MPU6050开发例程.zip_MPU6050_mpu6050例程_单片机开发_嵌入式/单片机/硬件编程下载-pudn.com

<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/6263b4324c65f41259b69599/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6263b4324c65f41259b69599/bg1.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h2 y2 ff1 fs0 fc0 sc0 ls0 ws0">- <span class="ls1">1 </span>- </div><div class="t m0 x3 h2 y3 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x4 h3 y4 ff2 fs1 fc0 sc0 ls0 ws0">高精度<span class="_ _0"> </span><span class="ff1">6<span class="_"> </span></span>轴惯性导航模块说明书<span class="ff1"> </span></div><div class="t m0 x5 h4 y5 ff1 fs2 fc0 sc0 ls0 ws0">1<span class="ff3"> <span class="_ _1"> </span><span class="ff2">产品概述</span></span> </div><div class="t m0 x6 h5 y6 ff4 fs3 fc1 sc0 ls0 ws0">此六轴模块采用<span class="_ _2"></span>高精度的陀螺加<span class="_ _2"></span>速度计<span class="_ _3"> </span><span class="ff5">MPU6050</span>，通过处<span class="_ _2"></span>理器读取<span class="_ _3"> </span><span class="ff5">MPU605<span class="_ _2"></span>0<span class="_ _3"> </span><span class="ff4">的测量</span></span></div><div class="t m0 x5 h5 y7 ff4 fs3 fc1 sc0 ls0 ws0">数据然后通过串<span class="_ _2"></span>口输出，<span class="_ _4"></span>免去了用户自<span class="_ _2"></span>己去开发<span class="_ _5"> </span><span class="ff5">MPU6050<span class="_ _5"> </span></span>复杂的<span class="_ _5"> </span><span class="ff5">I2C<span class="_ _3"> </span></span>协议，<span class="_ _6"></span>同时精心的<span class="_ _5"> </span><span class="ff5">PCB</span></div><div class="t m0 x5 h5 y8 ff4 fs3 fc1 sc0 ls0 ws0">布局和工艺保证<span class="_ _2"></span>了<span class="_ _3"> </span><span class="ff5">MPU6050<span class="_ _3"> </span></span>收到外接的干扰<span class="_ _2"></span>最小，测量的<span class="_ _2"></span>精度最高。<span class="_ _2"></span><span class="ff5"> </span></div><div class="t m0 x6 h5 y9 ff4 fs3 fc1 sc0 ls0 ws0">模块内部自带电<span class="_ _2"></span>压稳定电路，可<span class="_ _2"></span>以兼容<span class="_ _3"> </span><span class="ff5">3.3V/5<span class="_ _2"></span>V<span class="_ _7"> </span><span class="ff4">的嵌入式系统<span class="_ _2"></span>，连接方便。<span class="_ _2"></span><span class="ff5"> </span></span></span></div><div class="t m0 x6 h5 ya ff4 fs3 fc1 sc0 ls0 ws0">模块保留了<span class="_ _5"> </span><span class="ff5">MPU6050<span class="_ _3"> </span></span>的<span class="_ _7"> </span><span class="ff5">I2C<span class="_ _3"> </span></span>接口，以满<span class="_ _2"></span>足高级用户<span class="_ _2"></span>希望访问底层测<span class="_ _2"></span>量数据的需求。<span class="_ _2"></span><span class="ff5"> </span></div><div class="t m0 x6 h5 yb ff4 fs3 fc1 sc0 ls0 ws0">采用先进的数字<span class="_ _2"></span>滤波技术，能有<span class="_ _2"></span>效降低测量噪<span class="_ _2"></span>声，提高测量精<span class="_ _2"></span>度。