stm32对mpu6050的读写
时间: 2023-12-23 19:04:18 浏览: 18
STM32可以通过I2C总线与MPU6050进行通信,以下是STM32读写MPU6050的示例代码:
1. 初始化I2C总线
```c
void I2C_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
// 使能I2C时钟
__HAL_RCC_I2C1_CLK_ENABLE();
// 使能GPIOB时钟
__HAL_RCC_GPIOB_CLK_ENABLE();
// 配置PB6和PB7为I2C1的SCL和SDA
GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
// 配置I2C1
I2C_HandleTypeDef hi2c1;
hi2c1.Instance = I2C1;
hi2c1.Init.ClockSpeed = 400000;
hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
hi2c1.Init.OwnAddress1 = 0;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c1.Init.OwnAddress2 = 0;
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
HAL_I2C_Init(&hi2c1);
}
```
2. 写入MPU6050寄存器
```c
void MPU6050_WriteReg(uint8_t reg, uint8_t data)
{
HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT, &data, 1, 1000);
}
```
3. 读取MPU6050寄存器
```c
uint8_t MPU6050_ReadReg(uint8_t reg)
{
uint8_t data = 0;
HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT, &data, 1, 1000);
return data;
}
```
4. 读取MPU6050加速度计和陀螺仪数据
```c
void MPU6050_ReadAccGyro(int16_t* accData, int16_t* gyroData)
{
uint8_t buf[14];
HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDRESS, MPU6050_ACCEL_XOUT_H, I2C_MEMADD_SIZE_8BIT, buf, 14, 1000);
accData[0] = (buf[0]<<8) | buf[1];
accData[1] = (buf[2]<<8) | buf[3];
accData[2] = (buf[4]<<8) | buf[5];
gyroData[0] = (buf[8]<<8) | buf[9];
gyroData[1] = (buf[10]<<8) | buf[11];
gyroData[2] = (buf[12]<<8) | buf[13];
}
```
注意,上述代码中的MPU6050_ADDRESS是MPU6050的I2C地址,MPU6050_ACCEL_XOUT_H是加速度计X轴高位寄存器的地址。这些地址可以在MPU6050的数据手册中找到。