MPU6050 attitude sensing module

Overview

figure 1:

Picture 2:

Needless to say, the MPU6050 communication code

The three angles calculated from the posture can be passed to the Data_Send_Status function.

The attitude calculation code of the anonymous host computer is as follows. It is used with the anonymous host computer V7 and is written in TM4:

void usart_send_char(uint8_t c)

{

UARTCharPutNonBlocking(UART0_BASE, c);

while (UARTBusy(UART0_BASE))

;

}

void Data_Send_Status(float Pitch, float Roll, float Yaw)

{

unsigned char i = 0;

unsigned char _cnt = 0, sum = 0, add = 0;

unsigned int _temp;

unsigned char data_to_send[50];

data_to_send[_cnt++] = 0xAA;

data_to_send[_cnt++] = 0xFF;

data_to_send[_cnt++] = 0x03;

data_to_send[_cnt++] = 0x07;

_temp = (int)(Roll * 100);

data_to_send[_cnt++] = BYTE0(_temp);

data_to_send[_cnt++] = BYTE1(_temp);

_temp = 0 - (int)(Pitch * 100);

data_to_send[_cnt++] = BYTE0(_temp);

data_to_send[_cnt++] = BYTE1(_temp);

_temp = (int)(Yaw * 100);

data_to_send[_cnt++] = BYTE0(_temp);

data_to_send[_cnt++] = BYTE1(_temp);

data_to_send[_cnt++] = 0x00;

//sum check

for (i = 0; i < data_to_send[3] + 4; i++)

{

sum += data_to_send[i];

add += sum;

}

data_to_send[_cnt++] = sum;

data_to_send[_cnt++] = add;

//serial port sends data

for (i = 0; i < _cnt; i++)

usart_send_char(data_to_send[i]);

}

Design Files

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Update:2025-06-24 09:37:45

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