我使用MUX4051复用3 IMU-6050。这是原始代码:
#include "Wire.h"
const int MPU=0x68; // I2C address of the MPU-6050
int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
int Acc_ctrl_1 = 9;
int Acc_ctrl_2 = 10;
int Acc_ctrl_3 = 11;
int chip_enable1 = 5;
void setup() {
Wire.begin(); // wake up I2C bus
// set I/O pins to outputs
Wire.beginTransmission(MPU);
Wire.write(0x6B); // PWR_MGMT_1 register
Wire.write(0); // set to zero (wakes up the MPU-6050)
Wire.endTransmission(true);
Serial.begin(115200);
pinMode(Acc_ctrl_1, OUTPUT); //S0
pinMode(Acc_ctrl_2, OUTPUT); //S1
pinMode(Acc_ctrl_3, OUTPUT); //S2 address lines
pinMode(chip_enable1, OUTPUT);
//S0=1, S1=2 and S2=4 so Y0= S0=0,S1=0,S2=0, Y4=S0=0,S1=0,S2=1
}
void loop() {
//Enable the MUX Chip 1 - Active Low
digitalWrite(chip_enable1, LOW);
// control signal for First Accelerometer
Serial.println("IMU 1");
digitalWrite(Acc_ctrl_1, LOW);
digitalWrite(Acc_ctrl_2, LOW);
digitalWrite(Acc_ctrl_3, LOW);
readAccele();
delay(500);
// control signal for SECOND Accelerometer
Serial.println("IMU 2");
digitalWrite(Acc_ctrl_1, HIGH);
digitalWrite(Acc_ctrl_2, LOW);
digitalWrite(Acc_ctrl_3, LOW);
readAccele();
delay(500);
// control signal for THIRD Accelerometer
Serial.println("IMU 3");
digitalWrite(Acc_ctrl_1, LOW);
digitalWrite(Acc_ctrl_2, HIGH);
digitalWrite(Acc_ctrl_3, LOW);
readAccele();
delay(500);
}
void readAccele()
{
Wire.beginTransmission(MPU);// I2C address code thanks to John Boxall
Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
Wire.endTransmission(false);
Wire.requestFrom(MPU,14,true); // request a total of 14 registers
AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
Serial.print("AcX = "); Serial.print(AcX);
Serial.print(" | AcY = "); Serial.print(AcY);
Serial.print(" | AcZ = "); Serial.print(AcZ);
Serial.print(" | Tmp = "); Serial.print(Tmp/340.00+36.53); //equation for temperature in degrees C from datasheet
Serial.print(" | GyX = "); Serial.print(GyX);
Serial.print(" | GyY = "); Serial.print(GyY);
Serial.print(" | GyZ = "); Serial.println(GyZ);
delay(5);
}
我在Jeff Rowberg示例代码中实现了它:
// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0)
// 6/21/2012 by Jeff Rowberg <jeff@rowberg.net>
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
bool dmpReady = false; // set true if DMP init was successful
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];
// 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_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)
MPU6050 mpu;
// 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.
