Arduino - 6-Assige Gyroscoop + Versnellingsmeter MPU-6050 (GY-521)

Hardware

ITG/ MPU 6050 (GY-521) is een klein, laag vermogen, 3-assige gyroscoop en 3-assige versnellingsmeter met een hoge resolutie.
Voor het meten van: statische (tilt) en dynamische (bewegingen/schokken) versnelling en detectie van: tap, dubbel tap, vrije val en inactief, het wordt in veel apparaten toegepast, waaronder in mobiele telefoons en tablets (voor schermrotatie e.d.)

Pinout


Pin:	Functie:
1	INT
2	ADO
3	XCL
4	XDA
5	SDA (serial data)
6	SCL (serial clock)
7	GND
8	VCC 3.3v+

Aansluiten op de Arduino

Sluit de Accelerometer module aan volgens onderstaand overzicht (zwart en blauw zijn NIET nodig):

Arduino pin:	ITG/MPU 6050 (GY-521) pin:
2	INT
GND	ADO
A5	SCL (serial clock)
A4	SDA (serial data)
GND	GND
VCC 3.3v+	VCC 3.3v+

Script “RAW”

Wat heb je nodig?

1) Arduino i2cdevlib bibliotheek

Sluit de MPU 6050 / GY521 module aan zoals hierboven aangegeven.

// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class
// 10/7/2011 by Jeff Rowberg <jeff@rowberg.net>
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
//
// Changelog:
//      2013-05-08 - added multiple output formats
//                 - added seamless Fastwire support
//      2011-10-07 - initial release

/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2011 Jeff Rowberg

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
===============================================
*/

// 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
    // (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
    // it's really up to you depending on your project)
    Serial.begin(38400);

    // 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);
}

100

101

102

103

104

105

106

107

108

109

110

111

112

113

114

115

116

117

118

119

120

121

122

123

124

125

126

127

128

129

130

131

132

133

134

135

136

137

138

139

140

141

142

143

144

145

146

147

148

149

150

151

// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class

// 10/7/2011 by Jeff Rowberg <jeff@rowberg.net>

// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib

// Changelog:

// 2013-05-08 - added multiple output formats

// - added seamless Fastwire support

// 2011-10-07 - initial release

/* ============================================

I2Cdev device library code is placed under the MIT license

Permission is hereby granted, free of charge, to any person obtaining a copy

of this software and associated documentation files (the "Software"), to deal

in the Software without restriction, including without limitation the rights

to use, copy, modify, merge, publish, distribute, sublicense, and/or sell

copies of the Software, and to permit persons to whom the Software is

furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in

all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR

IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,

FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE

AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER

LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,

OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN

THE SOFTWARE.

===============================================

// 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

// (38400 chosen because it works as well at 8MHz as it does at 16MHz, but

// it's really up to you depending on your project)

Serial.begin(38400);

// 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);

}

Zoeken

Arduino – 6-Assige Gyroscoop + Versnellingsmeter MPU-6050 (GY-521)

Hardware

Pinout

Aansluiten op de Arduino

Script “RAW”

Het resultaat

Script “DMP6” resultaat