开启i2c
sudo raspi-config
- In Interfacing option, Select -> I2C
查看id
ls /dev/*i2c*
查看地址
sudo i2cdetect -y 1
Scan or Test I2C device on Raspberry Pi
Now, we can test/scan for any I2C device connected to our Raspberry Pi board by installing i2c tools. We can get i2c tools by using apt package manager. Use following command in Raspberry Pi terminal.
sudo apt-get install -y i2c-tools
sudo apt-get install python-smbus
采集代码
'''
Read Gyro and Accelerometer by Interfacing Raspberry Pi with MPU6050 using Python
http://www.electronicwings.com
'''
import smbus #import SMBus module of I2C
from time import sleep #import
#some MPU6050 Registers and their Address
PWR_MGMT_1 = 0x6B
SMPLRT_DIV = 0x19
CONFIG = 0x1A
GYRO_CONFIG = 0x1B
INT_ENABLE = 0x38
ACCEL_XOUT_H = 0x3B
ACCEL_YOUT_H = 0x3D
ACCEL_ZOUT_H = 0x3F
GYRO_XOUT_H = 0x43
GYRO_YOUT_H = 0x45
GYRO_ZOUT_H = 0x47
def MPU_Init():
#write to sample rate register
bus.write_byte_data(Device_Address, SMPLRT_DIV, 7)
#Write to power management register
bus.write_byte_data(Device_Address, PWR_MGMT_1, 1)
#Write to Configuration register
bus.write_byte_data(Device_Address, CONFIG, 0)
#Write to Gyro configuration register
bus.write_byte_data(Device_Address, GYRO_CONFIG, 24)
#Write to interrupt enable register
bus.write_byte_data(Device_Address, INT_ENABLE, 1)
def read_raw_data(addr):
#Accelero and Gyro value are 16-bit
high = bus.read_byte_data(Device_Address, addr)
low = bus.read_byte_data(Device_Address, addr+1)
#concatenate higher and lower value
value = ((high << 8) | low)
#to get signed value from mpu6050
if(value > 32768):
value = value - 65536
return value
bus = smbus.SMBus(1) # or bus = smbus.SMBus(0) for older version boards
Device_Address = 0x68 # MPU6050 device address
MPU_Init()
print (" Reading Data of Gyroscope and Accelerometer")
while True:
#Read Accelerometer raw value
acc_x = read_raw_data(ACCEL_XOUT_H)
acc_y = read_raw_data(ACCEL_YOUT_H)
acc_z = read_raw_data(ACCEL_ZOUT_H)
#Read Gyroscope raw value
gyro_x = read_raw_data(GYRO_XOUT_H)
gyro_y = read_raw_data(GYRO_YOUT_H)
gyro_z = read_raw_data(GYRO_ZOUT_H)
#Full scale range +/- 250 degree/C as per sensitivity scale factor
Ax = acc_x/16384.0
Ay = acc_y/16384.0
Az = acc_z/16384.0
Gx = gyro_x/131.0
Gy = gyro_y/131.0
Gz = gyro_z/131.0
print ("Gx=%.2f" %Gx, u'\u00b0'+ "/s", "\tGy=%.2f" %Gy, u'\u00b0'+ "/s", "\tGz=%.2f" %Gz, u'\u00b0'+ "/s", "\tAx=%.2f g" %Ax, "\tAy=%.2f g" %Ay, "\tAz=%.2f g" %Az)
sleep(1)