mpu6050使用iic一直失败。放弃治疗，使用串口。。。
#include "led.h"
#include "mpu6050.h"
#include "iic.h"
#include "string.h"
//*************************************************
unsigned char Re_buf[11],counter=0;
unsigned char sign;
static unsigned char Temp[11];
float a[3],w[3],angle[3],T;
//************************************************
void GyroscopeInit(){
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
//PB10 USART3的T PB11 USART3的R
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3,ENABLE);
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_10;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_10MHz;
GPIO_Init(GPIOB,&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IN_FLOATING;//据说要改成上拉输入***************************************************
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_10MHz;
GPIO_Init(GPIOB,&GPIO_InitStructure);
USART_InitStructure.USART_BaudRate=115200;
USART_InitStructure.USART_HardwareFlowControl=USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode=USART_Mode_Tx|USART_Mode_Rx;
USART_InitStructure.USART_Parity=USART_Parity_No;
USART_InitStructure.USART_StopBits=USART_StopBits_1;
USART_InitStructure.USART_WordLength=USART_WordLength_8b;
USART_Init(USART3,&USART_InitStructure);
USART_Cmd(USART3,ENABLE);
USART_ITConfig(USART3,USART_IT_RXNE,ENABLE);
USART_ClearFlag(USART3, USART_FLAG_TC);
NVIC_InitStructure.NVIC_IRQChannel=USART3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority=1;
NVIC_Init(&NVIC_InitStructure);
}
void USART3_IRQHandler(void)
{
if(USART_GetITStatus(USART3, USART_IT_RXNE) != RESET) //接收中断有效,若接收数据寄存器满
{
Temp[counter] = USART_ReceiveData(USART3); //接收数据
if(counter == 0 && Temp[0] != 0x55) return; //第 0 号数据不是帧头，跳过
counter++;
if(counter==11) //接收到 11 个数据
{
memcpy(Re_buf,Temp,11);
counter=0; //重新赋值，准备下一帧数据的接收
sign=1;
}
}
}
int Gyroscopetest(void){
int AngleCar;
unsigned char Temp[11];
//u8 i;
delay_ms(2);
while (1)
{
if(sign)
{
memcpy(Temp,Re_buf,11);
sign=0;
if(Re_buf[0]==0x55) //检查帧头
{
switch(Re_buf[1])
{
/*//我只需要Z角度所以就注释啦^_^
case 0x51: //标识这个包是加速度包
a[0] = ((short)(Temp[3]<<8 | Temp[2]))/32768.0*16; //X轴加速度
a[1] = ((short)(Temp[5]<<8 | Temp[4]))/32768.0*16; //Y轴加速度
a[2] = ((short)(Temp[7]<<8 | Temp[6]))/32768.0*16; //Z轴加速度
T = ((short)(Temp[9]<<8 | Temp[8]))/340.0+36.25; //温度
break;
case 0x52: //标识这个包是角速度包
w[0] = ((short)(Temp[3]<<8| Temp[2]))/32768.0*2000; //X轴角速度
w[1] = ((short)(Temp[5]<<8| Temp[4]))/32768.0*2000; //Y轴角速度
w[2] = ((short)(Temp[7]<<8| Temp[6]))/32768.0*2000; //Z轴角速度
T = ((short)(Temp[9]<<8| Temp[8]))/340.0+36.25; //温度
break;
case 0x53: //标识这个包是角度包
angle[0] = ((short)(Temp[3]<<8| Temp[2]))/32768.0*180; //X轴滚转角（x 轴）
angle[1] = ((short)(Temp[5]<<8| Temp[4]))/32768.0*180; //Y轴俯仰角（y 轴）
angle[2] = ((short)(Temp[7]<<8| Temp[6]))/32768.0*180; //Z轴偏航角（z 轴）
T = ((short)(Temp[9]<<8| Temp[8]))/340.0+36.25; //温度
//printf("X轴角度：%.2f Y轴角度：%.2f Z轴角度：%.2f\r\n",angle[0],angle[1],angle[2]);
*/
case 0x53:
angle[2]=((short)(Temp[7]<<8| Temp[6]))/32768.0*180; //Z轴偏航角（z 轴）
T = ((short)(Temp[9]<<8| Temp[8]))/340.0+36.25; //温度
AngleCar=angle[2];
printf("Z:%.2f\n",angle[2]);
break;
default: break;
}
//printf("X角度：%.2f Y角度：%.2f Z角度：%.2f X速度：%.2f Y速度：%.2f Z速度：%.2f\r\n",angle[0],angle[1],angle[2],w[0],w[1],w[2]);
}
}
}
}