[嵌入式]mpu6050三轴加速度数据，三轴角速度数据显示

一、实验效果
显示mpu6050三轴加速度原始数据，三轴角速度原始数据。
硬件：stm32f427vit6单片机 、mpu6050模块
软件：STM32CubeIDE 1.8.0 C语言
二、硬件连接：

PB8(IC21_SCL)------SCL AD0----GND(确定地址) VCC—3.3V PB9(IC21_SDA)-----SDA GND—GND

三、过程
1、打开STM32CubeIDE 1.8.0新建工程
2、设置系统时钟

3、设置下载方式设置s-link下载

4、配置时钟树

5、配置IC2通讯串口通讯
在这里插入图片描述

6、单击工程新建源文件夹mycode（在工程名右击选择New—source

7、在源文件夹新建文件夹mpu6050然后在文件新建两个文件mpu6050.c 与 mpu6050.h
mpu6050.c 代码如下：
#include “main.h”
#include “mpu6050.h”
#include “i2c.h”
#include “usart.h”
void mpu6050_init(void)
{
uint8_t temp;
temp=0x00;
HAL_I2C_Mem_Write(&hi2c1,ADDRESS_Write,PWR_MGMT_1, I2C_MEMADD_SIZE_8BIT, &temp, 1, 0x10);
temp=0x07;
HAL_I2C_Mem_Write(&hi2c1,ADDRESS_Write,SMPLRT_DIV, I2C_MEMADD_SIZE_8BIT, &temp, 1, 0x10);
temp=0x06;
HAL_I2C_Mem_Write(&hi2c1,ADDRESS_Write,CONFIG, I2C_MEMADD_SIZE_8BIT, &temp, 1, 0x10);
temp=0x18;
HAL_I2C_Mem_Write(&hi2c1,ADDRESS_Write,RA_GYRO_CONFIG, I2C_MEMADD_SIZE_8BIT, &temp, 1, 0x10);
temp=0x01;
HAL_I2C_Mem_Write(&hi2c1,ADDRESS_Write,RA_ACCEL_CONFIG, I2C_MEMADD_SIZE_8BIT, &temp, 1, 0x10);

}

//获取三个轴的加速度原始值

void mpu6050_getaccel(int16_t *aacx,int16_t *aacy,int16_t *aacz)
{
uint8_t value[2];

HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read,ACCEL_XOUT_L, I2C_MEMADD_SIZE_8BIT, &value[0], 1, 0x10);
HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read,ACCEL_XOUT_H, I2C_MEMADD_SIZE_8BIT, &value[1], 1, 0x10);
*aacx=(value[1]<<8)+value[0];

HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read,ACCEL_YOUT_L, I2C_MEMADD_SIZE_8BIT, &value[0], 1, 0x10);
HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read,ACCEL_YOUT_H, I2C_MEMADD_SIZE_8BIT, &value[1], 1, 0x10);
*aacy=(value[1]<<8)+value[0];

HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read,ACCEL_ZOUT_L, I2C_MEMADD_SIZE_8BIT, &value[0], 1, 0x10);
HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read,ACCEL_ZOUT_H, I2C_MEMADD_SIZE_8BIT, &value[1], 1, 0x10);
*aacy=(value[1]<<8)+value[0];

printf("ACCEL value:%d  %d  %d\r\n",*aacx,*aacy,*aacz);

}

//获取三个轴的角速度原始值
void mpu6050_getGYRO(int16_t *gyrox,int16_t *gyroy,int16_t *gyroz)
{
uint8_t value[2];

HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read,GYRO_XOUT_L, I2C_MEMADD_SIZE_8BIT, &value[0], 1, 0x10);
HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read,GYRO_XOUT_H, I2C_MEMADD_SIZE_8BIT, &value[1], 1, 0x10);
*gyrox=(value[1]<<8)+value[0];

HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read,GYRO_YOUT_L, I2C_MEMADD_SIZE_8BIT, &value[0], 1, 0x10);
HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read,GYRO_YOUT_H, I2C_MEMADD_SIZE_8BIT, &value[1], 1, 0x10);
*gyroy=(value[1]<<8)+value[0];

HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read,GYRO_ZOUT_L, I2C_MEMADD_SIZE_8BIT, &value[0], 1, 0x10);
HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read,GYRO_ZOUT_H, I2C_MEMADD_SIZE_8BIT, &value[1], 1, 0x10);
*gyroz=(value[1]<<8)+value[0];

printf("GYRO value:%d  %d  %d\r\n",*gyrox,*gyroy,*gyroz);

}

mpu6050.h 代码如下：

#define SlaveAddress (MPU6050_ADDRESS_AD0_LOW<<1)
void mpu6050_init(void);
void mpu6050_getaccel(int16_t *aacx,int16_t *aacy,int16_t *aacz);
void mpu6050_getGYRO(int16_t *gyrox,int16_t gyroy,int16_t gyroz);
#endif
在主函数加入
#include “…/…/mycode/mpu6050/mpu6050.h”
加入串口打印代码
/ USER CODE BEGIN 0 /
#include “stdio.h”
#ifdef GNUC
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
PUTCHAR_PROTOTYPE
{
HAL_UART_Transmit(&huart1, (uint8_t)&ch, 1, HAL_MAX_DELAY);
return ch;
}
#endif
int main(void)
/ USER CODE END 0 /
int main(void)
{
/ USER CODE BEGIN 1 /
int16_t x,y,z;
int16_t a,b,c;
/ USER CODE END 1 /
…
MX_GPIO_Init();
MX_I2C1_Init();
MX_USART1_UART_Init();
MX_TIM6_Init();
/ USER CODE BEGIN 2 /
mpu6050_init();
printf(“this is mpu6050 test\r\n”);
/ USER CODE END 2 /
/ USER CODE BEGIN WHILE */
while (1)
{
mpu6050_getaccel(&x,&y,&z);
mpu6050_getGYRO(&a,&b,&c);
HAL_Delay(1000);
}
最后效果图