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GY85是一个惯性测量模块，内部集成了三轴加速度计、三轴陀螺仪、电子罗盘、气压传感器等芯片，用于测量和报告设备速度、方向、重力，模块可以将加速度计、陀螺仪、电子罗盘等传感器的数据进行综合，在上位机可以结合各种数据进行惯导算法融合。
这里介绍一下STM32驱动GY85的代码，模块与STM32的通信接口是IIC协议，我们采用软件IO口模拟IIC时序进行通信，读取到各个芯片的数据存放在全局变量，关于GY85的介绍以及一些基础知识可以参考这篇博客：芯片说明：
下面就是全部的驱动代码了：
/******************************************************************************** 函数功能：串口2发送数据 HMC5883L + ADXL345 + BMP085+L3G4200D(串口2在mian初始化完成)* 波特率：115200* 时间：2020.7.12* 修改注释：全*******************************************************************************//*芯片说明 *ADXL345：三轴加速度计，测量Roll、Pitch（航偏角Yaw无法测量） *L3G4200D：三轴陀螺仪，测量Roll、Pitch、Yaw（配合加速度计得出准确温度的三个角度） *HMC5883L：电子罗盘，测量与地磁北极的偏转角度 *BMP085：气压传感器，测量大气压、温度*/#include "IMU.h"GPIO_InitTypeDef GPIO_InitStructure;ErrorStatus HSEStartUpStatus;#define FALSE 0#define TRUE 1#define u8 unsigned char#define u32 unsigned int#define uchar unsigned char#define uint unsigned int #define OSS 0 // BMP085使用//L3G4200D内部寄存器#define CTRL_REG1 0x20#define CTRL_REG2 0x21#define CTRL_REG3 0x22#define CTRL_REG4 0x23#define CTRL_REG5 0x24#define OUT_X_L 0x28#define OUT_X_H 0x29#define OUT_Y_L 0x2A#define OUT_Y_H 0x2B#define OUT_Z_L 0x2C#define OUT_Z_H 0x2D//定义器件在IIC总线中的从地址,根据ALT ADDRESS地址引脚不同修改#define HMC5883L_Addr 0x3C //磁场传感器器件地址#define ADXL345_Addr 0xA6 //加速度传感器器件地址#define BMP085_Addr 0xee //气压传感器器件地址#define L3G4200_Addr 0xD2 //陀螺仪传感器器件地址unsigned char BUF[8]; //接收数据缓存区，作用是暂时缓存寄存器的值，之后做算法分析char test=0; int x,y;uchar ge,shi,bai,qian,wan,shiwan; //uart,显示变量short T_X,T_Y,T_Z; //陀螺仪输出数据float angle; //电子罗盘输出角度，与地磁北极的偏转角度/* 加速度计ADXL345 数据 */int A_X,A_Y,A_Z; //加速度计读取的寄存器数据short data_xyz[3]; //加速度计合成数据float Q,T,K; //加速度计x、y、z原始数据float Roll,Pitch; //Roll,Pitch角度/* BMP085使用的变量 */short ac1;short ac2; short ac3; unsigned short ac4;unsigned short ac5;unsigned short ac6;short b1; short b2;short mb;short mc;short md;long temperature; //温度long pressure; //气压 //************************************++++++++++++++++++++++++++++++++/*模拟IIC端口输出输入定义 *SDA:PB9 *SCL:PB8*/#define SCL_H GPIOB->BSRR = GPIO_Pin_8#define SCL_L GPIOB->BRR = GPIO_Pin_8 #define SDA_H GPIOB->BSRR = GPIO_Pin_9#define SDA_L GPIOB->BRR = GPIO_Pin_9#define SCL_read GPIOB->IDR & GPIO_Pin_8#define SDA_read GPIOB->IDR & GPIO_Pin_9/* 转换数据 */void conversion(long temp_data) { shiwan=temp_data/100000+0x30 ; temp_data=temp_data%100000; //取余运算 wan=temp_data/10000+0x30 ; temp_data=temp_data%10000; //取余运算 qian=temp_data/1000+0x30 ; temp_data=temp_data%1000; //取余运算 bai=temp_data/100+0x30 ; temp_data=temp_data%100; //取余运算 shi=temp_data/10+0x30 ; temp_data=temp_data%10; //取余运算 ge=temp_data+0x30; }/******************************************************************************** Function Name : I2C_GPIO_Config* Description : Configration Simulation IIC GPIO* Input : None * Output : None* Return : None****************************************************************************** */void I2C_GPIO_Config(void){ GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_9; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD; GPIO_Init(GPIOB, &GPIO_InitStructure);}/******************************************************************************** Function Name : I2C_delay* Description : Simulation IIC Timing series delay* Input : None* Output : None* Return : None****************************************************************************** */void I2C_delay(void){ u8 i=30; //这里可以优化速度 ，经测试最低到5还能写入 while(i) { i--; } }void delay5ms(void){ int