{"id":379,"date":"2024-12-07T21:24:22","date_gmt":"2024-12-07T13:24:22","guid":{"rendered":"https:\/\/aimc.skyate.com\/?p=379"},"modified":"2025-01-27T16:49:41","modified_gmt":"2025-01-27T08:49:41","slug":"esp32_part5_i2c_and_mpu6050","status":"publish","type":"post","link":"https:\/\/aimc.skyate.com\/index.php\/2024\/12\/07\/esp32_part5_i2c_and_mpu6050\/","title":{"rendered":"\u3010\u9636\u6bb5\u4e00\u30115 I2C\u4e0eMPU6050\u6a21\u5757"},"content":{"rendered":"\n

\u3010\u6982\u8ff0\u30110 \u4ec0\u4e48\u662f\u667a\u80fd\u7cfb\u7edf<\/a><\/p>\n\n\n\n

\u3010\u9636\u6bb5\u4e00\u30111 PlatformIO\u73af\u5883\u914d\u7f6e\u548cGPIO<\/a><\/p>\n\n\n\n

\u3010\u9636\u6bb5\u4e00\u30112 PWM\u4e0e\u7535\u673a\u63a7\u5236<\/a><\/p>\n\n\n\n

\u3010\u9636\u6bb5\u4e00\u30113 \u5916\u90e8\u4e2d\u65ad\u548c\u5b9a\u65f6\u5668\u4e2d\u65ad<\/a><\/p>\n\n\n\n

\u3010\u9636\u6bb5\u4e00\u30114 \u4e32\u53e3\u4e0e\u4e32\u53e3\u4e2d\u65ad<\/a><\/p>\n\n\n\n

\u3010\u9636\u6bb5\u4e00\u30115 I2C\u4e0eMPU6050\u6a21\u5757<\/a><\/p>\n\n\n\n

\u3010\u9636\u6bb5\u4e00\u30116 \u57fa\u7840\u5c0f\u8f66\u8bbe\u8ba1<\/a><\/p>\n\n\n\n

\u3010\u9636\u6bb5\u4e8c\u30117 \u667a\u80fd\u7cfb\u7edf\u6982\u8ff0<\/a><\/p>\n\n\n\n

5.1i2c\u6982\u8ff0<\/h3>\n\n\n\n

I2C\uff08Inter-Integrated Circuit\uff09\u662f\u4e00\u79cd\u4e32\u884c\u901a\u4fe1\u534f\u8bae\uff0c\u4e5f\u79f0\u4e3aIIC\uff08Inter-IC\uff09\u603b\u7ebf\uff0c\u901a\u5e38\u7528\u4e8e\u8fde\u63a5\u5fae\u63a7\u5236\u5668\u548c\u5404\u79cd\u5916\u90e8\u8bbe\u5907\uff0c\u5982\u4f20\u611f\u5668\u3001\u5b58\u50a8\u5668\u3001\u663e\u793a\u5c4f\u7b49\u3002<\/p>\n\n\n\n

I2C\u603b\u7ebf\u7531\u4e24\u6839\u7ebf\u6784\u6210\uff1a\u4e32\u884c\u6570\u636e\u7ebf\uff08SDA\uff09\u548c\u4e32\u884c\u65f6\u949f\u7ebf\uff08SCL\uff09\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u5728I2C\u603b\u7ebf\u4e0a\uff0c\u53ef\u4ee5\u540c\u65f6\u8fde\u63a5\u591a\u4e2a\u8bbe\u5907\uff0c\u6bcf\u4e2a\u8bbe\u5907\u90fd\u6709\u4e00\u4e2a\u552f\u4e00\u76847\u4f4d\u5730\u5740\uff0c\u7528\u4e8e\u5728\u603b\u7ebf\u4e0a\u552f\u4e00\u8bc6\u522b\u8be5\u8bbe\u5907\u3002\u901a\u8fc7\u53d1\u9001\u8d77\u59cb\u6761\u4ef6\u548c\u8bbe\u5907\u5730\u5740\uff0c\u4e3b\u8bbe\u5907\uff08\u901a\u5e38\u662f\u5fae\u63a7\u5236\u5668\uff09\u53ef\u4ee5\u9009\u62e9\u4e0e\u7279\u5b9a\u8bbe\u5907\u901a\u4fe1\u3002\u901a\u4fe1\u8fc7\u7a0b\u4e2d\uff0c\u6570\u636e\u901a\u8fc7SDA\u7ebf\u4f20\u8f93\uff0c\u65f6\u949f\u4fe1\u53f7\u901a\u8fc7SCL\u7ebf\u540c\u6b65\u4f20\u8f93\u3002<\/p>\n\n\n\n

\u7279\u70b9\uff1a<\/p>\n\n\n\n

\u4e24\u6839\u5236\u603b\u7ebf\uff0c\u6709\u6548\u964d\u4f4e\u4e86\u8fde\u63a5\u7684\u590d\u6742\u6027\u3002<\/p>\n\n\n\n

\u53ef\u53d8\u7684\u65f6\u949f\u901f\u7387\uff1a\u6807\u51c6\u6a21\u5f0f100khz\uff0c\u5feb\u901f\u6a21\u5f0f400khz\uff0c\u9ad8\u901f\u6a21\u5f0f3.4mhz<\/p>\n\n\n\n

\u4f4e\u529f\u8017<\/p>\n\n\n\n

\u7531\u4e8e\u5b58\u5728\u65f6\u949f\u7ebf\uff0c\u6240\u4ee5\u5355\u7247\u673a\u968f\u65f6\u53ef\u4ee5\u6682\u505c\u4f20\u8f93\u53bb\u5904\u7406\u4e2d\u65ad\u7684\u4e8b\u60c5\u3002<\/p>\n\n\n\n

