_angle;
    
    // 计算总加速度向量
    Accel_total_vector = sqrt(Accel_Xg * Accel_Xg + Accel_Yg * Accel_Yg + Accel_Zg * Accel_Zg);
    
    // 计算俯仰角和翻滚角
    Accel_pitch_angle = asin(-Accel_Xg / Accel_total_vector) * 180.0 / PI;
    Accel_roll_angle = asin(Accel_Yg / Accel_total_vector) * 180.0 / PI;
    
    // 计算航向角
    // ...
    
    // 对翻滚角和俯仰角进行滤波
    Pitch = 0.98 * (Pitch + Gyro_Xdps * 0.01) + 0.02 * Accel_pitch_angle;
    Roll = 0.98 * (Roll + Gyro_Ydps * 0.01) + 0.02 * Accel_roll_angle;
}

int main(void)
{
    MPU6050_Init();
    
    while(1)
    {
        MPU6050_Read_Accel();
        MPU6050_Read_Gyro();
        MPU6050_Calculate_Pitch_Roll();
        
        // 在这里可以使用Pitch和Roll的值来控制飞行器的姿态
        // ...
    }
}