参考链接：
【Luat-esp32】3.陀螺仪-mpu6050
mpu6050模块介绍
main.lua代码如下：
-- main.lua
--- 模块功能：gsensor- esp32_mpu6050
-- LuaTools需要PROJECT和VERSION这两个信息
PROJECT = "esp32_mpu6050"
VERSION = "1.0.0"
log.info("main", PROJECT, VERSION)
-- sys库是标配
_G.sys = require("sys")
require("mpu6xxx_esp32")
-- ================main start================
sys.taskInit(function()
init_mpu6050() -- 有wait不能放在外面
while 1 do
sys.wait(100)
--get_mpu6xxx_value()
accel = mpu6xxx_get_accel()
gyro = mpu6xxx_get_gyro()
log.info("加速度：", accel.x, accel.y,accel.z)
log.info("陀螺仪：", gyro.x, gyro.y, gyro.z)
end
end)
-- ================main end==================
-- 用户代码已结束---------------------------------------------
-- 结尾总是这一句
sys.run()
-- sys.run()之后后面不要加任何语句!!!!!mpu6xxx_esp32库代码：
-- mpu6xxx_esp32.lua
--- 模块功能：mpu6xxx
-- @module mpu6xxx
-- @author Dozingfiretruck
-- @license MIT
-- @copyright OpenLuat.com
-- @release 2020.12.22
--支持mpu6500，mpu6050，mpu9250，icm2068g，icm20608d，自动判断器件id，只需要配置i2c id就可以
sys = require "sys"
--pm.wake("mpu6xxx")
i2cid = 0 --i2cid
i2cslaveaddr = MPU6XXX_ADDRESS_AD0_LOW
deviceid = MPU6050_WHO_AM_I
MPU6XXX_ADDRESS_AD0_LOW = 0x68 -- address pin low (GND), default for InvenSense evaluation board
MPU6XXX_ADDRESS_AD0_HIGH = 0x69 -- address pin high (VCC)
---器件通讯地址
MPU6050_WHO_AM_I = 0x68 -- mpu6050
MPU6500_WHO_AM_I = 0x70 -- mpu6500
MPU9250_WHO_AM_I = 0x71 -- mpu9250
ICM20608G_WHO_AM_I = 0xAF -- icm20608G
ICM20608D_WHO_AM_I = 0xAE -- icm20608D
MPU6XXX_ACCEL_SEN = 16384
MPU6XXX_GYRO_SEN = 1310
MPU60X0_TEMP_SEN = 340
MPU60X0_TEMP_OFFSET = 36.5
MPU6500_TEMP_SEN = 333.87
MPU6500_TEMP_OFFSET = 21
---MPU6XXX所用地址
MPU6XXX_RA_ACCEL_XOUT_H = 0x3B
MPU6XXX_RA_ACCEL_XOUT_L = 0x3C
MPU6XXX_RA_ACCEL_YOUT_H = 0x3D
MPU6XXX_RA_ACCEL_YOUT_L = 0x3E
MPU6XXX_RA_ACCEL_ZOUT_H = 0x3F
MPU6XXX_RA_ACCEL_ZOUT_L = 0x40
MPU6XXX_RA_TEMP_OUT_H = 0x41
MPU6XXX_RA_TEMP_OUT_L = 0x42
MPU6XXX_RA_GYRO_XOUT_H = 0x43
MPU6XXX_RA_GYRO_XOUT_L = 0x44
MPU6XXX_RA_GYRO_YOUT_H = 0x45
MPU6XXX_RA_GYRO_YOUT_L = 0x46
MPU6XXX_RA_GYRO_ZOUT_H = 0x47
MPU6XXX_RA_GYRO_ZOUT_L = 0x48
MPU6XXX_RA_SMPLRT_DIV = 0x19 --陀螺仪采样率，典型值：0x07(125Hz)
MPU6XXX_RA_CONFIG = 0x1A --低通滤波频率，典型值：0x06(5Hz)
MPU6XXX_RA_GYRO_CONFIG = 0x1B --陀螺仪自检及测量范围，典型值：0x18(不自检，2000deg/s)
MPU6XXX_RA_ACCEL_CONFIG = 0x1C --加速计自检、测量范围及高通滤波频率，典型值：0x01(不自检，2G，5Hz)
MPU6XXX_RA_FIFO_EN = 0x23 --fifo使能
MPU6XXX_RA_INT_PIN_CFG = 0x37 --int引脚有效电平
MPU6XXX_RA_INT_ENABLE = 0x38 --中断使能
MPU6XXX_RA_USER_CTRL = 0x6A
MPU6XXX_RA_PWR_MGMT_1 = 0x6B --电源管理，典型值：0x00(正常启用)
MPU6XXX_RA_PWR_MGMT_2 = 0x6C
MPU6XXX_RA_WHO_AM_I = 0x75
--器件ID检测
function mpu6xxx_check()
i2c.send(i2cid, MPU6XXX_ADDRESS_AD0_LOW, MPU6XXX_RA_WHO_AM_I)--读器件地址
