{"id":957,"date":"2024-09-20T16:09:40","date_gmt":"2024-09-20T08:09:40","guid":{"rendered":"https:\/\/aoofoo.com\/?p=957"},"modified":"2024-09-22T18:44:48","modified_gmt":"2024-09-22T10:44:48","slug":"2-32-%e8%bd%af%e4%bb%b6i2c%e8%af%bb%e5%86%99mpu6050","status":"publish","type":"post","link":"https:\/\/aoofoo.com\/index.php\/2024\/09\/20\/2-32-%e8%bd%af%e4%bb%b6i2c%e8%af%bb%e5%86%99mpu6050\/","title":{"rendered":"2.32 \u8f6f\u4ef6I2C\u8bfb\u5199MPU6050"},"content":{"rendered":"<h2>MPU6050\u63a5\u7ebf\u56fe<\/h2>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-959\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2024\/09\/1-25.png\" alt=\"\" width=\"884\" height=\"305\" \/><\/p>\n<h2>\u8f6f\u4ef6I2C<\/h2>\n<h3>\u521d\u59cb\u5316<\/h3>\n<p>\u8f6f\u4ef6I2C\u53ea\u9700\u8981\u7528GPIO\u7684\u8bfb\u5199\u51fd\u6570\u5c31\u884c\u4e86\u3002<\/p>\n<p>\u8f6f\u4ef6I2C\u521d\u59cb\u5316\u8981\u505a\u4e24\u4e2a\u4efb\u52a1\uff1a<\/p>\n<p>1.\u5c06SCL\u548cSDA\u90fd\u521d\u59cb\u5316\u4e3a\u5f00\u6f0f\u8f93\u51fa\u6a21\u5f0f\u3002<\/p>\n<p>2.\u5c06SCL\u548cSDA\u7f6e\u9ad8\u7535\u5e73\u3002<\/p>\n<p>\u5728STM32\u4e2d\uff0c\u5c06\u4e00\u4e2aGPIO\u914d\u7f6e\u4e3a\u8f93\u51fa\u6a21\u5f0f\u540e\uff0c\u901a\u5e38\u4e0d\u80fd\u76f4\u63a5\u8bfb\u53d6\u5916\u90e8\u8f93\u5165\u4fe1\u53f7\u3002\u4f46\u4f60\u4ecd\u7136\u53ef\u4ee5\u8bfb\u53d6GPIO\u7684\u8f93\u51fa\u6570\u636e\u5bc4\u5b58\u5668\u6765\u68c0\u67e5\u5f53\u524d\u8f93\u51fa\u72b6\u6001\u3002\u5982\u679c\u9700\u8981\u540c\u65f6\u8f93\u5165\uff0c\u53ef\u4ee5\u5c06GPIO\u914d\u7f6e\u4e3a\u5f00\u6f0f\u8f93\u51fa\uff0c\u5e76\u4f7f\u7528\u4e0a\u62c9\u7535\u963b\uff0c\u8fd9\u6837\u53ef\u4ee5\u8bfb\u53d6\u8f93\u5165\u72b6\u6001\u3002<\/p>\n<p>\u5f00\u6f0f\u8f93\u51fa\u867d\u7136\u540d\u5b57\u5e26\u4e86\u4e2a\u8f93\u51fa\uff0c\u4f46\u4e5f\u80fd\u8f93\u5165\uff0c\u8f93\u5165\u65f6\uff0c\u5148\u8f93\u51fa1\uff0c\u518d\u76f4\u63a5\u8bfb\u53d6\u8f93\u5165\u6570\u636e\u5bc4\u5b58\u5668\u5c31\u884c\u4e86\u3002(\u5728\u5f00\u6f0f\u8f93\u51fa\u914d\u7f6e\u4e2d\uff0c\u8f93\u51fa\u9ad8\u7535\u5e73\uff081\uff09\u5b9e\u9645\u4e0a\u662f\u9ad8\u963b\u6001\uff0c\u8fd9\u6837\u5916\u90e8\u7535\u8def\u80