基于HAL库,MPU6050得到欧拉角的函数
时间: 2023-06-18 15:03:04 浏览: 130
以下是基于HAL库,使用MPU6050获取欧拉角的函数示例:
```c
#include "stm32f4xx_hal.h"
#include "math.h"
#define PI 3.14159265358979323846f
I2C_HandleTypeDef hi2c1;
float acc_x, acc_y, acc_z;
float gyro_x, gyro_y, gyro_z;
float roll, pitch, yaw;
void MPU6050_GetData(void)
{
uint8_t i2c_data[14];
int16_t acc_raw[3], gyro_raw[3];
float acc_scale = 16384.0f; // accelerometer sensitivity: 1g = 16384 LSB
float gyro_scale = 131.0f; // gyroscope sensitivity: 1 degree/s = 131 LSB
HAL_I2C_Mem_Read(&hi2c1, 0xD0, 0x3B, 1, i2c_data, 14, 1000); // read 14 bytes starting from register 0x3B
acc_raw[0] = (i2c_data[0] << 8) | i2c_data[1];
acc_raw[1] = (i2c_data[2] << 8) | i2c_data[3];
acc_raw[2] = (i2c_data[4] << 8) | i2c_data[5];
gyro_raw[0] = (i2c_data[8] << 8) | i2c_data[9];
gyro_raw[1] = (i2c_data[10] << 8) | i2c_data[11];
gyro_raw[2] = (i2c_data[12] << 8) | i2c_data[13];
acc_x = (float)acc_raw[0] / acc_scale;
acc_y = (float)acc_raw[1] / acc_scale;
acc_z = (float)acc_raw[2] / acc_scale;
gyro_x = (float)gyro_raw[0] / gyro_scale;
gyro_y = (float)gyro_raw[1] / gyro_scale;
gyro_z = (float)gyro_raw[2] / gyro_scale;
}
void MPU6050_GetAngles(void)
{
MPU6050_GetData();
// calculate roll and pitch angles from accelerometer readings
roll = atan2(acc_y, acc_z) * 180.0f / PI;
pitch = atan2(-acc_x, sqrt(acc_y * acc_y + acc_z * acc_z)) * 180.0f / PI;
// calculate yaw angle from gyroscope readings
yaw += gyro_z * 0.01f; // 0.01 is the sampling time in seconds
if (yaw > 180.0f) yaw -= 360.0f;
if (yaw < -180.0f) yaw += 360.0f;
}
```
在该示例中,我们使用了STM32F4的HAL库来控制I2C总线,读取MPU6050的数据。其中,`MPU6050_GetData`函数读取MPU6050的加速度计和陀螺仪数据,然后将其转换为实际的加速度值和角速度值。`MPU6050_GetAngles`函数使用加速度计数据计算出俯仰角和横滚角,并使用陀螺仪数据计算出偏航角。最终的欧拉角是由这三个角度组成的。需要注意的是,在计算偏航角时,需要考虑到积分的时间间隔,以避免积分误差的累积。
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