【APM32F411V Tiny Board测评】-2-iic代码测试和mpu6050传感器的驱动

只看该作者 · 2024-5-29 17:24

本帖最后由 chenqiguang1998 于 2024-6-3 10:46 编辑

#申请原创#
在本次测评中，我们将对 APM32F411V Tiny Board 的 IIC 代码进行测试，并尝试驱动 MPU6050 传感器。

一、IIC 代码测试

首先，我们需要确保 APM32F411V Tiny Board 上的 IIC 接口已经正确连接。根据参考手册：

我们可以将 MPU6050 传感器的 SCL 和 SDA 引脚分别连接到 APM32F411V Tiny Board 的 PB9 和 PB8 引脚上。

接下来，我们需要编写 IIC 代码来测试 MPU6050 传感器的通信。以下是一个简单的 IIC 代码示例

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<div style="color: #cccccc;background-color: #1f1f1f;font-family: 'Droid Sans Mono', 'monospace', monospace;font-weight: normal;font-size: 14px;line-height: 19px;white-space: pre;"><div><span style="color: #cccccc;">I2C_HandleTypeDef hi2c1;</span></div>

<div><span style="color: #569cd6;">void</span><span style="color: #cccccc;"> </span><span style="color: #dcdcaa;">MX_I2C1_Init</span><span style="color: #cccccc;">(</span><span style="color: #569cd6;">void</span><span style="color: #cccccc;">) {</span></div><div><span style="color: #cccccc;">    </span><span style="color: #9cdcfe;">hi2c1</span><span style="color: #cccccc;">.</span><span style="color: #9cdcfe;">Instance</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> I2C1;</span></div><div><span style="color: #cccccc;">    </span><span style="color: #9cdcfe;">hi2c1</span><span style="color: #cccccc;">.</span><span style="color: #9cdcfe;">Init</span><span style="color: #cccccc;">.</span><span style="color: #9cdcfe;">ClockSpeed</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">100000</span><span style="color: #cccccc;">;</span></div><div><span style="color: #cccccc;">    </span><span style="color: #9cdcfe;">hi2c1</span><span style="color: #cccccc;">.</span><span style="color: #9cdcfe;">Init</span><span style="color: #cccccc;">.</span><span style="color: #9cdcfe;">DutyCycle</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> I2C_DUTYCYCLE_2;</span></div><div><span style="color: #cccccc;">    </span><span style="color: #9cdcfe;">hi2c1</span><span style="color: #cccccc;">.</span><span style="color: #9cdcfe;">Init</span><span style="color: #cccccc;">.</span><span style="color: #9cdcfe;">OwnAddress1</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">0</span><span style="color: #cccccc;">;</span></div><div><span style="color: #cccccc;">    </span><span style="color: #9cdcfe;">hi2c1</span><span style="color: #cccccc;">.</span><span style="color: #9cdcfe;">Init</span><span style="color: #cccccc;">.</span><span style="color: #9cdcfe;">AddressingMode</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> I2C_ADDRESSINGMODE_7BIT;</span></div><div><span style="color: #cccccc;">    </span><span style="color: #9cdcfe;">hi2c1</span><span style="color: #cccccc;">.</span><span style="color: #9cdcfe;">Init</span><span style="color: #cccccc;">.</span><span style="color: #9cdcfe;">DualAddressMode</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> I2C_DUALADDRESS_DISABLE;</span></div><div><span style="color: #cccccc;">    </span><span style="color: #9cdcfe;">hi2c1</span><span style="color: #cccccc;">.</span><span style="color: #9cdcfe;">Init</span><span style="color: #cccccc;">.</span><span style="color: #9cdcfe;">OwnAddress2</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">0</span><span style="color: #cccccc;">;</span></div><div><span style="color: #cccccc;">    </span><span style="color: #9cdcfe;">hi2c1</span><span style="color: #cccccc;">.</span><span style="color: #9cdcfe;">Init</span><span style="color: #cccccc;">.</span><span style="color: #9cdcfe;">GeneralCallMode</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> I2C_GENERALCALL_DISABLE;</span></div><div><span style="color: #cccccc;">    </span><span style="color: #9cdcfe;">hi2c1</span><span style="color: #cccccc;">.</span><span style="color: #9cdcfe;">Init</span><span style="color: #cccccc;">.</span><span style="color: #9cdcfe;">NoStretchMode</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> I2C_NOSTRETCH_DISABLE;</span></div><div><span style="color: #cccccc;">    </span><span style="color: #dcdcaa;">DAL_I2C_Init</span><span style="color: #cccccc;">(</span><span style="color: #d4d4d4;">&</span><span style="color: #cccccc;">hi2c1);</span></div><div><span style="color: #cccccc;">}</span></div></div>

// I2C 读取数据

DAL_StatusTypeDef I2C_Read(uint16_t DevAddress, uint16_t MemAddress, uint16_t MemAddSize, uint8_t *pData, uint16_t Size, uint32_t Timeout)

{

    return <span style="color: #dcdcaa;">DAL_I2C_Mem_</span>Read(&hi2c, DevAddress, MemAddress, MemAddSize, pData, Size, Timeout);

}



// I2C 写入数据

DAL_StatusTypeDef I2C_Write(uint16_t DevAddress, uint16_t MemAddress, uint16_t MemAddSize, uint8_t *pData, uint16_t Size, uint32_t Timeout)

