[我在Github上找到了这个很棒的库,其中包含使用带有Arduino的MPU-6050陀螺仪/加速度计的链接,他在那里有一个示例,其中将其用于esp模块和普通的arduino。 esp库不适用于我,但在本教程中找到了github,他们在其中显示了名为“ MPU6050_DMP6_using_DMP_V6.12”的库。由于我无法为esp修复库,也无法在线找到使用此模块并实现Interrupt密钥的其他库,这是我的janky-VR控制器项目所需的,因此我想知道是否有办法在其中编辑代码前面提到的草图可与esp一起使用。我用旧的esp草图遇到的问题是,即使我对所有内容的波特率都正确,串行监控器也没有任何显示。也许如果你们能找到一种方法来实现它与esp一起工作,那真是太神奇了,因为我无法弄清楚他的代码。这是一个我设法显示为串行的项目,但如果可能有用,则不使用中断键。
#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);
}
编辑:这是与"MPU6050_DMP6_ESPWiFi"示例一起使用的板卡设置即时消息