i2c\u7684\u4e24\u79cd\u5de5\u4f5c\u6a21\u5f0f<\/strong><\/em><\/p>\n\n\n\n

\u4e00\u4e3b\u591a\u4ece\u6a21\u5f0f\uff1a\u53ea\u6709\u4e00\u4e2a\u4e3b\u8bbe\u5907\uff08\u901a\u5e38\u662f\u5fae\u63a7\u5236\u5668\uff09\u63a7\u5236\u6574\u4e2a\u901a\u4fe1\u8fc7\u7a0b\uff0c\u53ef\u4ee5\u4e0e\u591a\u4e2a\u4ece\u8bbe\u5907\u8fdb\u884c\u901a\u4fe1\u3002\u4e3b\u8bbe\u5907\u8d1f\u8d23\u53d1\u9001\u8d77\u59cb\u6761\u4ef6\u3001\u8bbe\u5907\u5730\u5740\u4ee5\u53ca\u8bfb\u5199\u6307\u4ee4\uff0c\u4ece\u800c\u9009\u62e9\u7279\u5b9a\u7684\u4ece\u8bbe\u5907\u8fdb\u884c\u6570\u636e\u4ea4\u6362\u3002\u5176\u4ed6\u4ece\u8bbe\u5907\u5219\u6839\u636e\u5176\u5730\u5740\u662f\u5426\u5339\u914d\u6765\u51b3\u5b9a\u662f\u5426\u54cd\u5e94\u4e3b\u8bbe\u5907\u7684\u901a\u4fe1\u8bf7\u6c42\u3002<\/p>\n\n\n\n

\u591a\u4e3b\u591a\u4ece\u6a21\u5f0f\uff1a \u5728\u591a\u4e3b\u591a\u4ece\u6a21\u5f0f\u4e0b\uff0c\u9664\u4e86\u591a\u4e2a\u4ece\u8bbe\u5907\u4e4b\u5916\uff0c\u8fd8\u53ef\u4ee5\u6709\u591a\u4e2a\u4e3b\u8bbe\u5907\u8fde\u63a5\u5230\u540c\u4e00\u6761I2C\u603b\u7ebf\u4e0a\u3002\u4e0d\u540c\u4e3b\u8bbe\u5907\u4e4b\u95f4\u4f1a\u901a\u8fc7\u4ef2\u88c1\u673a\u5236\u6765\u534f\u8c03\u603b\u7ebf\u7684\u8bbf\u95ee\u6743\uff0c\u907f\u514d\u901a\u4fe1\u51b2\u7a81\u548c\u6570\u636e\u4e22\u5931\u3002\u5f53\u4e00\u4e2a\u4e3b\u8bbe\u5907\u60f3\u8981\u8bbf\u95ee\u603b\u7ebf\u4e0a\u7684\u67d0\u4e2a\u4ece\u8bbe\u5907\u65f6\uff0c\u5b83\u5fc5\u987b\u9996\u5148\u83b7\u5f97\u603b\u7ebf\u7684\u63a7\u5236\u6743\uff0c\u5176\u4ed6\u4e3b\u8bbe\u5907\u5219\u5904\u4e8e\u88ab\u52a8\u76d1\u542c\u72b6\u6001\u3002<\/p>\n\n\n\n

\u6b64\u6b21\u57f9\u8bad\u4e3b\u8981\u63a2\u8ba8\u4e00\u4e3b\u591a\u4ece\u6a21\u5f0f\u3002<\/strong><\/em><\/p>\n\n\n\n

IIC<\/strong>\u4e2d\uff0c<\/strong>\u4efb\u4f55\u65f6\u5019\u90fd\u662f\u4e3b\u673a\uff08<\/strong>CPU<\/strong>\uff09\u5b8c\u5168\u638c\u63a7<\/strong>SCL<\/strong>\u7ebf<\/strong>\uff0c\u5728\u7a7a\u95f2\u72b6\u6001\u4e0b\uff0c\u4e3b\u673a\u53ef\u4ee5\u4e3b\u52a8\u53d1\u8d77\u5bf9<\/strong>SDA<\/strong>\u7ebf\u7684\u63a7\u5236\uff0c\u53ea\u6709\u5728\u4ece\u673a\u53d1\u9001\u6570\u636e\uff08\u4e3b\u673a\u53d1\u9001\u8bfb\u53d6\u4ece\u673a\u547d\u4ee4\u4e4b\u540e\uff09\u548c\u4ece\u673a\u5e94\u7b54\u7684\u65f6\u5019\uff0c\u4e3b\u673a\u624d\u4f1a\u8f6c\u4ea4SDA\u7684\u63a7\u5236\u6743\u7ed9\u4ece\u673a\u3002<\/strong><\/p>\n\n\n\n

5.2\uff0ci2c\u6570\u636e\u4f20\u8f93\u6d41\u7a0b<\/h3>\n\n\n\n

\u4ee5\u5355\u7247\u673a\u5411\u4ece\u8bbe\u5907\u5199\u6570\u636e\u4e3a\u4f8b\uff1a<\/p>\n\n\n\n

\u8fd9\u662f\u4e00\u4e2a\u6807\u51c6\u7684\u5199\u6570\u636e\u5e27\uff1a<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u53ef\u4ee5\u770b\u5230\u4e00\u4e2a\u6807\u51c6\u7684\u5199\u6570\u636e\u5e27\u7531\u4e00\u4e2astart\u8d77\u59cb\u4fe1\u53f7\uff0c\u4ece\u673a\u8bbe\u5907\u7684\u4e03\u4f4d\u5730\u5740\uff0c\u5199\u6570\u636e\u4f4d\uff0c\u4ece\u673a\u7684\u5e94\u7b54\u4fe1\u53f7\uff0c\u4ece\u673a\u7684\u5bc4\u5b58\u5668\u516b\u4f4d\u5730\u5740\uff0c\u53c8\u6709\u4e00\u4e2a \u4ece\u673a\u7684\u5e94\u7b54\u4fe1\u53f7\uff0c\u516b\u4f4d\u6570\u636e\uff0c\u4ece\u673a\u7684\u5e94\u7b54\u4fe1\u53f7\u548cstop\u505c\u6b62\u4f4d\u7ec4\u6210\u3002<\/p>\n\n\n\n

\u53ef\u4ee5\u7406\u89e3\u8fd9\u4e00\u5e27\u7684\u610f\u601d\u4e3a\uff1a\u5411\u5730\u5740\u4e3a1010000\u7684\u8bbe\u5907\u5199\u6570\u636e\uff0c\u5728\u4ece\u8bbe\u5907\u5730\u5740\u4e3a00000000\u7684\u5bc4\u5b58\u5668\u4e2d\u5199\u516500001111\u8fd9\u4e00\u6570\u636e\u3002<\/p>\n\n\n\n

