HAL库 MPU6050的使用

2024-02-27 22:14:57
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：
LED用于闪烁判断程序正常运行
UART2用于发送数据至PC
I2C用于读取MPU6050数据
代码结构

我们将重定义 fputc 函数，用于串口显示
MPU6050初始化函数，加速度、角速度、温度初始值读取及处理函数
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

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：https://www.bilibili.com/video/BV1qf4y1r73k/ 点我直达B站
整体工程已打包至BaiDu网盘，链接：链接：https://pan.baidu.com/s/1mZcVfZNuphs1Had6ijaRfw 点我直达网盘
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 -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_I2C1_Init(void);
static void MX_USART2_UART_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

#define MPU6050_ADDR 0xD0
#define SMPLRT_DIV_REG 0x19
#define GYRO_CONFIG_REG 0x1B
#define ACCEL_CONFIG_REG 0x1c
#define ACCEL_XOUT_H_REG 0x3B
#define TEMP_OUT_H_REG 0x41
#define GYRO_XOUT_H_REG 0x43
#define PWR_MGMT_1_REG 0x6B
#define WHO_AM_I_REG 0x75
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;

void MPU6050_Init(void )
{
	uint8_t check,Data;
	
	// check device ID WHO_AM_I
	
	HAL_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 = 0x07;
		HAL_I2C_Mem_Write (&hi2c1 ,MPU6050_ADDR ,SMPLRT_DIV_REG ,1 ,&Data,1,1000);
		
		// Set accelerometer configuration in ACCEL_CONFIG Register
		// XA_ST=0,YA_ST=0,ZA_ST=0,  FS_SEL=0 ->±2g
		Data = 0x00;
		HAL_I2C_Mem_Write (&hi2c1 ,MPU6050_ADDR, ACCEL_CONFIG_REG, 1, &Data, 1, 1000);
		
		// Set Gyroscopic configuration in GYRO_CONFIG Register
		// XG_ST=0,YG_ST=0,  FS_SEL=0 ->± 250 °/s
		Data = 0x00;
		HAL_I2C_Mem_Write (&hi2c1 ,MPU6050_ADDR, GYRO_CONFIG_REG, 1, &Data, 1, 1000);
	}
}


void MPU6050_Read_Accel(void)
{
	uint8_t Rec_Data[6];
	
	//Read 6 BYTES of data starting from ACCEL_XOUT_H register
	
	HAL_I2C_Mem_Read (&hi2c1 ,MPU6050_ADDR ,ACCEL_XOUT_H_REG ,1,Rec_Data ,6,1000);
	
	Accel_X_RAW = (int16_t )(Rec_Data [0] <<8 | Rec_Data [1]);
	Accel_Y_RAW = (int16_t )(Rec_Data [2] <<8 | Rec_Data [3]);
	Accel_Z_RAW = (int16_t )(Rec_Data [4] <<8 | Rec_Data [5]);
	
	Ax = Accel_X_RAW/16384.0;
	Ay = Accel_Y_RAW/16384.0;
	Az = Accel_Z_RAW/16384.0;
}



void MPU6050_Read_Gyro(void )
{
	uint8_t Rec_Data[6];
	
	// Read 6 BYTES of data staring from GYRO_XOUT_H register
	
	HAL_I2C_Mem_Read (&hi2c1, MPU6050_ADDR ,GYRO_XOUT_H_REG ,1,Rec_Data ,6 ,1000);
	
	Gyro_X_RAW = (int16_t )(Rec_Data [0] << 8 | Rec_Data [1]);
	Gyro_Y_RAW = (int16_t )(Rec_Data [2] << 8 | Rec_Data [3]);
	Gyro_Z_RAW = (int16_t )(Rec_Data [4] << 8 | Rec_Data [5]);
	
	Gx = Gyro_X_RAW/131.0;
	Gy = Gyro_Y_RAW/131.0;
	Gz = Gyro_Z_RAW/131.0;
}
	
void MPU6050_Read_Temp(void )
{
	uint8_t Rec_Data[2];
	
