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发表于 2013-6-11 20:18:12
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回复【2楼】红木甲板:
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我试了试，读出的数据好像有问题 ，特别是陀螺仪的x轴
ACC: X=14772 Y=2344 Z=5136
GYRO: X=0 Y=2313 Z=0
ACC: X=15504 Y=2372 Z=8032
GYRO: X=65535 Y=64507 Z=65535
ACC: X=15772 Y=1772 Z=4656
GYRO: X=65535 Y=64507 Z=514
ACC: X=16560 Y=464 Z=64808
GYRO: X=65535 Y=63993 Z=771
ACC: X=17528 Y=65300 Z=62516
GYRO: X=65278 Y=65278 Z=0
ACC: X=15668 Y=64992 Z=60600
GYRO: X=65278 Y=64507 Z=65535
ACC: X=12812 Y=65320 Z=56768
GYRO: X=65535 Y=64251 Z=257
ACC: X=14144 Y=24 Z=54732
GYRO: X=0 Y=64507 Z=0
ACC: X=11700 Y=63996 Z=54644
GYRO: X=0 Y=0 Z=0
ACC: X=13136 Y=64396 Z=54680
GYRO: X=0 Y=257 Z=0
ACC: X=15240 Y=64640 Z=56196
GYRO: X=65278 Y=2313 Z=514
ACC: X=17832 Y=63788 Z=63472
GYRO: X=63736 Y=3855 Z=1542
ACC: X=12192 Y=56760 Z=2796
GYRO: X=63222 Y=2313 Z=2056
ACC: X=7716 Y=51836 Z=3464
GYRO: X=63479 Y=2056 Z=1542
ACC: X=4428 Y=50200 Z=1804
GYRO: X=64250 Y=1285 Z=1799
ACC: X=65436 Y=48116 Z=916
GYRO: X=65021 Y=514 Z=1285
ACC: X=63316 Y=48668 Z=64820
GYRO: X=65278 Y=514 Z=257
ACC: X=64580 Y=49148 Z=65404
GYRO: X=65535 Y=0 Z=65535
ACC: X=64832 Y=49168 Z=64944
GYRO: X=65535 Y=0 Z=0
ACC: X=63932 Y=48692 Z=64312
GYRO: X=65535 Y=0 Z=65535
ACC: X=63948 Y=49036 Z=64504
GYRO: X=65535 Y=65535 Z=65535
我的main函数是
#include "stm32f10x.h"
#include "delay.h"
#include "sys.h"
#include "usart.h"
#include "iic_analog.h"
#include "MPU6050.h"
int main(void)
{
u16 acc_x,acc_y,acc_z,gy_x,gy_y,gy_z;
delay_init(); //延时初始化
uart_init(9600);//串口初始化为9600
Sys_Configuration();
MPU6050_Inital();
while(1)
{
acc_x= getAccX();
acc_y= getAccY();
acc_z= getAccZ();
gy_x= getGyroX();
gy_y= getGyroY();
gy_z= getGyroZ();
printf("ACC: X=%d Y=%d Z=%d \n",acc_x,acc_y,acc_z);
printf("GYRO: X=%d Y=%d Z=%d \n",gy_x,gy_y,gy_z);
delay_ms(50);
}
}
能帮我看看是哪里的问题么？ |
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发表于 2013-6-11 15:59:28
