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基于STM32H750 HAL庫的MPU6050陀螺儀驅動+串口輸出數據

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ID:629021 發表于 2020-8-7 16:32 | 顯示全部樓層 |閱讀模式
結合網上的程序寫了自己的程序。一開始參考了這里：https://blog.csdn.net/Jodan132/a ... -baidujs-1.nonecase
后來發現那個代碼有兩個坑：一個是IIC地址不對勁，一般來說如果A0是低電平的話應該是0xd0和0xd1（讀寫地址）。還有一個比較無語的坑就是：陀螺儀輸出數據寄存器的低八位和高八位放反了。一開始這一段我根本沒仔細看，結果輸出的數據非常不穩定，數值也很詭異。。。。。。
修改好之后加上了數據轉換，加速度單位是g，角速度單位是°/s。

單片機main函數所在文件如下：
  1. /* USER CODE BEGIN Header */
  2. /**
  3.   ******************************************************************************
  4.   * @file           : main.c
  5.   * @brief          : Main program body
  6.   ******************************************************************************
  7.   * @attention
  8.   *
  9.   * <h2><center>© Copyright (c) 2020 STMicroelectronics.
  10.   * All rights reserved.</center></h2>
  11.   *
  12.   * This software component is licensed by ST under BSD 3-Clause license,
  13.   * the "License"; You may not use this file except in compliance with the
  14.   * License. You may obtain a copy of the License at:
  15.   *                        opensource.org/licenses/BSD-3-Clause
  16.   *
  17.   ******************************************************************************
  18.   */
  19. /* USER CODE END Header */
  20. /* Includes ------------------------------------------------------------------*/
  21. #include "main.h"
  22. #include "i2c.h"
  23. #include "usart.h"
  24. #include "gpio.h"
  25. /* Private includes ----------------------------------------------------------*/
  26. /* USER CODE BEGIN Includes */
  27. /* USER CODE END Includes */
  28. /* Private typedef -----------------------------------------------------------*/
  29. /* USER CODE BEGIN PTD */

  31. /* USER CODE END PTD */
  32. /* Private define ------------------------------------------------------------*/
  33. /* USER CODE BEGIN PD */
  34. #define ADDRESS_Write  0Xd0
  35. #define ADDRESS_Read   0Xd1

  37. #define PWR_MGMT_1     0x6B    //電源管理，0X00喚醒MPU6050
  38. #define SMPLRT_DIV     0X19    //陀螺儀采樣率
  39. #define CONFIG         0X1A    //低通濾波
  40. #define GYRO_CONFIG    0X1B    //陀螺儀自檢及測量
  41. #define ACCEL_CONFIG   0X1C    //加速度自檢，測量范圍及高通濾波頻率
  42. #define TEMP_OUT_H     0X41
  43. #define TEMP_OUT_L     0X42