// Note that Euler angles suffer from gimbal lock (for more info, see
// http://en.wikipedia.org/wiki/Gimbal_lock)
#define OUTPUT_READABLE_EULER
// 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
int Acc_ctrl_1 = 9;
int Acc_ctrl_2 = 10;
int Acc_ctrl_3 = 11;
int chip_enable1 = 5;
int chip_enable2 = 6;
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState = false;
// MPU control/status vars
//uint8_t fifoBuffer[64]; // FIFO storage buffer
// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
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() {
pinMode(Acc_ctrl_1, OUTPUT); //S0
pinMode(Acc_ctrl_2, OUTPUT); //S1
pinMode(Acc_ctrl_3, OUTPUT); //S2 address lines
pinMode(chip_enable1, OUTPUT);
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
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)
Serial.begin(115200);
while (!Serial); // wait for Leonardo enumeration, others continue immediately
// initialize device
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
// verify connection
Serial.println(F("Testing device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
// wait for ready
Serial.println(F("nSend any character to begin DMP programming and demo: "));
while (Serial.available() && Serial.read()); // empty buffer
while (!Serial.available()); // wait for data
while (Serial.available() && Serial.read()); // empty buffer again
// load and configure the DMP
Serial.println(F("Initializing DMP..."));
devStatus = mpu.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
mpu.setXGyroOffset(220);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(-85);
mpu.setZAccelOffset(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
Serial.println(F("Enabling DMP..."));
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
Serial.println(F("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(F("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(F("DMP Initialization failed (code "));
Serial.print(devStatus);
Serial.println(F(")"));
}
// configure LED for output
pinMode(LED_PIN, OUTPUT);
}
// ================================================================
// === MAIN PROGRAM LOOP ===
// ================================================================
void loop() {
//Enable the MUX Chip 1 - Active Low
digitalWrite(chip_enable1, LOW);
// control signal for First Accelerometer
Serial.println("IMU 1");
digitalWrite(Acc_ctrl_1, LOW);
digitalWrite(Acc_ctrl_2, LOW);
digitalWrite(Acc_ctrl_3, LOW);
readAccele();
delay(500);
// control signal for SECOND Accelerometer
Serial.println("IMU 2");
digitalWrite(Acc_ctrl_1, HIGH);
digitalWrite(Acc_ctrl_2, LOW);
digitalWrite(Acc_ctrl_3, LOW);
readAccele();
delay(500);
// control signal for THIRD Accelerometer
Serial.println("IMU 3");
digitalWrite(Acc_ctrl_1, LOW);
digitalWrite(Acc_ctrl_2, HIGH);
digitalWrite(Acc_ctrl_3, LOW);
readAccele();
delay(500);
}
void readAccele(){
// 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
}
// 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(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 = 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;
#ifdef OUTPUT_READABLE_QUATERNION
// display quaternion values in easy matrix form: w x y z
mpu.dmpGetQuaternion(&q, fifoBuffer);
Serial.print("quatt");
Serial.print(q.w);
Serial.print("t");
Serial.print(q.x);
Serial.print("t");
Serial.print(q.y);
Serial.print("t");
Serial.println(q.z);
#endif
#ifdef OUTPUT_READABLE_EULER
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetEuler(euler, &q);
Serial.print("eulert");
Serial.print(euler[0] * 180/M_PI);
Serial.print("t");
Serial.print(euler[1] * 180/M_PI);
Serial.print("t");
Serial.println(euler[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_WORLDACCEL
// display initial world-frame acceleration, adjusted to remove gravity
// and rotated based on known orientation from quaternion
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
Serial.print("aworldt");
Serial.print(aaWorld.x);
Serial.print("t");
Serial.print(aaWorld.y);
Serial.print("t");
Serial.println(aaWorld.z);
#endif
;
}
}
但这是什么串行打印，FIFO溢出…我试着修好它，但不行。我不能上传图像，所以我复制并粘贴串行输出到这里作为代码…
Send any character to begin DMP programming and demo:
Initializing DMP...
Enabling DMP...
Enabling interrupt detection (Arduino external interrupt 0)...
DMP ready! Waiting for first interrupt...
IMU 1
IMU 2
IMU 3
IMU 1
FIFO overflow!
IMU 2
IMU 3
IMU 1
FIFO overflow!
IMU 2
IMU 3
IMU 1
FIFO overflow!
IMU 2
IMU 3
IMU 1
FIFO overflow!
IMU 2
IMU 3
IMU 1
FIFO overflow!
IMU 2
IMU 3
IMU 1
FIFO overflow!
IMU 2
IMU 3
IMU 1
FIFO overflow!
