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/GetMagOffset/GetMagOffset.ino
+++ b/arduino-cli/libraries/MPU9250_asukiaaa/examples/GetMagOffset/GetMagOffset.ino
@@ -0,0 +1,88 @@
+#include <MPU9250_asukiaaa.h>
+
+#ifdef _ESP32_HAL_I2C_H_
+#define SDA_PIN 21
+#define SCL_PIN 22
+#endif
+
+#define CALIB_SEC 20
+
+MPU9250_asukiaaa mySensor;
+
+uint8_t sensorId;
+float 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); // SDA, SCL
+#else
+  Wire.begin();
+#endif
+
+  mySensor.setWire(&Wire);
+  while (mySensor.readId(&sensorId) != 0) {
+    Serial.println("Cannot find device to read sensorId");
+    delay(2000);
+  }
+  mySensor.beginMag();
+
+  float magXMin, magXMax, magYMin, magYMax, magZ, magZMin, magZMax;
+
+  Serial.println("Start scanning values of magnetometer to get offset values.");
+  Serial.println("Rotate your device for " + String(CALIB_SEC) + " seconds.");
+  setMagMinMaxAndSetOffset(&mySensor, CALIB_SEC);
+  Serial.println("Finished setting offset values.");
+}
+
+void setMagMinMaxAndSetOffset(MPU9250_asukiaaa* sensor, int seconds) {
+  unsigned long calibStartAt = millis();
+  float magX, magXMin, magXMax, magY, magYMin, magYMax, magZ, magZMin, magZMax;
+
+  sensor->magUpdate();
+  magXMin = magXMax = sensor->magX();
+  magYMin = magYMax = sensor->magY();
+  magZMin = magZMax = sensor->magZ();
+
+  while(millis() - calibStartAt < (unsigned long) seconds * 1000) {
+    delay(100);
+    sensor->magUpdate();
+    magX = sensor->magX();
+    magY = sensor->magY();
+    magZ = sensor->magZ();
+    if (magX > magXMax) magXMax = magX;
+    if (magY > magYMax) magYMax = magY;
+    if (magZ > magZMax) magZMax = magZ;
+    if (magX < magXMin) magXMin = magX;
+    if (magY < magYMin) magYMin = magY;
+    if (magZ < magZMin) magZMin = magZ;
+  }
+
+  sensor->magXOffset = - (magXMax + magXMin) / 2;
+  sensor->magYOffset = - (magYMax + magYMin) / 2;
+  sensor->magZOffset = - (magZMax + magZMin) / 2;
+}
+
+void loop() {
+  Serial.println("sensorId: " + String(sensorId));
+
+  mySensor.magUpdate();
+  mX = mySensor.magX();
+  mY = mySensor.magY();
+  mZ = mySensor.magZ();
+  mDirection = mySensor.magHorizDirection();
+  Serial.println("mySensor.magXOffset = " + String(mySensor.magXOffset) + ";");
+  Serial.println("mySensor.maxYOffset = " + String(mySensor.magYOffset) + ";");
+  Serial.println("mySensor.magZOffset = " + String(mySensor.magZOffset) + ";");
+  Serial.println("magX: " + String(mX));
+  Serial.println("maxY: " + String(mY));
+  Serial.println("magZ: " + String(mZ));
+  Serial.println("horizontal direction: " + String(mDirection));
+
+  Serial.println("at " + String(millis()) + "ms");
+  Serial.println(""); // Add an empty line
+  delay(500);
+}