stm32hal库mpu6050驱动文件
时间: 2023-07-30 15:08:15 浏览: 126
以下是基于STM32HAL库的MPU6050驱动文件的示例代码,仅供参考:
```c
#include "mpu6050.h"
#include "i2c.h"
#define MPU6050_ADDRESS 0xD0
#define MPU6050_WHOAMI 0x68
#define MPU6050_SMPLRT_DIV 0x19
#define MPU6050_CONFIG 0x1A
#define MPU6050_GYRO_CONFIG 0x1B
#define MPU6050_ACCEL_CONFIG 0x1C
#define MPU6050_PWR_MGMT_1 0x6B
#define MPU6050_PWR_MGMT_2 0x6C
#define MPU6050_ACCEL_XOUT_H 0x3B
#define MPU6050_ACCEL_YOUT_H 0x3D
#define MPU6050_ACCEL_ZOUT_H 0x3F
#define MPU6050_TEMP_OUT_H 0x41
#define MPU6050_GYRO_XOUT_H 0x43
#define MPU6050_GYRO_YOUT_H 0x45
#define MPU6050_GYRO_ZOUT_H 0x47
void MPU6050_Init(void) {
uint8_t reg;
HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDRESS, MPU6050_WHOAMI, I2C_MEMADD_SIZE_8BIT, ®, 1, 100);
if (reg != 0x68) {
// MPU6050 not found
return;
}
reg = 0x00; // clear sleep bit
HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDRESS, MPU6050_PWR_MGMT_1, I2C_MEMADD_SIZE_8BIT, ®, 1, 100);
reg = 0x07; // set gyro range to +/- 500 degrees/sec
HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDRESS, MPU6050_GYRO_CONFIG, I2C_MEMADD_SIZE_8BIT, ®, 1, 100);
reg = 0x00; // set accelerometer range to +/- 2g
HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDRESS, MPU6050_ACCEL_CONFIG, I2C_MEMADD_SIZE_8BIT, ®, 1, 100);
}
void MPU6050_Read_Accel(int16_t *accelX, int16_t *accelY, int16_t *accelZ) {
uint8_t buf[6];
HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDRESS, MPU6050_ACCEL_XOUT_H, I2C_MEMADD_SIZE_8BIT, buf, 6, 100);
*accelX = (buf[0] << 8) | buf[1];
*accelY = (buf[2] << 8) | buf[3];
*accelZ = (buf[4] << 8) | buf[5];
}
void MPU6050_Read_Gyro(int16_t *gyroX, int16_t *gyroY, int16_t *gyroZ) {
uint8_t buf[6];
HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDRESS, MPU6050_GYRO_XOUT_H, I2C_MEMADD_SIZE_8BIT, buf, 6, 100);
*gyroX = (buf[0] << 8) | buf[1];
*gyroY = (buf[2] << 8) | buf[3];
*gyroZ = (buf[4] << 8) | buf[5];
}
```
此代码使用STM32HAL库来与MPU6050进行通信,并提供了读取加速度计和陀螺仪数据的函数。请注意,此代码仅供参考,具体实现可能因硬件和软件环境而异。
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