i=5000; while(i) { i--; } }/******************************************************************************** Function Name : I2C_Start* Description : Master Start Simulation IIC Communication* Input : None* Output : None* Return : Wheather Start****************************************************************************** */uint8_t I2C_Start(void){ SDA_H; SCL_H; I2C_delay(); if(!SDA_read)return FALSE; //SDA线为低电平则总线忙,退出 SDA_L; I2C_delay(); if(SDA_read) return FALSE; //SDA线为高电平则总线出错,退出 SDA_L; I2C_delay(); return TRUE;}/******************************************************************************** Function Name : I2C_Stop* Description : Master Stop Simulation IIC Communication* Input : None* Output : None* Return : None****************************************************************************** */void I2C_Stop(void){ SCL_L; I2C_delay(); SDA_L; I2C_delay(); SCL_H; I2C_delay(); SDA_H; I2C_delay();} /******************************************************************************** Function Name : I2C_Ack* Description : Master Send Acknowledge Single* Input : None* Output : None* Return : None****************************************************************************** */void I2C_Ack(void){ SCL_L; I2C_delay(); SDA_L; I2C_delay(); SCL_H; I2C_delay(); SCL_L; I2C_delay();} /******************************************************************************** Function Name : I2C_NoAck* Description : Master Send No Acknowledge Single* Input : None* Output : None* Return : None****************************************************************************** */void I2C_NoAck(void){ SCL_L; I2C_delay(); SDA_H; I2C_delay(); SCL_H; I2C_delay(); SCL_L; I2C_delay();} /******************************************************************************** Function Name : I2C_WaitAck* Description : Master Reserive Slave Acknowledge Single* Input : None* Output : None* Return : Wheather Reserive Slave Acknowledge Single****************************************************************************** */uint8_t I2C_WaitAck(void) //返回为:=1有ACK,=0无ACK{ SCL_L; I2C_delay(); SDA_H; I2C_delay(); SCL_H; I2C_delay(); if(SDA_read) { SCL_L; I2C_delay(); return FALSE; } SCL_L; I2C_delay(); return TRUE;}/******************************************************************************** Function Name : I2C_SendByte* Description : Master Send a Byte to Slave* Input : Will Send Date* Output : None* Return : None****************************************************************************** */void I2C_SendByte(u8 SendByte) //数据从高位到低位//{ u8 i=8; while(i--) { SCL_L; I2C_delay(); if(SendByte&0x80) SDA_H; else SDA_L; SendByte<<=1; I2C_delay(); SCL_H; I2C_delay(); } SCL_L;} /******************************************************************************** Function Name : I2C_RadeByte* Description : Master Reserive a Byte From Slave* Input : None* Output : None* Return : Date From Slave ****************************************************************************** */unsigned char I2C_RadeByte(void) //数据从高位到低位//{ u8 i=8; u8 ReceiveByte=0; SDA_H; while(i--) { ReceiveByte<<=1; SCL_L; I2C_delay(); SCL_H; I2C_delay(); if(SDA_read) { ReceiveByte|=0x01; } } SCL_L; return ReceiveByte;} //ZRX //单字节写入*******************************************uint8_t Single_Write(unsigned char SlaveAddress,unsigned char REG_Address,unsigned char REG_data) //void{ if(!I2C_Start())return FALSE; I2C_SendByte(SlaveAddress); //发送设备地址+写信号//I2C_SendByte(((REG_Address & 0x0700) >>7) | SlaveAddress & 0xFFFE);//设置高起始地址+器件地址 