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MPU6050 DMP官方使用手册
InvenSense Inc.
1197Borregas Ave., Sunnyvale, CA 94089U.S.A.
Tel:+1(408)988-7339Fax:+1(408)988-8104
Website:http://www.wendangku.net/doc/d60cd0beaeec8.html
Doc :SW-EMD-REL-5.1.1Doc Rev :1.0Date :12/14/2012
Embedded Motion Driver v5.1.1APIs Specification
A printed copy of this document is
NOT UNDER REVISION CONTROLunless it is dated and stamped in red ink as,
“REVISION CONTROLLED COPY.”
This information furnished by InvenSense is believed to be accurate and reliable. However, no responsibility is assumed by InvenSense for its use, or for any infringements or patents or other rights of third parties that may result from its use. Specifications are subject to change without notice. Certain intellectual property owned by InvenSense and described in this document is patent protected. No license is granted by Implication or otherwise under any patent or patent rights of InvenSense. This isan unpublished work protected under the United States copyright laws. This work contains proprietary and confidential information of InvenSense Inc. Use, disclosure or reproduction without the express written authorization of InvenSense Inc. is prohibited.Trademarks that are registered trademarks are the property of their respective companies.
This publication supersedes and replaces all information previously supplied. InvenSense sensors should not be used or sold for the development, storing, production and utilization of any conventional or mass-destructive weapons or any other weapons or life threatening applications, as well as to be used in any other life critical applications such as medical, transportation, aerospace, nuclear, undersea, power, disaster and crime prevention equipment.
Copyright (C)2010InvenSense Corporation.
CONFIDENTIAL &PROPRIETARY http://www.wendangku.net/doc/d60cd0beaeec8.html
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关于MPU6050 DMP求助
求大神解释一下，我这个MPU6050 DMP输出的是什么东西啊？网上抄的一段程序，想让MPU6050输出俯仰角，翻滚角，方向角，不过我根本看不出输出的东西跟传感器姿态有什么关系啊。下面是程序：
// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0)
// 6/21/2012 by Jeff Rowberg &&
// Updates should (hopefully) always be available at /jrowberg/i2cdevlib
// Changelog:
//& && & - added seamless Fastwire support
//& && && && && &&&- added note about gyro calibration
//& && & - added note about Arduino 1.0.1 + Leonardo compatibility error
//& && & - improved FIFO overflow handling and simplified read process
//& && & - completely rearranged DMP initialization code and simplification
//& && & - pull gyro and accel data from FIFO packet instead of reading directly
//& && & - fix broken FIFO read sequence and change interrupt detection to RISING
//& && & - add gravity-compensated initial reference frame acceleration output
//& && && && && &&&- add 3D math helper file to DMP6 example sketch
//& && && && && &&&- add Euler output and Yaw/Pitch/Roll output formats
//& && & - remove accel offset clearing for better results (thanks Sungon Lee)
//& && & - fixed gyro sensitivity to be 2000 deg/sec instead of 250
//& && & - basic DMP initialization working
/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2012 Jeff Rowberg
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the &Software&), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED &AS IS&, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
===============================================
// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include &I2Cdev.h&
#include &MPU6050_6Axis_MotionApps20.h&
//#include &MPU6050.h& // not necessary if using MotionApps include file
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
& &&&#include &Wire.h&
// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)
// AD0 high = 0x69
//MPU6050 mpu(0x69); // &-- use for AD0 high
/* =========================================================================
& & NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch
& & depends on the MPU-6050's INT pin being connected to the Arduino's
& & external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is
& & digital I/O pin 2.
* ========================================================================= */
/* =========================================================================
& & NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error
& & when using Serial.write(buf, len). The Teapot output uses this method.
& & The solution requires a modification to the Arduino USBAPI.h file, which
& & is fortunately simple, but annoying. This will be fixed in the next IDE
& & release. For more info, see these links:
& & http://arduino.cc/forum/index.php/topic,.html
& & /p/arduino/issues/detail?id=958
* ========================================================================= */
// uncomment &OUTPUT_READABLE_QUATERNION& if you want to see the actual
// quaternion components in a [w, x, y, z] format (not best for parsing
// on a remote host such as Processing or something though)
//#define OUTPUT_READABLE_QUATERNION
// uncomment &OUTPUT_READABLE_EULER& if you want to see Euler angles
// (in degrees) calculated from the quaternions coming from the FIFO.
