PIC: MPU6050

GY-521

MPU6050 é um sensor de 6-eixos, contento um acelerômetro de 3-eixos e um giroscópio de 3-eixos. Opera com 3.3V e se comunica vis I2C com velocidade máxima de 400Khz.

A leitura dos dados é fácil. O modo Sleep deve ser desativado, em seguida, os registros para o acelerômetro e giroscópio podem ser lidos.

PINOS:

VCC	5V
GND	0V
SCL	Clock
SDA	Dados
XDA	Dados ( Para algum outro sensor conectado )
XCL	Clock ( Para algum outro sensor conectado )
AD0	Bit0 do endereço I2C
INT	Pino de interrupção

BIBLIOTECA

MikroC PRO PIC

#ifdef USE_MPU6050_SOFT_I2C
 #define MPU6050_I2C_Wr Soft_I2C_Write
 #define MPU6050_I2C_Rd Soft_I2C_Read
 #define MPU6050_I2C_Stop Soft_I2C_Stop
 #define MPU6050_I2C_Start Soft_I2C_Start
#else
 #define MPU6050_I2C_Wr I2C1_Wr
 #define MPU6050_I2C_Rd I2C1_Rd
 #define MPU6050_I2C_Stop I2C1_Stop
 #define MPU6050_I2C_Start I2C1_Start
#endif

