目录
1、库文件安装
（1）方法1-网上下载库文件
（2）方法2-本地库文件夹中添加
2、欧拉角获取
（1）打开测试程序
（2）读欧拉角程序
（3）坐标系和欧拉角说明
（4）串口数据读取
3、代码
4、下载链接
1、库文件安装
（1）方法1-网上下载库文件
在库中搜索mpu6050，然后安装它
找到如图所示的版本进行安装
（2）方法2-本地库文件夹中添加
找到方法1中下载的压缩文件
如果找不到可以点击本链接，下载
https://download.csdn.net/download/panjinliang066333/89791896
解压后将文件夹复制到如下文件路径，重启软件即可。
重新启动Arduino软件，即可找到MPU6050库文件提供的案例
2、欧拉角获取
（1）打开测试程序
打开例子，使用例子需要做一点修改。或者下载下面改好的例子
https://download.csdn.net/download/panjinliang066333/89791896
（2）读欧拉角程序
①
②
（3）坐标系和欧拉角说明
（4）串口数据读取
3、代码
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE#include "Wire.h"
#endifMPU6050 mpu;#define OUTPUT_READABLE_YAWPITCHROLL
#define INTERRUPT_PIN 2
#define LED_PIN 13
bool blinkState = false;// MPU control/status vars
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };// ================================================================
// === INTERRUPT DETECTION ROUTINE ===
// ================================================================volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady()
{mpuInterrupt = true;
}void setup()
{// join I2C bus (I2Cdev library doesn't do this automatically)#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIREWire.begin();Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIREFastwire::setup(400, true);#endifSerial.begin(115200);while (!Serial); Serial.println(F("Initializing I2C devices..."));mpu.initialize();pinMode(INTERRUPT_PIN, INPUT);Serial.println(F("Testing device connections..."));Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));Serial.println(F("\nSend any character to begin DMP programming and demo: "));while (Serial.available() && Serial.read()); // empty bufferwhile (!Serial.available()); // wait for datawhile (Serial.available() && Serial.read()); // empty buffer again// load and configure the DMPSerial.println(F("Initializing DMP..."));devStatus = mpu.dmpInitialize();// supply your own gyro offsets here, scaled for min sensitivitympu.setXGyroOffset(220);mpu.setYGyroOffset(76);mpu.setZGyroOffset(-85);mpu.setZAccelOffset(1788); // 1688 factory default for my test chip// make sure it worked (returns 0 if so)if (devStatus == 0) {// Calibration Time: generate offsets and calibrate our MPU6050mpu.CalibrateAccel(6);mpu.CalibrateGyro(6);mpu.PrintActiveOffsets();// turn on the DMP, now that it's readySerial.println(F("Enabling DMP..."));mpu.setDMPEnabled(true);// enable Arduino interrupt detectionSerial.print(F("Enabling interrupt detection (Arduino external interrupt "));Serial.print(digitalPinToInterrupt(INTERRUPT_PIN));Serial.println(F(")..."));attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);mpuIntStatus = mpu.getIntStatus();Serial.println(F("DMP ready! Waiting for first interrupt..."));dmpReady = true;packetSize = mpu.dmpGetFIFOPacketSize();} else {Serial.print(F("DMP Initialization failed (code "));Serial.print(devStatus);Serial.println(F(")"));}// configure LED for outputpinMode(LED_PIN, OUTPUT);
}void loop()
{// if programming failed, don't try to do anythingif (!dmpReady) return;// read a packet from FIFOif (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet #ifdef OUTPUT_READABLE_QUATERNION// display quaternion values in easy matrix form: w x y zmpu.dmpGetQuaternion(&q, fifoBuffer);Serial.print("quat\t");Serial.print(q.w);Serial.print("\t");Serial.print(q.x);Serial.print("\t");Serial.print(q.y);Serial.print("\t");Serial.println(q.z);#endif#ifdef OUTPUT_READABLE_EULER// display Euler angles in degreesmpu.dmpGetQuaternion(&q, fifoBuffer);mpu.dmpGetEuler(euler, &q);Serial.print("euler\t");Serial.print(euler[0] * 180/M_PI);Serial.print("\t");Serial.print(euler[1] * 180/M_PI);Serial.print("\t");Serial.println(euler[2] * 180/M_PI);#endif#ifdef OUTPUT_READABLE_YAWPITCHROLL// display Euler angles in degreesmpu.dmpGetQuaternion(&q, fifoBuffer);mpu.dmpGetGravity(&gravity, &q);mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);Serial.print("ypr\t");Serial.print(ypr[0] * 180/M_PI);Serial.print("\t");Serial.print(ypr[1] * 180/M_PI);Serial.print("\t");Serial.println(ypr[2] * 180/M_PI);#endif#ifdef OUTPUT_READABLE_REALACCEL// display real acceleration, adjusted to remove gravitympu.dmpGetQuaternion(&q, fifoBuffer);mpu.dmpGetAccel(&aa, fifoBuffer);mpu.dmpGetGravity(&gravity, &q);mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);Serial.print("areal\t");Serial.print(aaReal.x);Serial.print("\t");Serial.print(aaReal.y);Serial.print("\t");Serial.println(aaReal.z);#endif#ifdef OUTPUT_READABLE_WORLDACCEL// display initial world-frame acceleration, adjusted to remove gravity// and rotated based on known orientation from quaternionmpu.dmpGetQuaternion(&q, fifoBuffer);mpu.dmpGetAccel(&aa, fifoBuffer);mpu.dmpGetGravity(&gravity, &q);mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);Serial.print("aworld\t");Serial.print(aaWorld.x);Serial.print("\t");Serial.print(aaWorld.y);Serial.print("\t");Serial.println(aaWorld.z);#endif#ifdef OUTPUT_TEAPOT// display quaternion values in InvenSense Teapot demo format:teapotPacket[2] = fifoBuffer[0];teapotPacket[3] = fifoBuffer[1];teapotPacket[4] = fifoBuffer[4];teapotPacket[5] = fifoBuffer[5];teapotPacket[6] = fifoBuffer[8];teapotPacket[7] = fifoBuffer[9];teapotPacket[8] = fifoBuffer[12];teapotPacket[9] = fifoBuffer[13];Serial.write(teapotPacket, 14);teapotPacket[11]++; // packetCount, loops at 0xFF on purpose#endif// blink LED to indicate activityblinkState = !blinkState;digitalWrite(LED_PIN, blinkState);}delay(1000);
}4、下载链接
https://download.csdn.net/download/panjinliang066333/89791896
参考
https://zhuanlan.zhihu.com/p/710727388
mpu6050陀螺仪计角度的精准实现方法，基于arduino实现_failed to find mpu6050 chip-CSDN博客
