初始化提交

2024-07-20 22:09:06 +08:00
commit c247dd07a6
6876 changed files with 2743096 additions and 0 deletions
--- a/arduino-cli/libraries/MPU9250_asukiaaa/examples/GetData/GetData.ino
+++ b/arduino-cli/libraries/MPU9250_asukiaaa/examples/GetData/GetData.ino
@@ -0,0 +1,79 @@
+#include <MPU9250_asukiaaa.h>
+
+#ifdef _ESP32_HAL_I2C_H_
+#define SDA_PIN 21
+#define SCL_PIN 22
+#endif
+
+MPU9250_asukiaaa mySensor;
+float aX, aY, aZ, aSqrt, gX, gY, gZ, mDirection, mX, mY, mZ;
+
+void setup() {
+  Serial.begin(115200);
+  while(!Serial);
+  Serial.println("started");
+
+#ifdef _ESP32_HAL_I2C_H_ // For ESP32
+  Wire.begin(SDA_PIN, SCL_PIN);
+  mySensor.setWire(&Wire);
+#endif
+
+  mySensor.beginAccel();
+  mySensor.beginGyro();
+  mySensor.beginMag();
+
+  // You can set your own offset for mag values
+  // mySensor.magXOffset = -50;
+  // mySensor.magYOffset = -55;
+  // mySensor.magZOffset = -10;
+}
+
+void loop() {
+  uint8_t sensorId;
+  if (mySensor.readId(&sensorId) == 0) {
+    Serial.println("sensorId: " + String(sensorId));
+  } else {
+    Serial.println("Cannot read sensorId");
+  }
+
+  if (mySensor.accelUpdate() == 0) {
+    aX = mySensor.accelX();
+    aY = mySensor.accelY();
+    aZ = mySensor.accelZ();
+    aSqrt = mySensor.accelSqrt();
+    Serial.println("accelX: " + String(aX));
+    Serial.println("accelY: " + String(aY));
+    Serial.println("accelZ: " + String(aZ));
+    Serial.println("accelSqrt: " + String(aSqrt));
+  } else {
+    Serial.println("Cannod read accel values");
+  }
+
+  if (mySensor.gyroUpdate() == 0) {
+    gX = mySensor.gyroX();
+    gY = mySensor.gyroY();
+    gZ = mySensor.gyroZ();
+    Serial.println("gyroX: " + String(gX));
+    Serial.println("gyroY: " + String(gY));
+    Serial.println("gyroZ: " + String(gZ));
+  } else {
+    Serial.println("Cannot read gyro values");
+  }
+
+  if (mySensor.magUpdate() == 0) {
+    mX = mySensor.magX();
+    mY = mySensor.magY();
+    mZ = mySensor.magZ();
+    mDirection = mySensor.magHorizDirection();
+    Serial.println("magX: " + String(mX));
+    Serial.println("maxY: " + String(mY));
+    Serial.println("magZ: " + String(mZ));
+    Serial.println("horizontal direction: " + String(mDirection));
+  } else {
+    Serial.println("Cannot read mag values");
+  }
+
+  Serial.println("at " + String(millis()) + "ms");
+  Serial.println(""); // Add an empty line
+  delay(500);
+}