if(!I2C_WaitAck()){ I2C_Stop(); return FALSE;} I2C_SendByte(REG_Address ); //设置低起始地址 I2C_WaitAck(); I2C_SendByte(REG_data); I2C_WaitAck(); I2C_Stop(); delay5ms(); return TRUE;}//单字节读取*****************************************unsigned char Single_Read(unsigned char SlaveAddress,unsigned char REG_Address){ unsigned char REG_data; if(!I2C_Start())return FALSE; I2C_SendByte(SlaveAddress); //I2C_SendByte(((REG_Address & 0x0700) >>7) | REG_Address & 0xFFFE);//设置高起始地址+器件地址 if(!I2C_WaitAck()){ I2C_Stop();test=1; return FALSE;} I2C_SendByte((u8) REG_Address); //设置低起始地址 I2C_WaitAck(); I2C_Start(); I2C_SendByte(SlaveAddress+1); I2C_WaitAck(); REG_data= I2C_RadeByte(); I2C_NoAck(); I2C_Stop(); //return TRUE; return REG_data;} /*********************************************************************************** 函数名称 ： Delay(vu32 nCount)** 函数功能 ： 延时函数** 输 入 ： 无** 输 出 ： 无** 返 回 ： 无*********************************************************************************/ void Delay(u32 nCount){ for(; nCount != 0; nCount--);}/*********************************************************************************** 函数名称 ： void Delayms(vu32 m)** 函数功能 ： 长延时函数 m=1,延时1ms** 输 入 ： 无** 输 出 ： 无** 返 回 ： 无*********************************************************************************/ void Delayms(u32 m){ u32 i; for(; m != 0; m--) for (i=0; i<50000; i++);} //************************************************void USART2_SendData(unsigned char SendData){ USART_SendData(USART2, SendData);Delayms(1);} //********************************************************************long bmp085ReadTemp(void){ short temp_ut; Single_Write(BMP085_Addr,0xF4,0x2E); Delayms(5); // max time is 4.5ms temp_ut = Single_Read(BMP085_Addr,0xF6); temp_ut = (temp_ut<<8)| Single_Read(BMP085_Addr,0xF7); return (long) temp_ut ;}//*************************************************************long bmp085ReadPressure(void){ long pressure = 0; Single_Write(BMP085_Addr,0xF4,0x34); Delayms(5); // max time is 4.5ms pressure = Single_Read(BMP085_Addr,0xF6); pressure = (pressure<<8)| Single_Read(BMP085_Addr,0xF7); pressure &= 0x0000FFFF; return pressure; } //******************void Send_ADXL345_data(int dis_data) { float temp ; if(dis_data>0x7fff)dis_data-=0xffff; if(dis_data<0){ dis_data=-dis_data; USART_SendData(USART1,'-'); Delayms(2); } else { USART_SendData(USART1,'+'); Delayms(2); } temp=(float)dis_data*3.9; //计算数据和显示,查考ADXL345快速入门第4页 conversion(temp); //转换出显示需要的数据 USART2_SendData(qian); USART2_SendData('.'); USART2_SendData(bai); USART2_SendData(shi); USART2_SendData(ge); USART2_SendData('g'); }//*************************************** //******************void Send_L3G420D_data(short dis_data) { float temp ; if(dis_data<0){ dis_data=-dis_data; USART_SendData(USART1,'-'); Delayms(2); } else { USART_SendData(USART1,'+'); Delayms(2); } temp=(float)dis_data*0.07; //计算数据和显示,查考ADXL345快速入门第4页 conversion(temp); //转换出显示需要的数据 USART2_SendData(bai); USART2_SendData(shi); USART2_SendData(ge); }//***************************************void Send_HMC5883L(void){ USART2_SendData('H');USART2_SendData('M');USART2_SendData('C');USART2_SendData('5');USART2_SendData('8');USART2_SendData('8');USART2_SendData('3');USART2_SendData('L');USART2_SendData(':');conversion(angle);USART2_SendData(bai); USART2_SendData(shi); USART2_SendData(ge); USART2_SendData('`'); USART2_SendData(0x0d);USART2_SendData(0x0a);}//*************************************************void Send_BMP085(void){ USART2_SendData('B');USART2_SendData('M');USART2_SendData('P');USART2_SendData('0');USART2_SendData('8');USART2_SendData('5');USART2_SendData(':');USART2_SendData('t');USART2_SendData('=');conversion(temperature);USART2_SendData(bai); USART2_SendData(shi); USART2_SendData('.');USART2_SendData(ge);USART2_SendData('`'); USART2_SendData('C'); USART2_SendData(' ');USART2_SendData('p');USART2_SendData('=');conversion(pressure);USART2_SendData(shiwan);USART2_SendData(wan);USART2_SendData(qian);USART2_SendData('.');USART2_SendData(bai); USART2_SendData(shi); USART2_SendData(ge); USART2_SendData('K'); USART2_SendData('p'); USART2_SendData('a'); USART2_SendData(0x0d);USART2_SendData(0x0a);}//*****************************************************void Send_ADXL345(void){ USART2_SendData('A');USART2_SendData('D');USART2_SendData('X');USART2_SendData('L');USART2_SendData('3');USART2_SendData('4');USART2_SendData('5');USART2_SendData(':'); USART2_SendData('X'); USART2_SendData('='); Send_ADXL345_data(A_X); USART2_SendData('Y'); USART2_SendData('='); Send_ADXL345_data(A_Y); USART2_SendData('Z'); USART2_SendData('='); Send_ADXL345_data(A_Z); adxl345_angle();USART2_SendData(0x0d);USART2_SendData(0x0a);} //*****************************************************void Send_L3G4200D(void) { USART2_SendData('L'); USART2_SendData('3'); USART2_SendData('G'); USART2_SendData('4'); USART2_SendData('2'); USART2_SendData('0'); USART2_SendData('0'); USART2_SendData('D'); USART2_SendData(':'); USART2_SendData('X'); USART2_SendData('='); Send_L3G420D_data(T_X); USART2_SendData('Y'); USART2_SendData('='); Send_L3G420D_data(T_Y); USART2_SendData('Z'); USART2_SendData('='); Send_L3G420D_data(T_Z); USART2_SendData(0x0d); USART2_SendData(0x0a); }//******************************************************void read_HMC5883L(void){ Single_Write(HMC5883L_Addr,0x00,0x14); // Single_Write(HMC5883L_Addr,0x02,0x00); // Delayms(10); BUF[1]=Single_Read(HMC5883L_Addr,0x03);//OUT_X_L_A BUF[2]=Single_Read(HMC5883L_Addr,0x04);//OUT_X_H_A BUF[3]=Single_Read(HMC5883L_Addr,0x07);//OUT_Y_L_A BUF[4]=Single_Read(HMC5883L_Addr,0x08);//OUT_Y_H_A x=(BUF[1] << 8) | BUF[2]; //Combine MSB and LSB of X Data output register y=(BUF[3] << 8) | BUF[4]; //Combine MSB and LSB of Z Data output register if(x>0x7fff)x-=0xffff; if(y>0x7fff)y-=0xffff; angle= atan2(y,x) * (180 / 3.14159265) + 180; // angle in degrees}//****************************************void read_ADXL345(void){ BUF[0]=Single_Read(ADXL345_Addr,0x32);//OUT_X_L_A BUF[1]=Single_Read(ADXL345_Addr,0x33);//OUT_X_H_A BUF[2]=Single_Read(ADXL345_Addr,0x34);//OUT_Y_L_A BUF[3]=Single_Read(ADXL345_Addr,0x35);//OUT_Y_H_A BUF[4]=Single_Read(ADXL345_Addr,0x36);//OUT_Z_L_A BUF[5]=Single_Read(ADXL345_Addr,0x37);//OUT_Z_H_A A_X=(BUF[1]<<8)+BUF[0]; //合成数据 A_Y=(BUF[3]<<8)+BUF[2]; //合成数据 A_Z=(BUF[5]<<8)+BUF[4]; //合成数据}//*****************************************void read_BMP085(void){ long ut; long up; long x1, x2, b5, b6, x3, b3, p; unsigned long b4, b7; ut = bmp085ReadTemp(); // 读取温度// ut = bmp085ReadTemp(); // 读取温度 up = bmp085ReadPressure(); // 读取压强// up = bmp085ReadPressure(); // 读取压强 x1 = ((long)ut - ac6) * ac5 >> 15; x2 = ((long) mc << 11) / (x1 + md); b5 = x1 + x2; temperature = (b5 + 8) >> 4; //**************** b6 = b5 - 4000; x1 = (b2 * (b6 * b6 >> 12)) >> 11; x2 = ac2 * b6 >> 11; x3 = x1 + x2; b3 = (((long)ac1 * 4 + x3) + 2)/4; x1 = ac3 * b6 >> 13; x2 = (b1 * (b6 * b6 >> 12)) >> 16; x3 = ((x1 + x2) + 2) >> 2; b4 = (ac4 * (unsigned long) (x3 + 