陀螺仪传感器mpu6050与stc的代码

以下是基于STC单片机的MPU6050陀螺仪传感器的代码示例，仅供参考：

#include <reg51.h>
#include <intrins.h>

#define MPU6050_ADDRESS 0xD0

sbit SDA = P1^1;
sbit SCL = P1^0;

void delay_us(unsigned int t)
{
    while(t--)
    {
        _nop_();
    }
}

void iic_start()
{
    SDA = 1;
    delay_us(5);
    SCL = 1;
    delay_us(5);
    SDA = 0;
    delay_us(5);
    SCL = 0;
    delay_us(5);
}

void iic_stop()
{
    SCL = 0;
    delay_us(5);
    SDA = 0;
    delay_us(5);
    SCL = 1;
    delay_us(5);
    SDA = 1;
    delay_us(5);
}

void iic_write_byte(unsigned char dat)
{
    unsigned char i;
    for(i = 0; i < 8; i++)
    {
        SDA = dat & 0x80;
        dat <<= 1;
        delay_us(5);
        SCL = 1;
        delay_us(5);
        SCL = 0;
        delay_us(5);
    }
    SDA = 1;
    delay_us(5);
    SCL = 1;
    delay_us(5);
    SCL = 0;
    delay_us(5);
}

unsigned char iic_read_byte()
{
    unsigned char i, dat = 0;
    SDA = 1;
    for(i = 0; i < 8; i++)
    {
        SCL = 1;
        delay_us(5);
        dat <<= 1;
        dat |= SDA;
        SCL = 0;
        delay_us(5);
    }
    return dat;
}

void iic_ack()
{
    SDA = 0;
    delay_us(5);
    SCL = 1;
    delay_us(5);
    SCL = 0;
    delay_us(5);
    SDA = 1;
    delay_us(5);
}

void iic_nack()
{
    SDA = 1;
    delay_us(5);
    SCL = 1;
    delay_us(5);
    SCL = 0;
    delay_us(5);
    SDA = 1;
    delay_us(5);
}

void mpu6050_write_reg(unsigned char reg, unsigned char dat)
{
    iic_start();
    iic_write_byte(MPU6050_ADDRESS);
    iic_ack();
    iic_write_byte(reg);
    iic_ack();
    iic_write_byte(dat);
    iic_ack();
    iic_stop();
}

unsigned char mpu6050_read_reg(unsigned char reg)
{
    unsigned char dat;
    iic_start();
    iic_write_byte(MPU6050_ADDRESS);
    iic_ack();
    iic_write_byte(reg);
    iic_ack();
    iic_start();
    iic_write_byte(MPU6050_ADDRESS | 0x01);
    iic_ack();
    dat = iic_read_byte();
    iic_nack();
    iic_stop();
    return dat;
}

void mpu6050_init()
{
    mpu6050_write_reg(0x6B, 0x00);  //解除休眠状态
    mpu6050_write_reg(0x1A, 0x00);  //陀螺仪采样率：1kHz
    mpu6050_write_reg(0x1B, 0x08);  //陀螺仪量程：±500 °/s
    mpu6050_write_reg(0x1C, 0x00);  //加速度计采样率：1kHz
    mpu6050_write_reg(0x1D, 0x08);  //加速度计量程：±4g
}

int main()
{
    unsigned char H, L;
    short X, Y, Z;
    mpu6050_init();
    while(1)
    {
        H = mpu6050_read_reg(0x43);
        L = mpu6050_read_reg(0x44);
        X = (H << 8) | L;
        H = mpu6050_read_reg(0x45);
        L = mpu6050_read_reg(0x46);
        Y = (H << 8) | L;
        H = mpu6050_read_reg(0x47);
        L = mpu6050_read_reg(0x48);
        Z = (H << 8) | L;
        //将X、Y、Z分别作为陀螺仪的三个轴输出
    }
    return 0;
}

注意：以上代码仅作为示例，实际应用时需要根据具体情况进行修改和优化。