stm32f103c8t6 mpu6050 串口程序

以下是使用STM32F103C8T6和MPU6050的串口程序示例：

首先，需要在代码中包含必要的头文件：

#include "stm32f10x.h"
#include "usart.h"
#include "i2c.h"
#include "mpu6050.h"

然后，在代码中定义变量和常量：

#define MPU6050_ADDRESS 0xD0
#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_WHO_AM_I 0x75

uint8_t txBuffer[256];
uint8_t rxBuffer[256];
uint8_t rxCount = 0;

接下来，在main函数中初始化USART和I2C：

int main(void)
{
    SystemInit();
    USART1_Init();
    I2C_Init();

    while(1)
    {
        // 主循环
    }
}

接下来，我们需要编写一个函数来发送数据到串口：

void USART1_SendString(char* s)
{
    while (*s)
    {
        USART_SendData(USART1, *s++);
        while (USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET);
    }
}

然后，我们需要编写I2C读取和写入数据的函数：

uint8_t I2C_Read(uint8_t address, uint8_t reg)
{
    uint8_t data = 0;
    I2C_Start();
    I2C_SendByte(address);
    I2C_WaitAck();
    I2C_SendByte(reg);
    I2C_WaitAck();
    I2C_Start();
    I2C_SendByte(address | 0x01);
    I2C_WaitAck();
    data = I2C_ReadByte(0);
    I2C_Stop();
    return data;
}

void I2C_Write(uint8_t address, uint8_t reg, uint8_t data)
{
    I2C_Start();
    I2C_SendByte(address);
    I2C_WaitAck();
    I2C_SendByte(reg);
    I2C_WaitAck();
    I2C_SendByte(data);
    I2C_WaitAck();
    I2C_Stop();
}

最后，我们可以编写一个函数来读取MPU6050的数据，并将其发送到串口：

void MPU6050_ReadData(void)
{
    uint8_t i = 0;
    int16_t ax = 0, ay = 0, az = 0;
    int16_t gx = 0, gy = 0, gz = 0;
    float Ax = 0, Ay = 0, Az = 0;
    float Gx = 0, Gy = 0, Gz = 0;

    I2C_Write(MPU6050_ADDRESS, MPU6050_PWR_MGMT_1, 0x00);
    I2C_Write(MPU6050_ADDRESS, MPU6050_SMPLRT_DIV, 0x07);
    I2C_Write(MPU6050_ADDRESS, MPU6050_CONFIG, 0x06);
    I2C_Write(MPU6050_ADDRESS, MPU6050_GYRO_CONFIG, 0x08);
    I2C_Write(MPU6050_ADDRESS, MPU6050_ACCEL_CONFIG, 0x00);

    ax = (int16_t)(I2C_Read(MPU6050_ADDRESS, 0x3B) << 8 | I2C_Read(MPU6050_ADDRESS, 0x3C));
    ay = (int16_t)(I2C_Read(MPU6050_ADDRESS, 0x3D) << 8 | I2C_Read(MPU6050_ADDRESS, 0x3E));
    az = (int16_t)(I2C_Read(MPU6050_ADDRESS, 0x3F) << 8 | I2C_Read(MPU6050_ADDRESS, 0x40));
    gx = (int16_t)(I2C_Read(MPU6050_ADDRESS, 0x43) << 8 | I2C_Read(MPU6050_ADDRESS, 0x44));
    gy = (int16_t)(I2C_Read(MPU6050_ADDRESS, 0x45) << 8 | I2C_Read(MPU6050_ADDRESS, 0x46));
    gz = (int16_t)(I2C_Read(MPU6050_ADDRESS, 0x47) << 8 | I2C_Read(MPU6050_ADDRESS, 0x48));

    Ax = ax / 16384.0;
    Ay = ay / 16384.0;
    Az = az / 16384.0;
    Gx = gx / 131.0;
    Gy = gy / 131.0;
    Gz = gz / 131.0;

    sprintf((char*)txBuffer, "Ax:%.2f Ay:%.2f Az:%.2f Gx:%.2f Gy:%.2f Gz:%.2f\r\n", Ax, Ay, Az, Gx, Gy, Gz);
    USART1_SendString((char*)txBuffer);
}

