mirror of
https://github.com/m5stack/m5-docs.git
synced 2026-05-20 10:23:01 -07:00
udpate api en ja
This commit is contained in:
塩入孔章
@@ -12,7 +12,7 @@ uint8_t read();
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This function returns reading the state of the button directly. 1: pressed, 0: released.
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**Sample:**
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**Example:**
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```arduino
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#include <M5Stack.h>
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@@ -40,7 +40,7 @@ uint8_t isPressed();
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This function returns the state of the button the last time Button.read() was called. 1: pressed, 0: released.
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**Sample:**
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**Example:**
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```arduino
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#include <M5Stack.h>
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@@ -72,7 +72,7 @@ uint8_t wasPressed();
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This function returns 1 only once each time the button is pressed. 1: pressed, 0: released.
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**Sample:**
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**Example:**
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```arduino
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#include <M5Stack.h>
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@@ -108,7 +108,7 @@ This function returns 1 if button has been pressed for more than specified time.
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| --- | --- | -- |
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| ms | pressing time (ms) | uint32_t |
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**Sample:**
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**Example:**
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```arduino
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#include <M5Stack.h>
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+69
-58
@@ -2,11 +2,13 @@
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*The screen pixel is 320x240, with the top left corner of the screen as the origin (0,0)*
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### fillScreen()
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## fillScreen()
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**Function prototype:**
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**Syntax:**
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<mark>fillScreen(uint16_t color);</mark> // for arduino
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```arduino
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fillScreen(uint16_t color);
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```
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**Function: Fill the entire screen with the specified color.**
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@@ -15,6 +17,7 @@
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| color | the color to be filled |
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**Example:**
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```arduino
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#include <M5Stack.h>
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@@ -30,15 +33,15 @@ from m5ui import *
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lcd.fillScreen(lcd.RED)
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``` -->
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* * *
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<!-- ### ```arduinolcd.setColor(color [, background_color])</mark> -->
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## setTextColor()
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<!-- ### <mark>lcd.setColor(color [, background_color])</mark> -->
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### setTextColor()
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**Syntax:**
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**Function prototype:**
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<mark>setTextColor(uint16_t color, uint16_t backgroundcolor);</mark> // for arduino
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```arduino
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setTextColor(uint16_t color, uint16_t backgroundcolor);
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```
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**Function: Set the foreground color and background color of the displayed text.**
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@@ -50,6 +53,7 @@ lcd.fillScreen(lcd.RED)
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*If backgroundcolor is not given, current background color is used*
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**Example:**
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```arduino
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#include <M5Stack.h>
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@@ -66,19 +70,20 @@ lcd.setTextColor(lcd.RED)
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lcd.setTextColor(lcd.ORANGE, lcd.DARKCYAN)
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``` -->
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* * *
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## setCursor()
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### setCursor()
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**Syntax:**
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**Function prototype:**
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```arduino
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setCursor(uint16_t x0, uint16_t y0);
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```
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<mark>setCursor(uint16_t x0, uint16_t y0);</mark> // for arduino
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<!-- <mark>setCursor(x0, y0)</mark> # for micropython -->
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<!-- ```arduinosetCursor(x0, y0)</mark> # for micropython -->
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**Function: Move the cursor to (x0, y0).**
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**Example:**
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```arduino
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#include <M5Stack.h>
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@@ -95,13 +100,13 @@ from m5ui import *
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lcd.drawPixel(22,22,lcd.RED)
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``` -->
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* * *
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## drawPixel()
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### drawPixel()
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**Syntax:**
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**Function prototype:**
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<mark>drawPixel(int16_t x, int16_t y, uint16_t color);</mark> // for arduino
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```arduino
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drawPixel(int16_t x, int16_t y, uint16_t color);
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```
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**Function: Draw a point at position (x, y).**
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@@ -112,6 +117,7 @@ lcd.drawPixel(22,22,lcd.RED)
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*If color is not given, current background color is used*
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**Example:**
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```arduino
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#include <M5Stack.h>
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@@ -127,13 +133,13 @@ from m5ui import *
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lcd.drawPixel(22,22,lcd.RED)
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``` -->
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* * *
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## drawLine()
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### drawLine()
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**Syntax:**
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**Function prototype:**
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<mark>drawLine(int16_t x0, int16_t y0, int16_t x1, int16_t y1, uint16_t color);</mark> // for arduino
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```arduino
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drawLine(int16_t x0, int16_t y0, int16_t x1, int16_t y1, uint16_t color);
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```
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**Function: Draw the line from point (x,y) to point (x1,y1).**
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@@ -144,6 +150,7 @@ lcd.drawPixel(22,22,lcd.RED)
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*If color is not given, current background color is used*
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**Example:**
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```arduino
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#include <M5Stack.h>
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@@ -159,13 +166,13 @@ from m5ui import *
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lcd.drawLine(0,0,12,12,lcd.WHITE)
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``` -->
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* * *
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## drawTriangle()
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### drawTriangle()
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**Syntax:**
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**Function prototype:**
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<mark>drawTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1, int16_t x2, int16_t y2, uint16_t color);</mark> // for arduino
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```arduino
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drawTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1, int16_t x2, int16_t y2, uint16_t color);
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```
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**Function: Draw the triangel between points (x,y), (x1,y1) and (x2,y2).**
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@@ -176,6 +183,7 @@ lcd.drawLine(0,0,12,12,lcd.WHITE)
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*If color is not given, current background color is used*
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**Example:**
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```arduino
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#include <M5Stack.h>
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@@ -191,13 +199,13 @@ from m5ui import *
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lcd.drawLine(0,0,12,12,lcd.WHITE)
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``` -->
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* * *
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## fillTriangle()
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### fillTriangle()
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**Syntax:**
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**Function prototype:**
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<mark>fillTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1, int16_t x2, int16_t y2, uint16_t color);</mark> // for arduino
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```arduino
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fillTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1, int16_t x2, int16_t y2, uint16_t color);
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```
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**Function: Fill the triangel between points (x,y), (x1,y1) and (x2,y2).**
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@@ -208,6 +216,7 @@ lcd.drawLine(0,0,12,12,lcd.WHITE)
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*If color is not given, current background color is used*
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**Example:**
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```arduino
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#include <M5Stack.h>
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@@ -223,13 +232,13 @@ from m5ui import *
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lcd.drawLine(0,0,12,12,lcd.WHITE)
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``` -->
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* * *
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## drawRect()
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### drawRect()
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**Syntax:**
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**Function prototype:**
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<mark>drawRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color);</mark> // for arduino
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```arduino
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drawRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color);
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```
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**Function: Draw the rectangle from the upper left point at (x,y) and width and height.**
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@@ -242,6 +251,7 @@ lcd.drawLine(0,0,12,12,lcd.WHITE)
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*If color is not given, current background color is used*
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**Example:**
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```arduino
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#include <M5Stack.h>
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@@ -257,13 +267,13 @@ from m5ui import *
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lcd.drawLine(0,0,12,12,lcd.WHITE)
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``` -->
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* * *
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## fillRect()
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### fillRect()
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**Syntax:**
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**Function prototype:**
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<mark>fillRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color);</mark> // for arduino
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```arduino
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fillRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color);
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```
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**Function: Fill the rectangle from the upper left point at (x,y) and width and height.**
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@@ -276,6 +286,7 @@ lcd.drawLine(0,0,12,12,lcd.WHITE)
