如何解决NodeMCU ESP8266-GY-521 MPU6050板的I2C问题
我正在尝试使用NodeMCU ESP8266与使用MPU6050芯片的GY-521分支板通信。我正在使用Arduino Wire库通过I2C进行通信。
我设法取得了一些进展,并使用以下代码使ESP与MPU通信以检索单个字节。 endTransmission()返回0(成功),而requestFrom()读取正确的字节0x68(MPU的I2C地址)。
#include <Wire.h>
uint8_t adrs = 0x68;
void setup() {
Wire.begin();
Serial.begin(9600);
}
void loop() {
Wire.beginTransmission(adrs);
Wire.write(0x75);
Serial.print("Request for WHOAMI register,transmission result: ");
Serial.println(Wire.endTransmission());
Wire.requestFrom(adrs,(size_t)1,true);
byte data = Wire.read();
Serial.print("Byte received: ");
Serial.println(data);
}
因此,我在我的较大项目中实现了该片段似乎正确的部分,进行了一些调试,现在我陷入了困境。当我尝试在ESP上(在updateData()方法中)运行Wire.requestFrom()时,它将抛出一个软件监视程序计时器。我正在打印出配置的错误代码,该配置会唤醒并配置模块,因此我可以看到唤醒和配置是否成功,即错误代码为0(在configureMPU()方法中),并且仍然收到该requestFrom错误即使是这样。换句话说,即使ESP已成功连接并配置了MPU,该错误仍然存在。我的代码如下:
#include <Wire.h>
int adrs = 0x68;
float pitch,roll,yaw;
float gyrox=0,gyroy=0,gyroz=0;
float gyrox_o,gyroy_o,gyroz_o;
float accx,accy,accz;
void setup() {
Wire.begin();
Serial.begin(9600);
configureMPU();
calibrateGyro();
}
void configureMPU(){
Wire.beginTransmission(adrs);
Wire.write(0x6B);
Wire.write(0x00);
Serial.println(Wire.endTransmission());
Wire.beginTransmission(adrs);
Wire.write(0x1C);
Wire.write(0x10);
Serial.println(Wire.endTransmission());
Wire.beginTransmission(adrs);
Wire.write(0x1B);
Wire.write(0x08);
Serial.println(Wire.endTransmission());
}
void calibrateGyro(){
Serial.println("Calibrating gyroscope...");
double xsum=0;
double ysum=0;
double zsum=0;
int nt=2000;
for(int i=0;i<nt;i++){
updateData();
xsum+=gyrox;
ysum+=gyroy;
zsum+=gyroz;
}
gyrox_o = xsum/nt;
gyroy_o = ysum/nt;
gyroz_o = zsum/nt;
Serial.println("Calibration complete.");
}
void updateData(){
Wire.beginTransmission(adrs);
Wire.write(0x3B);
Wire.endTransmission();
Wire.requestFrom(adrs,14);
while(Wire.available()<14){};
accx = Wire.read()<<8|Wire.read();
accy = Wire.read()<<8|Wire.read();
accz = Wire.read()<<8|Wire.read();
float temperature = Wire.read()<<8|Wire.read();
gyrox = Wire.read()<<8|Wire.read();
gyroy = Wire.read()<<8|Wire.read();
gyroz = Wire.read()<<8|Wire.read();
}
void loop() {
updateData();
}
解码后的堆栈跟踪:
0x402014db: twi_readFrom at C:\Users\mach\AppData\Local\Arduino15\packages\esp8266\hardware\esp8266\2.5.0\cores\esp8266\core_esp8266_si2c.c line 246
0x4020313c: HardwareSerial::write(unsigned char const*,unsigned int) at C:\Users\mach\AppData\Local\Arduino15\packages\esp8266\hardware\esp8266\2.5.0\cores\esp8266/HardwareSerial.h line 174
0x40202fbc: TwoWire::requestFrom(unsigned char,unsigned int,bool) at C:\Users\mach\AppData\Local\Arduino15\packages\esp8266\hardware\esp8266\2.5.0\libraries\Wire\Wire.cpp line 118
0x40202fe7: TwoWire::requestFrom(int,int) at C:\Users\mach\AppData\Local\Arduino15\packages\esp8266\hardware\esp8266\2.5.0\libraries\Wire\Wire.cpp line 134
0x40202b94: updateData() at C:\Users\mach\Documents\Arduino\Drone_temp/Drone_temp.ino line 51
0x40202cc1: calibrateGyro() at C:\Users\mach\Documents\Arduino\Drone_temp/Drone_temp.ino line 37
0x40202dc4: setup() at C:\Users\mach\Documents\Arduino\Drone_temp/Drone_temp.ino line 14
0x402038c4: loop_wrapper() at C:\Users\mach\AppData\Local\Arduino15\packages\esp8266\hardware\esp8266\2.5.0\cores\esp8266\core_esp8266_main.cpp line 122
如果相关,我有时也会在尝试上传草图时收到以下警告。它甚至没有一直发生,只是看起来是随机的:
warning: espcomm_send_command: wrong direction/command: 0x01 0x00,expected 0x01 0x08
在此刻,任何帮助将不胜感激,这已经使我疯狂了好几天了。
版权声明:本文内容由互联网用户自发贡献,该文观点与技术仅代表作者本人。本站仅提供信息存储空间服务,不拥有所有权,不承担相关法律责任。如发现本站有涉嫌侵权/违法违规的内容, 请发送邮件至 dio@foxmail.com 举报,一经查实,本站将立刻删除。