CH347读取MPU6050传感器数据和显示

CH347读取MPU6050传感器数据和显示

MPU6050 是一款集成了六轴加速度计和陀螺仪的微电子机械系统(MEMS)传感器。它由 InvenSense(现为 TDK) 公司开发,是一种广泛应用于姿态估计、运动追踪和稳定控制等领域的常用传感器。

MPU6050 具有以下主要特点和技术规格:

  1. 6轴测量能力:MPU6050 集成了三轴加速度计和三轴陀螺仪,能够同时测量物体的加速度和角速度,从而获得姿态信息。

  2. 高精度:MPU6050 提供高精度的测量性能,能够在多种环境条件下稳定工作,并具有较低的噪声和漂移。

  3. 低功耗:MPU6050 设计优化了功耗,适用于移动设备和电池供电的应用场景。

  4. 数字输出:MPU6050 输出的数据以数字形式呈现,通过 I2C 接口与微控制器或其他处理器通信,简化了数据获取和处理过程。

  5. 可编程寄存器:MPU6050 提供一些可编程寄存器,允许用户配置传感器的工作模式和测量范围,以满足不同应用需求。

  6. 姿态估计支持:由于同时具备加速度计和陀螺仪,MPU6050 能够用于姿态估计和导航,例如通过融合算法计算物体的俯仰角、滚转角和航向角。

  7. 应用广泛:MPU6050 可广泛应用于各种领域,如智能手机、游戏控制器、无人机、机器人、虚拟现实设备等。

在之前的文章 esp32连接mpu6050 中演示了esp32通过i2c连接mpu6050,并获取了mpu6050的寄存器值;ch347连接mpu6050 中演示了通过ch347连接mpu6050,并获取了mpu6050的寄存器值。今天通过ch347连接mpu6050,读取传感器数据,并显示出来。

首先编写mpu6050模块代码mpu6050.py,对mpu6050的功能进行一些封装,关键代码如下:

import ch347

class MPU6050:

    # Global Variables
    GRAVITIY_MS2 = 9.80665
    address = None
    driver = None

    # Scale Modifiers
    ACCEL_SCALE_MODIFIER_2G = 16384.0
    ACCEL_SCALE_MODIFIER_4G = 8192.0
    ACCEL_SCALE_MODIFIER_8G = 4096.0
    ACCEL_SCALE_MODIFIER_16G = 2048.0

    GYRO_SCALE_MODIFIER_250DEG = 131.0
    GYRO_SCALE_MODIFIER_500DEG = 65.5
    GYRO_SCALE_MODIFIER_1000DEG = 32.8
    GYRO_SCALE_MODIFIER_2000DEG = 16.4

    # Pre-defined ranges
    ACCEL_RANGE_2G = 0x00
    ACCEL_RANGE_4G = 0x08
    ACCEL_RANGE_8G = 0x10
    ACCEL_RANGE_16G = 0x18

    GYRO_RANGE_250DEG = 0x00
    GYRO_RANGE_500DEG = 0x08
    GYRO_RANGE_1000DEG = 0x10
    GYRO_RANGE_2000DEG = 0x18

    FILTER_BW_256=0x00
    FILTER_BW_188=0x01
    FILTER_BW_98=0x02
    FILTER_BW_42=0x03
    FILTER_BW_20=0x04
    FILTER_BW_10=0x05
    FILTER_BW_5=0x06

    # MPU-6050 Registers
    PWR_MGMT_1 = 0x6B
    PWR_MGMT_2 = 0x6C

    ACCEL_XOUT0 = 0x3B
    ACCEL_YOUT0 = 0x3D
    ACCEL_ZOUT0 = 0x3F

    TEMP_OUT0 = 0x41

    GYRO_XOUT0 = 0x43
    GYRO_YOUT0 = 0x45
    GYRO_ZOUT0 = 0x47

    ACCEL_CONFIG = 0x1C
    GYRO_CONFIG = 0x1B
    MPU_CONFIG = 0x1A

    def __init__(self, address=0x68, dll="CH347DLLA64.dll", device_index=0):
        self.address = address << 1
        self.driver = ch347.CH347Driver(dll)
        self.device_index = device_index

        self.driver.open_device(self.device_index)
        # Wake up the MPU-6050 since it starts in sleep mode
        self.driver.stream_i2c(self.device_index, [self.address, self.PWR_MGMT_1, 0x00], 0)