// Note that Euler angles suffer from gimbal lock (for more info, see
// http://en.wikipedia.org/wiki/Gimbal_lock)
//#define OUTPUT_READABLE_EULER
// uncomment &OUTPUT_READABLE_YAWPITCHROLL& if you want to see the yaw/
// pitch/roll angles (in degrees) calculated from the quaternions coming
// from the FIFO. Note this also requires gravity vector calculations.
// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
#define OUTPUT_READABLE_YAWPITCHROLL
// uncomment &OUTPUT_READABLE_REALACCEL& if you want to see acceleration
// components with gravity removed. This acceleration reference frame is
// not compensated for orientation, so +X is always +X according to the
// sensor, just without the effects of gravity. If you want acceleration
// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.
//#define OUTPUT_READABLE_REALACCEL
// uncomment &OUTPUT_READABLE_WORLDACCEL& if you want to see acceleration
// components with gravity removed and adjusted for the world frame of
// reference (yaw is relative to initial orientation, since no magnetometer
// is present in this case). Could be quite handy in some cases.
//#define OUTPUT_READABLE_WORLDACCEL
// uncomment &OUTPUT_TEAPOT& if you want output that matches the
// format used for the InvenSense teapot demo
//#define OUTPUT_TEAPOT
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState =
// MPU control/status vars
bool dmpReady =&&// set true if DMP init was successful
uint8_t mpuIntS& &// holds actual interrupt status byte from MPU
uint8_t devS& && &// return status after each device operation (0 = success, !0 = error)
uint16_t packetS& & // expected DMP packet size (default is 42 bytes)
uint16_t fifoC& &&&// count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
// orientation/motion vars
Q& && && &&&// [w, x, y, z]& && && &quaternion container
VectorInt16& && && &// [x, y, z]& && && && &accel sensor measurements
VectorInt16 aaR& &&&// [x, y, z]& && && && &gravity-free accel sensor measurements
VectorInt16 aaW& & // [x, y, z]& && && && &world-frame accel sensor measurements
VectorF& & // [x, y, z]& && && && &gravity vector
float euler[3];& && && &// [psi, theta, phi]& & Euler angle container
float ypr[3];& && && &&&// [yaw, pitch, roll]& &yaw/pitch/roll container and gravity vector
// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
// ================================================================
// ===& && && && && &INTERRUPT DETECTION ROUTINE& && && && && & ===
// ================================================================
volatile bool mpuInterrupt =& &&&// indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
& &&&mpuInterrupt =
// ================================================================
// ===& && && && && && && & INITIAL SETUP& && && && && && && &&&===
// ================================================================
void setup() {
& &&&// join I2C bus (I2Cdev library doesn't do this automatically)
& &&&#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
& && && &Wire.begin();
& && && &TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
& &&&#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
& && && &Fastwire::setup(400, true);
& &&&#endif
& &&&// initialize serial communication
& &&&// (115200 chosen because it is required for Teapot Demo output, but it's
& &&&// really up to you depending on your project)
& &&&Serial.begin(115200);
& &&&while (!Serial); // wait for Leonardo enumeration, others continue immediately
& &&&// NOTE: 8MHz or slower host processors, like the Teensy @ 3.3v or Ardunio
& &&&// Pro Mini running at 3.3v, cannot handle this baud rate reliably due to
& &&&// the baud timing being too misaligned with processor ticks. You must use
& &&&// 38400 or slower in these cases, or use some kind of external separate
& &&&// crystal solution for the UART timer.
