MPU6050基于STM32 HAL的驱动程序

# HAL MPU6050 MPU6050 driver based on STM32 HAL. ## Usage - Define a global handler variable. ```c MPU_HandleTypeDef hmpu; MPU_DataTypeDef mpu_data; ``` - Define a init function in which set the parameters. *assume you have already init a i2c instance elsewhere, and all the GPIO pins used are init elsewhere* ```c void MPU_Init() { hmpu.hi2c = &hi2c2; hmpu.AD0_GPIO = GPIOB; hmpu.AD0_Pin = GPIO_PIN_0; hmpu.AD0_State = 0; hmpu.INT_GPIO = GPIOB; hmpu.INT_Pin = GPIO_PIN_1; hmpu.GyroFullScale = MPU_GYRO_FS_1000; hmpu.AcceFullScale = MPU_ACCE_FS_16G; hmpu.SamplingRate = 1000; HAL_MPU6050_Init(&hmpu); } ``` - Call init function when you need it. ```c 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_TIM4_Init(); MX_USART1_UART_Init(); MX_I2C2_Init(); /* USER CODE BEGIN 2 */ MPU_Init(); /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ } /* USER CODE END 3 */ } ``` - To read gyroscope and accelermeter(is this word spelled correctly?) ```c HAL_MPU6050_ReadGyro_Raw(&hmpu, &mpu_data); HAL_MPU6050_ReadAcce_Raw(&hmpu, &mpu_data); ``` - To convert raw data to actual physical quantity ```c HAL_MPU6050_Convert_Gyro(&hmpu, &mpu_data); HAL_MPU6050_Convert_Acce(&hmpu, &mpu_data); ``` Note: some MCUs don't have a FPU(float process unit), the convertion may take **way too much** time.