    # I2C communication methods

    def read_byte_data(self, register):
        raw_data = self.driver.stream_i2c(self.device_index, [self.address, register], 1)
        return raw_data[0]
    
    def write_byte_data(self, register, value):
        return self.driver.stream_i2c(self.device_index, [self.address, register, value], 0)
 
    def read_i2c_word(self, register):
        """Read two i2c registers and combine them.

        register -- the first register to read from.
        Returns the combined read results.
        """
        # Read the data from the registers
        # high = self.read_byte_data(self.address, register)
        # low = self.read_byte_data(self.address, register + 1)
        raw_data = self.driver.stream_i2c(self.device_index, [self.address, register], 2)

        # value = (high << 8) + low
        value = raw_data[0] << 8 | raw_data[1]

        if (value >= 0x8000):
            return -((65535 - value) + 1)
        else:
            return value

    # MPU-6050 Methods

    def get_temp(self):
        """Reads the temperature from the onboard temperature sensor of the MPU-6050.

        Returns the temperature in degrees Celcius.
        """
        raw_temp = self.read_i2c_word(self.TEMP_OUT0)
        # raw_temp = self.driver.stream_i2c(self.device_index, [self.address, self.TEMP_OUT0], 2)
        # temp = raw_temp[0] << 8 | raw_temp[1]

        # Get the actual temperature using the formule given in the
        # MPU-6050 Register Map and Descriptions revision 4.2, page 30
        actual_temp = (raw_temp / 340.0) + 36.53

        return actual_temp

    def set_accel_range(self, accel_range):
        """Sets the range of the accelerometer to range.

        accel_range -- the range to set the accelerometer to. Using a
        pre-defined range is advised.
        """
        # First change it to 0x00 to make sure we write the correct value later
        self.write_byte_data(self.ACCEL_CONFIG, 0x00)

        # Write the new range to the ACCEL_CONFIG register
        self.write_byte_data(self.ACCEL_CONFIG, accel_range)

    def read_accel_range(self, raw = False):
        """Reads the range the accelerometer is set to.

        If raw is True, it will return the raw value from the ACCEL_CONFIG
        register
        If raw is False, it will return an integer: -1, 2, 4, 8 or 16. When it
        returns -1 something went wrong.
        """
        raw_data = self.read_byte_data(self.ACCEL_CONFIG)

        if raw is True:
            return raw_data
        elif raw is False:
            if raw_data == self.ACCEL_RANGE_2G:
                return 2
            elif raw_data == self.ACCEL_RANGE_4G:
                return 4
            elif raw_data == self.ACCEL_RANGE_8G:
                return 8
            elif raw_data == self.ACCEL_RANGE_16G:
                return 16
            else:
                return -1

    def get_accel_data(self, g = False):
        """Gets and returns the X, Y and Z values from the accelerometer.

        If g is True, it will return the data in g
        If g is False, it will return the data in m/s^2
        Returns a dictionary with the measurement results.
        """
        x = self.read_i2c_word(self.ACCEL_XOUT0)
        y = self.read_i2c_word(self.ACCEL_YOUT0)
        z = self.read_i2c_word(self.ACCEL_ZOUT0)

        accel_scale_modifier = None
        accel_range = self.read_accel_range(True)

        if accel_range == self.ACCEL_RANGE_2G:
            accel_scale_modifier = self.ACCEL_SCALE_MODIFIER_2G
        elif accel_range == self.ACCEL_RANGE_4G:
            accel_scale_modifier = self.ACCEL_SCALE_MODIFIER_4G
        elif accel_range == self.ACCEL_RANGE_8G:
            accel_scale_modifier = self.ACCEL_SCALE_MODIFIER_8G
        elif accel_range == self.ACCEL_RANGE_16G:
            accel_scale_modifier = self.ACCEL_SCALE_MODIFIER_16G
        else:
            print("Unkown range - accel_scale_modifier set to self.ACCEL_SCALE_MODIFIER_2G")
            accel_scale_modifier = self.ACCEL_SCALE_MODIFIER_2G