fd\u591f\u9a71\u52a8\u5f15\u811a\u7535\u5e73\uff0c\u4ece\u800c\u53ef\u4ee5\u8bfb\u53d6\u5916\u90e8\u8f93\u5165\u4fe1\u53f7\u3002\u5982\u679c\u8f93\u51fa\u4f4e\u7535\u5e73\uff080\uff09\uff0c\u5f15\u811a\u4f1a\u88ab\u62c9\u4f4e\uff0c\u65e0\u6cd5\u8bfb\u53d6\u8f93\u5165\u4fe1\u53f7\u3002\u56e0\u6b64\uff0c\u5148\u8f93\u51fa1\uff0c\u4f7f\u5f15\u811a\u5904\u4e8e\u9ad8\u963b\u6001\uff0c\u624d\u80fd\u6b63\u786e\u8bfb\u53d6\u5916\u90e8\u8f93\u5165\u3002)<\/p>\n<pre class=\"corepress-code-pre\"><code>void MyI2C_Init(void)\r\n{\r\n\tRCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);\r\n\tGPIO_InitTypeDef GPIO_InitStructure;\r\n\tGPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_OD;\r\n\tGPIO_InitStructure.GPIO_Pin=GPIO_Pin_10|GPIO_Pin_11;\r\n\tGPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;\r\n\tGPIO_Init(GPIOB,&amp;GPIO_InitStructure); \r\n\t\r\n\tGPIO_SetBits(GPIOB,GPIO_Pin_10|GPIO_Pin_11); \r\n\t\/\/\u6b64\u65f6I2C\u603b\u7ebf\u5904\u4e8e\u7a7a\u95f2\u72b6\u6001\u3002\r\n} <\/code><\/pre>\n<p>&nbsp;<\/p>\n<h3>\u5199SCL\/\u8bfb\u5199SDA<\/h3>\n<pre class=\"corepress-code-pre\"><code>void MyI2C_W_SCL(uint8_t SCL_num)\r\n{\r\n\tGPIO_WriteBit(GPIOB,GPIO_Pin_10,SCL_num);\r\n\tDelay_us(10);\r\n}\r\n\r\n\r\nvoid MyI2C_W_SDA(uint8_t SDA_num)\r\n{\r\n\tGPIO_WriteBit(GPIOB,GPIO_Pin_11,SDA_num);\r\n\tDelay_us(10);\r\n}\r\n\r\n\r\nuint8_t MyI2C_R_SDA(void)\r\n{\r\n\tuint8_t SDA_num = GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_11);\r\n\tDelay_us(10);\r\n\treturn SDA_num;\r\n}<\/code><\/pre>\n<p>SCL\u662f\u4e3b\u673a\u4e13\u5c5e\u63a7\u5236\u7684\uff0c\u6240\u4ee5\u65e0\u9700\u8bfbSCL\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\u8d77\u59cb\u6761\u4ef6<\/h3>\n<p>\u5728\u5199\u8d77\u59cb\u6761\u4ef6\u65f6\uff0c\u6700\u597d\u5148\u5c06SDA\u7f6e\u9ad8\u7535\u5e73\uff0c\u518d\u5c06SCL\u7f6e\u9ad8\u7535\u5e73\u3002\u5728\u521a\u5f00\u59cb\u65f6\uff0cSDA\u548cSCL\u90fd\u5904\u4e8e\u7a7a\u95f2\u72b6\u6001\uff0c\u90fd\u662f\u9ad8\u7535\u5e73\uff0c\u6240\u4ee5\u5148\u91ca\u653e\u54ea\u4e00\u4e2a\u90fd\u662f\u65e0\u6240\u8c13\u7684\uff1b\u4f46\u662f\uff0c\u901a\u4fe1\u7684\u65f6\u5019\uff0c\u4f1a\u6709\u91cd\u