在 I2C 上将四个 MPU-6050 与 Arduino 连接

Question

我有四个MPU-6050（http://playground.arduino.cc/Main/MPU-6050）IMU通过两条I2C总线连接到我的Arduino Due。

我只想读取加速度计数据，但我简单地读取原始数据的代码似乎不起作用。有没有人知道可能出了什么问题？

以下是我如何将我的四个MPU-6050连接到Arduino的图片： https://i.stack.imgur.com/98JE3.jpg

这是我的代码：

// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#include "Wire.h"
// 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"
// 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 accel_i2c_68(MPU6050_ADDRESS_AD0_LOW);
MPU6050 accel_i2c_69(MPU6050_ADDRESS_AD0_HIGH);
MPU6050 accel_i2c1_68(MPU6050_ADDRESS_AD0_LOW);
MPU6050 accel_i2c1_69(MPU6050_ADDRESS_AD0_HIGH);
// Declare 12 acceleration vars, 3 for each of the four IMU's
int16_t ax68, ay68, az68, ax69, ay69, az69, ax68_1, ay68_1, az68_1, ax69_1, ay69_1, az69_1;
#define LED_PIN 13
bool blinkState = false;
void setup() {
    // join both I2C bus on Arduino Due
    Wire.begin();
    Wire1.begin();
    // initialize serial communication
    Serial.begin(9600);
    // initialize four IMU devices
    Serial.println("Initializing I2C devices...");
    accel_i2c_68.initialize();
    accel_i2c_68.setFullScaleAccelRange(MPU6050_ACCEL_FS_16);
    accel_i2c_69.initialize();
    accel_i2c_69.setFullScaleAccelRange(MPU6050_ACCEL_FS_16);
    accel_i2c1_68.initialize();
    accel_i2c1_68.setFullScaleAccelRange(MPU6050_ACCEL_FS_16);
    accel_i2c1_69.initialize();
    accel_i2c1_69.setFullScaleAccelRange(MPU6050_ACCEL_FS_16);
    // verify connection of all four IMU's
    Serial.println("Testing device connections...");
    Serial.println(accel_i2c_68.testConnection() ? "MPU6050 68 connection successful" : "MPU6050 68 connection failed");
    Serial.println(accel_i2c_69.testConnection() ? "MPU6050 69 connection successful" : "MPU6050 69 connection failed");
    Serial.println(accel_i2c1_68.testConnection() ? "MPU6050 1 68 connection successful" : "MPU6050 1 68 connection failed");
    Serial.println(accel_i2c1_69.testConnection() ? "MPU6050 1 69 connection successful" : "MPU6050 1 69 connection failed");
    // configure Arduino LED for
    pinMode(LED_PIN, OUTPUT);
}
void loop() {
    // read only acceleration raw data from all four IMU's
    accel_i2c_68.getAcceleration(&ax68, &ay68, &az68);
    accel_i2c_69.getAcceleration(&ax69, &ay69, &az69);
    accel_i2c1_68.getAcceleration(&ax68_1, &ay68_1, &az68_1);
    accel_i2c1_69.getAcceleration(&ax69_1, &ay69_1, &az69_1);
    // display tab-separated accel x/y/z values, divide by 2048.0 to get g-force values
    Serial.print("a:t");
    Serial.print(ax68/2048.0); Serial.print("t");
    Serial.print(ay68/2048.0); Serial.print("t");
    Serial.print(az68/2048.0); Serial.print("t");
    Serial.print(ax69/2048.0); Serial.print("t");
    Serial.print(ay69/2048.0); Serial.print("t");
    Serial.print(az69/2048.0); Serial.print("t");
    Serial.print(ax68_1/2048.0); Serial.print("t");
    Serial.print(ay68_1/2048.0); Serial.print("t");
    Serial.print(az68_1/2048.0); Serial.print("t");
    Serial.print(ax69_1/2048.0); Serial.print("t");
    Serial.print(ay69_1/2048.0); Serial.print("t");
    Serial.println(az69_1/2048.0);
    // blink LED to indicate activity
    blinkState = !blinkState;
    digitalWrite(LED_PIN, blinkState);
}

Answer 1

这很旧，可能不再相关，无论如何，我来这里寻找别的东西，但只是看你的代码，我发现你没有告诉MPU6050 accel_i2c...他们应该使用的 I2C 总线的对象。查找您的库文档，如果它实际上支持多个 i2c 总线。