mpu6050数据实时发布到mqtt服务器

#----------------------------------------------------------------
# vcc  5V
# SDA  i2c数据  --- pin3
# SDL  i2c时钟  --- pin5
# GND
#----------------------------------------------------------------

import smbus #import SMBus module of I2C
import time
import math
import json
import paho.mqtt.client as mqtt
from datetime import datetime
from threading import Timer

broker = ' mqtt云服务器地址‘
port = 端口号			          
keepalive = 60     		      # 与代理通信之间允许的最长时间段（以秒为单位） 
topic = 'MPU6050'

#some MPU6050 Registers and their Address
PWR_MGMT_1   = 0x6B
SMPLRT_DIV   = 0x19
RA_CONFIG    = 0x1A
GYRO_CONFIG  = 0x1B
ACCEL_CONFIG = 0x1C
INT_ENABLE   = 0x38
ACCEL_XOUT_H = 0x3B
ACCEL_YOUT_H = 0x3D
ACCEL_ZOUT_H = 0x3F
GYRO_XOUT_H  = 0x43
GYRO_YOUT_H  = 0x45
GYRO_ZOUT_H  = 0x47
RA_TEMP_H    = 0x41
bus = smbus.SMBus(1) 	
Device_Address = 0x68   # MPU6050 device address

def MPU_Init():
	bus.write_byte_data(Device_Address, SMPLRT_DIV, 0x07) #陀螺仪采样率1KHz
	bus.write_byte_data(Device_Address, PWR_MGMT_1, 0x00) #解除休眠状态
	bus.write_byte_data(Device_Address, RA_CONFIG, 0x06) #低通滤波器设置（0），截至频率是1K，带宽是5K
	bus.write_byte_data(Device_Address, GYRO_CONFIG, 0x18) #/陀螺仪自检及测量范围(24)
	bus.write_byte_data(Device_Address, ACCEL_CONFIG, 0x01) #配置加速度传感器工作再16G模式
    
def read_raw_data(addr):
	#Accelero and Gyro value are 16-bit
	high = bus.read_byte_data(Device_Address, addr)
	low = bus.read_byte_data(Device_Address, addr+1) 
	#concatenate higher and lower value
	value = ((high << 8) | low)        
	#to get signed value from mpu6050
	if(value > 32768):
			value = value - 65536
	return value

def get_data():
    raw_temp = read_raw_data(RA_TEMP_H)
    gyro_x = read_raw_data(GYRO_XOUT_H)
    gyro_y = read_raw_data(GYRO_YOUT_H)
    gyro_z = read_raw_data(GYRO_ZOUT_H)	
    acc_x = read_raw_data(ACCEL_XOUT_H)
    acc_y = read_raw_data(ACCEL_YOUT_H)
    acc_z = read_raw_data(ACCEL_ZOUT_H)	
    #Full scale range +/- 250 degree/C as per sensitivity scale factor
    Gx = gyro_x/131.0
    Gy = gyro_y/131.0
    Gz = gyro_z/131.0
    Ax = acc_x/16384.0
    Ay = acc_y/16384.0
    Az = acc_z/16384.0
    actual_temp = (raw_temp / 340.0)+ 36.53
    print('mpu6050_temp', round(actual_temp,3))
    data = {
            'Gx':round(Gx,3)，
            'Gy':round(Gy,3),
            'Gz':round(Gz,3),
            'Ax':round(Ax,3),
            'Ay':round(Ay,3),
            'Az':round(Az,3)
            }          
    return json.dumps(data)

client = mqtt.Client()
client.connect(broker,port,keepalive)
print('mqtt conneted sucess')
client.loop_start()

MPU_Init()
print ("Reading Data of Gyroscope and Accelerometer")
print('mqtt conneted sucess')
Time_threading(60)

while True:
    time.sleep(1)   #通过延迟来解决aviod 121 IO erro或接GND接在pin39
    msg =get_data()
    client.publish(topic, msg)    
    print(number, 'SEND MPU6050 data: ', msg)