【STM32+HAL】GY25倾斜度角度模块

一、前言

有关MPU6050模块读取六轴传感器数值的详细内容，详见【STM32+HAL】姿态传感器陀螺仪MPU6050模块

二、所用工具

1、芯片：STM32F103C8T6

2、配置软件：CUBEMX

3、编译器：KEIL5

4、产品型号：GY-25

5、使用芯片：MPU6050

6、商品编码：MK002824

三、实现功能

直接读取并输出俯仰角,横滚角,航偏角数值

四、HAL库配置步骤

1、配置串口一、二，参数一致

2、中断配置

五、KEIL填写代码

1、初始化

#define RXBUFFERSIZE  256uint8_t aRxBuffer;
int flag=0;
int16_t y=0,p=0,r=0;
double YAW=0,PITCH=0,ROLL=0;uint8_t query1 = 0xA5;
uint8_t query2 = 0x51;
uint8_t query3 = 0x55;printf("Hello World!\r\n");HAL_Delay(500);HAL_UART_Transmit_IT(&huart2,&query1,1);HAL_UART_Transmit_IT(&huart2,&query3,1);HAL_UART_Receive_IT(&huart2, (uint8_t *)&aRxBuffer, 1);

2、串口回调函数

void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{UNUSED(huart);if(huart==&huart2){static uint8_t k=0,rebuf[8]={0};HAL_GPIO_TogglePin(LED_GPIO_Port,LED_Pin);rebuf[k++] = aRxBuffer;				//读取接收到的数据if(!(rebuf[0]==0xAA))				//如果帧头错误，清缓存{k=0;rebuf[0]=0;}if(k==8)							//数据接收完毕{if(rebuf[7]==0x55)				//判断帧尾，正确则解析姿态角{y=(rebuf[1]<<8|rebuf[2]);	//y，p,r为真实值的100倍p=(rebuf[3]<<8|rebuf[4]);r=(rebuf[5]<<8|rebuf[6]);flag=1;}k=0;//清缓存}HAL_UART_Receive_IT(&huart2, (uint8_t *)&aRxBuffer, 1);}
}

3、main.c

  /* USER CODE BEGIN WHILE */while (1){if(flag==0){HAL_UART_Transmit_IT(&huart2,&query1,1);HAL_UART_Transmit_IT(&huart2,&query2,1);HAL_Delay(10);}else if(flag==1){flag=0;printf("Yaw=%.2f  Pitch=%.2f  ROLL=%.2f\r\n",(double)y/100.0f,(double)p/100.0f,(double)r/100.0f);
//		HAL_Delay(200);}/* USER CODE END WHILE *//* USER CODE BEGIN 3 */}/* USER CODE END 3 */