GY-521 MPU-6050센서 관련 글에서 질문이 있어서 글을 남깁니다.

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GY-521 MPU-6050센서 관련 글에서 질문이 있어서 글을 남깁니다. dlwogur94 \| 2019-03-19
GY-521 MPU-6050센서 관련 글에서 질문이 있어서 글을 남깁니다. 1. 사용한 보드 종류 : 아두이노 UNO 2. 사용한 개발 프로그램명 : 아두이노 IDE 3. 사용한 센서 모델명 : MPU-6050 4. 연결한 회로 설명 : SCL->Analog input(A5), SDA->Analog input(A4), INT->DIGITAL 2. 5. 소스코드 : #include<Wire.h> //아두이노 기본 라이브러리 Wire를 포함해야 합니다. // MPU-6050 레지스터 map #define MPU6050_AUX_VDDIO 0x01 #define MPU6050_SMPLRT_DIV 0x19 #define MPU6050_CONFIG 0x1A #define MPU6050_GYRO_CONFIG 0x1B #define MPU6050_ACCEL_CONFIG 0x1C #define MPU6050_FF_THR 0x1D #define MPU6050_FF_DUR 0x1E #define MPU6050_MOT_THR 0x1F #define MPU6050_MOT_DUR 0x20 #define MPU6050_ZRMOT_THR 0x21 #define MPU6050_ZRMOT_DUR 0x22 #define MPU6050_FIFO_EN 0x23 #define MPU6050_I2C_MST_CTRL 0x24 #define MPU6050_I2C_SLV0_ADDR 0x25 #define MPU6050_I2C_SLV0_REG 0x26 #define MPU6050_I2C_SLV0_CTRL 0x27 #define MPU6050_I2C_SLV1_ADDR 0x28 #define MPU6050_I2C_SLV1_REG 0x29 #define MPU6050_I2C_SLV1_CTRL 0x2A #define MPU6050_I2C_SLV2_ADDR 0x2B #define MPU6050_I2C_SLV2_REG 0x2C #define MPU6050_I2C_SLV2_CTRL 0x2D #define MPU6050_I2C_SLV3_ADDR 0x2E #define MPU6050_I2C_SLV3_REG 0x2F #define MPU6050_I2C_SLV3_CTRL 0x30 #define MPU6050_I2C_SLV4_ADDR 0x31 #define MPU6050_I2C_SLV4_REG 0x32 #define MPU6050_I2C_SLV4_DO 0x33 #define MPU6050_I2C_SLV4_CTRL 0x34 #define MPU6050_I2C_SLV4_DI 0x35 #define MPU6050_I2C_MST_STATUS 0x36 #define MPU6050_INT_PIN_CFG 0x37 #define MPU6050_INT_ENABLE 0x38 #define MPU6050_INT_STATUS 0x3A #define MPU6050_ACCEL_XOUT_H 0x3B #define MPU6050_ACCEL_XOUT_L 0x3C #define MPU6050_ACCEL_YOUT_H 0x3D #define MPU6050_ACCEL_YOUT_L 0x3E #define MPU6050_ACCEL_ZOUT_H 0x3F #define MPU6050_ACCEL_ZOUT_L 0x40 #define MPU6050_TEMP_OUT_H 0x41 #define MPU6050_TEMP_OUT_L 0x42 #define MPU6050_GYRO_XOUT_H 0x43 #define MPU6050_GYRO_XOUT_L 0x44 #define MPU6050_GYRO_YOUT_H 0x45 #define MPU6050_GYRO_YOUT_L 0x46 #define MPU6050_GYRO_ZOUT_H 0x47 #define MPU6050_GYRO_ZOUT_L 0x48 #define MPU6050_EXT_SENS_DATA_00 0x49 #define MPU6050_EXT_SENS_DATA_01 0x4A #define MPU6050_EXT_SENS_DATA_02 0x4B #define MPU6050_EXT_SENS_DATA_03 0x4C #define MPU6050_EXT_SENS_DATA_04 0x4D #define MPU6050_EXT_SENS_DATA_05 0x4E #define MPU6050_EXT_SENS_DATA_06 0x4F #define MPU6050_EXT_SENS_DATA_07 0x50 #define MPU6050_EXT_SENS_DATA_08 0x51 #define MPU6050_EXT_SENS_DATA_09 0x52 #define MPU6050_EXT_SENS_DATA_10 0x53 #define MPU6050_EXT_SENS_DATA_11 0x54 #define MPU6050_EXT_SENS_DATA_12 0x55 #define MPU6050_EXT_SENS_DATA_13 0x56 #define MPU6050_EXT_SENS_DATA_14 0x57 #define MPU6050_EXT_SENS_DATA_15 0x58 #define MPU6050_EXT_SENS_DATA_16 0x59 #define MPU6050_EXT_SENS_DATA_17 0x5A #define MPU6050_EXT_SENS_DATA_18 0x5B #define MPU6050_EXT_SENS_DATA_19 0x5C #define MPU6050_EXT_SENS_DATA_20 0x5D #define MPU6050_EXT_SENS_DATA_21 0x5E #define MPU6050_EXT_SENS_DATA_22 0x5F #define MPU6050_EXT_SENS_DATA_23 0x60 #define MPU6050_MOT_DETECT_STATUS 0x61 #define MPU6050_I2C_SLV0_DO 0x63 #define MPU6050_I2C_SLV1_DO 0x64 #define MPU6050_I2C_SLV2_DO 0x65 #define MPU6050_I2C_SLV3_DO 0x66 #define MPU6050_I2C_MST_DELAY_CTRL 0x67 #define MPU6050_SIGNAL_PATH_RESET 0x68 #define MPU6050_MOT_DETECT_CTRL 0x69 #define MPU6050_USER_CTRL 0x6A #define MPU6050_PWR_MGMT_1 0x6B #define MPU6050_PWR_MGMT_2 0x6C #define MPU6050_FIFO_COUNTH 0x72 #define MPU6050_FIFO_COUNTL 0x73 #define MPU6050_FIFO_R_W 0x74 #define MPU6050_WHO_AM_I 0x75 // 센서 사용시 사용할 변수 #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 // DLPF은 Digital Low Pass Filter #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 #define MPU6050_EXT_SYNC_SET2 MPU6050_D5 //EXT_SYNC_SET 변수 #define MPU6050_EXT_SYNC_SET_0 (0) #define MPU6050_EXT_SYNC_SET_1 (bit(MPU6050_EXT_SYNC_SET0)) #define MPU6050_EXT_SYNC_SET_2 (bit(MPU6050_EXT_SYNC_SET1)) #define MPU6050_EXT_SYNC_SET_3 (bit(MPU6050_EXT_SYNC_SET1)\|bit(MPU6050_EXT_SYNC_SET0)) #define MPU6050_EXT_SYNC_SET_4 (bit(MPU6050_EXT_SYNC_SET2)) #define MPU6050_EXT_SYNC_SET_5 (bit(MPU6050_EXT_SYNC_SET2)\|bit(MPU6050_EXT_SYNC_SET0)) #define MPU6050_EXT_SYNC_SET_6 (bit(MPU6050_EXT_SYNC_SET2)\|bit(MPU6050_EXT_SYNC_SET1)) #define MPU6050_EXT_SYNC_SET_7 (bit(MPU6050_EXT_SYNC_SET2)\|bit(MPU6050_EXT_SYNC_SET1)\|bit(MPU6050_EXT_SYNC_SET0)) #define MPU6050_EXT_SYNC_DISABLED MPU6050_EXT_SYNC_SET_0 #define MPU6050_EXT_SYNC_TEMP_OUT_L MPU6050_EXT_SYNC_SET_1 #define MPU6050_EXT_SYNC_GYRO_XOUT_L MPU6050_EXT_SYNC_SET_2 #define MPU6050_EXT_SYNC_GYRO_YOUT_L MPU6050_EXT_SYNC_SET_3 #define MPU6050_EXT_SYNC_GYRO_ZOUT_L MPU6050_EXT_SYNC_SET_4 #define MPU6050_EXT_SYNC_ACCEL_XOUT_L MPU6050_EXT_SYNC_SET_5 #define MPU6050_EXT_SYNC_ACCEL_YOUT_L MPU6050_EXT_SYNC_SET_6 #define MPU6050_EXT_SYNC_ACCEL_ZOUT_L MPU6050_EXT_SYNC_SET_7 //DLPF_CFG 변수 #define MPU6050_DLPF_CFG_0 (0) #define MPU6050_DLPF_CFG_1 (bit(MPU6050_DLPF_CFG0)) #define MPU6050_DLPF_CFG_2 (bit(MPU6050_DLPF_CFG1)) #define MPU6050_DLPF_CFG_3 (bit(MPU6050_DLPF_CFG1)\|bit(MPU6050_DLPF_CFG0)) #define MPU6050_DLPF_CFG_4 (bit(MPU6050_DLPF_CFG2)) #define MPU6050_DLPF_CFG_5 (bit(MPU6050_DLPF_CFG2)\|bit(MPU6050_DLPF_CFG0)) #define MPU6050_DLPF_CFG_6 (bit(MPU6050_DLPF_CFG2)\|bit(MPU6050_DLPF_CFG1)) #define MPU6050_DLPF_CFG_7 (bit(MPU6050_DLPF_CFG2)\|bit(MPU6050_DLPF_CFG1)\|bit(MPU6050_DLPF_CFG0)) #define MPU6050_DLPF_260HZ MPU6050_DLPF_CFG_0 #define MPU6050_DLPF_184HZ MPU6050_DLPF_CFG_1 #define MPU6050_DLPF_94HZ MPU6050_DLPF_CFG_2 #define MPU6050_DLPF_44HZ MPU6050_DLPF_CFG_3 #define MPU6050_DLPF_21HZ MPU6050_DLPF_CFG_4 #define MPU6050_DLPF_10HZ MPU6050_DLPF_CFG_5 #define MPU6050_DLPF_5HZ MPU6050_DLPF_CFG_6 #define MPU6050_DLPF_RESERVED MPU6050_DLPF_CFG_7 // GYRO_CONFIG Register #define MPU6050_FS_SEL0 MPU6050_D3 #define MPU6050_FS_SEL1 MPU6050_D4 #define MPU6050_ZG_ST MPU6050_D5 #define MPU6050_YG_ST MPU6050_D6 #define MPU6050_XG_ST MPU6050_D7 //the FS_SEL 변수 #define MPU6050_FS_SEL_0 (0) #define MPU6050_FS_SEL_1 (bit(MPU6050_FS_SEL0)) #define MPU6050_FS_SEL_2 (bit(MPU6050_FS_SEL1)) #define MPU6050_FS_SEL_3 (bit(MPU6050_FS_SEL1)\|bit(MPU6050_FS_SEL0)) #define MPU6050_FS_SEL_250 MPU6050_FS_SEL_0 #define MPU6050_FS_SEL_500 MPU6050_FS_SEL_1 #define MPU6050_FS_SEL_1000 MPU6050_FS_SEL_2 #define MPU6050_FS_SEL_2000 MPU6050_FS_SEL_3 // ACCEL_CONFIG Register #define MPU6050_ACCEL_HPF0 MPU6050_D0 #define MPU6050_ACCEL_HPF1 MPU6050_D1 #define MPU6050_ACCEL_HPF2 MPU6050_D2 #define MPU6050_AFS_SEL0 MPU6050_D3 #define MPU6050_AFS_SEL1 MPU6050_D4 #define MPU6050_ZA_ST MPU6050_D5 #define MPU6050_YA_ST MPU6050_D6 #define MPU6050_XA_ST MPU6050_D7 //ACCEL_HPF 변수 #define MPU6050_ACCEL_HPF_0 (0) #define MPU6050_ACCEL_HPF_1 (bit(MPU6050_ACCEL_HPF0)) #define MPU6050_ACCEL_HPF_2 (bit(MPU6050_ACCEL_HPF1)) #define MPU6050_ACCEL_HPF_3 (bit(MPU6050_ACCEL_HPF1)\|bit(MPU6050_ACCEL_HPF0)) #define MPU6050_ACCEL_HPF_4 (bit(MPU6050_ACCEL_HPF2)) #define MPU6050_ACCEL_HPF_7 (bit(MPU6050_ACCEL_HPF2)\|bit(MPU6050_ACCEL_HPF1)\|bit(MPU6050_ACCEL_HPF0)) #define MPU6050_ACCEL_HPF_RESET MPU6050_ACCEL_HPF_0 #define MPU6050_ACCEL_HPF_5HZ MPU6050_ACCEL_HPF_1 #define MPU6050_ACCEL_HPF_2_5HZ MPU6050_ACCEL_HPF_2 #define MPU6050_ACCEL_HPF_1_25HZ MPU6050_ACCEL_HPF_3 #define MPU6050_ACCEL_HPF_0_63HZ MPU6050_ACCEL_HPF_4 #define MPU6050_ACCEL_HPF_HOLD MPU6050_ACCEL_HPF_7 //AFS_SEL 변수 #define MPU6050_AFS_SEL_0 (0) #define MPU6050_AFS_SEL_1 (bit(MPU6050_AFS_SEL0)) #define MPU6050_AFS_SEL_2 (bit(MPU6050_AFS_SEL1)) #define MPU6050_AFS_SEL_3 (bit(MPU6050_AFS_SEL1)\|bit(MPU6050_AFS_SEL0)) #define MPU6050_AFS_SEL_2G MPU6050_AFS_SEL_0 #define MPU6050_AFS_SEL_4G MPU6050_AFS_SEL_1 #define MPU6050_AFS_SEL_8G MPU6050_AFS_SEL_2 #define MPU6050_AFS_SEL_16G MPU6050_AFS_SEL_3 // FIFO_EN Register #define MPU6050_SLV0_FIFO_EN MPU6050_D0 #define MPU6050_SLV1_FIFO_EN MPU6050_D1 #define MPU6050_SLV2_FIFO_EN MPU6050_D2 #define MPU6050_ACCEL_FIFO_EN MPU6050_D3 #define MPU6050_ZG_FIFO_EN MPU6050_D4 #define MPU6050_YG_FIFO_EN MPU6050_D5 #define MPU6050_XG_FIFO_EN MPU6050_D6 #define MPU6050_TEMP_FIFO_EN MPU6050_D7 // I2C_MST_CTRL Register #define MPU6050_I2C_MST_CLK0 MPU6050_D0 #define MPU6050_I2C_MST_CLK1 MPU6050_D1 #define MPU6050_I2C_MST_CLK2 MPU6050_D2 #define MPU6050_I2C_MST_CLK3 MPU6050_D3 #define MPU6050_I2C_MST_P_NSR MPU6050_D4 #define MPU6050_SLV_3_FIFO_EN MPU6050_D5 #define MPU6050_WAIT_FOR_ES MPU6050_D6 #define MPU6050_MULT_MST_EN MPU6050_D7 //I2C_MST_CLK #define MPU6050_I2C_MST_CLK_0 (0) #define MPU6050_I2C_MST_CLK_1 (bit(MPU6050_I2C_MST_CLK0)) #define MPU6050_I2C_MST_CLK_2 (bit(MPU6050_I2C_MST_CLK1)) #define MPU6050_I2C_MST_CLK_3 (bit(MPU6050_I2C_MST_CLK1)\|bit(MPU6050_I2C_MST_CLK0)) #define MPU6050_I2C_MST_CLK_4 (bit(MPU6050_I2C_MST_CLK2)) #define MPU6050_I2C_MST_CLK_5 (bit(MPU6050_I2C_MST_CLK2)\|bit(MPU6050_I2C_MST_CLK0)) #define MPU6050_I2C_MST_CLK_6 (bit(MPU6050_I2C_MST_CLK2)\|bit(MPU6050_I2C_MST_CLK1)) #define MPU6050_I2C_MST_CLK_7 (bit(MPU6050_I2C_MST_CLK2)\|bit(MPU6050_I2C_MST_CLK1)\|bit(MPU6050_I2C_MST_CLK0)) #define MPU6050_I2C_MST_CLK_8 (bit(MPU6050_I2C_MST_CLK3)) #define MPU6050_I2C_MST_CLK_9 (bit(MPU6050_I2C_MST_CLK3)\|bit(MPU6050_I2C_MST_CLK0)) #define MPU6050_I2C_MST_CLK_10 (bit(MPU6050_I2C_MST_CLK3)\|bit(MPU6050_I2C_MST_CLK1)) #define MPU6050_I2C_MST_CLK_11 (bit(MPU6050_I2C_MST_CLK3)\|bit(MPU6050_I2C_MST_CLK1)\|bit(MPU6050_I2C_MST_CLK0)) #define MPU6050_I2C_MST_CLK_12 (bit(MPU6050_I2C_MST_CLK3)\|bit(MPU6050_I2C_MST_CLK2)) #define MPU6050_I2C_MST_CLK_13 (bit(MPU6050_I2C_MST_CLK3)\|bit(MPU6050_I2C_MST_CLK2)\|bit(MPU6050_I2C_MST_CLK0)) #define MPU6050_I2C_MST_CLK_14 (bit(MPU6050_I2C_MST_CLK3)\|bit(MPU6050_I2C_MST_CLK2)\|bit(MPU6050_I2C_MST_CLK1)) #define MPU6050_I2C_MST_CLK_15 (bit(MPU6050_I2C_MST_CLK3)\|bit(MPU6050_I2C_MST_CLK2)\|bit(MPU6050_I2C_MST_CLK1)\|bit(MPU6050_I2C_MST_CLK0)) #define MPU6050_I2C_MST_CLK_348KHZ MPU6050_I2C_MST_CLK_0 #define MPU6050_I2C_MST_CLK_333KHZ MPU6050_I2C_MST_CLK_1 #define MPU6050_I2C_MST_CLK_320KHZ MPU6050_I2C_MST_CLK_2 #define MPU6050_I2C_MST_CLK_308KHZ MPU6050_I2C_MST_CLK_3 #define MPU6050_I2C_MST_CLK_296KHZ MPU6050_I2C_MST_CLK_4 #define MPU6050_I2C_MST_CLK_286KHZ MPU6050_I2C_MST_CLK_5 #define MPU6050_I2C_MST_CLK_276KHZ MPU6050_I2C_MST_CLK_6 #define MPU6050_I2C_MST_CLK_267KHZ MPU6050_I2C_MST_CLK_7 #define MPU6050_I2C_MST_CLK_258KHZ MPU6050_I2C_MST_CLK_8 #define MPU6050_I2C_MST_CLK_500KHZ MPU6050_I2C_MST_CLK_9 #define MPU6050_I2C_MST_CLK_471KHZ MPU6050_I2C_MST_CLK_10 #define MPU6050_I2C_MST_CLK_444KHZ MPU6050_I2C_MST_CLK_11 #define MPU6050_I2C_MST_CLK_421KHZ MPU6050_I2C_MST_CLK_12 #define MPU6050_I2C_MST_CLK_400KHZ MPU6050_I2C_MST_CLK_13 #define MPU6050_I2C_MST_CLK_381KHZ MPU6050_I2C_MST_CLK_14 #define MPU6050_I2C_MST_CLK_364KHZ MPU6050_I2C_MST_CLK_15 // I2C_SLV0_ADDR Register #define MPU6050_I2C_SLV0_RW MPU6050_D7 // I2C_SLV0_CTRL Register #define MPU6050_I2C_SLV0_LEN0 MPU6050_D0 #define MPU6050_I2C_SLV0_LEN1 MPU6050_D1 #define MPU6050_I2C_SLV0_LEN2 MPU6050_D2 #define MPU6050_I2C_SLV0_LEN3 MPU6050_D3 #define MPU6050_I2C_SLV0_GRP MPU6050_D4 #define MPU6050_I2C_SLV0_REG_DIS MPU6050_D5 #define MPU6050_I2C_SLV0_BYTE_SW MPU6050_D6 #define MPU6050_I2C_SLV0_EN MPU6050_D7 // A mask for the length #define MPU6050_I2C_SLV0_LEN_MASK 0x0F // I2C_SLV1_ADDR Register #define MPU6050_I2C_SLV1_RW MPU6050_D7 // I2C_SLV1_CTRL Register #define MPU6050_I2C_SLV1_LEN0 MPU6050_D0 #define MPU6050_I2C_SLV1_LEN1 MPU6050_D1 #define MPU6050_I2C_SLV1_LEN2 MPU6050_D2 #define MPU6050_I2C_SLV1_LEN3 MPU6050_D3 #define MPU6050_I2C_SLV1_GRP MPU6050_D4 #define MPU6050_I2C_SLV1_REG_DIS MPU6050_D5 #define MPU6050_I2C_SLV1_BYTE_SW MPU6050_D6 #define MPU6050_I2C_SLV1_EN MPU6050_D7 // A mask for the length #define MPU6050_I2C_SLV1_LEN_MASK 0x0F // I2C_SLV2_ADDR Register #define MPU6050_I2C_SLV2_RW MPU6050_D7 // I2C_SLV2_CTRL Register #define MPU6050_I2C_SLV2_LEN0 MPU6050_D0 #define MPU6050_I2C_SLV2_LEN1 MPU6050_D1 #define MPU6050_I2C_SLV2_LEN2 MPU6050_D2 #define MPU6050_I2C_SLV2_LEN3 MPU6050_D3 #define MPU6050_I2C_SLV2_GRP MPU6050_D4 #define MPU6050_I2C_SLV2_REG_DIS MPU6050_D5 #define MPU6050_I2C_SLV2_BYTE_SW MPU6050_D6 #define MPU6050_I2C_SLV2_EN MPU6050_D7 // A mask for the length #define MPU6050_I2C_SLV2_LEN_MASK 0x0F // I2C_SLV3_ADDR Register #define MPU6050_I2C_SLV3_RW MPU6050_D7 // I2C_SLV3_CTRL Register #define MPU6050_I2C_SLV3_LEN0 MPU6050_D0 #define MPU6050_I2C_SLV3_LEN1 MPU6050_D1 #define MPU6050_I2C_SLV3_LEN2 MPU6050_D2 #define MPU6050_I2C_SLV3_LEN3 MPU6050_D3 #define MPU6050_I2C_SLV3_GRP MPU6050_D4 #define MPU6050_I2C_SLV3_REG_DIS MPU6050_D5 #define MPU6050_I2C_SLV3_BYTE_SW MPU6050_D6 #define MPU6050_I2C_SLV3_EN MPU6050_D7 // A mask for the length #define MPU6050_I2C_SLV3_LEN_MASK 0x0F // I2C_SLV4_ADDR Register #define MPU6050_I2C_SLV4_RW MPU6050_D7 // I2C_SLV4_CTRL Register #define MPU6050_I2C_MST_DLY0 MPU6050_D0 #define MPU6050_I2C_MST_DLY1 MPU6050_D1 #define MPU6050_I2C_MST_DLY2 MPU6050_D2 #define MPU6050_I2C_MST_DLY3 MPU6050_D3 #define MPU6050_I2C_MST_DLY4 MPU6050_D4 #define MPU6050_I2C_SLV4_REG_DIS MPU6050_D5 #define MPU6050_I2C_SLV4_INT_EN