stm32 控制陀螺仪测量角度‘’

在STM32控制陀螺仪测量角度的过程中，一般会使用SPI或者I2C接口来读取陀螺仪的数据。以下是一个简单的示例代码，以I2C接口为例：

#include "stm32f4xx.h"
#include "math.h"

#define GYRO_ADDRESS 0xD0

#define GYRO_X_LSB 0x44
#define GYRO_X_MSB 0x43
#define GYRO_Y_LSB 0x46
#define GYRO_Y_MSB 0x45
#define GYRO_Z_LSB 0x48
#define GYRO_Z_MSB 0x47

#define PI 3.14159265358979323846f
#define GYRO_SENSITIVITY 131.0f

float gyro_x, gyro_y, gyro_z;
float roll, pitch, yaw;

void I2C_Init(void)
{
    // 初始化I2C所需的GPIO引脚
    // ...

    // 初始化I2C外设
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
    I2C_InitTypeDef I2C_InitStruct;
    I2C_InitStruct.I2C_ClockSpeed = 400000;
    I2C_InitStruct.I2C_Mode = I2C_Mode_I2C;
    I2C_InitStruct.I2C_DutyCycle = I2C_DutyCycle_2;
    I2C_InitStruct.I2C_OwnAddress1 = 0x00;
    I2C_InitStruct.I2C_Ack = I2C_Ack_Enable;
    I2C_InitStruct.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
    I2C_Init(I2C1, &I2C_InitStruct);
    I2C_Cmd(I2C1, ENABLE);
}

void I2C_ReadBytes(uint8_t addr, uint8_t reg, uint8_t* data, uint8_t len)
{
    while (I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY))
        ;

    I2C_GenerateSTART(I2C1, ENABLE);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT))
        ;

    I2C_Send7bitAddress(I2C1, addr, I2C_Direction_Transmitter);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED))
        ;

    I2C_SendData(I2C1, reg);
    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, addr, I2C_Direction_Receiver);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED))
        ;

    for (uint8_t i = 0; i < len; i++)
    {
        if (i == len - 1)
        {
            I2C_AcknowledgeConfig(I2C1, DISABLE);
            I2C_GenerateSTOP(I2C1, ENABLE);
        }

        while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED))
            ;

        data[i] = I2C_ReceiveData(I2C1);
    }

    I2C_AcknowledgeConfig(I2C1, ENABLE);
}

void MPU6050_Init(void)
{
    // 初始化MPU6050
    // ...

    // 配置陀螺仪的量程
    uint8_t data;
    I2C_ReadBytes(GYRO_ADDRESS, 0x1B, &data, 1);
    data &= 0xE7;
    data |= (0x03 << 3);
    I2C_SendBytes(GYRO_ADDRESS, 0x1B, &data, 1);
}

void MPU6050_GetGyro(void)
{
    uint8_t data[6];
    I2C_ReadBytes(GYRO_ADDRESS, GYRO_X_LSB, data, 6);

    int16_t raw_x = (int16_t)(data[0] | (data[1] << 8));
    int16_t raw_y = (int16_t)(data[2] | (data[3] << 8));
    int16_t raw_z = (int16_t)(data[4] | (data[5] << 8));

    gyro_x = (float)raw_x / GYRO_SENSITIVITY * PI / 180.0f;
    gyro_y = (float)raw_y / GYRO_SENSITIVITY * PI / 180.0f;
    gyro_z = (float)raw_z / GYRO_SENSITIVITY * PI / 180.0f;
}

void MPU6050_GetAngles(void)
{
    roll = atan2(gyro_y, gyro_z) * 180.0f / PI;
    pitch = atan2(-gyro_x, sqrt(gyro_y * gyro_y + gyro_z * gyro_z)) * 180.0f / PI;
    yaw += gyro_z * 0.01f;
}

int main(void)
{
    // 初始化系统和GPIO
    // ...

    I2C_Init();
    MPU6050_Init();

    while (1)
    {
        MPU6050_GetGyro();
        MPU6050_GetAngles();

        // 处理角度数据
        // ...
    }
}

这段代码中，我们使用了I2C接口来读取MPU6050陀螺仪的数据，将其转换为角度值后进行处理。需要注意的是，陀螺仪的数据存在漂移等误差，因此需要进行滤波和校准。具体的算法可以根据实际情况进行选择。