<span class="ff5"> </span></div><div class="t m0 x6 h5 yc ff4 fs3 fc1 sc0 ls0 ws0">模块内部集成了<span class="_ _2"></span>姿态解算器，<span class="_ _8"></span>配合动态卡尔<span class="_ _2"></span>曼滤波算法<span class="_ _2"></span>，<span class="_ _9"></span>能够在动态<span class="_ _2"></span>环境下准确输<span class="_ _2"></span>出模</div><div class="t m0 x5 h5 yd ff4 fs3 fc1 sc0 ls0 ws0">块的当前姿态，<span class="_ _2"></span>姿态测量精度<span class="_ _3"> </span><span class="ff5">0.01<span class="_ _3"> </span></span>度，稳定性极<span class="_ _2"></span>高，性能甚至<span class="_ _2"></span>优于某些专业<span class="_ _2"></span>的倾角仪！<span class="ff5"> </span></div><div class="t m0 x6 h5 ye ff4 fs3 fc1 sc0 ls0 ws0">采用邮票孔镀金<span class="_ _2"></span>工艺，品质保证<span class="_ _2"></span>，可嵌入用户<span class="_ _2"></span>的<span class="_ _3"> </span><span class="ff5">PCB<span class="_ _7"> </span></span>板中。<span class="_ _2"></span><span class="ff5"> </span></div><div class="t m0 x6 h5 yf ff4 fs3 fc2 sc1 ls0 ws0">注：本模块不含磁场计，没有磁场的观测量对<span class="_ _2"></span>偏航角进行滤波，所以<span class="ls2">偏航角度</span>是通过</div><div class="t m0 x5 h5 y10 ff4 fs3 fc2 sc1 ls0 ws0">纯积分计算出来的，不可避免地会有漂移现象<span class="_ _2"></span>，<span class="ls2">只能</span>实现短时间内的<span class="ls2">旋转<span class="_ _a"></span>角度</span>测量。而<span class="_ _7"> </span><span class="ff6 sc0">X</span>，</div><div class="t m0 x5 h5 y11 ff6 fs3 fc2 sc0 ls0 ws0">Y<span class="_ _3"> </span><span class="ff4 sc1">轴角度可以通过重力场进行滤波修正，不会出现漂移现象。<span class="_ _2"></span><span class="ff6 sc0"> </span></span></div><div class="t m0 x7 h6 y12 ff5 fs3 fc1 sc0 ls0 ws0"> </div><div class="t m0 x5 h4 y13 ff1 fs2 fc0 sc0 ls0 ws0">2<span class="ff3"> <span class="_ _1"> </span><span class="ff2 ls3">性能<span class="ls0">参数</span></span></span> </div><div class="t m0 x5 h7 y14 ff5 fs4 fc1 sc0 ls0 ws0">1<span class="ff4">、电压：</span>3V~6V<span class="_ _a"></span> </div><div class="t m0 x5 h7 y15 ff5 fs4 fc1 sc0 ls0 ws0">2<span class="ff4">、电流：</span><10mA </div><div class="t m0 x5 h7 y16 ff5 fs4 fc1 sc0 ls0 ws0">3<span class="ff4">、体积：</span>15.24mm X 1<span class="_ _a"></span>5.24mm X 2mm<span class="_ _a"></span> </div><div class="t m0 x5 h7 y17 ff5 fs4 fc1 sc0 ls0 ws0">4<span class="ff4">、焊盘间距：上下<span class="_ _7"> </span></span>100mil(2.54mm)<span class="_ _a"></span><span class="ff4">，左右<span class="_ _7"> </span></span>600mil(15.24mm) </div><div class="t m0 x5 h7 y18 ff5 fs4 fc1 sc0 ls0 ws0">5<span class="ff4">、测量维度：加速<span class="_ _a"></span>度：</span>3<span class="_ _7"> </span><span class="ff4">维，角速度：</span>3<span class="_ _3"> </span><span class="ff4">维，姿<span class="_ _a"></span>态角：</span>3<span class="_ _3"> </span><span class="ff4">维<span class="_ _a"></span></span> </div></div><div class="pi" data-data='{"ctm":[1.611792,0.000000,0.000000,1.611792,0.000000,0.000000]}'></div></div> </body> </html>