MPU6050_D6 #define MPU6050_I2C_SLV4_EN MPU6050_D7 // A mask for the delay #define MPU6050_I2C_MST_DLY_MASK 0x1F // I2C_MST_STATUS Register #define MPU6050_I2C_SLV0_NACK MPU6050_D0 #define MPU6050_I2C_SLV1_NACK MPU6050_D1 #define MPU6050_I2C_SLV2_NACK MPU6050_D2 #define MPU6050_I2C_SLV3_NACK MPU6050_D3 #define MPU6050_I2C_SLV4_NACK MPU6050_D4 #define MPU6050_I2C_LOST_ARB MPU6050_D5 #define MPU6050_I2C_SLV4_DONE MPU6050_D6 #define MPU6050_PASS_THROUGH MPU6050_D7 // I2C_PIN_CFG Register #define MPU6050_CLKOUT_EN MPU6050_D0 #define MPU6050_I2C_BYPASS_EN MPU6050_D1 #define MPU6050_FSYNC_INT_EN MPU6050_D2 #define MPU6050_FSYNC_INT_LEVEL MPU6050_D3 #define MPU6050_INT_RD_CLEAR MPU6050_D4 #define MPU6050_LATCH_INT_EN MPU6050_D5 #define MPU6050_INT_OPEN MPU6050_D6 #define MPU6050_INT_LEVEL MPU6050_D7 // INT_ENABLE Register #define MPU6050_DATA_RDY_EN MPU6050_D0 #define MPU6050_I2C_MST_INT_EN MPU6050_D3 #define MPU6050_FIFO_OFLOW_EN MPU6050_D4 #define MPU6050_ZMOT_EN MPU6050_D5 #define MPU6050_MOT_EN MPU6050_D6 #define MPU6050_FF_EN MPU6050_D7 // INT_STATUS Register #define MPU6050_DATA_RDY_INT MPU6050_D0 #define MPU6050_I2C_MST_INT MPU6050_D3 #define MPU6050_FIFO_OFLOW_INT MPU6050_D4 #define MPU6050_ZMOT_INT MPU6050_D5 #define MPU6050_MOT_INT MPU6050_D6 #define MPU6050_FF_INT MPU6050_D7 // MOT_DETECT_STATUS Register #define MPU6050_MOT_ZRMOT MPU6050_D0 #define MPU6050_MOT_ZPOS MPU6050_D2 #define MPU6050_MOT_ZNEG MPU6050_D3 #define MPU6050_MOT_YPOS MPU6050_D4 #define MPU6050_MOT_YNEG MPU6050_D5 #define MPU6050_MOT_XPOS MPU6050_D6 #define MPU6050_MOT_XNEG MPU6050_D7 // IC2_MST_DELAY_CTRL Register #define MPU6050_I2C_SLV0_DLY_EN MPU6050_D0 #define MPU6050_I2C_SLV1_DLY_EN MPU6050_D1 #define MPU6050_I2C_SLV2_DLY_EN MPU6050_D2 #define MPU6050_I2C_SLV3_DLY_EN MPU6050_D3 #define MPU6050_I2C_SLV4_DLY_EN MPU6050_D4 #define MPU6050_DELAY_ES_SHADOW MPU6050_D7 // SIGNAL_PATH_RESET Register #define MPU6050_TEMP_RESET MPU6050_D0 #define MPU6050_ACCEL_RESET MPU6050_D1 #define MPU6050_GYRO_RESET MPU6050_D2 // MOT_DETECT_CTRL Register #define MPU6050_MOT_COUNT0 MPU6050_D0 #define MPU6050_MOT_COUNT1 MPU6050_D1 #define MPU6050_FF_COUNT0 MPU6050_D2 #define MPU6050_FF_COUNT1 MPU6050_D3 #define MPU6050_ACCEL_ON_DELAY0 MPU6050_D4 #define MPU6050_ACCEL_ON_DELAY1 MPU6050_D5 //MOT_COUNT #define MPU6050_MOT_COUNT_0 (0) #define MPU6050_MOT_COUNT_1 (bit(MPU6050_MOT_COUNT0)) #define MPU6050_MOT_COUNT_2 (bit(MPU6050_MOT_COUNT1)) #define MPU6050_MOT_COUNT_3 (bit(MPU6050_MOT_COUNT1)\|bit(MPU6050_MOT_COUNT0)) #define MPU6050_MOT_COUNT_RESET MPU6050_MOT_COUNT_0 //FF_COUNT #define MPU6050_FF_COUNT_0 (0) #define MPU6050_FF_COUNT_1 (bit(MPU6050_FF_COUNT0)) #define MPU6050_FF_COUNT_2 (bit(MPU6050_FF_COUNT1)) #define MPU6050_FF_COUNT_3 (bit(MPU6050_FF_COUNT1)\|bit(MPU6050_FF_COUNT0)) #define MPU6050_FF_COUNT_RESET MPU6050_FF_COUNT_0 //ACCEL_ON_DELAY #define MPU6050_ACCEL_ON_DELAY_0 (0) #define MPU6050_ACCEL_ON_DELAY_1 (bit(MPU6050_ACCEL_ON_DELAY0)) #define MPU6050_ACCEL_ON_DELAY_2 (bit(MPU6050_ACCEL_ON_DELAY1)) #define MPU6050_ACCEL_ON_DELAY_3 (bit(MPU6050_ACCEL_ON_DELAY1)\|bit(MPU6050_ACCEL_ON_DELAY0)) #define MPU6050_ACCEL_ON_DELAY_0MS MPU6050_ACCEL_ON_DELAY_0 #define MPU6050_ACCEL_ON_DELAY_1MS MPU6050_ACCEL_ON_DELAY_1 #define MPU6050_ACCEL_ON_DELAY_2MS MPU6050_ACCEL_ON_DELAY_2 #define MPU6050_ACCEL_ON_DELAY_3MS MPU6050_ACCEL_ON_DELAY_3 // USER_CTRL Register #define MPU6050_SIG_COND_RESET MPU6050_D0 #define MPU6050_I2C_MST_RESET MPU6050_D1 #define MPU6050_FIFO_RESET MPU6050_D2 #define MPU6050_I2C_IF_DIS MPU6050_D4 #define MPU6050_I2C_MST_EN MPU6050_D5 #define MPU6050_FIFO_EN MPU6050_D6 // PWR_MGMT_1 Register #define MPU6050_CLKSEL0 MPU6050_D0 #define MPU6050_CLKSEL1 MPU6050_D1 #define MPU6050_CLKSEL2 MPU6050_D2 #define MPU6050_TEMP_DIS MPU6050_D3 #define MPU6050_CYCLE MPU6050_D5 #define MPU6050_SLEEP MPU6050_D6 #define MPU6050_DEVICE_RESET MPU6050_D7 //CLKSEL #define MPU6050_CLKSEL_0 (0) #define MPU6050_CLKSEL_1 (bit(MPU6050_CLKSEL0)) #define MPU6050_CLKSEL_2 (bit(MPU6050_CLKSEL1)) #define MPU6050_CLKSEL_3 (bit(MPU6050_CLKSEL1)\|bit(MPU6050_CLKSEL0)) #define MPU6050_CLKSEL_4 (bit(MPU6050_CLKSEL2)) #define MPU6050_CLKSEL_5 (bit(MPU6050_CLKSEL2)\|bit(MPU6050_CLKSEL0)) #define MPU6050_CLKSEL_6 (bit(MPU6050_CLKSEL2)\|bit(MPU6050_CLKSEL1)) #define MPU6050_CLKSEL_7 (bit(MPU6050_CLKSEL2)\|bit(MPU6050_CLKSEL1)\|bit(MPU6050_CLKSEL0)) #define MPU6050_CLKSEL_INTERNAL MPU6050_CLKSEL_0 #define MPU6050_CLKSEL_X MPU6050_CLKSEL_1 #define MPU6050_CLKSEL_Y MPU6050_CLKSEL_2 #define MPU6050_CLKSEL_Z MPU6050_CLKSEL_3 #define MPU6050_CLKSEL_EXT_32KHZ MPU6050_CLKSEL_4 #define MPU6050_CLKSEL_EXT_19_2MHZ MPU6050_CLKSEL_5 #define MPU6050_CLKSEL_RESERVED MPU6050_CLKSEL_6 #define MPU6050_CLKSEL_STOP MPU6050_CLKSEL_7 // PWR_MGMT_2 Register #define MPU6050_STBY_ZG MPU6050_D0 #define MPU6050_STBY_YG MPU6050_D1 #define MPU6050_STBY_XG MPU6050_D2 #define MPU6050_STBY_ZA MPU6050_D3 #define MPU6050_STBY_YA MPU6050_D4 #define MPU6050_STBY_XA MPU6050_D5 #define MPU6050_LP_WAKE_CTRL0 MPU6050_D6 #define MPU6050_LP_WAKE_CTRL1 MPU6050_D7 //LP_WAKE_CTRL #define MPU6050_LP_WAKE_CTRL_0 (0) #define MPU6050_LP_WAKE_CTRL_1 (bit(MPU6050_LP_WAKE_CTRL0)) #define MPU6050_LP_WAKE_CTRL_2 (bit(MPU6050_LP_WAKE_CTRL1)) #define MPU6050_LP_WAKE_CTRL_3 (bit(MPU6050_LP_WAKE_CTRL1)\|bit(MPU6050_LP_WAKE_CTRL0)) #define MPU6050_LP_WAKE_1_25HZ MPU6050_LP_WAKE_CTRL_0 #define MPU6050_LP_WAKE_2_5HZ MPU6050_LP_WAKE_CTRL_1 #define MPU6050_LP_WAKE_5HZ MPU6050_LP_WAKE_CTRL_2 #define MPU6050_LP_WAKE_10HZ MPU6050_LP_WAKE_CTRL_3 //MPU-6050의 기본 I2C 주소는 0x68. #define MPU6050_I2C_ADDRESS 0x68 //저항, axis 변수들을 선언 typedef union accel_t_gyro_union { struct { uint8_t x_accel_h; uint8_t x_accel_l; uint8_t y_accel_h; uint8_t y_accel_l; uint8_t z_accel_h; uint8_t z_accel_l; uint8_t t_h; uint8_t t_l; uint8_t x_gyro_h; uint8_t x_gyro_l; uint8_t y_gyro_h; uint8_t y_gyro_l; uint8_t z_gyro_h; uint8_t z_gyro_l; } reg; struct { int x_accel; int y_accel; int z_accel; int temperature; int x_gyro; int y_gyro; int z_gyro; } value; }; //변경된 각도와 최종 각도를 저장할 변수 unsigned long last_read_time; float last_x_angle; float last_y_angle; float last_z_angle; float last_gyro_x_angle; float last_gyro_y_angle; float last_gyro_z_angle; //각도를 바꾸는 함수 void set_last_read_angle_data(unsigned long time, float x, float y, float z, float x_gyro, float y_gyro, float z_gyro) { last_read_time = time; last_x_angle = x; last_y_angle = y; last_z_angle = z; last_gyro_x_angle = x_gyro; last_gyro_y_angle = y_gyro; last_gyro_z_angle = z_gyro; } //값 반환 함수 inline unsigned long get_last_time() {return last_read_time;} inline float get_last_x_angle() {return last_x_angle;} inline float get_last_y_angle() {return last_y_angle;} inline float get_last_z_angle() {return last_z_angle;} inline float get_last_gyro_x_angle() {return last_gyro_x_angle;} inline float get_last_gyro_y_angle() {return last_gyro_y_angle;} inline float get_last_gyro_z_angle() {return last_gyro_z_angle;} //센서에서 바로 읽어온 값을 저장할 변수 float base_x_accel; float base_y_accel; float base_z_accel; float base_x_gyro; float base_y_gyro; float base_z_gyro; //원시 데이터를 읽어오는 함수 int read_gyro_accel_vals(uint8_t* accel_t_gyro_ptr) { accel_t_gyro_union* accel_t_gyro = (accel_t_gyro_union ) accel_t_gyro_ptr; int error = MPU6050_read (MPU6050_ACCEL_XOUT_H, (uint8_t ) accel_t_gyro, sizeof(accel_t_gyro)); //high byte와 low byte 바꾸기 uint8_t swap; #define SWAP(x,y) swap = x; x = y; y = swap SWAP ((accel_t_gyro).reg.x_accel_h, (accel_t_gyro).reg.x_accel_l); SWAP ((accel_t_gyro).reg.y_accel_h, (accel_t_gyro).reg.y_accel_l); SWAP ((accel_t_gyro).reg.z_accel_h, (accel_t_gyro).reg.z_accel_l); SWAP ((accel_t_gyro).reg.t_h, (accel_t_gyro).reg.t_l); SWAP ((accel_t_gyro).reg.x_gyro_h, (accel_t_gyro).reg.x_gyro_l); SWAP ((accel_t_gyro).reg.y_gyro_h, (accel_t_gyro).reg.y_gyro_l); SWAP ((accel_t_gyro).reg.z_gyro_h, (accel_t_gyro).reg.z_gyro_l); return error; } //움직임이 없을 때 일차적으로 값을 읽어와 전역변수에 저장 void calibrate_sensors() { int num_readings = 10; float x_accel = 0; float y_accel = 0; float z_accel = 0; float x_gyro = 0; float y_gyro = 0; float z_gyro = 0; accel_t_gyro_union accel_t_gyro; //첫번째 부분 읽어오기 read_gyro_accel_vals((uint8_t ) &accel_t_gyro); //원시 데이터들의 평균 읽기 for (int i = 0; i < num_readings; i++) { read_gyro_accel_vals((uint8_t ) &accel_t_gyro); x_accel += accel_t_gyro.value.x_accel; y_accel += accel_t_gyro.value.y_accel; z_accel += accel_t_gyro.value.z_accel; x_gyro += accel_t_gyro.value.x_gyro; y_gyro += accel_t_gyro.value.y_gyro; z_gyro += accel_t_gyro.value.z_gyro; delay(100); } x_accel /= num_readings; y_accel /= num_readings; z_accel /= num_readings; x_gyro /= num_readings; y_gyro /= num_readings; z_gyro /= num_readings; //전역 변수에 저장 base_x_accel = x_accel; base_y_accel = y_accel; base_z_accel = z_accel; base_x_gyro = x_gyro; base_y_gyro = y_gyro; base_z_gyro = z_gyro; } void setup() { int error; uint8_t c; Serial.begin(19200); Wire.begin(); error = MPU6050_read (MPU6050_WHO_AM_I, &c, 1); error = MPU6050_read (MPU6050_PWR_MGMT_2, &c, 1); //센서 시작 모드 MPU6050_write_reg (MPU6050_PWR_MGMT_1, 0); //각도 초기화 calibrate_sensors(); set_last_read_angle_data(millis(), 0, 0, 0, 0, 0, 0); } void loop() { int error; double dT; accel_t_gyro_union accel_t_gyro; error = read_gyro_accel_vals((uint8_t) &accel_t_gyro); //회전을 했을 떄 시간 알기 unsigned long t_now = millis(); //원시 데이터를 각도로 변환 float FS_SEL = 131; float gyro_x = (accel_t_gyro.value.x_gyro - base_x_gyro)/FS_SEL; float gyro_y = (accel_t_gyro.value.y_gyro - base_y_gyro)/FS_SEL; float gyro_z = (accel_t_gyro.value.z_gyro - base_z_gyro)/FS_SEL; //acceleration 원시 데이터 저장 float accel_x = accel_t_gyro.value.x_accel; float accel_y = accel_t_gyro.value.y_accel; float accel_z = accel_t_gyro.value.z_accel; //accelerometer로 부터 각도 얻기 float RADIANS_TO_DEGREES = 180/3.14159; // float accel_vector_length = sqrt(pow(accel_x,2) + pow(accel_y,2) + pow(accel_z,2)); float accel_angle_y = atan(-1accel_x/sqrt(pow(accel_y,2) + pow(accel_z,2)))RADIANS_TO_DEGREES; float accel_angle_x = atan(accel_y/sqrt(pow(accel_x,2) + pow(accel_z,2)))RADIANS_TO_DEGREES; float accel_angle_z = 0; //gyro angles 계산1 float dt =(t_now - get_last_time())/1000.0; float gyro_angle_x = gyro_xdt + get_last_x_angle(); float gyro_angle_y = gyro_ydt + get_last_y_angle(); float gyro_angle_z = gyro_zdt + get_last_z_angle(); //gyro angles 계산2 float unfiltered_gyro_angle_x = gyro_xdt + get_last_gyro_x_angle(); float unfiltered_gyro_angle_y = gyro_ydt + get_last_gyro_y_angle(); float unfiltered_gyro_angle_z = gyro_zdt + get_last_gyro_z_angle(); //알파를 이용해서 최종 각도 계산3 float alpha = 0.96; float angle_x = alphagyro_angle_x + (1.0 - alpha)accel_angle_x; float angle_y = alphagyro_angle_y + (1.0 - alpha)accel_angle_y; float angle_z = gyro_angle_z; //Accelerometer는 z-angle 없음 //최종 각도 저장 set_last_read_angle_data(t_now, angle_x, angle_y, angle_z, unfiltered_gyro_angle_x, unfiltered_gyro_angle_y, unfiltered_gyro_angle_z); //프로세싱으로 데이터 보내기 Serial.print(F("DEL:")); //Delta T Serial.print(dt, DEC); Serial.print(F("#ACC:")); //Accelerometer angle Serial.print(accel_angle_x, 2); Serial.print(F(",")); Serial.print(accel_angle_y, 2); Serial.print(F(",")); Serial.print(accel_angle_z, 2); Serial.print(F("#GYR:")); Serial.print(unfiltered_gyro_angle_x, 2); //Gyroscope angle Serial.print(F(",")); Serial.print(unfiltered_gyro_angle_y, 2); Serial.print(F(",")); Serial.print(unfiltered_gyro_angle_z, 2); Serial.print(F("#FIL:")); //Filtered angle Serial.print(angle_x, 2); Serial.print(F(",")); Serial.print(angle_y, 2); Serial.print(F(",")); Serial.print(angle_z, 2); Serial.println(F("")); delay(5); } //MPU6050에서 데이터 읽기 int MPU6050_read(int start, uint8_t buffer, int size) { int i, n, error; Wire.beginTransmission(MPU6050_I2C_ADDRESS); n = Wire.write(start); if (n != 1) return (-10); n = Wire.endTransmission(false); if (n != 0) return (n); Wire.requestFrom(MPU6050_I2C_ADDRESS, size, true); i = 0; while(Wire.available() && i//전송 버퍼에 데이터 기록하는 함수 int MPU6050_write(int start, const uint8_t *pData, int size) { int n, error; Wire.beginTransmission(MPU6050_I2C_ADDRESS); n = Wire.write(start); if (n != 1) return (-20); n = Wire.write(pData, size); if (n != size) return (-21); error = Wire.endTransmission(true); // release the I2C-bus if (error != 0) return (error); return (0); // return : no error } //싱글 레지스터에 기록하기 위한 함수 int MPU6050_write_reg(int reg, uint8_t data) { int error; error = MPU6050_write(reg, &data, 1); return (error); } 6. 문제점 및 에러 내용 : GY-521 mpu 6050 모듈 글에 있는 두번째 소스코드입니다. 이 코드를 실행시키면 'MPU6050_write_reg' was not declared in this scope라는 에러문구가 뜨게 됩니다. 이에 대한 해답이 댓글로 적혀 있었고 그 해결책이 코드의 마지막 부분인 싱글레지스터에 기록하기 위한 함수부분입니다. 그래도 아직까지 코드가 실행되지 않고 있습니다. 추가로 마지막 3번째 코드도 import의 변수형이 정의되지 않아 실행되지 않고 있습니다. 이에 대한 솔루션도 제공해 주시면 감사하겠습니다.
kocoafab 2019-03-20 11:59:50 안녕하세요. 위에 올려주신 코드를 간단히 확인해보니 괄호가 안맞는 부분이 몇군데 있는 것 같습니다. (* 바로 보시면 마지막쯤 있는 MPU6050_read 함수 부분에 열린 괄호가 안닫혀 있는 것이 보입니다.) 코드가 길어 전체 코드를 확인하긴 힘드오니 한번 위에서부터 내려오시면서 중괄호, 소괄호가 제대로 열고 닫혀졌는지 직접 확인해보시면 좋을 것 같습니다.