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*If color is not given, current background color is used*
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**Example:**
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```arduino
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#include <M5Stack.h>
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@@ -291,13 +302,13 @@ from m5ui import *
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lcd.drawLine(0,0,12,12,lcd.WHITE)
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``` -->
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* * *
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## drawRoundRect()
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### drawRoundRect()
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**Syntax:**
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**Function prototype:**
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<mark>drawRoundRect(int16_t x0, int16_t y0, int16_t w, int16_t h, int16_t radius, uint16_t color);</mark> // for arduino
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```arduino
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drawRoundRect(int16_t x0, int16_t y0, int16_t w, int16_t h, int16_t radius, uint16_t color);
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```
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**Function: Draw the rectangle with rounded corners from the upper left point at (x,y) and width and height. Corner radius is given by radius argument.**
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@@ -311,6 +322,7 @@ lcd.drawLine(0,0,12,12,lcd.WHITE)
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*If color is not given, current background color is used*
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**Example:**
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```arduino
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#include <M5Stack.h>
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@@ -326,19 +338,20 @@ from m5ui import *
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lcd.drawLine(0,0,12,12,lcd.WHITE)
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``` -->
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* * *
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## print()
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### print()
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**Syntax:**
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**Function prototype:**
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<mark>print();</mark> // for arduino
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```arduino
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print();
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```
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**Function: Start printing text at the current position of the screen.**
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*The specified content is printed in the foreground color by default.*
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**Example:**
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```arduino
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#include <M5Stack.h>
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@@ -354,9 +367,7 @@ from m5ui import *
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lcd.drawLine(0,0,12,12,lcd.WHITE)
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``` -->
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* * *
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### Usage {docsify-ignore}
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## Usage {docsify-ignore}
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```arduino
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#include <M5Stack.h>
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+167
-151
@@ -1,259 +1,275 @@
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# 姿态传感器 MPU9250
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# IMU Sensor MPU9250
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*姿态传感器 MPU9250 是一款多芯片模块，集成两个芯片，一个芯片是 MPU6500，由 3 轴陀螺仪和 3 轴加速度计组成，另外一个是 AK8963 是 3 轴磁力计。*
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*IMU The MPU9250 is a multi-chip module that integrates two chips. One chip is the MPU6500, which consists of a 3-axis gyroscope and a 3-axis accelerometer. The other is the AK8963 is a 3-axis magnetometer.*
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## initMPU9250()
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**函数原型：**
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**Syntax:**
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<mark>void initMPU9250();</mark>
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```arduino
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void initMPU9250();
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```
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<!-- <mark>fillScreen(color)</mark> # for micropython -->
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**Description:**
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**功能：初始化 MPU6500 芯片。**
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This function initialize MPU6500 chip.
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**Example:**
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**例程：**
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```arduino
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#include <M5Stack.h>
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#include "utility/MPU9250.h"
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MPU9250 IMU; // new a MPU9250 object
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void setup(){
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M5.begin();
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Serial.begin(115200);
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void setup() {
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M5.begin();
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Wire.begin();
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IMU.initMPU9250(); // this line must be after Wire.begin()
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}
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IMU.initMPU9250();
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byte c = IMU.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
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Serial.print("MPU9250 "); Serial.print("I AM "); Serial.print(c, HEX);
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void loop() {
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}
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```
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## initAK8963()
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**函数原型：**
|
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**Syntax:**
|
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<mark>void initAK8963(float * destination);</mark>
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```arduino
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void initAK8963(float * destination);
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```
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<!-- <mark>fillScreen(color)</mark> # for micropython -->
|
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**Description:**
|
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|
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**功能：初始化 AK8963 芯片。**
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This function initialize AK8963 chip.