{

    return <span style="color: rgb(220, 220, 170); white-space: pre;">DAL_I2C_Mem_Write</span><span style="white-space: normal">(&hi2c, DevAddress, MemAddress, MemAddSize, pData, Size, Timeout);

</span>}

在上述代码中，我们首先初始化了 IIC 接口，然后定义了两个函数：IIC_Write 和 IIC_Read。这两个函数分别用于向 IIC 设备写入数据和从 IIC 设备读取数据。

为了测试 IIC 代码是否正常工作，我们可以将 MPU6050 传感器的寄存器地址和数据写入到传感器中，然后再从传感器中读取数据并打印出来。以下是一个测试代码示例：

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<div style="color: #cccccc;background-color: #1f1f1f;font-family: 'Droid Sans Mono', 'monospace', monospace;font-weight: normal;font-size: 14px;line-height: 19px;white-space: pre;"><div><span style="color: #569cd6;">int</span><span style="color: #cccccc;"> </span><span style="color: #dcdcaa;">main</span><span style="color: #cccccc;">()</span></div><div><span style="color: #cccccc;">{</span></div><div><span style="color: #cccccc;">    </span><span style="color: #dcdcaa;">DAL_Init</span><span style="color: #cccccc;">();</span></div><div><span style="color: #cccccc;">    </span><span style="color: #dcdcaa;">SystemClock_Config</span><span style="color: #cccccc;">();</span></div>

<div><span style="color: #cccccc;">    </span><span style="color: #dcdcaa;">MX_I2C1_Init</span><span style="color: #cccccc;">();</span></div>

<div><span style="color: #cccccc;">    </span><span style="color: #569cd6;">uint8_t</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">data</span><span style="color: #cccccc;">[6</span><span style="color: #cccccc;">];</span></div><div><div style="color: #cccccc;background-color: #1f1f1f;font-family: 'Droid Sans Mono', 'monospace', monospace;font-weight: normal;font-size: 14px;line-height: 19px;white-space: pre;"><div><span style="color: #569cd6;">    uint8_t</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">check</span><span style="color: #cccccc;">;</span></div><div><div style="color: #cccccc;background-color: #1f1f1f;font-family: 'Droid Sans Mono', 'monospace', monospace;font-weight: normal;font-size: 14px;line-height: 19px;white-space: pre;"><div><span style="color: #cccccc;">    </span><span style="color: #569cd6;">int16_t</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Accel_X_RAW</span><span style="color: #cccccc;">, </span><span style="color: #9cdcfe;">Accel_Y_RAW</span><span style="color: #cccccc;">, </span><span style="color: #9cdcfe;">Accel_Z_RAW</span><span style="color: #cccccc;">;</span></div></div></div></div></div><div><span style="color: #cccccc;">    </span><span style="color: #6a9955;">// 向 MPU6050 传感器写入数据</span></div><div><div style="color: #cccccc;background-color: #1f1f1f;font-family: 'Droid Sans Mono', 'monospace', monospace;font-weight: normal;font-size: 14px;line-height: 19px;white-space: pre;"><div><span style="color: #cccccc;">    </span><span style="color: #dcdcaa;">DAL_I2C_Mem_Write</span><span style="color: #cccccc;">(</span><span style="color: #d4d4d4;">&</span><span style="color: #9cdcfe;">hi2c1</span><span style="color: #cccccc;">, 0X68</span><span style="color: #cccccc;">, </span><span style="color: #569cd6;">0X00</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">1</span><span style="color: #cccccc;">, </span><span style="color: #d4d4d4;">&</span><span style="color: #9cdcfe;">check</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">1</span><span style="color: #cccccc;">, </span><span style="color: rgb(181, 206, 168); font-family: &quot;Droid Sans Mono&quot;, &quot;monospace&quot;, monospace; font-size: 14px; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; white-space: pre-wrap; background-color: rgb(32, 32, 32); text-decoration-thickness: initial; text-decoration-style: initial; text-decoration-color: initial; display: inline !important; float: none;">0xFFFFFFFFU</span><span style="color: #cccccc;">);</span></div></div></div>

<div><span style="color: #cccccc;">    </span><span style="color: #6a9955;">// 从 MPU6050 传感器读取数据</span></div><div><div style="color: #cccccc;background-color: #1f1f1f;font-family: 'Droid Sans Mono', 'monospace', monospace;font-weight: normal;font-size: 14px;line-height: 19px;white-space: pre;"><div><span style="color: #cccccc;">  </span><span style="color: #dcdcaa;">  DAL_I2C_Mem_Read</span><span style="color: #cccccc;">(</span><span style="color: #d4d4d4;">&</span><span style="color: #cccccc;">hi2c1, 0X68</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">0x75</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">1</span><span style="color: #cccccc;">, </span><span style="color: #d4d4d4;">&</span><span style="color: #d4d4d4;"></span><span style="color: #9cdcfe;">data</span><span style="color: #cccccc;">, 6</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">1000</span><span style="color: #cccccc;">);</span></div><div><span style="color: #cccccc;">

