我有一块 STM32 F103C 板,我正在尝试与 MPU 6050 加速度计/陀螺仪集成。
两个设备之间的连接不完整,当建立连接时,给出的输出似乎是垃圾。我已经尝试过直接 I2C 通信(它可以提供 OK 输出),但更愿意继续使用 MPU6050 库(专为 arduino 设计)。
在 STM 板上,我将 SDA (MPU6050) 连接到引脚 B7。SCL 到引脚 B6。VCC 至 +3.3V 和 GND 至 GND
当连接到 arduino 板时,系统运行完美。有什么办法可以使该库与该板一起使用以提供有效的输出。.
这是有效的草图:
// By Arduino User JohnChi
// August 17, 2014
// Public Domain
#include<Wire.h>
const int MPU_addr=0x68; // I2C address of the MPU-6050
int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
void setup(){
Wire.begin();
Wire.beginTransmission(MPU_addr);
Wire.write(0x6B); // PWR_MGMT_1 register
Wire.write(0); // set to zero (wakes up the MPU-6050)
Wire.endTransmission(true);
Serial.begin(9600);
}
void loop(){
Wire.beginTransmission(MPU_addr);
Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
Wire.endTransmission(false);
Wire.requestFrom(MPU_addr,14,true); // request a total of 14 registers
AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
Serial.print(" | Tmp = "); Serial.print(Tmp/340.00+36.53); //equation for temperature in degrees C from datasheet
Serial.print(" | GyX = "); Serial.print(GyX);
Serial.print(" | GyY = "); Serial.print(GyY);
Serial.print(" | GyZ = "); Serial.println(GyZ);
delay(50);
}
还有适用于 arduino 的草图,但不适用于 STM32
MPU6050 Triple Axis Gyroscope & Accelerometer. Simple Gyroscope Example.
Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
GIT: https://github.com/jarzebski/Arduino-MPU6050
Web: http://www.jarzebski.pl
(c) 2014 by Korneliusz Jarzebski
*/
#include <Wire.h>
#include <MPU6050.h>
MPU6050 mpu;
void setup()
{
Serial.begin(9600);
// Initialize MPU6050
Serial.println("Boot");
Serial.println("Boot");
Serial.println("Boot");
delay(1000);
Serial.println("Initialize MPU6050");
mpu.begin(MPU6050_SCALE_1000DPS, MPU6050_RANGE_2G);
while(!mpu.begin(MPU6050_SCALE_1000DPS, MPU6050_RANGE_2G))
{
Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
delay(500);
}
// If you want, you can set gyroscope offsets
// mpu.setGyroOffsetX(155);
// mpu.setGyroOffsetY(15);
// mpu.setGyroOffsetZ(15);
// Calibrate gyroscope. The calibration must be at rest.
// If you don't want calibrate, comment this line.
mpu.calibrateGyro();
// Set threshold sensivty. Default 3.
// If you don't want use threshold, comment this line or set 0.
mpu.setThreshold(5);
// Check settings
checkSettings();
}
void checkSettings()
{
Serial.println();
Serial.print(" * Sleep Mode: ");
Serial.println(mpu.getSleepEnabled() ? "Enabled" : "Disabled");
Serial.print(" * Clock Source: ");
switch(mpu.getClockSource())
{
case MPU6050_CLOCK_KEEP_RESET: Serial.println("Stops the clock and keeps the timing generator in reset"); break;
case MPU6050_CLOCK_EXTERNAL_19MHZ: Serial.println("PLL with external 19.2MHz reference"); break;
case MPU6050_CLOCK_EXTERNAL_32KHZ: Serial.println("PLL with external 32.768kHz reference"); break;
case MPU6050_CLOCK_PLL_ZGYRO: Serial.println("PLL with Z axis gyroscope reference"); break;
case MPU6050_CLOCK_PLL_YGYRO: Serial.println("PLL with Y axis gyroscope reference"); break;
case MPU6050_CLOCK_PLL_XGYRO: Serial.println("PLL with X axis gyroscope reference"); break;
case MPU6050_CLOCK_INTERNAL_8MHZ: Serial.println("Internal 8MHz oscillator"); break;
}
Serial.print(" * Gyroscope: ");
switch(mpu.getScale())
{
case MPU6050_SCALE_2000DPS: Serial.println("2000 dps"); break;
case MPU6050_SCALE_1000DPS: Serial.println("1000 dps"); break;
case MPU6050_SCALE_500DPS: Serial.println("500 dps"); break;
case MPU6050_SCALE_250DPS: Serial.println("250 dps"); break;
}
Serial.print(" * Gyroscope offsets: ");
Serial.print(mpu.getGyroOffsetX());
Serial.print(" / ");
Serial.print(mpu.getGyroOffsetY());
Serial.print(" / ");
Serial.println(mpu.getGyroOffsetZ());
Serial.println();
}
void loop()
{
Vector rawGyro = mpu.readRawGyro();
Vector normGyro = mpu.readNormalizeGyro();
Serial.print(" X = ");
Serial.print(normGyro.XAxis);
Serial.print(" Y = ");
Serial.print(normGyro.YAxis);
Serial.print(" Z = ");
Serial.println(normGyro.ZAxis);
delay(100);
}
谢谢