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void MPU6050_INIT ()
{
HAL_Delay(100);
uint8_t SendAddress = 0x68;
uint8_t SendData = 0x00; //解除休眠
HAL_I2C_Mem_Write (&hi2c1,0x68, SendAddress, 1, &SendData, 1, 0xff) ;
SendAddress = 0x19;
SendData = 0x07; //采樣率分頻器
HAL_I2C_Mem_Write (&hi2c1,0x68, SendAddress, 1, &SendData, 1,0xff);
SendAddress = 0x1A; //低通濾波器
SendData = 0x06;
HAL_I2C_Mem_Write (&hi2c1, 0x68,SendAddress, 1, &SendData, 1, 0xff);
SendAddress = 0x1B; //陀螺儀
SendData = 0x08;//±500°/s
HAL_I2C_Mem_Write (&hi2c1,0x68, SendAddress,1, &SendData, 1,0xff);
SendAddress = 0x1C; //加速度計
SendData = 0x00;//±2g
HAL_I2C_Mem_Write(&hi2c1, 0x68, SendAddress, 1, &SendData, 1, 0xff);
}
int main(void)
{
...
MX_GPIO_Init();
MX_I2C1_Init();
HAL_Delay(200);
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
uint8_t MPU_DATA[14]={0};
uint8_t StartAddress=0x3B;
double ACCEL_XOUT = 0.0,ACCEL_YOUT=0.0,ACCEL_ZOUT=0.0;
double GYR0_XOUT = 0.0,GYR0_YOUT = 0.0,GYR0_ZOUT = 0.0;
MPU6050_INIT();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
HAL_I2C_Mem_Read (&hi2c1, 0x68, StartAddress, I2C_MEMADD_SIZE_8BIT,MPU_DATA, 14, 50);
float Temp = (MPU_DATA[6]<<8)|MPU_DATA[7];
if(Temp >32768) Temp-=65536;
Temp = (36.53+ Temp/340);
short int ACCEL_XOUT1 = (( MPU_DATA[0]<<8) | MPU_DATA[1]);ACCEL_XOUT = (double)ACCEL_XOUT1/16384;
short int ACCEL_YOUT1 = (( MPU_DATA[2]<<8) | MPU_DATA[3]);ACCEL_XOUT =(double)ACCEL_YOUT1/16384;
short int ACCEL_ZOUT1 = (( MPU_DATA[4]<<8) | MPU_DATA[5]);ACCEL_ZOUT = (double)ACCEL_ZOUT1/16384;
short int GYRO_XOUT1= ((MPU_DATA[8]<<8) | MPU_DATA[9]);GYR0_XOUT = (double)GYRO_XOUT1/65.5;
short int GYRO_YOUT1=((MPU_DATA[10]<<8) | MPU_DATA[11]);GYR0_YOUT = (double)GYRO_YOUT1/65.5;
short int GYRO_ZOUT1= ((MPU_DATA[12]<<8) | MPU_DATA[13]);GYR0_ZOUT = (double)GYRO_ZOUT1/65.5;
printf("temp= %0.2f" ,Temp);
printf("X= %0.2f,y=%0.2f,z=%0.2f," ,ACCEL_XOUT,ACCEL_YOUT,ACCEL_ZOUT);
printf("X= %0.2f,y=%0.2f,z=%0.2f," ,GYR0_XOUT,GYR0_YOUT,GYR0_ZOUT);
printf("\r\n");
HAL_Delay(200);

復制代碼

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