</span></div></div></div><div><div style="color: #cccccc;background-color: #1f1f1f;font-family: 'Droid Sans Mono', 'monospace', monospace;font-weight: normal;font-size: 14px;line-height: 19px;white-space: pre;"><div><span style="color: #cccccc;">    </span><span style="color: #9cdcfe;">Accel_X_RAW</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> (</span><span style="color: #569cd6;">int16_t</span><span style="color: #cccccc;">)(</span><span style="color: #9cdcfe;">Rec_Data</span><span style="color: #cccccc;">[</span><span style="color: #b5cea8;">0</span><span style="color: #cccccc;">] </span><span style="color: #d4d4d4;"><<</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">8</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">|</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Rec_Data</span><span style="color: #cccccc;">[</span><span style="color: #b5cea8;">1</span><span style="color: #cccccc;">]);</span></div><div><span style="color: #cccccc;">    </span><span style="color: #9cdcfe;">Accel_Y_RAW</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> (</span><span style="color: #569cd6;">int16_t</span><span style="color: #cccccc;">)(</span><span style="color: #9cdcfe;">Rec_Data</span><span style="color: #cccccc;">[</span><span style="color: #b5cea8;">2</span><span style="color: #cccccc;">] </span><span style="color: #d4d4d4;"><<</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">8</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">|</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Rec_Data</span><span style="color: #cccccc;">[</span><span style="color: #b5cea8;">3</span><span style="color: #cccccc;">]);</span></div><div><span style="color: #cccccc;">    </span><span style="color: #9cdcfe;">Accel_Z_RAW</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> (</span><span style="color: #569cd6;">int16_t</span><span style="color: #cccccc;">)(</span><span style="color: #9cdcfe;">Rec_Data</span><span style="color: #cccccc;">[</span><span style="color: #b5cea8;">4</span><span style="color: #cccccc;">] </span><span style="color: #d4d4d4;"><<</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">8</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">|</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Rec_Data</span><span style="color: #cccccc;">[</span><span style="color: #b5cea8;">5</span><span style="color: #cccccc;">]);</span></div>

<div><span style="color: #cccccc;">    </span><span style="color: #d4d4d4;">*</span><span style="color: #9cdcfe;">Ax</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Accel_X_RAW</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">/</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">16384.0</span><span style="color: #cccccc;">;</span></div><div><span style="color: #cccccc;">    </span><span style="color: #d4d4d4;">*</span><span style="color: #9cdcfe;">Ay</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Accel_Y_RAW</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">/</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">16384.0</span><span style="color: #cccccc;">;</span></div><div><span style="color: #cccccc;">    </span><span style="color: #d4d4d4;">*</span><span style="color: #9cdcfe;">Az</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Accel_Z_RAW</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">/</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">16384.0</span><span style="color: #cccccc;">;</span></div></div></div>

<div><span style="color: #cccccc;">    </span><span style="color: #6a9955;">// 打印读取到的数据</span></div><div><span style="color: #cccccc;">    </span><span style="color: #dcdcaa;">printf</span><span style="color: #cccccc;">(</span><span style="color: #ce9178;">"</span><span style="color: #9cdcfe;">Accel_X_RAW</span><span style="color: #cccccc;"></span><span style="color: #ce9178;">: </span><span style="color: #9cdcfe;">%lf.2</span><span style="color: #d7ba7d;">\n</span><span style="color: #ce9178;">"</span><span style="color: #cccccc;">,</span><span style="color: #9cdcfe;">Accel_X_RAW</span><span style="color: #cccccc;"></span><span style="color: #cccccc;">);</span></div>

<div><span style="color: #cccccc;">    </span><span style="color: #c586c0;">while</span><span style="color: #cccccc;"> (</span><span style="color: #b5cea8;">1</span><span style="color: #cccccc;">)</span></div><div><span style="color: #cccccc;">    {</span></div><div><span style="color: #cccccc;">    }</span></div><div><span style="color: #cccccc;">}</span></div></div>

在上述代码中，我们首先初始化了 HAL 库和系统时钟，然后初始化了 IIC 接口。接下来，我们向 MPU6050 传感器的地址为 0x68 的寄存器进行读写，并将读到的数据打印出来。
二、MPU6050 传感器的驱动

接下来，我们将尝试驱动 MPU6050 传感器。MPU6050 是一款集成了加速度计和陀螺仪的传感器，可以用于测量物体的运动状态。

首先，我们需要下载 MPU6050 的驱动代码。我们可以从 MPU6050 的官方网站上下载到最新的驱动代码，并将其解压到我们的工程目录中。

接下来，我们需要将 MPU6050 的驱动代码添加到我们的工程中。我们可以在我们的工程中创建一个新的文件夹，将 MPU6050 的驱动代码复制到该文件夹中，然后在我们的工程中添加该文件夹的路径。