이전글 \| 인터럽트(Interrupt)함수 사용방법 질문드립니다! ...	2019-03-18
다음글 \| 오렌지보드 pc 연결 문의드립니다.	2019-03-20

GY-521 MPU-6050센서 관련 글에서 질문이 있어서 글을 남깁니다. dlwogur94 \| 2019-03-19
GY-521 MPU-6050센서 관련 글에서 질문이 있어서 글을 남깁니다. 1. 사용한 보드 종류 : 아두이노 UNO 2. 사용한 개발 프로그램명 : 아두이노 IDE 3. 사용한 센서 모델명 : MPU-6050 4. 연결한 회로 설명 : SCL->Analog input(A5), SDA->Analog input(A4), INT->DIGITAL 2. 5. 소스코드 : #include<Wire.h> //아두이노 기본 라이브러리 Wire를 포함해야 합니다. // MPU-6050 레지스터 map #define MPU6050_AUX_VDDIO 0x01 #define MPU6050_SMPLRT_DIV 0x19 #define MPU6050_CONFIG 0x1A #define MPU6050_GYRO_CONFIG 0x1B #define MPU6050_ACCEL_CONFIG 0x1C #define MPU6050_FF_THR 0x1D #define MPU6050_FF_DUR 0x1E #define MPU6050_MOT_THR 0x1F #define MPU6050_MOT_DUR 0x20 #define MPU6050_ZRMOT_THR 0x21 #define MPU6050_ZRMOT_DUR 0x22 #define MPU6050_FIFO_EN 0x23 #define MPU6050_I2C_MST_CTRL 0x24 #define MPU6050_I2C_SLV0_ADDR 0x25 #define MPU6050_I2C_SLV0_REG 0x26 #define MPU6050_I2C_SLV0_CTRL 0x27 #define MPU6050_I2C_SLV1_ADDR 0x28 #define MPU6050_I2C_SLV1_REG 0x29 #define MPU6050_I2C_SLV1_CTRL 0x2A #define MPU6050_I2C_SLV2_ADDR 0x2B #define MPU6050_I2C_SLV2_REG 0x2C #define MPU6050_I2C_SLV2_CTRL 0x2D #define MPU6050_I2C_SLV3_ADDR 0x2E #define MPU6050_I2C_SLV3_REG 0x2F #define MPU6050_I2C_SLV3_CTRL 0x30 #define MPU6050_I2C_SLV4_ADDR 0x31 #define MPU6050_I2C_SLV4_REG 0x32 #define MPU6050_I2C_SLV4_DO 0x33 #define MPU6050_I2C_SLV4_CTRL 0x34 #define MPU6050_I2C_SLV4_DI 0x35 #define MPU6050_I2C_MST_STATUS 0x36 #define MPU6050_INT_PIN_CFG 0x37 #define MPU6050_INT_ENABLE 0x38 #define MPU6050_INT_STATUS 0x3A #define MPU6050_ACCEL_XOUT_H 0x3B #define MPU6050_ACCEL_XOUT_L 0x3C #define MPU6050_ACCEL_YOUT_H 0x3D #define MPU6050_ACCEL_YOUT_L 0x3E #define MPU6050_ACCEL_ZOUT_H 0x3F #define MPU6050_ACCEL_ZOUT_L 0x40 #define MPU6050_TEMP_OUT_H 0x41 #define MPU6050_TEMP_OUT_L 0x42 #define MPU6050_GYRO_XOUT_H 0x43 #define MPU6050_GYRO_XOUT_L 0x44 #define MPU6050_GYRO_YOUT_H 0x45 #define MPU6050_GYRO_YOUT_L 0x46 #define MPU6050_GYRO_ZOUT_H 0x47 #define MPU6050_GYRO_ZOUT_L 0x48 #define MPU6050_EXT_SENS_DATA_00 0x49 #define MPU6050_EXT_SENS_DATA_01 0x4A #define MPU6050_EXT_SENS_DATA_02 0x4B #define MPU6050_EXT_SENS_DATA_03 0x4C #define MPU6050_EXT_SENS_DATA_04 0x4D #define MPU6050_EXT_SENS_DATA_05 0x4E #define MPU6050_EXT_SENS_DATA_06 0x4F #define MPU6050_EXT_SENS_DATA_07 0x50 #define MPU6050_EXT_SENS_DATA_08 0x51 #define MPU6050_EXT_SENS_DATA_09 0x52 #define MPU6050_EXT_SENS_DATA_10 0x53 #define MPU6050_EXT_SENS_DATA_11 0x54 #define MPU6050_EXT_SENS_DATA_12 0x55 #define MPU6050_EXT_SENS_DATA_13 0x56 #define MPU6050_EXT_SENS_DATA_14 0x57 #define MPU6050_EXT_SENS_DATA_15 0x58 #define MPU6050_EXT_SENS_DATA_16 0x59 #define MPU6050_EXT_SENS_DATA_17 0x5A #define MPU6050_EXT_SENS_DATA_18 0x5B #define MPU6050_EXT_SENS_DATA_19 0x5C #define MPU6050_EXT_SENS_DATA_20 0x5D #define MPU6050_EXT_SENS_DATA_21 0x5E #define MPU6050_EXT_SENS_DATA_22 0x5F #define MPU6050_EXT_SENS_DATA_23 0x60 #define MPU6050_MOT_DETECT_STATUS 0x61 #define MPU6050_I2C_SLV0_DO 0x63 #define MPU6050_I2C_SLV1_DO 0x64 #define MPU6050_I2C_SLV2_DO 0x65 #define MPU6050_I2C_SLV3_DO 0x66 #define MPU6050_I2C_MST_DELAY_CTRL 0x67 #define MPU6050_SIGNAL_PATH_RESET 0x68 #define MPU6050_MOT_DETECT_CTRL 0x69 #define MPU6050_USER_CTRL 0x6A #define MPU6050_PWR_MGMT_1 0x6B #define MPU6050_PWR_MGMT_2 0x6C #define MPU6050_FIFO_COUNTH 0x72 #define MPU6050_FIFO_COUNTL 0x73 #define MPU6050_FIFO_R_W 0x74 #define MPU6050_WHO_AM_I 0x75 // 센서 사용시 사용할 변수 #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 // DLPF은 Digital Low Pass Filter #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 #define MPU6050_EXT_SYNC_SET2 MPU6050_D5 //EXT_SYNC_SET 변수 #define MPU6050_EXT_SYNC_SET_0 (0) #define MPU6050_EXT_SYNC_SET_1 (bit(MPU6050_EXT_SYNC_SET0)) #define MPU6050_EXT_SYNC_SET_2 (bit(MPU6050_EXT_SYNC_SET1)) #define MPU6050_EXT_SYNC_SET_3 (bit(MPU6050_EXT_SYNC_SET1)\|bit(MPU6050_EXT_SYNC_SET0)) #define MPU6050_EXT_SYNC_SET_4 (bit(MPU6050_EXT_SYNC_SET2)) #define MPU6050_EXT_SYNC_SET_5 (bit(MPU6050_EXT_SYNC_SET2)\|bit(MPU6050_EXT_SYNC_SET0)) #define MPU6050_EXT_SYNC_SET_6 (bit(MPU6050_EXT_SYNC_SET2)\|bit(MPU6050_EXT_SYNC_SET1)) #define MPU6050_EXT_SYNC_SET_7 (bit(MPU6050_EXT_SYNC_SET2)\|bit(MPU6050_EXT_SYNC_SET1)\|bit(MPU6050_EXT_SYNC_SET0)) #define MPU6050_EXT_SYNC_DISABLED MPU6050_EXT_SYNC_SET_0 #define MPU6050_EXT_SYNC_TEMP_OUT_L MPU6050_EXT_SYNC_SET_1 #define MPU6050_EXT_SYNC_GYRO_XOUT_L MPU6050_EXT_SYNC_SET_2 #define MPU6050_EXT_SYNC_GYRO_YOUT_L MPU6050_EXT_SYNC_SET_3 #define MPU6050_EXT_SYNC_GYRO_ZOUT_L MPU6050_EXT_SYNC_SET_4 #define MPU6050_EXT_SYNC_ACCEL_XOUT_L MPU6050_EXT_SYNC_SET_5 #define MPU6050_EXT_SYNC_ACCEL_YOUT_L MPU6050_EXT_SYNC_SET_6 #define MPU6050_EXT_SYNC_ACCEL_ZOUT_L MPU6050_EXT_SYNC_SET_7 //DLPF_CFG 변수 #define MPU6050_DLPF_CFG_0 (0) #define MPU6050_DLPF_CFG_1 (bit(MPU6050_DLPF_CFG0)) #define MPU6050_DLPF_CFG_2 (bit(MPU6050_DLPF_CFG1)) #define MPU6050_DLPF_CFG_3 (bit(MPU6050_DLPF_CFG1)\|bit(MPU6050_DLPF_CFG0)) #define MPU6050_DLPF_CFG_4 (bit(MPU6050_DLPF_CFG2)) #define MPU6050_DLPF_CFG_5 (bit(MPU6050_DLPF_CFG2)\|bit(MPU6050_DLPF_CFG0)) #define MPU6050_DLPF_CFG_6 (bit(MPU6050_DLPF_CFG2)\|bit(MPU6050_DLPF_CFG1)) #define MPU6050_DLPF_CFG_7 (bit(MPU6050_DLPF_CFG2)\|bit(MPU6050_DLPF_CFG1)\|bit(MPU6050_DLPF_CFG0)) #define MPU6050_DLPF_260HZ MPU6050_DLPF_CFG_0 #define MPU6050_DLPF_184HZ MPU6050_DLPF_CFG_1 #define MPU6050_DLPF_94HZ MPU6050_DLPF_CFG_2 #define MPU6050_DLPF_44HZ MPU6050_DLPF_CFG_3 #define MPU6050_DLPF_21HZ MPU6050_DLPF_CFG_4 #define MPU6050_DLPF_10HZ MPU6050_DLPF_CFG_5 #define MPU6050_DLPF_5HZ MPU6050_DLPF_CFG_6 #define MPU6050_DLPF_RESERVED MPU6050_DLPF_CFG_7 // GYRO_CONFIG Register #define MPU6050_FS_SEL0 MPU6050_D3 #define MPU6050_FS_SEL1 MPU6050_D4 #define MPU6050_ZG_ST MPU6050_D5 #define MPU6050_YG_ST MPU6050_D6 #define MPU6050_XG_ST MPU6050_D7 //the FS_SEL 변수 #define MPU6050_FS_SEL_0 (0) #define MPU6050_FS_SEL_1 (bit(MPU6050_FS_SEL0)) #define MPU6050_FS_SEL_2 (bit(MPU6050_FS_SEL1)) #define MPU6050_FS_SEL_3 (bit(MPU6050_FS_SEL1)\|bit(MPU6050_FS_SEL0)) #define MPU6050_FS_SEL_250 MPU6050_FS_SEL_0 #define MPU6050_FS_SEL_500 MPU6050_FS_SEL_1 #define MPU6050_FS_SEL_1000 MPU6050_FS_SEL_2 #define MPU6050_FS_SEL_2000 MPU6050_FS_SEL_3 // ACCEL_CONFIG Register #define MPU6050_ACCEL_HPF0 MPU6050_D0 #define MPU6050_ACCEL_HPF1 MPU6050_D1 #define MPU6050_ACCEL_HPF2 MPU6050_D2 #define MPU6050_AFS_SEL0 MPU6050_D3 #define MPU6050_AFS_SEL1 MPU6050_D4 #define MPU6050_ZA_ST MPU6050_D5 #define MPU6050_YA_ST