项目ES32获取mpu9250数据网页交互显示 (程序1) esp32获取mpu9250数据
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/************************************************************ MPU9250_Basic Basic example sketch for MPU-9250 DMP Arduino Library Jim Lindblom @ SparkFun Electronics original creation date: November 23, 2016 https://github.com/sparkfun/SparkFun_MPU9250_DMP_Arduino_Library This example sketch demonstrates how to initialize the MPU-9250, and stream its sensor outputs to a serial monitor. Development environment specifics: Arduino IDE 1.6.12 SparkFun 9DoF Razor IMU M0 Supported Platforms: - ATSAMD21 (Arduino Zero, SparkFun SAMD21 Breakouts) *************************************************************/ #include <SparkFunMPU9250-DMP.h> #define SerialPort Serial MPU9250_DMP imu; void setup() SerialPort.begin(115200); // Call imu.begin() to verify communication with and // initialize the MPU-9250 to it‘s default values. // Most functions return an error code - INV_SUCCESS (0) // indicates the IMU was present and successfully set up if (imu.begin() != INV_SUCCESS) while (1) SerialPort.println("Unable to communicate with MPU-9250"); SerialPort.println("Check connections, and try again."); SerialPort.println(); delay(5000); // Use setSensors to turn on or off MPU-9250 sensors. // Any of the following defines can be combined: // INV_XYZ_GYRO, INV_XYZ_ACCEL, INV_XYZ_COMPASS, // INV_X_GYRO, INV_Y_GYRO, or INV_Z_GYRO // Enable all sensors: imu.setSensors(INV_XYZ_GYRO | INV_XYZ_ACCEL | INV_XYZ_COMPASS); // Use setGyroFSR() and setAccelFSR() to configure the // gyroscope and accelerometer full scale ranges. // Gyro options are +/- 250, 500, 1000, or 2000 dps imu.setGyroFSR(2000); // Set gyro to 2000 dps // Accel options are +/- 2, 4, 8, or 16 g imu.setAccelFSR(2); // Set accel to +/-2g // Note: the MPU-9250‘s magnetometer FSR is set at // +/- 4912 uT (micro-tesla‘s) // setLPF() can be used to set the digital low-pass filter // of the accelerometer and gyroscope. // Can be any of the following: 188, 98, 42, 20, 10, 5 // (values are in Hz). imu.setLPF(5); // Set LPF corner frequency to 5Hz // The sample rate of the accel/gyro can be set using // setSampleRate. Acceptable values range from 4Hz to 1kHz imu.setSampleRate(10); // Set sample rate to 10Hz // Likewise, the compass (magnetometer) sample rate can be // set using the setCompassSampleRate() function. // This value can range between: 1-100Hz imu.setCompassSampleRate(10); // Set mag rate to 10Hz void loop() // dataReady() checks to see if new accel/gyro data // is available. It will return a boolean true or false // (New magnetometer data cannot be checked, as the library // runs that sensor in single-conversion mode.) if ( imu.dataReady() ) // Call update() to update the imu objects sensor data. // You can specify which sensors to update by combining // UPDATE_ACCEL, UPDATE_GYRO, UPDATE_COMPASS, and/or // UPDATE_TEMPERATURE. // (The update function defaults to accel, gyro, compass, // so you don‘t have to specify these values.) imu.update(UPDATE_ACCEL | UPDATE_GYRO | UPDATE_COMPASS | UPDATE_TEMP); printIMUData(); void printIMUData(void) // After calling update() the ax, ay, az, gx, gy, gz, mx, // my, mz, time, and/or temerature class variables are all // updated. Access them by placing the object. in front: // Use the calcAccel, calcGyro, and calcMag functions to // convert the raw sensor readings (signed 16-bit values) // to their respective units. float accelX = imu.calcAccel(imu.ax); float accelY = imu.calcAccel(imu.ay); float accelZ = imu.calcAccel(imu.az); float gyroX = imu.calcGyro(imu.gx); float gyroY = imu.calcGyro(imu.gy); float gyroZ = imu.calcGyro(imu.gz); float magX = imu.calcMag(imu.mx); float magY = imu.calcMag(imu.my); float magZ = imu.calcMag(imu.mz); // long imu_temperature=imu.temperature; SerialPort.println(); SerialPort.print("Time: " + String(imu.time) + " ms"); SerialPort.print("Accel: " + String(accelX) + ", " + String(accelY) + ", " + String(accelZ) + " g"); SerialPort.print(" "); SerialPort.print("Gyro: " + String(gyroX) + ", " + String(gyroY) + ", " + String(gyroZ) + " dps"); SerialPort.print(" "); SerialPort.print("Mag: " + String(magX) + ", " + String(magY) + ", " + String(magZ) + " uT"); SerialPort.print(" "); // SerialPort.print("temperature: " +imu_temperature);
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