F103c8t6+Cubemx+Mpu6050串口输出

Cubemx配置

串口显示

所导入的MPU6050库https://pan.baidu.com/s/1DneM4xr7O9hCuUpCis1TBw

Main.c

// An highlighted block /* USER CODE BEGIN Header */ /** ****************************************************************************** * @file : main.c * @brief : Main program body ****************************************************************************** * @attention * * 
© Copyright (c) 2022 STMicroelectronics. * All rights reserved.
 * * 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" #include "i2c.h" #include "usart.h" #include "gpio.h"  /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ #include "mpu6050.h" #include "inv_mpu_dmp_motion_driver.h" #include "inv_mpu.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 ---------------------------------------------------------*/  /* USER CODE BEGIN PV */ float pitch,roll,yaw;   //欧拉角 short aacx,aacy,aacz;  ///加速度传感器原始数据 short gyrox,gyroy,gyroz; //陀螺仪原始数据 short temp;					//温度

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif
PUTCHAR_PROTOTYPE { 
        
    HAL_UART_Transmit(&huart1, (uint8_t *) &ch, 1, 0xFFFF);
    return ch;
}
/* 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_I2C2_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
    while(MPU_Init());					//初始化MPU6050
    while(mpu_dmp_init())
    { 
        
        HAL_Delay(200);
        printf("%s\r\n","Mpu6050 Init Wrong!");
    }
    printf("%s\r\n","Mpu6050 Init OK!");


  /* USER CODE END 2 */

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

    /* USER CODE BEGIN 3 */
      if(mpu_dmp_get_data(&pitch,&roll,&yaw)==0)
      { 
        
          temp=MPU_Get_Temperature();								//得到温度值
          MPU_Get_Accelerometer(&aacx,&aacy,&aacz);	//得到加速度传感器数据
          MPU_Get_Gyroscope(&gyrox,&gyroy,&gyroz);	//得到陀螺仪数据
          printf("三轴角度：%f-%f-%f\r\n",pitch,roll,yaw);
          printf("三轴加速度：%d-%d-%d\r\n",aacx,aacy,aacz);
          printf("三轴角角度：%d-%d-%d\r\n",gyrox,gyroy,gyroz);
      }
      HAL_Delay(200);
  }
  /* USER CODE END 3 */
}

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

  /** Initializes the RCC Oscillators according to the specified parameters * in the RCC_OscInitTypeDef structure. */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  { 
        
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses 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_2) != HAL_OK)
  { 
        
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* 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 */
  __disable_irq();
  while (1)
  { 
        
  }
  /* 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, ex: 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****/