MPU6050_D6 #define MPU6050_XA_ST MPU6050_D7 //ACCEL_HPF 변수 #define MPU6050_ACCEL_HPF_0 (0) #define MPU6050_ACCEL_HPF_1 (bit(MPU6050_ACCEL_HPF0)) #define MPU6050_ACCEL_HPF_2 (bit(MPU6050_ACCEL_HPF1)) #define MPU6050_ACCEL_HPF_3 (bit(MPU6050_ACCEL_HPF1)\|bit(MPU6050_ACCEL_HPF0)) #define MPU6050_ACCEL_HPF_4 (bit(MPU6050_ACCEL_HPF2)) #define MPU6050_ACCEL_HPF_7 (bit(MPU6050_ACCEL_HPF2)\|bit(MPU6050_ACCEL_HPF1)\|bit(MPU6050_ACCEL_HPF0)) #define MPU6050_ACCEL_HPF_RESET MPU6050_ACCEL_HPF_0 #define MPU6050_ACCEL_HPF_5HZ MPU6050_ACCEL_HPF_1 #define MPU6050_ACCEL_HPF_2_5HZ MPU6050_ACCEL_HPF_2 #define MPU6050_ACCEL_HPF_1_25HZ MPU6050_ACCEL_HPF_3 #define MPU6050_ACCEL_HPF_0_63HZ MPU6050_ACCEL_HPF_4 #define MPU6050_ACCEL_HPF_HOLD MPU6050_ACCEL_HPF_7 //AFS_SEL 변수 #define MPU6050_AFS_SEL_0 (0) #define MPU6050_AFS_SEL_1 (bit(MPU6050_AFS_SEL0)) #define MPU6050_AFS_SEL_2 (bit(MPU6050_AFS_SEL1)) #define MPU6050_AFS_SEL_3 (bit(MPU6050_AFS_SEL1)\|bit(MPU6050_AFS_SEL0)) #define MPU6050_AFS_SEL_2G MPU6050_AFS_SEL_0 #define MPU6050_AFS_SEL_4G MPU6050_AFS_SEL_1 #define MPU6050_AFS_SEL_8G MPU6050_AFS_SEL_2 #define MPU6050_AFS_SEL_16G MPU6050_AFS_SEL_3 // FIFO_EN Register #define MPU6050_SLV0_FIFO_EN MPU6050_D0 #define MPU6050_SLV1_FIFO_EN MPU6050_D1 #define MPU6050_SLV2_FIFO_EN MPU6050_D2 #define MPU6050_ACCEL_FIFO_EN MPU6050_D3 #define MPU6050_ZG_FIFO_EN MPU6050_D4 #define MPU6050_YG_FIFO_EN MPU6050_D5 #define MPU6050_XG_FIFO_EN MPU6050_D6 #define MPU6050_TEMP_FIFO_EN MPU6050_D7 // I2C_MST_CTRL Register #define MPU6050_I2C_MST_CLK0 MPU6050_D0 #define MPU6050_I2C_MST_CLK1 MPU6050_D1 #define MPU6050_I2C_MST_CLK2 MPU6050_D2 #define MPU6050_I2C_MST_CLK3 MPU6050_D3 #define MPU6050_I2C_MST_P_NSR MPU6050_D4 #define MPU6050_SLV_3_FIFO_EN MPU6050_D5 #define MPU6050_WAIT_FOR_ES MPU6050_D6 #define MPU6050_MULT_MST_EN MPU6050_D7 //I2C_MST_CLK #define MPU6050_I2C_MST_CLK_0 (0) #define MPU6050_I2C_MST_CLK_1 (bit(MPU6050_I2C_MST_CLK0)) #define MPU6050_I2C_MST_CLK_2 (bit(MPU6050_I2C_MST_CLK1)) #define MPU6050_I2C_MST_CLK_3 (bit(MPU6050_I2C_MST_CLK1)\|bit(MPU6050_I2C_MST_CLK0)) #define MPU6050_I2C_MST_CLK_4 (bit(MPU6050_I2C_MST_CLK2)) #define MPU6050_I2C_MST_CLK_5 (bit(MPU6050_I2C_MST_CLK2)\|bit(MPU6050_I2C_MST_CLK0)) #define MPU6050_I2C_MST_CLK_6 (bit(MPU6050_I2C_MST_CLK2)\|bit(MPU6050_I2C_MST_CLK1)) #define MPU6050_I2C_MST_CLK_7 (bit(MPU6050_I2C_MST_CLK2)\|bit(MPU6050_I2C_MST_CLK1)\|bit(MPU6050_I2C_MST_CLK0)) #define MPU6050_I2C_MST_CLK_8 (bit(MPU6050_I2C_MST_CLK3)) #define MPU6050_I2C_MST_CLK_9 (bit(MPU6050_I2C_MST_CLK3)\|bit(MPU6050_I2C_MST_CLK0)) #define MPU6050_I2C_MST_CLK_10 (bit(MPU6050_I2C_MST_CLK3)\|bit(MPU6050_I2C_MST_CLK1)) #define MPU6050_I2C_MST_CLK_11 (bit(MPU6050_I2C_MST_CLK3)\|bit(MPU6050_I2C_MST_CLK1)\|bit(MPU6050_I2C_MST_CLK0)) #define MPU6050_I2C_MST_CLK_12 (bit(MPU6050_I2C_MST_CLK3)\|bit(MPU6050_I2C_MST_CLK2)) #define MPU6050_I2C_MST_CLK_13 (bit(MPU6050_I2C_MST_CLK3)\|bit(MPU6050_I2C_MST_CLK2)\|bit(MPU6050_I2C_MST_CLK0)) #define MPU6050_I2C_MST_CLK_14 (bit(MPU6050_I2C_MST_CLK3)\|bit(MPU6050_I2C_MST_CLK2)\|bit(MPU6050_I2C_MST_CLK1)) #define MPU6050_I2C_MST_CLK_15 (bit(MPU6050_I2C_MST_CLK3)\|bit(MPU6050_I2C_MST_CLK2)\|bit(MPU6050_I2C_MST_CLK1)\|bit(MPU6050_I2C_MST_CLK0)) #define MPU6050_I2C_MST_CLK_348KHZ MPU6050_I2C_MST_CLK_0 #define MPU6050_I2C_MST_CLK_333KHZ MPU6050_I2C_MST_CLK_1 #define MPU6050_I2C_MST_CLK_320KHZ MPU6050_I2C_MST_CLK_2 #define MPU6050_I2C_MST_CLK_308KHZ MPU6050_I2C_MST_CLK_3 #define MPU6050_I2C_MST_CLK_296KHZ MPU6050_I2C_MST_CLK_4 #define MPU6050_I2C_MST_CLK_286KHZ MPU6050_I2C_MST_CLK_5 #define MPU6050_I2C_MST_CLK_276KHZ MPU6050_I2C_MST_CLK_6 #define MPU6050_I2C_MST_CLK_267KHZ MPU6050_I2C_MST_CLK_7 #define MPU6050_I2C_MST_CLK_258KHZ MPU6050_I2C_MST_CLK_8 #define MPU6050_I2C_MST_CLK_500KHZ MPU6050_I2C_MST_CLK_9 #define MPU6050_I2C_MST_CLK_471KHZ MPU6050_I2C_MST_CLK_10 #define MPU6050_I2C_MST_CLK_444KHZ MPU6050_I2C_MST_CLK_11 #define MPU6050_I2C_MST_CLK_421KHZ MPU6050_I2C_MST_CLK_12 #define MPU6050_I2C_MST_CLK_400KHZ MPU6050_I2C_MST_CLK_13 #define MPU6050_I2C_MST_CLK_381KHZ MPU6050_I2C_MST_CLK_14 #define MPU6050_I2C_MST_CLK_364KHZ MPU6050_I2C_MST_CLK_15 // I2C_SLV0_ADDR Register #define MPU6050_I2C_SLV0_RW MPU6050_D7 // I2C_SLV0_CTRL Register #define MPU6050_I2C_SLV0_LEN0 MPU6050_D0 #define MPU6050_I2C_SLV0_LEN1 MPU6050_D1 #define MPU6050_I2C_SLV0_LEN2 MPU6050_D2 #define MPU6050_I2C_SLV0_LEN3 MPU6050_D3 #define MPU6050_I2C_SLV0_GRP MPU6050_D4 #define MPU6050_I2C_SLV0_REG_DIS MPU6050_D5 #define MPU6050_I2C_SLV0_BYTE_SW MPU6050_D6 #define MPU6050_I2C_SLV0_EN MPU6050_D7 // A mask for the length #define MPU6050_I2C_SLV0_LEN_MASK 0x0F // I2C_SLV1_ADDR Register #define MPU6050_I2C_SLV1_RW MPU6050_D7 // I2C_SLV1_CTRL Register #define MPU6050_I2C_SLV1_LEN0 MPU6050_D0 #define MPU6050_I2C_SLV1_LEN1 MPU6050_D1 #define MPU6050_I2C_SLV1_LEN2 MPU6050_D2 #define MPU6050_I2C_SLV1_LEN3 MPU6050_D3 #define MPU6050_I2C_SLV1_GRP MPU6050_D4 #define MPU6050_I2C_SLV1_REG_DIS MPU6050_D5 #define MPU6050_I2C_SLV1_BYTE_SW MPU6050_D6 #define MPU6050_I2C_SLV1_EN MPU6050_D7 // A mask for the length #define MPU6050_I2C_SLV1_LEN_MASK 0x0F // I2C_SLV2_ADDR Register #define MPU6050_I2C_SLV2_RW MPU6050_D7 // I2C_SLV2_CTRL Register #define MPU6050_I2C_SLV2_LEN0 MPU6050_D0 #define MPU6050_I2C_SLV2_LEN1 MPU6050_D1 #define MPU6050_I2C_SLV2_LEN2 MPU6050_D2 #define MPU6050_I2C_SLV2_LEN3 MPU6050_D3 #define MPU6050_I2C_SLV2_GRP MPU6050_D4 #define MPU6050_I2C_SLV2_REG_DIS MPU6050_D5 #define MPU6050_I2C_SLV2_BYTE_SW MPU6050_D6 #define MPU6050_I2C_SLV2_EN MPU6050_D7 // A mask for the length #define MPU6050_I2C_SLV2_LEN_MASK 0x0F // I2C_SLV3_ADDR Register #define MPU6050_I2C_SLV3_RW MPU6050_D7 // I2C_SLV3_CTRL Register #define MPU6050_I2C_SLV3_LEN0 MPU6050_D0 #define MPU6050_I2C_SLV3_LEN1 MPU6050_D1 #define MPU6050_I2C_SLV3_LEN2 MPU6050_D2 #define MPU6050_I2C_SLV3_LEN3 MPU6050_D3 #define MPU6050_I2C_SLV3_GRP MPU6050_D4 #define MPU6050_I2C_SLV3_REG_DIS MPU6050_D5 #define MPU6050_I2C_SLV3_BYTE_SW MPU6050_D6 #define MPU6050_I2C_SLV3_EN MPU6050_D7 // A mask for the length #define MPU6050_I2C_SLV3_LEN_MASK 0x0F // I2C_SLV4_ADDR Register #define MPU6050_I2C_SLV4_RW MPU6050_D7 // I2C_SLV4_CTRL Register #define MPU6050_I2C_MST_DLY0 MPU6050_D0 #define MPU6050_I2C_MST_DLY1 MPU6050_D1 #define MPU6050_I2C_MST_DLY2 MPU6050_D2 #define MPU6050_I2C_MST_DLY3 MPU6050_D3 #define MPU6050_I2C_MST_DLY4 MPU6050_D4 #define MPU6050_I2C_SLV4_REG_DIS MPU6050_D5 #define MPU6050_I2C_SLV4_INT_EN MPU6050_D6 #define MPU6050_I2C_SLV4_EN