现在，我们可以在主循环中调用MPU6050_ReadData函数来读取数据并将其发送到串口：

while(1)
{
    MPU6050_ReadData();
}

完整代码示例：

#include "stm32f10x.h"
#include "usart.h"
#include "i2c.h"
#include "mpu6050.h"

#define MPU6050_ADDRESS 0xD0
#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_WHO_AM_I 0x75

uint8_t txBuffer[256];
uint8_t rxBuffer[256];
uint8_t rxCount = 0;

void USART1_SendString(char* s)
{
    while (*s)
    {
        USART_SendData(USART1, *s++);
        while (USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET);
    }
}

uint8_t I2C_Read(uint8_t address, uint8_t reg)
{
    uint8_t data = 0;
    I2C_Start();
    I2C_SendByte(address);
    I2C_WaitAck();
    I2C_SendByte(reg);
    I2C_WaitAck();
    I2C_Start();
    I2C_SendByte(address | 0x01);
    I2C_WaitAck();
    data = I2C_ReadByte(0);
    I2C_Stop();
    return data;
}

void I2C_Write(uint8_t address, uint8_t reg, uint8_t data)
{
    I2C_Start();
    I2C_SendByte(address);
    I2C_WaitAck();
    I2C_SendByte(reg);
    I2C_WaitAck();
    I2C_SendByte(data);
    I2C_WaitAck();
    I2C_Stop();
}

void MPU6050_ReadData(void)
{
    uint8_t i = 0;
    int16_t ax = 0, ay = 0, az = 0;
    int16_t gx = 0, gy = 0, gz = 0;
    float Ax = 0, Ay = 0, Az = 0;
    float Gx = 0, Gy = 0, Gz = 0;

    I2C_Write(MPU6050_ADDRESS, MPU6050_PWR_MGMT_1, 0x00);
    I2C_Write(MPU6050_ADDRESS, MPU6050_SMPLRT_DIV, 0x07);
    I2C_Write(MPU6050_ADDRESS, MPU6050_CONFIG, 0x06);
    I2C_Write(MPU6050_ADDRESS, MPU6050_GYRO_CONFIG, 0x08);
    I2C_Write(MPU6050_ADDRESS, MPU6050_ACCEL_CONFIG, 0x00);

    ax = (int16_t)(I2C_Read(MPU6050_ADDRESS, 0x3B) << 8 | I2C_Read(MPU6050_ADDRESS, 0x3C));
    ay = (int16_t)(I2C_Read(MPU6050_ADDRESS, 0x3D) << 8 | I2C_Read(MPU6050_ADDRESS, 0x3E));
    az = (int16_t)(I2C_Read(MPU6050_ADDRESS, 0x3F) << 8 | I2C_Read(MPU6050_ADDRESS, 0x40));
    gx = (int16_t)(I2C_Read(MPU6050_ADDRESS, 0x43) << 8 | I2C_Read(MPU6050_ADDRESS, 0x44));
    gy = (int16_t)(I2C_Read(MPU6050_ADDRESS, 0x45) << 8 | I2C_Read(MPU6050_ADDRESS, 0x46));
    gz = (int16_t)(I2C_Read(MPU6050_ADDRESS, 0x47) << 8 | I2C_Read(MPU6050_ADDRESS, 0x48));

    Ax = ax / 16384.0;
    Ay = ay / 16384.0;
    Az = az / 16384.0;
    Gx = gx / 131.0;
    Gy = gy / 131.0;
    Gz = gz / 131.0;

    sprintf((char*)txBuffer, "Ax:%.2f Ay:%.2f Az:%.2f Gx:%.2f Gy:%.2f Gz:%.2f\r\n", Ax, Ay, Az, Gx, Gy, Gz);
    USART1_SendString((char*)txBuffer);
}

int main(void)
{
    SystemInit();
    USART1_Init();
    I2C_Init();

    while(1)
    {
        MPU6050_ReadData();
    }
}

请注意，此示例程序仅用于参考目的，请根据实际情况进行修改和调整。