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feat: 全量同步 254 个常用的 Arduino 扩展库文件

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yczpf2019
2026-01-24 16:05:38 +08:00
parent c665ba662b
commit 397b9a23a3
6878 changed files with 2732224 additions and 1 deletions
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230
arduino-libs/arduino-cli/libraries/MPU9250_asukiaaa/src/MPU9250_asukiaaa.cpp Normal file
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#include "MPU9250_asukiaaa.h"
#include <math.h>
#define AK8963_ADDRESS 0x0C
#define AK8963_RA_HXL 0x03
#define AK8963_RA_CNTL1 0x0A
#define AK8963_RA_ASAX 0x10
#define MPU9250_ADDR_ACCELCONFIG 0x1C
#define MPU9250_ADDR_INT_PIN_CFG 0x37
#define MPU9250_ADDR_ACCEL_XOUT_H 0x3B
#define MPU9250_ADDR_GYRO_XOUT_H 0x43
#define MPU9250_ADDR_PWR_MGMT_1 0x6B
#define MPU9250_ADDR_WHOAMI 0x75
uint8_t MPU9250_asukiaaa::i2cRead(uint8_t Address, uint8_t Register, uint8_t Nbytes, uint8_t* Data) {
myWire->beginTransmission(Address);
myWire->write(Register);
uint8_t result = myWire->endTransmission();
if (result != 0) {
return result;
}
myWire->requestFrom(Address, Nbytes);
uint8_t index = 0;
while (myWire->available()) {
uint8_t d = myWire->read();
if (index < Nbytes) {
Data[index++] = d;
}
}
return 0;
}
uint8_t MPU9250_asukiaaa::i2cWriteByte(uint8_t Address, uint8_t Register, uint8_t Data) {
myWire->beginTransmission(Address);
myWire->write(Register);
myWire->write(Data);
return myWire->endTransmission();
}
MPU9250_asukiaaa::MPU9250_asukiaaa(uint8_t address):
address(address) {
accelRange = 0;
gyroRange = 0;
magXOffset = 0;
magYOffset = 0;
magZOffset = 0;
myWire = NULL;
}
void MPU9250_asukiaaa::setWire(TwoWire* wire) {
myWire = wire;
}
uint8_t MPU9250_asukiaaa::readId(uint8_t *id) {
beginWireIfNull();
return i2cRead(address, MPU9250_ADDR_WHOAMI, 1, id);
}
void MPU9250_asukiaaa::beginWireIfNull() {
if (myWire == NULL) {
myWire = &Wire;
myWire->begin();
}
}
void MPU9250_asukiaaa::beginAccel(uint8_t mode) {
beginWireIfNull();
switch(mode) {
case ACC_FULL_SCALE_2_G:
accelRange = 2.0;
break;
case ACC_FULL_SCALE_4_G:
accelRange = 4.0;
break;
case ACC_FULL_SCALE_8_G:
accelRange = 8.0;
break;
case ACC_FULL_SCALE_16_G:
accelRange = 16.0;
break;
default:
return; // Return without writing invalid mode
}
i2cWriteByte(address, MPU9250_ADDR_ACCELCONFIG, mode);
delay(10);
}
void MPU9250_asukiaaa::magReadAdjustValues() {
magSetMode(MAG_MODE_POWERDOWN);
magSetMode(MAG_MODE_FUSEROM);
uint8_t buff[3];
i2cRead(AK8963_ADDRESS, AK8963_RA_ASAX, 3, buff);
magXAdjust = buff[0];
magYAdjust = buff[1];
magZAdjust = buff[2];
}
void MPU9250_asukiaaa::beginMag(uint8_t mode) {
beginWireIfNull();
magWakeup();
magEnableSlaveMode();
magReadAdjustValues();
magSetMode(MAG_MODE_POWERDOWN);
magSetMode(mode);
delay(10);
}
void MPU9250_asukiaaa::magSetMode(uint8_t mode) {
i2cWriteByte(AK8963_ADDRESS, AK8963_RA_CNTL1, mode);
delay(10);
}
void MPU9250_asukiaaa::magWakeup() {
unsigned char bits;
i2cRead(address, MPU9250_ADDR_PWR_MGMT_1, 1, &bits);
bits &= ~B01110000; // Turn off SLEEP, STANDBY, CYCLE
i2cWriteByte(address, MPU9250_ADDR_PWR_MGMT_1, bits);
delay(10);
}
void MPU9250_asukiaaa::magEnableSlaveMode() {
unsigned char bits;
i2cRead(address, MPU9250_ADDR_INT_PIN_CFG, 1, &bits);
bits |= B00000010; // Activate BYPASS_EN
i2cWriteByte(address, MPU9250_ADDR_INT_PIN_CFG, bits);
delay(10);
}
const float Pi = 3.14159;
float MPU9250_asukiaaa::magHorizDirection() {
return atan2(magX(), magY()) * 180 / Pi;
}
uint8_t MPU9250_asukiaaa::magUpdate() {
return i2cRead(AK8963_ADDRESS, AK8963_RA_HXL, 7, magBuff);
}
int16_t MPU9250_asukiaaa::magGet(uint8_t highIndex, uint8_t lowIndex) {
return (((int16_t) magBuff[highIndex]) << 8) | magBuff[lowIndex];
}
float adjustMagValue(int16_t value, uint8_t adjust) {
return ((float) value * (((((float) adjust - 128) * 0.5) / 128) + 1));
}
float MPU9250_asukiaaa::magX() {
return adjustMagValue(magGet(1, 0), magXAdjust) + magXOffset;
}
float MPU9250_asukiaaa::magY() {
