树莓派4B读取MPU6050数据（iic）

要安装 wiringPi ，安装方法百度

#include <wiringPiI2C.h>
#include <stdlib.h>
#include <stdio.h>
#include <wiringPi.h>

#define Device_Address 0x68	/*Device Address/Identifier for MPU6050*/

#define PWR_MGMT_1   0x6B
#define SMPLRT_DIV   0x19
#define CONFIG       0x1A
#define GYRO_CONFIG  0x1B
#define INT_ENABLE   0x38
#define ACCEL_XOUT_H 0x3B
#define ACCEL_YOUT_H 0x3D
#define ACCEL_ZOUT_H 0x3F
#define GYRO_XOUT_H  0x43
#define GYRO_YOUT_H  0x45
#define GYRO_ZOUT_H  0x47

int fd;

void MPU6050_Init()
{
	
	wiringPiI2CWriteReg8 (fd, SMPLRT_DIV, 0x07);	/* Write to sample rate register */
	wiringPiI2CWriteReg8 (fd, PWR_MGMT_1, 0x01);	/* Write to power management register */
	wiringPiI2CWriteReg8 (fd, CONFIG, 0);		    /* Write to Configuration register */
	wiringPiI2CWriteReg8 (fd, GYRO_CONFIG, 24);	    /* Write to Gyro Configuration register */
	wiringPiI2CWriteReg8 (fd, INT_ENABLE, 0x01);	/*Write to interrupt enable register */
} 

short read_raw_data(int addr)
{
	short high_byte,low_byte,value;
	high_byte = wiringPiI2CReadReg8(fd, addr);
	low_byte = wiringPiI2CReadReg8(fd, addr+1);
	value = (high_byte << 8) | low_byte;
	return value;
}

void ms_delay(int val)
{
	int i,j;
	for(i=0;i<=val;i++)
		for(j=0;j<1200;j++);
}

int main()
{
	
	float Acc_x,Acc_y,Acc_z;
	float Gyro_x,Gyro_y,Gyro_z;
	float Ax=0, Ay=0, Az=0;
	float Gx=0, Gy=0, Gz=0;
	fd = wiringPiI2CSetup(Device_Address);   /*Initializes I2C with device Address*/
	MPU6050_Init();		                 /* Initializes MPU6050 */
	
	while(1)
	{
		/*Read raw value of Accelerometer and gyroscope from MPU6050*/
		Acc_x = read_raw_data(ACCEL_XOUT_H);
		Acc_y = read_raw_data(ACCEL_YOUT_H);
		Acc_z = read_raw_data(ACCEL_ZOUT_H);
		
		Gyro_x = read_raw_data(GYRO_XOUT_H);
		Gyro_y = read_raw_data(GYRO_YOUT_H);
		Gyro_z = read_raw_data(GYRO_ZOUT_H);
		
		/* Divide raw value by sensitivity scale factor */
		Ax = Acc_x/16384.0;
		Ay = Acc_y/16384.0;
		Az = Acc_z/16384.0;
		
		Gx = Gyro_x/131;
		Gy = Gyro_y/131;
		Gz = Gyro_z/131;
		
		printf("\n Gx=%.3f °/s\tGy=%.3f °/s\tGz=%.3f °/s\tAx=%.3f g\tAy=%.3f g\tAz=%.3f g\n",Gx,Gy,Gz,Ax,Ay,Az);
		ms_delay(500);
	}
	return 0;
}

project(wdd_robot)
cmake_minimum_required(VERSION 3.18)
#指定头文件目录,PROJECT_SOURCE_DIR为工程的根目录  
include_directories(${PROJECT_SOURCE_DIR}/include)

#可执行文件输出路径 
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)

#库文件输出路径  
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#指定库所在路径
link_directories("/home/wdd/wdd_robot/lib")

#生成动态库    
add_library(share_mpu6050 SHARED src/mpu6050.c)

#生成静态库  
add_library(static_mpu6050 STATIC src/mpu6050.c)

#生成可执行文件
add_executable(mpu6050 src/mpu6050.c)
#链接库,将*.so链接到可执行文件
target_link_libraries(mpu6050 share_mpu6050  -lpthread -lwiringPi)
target_link_libraries(mpu6050)