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|
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| 参数 | 描述 |
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| --- | --- |
|
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| destination | 出厂预设于 AK8963 芯片内缺省值的数组指针 |
|
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| Argument | Description | Type |
|
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| --- | --- | -- |
|
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| destination | for AK8963 Calibration Value | float * |
|
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**Example:**
|
||||
|
||||
**例程：**
|
||||
```arduino
|
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#include <M5Stack.h>
|
||||
#include "utility/MPU9250.h"
|
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|
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MPU9250 IMU; // new a MPU9250 object
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|
||||
void setup(){
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M5.begin();
|
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Serial.begin(115200);
|
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void setup() {
|
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M5.begin();
|
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Wire.begin();
|
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|
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// "magCalibration[3] = {0};" was defined at file "MPU9250.h"
|
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IMU.initAK8963(IMU.magCalibration);
|
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Serial.println("AK8963 initialized for active data mode....");
|
||||
if (Serial)
|
||||
{
|
||||
// Serial.println("Calibration values: ");
|
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Serial.print("X-Axis sensitivity adjustment value ");
|
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Serial.println(IMU.magCalibration[0], 2);
|
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Serial.print("Y-Axis sensitivity adjustment value ");
|
||||
Serial.println(IMU.magCalibration[1], 2);
|
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Serial.print("Z-Axis sensitivity adjustment value ");
|
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Serial.println(IMU.magCalibration[2], 2);
|
||||
}
|
||||
IMU.initAK8963(IMU.magCalibration);
|
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M5.Lcd.println("AK8963 initialized for active data mode....");
|
||||
if (Serial)
|
||||
{
|
||||
M5.Lcd.println("Calibration values: ");
|
||||
M5.Lcd.print("X-Axis sensitivity adjustment value ");
|
||||
M5.Lcd.println(IMU.magCalibration[0], 2);
|
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M5.Lcd.print("Y-Axis sensitivity adjustment value ");
|
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M5.Lcd.println(IMU.magCalibration[1], 2);
|
||||
M5.Lcd.print("Z-Axis sensitivity adjustment value ");
|
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M5.Lcd.println(IMU.magCalibration[2], 2);
|
||||
}
|
||||
}
|
||||
|
||||
void loop() {
|
||||
}
|
||||
```
|
||||
|
||||
## calibrateMPU9250()
|
||||
|
||||
**函数原型：**
|
||||
**Syntax:**
|
||||
|
||||
<mark>void calibrateMPU9250(float * gyroBias, float * accelBias);</mark>
|
||||
```arduino
|
||||
void calibrateMPU9250(float * gyroBias, float * accelBias);
|
||||
```
|
||||
|
||||
<!-- <mark>fillScreen(color)</mark> # for micropython -->
|
||||
**Description:**
|
||||
|
||||
**功能：初始化芯片后，执行该函数以读取静止状态下的陀螺仪和加速度值偏移，并保存到各自的偏移寄存器。**
|
||||
