MPU-6050 3 AXIS GYROSCOPE AND ACCELEROMETER
SENSOR MODULE(ME024)
The MPU-6050 sensor contains a MEMS accelerometer and a MEMS
gyroscope in a single chip. It is very accurate with 16-bits analog to digital
conversion hardware for each channel. Therefore it captures the x, y, and z
channel at the same time.
Specification:
16bit AD converter-chip, 16-bit data output
Use Chip: MPU-6050
Power supply :3-5v (internal low dropout regulator)
Communication: IIC communication protocol standard
Gyro Range: ± 250 500 1000 2000 ° / s
Acceleration range: ± 2 ± 4 ± 8 ± 16g
Using Immersion Gold PCB, welding machines to ensure quality
Size: 2 x 1.6 x 0.1mm
[Link]
Application:
Motion sensing games
Augmented Reality
Electronic Image Stabilization (EIS: Electronic Image Stabilization)
Optical Image Stabilization (OIS: Optical Image Stabilization)
"Zero-touch" gestures User Interface
Pedestrian navigation
Gesture shortcuts
Example
Hardwire connection
Code could be copy from the attaching files.
**********Code Begin**********
*/
// 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"
[Link]
#include "MPU6050_6Axis_MotionApps20.h"
//#include "MPU6050.h" // not necessary if using MotionApps include file
// 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 SparkFun breakout and InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 mpu;
//MPU6050 mpu(0x69); // <-- use for AD0 high
/* =========================================================================
NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch
depends on the MPU-6050's INT pin being connected to the Arduino's
external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is
digital I/O pin 2.
* ========================================================================= */
/* =========================================================================
NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error
when using [Link](buf, len). The Teapot output uses this method.
The solution requires a modification to the Arduino USBAPI.h file, which
is fortunately simple, but annoying. This will be fixed in the next IDE
release. For more info, see these links:
[Link]
[Link]
* ========================================================================= */
// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual
// quaternion components in a [w, x, y, z] format (not best for parsing
// on a remote host such as Processing or something though)
//#define OUTPUT_READABLE_QUATERNION
// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles
// (in degrees) calculated from the quaternions coming from the FIFO.
[Link]
// Note that Euler angles suffer from gimbal lock (for more info, see
// [Link]
//#define OUTPUT_READABLE_EULER
// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/
// pitch/roll angles (in degrees) calculated from the quaternions coming
// from the FIFO. Note this also requires gravity vector calculations.
// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
// more info, see: [Link]
#define OUTPUT_READABLE_YAWPITCHROLL
// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration
// components with gravity removed. This acceleration reference frame is
// not compensated for orientation, so +X is always +X according to the
// sensor, just without the effects of gravity. If you want acceleration
// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.
//#define OUTPUT_READABLE_REALACCEL
// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration
// components with gravity removed and adjusted for the world frame of
// reference (yaw is relative to initial orientation, since no magnetometer
// is present in this case). Could be quite handy in some cases.
//#define OUTPUT_READABLE_WORLDACCEL
// uncomment "OUTPUT_TEAPOT" if you want output that matches the
// format used for the InvenSense teapot demo
//#define OUTPUT_TEAPOT
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState = false;
// MPU control/status vars
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0
= error)
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
// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
[Link]
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity
vector
// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
// ================================================================
// === INTERRUPT DETECTION ROUTINE ===
// ================================================================
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has
gone high
void dmpDataReady() {
mpuInterrupt = true;
}
// ================================================================
// === INITIAL SETUP ===
// ================================================================
void setup() {
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
[Link]();
TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
// initialize serial communication
// (115200 chosen because it is required for Teapot Demo output, but it's
// really up to you depending on your project)
[Link](115200);
while (!Serial); // wait for Leonardo enumeration, others continue immediately
[Link]
// NOTE: 8MHz or slower host processors, like the Teensy @ 3.3v or Ardunio
// Pro Mini running at 3.3v, cannot handle this baud rate reliably due to
// the baud timing being too misaligned with processor ticks. You must use
// 38400 or slower in these cases, or use some kind of external separate
// crystal solution for the UART timer.
