Kutha Kuthana ndi MPU-6050: Kukhazikitsa, kalembedwe, ndi ntchito
2024-04-25 9223

MPu-6050 Kodi gawo loyambirira la padziko lonse lapansi la anthu 6-axis limalumikizira gyroscome, 3-axis acticlemeter ndi purosed digital yoyenda (DMP).Cholinga chogwiritsa ntchito icho chingapezeke cholumikizira cha chinthucho chomwe chingayesedwe (monga quadcopter, galimoto yolumikizira) pa X, y, ndi nkhwangwa, ndiye kuti, nkhwangwa ndi ngamila.Tinawerenga deta isanu ndi umodzi ya MPU-6050 (AXIS-650 (Ax5-AxIS) njira ya Axis Angram ndi Axis Angular Velocity yotsatsa) kudzera mu mawonekedwe a I2C.Pambuyo pakusinthasintha kusungika, phula, yokulungira, ndi yaw ma thles angawerengedwe.Monga cholembera chowongolera zofunikira, tanthauzo la sensor likugwirizana ndi chithunzi chomwe chili pansipa, chomwe chimatsatira njira yogwirizira dzanja lamanja (ndiye kuti, Thumba lakumanja kwa x-Axis, chala cha chala cholozera ku njira yabwino ya y-axis, ndi chala chapakatikati pa z-axis. Kuwongolera).

Ndi bus yake yodzipatulira ya I2C, mPu-6050 imatha kulandira zowonjezera kuchokera kwa kampasi wa 3-axis, ndikupereka madzi okwanira 9-axis.Zimathetsa vuto la chisokonezo pakati pa gyroscope yophatikizika ndi nthawi yayitali ndipo imachepetsa kwambiri malo opangira njira zothetsera mavuto ambiri.Mukalumikizidwa ndi maginito atatu-axis, mPu-60x0 amatha kupereka likulu la 9C kapena pa doko lake (onani kuti dokotala wa SPI-6000).

- Ais328dqtr

- ICM-20689

- MPu-3300

- MPu-6000

- MPu-6500

Wopanga MPU-6050 ndi TDK.Pambuyo pa mapangidwe awiri a TDK, Dr. Yoloro Kato ndi Condi, adapanga Ferringe ku Tokyo, adayambitsa tokyo dekhogaku kogyu k.k.Mu 1935. Monga mtundu wamagetsi wapadziko lonse, TDK nthawi zonse imakhala yokhazikika m'minda ya zamagetsi zamagetsi ndi zigawo zamagetsi.Makina okwanira a TDK amaphimba zinthu zomwe zimakhala ndi zida za ceramic, mafilimu a aluminiyal, maginito, zigawo zambiri, komanso ma syrar systems (monga kutentha,Magnetic ndi masensa a mems), etc. Kuphatikizanso, TDK imaperekanso mphamvu zamagetsi ndi zida zamphamvu, maginito ndi zinthu zina.Zogulitsa zake zimaphatikizapo TDK, EPCO, m'chigawo cha Micronas, Micronas ndi TDK-Nthambi.

Pakati pawo, Spl ndi SDA ndi mawonekedwe a iic omwe amalumikizidwa ndi ac, ndipo a MCU amawongolera MPA-605 kudzera mu mawonekedwe a IIC.Palinso mawonekedwe a iic, omwe ndi aux_cl ndi aux_da.Mawonekedwe awa akhoza kugwiritsidwa ntchito kulumikiza zida za akapolo zakunja, monga ma sensors a maginito, kupanga sensor asanu ndi anayi.Vllagic ndiye voti ya IO Port.Pini iyi imatha kuthandizira osachepera 1.8V.Nthawi zambiri timaziphatikiza mwachindunji kwa VDD.AD0 ndi pulogalamu yowongolera adilesi ya akapolo a kapolo (yolumikizidwa ndi MCU).Pini iyi imawongolera pang'ono pa adilesi ya IIC.Ngati ikulumikizidwa ku GD, adilesi ya IIC ya MPU-6050 ndi 0x68;Ngati ili yolumikizidwa ndi VDD, ndi 0x69.Chonde dziwani kuti adilesiyi pano siyiphatikiza gawo lotsika kwambiri (lotsika kwambiri limagwiritsidwa ntchito kuyimira kuwerenga ndi kulemba ntchito).Pa mwbaontedstc15, AD0 imalumikizidwa ku GN0, kotero adilesi ya IIC ya MPU-6050 ndi 0x68 (kupatula pang'ono).

