写一段基于stc32芯片上将mpu6050原始数据转换成角度并在OLED模块上显示的C语言代码

好的，以下是一份基于stc32芯片将mpu6050原始数据转换成角度并在OLED模块上显示的C语言代码，仅供参考：

#include <reg52.h>
#include <intrins.h>
#include <stdio.h>
#include "oled.h"

#define MPU6050_ADDR 0xD0
#define MPU6050_SMPLRT_DIV 0x19
#define MPU6050_CONFIG 0x1A
#define MPU6050_GYRO_CONFIG 0x1B
#define MPU6050_ACCEL_CONFIG 0x1C
#define MPU6050_ACCEL_XOUT_H 0x3B
#define MPU6050_ACCEL_XOUT_L 0x3C
#define MPU6050_ACCEL_YOUT_H 0x3D
#define MPU6050_ACCEL_YOUT_L 0x3E
#define MPU6050_ACCEL_ZOUT_H 0x3F
#define MPU6050_ACCEL_ZOUT_L 0x40
#define MPU6050_GYRO_XOUT_H 0x43
#define MPU6050_GYRO_XOUT_L 0x44
#define MPU6050_GYRO_YOUT_H 0x45
#define MPU6050_GYRO_YOUT_L 0x46
#define MPU6050_GYRO_ZOUT_H 0x47
#define MPU6050_GYRO_ZOUT_L 0x48

sbit SCL=P1^6;
sbit SDA=P1^7;

int16_t Accel_X, Accel_Y, Accel_Z, Gyro_X, Gyro_Y, Gyro_Z;
float Accel_Xangle, Accel_Yangle;
float Gyro_Xangle, Gyro_Yangle, Gyro_Zangle;
float CFangle_X, CFangle_Y;

void delay_ms(unsigned int ms)
{
    unsigned int i,j;
    for(i=0;i<ms;i++)
    {
        for(j=0;j<114;j++);
    }
}

unsigned char IIC_Start()
{
    unsigned char i = 0;
    SDA = 1;
    SCL = 1;
    _nop_();
    _nop_();
    _nop_();
    _nop_();
    SDA = 0;
    _nop_();
    _nop_();
    _nop_();
    _nop_();
    SCL = 0;
    _nop_();
    _nop_();
    _nop_();
    _nop_();
    return 0;
}

unsigned char IIC_Stop()
{
    SDA = 0;
    SCL = 1;
    _nop_();
    _nop_();
    _nop_();
    _nop_();
    SDA = 1;
    _nop_();
    _nop_();
    _nop_();
    _nop_();
    return 0;
}

unsigned char IIC_Wait_Ack()
{
    unsigned char i = 0;
    SDA = 1;
    _nop_();
    _nop_();
    _nop_();
    _nop_();
    SCL = 1;
    _nop_();
    _nop_();
    _nop_();
    _nop_();
    while(SDA)
    {
        i++;
        if(i>250)
        {
            IIC_Stop();
            return 1;
        }
    }
    SCL = 0;
    _nop_();
    _nop_();
    _nop_();
    _nop_();
    return 0;
}

unsigned char IIC_Send_Byte(unsigned char txd)
{
    unsigned char t;
    for(t=0;t<8;t++)
    {
        SDA = ((txd&0x80)>>7);
        txd <<= 1;
        _nop_();
        _nop_();
        _nop_();
        _nop_();
        SCL = 1;
        _nop_();
        _nop_();
        _nop_();
        _nop_();
        SCL = 0;
        _nop_();
        _nop_();
        _nop_();
        _nop_();
    }
    return 0;
}

unsigned char IIC_Read_Byte(unsigned char ack)
{
    unsigned char i, receive = 0;
    for(i=0;i<8;i++)
    {
        SCL = 1;
        _nop_();
        _nop_();
        _nop_();
        _nop_();
        receive <<= 1;
        receive |= SDA;
        SCL = 0;
        _nop_();
        _nop_();
        _nop_();
        _nop_();
    }
    if(ack)
    {
        SDA = 1;
    }
    else
    {
        SDA = 0;
    }
    SCL = 1;
    _nop_();
    _nop_();
    _nop_();
    _nop_();
    SCL = 0;
    _nop_();
    _nop_();
    _nop_();
    _nop_();
    return receive;
}

void IIC_Write_OneByte(unsigned char daddr, unsigned char addr, unsigned char data)
{
    IIC_Start();
    IIC_Send_Byte(daddr);
    IIC_Wait_Ack();
    IIC_Send_Byte(addr);
    IIC_Wait_Ack();
    IIC_Send_Byte(data);
    IIC_Wait_Ack();
    IIC_Stop();
}

