432使用IIC驱动mpu6050

被TI坑的最惨的一次

他喵的给的管脚图跟代码居然对不上

图片上的IIc(0)对应代码的IIc(1)

图片上的IIc(1)对应代码的IIc(0)

直接上代码，大家可以烧录测试一下

这里使用的是IIc（0），所以要插板子上的IIC（1）

#include "Wire.h"

// 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"

// 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;

int16_t ax, ay, az;

int16_t gx, gy, gz;

#define LED_PIN 13

bool blinkState = false;

void setup() {

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

    Wire.begin();

    // initialize serial communication

    // (38400 chosen because it works as well at 8MHz as it does at 16MHz, but

    // it's really up to you depending on your project)

    Serial.begin(38400);

    // 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");

    // 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);

    // 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);

    // blink LED to indicate activity

    blinkState = !blinkState;

    digitalWrite(LED_PIN, blinkState);

}

效果图