STM32F407 MUP6050解算欧拉角代码

以下是一个简单的代码示例，用于在STM32F407上使用MUP6050解算欧拉角：

#include "stm32fxx.h"
#include "math.h"

#define PI 3.14159265358979323846f

void MPU6050_ReadData(uint8_t reg, uint8_t *data, uint8_t len);
void MPU6050_WriteData(uint8_t reg, uint8_t data);

int16_t Accel_X, Accel_Y, Accel_Z;
int16_t Gyro_X, Gyro_Y, Gyro_Z;
float Ax, Ay, Az, Gx, Gy, Gz;

float roll, pitch, yaw;

void MPU6050_Init(void)
{
    // Initialize MPU6050
    MPU6050_WriteData(0x6B, 0x00); // PWR_MGMT_1 Register
    MPU6050_WriteData(0x1B, 0x08); // ACCEL_CONFIG Register
    MPU6050_WriteData(0x1C, 0x08); // GYRO_CONFIG Register
}

void MPU6050_ReadData(uint8_t reg, uint8_t *data, uint8_t len)
{
    // Read data from MPU6050
}

void MPU6050_WriteData(uint8_t reg, uint8_t data)
{
    // Write data to MPU6050
}

void MPU6050_GetRawData(void)
{
    uint8_t data[14];

    MPU6050_ReadData(0x3B, data, 14);

    Accel_X = ((int16_t)data[0] << 8) | data[1];
    Accel_Y = ((int16_t)data[2] << 8) | data[3];
    Accel_Z = ((int16_t)data[4] << 8) | data[5];
    Gyro_X = ((int16_t)data[8] << 8) | data[9];
    Gyro_Y = ((int16_t)data[10] << 8) | data[11];
    Gyro_Z = ((int16_t)data[12] << 8) | data[13];

    Ax = Accel_X / 16384.0f;
    Ay = Accel_Y / 16384.0f;
    Az = Accel_Z / 16384.0f;
    Gx = Gyro_X / 131.0f;
    Gy = Gyro_Y / 131.0f;
    Gz = Gyro_Z / 131.0f;
}

void MPU6050_GetEulerAngles(void)
{
    float Accel_Angle_X, Accel_Angle_Y, Accel_Angle_Z;
    float Gyro_Angle_X, Gyro_Angle_Y, Gyro_Angle_Z;
    float dt = 0.01f;

    Accel_Angle_X = atan(Ay / sqrt(Ax*Ax + Az*Az)) * 180.0f / PI;
    Accel_Angle_Y = atan(-Ax / sqrt(Ay*Ay + Az*Az)) * 180.0f / PI;
    Accel_Angle_Z = 0.0f;

    Gyro_Angle_X = roll + Gx*dt;
    Gyro_Angle_Y = pitch + Gy*dt;
    Gyro_Angle_Z = yaw + Gz*dt;

    roll = 0.98f*Gyro_Angle_X + 0.02f*Accel_Angle_X;
    pitch = 0.98f*Gyro_Angle_Y + 0.02f*Accel_Angle_Y;
    yaw = Gyro_Angle_Z;
}

int main(void)
{
    MPU6050_Init();

    while (1)
    {
        MPU6050_GetRawData();
        MPU6050_GetEulerAngles();
    }
}

该代码从MPU6050读取原始加速度计和陀螺仪数据，并使用这些数据计算出滤波后的欧拉角。注意，此代码仅适用于使用MPU6050的STM32F407芯片。如果您使用不同的硬件，请相应地修改代码。