关于MPU6050的自检功能？

ethan_free

小弟刚用MPU6050，里面的GYRO_CONFIG和ACCEL_CONFIG这两个寄存器有一个自检功能是做什么用的，每次启动都要自检吗？
求大神答疑解惑，谢谢！

ethan_free

没人看吗？顶上去啊！

ethan_free

由于工作清闲了点，现在又开始弄mpu6050了，我的这个问题真的没有大神解答一下么？

zcz0426

同求啊  什么是自检啊？？别沉啊

zhanwang_sky

同求，强力的顶上去
好像参考文档上只说了不自检时的输出与自检时的输出的差值应该有一个范围，如果在范围内就认为通过自检，否则没通过。可是通过自检又有什么用呢？

tianyiran02

读了一下register map，里面的原话摘录如下。

1. Gyroscope Self-Test
When self-test is activated, the on-board electronics will actuate the appropriate sensor. This actuation will move the sensor’s proof masses over a distance equivalent to a pre-defined Coriolis force. This proof mass displacement results in a change in the sensor output, which is reflected in the output signal. The output signal is used to observe the self-test response.
The self-test response is defined as follows:
Self-test response = Sensor output with self-test enabled – Sensor output without self-test enabled
The self-test limits for each gyroscope axis is provided in the electrical characteristics tables of the MPU-6000/MPU-6050 Product Specification document. When the value of the self-test response is within the min/max limits of the product specification, the part has passed self test. When the self-test response exceeds the min/max values specified in the document, the part is deemed to have failed self-test.

2. Accelerometer Self-Test
When self-test is activated, the on-board electronics will actuate the appropriate sensor. This actuation simulates an external force. The actuated sensor, in turn, will produce a corresponding output signal. The output signal is used to observe the self-test response.
The self-test response is defined as follows:
Self-test response = Sensor output with self-test enabled – Sensor output without self-test enabled
The self-test limits for each accelerometer axis is provided in the electrical characteristics tables of the MPU-6000/MPU-6050 Product Specification document. When the value of the self-test response is within the min/max limits of the product specification, the part has passed self test. When the self-test response exceeds the min/max values specified in the document, the part is deemed to have failed self-test.

大概意思就是开始自检之后Gyroscope就会测量地转偏向，Gyroscope Sensor 就会测量这个偏向；Accelerometer就会用电子运动产生激励，Accelerometer Sensor就会测量这个加速度。两个测量值与原值相减得到一个差值，差值再和预设值比较，范围内则通过自检，范围外则不通过。

所以我理解自检就是检测芯片坏没坏。

我也在做这个芯片，学习交流，有错轻喷。

act8811

tianyiran02 发表于 2014-1-7 04:35
读了一下register map，里面的原话摘录如下。

1. Gyroscope Self-Test

原来作用是监测芯片好坏啊，之前我也是自检这里一直纠结着
谢谢！

电气工程化动自

自检能一定程度解决漂移的问题

geniuskim

因为这些芯片是MEMS，里面有机械结构，剧烈振动可能损耗的，比如芯片摔地上。

swh267

自检测功能是允许用户自己去测试MPU6050的陀螺仪和加速度计的机械电气部分是否正常的一个功能，其中STR是自检测功能开启后设备自己测试的到的一个值，FT是厂家测试的到的一个值，如果6050的响应值相对于厂家测试值的百分比不再范围内（%=（STR-FT）/FT），则说明芯片测的数据不正常。个人理解，大家共同探讨

1375343860

运动 自由落体 和静止中断有用过的吗

RainKing

swh267 发表于 2014-6-1 15:07
自检测功能是允许用户自己去测试MPU6050的陀螺仪和加速度计的机械电气部分是否正常的一个功能，其中STR是自 ...

自检的时候，需要保持MPU6050静止不动吗？？？

Susan_Du

自检是要静止的，自检可以通过6050的输出数据判断芯片正不正常。

iRadar

tianyiran02 发表于 2014-1-7 04:35
读了一下register map，里面的原话摘录如下。

1. Gyroscope Self-Test

有理有据。