Interfaçage Du Capteur MPU6050 Avec STM32 : Lecture Des Données IMU Via I2C

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In many modern embedded applications such as mobile robots, drones, or motion detection systems, measuring orientation and acceleration is an essential component. The MPU6050 is a widely used sensor for this purpose: it combines a 3-axis accelerometer and a 3-axis gyroscope, making it a complete solution for obtaining motion data across six degrees of freedom.

In this article, we will see how to interface the MPU6050 sensor with an STM32 microcontroller using the I2C communication protocol. We will go through the hardware setup, project creation using STM32CubeIDE, sensor initialization, and the reading and display of raw data from the gyroscope and accelerometer. This tutorial will provide you with the foundation to integrate navigation or motion detection features into your embedded projects.

Required Hardware :

1. Carte STM32F401RE
2. Capteur MPU6050
3. Fils de connexion
4. Breadboard

Voici le schéma de câblage entre le STM32 et le Raspberry Pi 4.

Après la génération du code C basé sur la couche HAL, ajoutez les fichiers suivants : MPU6050.c, i2c.c, i2c.h, puis modifiez les fichiers main.c et main.h.