        x = x / accel_scale_modifier
        y = y / accel_scale_modifier
        z = z / accel_scale_modifier

        if g is True:
            return {'x': x, 'y': y, 'z': z}
        elif g is False:
            x = x * self.GRAVITIY_MS2
            y = y * self.GRAVITIY_MS2
            z = z * self.GRAVITIY_MS2
            return {'x': x, 'y': y, 'z': z}

    def set_gyro_range(self, gyro_range):
        """Sets the range of the gyroscope to range.

        gyro_range -- the range to set the gyroscope to. Using a pre-defined
        range is advised.
        """
        # First change it to 0x00 to make sure we write the correct value later
        self.write_byte_data(self.GYRO_CONFIG, 0x00)

        # Write the new range to the ACCEL_CONFIG register
        self.write_byte_data(self.GYRO_CONFIG, gyro_range)

    def set_filter_range(self, filter_range=FILTER_BW_256):
        """Sets the low-pass bandpass filter frequency"""
        # Keep the current EXT_SYNC_SET configuration in bits 3, 4, 5 in the MPU_CONFIG register
        EXT_SYNC_SET = self.read_byte_data(self.MPU_CONFIG) & 0b00111000
        return self.write_byte_data(self.MPU_CONFIG,  EXT_SYNC_SET | filter_range)


    def read_gyro_range(self, raw = False):
        """Reads the range the gyroscope is set to.

        If raw is True, it will return the raw value from the GYRO_CONFIG
        register.
        If raw is False, it will return 250, 500, 1000, 2000 or -1. If the
        returned value is equal to -1 something went wrong.
        """
        raw_data = self.read_byte_data(self.GYRO_CONFIG)

        if raw is True:
            return raw_data
        elif raw is False:
            if raw_data == self.GYRO_RANGE_250DEG:
                return 250
            elif raw_data == self.GYRO_RANGE_500DEG:
                return 500
            elif raw_data == self.GYRO_RANGE_1000DEG:
                return 1000
            elif raw_data == self.GYRO_RANGE_2000DEG:
                return 2000
            else:
                return -1

    def get_gyro_data(self):
        """Gets and returns the X, Y and Z values from the gyroscope.

        Returns the read values in a dictionary.
        """
        x = self.read_i2c_word(self.GYRO_XOUT0)
        y = self.read_i2c_word(self.GYRO_YOUT0)
        z = self.read_i2c_word(self.GYRO_ZOUT0)

        gyro_scale_modifier = None
        gyro_range = self.read_gyro_range(True)

        if gyro_range == self.GYRO_RANGE_250DEG:
            gyro_scale_modifier = self.GYRO_SCALE_MODIFIER_250DEG
        elif gyro_range == self.GYRO_RANGE_500DEG:
            gyro_scale_modifier = self.GYRO_SCALE_MODIFIER_500DEG
        elif gyro_range == self.GYRO_RANGE_1000DEG:
            gyro_scale_modifier = self.GYRO_SCALE_MODIFIER_1000DEG
        elif gyro_range == self.GYRO_RANGE_2000DEG:
            gyro_scale_modifier = self.GYRO_SCALE_MODIFIER_2000DEG
        else:
            print("Unkown range - gyro_scale_modifier set to self.GYRO_SCALE_MODIFIER_250DEG")
            gyro_scale_modifier = self.GYRO_SCALE_MODIFIER_250DEG

        x = x / gyro_scale_modifier
        y = y / gyro_scale_modifier
        z = z / gyro_scale_modifier

        return {'x': x, 'y': y, 'z': z}

    def get_all_data(self):
        """Reads and returns all the available data."""
        temp = self.get_temp()
        accel = self.get_accel_data()
        gyro = self.get_gyro_data()

        return [accel, gyro, temp]
    
    def close(self):
        self.driver.close_device(self.device_index)

if __name__ == "__main__":
    mpu = MPU6050()
    print(mpu.get_temp())
    accel_data = mpu.get_accel_data(True)
    print(accel_data['x'])
    print(accel_data['y'])
    print(accel_data['z'])
    gyro_data = mpu.get_gyro_data()
    print(gyro_data['x'])
    print(gyro_data['y'])
    print(gyro_data['z'])
    mpu.close()

