Arduino学习笔记之MPU6050_teapotpacket[2] = fifobuffer[0];

一.MPU6050模块图：

二.MPU6050模块工作原理图：

三.用3D模型进行MPU6050工作过程展示：

四.MPU6050模块与Arduino Uno模块的连接方式：

五.代码实现：

六.代码示例：

#include "I2Cdev.h"

#include "MPU6050_6Axis_MotionApps20.h"

//#include "MPU6050.h" // not necessary if using MotionApps include file

// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation

// is used in I2Cdev.h

#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE

    #include "Wire.h"

#endif

// class default I2C address is 0x68

// specific I2C addresses may be passed as a parameter here

// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)

// AD0 high = 0x69

MPU6050 mpu;

//MPU6050 mpu(0x69); // <-- use for AD0 high

/* =========================================================================

   NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch

   depends on the MPU-6050's INT pin being connected to the Arduino's

   external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is

   digital I/O pin 2.

 * ========================================================================= */

/* =========================================================================

   NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error

   when using Serial.write(buf, len). The Teapot output uses this method.

   The solution requires a modification to the Arduino USBAPI.h file, which

   is fortunately simple, but annoying. This will be fixed in the next IDE

   release. For more info, see these links:

   http://arduino.cc/forum/index.php/topic,109987.0.html

   http://code.google.com/p/arduino/issues/detail?id=958

 * ========================================================================= */

 

// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual

// quaternion components in a [w, x, y, z] format (not best for parsing

// on a remote host such as Processing or something though)

//#define OUTPUT_READABLE_QUATERNION

// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles

// (in degrees) calculated from the quaternions coming from the FIFO.

// Note that Euler angles suffer from gimbal lock (for more info, see

// http://en.wikipedia.org/wiki/Gimbal_lock)

//#define OUTPUT_READABLE_EULER

// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/

// pitch/roll angles (in degrees) calculated from the quaternions coming

// from the FIFO. Note this also requires gravity vector calculations.

// Also note that yaw/pitch/roll angles suffer from gimbal lock (for

// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)

#define OUTPUT_READABLE_YAWPITCHROLL

// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration

// components with gravity removed. This acceleration reference frame is

// not compensated for orientation, so +X is always +X according to the

// sensor, just without the effects of gravity. If you want acceleration

// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.

//#define OUTPUT_READABLE_REALACCEL

// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration

// components with gravity removed and adjusted for the world frame of

// reference (yaw is relative to initial orientation, since no magnetometer

// is present in this case). Could be quite handy in some cases.

//#define OUTPUT_READABLE_WORLDACCEL

// uncomment "OUTPUT_TEAPOT" if you want output that matches the

// format used for the InvenSense teapot demo

//#define OUTPUT_TEAPOT

 

#define INTERRUPT_PIN 2  // use pin 2 on Arduino Uno & most boards

#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)

bool blinkState = false;

// MPU control/status vars

bool dmpReady = false;  // set true if DMP init was successful

uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU

uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)

uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)

uint16_t fifoCount;     // count of all bytes currently in FIFO

uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars

Quaternion q;           // [w, x, y, z]         quaternion container

VectorInt16 aa;         // [x, y, z]            accel sensor measurements

VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements

VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements

VectorFloat gravity;    // [x, y, z]            gravity vector

float euler[3];         // [psi, theta, phi]    Euler angle container

float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

// packet structure for InvenSense teapot demo

uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };

 

// ================================================================

// ===               INTERRUPT DETECTION ROUTINE                ===

// ================================================================

volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high

void dmpDataReady() {

    mpuInterrupt = true;

}

 

// ================================================================

// ===                      INITIAL SETUP                       ===

// ================================================================

void setup() {

    // join I2C bus (I2Cdev library doesn't do this automatically)

    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE

        Wire.begin();

        Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties

    #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE

        Fastwire::setup(400, true);

    #endif

    // initialize serial communication

    // (115200 chosen because it is required for Teapot Demo output, but it's

    // really up to you depending on your project)

    Serial.begin(115200);

    while (!Serial); // wait for Leonardo enumeration, others continue immediately

    // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino

    // Pro Mini running at 3.3V, cannot handle this baud rate reliably due to

    // the baud timing being too misaligned with processor ticks. You must use

    // 38400 or slower in these cases, or use some kind of external separate

    // crystal solution for the UART timer.

    // initialize device

    Serial.println(F("Initializing I2C devices..."));

    mpu.initialize();

    pinMode(INTERRUPT_PIN, INPUT);

    // verify connection

    Serial.println(F("Testing device connections..."));

    Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

    // wait for ready

    Serial.println(F("\nSend any character to begin DMP programming and demo: "));

    while (Serial.available() && Serial.read()); // empty buffer

    while (!Serial.available());                 // wait for data

    while (Serial.available() && Serial.read()); // empty buffer again

    // load and configure the DMP

    Serial.println(F("Initializing DMP..."));

    devStatus = mpu.dmpInitialize();

    // supply your own gyro offsets here, scaled for min sensitivity

    mpu.setXGyroOffset(220);

    mpu.setYGyroOffset(76);

    mpu.setZGyroOffset(-85);

    mpu.setZAccelOffset(1788); // 1688 factory default for my test chip

    // make sure it worked (returns 0 if so)

    if (devStatus == 0) {

        // Calibration Time: generate offsets and calibrate our MPU6050

        mpu.CalibrateAccel(6);

        mpu.CalibrateGyro(6);

        mpu.PrintActiveOffsets();

