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70 lines
2.3 KiB
70 lines
2.3 KiB
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#include "MPU9250.h"
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#include "MPU9250_asukiaaa.h"
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#include "ArduinoJson.h"
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// an MPU9250 object with the MPU-9250 sensor on I2C bus 0 with address 0x68
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MPU9250 IMU(Wire,0x68);
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int status;
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void setup() {
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// serial to display data
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Serial.begin(9600);
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while(!Serial) {}
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// start communication with IMU
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status = IMU.begin();
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IMU.setAccelRange(MPU9250::ACCEL_RANGE_8G);
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// setting the gyroscope full scale range to +/-500 deg/s
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IMU.setGyroRange(MPU9250::GYRO_RANGE_500DPS);
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// setting DLPF bandwidth to 20 Hz
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IMU.setDlpfBandwidth(MPU9250::DLPF_BANDWIDTH_20HZ);
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// setting SRD to 19 for a 50 Hz update rate
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IMU.setSrd(19);
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}
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void loop() {
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// dilosi metablitwn typoy json gia tin apostoli dedomenwn
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StaticJsonDocument<50> accelarator;
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StaticJsonDocument<50> gyroscope;
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StaticJsonDocument<50> magnometer;
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StaticJsonDocument<200> data;
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// read the sensor
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IMU.readSensor();
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// ta tria eisagogika mpainoun gia na diabazontai os eniaio string apo to rasbery kai na apothikeuontai sthn db
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Serial.write("\"\"\"");
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// anathesi timon apo ton sensora sthn metabliti typoy accelarator
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accelarator["X"] = IMU.getAccelX_mss();
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accelarator["Y"] = IMU.getAccelY_mss();
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accelarator["Z"] = IMU.getAccelZ_mss();
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// eisagogi toy accelator se ena eniaio json data pou tha perilambanei olous tous aisthitires
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data["A"] = accelarator;
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// anathesi timon apo ton sensora sthn metabliti typoy gyroscope
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gyroscope["X"] = IMU.getGyroX_rads();
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gyroscope["Y"] = IMU.getGyroY_rads();
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gyroscope["Z"] = IMU.getGyroZ_rads();
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// eisagogi toy gyroscope se ena eniaio json data pou tha perilambanei olous tous aisthitires
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data["G"] = gyroscope;
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// anathesi timon apo ton sensora sthn metabliti typoy magnometer
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magnometer["X"] = IMU.getMagX_uT();
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magnometer["Y"] = IMU.getMagY_uT();
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magnometer["Z"] = IMU.getMagZ_uT();
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// eisagogi toy magnometer se ena eniaio json data pou tha perilambanei olous tous aisthitires
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data["M"] = magnometer;
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// apostoli tou eniaiou json data meso bluetooth (seriakh porta)
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serializeJson(data, Serial);
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// kleisimo twn triwn eisagogikwn kai a;lagi grammhs
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Serial.write("\"\"\"\n");
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// kathysterhsh 100 msec kai katharismos mnhmhs flush prin thn epanalipsi tou loop
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delay(100);
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Serial.flush();
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}
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