\u4ee5\u5355\u7247\u673a\u5411\u4ece\u8bbe\u5907\u8bfb\u53d6\u6570\u636e\u4e3a\u4f8b<\/p>\n\n\n\n

\u8fd9\u662f\u4e00\u4e2a\u6807\u51c6\u7684\u8bfb\u6570\u636e\u5e27\uff1a<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u53ef\u4ee5\u770b\u5230\uff0c\u540c\u6837\u7531start\u4fe1\u53f7\u5f00\u59cb\uff0c\u63a5\u7740\u662f\u8bbe\u5907\u4e03\u4f4d\u5730\u5740\uff0c\u7b2c\u516b\u4f4d\u4e3a\u5199\u6570\u636e\u4f4d\uff0c\u5e94\u7b54\u4fe1\u53f7\uff0c\u5bc4\u5b58\u5668\u5730\u5740\uff0c\u5e94\u7b54\u4fe1\u53f7\uff0c\u53c8\u6709\u4e00\u4e2astart\u8d77\u59cb\u4fe1\u53f7\uff0c\u53c8\u662f\u8bbe\u5907\u5730\u5740\uff0c\u63a5\u4e0b\u6765\u7684\u8fd9\u4e00\u4f4d\u4e0e\u521a\u521a\u7684\u4e0d\u540c\uff0c\u4e3a1\uff0c\u4ee3\u8868\u8981\u8bfb\u53d6\u6570\u636e\uff0c\u7d27\u8ddf\u7740\u7684\u662f\u4ece\u8bbe\u5907\u8981\u63a5\u6536\u7684\u6570\u636e\uff0c\u5e94\u7b54\u4f4d\uff0c\u6b64\u65f65\u5e94\u7b54\u4f4d\u4e3a\u4e00\uff0c\u4ee3\u8868\u4ece\u673a\u7ed3\u675f\u6570\u636e\u8bfb\u53d6\uff0c\u6700\u540estop\u505c\u6b62\u3002<\/p>\n\n\n\n

\u8fd9\u4e00\u5e27\u53ef\u4ee5\u7406\u89e3\u4e3a\uff1a\u5355\u7247\u673a\u8bfb\u53d6\u8bbe\u5907\u5730\u5740\u4e3a1010000\u7684\u8bbe\u5907\u7684\u5bc4\u5b58\u5668\u91cc\u7684\u6570\u636e\u3002<\/p>\n\n\n\n

\u4f46\u662f\u5230\u5e95\u662f\u600e\u4e48\u4f20\u8f930\u6216\u80051\u7684\u5462\uff0c\u53c8\u6216\u8005\u8bfb\u53d6\u52300\u6216\u80051\u7684\u5462\uff1f<\/p>\n\n\n\n

\u8fd9\u5c31\u4e0d\u5f97\u4e0d\u63d0\u53cai2c\u603b\u7ebf\u4e0aSCL\u4e0eSDA\u4e24\u6761\u7ebf\u4e86\u3002SCL\u53eb\u505a\u4e32\u884c\u65f6\u949f\u7ebf\uff0csda\u53eb\u505a\u4e32\u884c\u6570\u636e\u7ebf\u3002\u5728\u4ed6\u4fe9\u7684\u5171\u540c\u4f5c\u7528\u4e0b\uff0c\u5b9e\u73b0\u7684\u3002<\/p>\n\n\n\n

\u9996\u5148\u4ecb\u7ecd\u903b\u8f910\u4e0e\u903b\u8f911\u7684\u6982\u5ff5\u3002<\/p>\n\n\n

\n
\"\"<\/figure>\n<\/div>\n\n
\n
\"\"<\/figure>\n<\/div>\n\n\n

\u9996\u5148\uff0c\u53ea\u770bSCL\u9ad8\u7535\u5e73\u7684\u65f6\u5019\uff0c\u8bfb\u53d6sda\u7684\u72b6\u6001\uff0c\u4e3a\u4f4e\u7535\u5e73\u5c31\u4ee3\u8868\u903b\u8f910\uff0c\u4e3a\u9ad8\u7535\u5e73\u5c31\u4ee3\u8868\u903b\u8f911\uff1b\u56e0\u4e3a\u5728SCL\u4e3a\u9ad8\u7535\u5e73\u8bfb\u53d6\u7684\u6570\u636e\u624d\u662f\u6709\u6548\u7684\u3002<\/p>\n\n\n\n

\u90a3\u4e48\uff0c\u6211\u4eec\u6765\u770b\u770b\u4e0b\u9762\u8fd9\u5f20\u56fe\u8bfb\u53d6\u7684\u6570\u636e\u662f\u4ec0\u4e48\uff1f<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u53ea\u770bSCL\u4e3a\u9ad8\u7535\u5e73\u7684\u65f6\u523b\uff0c\u8bfb\u53d6\u5230sda\u7684\u6570\u636e\u662f1010000<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

5.3\uff0ci2c\u7684\u65f6\u5e8f<\/h3>\n\n\n\n

\u4ee5\u4e0b\u9762\u7684\u4e00\u4e2a\u7684i2c\u65f6\u5e8f\u56fe\u4e3a\u4f8b<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u6b65\u9aa41\uff1a\u4e3b\u8bbe\u5907\u5c06\u4ea7\u751f\u4e00\u4e2a\u5f00\u59cb\u4fe1\u53f7\uff0c\u5411\u5176\u4ed6\u8bbe\u5907\u53d1\u51fa\u4fe1\u53f7\uff0c\u5f00\u59cb\u76d1\u542c\u603b\u7ebf\u5e76\u51c6\u5907\u63a5\u6536\u6570\u636e\u3002\u5f53\u53d1\u9001\u542f\u52a8\u4fe1\u53f7\u6761\u4ef6\u65f6\uff0c\u603b\u7ebf\u5c06\u8fdb\u5165\u7e41\u5fd9\u72b6\u6001\uff0c\u5176\u4e2d\u5f53\u524d\u6570\u636e\u4f20\u8f93\u4ec5\u9650\u4e8e\u9009\u5b9a\u7684\u4e3b\u8bbe\u5907\u548c\u4ece\u8bbe\u5907\u3002\u53ea\u6709\u5728\u4ea7\u751f\u505c\u6b62\u6761\u4ef6\u540e\uff0c\u603b\u7ebf\u624d\u4f1a\u88ab\u91ca\u653e\u5e76\u518d\u6b21\u5904\u4e8e\u7a7a\u95f2\u6a21\u5f0f\u3002<\/p>\n\n\n\n

