“SKU:RB-02S113 九軸姿態(tài)檢測(cè)傳感器”的版本間的差異

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[[文件:02S11303.png|480px|縮略圖|居中]]
 
[[文件:02S11303.png|480px|縮略圖|居中]]
 
* 例子程序：
 
* 例子程序：
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<pre style='color:blue'>#include "Wire.h"
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<pre style='color:blue'>
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// I2Cdev and MPU9250 must be installed as libraries, or else the .cpp/.h files
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#include "quaternionFilters.h"
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// for both classes must be in the include path of your project
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#include "I2Cdev.h"
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#include "MPU9250.h"
 
#include "MPU9250.h"
  
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// class default I2C address is 0x68
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#define I2Cclock 400000
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// specific I2C addresses may be passed as a parameter here
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#define I2Cport Wire
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// AD0 low = 0x68 (default for InvenSense evaluation board)
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#define MPU9250_ADDRESS MPU9250_ADDRESS_AD0  // Use either this line or the next to select which I2C address your device is using
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// AD0 high = 0x69
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//#define MPU9250_ADDRESS MPU9250_ADDRESS_AD1
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MPU9250 accelgyro;
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I2Cdev  I2C_M;
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uint8_t buffer_m[6];
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MPU9250 myIMU0(MPU9250_ADDRESS_AD0, I2Cport, I2Cclock);
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MPU9250 myIMU1(MPU9250_ADDRESS_AD1, I2Cport, I2Cclock);
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int16_t ax, ay, az;
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int16_t gx, gy, gz;
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int16_t  mx, my, mz;
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float heading;
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float tiltheading;
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float Axyz[3];
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float Gxyz[3];
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float Mxyz[3];
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#define sample_num_mdate  5000     
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volatile float mx_sample[3];
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volatile float my_sample[3];
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volatile float mz_sample[3];
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static float mx_centre = 0;
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static float my_centre = 0;
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static float mz_centre = 0;
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volatile int mx_max =0;
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volatile int my_max =0;
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volatile int mz_max =0;
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volatile int mx_min =0;
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volatile int my_min =0;
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volatile int mz_min =0;
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byte c = 0x00;
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byte d = 0x00;
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bool ledOn = true;
  
 
void setup() {
 
void setup() {
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   // join I2C bus (I2Cdev library doesn't do this automatically)
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   // put your setup code here, to run once:
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  Wire.begin();
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  // initialize serial communication
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  // (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
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  // it's really up to you depending on your project)
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   Serial.begin(38400);
 
   Serial.begin(38400);
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  while(!Serial){};
  
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   // initialize device
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   pinMode(13, OUTPUT);
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  Serial.println("Initializing I2C devices...");
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  accelgyro.initialize();
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  // verify connection
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Serial.println("Testing device connections...");
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Serial.println(accelgyro.testConnection() ? "MPU9250 connection successful" : "MPU9250 connection failed");
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delay(1000);
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Serial.println("    ");
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//Mxyz_init_calibrated ();
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}
 
}
  
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void loop()  
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void loop() {
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{    
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   // put your main code here, to run repeatedly:
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getAccel_Data();
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getGyro_Data();
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getCompassDate_calibrated(); // compass data has been calibrated here  
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getHeading(); //before we use this function we should run 'getCompassDate_calibrated()' frist, so that we can get calibrated data ,then we can get correct angle .
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getTiltHeading();         
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Serial.println("calibration parameter: ");
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Serial.print(mx_centre);
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Serial.print("        ");
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Serial.print(my_centre);
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Serial.print("        ");
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Serial.println(mz_centre);
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Serial.println("    ");
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Serial.println("Acceleration(g) of X,Y,Z:");
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Serial.print(Axyz[0]);
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Serial.print(",");
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Serial.print(Axyz[1]);
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Serial.print(",");
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Serial.println(Axyz[2]);
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Serial.println("Gyro(degress/s) of X,Y,Z:");
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Serial.print(Gxyz[0]);
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Serial.print(",");
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Serial.print(Gxyz[1]);
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Serial.print(",");
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Serial.println(Gxyz[2]);
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Serial.println("Compass Value of X,Y,Z:");
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Serial.print(Mxyz[0]);
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Serial.print(",");
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Serial.print(Mxyz[1]);
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Serial.print(",");
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Serial.println(Mxyz[2]);
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Serial.println("The clockwise angle between the magnetic north and X-Axis:");
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Serial.print(heading);
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Serial.println(" ");
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Serial.println("The clockwise angle between the magnetic north and the projection of the positive X-Axis in the horizontal plane:");
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Serial.println(tiltheading);
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Serial.println("  ");
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Serial.println("  ");
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    Serial.println("  ");
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  c = myIMU0.readByte(MPU9250_ADDRESS_AD0, WHO_AM_I_MPU9250);
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  d = myIMU1.readByte(MPU9250_ADDRESS_AD1, WHO_AM_I_MPU9250);
  
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  Serial.print("Received AD0: 0x");
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  Serial.print(c, HEX);
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  Serial.print(", AD1: 0x");
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  Serial.println(d, HEX);
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  digitalWrite(13, ledOn);
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  ledOn = !ledOn;
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  delay(100);
  