<div id="pf2" class="pf w0 h0" data-page-no="2"><div class="pc pc2 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6263b4324c65f41259b69599/bg2.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h2 y2 ff1 fs0 fc0 sc0 ls0 ws0">- <span class="ls1">2 </span>- </div><div class="t m0 x3 h2 y3 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 h7 y19 ff5 fs4 fc1 sc0 ls0 ws0">6<span class="ff4">、量程：加速度</span><span class="ls4">:±<span class="_ _5"> </span><span class="ls5">16</span></span>g<span class="ff4">，角<span class="_ _a"></span>速度</span><span class="ls4">:±<span class="_ _5"> </span></span>2000°/s<span class="ff4">。</span> </div><div class="t m0 x5 h7 y1a ff5 fs4 fc1 sc0 ls0 ws0">7<span class="ff4">、分辨率：加速度<span class="_ _a"></span>：</span>6.1e-<span class="ls6">5g<span class="_ _a"></span></span><span class="ff4">，角速度</span>:7.<span class="_ _a"></span>6e-3°<span class="_ _2"></span>/s<span class="ff4">。<span class="_ _a"></span></span> </div><div class="t m0 x5 h7 y1b ff5 fs4 fc1 sc0 ls0 ws0">8<span class="ff4">、稳定性：加速度<span class="_ _a"></span>：</span>0.0<span class="ls6">1g<span class="_ _a"></span></span><span class="ff4">，角速度<span class="_ _3"> </span></span>0.0<span class="_ _a"></span>5°<span class="_ _2"></span>/s<span class="ff4">。<span class="_ _a"></span></span> </div><div class="t m0 x5 h7 y1c ff5 fs4 fc1 sc0 ls0 ws0">9<span class="ff4">、姿态测量稳定度<span class="_ _a"></span>：</span>0.01°<span class="ff4">。</span> </div><div class="t m0 x5 h7 y1d ff5 fs4 fc1 sc0 ls6 ws0">10<span class="ff4 ls0">、数据输出频率<span class="_ _7"> </span><span class="ff5">100Hz(</span>波特率<span class="_ _7"> </span><span class="ff5">115200)/20Hz(</span>波特<span class="_ _a"></span>率<span class="_ _3"> </span><span class="ff5">9600)</span>。<span class="_ _a"></span><span class="ff5"> </span></span></div><div class="t m0 x5 h7 y1e ff5 fs4 fc1 sc0 ls6 ws0">11<span class="ff4 ls0">、数据接口：串<span class="_ _a"></span>口（<span class="ff5">TTL<span class="_ _7"> </span></span>电平），<span class="ff5">I2C</span>（直接连<span class="_ _7"> </span><span class="ff5">MPU6050</span>，无姿态<span class="_ _a"></span>输出）<span class="ff5"> </span></span></div><div class="t m0 x5 h8 y1f ff5 fs4 fc1 sc0 ls6 ws0">10<span class="ff4 ls0">、波特率<span class="_ _7"> </span><span class="ff5">115200kps/9600kps<span class="_ _a"></span></span>。<span class="ff1 fc0"> </span></span></div><div class="t m0 x5 h4 ya ff1 fs2 fc0 sc0 ls0 ws0">3<span class="ff3"> <span class="_ _1"> </span><span class="ff2 ls3">引脚<span class="ls0">说明</span></span></span> </div><div class="t m0 x8 h6 y20 ff5 fs3 fc1 sc0 ls0 ws0"> </div><div class="c x9 y21 w2 h9"><div class="t m0 xa ha y22 ff4 fs3 fc0 sc0 ls0 ws0">名称<span class="ff1"> </span></div></div><div class="c xb y21 w3 h9"><div class="t m0 xc ha y22 ff4 fs3 fc0 sc0 ls0 ws0">功能<span class="ff1"> </span></div></div><div class="c x9 y23 w2 hb"><div class="t m0 xa ha y24 ff1 fs3 fc0 sc0 ls0 ws0">VCC </div></div><div class="c xb y23 w3 hb"><div class="t m0 xd ha y25 ff4 fs3 fc0 sc0 ls0 ws0">模块电源，<span class="ff1">3.3<span class="_ _2"></span>V<span