请帮我写出MPU6050.h 与MPU6050.c中的全部代码

### 完整的 MPU6050 驱动代码实现 为了满足用户需求，下面提供了完整的 MPU6050 驱动代码示例，包括头文件 `MPU6050.h` 和源文件 `MPU6050.c` 的具体内容。此代码适用于 STM32 平台，并基于 HAL 库进行开发。 --- ### ### MPU6050.h 头文件内容 ```c /** * @file MPU6050.h * @brief Header file for the MPU6050 driver. */ #ifndef __MPU6050_H__ #define __MPU6050_H__ #include "stm32f1xx_hal.h" // Replace with your specific MCU family header. // Define register addresses of MPU6050 #define MPU6050_ADDR 0xD0 /**< Default I2C address of MPU6050 */ #define SMPLRT_DIV 0x19 /**< Sample rate divider register */ #define CONFIG 0x1A /**< Configuration register */ #define GYRO_CONFIG 0x1B /**< Gyroscope configuration register */ #define ACCEL_CONFIG 0x1C /**< Accelerometer configuration register */ #define PWR_MGMT_1 0x6B /**< Power management register */ #define WHO_AM_I 0x75 /**< Device ID register */ typedef struct { int16_t ax; /**< X-axis accelerometer value */ int16_t ay; /**< Y-axis accelerometer value */ int16_t az; /**< Z-axis accelerometer value */ int16_t gx; /**< X-axis gyroscope value */ int16_t gy; /**< Y-axis gyroscope value */ int16_t gz; /**< Z-axis gyroscope value */ } MPU6050_Data_t; /** * @brief Initialize the MPU6050 sensor. * * This function initializes the communication interface and configures basic settings. * * @param hi2c Pointer to the I2C handle structure. * @return None. */ void MPU6050_Init(I2C_HandleTypeDef *hi2c); /** * @brief Read raw data from the MPU6050 sensor. * * Reads both accelerometer and gyroscope values into the provided buffer. * * @param hi2c Pointer to the I2C handle structure. * @param[out] data Structure containing the read data. * @return None. */ void MPU6050_Read_Raw(MPU6050_Data_t *data, I2C_HandleTypeDef *hi2c); #endif /* __MPU6050_H__ */ ``` --- ### ### MPU6050.c 源文件内容 ```c /** * @file MPU6050.c * @brief Source file for the MPU6050 driver implementation. */ #include "MPU6050.h" #include <string.h> /** * @brief Write a byte to a specified register on the MPU6050. * * @param hi2c Pointer to the I2C handle structure. * @param reg Register address. * @param data Byte to write. * @return HAL status code indicating success or failure. */ static HAL_StatusTypeDef MPU6050_Write_Reg(I2C_HandleTypeDef *hi2c, uint8_t reg, uint8_t data) { return HAL_I2C_Mem_Write(hi2c, MPU6050_ADDR, reg, I2C_MEMADD_SIZE_8BIT, &data, 1, HAL_MAX_DELAY); } /** * @brief Read a single byte from a specified register on the MPU6050. * * @param hi2c Pointer to the I2C handle structure. * @param reg Register address. * @return The byte read from the specified register. */ static uint8_t MPU6050_Read_Reg(I2C_HandleTypeDef *hi2c, uint8_t reg) { uint8_t data; HAL_I2C_Mem_Read(hi2c, MPU6050_ADDR, reg, I2C_MEMADD_SIZE_8BIT, &data, 1, HAL_MAX_DELAY); return data; } /** * @brief Initialize the MPU6050 sensor. * * Configures power management, sample rate, gyro sensitivity, and accelerometer range. * * @param hi2c Pointer to the I2C handle structure. * @return None. */ void MPU6050_Init(I2C_HandleTypeDef *hi2c) { // Wake up the device by setting clock source to internal oscillator MPU6050_Write_Reg(hi2c, PWR_MGMT_1, 0x00); // Set sample rate divider (default is 0) MPU6050_Write_Reg(hi2c, SMPLRT_DIV, 0x07); // Disable DLPF and FSYNC configurations MPU6050_Write_Reg(hi2c, CONFIG, 0x00); // Configure gyroscope full-scale range (+/- 2000 deg/s) MPU6050_Write_Reg(hi2c, GYRO_CONFIG, 0x18); // Configure accelerometer full-scale range (+/- 8g) MPU6050_Write_Reg(hi2c, ACCEL_CONFIG, 0x10); } /** * @brief Read raw data from the MPU6050 sensor. * * Populates the given structure with accelerometer and gyroscope readings. * * @param hi2c Pointer to the I2C handle structure. * @param[out] data Structure where the data will be stored. * @return None. */ void MPU6050_Read_Raw(MPU6050_Data_t *data, I2C_HandleTypeDef *hi2c) { uint8_t buf[14]; // Buffer to hold 14 bytes of data (accelerometer + gyroscope) // Start reading from the first data register HAL_I2C_Mem_Read(hi2c, MPU6050_ADDR, 0x3B, I2C_MEMADD_SIZE_8BIT, buf, sizeof(buf), HAL_MAX_DELAY); // Parse accelerometer data data->ax = (int16_t)(buf[0] << 8 | buf[1]); data->ay = (int16_t)(buf[2] << 8 | buf[3]); data->az = (int16_t)(buf[4] << 8 | buf[5]); // Parse gyroscope data data->gx = (int16_t)(buf[8] << 8 | buf[9]); data->gy = (int16_t)(buf[10] << 8 | buf[11]); data->gz = (int16_t)(buf[12] << 8 | buf[13]); } ``` --- ### 使用说明 1. 将上述两个文件 (`MPU6050.h`, `MPU6050.c`) 添加到您的项目中。 2. 在主程序中初始化 I2C 接口后调用 `MPU6050_Init()` 方法完成设备设置。 3. 调用 `MPU6050_Read_Raw()` 获取原始加速度计和陀螺仪数据。 --- ###