MPU-6050 imagwiritsa ntchito IIC kuti mulumikizane ndi STC15, chifukwa chake tiyenera kuyambitsa mizere ya SDE ndi SCL yolumikizidwa ku MPU-6050.

Gawoli limabwezeretsa mabungwe onse mkati mwa MPU-6050 kupita kuzinthu zomwe zakwaniritsidwa, zomwe zimakwaniritsidwa polemba 1 kuti zilembedwe mwamphamvu kulembetsa 1 (0x6b).Pambuyo pokonzanso, kulembetsa kwamphamvu kwa 1 kudzabwezeretsedwanso kwa mtengo wokhazikika (0x40), ndipo dzina lake liyenera kukhazikitsidwa ku 0x00 kuti mudzuke ndi MPU-6050 ndikuyika mu boma logwirira ntchito.

Mu gawo lililonse, timakhazikitsa mitundu yonse ya masensa (fsr) kudzera mu Replers awiriwa kudzera ku Gyroscope Kukhazikitsa (0x1b) ndi kulembetsa kwa eyr eyror (0x1c) motsatana.Nthawi zambiri, timakhazikitsa mitundu yonse ya gyroscope ku ± 2000dps ndi mitundu yonse ya actilometer to ± 2g.

Apa, tikufunikanso kukhazikitsa magawo awa: imitsani zigawo za AUX I2C I2C Interocface, ikani mawonekedwe a Gussiko, ndikukhazikitsa zosefera zotsika kwambiri (DLPF).Popeza sitigwiritsa ntchito kusokoneza kuti tiwerenge zambiri m'mutu uno, ntchito yosokoneza iyenera kuyimitsidwa.Nthawi yomweyo, popeza sitikugwiritsa ntchito mawonekedwe a AUX I2C I2C kuti alumikizane ndi masensa ena akunja, tiyeneranso kutseka mawonekedwe.Ntchito izi zitha kulamulidwa kudzera mu ingent zimathandizira kulembetsa (0x38) ndi kulembetsa kwa ogwiritsa ntchito (0x6a).MPU-6050 atha kugwiritsa ntchito Sensor kuti asunge deta, koma sitinagwiritsepo ntchito m'mutu uno, motero ma anils onse amafunika kutsekedwa.Izi zitha kuwongoleredwa kudzera mu faifi zimathandizira kulembetsa (0x23).Mwachisawawa, mtengo wa kulembetsa uku ndi 0 (ndiye kuti, Fiflo ali wolumala), kotero titha kugwiritsa ntchito mtengo wokhazikika mwachindunji.Mpukutu wa Syroscope amawongoleredwa ndi Scourch Scoll Scoll Swuwer (0x19).Nthawi zambiri, timakhazikitsa zitsanzo za zitsanzo kuti zitheke 50. Kusintha kwa zosefera za digito yopanda digito (DLPF) imamalizidwa kudzera mu registation (0x1a).Nthawi zambiri, tikhazikitsa dlpf mpaka theka la bandwidth kuti tisunge kulondola kwa deta ndi liwiro.

Kukhazikitsa kwa Dokotala ya Systems kumatengera kulembetsa kwa maofesi oyang'anira 1 (0x6b), komwe maunyolo atatu a kulembetsawa amasankha kusankha kwa wotchi.Mwachisawawa, ma bits atatuwa amakhazikitsidwa kwa 0, zomwe zikutanthauza kuti dongosolo limagwiritsa ntchito ma 8mhz rc rosciator ngati wotchi.Komabe, pofuna kukonza kulondola kwa chisoti, nthawi zambiri timakonza 1 ndikusankha Gyscope Pll ngati wotchi.Kuphatikiza apo, kupangitsa kuti seneror ensolocity ndi sensor ikhalenso ndi gawo lofunikira pakuyambitsa.Ntchito zonsezi zimakhazikitsidwa kudzera mu madambo oyang'anira madambo 2 (0x6c).Ingokhazikitsa zogwirizana ndi 0 kuti muyambitse sensor yolingana.Nditamaliza njira zomwe zili pamwambapa, mPu-6050 ikhoza kulowa bwino.Mabungwe amenewo omwe sanapatsidwe mwapadera adzatengera zomwe sizigwirizana ndi dongosolo.