unsigned char IIC_Read_OneByte(unsigned char daddr, unsigned char addr)
{
    unsigned char res = 0;
    IIC_Start();
    IIC_Send_Byte(daddr);
    IIC_Wait_Ack();
    IIC_Send_Byte(addr);
    IIC_Wait_Ack();
    IIC_Start();
    IIC_Send_Byte(daddr+1);
    IIC_Wait_Ack();
    res = IIC_Read_Byte(0);
    IIC_Stop();
    return res;
}

void Init_MPU6050()
{
    IIC_Write_OneByte(MPU6050_ADDR, MPU6050_SMPLRT_DIV, 0x07);
    IIC_Write_OneByte(MPU6050_ADDR, MPU6050_CONFIG, 0x06);
    IIC_Write_OneByte(MPU6050_ADDR, MPU6050_GYRO_CONFIG, 0x18);
    IIC_Write_OneByte(MPU6050_ADDR, MPU6050_ACCEL_CONFIG, 0x01);
}

void Get_MPU6050_Data()
{
    Accel_X = (int16_t)((IIC_Read_OneByte(MPU6050_ADDR, MPU6050_ACCEL_XOUT_H)<<8)|IIC_Read_OneByte(MPU6050_ADDR, MPU6050_ACCEL_XOUT_L));
    Accel_Y = (int16_t)((IIC_Read_OneByte(MPU6050_ADDR, MPU6050_ACCEL_YOUT_H)<<8)|IIC_Read_OneByte(MPU6050_ADDR, MPU6050_ACCEL_YOUT_L));
    Accel_Z = (int16_t)((IIC_Read_OneByte(MPU6050_ADDR, MPU6050_ACCEL_ZOUT_H)<<8)|IIC_Read_OneByte(MPU6050_ADDR, MPU6050_ACCEL_ZOUT_L));
    Gyro_X = (int16_t)((IIC_Read_OneByte(MPU6050_ADDR, MPU6050_GYRO_XOUT_H)<<8)|IIC_Read_OneByte(MPU6050_ADDR, MPU6050_GYRO_XOUT_L));
    Gyro_Y = (int16_t)((IIC_Read_OneByte(MPU6050_ADDR, MPU6050_GYRO_YOUT_H)<<8)|IIC_Read_OneByte(MPU6050_ADDR, MPU6050_GYRO_YOUT_L));
    Gyro_Z = (int16_t)((IIC_Read_OneByte(MPU6050_ADDR, MPU6050_GYRO_ZOUT_H)<<8)|IIC_Read_OneByte(MPU6050_ADDR, MPU6050_GYRO_ZOUT_L));
}

void Complementary_Filter()
{
    Gyro_Xangle += (float)Gyro_X/131.0*0.00035;
    Gyro_Yangle += (float)Gyro_Y/131.0*0.00035;
    Gyro_Zangle += (float)Gyro_Z/131.0*0.00035;

    Accel_Xangle = atan2(Accel_Y,Accel_Z)*57.3;
    Accel_Yangle = atan2(Accel_X,Accel_Z)*57.3;

    CFangle_X = 0.98*(CFangle_X+Gyro_Xangle)+0.02*Accel_Xangle;
    CFangle_Y = 0.98*(CFangle_Y+Gyro_Yangle)+0.02*Accel_Yangle;
}

void main()
{
    unsigned char i;

    OLED_Init();
    Init_MPU6050();

    while(1)
    {
        Get_MPU6050_Data();
        Complementary_Filter();

        OLED_Clear();
        OLED_ShowString(0,0,"MPU6050 Angle:");
        OLED_ShowString(0,2,"X:");
        OLED_ShowString(30,2,"Y:");
        OLED_ShowString(0,4,"CFangle_X:");
        OLED_ShowString(0,6,"CFangle_Y:");

        sprintf((char*)buf,"%d",(int)Accel_Xangle);
        OLED_ShowString(12,2,buf);

        sprintf((char*)buf,"%d",(int)Accel_Yangle);
        OLED_ShowString(42,2,buf);

        sprintf((char*)buf,"%d",(int)CFangle_X);
        OLED_ShowString(60,4,buf);

        sprintf((char*)buf,"%d",(int)CFangle_Y);
        OLED_ShowString(60,6,buf);

        delay_ms(100);
    }
}

需要注意的是，以上代码仅供参考，具体应用中需要针对实际情况进行修改和调试。