Gy521与MPU6050深度整合：打造精准运动追踪的秘密武器

HAL库 && MPU6050

HAL库 MPU6050的使用：今天在本教程中，我们将使用STM32接口MPU6050（GY-521）加速度计陀螺仪。同时，我将在PC上利用串口显示这些值，陀螺仪将通过I2C1连接。我用的是STM32F411RE NUCLEO板。您将用到CubeMX && KEIL5

我们将用到：

1. LED用于闪烁判断程序正常运行
2. UART2用于发送数据至PC
3. I2C用于读取MPU6050数据

代码结构

1. 我们将重定义 fputc 函数，用于串口显示
2. MPU6050初始化函数，加速度、角速度、温度初始值读取及处理函数
3. 主程序调用以上函数并向PC发送，以及LED状态显示

一些链接

1. 做了一个全流程视频置于B站，涉及CubeMX的配置、代码编写以及一些寄存器地址的获取，如有需要请前往观看。链接：
2. 整体工程已打包至BaiDu网盘，链接：链接：
   提取码：5zx4
   复制这段内容后打开百度网盘手机App，操作更方便哦–来自百度网盘超级会员V3的分享

主程序

/* USER CODE BEGIN Header *//**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  *//* USER CODE END Header *//* Includes ------------------------------------------------------------------*/
#include "main.h"/* Private includes ----------------------------------------------------------*//* USER CODE BEGIN Includes */
#include "stdio.h"/* USER CODE END Includes *//* Private typedef -----------------------------------------------------------*//* USER CODE BEGIN PTD *//* USER CODE END PTD *//* Private define ------------------------------------------------------------*//* USER CODE BEGIN PD *//* USER CODE END PD *//* Private macro -------------------------------------------------------------*//* USER CODE BEGIN PM *//* USER CODE END PM *//* Private variables ---------------------------------------------------------*/
I2C_HandleTypeDef hi2c1;
UART_HandleTypeDef huart2;/* USER CODE BEGIN PV *//* USER CODE END PV *//* Private function prototypes -----------------------------------------------*/voidSystemClock_Config(void);staticvoidMX_GPIO_Init(void);staticvoidMX_I2C1_Init(void);staticvoidMX_USART2_UART_Init(void);/* USER CODE BEGIN PFP *//* USER CODE END PFP *//* Private user code ---------------------------------------------------------*//* USER CODE BEGIN 0 */
#define MPU6050_ADDR0xD0
#define SMPLRT_DIV_REG0x19
#define GYRO_CONFIG_REG0x1B
#define ACCEL_CONFIG_REG0x1c
#define ACCEL_XOUT_H_REG0x3B
#define TEMP_OUT_H_REG0x41
#define GYRO_XOUT_H_REG0x43
#define PWR_MGMT_1_REG0x6B
#define WHO_AM_I_REG0x75
int16_t Accel_X_RAW =0;
int16_t Accel_Y_RAW =0;
int16_t Accel_Z_RAW =0;
int16_t Gyro_X_RAW =0;
int16_t Gyro_Y_RAW =0;
int16_t Gyro_Z_RAW =0;
int16_t Temp_RAW =0;
float Ax,Ay,Az,Gx,Gy,Gz,Temp;voidMPU6050_Init(void){
   
   
	uint8_t check,Data;// check device ID WHO_AM_IHAL_I2C_Mem_Read(&hi2c1 ,MPU6050_ADDR,WHO_AM_I_REG,1,&check ,1,1000);if(check ==104)//if the device is present{
   
   //power management register 0x6B we should write all 0's to wake the sensor up
		Data =0;HAL_I2C_Mem_Write(&hi2c1 ,MPU6050_ADDR,PWR_MGMT_1_REG,1,&Data ,1,1000);//Set DATA RATE of 1KHz by writing SMPLRT_DIV register
		Data =0x0