stm32f103c8t6中MPU6050得到角度的代码
时间: 2023-10-05 11:04:12 浏览: 85
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
// ...
}
}
```
相关推荐
![zip](https://img-home.csdnimg.cn/images/20210720083736.png)
![zip](https://img-home.csdnimg.cn/images/20210720083736.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)