64 lines
1.3 KiB
Arduino
64 lines
1.3 KiB
Arduino
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#include <Wire.h>
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#include "i2c.h"
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// IMU-Sensor
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#include "i2c_MPU9250.h"
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MPU9250 mpu9250;
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void setup()
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{
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Serial.begin(115200);
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Serial.print("Probe MPU9250: ");
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switch (mpu9250.initialize())
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{
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case 0: Serial.println("MPU-Sensor missing"); while(1) {};
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case 1: Serial.println("Found unknown Sensor."); break;
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case 2: Serial.println("MPU6500 found."); break;
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case 3: Serial.println("MPU9250 found!"); break;
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}
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Serial.print("Probe AK8963: ");
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if (i2c.probe(0x0C)) Serial.println("AK8963 found!");
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else Serial.println("AK8963 missing");
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}
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void loop()
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{
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static float xyz_GyrAccMag[9];
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mpu9250.getMeasurement(xyz_GyrAccMag);
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Serial.print("XYZ ACC g[");
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Serial.print(xyz_GyrAccMag[0],2);
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Serial.print(";");
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Serial.print(xyz_GyrAccMag[1],2);
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Serial.print(";");
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Serial.print(xyz_GyrAccMag[2],2);
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Serial.print("]");
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Serial.print(" \t GYR dps[");
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Serial.print(xyz_GyrAccMag[4],2);
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Serial.print(";");
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Serial.print(xyz_GyrAccMag[5],2);
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Serial.print(";");
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Serial.print(xyz_GyrAccMag[6],2);
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Serial.print("]");
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Serial.print(" \t T: ");
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Serial.print(xyz_GyrAccMag[3],2);
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Serial.print(" C");
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Serial.println("");
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delay(20);
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}
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/**<
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Program size:
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A1.0.5:
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A1.5.7:
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A1.6.3: 7752b / 631b
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*/
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