Kodi ya MPU-9250 Accelerometer, Gyroscope, na Magnetometer

Kodi ya MPU-9250 Accelerometer, Gyroscope, na Magnetometer

Katika mafunzo haya, tutachunguza jinsi ya kutumia kihisi cha MPU-9250, ambacho kinachanganya kipima mwendo (accelerometer), gyroscope, na magnetometer katika moduli moja ndogo. Kufikia mwisho wa mwongozo huu, utaweza kusoma data ya kihisi na kufasiri maana yake katika miradi yako. Kihisi hiki ni muhimu hasa kwa matumizi kama robotiki na ndege zisizo na rubani (drones), ambapo ufuatiliaji wa mwelekeo na mwendo ni muhimu sana. Unaweza kurejelea video kwa maelezo zaidi kuhusu usanidi na msimbo (katika video saa 00:20).

Maelezo ya Vifaa

Moduli ya MPU-9250 inajumuisha vihisi vitatu: kipima mwendo (accelerometer), gyroscope, na magnetometer. Kipima mwendo hupima nguvu za mwendo, kukuruhusu kuamua kasi na mwelekeo. Gyroscope hutoa kasi ya angular, kukusaidia kuelewa mabadiliko ya mwelekeo kwa wakati. Hatimaye, magnetometer hufanya kazi kama dira, ikitoa data ya uga wa sumaku ambayo husaidia katika urambazaji.

Mchanganyiko huu wa vihisi ni muhimu hasa katika matumizi ambapo ufuatiliaji sahihi wa mwendo unahitajika, kama vile katika drones au simu mahiri. MPU-9250 huwasiliana kupitia I2C au SPI, na kuifanya iwe rahisi kutumika katika mipangilio mbalimbali ya microcontroller.

Maelezo ya Datasheet

• Hakikisha usambazaji sahihi wa voltage (2.4 - 3.6 V) ili kuepuka kuharibu moduli.
• Tumia kontena la kuvuta-juu (pull-up resistor) kwa mistari ya SDA na SCL ikiwa haijajumuishwa kwenye bodi yako ya breakout.
• Thibitisha anwani ya I2C (kiwango cha default ni 0x68) na urekebishe pini ya ADO ipasavyo kwa anwani mbadala.
• Angalia miunganisho kwa uthabiti ili kuzuia usomaji usio sahihi.
• Sawazisha vihisi mara kwa mara kwa vipimo sahihi.

Maagizo ya Uunganishaji wa Waya

Ili kuunganisha MPU-9250 kwenye Arduino yako, anza kwa kuunganisha pini ya VCC kwenye MPU-9250 kwenye pini ya 5V ya Arduino. Moduli ina kidhibiti cha ndani, kwa hivyo ni salama kuiwezesha kwa 5V. Ifuatayo, unganisha pini ya GND kwenye ardhi (GND) ya Arduino. Kwa mawasiliano ya data, unganisha pini ya SDA kwenye pini ya A4 ya Arduino na pini ya SCL kwenye pini ya A5. Usanidi huu ni wa kawaida kwa bodi nyingi za Arduino.

Ikiwa unatumia Arduino Mega, pini za SDA na SCL ziko kwenye pini 20 na 21, mtawalia. Hakikisha miunganisho ni thabiti ili kuepuka makosa ya mawasiliano. Ikiwa unahitaji kubadilisha anwani ya I2C ya MPU-9250, unganisha pini ya ADO kwenye 5V ili kuiweka kuwa 0x69. Kuiondoa itairudisha kwenye 0x68.

Mifano ya Msimbo na Maelekezo

Katika msimbo wa Arduino, tunaanza kwa kujumuisha maktaba ya MPU9250 na kuunda mfano wa kihisi:

#include "MPU9250.h"
MPU9250 IMU(Wire,0x68);

Msimbo huanzisha kihisi na kuanza mawasiliano katika kazi ya setup():

void setup() {
  Serial.begin(115200);
  status = IMU.begin();
  if (status < 0) {
    Serial.println("Uanzishaji wa IMU haukufaulu");
    while(1) {}
  }
}

Ndani ya kazi ya loop(), tunasoma na kuchapisha data ya kihisi kila mara:

void loop() {
  IMU.readSensor();
  Serial.print("AccelX: ");
  Serial.print(IMU.getAccelX_mss(),6);
  // Taarifa zaidi za kuchapisha kwa shoka zingine
}

Sehemu hii inasoma thamani za kipima mwendo, gyroscope, na magnetometer, na kuzionyesha kwenye Serial Monitor. Hakikisha unaangalia msimbo kamili uliopakiwa chini ya makala kwa utekelezaji kamili.

