GY-521 MPU-6050 module three-axis acceleration gyroscope 6DOF

เซนเซอร์ GY-521 หรือ MPU 6050 6-axis  สามารถวัดได้ 6 แกน 1. Accelerometer วัดความเร่ง 3 แกน 2. Gyroscope วัดความเร็วเชิงมุม  3 แกนโดยต่อแบบ i2c 

Introduction:

 

MPU-6000 is the world's first 6-axis motion processing system. Compared to multi-component solutions, the MPU-6000 eliminates the problem of axial distinction when gyroscopes and accelerators are combined, thus reducing the amount of packaging space.

The MPU-6000 includes a 3-axis gyroscope, 3-axis accelerator, and includes a digital processor hardware acceleration (DMP) that can be connected to an accelerator, magnetic sensor, or other sensors via an I2C port. Second, the engine from the I2C master port outputs a complete 9-core fusion algorithm to the application as a single data stream.

InvenSense's motion processing database manages complex data for motion detection, reduces the load on the operating system for motion processing operations, and provides architected APIs for application development.

MPU-6000's speed range of full sensing is ± 250, ± 500, ± 1000 and ± 2000 ° / sec (dps), which tracks fast and slow motion, and programmable users can feel the fullness of the measurements. Is ± 2g, ± 4g ± 8g and ± 16g transmission, products can be transmitted via I2C up to 400kHz or SPI up to 20MHz.

The MPU-6000 can operate at different voltages with a supply voltage VDD 2.5V ± 5%, 3.0V ± 5%, or 3.3V ± 5%, and the VVDIO logic interface supplies 1.8V ± 5% MPU-. The 6000 comes in a 4x4x0.9mm package (QFN) and is an industry revolutionary model. Other features include a built-in temperature sensor and an oscillator with only ± 1% variation in the operating environment.

 

Characteristics:

1.Chip: MPU-6050

2.Power supply: 3v-5V power

3. Gyroscope: + 250 500 1,000 2000 ° / s

4. Acceleration: ± 2 ± 4 ± 8 ± 16 g

5.Communication: standard IIC communication agreement.

6. Built-in 16 bit AD converter chip, 16 bits of data output.

7.Pin spacing 2.54mm

#include "Wire.h"

#include  "math.h"

const int MPU=0x68;

int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;

double pitch,roll;

 

void setup(){

Wire.begin();

Wire.beginTransmission(MPU);

Wire.write(0x6B);

Wire.write(0);

Wire.endTransmission(true);

Serial.begin(9600);

}

void loop(){

Wire.beginTransmission(MPU);

Wire.write(0x3B);

Wire.endTransmission(false);

Wire.requestFrom(MPU,14,true);

 

int AcXoff,AcYoff,AcZoff,GyXoff,GyYoff,GyZoff;

int temp,toff;

double t,tx,tf;

 

//Acceleration data correction

AcXoff = -950;

AcYoff = -300;

AcZoff = 0;

 

//Temperature correction

toff = -1600;

 

//Gyro correction

GyXoff = 480;

GyYoff = 170;

GyZoff = 210;

 

//read accel data

AcX=(Wire.read()<<8|Wire.read()) + AcXoff;

AcY=(Wire.read()<<8|Wire.read()) + AcYoff;

AcZ=(Wire.read()<<8|Wire.read()) + AcYoff;

 

//read temperature data

temp=(Wire.read()<<8|Wire.read()) + toff;

tx=temp;

t = tx/340 + 36.53;

tf = (t * 9/5) + 32;

 

//read gyro data

GyX=(Wire.read()<<8|Wire.read()) + GyXoff;

GyY=(Wire.read()<<8|Wire.read()) + GyYoff;

GyZ=(Wire.read()<<8|Wire.read()) + GyZoff;

 

//get pitch/roll

getAngle(AcX,AcY,AcZ);

 

//send the data out the serial port

Serial.print("Angle: ");

Serial.print("Pitch = "); Serial.print(pitch);

Serial.print(" | Roll = "); Serial.println(roll);

 

Serial.print("Temp: ");

Serial.print("Temp(F) = "); Serial.print(tf);

Serial.print(" | Temp(C) = "); Serial.println(t);

 

Serial.print("Accelerometer: ");

Serial.print("X = "); Serial.print(AcX);

Serial.print(" | Y = "); Serial.print(AcY);

Serial.print(" | Z = "); Serial.println(AcZ);

 

Serial.print("Gyroscope: ");

Serial.print("X = "); Serial.print(GyX);

Serial.print(" | Y = "); Serial.print(GyY);

Serial.print(" | Z = "); Serial.println(GyZ);

Serial.println(" ");

delay(333);

}

 

//convert the accel data to pitch/roll

void getAngle(int Vx,int Vy,int Vz) {

double x = Vx;

double y = Vy;

double z = Vz;

 

pitch = atan(x/sqrt((y*y) + (z*z)));

roll = atan(y/sqrt((x*x) + (z*z)));

//convert radians into degrees

pitch = pitch * (180.0/3.14);

roll = roll * (180.0/3.14) ;

}