介紹

MPU6050模塊

MPU6050 傳感器模塊是一個集成的 6 軸運動跟踪設備。

它有一個 3 軸陀螺儀、3 軸加速度計、數字運動處理器和一個溫度傳感器，所有這些都在一個 IC 中。
它可以使用其輔助 I2C 總線接受來自其他傳感器的輸入，例如 3 軸磁力計或壓力傳感器。
如果外接 3 軸磁力計，可提供完整的 9 軸 Motion Fusion 輸出。

陀螺儀和加速度計沿 X、Y 和 Z 軸的讀數以 2 的補碼形式提供。

溫度讀數以有符號整數形式提供（不是 2 的補碼形式）。

陀螺儀讀數以度/秒 (DPS) 為單位；加速度計讀數以 g 為單位，溫度讀數以攝氏度為單位。

有關 MPU6050 傳感器模塊及其使用方法的更多信息，請參閱傳感器和模塊部分中的主題 MPU6050 傳感器模塊。

NodeMCU 可以使用 I2C 通信協議與該模塊進行通信。要了解有關 NodeMCU 中 I2C 功能的更多信息，請參閱 NodeMCU I2C with ESPlorer IDE或NodeMCU I2C with Arduino IDE

接口圖

NodeMCU 與 MPU6050 的接口

例子

從 MPU6050 模塊讀取加速度計、陀螺儀和溫度參數，並將它們顯示在串行監視器上。

首先，按照上面的接口圖進行連接。

現在讓我們編寫一個程序，從 MPU6050 讀取加速器、陀螺儀和溫度值。

我們可以用 Lua 腳本或 C/C++ 語言為 NodeMCU DevKit 編寫代碼。我們使用 ESPlorer IDE 用 Lua 腳本編寫代碼，使用 Arduino IDE 用 C/C++ 編寫代碼。要了解更多信息，請參閱使用 ESPlorer IDE 開始使用 NodeMCU（對 NodeMCU 使用 Lua 腳本）和使用 Arduino IDE 開始使用 NodeMCU（對 NodeMCU 使用基於 C/C++ 語言的 Arduino 草圖）。

NodeMCU 的 Lua 腳本

id  = 0 -- always 0
scl = 6 -- set pin 6 as scl
sda = 7 -- set pin 7 as sda
MPU6050SlaveAddress = 0x68

AccelScaleFactor = 16384;   -- sensitivity scale factor respective to full scale setting provided in datasheet 
GyroScaleFactor = 131;


MPU6050_REGISTER_SMPLRT_DIV   =  0x19
MPU6050_REGISTER_USER_CTRL    =  0x6A
MPU6050_REGISTER_PWR_MGMT_1   =  0x6B
MPU6050_REGISTER_PWR_MGMT_2   =  0x6C
MPU6050_REGISTER_CONFIG       =  0x1A
MPU6050_REGISTER_GYRO_CONFIG  =  0x1B
MPU6050_REGISTER_ACCEL_CONFIG =  0x1C
MPU6050_REGISTER_FIFO_EN      =  0x23
MPU6050_REGISTER_INT_ENABLE   =  0x38
MPU6050_REGISTER_ACCEL_XOUT_H =  0x3B
MPU6050_REGISTER_SIGNAL_PATH_RESET  = 0x68

function I2C_Write(deviceAddress, regAddress, data)
    i2c.start(id)       -- send start condition
    if (i2c.address(id, deviceAddress, i2c.TRANSMITTER))-- set slave address and transmit direction
    then
        i2c.write(id, regAddress)  -- write address to slave
        i2c.write(id, data)  -- write data to slave
        i2c.stop(id)    -- send stop condition
    else
        print("I2C_Write fails")
    end
end

function I2C_Read(deviceAddress, regAddress, SizeOfDataToRead)
    response = 0;
    i2c.start(id)       -- send start condition
    if (i2c.address(id, deviceAddress, i2c.TRANSMITTER))-- set slave address and transmit direction
    then
        i2c.write(id, regAddress)  -- write address to slave
        i2c.stop(id)    -- send stop condition
        i2c.start(id)   -- send start condition
        i2c.address(id, deviceAddress, i2c.RECEIVER)-- set slave address and receive direction
        response = i2c.read(id, SizeOfDataToRead)   -- read defined length response from slave
        i2c.stop(id)    -- send stop condition
        return response
    else
        print("I2C_Read fails")
    end
    return response
end

function unsignTosigned16bit(num)   -- convert unsigned 16-bit no. to signed 16-bit no.
    if num > 32768 then 
        num = num - 65536
    end
    return num
end

function MPU6050_Init() --configure MPU6050
    tmr.delay(150000)
    I2C_Write(MPU6050SlaveAddress, MPU6050_REGISTER_SMPLRT_DIV, 0x07)
    I2C_Write(MPU6050SlaveAddress, MPU6050_REGISTER_PWR_MGMT_1, 0x01)
    I2C_Write(MPU6050SlaveAddress, MPU6050_REGISTER_PWR_MGMT_2, 0x00)
    I2C_Write(MPU6050SlaveAddress, MPU6050_REGISTER_CONFIG, 0x00)
    I2C_Write(MPU6050SlaveAddress, MPU6050_REGISTER_GYRO_CONFIG, 0x00)-- set +/-250 degree/second full scale
    I2C_Write(MPU6050SlaveAddress, MPU6050_REGISTER_ACCEL_CONFIG, 0x00)-- set +/- 2g full scale
    I2C_Write(MPU6050SlaveAddress, MPU6050_REGISTER_FIFO_EN, 0x00)
    I2C_Write(MPU6050SlaveAddress, MPU6050_REGISTER_INT_ENABLE, 0x01)
    I2C_Write(MPU6050SlaveAddress, MPU6050_REGISTER_SIGNAL_PATH_RESET, 0x00)
    I2C_Write(MPU6050SlaveAddress, MPU6050_REGISTER_USER_CTRL, 0x00)
end

i2c.setup(id, sda, scl, i2c.SLOW)   -- initialize i2c
MPU6050_Init()
while true do   --read and print accelero, gyro and temperature value
    data = I2C_Read(MPU6050SlaveAddress, MPU6050_REGISTER_ACCEL_XOUT_H, 14)
    
    AccelX = unsignTosigned16bit((bit.bor(bit.lshift(string.byte(data, 1), 8), string.byte(data, 2))))
    AccelY = unsignTosigned16bit((bit.bor(bit.lshift(string.byte(data, 3), 8), string.byte(data, 4))))
    AccelZ = unsignTosigned16bit((bit.bor(bit.lshift(string.byte(data, 5), 8), string.byte(data, 6))))
    Temperature = unsignTosigned16bit(bit.bor(bit.lshift(string.byte(data,7), 8), string.byte(data,8)))
    GyroX = unsignTosigned16bit((bit.bor(bit.lshift(string.byte(data, 9), 8), string.byte(data, 10))))
    GyroY = unsignTosigned16bit((bit.bor(bit.lshift(string.byte(data, 11), 8), string.byte(data, 12))))
    GyroZ = unsignTosigned16bit((bit.bor(bit.lshift(string.byte(data, 13), 8), string.byte(data, 14))))

    AccelX = AccelX/AccelScaleFactor   -- divide each with their sensitivity scale factor
    AccelY = AccelY/AccelScaleFactor
    AccelZ = AccelZ/AccelScaleFactor
    Temperature = Temperature/340+36.53-- temperature formula
    GyroX = GyroX/GyroScaleFactor
    GyroY = GyroY/GyroScaleFactor
    GyroZ = GyroZ/GyroScaleFactor
    
    print(string.format("Ax:%.3g Ay:%.3g Az:%.3g T:%.3g Gx:%.3g Gy:%.3g Gz:%.3g",
                        AccelX, AccelY, AccelZ, Temperature, GyroX, GyroY, GyroZ))
    tmr.delay(100000)   -- 100ms timer delay
end

ESPlorer 串行輸出窗口

上述 Lua 腳本的 ESPlorer IDE 串口窗口的輸出窗口如下圖所示

Ax = 加速度計 x 軸數據，單位為 g

Ay = 加速度計 y 軸數據，單位為 g

Az = 加速度計 z 軸數據，單位為 g

T = 溫度/攝氏度

Gx = 陀螺儀 x 軸數據，以度/秒為單位

Gy = 以度/秒為單位的陀螺 y 軸數據

Gz = 陀螺儀 z 軸數據，以度/秒為單位

ESPlorer IDE 串口窗口

用於 NodeMCU 的 Arduino 草圖

#include <Wire.h>

// MPU6050 Slave Device Address
const uint8_t MPU6050SlaveAddress = 0x68;

// Select SDA and SCL pins for I2C communication 
const uint8_t scl = D6;
const uint8_t sda = D7;

// sensitivity scale factor respective to full scale setting provided in datasheet 
const uint16_t AccelScaleFactor = 16384;
const uint16_t GyroScaleFactor = 131;

// MPU6050 few configuration register addresses
const uint8_t MPU6050_REGISTER_SMPLRT_DIV   =  0x19;
const uint8_t MPU6050_REGISTER_USER_CTRL    =  0x6A;
const uint8_t MPU6050_REGISTER_PWR_MGMT_1   =  0x6B;
const uint8_t MPU6050_REGISTER_PWR_MGMT_2   =  0x6C;
const uint8_t MPU6050_REGISTER_CONFIG       =  0x1A;
const uint8_t MPU6050_REGISTER_GYRO_CONFIG  =  0x1B;
const uint8_t MPU6050_REGISTER_ACCEL_CONFIG =  0x1C;
const uint8_t MPU6050_REGISTER_FIFO_EN      =  0x23;
const uint8_t MPU6050_REGISTER_INT_ENABLE   =  0x38;
const uint8_t MPU6050_REGISTER_ACCEL_XOUT_H =  0x3B;
const uint8_t MPU6050_REGISTER_SIGNAL_PATH_RESET  = 0x68;

int16_t AccelX, AccelY, AccelZ, Temperature, GyroX, GyroY, GyroZ;

void setup() {
  Serial.begin(9600);
  Wire.begin(sda, scl);
  MPU6050_Init();
}

void loop() {
  double Ax, Ay, Az, T, Gx, Gy, Gz;
  
