在Mega中读取Mpu6050,好像文章不太多。特此转载官网的MPU6050。
原版地址:https://playground.arduino.cc/Main/MPU-6050
我们的6050接线是使用20和21引脚,注意MEGA这里20是SCL引脚,21是SDA引脚。对应MPU6050的两个SCL和SDA,要反接。
注意要反接,反接,反接(重要的事情说三遍)。
接线图可以参考MPU9250,两个接线是一样的。
程序可以参考官网程序,我之后只需要Gyro的数据,所以我们注释掉多余的信息输出。
并且我的串口输出的波特率已经调成230400,电脑端相应的端口也是230400。
而波特率就是串口每秒传输的bits数,例如9600bps就是每秒传输9600bits。
#include <Wire.h>
// The name of the sensor is "MPU-6050".
// For program code, I omit the '-',
// therefor I use the name "MPU6050....".
// Register names according to the datasheet.
// According to the InvenSense document
// "MPU-6000 and MPU-6050 Register Map
// and Descriptions Revision 3.2", there are no registers
// at 0x02 ... 0x18, but according other information
// the registers in that unknown area are for gain
// and offsets.
//
#define MPU6050_AUX_VDDIO 0x01 // R/W
#define MPU6050_SMPLRT_DIV 0x19 // R/W
#define MPU6050_CONFIG 0x1A // R/W
#define MPU6050_GYRO_CONFIG 0x1B // R/W
#define MPU6050_ACCEL_CONFIG 0x1C // R/W
#define MPU6050_FF_THR 0x1D // R/W
#define MPU6050_FF_DUR 0x1E // R/W
#define MPU6050_MOT_THR 0x1F // R/W
#define MPU6050_MOT_DUR 0x20 // R/W
#define MPU6050_ZRMOT_THR 0x21 // R/W
#define MPU6050_ZRMOT_DUR 0x22 // R/W
#define MPU6050_FIFO_EN 0x23 // R/W
#define MPU6050_I2C_MST_CTRL 0x24 // R/W
#define MPU6050_I2C_SLV0_ADDR 0x25 // R/W
#define MPU6050_I2C_SLV0_REG 0x26 // R/W
#define MPU6050_I2C_SLV0_CTRL 0x27 // R/W
#define MPU6050_I2C_SLV1_ADDR 0x28 // R/W
#define MPU6050_I2C_SLV1_REG 0x29 // R/W
#define MPU6050_I2C_SLV1_CTRL 0x2A // R/W
#define MPU6050_I2C_SLV2_ADDR 0x2B // R/W
#define MPU6050_I2C_SLV2_REG 0x2C // R/W
#define MPU6050_I2C_SLV2_CTRL 0x2D // R/W
#define MPU6050_I2C_SLV3_ADDR 0x2E // R/W
#define MPU6050_I2C_SLV3_REG 0x2F // R/W
#define MPU6050_I2C_SLV3_CTRL 0x30 // R/W
#define MPU6050_I2C_SLV4_ADDR 0x31 // R/W
#define MPU6050_I2C_SLV4_REG 0x32 // R/W
#define MPU6050_I2C_SLV4_DO 0x33 // R/W
#define MPU6050_I2C_SLV4_CTRL 0x34 // R/W
#define MPU6050_I2C_SLV4_DI 0x35 // R
#define MPU6050_I2C_MST_STATUS 0x36 // R
#define MPU6050_INT_PIN_CFG 0x37 // R/W
#define MPU6050_INT_ENABLE 0x38 // R/W
#define MPU6050_INT_STATUS 0x3A // R
#define MPU6050_ACCEL_XOUT_H 0x3B // R
#define MPU6050_ACCEL_XOUT_L 0x3C // R
#define MPU6050_ACCEL_YOUT_H 0x3D // R
#define MPU6050_ACCEL_YOUT_L 0x3E // R
#define MPU6050_ACCEL_ZOUT_H 0x3F // R
#define MPU6050_ACCEL_ZOUT_L 0x40 // R
#define MPU6050_TEMP_OUT_H 0x41 // R
#define MPU6050_TEMP_OUT_L 0x42 // R
#define MPU6050_GYRO_XOUT_H 0x43 // R
#define MPU6050_GYRO_XOUT_L 0x44 // R
#define MPU6050_GYRO_YOUT_H 0x45 // R
#define MPU6050_GYRO_YOUT_L 0x46 // R