MPU6050_D7 // A mask for the delay #define MPU6050_I2C_MST_DLY_MASK 0x1F // I2C_MST_STATUS Register #define MPU6050_I2C_SLV0_NACK MPU6050_D0 #define MPU6050_I2C_SLV1_NACK MPU6050_D1 #define MPU6050_I2C_SLV2_NACK MPU6050_D2 #define MPU6050_I2C_SLV3_NACK MPU6050_D3 #define MPU6050_I2C_SLV4_NACK MPU6050_D4 #define MPU6050_I2C_LOST_ARB MPU6050_D5 #define MPU6050_I2C_SLV4_DONE MPU6050_D6 #define MPU6050_PASS_THROUGH MPU6050_D7 // I2C_PIN_CFG Register #define MPU6050_CLKOUT_EN MPU6050_D0 #define MPU6050_I2C_BYPASS_EN MPU6050_D1 #define MPU6050_FSYNC_INT_EN MPU6050_D2 #define MPU6050_FSYNC_INT_LEVEL MPU6050_D3 #define MPU6050_INT_RD_CLEAR MPU6050_D4 #define MPU6050_LATCH_INT_EN MPU6050_D5 #define MPU6050_INT_OPEN MPU6050_D6 #define MPU6050_INT_LEVEL MPU6050_D7 // INT_ENABLE Register #define MPU6050_DATA_RDY_EN MPU6050_D0 #define MPU6050_I2C_MST_INT_EN MPU6050_D3 #define MPU6050_FIFO_OFLOW_EN MPU6050_D4 #define MPU6050_ZMOT_EN MPU6050_D5 #define MPU6050_MOT_EN MPU6050_D6 #define MPU6050_FF_EN MPU6050_D7 // INT_STATUS Register #define MPU6050_DATA_RDY_INT MPU6050_D0 #define MPU6050_I2C_MST_INT MPU6050_D3 #define MPU6050_FIFO_OFLOW_INT MPU6050_D4 #define MPU6050_ZMOT_INT MPU6050_D5 #define MPU6050_MOT_INT MPU6050_D6 #define MPU6050_FF_INT MPU6050_D7 // MOT_DETECT_STATUS Register #define MPU6050_MOT_ZRMOT MPU6050_D0 #define MPU6050_MOT_ZPOS MPU6050_D2 #define MPU6050_MOT_ZNEG MPU6050_D3 #define MPU6050_MOT_YPOS MPU6050_D4 #define MPU6050_MOT_YNEG MPU6050_D5 #define MPU6050_MOT_XPOS MPU6050_D6 #define MPU6050_MOT_XNEG MPU6050_D7 // IC2_MST_DELAY_CTRL Register #define MPU6050_I2C_SLV0_DLY_EN MPU6050_D0 #define MPU6050_I2C_SLV1_DLY_EN MPU6050_D1 #define MPU6050_I2C_SLV2_DLY_EN MPU6050_D2 #define MPU6050_I2C_SLV3_DLY_EN MPU6050_D3 #define MPU6050_I2C_SLV4_DLY_EN MPU6050_D4 #define MPU6050_DELAY_ES_SHADOW MPU6050_D7 // SIGNAL_PATH_RESET Register #define MPU6050_TEMP_RESET MPU6050_D0 #define MPU6050_ACCEL_RESET MPU6050_D1 #define MPU6050_GYRO_RESET MPU6050_D2 // MOT_DETECT_CTRL Register #define MPU6050_MOT_COUNT0 MPU6050_D0 #define MPU6050_MOT_COUNT1 MPU6050_D1 #define MPU6050_FF_COUNT0 MPU6050_D2 #define MPU6050_FF_COUNT1 MPU6050_D3 #define MPU6050_ACCEL_ON_DELAY0 MPU6050_D4 #define MPU6050_ACCEL_ON_DELAY1 MPU6050_D5 //MOT_COUNT #define MPU6050_MOT_COUNT_0 (0) #define MPU6050_MOT_COUNT_1 (bit(MPU6050_MOT_COUNT0)) #define MPU6050_MOT_COUNT_2 (bit(MPU6050_MOT_COUNT1)) #define MPU6050_MOT_COUNT_3 (bit(MPU6050_MOT_COUNT1)\|bit(MPU6050_MOT_COUNT0)) #define MPU6050_MOT_COUNT_RESET MPU6050_MOT_COUNT_0 //FF_COUNT #define MPU6050_FF_COUNT_0 (0) #define MPU6050_FF_COUNT_1 (bit(MPU6050_FF_COUNT0)) #define MPU6050_FF_COUNT_2 (bit(MPU6050_FF_COUNT1)) #define MPU6050_FF_COUNT_3 (bit(MPU6050_FF_COUNT1)\|bit(MPU6050_FF_COUNT0)) #define MPU6050_FF_COUNT_RESET MPU6050_FF_COUNT_0 //ACCEL_ON_DELAY #define MPU6050_ACCEL_ON_DELAY_0 (0) #define MPU6050_ACCEL_ON_DELAY_1 (bit(MPU6050_ACCEL_ON_DELAY0)) #define MPU6050_ACCEL_ON_DELAY_2 (bit(MPU6050_ACCEL_ON_DELAY1)) #define MPU6050_ACCEL_ON_DELAY_3 (bit(MPU6050_ACCEL_ON_DELAY1)\|bit(MPU6050_ACCEL_ON_DELAY0)) #define MPU6050_ACCEL_ON_DELAY_0MS MPU6050_ACCEL_ON_DELAY_0 #define MPU6050_ACCEL_ON_DELAY_1MS MPU6050_ACCEL_ON_DELAY_1 #define MPU6050_ACCEL_ON_DELAY_2MS MPU6050_ACCEL_ON_DELAY_2 #define MPU6050_ACCEL_ON_DELAY_3MS MPU6050_ACCEL_ON_DELAY_3 // USER_CTRL Register #define MPU6050_SIG_COND_RESET MPU6050_D0 #define MPU6050_I2C_MST_RESET MPU6050_D1 #define MPU6050_FIFO_RESET MPU6050_D2 #define MPU6050_I2C_IF_DIS MPU6050_D4 #define MPU6050_I2C_MST_EN MPU6050_D5 #define MPU6050_FIFO_EN MPU6050_D6 // PWR_MGMT_1 Register #define MPU6050_CLKSEL0 MPU6050_D0 #define MPU6050_CLKSEL1 MPU6050_D1 #define MPU6050_CLKSEL2 MPU6050_D2 #define MPU6050_TEMP_DIS MPU6050_D3 #define MPU6050_CYCLE MPU6050_D5 #define MPU6050_SLEEP MPU6050_D6 #define MPU6050_DEVICE_RESET MPU6050_D7 //CLKSEL #define MPU6050_CLKSEL_0 (0) #define MPU6050_CLKSEL_1 (bit(MPU6050_CLKSEL0)) #define MPU6050_CLKSEL_2 (bit(MPU6050_CLKSEL1)) #define MPU6050_CLKSEL_3 (bit(MPU6050_CLKSEL1)\|bit(MPU6050_CLKSEL0)) #define MPU6050_CLKSEL_4 (bit(MPU6050_CLKSEL2)) #define MPU6050_CLKSEL_5 (bit(MPU6050_CLKSEL2)\|bit(MPU6050_CLKSEL0)) #define MPU6050_CLKSEL_6 (bit(MPU6050_CLKSEL2)\|bit(MPU6050_CLKSEL1)) #define MPU6050_CLKSEL_7 (bit(MPU6050_CLKSEL2)\|bit(MPU6050_CLKSEL1)\|bit(MPU6050_CLKSEL0)) #define MPU6050_CLKSEL_INTERNAL MPU6050_CLKSEL_0 #define MPU6050_CLKSEL_X MPU6050_CLKSEL_1 #define MPU6050_CLKSEL_Y MPU6050_CLKSEL_2 #define MPU6050_CLKSEL_Z MPU6050_CLKSEL_3 #define MPU6050_CLKSEL_EXT_32KHZ MPU6050_CLKSEL_4 #define MPU6050_CLKSEL_EXT_19_2MHZ MPU6050_CLKSEL_5 #define MPU6050_CLKSEL_RESERVED MPU6050_CLKSEL_6 #define MPU6050_CLKSEL_STOP MPU6050_CLKSEL_7 // PWR_MGMT_2 Register #define MPU6050_STBY_ZG MPU6050_D0 #define MPU6050_STBY_YG MPU6050_D1 #define MPU6050_STBY_XG MPU6050_D2 #define MPU6050_STBY_ZA MPU6050_D3 #define MPU6050_STBY_YA MPU6050_D4 #define MPU6050_STBY_XA MPU6050_D5 #define MPU6050_LP_WAKE_CTRL0 MPU6050_D6 #define MPU6050_LP_WAKE_CTRL1 MPU6050_D7 //LP_WAKE_CTRL #define MPU6050_LP_WAKE_CTRL_0 (0) #define MPU6050_LP_WAKE_CTRL_1 (bit(MPU6050_LP_WAKE_CTRL0)) #define MPU6050_LP_WAKE_CTRL_2 (bit(MPU6050_LP_WAKE_CTRL1)) #define MPU6050_LP_WAKE_CTRL_3 (bit(MPU6050_LP_WAKE_CTRL1)\|bit(MPU6050_LP_WAKE_CTRL0)) #define MPU6050_LP_WAKE_1_25HZ MPU6050_LP_WAKE_CTRL_0 #define MPU6050_LP_WAKE_2_5HZ MPU6050_LP_WAKE_CTRL_1 #define MPU6050_LP_WAKE_5HZ MPU6050_LP_WAKE_CTRL_2 #define MPU6050_LP_WAKE_10HZ MPU6050_LP_WAKE_CTRL_3 //MPU-6050의 기본 I2C 주소는 0x68. #define MPU6050_I2C_ADDRESS 0x68 //저항, axis 변수들을 선언 typedef union accel_t_gyro_union { struct { uint8_t x_accel_h; uint8_t x_accel_l; uint8_t y_accel_h; uint8_t y_accel_l; uint8_t z_accel_h; uint8_t z_accel_l; uint8_t t_h; uint8_t t_l; uint8_t x_gyro_h; uint8_t x_gyro_l; uint8_t y_gyro_h; uint8_t y_gyro_l; uint8_t z_gyro_h; uint8_t z_gyro_l; } reg; struct { int x_accel; int y_accel; int z_accel; int temperature; int x_gyro; int y_gyro; int z_gyro; } value; }; //변경된 각도와 최종 각도를 저장할 변수 unsigned long last_read_time; float last_x_angle; float last_y_angle; float last_z_angle; float last_gyro_x_angle; float last_gyro_y_angle; float last_gyro_z_angle; //각도를 바꾸는 함수 void set_last_read_angle_data(unsigned long time, float x, float y, float z, float x_gyro, float y_gyro, float z_gyro) { last_read_time = time; last_x_angle = x; last_y_angle = y; last_z_angle = z; last_gyro_x_angle = x_gyro; last_gyro_y_angle = y_gyro; last_gyro_z_angle = z_gyro; } //값 반환 함수 inline unsigned