590d\u8d77\u59cb\u6761\u4ef6Sr\uff0cSr\u6700\u5f00\u59cb\u7684SCL\u662f\u4f4e\u7535\u5e73\uff0c\u800cSDA\u7684\u9ad8\u4f4e\u7535\u5e73\u4e0d\u786e\u5b9a\uff0c\u6240\u4ee5\u4fdd\u9669\u8d77\u89c1\uff0c\u6211\u4eec\u8d81SCL\u662f\u4f4e\u7535\u5e73\uff0c\u5148\u786e\u4fdd\u91ca\u653eSDA\uff0c\u518d\u91ca\u653eSCL\uff0c\u8fd9\u65f6SDA\u548cSCL\u90fd\u662f\u9ad8\u7535\u5e73\uff0c\u7136\u540e\u518d\u62c9\u4f4eSDA\u3001\u62c9\u4f4eSCL\uff0c\u8fd9\u6837\u8fd9\u4e2aStart\u5c31\u53ef\u4ee5\u517c\u5bb9\u8d77\u59cb\u6761\u4ef6\u548c\u91cd\u590d\u8d77\u59cb\u6761\u4ef6\u4e86\u3002<\/p>\n<p>\u56e0\u4e3a\u5982\u679c\u4e0d\u628aSDA\u5148\u53d8\u6210\u9ad8\u7535\u5e73\uff0c\u90a3\u4e48\u5728\u91cd\u590d\u8d77\u59cb\u6761\u4ef6\u65f6\uff0cSDA\u7684\u503c\u5982\u679c\u662f\u4f4e\u7535\u5e73\uff0cSCL\u88ab\u62c9\u9ad8\u81f3\u9ad8\u7535\u5e73\u540e\uff0c\u518d\u628aSDA\u62c9\u9ad8\uff0c\u76f8\u5f53\u4e8e\u5728SCL\u9ad8\u7535\u5e73\u65f6\u62c9\u9ad8SDA\uff0c\u53d8\u6210\u4e86\u7ec8\u6b62\u6761\u4ef6\u3002<\/p>\n<pre class=\"corepress-code-pre\"><code>void MyI2C_Start(void)\r\n{\r\n\tMyI2C_W_SDA(1);\r\n\tMyI2C_W_SCL(1);\r\n\tMyI2C_W_SDA(0);\r\n\tMyI2C_W_SCL(0);\r\n}\r\n<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<h3>\u7ec8\u6b62\u6761\u4ef6<\/h3>\n<p>\u5f53SCL\u548cSDA\u90fd\u5df2\u7ecf\u662f\u4f4e\u7535\u5e73\u4e86\uff0c\u90a3\u5c31\u5148\u91ca\u653eSCL\uff0c\u518d\u91ca\u653eSDA\u5c31\u884c\u4e86\uff0c\u4f46\u662f\u5728\u65f6\u5e8f\u5355\u5143\u5f00\u542f\u65f6\uff0cSDA\u5e76\u4e0d\u4e00\u5b9a\u662f\u4f4e\u7535\u5e73\uff0c\u6240\u4ee5\u4e3a\u4e86\u786e\u4fdd\u91ca\u653eSDA\u80fd\u4ea7\u751f\u4e0a\u5347\u6cbf\uff0c\u6211\u4eec\u8981\u5728\u65f6\u5e8f\u5355\u5143\u5f00\u59cb\u65f6\uff0c\u5148\u62c9\u4f4eSDA\uff0c\u518d\u91ca\u653eSCL\u3001SDA\u3002<\/p>\n<pre class=\"corepress-code-pre\"><code>void MyI2C_Stop(void)\r\n{\r\n\tMyI2C_W_SDA(0);\r\n\tMyI2C_W_SCL(1);\r\n\tMyI2C_W_SDA(1);\r\n}<\/code><\/pre>\n<p>&nbsp;<\/p>\n<h3>\u53d1\u9001\u4e00\u5b57\u8282<\/h3>\n<pre class=\"corepress-code-pre\"><code>void MyI2C_SendByte(uint8_t Byte)\r\n{\r\n\tuint8_t Bit = 0;\r\n\tfor(Bit = 0;Bit&lt;8;Bit++)\r\n\t{\r\n\t\tMyI2C_W_SDA(Byte &amp; (0x80 &gt;&gt; Bit));\r\n\t\tMyI2C_W_SCL(1);\r\n\t\tMyI2C_W_SCL(0);\r\n\t}\r\n}<\/code><\/pre>\n<p>&nbsp;<\/p>\n<h3>\u63a5\u6536\u4e00\u5b57\u8282<\/h3>\n<pre class=\"corepress-code-pre\"><code>uint8_t MyI2C_ReceiveByte(void)\r\n{\r\n\tuint8_t Byte = 0x00;\r\n\tMyI2C_W_SDA(1); \/\/\u4e3b\u673a\u91ca\u653eSDA\uff0c\u4ece\u673a\u628a\u6570\u636e\u653e\u5165SDA\u4e2d\u3002\r\n\t\r\n\tfor(uint8_t Bit = 0;Bit&lt;8;Bit++)\r\n\t{\r\n\t\tMyI2C_W_SCL(1);\/\/\u4e3b\u673a\u91ca\u653eSCL\uff0cSCL\u9ad8\u7535\u5e73\uff0c\u4e3b\u673a\u8bfb\u53d6SDA\u3002\r\n\t\tif(MyI2C_R_SDA() == 1)\r\n\t\t{\r\n\t\t\tByte |= (0X80)&gt;&gt;Bit;\r\n\t\t}\r\n\t\tMyI2C_W_SCL(0);\r\n\t}\r\n\t\r\n\treturn Byte;\r\n}<\/code><\/pre>\n<p>&nbsp;<\/p>\n<h3>\u53d1\u9001ACK\u5e94\u7b54<\/h3>\n<pre class=\"corepress-code-pre\"><code>void MyI2C_SendAck(uint8_t AckBit)\r\n{\r\n\tMyI2C_W_SDA(AckBit);\r\n\tMyI2C_W_SCL(1);\r\n\tMyI2C_W_SCL(0);\r\n}\r\n<\/code><\/pre>\n<p>&nbsp;<\/p>\n<h3>\u63a5\u6536ACK\u5e94\u7b54<\/h3>\n<pre class=\"corepress-code-pre\"><code>uint8_t MyI2C_ReceiveAck(void)\r\n{\r\n\tuint8_t AckBit;\r\n\tMyI2C_W_SDA(1);\/\/\u4e3b\u673a\u91ca\u653eSDA\uff0c\u8ba9\u4ece\u673a\u66f4\u6539SDA\u6570\u636e\u3002\r\n\tMyI2C_W_SCL(1);\r\n\tAckBit = MyI2C_R_SDA();\r\n\tMyI2C_W_SCL(0);\r\n\treturn AckBit;\r\n}\r\n<\/code><\/pre>\n<h2>MPU6050\u4ee3\u7801<\/h2>\n<div class=\"sc-collapse\"><div class=\"sc-collapse__header\"><svg class=\"sc-collapse__arrow\" viewBox=\"0 0 24 24\" fill=\"none\" stroke=\"currentColor\" stroke-width=\"2\" stroke-linecap=\"round\" stroke-linejoin=\"round\"><polyline points=\"6 9 12 15 18 9\"\/><\/svg>MPU6050\u5bc4\u5b58\u5668\u5730\u5740<\/div><div class=\"sc-collapse__body\"><div class=\"sc-collapse__content\"><\/p>\n<pre class=\"corepress-code-pre\"><code>#define\tMPU6050_SMPLRT_DIV\t\t0x19\r\n#define\tMPU6050_CONFIG\t\t\t0x1A\r\n#define\tMPU6050_GYRO_CONFIG\t\t0x1B\r\n#define\tMPU6050_ACCEL_CONFIG\t0x1C\r\n\r\n#define\tMPU6050_ACCEL_XOUT_H\t0x3B\r\n#define\tMPU6050_ACCEL_XOUT_L\t0x3C\r\n#define\tMPU6050_ACCEL_YOUT_H\t0x3D\r\n#define\tMPU6050_ACCEL_YOUT_L\t0x3E\r\n#define\tMPU6050_ACCEL_ZOUT_H\t0x3F\r\n#define\tMPU6050_ACCEL_ZOUT_L\t0x40\r\