#define MPU6050_GYRO_ZOUT_H 0x47 // R
#define MPU6050_GYRO_ZOUT_L 0x48 // R
#define MPU6050_EXT_SENS_DATA_00 0x49 // R
#define MPU6050_EXT_SENS_DATA_01 0x4A // R
#define MPU6050_EXT_SENS_DATA_02 0x4B // R
#define MPU6050_EXT_SENS_DATA_03 0x4C // R
#define MPU6050_EXT_SENS_DATA_04 0x4D // R
#define MPU6050_EXT_SENS_DATA_05 0x4E // R
#define MPU6050_EXT_SENS_DATA_06 0x4F // R
#define MPU6050_EXT_SENS_DATA_07 0x50 // R
#define MPU6050_EXT_SENS_DATA_08 0x51 // R
#define MPU6050_EXT_SENS_DATA_09 0x52 // R
#define MPU6050_EXT_SENS_DATA_10 0x53 // R
#define MPU6050_EXT_SENS_DATA_11 0x54 // R
#define MPU6050_EXT_SENS_DATA_12 0x55 // R
#define MPU6050_EXT_SENS_DATA_13 0x56 // R
#define MPU6050_EXT_SENS_DATA_14 0x57 // R
#define MPU6050_EXT_SENS_DATA_15 0x58 // R
#define MPU6050_EXT_SENS_DATA_16 0x59 // R
#define MPU6050_EXT_SENS_DATA_17 0x5A // R
#define MPU6050_EXT_SENS_DATA_18 0x5B // R
#define MPU6050_EXT_SENS_DATA_19 0x5C // R
#define MPU6050_EXT_SENS_DATA_20 0x5D // R
#define MPU6050_EXT_SENS_DATA_21 0x5E // R
#define MPU6050_EXT_SENS_DATA_22 0x5F // R
#define MPU6050_EXT_SENS_DATA_23 0x60 // R
#define MPU6050_MOT_DETECT_STATUS 0x61 // R
#define MPU6050_I2C_SLV0_DO 0x63 // R/W
#define MPU6050_I2C_SLV1_DO 0x64 // R/W
#define MPU6050_I2C_SLV2_DO 0x65 // R/W
#define MPU6050_I2C_SLV3_DO 0x66 // R/W
#define MPU6050_I2C_MST_DELAY_CTRL 0x67 // R/W
#define MPU6050_SIGNAL_PATH_RESET 0x68 // R/W
#define MPU6050_MOT_DETECT_CTRL 0x69 // R/W
#define MPU6050_USER_CTRL 0x6A // R/W
#define MPU6050_PWR_MGMT_1 0x6B // R/W
#define MPU6050_PWR_MGMT_2 0x6C // R/W
#define MPU6050_FIFO_COUNTH 0x72 // R/W
#define MPU6050_FIFO_COUNTL 0x73 // R/W
#define MPU6050_FIFO_R_W 0x74 // R/W
#define MPU6050_WHO_AM_I 0x75 // R
// Defines for the bits, to be able to change
// between bit number and binary definition.
// By using the bit number, programming the sensor
// is like programming the AVR microcontroller.
// But instead of using "(1<<X)", or "_BV(X)",
// the Arduino "bit(X)" is used.
#define MPU6050_D0 0
#define MPU6050_D1 1
#define MPU6050_D2 2
#define MPU6050_D3 3
#define MPU6050_D4 4
#define MPU6050_D5 5
#define MPU6050_D6 6
#define MPU6050_D7 7
// AUX_VDDIO Register
#define MPU6050_AUX_VDDIO MPU6050_D7 // I2C high: 1=VDD, 0=VLOGIC
// CONFIG Register
// DLPF is Digital Low Pass Filter for both gyro and accelerometers.
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU6050_DLPF_CFG0 MPU6050_D0
#define MPU6050_DLPF_CFG1 MPU6050_D1
#define MPU6050_DLPF_CFG2 MPU6050_D2
#define MPU6050_EXT_SYNC_SET0 MPU6050_D3
#define MPU6050_EXT_SYNC_SET1 MPU6050_D4
#d