Maonyesho / Nini cha Kutarajia

Unapoendesha msimbo, unapaswa kuona thamani za kihisi zikisasishwa kwa wakati halisi kwenye Serial Monitor. Thamani za kipima mwendo zitabadilika unaposogeza kihisi, wakati thamani za gyroscope zitaonyesha kasi ya mzunguko. Magnetometer itakupa nguvu ya uga wa sumaku katika shoka tatu, ambayo inaweza kutumika kuamua mwelekeo. Kuwa makini na pembejeo zinazoelea, kwani zinaweza kusababisha usomaji usio sahihi (katika video saa 12:30).

Sura

• Utangulizi (00:00)
• Maelezo ya Vifaa (01:30)
• Maagizo ya Uunganishaji wa Waya (04:00)
• Mifano ya Msimbo & Mwongozo (06:00)
• Maonyesho (10:00)

Bilder

ELE_MPU6050_208

Arduino Wiring for MPU-6050

Arduino Schematic for MPU6050 using A4 and A4 for SDA and SCL

Arduino wiring for MPU6050 using A4 and A4 for SDA and SCL

ELE_MPU6050_208

Arduino Wiring for MPU-6050

Arduino Schematic for MPU6050 using A4 and A4 for SDA and SCL

Arduino wiring for MPU6050 using A4 and A4 for SDA and SCL

/*
 * Library: https://github.com/bolderflight/MPU9250
Basic_I2C.ino
Brian R Taylor
brian.taylor@bolderflight.com

Copyright (c) 2017 Bolder Flight Systems

Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
and associated documentation files (the "Software"), to deal in the Software without restriction, 
including without limitation the rights to use, copy, modify, merge, publish, distribute, 
sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is 
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or 
substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 
BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
/*
 * Updated by Ahmad Shamshiri on July 9, 2018 for Robojax.com
 * in Ajax, Ontario, Canada
 * Watch instruction video for this code: 
For this sketch you need to connect:
VCC to 5V and GND to GND of Arduino
SDA to A4 and SCL to A5

S20A is 3.3V voltage regulator MIC5205-3.3BM5
*/

#include "MPU9250.h"

// An MPU9250 object with the MPU-9250 sensor on I2C bus 0 with address 0x68
MPU9250 IMU(Wire,0x68);
int status;

void setup() {
  // Serial to display data
  Serial.begin(115200);
  while(!Serial) {}

  // Start communication with IMU 
  status = IMU.begin();
  if (status < 0) {
    Serial.println("IMU initialization unsuccessful");
    Serial.println("Check IMU wiring or try cycling power");
    Serial.print("Status: ");
    Serial.println(status);
    while(1) {}
  }
}

void loop() {
  // Read the sensor
  IMU.readSensor();
  // Display the data
  Serial.print("AccelX: ");
  Serial.print(IMU.getAccelX_mss(),6);
  Serial.print("\t");
  Serial.print("AccelY: ");  
  Serial.print(IMU.getAccelY_mss(),6);
  Serial.print("\t");
  Serial.print("AccelZ: ");  
  Serial.println(IMU.getAccelZ_mss(),6);
  
  Serial.print("GyroX: ");
  Serial.print(IMU.getGyroX_rads(),6);
  Serial.print("\t");
  Serial.print("GyroY: ");  
  Serial.print(IMU.getGyroY_rads(),6);
  Serial.print("\t");
  Serial.print("GyroZ: ");  
  Serial.println(IMU.getGyroZ_rads(),6);

  Serial.print("MagX: ");  
  Serial.print(IMU.getMagX_uT(),6);
  Serial.print("\t");  
  Serial.print("MagY: ");
  Serial.print(IMU.getMagY_uT(),6);
  Serial.print("\t");
  Serial.print("MagZ: ");  
  Serial.println(IMU.getMagZ_uT(),6);
  
  Serial.print("Temperature in C: ");
  Serial.println(IMU.getTemperature_C(),6);
  Serial.println();
  delay(200);
}