microPython基于esp32的mpu6050在OLED显示实验

本实验使用esp32开发板和OLED显示屏，通过I2C通信协议连接MPU6050传感器，实时读取MPU6050的三轴加速度和三轴角速度数据，并通过OLED显示在屏幕上。

硬件连接：

- SDA引脚连接到esp32的GPIO21引脚
- SCL引脚连接到esp32的GPIO22引脚
- VCC引脚连接到esp32的3.3V电源引脚
- GND引脚连接到esp32的GND引脚

代码实现：

首先需要导入必要的库文件，包括I2C和SSD1306 OLED驱动库。

from machine import I2C, Pin
import ssd1306
import time

然后定义I2C和OLED驱动器的引脚和地址。

i2c = I2C(scl=Pin(22), sda=Pin(21))
oled = ssd1306.SSD1306_I2C(128, 64, i2c, 0x3c)

接下来初始化MPU6050传感器，设置采样率和滤波器等参数。

def init_mpu6050():
    i2c.writeto_mem(0x68, 0x6B, b'\x00')  # 唤醒MPU6050
    i2c.writeto_mem(0x68, 0x1B, b'\x18')  # 设置陀螺仪量程为±2000°/s
    i2c.writeto_mem(0x68, 0x1C, b'\x08')  # 设置加速度传感器量程为±4g
    i2c.writeto_mem(0x68, 0x1A, b'\x03')  # 设置数字低通滤波器为42Hz

读取MPU6050的三轴加速度和三轴角速度数据。

def read_mpu6050():
    data = i2c.readfrom_mem(0x68, 0x3B, 14)
    ax = (data[0] << 8) | data[1]
    ay = (data[2] << 8) | data[3]
    az = (data[4] << 8) | data[5]
    gx = (data[8] << 8) | data[9]
    gy = (data[10] << 8) | data[11]
    gz = (data[12] << 8) | data[13]
    ax = twos_comp(ax) / 16384.0
    ay = twos_comp(ay) / 16384.0
    az = twos_comp(az) / 16384.0
    gx = twos_comp(gx) / 131.0
    gy = twos_comp(gy) / 131.0
    gz = twos_comp(gz) / 131.0
    return ax, ay, az, gx, gy, gz

将读取到的数据显示在OLED屏幕上。

while True:
    oled.fill(0)
    ax, ay, az, gx, gy, gz = read_mpu6050()
    oled.text("Acc: %.2f, %.2f, %.2f" % (ax, ay, az), 0, 0)
    oled.text("Gyr: %.2f, %.2f, %.2f" % (gx, gy, gz), 0, 15)
    oled.show()
    time.sleep(0.1)

完整代码：

from machine import I2C, Pin
import ssd1306
import time

i2c = I2C(scl=Pin(22), sda=Pin(21))
oled = ssd1306.SSD1306_I2C(128, 64, i2c, 0x3c)

def twos_comp(val):
    if val & (1 << 15):
        val = val - (1 << 16)
    return val

def init_mpu6050():
    i2c.writeto_mem(0x68, 0x6B, b'\x00')  # 唤醒MPU6050
    i2c.writeto_mem(0x68, 0x1B, b'\x18')  # 设置陀螺仪量程为±2000°/s
    i2c.writeto_mem(0x68, 0x1C, b'\x08')  # 设置加速度传感器量程为±4g
    i2c.writeto_mem(0x68, 0x1A, b'\x03')  # 设置数字低通滤波器为42Hz

def read_mpu6050():
    data = i2c.readfrom_mem(0x68, 0x3B, 14)
    ax = (data[0] << 8) | data[1]
    ay = (data[2] << 8) | data[3]
    az = (data[4] << 8) | data[5]
    gx = (data[8] << 8) | data[9]
    gy = (data[10] << 8) | data[11]
    gz = (data[12] << 8) | data[13]
    ax = twos_comp(ax) / 16384.0
    ay = twos_comp(ay) / 16384.0
    az = twos_comp(az) / 16384.0
    gx = twos_comp(gx) / 131.0
    gy = twos_comp(gy) / 131.0
    gz = twos_comp(gz) / 131.0
    return ax, ay, az, gx, gy, gz

init_mpu6050()

while True:
    oled.fill(0)
    ax, ay, az, gx, gy, gz = read_mpu6050()
    oled.text("Acc: %.2f, %.2f, %.2f" % (ax, ay, az), 0, 0)
    oled.text("Gyr: %.2f, %.2f, %.2f" % (gx, gy, gz), 0, 15)
    oled.show()
    time.sleep(0.1)