#define MPU6050_ADDRESS   0xD0


#define MPU6050_RA_XG_OFFS_TC       0x00 
#define MPU6050_RA_YG_OFFS_TC       0x01 
#define MPU6050_RA_ZG_OFFS_TC       0x02 
#define MPU6050_RA_X_FINE_GAIN      0x03 
#define MPU6050_RA_Y_FINE_GAIN      0x04 
#define MPU6050_RA_Z_FINE_GAIN      0x05 
#define MPU6050_RA_XA_OFFS_H        0x06 
#define MPU6050_RA_XA_OFFS_L_TC     0x07
#define MPU6050_RA_YA_OFFS_H        0x08 
#define MPU6050_RA_YA_OFFS_L_TC     0x09
#define MPU6050_RA_ZA_OFFS_H        0x0A 
#define MPU6050_RA_ZA_OFFS_L_TC     0x0B
#define MPU6050_RA_XG_OFFS_USRH     0x13 
#define MPU6050_RA_XG_OFFS_USRL     0x14
#define MPU6050_RA_YG_OFFS_USRH     0x15 
#define MPU6050_RA_YG_OFFS_USRL     0x16
#define MPU6050_RA_ZG_OFFS_USRH     0x17 
#define MPU6050_RA_ZG_OFFS_USRL     0x18
#define MPU6050_RA_SMPLRT_DIV       0x19
#define MPU6050_RA_CONFIG           0x1A
#define MPU6050_RA_GYRO_CONFIG      0x1B
#define MPU6050_RA_ACCEL_CONFIG     0x1C
#define MPU6050_RA_FF_THR           0x1D
#define MPU6050_RA_FF_DUR           0x1E
#define MPU6050_RA_MOT_THR          0x1F
#define MPU6050_RA_MOT_DUR          0x20
#define MPU6050_RA_ZRMOT_THR        0x21
#define MPU6050_RA_ZRMOT_DUR        0x22
#define MPU6050_RA_FIFO_EN          0x23
#define MPU6050_RA_I2C_MST_CTRL     0x24
#define MPU6050_RA_I2C_SLV0_ADDR    0x25
#define MPU6050_RA_I2C_SLV0_REG     0x26
#define MPU6050_RA_I2C_SLV0_CTRL    0x27
#define MPU6050_RA_I2C_SLV1_ADDR    0x28
#define MPU6050_RA_I2C_SLV1_REG     0x29
#define MPU6050_RA_I2C_SLV1_CTRL    0x2A
#define MPU6050_RA_I2C_SLV2_ADDR    0x2B
#define MPU6050_RA_I2C_SLV2_REG     0x2C
#define MPU6050_RA_I2C_SLV2_CTRL    0x2D
#define MPU6050_RA_I2C_SLV3_ADDR    0x2E
#define MPU6050_RA_I2C_SLV3_REG     0x2F
#define MPU6050_RA_I2C_SLV3_CTRL    0x30
#define MPU6050_RA_I2C_SLV4_ADDR    0x31
#define MPU6050_RA_I2C_SLV4_REG     0x32
#define MPU6050_RA_I2C_SLV4_DO      0x33
#define MPU6050_RA_I2C_SLV4_CTRL    0x34
#define MPU6050_RA_I2C_SLV4_DI      0x35
#define MPU6050_RA_I2C_MST_STATUS   0x36
#define MPU6050_RA_INT_PIN_CFG      0x37
#define MPU6050_RA_INT_ENABLE       0x38
#define MPU6050_RA_DMP_INT_STATUS   0x39
#define MPU6050_RA_INT_STATUS       0x3A
#define MPU6050_RA_ACCEL_XOUT_H     0x3B
#define MPU6050_RA_ACCEL_XOUT_L     0x3C
#define MPU6050_RA_ACCEL_YOUT_H     0x3D
#define MPU6050_RA_ACCEL_YOUT_L     0x3E
#define MPU6050_RA_ACCEL_ZOUT_H     0x3F
#define MPU6050_RA_ACCEL_ZOUT_L     0x40
#define MPU6050_RA_TEMP_OUT_H       0x41
#define MPU6050_RA_TEMP_OUT_L       0x42
#define MPU6050_RA_GYRO_XOUT_H      0x43
#define MPU6050_RA_GYRO_XOUT_L      0x44
#define MPU6050_RA_GYRO_YOUT_H      0x45
#define MPU6050_RA_GYRO_YOUT_L      0x46
#define MPU6050_RA_GYRO_ZOUT_H      0x47
#define MPU6050_RA_GYRO_ZOUT_L      0x48
#define MPU6050_RA_EXT_SENS_DATA_00 0x49
#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
#define MPU6050_RA_EXT_SENS_DATA_07 0x50
#define MPU6050_RA_EXT_SENS_DATA_08 0x51
#define MPU6050_RA_EXT_SENS_DATA_09 0x52
#define MPU6050_RA_EXT_SENS_DATA_10 0x53
#define MPU6050_RA_EXT_SENS_DATA_11 0x54
#define MPU6050_RA_EXT_SENS_DATA_12 0x55
#define MPU6050_RA_EXT_SENS_DATA_13 0x56
#define MPU6050_RA_EXT_SENS_DATA_14 0x57
#define MPU6050_RA_EXT_SENS_DATA_15 0x58
#define MPU6050_RA_EXT_SENS_DATA_16 0x59
#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
#define MPU6050_RA_EXT_SENS_DATA_23 0x60
#define MPU6050_RA_MOT_DETECT_STATUS    0x61
#define MPU6050_RA_I2C_SLV0_DO      0x63
#define MPU6050_RA_I2C_SLV1_DO      0x64
#define MPU6050_RA_I2C_SLV2_DO      0x65
#define MPU6050_RA_I2C_SLV3_DO      0x66
#define MPU6050_RA_I2C_MST_DELAY_CTRL   0x67
#define MPU6050_RA_SIGNAL_PATH_RESET    0x68
#define MPU6050_RA_MOT_DETECT_CTRL      0x69
#define MPU6050_RA_USER_CTRL        0x6A
#define MPU6050_RA_PWR_MGMT_1       0x6B
#define MPU6050_RA_PWR_MGMT_2       0x6C
#define MPU6050_RA_BANK_SEL         0x6D
#define MPU6050_RA_MEM_START_ADDR   0x6E
#define MPU6050_RA_MEM_R_W          0x6F
#define MPU6050_RA_DMP_CFG_1        0x70
#define MPU6050_RA_DMP_CFG_2        0x71
#define MPU6050_RA_FIFO_COUNTH      0x72
#define MPU6050_RA_FIFO_COUNTL      0x73
#define MPU6050_RA_FIFO_R_W         0x74
#define MPU6050_RA_WHO_AM_I         0x75

typedef struct
{
 struct
 {
  signed int X;
  signed int Y;
  signed int Z;
 }Accel;
 signed int Temperatura;
 struct
 {
  signed int X;
  signed int Y;
  signed int Z;
 }Gyro;
}MPU6050;

void MPU6050_Init()
{
 MPU6050_I2C_Start();
 MPU6050_I2C_Wr( MPU6050_ADDRESS );
 MPU6050_I2C_Wr( MPU6050_RA_PWR_MGMT_1 );
 MPU6050_I2C_Wr( 2 ); //Sleep OFF
 MPU6050_I2C_Wr( 0 ); 
 MPU6050_I2C_Stop();
 