class="_"> </span><span class="ff4">或<span class="_ _3"> </span></span>5V<span class="_"> </span><span class="ff4 ls2">输入</span> </span></div></div><div class="c x9 y26 w2 hb"><div class="t m0 xe ha y24 ff1 fs3 fc0 sc0 ls7 ws0">RX<span class="ls0"> </span></div></div><div class="c xb y26 w3 hb"><div class="t m0 xf ha y25 ff4 fs3 fc0 sc0 ls0 ws0">串行数据输入，<span class="_ _2"></span><span class="ff1">TTL<span class="_ _5"> </span><span class="ff4">电平</span> </span></div></div><div class="c x9 y27 w2 h9"><div class="t m0 xe ha y24 ff1 fs3 fc0 sc0 ls8 ws0">TX<span class="ls0"> </span></div></div><div class="c xb y27 w3 h9"><div class="t m0 xf ha y22 ff4 fs3 fc0 sc0 ls0 ws0">串行数据输出，<span class="_ _2"></span><span class="ff1">TTL<span class="_ _5"> </span><span class="ff4">电平</span> </span></div></div><div class="c x9 y28 w2 h9"><div class="t m0 x10 ha y24 ff1 fs3 fc0 sc0 ls0 ws0">GND </div></div><div class="c xb y28 w3 h9"><div class="t m0 xc ha y22 ff4 fs3 fc0 sc0 ls0 ws0">地线<span class="ff1"> </span></div></div><div class="c x9 y29 w2 h9"><div class="t m0 x11 ha y24 ff1 fs3 fc0 sc0 ls0 ws0">SCL </div></div><div class="c xb y29 w3 h9"><div class="t m0 x12 ha y22 ff1 fs3 fc0 sc0 ls0 ws0">I2C<span class="_"> </span><span class="ff4">时钟线</span> </div></div><div class="c x9 y2a w2 h9"><div class="t m0 xa ha y2b ff1 fs3 fc0 sc0 ls0 ws0">SDA </div></div><div class="c xb y2a w3 h9"><div class="t m0 x12 ha y22 ff1 fs3 fc0 sc0 ls0 ws0">I2C<span class="_"> </span><span class="ff4">数据线</span> </div></div><div class="t m0 x5 h4 y2c ff1 fs2 fc0 sc0 ls0 ws0">4<span class="ff3"> <span class="_ _1"> </span><span class="ff2 ls3">轴向<span class="ls0">说明</span></span></span> </div><div class="t m0 x6 ha y2d ff4 fs3 fc0 sc0 ls0 ws0">如上图所示，<span class="ls2">模块</span>的轴向<span class="_ _2"></span>在上图的右上角<span class="_ _2"></span>标示出来，向右<span class="_ _2"></span>为<span class="_ _3"> </span><span class="ff1">X<span class="_"> </span></span>轴，向上位<span class="_ _5"> </span><span class="ff1">Y<span class="_"> </span></span>轴，<span class="ls2">垂直</span></div><div class="t m0 x5 ha y2e ff4 fs3 fc0 sc0 ls0 ws0">与纸面向外为<span class="_ _5"> </span><span class="ff1">Z<span class="_"> </span></span>轴。<span class="ls2">旋转</span>的方向按<span class="ls2">右手法则定义<span class="_ _a"></span></span>，即右手大拇<span class="_ _2"></span>指<span class="ls2">指向轴向<span class="_ _a"></span></span>，四指<span class="ls2">弯曲</span>的方</div><div class="t m0 x5 ha y2f ff4 fs3 fc0 sc0 ls0 ws0">向即为绕该轴<span class="ls2">旋转</span>的方向<span class="_ _2"></span>。<span class="ff1"> </span></div></div><div class="pi" data-data='{"ctm":[1.611792,0.000000,0.000000,1.611792,0.000000,0.000000]}'></div></div>