        // turn on the DMP, now that it's ready

        Serial.println(F("Enabling DMP..."));

        mpu.setDMPEnabled(true);

        // enable Arduino interrupt detection

        Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));

        Serial.print(digitalPinToInterrupt(INTERRUPT_PIN));

        Serial.println(F(")..."));

        attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);

        mpuIntStatus = mpu.getIntStatus();

        // set our DMP Ready flag so the main loop() function knows it's okay to use it

        Serial.println(F("DMP ready! Waiting for first interrupt..."));

        dmpReady = true;

        // get expected DMP packet size for later comparison

        packetSize = mpu.dmpGetFIFOPacketSize();

    } else {

        // ERROR!

        // 1 = initial memory load failed

        // 2 = DMP configuration updates failed

        // (if it's going to break, usually the code will be 1)

        Serial.print(F("DMP Initialization failed (code "));

        Serial.print(devStatus);

        Serial.println(F(")"));

    }

    // configure LED for output

    pinMode(LED_PIN, OUTPUT);

}

 

// ================================================================

// ===                    MAIN PROGRAM LOOP                     ===

// ================================================================

void loop() {

    // if programming failed, don't try to do anything

    if (!dmpReady) return;

    // read a packet from FIFO

    if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet

        #ifdef OUTPUT_READABLE_QUATERNION

            // display quaternion values in easy matrix form: w x y z

            mpu.dmpGetQuaternion(&q, fifoBuffer);

            Serial.print("quat\t");

            Serial.print(q.w);

            Serial.print("\t");

            Serial.print(q.x);

            Serial.print("\t");

            Serial.print(q.y);

            Serial.print("\t");

            Serial.println(q.z);

        #endif

        #ifdef OUTPUT_READABLE_EULER

            // display Euler angles in degrees

            mpu.dmpGetQuaternion(&q, fifoBuffer);

            mpu.dmpGetEuler(euler, &q);

            Serial.print("euler\t");

            Serial.print(euler[0] * 180/M_PI);

            Serial.print("\t");

            Serial.print(euler[1] * 180/M_PI);

            Serial.print("\t");

            Serial.println(euler[2] * 180/M_PI);

        #endif

        #ifdef OUTPUT_READABLE_YAWPITCHROLL

            // display Euler angles in degrees

            mpu.dmpGetQuaternion(&q, fifoBuffer);

            mpu.dmpGetGravity(&gravity, &q);

            mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);

            Serial.print("ypr\t");

            Serial.print(ypr[0] * 180/M_PI);

            Serial.print("\t");

            Serial.print(ypr[1] * 180/M_PI);

            Serial.print("\t");

            Serial.println(ypr[2] * 180/M_PI);

        #endif

        #ifdef OUTPUT_READABLE_REALACCEL

            // display real acceleration, adjusted to remove gravity

            mpu.dmpGetQuaternion(&q, fifoBuffer);

            mpu.dmpGetAccel(&aa, fifoBuffer);

            mpu.dmpGetGravity(&gravity, &q);

            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);

            Serial.print("areal\t");

            Serial.print(aaReal.x);

            Serial.print("\t");

            Serial.print(aaReal.y);

            Serial.print("\t");

            Serial.println(aaReal.z);

        #endif

        #ifdef OUTPUT_READABLE_WORLDACCEL

            // display initial world-frame acceleration, adjusted to remove gravity

            // and rotated based on known orientation from quaternion

            mpu.dmpGetQuaternion(&q, fifoBuffer);

            mpu.dmpGetAccel(&aa, fifoBuffer);

            mpu.dmpGetGravity(&gravity, &q);

            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);

            mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);

            Serial.print("aworld\t");

            Serial.print(aaWorld.x);

            Serial.print("\t");

            Serial.print(aaWorld.y);

            Serial.print("\t");

            Serial.println(aaWorld.z);

        #endif

   

        #ifdef OUTPUT_TEAPOT

            // display quaternion values in InvenSense Teapot demo format:

            teapotPacket[2] = fifoBuffer[0];

            teapotPacket[3] = fifoBuffer[1];

            teapotPacket[4] = fifoBuffer[4];

            teapotPacket[5] = fifoBuffer[5];

            teapotPacket[6] = fifoBuffer[8];

            teapotPacket[7] = fifoBuffer[9];

            teapotPacket[8] = fifoBuffer[12];

            teapotPacket[9] = fifoBuffer[13];

            Serial.write(teapotPacket, 14);

            teapotPacket[11]++; // packetCount, loops at 0xFF on purpose

        #endif

        // blink LED to indicate activity

        blinkState = !blinkState;

        digitalWrite(LED_PIN, blinkState);

    }

}

输出结果就是x, y, z的大小，随着MPU6050模块的移动，x, y, z 的坐标按上述方法变化。这个代码可以在网站在"jrowberg/i2cdevlib"上下载Arduino压缩包，找到名为MPU6050和I2Cdev的文件将其转为.zip文件，最后导入到库中。最后按照上述图片中的方法打开代码。