IMU 2
IMU 3
IMU 1
我一直在开发一个稳定的库，使用I2Cdev包提供的MPU6050_6Axis_MotionApps20获取所有有用的信息。我不知道它是否对你有用，但我上传它给每个有问题的人处理:
GYRO.h:
#ifndef GYRO
#define GYRO
#include "Arduino.h"
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include "Wire.h"
#define INTERRUPT_PIN 2 //24
#define CALIBRATION_LOOPS 500
//Error codes
#define EC_NO_ERROR 0
#define EC_DMP_MEMORY_WRITING_FAILED 1
#define EC_DMP_CONFIG_WRITING_FAILED 2
#define EC_NO_CONNECTION 3
//Offsets, put your own offsets here
#define GYRO_GX_OFFSET 93
#define GYRO_GY_OFFSET 0
#define GYRO_GZ_OFFSET 7
#define GYRO_AX_OFFSET -2550
#define GYRO_AY_OFFSET 1978
#define GYRO_AZ_OFFSET 499
class GYRO{
public:
GYRO(void);
uint8_t begin(void);
void update(void);
//All are made following the arrows with the right hand rule
inline VectorFloat getGyroscope(){return gyroscope; }
//All are made following the arrows
inline VectorDouble getAccelerometer(){return accelerometer; }
//A positive 1, indicates that the gravity is going in the oppsite way of the arrow drawed on the sensor
inline VectorFloat getGravity(){return gravity; }
//Returns the temperature in ºC
inline float getTemperature(){return temperature; }
//The time that has passed for calculating the speed with the acceleration
inline unsigned long getMicrosSpent(){return microsSpent; }
inline bool isGyroscopeUpdated(){return gyroscopeUpdated; }
private:
//Gyroscope
MPU6050 gyro; //Gyroscope configured with pin ADO-LOW
//Gyroscope readings
// MPU control/status vars
uint8_t gyroIntStatus; // 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
VectorFloat gravity; // [x, y, z] gravity vector
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
VectorFloat gyroscope; // [x, y, z] gyroscope vector
VectorInt16 rawAccelerometer; // [x, y, z] raw acceleromer
VectorDouble accelerometer; // [x, y, z] accelerometer in m/s2
float temperature; // temperature in ºC
unsigned long lastMicros;
unsigned long actualMicros;
unsigned long microsSpent;
bool gyroscopeUpdated;
int loops_before_calibration;
};
#endif
GYRO.cpp:
#include "GYRO.h"
#include "Arduino.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include "Wire.h"
volatile bool interrupt = false;
void dmpDataReady(void) {
interrupt = true;
}
GYRO::GYRO(void){
gyro = MPU6050(0x68); //Change to 0x69 if the AD0 pin of your MPU6050 is HIGH
}
uint8_t GYRO::begin(void){
Wire.begin();
Wire.setClock(400000);
uint8_t errorCode;
//Gyro initialization
gyro.initialize();
pinMode(INTERRUPT_PIN, INPUT);
if(gyro.testConnection()){
Serial.println(F("nSend any character to begin the calibration and initialization of the gyro: "));
while (Serial.available() && Serial.read());
while (!Serial.available());
while (Serial.available() && Serial.read());
devStatus = gyro.dmpInitialize();
gyro.setXGyroOffset(GYRO_GX_OFFSET);
gyro.setYGyroOffset(GYRO_GY_OFFSET);
gyro.setZGyroOffset(GYRO_GZ_OFFSET);
gyro.setXAccelOffset(GYRO_AX_OFFSET);
gyro.setYAccelOffset(GYRO_AY_OFFSET);
gyro.setZAccelOffset(GYRO_AZ_OFFSET);
if (devStatus == 0) {
gyro.setDMPEnabled(true);
lastMicros = micros();
attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