n#define\tMPU6050_TEMP_OUT_H\t\t0x41\r\n#define\tMPU6050_TEMP_OUT_L\t\t0x42\r\n#define\tMPU6050_GYRO_XOUT_H\t\t0x43\r\n#define\tMPU6050_GYRO_XOUT_L\t\t0x44\r\n#define\tMPU6050_GYRO_YOUT_H\t\t0x45\r\n#define\tMPU6050_GYRO_YOUT_L\t\t0x46\r\n#define\tMPU6050_GYRO_ZOUT_H\t\t0x47\r\n#define\tMPU6050_GYRO_ZOUT_L\t\t0x48\r\n\r\n#define\tMPU6050_PWR_MGMT_1\t\t0x6B\r\n#define\tMPU6050_PWR_MGMT_2\t\t0x6C\r\n#define\tMPU6050_WHO_AM_I\t\t0x75<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p><\/div><\/div><\/div>\n<pre class=\"corepress-code-pre\"><code>#define MPU6050_ADDRESS 0XD0\r\n\r\n\/\/\u6307\u5b9a\u5730\u5740\u5199\r\nvoid MPU6050_WriteReg(uint8_t RegAddress,uint8_t Data)\r\n{\r\n\tMyI2C_Start();\r\n\tMyI2C_SendByte(MPU6050_ADDRESS);\r\n\tMyI2C_ReceiveAck();\r\n\tMyI2C_SendByte(RegAddress);\r\n\tMyI2C_ReceiveAck();\r\n\tMyI2C_SendByte(Data);\r\n\tMyI2C_ReceiveAck();\r\n\tMyI2C_Stop();\r\n}\r\n\r\n\r\n\/\/\u6307\u5b9a\u5730\u5740\u8bfb\r\nuint8_t MPU6050_ReadReg(uint8_t RegAddress)\r\n{\r\n\tMyI2C_Start();\r\n\tMyI2C_SendByte(MPU6050_ADDRESS);\r\n\tMyI2C_ReceiveAck();\r\n\tMyI2C_SendByte(RegAddress);\r\n\tMyI2C_ReceiveAck();\r\n\t\r\n\tMyI2C_Start();\r\n\tMyI2C_SendByte(MPU6050_ADDRESS | 0x01);\r\n\tMyI2C_ReceiveAck();\r\n\r\n\tuint8_t Data = MyI2C_ReceiveByte();\r\n\t\r\n\tMyI2C_SendAck(1);\r\n\tMyI2C_Stop();\r\n\treturn Data; \r\n}\r\n\r\n\/\/\u521d\u59cb\u5316MPU6050\r\nvoid MPU6050_Init(void)\r\n{\r\n\tMyI2C_Init();\r\n\t\r\n\t\/*MPU6050\u5bc4\u5b58\u5668\u521d\u59cb\u5316\uff0c\u9700\u8981\u5bf9\u7167MPU6050\u624b\u518c\u7684\u5bc4\u5b58\u5668\u63cf\u8ff0\u914d\u7f6e\uff0c\u6b64\u5904\u4ec5\u914d\u7f6e\u4e86\u90e8\u5206\u91cd\u8981\u7684\u5bc4\u5b58\u5668*\/\r\n\tMPU6050_WriteReg(MPU6050_PWR_MGMT_1, 0x01);\t\t\/\/\u7535\u6e90\u7ba1\u7406\u5bc4\u5b58\u56681\uff0c\u53d6\u6d88\u7761\u7720\u6a21\u5f0f\uff0c\u9009\u62e9\u65f6\u949f\u6e90\u4e3aX\u8f74\u9640\u87ba\u4eea\r\n\tMPU6050_WriteReg(MPU6050_PWR_MGMT_2, 0x00);\t\t\/\/\u7535\u6e90\u7ba1\u7406\u5bc4\u5b58\u56682\uff0c\u4fdd\u6301\u9ed8\u8ba4\u503c0\uff0c\u6240\u6709\u8f74\u5747\u4e0d\u5f85\u673a\r\n\tMPU6050_WriteReg(MPU6050_SMPLRT_DIV, 