  45. #define ACCEL_XOUT_H   0X3B
  46. #define ACCEL_XOUT_L   0X3C
  47. #define ACCEL_YOUT_H   0X3D
  48. #define ACCEL_YOUT_L   0X3E
  49. #define ACCEL_ZOUT_H   0X3F
  50. #define ACCEL_ZOUT_L   0X40
  51. #define GYRO_XOUT_H    0X43
  52. #define GYRO_XOUT_L    0X44
  53. #define GYRO_YOUT_H    0X45
  54. #define GYRO_YOUT_L    0X46
  55. #define GYRO_ZOUT_H    0X47
  56. #define GYRO_ZOUT_L   0X48
  57. #define MPU6050_ADRESS_ADO_LOW        0X68 // adress pin low
  58. #define MPU6050_ADRESS_ADO_HIGH       0X69//  adress pin high
  59. int x=0,y=0,z=0,wx=0,wy=0,wz=0,t=0;
  60. unsigned char flag=0;
  61. unsigned long XB=0,YB=0,ZB=0,i,j;
  62. unsigned char display[5];
  63. /* USER CODE END PD */
  64. /* Private macro -------------------------------------------------------------*/
  65. /* USER CODE BEGIN PM */
  66. void InitMPU6050(void)
  67. {
  68. uint8_t temp;
  69. temp = 0x00;
  70. HAL_I2C_Mem_Write(&hi2c1, ADDRESS_Write, PWR_MGMT_1, I2C_MEMADD_SIZE_8BIT, &temp, 1, 0x10);
  71. temp = 0x07;
  72.     HAL_I2C_Mem_Write(&hi2c1, ADDRESS_Write, SMPLRT_DIV, I2C_MEMADD_SIZE_8BIT, &temp, 1, 0x10);
  73. temp = 0x06;
  74.     HAL_I2C_Mem_Write(&hi2c1, ADDRESS_Write, CONFIG, I2C_MEMADD_SIZE_8BIT, &temp, 1, 0x10);
  75. temp = 0x00;
  76.     HAL_I2C_Mem_Write(&hi2c1, ADDRESS_Write, GYRO_CONFIG, I2C_MEMADD_SIZE_8BIT, &temp, 1, 0x10);
  77. temp = 0x01;
  78.     HAL_I2C_Mem_Write(&hi2c1, ADDRESS_Write, ACCEL_CONFIG, I2C_MEMADD_SIZE_8BIT, &temp, 1, 0x10);
  79. }
  80. void BspMpu6050_test(int *x, int *y, int *z,int *t,int *wx,int *wy,int *wz)
  81. {
  82. uint8_t mpu6050_value[2];
  83. HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read , ACCEL_XOUT_H, I2C_MEMADD_SIZE_8BIT, &mpu6050_value[0], 1, 0x10);
  84. HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read , ACCEL_XOUT_L, I2C_MEMADD_SIZE_8BIT, &mpu6050_value[1], 1, 0x10);
  85.   *x =( mpu6050_value[0] << 8) + mpu6050_value[1];
  86. HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read , ACCEL_YOUT_H, I2C_MEMADD_SIZE_8BIT, &mpu6050_value[0], 1, 0x10);
  87. HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read , ACCEL_YOUT_L, I2C_MEMADD_SIZE_8BIT, &mpu6050_value[1], 1, 0x10);
  88.   *y =( mpu6050_value[0] << 8 )+ mpu6050_value[1];
  89. HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read , ACCEL_ZOUT_H, I2C_MEMADD_SIZE_8BIT, &mpu6050_value[0], 1, 0x10);
  90. HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read , ACCEL_ZOUT_L, I2C_MEMADD_SIZE_8BIT, &mpu6050_value[1], 1, 0x10);
  91.   *z =( mpu6050_value[0] << 8) + mpu6050_value[1];
  92. HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read , TEMP_OUT_H, I2C_MEMADD_SIZE_8BIT, &mpu6050_value[0], 1, 0x10);
  93. HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read , TEMP_OUT_L, I2C_MEMADD_SIZE_8BIT, &mpu6050_value[1], 1, 0x10);
  94.   *t =( mpu6050_value[0] << 8) + mpu6050_value[1];

  96. HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read ,GYRO_XOUT_H , I2C_MEMADD_SIZE_8BIT, &mpu6050_value[0], 1, 0x10);
  97. HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read ,GYRO_XOUT_L, I2C_MEMADD_SIZE_8BIT, &mpu6050_value[1], 1, 0x10);
  98.   *wx =( mpu6050_value[0] << 8) + mpu6050_value[1];
  99. HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read , GYRO_YOUT_H , I2C_MEMADD_SIZE_8BIT, &mpu6050_value[0], 1, 0x10);
  100. HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read , GYRO_YOUT_L, I2C_MEMADD_SIZE_8BIT, &mpu6050_value[1], 1, 0x10);
  101.   *wy =( mpu6050_value[0] << 8 )+ mpu6050_value[1];
  102. HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read , GYRO_ZOUT_H, I2C_MEMADD_SIZE_8BIT, &mpu6050_value[0], 1, 0x10);
  103. HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read , GYRO_ZOUT_L, I2C_MEMADD_SIZE_8BIT, &mpu6050_value[1], 1, 0x10);
  104.   *wz =( mpu6050_value[0] << 8) + mpu6050_value[1];