然后，我们需要在我们的代码中包含 MPU6050 的驱动头文件。在代码中添加以下代码：

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<div style="color: #cccccc;background-color: #1f1f1f;font-family: 'Droid Sans Mono', 'monospace', monospace;font-weight: normal;font-size: 14px;line-height: 19px;white-space: pre;"><div><span style="color: #c586c0;">#define</span><span style="color: #569cd6;"> </span><span style="color: #569cd6;">MPU6050_ADDR</span><span style="color: #569cd6;">    </span><span style="color: #b5cea8;">0x68</span></div><div><span style="color: #c586c0;">#define</span><span style="color: #569cd6;"> </span><span style="color: #569cd6;">MPU6050_REG_PWR_MGMT_1</span><span style="color: #569cd6;"> </span><span style="color: #b5cea8;">0x6B</span></div><div><span style="color: #c586c0;">#define</span><span style="color: #569cd6;"> </span><span style="color: #569cd6;">MPU6050_REG_SMPLRT_DIV</span><span style="color: #569cd6;"> </span><span style="color: #b5cea8;">0x19</span></div><div><span style="color: #c586c0;">#define</span><span style="color: #569cd6;"> </span><span style="color: #569cd6;">MPU6050_REG_CONFIG</span><span style="color: #569cd6;"> </span><span style="color: #b5cea8;">0x1A</span></div><div><span style="color: #c586c0;">#define</span><span style="color: #569cd6;"> </span><span style="color: #569cd6;">MPU6050_REG_GYRO_CONFIG</span><span style="color: #569cd6;"> </span><span style="color: #b5cea8;">0x1B</span></div><div><span style="color: #c586c0;">#define</span><span style="color: #569cd6;"> </span><span style="color: #569cd6;">MPU6050_REG_ACCEL_CONFIG</span><span style="color: #569cd6;"> </span><span style="color: #b5cea8;">0x1</span></div><div><span style="color: #c586c0;">#define</span><span style="color: #569cd6;"> </span><span style="color: #569cd6;">MPU6050_REG_ACCEL_XOUT_H</span><span style="color: #569cd6;"> </span><span style="color: #b5cea8;">0x3B</span></div><div><span style="color: #c586c0;">#define</span><span style="color: #569cd6;"> </span><span style="color: #569cd6;">MPU6050_ACCEL_XOUT_L</span><span style="color: #569cd6;"> </span><span style="color: #b5cea8;">0x3</span></div><div><span style="color: #c586c0;">#define</span><span style="color: #569cd6;"> </span><span style="color: #569cd6;">MPU6050_ACCEL_YOUT_H</span><span style="color: #569cd6;"> </span><span style="color: #b5cea8;">0x3D</span></div><div><span style="color: #c586c0;">#define</span><span style="color: #569cd6;"> </span><span style="color: #569cd6;">MPU6050_ACCEL_YOUT_L</span><span style="color: #569cd6;"> </span><span style="color: #b5cea8;">0x3E</span></div><div><span style="color: #c586c0;">#define</span><span style="color: #569cd6;"> </span><span style="color: #569cd6;">MPU6050_ACCEL_ZOUT_H</span><span style="color: #569cd6;"> </span><span style="color: #b5cea8;">0x3F</span></div><div><span style="color: #c586c0;">#define</span><span style="color: #569cd6;"> </span><span style="color: #569cd6;">MPU6050_ACCEL_ZOUT_L</span><span style="color: #569cd6;"> </span><span style="color: #b5cea8;">0x40</span></div><div><span style="color: #c586c0;">#define</span><span style="color: #569cd6;"> </span><span style="color: #569cd6;">MPU6050_TEMP_OUT_H</span><span style="color: #569cd6;"> </span><span style="color: #b5cea8;">0x41</span></div><div><span style="color: #c586c0;">#define</span><span style="color: #569cd6;"> </span><span style="color: #569cd6;">MPU6050_TEMP_OUT_L</span><span style="color: #569cd6;"> </span><span style="color: #b5cea8;">0x42</span></div><div><span style="color: #c586c0;">#define</span><span style="color: #569cd6;"> </span><span style="color: #569cd6;">MPU6050_GYRO_XOUT_H</span><span style="color: #569cd6;"> </span><span style="color: #b5cea8;">0x43</span></div><div><span style="color: #c586c0;">#define</span><span style="color: #569cd6;"> </span><span style="color: #569cd6;">MPU6050_GYRO_XOUT_L</span><span style="color: #569cd6;"> </span><span style="color: #b5cea8;">0x44</span></div><div><span style="color: #c586c0;">#define</span><span style="color: #569cd6;"> </span><span style="color: #569cd6;">MPU6050_GYRO_YOUT_H</span><span style="color: #569cd6;"> </span><span style="color: #b5cea8;">0x45</span></div><div><span style="color: #c586c0;">#define</span><span style="color: #569cd6;"> </span><span style="color: #569cd6;">MPU6050_GYRO_YOUT_L</span><span style="color: #569cd6;"> </span><span style="color: #b5cea8;">0x46</span></div><div><span style="color: #c586c0;">#define</span><span style="color: #569cd6;"> </span><span style="color: #569cd6;">MPU6050_GYRO_ZOUT_H</span><span style="color: #569cd6;"> </span><span style="color: #b5cea8;">0x47</span></div><div><span style="color: #c586c0;">#define</span><span style="color: #569cd6;"> </span><span style="color: #569cd6;">MPU6050_GYRO_ZOUT_L</span><span style="color: #569cd6;"> </span><span style="color: #b5cea8;">0x48</span></div><div><span style="color: #c586c0;">#define</span><span style="color: #569cd6;"> </span><span style="color: #569cd6;">MPU6050_WHO_AM_I</span><span style="color: #569cd6;"> </span><span style="color: #b5cea8;">0x75</span></div>

