mpu6050的原始数据转换
时间: 2024-05-27 12:05:43 浏览: 26
MPU6050是一种常用的六轴传感器,可以同时测量加速度和角速度。它通过I2C接口与微控制器通信,并提供原始数据。下面是将MPU6050的原始数据转换为实际物理量的步骤:
1. 加速度计原始数据转换:
- 读取加速度计的原始数据,通常是一个16位的有符号整数。
- 根据加速度计的量程范围,将原始数据转换为加速度值。例如,如果量程范围为±2g,那么可以使用以下公式进行转换:
加速度值 = 原始数据 * (2 * g / 32768)
其中,g表示重力加速度,约为9.8 m/s²。
- 转换后的加速度值即为实际物理量。
2. 陀螺仪原始数据转换:
- 读取陀螺仪的原始数据,通常也是一个16位的有符号整数。
- 根据陀螺仪的量程范围,将原始数据转换为角速度值。例如,如果量程范围为±250°/s,那么可以使用以下公式进行转换:
角速度值 = 原始数据 * (250 / 32768)
- 转换后的角速度值即为实际物理量。
需要注意的是,MPU6050的原始数据转换可能还涉及到校准和滤波等步骤,以提高数据的准确性和稳定性。
相关问题
写一段基于stc32芯片上将mpu6050原始数据转换成角度的C语言代码
以下是一个基于STC32芯片上将MPU6050原始数据转换成角度的C语言代码示例:
```c
#include <STC32.h>
#include <stdio.h>
#include <math.h>
#define MPU_ADDR 0x68
#define ACCEL_SCALE 16384.0
#define GYRO_SCALE 131.0
float accel_x, accel_y, accel_z;
float gyro_x, gyro_y, gyro_z;
void IIC_start(void)
{
IIC_SDA = 1;
IIC_SCL = 1;
delay_us(2);
IIC_SDA = 0;
delay_us(2);
IIC_SCL = 0;
}
void IIC_stop(void)
{
IIC_SDA = 0;
IIC_SCL = 1;
delay_us(2);
IIC_SDA = 1;
delay_us(2);
IIC_SCL = 0;
}
void IIC_send_ack(void)
{
IIC_SDA = 0;
IIC_SCL = 1;
delay_us(2);
IIC_SCL = 0;
IIC_SDA = 1;
}
void IIC_send_nack(void)
{
IIC_SDA = 1;
IIC_SCL = 1;
delay_us(2);
IIC_SCL = 0;
}
unsigned char IIC_receive_byte(void)
{
unsigned char i, value = 0;
for (i = 0; i < 8; i++) {
value <<= 1;
IIC_SCL = 1;
delay_us(2);
if (IIC_SDA) {
value |= 0x01;
}
IIC_SCL = 0;
delay_us(2);
}
return value;
}
void IIC_send_byte(unsigned char dat)
{
unsigned char i;
for (i = 0; i < 8; i++) {
if (dat & 0x80) {
IIC_SDA = 1;
} else {
IIC_SDA = 0;
}
IIC_SCL = 1;
delay_us(2);
IIC_SCL = 0;
dat <<= 1;
delay_us(2);
}
}
void IIC_write_reg(unsigned char reg, unsigned char dat)
{
IIC_start();
IIC_send_byte(MPU_ADDR << 1);
IIC_send_byte(reg);
IIC_send_byte(dat);
IIC_stop();
}
unsigned char IIC_read_reg(unsigned char reg)
{
unsigned char dat;
IIC_start();
IIC_send_byte(MPU_ADDR << 1);
IIC_send_byte(reg);
IIC_start();
IIC_send_byte((MPU_ADDR << 1) | 1);
dat = IIC_receive_byte();
IIC_send_ack();
IIC_stop();
return dat;
}
void IIC_read_regs(unsigned char reg, unsigned char len, unsigned char *buf)
{
unsigned char i;
IIC_start();
IIC_send_byte(MPU_ADDR << 1);
IIC_send_byte(reg);
IIC_start();
IIC_send_byte((MPU_ADDR << 1) | 1);
for (i = 0; i < len - 1; i++) {
buf[i] = IIC_receive_byte();
IIC_send_ack();
}
buf[len - 1] = IIC_receive_byte();
IIC_send_nack();
IIC_stop();
}
void MPU6050_init(void)
{
IIC_write_reg(0x6B, 0x00); // PWR_MGMT_1 = 0 to wake up MPU6050
IIC_write_reg(0x1C, 0x08); // ACCEL_CONFIG = 0x08 to set full-scale range to ±4g
IIC_write_reg(0x1B, 0x08); // GYRO_CONFIG = 0x08 to set full-scale range to ±500°/s
}
void MPU6050_read_accel(void)
{
unsigned char buf[6];
IIC_read_regs(0x3B, 6, buf);
accel_x = ((short)(buf[0] << 8 | buf[1])) / ACCEL_SCALE;
accel_y = ((short)(buf[2] << 8 | buf[3])) / ACCEL_SCALE;
accel_z = ((short)(buf[4] << 8 | buf[5])) / ACCEL_SCALE;
}
void MPU6050_read_gyro(void)
{