0x09);\t\t\/\/\u91c7\u6837\u7387\u5206\u9891\u5bc4\u5b58\u5668\uff0c\u914d\u7f6e\u91c7\u6837\u7387\r\n\tMPU6050_WriteReg(MPU6050_CONFIG, 0x06);\t\t\t\/\/\u914d\u7f6e\u5bc4\u5b58\u5668\uff0c\u914d\u7f6eDLPF\r\n\tMPU6050_WriteReg(MPU6050_GYRO_CONFIG, 0x18);\t\/\/\u9640\u87ba\u4eea\u914d\u7f6e\u5bc4\u5b58\u5668\uff0c\u9009\u62e9\u6ee1\u91cf\u7a0b\u4e3a\u00b12000\u00b0\/s\r\n\tMPU6050_WriteReg(MPU6050_ACCEL_CONFIG, 0x18);\t\/\/\u52a0\u901f\u5ea6\u8ba1\u914d\u7f6e\u5bc4\u5b58\u5668\uff0c\u9009\u62e9\u6ee1\u91cf\u7a0b\u4e3a\u00b116g\r\n}\r\n\r\nuint8_t MPU6050_GetID(void)\r\n{\r\n\treturn MPU6050_ReadReg(MPU6050_WHO_AM_I);\t\t\/\/\u8fd4\u56deWHO_AM_I\u5bc4\u5b58\u5668\u7684\u503c\r\n}\r\n\r\nvoid MPU6050_GetData(int16_t *AccX,int16_t *AccY,int16_t *AccZ,\r\n\t\t\t\t\t int16_t *GyroX,int16_t *GyroY,int16_t *GyroZ)\r\n{\r\n\tuint8_t DataH,DataL;\r\n\tDataH = MPU6050_ReadReg(MPU6050_ACCEL_XOUT_H);\t\t\/\/\u8bfb\u53d6\u52a0\u901f\u5ea6\u8ba1X\u8f74\u7684\u9ad88\u4f4d\u6570\u636e\r\n\tDataL = MPU6050_ReadReg(MPU6050_ACCEL_XOUT_L);\t\t\/\/\u8bfb\u53d6\u52a0\u901f\u5ea6\u8ba1X\u8f74\u7684\u4f4e8\u4f4d\u6570\u636e\r\n\t*AccX = (DataH &lt;&lt; 8) | DataL;\t\t\t\t\t\t\/\/\u6570\u636e\u62fc\u63a5\uff0c\u901a\u8fc7\u8f93\u51fa\u53c2\u6570\u8fd4\u56de\r\n\t\r\n\tDataH = MPU6050_ReadReg(MPU6050_ACCEL_YOUT_H);\t\t\/\/\u8bfb\u53d6\u52a0\u901f\u5ea6\u8ba1Y\u8f74\u7684\u9ad88\u4f4d\u6570\u636e\r\n\tDataL = MPU6050_ReadReg(MPU6050_ACCEL_YOUT_L);\t\t\/\/\u8bfb\u53d6\u52a0\u901f\u5ea6\u8ba1Y\u8f74\u7684\u4f4e8\u4f4d\u6570\u636e\r\n\t*AccY = (DataH &lt;&lt; 8) | DataL;\t\t\t\t\t\t\/\/\u6570\u636e\u62fc\u63a5\uff0c\u901a\u8fc7\u8f93\u51fa\u53c2\u6570\u8fd4\u56de\r\n\t\r\n\tDataH = MPU6050_ReadReg(MPU6050_ACCEL_ZOUT_H);\t\t\/\/\u8bfb\u53d6\u52a0\u901f\u5ea6\u8ba1Z\u8f74\u7684\u9ad88\u4f4d\u6570\u636e\r\n\tDataL = MPU6050_ReadReg(MPU6050_ACCEL_ZOUT_L);\t\t\/\/\u8bfb\u53d6\u52a0\u901f\u5ea6\u8ba1Z\u8f74\u7684\u4f4e8\u4f4d\u6570\u636e\r\n\t*AccZ = (DataH &lt;&lt; 8) | DataL;\t\t\t\t\t\t\/\/\u6570\u636e\u62fc\u63a5\uff0c\u901a\u8fc7\u8f93\u51fa\u53c2\u6570\u8fd4\u56de\r\n\t\r\n\tDataH = MPU6050_ReadReg(MPU6050_GYRO_XOUT_H);\t\t\/\/\u8bfb\u53d6\u9640\u87ba\u4eeaX\u8f74\u7684\u9ad88\u4f4d\u6570\u636e\r\n\tDataL = MPU6050_ReadReg(MPU6050_GYRO_XOUT_L);\t\t\/\/\u8bfb\u53d6\u9640\u87ba\u4eeaX\u8f74\u7684\u4f4e8\u4f4d\u6570\u636e\r\n\t*GyroX = (DataH &lt;&lt; 8) | DataL;\t\t\t\t\t\t\/\/\u6570\u636e\u62fc\u63a5\uff0c\u901a\u8fc7\u8f93\u51fa\u53c2\u6570\u8fd4\u56de\r\n\t\r\n\tDataH = MPU6050_ReadReg(MPU6050_GYRO_YOUT_H);\t\t\/\/\u8bfb\u53d6\u9640\u87ba\u4eeaY\u8f74\u7684\u9ad88\u4f4d\u6570\u636e\r\n\tDataL = MPU6050_ReadReg(MPU6050_GYRO_YOUT_L);\t\t\/\/\u8bfb\u53d6\u9640\u87ba\u4eeaY\u8f74\u7684\u4f4e8\u4f4d\u6570\u636e\r\n\t*GyroY = (DataH &lt;&lt; 8) | DataL;\t\t\t\t\t\t\/\/\u6570\u636e\u62fc\u63a5\uff0c\u901a\u8fc7\u8f93\u51fa\u53c2\u6570\u8fd4\u56de\r\n\t\r\n\tDataH = MPU6050_ReadReg(MPU6050_GYRO_ZOUT_H);\t\t\/\/\u8bfb\u53d6\u9640\u87ba\u4eeaZ\u8f74\u7684\u9ad88\u4f4d\u6570\u636e\r\n\tDataL = MPU6050_ReadReg(MPU6050_GYRO_ZOUT_L);\t\t\/\/\u8bfb\u53d6\u9640\u87ba\u4eeaZ\u8f74\u7684\u4f4e8\u4f4d\u6570\u636e\r\n\t*GyroZ = (DataH &lt;&lt; 8) | DataL;\t\t\t\t\t\t\/\/\u6570\u636e\u62fc\u63a5\uff0c\u901a\u8fc7\u8f93\u51fa\u53c2\u6570\u8fd4\u56de\r\n}<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>MPU6050\u63a5\u7ebf\u56fe \u8f6f\u4ef6I2C \u521d\u59cb\u5316 \u8f6f\u4ef6I2C\u53ea\u9700\u8981\u7528GPIO\u7684\u8bfb\u5199\u51fd\u6570\u5c31\u884c\u4e86\u3002 \u8f6f\u4ef6I2C\u521d\u59cb\u5316\u8981\u505a\u4e24 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[7],"tags":[],"class_list":["post-957","post","type-post","status-publish","format-standard","hentry","category-stm32"],"_links":{"self":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/957","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/comments?post=957"}],"version-history":[{"count":7,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/957\/revisions"}],"predecessor-version":[{"id":967,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/957\/revisions\/967"}],"wp:attachment":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/media?parent=957"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/categories?post=957"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/tags?post=957"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}