当前位置：首页 > news >正文

esp32-s3-supermini使用arduio IDE进行mpu6050的数据读取

news 2025/11/14 7:30:38

本代码是读取mpu6050的数据，然后根据数据输出1,2,3,4,5,6，让mpu6050当色子。需要安装库

在工具-库管理输入mpu6050

usb-cdc选enable

#include <Wire.h>
#include <MPU6050.h>// MPU6050对象
MPU6050 mpu;// 定义I2C引脚
#define I2C_SDA 8
#define I2C_SCL 9// 姿态角度阈值
const int MIN_ANGLE = 35;  // 最小角度阈值
const int MAX_ANGLE = 90;  // 最大角度阈值// 共享变量（使用volatile确保多任务间的可见性）
volatile float pitch = 0, roll = 0, accel_z = 0;
volatile bool newDataAvailable = false;
portMUX_TYPE mux = portMUX_INITIALIZER_UNLOCKED;// 状态变量
int lastState = 0;
unsigned long lastStateTime = 0;
const int STABLE_TIME = 300;  // 稳定时间// 稳定性检测参数
const float ANGLE_CHANGE_THRESHOLD = 3.0;  // 角度变化阈值(度)
const int STABILITY_COUNT_THRESHOLD = 3;   // 稳定计数阈值
int stabilityCount = 0;
float lastPitch = 0, lastRoll = 0, lastAccelZ = 0;// 滤波参数
const float ALPHA = 0.6;  // 滤波系数// 任务句柄
TaskHandle_t mpuTaskHandle = NULL;
TaskHandle_t diceTaskHandle = NULL;void setup() {Serial.begin(115200);delay(1000);// 初始化I2CWire.begin(I2C_SDA, I2C_SCL);Wire.setClock(400000);// 尝试连接MPU6050bool connected = false;uint8_t addresses[] = {0x68, 0x69};for (int i = 0; i < 2; i++) {mpu = MPU6050(addresses[i]);mpu.initialize();if (mpu.testConnection()) {connected = true;break;}delay(100);}if (!connected) {Serial.println("MPU6050连接失败");while(1) delay(1000);}// 设置MPU6050参数mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_250);mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_2);// 创建任务xTaskCreatePinnedToCore(mpu6050Task,    // 任务函数"MPU6050",      // 任务名称10000,          // 堆栈大小NULL,           // 参数3,              // 优先级&mpuTaskHandle, // 任务句柄1               // 核心1);xTaskCreatePinnedToCore(diceTask,       // 任务函数"Dice",         // 任务名称10000,          // 堆栈大小NULL,           // 参数2,              // 优先级略低于MPU任务&diceTaskHandle,// 任务句柄1               // 核心1);// 删除默认的loop任务vTaskDelete(NULL);
}void loop() {// 任务已删除，这里不会执行
}// MPU6050数据读取任务（50ms间隔）
void mpu6050Task(void *pvParameters) {TickType_t xLastWakeTime = xTaskGetTickCount();const TickType_t xFrequency = 50 / portTICK_PERIOD_MS;  // 50ms// 局部滤波变量float localPitch = 0, localRoll = 0;for(;;) {// 读取MPU6050数据int16_t ax, ay, az, gx, gy, gz;mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);// 转换为重力加速度单位float accel_x = ax / 16384.0;float accel_y = ay / 16384.0;float current_accel_z = az / 16384.0;// 计算角度float accelPitch = atan2(-accel_x, sqrt(accel_y*accel_y + current_accel_z*current_accel_z)) * 180/PI;float accelRoll = atan2(accel_y, current_accel_z) * 180/PI;// 互补滤波localPitch = ALPHA * localPitch + (1-ALPHA) * accelPitch;localRoll = ALPHA * localRoll + (1-ALPHA) * accelRoll;// 保护共享变量portENTER_CRITICAL(&mux);pitch = localPitch;roll = localRoll;accel_z = current_accel_z;newDataAvailable = true;portEXIT_CRITICAL(&mux);// 精确延时50msvTaskDelayUntil(&xLastWakeTime, xFrequency);}
}// 骰子状态判断任务
void diceTask(void *pvParameters) {for(;;) {// 检查是否有新数据bool newData = false;float currentPitch, currentRoll, currentAccelZ;portENTER_CRITICAL(&mux);if (newDataAvailable) {currentPitch = pitch;currentRoll = roll;currentAccelZ = accel_z;newDataAvailable = false;newData = true;}portEXIT_CRITICAL(&mux);if (newData) {// 判断骰子点数int currentState = getDiceState(currentPitch, currentRoll, currentAccelZ);// 检查角度变化是否稳定bool isStable = checkStability(currentPitch, currentRoll, currentAccelZ);// 状态稳定检测if (currentState == lastState) {if (millis() - lastStateTime > STABLE_TIME && currentState != 0 && isStable) {// 只输出骰子点数Serial.println(currentState);lastStateTime = millis() + 500; // 0.5秒内不重复输出// 重置稳定性计数器stabilityCount = 0;}} else {lastState = currentState;lastStateTime = millis();// 状态变化时重置稳定性计数器stabilityCount = 0;lastPitch = currentPitch;lastRoll = currentRoll;lastAccelZ = currentAccelZ;}}// 短暂延时，让出CPUvTaskDelay(2 / portTICK_PERIOD_MS);}
}// 检查角度稳定性
bool checkStability(float currentPitch, float currentRoll, float currentAccelZ) {// 计算角度变化量float pitchChange = abs(currentPitch - lastPitch);float rollChange = abs(currentRoll - lastRoll);float accelZChange = abs(currentAccelZ - lastAccelZ);// 检查是否稳定（角度变化小于阈值）if (pitchChange < ANGLE_CHANGE_THRESHOLD && rollChange < ANGLE_CHANGE_THRESHOLD && accelZChange < 0.1) {stabilityCount++;} else {stabilityCount = 0; // 不稳定时重置计数器}// 更新上一次的角度值lastPitch = currentPitch;lastRoll = currentRoll;lastAccelZ = currentAccelZ;// 如果连续多次稳定，则认为姿态已稳定return stabilityCount >= STABILITY_COUNT_THRESHOLD;
}// 根据姿态判断骰子点数
int getDiceState(float pitch, float roll, float accel_z) {// 首先检查是否为倒置状态（6点）- 优先级最高if (accel_z < -0.6) {return 6;  // 倒置状态，显示6点}// 然后检查是否为正面朝上（1点）if (accel_z > 0.6 && abs(pitch) < 45 && abs(roll) < 45) {return 1;  // 正面朝上，显示1点}// 检查倾斜状态// 2点：向前倾斜if (pitch > MIN_ANGLE && pitch <= MAX_ANGLE && abs(roll) < 50) {return 2;}// 5点：向后倾斜if (pitch < -MIN_ANGLE && pitch >= -MAX_ANGLE && abs(roll) < 50) {return 5;}// 3点：向左倾斜if (roll > MIN_ANGLE && roll <= MAX_ANGLE && abs(pitch) < 50) {return 3;}// 4点：向右倾斜if (roll < -MIN_ANGLE && roll >= -MAX_ANGLE && abs(pitch) < 50) {return 4;}return 0; // 未识别状态
}

查看全文

http://www.dtcms.com/a/605661.html