MPU9250 CẢM BIẾN 9 TRỤC 9DOF (KHÔNG AK8963) GIAO TIẾP I2C, SPI

HƯỚNG DẪN CÀI ĐẶT THƯ VIỆN MPU9250 TRÊN ARDUINO:

a) CLICK VÀO ⇒    TẢI THƯ VIỆN MPU9250

b)  ADD THƯ VIỆN FILE ZIP VÀO ARDUINO

CODE HIỆU CHUẨN CALIB MPU9250:

HOẶC COPY Ở ĐÂY:

#include <MPU9250_asukiaaa.h>

#ifdef _ESP32_HAL_I2C_H_

#define SDA_PIN 21

#define SCL_PIN 22

#endif

MPU9250_asukiaaa mySensor;

float aX, aY, aZ, aSqrt, gX, gY, gZ, 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);

  mySensor.setWire(&Wire);

#endif

  mySensor.beginAccel();

  mySensor.beginGyro();

  mySensor.beginMag();

  // You can set your own offset for mag values

  // mySensor.magXOffset = -50;

  // mySensor.magYOffset = -55;

  // mySensor.magZOffset = -10;

}

void loop() {

  uint8_t sensorId;

  int result;

  result = mySensor.readId(&sensorId);

  if (result == 0) {

    Serial.println("sensorId: " + String(sensorId));

  } else {

    Serial.println("Cannot read sensorId " + String(result));

  }

  result = mySensor.accelUpdate();

  if (result == 0) {

    aX = mySensor.accelX();

    aY = mySensor.accelY();

    aZ = mySensor.accelZ();

    aSqrt = mySensor.accelSqrt();

    Serial.println("accelX: " + String(aX));

    Serial.println("accelY: " + String(aY));

    Serial.println("accelZ: " + String(aZ));

    Serial.println("accelSqrt: " + String(aSqrt));

  } else {

    Serial.println("Cannod read accel values " + String(result));

  }

  result = mySensor.gyroUpdate();

  if (result == 0) {

    gX = mySensor.gyroX();

    gY = mySensor.gyroY();

    gZ = mySensor.gyroZ();

    Serial.println("gyroX: " + String(gX));

    Serial.println("gyroY: " + String(gY));

    Serial.println("gyroZ: " + String(gZ));

  } else {

    Serial.println("Cannot read gyro values " + String(result));

  }

  result = mySensor.magUpdate();

  if (result != 0) {

    Serial.println("cannot read mag so call begin again");

    mySensor.beginMag();

    result = mySensor.magUpdate();

  }

  if (result == 0) {

    mX = mySensor.magX();

    mY = mySensor.magY();

    mZ = mySensor.magZ();

    mDirection = mySensor.magHorizDirection();

    Serial.println("magX: " + String(mX));

    Serial.println("maxY: " + String(mY));

    Serial.println("magZ: " + String(mZ));

    Serial.println("horizontal direction: " + String(mDirection));

  } else {

    Serial.println("Cannot read mag values " + String(result));

  }

  Serial.println("at " + String(millis()) + "ms");

  Serial.println(""); // Add an empty line

  delay(500);

}

BẢNG KẾT QUẢ SERIAL HIỆN 6 TRỤC: