1.概述
本模块是一款高性能三轴加速度+三轴陀螺仪的六轴传感器模块，采用MPU6050芯片作为核心，MPU-6050 是6轴运动处理传感器。它集成了 3 轴MEMS陀螺仪，3 轴MEMS加速度计，以及一个可扩展的数字运动处理器 DMP。使用它就是为了得到待测物体（如四轴飞行器、平衡小车） x、y、z 轴的倾角（俯仰角 Pitch、翻滚角 Roll、偏航角 Yaw） 。我们通过 I2C 读取到 MPU6050 的六个数据（三轴加速度 AD 值、三轴角速度 AD 值）经过姿态融合后就可以得到 Pitch、Roll、Yaw 角。利用自带的数字运动处理器DMP，通过IIC接口，输出姿态解算后的数据。具有体积小，使用方便等特点。模块自带2个定位孔，方便你将模块固定在其他设备。
2.规格参数
工作电压：5V（DC）
通信方式：标准IIC通信协议
芯片内置16bit AD转换器，16位数据输出
陀螺仪范围：±250 500 1000 2000°/s
加速度范围：±2±4±8±16g
陀螺仪运作电流：5mA
陀螺仪待命电流：5μA
加速器运作电流：350μA
引脚间距：2.54mm
接口：5PIN接口
原理
模块原理图如下，其中使用了SPX3810M稳压芯片，将5V电源转换为3.3V电压给MPU6050芯片供电，P-MOS管Q1、Q2作为电平转换电路，将芯片的IIC电平转化为5.0V电平，采用3.3V的单片机控制，如果不想要或者无法兼容5V电压，可将电平转换电路去掉，将IIC接口直接接单片机IIC引脚。
4.接线图
5.测试代码
// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include “I2Cdev.h”
#include “MPU6050.h”
// 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 InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 accelgyro;
//MPU6050 accelgyro(0x69); // <– use for AD0 high
int16_t ax, ay, az;
int16_t gx, gy, gz;
// uncomment “OUTPUT_READABLE_ACCELGYRO” if you want to see a tab-separated
// list of the accel X/Y/Z and then gyro X/Y/Z values in decimal. Easy to read,
// not so easy to parse, and slow(er) over UART.
#define OUTPUT_READABLE_ACCELGYRO
// uncomment “OUTPUT_BINARY_ACCELGYRO” to send all 6 axes of data as 16-bit
// binary, one right after the other. This is very fast (as fast as possible
// without compression or data loss), and easy to parse, but impossible to read
// for a human.
//#define OUTPUT_BINARY_ACCELGYRO
#define LED_PIN 13
bool blinkState = false;
void setup() {
// join I2C bus (I2Cdev library doesn’t do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
// initialize serial communication
Serial.begin(9600);
// initialize device
Serial.println(“Initializing I2C devices…”);
accelgyro.initialize();
// verify connection
Serial.println(“Testing device connections…”);
Serial.println(accelgyro.testConnection() ? “MPU6050 connection successful” : “MPU6050 connection failed”);
// use the code below to change accel/gyro offset values
/*
Serial.println(“Updating internal sensor offsets…”);
// -76 -2359 1688 0 0 0
Serial.print(accelgyro.getXAccelOffset()); Serial.print(“\t”); // -76
Serial.print(accelgyro.getYAccelOffset()); Serial.print(“\t”); // -2359
Serial.print(accelgyro.getZAccelOffset()); Serial.print(“\t”); // 1688
Serial.print(accelgyro.getXGyroOffset()); Serial.print(“\t”); // 0
Serial.print(accelgyro.getYGyroOffset()); Serial.print(“\t”); // 0
Serial.print(accelgyro.getZGyroOffset()); Serial.print(“\t”); // 0
Serial.print(“\n”);
accelgyro.setXGyroOffset(220);
accelgyro.setYGyroOffset(76);
accelgyro.setZGyroOffset(-85);
Serial.print(accelgyro.getXAccelOffset()); Serial.print(“\t”); // -76
Serial.print(accelgyro.getYAccelOffset()); Serial.print(“\t”); // -2359
Serial.print(accelgyro.getZAccelOffset()); Serial.print(“\t”); // 1688
Serial.print(accelgyro.getXGyroOffset()); Serial.print(“\t”); // 0
Serial.print(accelgyro.getYGyroOffset()); Serial.print(“\t”); // 0
Serial.print(accelgyro.getZGyroOffset()); Serial.print(“\t”); // 0
Serial.print(“\n”);
*/
// configure Arduino LED for
pinMode(LED_PIN, OUTPUT);
}
void loop() {
// read raw accel/gyro measurements from device
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
// these methods (and a few others) are also available
//accelgyro.getAcceleration(&ax, &ay, &az);
//accelgyro.getRotation(&gx, &gy, &gz);
#ifdef OUTPUT_READABLE_ACCELGYRO
// display tab-separated accel/gyro x/y/z values
Serial.print(“a/g:\t”);
Serial.print(ax); Serial.print(“\t”);
Serial.print(ay); Serial.print(“\t”);
Serial.print(az); Serial.print(“\t”);
Serial.print(gx); Serial.print(“\t”);
Serial.print(gy); Serial.print(“\t”);
Serial.println(gz);
#endif
#ifdef OUTPUT_BINARY_ACCELGYRO
Serial.write((uint8_t)(ax >> 8)); Serial.write((uint8_t)(ax & 0xFF));
Serial.write((uint8_t)(ay >> 8)); Serial.write((uint8_t)(ay & 0xFF));
Serial.write((uint8_t)(az >> 8)); Serial.write((uint8_t)(az & 0xFF));
Serial.write((uint8_t)(gx >> 8)); Serial.write((uint8_t)(gx & 0xFF));
Serial.write((uint8_t)(gy >> 8)); Serial.write((uint8_t)(gy & 0xFF));
Serial.write((uint8_t)(gz >> 8)); Serial.write((uint8_t)(gz & 0xFF));
#endif
// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
}
6.测试结果
按照上图接好线，烧录好代码，上电后，通电后，我们可在软件串口监视器中看到相对应数值，如下图。
7.资料下载
Arduino IDE/Mixly/Scratch/pyhon编程使用资料下载链接
链接：https://pan.baidu.com/s/13MuifW6LW69qCoGhmZHnhg
提取码：keye