<div><span style="color: #569cd6;">void</span><span style="color: #cccccc;"> </span><span style="color: #dcdcaa;">MPU6050_Init</span><span style="color: #cccccc;">(</span><span style="color: #569cd6;">void</span><span style="color: #cccccc;">) {</span></div><div><span style="color: #cccccc;">    </span><span style="color: #569cd6;">uint8_t</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">check</span><span style="color: #cccccc;">;</span></div><div><span style="color: #cccccc;">    </span><span style="color: #569cd6;">uint8_t</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Data</span><span style="color: #cccccc;">;</span></div>

<div><span style="color: #cccccc;">    </span><span style="color: #6a9955;">// 检查设备ID</span></div><div><span style="color: #cccccc;">    </span><span style="color: #dcdcaa;">DAL_I2C_Mem_Read</span><span style="color: #cccccc;">(</span><span style="color: #d4d4d4;">&</span><span style="color: #9cdcfe;">hi2c1</span><span style="color: #cccccc;">, </span><span style="color: #569cd6;">MPU6050_ADDR</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">0x75</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">1</span><span style="color: #cccccc;">, </span><span style="color: #d4d4d4;">&</span><span style="color: #9cdcfe;">check</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">1</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">1000</span><span style="color: #cccccc;">);</span></div><div><span style="color: #cccccc;">    </span><span style="color: #c586c0;">if</span><span style="color: #cccccc;"> (</span><span style="color: #9cdcfe;">check</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">==</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">0x68</span><span style="color: #cccccc;">) {</span></div><div><span style="color: #cccccc;">        </span><span style="color: #6a9955;">// 唤醒MPU6050</span></div><div><span style="color: #cccccc;">        </span><span style="color: #9cdcfe;">Data</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">0</span><span style="color: #cccccc;">;</span></div><div><span style="color: #cccccc;">        </span><span style="color: #dcdcaa;">DAL_I2C_Mem_Write</span><span style="color: #cccccc;">(</span><span style="color: #d4d4d4;">&</span><span style="color: #9cdcfe;">hi2c1</span><span style="color: #cccccc;">, </span><span style="color: #569cd6;">MPU6050_ADDR</span><span style="color: #cccccc;">, </span><span style="color: #569cd6;">MPU6050_REG_PWR_MGMT_1</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">1</span><span style="color: #cccccc;">, </span><span style="color: #d4d4d4;">&</span><span style="color: #9cdcfe;">Data</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">1</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">1000</span><span style="color: #cccccc;">);</span></div>

<div><span style="color: #cccccc;">        </span><span style="color: #6a9955;">// 设置采样率</span></div><div><span style="color: #cccccc;">        </span><span style="color: #9cdcfe;">Data</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">7</span><span style="color: #cccccc;">;</span></div><div><span style="color: #cccccc;">        </span><span style="color: #dcdcaa;">DAL_I2C_Mem_Write</span><span style="color: #cccccc;">(</span><span style="color: #d4d4d4;">&</span><span style="color: #9cdcfe;">hi2c1</span><span style="color: #cccccc;">, </span><span style="color: #569cd6;">MPU6050_ADDR</span><span style="color: #cccccc;">, </span><span style="color: #569cd6;">MPU6050_REG_SMPLRT_DIV</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">1</span><span style="color: #cccccc;">, </span><span style="color: #d4d4d4;">&</span><span style="color: #9cdcfe;">Data</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">1</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">1000</span><span style="color: #cccccc;">);</span></div>

<div><span style="color: #cccccc;">        </span><span style="color: #6a9955;">// 设置加速度计和陀螺仪</span></div><div><span style="color: #cccccc;">        </span><span style="color: #9cdcfe;">Data</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">0</span><span style="color: #cccccc;">;</span></div><div><span style="color: #cccccc;">        </span><span style="color: #dcdcaa;">DAL_I2C_Mem_Write</span><span style="color: #cccccc;">(</span><span style="color: #d4d4d4;">&</span><span style="color: #9cdcfe;">hi2c1</span><span style="color: #cccccc;">, </span><span style="color: #569cd6;">MPU6050_ADDR</span><span style="color: #cccccc;">, </span><span style="color: #569cd6;">MPU6050_REG_ACCEL_CONFIG</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">1</span><span style="color: #cccccc;">, </span><span style="color: #d4d4d4;">&</span><span style="color: #9cdcfe;">Data</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">1</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">1000</span><span style="color: #cccccc;">);</span></div><div><span style="color: #cccccc;">        </span><span style="color: #dcdcaa;">DAL_I2C_Mem_Write</span><span style="color: #cccccc;">(</span><span style="color: #d4d4d4;">&</span><span style="color: #9cdcfe;">hi2c1</span><span style="color: #cccccc;">, </span><span style="color: #569cd6;">MPU6050_ADDR</span><span style="color: #cccccc;">, </span><span style="color: #569cd6;">MPU6050_REG_GYRO_CONFIG</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">1</span><span style="color: #cccccc;">, </span><span style="color: #d4d4d4;">&</span><span style="color: #9cdcfe;">Data</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">1</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">1000</span><span style="color: #cccccc;">);</span></div><div><span style="color: #cccccc;">    }</span></div><div><span style="color: #cccccc;">}</span></div>