sys.wait(50)
revData = i2c.recv(i2cid, MPU6XXX_ADDRESS_AD0_LOW, 1)
if revData:byte() ~= nil then
i2cslaveaddr = MPU6XXX_ADDRESS_AD0_LOW
else
i2c.send(i2cid, MPU6XXX_ADDRESS_AD0_HIGH, MPU6XXX_RA_WHO_AM_I)--读器件地址
sys.wait(50)
revData = i2c.recv(i2cid, MPU6XXX_ADDRESS_AD0_HIGH, 1)
if revData:byte() ~= nil then
i2cslaveaddr = MPU6XXX_ADDRESS_AD0_HIGH
else
log.info("i2c", "Can't find device")
return 1
end
end
i2c.send(i2cid, i2cslaveaddr, MPU6XXX_RA_WHO_AM_I)--读器件地址
sys.wait(50)
revData = i2c.recv(i2cid, i2cslaveaddr, 1)
log.info("Device i2c address is#:", revData:toHex())
if revData:byte() == MPU6050_WHO_AM_I then
deviceid = MPU6050_WHO_AM_I
log.info("Device i2c id is: MPU6050")
elseif revData:byte() == MPU6500_WHO_AM_I then
deviceid = MPU6500_WHO_AM_I
log.info("Device i2c id is: MPU6500")
elseif revData:byte() == MPU9250_WHO_AM_I then
deviceid = MPU9250_WHO_AM_I
log.info("Device i2c id is: MPU9250")
elseif revData:byte() == ICM20608G_WHO_AM_I then
deviceid = ICM20608G_WHO_AM_I
log.info("Device i2c id is: ICM20608G")
elseif revData:byte() == ICM20608D_WHO_AM_I then
deviceid = ICM20608D_WHO_AM_I
log.info("Device i2c id is: ICM20608D")
else
log.info("i2c", "Can't find device")
return 1
end
return 0
end
--器件初始化
function mpu6xxx_init()
i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_PWR_MGMT_1, 0x80})--复位
sys.wait(100)
i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_PWR_MGMT_1, 0x00})--唤醒
sys.wait(100)
i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_SMPLRT_DIV, 0x07})--陀螺仪采样率，典型值：0x07(125Hz)
i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_CONFIG, 0x06})--低通滤波频率，典型值：0x06(5Hz)
i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_GYRO_CONFIG, 0x18})--陀螺仪自检及测量范围，典型值：0x18(不自检，2000deg/s)
i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_ACCEL_CONFIG, 0x01})--加速计自检、测量范围及高通滤波频率，典型值：0x01(不自检，2G，5Hz)
--i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_FIFO_EN, 0x00})--关闭fifo
--i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_INT_ENABLE, 0x00})--关闭所有中断
--i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_USER_CTRL, 0x00})--I2C主模式关闭
i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_PWR_MGMT_1, 0x01})--设置x轴的pll为参考
i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_PWR_MGMT_2, 0x00})--加速度计与陀螺仪开启
log.info("i2c init_ok")
end
--获取温度的原始数据
function mpu6xxx_get_temp_raw()
i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_TEMP_OUT_H)--获取的地址
buffer = i2c.recv(i2cid, i2cslaveaddr, 2)--获取2字节
temp = string.unpack(">h",buffer)
--log.info("get_temp_raw type: "..type(buffer).." hex: "..buffer:toHex().." temp: "..temp)