 MPU6050_I2C_Start();
 MPU6050_I2C_Wr( MPU6050_ADDRESS );
 MPU6050_I2C_Wr( MPU6050_RA_GYRO_CONFIG );
 MPU6050_I2C_Wr( 0 ); //gyro_config, +-250 °/s
 MPU6050_I2C_Wr( 0 ); //accel_config +-2g
 MPU6050_I2C_Stop();
}

void MPU6050_Read( MPU6050 *Sensor )
{
 MPU6050_I2C_Start();
 MPU6050_I2C_Wr( MPU6050_ADDRESS );
 MPU6050_I2C_Wr( MPU6050_RA_ACCEL_XOUT_H );
 MPU6050_I2C_Start();
 MPU6050_I2C_Wr( MPU6050_ADDRESS | 1 );
 Sensor->Accel.X = ( MPU6050_I2C_Rd(1) << 8 ) | MPU6050_I2C_Rd(1);
 Sensor->Accel.Y = ( MPU6050_I2C_Rd(1) << 8 ) | MPU6050_I2C_Rd(1);
 Sensor->Accel.Z = ( MPU6050_I2C_Rd(1) << 8 ) | MPU6050_I2C_Rd(1);
 Sensor->Temperatura = ( MPU6050_I2C_Rd(1) << 8 ) | MPU6050_I2C_Rd(1);
 Sensor->Gyro.X = ( MPU6050_I2C_Rd(1) << 8 ) | MPU6050_I2C_Rd(1);
 Sensor->Gyro.Y = ( MPU6050_I2C_Rd(1) << 8 ) | MPU6050_I2C_Rd(1);
 Sensor->Gyro.Z = ( MPU6050_I2C_Rd(1) << 8 ) | MPU6050_I2C_Rd(0);
 MPU6050_I2C_Stop();
 Sensor->Temperatura += 12421;
 Sensor->Temperatura /= 340;
}

EXEMPLO:

//Habilitar as seguintes bibliotecas:
// - Soft_I2C
// - Lcd
// - Conversions e C_String

#define USE_MPU6050_SOFT_I2C

//Copie e cole a biblioteca aqui!!

sbit MPU6050_Scl at RB6_Bit;
sbit MPU6050_Sda at RB7_Bit;
sbit MPU6050_Scl_Direction at TRISB6_Bit;
sbit MPU6050_Sda_Direction at TRISB7_Bit;

sbit LCD_RS at RB5_bit;
sbit LCD_EN at RB4_bit;
sbit LCD_D4 at RB3_bit;
sbit LCD_D5 at RB2_bit;
sbit LCD_D6 at RB1_bit;
sbit LCD_D7 at RB0_bit;

sbit LCD_RS_Direction at TRISB5_bit;
sbit LCD_EN_Direction at TRISB4_bit;
sbit LCD_D4_Direction at TRISB3_bit;
sbit LCD_D5_Direction at TRISB2_bit;
sbit LCD_D6_Direction at TRISB1_bit;
sbit LCD_D7_Direction at TRISB0_bit;

MPU6050 Sensor;
char msg[12];

void main()
{
      CMCON = 7;
      
      Lcd_Init();
      Lcd_Cmd( _LCD_CURSOR_OFF );
      Soft_I2C_Init();
      MPU6050_Init();
      
      while(1)
      {
              MPU6050_Read( &Sensor );
              
              IntToStr( Sensor.Gyro.X, msg );
              Lcd_Out( 1, 1, msg );
              
              IntToStr( Sensor.Gyro.Y, msg );
              Lcd_Out( 1, 8, msg );

              IntToStr( Sensor.Gyro.Z, msg );
              Lcd_Out( 2, 1, msg );
             
              Delay_ms( 500 );
      }
}