没有什么

mpu6050a.py

class accel():
    def __init__(self, i2c, addr=0x68):
        self.iic = i2c
        self.addr = addr
        self.iic.start()
        self.iic.writeto(self.addr, bytearray([107, 0]))
        self.iic.stop()

    def get_raw_values(self):
        self.iic.start()
        a = self.iic.readfrom_mem(self.addr, 0x3B, 14)
        self.iic.stop()
        return a

    def get_ints(self):
        b = self.get_raw_values()
        c = []
        for i in b:
            c.append(i)
        return c

    def bytes_toint(self, firstbyte, secondbyte):
        if not firstbyte & 0x80:
            return firstbyte << 8 | secondbyte
        return - (((firstbyte ^ 255) << 8) | (secondbyte ^ 255) + 1)

    def get_values(self):
        raw_ints = self.get_raw_values()
        vals = {}
        vals["AcX"] = self.bytes_toint(raw_ints[0], raw_ints[1])
        vals["AcY"] = self.bytes_toint(raw_ints[2], raw_ints[3])
        vals["AcZ"] = self.bytes_toint(raw_ints[4], raw_ints[5])
        vals["Tmp"] = self.bytes_toint(raw_ints[6], raw_ints[7]) / 340.00 + 36.53
        vals["GyX"] = self.bytes_toint(raw_ints[8], raw_ints[9])
        vals["GyY"] = self.bytes_toint(raw_ints[10], raw_ints[11])
        vals["GyZ"] = self.bytes_toint(raw_ints[12], raw_ints[13])
        return vals  # returned in range of Int16
        # -32768 to 32767  mean = 16384

    def val_test(self):  # ONLY FOR TESTING! Also, fast reading sometimes crashes IIC
        import utime
        while 1:
            print(self.get_values())
            utime.sleep_ms(100)

calibrate.py

import mpu6050a
import utime
from machine import I2C, Pin
import gc
gc.collect()

def calib(accelerometer):
    cali_mpu = {}
    i = 0
    GyZ = []
    GyY = []
    GyX = []
    AcZ = []
    AcY = []
    AcX = []
    utime.sleep(5)
    while i <= 500:
        mpu = accelerometer.get_values()
        GyZ.append(mpu['GyZ'])
        GyY.append(mpu['GyY'])
        GyX.append(mpu['GyX'])
        AcZ.append(mpu['AcZ'])
        AcY.append(mpu['AcY'])
        AcX.append(mpu['AcX'])
        utime.sleep_ms(10)
        i += 1
    meanGyZ = sum(GyZ) / len(GyZ)
    meanGyY = sum(GyY) / len(GyY)
    meanGyX = sum(GyX) / len(GyX)
    meanAcZ = sum(AcZ) / len(AcZ)
    meanAcY = sum(AcY) / len(AcY)
    meanAcX = sum(AcX) / len(AcX)
    cali_mpu["AcX"] = int(meanAcX)
    cali_mpu["AcY"] = int(meanAcY)
    cali_mpu["AcZ"] = int(meanAcZ) - 16384
    cali_mpu["GyX"] = int(meanGyX)
    cali_mpu["GyY"] = int(meanGyY)
    cali_mpu["GyZ"] = int(meanGyZ)
    gc.collect()
    return cali_mpu

boot.py

from machine import I2C, Pin
import mpu6050a
import utime
import gc
import calibrate

pin = Pin(2, Pin.OUT)
pin.value(0)
utime.sleep(10)
pin.value(1)
i2c = I2C(scl=Pin(5), sda=Pin(4))

accelerometer = mpu6050a.accel(i2c)
G = 9.7936  # wuhan_G = 9.7936 acc_z_ori = 16384 mean= sum(list)/len(list)


tem_mpu = calibrate.calib(accelerometer)  # get calibrate_veu
gc.collect()
cal_AcX, cal_AcY, cal_AcZ, cal_GyX, cal_GyY, cal_GyZ = tem_mpu["AcX"], tem_mpu["AcY"], tem_mpu["AcZ"], tem_mpu["GyX"], tem_mpu["GyY"], tem_mpu["GyZ"]
# AcX-cal_AcX AcY-cal_AcY AcZ-cal_AcZ GyX-cal_GyX GyY-cal_GyY GyZ-cal_GyZ

def calied_mpu(cal_AcX, cal_AcY, cal_AcZ, cal_GyX, cal_GyY, cal_GyZ):
    calied_mpu={}
    ori_mpu = accelerometer.get_values()  # {'GyZ':2,'GyY':57,'GyX':368,'Tmp':28.78,'AcZ':-1068,'AcY':-66,'AcX':-16026}
    calied_mpu["AcX"] = ori_mpu["AcX"]-cal_AcX
    calied_mpu["AcY"] = ori_mpu["AcY"]-cal_AcY
    calied_mpu["AcZ"] = ori_mpu["AcZ"]-cal_AcZ
    calied_mpu["Tmp"] = ori_mpu["Tmp"]-10
    calied_mpu["GyX"] = ori_mpu["GyX"]-cal_GyX
    calied_mpu["GyY"] = ori_mpu["GyY"]-cal_GyY
    calied_mpu["GyZ"] = ori_mpu["GyZ"]-cal_GyZ
    return calied_mpu

while 1 :
    print(calied_mpu(cal_AcX, cal_AcY, cal_AcZ, cal_GyX, cal_GyY, cal_GyZ))
    utime.sleep(0.05)