stm32mpu6050加速度计数据读取

如果你使用的是STM32芯片，那么可以通过I2C接口读取MPU6050加速度计数据。下面是一个示例代码：

1. 初始化I2C接口

void I2C_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  
  /* Enable I2C GPIO clocks */
  __HAL_RCC_GPIOB_CLK_ENABLE();
  
  /* Configure I2C GPIOs */
  GPIO_InitStruct.Pin       = GPIO_PIN_8 | GPIO_PIN_9;
  GPIO_InitStruct.Mode      = GPIO_MODE_AF_OD;
  GPIO_InitStruct.Pull      = GPIO_PULLUP;
  GPIO_InitStruct.Speed     = GPIO_SPEED_FREQ_HIGH;
  GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
  
  /* Enable I2C clock */
  __HAL_RCC_I2C1_CLK_ENABLE();
  
  /* Configure I2C */
  hi2c1.Instance             = I2C1;
  hi2c1.Init.Timing          = 0x00707CBB;
  hi2c1.Init.OwnAddress1     = 0;
  hi2c1.Init.AddressingMode  = I2C_ADDRESSINGMODE_7BIT;
  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c1.Init.OwnAddress2     = 0;
  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c1.Init.NoStretchMode   = I2C_NOSTRETCH_DISABLE;
  HAL_I2C_Init(&hi2c1);
}

2. 初始化MPU6050

void MPU6050_Init(void)
{
  uint8_t data;
  
  /* Wake up MPU6050 */
  data = 0x00;
  HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, 0x6B, 1, &data, 1, 1000);
  
  /* Set sample rate divider to 0 */
  data = 0x00;
  HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, 0x19, 1, &data, 1, 1000);
  
  /* Set gyro full scale range to +/- 2000 deg/s */
  data = 0x18;
  HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, 0x1B, 1, &data, 1, 1000);
  
  /* Set accelerometer full scale range to +/- 16g */
  data = 0x18;
  HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, 0x1C, 1, &data, 1, 1000);
}

3. 读取加速度计数据

void MPU6050_ReadAccel(int16_t *accel)
{
  uint8_t data[6];
  
  /* Read accelerometer data */
  HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, 0x3B, 1, data, 6, 1000);
  
  /* Convert data to signed 16-bit integers */
  accel[0] = (int16_t)((data[0] << 8) | data[1]);
  accel[1] = (int16_t)((data[2] << 8) | data[3]);
  accel[2] = (int16_t)((data[4] << 8) | data[5]);
}

以上代码仅供参考，具体实现可能需要根据实际情况进行调整。另外，MPU6050的数据手册中包含了详细的寄存器配置和数据格式说明，可以帮助你更好地理解和使用该设备。