ESP32用MicroPython读GY6500 MPU6500遇ETIMEDOUT及读数为0问题

我正在使用ESP32开发板，通过MicroPython读取集成加速度计与陀螺仪的GY6500 MPU6500传感器数据，遇到两个核心问题：

1. 运行时偶尔触发ETIMEDOUT错误，定位为I2C读写寄存器操作失败；
2. 程序能正常执行时，即使物理移动传感器，读取到的加速度、陀螺仪数据始终为0。

所用代码 #

# main.py -- put your code here!
import utime
from time import sleep
from machine import Timer, Pin, SoftI2C
#from mpu9250 import MPU9250
from mpu6500 import MPU6500, SF_DEG_S, SF_M_S2

# MPU6500 module was adjusted from:
# https://github.com/tuupola/micropython-mpu9250

# set up I2C serial communication protcol
i2c = SoftI2C(scl=Pin(25), sda=Pin(27))

# create MPU6500 instance 
mpu6500 = MPU6500(i2c, accel_sf=SF_M_S2, gyro_sf=SF_DEG_S)
#mpu6500 = MPU9250(i2c)

# read sensor function
def read_sensor(stringa):
    print(stringa, mpu6500.acceleration, mpu6500.gyro)

# hardware timer setup
#timer = Timer(0)
#timer.init(period=500, mode=Timer.PERIODIC, callback=read_sensor)

#for loop to read data every sleep time period

for i in range(0, 1000):
    read_sensor(i * 10)
    sleep(10/1000)

ETIMEDOUT错误信息 #

File "/lib/mpu6500.py", line 101, in __init__
  File "/lib/mpu6500.py", line 189, in _accel_fs
  File "/lib/mpu6500.py", line 186, in _register_char
OSError: [Errno 116] ETIMEDOUT
MicroPython v1.20.0 on 2023-04-26; ESP32 module with ESP32
Type "help()" for more information.

查看mpu6500.py源码，错误出在self.i2c.readfrom_mem_into(self.address, register, buf)或self.i2c.writeto_mem(self.address, register, buf)的I2C操作环节。

数据全为0的输出示例 #

>>> ets Jun  8 2016 00:22:57

rst:0x1 (POWERON_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DIO, clock div:2
load:0x3fff0030,len:4656
load:0x40078000,len:13284
ho 0 tail 12 room 4
load:0x40080400,len:3712
entry 0x4008064c
0 (0.0, 0.0, 0.0) (0.0, 0.0, 0.0)
10 (0.0, 0.0, 0.0) (0.0, 0.0, 0.0)
20 (0.0, 0.0, 0.0) (0.0, 0.0, 0.0)
30 (0.0, 0.0, 0.0) (0.0, 0.0, 0.0)
40 (0.0, 0.0, 0.0) (0.0, 0.0, 0.0)
[...]

已尝试的排查步骤 #

• 核对接线正确性，按MPU6500文档将FSYNC引脚接GND；
• 分别尝试3.3V和5V两种供电方式；
• 在代码中交换SCL与SDA引脚配置；
• 调整传感器读取周期为5ms、10ms、100ms、1000ms；
• 将mpu6500.py中的原生I2C替换为SoftI2C（原生I2C已弃用）。

以上尝试均未解决问题，恳请协助排查。

内容的提问来源于stack exchange，提问作者Andrea Zanni