mpu6050相关总结

#include "Wire.h"
#include "I2Cdev.h"
#include "MPU6050.h" 
MPU6050 accelgyro;     //实例化传感器
int16_t ax, ay, az;    //定义原始数据
int16_t gx, gy, gz;
char str[512]; 
void setup() {
    Wire.begin();
    Serial.begin(57600);
    accelgyro.initialize();
}
void loop() {
    accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);    //获得原始数据
    sprintf(str, "%d,%d,%d,%d,%d,%d", ax, ay, az, gx, gy, gz); 
    Serial.print(str);
    Serial.write(byte(10));
    delay(30);
}

#include "Wire.h"
//I2Cdev 和 MPU6050 类库需要事先安装在 Arduino 类库文件夹下
//引入 I2Cdev.h 头文件
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
//实例化一个 MPU6050 对象，对象名称为 mpu
//声明MPU6050 控制和状态变量
bool dmpReady   false;  //set true if DMP init was successful
uint8_t mpuIntStatus;   //此变量用于保存 MPU6050 中断状态
uint8_t devStatus;      //[size=1em]返回设备状态，0为成功，不为0则发生错误
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 
//声明方向和运动变量：
Quaternion q;           //四元数变量 W,X,Y,Z
VectorFloat gravity;    //重力矢量 X，Y, Z
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
// =========================== 中断检测程序 =========================
volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
void dmpDataReady()
{
  mpuInterrupt = true;
// =============== 初始设置 凡 Arduino 代码都有 setup() ===============
void setup()
{
  Serial.begin(115200); //开启串口，设置波特率为 115200，程序下载到 Arduino 之后注意打开串口观察
  //加入 I2C 总线序列
  Wire.begin();
//初始化MPU6050
  Serial.println("Initializing I2C devices...");
  mpu.initialize();
  //验证连接
  Serial.println("Testing device connections...");
  Serial.println(mpu.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
  delay(2); //延时2毫秒
  //加载并配置 DMP 数字运动处理引擎
  Serial.println("Initializing DMP...");
  devStatus = mpu.dmpInitialize(); //返回 DMP 状态结果，0为成功，不为0则发生错误
  //如果成功返回 0
  if (devStatus == 0)
  {
    //使能 DMP 数字运动处理引擎
    Serial.println("Enabling DMP...");
    mpu.setDMPEnabled(true);
    //使能 Arduino 中断检测
    Serial.println("Enabling interrupt detection (Arduino external interrupt 0)...");
    attachInterrupt(0, dmpDataReady, RISING);
    mpuIntStatus = mpu.getIntStatus();
    // set our DMP Ready flag so the main loop() function knows it's okay to use it
    Serial.println("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("DMP Initialization failed (code ");
    Serial.print(devStatus);
    Serial.println(")");
  }
}
// =========================== 主循环程序体 ========================= 
void loop()
{
  float alpha, omiga; //@声明2个浮点数变量， alpha 和 omiga
[size=1em]//如果 MPU6050 的 DMP 状态为错误，程序停止工作
  if (!dmpReady)
    return;
  // wait for MPU interrupt or extra packet(s) available
  if (!mpuInterrupt && fifoCount < packetSize)
    return;
  // reset interrupt flag and get INT_STATUS byte
  mpuInterrupt = false;
  mpuIntStatus = mpu.getIntStatus();
  // get current FIFO count
  fifoCount = mpu.getFIFOCount();
  // check for overflow (this should never happen unless our code is too inefficient)
  if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
    // reset so we can continue cleanly
    mpu.resetFIFO();
    Serial.println("FIFO overflow!");
    // otherwise, check for DMP data ready interrupt (this should happen frequently)
  }
  else if (mpuIntStatus & 0x02) {
    // wait for correct available data length, should be a VERY short wait
    while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
    // read a packet from FIFO
    mpu.getFIFOBytes(fifoBuffer, packetSize);
    // track FIFO count here in case there is > 1 packet available
    // (this lets us immediately read more without waiting for an interrupt)
    fifoCount -= packetSize;
    mpu.dmpGetQuaternion(&q, fifoBuffer);
    mpu.dmpGetGravity(&gravity, &q);
    mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);  //从DMP中取出Yaw, Pitch, Roll三个轴的角度，放入数组ypr单位：弧度
    alpha=-ypr[2] * 180/M_PI;
    omiga=mpu.getRotationX()/16.4; //配置是16位表示正负2000°/s, 65536/4000
    Serial.print("Alpha ");
    Serial.print(alpha);
    Serial.print("\tOmiga ");
    Serial.println(omiga); 
  }
}