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delay(300);
 
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}
 
}
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</pre>
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void getHeading(void)
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{
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  heading=180*atan2(Mxyz[1],Mxyz[0])/PI;
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  if(heading <0) heading +=360;
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}
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void getTiltHeading(void)
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{
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  float pitch = asin(-Axyz[0]);
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  float roll = asin(Axyz[1]/cos(pitch));
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  float xh = Mxyz[0] * cos(pitch) + Mxyz[2] * sin(pitch);
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  float yh = Mxyz[0] * sin(roll) * sin(pitch) + Mxyz[1] * cos(roll) - Mxyz[2] * sin(roll) * cos(pitch);
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  float zh = -Mxyz[0] * cos(roll) * sin(pitch) + Mxyz[1] * sin(roll) + Mxyz[2] * cos(roll) * cos(pitch);
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  tiltheading = 180 * atan2(yh, xh)/PI;
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  if(yh<0)    tiltheading +=360;
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}
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void Mxyz_init_calibrated ()
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{
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Serial.println(F("Before using 9DOF,we need to calibrate the compass frist,It will takes about 2 minutes."));
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Serial.print("  ");
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Serial.println(F("During  calibratting ,you should rotate and turn the 9DOF all the time within 2 minutes."));
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Serial.print("  ");
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Serial.println(F("If you are ready ,please sent a command data 'ready' to start sample and calibrate."));
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while(!Serial.find("ready"));
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Serial.println("  ");
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Serial.println("ready");
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Serial.println("Sample starting......");
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Serial.println("waiting ......");
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get_calibration_Data ();
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Serial.println("    ");
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Serial.println("compass calibration parameter ");
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Serial.print(mx_centre);
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Serial.print("    ");
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Serial.print(my_centre);
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Serial.print("    ");
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Serial.println(mz_centre);
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Serial.println("    ");
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}
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void get_calibration_Data ()
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{
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for (int i=0; i<sample_num_mdate;i++)
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{
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get_one_sample_date_mxyz();
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/*
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Serial.print(mx_sample[2]);
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Serial.print(" ");
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Serial.print(my_sample[2]);                            //you can see the sample data here .
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Serial.print(" ");
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Serial.println(mz_sample[2]);
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*/
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if (mx_sample[2]>=mx_sample[1])mx_sample[1] = mx_sample[2];
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if (my_sample[2]>=my_sample[1])my_sample[1] = my_sample[2]; //find max value
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if (mz_sample[2]>=mz_sample[1])mz_sample[1] = mz_sample[2];
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if (mx_sample[2]<=mx_sample[0])mx_sample[0] = mx_sample[2];
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if (my_sample[2]<=my_sample[0])my_sample[0] = my_sample[2];//find min value
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if (mz_sample[2]<=mz_sample[0])mz_sample[0] = mz_sample[2];
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}
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mx_max = mx_sample[1];
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my_max = my_sample[1];
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mz_max = mz_sample[1];
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mx_min = mx_sample[0];
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my_min = my_sample[0];
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mz_min = mz_sample[0];
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mx_centre = (mx_max + mx_min)/2;
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my_centre = (my_max + my_min)/2;
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mz_centre = (mz_max + mz_min)/2;
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}
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void get_one_sample_date_mxyz()
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{
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getCompass_Data();
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mx_sample[2] = Mxyz[0];
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my_sample[2] = Mxyz[1];
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mz_sample[2] = Mxyz[2];
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}
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void getAccel_Data(void)
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{
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  accelgyro.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz);
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  Axyz[0] = (double) ax / 16384;//16384  LSB/g
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  Axyz[1] = (double) ay / 16384;
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  Axyz[2] = (double) az / 16384;
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}
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void getGyro_Data(void)
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{
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  accelgyro.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz);
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  Gxyz[0] = (double) gx * 250 / 32768;
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  Gxyz[1] = (double) gy * 250 / 32768;
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  Gxyz[2] = (double) gz * 250 / 32768;
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}
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void getCompass_Data(void)
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{
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I2C_M.writeByte(MPU9150_RA_MAG_ADDRESS, 0x0A, 0x01); //enable the magnetometer
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delay(10);
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I2C_M.readBytes(MPU9150_RA_MAG_ADDRESS, MPU9150_RA_MAG_XOUT_L, 6, buffer_m);
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    mx = ((int16_t)(buffer_m[1]) << 8) | buffer_m[0] ;
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my = ((int16_t)(buffer_m[3]) << 8) | buffer_m[2] ;
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mz = ((int16_t)(buffer_m[5]) << 8) | buffer_m[4] ;
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//Mxyz[0] = (double) mx * 1200 / 4096;
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//Mxyz[1] = (double) my * 1200 / 4096;
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//Mxyz[2] = (double) mz * 1200 / 4096;
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Mxyz[0] = (double) mx * 4800 / 8192;
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Mxyz[1] = (double) my * 4800 / 8192;
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Mxyz[2] = (double) mz * 4800 / 8192;
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}
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void getCompassDate_calibrated ()
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{
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getCompass_Data();
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Mxyz[0] = Mxyz[0] - mx_centre;
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Mxyz[1] = Mxyz[1] - my_centre;
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Mxyz[2] = Mxyz[2] - mz_centre;
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}</pre>
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* 程序效果
 
