用代码stm32使用pid计算mpu6050

下面是一个使用PID算法控制MPU6050的示例代码：

#include "stm32f4xx.h"
#include "stm32f4xx_gpio.h"
#include "stm32f4xx_rcc.h"
#include "stm32f4xx_usart.h"
#include "stm32f4xx_i2c.h"
#include "stm32f4xx_syscfg.h"

#define MPU6050_ADDRESS 0x68

#define P_GAIN 1.0f
#define I_GAIN 0.0f
#define D_GAIN 0.0f

float p_gain = P_GAIN;
float i_gain = I_GAIN;
float d_gain = D_GAIN;

float target_angle = 0.0f;
float current_angle = 0.0f;
float prev_angle = 0.0f;

float integral = 0.0f;
float derivative = 0.0f;

float pid_output = 0.0f;

void MPU6050_Init(void);
void MPU6050_Read_Accelerometer(float* x, float* y, float* z);
void MPU6050_Calculate_Angle(float ax, float ay, float az, float* angle);
void PID_Controller(void);

void Delay(__IO uint32_t nCount) {
    while(nCount--) {
    }
}

int main(void) {
    MPU6050_Init();

    while(1) {
        float ax, ay, az;
        MPU6050_Read_Accelerometer(&ax, &ay, &az);
        MPU6050_Calculate_Angle(ax, ay, az, &current_angle);
        PID_Controller();
        // 控制输出代码
        Delay(1000);
    }
}

void MPU6050_Init(void) {
    I2C_InitTypeDef I2C_InitStruct;
    GPIO_InitTypeDef GPIO_InitStruct;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);

    GPIO_InitStruct.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_9;
    GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStruct.GPIO_OType = GPIO_OType_OD;
    GPIO_InitStruct.GPIO_PuPd  = GPIO_PuPd_UP;
    GPIO_Init(GPIOB, &GPIO_InitStruct);

    GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_I2C1);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_I2C1);

    I2C_InitStruct.I2C_ClockSpeed = 400000;
    I2C_InitStruct.I2C_Mode = I2C_Mode_I2C;
    I2C_InitStruct.I2C_DutyCycle = I2C_DutyCycle_2;
    I2C_InitStruct.I2C_OwnAddress1 = 0x00;
    I2C_InitStruct.I2C_Ack = I2C_Ack_Enable;
    I2C_InitStruct.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
    I2C_Init(I2C1, &I2C_InitStruct);

    I2C_Cmd(I2C1, ENABLE);

    while(I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY));

    I2C_GenerateSTART(I2C1, ENABLE);
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));

    I2C_Send7bitAddress(I2C1, MPU6050_ADDRESS << 1, I2C_Direction_Transmitter);
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));

    I2C_SendData(I2C1, 0x6B);
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));

    I2C_SendData(I2C1, 0);
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));

    I2C_GenerateSTOP(I2C1, ENABLE);
}

void MPU6050_Read_Accelerometer(float* x, float* y, float* z) {
    I2C_GenerateSTART(I2C1, ENABLE);
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));

    I2C_Send7bitAddress(I2C1, MPU6050_ADDRESS << 1, I2C_Direction_Transmitter);
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));

    I2C_SendData(I2C1, 0x3B);
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));

    I2C_GenerateSTART(I2C1, ENABLE);
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));

    I2C_Send7bitAddress(I2C1, MPU6050_ADDRESS << 1, I2C_Direction_Receiver);
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED));

    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED));
    *x = (float)I2C_ReceiveData(I2C1) / 16384.0f;
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED));
    *y = (float)I2C_ReceiveData(I2C1) / 16384.0f;
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED));
    *z = (float)I2C_ReceiveData(I2C1) / 16384.0f;

    I2C_GenerateSTOP(I2C1, ENABLE);
}

void MPU6050_Calculate_Angle(float ax, float ay, float az, float* angle) {
    *angle = atan2f(ay, az) * 180.0f / 3.14159265f;
}

void PID_Controller(void) {
    float error = target_angle - current_angle;

    integral += error;
    derivative = current_angle - prev_angle;

    pid_output = p_gain * error + i_gain * integral + d_gain * derivative;

    prev_angle = current_angle;
}

这是一个简单的使用STM32和PID算法控制MPU6050的示例代码。代码中的MPU6050_Init函数用于初始化MPU6050，MPU6050_Read_Accelerometer函数用于读取加速度计的数据，MPU6050_Calculate_Angle函数用于计算当前角度，PID_Controller函数用于执行PID控制算法。

在main函数中，首先调用MPU6050_Init函数初始化MPU6050，然后进入一个无限循环中。循环中，首先调用MPU6050_Read_Accelerometer函数读取加速度计的数据，然后调用MPU6050_Calculate_Angle函数计算当前角度，接着调用PID_Controller函数执行PID控制算法，最后进行控制输出的代码。循环中的Delay函数用于延时一段时间。

在PID控制器中，首先计算误差error，然后将误差累加到积分项integral中，计算差分项derivative，最后根据PID参数计算PID输出pid_output。注意，这里的控制输出代码需要根据具体的硬件平台和控制方式进行修改