long get_last_time() {return last_read_time;} inline float get_last_x_angle() {return last_x_angle;} inline float get_last_y_angle() {return last_y_angle;} inline float get_last_z_angle() {return last_z_angle;} inline float get_last_gyro_x_angle() {return last_gyro_x_angle;} inline float get_last_gyro_y_angle() {return last_gyro_y_angle;} inline float get_last_gyro_z_angle() {return last_gyro_z_angle;} //센서에서 바로 읽어온 값을 저장할 변수 float base_x_accel; float base_y_accel; float base_z_accel; float base_x_gyro; float base_y_gyro; float base_z_gyro; //원시 데이터를 읽어오는 함수 int read_gyro_accel_vals(uint8_t* accel_t_gyro_ptr) { accel_t_gyro_union* accel_t_gyro = (accel_t_gyro_union ) accel_t_gyro_ptr; int error = MPU6050_read (MPU6050_ACCEL_XOUT_H, (uint8_t ) accel_t_gyro, sizeof(accel_t_gyro)); //high byte와 low byte 바꾸기 uint8_t swap; #define SWAP(x,y) swap = x; x = y; y = swap SWAP ((accel_t_gyro).reg.x_accel_h, (accel_t_gyro).reg.x_accel_l); SWAP ((accel_t_gyro).reg.y_accel_h, (accel_t_gyro).reg.y_accel_l); SWAP ((accel_t_gyro).reg.z_accel_h, (accel_t_gyro).reg.z_accel_l); SWAP ((accel_t_gyro).reg.t_h, (accel_t_gyro).reg.t_l); SWAP ((accel_t_gyro).reg.x_gyro_h, (accel_t_gyro).reg.x_gyro_l); SWAP ((accel_t_gyro).reg.y_gyro_h, (accel_t_gyro).reg.y_gyro_l); SWAP ((accel_t_gyro).reg.z_gyro_h, (accel_t_gyro).reg.z_gyro_l); return error; } //움직임이 없을 때 일차적으로 값을 읽어와 전역변수에 저장 void calibrate_sensors() { int num_readings = 10; float x_accel = 0; float y_accel = 0; float z_accel = 0; float x_gyro = 0; float y_gyro = 0; float z_gyro = 0; accel_t_gyro_union accel_t_gyro; //첫번째 부분 읽어오기 read_gyro_accel_vals((uint8_t ) &accel_t_gyro); //원시 데이터들의 평균 읽기 for (int i = 0; i < num_readings; i++) { read_gyro_accel_vals((uint8_t ) &accel_t_gyro); x_accel += accel_t_gyro.value.x_accel; y_accel += accel_t_gyro.value.y_accel; z_accel += accel_t_gyro.value.z_accel; x_gyro += accel_t_gyro.value.x_gyro; y_gyro += accel_t_gyro.value.y_gyro; z_gyro += accel_t_gyro.value.z_gyro; delay(100); } x_accel /= num_readings; y_accel /= num_readings; z_accel /= num_readings; x_gyro /= num_readings; y_gyro /= num_readings; z_gyro /= num_readings; //전역 변수에 저장 base_x_accel = x_accel; base_y_accel = y_accel; base_z_accel = z_accel; base_x_gyro = x_gyro; base_y_gyro = y_gyro; base_z_gyro = z_gyro; } void setup() { int error; uint8_t c; Serial.begin(19200); Wire.begin(); error = MPU6050_read (MPU6050_WHO_AM_I, &c, 1); error = MPU6050_read (MPU6050_PWR_MGMT_2, &c, 1); //센서 시작 모드 MPU6050_write_reg (MPU6050_PWR_MGMT_1, 0); //각도 초기화 calibrate_sensors(); set_last_read_angle_data(millis(), 0, 0, 0, 0, 0, 0); } void loop() { int error; double dT; accel_t_gyro_union accel_t_gyro; error = read_gyro_accel_vals((uint8_t) &accel_t_gyro); //회전을 했을 떄 시간 알기 unsigned long t_now = millis(); //원시 데이터를 각도로 변환 float FS_SEL = 131; float gyro_x = (accel_t_gyro.value.x_gyro - base_x_gyro)/FS_SEL; float gyro_y = (accel_t_gyro.value.y_gyro - base_y_gyro)/FS_SEL; float gyro_z = (accel_t_gyro.value.z_gyro - base_z_gyro)/FS_SEL; //acceleration 원시 데이터 저장 float accel_x = accel_t_gyro.value.x_accel; float accel_y = accel_t_gyro.value.y_accel; float accel_z = accel_t_gyro.value.z_accel; //accelerometer로 부터 각도 얻기 float RADIANS_TO_DEGREES = 180/3.14159; // float accel_vector_length = sqrt(pow(accel_x,2) + pow(accel_y,2) + pow(accel_z,2)); float accel_angle_y = atan(-1accel_x/sqrt(pow(accel_y,2) + pow(accel_z,2)))RADIANS_TO_DEGREES; float accel_angle_x = atan(accel_y/sqrt(pow(accel_x,2) + pow(accel_z,2)))RADIANS_TO_DEGREES; float accel_angle_z = 0; //gyro angles 계산1 float dt =(t_now - get_last_time())/1000.0; float gyro_angle_x = gyro_xdt + get_last_x_angle(); float gyro_angle_y = gyro_ydt + get_last_y_angle(); float gyro_angle_z = gyro_zdt + get_last_z_angle(); //gyro angles 계산2 float unfiltered_gyro_angle_x = gyro_xdt + get_last_gyro_x_angle(); float unfiltered_gyro_angle_y = gyro_ydt + get_last_gyro_y_angle(); float unfiltered_gyro_angle_z = gyro_zdt + get_last_gyro_z_angle(); //알파를 이용해서 최종 각도 계산3 float alpha = 0.96; float angle_x = alphagyro_angle_x + (1.0 - alpha)accel_angle_x; float angle_y = alphagyro_angle_y + (1.0 - alpha)accel_angle_y; float angle_z = gyro_angle_z; //Accelerometer는 z-angle 없음 //최종 각도 저장 set_last_read_angle_data(t_now, angle_x, angle_y, angle_z, unfiltered_gyro_angle_x, unfiltered_gyro_angle_y, unfiltered_gyro_angle_z); //프로세싱으로 데이터 보내기 Serial.print(F("DEL:")); //Delta T Serial.print(dt, DEC); Serial.print(F("#ACC:")); //Accelerometer angle Serial.print(accel_angle_x, 2); Serial.print(F(",")); Serial.print(accel_angle_y, 2); Serial.print(F(",")); Serial.print(accel_angle_z, 2); Serial.print(F("#GYR:")); Serial.print(unfiltered_gyro_angle_x, 2); //Gyroscope angle Serial.print(F(",")); Serial.print(unfiltered_gyro_angle_y, 2); Serial.print(F(",")); Serial.print(unfiltered_gyro_angle_z, 2); Serial.print(F("#FIL:")); //Filtered angle Serial.print(angle_x, 2); Serial.print(F(",")); Serial.print(angle_y, 2); Serial.print(F(",")); Serial.print(angle_z, 2); Serial.println(F("")); delay(5); } //MPU6050에서 데이터 읽기 int MPU6050_read(int start, uint8_t buffer, int size) { int i, n, error; Wire.beginTransmission(MPU6050_I2C_ADDRESS); n = Wire.write(start); if (n != 1) return (-10); n = Wire.endTransmission(false); if (n != 0) return (n); Wire.requestFrom(MPU6050_I2C_ADDRESS, size, true); i = 0; while(Wire.available() && i//전송 버퍼에 데이터 기록하는 함수 int MPU6050_write(int start, const uint8_t *pData, int size) { int n, error; Wire.beginTransmission(MPU6050_I2C_ADDRESS); n = Wire.write(start); if (n != 1) return (-20); n = Wire.write(pData, size); if (n != size) return (-21); error = Wire.endTransmission(true); // release the I2C-bus if (error != 0) return (error); return (0); // return : no error } //싱글 레지스터에 기록하기 위한 함수 int MPU6050_write_reg(int reg, uint8_t data) { int error; error = MPU6050_write(reg, &data, 1); return (error); } 6. 문제점 및 에러 내용 : GY-521 mpu 6050 모듈 글에 있는 두번째 소스코드입니다. 이 코드를 실행시키면 'MPU6050_write_reg' was not declared in this scope라는 에러문구가 뜨게 됩니다. 이에 대한 해답이 댓글로 적혀 있었고 그 해결책이 코드의 마지막 부분인 싱글레지스터에 기록하기 위한 함수부분입니다. 그래도 아직까지 코드가 실행되지 않고 있습니다. 추가로 마지막 3번째 코드도 import의 변수형이 정의되지 않아 실행되지 않고 있습니다. 이에 대한 솔루션도 제공해 주시면 감사하겠습니다.
kocoafab 2019-03-20 11:59:50 안녕하세요. 위에 올려주신 코드를 간단히 확인해보니 괄호가 안맞는 부분이 몇군데 있는 것 같습니다. (* 바로 보시면 마지막쯤 있는 MPU6050_read 함수 부분에 열린 괄호가 안닫혀 있는 것이 보입니다.) 코드가 길어 전체 코드를 확인하긴 힘드오니 한번 위에서부터 내려오시면서 중괄호, 소괄호가 제대로 열고 닫혀졌는지 직접 확인해보시면 좋을 것 같습니다.
이전글 \| 인터럽트(Interrupt)함수 사용방법 질문드립니다! ...	2019-03-18
다음글 \| 오렌지보드 pc 연결 문의드립니다.	2019-03-20