stm32mpu6050得到欧拉角完整代码

当使用STM32与MPU6050传感器进行欧拉角测量时，你可以使用以下代码作为参考：

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

#define MPU6050_ADDRESS 0xD0
#define PI 3.14159265359

I2C_HandleTypeDef hi2c1;

void MPU6050_Init(void);
void MPU6050_Read_Accel(float Accel_X, float* Accel_Y, float* Accel_Z);
void MPU6050_Read_Gyro(float* Gyro_X, float* Gyro_Y, float* Gyro_Z);
void MPU6050_Calculate_Euler(float Accel_X, float Accel_Y, float Accel_Z, float Gyro_X, float Gyro_Y, float Gyro_Z, float* Roll, float* Pitch, float* Yaw);

int main(void)
{
    HAL_Init();
    SystemClock_Config();

    MPU6050_Init();

    float Accel_X, Accel_Y, Accel_Z;
    float Gyro_X, Gyro_Y, Gyro_Z;
    float Roll, Pitch, Yaw;

    while (1)
    {
        MPU6050_Read_Accel(&Accel_X, &Accel_Y, &Accel_Z);
        MPU6050_Read_Gyro(&Gyro_X, &Gyro_Y, &Gyro_Z);

        MPU6050_Calculate_Euler(Accel_X, Accel_Y, Accel_Z, Gyro_X, Gyro_Y, Gyro_Z, &Roll, &Pitch, &Yaw);

        printf("Roll: %.2f degrees\n", Roll);
        printf("Pitch: %.2f degrees\n", Pitch);
        printf("Yaw: %.2f degrees\n", Yaw);

        HAL_Delay(1000);
    }
}

void MPU6050_Init(void)
{
    // 初始化I2C总线
    hi2c1.Instance = I2C1;
    hi2c1.Init.ClockSpeed = 400000;
    hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
    hi2c1.Init.OwnAddress1 = 0;
    hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
    hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
    hi2c1.Init.OwnAddress2 = 0;
    hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
    hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
    HAL_I2C_Init(&hi2c1);

    // 初始化MPU6050
    uint8_t init_data;
    init_data = 0x6B; // PWR_MGMT_1寄存器地址
    init_data = 0x00; // 唤醒MPU6050
    HAL_I2C_Master_Transmit(&hi2c1, MPU6050_ADDRESS, init_data, 2, 100);
}

void MPU6050_Read_Accel(float* Accel_X, float* Accel_Y, float* Accel_Z)
{
    uint8_t accel_data;
    int16_t raw_accel;

    // 读取加速度计数据
    uint8_t accel_reg = 0x3B; // 加速度计数据寄存器地址
    HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDRESS, accel_reg, 1, accel_data, 6, 100);

    // 将原始数据转换为加速度值
    raw_accel = (accel_data << 8) | accel_data;
    raw_accel = (accel_data << 8) | accel_data;
    raw_accel = (accel_data << 8) | accel_data;

    *Accel_X = raw_accel / 16384.0;
    *Accel_Y = raw_accel / 16384.0;
    *Accel_Z = raw_accel / 16384.0;
}

void MPU6050_Read_Gyro(float* Gyro_X, float* Gyro_Y, float* Gyro_Z)
{
    uint8_t gyro_data;
    int16_t raw_gyro;

    // 读取陀螺仪数据
    uint8_t gyro_reg = 0x43; // 陀螺仪数据寄存器地址
    HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDRESS, gyro_reg, 1, gyro_data, 6, 100);

    // 将原始数据转换为角速度值
    raw_gyro = (gyro_data << 8) | gyro_data;
    raw_gyro[1] = (gyro_data << 8) | gyro_data;
    raw_gyro = (gyro_data << 8) | gyro_data;

    *Gyro_X = raw_gyro[0] / 131.0;
    *Gyro_Y = raw_gyro / 131.0;
    *Gyro_Z = raw_gyro / 131.0;
}

void MPU6050_Calculate_Euler(float Accel_X, float Accel_Y, float Accel_Z, float Gyro_X, float Gyro_Y, float Gyro_Z, float* Roll, float* Pitch, float* Yaw)
{
    // 计算加速度计的欧拉角
    *Roll = atan2(Accel_Y, sqrt(Accel_X * Accel_X + Accel_Z * Accel_Z)) * 180.0 / PI;
    *Pitch = atan2(-Accel_X, sqrt(Accel_Y * Accel_Y + Accel_Z * Accel_Z)) * 180.0 / PI;

    // 计算陀螺仪的欧拉角增量
    float dt = 1.0; // 假设采样时间为1秒
    float gyro_x_delta = Gyro_X * dt;
    float gyro_y_delta = Gyro_Y * dt;
    float gyro_z_delta = Gyro_Z * dt;

    // 更新欧拉角
    *Roll += gyro_x_delta;
    *Pitch += gyro_y_delta;
    *Yaw += gyro_z_delta;
}

请注意，这只是一个简单的示例代码，你可能需要根据你的具体硬件和需求进行适当的修改。此外，你还需要在STM32的工程中添加相应的库文件和配置I2C接口。