<div><span style="color: #569cd6;">void</span><span style="color: #cccccc;"> </span><span style="color: #dcdcaa;">MPU6050_Read_Accel</span><span style="color: #cccccc;">(</span><span style="color: #569cd6;">float</span><span style="color: #d4d4d4;">*</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Ax</span><span style="color: #cccccc;">, </span><span style="color: #569cd6;">float</span><span style="color: #d4d4d4;">*</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Ay</span><span style="color: #cccccc;">, </span><span style="color: #569cd6;">float</span><span style="color: #d4d4d4;">*</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Az</span><span style="color: #cccccc;">) {</span></div><div><span style="color: #cccccc;">    </span><span style="color: #569cd6;">uint8_t</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Rec_Data</span><span style="color: #cccccc;">[</span><span style="color: #b5cea8;">6</span><span style="color: #cccccc;">];</span></div><div><span style="color: #cccccc;">    </span><span style="color: #569cd6;">int16_t</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Accel_X_RAW</span><span style="color: #cccccc;">, </span><span style="color: #9cdcfe;">Accel_Y_RAW</span><span style="color: #cccccc;">, </span><span style="color: #9cdcfe;">Accel_Z_RAW</span><span style="color: #cccccc;">;</span></div>

<div><span style="color: #cccccc;">    </span><span style="color: #6a9955;">// 读取加速度计数据</span></div><div><span style="color: #cccccc;">    </span><span style="color: #dcdcaa;">DAL_I2C_Mem_Read</span><span style="color: #cccccc;">(</span><span style="color: #d4d4d4;">&</span><span style="color: #9cdcfe;">hi2c1</span><span style="color: #cccccc;">, </span><span style="color: #569cd6;">MPU6050_ADDR</span><span style="color: #cccccc;">, </span><span style="color: #569cd6;">MPU6050_REG_ACCEL_XOUT_H</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">1</span><span style="color: #cccccc;">, </span><span style="color: #9cdcfe;">Rec_Data</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">6</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">1000</span><span style="color: #cccccc;">);</span></div>

<div><span style="color: #cccccc;">    </span><span style="color: #9cdcfe;">Accel_X_RAW</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> (</span><span style="color: #569cd6;">int16_t</span><span style="color: #cccccc;">)(</span><span style="color: #9cdcfe;">Rec_Data</span><span style="color: #cccccc;">[</span><span style="color: #b5cea8;">0</span><span style="color: #cccccc;">] </span><span style="color: #d4d4d4;"><<</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">8</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">|</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Rec_Data</span><span style="color: #cccccc;">[</span><span style="color: #b5cea8;">1</span><span style="color: #cccccc;">]);</span></div><div><span style="color: #cccccc;">    </span><span style="color: #9cdcfe;">Accel_Y_RAW</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> (</span><span style="color: #569cd6;">int16_t</span><span style="color: #cccccc;">)(</span><span style="color: #9cdcfe;">Rec_Data</span><span style="color: #cccccc;">[</span><span style="color: #b5cea8;">2</span><span style="color: #cccccc;">] </span><span style="color: #d4d4d4;"><<</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">8</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">|</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Rec_Data</span><span style="color: #cccccc;">[</span><span style="color: #b5cea8;">3</span><span style="color: #cccccc;">]);</span></div><div><span style="color: #cccccc;">    </span><span style="color: #9cdcfe;">Accel_Z_RAW</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> (</span><span style="color: #569cd6;">int16_t</span><span style="color: #cccccc;">)(</span><span style="color: #9cdcfe;">Rec_Data</span><span style="color: #cccccc;">[</span><span style="color: #b5cea8;">4</span><span style="color: #cccccc;">] </span><span style="color: #d4d4d4;"><<</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">8</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">|</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Rec_Data</span><span style="color: #cccccc;">[</span><span style="color: #b5cea8;">5</span><span style="color: #cccccc;">]);</span></div>

<div><span style="color: #cccccc;">    </span><span style="color: #d4d4d4;">*</span><span style="color: #9cdcfe;">Ax</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Accel_X_RAW</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">/</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">16384.0</span><span style="color: #cccccc;">;</span></div><div><span style="color: #cccccc;">    </span><span style="color: #d4d4d4;">*</span><span style="color: #9cdcfe;">Ay</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Accel_Y_RAW</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">/</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">16384.0</span><span style="color: #cccccc;">;</span></div><div><span style="color: #cccccc;">    </span><span style="color: #d4d4d4;">*</span><span style="color: #9cdcfe;">Az</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Accel_Z_RAW</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">/</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">16384.0</span><span style="color: #cccccc;">;</span></div><div><span style="color: #cccccc;">}</span></div>

<div><span style="color: #569cd6;">void</span><span style="color: #cccccc;"> </span><span style="color: #dcdcaa;">MPU6050_Read_Gyro</span><span style="color: #cccccc;">(</span><span style="color: #569cd6;">float</span><span style="color: #d4d4d4;">*</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Gx</span><span style="color: #cccccc;">, </span><span style="color: #569cd6;">float</span><span style="color: #d4d4d4;">*</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Gy</span><span style="color: #cccccc;">, </span><span style="color: #569cd6;">float</span><span style="color: #d4d4d4;">*</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Gz</span><span style="color: #cccccc;">) {</span></div><div><span style="color: #cccccc;">    </span><span style="color: #569cd6;">uint8_t</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Rec_Data</span><span style="color: #cccccc;">[</span><span style="color: #b5cea8;">6</span><span style="color: #cccccc;">];</span></div><div><span style="color: #cccccc;">    </span><span style="color: #569cd6;">int16_t</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Gyro_X_RAW</span><span style="color: #cccccc;">, </span><span style="color: #9cdcfe;">Gyro_Y_RAW</span><span style="color: #cccccc;">, </span><span style="color: #9cdcfe;">Gyro_Z_RAW</span><span style="color: #cccccc;">;</span></div>