\u6b65\u9aa42\uff1a\u4e3b\u8bbe\u5907\u5411\u6bcf\u4e2a\u8bbe\u5907\u53d1\u9001\u4e00\u4e2a7\u4f4d\u8bbe\u5907\u5730\u5740\u52a0\u4e0a\u4e00\u4f4d\u8bfb\u5199\u6570\u636e\u5e27\u3002\u8be5\u4f4d\u8fd8\u5c06\u6307\u793a\u4e0b\u4e00\u4e2a\u6570\u636e\u4f20\u8f93\u7684\u65b9\u5411\u30020 = \u4e3b\u8bbe\u5907\u5411\u4ece\u8bbe\u5907\u5199\u5165\u6570\u636e\u30021 = \u4e3b\u8bbe\u5907\u8bfb\u53d6\u6570\u636e\u5230\u4ece\u8bbe\u5907\u3002<\/p>\n\n\n\n

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1.\u8d77\u59cb\u6761\u4ef6\u4e0e\u7ec8\u6b62\u6761\u4ef6\uff1a<\/strong><\/p>\n\n\n\n

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3.\u53d1\u9001\u5e94\u7b54\u548c\u63a5\u6536\u5e94\u7b54\uff1a<\/strong><\/p>\n\n\n\n

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5.4:MPU6050\u2014\u2014\u7b80\u5355\u4ecb\u7ecd<\/h3>\n\n\n\n

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3\u8f74\u52a0\u901f\u5ea6\u8ba1\uff08Accelerometer\uff09\uff1a\u6d4b\u91cfX\u3001Y\u3001Z\u8f74\u7684\u52a0\u901f\u5ea6<\/p>\n\n\n\n

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    \"\"<\/figure>\n\n\n\n
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    \"\"<\/figure>\n\n\n\n

    0x6B: \u7535\u6e90\u7ba1\u7406\u5bc4\u5b58\u5668\uff1a\u7b2c\u516d\u4f4dsleep\u4e0a\u7535\u9ed8\u8ba4\u662f1\u7761\u7720\u6a21\u5f0f\uff0c\u6211\u4eec\u9700\u8981\u51990\uff0c\u4f7f\u4e4b\u5de5\u4f5c<\/p>\n\n\n\n

    0x75\uff1a\u5668\u4ef6\u5730\u5740\u5bc4\u5b58\u5668<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n

    5.5\u4f7fesp32\u4e0eMPU6050\u8fdb\u884c\u901a\u8baf<\/h3>\n\n\n\n

    1.\u5b8c\u6210\u57fa\u672c\u65f6\u5e8f\u5355\u5143\u7684\u4ee3\u7801<\/p>\n\n\n\n