  Read_RawValue(MPU6050SlaveAddress, MPU6050_REGISTER_ACCEL_XOUT_H);
  
  //divide each with their sensitivity scale factor
  Ax = (double)AccelX/AccelScaleFactor;
  Ay = (double)AccelY/AccelScaleFactor;
  Az = (double)AccelZ/AccelScaleFactor;
  T = (double)Temperature/340+36.53; //temperature formula
  Gx = (double)GyroX/GyroScaleFactor;
  Gy = (double)GyroY/GyroScaleFactor;
  Gz = (double)GyroZ/GyroScaleFactor;

  Serial.print("Ax: "); Serial.print(Ax);
  Serial.print(" Ay: "); Serial.print(Ay);
  Serial.print(" Az: "); Serial.print(Az);
  Serial.print(" T: "); Serial.print(T);
  Serial.print(" Gx: "); Serial.print(Gx);
  Serial.print(" Gy: "); Serial.print(Gy);
  Serial.print(" Gz: "); Serial.println(Gz);

  delay(100);
}

void I2C_Write(uint8_t deviceAddress, uint8_t regAddress, uint8_t data){
  Wire.beginTransmission(deviceAddress);
  Wire.write(regAddress);
  Wire.write(data);
  Wire.endTransmission();
}

// read all 14 register
void Read_RawValue(uint8_t deviceAddress, uint8_t regAddress){
  Wire.beginTransmission(deviceAddress);
  Wire.write(regAddress);
  Wire.endTransmission();
  Wire.requestFrom(deviceAddress, (uint8_t)14);
  AccelX = (((int16_t)Wire.read()<<8) | Wire.read());
  AccelY = (((int16_t)Wire.read()<<8) | Wire.read());
  AccelZ = (((int16_t)Wire.read()<<8) | Wire.read());
  Temperature = (((int16_t)Wire.read()<<8) | Wire.read());
  GyroX = (((int16_t)Wire.read()<<8) | Wire.read());
  GyroY = (((int16_t)Wire.read()<<8) | Wire.read());
  GyroZ = (((int16_t)Wire.read()<<8) | Wire.read());
}

//configure MPU6050
void MPU6050_Init(){
  delay(150);
  I2C_Write(MPU6050SlaveAddress, MPU6050_REGISTER_SMPLRT_DIV, 0x07);
  I2C_Write(MPU6050SlaveAddress, MPU6050_REGISTER_PWR_MGMT_1, 0x01);
  I2C_Write(MPU6050SlaveAddress, MPU6050_REGISTER_PWR_MGMT_2, 0x00);
  I2C_Write(MPU6050SlaveAddress, MPU6050_REGISTER_CONFIG, 0x00);
  I2C_Write(MPU6050SlaveAddress, MPU6050_REGISTER_GYRO_CONFIG, 0x00);//set +/-250 degree/second full scale
  I2C_Write(MPU6050SlaveAddress, MPU6050_REGISTER_ACCEL_CONFIG, 0x00);// set +/- 2g full scale
  I2C_Write(MPU6050SlaveAddress, MPU6050_REGISTER_FIFO_EN, 0x00);
  I2C_Write(MPU6050SlaveAddress, MPU6050_REGISTER_INT_ENABLE, 0x01);
  I2C_Write(MPU6050SlaveAddress, MPU6050_REGISTER_SIGNAL_PATH_RESET, 0x00);
  I2C_Write(MPU6050SlaveAddress, MPU6050_REGISTER_USER_CTRL, 0x00);
}

Arduino 串行輸出窗口

上述 Arduino 草圖的 Arduino IDE 串行窗口的輸出窗口如下所示

Ax = 加速度計 x 軸數據，單位為 g

Ay = 加速度計 y 軸數據，單位為 g

Az = 加速度計 z 軸數據，單位為 g

T = 溫度/攝氏度

Gx = 陀螺儀 x 軸數據，以度/秒為單位

Gy = 以度/秒為單位的陀螺 y 軸數據

Gz = 陀螺儀 z 軸數據，以度/秒為單位

Arduino IDE 串行窗口

資料來源:https://www.electronicwings.com/nodemcu/mpu6050-interfacing-with-nodemcu

Richard`s 防忘記 Blog

2022年8月23日星期二

MPU6050 與 NodeMCU 的接口

介紹

接口圖

例子

NodeMCU 的 Lua 腳本

ESPlorer 串行輸出窗口

用於 NodeMCU 的 Arduino 草圖

Arduino 串行輸出窗口

沒有留言:

2022年8月23日 星期二

MPU6050 與 NodeMCU 的接口

介紹

接口圖

例子

NodeMCU 的 Lua 腳本

ESPlorer 串行輸出窗口

用於 NodeMCU 的 Arduino 草圖

Arduino 串行輸出窗口

沒有留言:

2022年8月23日星期二