<div id="pf3" class="pf w0 h0" data-page-no="3"><div class="pc pc3 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6263b4324c65f41259b69599/bg3.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h2 y2 ff1 fs0 fc0 sc0 ls0 ws0">- <span class="ls1">3 </span>- </div><div class="t m0 x3 h2 y3 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 h4 y30 ff1 fs2 fc0 sc0 ls0 ws0">5<span class="ff3"> <span class="_ _1"> </span><span class="ff2 ls3">硬件<span class="ls0">连接方法</span></span></span> </div><div class="t m0 x5 hc y31 ff1 fs5 fc0 sc0 ls0 ws0">5.1<span class="ff3"> <span class="_ _7"> </span><span class="ff2">与计算机</span></span> </div><div class="t m0 x6 ha y32 ff4 fs3 fc0 sc0 ls0 ws0">与计算机<span class="ls2">连接，需要<span class="_ _7"> </span></span><span class="ff1">USB<span class="_"> </span></span>转<span class="_ _3"> </span><span class="ff1">TTL<span class="_"> </span></span>电平的串<span class="_ _2"></span>口模块。推荐以<span class="_ _2"></span>下<span class="ls2">两款<span class="_ _3"> </span></span><span class="ff1">U<span class="_ _a"></span>SB<span class="_"> </span></span>转串口<span class="_ _2"></span>模块。<span class="ff1"> </span></div><div class="t m0 x2 ha y33 ff1 fs3 fc0 sc0 ls0 ws0"> </div><div class="t m0 x6 ha y34 ff1 fs3 fc0 sc0 ls0 ws0">USB<span class="_"> </span><span class="ff4">串口模<span class="_ _2"></span>块连接<span class="_ _3"> </span><span class="ff1">6050<span class="_"> </span></span>模块的方法<span class="ls2">是：</span><span class="ff1">US<span class="_ _2"></span>B<span class="_"> </span><span class="ff4">串口模块的<span class="_ _2"></span><span class="ff1">+5V<span class="ff4">，</span>TXD<span class="ff4">，</span>RX<span class="_ _2"></span>D<span class="ff4">，</span><span class="ls9">GND<span class="_"> </span></span><span class="ff4">接</span></span></span></span></span></div><div class="t m0 x5 ha y35 ff1 fs3 fc0 sc0 ls0 ws0">6050<span class="_"> </span><span class="ff4">模块的<span class="_ _5"> </span></span>VCC<span class="ff4">，</span><span class="lsa">RX</span><span class="ff4">，</span><span class="lsb">TX</span><span class="ff4">，</span><span class="ls9">GND</span><span class="ff4">。注意<span class="_ _3"> </span></span>TXD<span class="_"> </span><span class="ff4">和<span class="_ _3"> </span></span>RXD<span class="_"> </span><span class="ff4">的交叉。</span> </div><div class="t m0 x6 hd y36 ff7 fs3 fc2 sc0 ls0 ws0">(<span class="ff4 sc1">注意：<span class="_ _b"></span>六合一串口模块连接<span class="_ _3"> </span><span class="ff7 sc0">6050<span class="_"> </span></span>模块时需要将<span class="_ _3"> </span><span class="ff7 sc0">2<span class="_"> </span></span>号拨码开关拨到<span class="_ _3"> </span><span class="ff7 sc0">OFF<span class="_"> </span></span>端，<span class="_ _b"></span>如下图：<span class="_ _b"></span><span class="ff7 sc0">) </span></span></div><div class="t m0 x13 ha y37 ff1 fs3 fc0 sc0 ls0 ws0"> </div><div class="t m0 x14 ha y38 ff1 fs3 fc0 sc0 ls0 ws0"> </div><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a></div><div class="pi" data-data='{"ctm":[1.611792,0.000000,0.000000,1.611792,0.000000,0.000000]}'></div></div>