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把6050的加速度的采样率设置到最高<实际上超过了手册写的1KHz>,通过其内部fifo的方式把所有数据无遗漏的上传至上位机，并显示波形

main.c

int main(void){  /* USER CODE BEGIN 1 */	uint16_t len=0;	uint16_t get_num=0;	uint16_t get_tim=0;	uint16_t tick_ms=0;	_MSG msg;  /* USER CODE END 1 */  /* MCU Configuration--------------------------------------------------------*/  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */  HAL_Init();  /* USER CODE BEGIN Init */  /* USER CODE END Init */  /* Configure the system clock */  SystemClock_Config();  /* USER CODE BEGIN SysInit */  /* USER CODE END SysInit */  /* Initialize all configured peripherals */  MX_GPIO_Init();  MX_USART2_UART_Init();  MX_I2C1_Init();  /* USER CODE BEGIN 2 */	mpu_init();  /* USER CODE END 2 */  /* Infinite loop */  /* USER CODE BEGIN WHILE */  while (1)  {		HAL_Delay(500);		msg.head = 0xfe;		msg.dir = 0x80;		msg.tim = tick_ms;		msg.sample_num = 0;			msg.tail = 0x0a0d;		HAL_UART_Transmit(&huart2,(uint8_t*)&msg,sizeof(_MSG),0xffff);							while(1)		{			if(HAL_OK==HAL_UART_Receive(&huart2,(uint8_t*)&msg,sizeof(_MSG),0xffff))//fe 00 t1 t0 l1 l2 0d 0a			{				if(msg.head==0xfe && msg.dir==0 && msg.tail==0x0a0d)				{					get_num = msg.sample_num;					get_tim = msg.tim;										if(get_num==0&&get_tim==0)continue;									if(get_num>MPU_MAX_BUF)get_num=MPU_MAX_BUF;									get_num = (get_num /6) *6;									if(get_tim==0)					{						get_tim = get_num*1.5+1000; 					}										msg.head = 0xfe;					msg.dir = 0x80;					msg.tim = get_tim;					msg.sample_num = get_num;									msg.tail = 0x0a0d;					HAL_UART_Transmit(&huart2,(uint8_t*)&msg,sizeof(_MSG),0xffff);					break;				}						}			}		    /* USER CODE END WHILE */    /* USER CODE BEGIN 3 */		mpu_rst();		mpu_data_buf_p = 0;		tick_ms = 0;		while(1)		{			HAL_Delay(6);			len=MPU_fifo_data_size();			len = (len /6) *6;			if(mpu_data_buf_p+len
   
    =get_num)			{				HAL_UART_Transmit(&huart2,mpu_data_buf,mpu_data_buf_p,0xffff);				break;			}								tick_ms += 6; 			if(tick_ms>get_tim)			{				HAL_UART_Transmit(&huart2,mpu_data_buf,mpu_data_buf_p,0xffff);				break;			}					}		mpu_write(MPU_PWR_MGMT1_REG,0x80);  }  /* USER CODE END 3 */}
   

