mpu6050读取不了数据是怎么回事？
刚才调试MPU6050出现这种问题，请问怎么回事？程序如下：
// 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_6Axis_MotionApps20.h"
MPU6050 mpu(0x68);
// 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; // FIFO storage buffer
// orientation/motion vars
Quaternion q; // quaternion container
VectorFloat gravity; // gravity vector
float ypr; // yaw/pitch/roll container and gravity vector
// ================================================================
// === INTERRUPT DETECTION ROUTINE ===
// ================================================================
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
mpuInterrupt = true;
}
// ================================================================
// === INITIAL SETUP ===
// ================================================================
void setup() {
Serial.begin(115200); // opens serial port, sets data rate to 9600 bps
// join I2C bus (I2Cdev library doesn't do this automatically)
Wire.begin();
// initialize device
Serial.println("Initializing I2C devices...");
mpu.initialize();
// verify connection
Serial.println("Testing device connections...");
Serial.println(mpu.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
delay(2);
// load and configure the DMP
Serial.println("Initializing DMP...");
devStatus = mpu.dmpInitialize();
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// turn on the DMP, now that it's ready
Serial.println("Enabling DMP...");
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
Serial.println("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("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("DMP Initialization failed (code ");
Serial.print(devStatus);
Serial.println(")");
}
}
void loop()
{
float alpha,omiga;
// if programming failed, don't try to do anything
if (!dmpReady)
return;
// wait for MPU interrupt or extra packet(s) available
if (!mpuInterrupt && fifoCount < packetSize)
return;
// 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("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;
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);//从DMP中取出Yaw、Pitch、Roll三个轴的角度，放入数组ypr。单位：弧度
alpha=-ypr * 180/M_PI;
omiga=mpu.getRotationX()/16.4; //配置是16位表示正负2000°/s, 65536/4000
Serial.print("Alpha ");
Serial.print(alpha);
Serial.print("\tOmiga ");
Serial.println(omiga);
}
}
哈哈，是端口速率问题。9600 115200 改一致。 231200 发表于 2013-5-15 21:26 static/image/common/back.gif
哈哈，是端口速率问题。9600 115200 改一致。
已解决！谢谢兄弟了
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