--- 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 module(...,package.seeall) require"utils" require"bit" pm.wake("mpu6xxx") local i2cid = 2 --i2cid local i2cslaveaddr local deviceid local MPU6XXX_ADDRESS_AD0_LOW = 0x68 -- address pin low (GND), default for InvenSense evaluation board local MPU6XXX_ADDRESS_AD0_HIGH = 0x69 -- address pin high (VCC) ---器件通讯地址 local MPU6050_WHO_AM_I = 0x68 -- mpu6050 local MPU6500_WHO_AM_I = 0x70 -- mpu6500 local MPU9250_WHO_AM_I = 0x71 -- mpu9250 local ICM20608G_WHO_AM_I = 0xAF -- icm20608G local ICM20608D_WHO_AM_I = 0xAE -- icm20608D ---MPU6XXX所用地址 local MPU6XXX_RA_ACCEL_XOUT_H = 0x3B local MPU6XXX_RA_ACCEL_XOUT_L = 0x3C local MPU6XXX_RA_ACCEL_YOUT_H = 0x3D local MPU6XXX_RA_ACCEL_YOUT_L = 0x3E local MPU6XXX_RA_ACCEL_ZOUT_H = 0x3F local MPU6XXX_RA_ACCEL_ZOUT_L = 0x40 local MPU6XXX_RA_TEMP_OUT_H = 0x41 local MPU6XXX_RA_TEMP_OUT_L = 0x42 local MPU6XXX_RA_GYRO_XOUT_H = 0x43 local MPU6XXX_RA_GYRO_XOUT_L = 0x44 local MPU6XXX_RA_GYRO_YOUT_H = 0x45 local MPU6XXX_RA_GYRO_YOUT_L = 0x46 local MPU6XXX_RA_GYRO_ZOUT_H = 0x47 local MPU6XXX_RA_GYRO_ZOUT_L = 0x48 local MPU6XXX_ACCEL_SEN = 16384 local MPU6XXX_GYRO_SEN = 1310 local MPU60X0_TEMP_SEN = 340 local MPU60X0_TEMP_OFFSET = 36.5 local MPU6500_TEMP_SEN = 333.87 local MPU6500_TEMP_OFFSET = 21 local MPU6XXX_RA_PWR_MGMT_1 = 0x6B --电源管理，典型值：0x00(正常启用) local MPU6XXX_RA_SMPLRT_DIV = 0x19 --陀螺仪采样率，典型值：0x07(125Hz) local MPU6XXX_RA_CONFIG = 0x1A --低通滤波频率，典型值：0x06(5Hz) local MPU6XXX_RA_GYRO_CONFIG = 0x1B --陀螺仪自检及测量范围，典型值：0x18(不自检，2000deg/s) local 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) local MPU6XXX_RA_FIFO_EN = 0x23 --fifo使能 local MPU6XXX_RA_INT_PIN_CFG = 0x37 --int引脚有效电平 local MPU6XXX_RA_INT_ENABLE = 0x38 --中断使能 local MPU6XXX_RA_USER_CTRL = 0x6A local MPU6XXX_RA_PWR_MGMT_1 = 0x6B local MPU6XXX_RA_PWR_MGMT_2 = 0x6C local MPU6XXX_RA_WHO_AM_I = 0x75 --器件ID检测 local function mpu6xxx_check() i2c.send(i2cid, MPU6XXX_ADDRESS_AD0_LOW, MPU6XXX_RA_WHO_AM_I)--读器件地址 sys.wait(50) local 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) local 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) local revData = i2c.recv(i2cid, i2cslaveaddr, 1) log.info("Device i2c address is3:", 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 local 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 local function mpu6xxx_get_temp_raw() i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_TEMP_OUT_H)--获取的地址 local buffer = i2c.recv(i2cid, i2cslaveaddr, 2)--获取2字节 local _, temp = pack.unpack(buffer, ">h") return temp or 0 end --获取加速度计的原始数据 local function mpu6xxx_get_accel_raw() local accel={x=nil,y=nil,z=nil} i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_ACCEL_XOUT_H)--获取的地址 local x = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节 _,accel.x = pack.unpack(x,">h") i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_ACCEL_YOUT_H)--获取的地址 local y = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节 _,accel.y = pack.unpack(y,">h") i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_ACCEL_ZOUT_H)--获取的地址 local z = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节 _,accel.z = pack.unpack(z,">h") return accel or 0 end --获取陀螺仪的原始数据 local function mpu6xxx_get_gyro_raw() local gyro={x=nil,y=nil,z=nil} i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_GYRO_XOUT_H)--获取的地址 local x = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节 _,gyro.x = pack.unpack(x,">h") i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_GYRO_YOUT_H)--获取的地址 local y = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节 _,gyro.y = pack.unpack(y,">h") i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_GYRO_ZOUT_H)--获取的地址 local z = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节 _,gyro.z = pack.unpack(z,">h") return gyro or 0 end --获取温度的原始数据 local function mpu6xxx_get_temp() local temp=nil local 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 local function mpu6xxx_get_accel() local accel={x=nil,y=nil,z=nil} local 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 local function mpu6xxx_get_gyro() local gyro={x=nil,y=nil,z=nil} local 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 local function mpu6xxx() sys.wait(4000) if i2c.setup(i2cid,i2c.SLOW) ~= i2c.SLOW then log.error("testI2c.init","fail") return end if mpu6xxx_check()~= 0 then return end mpu6xxx_init() while true do local test = mpu6xxx_get_temp() log.info("6050temptest", test) local test1 = mpu6xxx_get_accel() log.info("6050acceltest", "accel.x",test1.x,"accel.y",test1.y,"accel.z",test1.z) local test2 = mpu6xxx_get_gyro() log.info("6050gyrotest", "gyro.x",test2.x,"gyro.y",test2.y,"gyro.z",test2.z) sys.wait(1000) end end sys.taskInit(mpu6xxx)