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99 lines
2.4 KiB
99 lines
2.4 KiB
5 years ago
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#include <MPU9250_asukiaaa.h>
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#include <ArduinoJson.h>
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#ifdef _ESP32_HAL_I2C_H_
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#define SDA_PIN 4
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#define SCL_PIN 5
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#endif
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MPU9250_asukiaaa mySensor;
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float aX, aY, aZ, aSqrt, gX, gY, gZ, mDirection, mX, mY, mZ;
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String magnometer;
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String accelarator;
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String gyroscope;
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String sensorID;
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void setup() {
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Serial.begin(115200);
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while(!Serial);
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Serial.println("started");
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#ifdef _ESP32_HAL_I2C_H_ // For ESP32
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Wire.begin(SDA_PIN, SCL_PIN);
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mySensor.setWire(&Wire);
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#endif
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mySensor.beginAccel();
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mySensor.beginGyro();
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mySensor.beginMag();
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// You can set your own offset for mag values
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// mySensor.magXOffset = -50;
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// mySensor.magYOffset = -55;
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// mySensor.magZOffset = -10;
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}
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void loop() {
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StaticJsonDocument<200> ID;
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StaticJsonDocument<200> accelarator;
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StaticJsonDocument<200> gyroscope;
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StaticJsonDocument<200> magnometer;
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uint8_t sensorId;
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if (mySensor.readId(&sensorId) == 0) {
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ID["Sensor"] = "=== 10 DOF IMU Sensor V2 ===";
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ID["ID"] = sensorId;
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//serializeJson(ID, Serial);
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// Serial.println("sensorId: " + String(sensorId));
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} else {
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Serial.write("Cannot read sensorId");
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}
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if (mySensor.accelUpdate() == 0) {
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aX = mySensor.accelX();
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aY = mySensor.accelY();
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aZ = mySensor.accelZ();
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aSqrt = mySensor.accelSqrt();
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accelarator["sensor"] = "accelarator";
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accelarator["X"] = aX;
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accelarator["Y"] = aY;
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accelarator["Z"] = aZ;
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serializeJsonPretty(accelarator, Serial);
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} else {
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Serial.write("Cannod read accel values");
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}
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if (mySensor.gyroUpdate() == 0) {
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gX = mySensor.gyroX();
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gY = mySensor.gyroY();
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gZ = mySensor.gyroZ();
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gyroscope["sensor"] = "gyroscope";
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gyroscope["X"] = gX;
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gyroscope["Y"] = gY;
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gyroscope["Z"] = gZ;
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serializeJsonPretty(gyroscope, Serial);
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} else {
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//Serial.println("Cannot read gyro values");
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Serial.write("Cannot read gyro values");
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}
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if (mySensor.magUpdate() == 0) {
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mX = mySensor.magX();
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mY = mySensor.magY();
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mZ = mySensor.magZ();
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mDirection = mySensor.magHorizDirection();
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magnometer["sensor"] = "magnometer";
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magnometer["X"] = gX;
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magnometer["Y"] = gY;
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magnometer["Z"] = gZ;
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magnometer["Direction"] = mDirection;
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serializeJsonPretty(magnometer, Serial);
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} else {
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Serial.write("Cannot read mag values");
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}
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//Serial.write("Hello World!");
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delay(100);
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}
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