	HAL_I2C_Mem_Read (&hi2c1 ,MPU6050_ADDR ,TEMP_OUT_H_REG ,1 ,Rec_Data  ,2 ,1000);
	
	Temp_RAW = (int16_t )(Rec_Data [0]<<8)|Rec_Data [1];
	Temp = 36.53 + (Temp_RAW ) / 340;
}
	
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */
  

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_I2C1_Init();
  MX_USART2_UART_Init();
  /* USER CODE BEGIN 2 */
  
  /***************************************************
  注释掉的部分作用寻找设备的地址，通过串口打印
  ***************************************************/
//  for(uint8_t i=0;i<255;i++)
//  {

//	  if(HAL_I2C_IsDeviceReady (&hi2c1 ,i ,1 ,1000)== HAL_OK )
//	  {
//		  HAL_GPIO_TogglePin (LD2_GPIO_Port ,LD2_Pin );
//		  printf("%d\r\n",i);
//		  break;
//	  }
//  }
  
  MPU6050_Init ();
  
  printf ("****** MPU6050 Test 3s ******\r\n");
  HAL_Delay (1000);
  printf ("****** MPU6050 Test 2s ******\r\n");
  HAL_Delay (1000);
  printf ("****** MPU6050 Test 1s ******\r\n");
  HAL_Delay (1000);
 
  
  /* USER CODE END 2 */
 
 

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
	  HAL_GPIO_TogglePin (LD2_GPIO_Port ,LD2_Pin );
	  MPU6050_Read_Accel ();
	  MPU6050_Read_Gyro  ();
	  MPU6050_Read_Temp  ();
	  
	  // 发送至PC
	  
	  
	  printf("Ax=%.2f,Ay=%.2f,Az=%.2f\r\n",Ax,Ay,Az);
	  printf("Gx=%.2f,Gy=%.2f,Gz=%.2f\r\n",Gx,Gy,Gz);
	  printf ("Temperature=%.2f,\r\n",Temp );
	  
	  HAL_Delay (500);
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage 
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_BYPASS;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 4;
  RCC_OscInitStruct.PLL.PLLN = 100;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_3) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief I2C1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_I2C1_Init(void)
{

  /* USER CODE BEGIN I2C1_Init 0 */

  /* USER CODE END I2C1_Init 0 */

  /* USER CODE BEGIN I2C1_Init 1 */

  /* USER CODE END I2C1_Init 1 */
  hi2c1.Instance = I2C1;
  hi2c1.Init.ClockSpeed = 100000;
  hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
  hi2c1.Init.OwnAddress1 = 0;
  hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c1.Init.OwnAddress2 = 0;
  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  if (HAL_I2C_Init(&hi2c1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN I2C1_Init 2 */

  /* USER CODE END I2C1_Init 2 */

}

/**
  * @brief USART2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART2_UART_Init(void)
{

  /* USER CODE BEGIN USART2_Init 0 */

  /* USER CODE END USART2_Init 0 */

  /* USER CODE BEGIN USART2_Init 1 */

  /* USER CODE END USART2_Init 1 */
  huart2.Instance = USART2;
  huart2.Init.BaudRate = 115200;
  huart2.Init.WordLength = UART_WORDLENGTH_8B;
  huart2.Init.StopBits = UART_STOPBITS_1;
  huart2.Init.Parity = UART_PARITY_NONE;
  huart2.Init.Mode = UART_MODE_TX_RX;
  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART2_Init 2 */

  /* USER CODE END USART2_Init 2 */

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin : LD2_Pin */
  GPIO_InitStruct.Pin = LD2_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(LD2_GPIO_Port, &GPIO_InitStruct);

}

/* USER CODE BEGIN 4 */


/*********************************************************
*
*重定义 fputc 函数
*
*********************************************************/
int fputc(int ch,FILE *f)
{
	HAL_UART_Transmit (&huart2 ,(uint8_t *)&ch,1,HAL_MAX_DELAY );
	return ch;
}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */

  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{ 
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
码农公寓

HAL库 && MPU6050

代码结构

一些链接

主程序

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