mpu6050读取不了数据是怎么回事？

归隐

刚才调试MPU6050出现这种问题，请问怎么回事？

程序如下：
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#include "Wire.h"

// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "I2Cdev.h"

#include "MPU6050_6Axis_MotionApps20.h"
MPU6050 mpu(0x68);

// 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
VectorFloat gravity;    // [x, y, z]            gravity vector
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector


// ================================================================
// ===               INTERRUPT DETECTION ROUTINE                ===
// ================================================================

volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
  mpuInterrupt = true;
}



// ================================================================
// ===                      INITIAL SETUP                       ===
// ================================================================

void setup() {
  Serial.begin(115200);        // opens serial port, sets data rate to 9600 bps

  // join I2C bus (I2Cdev library doesn't do this automatically)
  Wire.begin();

  // initialize device
  Serial.println("Initializing I2C devices...");
  mpu.initialize();

  // verify connection
  Serial.println("Testing device connections...");
  Serial.println(mpu.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");

  delay(2);

  // load and configure the DMP
  Serial.println("Initializing DMP...");
  devStatus = mpu.dmpInitialize();

  // make sure it worked (returns 0 if so)
  if (devStatus == 0) {
    // turn on the DMP, now that it's ready
    Serial.println("Enabling DMP...");
    mpu.setDMPEnabled(true);

    // enable Arduino interrupt detection
    Serial.println("Enabling interrupt detection (Arduino external interrupt 0)...");
    attachInterrupt(0, dmpDataReady, RISING);
    mpuIntStatus = mpu.getIntStatus();

    // set our DMP Ready flag so the main loop() function knows it's okay to use it
    Serial.println("DMP ready! Waiting for first interrupt...");
    dmpReady = true;

    // get expected DMP packet size for later comparison
    packetSize = mpu.dmpGetFIFOPacketSize();
  }
  else {
    // ERROR!
    // 1 = initial memory load failed
    // 2 = DMP configuration updates failed
    // (if it's going to break, usually the code will be 1)
    Serial.print("DMP Initialization failed (code ");
    Serial.print(devStatus);
    Serial.println(")");
  }
}

void loop()
{
  float alpha,omiga;

  // if programming failed, don't try to do anything
  if (!dmpReady)
    return;

  // wait for MPU interrupt or extra packet(s) available
  if (!mpuInterrupt && fifoCount < packetSize)
    return;

  // reset interrupt flag and get INT_STATUS byte
  mpuInterrupt = false;
  mpuIntStatus = mpu.getIntStatus();

  // get current FIFO count
  fifoCount = mpu.getFIFOCount();

  // check for overflow (this should never happen unless our code is too inefficient)
  if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
    // reset so we can continue cleanly
    mpu.resetFIFO();
    Serial.println("FIFO overflow!");

    // otherwise, check for DMP data ready interrupt (this should happen frequently)
  }
  else if (mpuIntStatus & 0x02) {
    // wait for correct available data length, should be a VERY short wait
    while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

    // read a packet from FIFO
    mpu.getFIFOBytes(fifoBuffer, packetSize);

    // track FIFO count here in case there is > 1 packet available
    // (this lets us immediately read more without waiting for an interrupt)
    fifoCount -= packetSize;

    mpu.dmpGetQuaternion(&q, fifoBuffer);
    mpu.dmpGetGravity(&gravity, &q);
    mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);  //从DMP中取出Yaw、Pitch、Roll三个轴的角度，放入数组ypr。单位：弧度
    alpha=-ypr[2] * 180/M_PI;

    omiga=mpu.getRotationX()/16.4;        //配置是16位表示正负2000°/s, 65536/4000

    Serial.print("Alpha ");
    Serial.print(alpha);
    Serial.print("\tOmiga ");
    Serial.println(omiga);

  }
}

231200

哈哈，是端口速率问题。9600 115200 改一致。

归隐

231200 发表于 2013-5-15 21:26
哈哈，是端口速率问题。9600 115200 改一致。

已解决！谢谢兄弟了