Tutorial Sensor Gyro (MPU6050) Pada Arduino

Tutorial kali ini menggunakan salah satu jenis sensor yang umum digunakan untuk aeromodeling yaitu sensor MPU6050. Sensor MPU6050 ini adalah sensor yang dapat membaca kemiringan sudut berdasarkan data dari sensor accelero dan gyroscope. Selain itu sensor ini juga dapat membaca suhu lingkungan sekitar. Untuk jalur komunikasi sensor ini menggunakan jalur I2C

Alat dan Bahan

• Arduino
• Breadboard (Optional)
• Sensor MPU6050
• Kabel Jumper Secukupnya

Rangkaian

Koneksi Arduino Dengan MPU6050
MPU6050	Arduino
VCC	5V
GND	GND
SCL	A5
SDA	A4
INT	2

Listing Program

	#include "I2Cdev.h"#include "MPU6050_6Axis_MotionApps20.h"
	//#include "MPU6050.h" // not necessary if using MotionApps include file
	#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 SparkFun breakout and InvenSense evaluation board)
	// AD0 high = 0x69
	MPU6050 mpu;
	//MPU6050 mpu(0x69); //
	#define OUTPUT_READABLE_YAWPITCHROLL
	#define INTERRUPT_PIN 2 // use pin 2 on Arduino Uno & most boards
	#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
	bool blinkState = false;
	// MPU control/status vars
	bool dmpReady = false; // set true if DMP init was successful
	uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
	uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
	uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
	uint16_t fifoCount; // count of all bytes currently in FIFO
	uint8_t fifoBuffer[64]; // FIFO storage buffer
	// orientation/motion vars
	Quaternion q; // [w, x, y, z] quaternion container
	VectorInt16 aa; // [x, y, z] accel sensor measurements
	VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
	VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
	VectorFloat gravity; // [x, y, z] gravity vector
	float euler[3]; // [psi, theta, phi] Euler angle container
	float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
	// packet structure for InvenSense teapot demo
	uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
	// ================================================================
	// === INTERRUPT DETECTION ROUTINE ===
	// ================================================================
	volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
	void dmpDataReady() {
	mpuInterrupt = true;
	}
	// ================================================================
	// === INITIAL SETUP ===
	// ================================================================
	void setup() {
	// join I2C bus (I2Cdev library doesn't do this automatically)
	#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
	Wire.begin();
	Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
	#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
	Fastwire::setup(400, true);
	#endif
	Serial.begin(115200);
	while (!Serial); // wait for Leonardo enumeration, others continue immediately
	// NOTE: 8MHz or slower host processors, like the Teensy @ 3.3v or Ardunio
	// Pro Mini running at 3.3v, cannot handle this baud rate reliably due to
	// the baud timing being too misaligned with processor ticks. You must use
	// 38400 or slower in these cases, or use some kind of external separate
	// crystal solution for the UART timer.
	// initialize device
	Serial.println(F("Initializing I2C devices..."));
	mpu.initialize();
	pinMode(INTERRUPT_PIN, INPUT);
	// verify connection
	Serial.println(F("Testing device connections..."));
	Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
	// wait for ready
	Serial.println(F("\nSend any character to begin DMP programming and demo: "));
	while (Serial.available() && Serial.read()); // empty buffer
	while (!Serial.available()); // wait for data
	while (Serial.available() && Serial.read()); // empty buffer again
	// load and configure the DMP
	Serial.println(F("Initializing DMP..."));
	devStatus = mpu.dmpInitialize();
	// supply your own gyro offsets here, scaled for min sensitivity
	mpu.setXGyroOffset(220);
	mpu.setYGyroOffset(76);
	mpu.setZGyroOffset(-85);
	mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
	// make sure it worked (returns 0 if so)
	if (devStatus == 0) {
	// turn on the DMP, now that it's ready
	Serial.println(F("Enabling DMP..."));
	mpu.setDMPEnabled(true);
	// enable Arduino interrupt detection
	Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
	attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
	mpuIntStatus = mpu.getIntStatus();
	// set our DMP Ready flag so the main loop() function knows it's okay to use it
	Serial.println(F("DMP ready! Waiting for first interrupt..."));
	dmpReady = true;
