MPU6050零基础 打飞机？

hi55234

processing 下载地址（跟arduino一样，解压就能用）：
https://processing.org/download/?processing


processing画图用到的的库在这里下：
http://hg.postspectacular.com/toxiclibs/downloads/


processing的库放在这里：
processing-2.2.1\modes\java\libraries

    // open the serial port
    port = new Serial(this, "COM3", 115200); //processing程序MPUTeapot.pde很关键的一个地方，串口号、波特率


打飞机arduino端：
https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050


不用中断的arduino程序：

1. 
   
2. #include "I2Cdev.h"
   
3. 
   
4. #include "MPU6050_6Axis_MotionApps20.h"
   
5. //#include "MPU6050.h" // not necessary if using MotionApps include file
   
6. #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
   
7.     #include "Wire.h"
   
8. #endif
   
9. 
   
10. MPU6050 mpu;
    
11. //MPU6050 mpu(0x69); // <-- use for AD0 high
    
12. 
    
13. // uncomment "OUTPUT_TEAPOT" if you want output that matches the
    
14. // format used for the InvenSense teapot demo
    
15. #define OUTPUT_TEAPOT
    
16. 
    
17. 
    
18. // MPU control/status vars
    
19. bool dmpReady = false;  // set true if DMP init was successful
    
20. uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
    
21. uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
    
22. uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
    
23. uint16_t fifoCount;     // count of all bytes currently in FIFO
    
24. uint8_t fifoBuffer[64]; // FIFO storage buffer
    
25. 
    
26. // orientation/motion vars
    
27. Quaternion q;           // [w, x, y, z]         quaternion container
    
28. VectorInt16 aa;         // [x, y, z]            accel sensor measurements
    
29. VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
    
30. VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements
    
31. VectorFloat gravity;    // [x, y, z]            gravity vector
    
32. float euler[3];         // [psi, theta, phi]    Euler angle container
    
33. float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
    
34. 
    
35. // packet structure for InvenSense teapot demo
    
36. uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
    
37. 
    
38. 
    
39. 
    
40. // ================================================================
    
41. // ===               INTERRUPT DETECTION ROUTINE                ===
    
42. // ================================================================
    
43. 
    
44. volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
    
45. void dmpDataReady() {
    
46.     mpuInterrupt = true;
    
47. }
    
48. 
    
49. 
    
50. 
    
51. // ================================================================
    
52. // ===                      INITIAL SETUP                       ===
    
53. // ================================================================
    
54. 
    
55. void setup() {
    
56.     // join I2C bus (I2Cdev library doesn't do this automatically)
    
57.     #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
    
58.         Wire.begin();
    
59.         TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
    
60.     #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
    
61.         Fastwire::setup(400, true);
    
62.     #endif
    
63. 
    
64.     // initialize serial communication
    
65.     // (115200 chosen because it is required for Teapot Demo output, but it's
    
66.     // really up to you depending on your project)
    
67.     Serial.begin(115200);
    
68.   //  while (!Serial); // wait for Leonardo enumeration, others continue immediately
    
69. 
    
70.     // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3v or Ardunio
    
71.     // Pro Mini running at 3.3v, cannot handle this baud rate reliably due to
    
72.     // the baud timing being too misaligned with processor ticks. You must use
    
73.     // 38400 or slower in these cases, or use some kind of external separate
    
74.     // crystal solution for the UART timer.
    
75. 
    
76.     // initialize device
    
77.     Serial.println(F("Initializing I2C devices..."));
    
78.     mpu.initialize();
    
79. 
    
80.     // verify connection
    
81.     Serial.println(F("Testing device connections..."));
    
82.     Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
    
83. 
    
84.     // wait for ready
    
85.     Serial.println(F("\nSend any character to begin DMP programming and demo: "));
    
86.     //while (Serial.available() && Serial.read()); // empty buffer
    
87.     //while (!Serial.available());                 // wait for data
    
88.     //while (Serial.available() && Serial.read()); // empty buffer again
    
89. 
    
90.     // load and configure the DMP
    
91.     //Serial.println(F("Initializing DMP..."));
    
92.     devStatus = mpu.dmpInitialize();
    
93. 
    
94.     // supply your own gyro offsets here, scaled for min sensitivity
    
95.     mpu.setXGyroOffset(220);
    
96.     mpu.setYGyroOffset(76);
    
97.     mpu.setZGyroOffset(-85);
    
98.     mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
    
99. 
    
100.     // make sure it worked (returns 0 if so)
     
101.     if (devStatus == 0) {
     
102.         // turn on the DMP, now that it's ready
     
103.         Serial.println(F("Enabling DMP..."));
     
104.         mpu.setDMPEnabled(true);
     
105. 
     
106.         // enable Arduino interrupt detection
     
107.         Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
     
108.         attachInterrupt(0, dmpDataReady, RISING);
     
109.         mpuIntStatus = mpu.getIntStatus();
     
110. 
     
111.         // set our DMP Ready flag so the main loop() function knows it's okay to use it
     
112.         Serial.println(F("DMP ready! Waiting for first interrupt..."));
     
113.         dmpReady = true;
     
114. 
     
115.         // get expected DMP packet size for later comparison
     
116.         packetSize = mpu.dmpGetFIFOPacketSize();
     
117.     } else {
     
118.         // ERROR!
     
119.         // 1 = initial memory load failed
     
120.         // 2 = DMP configuration updates failed
     
121.         // (if it's going to break, usually the code will be 1)
     
122.         Serial.print(F("DMP Initialization failed (code "));
     
123.         Serial.print(devStatus);
     
124.         Serial.println(F(")"));
     
125.     }
     
126. 
     
127. 
     
128. }
     
129. 
     
130. 
     
131. 
     
132. // ================================================================
     
133. // ===                    MAIN PROGRAM LOOP                     ===
     
134. // ================================================================
     
135. 
     
136. void loop() {
     
137.     // if programming failed, don't try to do anything
     
138.     if (!dmpReady) return;
     
139. 
     
140. 
     
141. 
     
142.     // reset interrupt flag and get INT_STATUS byte
     
143.     mpuInterrupt = false;
     
144.     mpuIntStatus = mpu.getIntStatus();
     
145. 
     
146.     // get current FIFO count
     
147.     fifoCount = mpu.getFIFOCount();
     
148. 
     
149.     // check for overflow (this should never happen unless our code is too inefficient)
     
150.     if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
     
151.         // reset so we can continue cleanly
     
152.         mpu.resetFIFO();
     
153.         Serial.println(F("FIFO overflow!"));
     
154. 
     
155.     // otherwise, check for DMP data ready interrupt (this should happen frequently)
     
156.     } else if (mpuIntStatus & 0x02) {
     
157.         // wait for correct available data length, should be a VERY short wait
     
158.         while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
     
159. 
     
160.         // read a packet from FIFO
     
161.         mpu.getFIFOBytes(fifoBuffer, packetSize);
     
162.         
     
163.         // track FIFO count here in case there is > 1 packet available
     
164.         // (this lets us immediately read more without waiting for an interrupt)
     
165.         fifoCount -= packetSize;
     
166. 
     
167. 
     
168.    
     
169.         #ifdef OUTPUT_TEAPOT
     
170.             // display quaternion values in InvenSense Teapot demo format:
     
171.             teapotPacket[2] = fifoBuffer[0];
     
172.             teapotPacket[3] = fifoBuffer[1];
     
173.             teapotPacket[4] = fifoBuffer[4];
     
174.             teapotPacket[5] = fifoBuffer[5];
     
175.             teapotPacket[6] = fifoBuffer[8];
     
176.             teapotPacket[7] = fifoBuffer[9];
     
177.             teapotPacket[8] = fifoBuffer[12];
     
178.             teapotPacket[9] = fifoBuffer[13];
     
179.             Serial.write(teapotPacket, 14);
     
180.             teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
     
181.         #endif
     
182. 
     
183. 
     
184.     }
     
185. }

复制代码

hi55234

PS:arduino Pro mini 吧波特率改为38400效果更好

Yummy0211

楼主很强大，给楼主点赞先。

@simple@

没看懂，具体讲的是什么？

nick_zm

你写的东西玩过的人一眼就知道是什么，没玩过的也看不明白，因该写的再明白些

pdfan

讲解讲解？

tgyfish

求超详细的说明哦！

enots

你这个代码就是用了dmp中断的啊, 和官方库里的没什么不同 .(手册上没有介绍这个dmp中断,应该是中断标志寄存器的第1位)