(二十四)树莓派3B+ Node.js驱动MPU6050

在之前的博客中写过MPU6050模块。

(十四)树莓派3B+ wiringPi库的使用–硬件IIC驱动MPU6050

之前使用的wiringPi和C语言写的，现在使用Node.js操作一下。关于电路连接和MPU6050模块的介绍，这里不做说明，大家自行查看之前的文章或者百度。

树莓派驱动MPU6050

var i2c = require('i2c-bus');// MPU6050 寄存器var PWR_MGMT_1 = 0x6B,PWR_MGMT_2 = 0x6C,SMPLRT_DIV = 0x19;var CONFIG = 0x1A,GYRO_CONFIG = 0x1B,ACCEL_CONFIG = 0x1C,INT_ENABLE = 0x38;// 加速度 16位数据 低8位是在高8位的基础上地址 +1var ACCEL_XOUT_H = 0x3B,ACCEL_YOUT_H = 0x3D,ACCEL_ZOUT_H = 0x3F;// 角速度 16位数据 低8位是在高8位的基础上地址 +1var GYRO_XOUT_H = 0x43,GYRO_YOUT_H = 0x45,GYRO_ZOUT_H = 0x47;// 当前温度寄存器var TEMP_OUT = 0x41;// 加速度计和陀螺仪输出值和实际值的换算比例 输出值/比例 = 实际值var ACCEL_LSB_SENSITIVITY = 16384.0, // 加速度计 16384LSB/gGYRO_LSB_SENSITIVITY = 16.4;// 陀螺仪 16.4LSB%s// ±2g ±4g ±8g ±16g//16384 8192 4096 2048 LSB/g// ±250%s ±500%s ±1000%s ±2000%s// 13165.5 32.816.4 LSB%sfunction mpu6050( i2cbus, mpuaddress ) {if (!(this instanceof mpu6050)) {return new mpu6050(i2cbus, mpuaddress);}this.address = mpuaddress;this.bus = i2c.openSync(i2cbus);// 内部20MHz时钟源 开启温度检测 关闭休眠this.bus.writeByteSync(this.address, PWR_MGMT_1, 0);// 采样分分频率 // SAMPLE_RATE = INTERNAL_SAMPLE_RATE / (1 + SMPLRT_DIV) where INTERNAL_SAMPLE_RATE = 1kHzthis.bus.writeByteSync(this.address, SMPLRT_DIV, 7); // 125Hz// 正常工作模式this.bus.writeByteSync(this.address, PWR_MGMT_2, 0);this.bus.writeByteSync(this.address, CONFIG, 0);// 陀螺仪设置 不自检 ±2000dpsthis.bus.writeByteSync(this.address, GYRO_CONFIG, 24); // 24 --> 0x18// 加速度计设置 不自检 ±2gthis.bus.writeByteSync(this.address, ACCEL_CONFIG, 0); // 数据就绪中断this.bus.writeByteSync(this.address, INT_ENABLE, 1);}// i2c读取mpu6050原始数据mpu6050.prototype.read_raw_data = function (addr) {var high = this.bus.readByteSync(this.address, addr);var low = this.bus.readByteSync(this.address, addr+1);var value = (high << 8) + low; // 高8位 左移8位 组装成16位的数据if (value > 32768) {value = value - 65536;}return value;};// 读取温度值mpu6050.prototype.get_temp = function() {var value = this.read_raw_data(TEMP_OUT);var temp = 36.53 + value/340.0; // 输出 ℃var mpu6050_temp = {temp:temp}return mpu6050_temp;}// 读取角速度值mpu6050.prototype.get_gyro_xyz = function() {var x = this.read_raw_data(GYRO_XOUT_H);var y = this.read_raw_data(GYRO_YOUT_H);var z = this.read_raw_data(GYRO_ZOUT_H);var gyro_xyz = {x:x,y:y,z:z}return gyro_xyz;}// 读取加速度值mpu6050.prototype.get_accel_xyz = function() {var x = this.read_raw_data(ACCEL_XOUT_H);var y = this.read_raw_data(ACCEL_YOUT_H);var z = this.read_raw_data(ACCEL_ZOUT_H);var accel_xyz = {x:x,y:y,z:z}return accel_xyz;}mpu6050.prototype.get_roll_pitch_yaw = function( gyro_xyz, accel_xyz ) {var Ax = accel_xyz.x/ACCEL_LSB_SENSITIVITY;var Ay = accel_xyz.y/ACCEL_LSB_SENSITIVITY;var Az = accel_xyz.z/ACCEL_LSB_SENSITIVITY;var roll = Ax*-100;var pitch = Ay*-100;var yaw = Az*100; // 这个是有问题的var roll_pitch_yaw = {roll: roll, // 横滚角 pitch: pitch, // 俯仰角 yaw: yaw// 航向角 }return roll_pitch_yaw;}// 获取MPU6050数据mpu6050.prototype.get_mpu6050Data = function( gyro_xyz, accel_xyz ) {var gyro_xyz = this.get_gyro_xyz();var accel_xyz = this.get_accel_xyz();var temp = this.get_temp();var roll_pitch_yaw = this.get_roll_pitch_yaw(gyro_xyz,accel_xyz);var mpu6050Data = {gyro_xyz: gyro_xyz,accel_xyz: accel_xyz,temp: temp,roll_pitch_yaw: roll_pitch_yaw,}return mpu6050Data;}module.exports = mpu6050;

测试代码

var mpu6050 = require("./mpu6050");var rpio = require('rpio'); // 引入rpio这个库 为了使用他的延时函数var address = 0x68; //MPU6050 addressvar bus = 1; //i2c bus usedvar mpu6050 = new mpu6050( bus,address );function update_telemetry() {var mpu6050Data = mpu6050.get_mpu6050Data();console.log(mpu6050Data);return mpu6050Data;}if ( mpu6050 ) {while(true){update_telemetry();rpio.msleep(100);}}

输出结果

{gyro_xyz: {x: -20, y: 39, z: -22 },accel_xyz: {x: -112, y: -76, z: 17088 },temp: {temp: 31.353529411764708 },roll_pitch_yaw: {roll: 0.68359375, pitch: 0.4638671875, yaw: 104.296875 }}