工作电压:

3.3V-5V（DC）

最大功率：

0.25W

通信方式：

标准IIC通信协议

数据：

芯片内置16bit AD转换器，16位数据输出

陀螺仪范围：

±250 500 1000 2000°/s

加速度范围：

±2±4±8±16g

陀螺仪运作电流：

5mA

尺寸：

31.6mmx23.7mm

原理：模块原理图如下，其中使用了SPX3810M稳压芯片，将5V电源转换为3.3V电压给MPU6050芯片供电，P-MOS管Q1、Q2作为电平转换电路，将芯片的IIC电平转化为5.0V电平，采用3.3V的单片机控制，如果不想要或者无法兼容5V电压，可将电平转换电路去掉，将IIC接口直接接单片机IIC引脚。

控制板* 1

USB线*1

MPU6050*1

5P 转杜邦线母*1

/*

MPU6050传感器

https://sourl.cn/NbKeBf

*/

// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files

// for both classes must be in the include path of your project

#include "I2Cdev.h"

#include "MPU6050.h"

// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation

// is used in I2Cdev.h

#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE

#include "Wire.h"

#endif

// class default I2C address is 0x68

// specific I2C addresses may be passed as a parameter here

// AD0 low = 0x68 (default for InvenSense evaluation board)

// AD0 high = 0x69

MPU6050 accelgyro;

//MPU6050 accelgyro(0x69); // <-- use for AD0 high

int16_t ax, ay, az;

int16_t gx, gy, gz;

// uncomment "OUTPUT_READABLE_ACCELGYRO" if you want to see a tab-separated

// list of the accel X/Y/Z and then gyro X/Y/Z values in decimal. Easy to read,

// not so easy to parse, and slow(er) over UART.

#define OUTPUT_READABLE_ACCELGYRO

// uncomment "OUTPUT_BINARY_ACCELGYRO" to send all 6 axes of data as 16-bit

// binary, one right after the other. This is very fast (as fast as possible

// without compression or data loss), and easy to parse, but impossible to read

// for a human.

//#define OUTPUT_BINARY_ACCELGYRO

#define LED_PIN 13

bool blinkState = false;

void setup() {

// join I2C bus (I2Cdev library doesn't do this automatically)

#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE

Wire.begin();

#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE

Fastwire::setup(400, true);

#endif

// initialize serial communication

Serial.begin(9600);

// initialize device

Serial.println("Initializing I2C devices...");

accelgyro.initialize();

// verify connection

Serial.println("Testing device connections...");

Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");

// use the code below to change accel/gyro offset values

/*

Serial.println("Updating internal sensor offsets...");

// -76 -2359 1688 0 0 0

Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76

Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359

Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688

Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0

Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0

Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0

Serial.print("\n");

accelgyro.setXGyroOffset(220);

accelgyro.setYGyroOffset(76);

accelgyro.setZGyroOffset(-85);

Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76

Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359

Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688

Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0

Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0

Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0

Serial.print("\n");

*/

// configure Arduino LED for

pinMode(LED_PIN, OUTPUT);

}

void loop() {

// read raw accel/gyro measurements from device

accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

// these methods (and a few others) are also available

//accelgyro.getAcceleration(&ax, &ay, &az);

//accelgyro.getRotation(&gx, &gy, &gz);

#ifdef OUTPUT_READABLE_ACCELGYRO

// display tab-separated accel/gyro x/y/z values

Serial.print("a/g:\t");

Serial.print(ax); Serial.print("\t");

Serial.print(ay); Serial.print("\t");

Serial.print(az); Serial.print("\t");

Serial.print(gx); Serial.print("\t");

Serial.print(gy); Serial.print("\t");

Serial.println(gz);

#endif

#ifdef OUTPUT_BINARY_ACCELGYRO

Serial.write((uint8_t)(ax >> 8)); Serial.write((uint8_t)(ax & 0xFF));

Serial.write((uint8_t)(ay >> 8)); Serial.write((uint8_t)(ay & 0xFF));

Serial.write((uint8_t)(az >> 8)); Serial.write((uint8_t)(az & 0xFF));

Serial.write((uint8_t)(gx >> 8)); Serial.write((uint8_t)(gx & 0xFF));

Serial.write((uint8_t)(gy >> 8)); Serial.write((uint8_t)(gy & 0xFF));

Serial.write((uint8_t)(gz >> 8)); Serial.write((uint8_t)(gz & 0xFF));

#endif

// blink LED to indicate activity

blinkState = !blinkState;

digitalWrite(LED_PIN, blinkState);

}