32768)) >> 15; b7 = ((unsigned long) up - b3) * (50000 >> OSS); if( b7 < 0x80000000) p = (b7 * 2) / b4 ; else p = (b7 / b4) * 2; x1 = (p >> 8) * (p >> 8); x1 = (x1 * 3038) >> 16; x2 = (-7357 * p) >> 16; pressure = p + ((x1 + x2 + 3791) >> 4);}//***************************void Init_ADXL345(void){ Single_Write(ADXL345_Addr,0x31,0x0B); //测量范围,正负16g，13位模式 // Single_Write(ADXL345_Addr,0x2C,0x0e); //速率设定为100hz 参考pdf13页 Single_Write(ADXL345_Addr,0x2D,0x08); //选择电源模式 参考pdf24页 Single_Write(ADXL345_Addr,0x2E,0x80); //使能 DATA_READY 中断 // Single_Write(ADXL345_Addr,0x1E,0x00); //X 偏移量 根据测试传感器的状态写入pdf29页 // Single_Write(ADXL345_Addr,0x1F,0x00); //Y 偏移量 根据测试传感器的状态写入pdf29页 // Single_Write(ADXL345_Addr,0x20,0x05); //Z 偏移量 根据测试传感器的状态写入pdf29页}//**************************** void Init_BMP085(void){ ac1 = Single_Read(BMP085_Addr,0xAA); ac1 = (ac1<<8)|Single_Read(BMP085_Addr,0xAB); ac2 = Single_Read(BMP085_Addr,0xAC); ac2 = (ac2<<8)| Single_Read(BMP085_Addr,0xAD); ac3 = Single_Read(BMP085_Addr,0xAE); ac3 = (ac3<<8)| Single_Read(BMP085_Addr,0xAF); ac4 = Single_Read(BMP085_Addr,0xB0); ac4 = (ac4<<8)| Single_Read(BMP085_Addr,0xB1); ac5 = Single_Read(BMP085_Addr,0xB2); ac5 = (ac5<<8)| Single_Read(BMP085_Addr,0xB3); ac6 = Single_Read(BMP085_Addr,0xB4); ac6 = (ac6<<8)| Single_Read(BMP085_Addr,0xB5); b1 = Single_Read(BMP085_Addr,0xB6); b1 = (b1<<8)| Single_Read(BMP085_Addr,0xB7); b2 = Single_Read(BMP085_Addr,0xB8); b2 = (b2<<8)| Single_Read(BMP085_Addr,0xB9); mb = Single_Read(BMP085_Addr,0xBA); mb = (mb<<8)| Single_Read(BMP085_Addr,0xBB); mc = Single_Read(BMP085_Addr,0xBC); mc = (mc<<8)| Single_Read(BMP085_Addr,0xBD); md = Single_Read(BMP085_Addr,0xBE); md = (md<<8)| Single_Read(BMP085_Addr,0xBF);}//**************************** void Init_HMC5883L(void){ Single_Write(HMC5883L_Addr,0x00,0x14); // Single_Write(HMC5883L_Addr,0x02,0x00); //}//***************************************** //************初始化L3G4200D*********************************void Init_L3G4200D(void){ Single_Write(L3G4200_Addr,CTRL_REG1, 0x0f); Single_Write(L3G4200_Addr,CTRL_REG2, 0x00); Single_Write(L3G4200_Addr,CTRL_REG3, 0x08); Single_Write(L3G4200_Addr,CTRL_REG4, 0x30); //+-2000dps Single_Write(L3G4200_Addr,CTRL_REG5, 0x00);} //******读取L3G4200D数据****************************************void read_L3G4200D(void){ BUF[0]=Single_Read(L3G4200_Addr,OUT_X_L); BUF[1]=Single_Read(L3G4200_Addr,OUT_X_H); T_X= (BUF[1]<<8)|BUF[0]; BUF[2]=Single_Read(L3G4200_Addr,OUT_Y_L); BUF[3]=Single_Read(L3G4200_Addr,OUT_Y_H); T_Y= (BUF[3]<<8)|BUF[2]; BUF[4]=Single_Read(L3G4200_Addr,OUT_Z_L); BUF[5]=Single_Read(L3G4200_Addr,OUT_Z_H); T_Z= (BUF[5]<<8)|BUF[4];} //******************ADXL345计算倾斜角度************void adxl345_angle(void) { data_xyz[0]=A_X; //合成数据 data_xyz[1]=A_Y; //合成数据 data_xyz[2]=A_Z; //合成数据 //分别是加速度X,Y,Z的原始数据，10位的Q=(float)data_xyz[0]*3.9;T=(float)data_xyz[1]*3.9;K=(float)data_xyz[2]*3.9;Q=-Q; Roll=(float)(((atan2(K,Q)*180)/3.14159265)+180); //X轴角度值 Pitch=(float)(((atan2(K,T)*180)/3.14159265)+180); //Y轴角度值 //conversion(Pitch); //需要显示时候请更换 conversion(Roll); USART2_SendData(' '); USART2_SendData(' '); USART2_SendData(bai); USART2_SendData(shi); USART2_SendData(ge);}int main(void){ DEBUG_USART_Config(); Init_HMC5883L(); Init_ADXL345(); Init_BMP085(); Init_L3G4200D(); while(1) { read_HMC5883L(); Send_HMC5883L(); read_ADXL345(); Send_ADXL345(); read_L3G4200D(); Send_L3G4200D(); read_BMP085(); Send_BMP085(); Delayms(20); }}///*************结束***************/ 转载地址：http://fvwzi.baihongyu.com/