这个文件放在ch347.pyCH347DLLA64.DLL同级目录下,将CH347与MPU6050模块连接:

CH347读取MPU6050传感器数据和显示_第1张图片

运行上面的代码:

❯ python mpu6050.py
29.659411764705883
-0.044921875
0.016357421875
1.291015625
-2.2977099236641223
0.35877862595419846
-3.4885496183206106

因为MPU6050传感器数据寄存器地址是连续的,获取传感器数据时其实可以快读,理论上会更快,上面的代码还没有优化,先可用。输出数据g值约1.3,没有进行校准。

接下来编写数据显示代码,mpu6050_plot.py

import matplotlib.pyplot as plt
import matplotlib.animation as animation
import numpy as np

from mpu6050 import MPU6050

# Initialize the MPU6050 sensor
mpu6050 = MPU6050()

# Replace these lines with the actual import and initialization of the MPU6050 sensor
# For demonstration purposes, we use dummy functions to generate random data
def read_mpu6050_accel_data():
    accel_data = mpu6050.get_accel_data(True)
    return [accel_data['x'], accel_data["y"], accel_data["z"]]

def read_mpu6050_gyro_data():
    gyro_data = mpu6050.get_gyro_data()
    return [gyro_data['x'], gyro_data["y"], gyro_data["z"]]

# Generator function to produce data from the MPU6050 sensor
def generate_mpu6050_data():
    data_buffer = []
    while True:
        accel_data = read_mpu6050_accel_data()
        gyro_data = read_mpu6050_gyro_data()
        data_buffer.append(accel_data + gyro_data)
        yield data_buffer

# Create a figure with 6 subplots for accelerometer and gyroscope data
fig, axs = plt.subplots(6, 1, figsize=(8, 12))

# Initialize empty lines for the accelerometer and gyroscope data plots
lines = [axs[i].plot([], [], lw=2)[0] for i in range(6)]

# Set the number of data points to be displayed on the plot
num_display_points = 50

def init():
    for line in lines:
        line.set_data([], [])
    return lines

def update(frame):
    data_buffer = next(data_generator)

    # Generate the x-axis values (time steps) based on the number of data points
    time_steps = np.arange(len(data_buffer))

    # Get the starting index to display a specific number of data points
    start_index = max(0, len(data_buffer) - num_display_points)

    # Update the plot data for accelerometer and gyroscope
    for i in range(6):
        lines[i].set_data(time_steps[start_index:], [data[i] for data in data_buffer[start_index:]])

        # Adjust the plot limits for better visualization
        if i < 3:
            axs[i].set_ylim(-2, 2)  # Accelerometer data range: -2 to +2
        else:
            axs[i].set_ylim(-200, 200)  # Gyroscope data range: -200 to +200
        axs[i].set_xlim(start_index, start_index + num_display_points - 1)

    return lines

# Create the generator for MPU6050 sensor data
data_generator = generate_mpu6050_data()

# Create an animation for real-time plotting, update every 100 milliseconds (0.1 seconds)
ani = animation.FuncAnimation(fig, update, frames=range(100), init_func=init, blit=True, interval=100)

# Add labels and title to each subplot
axis_labels = ['AX', 'AY', 'AZ', 'GX', 'GY', 'GZ']
for i in range(6):
    axs[i].set_title(f'{axis_labels[i]} Data')
    axs[i].set_xlabel('Time Steps')
    axs[i].set_ylabel('MPU6050 Data Value')

plt.tight_layout()
plt.show()
mpu6050.close()

运行效果:

ch347读取mpu6050传感器数据和显示

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