Sensor ili ndi gyro mkati, yomwe imakhala yofanana nthawi zonse mpaka kuwongolera koyambirira kwa gyroscopic.Chifukwa chake, titha kuwerengera malangizo ndi makona ozungulira pozindikira kupatuka kwa gyro kuchokera koyambirira.

Sensor octleleyoni ndi chipangizo chomwe chimatha kuyeza matalala ndipo chimagwira potengera mfundo za pizzoelerric zotsatira.Pamayendedwe, sensor imayesa mphamvu yosatha yomwe imagwiritsidwa ntchito ku misa kenako imawerengera mtengo wofulumira pogwiritsa ntchito lamulo lachiwiri la Newton.

The DMP ndi gawo lopanga deta mu mpu6050 chip chomwe chimaseka algorithm kuti mupeze zambiri kuchokera ku gyroscope ndi kukonza ma incradeons ndi kukonza ma quantions otulutsa.Izi zimachepetsa kwambiri ntchito yonyamula microprocy ndipo imapewa kusefa kawiri kofananira ndi kusintha kwa deta.

Zolemba:

Mafakitale: Ouluka ndi osavuta kwambiri.Manambala ovuta amapangidwa ndi manambala enieni kuphatikiza gawo loyerekeza i, komwe ine ^ 2 = -1.

- Zoseweretsa

- masewera achikazi ndi masewera

- oyang'anira masewera oyenda

- ukadaulo wa blurfree ™

- Theirignognogloglogy ™ yamagetsi (yachitetezo / kutsimikizika)

- Kuzindikirika kwa ™ kuzindikiridwa

- Zovuta zolimbitsa thanzi, zolimbitsa thupi ndi masewera

- Masewera osinthika ndi ntchito

- Tentcommand

- Ntchito zochokera kudera, chidwi cha chiwongola dzanja, komanso kuwerengera kofa

- Njira Zakutali Kwambiri Zogwirizanitsa pa intaneti ndikukhazikitsa mabokosi apamwamba, 3d mbewa

- ™ vachany ™ ukadaulo (kwa "osakhudza" UI Pursent / Navigation)

Titha kutenga njira zotsatirazi zochepetsera phokoso la MPU-6050.

Kukhazikika kwa actlerometer ndi gyroscope ya MPU-605 imatha kuthetsa kukondera ndi zolakwika za masensa, motero kuchepetsa zotsatira za phokoso.Njira yotsutsa nthawi zambiri imakhala ndi magawo awiri: odziwika bwino komanso kusuntha kovuta.

Kuonjezera ma capicactors a mphamvu ya MPU-6050 kungachepetse kukhumudwitsa kwa magetsi pa sensa.Pakadali pano, nthawi ya PCB, tiyenera kuyesetsa kuti musunge MPU-6050 kutali ndi zomwe zingasokoneze, monga zigawo zamagetsi zapamwamba komanso zigawo zapamwamba kwambiri.

Mukasonkhanitsa deta yaiwisi kuchokera ku MPU-6050, titha kuwonjezera ulalo wa pulogalamu yosenda kuti ukonzekere koyamba kuti uthetse zosokoneza phokoso.Njira zoseweretsera mapulogalamu zosewerera zimaphatikizapo kusefa zosefera, kusefana pakati pa anthu wamba, Kalman ndi zina zotero.

MPu-6050 ali ndi zosefera mkati mwa digito, zomwe zitha kugwiritsidwa ntchito kuchepetsa phokoso lambiri pokhazikitsa pafupipafupi.Makamaka, titha kukhazikitsa pafupipafupi pa fayilo ya digito posintha kafukufuku wa MPU-6050 kuti muchepetse phokoso lambiri lomwe limayambitsidwa ndi phokoso la A / D.