* 程序效果
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將程序下載后，將九軸姿態(tài)檢測(cè)傳感器水平靜止放置，打開串口監(jiān)視器，波特率調(diào)整為38400，等待顯示“Initializing I2C devices... Testing device connections... MPU9250 connection successful”后晃動(dòng)傳感器，觀察數(shù)據(jù)變化。
+
將程序下載后，將九軸姿態(tài)檢測(cè)傳感器水平靜止放置，打開串口監(jiān)視器，波特率調(diào)整為38400，晃動(dòng)傳感器，觀察數(shù)據(jù)變化。
?
[[文件:02S11304.png|530px|縮略圖|居中]]
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==相關(guān)推薦==
 
==相關(guān)推薦==

2018年12月3日 (一) 17:31的版本

02S11301.png

目錄

產(chǎn)品概述

九軸姿態(tài)檢測(cè)傳感器基于MPU-9150開發(fā)而成，MPU-9150是世界上第一款集成了三軸陀螺儀、三軸加速度計(jì)及三軸磁力計(jì)的芯片。MPU-9150主要應(yīng)用于低功耗、低價(jià)格和高性能消費(fèi)電子產(chǎn)品，包含智能手機(jī)、平板電腦和可穿戴設(shè)備中。MPU-9150包含三個(gè)16位ADC用于陀螺儀信號(hào)進(jìn)行數(shù)字化輸出、三個(gè)16位ADC用于加速度計(jì)信號(hào)數(shù)字化輸出及三個(gè)13位ADC用于磁力計(jì)信號(hào)數(shù)字化輸出。九軸姿態(tài)檢測(cè)傳感器可廣泛應(yīng)用于航模無人機(jī)，機(jī)器人，天線云臺(tái)，聚光太陽能，地面及水下設(shè)備，虛擬現(xiàn)實(shí)，人體運(yùn)動(dòng)分析等需要低成本、高動(dòng)態(tài)三維姿態(tài)測(cè)量的產(chǎn)品設(shè)備中。

規(guī)格參數(shù)

  • 工作電壓：5V
  • 接口類型：IIC通訊接口
  • 輸出信號(hào)：數(shù)字信號(hào)
  • 工作溫度：-5℃到75℃
  • 接口類型：KF2510-4P防插反接口
  • 通信接口：IIC 通信
  • 三軸陀螺儀量程可由用戶設(shè)定，包含±250, ±500, ±1000, and ±2000°/sec
  • 三軸加速度量程可由用戶設(shè)定，包含±2g, ±4g, ±8g and ±16g
  • 產(chǎn)品尺寸：30mm x 25mm
  • 固定孔尺寸：23mm x 18mm
  • 重量大?。?g
  • 工作電流：20mA
  • 安裝：4 * M3 定位孔
  • 產(chǎn)品尺寸：
02S11302.png
  • 引腳定義：

（1）-：電源地
（2）+：電源正極
（3）SDA：IIC數(shù)據(jù)信號(hào)
（4）SCL：IIC時(shí)鐘信號(hào)

使用方法

  • 硬件環(huán)境：

（1）Starduino UNO R3 控制器
（2）4P 傳感器連接線
（3）9軸姿態(tài)傳感器

  • 軟件環(huán)境：Arduino IDE 1.8.1
  • 硬件連接
02S11303.png
  • 例子程序： 
#include "quaternionFilters.h"
#include "MPU9250.h"

#define I2Cclock 400000
#define I2Cport Wire
#define MPU9250_ADDRESS MPU9250_ADDRESS_AD0   // Use either this line or the next to select which I2C address your device is using
//#define MPU9250_ADDRESS MPU9250_ADDRESS_AD1

MPU9250 myIMU0(MPU9250_ADDRESS_AD0, I2Cport, I2Cclock);
MPU9250 myIMU1(MPU9250_ADDRESS_AD1, I2Cport, I2Cclock);

 byte c = 0x00;
 byte d = 0x00;
 bool ledOn = true;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(38400);
  while(!Serial){};

  pinMode(13, OUTPUT);
  
}

void loop() {
  // put your main code here, to run repeatedly:

  c = myIMU0.readByte(MPU9250_ADDRESS_AD0, WHO_AM_I_MPU9250);
  d = myIMU1.readByte(MPU9250_ADDRESS_AD1, WHO_AM_I_MPU9250);

  Serial.print("Received AD0: 0x");
  Serial.print(c, HEX);
  Serial.print(", AD1: 0x");
  Serial.println(d, HEX);
  digitalWrite(13, ledOn);
  ledOn = !ledOn;
  delay(100);

}
  • 程序效果

將程序下載后，將九軸姿態(tài)檢測(cè)傳感器水平靜止放置，打開串口監(jiān)視器，波特率調(diào)整為38400，晃動(dòng)傳感器，觀察數(shù)據(jù)變化。

相關(guān)推薦

例程下載