编写程序用stm32读取mpu6050数据并计算mpu6050位移量

首先，需要了解MPU6050的数据格式和寄存器映射。MPU6050是一个六轴加速度计和陀螺仪，可以通过I2C接口读取其数据。其中，加速度计的数据包括X、Y、Z三个轴的加速度值，陀螺仪的数据包括X、Y、Z三个轴的角速度值。这些数据都是通过读取MPU6050内部的寄存器获得的。

下面是一份基于STM32的代码，用于读取MPU6050数据并计算位移量：

#include "stm32f10x.h"
#include "stdio.h"
#include "math.h"

#define MPU6050_ADDRESS 0xD0
#define SMPLRT_DIV      0x19
#define CONFIG          0x1A
#define GYRO_CONFIG     0x1B
#define ACCEL_CONFIG    0x1C
#define ACCEL_XOUT_H    0x3B
#define ACCEL_YOUT_H    0x3D
#define ACCEL_ZOUT_H    0x3F
#define TEMP_OUT_H      0x41
#define GYRO_XOUT_H     0x43
#define GYRO_YOUT_H     0x45
#define GYRO_ZOUT_H     0x47
#define PWR_MGMT_1      0x6B

float AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
float gyro_x, gyro_y, gyro_z;
float accel_x, accel_y, accel_z;
float gyro_x_old, gyro_y_old, gyro_z_old;
float accel_x_old, accel_y_old, accel_z_old;
float dt = 0.01;
float angle_x = 0, angle_y = 0, angle_z = 0;
float distance_x = 0, distance_y = 0, distance_z = 0;

void I2C_Configuration(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    I2C_InitTypeDef I2C_InitStructure;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1,ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
    GPIO_Init(GPIOB,&GPIO_InitStructure);

    I2C_InitStructure.I2C_ClockSpeed = 100000;
    I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
    I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
    I2C_InitStructure.I2C_OwnAddress1 = MPU6050_ADDRESS;
    I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
    I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
    I2C_InitStructure.I2C_ClockStretching = I2C_ClockStretching_Enable;
    I2C_Init(I2C1,&I2C_InitStructure);
    I2C_Cmd(I2C1,ENABLE);
}

void MPU6050_Init(void)
{
    I2C_Configuration();
    I2C_GenerateSTART(I2C1,ENABLE);
    while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_MODE_SELECT));
    I2C_Send7bitAddress(I2C1,MPU6050_ADDRESS,I2C_Direction_Transmitter);
    while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));
    I2C_SendData(I2C1,PWR_MGMT_1);
    while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_TRANSMITTED));
    I2C_SendData(I2C1,0x00);
    while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_TRANSMITTED));
    I2C_GenerateSTOP(I2C1,ENABLE);
}

void MPU6050_Read(void)
{
    I2C_GenerateSTART(I2C1,ENABLE);
    while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_MODE_SELECT));
    I2C_Send7bitAddress(I2C1,MPU6050_ADDRESS,I2C_Direction_Transmitter);
    while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));
    I2C_SendData(I2C1,ACCEL_XOUT_H);
    while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_TRANSMITTED));
    I2C_GenerateSTART(I2C1,ENABLE);
    while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_MODE_SELECT));
    I2C_Send7bitAddress(I2C1,MPU6050_ADDRESS,I2C_Direction_Receiver);
    while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED));
    AcX = (float)I2C_ReceiveData(I2C1)<<8;
    while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_RECEIVED));
    AcX |= (float)I2C_ReceiveData(I2C1);
    while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_RECEIVED));
    AcY = (float)I2C_ReceiveData(I2C1)<<8;
    while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_RECEIVED));
    AcY |= (float)I2C_ReceiveData(I2C1);
    while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_RECEIVED));
    AcZ = (float)I2C_ReceiveData(I2C1)<<8;
    while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_RECEIVED));
    AcZ |= (float)I2C_ReceiveData(I2C1);
    while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_RECEIVED));
    GyX = (float)I2C_ReceiveData(I2C1)<<8;
    while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_RECEIVED));
    GyX |= (float)I2C_ReceiveData(I2C1);
    while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_RECEIVED));
    GyY = (float)I2C_ReceiveData(I2C1)<<8;
    while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_RECEIVED));
    GyY |= (float)I2C_ReceiveData(I2C1);
    while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_RECEIVED));
    GyZ = (float)I2C_ReceiveData(I2C1)<<8;
    while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_RECEIVED));
    GyZ |= (float)I2C_ReceiveData(I2C1);
    while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_RECEIVED));
    I2C_GenerateSTOP(I2C1,ENABLE);

    accel_x = AcX / 16384.0f;
    accel_y = AcY / 16384.0f;
    accel_z = AcZ / 16384.0f;

    gyro_x = GyX / 131.0f;
    gyro_y = GyY / 131.0f;
    gyro_z = GyZ / 131.0f;
}

int main(void)
{
    MPU6050_Init();
    while(1)
    {
        MPU6050_Read();

        // 计算角度
        gyro_x = gyro_x - 0.0038 * gyro_x_old;
        gyro_y = gyro_y - 0.0038 * gyro_y_old;
        gyro_z = gyro_z - 0.0038 * gyro_z_old;
        accel_x = accel_x - 0.0015 * accel_x_old;
        accel_y = accel_y - 0.0015 * accel_y_old;
        accel_z = accel_z - 0.0015 * accel_z_old;

        angle_x += gyro_x * dt;
        angle_y += gyro_y * dt;
        angle_z += gyro_z * dt;

        angle_x = 0.99 * (angle_x + accel_x * dt) + 0.01 * angle_x;
        angle_y = 0.99 * (angle_y + accel_y * dt) + 0.01 * angle_y;
        angle_z = 0.99 * (angle_z + accel_z * dt) + 0.01 * angle_z;

        // 计算位移量
        distance_x += angle_x * dt;
        distance_y += angle_y * dt;
        distance_z += angle_z * dt;

        gyro_x_old = gyro_x;
        gyro_y_old = gyro_y;
        gyro_z_old = gyro_z;
        accel_x_old = accel_x;
        accel_y_old = accel_y;
        accel_z_old = accel_z;
    }
}

在上述代码中，MPU6050_Init()函数用于初始化I2C接口，MPU6050_Read()函数用于读取MPU6050数据。计算角度和位移量的代码在主函数中。其中，dt为采样时间，可以根据自己的需求进行调整。这份代码只是一个示例，需要根据实际情况进行修改和完善。