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正点原子阿波罗STM32F429IGT6移植zephyr rtos（四）---在独立的应用工程里使用MPU6050

news 2025/8/5 16:00:32

硬件平台：正点原子阿波罗STM32F429IGT6

zephyr版本：Zephyr version 4.2.0

开发环境：wsl ubuntu 24.4

前景提要：

正点原子阿波罗STM32F429IGT6移植zephyr rtos（三）---创建一个独立的应用工程-CSDN博客

一.修改app.overlay

app.overlay是board设备树的覆写文件·，你可以在app.overlay里边对dts文件内容进行追加，修改，删除。在文件中添加代码

/** Copyright (c) 2019 Nordic Semiconductor ASA** SPDX-License-Identifier: Apache-2.0*/
&i2c1 {mpu6050@68 {compatible = "invensense,mpu6050";reg = <0x68>;status = "okay";int-gpios = <&gpioa 15 GPIO_ACTIVE_LOW>;};
};

二.修改prj.conf

文件中添加代码，启用I2C，传感器模块和MPU6050模块

# 启用 I2C 和 MPU6050 驱动
CONFIG_I2C=y
CONFIG_SENSOR=y
CONFIG_MPU6050=y
CONFIG_MPU6050_TRIGGER_NONE=y
CONFIG_CBPRINTF_FP_SUPPORT=y

三.修改main.c

mian.c要修改的内容就是MPU6050示例代码里边的内容，文件地址：/home/user/zephyrproject/zephyr/samples/sensor/mpu6050/src/main.c

/** Copyright (c) 2019 Nordic Semiconductor ASA** SPDX-License-Identifier: Apache-2.0*/#include <zephyr/kernel.h>
#include <zephyr/device.h>
#include <zephyr/drivers/sensor.h>
#include <stdio.h>static const char *now_str(void)
{static char buf[16]; /* ...HH:MM:SS.MMM */uint32_t now = k_uptime_get_32();unsigned int ms = now % MSEC_PER_SEC;unsigned int s;unsigned int min;unsigned int h;now /= MSEC_PER_SEC;s = now % 60U;now /= 60U;min = now % 60U;now /= 60U;h = now;snprintf(buf, sizeof(buf), "%u:%02u:%02u.%03u",h, min, s, ms);return buf;
}static int process_mpu6050(const struct device *dev)
{struct sensor_value temperature;struct sensor_value accel[3];struct sensor_value gyro[3];int rc = sensor_sample_fetch(dev);if (rc == 0) {rc = sensor_channel_get(dev, SENSOR_CHAN_ACCEL_XYZ,accel);}if (rc == 0) {rc = sensor_channel_get(dev, SENSOR_CHAN_GYRO_XYZ,gyro);}if (rc == 0) {rc = sensor_channel_get(dev, SENSOR_CHAN_DIE_TEMP,&temperature);}if (rc == 0) {printf("[%s]:%g Cel\n""  accel %f %f %f m/s/s\n""  gyro  %f %f %f rad/s\n",now_str(),sensor_value_to_double(&temperature),sensor_value_to_double(&accel[0]),sensor_value_to_double(&accel[1]),sensor_value_to_double(&accel[2]),sensor_value_to_double(&gyro[0]),sensor_value_to_double(&gyro[1]),sensor_value_to_double(&gyro[2]));} else {printf("sample fetch/get failed: %d\n", rc);}return rc;
}int main(void)
{const struct device *const mpu6050 = DEVICE_DT_GET_ONE(invensense_mpu6050);if (!device_is_ready(mpu6050)) {printf("Device %s is not ready\n", mpu6050->name);return 0;}while (!IS_ENABLED(CONFIG_MPU6050_TRIGGER)) {int rc = process_mpu6050(mpu6050);if (rc != 0) {break;}k_sleep(K_SECONDS(2));}/* triggered runs with its own thread after exit */return 0;
}