基于stm32f429的MPU6050程序代码

以下是一个基于STM32F429的MPU6050程序代码，可以帮助您开始使用MPU6050：

#include "stm32f4xx.h"
#include "stm32f4xx_gpio.h"
#include "stm32f4xx_rcc.h"
#include "stm32f4xx_i2c.h"

#define MPU6050_ADDR 0xD0

/* MPU6050 registers */
#define REG_PWR_MGMT_1 0x6B
#define REG_WHO_AM_I 0x75
#define REG_ACCEL_XOUT_H 0x3B
#define REG_ACCEL_YOUT_H 0x3D
#define REG_ACCEL_ZOUT_H 0x3F
#define REG_TEMP_OUT_H 0x41
#define REG_GYRO_XOUT_H 0x43
#define REG_GYRO_YOUT_H 0x45
#define REG_GYRO_ZOUT_H 0x47

#define I2C_TIMEOUT 10000

void I2C_Config(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    I2C_InitTypeDef I2C_InitStructure;

    /* Enable GPIOB clock */
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);

    /* Enable I2C1 clock */
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);

    /* Configure PB6 as I2C1 SCL */
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    /* Configure PB9 as I2C1 SDA */
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    /* Connect PB6 and PB9 to I2C1 */
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_I2C1);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_I2C1);

    /* Configure I2C1 */
    I2C_InitStructure.I2C_ClockSpeed = 400000;
    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_Init(I2C1, &I2C_InitStructure);

    /* Enable I2C1 */
    I2C_Cmd(I2C1, ENABLE);
}

void I2C_Write(uint8_t addr, uint8_t reg, uint8_t* data, uint8_t len)
{
    uint32_t timeout = I2C_TIMEOUT;
    while(I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY))
    {
        if((timeout--) == 0)
        {
            return;
        }
    }

    I2C_GenerateSTART(I2C1, ENABLE);
    timeout = I2C_TIMEOUT;
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT))
    {
        if((timeout--) == 0)
        {
            return;
        }
    }

    I2C_Send7bitAddress(I2C1, addr, I2C_Direction_Transmitter);
    timeout = I2C_TIMEOUT;
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED))
    {
        if((timeout--) == 0)
        {
            return;
        }
    }

    I2C_SendData(I2C1, reg);
    timeout = I2C_TIMEOUT;
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED))
    {
        if((timeout--) == 0)
        {
            return;
        }
    }

    while(len--)
    {
        I2C_SendData(I2C1, *data++);
        timeout = I2C_TIMEOUT;
        while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED))
        {
            if((timeout--) == 0)
            {
                return;
            }
        }
    }

    I2C_GenerateSTOP(I2C1, ENABLE);
}

void I2C_Read(uint8_t addr, uint8_t reg, uint8_t* data, uint8_t len)
{
    uint32_t timeout = I2C_TIMEOUT;
    while(I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY))
    {
        if((timeout--) == 0)
        {
            return;
        }
    }

    I2C_GenerateSTART(I2C1, ENABLE);
    timeout = I2C_TIMEOUT;
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT))
    {
        if((timeout--) == 0)
        {
            return;
        }
    }

    I2C_Send7bitAddress(I2C1, addr, I2C_Direction_Transmitter);
    timeout = I2C_TIMEOUT;
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED))
    {
        if((timeout--) == 0)
        {
            return;
        }
    }

    I2C_SendData(I2C1, reg);
    timeout = I2C_TIMEOUT;
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED))
    {
        if((timeout--) == 0)
        {
            return;
        }
    }

    I2C_GenerateSTART(I2C1, ENABLE);
    timeout = I2C_TIMEOUT;
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT))
    {
        if((timeout--) == 0)
        {
            return;
        }
    }

    I2C_Send7bitAddress(I2C1, addr, I2C_Direction_Receiver);
    timeout = I2C_TIMEOUT;
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED))
    {
        if((timeout--) == 0)
        {
            return;
        }
    }

    while(len--)
    {
        if(len == 0)
        {
            I2C_AcknowledgeConfig(I2C1, DISABLE);
            I2C_GenerateSTOP(I2C1, ENABLE);
        }

        timeout = I2C_TIMEOUT;
        while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED))
        {
            if((timeout--) == 0)
            {
                return;
            }
        }

        *data++ = I2C_ReceiveData(I2C1);
    }

    I2C_AcknowledgeConfig(I2C1, ENABLE);
}

void MPU6050_Init(void)
{
    uint8_t data;

    /* Wake up MPU6050 */
    data = 0x00;
    I2C_Write(MPU6050_ADDR, REG_PWR_MGMT_1, &data, 1);

    /* Check MPU6050 ID */
    I2C_Read(MPU6050_ADDR, REG_WHO_AM_I, &data, 1);
    if(data != 0x68)
    {
        /* MPU6050 connection failed */
        while(1);
    }
}

void MPU6050_Read_Accel(int16_t* accel_data)
{
    uint8_t data[6];

    /* Read accelerometer data */
    I2C_Read(MPU6050_ADDR, REG_ACCEL_XOUT_H, data, 6);

    /* Convert raw data to 16-bit signed value */
    accel_data[0] = (int16_t)((data[0] << 8) | data[1]);
    accel_data[1] = (int16_t)((data[2] << 8) | data[3]);
    accel_data[2] = (int16_t)((data[4] << 8) | data[5]);
}

void MPU6050_Read_Gyro(int16_t* gyro_data)
{
    uint8_t data[6];

    /* Read gyroscope data */
    I2C_Read(MPU6050_ADDR, REG_GYRO_XOUT_H, data, 6);

    /* Convert raw data to 16-bit signed value */
    gyro_data[0] = (int16_t)((data[0] << 8) | data[1]);
    gyro_data[1] = (int16_t)((data[2] << 8) | data[3]);
    gyro_data[2] = (int16_t)((data[4] << 8) | data[5]);
}

int main(void)
{
    int16_t accel_data[3], gyro_data[3];

    I2C_Config();

    MPU6050_Init();

    while(1)
    {
        MPU6050_Read_Accel(accel_data);
        MPU6050_Read_Gyro(gyro_data);

        /* Do something with the data */
    }
}

这个程序使用STM32F429的I2C接口来与MPU6050通信。在初始化函数中，首先将MPU6050唤醒，然后读取MPU6050的ID号，确保连接成功。在读取函数中，先读取6个寄存器的值，然后将它们转换为16位有符号值。在主函数中，程序不断读取MPU6050的加速度和陀螺仪数据，并对数据进行处理。

请注意，这只是一个简单的示例程序。要使MPU6050的所有功能正常工作，您需要根据您的具体应用程序进行更多的编程。