// initialize device
[Link](F("Initializing I2C devices..."));
[Link]();
// verify connection
[Link](F("Testing device connections..."));
[Link]([Link]() ? F("MPU6050 connection successful") :
F("MPU6050 connection failed"));
// wait for ready
[Link](F("\nSend any character to begin DMP programming and demo: "));
while ([Link]() && [Link]()); // empty buffer
while (![Link]()); // wait for data
while ([Link]() && [Link]()); // empty buffer again
// load and configure the DMP
[Link](F("Initializing DMP..."));
devStatus = [Link]();
// supply your own gyro offsets here, scaled for min sensitivity
[Link](220);
[Link](76);
[Link](-85);
[Link](1788); // 1688 factory default for my test chip
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// turn on the DMP, now that it's ready
[Link](F("Enabling DMP..."));
[Link](true);
// enable Arduino interrupt detection
[Link](F("Enabling interrupt detection (Arduino external interrupt
0)..."));
attachInterrupt(0, dmpDataReady, RISING);
mpuIntStatus = [Link]();
// set our DMP Ready flag so the main loop() function knows it's okay to use
[Link]
it
[Link](F("DMP ready! Waiting for first interrupt..."));
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = [Link]();
} else {
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
[Link](F("DMP Initialization failed (code "));
[Link](devStatus);
[Link](F(")"));
}
// configure LED for output
pinMode(LED_PIN, OUTPUT);
}
// ================================================================
// === MAIN PROGRAM LOOP ===
// ================================================================
void loop() {
// if programming failed, don't try to do anything
if (!dmpReady) return;
// wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && fifoCount < packetSize) {
// other program behavior stuff here
// .
// .
// .
// if you are really paranoid you can frequently test in between other
// stuff to see if mpuInterrupt is true, and if so, "break;" from the
// while() loop to immediately process the MPU data
// .
// .
// .
}
[Link]
// reset interrupt flag and get INT_STATUS byte
mpuInterrupt = false;
mpuIntStatus = [Link]();
// get current FIFO count
fifoCount = [Link]();
// check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
// reset so we can continue cleanly
[Link]();
[Link](F("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 = [Link]();
// read a packet from FIFO
[Link](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;
#ifdef OUTPUT_READABLE_QUATERNION
// display quaternion values in easy matrix form: w x y z
[Link](&q, fifoBuffer);
[Link]("quat\t");
[Link](q.w);
[Link]("\t");
[Link](q.x);
[Link]("\t");
[Link](q.y);
[Link]("\t");
[Link](q.z);
#endif
#ifdef OUTPUT_READABLE_EULER
// display Euler angles in degrees
[Link](&q, fifoBuffer);
[Link](euler, &q);
[Link]("euler\t");
[Link](euler[0] * 180/M_PI);
[Link]
[Link]("\t");
[Link](euler[1] * 180/M_PI);
[Link]("\t");
[Link](euler[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
[Link](&q, fifoBuffer);
[Link](&gravity, &q);
[Link](ypr, &q, &gravity);
[Link]("ypr\t");
[Link](ypr[0] * 180/M_PI);
[Link]("\t");
[Link](ypr[1] * 180/M_PI);
[Link]("\t");
[Link](ypr[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_REALACCEL
// display real acceleration, adjusted to remove gravity
[Link](&q, fifoBuffer);
[Link](&aa, fifoBuffer);
[Link](&gravity, &q);
[Link](&aaReal, &aa, &gravity);
[Link]("areal\t");
[Link](aaReal.x);
[Link]("\t");
[Link](aaReal.y);
[Link]("\t");
[Link](aaReal.z);
#endif
#ifdef OUTPUT_READABLE_WORLDACCEL
// display initial world-frame acceleration, adjusted to remove gravity
// and rotated based on known orientation from quaternion
[Link](&q, fifoBuffer);
[Link](&aa, fifoBuffer);
[Link](&gravity, &q);
[Link](&aaReal, &aa, &gravity);
[Link](&aaWorld, &aaReal, &q);
[Link]("aworld\t");
[Link](aaWorld.x);
[Link]("\t");
[Link]
[Link](aaWorld.y);
[Link]("\t");
[Link](aaWorld.z);
#endif
#ifdef OUTPUT_TEAPOT
// display quaternion values in InvenSense Teapot demo format:
teapotPacket[2] = fifoBuffer[0];
teapotPacket[3] = fifoBuffer[1];
teapotPacket[4] = fifoBuffer[4];
teapotPacket[5] = fifoBuffer[5];
teapotPacket[6] = fifoBuffer[8];
teapotPacket[7] = fifoBuffer[9];
teapotPacket[8] = fifoBuffer[12];
teapotPacket[9] = fifoBuffer[13];
[Link](teapotPacket, 14);
teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
#endif
// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
}
}
**********Code End**********
[Link]