unsigned char buf[6];
IIC_read_regs(0x43, 6, buf);
gyro_x = ((short)(buf[0] << 8 | buf[1])) / GYRO_SCALE;
gyro_y = ((short)(buf[2] << 8 | buf[3])) / GYRO_SCALE;
gyro_z = ((short)(buf[4] << 8 | buf[5])) / GYRO_SCALE;
}
float MPU6050_get_roll(void)
{
MPU6050_read_accel();
float roll = atan2(accel_y, accel_z) * 180.0 / M_PI;
return roll;
}
float MPU6050_get_pitch(void)
{
MPU6050_read_accel();
float pitch = atan2(-accel_x, sqrt(accel_y * accel_y + accel_z * accel_z)) * 180.0 / M_PI;
return pitch;
}
float MPU6050_get_yaw(void)
{
MPU6050_read_gyro();
static float yaw = 0.0;
yaw += gyro_z * 0.001;
return yaw;
}
void main()
{
IIC_SDA = 1;
IIC_SCL = 1;
MPU6050_init();
while (1) {
float roll = MPU6050_get_roll();
float pitch = MPU6050_get_pitch();
float yaw = MPU6050_get_yaw();
printf("Roll:%.2f Pitch:%.2f Yaw:%.2f\n", roll, pitch, yaw);
delay_ms(10);
}
}
```
写一段基于stc32芯片上将mpu6050原始数据转换成角度并在OLED模块上显示的C语言代码
好的,以下是一份基于stc32芯片将mpu6050原始数据转换成角度并在OLED模块上显示的C语言代码,仅供参考:
```
#include <reg52.h>
#include <intrins.h>
#include <stdio.h>
#include "oled.h"
#define MPU6050_ADDR 0xD0
#define MPU6050_SMPLRT_DIV 0x19
#define MPU6050_CONFIG 0x1A
#define MPU6050_GYRO_CONFIG 0x1B
#define MPU6050_ACCEL_CONFIG 0x1C
#define MPU6050_ACCEL_XOUT_H 0x3B
#define MPU6050_ACCEL_XOUT_L 0x3C
#define MPU6050_ACCEL_YOUT_H 0x3D
#define MPU6050_ACCEL_YOUT_L 0x3E
#define MPU6050_ACCEL_ZOUT_H 0x3F
#define MPU6050_ACCEL_ZOUT_L 0x40
#define MPU6050_GYRO_XOUT_H 0x43
#define MPU6050_GYRO_XOUT_L 0x44
#define MPU6050_GYRO_YOUT_H 0x45
#define MPU6050_GYRO_YOUT_L 0x46
#define MPU6050_GYRO_ZOUT_H 0x47
#define MPU6050_GYRO_ZOUT_L 0x48
sbit SCL=P1^6;
sbit SDA=P1^7;
int16_t Accel_X, Accel_Y, Accel_Z, Gyro_X, Gyro_Y, Gyro_Z;
float Accel_Xangle, Accel_Yangle;
float Gyro_Xangle, Gyro_Yangle, Gyro_Zangle;
float CFangle_X, CFangle_Y;
void delay_ms(unsigned int ms)
{
unsigned int i,j;
for(i=0;i<ms;i++)
{
for(j=0;j<114;j++);
}
}
unsigned char IIC_Start()
{
unsigned char i = 0;
SDA = 1;
SCL = 1;
_nop_();
_nop_();
_nop_();
_nop_();
SDA = 0;
_nop_();
_nop_();
_nop_();
_nop_();
SCL = 0;
_nop_();
_nop_();
_nop_();
_nop_();
return 0;
}
unsigned char IIC_Stop()
{
SDA = 0;
SCL = 1;
_nop_();
_nop_();
_nop_();
_nop_();
SDA = 1;
_nop_();
_nop_();
_nop_();
_nop_();
return 0;
}
unsigned char IIC_Wait_Ack()
{
unsigned char i = 0;
SDA = 1;
_nop_();
_nop_();
_nop_();
_nop_();
SCL = 1;
_nop_();
_nop_();
_nop_();
_nop_();
while(SDA)
{
i++;
if(i>250)
{
IIC_Stop();
return 1;
}
}
SCL = 0;
_nop_();
_nop_();
_nop_();
_nop_();
return 0;
}
unsigned char IIC_Send_Byte(unsigned char txd)
{
unsigned char t;
for(t=0;t<8;t++)
{
SDA = ((txd&0x80)>>7);
txd <<= 1;
_nop_();
_nop_();
_nop_();
_nop_();
SCL = 1;
_nop_();
_nop_();
_nop_();
_nop_();
SCL = 0;
_nop_();
_nop_();
_nop_();
_nop_();
}
return 0;
}
unsigned char IIC_Read_Byte(unsigned char ack)
{
unsigned char i, receive = 0;
for(i=0;i<8;i++)
{
SCL = 1;
_nop_();
_nop_();
_nop_();
