STM32读取MPU6050陀螺仪

目录

一、硬件设计

1、模块说明

2、电气原理图

二、程序设计

1、工程创建

2、程序设计

（1）main程序

（2）IIC初始化

（3）串口1配置

 （4）MPU6050初始化

（5）MPU6050角度状态获取

 三、测试

四、工程下载连接

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一、硬件设计

1、模块说明

STM32芯片型号：STM32C8T6

陀螺仪：MPU6050，使用I²C和CPU通讯，通讯引脚PB8、PB9

串口1对外通讯：引脚PA9、PA10

串口3接蓝牙通讯：引脚PB10、PB11

2、电气原理图

硬件设备

二、程序设计

1、工程创建

创建程序工程对应型号的单片机，在工程中添加下列文件夹

 在工程根目录下添加下来文件夹，文件夹中添加相应的配置文件。

模板工程创建可以参加教程：STM32笔记1-库函数模板工程创建_Big_潘大师的博客-CSDN博客_site:csdn.net

这里提供一个创建好的模板STM32F103C8(LED灯闪烁运行指示)

https://download.csdn.net/download/panjinliang066333/86753318

User：用户程序，运行Main程序

App：各个功能块程序

Public：公用的程序

Startup：放置启动文件

StdPeriph_Driver：存储系统库文件

MPU DMP：陀螺仪库文件

2、程序设计

（1）main程序

#include "system.h"
#include "SysTick.h"
#include "SysDelay.h"
#include "led.h"
#include "i2c.h"
#include "mpu6050.h"
#include "usart.h"


int main()
{
	u8 count=0;
	u16 i=0;	
	
	SystemInit();                   		//系统初始化	
	SysDelay_Init(72);						//自定义延时函数初始化
	LED_Init();
	USART1_Config();						//串口1初始化
	USART3_Config();						//串口3初始化-接蓝牙
	i2cInit();							   	//IIC初始化
	SysDelay_ms(10);						//10毫秒延时
	MPU6050_Init();						   	//MPU6050 DMP陀螺仪初始化
	while(1)
	{
		//LED闪烁
		if(i%500==0)
		{
			led1=!led1;
		}
		
		//2秒执行一次
		if(i%2000==0)
		{
			count++;
			printf("count:%d \r\n",count);
			printf("Pitch: %.2f ,Roll: %.2f,Yaw: %.2f \r\n",Pitch,Roll,Yaw);			//Pitch,Roll,Yaw数据串口传递						
		}
		/*获取MPU6050角度状态*/
		//在串口数据发送之后执行
		MPU6050_Pose();							//Pitch翻滚，Roll俯仰，Yaw偏航
		
		SysDelay_ms(1);							//1毫秒延时
		i++;
	}
}

（2）IIC初始化

void i2cInit(void)
{
    GPIO_InitTypeDef gpio;
	//ÒѸü¸Ä
	  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB , ENABLE);    
    gpio.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9;
    gpio.GPIO_Speed = GPIO_Speed_2MHz;
    gpio.GPIO_Mode = GPIO_Mode_Out_OD;
    GPIO_Init(GPIOB, &gpio);

}

（3）串口1配置

void USART1_Config(void)
{
	GPIO_InitTypeDef GPIO_InitStructure;
	USART_InitTypeDef USART_InitStructure;
//	NVIC_InitTypeDef NVIC_InitStructure;
	
	/* config USART1 clock */
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1 | RCC_APB2Periph_GPIOA, ENABLE);
	
	/* USART1 GPIO config */
	/* Configure USART1 Tx (PA.09) as alternate function push-pull */
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);    
	/* Configure USART1 Rx (PA.10) as input floating */
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	  
	/* USART1 mode config */
	USART_InitStructure.USART_BaudRate = 115200;
	//USART_InitStructure.USART_BaudRate = 9600;
	USART_InitStructure.USART_WordLength = USART_WordLength_8b;
	USART_InitStructure.USART_StopBits = USART_StopBits_1;
	USART_InitStructure.USART_Parity = USART_Parity_No ;
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
	USART_Init(USART1, &USART_InitStructure); 
	USART_Cmd(USART1, ENABLE);
}

