初始化提交

arduino-cli/libraries/MPU9250_asukiaaa/README.md

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+# MPU9250_asukiaaa [![Build Status](https://travis-ci.org/asukiaaa/MPU9250_asukiaaa.svg?branch=master)](https://travis-ci.org/asukiaaa/MPU9250_asukiaaa)
+A library to read values from MPU9250.
+
+# Installation
+You can install to Arduino IDE with using library manager.
+
+1. Select [Sketch -> Include Library -> Manage Libraries] to open library manager.
+2. Search MPU9250 in library manager.
+3. Select and install this project.
+
+# Connection
+For uno, nano and so on.
+
+| Arduino | MPU9250 |
+|---------|---------|
+| 3.3     | VCC     |
+| A4(SDA) | SDA     |
+| A5(SCL) | SCL     |
+| GND     | GND     |
+
+For other boards, please check [i2c pin assign](https://www.arduino.cc/en/Reference/Wire).
+
+# Usage
+You can see all function on [example project](https://github.com/asukiaaa/MPU9250_asukiaaa/blob/master/examples/GetData/GetData.ino).
+
+## Accelerometer
+```c
+#include <MPU9250_asukiaaa.h>
+MPU9250_asukiaaa mySensor;
+float aX, aY, aZ, aSqrt;
+
+void setup() {
+  Wire.begin();
+  mySensor.setWire(&Wire);
+  mySensor.beginAccel();
+}
+
+void loop() {
+  mySensor.accelUpdate();
+  aX = mySensor.accelX();
+  aY = mySensor.accelY();
+  aZ = mySensor.accelZ();
+  aSqrt = mySensor.accelSqrt();
+  // Do what you want
+}
+```
+
+## Gyrometer
+```c
+#include <MPU9250_asukiaaa.h>
+MPU9250_asukiaaa mySensor;
+float gX, gY, gZ;
+
+void setup() {
+  Wire.begin();
+  mySensor.setWire(&Wire);
+  mySensor.beginGyro();
+}
+
+void loop() {
+  mySensor.gyroUpdate();
+  gX = mySensor.gyroX();
+  gY = mySensor.gyroY();
+  gZ = mySensor.gyroZ();
+  // Do what you want
+}
+```
+
+## Magnetometer
+```c
+#include <MPU9250_asukiaaa.h>
+MPU9250_asukiaaa mySensor;
+float mDirection;
+uint16_t mX, mY, mZ;
+
+void setup() {
+  Wire.begin();
+  mySensor.setWire(&Wire);
+  mySensor.beginMag();
+}
+
+void loop() {
+  Serial.begin(115200);
+  mySensor.magUpdate();
+  mX = mySensor.magX();
+  mY = mySensor.magY();
+  mZ = mySensor.magZ();
+  mDirection = mySensor.magHorizDirection();
+  // Do what you want
+}
+```
+
+If you get values of sensor like this..
+
+Name | Max | Min
+-----|----:|----:
+magX |  70 | -30
+maxY | 110 |  10
+
+You can calcurate offset values like this.
+
+```
+maxXOffset = - (magXMax + magXMin) / 2
+           = - (70 - 30) / 2
+           = - 40 / 2
+           = -20
+```
+
+```
+magYOffset = - (magYMax + magYMin) / 2
+           = - (110 + 10) / 2
+           = - 120 / 2
+           = -60
+```
+
+Then set the offset values like this.
+
+```c
+void setup() {
+  mySensor.magXOffset = -20;
+  mySensor.magYOffset = -60;
+}
+```
+
+Then you can get like this.
+
+Name | Max | Min
+-----|----:|----:
+magX |  50 | -50
+maxY |  50 | -50
+
+After setting offset value, you can get `magHorizDirection` as you expected.
+
+Warning: Offset value changes by temperature or some reason. If you want to get high accuracy value, you should recheck the offset value.
+
+Example about auto calibration (calculating offset values) is [here](https://github.com/asukiaaa/MPU9250_asukiaaa/blob/master/examples/GetMagOffset/GetMagOffset.ino).
+
+## With customizable Wire
+For ESP32 and so on.
+
+```c
+#define SDA_PIN 21
+#define SCL_PIN 22
+
+void setup() {
+  Wire.begin(SDA_PIN, SCL_PIN);
+  mySensor.setWire(&Wire);
+}
+```
+
+# License
+MIT
+
+# References
+- [ArduinoでMPU9250（加速度センサ、磁気センサ）を使う方法](http://asukiaaa.blogspot.jp/2017/07/arduinompu9250.html)
+- [MPU-9250 | TDK](https://www.invensense.com/products/motion-tracking/9-axis/mpu-9250/)
+- [MPU-9250Product SpecificationRevision 1.1](http://www.invensense.com/wp-content/uploads/2015/02/PS-MPU-9250A-01-v1.1.pdf)
+- [MPU-9250Register Map and DescriptionsRevision 1.6](http://www.invensense.com/wp-content/uploads/2017/11/RM-MPU-9250A-00-v1.6.pdf)
+- [HaLakeKit-Library](https://github.com/nyampass/HaLakeKit-Library)
+- [Aliexpress MPU9250](https://www.aliexpress.com/wholesale?catId=0&initiative_id=AS_20170706234529&SearchText=MPU9250)
+- [AK8963 datasheet](https://www.akm.com/akm/en/file/datasheet/AK8963C.pdf)
+- [jrowberg/i2cdevlib/Arduino/AK8963](https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/AK8963)
+- [SparkFun_MPU-9250](https://github.com/sparkfun/SparkFun_MPU-9250_Breakout_Arduino_Library/blob/master/src/MPU9250.cpp)
+- [「MPU-9250 ９軸センサモジュール (メーカー品番：MPU-9250)」を使う](https://qiita.com/boyaki_machine/items/915f7730c737f2a5cc79)
+- [【PSoC】MPU-9250のデータを取得（加速度、ジャイロ編）](http://amamitokachi.com/2017/04/12/post-71/)