_nop_();
receive <<= 1;
receive |= SDA;
SCL = 0;
_nop_();
_nop_();
_nop_();
_nop_();
}
if(ack)
{
SDA = 1;
}
else
{
SDA = 0;
}
SCL = 1;
_nop_();
_nop_();
_nop_();
_nop_();
SCL = 0;
_nop_();
_nop_();
_nop_();
_nop_();
return receive;
}
void IIC_Write_OneByte(unsigned char daddr, unsigned char addr, unsigned char data)
{
IIC_Start();
IIC_Send_Byte(daddr);
IIC_Wait_Ack();
IIC_Send_Byte(addr);
IIC_Wait_Ack();
IIC_Send_Byte(data);
IIC_Wait_Ack();
IIC_Stop();
}
unsigned char IIC_Read_OneByte(unsigned char daddr, unsigned char addr)
{
unsigned char res = 0;
IIC_Start();
IIC_Send_Byte(daddr);
IIC_Wait_Ack();
IIC_Send_Byte(addr);
IIC_Wait_Ack();
IIC_Start();
IIC_Send_Byte(daddr+1);
IIC_Wait_Ack();
res = IIC_Read_Byte(0);
IIC_Stop();
return res;
}
void Init_MPU6050()
{
IIC_Write_OneByte(MPU6050_ADDR, MPU6050_SMPLRT_DIV, 0x07);
IIC_Write_OneByte(MPU6050_ADDR, MPU6050_CONFIG, 0x06);
IIC_Write_OneByte(MPU6050_ADDR, MPU6050_GYRO_CONFIG, 0x18);
IIC_Write_OneByte(MPU6050_ADDR, MPU6050_ACCEL_CONFIG, 0x01);
}
void Get_MPU6050_Data()
{
Accel_X = (int16_t)((IIC_Read_OneByte(MPU6050_ADDR, MPU6050_ACCEL_XOUT_H)<<8)|IIC_Read_OneByte(MPU6050_ADDR, MPU6050_ACCEL_XOUT_L));
Accel_Y = (int16_t)((IIC_Read_OneByte(MPU6050_ADDR, MPU6050_ACCEL_YOUT_H)<<8)|IIC_Read_OneByte(MPU6050_ADDR, MPU6050_ACCEL_YOUT_L));
Accel_Z = (int16_t)((IIC_Read_OneByte(MPU6050_ADDR, MPU6050_ACCEL_ZOUT_H)<<8)|IIC_Read_OneByte(MPU6050_ADDR, MPU6050_ACCEL_ZOUT_L));
Gyro_X = (int16_t)((IIC_Read_OneByte(MPU6050_ADDR, MPU6050_GYRO_XOUT_H)<<8)|IIC_Read_OneByte(MPU6050_ADDR, MPU6050_GYRO_XOUT_L));
Gyro_Y = (int16_t)((IIC_Read_OneByte(MPU6050_ADDR, MPU6050_GYRO_YOUT_H)<<8)|IIC_Read_OneByte(MPU6050_ADDR, MPU6050_GYRO_YOUT_L));
Gyro_Z = (int16_t)((IIC_Read_OneByte(MPU6050_ADDR, MPU6050_GYRO_ZOUT_H)<<8)|IIC_Read_OneByte(MPU6050_ADDR, MPU6050_GYRO_ZOUT_L));
}
void Complementary_Filter()
{
Gyro_Xangle += (float)Gyro_X/131.0*0.00035;
Gyro_Yangle += (float)Gyro_Y/131.0*0.00035;
Gyro_Zangle += (float)Gyro_Z/131.0*0.00035;
Accel_Xangle = atan2(Accel_Y,Accel_Z)*57.3;
Accel_Yangle = atan2(Accel_X,Accel_Z)*57.3;
CFangle_X = 0.98*(CFangle_X+Gyro_Xangle)+0.02*Accel_Xangle;
CFangle_Y = 0.98*(CFangle_Y+Gyro_Yangle)+0.02*Accel_Yangle;
}
void main()
{
unsigned char i;
OLED_Init();
Init_MPU6050();
while(1)
{
Get_MPU6050_Data();
Complementary_Filter();
OLED_Clear();
OLED_ShowString(0,0,"MPU6050 Angle:");
OLED_ShowString(0,2,"X:");
OLED_ShowString(30,2,"Y:");
OLED_ShowString(0,4,"CFangle_X:");
OLED_ShowString(0,6,"CFangle_Y:");
sprintf((char*)buf,"%d",(int)Accel_Xangle);
OLED_ShowString(12,2,buf);
sprintf((char*)buf,"%d",(int)Accel_Yangle);
OLED_ShowString(42,2,buf);
sprintf((char*)buf,"%d",(int)CFangle_X);
OLED_ShowString(60,4,buf);
sprintf((char*)buf,"%d",(int)CFangle_Y);
OLED_ShowString(60,6,buf);
delay_ms(100);
}
}
```
需要注意的是,以上代码仅供参考,具体应用中需要针对实际情况进行修改和调试。
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