<div><span style="color: #cccccc;">    </span><span style="color: #6a9955;">// 读取陀螺仪数据</span></div><div><span style="color: #cccccc;">    </span><span style="color: #dcdcaa;">DAL_I2C_Mem_Read</span><span style="color: #cccccc;">(</span><span style="color: #d4d4d4;">&</span><span style="color: #9cdcfe;">hi2c1</span><span style="color: #cccccc;">, </span><span style="color: #569cd6;">MPU6050_ADDR</span><span style="color: #cccccc;">, MPU6050_REG_GYRO_XOUT_H, </span><span style="color: #b5cea8;">1</span><span style="color: #cccccc;">, </span><span style="color: #9cdcfe;">Rec_Data</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">6</span><span style="color: #cccccc;">, </span><span style="color: #b5cea8;">1000</span><span style="color: #cccccc;">);</span></div>

<div><span style="color: #cccccc;">    </span><span style="color: #9cdcfe;">Gyro_X_RAW</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> (</span><span style="color: #569cd6;">int16_t</span><span style="color: #cccccc;">)(</span><span style="color: #9cdcfe;">Rec_Data</span><span style="color: #cccccc;">[</span><span style="color: #b5cea8;">0</span><span style="color: #cccccc;">] </span><span style="color: #d4d4d4;"><<</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">8</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">|</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Rec_Data</span><span style="color: #cccccc;">[</span><span style="color: #b5cea8;">1</span><span style="color: #cccccc;">]);</span></div><div><span style="color: #cccccc;">    </span><span style="color: #9cdcfe;">Gyro_Y_RAW</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> (</span><span style="color: #569cd6;">int16_t</span><span style="color: #cccccc;">)(</span><span style="color: #9cdcfe;">Rec_Data</span><span style="color: #cccccc;">[</span><span style="color: #b5cea8;">2</span><span style="color: #cccccc;">] </span><span style="color: #d4d4d4;"><<</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">8</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">|</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Rec_Data</span><span style="color: #cccccc;">[</span><span style="color: #b5cea8;">3</span><span style="color: #cccccc;">]);</span></div><div><span style="color: #cccccc;">    </span><span style="color: #9cdcfe;">Gyro_Z_RAW</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> (</span><span style="color: #569cd6;">int16_t</span><span style="color: #cccccc;">)(</span><span style="color: #9cdcfe;">Rec_Data</span><span style="color: #cccccc;">[</span><span style="color: #b5cea8;">4</span><span style="color: #cccccc;">] </span><span style="color: #d4d4d4;"><<</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">8</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">|</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Rec_Data</span><span style="color: #cccccc;">[</span><span style="color: #b5cea8;">5</span><span style="color: #cccccc;">]);</span></div>

<div><span style="color: #cccccc;">    </span><span style="color: #d4d4d4;">*</span><span style="color: #9cdcfe;">Gx</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Gyro_X_RAW</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">/</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">131.0</span><span style="color: #cccccc;">;</span></div><div><span style="color: #cccccc;">    </span><span style="color: #d4d4d4;">*</span><span style="color: #9cdcfe;">Gy</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Gyro_Y_RAW</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">/</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">131.0</span><span style="color: #cccccc;">;</span></div><div><span style="color: #cccccc;">    </span><span style="color: #d4d4d4;">*</span><span style="color: #9cdcfe;">Gz</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Gyro_Z_RAW</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">/</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">131.0</span><span style="color: #cccccc;">;</span></div><div><span style="color: #cccccc;">}</span></div>

<div><span style="color: #6a9955;">// 计算倾角</span></div><div><span style="color: #569cd6;">void</span><span style="color: #cccccc;"> </span><span style="color: #dcdcaa;">calculate_tilt</span><span style="color: #cccccc;">(</span><span style="color: #569cd6;">float</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Ax</span><span style="color: #cccccc;">, </span><span style="color: #569cd6;">float</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Ay</span><span style="color: #cccccc;">, </span><span style="color: #569cd6;">float</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Az</span><span style="color: #cccccc;">, </span><span style="color: #569cd6;">float</span><span style="color: #d4d4d4;">*</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">roll</span><span style="color: #cccccc;">, </span><span style="color: #569cd6;">float</span><span style="color: #d4d4d4;">*</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">pitch</span><span style="color: #cccccc;">) {</span></div><div><span style="color: #cccccc;">    </span><span style="color: #d4d4d4;">*</span><span style="color: #9cdcfe;">roll</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> </span><span style="color: #dcdcaa;">atan2</span><span style="color: #cccccc;">(</span><span style="color: #9cdcfe;">Ay</span><span style="color: #cccccc;">, </span><span style="color: #9cdcfe;">Az</span><span style="color: #cccccc;">) </span><span style="color: #d4d4d4;">*</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">180.0</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">/</span><span style="color: #cccccc;"> M_PI;</span></div><div><span style="color: #cccccc;">    </span><span style="color: #d4d4d4;">*</span><span style="color: #9cdcfe;">pitch</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">=</span><span style="color: #cccccc;"> </span><span style="color: #dcdcaa;">atan2</span><span style="color: #cccccc;">(</span><span style="color: #d4d4d4;">-</span><span style="color: #9cdcfe;">Ax</span><span style="color: #cccccc;">, </span><span style="color: #dcdcaa;">sqrt</span><span style="color: #cccccc;">(</span><span style="color: #9cdcfe;">Ay</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">*</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Ay</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">+</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Az</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">*</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Az</span><span style="color: #cccccc;">)) </span><span style="color: #d4d4d4;">*</span><span style="color: #cccccc;"> </span><span style="color: #b5cea8;">180.0</span><span style="color: #cccccc;"> </span><span style="color: #d4d4d4;">/</span><span style="color: #cccccc;"> M_PI;</span></div><div><span style="color: #cccccc;">}</span></div></div>

