MPU6050三轴陀螺仪通过IIC读取获取角速度及加速度代码
单片机源程序如下:
- //连接方式 ：请参考interface.h文件
- //部份源码来源网络--请试用24小时后删除
- #include "stm32f10x.h"
- #include "interface.h"
- #include "LCD1602.h"
- #include "IRCtrol.h"
- #include "motor.h"
- #include "UltrasonicCtrol.h"
- #include "redvoid.h"
- #include "Usart_Interrupt.h"
- #include "stm32f10x_i2c.h"
- #include "MPU_IIC.h"
- #include "uart.h"
- #include "usart.h"
- u8 pBuffer;
- u8* ppBuffer;
- s16 AccelGyro[7]={0};
- unsigned char cmd_flag = 0;
- unsigned char testbuf[5]="abcdf";
- //全局变量定义
- unsigned int speed_count=0;//占空比计数器 50次一周期
- char front_left_speed_duty=SPEED_DUTY;
- char front_right_speed_duty=SPEED_DUTY;
- char behind_left_speed_duty=SPEED_DUTY;
- char behind_right_speed_duty=SPEED_DUTY;
- unsigned char tick_5ms = 0;//5ms计数器，作为主函数的基本周期
- unsigned char tick_1ms = 0;//1ms计数器，作为电机的基本计数器
- unsigned char tick_200ms = 0;//刷新显示
- char ctrl_comm = COMM_STOP;//控制指令
- char ctrl_comm_last = COMM_STOP;//上一次的指令
- unsigned char continue_time=0;
- int main(void)
- {
- delay_init();
- USART1Conf(115200);
- // printf("MPU6050 test1--->\n");
- I2C_MPU6050_Init();
- // printf("MPU6050 test2--->\n");
- MPU6050_IniTIalize();
- // printf("MPU6050 test3--->\n");
- while(1)
- {
- //MPU6050_I2C_ByteWrite(SlaveAdress,pBuffer,0x68);
- //MPU6050_I2C_ByteWrite(u8 slaveAddr, u8 pBuffer, u8 writeAddr)
- //MPU6050_I2C_BufferRead(SlaveAdress,ppBuffer,0x68,8);//NumByteToRead?
- //MPU6050_I2C_BufferRead(u8 slaveAddr, u8* pBuffer, u8 readAddr, u16 NumByteToRead)
- MPU6050_GetRawAccelGyro(AccelGyro);
-
- printf("MPU6050 test3--->\r\n");
- // printf("ACC_X = %10.5d\r\n",AccelGyro[0]);
- // printf("ACC_Y = %10.5d\r\n",AccelGyro[1]);
- // printf("ACC_Z = %10.5d\r\n",AccelGyro[2]);
- // printf("GYRO_X = %10.5d\r\n",AccelGyro[3]);
- // printf("GYRO_Y = %10.5d\r\n",AccelGyro[4]);
- // printf("GYRO_Z = %10.5d\r\n",AccelGyro[5]);
-
- printf("ACC_X = %d\r\n",AccelGyro[0]);
- printf("ACC_Y = %d\r\n",AccelGyro[1]);
- printf("ACC_Z = %d\r\n",AccelGyro[2]);
- printf("GYRO_X = %d\r\n",AccelGyro[3]);
- printf("GYRO_Y = %d\r\n",AccelGyro[4]);
- printf("GYRO_Z = %d\r\n",AccelGyro[5]);
- Delay_us(500000);
-
- }
- }
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MPU6050.7z
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