    #include <Arduino.h>\n#include <U8g2lib.h>\n\n\/*i2c\u521d\u59cb\u5316\n\u914d\u7f6e\u5f15\u811a8\u30019\u4e3a\u5f00\u6f0f\u8f93\u51fa\u6a21\u5f0f\uff0c\u9ed8\u8ba4\u7ed98,9\u5f15\u811a\u9ad8\u7535\u5e73*\/\nvoid myi2c_Init(void){\n    pinMode(8,OUTPUT_OPEN_DRAIN);\n    pinMode(9,OUTPUT_OPEN_DRAIN);\n    digitalWrite(8,HIGH);\n    digitalWrite(9,HIGH);\n}\n\n\/*\u914d\u7f6e8\u53f7\u5f15\u811a\u4e3ascl\u65f6\u949f\u7ebf\uff0c\u4f20\u8f93bitvalue\u5bf9\u5176\u8fdb\u884c\u7535\u5e73\u63a7\u5236*\/\nvoid myi2c_w_scl(uint8_t bitvalue){\n    digitalWrite(8,bitvalue);\n}\n\n\/*\u914d\u7f6e9\u53f7\u5f15\u811a\u4e3asda\u6570\u636e\u7ebf\uff0c\u4f20\u8f93bitvalue\u5bf9\u5176\u8fdb\u884c\u7535\u5e73\u63a7\u5236*\/\nvoid myi2c_w_sda(uint8_t bitvalue){\n    digitalWrite(9,bitvalue);\n}\n\n\/*\u8bfb\u53d6sda\u5f15\u811a\u7535\u5e73\u51fd\u6570\uff0c\n\u8fd4\u56de\u503c\u4e3asda\u7684\u7535\u5e73\uff0c0-1*\/\nuint8_t myi2c_r_sda(void){\n    uint8_t bitvalue;\n    bitvalue = digitalRead(9);\n    return bitvalue;\n}\n\n\/*i2c\u8d77\u59cb*\/\nvoid myi2c_start(void){\n    myi2c_w_sda(1);\n    myi2c_w_scl(1);\n    myi2c_w_sda(0);\n    myi2c_w_scl(0);\n}\n\n\/*i2c\u505c\u6b62*\/\nvoid myi2c_stop(void){\n    myi2c_w_sda(0);\n    myi2c_w_scl(1);\n    myi2c_w_sda(1);\n}\n\n\/*i2c\u53d1\u9001\u4e00\u4e2a\u5b57\u8282\nbyte\uff1b\u8981\u53d1\u9001\u7684\u4e00\u4e2a\u5b57\u8282\u7684\u6570\u636e\uff0c\u8303\u56f4\uff1a0x00-0xFF*\/\nvoid my_i2c_sendbyte(uint8_t byte){\n    uint8_t i;\n    for(i = 0;i<8;i++){\n        myi2c_w_sda(byte & (0x80>>i));\n        myi2c_w_scl(1);\n        myi2c_w_scl(0);\n    }\n}\n\n\/*i2c\u63a5\u6536\u4e00\u4e2a\u5b57\u8282\n\u8fd4\u56de\u503c\uff1a\u63a5\u6536\u5230\u7684\u4e00\u4e2a\u5b57\u8282\u6570\u636e\uff0c\u8303\u56f4\uff1a0x00-0xFF*\/\nuint8_t myi2c_receivebyte(void){\n    uint8_t i,byte = 0x00;\n    myi2c_w_sda(1);\n    for(i = 0;i<8 ;i++){\n        myi2c_w_scl(1);\n        if (myi2c_r_sda() == 1){\n            byte |=(0x80>>i);\n        }\n        myi2c_w_scl(0);\n    }\n    return byte;\n}\n\n\/*i2c\u53d1\u9001\u5e94\u7b54\u4fe1\u53f7\nbyte:\u8981\u53d1\u9001\u7684\u5e94\u7b54\u4f4d\uff0c\u8303\u56f4\uff1a0-1,0\u8868\u793a\u5e94\u7b54\uff0c1\u8868\u793a\u975e\u5e94\u7b54*\/\nvoid myi2c_sendack(uint8_t ackbit){\n    myi2c_w_sda(ackbit);\n    myi2c_w_scl(1);\n    myi2c_w_scl(0);\n}\n\n\/*i2c\u63a5\u6536\u5e94\u7b54\n\u8fd4\u56de\u503cackbit\uff0c\u63a5\u6536\u5230\u7684\u5e94\u7b54\u4f4d\uff0c\u8303\u56f40-1,0\u8868\u793a\u5e94\u7b54\uff0c1\u8868\u793a\u975e\u5e94\u7b54*\/\nuint8_t myi2c_receiveack(void){\n    uint8_t ackbit;\n    myi2c_w_sda(1);\n    myi2c_w_scl(1);\n    ackbit = myi2c_r_sda();\n    myi2c_w_scl(0);\n    return ackbit;\n}<\/code><\/pre>\n\n\n\n
    \u63a5\u4e0b\u6765\u6211\u4eec\u5148\u7528\u4e32\u53e3\u76d1\u89c6\u5668\u9a8c\u8bc1\u4e00\u4e0b\u662f\u5426\u6b63\u786e\uff1a<\/p>\n\n\n\n
    \u521b\u5efa\u4e00\u4e0bsetup\u51fd\u6570\uff1a<\/p>\n\n\n\n
    uint8_t ack=1;    \/\/ack\u5e94\u7b54\u4f4d\u4e3a0\uff0c\u6240\u4ee5\u4e3a\u4e86\u9a8c\u8bc1\u662f\u5426\u56de\u5e94\uff0c\u5c06ack\u9ed8\u8ba4\u4e3a1.\nvoid setup(void){\n    Serial.begin(115200);\n    myi2c_Init();\n    myi2c_start();\n    myi2c_sendbyte(0xD0);\/\/MPU6050\u7684\u4e03\u4f4d\u5730\u5740\u4e3a0x68\uff0c\u52a0\u4e0a\u8bfb\u5199\u4f4d0\uff0c\u5408\u5728\u4e00\u5757\u5c31\u662f0xD0\n    ack = myi2c_receiveack();\n    myi2c_stop();\n    Serial.print(ack);  \n}<\/code><\/pre>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u53ef\u4ee5\u770b\u5230\u4e32\u53e3\u63a5\u6536\u5230\u7684\u6570\u636e\u4e3a0\uff0c\u4ee3\u8868esp32\u5df2\u7ecf\u53d1\u9001\u5e76\u4e14mpu6050\u5df2\u7ecf\u63a5\u6536\u5355\u7247\u673a\u53d1\u9001\u7684\u6570\u636e\u4e86\u3002<\/p>\n\n\n\n
    \u597d\uff0c\u6211\u4eec\u518d\u4ece\u53cd\u65b9\u5411\u9a8c\u8bc1\u4e00\u4e0b\uff0c\u5c31\u662f\u628a\u8981\u53d1\u9001\u7684\u4ece\u673a\u5730\u5740\u6539\u4e3a0xA0\uff0c\u770b\u770b\u4e32\u53e3\u8f93\u51fa\u7684\u6570\u662f\u51e0\u3002<\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u53ef\u4ee5\u770b\u5230\uff0c\u56e0\u4e3a\u6211\u4eec\u628a\u4ece\u673a\u5730\u5740\u6539\u4e86\uff0c\u6ca1\u6709\u4e00\u4e2a\u4ece\u673a\u4e0e\u4e4b\u5339\u914d\u3002\u6240\u4ee5\u8f93\u51fa\u7684\u662f1\u3002<\/p>\n\n\n\n