最后，我们可以使用 MPU6050 传感器来测量物体的运动状态。

复制

int main()

{

    DAL_Init();

    SystemClock_Config();



    

<div style="color: #cccccc;background-color: #1f1f1f;font-family: 'Droid Sans Mono', 'monospace', monospace;font-weight: normal;font-size: 14px;line-height: 19px;white-space: pre;"><div><span style="color: #cccccc;">  </span><span style="color: #dcdcaa;">MX_I2C1_Init</span><span style="color: #cccccc;">();</span></div></div><div style="color: #cccccc;background-color: #1f1f1f;font-family: 'Droid Sans Mono', 'monospace', monospace;font-weight: normal;font-size: 14px;line-height: 19px;white-space: pre;"><div><span style="color: #dcdcaa;">  MPU6050_Init</span><span style="color: #cccccc;">();</span></div></div>

<div style="color: #cccccc;background-color: #1f1f1f;font-family: 'Droid Sans Mono', 'monospace', monospace;font-weight: normal;font-size: 14px;line-height: 19px;white-space: pre;"><div><span style="color: #cccccc;"></span><div><span style="color: #cccccc;">  </span><span style="color: #569cd6;">float</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Ax</span><span style="color: #cccccc;">, </span><span style="color: #9cdcfe;">Ay</span><span style="color: #cccccc;">, </span><span style="color: #9cdcfe;">Az</span><span style="color: #cccccc;">;</span></div><div><span style="color: #cccccc;">  </span><span style="color: #569cd6;">float</span><span style="color: #cccccc;"> </span><span style="color: #9cdcfe;">Gx</span><span style="color: #cccccc;">, </span><span style="color: #9cdcfe;">Gy</span><span style="color: #cccccc;">, </span><span style="color: #9cdcfe;">Gz</span><span style="color: #cccccc;">;</span></div></div></div>

    while (1)

    {

        // 打印数据

<div style="color: #cccccc;background-color: #1f1f1f;font-family: 'Droid Sans Mono', 'monospace', monospace;font-weight: normal;font-size: 14px;line-height: 19px;white-space: pre;">

<div><span style="color: #cccccc;">    </span><span style="color: #dcdcaa;">MPU6050_Read_Accel</span><span style="color: #cccccc;">(</span><span style="color: #d4d4d4;">&</span><span style="color: #9cdcfe;">Ax</span><span style="color: #cccccc;">, </span><span style="color: #d4d4d4;">&</span><span style="color: #9cdcfe;">Ay</span><span style="color: #cccccc;">, </span><span style="color: #d4d4d4;">&</span><span style="color: #9cdcfe;">Az</span><span style="color: #cccccc;">);</span></div><div><span style="color: #cccccc;">    </span><span style="color: #dcdcaa;">MPU6050_Read_Gyro</span><span style="color: #cccccc;">(</span><span style="color: #d4d4d4;">&</span><span style="color: #9cdcfe;">Gx</span><span style="color: #cccccc;">, </span><span style="color: #d4d4d4;">&</span><span style="color: #9cdcfe;">Gy</span><span style="color: #cccccc;">, </span><span style="color: #d4d4d4;">&</span><span style="color: #9cdcfe;">Gz</span><span style="color: #cccccc;">);</span></div><div><pre class="light-scrollbar-dcdf25 language-c" tabindex="0"><code class="language-c">    <span class="token function">printf</span><span class="token punctuation">(</span><span class="token string">"Acceleration: x = %.2f, y = %.2f, z = %.2f\n"</span><span class="token punctuation">,</span> Ax<span class="token punctuation">,</span> Ay<span class="token punctuation">,</span> Az<span class="token punctuation">)</span><span class="token punctuation">;</span>

    <span class="token function">printf</span><span class="token punctuation">(</span><span class="token string">"Gyroscope: x = %.2f, y = %.2f, z = %.2f\n"</span><span class="token punctuation">,</span> Gx<span class="token punctuation">,</span> Gy<span class="token punctuation">,</span> Gz<span class="token punctuation">)</span><span class="token punctuation">;</span></code></pre></div></div>        DAL_Delay(1000);

    }

}

1万 · 2024-6-14 09:38

这个什么鬼啊，代码里面怎么一堆html标志

只看该作者 · 2024-6-17 08:08

这是从哪儿搬过来得吗？代码如此？