return adjustMagValue(magGet(3, 2), magYAdjust) + magYOffset;
}
float MPU9250_asukiaaa::magZ() {
return adjustMagValue(magGet(5, 4), magZAdjust) + magZOffset;
}
uint8_t MPU9250_asukiaaa::accelUpdate() {
return i2cRead(address, MPU9250_ADDR_ACCEL_XOUT_H, 6, accelBuff);
}
float MPU9250_asukiaaa::accelGet(uint8_t highIndex, uint8_t lowIndex) {
int16_t v = ((int16_t) accelBuff[highIndex]) << 8 | accelBuff[lowIndex];
return ((float) -v) * accelRange / (float) 0x8000; // (float) 0x8000 == 32768.0
}
float MPU9250_asukiaaa::accelX() {
return accelGet(0, 1);
}
float MPU9250_asukiaaa::accelY() {
return accelGet(2, 3);
}
float MPU9250_asukiaaa::accelZ() {
return accelGet(4, 5);
}
float MPU9250_asukiaaa::accelSqrt() {
return sqrt(pow(accelGet(0, 1), 2) +
pow(accelGet(2, 3), 2) +
pow(accelGet(4, 5), 2));
}
void MPU9250_asukiaaa::beginGyro(uint8_t mode) {
beginWireIfNull();
switch (mode) {
case GYRO_FULL_SCALE_250_DPS:
gyroRange = 250.0;
break;
case GYRO_FULL_SCALE_500_DPS:
gyroRange = 500.0;
break;
case GYRO_FULL_SCALE_1000_DPS:
gyroRange = 1000.0;
break;
case GYRO_FULL_SCALE_2000_DPS:
gyroRange = 2000.0;
break;
default:
return; // Return without writing invalid mode
}
i2cWriteByte(address, 27, mode);
delay(10);
}
uint8_t MPU9250_asukiaaa::gyroUpdate() {
return i2cRead(address, MPU9250_ADDR_GYRO_XOUT_H, 6, gyroBuff);
}
float MPU9250_asukiaaa::gyroGet(uint8_t highIndex, uint8_t lowIndex) {
int16_t v = ((int16_t) gyroBuff[highIndex]) << 8 | gyroBuff[lowIndex];
return ((float) -v) * gyroRange / (float) 0x8000;
}
float MPU9250_asukiaaa::gyroX() {
return gyroGet(0, 1);
}
float MPU9250_asukiaaa::gyroY() {
return gyroGet(2, 3);
}
float MPU9250_asukiaaa::gyroZ() {
return gyroGet(4, 5);
}

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arduino-libs/arduino-cli/libraries/MPU9250_asukiaaa/src/MPU9250_asukiaaa.h Normal file
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#ifndef MPU9250_ASUKIAAA_H
#define MPU9250_ASUKIAAA_H
#include <Arduino.h>
#include <Wire.h>
#define MPU9250_ADDRESS_AD0_LOW 0x68
#define MPU9250_ADDRESS_AD0_HIGH 0x69
#define ACC_FULL_SCALE_2_G 0x00
#define ACC_FULL_SCALE_4_G 0x08
#define ACC_FULL_SCALE_8_G 0x10
#define ACC_FULL_SCALE_16_G 0x18
#define GYRO_FULL_SCALE_250_DPS 0x00
#define GYRO_FULL_SCALE_500_DPS 0x08
#define GYRO_FULL_SCALE_1000_DPS 0x10
#define GYRO_FULL_SCALE_2000_DPS 0x18
#define MAG_MODE_POWERDOWN 0x0
#define MAG_MODE_SINGLE 0x1
#define MAG_MODE_CONTINUOUS_8HZ 0x2
#define MAG_MODE_EXTERNAL 0x4
#define MAG_MODE_CONTINUOUS_100HZ 0x6
#define MAG_MODE_SELFTEST 0x8
#define MAG_MODE_FUSEROM 0xF
#define MPU9250_BUFF_LEN_ACCEL 6
#define MPU9250_BUFF_LEN_GYRO 6
#define MPU9250_BUFF_LEN_MAG 7
class MPU9250_asukiaaa {
public:
const uint8_t address;
int16_t magXOffset, magYOffset, magZOffset;
uint8_t accelBuff[MPU9250_BUFF_LEN_ACCEL];
uint8_t gyroBuff[MPU9250_BUFF_LEN_GYRO];
uint8_t magBuff[MPU9250_BUFF_LEN_MAG];
MPU9250_asukiaaa(uint8_t address = MPU9250_ADDRESS_AD0_LOW);
void setWire(TwoWire *wire);
uint8_t readId(uint8_t *id);
void beginAccel(uint8_t mode = ACC_FULL_SCALE_16_G);
uint8_t accelUpdate();
float accelX();
float accelY();
float accelZ();
float accelSqrt();
void beginGyro(uint8_t mode = GYRO_FULL_SCALE_2000_DPS);
uint8_t gyroUpdate();
float gyroX();
float gyroY();
float gyroZ();
void beginMag(uint8_t mode = MAG_MODE_CONTINUOUS_8HZ);
void magSetMode(uint8_t mode);
uint8_t magUpdate();
float magX();
float magY();
float magZ();
float magHorizDirection();
private:
TwoWire* myWire;
float accelRange;
float gyroRange;
uint8_t magXAdjust, magYAdjust, magZAdjust;
void beginWireIfNull();
float accelGet(uint8_t highIndex, uint8_t lowIndex);
float gyroGet(uint8_t highIndex, uint8_t lowIndex);
int16_t magGet(uint8_t highIndex, uint8_t lowIndex);
void magEnableSlaveMode();
void magReadAdjustValues();
void magWakeup();
uint8_t i2cRead(uint8_t Address, uint8_t Register, uint8_t Nbytes, uint8_t* Data);
uint8_t i2cWriteByte(uint8_t Address, uint8_t Register, uint8_t Data);
};
#endif