    \u63a5\u4e0b\u6765\uff0c\u5efa\u7acb\u5728myi2c\u65f6\u5e8f\u4e4b\u4e0a\u7684MPU6050\u6a21\u5757<\/p>\n\n\n\n
    #include <Arduino.h>\n#include <myi2c.h>\n#define MPU6050_Address 0xD0\nvoid MPU6050_Init(void){\n    myi2c_Init();\/*\u56e0\u4e3a\u5efa\u7acb\u5728myi2c\u65f6\u5e8f\u4e4b\u4e0a\uff0c\u6240\u4ee5\u53ef\u4ee5\u76f4\u63a5\u521d\u59cb\u5316\uff0c\u4ee5\u907f\u514d\u5728\n    \u8c03\u7528\u6b64\u6a21\u5757\u65f6\uff0c\u8fd8\u8981\u5355\u72ec\u518d\u5bf9i2c\u521d\u59cb\u5316*\/\n}\n\/*\u6307\u5b9a\u5bc4\u5b58\u5668\u5730\u5740\u5199\u6570\u636e\nRegAddress\uff1a\u5bc4\u5b58\u5668\u5730\u5740\u3001data\uff1a\u8981\u5199\u5165\u7684\u6570\u636e*\/\nvoid MPU6050_WriteReg(uint8_t RegAddress,uint8_t data){\n    myi2c_start();\n    myi2c_sendbyte(MPU6050_Address);\n    myi2c_receiveack();\n    myi2c_sendbyte(RegAddress);\n    myi2c_receiveack();\n    myi2c_sendbyte(data);\n    myi2c_receiveack();\n    myi2c_stop();\n}\n\/*\u6307\u5b9a\u5bc4\u5b58\u5668\u5730\u5740\u8bfb\u6570\u636e\nRegAddress\uff1a\u5bc4\u5b58\u5668\u5730\u5740\n\u8fd4\u56de\u503cdata\uff1a\u8bfb\u51fa\u7684\u6570\u636e*\/\nuint8_t MPU6050_ReadReg(uint8_t RegAddress){\n    uint8_t data;\n    myi2c_start();\n    myi2c_sendbyte(MPU6050_Address);\n    myi2c_receiveack();\n    myi2c_sendbyte(RegAddress);\n    myi2c_receiveack();\n\n    myi2c_start();\n    myi2c_sendbyte(MPU6050_Address|0x01);\n    myi2c_receiveack();\n    data =  myi2c_receivebyte();\n    myi2c_sendack(1);\n    myi2c_stop(); \n     \n    return data;  \n}<\/code><\/pre>\n\n\n\n
    \u63a5\u4e0b\u6765\u6211\u4eec\u5c31\u8bd5\u7740\u8bfb\u51faMPU6050\u7684\u5176\u4e2d\u7684\u4e00\u4e2a\u5bc4\u5b58\u5668\u6570\u636e\uff0c\u67e5\u770b\u6211\u4eec\u7684\u82af\u7247\u624b\u518c\uff0c\u53ef\u4ee5\u770b\u5230\u201cWHO_AM_I\u201d0x75\u5bc4\u5b58\u5668\u5b58\u50a8\u7684\u662f\u4ee3\u8868\u7740MPU6050\u7684\u5730\u5740\uff0c\u5bf9\u5b83\u8fdb\u884c\u8bfb\u53d6\uff0c\u4e0b\u9762\u662f\u4e3b\u51fd\u6570\u7684\u90e8\u5206\uff1a<\/p>\n\n\n\n
    #include <Arduino.h>\n#include <U8g2lib.h>\n#include <MPU6050.h>\nvoid setup(void){\n    uint8_t ack = 0;  \/\/\u5b9a\u4e49\u53d8\u91cf\u50a8\u5b58\u8bfb\u51fa\u7684\u6570\u636e\n    Serial.begin(115200);\/\/\u4e32\u53e3\u6ce2\u7279\u7387\u8bbe\u7f6e\n    MPU6050_Init();\n    ack = MPU6050_ReadReg(0x75);    \/\/\u8bfb\u53d60x75\u5bc4\u5b58\u5668\u6570\u636e\n    Serial.print(ack,HEX);        \/\/\u4f7f\u7528\u4e32\u53e3\u6253\u5370\u51fa16\u8fdb\u5236\u6570\u636e\n    \n}\nvoid loop(void){\n\n}<\/code><\/pre>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u65e2\u7136\u6ca1\u95ee\u9898\u4e86\uff0c\u90a3\u4e48\u5c31\u53ef\u4ee5\u5bf9MPU6050\u7684\u5176\u4ed6\u5bc4\u5b58\u5668\u7684\u6570\u636e\u8fdb\u884c\u8bfb\u53d6\uff1a<\/p>\n\n\n\n
    \u7531\u4e8e\u6211\u4eec\u5bf9MPU6050\u6240\u9700\u8981\u8bfb\u53d6\u7684\u6570\u636e\u670914\u4e2a\uff0c\u5206\u522b\u662fxyz\u8f74\u52a0\u901f\u5ea6\uff0c\u6e29\u5ea6\uff0cxyz\u8f74\u89d2\u901f\u5ea6\u6570\u636e\u3002<\/p>\n\n\n\n
    \u7528\u6765\u5bf9\u5176\u914d\u7f6e\u7684\u5bc4\u5b58\u5668\u67094\u4e2a\uff0c\u5206\u9891\u5668\uff0c\u914d\u7f6e\u5bc4\u5b58\u5668\uff08\u4f4e\u901a\u6ee4\u6ce2\u5668\uff09\uff0c\u9640\u87ba\u4eea\u914d\u7f6e\u5bc4\u5b58\u5668\uff0c\u52a0\u901f\u5ea6\u914d\u7f6e\u5bc4\u5b58\u5668\u3002<\/p>\n\n\n\n
    \u8fd8\u6709\u7535\u6e90\u7ba1\u7406\u5bc4\u5b58\u5668\u4e24\u4e2a\uff0c\u5730\u5740\u5bc4\u5b58\u5668\u3002<\/p>\n\n\n\n
    \u603b\u517121\u4e2a\u5bc4\u5b58\u5668\u5730\u5740\uff0c\u6211\u4eec\u5728\u7f16\u5199\u7a0b\u5e8f\u65f6\uff0c\u80af\u5b9a\u4e0d\u4f1a\u4e00\u4e2a\u5730\u5740\u4e00\u4e2a\u5730\u5740\u7684\u8f93\u5165\uff0c\u90a3\u6837\u505a\u6781\u5bb9\u6613\u8f93\u5165\u9519\u8bef\uff0c\u6240\u4ee5\u6211\u4eec\u53ef\u4ee5\u7528\u4e00\u4e2a.h\u6587\u4ef6\u5bf9\u6240\u6709\u9700\u8981\u7684\u5bc4\u5b58\u5668\u5730\u5740\u8fdb\u884c\u5b8f\u5b9a\u4e49\uff0c\u65b9\u4fbf\u6211\u4eec\u7406\u89e3\u3002<\/p>\n\n\n\n