  106. }
  107. void convert(unsigned int a){
  108. unsigned char i,j;
  109. unsigned long b;
  110. b=1;
  111. for(i=0;i<5;i++){
  112.   for(j=0;j<(5-i);j++)b*=10;
  113.   b/=10;
  114.   display[i]=a/b%10+48;
  115. b=1;}}
  116.   
  117.   
  118. /* USER CODE END PM */
  119. /* Private variables ---------------------------------------------------------*/
  120. /* USER CODE BEGIN PV */
  121. /* USER CODE END PV */
  122. /* Private function prototypes -----------------------------------------------*/
  123. void SystemClock_Config(void);
  124. /* USER CODE BEGIN PFP */
  125. /* USER CODE END PFP */
  126. /* Private user code ---------------------------------------------------------*/
  127. /* USER CODE BEGIN 0 */
  128. /* USER CODE END 0 */
  129. /**
  130.   * @brief  The application entry point.
  131.   * @retval int
  132.   */
  133. int main(void)
  134. {
  135.   /* USER CODE BEGIN 1 */
  136.   /* USER CODE END 1 */
  137.   /* MCU Configuration--------------------------------------------------------*/
  138.   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  139.   HAL_Init();
  140.   /* USER CODE BEGIN Init */
  141.   /* USER CODE END Init */
  142.   /* Configure the system clock */
  143.   SystemClock_Config();
  144.   /* USER CODE BEGIN SysInit */
  145.   /* USER CODE END SysInit */
  146.   /* Initialize all configured peripherals */
  147.   MX_GPIO_Init();
  148.   MX_I2C1_Init();
  149.   MX_USART1_UART_Init();
  150.   /* USER CODE BEGIN 2 */
  151. InitMPU6050();
  152.   /* USER CODE END 2 */
  153.   /* Infinite loop */
  154.   /* USER CODE BEGIN WHILE */
  155.   while (1)
  156.   {
  157.     /* USER CODE END WHILE */
  158.     /* USER CODE BEGIN 3 */
  159.   /*for(i=0;i<100;i++){
  160.   BspMpu6050_test(&x,&y,&z);
  161.   XB+=x;YB+=y;ZB+=z;}
  162.   XB/=100;
  163.   YB/=100;
  164.   ZB/=100;*/
  165.   BspMpu6050_test(&x,&y,&z,&t,&wx,&wy,&wz);
  166.   if(x>32768){flag=1;x=65536-x;}
  167.   else flag=0;
  168.   x*=0.61035;
  169.   convert(x);
  170.   HAL_UART_Transmit(&huart1,(uint8_t*)"x:",2,0xFFFF);
  171.   if(flag==1)HAL_UART_Transmit(&huart1,(uint8_t*)" -",2,0XFFFF);
  172.   else HAL_UART_Transmit(&huart1,(uint8_t*)" +",2,0XFFFF);
  173.   HAL_UART_Transmit(&huart1,display,1,0xFFFF);
  174.   HAL_UART_Transmit(&huart1,(uint8_t*)" .",2,0XFFFF);
  175.   HAL_UART_Transmit(&huart1,display+1,4,0xFFFF);
  176.   HAL_UART_Transmit(&huart1,(uint8_t*)"\t\n",2,0xFFFF);
  177.   //HAL_UART_Transmit(&huart1,(uint8_t*)x,2,0xFFFF);