	// get expected DMP packet size for later comparison
	packetSize = mpu.dmpGetFIFOPacketSize();
	} else {
	// ERROR!
	// 1 = initial memory load failed
	// 2 = DMP configuration updates failed
	// (if it's going to break, usually the code will be 1)
	Serial.print(F("DMP Initialization failed (code "));
	Serial.print(devStatus);
	Serial.println(F(")"));
	}
	// configure LED for output
	pinMode(LED_PIN, OUTPUT);
	}
	// ================================================================
	// === MAIN PROGRAM LOOP ===
	// ================================================================
	void loop() {
	// if programming failed, don't try to do anything
	if (!dmpReady) return;
	// wait for MPU interrupt or extra packet(s) available
	while (!mpuInterrupt && fifoCount < packetSize) {
	// other program behavior stuff here
	// .
	// .
	// .
	// if you are really paranoid you can frequently test in between other
	// stuff to see if mpuInterrupt is true, and if so, "break;" from the
	// while() loop to immediately process the MPU data
	// .
	// .
	// .
	}
	// reset interrupt flag and get INT_STATUS byte
	mpuInterrupt = false;
	mpuIntStatus = mpu.getIntStatus();
	// get current FIFO count
	fifoCount = mpu.getFIFOCount();
	// check for overflow (this should never happen unless our code is too inefficient)
	if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
	// reset so we can continue cleanly
	mpu.resetFIFO();
	Serial.println(F("FIFO overflow!"));
	// otherwise, check for DMP data ready interrupt (this should happen frequently)
	} else if (mpuIntStatus & 0x02) {
	// wait for correct available data length, should be a VERY short wait
	while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
	// read a packet from FIFO
	mpu.getFIFOBytes(fifoBuffer, packetSize);
	// track FIFO count here in case there is > 1 packet available
	// (this lets us immediately read more without waiting for an interrupt)
	fifoCount -= packetSize;
	#ifdef OUTPUT_READABLE_QUATERNION
	// display quaternion values in easy matrix form: w x y z
	mpu.dmpGetQuaternion(&q, fifoBuffer);
	Serial.print("quat\t");
	Serial.print(q.w);
	Serial.print("\t");
	Serial.print(q.x);
	Serial.print("\t");
	Serial.print(q.y);
	Serial.print("\t");
	Serial.println(q.z);
	#endif
	#ifdef OUTPUT_READABLE_EULER
	// display Euler angles in degrees
	mpu.dmpGetQuaternion(&q, fifoBuffer);
	mpu.dmpGetEuler(euler, &q);
	Serial.print("euler\t");
	Serial.print(euler[0] * 180/M_PI);
	Serial.print("\t");
	Serial.print(euler[1] * 180/M_PI);
	Serial.print("\t");
	Serial.println(euler[2] * 180/M_PI);
	#endif
	#ifdef OUTPUT_READABLE_YAWPITCHROLL
	// display Euler angles in degrees
	mpu.dmpGetQuaternion(&q, fifoBuffer);
	mpu.dmpGetGravity(&gravity, &q);
	mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
	Serial.print("ypr\t");
	Serial.print(ypr[0] * 180/M_PI);
	Serial.print("\t");
	Serial.print(ypr[1] * 180/M_PI);
	Serial.print("\t");
	Serial.println(ypr[2] * 180/M_PI);
	#endif
	#ifdef OUTPUT_READABLE_REALACCEL
	// display real acceleration, adjusted to remove gravity
	mpu.dmpGetQuaternion(&q, fifoBuffer);
	mpu.dmpGetAccel(&aa, fifoBuffer);
	mpu.dmpGetGravity(&gravity, &q);
	mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
	Serial.print("areal\t");
	Serial.print(aaReal.x);
	Serial.print("\t");
	Serial.print(aaReal.y);
	Serial.print("\t");
	Serial.println(aaReal.z);
	#endif
	#ifdef OUTPUT_READABLE_WORLDACCEL
	// display initial world-frame acceleration, adjusted to remove gravity
	// and rotated based on known orientation from quaternion
	mpu.dmpGetQuaternion(&q, fifoBuffer);
	mpu.dmpGetAccel(&aa, fifoBuffer);
	mpu.dmpGetGravity(&gravity, &q);
	mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
	mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
	Serial.print("aworld\t");
	Serial.print(aaWorld.x);
	Serial.print("\t");
	Serial.print(aaWorld.y);
	Serial.print("\t");
	Serial.println(aaWorld.z);
	#endif
	#ifdef OUTPUT_TEAPOT
	// display quaternion values in InvenSense Teapot demo format:
	teapotPacket[2] = fifoBuffer[0];
	teapotPacket[3] = fifoBuffer[1];
	teapotPacket[4] = fifoBuffer[4];
	teapotPacket[5] = fifoBuffer[5];
	teapotPacket[6] = fifoBuffer[8];
	teapotPacket[7] = fifoBuffer[9];
	teapotPacket[8] = fifoBuffer[12];
	teapotPacket[9] = fifoBuffer[13];
	Serial.write(teapotPacket, 14);
	teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
	#endif
	// blink LED to indicate activity
	blinkState = !blinkState;
	digitalWrite(LED_PIN, blinkState);
	}
	}

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