& &&&// initialize device
& &&&Serial.println(F(&Initializing I2C devices...&));
& &&&mpu.initialize();
& &&&// verify connection
& &&&Serial.println(F(&Testing device connections...&));
& &&&Serial.println(mpu.testConnection() ? F(&MPU6050 connection successful&) : F(&MPU6050 connection failed&));
& &&&// wait for ready
& &&&Serial.println(F(&\nSend any character to begin DMP programming and demo: &));
& &&&while (Serial.available() && Serial.read()); // empty buffer
& &&&while (!Serial.available());& && && && && &&&// wait for data
& &&&while (Serial.available() && Serial.read()); // empty buffer again
& &&&// load and configure the DMP
& &&&Serial.println(F(&Initializing DMP...&));
& &&&devStatus = mpu.dmpInitialize();
& &&&// supply your own gyro offsets here, scaled for min sensitivity
& &&&mpu.setXGyroOffset(220);
& &&&mpu.setYGyroOffset(76);
& &&&mpu.setZGyroOffset(-85);
& &&&mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
& &&&// make sure it worked (returns 0 if so)
& &&&if (devStatus == 0) {
& && && &// turn on the DMP, now that it's ready
& && && &Serial.println(F(&Enabling DMP...&));
& && && &mpu.setDMPEnabled(true);
& && && &// enable Arduino interrupt detection
& && && &Serial.println(F(&Enabling interrupt detection (Arduino external interrupt 0)...&));
& && && &attachInterrupt(0, dmpDataReady, RISING);
& && && &mpuIntStatus = mpu.getIntStatus();
& && && &// set our DMP Ready flag so the main loop() function knows it's okay to use it
& && && &Serial.println(F(&DMP ready! Waiting for first interrupt...&));
& && && &dmpReady =
& && && &// get expected DMP packet size for later comparison
& && && &packetSize = mpu.dmpGetFIFOPacketSize();
& &&&} else {
& && && &// ERROR!
& && && &// 1 = initial memory load failed
& && && &// 2 = DMP configuration updates failed
& && && &// (if it's going to break, usually the code will be 1)
& && && &Serial.print(F(&DMP Initialization failed (code &));
& && && &Serial.print(devStatus);
& && && &Serial.println(F(&)&));
& &&&// configure LED for output
& &&&pinMode(LED_PIN, OUTPUT);
// ================================================================
// ===& && && && && && &&&MAIN PROGRAM LOOP& && && && && && && &===
// ================================================================
void loop() {
& &&&// if programming failed, don't try to do anything
& &&&if (!dmpReady)
& &&&// wait for MPU interrupt or extra packet(s) available
& &&&while (!mpuInterrupt && fifoCount & packetSize) {
& && && &// other program behavior stuff here
& && && &// .
& && && &// .
& && && &// .
& && && &// if you are really paranoid you can frequently test in between other
& && && &// stuff to see if mpuInterrupt is true, and if so, && from the
& && && &// while() loop to immediately process the MPU data
& && && &// .
& && && &// .
& && && &// .
& &&&// reset interrupt flag and get INT_STATUS byte
& &&&mpuInterrupt =
& &&&mpuIntStatus = mpu.getIntStatus();
& &&&// get current FIFO count
& &&&fifoCount = mpu.getFIFOCount();
& &&&// check for overflow (this should never happen unless our code is too inefficient)
& &&&if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
& && && &// reset so we can continue cleanly
& && && &mpu.resetFIFO();
& && && &Serial.println(F(&FIFO overflow!&));
& &&&// otherwise, check for DMP data ready interrupt (this should happen frequently)
& &&&} else if (mpuIntStatus & 0x02) {
& && && &// wait for correct available data length, should be a VERY short wait
& && && &while (fifoCount & packetSize) fifoCount = mpu.getFIFOCount();
& && && &// read a packet from FIFO
& && && &mpu.getFIFOBytes(fifoBuffer, packetSize);
& && && &// track FIFO count here in case there is & 1 packet available
& && && &// (this lets us immediately read more without waiting for an interrupt)
& && && &fifoCount -= packetS