  179.   //HAL_Delay(500);
  180.   if(y>32768){flag=1;y=65536-y;}
  181.   else flag=0;
  182.   y*=0.61035;
  183.   convert(y);
  184.   HAL_UART_Transmit(&huart1,(uint8_t*)"y:",2,0xFFFF);
  185.   if(flag==1)HAL_UART_Transmit(&huart1,(uint8_t*)" -",2,0XFFFF);
  186.   else HAL_UART_Transmit(&huart1,(uint8_t*)" +",2,0XFFFF);
  187.   HAL_UART_Transmit(&huart1,display,1,0xFFFF);
  188.   HAL_UART_Transmit(&huart1,(uint8_t*)" .",2,0XFFFF);
  189.   HAL_UART_Transmit(&huart1,display+1,4,0xFFFF);
  190.   HAL_UART_Transmit(&huart1,(uint8_t*)"\t\n",2,0xFFFF);
  191.   //HAL_Delay(500);
  192.   if(z>32768){flag=1;z=65536-z;}
  193.   else flag=0;
  194.   z*=0.61035;
  195.   convert(z);
  196.   HAL_UART_Transmit(&huart1,(uint8_t*)"z:",2,0xFFFF);
  197.   if(flag==1)HAL_UART_Transmit(&huart1,(uint8_t*)" -",2,0XFFFF);
  198.   else HAL_UART_Transmit(&huart1,(uint8_t*)" +",2,0XFFFF);
  199.   HAL_UART_Transmit(&huart1,display,1,0xFFFF);
  200.   HAL_UART_Transmit(&huart1,(uint8_t*)" .",2,0XFFFF);
  201.   HAL_UART_Transmit(&huart1,display+1,4,0xFFFF);
  202.   HAL_UART_Transmit(&huart1,(uint8_t*)"\t\n",2,0xFFFF);
  203.   //HAL_Delay(500);
  204.   /*if(t>32768){flag=1;t=65536-t;}
  205.   else flag=0;
  206.   t*=0.61035;
  207.   convert(t);
  208.   HAL_UART_Transmit(&huart1,(uint8_t*)"t:",2,0xFFFF);
  209.   if(flag==1)HAL_UART_Transmit(&huart1,(uint8_t*)'-',1,0XFFFF);
  210.   else HAL_UART_Transmit(&huart1,(uint8_t*)'+',1,0XFFFF);
  211.   HAL_UART_Transmit(&huart1,display,1,0xFFFF);
  212.   HAL_UART_Transmit(&huart1,(uint8_t*)'.',1,0XFFFF);
  213.   HAL_UART_Transmit(&huart1,display+1,4,0xFFFF);
  214.   HAL_UART_Transmit(&huart1,(uint8_t*)"\t\n",2,0xFFFF);*/
  215.   if(wx>32768){flag=1;wx=65536-wx;}
  216.   else flag=0;
  217.   wx*=0.76294;
  218.   convert(wx);
  219.   HAL_UART_Transmit(&huart1,(uint8_t*)"wx:",3,0xFFFF);
  220.   if(flag==1)HAL_UART_Transmit(&huart1,(uint8_t*)" -",2,0XFFFF);
  221.   else HAL_UART_Transmit(&huart1,(uint8_t*)" +",2,0XFFFF);
  222.   HAL_UART_Transmit(&huart1,display,3,0xFFFF);
  223.   HAL_UART_Transmit(&huart1,(uint8_t*)" .",2,0XFFFF);
  224.   HAL_UART_Transmit(&huart1,display+3,2,0xFFFF);
  225.   HAL_UART_Transmit(&huart1,(uint8_t*)"\t\n",2,0xFFFF);
  226.   if(wy>32768){flag=1;wy=65536-wy;}
  227.   else flag=0;
  228.   wy*=0.76294;
  229.   convert(wy);
  230.   HAL_UART_Transmit(&huart1,(uint8_t*)"wy:",3,0xFFFF);
  231.   if(flag==1)HAL_UART_Transmit(&huart1,(uint8_t*)" -",2,0XFFFF);
  232.   else HAL_UART_Transmit(&huart1,(uint8_t*)" +",2,0XFFFF);
  233.   HAL_UART_Transmit(&huart1,display,3,0xFFFF);
  234.   HAL_UART_Transmit(&huart1,(uint8_t*)" .",2,0XFFFF);
  235.   HAL_UART_Transmit(&huart1,display+3,2,0xFFFF);
  236.   HAL_UART_Transmit(&huart1,(uint8_t*)"\t\n",2,0xFFFF);
  237.   if(wz>32768){flag=1;wz=65536-wz;}
  238.   else flag=0;
  239.   wz*=0.76294;
  240.   convert(wz);
  241.   HAL_UART_Transmit(&huart1,(uint8_t*)"wz:",3,0xFFFF);
  242.   if(flag==1)HAL_UART_Transmit(&huart1,(uint8_t*)" -",2,0XFFFF);
  243.   else HAL_UART_Transmit(&huart1,(uint8_t*)" +",2,0XFFFF);
  244.   HAL_UART_Transmit(&huart1,display,3,0xFFFF);
  245.   HAL_UART_Transmit(&huart1,(uint8_t*)" .",2,0XFFFF);
  246.   HAL_UART_Transmit(&huart1,display+3,2,0xFFFF);
  247.   HAL_UART_Transmit(&huart1,(uint8_t*)"\t\n",2,0xFFFF);
  248.   }
  249.   /* USER CODE END 3 */
  250. }
  251. /**
  252.   * @brief System Clock Configuration
  253.   * @retval None
  254.   */
  255. void SystemClock_Config(void)