mpu6050驱动

/* * mpu6050.c * *  Created on: 2020年6月1日 *      Author:  */#include "main.h"#include "i2c.h"#include "mpu6050.h"uint8_t mpu_write(uint8_t reg,uint8_t data){	uint8_t buf[2];	buf[0] = reg;	buf[1] = data;	return HAL_I2C_Master_Transmit(&hi2c1,MPU_ADDR,buf,2,0xff);}uint8_t mpu_read(uint8_t reg){	uint8_t buf[1];	buf[0] = reg;	if(HAL_OK!=HAL_I2C_Master_Transmit(&hi2c1,MPU_ADDR,buf,1,0xff))	{		return 0;	}	if(HAL_OK!=HAL_I2C_Master_Receive(&hi2c1,MPU_ADDR,buf,1,0xff))	{		return 0;	}	return buf[0];}uint8_t mpu_read_multi(uint8_t reg,uint8_t *data,uint8_t len){	uint8_t buf[1];	buf[0] = reg;	HAL_I2C_Master_Transmit(&hi2c1,MPU_ADDR,buf,1,0xff);	HAL_I2C_Master_Receive(&hi2c1,MPU_ADDR,data,len,0x1fff);	return 0;}uint8_t mpu_write_multi(uint8_t *data,uint8_t len){	HAL_I2C_Master_Transmit(&hi2c1,MPU_ADDR,data,len,0x2ff);	return 0;}uint8_t MPU_Set_Gyro_Fsr(uint8_t fsr){	return mpu_write(MPU_GYRO_CFG_REG,fsr<<3);}uint8_t MPU_Set_Accel_Fsr(uint8_t fsr){	return mpu_write(MPU_ACCEL_CFG_REG,fsr<<3);}uint8_t MPU_Set_LPF(uint16_t lpf){	uint8_t data=0;	if(lpf>=188)data=1;	else if(lpf>=98)data=2;	else if(lpf>=42)data=3;	else if(lpf>=20)data=4;	else if(lpf>=10)data=5;	else data=6;	return mpu_write(MPU_CFG_REG,data);}uint8_t MPU_Set_Rate(uint16_t rate){	uint8_t data;	if(rate>1000)rate=1000;	if(rate<4)rate=4;	data=1000/rate-1;	data=mpu_write(MPU_SAMPLE_RATE_REG,data);	 	return MPU_Set_LPF(rate/2);	}uint8_t MPU_Get_Gyroscope(short *gx,short *gy,short *gz){    uint8_t buf[6],res;	res=mpu_read_multi(MPU_GYRO_XOUTH_REG,buf,6);	if(res==0)	{		*gx=((uint16_t)buf[0]<<8)|buf[1];		*gy=((uint16_t)buf[2]<<8)|buf[3];		*gz=((uint16_t)buf[4]<<8)|buf[5];	}    return res;;}short MPU_Get_Temperature(void){    uint8_t buf[2];    short raw;	float temp;	mpu_read_multi(MPU_TEMP_OUTH_REG,buf,2);    raw=((uint16_t)buf[0]<<8)|buf[1];    temp=36.53+((double)raw)/340;    return temp*100;}uint8_t MPU_Get_Accelerometer(short *ax,short *ay,short *az){    uint8_t buf[6],res;	res=mpu_read_multi(MPU_ACCEL_XOUTH_REG,buf,6);	if(res==0)	{		*ax=((uint16_t)buf[0]<<8)|buf[1];		*ay=((uint16_t)buf[2]<<8)|buf[3];		*az=((uint16_t)buf[4]<<8)|buf[5];	}    return res;;}uint16_t MPU_fifo_data_size(){	uint16_t res;	res = mpu_read(MPU_FIFO_CNTH_REG);	res <<= 8;	res |= mpu_read(MPU_FIFO_CNTL_REG);  return res;}uint16_t MPU_fifo_read(uint8_t *buf,short len){	return mpu_read_multi(MPU_FIFO_RW_REG,buf,len);}/*** */void mpu_init(){	uint8_t res;	short ax=0,ay=0,az=0;	HAL_GPIO_WritePin(AD0_GPIO_Port,AD0_Pin,GPIO_PIN_RESET);	mpu_write(MPU_PWR_MGMT1_REG,0x80);	HAL_Delay(20);	mpu_write(MPU_PWR_MGMT1_REG,0x00);	MPU_Set_Gyro_Fsr(3);				MPU_Set_Accel_Fsr(2);						MPU_Set_Rate(100);									mpu_write(MPU_USER_CTRL_REG,0X40);	mpu_write(MPU_FIFO_EN_REG,0X08);		mpu_write(MPU_INT_EN_REG,0X01);	// 	mpu_write(MPU_INTBP_CFG_REG,0X80|0x20|0x10);		  res=mpu_read(MPU_DEVICE_ID_REG);	Log_pf("MPU_DEVICE_ID_REG=%X\n",res);	if(res==MPU_ADDR)	{		mpu_write(MPU_PWR_MGMT1_REG,0X01);			mpu_write(MPU_PWR_MGMT2_REG,0X00);			MPU_Set_Rate(100);						 	}		MPU_Get_Accelerometer( &ax, &ay, &az);	Log_pf("ax=%d, ay=%d, az=%d\r\n",ax, ay, az);	Log_flush();	if(res==0)	{		while(1)HAL_Delay(100);	}	Log_pf("MPU_INT_STA_REG=%x\n",mpu_read(MPU_INT_STA_REG));	Log_flush();}void mpu_rst(){	mpu_write(MPU_PWR_MGMT1_REG,0x80);  HAL_Delay(20);	mpu_write(MPU_PWR_MGMT1_REG,0x00);	MPU_Set_Accel_Fsr(3);		MPU_Set_Rate(1000);	mpu_write(MPU_USER_CTRL_REG,0X40);	mpu_write(MPU_FIFO_EN_REG,0X08);	mpu_write(MPU_INT_EN_REG,0X00);	mpu_write(MPU_INTBP_CFG_REG,0X80|0x20|0x10);}

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