 （4）MPU6050初始化

void MPU6050_Init(void)
{
	int result=0;
	//IIC_Init();
	result=mpu_init();
	if(!result)
	{	 		 
	
		PrintChar("mpu initialization complete......\n ");		//mpu initialization complete	 	  

		if(!mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL))		//mpu_set_sensor
			PrintChar("mpu_set_sensor complete ......\n");
		else
			PrintChar("mpu_set_sensor come across error ......\n");

		if(!mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL))	//mpu_configure_fifo
			PrintChar("mpu_configure_fifo complete ......\n");
		else
			PrintChar("mpu_configure_fifo come across error ......\n");

		if(!mpu_set_sample_rate(DEFAULT_MPU_HZ))	   	  		//mpu_set_sample_rate
		 PrintChar("mpu_set_sample_rate complete ......\n");
		else
		 	PrintChar("mpu_set_sample_rate error ......\n");

		if(!dmp_load_motion_driver_firmware())   	  			//dmp_load_motion_driver_firmvare
			PrintChar("dmp_load_motion_driver_firmware complete ......\n");
		else
			PrintChar("dmp_load_motion_driver_firmware come across error ......\n");

		if(!dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation))) 	  //dmp_set_orientation
		 	PrintChar("dmp_set_orientation complete ......\n");
		else
		 	PrintChar("dmp_set_orientation come across error ......\n");

		if(!dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP |
		    DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO |
		    DMP_FEATURE_GYRO_CAL))		   	 					 //dmp_enable_feature
		 	PrintChar("dmp_enable_feature complete ......\n");
		else
		 	PrintChar("dmp_enable_feature come across error ......\n");

		if(!dmp_set_fifo_rate(DEFAULT_MPU_HZ))   	 			 //dmp_set_fifo_rate
		 	PrintChar("dmp_set_fifo_rate complete ......\n");
		else
		 	PrintChar("dmp_set_fifo_rate come across error ......\n");

		run_self_test();		//自检

		if(!mpu_set_dmp_state(1))
		 	PrintChar("mpu_set_dmp_state complete ......\n");
		else
		 	PrintChar("mpu_set_dmp_state come across error ......\n");
	}
}

（5）MPU6050角度状态获取

void MPU6050_Pose(void)
{
	
	dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors,&more);	 
	/* Gyro and accel data are written to the FIFO by the DMP in chip frame and hardware units.
	 * This behavior is convenient because it keeps the gyro and accel outputs of dmp_read_fifo and mpu_read_fifo consistent.
	**/
	/*if (sensors & INV_XYZ_GYRO )
	send_packet(PACKET_TYPE_GYRO, gyro);
	if (sensors & INV_XYZ_ACCEL)
	send_packet(PACKET_TYPE_ACCEL, accel); */
	/* Unlike gyro and accel, quaternions are written to the FIFO in the body frame, q30.
	 * The orientation is set by the scalar passed to dmp_set_orientation during initialization. 
	**/
	
	
	if(sensors & INV_WXYZ_QUAT )
	{
		q0 = quat[0] / q30;	
		q1 = quat[1] / q30;
		q2 = quat[2] / q30;
		q3 = quat[3] / q30;

		//Pitch翻滚，Roll俯仰，Yaw偏航
		Pitch = asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3;	// pitch
		Roll  = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)*57.3;	// roll
		Yaw   = atan2(2*(q1*q2 + q0*q3),q0*q0+q1*q1-q2*q2-q3*q3) * 57.3;	//yaw
    
		
	}
}

 三、测试

打开串口调试助手，可以接收到单片机发送过来的数据，转动单片机板子可以发现YAW（偏航）数据发生变化。

 

四、工程下载连接

https://download.csdn.net/download/panjinliang066333/86753201