gyroIntStatus = gyro.getIntStatus();
packetSize = gyro.dmpGetFIFOPacketSize();
}else if(devStatus == 1) return EC_DMP_MEMORY_WRITING_FAILED;
else if(devStatus == 2) return EC_DMP_CONFIG_WRITING_FAILED;
}else return EC_NO_CONNECTION;
loops_before_calibration = 0;
return EC_NO_ERROR;
}
void GYRO::update(void){
//temperature = gyro.getTemperature()/340.0+36.53; //When discommenting this line i get rarely FIFO overflows, but without it, i have not recived eaither one
gyroscopeUpdated = false;
while (!interrupt && fifoCount < packetSize){
if (interrupt && fifoCount < packetSize){
fifoCount = gyro.getFIFOCount();
}
}
interrupt = false;
gyroIntStatus = gyro.getIntStatus();
fifoCount = gyro.getFIFOCount();
if ((gyroIntStatus & _BV(MPU6050_INTERRUPT_FIFO_OFLOW_BIT)) || fifoCount >= 1024){
gyro.resetFIFO();
fifoCount = gyro.getFIFOCount();
Serial.println(F("FIFO overflow!"));
}else if (gyroIntStatus & _BV(MPU6050_INTERRUPT_DMP_INT_BIT)){
while (fifoCount < packetSize) fifoCount = gyro.getFIFOCount();
gyro.getFIFOBytes(fifoBuffer, packetSize);
actualMicros = micros();
microsSpent = actualMicros - lastMicros;
lastMicros = actualMicros;
fifoCount -= packetSize;
gyro.dmpGetQuaternion(&q, fifoBuffer);
gyro.dmpGetGravity(&gravity, &q);
gyro.dmpGetYawPitchRoll(ypr, &q, &gravity);
gyro.dmpGetAccel(&rawAccelerometer, fifoBuffer);
gyro.dmpGetLinearAccel(&rawAccelerometer, &rawAccelerometer, &gravity);
//gyro.dmpGetLinearAccelInWorld(&rawAccelerometer, &rawAccelerometer, &q);
accelerometer.x = rawAccelerometer.x/8192.0*9.8;
accelerometer.y = rawAccelerometer.y/8192.0*9.8;
accelerometer.z = rawAccelerometer.z/8192.0*9.8;
gyroscope.x = ypr[2];
gyroscope.y = ypr[1]*-1;
gyroscope.z = ypr[0]*-1;
if(loops_before_calibration > CALIBRATION_LOOPS){
gyroscopeUpdated = true;
}else loops_before_calibration++;
}
}
示例代码(上传到arduino):
#include <GYRO.h>
#include <helper_3dmath.h>
GYRO gyro = GYRO();
VectorFloat gravity;
VectorFloat gyroscope;
VectorDouble accelerometer;
void setup() {
Serial.begin(115200);
Serial.println(gyro.begin());
}
void loop() {
gyro.update();
if(gyro.isGyroscopeUpdated()){
gravity = gyro.getGravity();
accelerometer = gyro.getAccelerometer();
gyroscope = gyro.getGyroscope();
Serial.print("gyroscopet");
Serial.print(gyroscope.x * 180/M_PI);
Serial.print("t");
Serial.print(gyroscope.y * 180/M_PI);
Serial.print("t");
Serial.print(gyroscope.z * 180/M_PI);
Serial.print("taccelerometert");
Serial.print(accelerometer.x);
Serial.print("t");
Serial.print(accelerometer.y);
Serial.print("t");
Serial.print(accelerometer.z);
Serial.print("tgravityt");
Serial.print(gravity.x);
Serial.print("t");
Serial.print(gravity.y);
Serial.print("t");
Serial.print(gravity.z);
Serial.print("ttemperaturet");
Serial.print(gyro.getTemperature());
Serial.print(", micros: ");
Serial.println(gyro.getMicrosSpent());
}
}
你必须提供你自己的补偿。要获取它，您可以使用这个链接
我知道太晚了，但也许会帮助别人…setup()中的第一个MPU6050初始化部分甚至在mux初始化之前完成。因此，您必须在setup()中按照正确的顺序执行以下操作:
- 初始化线
- 初始化mux的输出
- 选择使用正确输出电平的第一个MPU
- 初始化第一个MPU6050
- 选择第二个MPU使用正确的输出电平
- 初始化第二个MPU6050
- 使用正确的输出电平选择第三个MPU
- 初始化第三个MPU6050