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/*
【Arduino】168種傳感器模塊系列實驗（資料代碼+圖形編程+仿真編程）
實驗一百五十二：GY-25 串口直接輸出角度數據傾斜度角度傳感器模塊 MPU-6050
使用步驟：
1.先下載GY25_uart程序至arduino
2.再接上GY25模塊
3.按復位按鍵
4.打開串口，波特率115200
5、接線
GY25 arduino uno
VCC----------------------VCC
RX-----------------------TX
TX-----------------------RX
GND----------------------GND
實驗之一：串口顯示動態角度數值
*/
#include <Wire.h>
int YPR[3];
unsigned char Re_buf[8], counter = 0;
unsigned char sign = 0;
int led = 13;
//-----------------------------------------------------------
void setup()
{
Serial.begin(115200);
delay(2000);
Serial.write(0XA5);
Serial.write(0X52); //初始化GY25,連續輸出模式
}
//-------------------------------------------------------------
void loop() {
if (sign)
{
sign = 0;
if (Re_buf[0] == 0xAA && Re_buf[7] == 0x55) //檢查幀頭，幀尾
{
YPR[0] = (Re_buf[1] << 8 | Re_buf[2]) / 100; //合成數據，去掉小數點后2位
YPR[1] = (Re_buf[3] << 8 | Re_buf[4]) / 100;
YPR[2] = (Re_buf[5] << 8 | Re_buf[6]) / 100;
Serial.print("YPR:\t");
Serial.print(YPR[0], DEC); Serial.print("\t"); //顯示航向
Serial.print(YPR[1], DEC); Serial.print("\t"); //顯示俯仰角
Serial.println(YPR[2], DEC); //顯示橫滾角
delay(50);
}
}
}
//---------------------------------------------------------------
void serialEvent() {
while (Serial.available()) {
Re_buf[counter] = (unsigned char)Serial.read();
if (counter == 0 && Re_buf[0] != 0xAA) return; // 檢查幀頭
counter++;
if (counter == 8) //接收到數據
{
counter = 0; //重新賦值，準備下一幀數據的接收
sign = 1;
}
}
}

復制代碼

/*
【Arduino】168種傳感器模塊系列實驗（資料代碼+圖形編程+仿真編程）
實驗一百五十二：GY-25 串口直接輸出角度數據傾斜度角度傳感器模塊 MPU-6050
使用步驟：
1.先下載GY25_uart程序至arduino
2.再接上GY25模塊
3.按復位按鍵
4.打開串口，波特率115200
5、接線
GY25 arduino uno
VCC----------------------VCC
RX-----------------------TX
TX-----------------------RX
GND----------------------GND
---------------------------------------
IICLCD2004 arduino uno
VCC----------------------VCC
SCL----------------------A5
SDA----------------------A4
GND----------------------GND
實驗之二：IICLCD2004顯示動態角度數值
*/
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
int YPR[3];
unsigned char Re_buf[8], counter = 0;
unsigned char sign = 0;
int led = 13;
LiquidCrystal_I2C lcd(0x27, 20, 4); // set the LCD address to 0x20 for a 20 chars and 4 line display
//-----------------------------------------------------------
void setup()
{
lcd.init(); // initialize the lcd
// Print a message to the LCD.
Serial.begin(115200);
delay(2000);
Serial.write(0XA5);
Serial.write(0X52); //初始化GY25,連續輸出模式
lcd.backlight();
lcd.setCursor(0, 0); //I2C接口LCD2004顯示初始值
lcd.print("Yaw:");
lcd.setCursor(0, 1);
lcd.print("Pitch:");
lcd.setCursor(0, 2);
lcd.print("Roll:");
}
//-------------------------------------------------------------
void loop() {
if (sign)
{
sign = 0;
if (Re_buf[0] == 0xAA && Re_buf[7] == 0x55) //檢查幀頭，幀尾
{
YPR[0] = (Re_buf[1] << 8 | Re_buf[2]) / 100; //合成數據，去掉小數點后2位
YPR[1] = (Re_buf[3] << 8 | Re_buf[4]) / 100;
YPR[2] = (Re_buf[5] << 8 | Re_buf[6]) / 100;
lcd.setCursor(4, 0);
lcd.print(" ");
lcd.setCursor(4, 0);
lcd.print(YPR[0]); //顯示航向
lcd.setCursor(6, 1);
lcd.print(" ");
lcd.setCursor(6, 1); //顯示俯仰角
lcd.print(YPR[1]);
lcd.setCursor(5, 2);
lcd.print(" ");
lcd.setCursor(5, 2); //顯示橫滾角
lcd.print(YPR[2]);
delay(100);
}
}
}
//----------------------------------------------------------
void serialEvent() {
while (Serial.available()) {
Re_buf[counter] = (unsigned char)Serial.read();
if (counter == 0 && Re_buf[0] != 0xAA) return; // 檢查幀頭
counter++;
if (counter == 8) //接收到數據
{
counter = 0; //重新賦值，準備下一幀數據的接收
sign = 1;
}
}
}

復制代碼

<button id="waasu"></button>

<rt id="waasu"></rt>

<rt id="waasu"></rt>

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