  256. {
  257.   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  258.   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  259.   RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
  260.   /** Supply configuration update enable
  261.   */
  262.   HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);
  263.   /** Configure the main internal regulator output voltage
  264.   */
  265.   __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);
  266.   while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
  267.   /** Initializes the CPU, AHB and APB busses clocks
  268.   */
  269.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  270.   RCC_OscInitStruct.HSIState = RCC_HSI_DIV1;
  271.   RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  272.   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
  273.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  274.   {
  275.     Error_Handler();
  276.   }
  277.   /** Initializes the CPU, AHB and APB busses clocks
  278.   */
  279.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
  280.                               |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2
  281.                               |RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
  282.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
  283.   RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
  284.   RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV1;
  285.   RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV1;
  286.   RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;
  287.   RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV1;
  288.   RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV1;
  289.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
  290.   {
  291.     Error_Handler();
  292.   }
  293.   PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_I2C1;
  294.   PeriphClkInitStruct.Usart16ClockSelection = RCC_USART16CLKSOURCE_D2PCLK2;
  295.   PeriphClkInitStruct.I2c123ClockSelection = RCC_I2C123CLKSOURCE_D2PCLK1;
  296.   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
  297.   {
  298.     Error_Handler();
  299.   }
  300. }
  301. /* USER CODE BEGIN 4 */
  302. /* USER CODE END 4 */
  303. /**
  304.   * @brief  This function is executed in case of error occurrence.
  305.   * @retval None
  306.   */
  307. void Error_Handler(void)
  308. {
  309.   /* USER CODE BEGIN Error_Handler_Debug */
  310.   /* User can add his own implementation to report the HAL error return state */
  311.   /* USER CODE END Error_Handler_Debug */
  312. }
  313. #ifdef  USE_FULL_ASSERT
  314. /**
  315.   * @brief  Reports the name of the source file and the source line number
  316.   *         where the assert_param error has occurred.
  317.   * @param  file: pointer to the source file name
  318.   * @param  line: assert_param error line source number
  319.   * @retval None
  320.   */
  321. void assert_failed(uint8_t *file, uint32_t line)
  322. {
  323.   /* USER CODE BEGIN 6 */
  324.   /* User can add his own implementation to report the file name and line number,
  325.      tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  326.   /* USER CODE END 6 */
  327. }
  328. #endif /* USE_FULL_ASSERT */
  329. /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
復制代碼

完整的代碼（包含外設，適用于STM32H750）+CubeMX工程放在了一起。
MPUexperiment.7z (1.86 MB, 下載次數: 54)

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