return temp or 0
end
--获取加速度计的原始数据
function mpu6xxx_get_accel_raw()
accel={x=nil,y=nil,z=nil}
i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_ACCEL_XOUT_H)--获取的地址
x = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节
accel.x = string.unpack(">h",x)
i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_ACCEL_YOUT_H)--获取的地址
y = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节
accel.y = string.unpack(">h",y)
i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_ACCEL_ZOUT_H)--获取的地址
z = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节
accel.z = string.unpack(">h",z)
--log.info("get_accel_raw: x="..x:toHex().." y="..y:toHex().." z="..z:toHex())
return accel or 0
end
--获取陀螺仪的原始数据
function mpu6xxx_get_gyro_raw()
gyro={x=nil,y=nil,z=nil}
i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_GYRO_XOUT_H)--获取的地址
x = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节
gyro.x = string.unpack(">h",x)
i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_GYRO_YOUT_H)--获取的地址
y = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节
gyro.y = string.unpack(">h",y)
i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_GYRO_ZOUT_H)--获取的地址
z = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节
gyro.z = string.unpack(">h",z)
return gyro or 0
end
--获取温度的原始数据
function mpu6xxx_get_temp()
temp=nil
tmp = mpu6xxx_get_temp_raw()
if deviceid == MPU6050_WHO_AM_I then
temp = tmp / MPU60X0_TEMP_SEN + MPU60X0_TEMP_OFFSET
else
temp = tmp / MPU6500_TEMP_SEN + MPU6500_TEMP_OFFSET
end
return temp
end
--获取加速度计的数据，单位: mg
function mpu6xxx_get_accel()
accel={x=nil,y=nil,z=nil}
tmp = mpu6xxx_get_accel_raw()
accel.x = tmp.x*1000/MPU6XXX_ACCEL_SEN
accel.y = tmp.y*1000/MPU6XXX_ACCEL_SEN
accel.z = tmp.z*1000/MPU6XXX_ACCEL_SEN
return accel
end
--获取陀螺仪的数据，单位: deg / 10s
function mpu6xxx_get_gyro()
gyro={x=nil,y=nil,z=nil}
tmp = mpu6xxx_get_gyro_raw()
gyro.x = tmp.x*100/MPU6XXX_GYRO_SEN
gyro.y = tmp.y*100/MPU6XXX_GYRO_SEN
gyro.z = tmp.z*100/MPU6XXX_GYRO_SEN
return gyro
end
function check_i2c()
if i2c.setup(i2cid,i2c.SLOW) ~= i2c.SLOW then
log.error("testI2c.init","fail")
return
end
if mpu6xxx_check()~= 0 then
return
end
end
function get_mpu6xxx_value()
t = mpu6xxx_get_temp()
log.info("6050temptest", t)
a = mpu6xxx_get_accel()
log.info("6050acceltest", "accel.x",a.x,"accel.y",a.y,"accel.z",a.z)
g = mpu6xxx_get_gyro()
log.info("6050gyrotest", "gyro.x",g.x,"gyro.y",g.y,"gyro.z",g.z)
end
function init_mpu6050()
log.info("init_mpu6050 start---------------")
sys.wait(1000)
check_i2c()
mpu6xxx_init()
log.info("init_mpu6050 end---------------")
end