& && && &#ifdef OUTPUT_READABLE_QUATERNION
& && && && & // display quaternion values in easy matrix form: w x y z
& && && && & mpu.dmpGetQuaternion(&q, fifoBuffer);
& && && && & Serial.print(&quat\t&);
& && && && & Serial.print(q.w);
& && && && & Serial.print(&\t&);
& && && && & Serial.print(q.x);
& && && && & Serial.print(&\t&);
& && && && & Serial.print(q.y);
& && && && & Serial.print(&\t&);
& && && && & Serial.println(q.z);
& && && &#endif
& && && &#ifdef OUTPUT_READABLE_EULER
& && && && & // display Euler angles in degrees
& && && && & mpu.dmpGetQuaternion(&q, fifoBuffer);
& && && && & mpu.dmpGetEuler(euler, &q);
& && && && & Serial.print(&euler\t&);
& && && && & Serial.print(euler[0] * 180/M_PI);
& && && && & Serial.print(&\t&);
& && && && & Serial.print(euler[1] * 180/M_PI);
& && && && & Serial.print(&\t&);
& && && && & Serial.println(euler[2] * 180/M_PI);
& && && &#endif
& && && &#ifdef OUTPUT_READABLE_YAWPITCHROLL
& && && && & // display Euler angles in degrees
& && && && & mpu.dmpGetQuaternion(&q, fifoBuffer);
& && && && & mpu.dmpGetGravity(&gravity, &q);
& && && && & mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
& && && && & Serial.print(&ypr\t&);
& && && && & Serial.print(ypr[0] * 180/M_PI);
& && && && & Serial.print(&\t&);
& && && && & Serial.print(ypr[1] * 180/M_PI);
& && && && & Serial.print(&\t&);
& && && && & Serial.println(ypr[2] * 180/M_PI);
& && && &#endif
& && && &#ifdef OUTPUT_READABLE_REALACCEL
& && && && & // display real acceleration, adjusted to remove gravity
& && && && & mpu.dmpGetQuaternion(&q, fifoBuffer);
& && && && & mpu.dmpGetAccel(&aa, fifoBuffer);
& && && && & mpu.dmpGetGravity(&gravity, &q);
& && && && & mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
& && && && & Serial.print(&areal\t&);
& && && && & Serial.print(aaReal.x);
& && && && & Serial.print(&\t&);
& && && && & Serial.print(aaReal.y);
& && && && & Serial.print(&\t&);
& && && && & Serial.println(aaReal.z);
& && && &#endif
& && && &#ifdef OUTPUT_READABLE_WORLDACCEL
& && && && & // display initial world-frame acceleration, adjusted to remove gravity
& && && && & // and rotated based on known orientation from quaternion
& && && && & mpu.dmpGetQuaternion(&q, fifoBuffer);
& && && && & mpu.dmpGetAccel(&aa, fifoBuffer);
& && && && & mpu.dmpGetGravity(&gravity, &q);
& && && && & mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
& && && && & mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
& && && && & Serial.print(&aworld\t&);
& && && && & Serial.print(aaWorld.x);
& && && && & Serial.print(&\t&);
& && && && & Serial.print(aaWorld.y);
& && && && & Serial.print(&\t&);
& && && && & Serial.println(aaWorld.z);
& && && &#endif
& && && &#ifdef OUTPUT_TEAPOT
& && && && & // display quaternion values in InvenSense Teapot demo format:
& && && && & teapotPacket[2] = fifoBuffer[0];
& && && && & teapotPacket[3] = fifoBuffer[1];
& && && && & teapotPacket[4] = fifoBuffer[4];
& && && && & teapotPacket[5] = fifoBuffer[5];
& && && && & teapotPacket[6] = fifoBuffer[8];
& && && && & teapotPacket[7] = fifoBuffer[9];
& && && && & teapotPacket[8] = fifoBuffer[12];
& && && && & teapotPacket[9] = fifoBuffer[13];
& && && && & Serial.write(teapotPacket, 14);
& && && && & teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
& && && &#endif
& && && &// blink LED to indicate activity
& && && &blinkState = !blinkS
& && && &digitalWrite(LED_PIN, blinkState);
C:\Users\Administrator\Desktop\3P1%ER3V0U3S`@Q5V0_QL8Y.png
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前倾时的输出值
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初始状态的输出值
你解决了 怎么感觉传感器是静止的，数值怎么会不是稳定在某个值范围之内呢？
<font color="#61400 发表于
你解决了 怎么感觉传感器是静止的，数值怎么会不是稳定在某个值范围之内呢？
问题就在这，我的传感器并不是静止在一个角度
<font color="#61400 发表于
你解决了 怎么感觉传感器是静止的，数值怎么会不是稳定在某个值范围之内呢？
静止还乱跳的去更新I2C库& &DMP那网站上就有
老的库有点问题除非小改一下
Powered by7被浏览730分享邀请回答22 条评论分享收藏感谢收起鍙?渶涓}