    \u4e0b\u56fe\u662f\u6211\u5bf9MPU6050\u6211\u4eec\u6240\u9700\u8981\u7528\u7684\u5bc4\u5b58\u5668\u8fdb\u884c\u7684\u5b8f\u5b9a\u4e49\uff0c<\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u6211\u4eec\u521a\u521a\u5728MPU6050_Init();\u51fd\u6570\u4e2d\u53ea\u5199\u4e86myi2c_Init();\u4f46\u662f\u6211\u4eec\u5bf9MPU6050\u7684\u521d\u59cb\u5316\u8fd8\u6ca1\u6709\u914d\u7f6e\uff0c\u6240\u4ee5\u7ee7\u7eed\u5728\u51fd\u6570\u4e2d\u914d\u7f6eMPU6050\u7684\u5bc4\u5b58\u5668\u3002<\/p>\n\n\n\n
    \u6709\u5206\u9891\u5668\uff0c\u914d\u7f6e\u5bc4\u5b58\u5668\uff08\u4f4e\u901a\u6ee4\u6ce2\u5668\uff09\uff0c\u9640\u87ba\u4eea\u914d\u7f6e\u5bc4\u5b58\u5668\uff0c\u52a0\u901f\u5ea6\u914d\u7f6e\u5bc4\u5b58\u5668\u3002\u8fd8\u6709\u7535\u6e90\u7ba1\u7406\u5bc4\u5b58\u5668\u4e24\u4e2a\uff08\u7528\u4e8e\u89e3\u9664MPU6050\u7684\u7761\u7720\u6a21\u5f0f\uff09<\/p>\n\n\n\n
    void MPU6050_Init(void){\n    myi2c_Init();\n    \/*MPU6050\u5bc4\u5b58\u5668\u521d\u59cb\u5316\uff0c\u9700\u8981\u5bf9\u7167MPU6050\u624b\u518c\u7684\u5bc4\u5b58\u5668\u63cf\u8ff0\u914d\u7f6e\uff0c\u6b64\u5904\u4ec5\u914d\u7f6e\u4e86\u90e8\u5206\u91cd\u8981\u7684\u5bc4\u5b58\u5668*\/\n    MPU6050_WriteReg(MPU6050_PWR_MGMT_1, 0x01);     \/\/\u7535\u6e90\u7ba1\u7406\u5bc4\u5b58\u56681\uff0c\u53d6\u6d88\u7761\u7720\u6a21\u5f0f\uff0c\u9009\u62e9\u65f6\u949f\u6e90\u4e3aX\u8f74\u9640\u87ba\u4eea\n    MPU6050_WriteReg(MPU6050_PWR_MGMT_2, 0x00);     \/\/\u7535\u6e90\u7ba1\u7406\u5bc4\u5b58\u56682\uff0c\u4fdd\u6301\u9ed8\u8ba4\u503c0\uff0c\u6240\u6709\u8f74\u5747\u4e0d\u5f85\u673a\n    MPU6050_WriteReg(MPU6050_SMPLRT_DIV, 0x09);     \/\/\u91c7\u6837\u7387\u5206\u9891\u5bc4\u5b58\u5668\uff0c\u914d\u7f6e\u91c7\u6837\u7387\n    MPU6050_WriteReg(MPU6050_CONFIG, 0x06);         \/\/\u914d\u7f6e\u5bc4\u5b58\u5668\uff0c\u914d\u7f6eDLPF\n    MPU6050_WriteReg(MPU6050_GYRO_CONFIG, 0x18);    \/\/\u9640\u87ba\u4eea\u914d\u7f6e\u5bc4\u5b58\u5668\uff0c\u9009\u62e9\u6ee1\u91cf\u7a0b\u4e3a\u00b12000\u00b0\/s\n    MPU6050_WriteReg(MPU6050_ACCEL_CONFIG, 0x18);   \/\/\u52a0\u901f\u5ea6\u8ba1\u914d\u7f6e\u5bc4\u5b58\u5668\uff0c\u9009\u62e9\u6ee1\u91cf\u7a0b\u4e3a\u00b116g\n}<\/code><\/pre>\n\n\n\n
    OK\uff0c\u63a5\u4e0b\u6765\u6211\u4eec\u6765\u5199\u83b7\u53d6xyz\u8f74\u7684\u52a0\u901f\u5ea6\u3001\u6e29\u5ea6\u4e0exyz\u8f74\u89d2\u901f\u5ea6\u7684\u6570\u636e\u8bfb\u53d6\u51fd\u6570\uff1a<\/p>\n\n\n\n
    void MPU6050_GetData(int16_t *AccX, int16_t *AccY, int16_t *AccZ, \n                                                int16_t *GyroX, int16_t *GyroY, int16_t *GyroZ)\n{\n        uint8_t DataH, DataL;                               \/\/\u5b9a\u4e49\u6570\u636e\u9ad88\u4f4d\u548c\u4f4e8\u4f4d\u7684\u53d8\u91cf\n        \n        DataH = MPU6050_ReadReg(MPU6050_ACCEL_XOUT_H);      \/\/\u8bfb\u53d6\u52a0\u901f\u5ea6\u8ba1X\u8f74\u7684\u9ad88\u4f4d\u6570\u636e\n        DataL = MPU6050_ReadReg(MPU6050_ACCEL_XOUT_L);      \/\/\u8bfb\u53d6\u52a0\u901f\u5ea6\u8ba1X\u8f74\u7684\u4f4e8\u4f4d\u6570\u636e\n        *AccX = (DataH << 8) | DataL;                       \/\/\u6570\u636e\u62fc\u63a5\uff0c\u901a\u8fc7\u8f93\u51fa\u53c2\u6570\u8fd4\u56de\n        \n        DataH = MPU6050_ReadReg(MPU6050_ACCEL_YOUT_H);      \/\/\u8bfb\u53d6\u52a0\u901f\u5ea6\u8ba1Y\u8f74\u7684\u9ad88\u4f4d\u6570\u636e\n        DataL = MPU6050_ReadReg(MPU6050_ACCEL_YOUT_L);      \/\/\u8bfb\u53d6\u52a0\u901f\u5ea6\u8ba1Y\u8f74\u7684\u4f4e8\u4f4d\u6570\u636e\n        *AccY = (DataH << 8) | DataL;                       \/\/\u6570\u636e\u62fc\u63a5\uff0c\u901a\u8fc7\u8f93\u51fa\u53c2\u6570\u8fd4\u56de\n        \n        DataH = MPU6050_ReadReg(MPU6050_ACCEL_ZOUT_H);      \/\/\u8bfb\u53d6\u52a0\u901f\u5ea6\u8ba1Z\u8f74\u7684\u9ad88\u4f4d\u6570\u636e\n        DataL = MPU6050_ReadReg(MPU6050_ACCEL_ZOUT_L);      \/\/\u8bfb\u53d6\u52a0\u901f\u5ea6\u8ba1Z\u8f74\u7684\u4f4e8\u4f4d\u6570\u636e\n        *AccZ = (DataH << 8) | DataL;                       \/\/\u6570\u636e\u62fc\u63a5\uff0c\u901a\u8fc7\u8f93\u51fa\u53c2\u6570\u8fd4\u56de\n        \n        DataH = MPU6050_ReadReg(MPU6050_GYRO_XOUT_H);       \/\/\u8bfb\u53d6\u9640\u87ba\u4eeaX\u8f74\u7684\u9ad88\u4f4d\u6570\u636e\n        DataL = MPU6050_ReadReg(MPU6050_GYRO_XOUT_L);       \/\/\u8bfb\u53d6\u9640\u87ba\u4eeaX\u8f74\u7684\u4f4e8\u4f4d\u6570\u636e\n        *GyroX = (DataH << 8) | DataL;                      \/\/\u6570\u636e\u62fc\u63a5\uff0c\u901a\u8fc7\u8f93\u51fa\u53c2\u6570\u8fd4\u56de\n        \n        DataH = MPU6050_ReadReg(MPU6050_GYRO_YOUT_H);       \/\/\u8bfb\u53d6\u9640\u87ba\u4eeaY\u8f74\u7684\u9ad88\u4f4d\u6570\u636e\n        DataL = MPU6050_ReadReg(MPU6050_GYRO_YOUT_L);       \/\/\u8bfb\u53d6\u9640\u87ba\u4eeaY\u8f74\u7684\u4f4e8\u4f4d\u6570\u636e\n        *GyroY = (DataH << 8) | DataL;                      \/\/\u6570\u636e\u62fc\u63a5\uff0c\u901a\u8fc7\u8f93\u51fa\u53c2\u6570\u8fd4\u56de\n        \n        DataH = MPU6050_ReadReg(MPU6050_GYRO_ZOUT_H);       \/\/\u8bfb\u53d6\u9640\u87ba\u4eeaZ\u8f74\u7684\u9ad88\u4f4d\u6570\u636e\n        DataL = MPU6050_ReadReg(MPU6050_GYRO_ZOUT_L);       \/\/\u8bfb\u53d6\u9640\u87ba\u4eeaZ\u8f74\u7684\u4f4e8\u4f4d\u6570\u636e\n        *GyroZ = (DataH << 8) | DataL;                      \/\/\u6570\u636e\u62fc\u63a5\uff0c\u901a\u8fc7\u8f93\u51fa\u53c2\u6570\u8fd4\u56de\n}<\/code><\/pre>\n\n\n\n
    \u56de\u5230\u4e3b\u51fd\u6570<\/p>\n\n\n\n
    #include <Arduino.h>\n#include <U8g2lib.h>\n#include <MPU6050.h>\nint16_t AX, AY, AZ, GX, GY, GZ; \nvoid setup(void){\n    Serial.begin(115200);\n    MPU6050_Init();\n}\nvoid loop(void){\n    MPU6050_GetData(&AX, &AY, &AZ, &GX, &GY, &GZ);      \/\/\u83b7\u53d6MPU6050\u7684\u6570\u636e\n    Serial.print(AX);\n    Serial.print(\",\");\n    Serial.print(AY);\n    Serial.print(\",\");\n    Serial.println(AZ);\n    Serial.print(GX);\n    Serial.print(\",\");\n    Serial.print(GY);\n    Serial.print(\",\");\n    Serial.println(GZ);\n    delay(500);\n}<\/code><\/pre>\n\n\n\n
    \u6253\u5f00\u4e32\u53e3\u76d1\u89c6\u5668\uff0c\u5c31\u80fd\u591f\u770b\u5230\u6570\u636e\u5728\u4e0d\u65ad\u5730\u53d8\u5316\u4e86\u3002<\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \u6211\u4eec\u6765\u8ba1\u7b97\u4e00\u4e0b\uff0c\u5176\u4e2d\u7b2c\u4e00\u884c\u7b2c\u4e09\u4e2a\u6570\u4e3az\u8f74\u52a0\u901f\u5ea6\u6570\u636e\uff0c\u600e\u4e48\u628a\u5b83\u8f6c\u5316\u4e3a\u6211\u4eec\u80fd\u770b\u61c2\u7684G\u503c\u5462\uff1f<\/p>\n\n\n\n
    \u56e0\u4e3a\u6211\u4eec\u914d\u7f6e\u5bc4\u5b58\u5668\u65f6\uff0c\u9009\u62e9\u4e86\u6ee1\u91cf\u7a0b\u4e3a16G\uff0c\u6240\u4ee5\u7528\u5f53\u524d\u6570\u503c\u9664\u4ee5\u6ee1\u6570\u503c\u4e5f\u5c31\u662f32768\uff082\u768415\u6b21\u65b9\uff09\u7136\u540e\u4e58\u4ee5\u6700\u5927\u91cf\u7a0b\uff08\u8fd9\u91cc\u65f6\u52a0\u901f\u5ea6\u503c\u6240\u4ee5\u5bf9\u5e9416G\uff09\uff0c\u5927\u5bb6\u53ef\u4ee5\u7528\u8fd9\u4e2a\u8ba1\u7b97\u516c\u5f0f\u7b97\u4e00\u4e0b\u4f60\u5f53\u5730\u7684\u91cd\u529b\u52a0\u901f\u5ea6\u662f\u591a\u5c11\u5462\uff1f<\/p>\n\n\n\n
    \u90a3\u4e48\u540c\u6837\uff0c\u89d2\u901f\u5ea6\u7684\u8ba1\u7b97\u540c\u7406\u4e5f\u53ef\u4ee5\u4f7f\u7528\u8fd9\u4e2a\u516c\u5f0f\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"
    \u3010\u6982\u8ff0\u30110 \u4ec0\u4e48\u662f\u667a\u80fd\u7cfb\u7edf \u3010\u9636\u6bb5\u4e00\u30111 PlatformIO\u73af\u5883\u914d\u7f6e\u548cGPIO \u3010\u9636\u6bb5\u4e00\u30112 PWM\u4e0e\u7535\u673a\u63a7 […]<\/p>\n","protected":false},"author":7,"featured_media":385,"comment_status":"open","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[43,56],"tags":[],"class_list":["post-379","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-aimc_course","category-56"],"_links":{"self":[{"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/posts\/379","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/users\/7"}],"replies":[{"embeddable":true,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/comments?post=379"}],"version-history":[{"count":5,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/posts\/379\/revisions"}],"predecessor-version":[{"id":574,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/posts\/379\/revisions\/574"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/media\/385"}],"wp:attachment":[{"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/media?parent=379"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/categories?post=379"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/tags?post=379"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}