stm32mpu6050加速度计数据读取

对于STM32 MPU6050加速度计数据读取，您可以通过I2C总线读取MPU6050的数据寄存器。下面是一个简单的代码示例，可以帮助您开始：

#include "stm32f4xx.h"
#include "stm32f4xx_i2c.h"

#define MPU6050_ADDRESS     0xD0
#define MPU6050_PWR_MGMT_1  0x6B
#define MPU6050_ACCEL_XOUT_H 0x3B

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

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);

    GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_I2C1);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_I2C1);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
    I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
    I2C_InitStructure.I2C_OwnAddress1 = 0x00;
    I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
    I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
    I2C_InitStructure.I2C_ClockSpeed = 400000;
    I2C_Init(I2C1, &I2C_InitStructure);

    I2C_Cmd(I2C1, ENABLE);
}

void MPU6050_Init(void)
{
    uint8_t txData[2];

    // Wake up MPU6050
    txData[0] = MPU6050_PWR_MGMT_1;
    txData[1] = 0x00;
    I2C_WriteBytes(MPU6050_ADDRESS, txData, 2);
}

void MPU6050_ReadAccel(int16_t accel[3])
{
    uint8_t rxData[6];
    uint8_t txData[1] = {MPU6050_ACCEL_XOUT_H};
    I2C_WriteReadBytes(MPU6050_ADDRESS, txData, 1, rxData, 6);

    accel[0] = (int16_t)(rxData[0] << 8 | rxData[1]);
    accel[1] = (int16_t)(rxData[2] << 8 | rxData[3]);
    accel[2] = (int16_t)(rxData[4] << 8 | rxData[5]);
}

int main(void)
{
    int16_t accel[3];

    I2C_Configuration();
    MPU6050_Init();

    while (1)
    {
        MPU6050_ReadAccel(accel);

        // Do something with the accelerometer data
    }
}

在上面的代码中，`I2C_Configuration()`函数初始化了I2C总线，`MPU6050_Init()`函数将MPU6050唤醒以开始读取数据，`MPU6050_ReadAccel()`函数读取了加速度计的数据，将其存储在`accel`数组中。您可以使用`accel`数组中的数据做任何您需要的事情。