MPU-6050 ndi axis acticleometer ndi gyroscome sensor yomwe ingagwiritsidwe ntchito kuyeza mayendedwe ndi malingaliro a zinthu.Kuwerengera koyenda kochokera ku MPU-6050 ikhoza kuzindikiridwa ndi izi:

Gawo loyamba ndikuwerenga deta.Tiyenera kuwerenga zidziwitso za acylerometer ndi illroscope kuchokera ku masensa a MPU-6050 pogwiritsa ntchito madalaivala oyenerera ndi ntchito za laibulale.Izi nthawi zambiri zimakhala zotulutsa mu mawonekedwe a digito, kotero kuti kusintha kwina ndi ntchito yolumikizana kumafunikira kuti asinthe ku magawo enieni m'magawo akuthupi.

Gawo lachiwiri ndikuwerengera matikitsike.Choyamba, tiyenera kukonza deta kuchokera ku actilometer kuti muchepetse kuthamanga kwa chinthucho mu axis iliyonse.Pambuyo pake, kuti awerengere velocity ndi kusamutsidwa kwa chinthucho m'maxis iliyonse, tikufunika kuphatikiza kuchuluka kwa magwero.Njira Zophatikiza, monga njira ya Euler kapena a Lular-mphato, nthawi zambiri amagwiritsidwa ntchito pochita izi kuti zitsimikizire kuwerengera kosakanikirako.

Gawo lachitatu ndikuwerengera vericity yamphamvu.Kugwiritsa ntchito gyroscope deta, velocity ya chinthucho mumatha kuwerengedwa.Apanso, izi zimafunikira kunyozedwa ndikusinthidwa kuti zithetse vericity yamphamvu mu mayunitsi enieni.

Gawo lachinayi ndikuwerengera kuzungulira.Mwa kuphatikiza deta yamiyala yamiyala yamiyala, ngodya yosinthira chinthucho imawerengedwa.Izi zitha kuchitika pogwiritsa ntchito njira zophatikizira zophatikizira zotere monga njira ya Euler kapena mwayi wa Longge-Kuto kuti muwerengere ngodya.

Gawo lachisanu ndikuphatikiza deta.Timaphatikiza deta kuchokera ku macylerimeter ndi gyroscopes kuti mupeze malingaliro athunthu ndi chidziwitso cha chinthucho.Izi zitha kuchitika pogwiritsa ntchito algorithms monga soluminion-quarder kapena euler angle solver.

Gawo lachisanu ndi chimodzi ndikuwona zotsatira zake.Tisintha zinthu zomwe zidasankhidwa bwino munthawi ya malo ogwirizira 3D ndikuwonetsa pogwiritsa ntchito zida zoyenera kumvetsetsa bwino chinthucho ndi malingaliro osintha.

Zotsatira zomwe zopezekazo zidawonetsa kulondola kwa zosakwana 1% ndi kudalirika, ndikutsimikizira kukula koyenera kwa shaft yokweza ndi miyezo yapamwamba yamakampani okweza.

Kuti muwerenge maboma amkati a MPU6050, mbuyeyo amatumiza gawo loyambira, lotsatiridwa ndi adilesi ya akapolo ya I2C ndi kulemba pang'ono, kenako adilesi yomwe ikuyenera kuwerengedwa.

Pakutsatira zachilengedwe, zida zolondola.M'madera ndi quadcopters, mpu6050 imagwiritsidwa ntchito poyang'anira.Ogwiritsidwa ntchito poyendetsa laboti.Zida za m'manja mwa manja.

MPu6050 iU sensor blor imawerengera kuchokera ku sensor ya MPU-6050 yomwe imalumikizidwa ndi zida.Kutulutsa kotulutsidwa kumapititsidwa, kuchuluka kwangu, ndi kutentha m'matumbo a sensor.

Uwu ndi purosesa ya MPA6050 yomwe imaphatikiza deta yomwe ikubwera kuchokera ku actlerometer ndi Gyroscope.The DMP ndiye chinsinsi chogwiritsa ntchito mpu6050 ndipo chikufotokozedwa mwatsatanetsatane pambuyo pake.Monga ma microcrosion onse omwe amafunikira DMP amafunikira firmware kuti athawe.