This function calcurate offset values of gyro and accelerometer.
|
||||
|
||||
| 参数 | 描述 |
|
||||
| --- | --- |
|
||||
| gyroBias | 保存静止下陀螺仪值的数组的地址 |
|
||||
| accelBias | 保存静止下加速度值的数组的地址 |
|
||||
| Argument | Description | Type |
|
||||
| --- | --- | -- |
|
||||
| gyroBias | gyro offset | float * |
|
||||
| accelBias | accel offset | float * |
|
||||
|
||||
**Example:**
|
||||
|
||||
**例程：**
|
||||
```arduino
|
||||
#include <M5Stack.h>
|
||||
#include "utility/MPU9250.h"
|
||||
|
||||
MPU9250 IMU; // new a MPU9250 object
|
||||
|
||||
void setup(){
|
||||
M5.begin();
|
||||
Serial.begin(115200);
|
||||
void setup() {
|
||||
M5.begin();
|
||||
Wire.begin();
|
||||
|
||||
IMU.initMPU9250();
|
||||
byte c = IMU.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
|
||||
Serial.print("MPU9250 "); Serial.print("I AM "); Serial.print(c, HEX);
|
||||
// "gyroBias[3] = {0};" was defined at file "MPU9250.h"
|
||||
// "accelBias[3] = {0};" was defined at file "MPU9250.h"
|
||||
IMU.calibrateMPU9250(IMU.gyroBias, IMU.accelBias);
|
||||
M5.Lcd.fillScreen(BLACK);
|
||||
M5.Lcd.setTextSize(1);
|
||||
M5.Lcd.setCursor(0, 0); M5.Lcd.print("MPU9250 bias");
|
||||
M5.Lcd.setCursor(0, 16); M5.Lcd.print(" x y z ");
|
||||
IMU.initMPU9250();
|
||||
IMU.calibrateMPU9250(IMU.gyroBias, IMU.accelBias);
|
||||
M5.Lcd.fillScreen(BLACK);
|
||||
M5.Lcd.setTextSize(1);
|
||||
M5.Lcd.setCursor(0, 0); M5.Lcd.print("MPU9250 bias");
|
||||
M5.Lcd.setCursor(0, 16); M5.Lcd.print(" x y z ");
|
||||
|
||||
M5.Lcd.setCursor(0, 32); M5.Lcd.print((int)(1000*IMU.accelBias[0]));
|
||||
M5.Lcd.setCursor(32, 32); M5.Lcd.print((int)(1000*IMU.accelBias[1]));
|
||||
M5.Lcd.setCursor(64, 32); M5.Lcd.print((int)(1000*IMU.accelBias[2]));
|
||||
M5.Lcd.setCursor(96, 32); M5.Lcd.print("mg");
|
||||
M5.Lcd.setCursor(0, 32); M5.Lcd.print((int)(1000 * IMU.accelBias[0]));
|
||||
M5.Lcd.setCursor(32, 32); M5.Lcd.print((int)(1000 * IMU.accelBias[1]));
|
||||
M5.Lcd.setCursor(64, 32); M5.Lcd.print((int)(1000 * IMU.accelBias[2]));
|
||||
M5.Lcd.setCursor(96, 32); M5.Lcd.print("mg");
|
||||
|
||||
M5.Lcd.setCursor(0, 48); M5.Lcd.print(IMU.gyroBias[0], 1);
|
||||
M5.Lcd.setCursor(32, 48); M5.Lcd.print(IMU.gyroBias[1], 1);
|
||||
M5.Lcd.setCursor(64, 48); M5.Lcd.print(IMU.gyroBias[2], 1);
|
||||
M5.Lcd.setCursor(96, 48); M5.Lcd.print("o/s");
|
||||
M5.Lcd.setCursor(0, 48); M5.Lcd.print(IMU.gyroBias[0], 1);
|
||||
M5.Lcd.setCursor(32, 48); M5.Lcd.print(IMU.gyroBias[1], 1);
|
||||
M5.Lcd.setCursor(64, 48); M5.Lcd.print(IMU.gyroBias[2], 1);
|
||||
M5.Lcd.setCursor(96, 48); M5.Lcd.print("o/s");
|
||||
}
|
||||
|
||||
void loop(){
|
||||
|
||||
void loop() {
|
||||
}
|
||||
```
|
||||
|
||||
## readByte()
|
||||
|
||||
**函数原型：**
|
||||
**Syntax:**
|
||||
|
||||
<mark>uint8_t readByte(uint8_t address, uint8_t subAddress);</mark>
|
||||
```arduino
|
||||
uint8_t readByte(uint8_t address, uint8_t subAddress);
|
||||
```
|
||||
|
||||
<!-- <mark>fillScreen(color)</mark> # for micropython -->
|
||||
**Description:**
|
||||
|
||||
**功能：读取指定寄存器内数据。返回值：寄存器值，长度为8 位。**
|
||||
This function reads a byte data from specified register of MPU9250.
|
||||
|
||||
| 参数 | 描述 |
|
||||
| --- | --- |
|
||||
| address | 芯片 (MPU9250/AK8963)地址 |
|
||||
| subAddress | 芯片内寄存器地址 |
|
||||
| Argument | Description | Type |
|
||||
| --- | --- | -- |
|
||||
| address | (MPU9250/AK8963) I2C address | uint8_t |
|
||||
| subAddress | register address | uint8_t |
|
||||
|
||||
**Example:**
|
||||
|
||||
**例程：**
|
||||
```arduino
|
||||
#include <M5Stack.h>
|
||||
#include "utility/MPU9250.h"
|
||||
|
||||
MPU9250 IMU; // new a MPU9250 object
|
||||
|
||||
void setup(){
|
||||
M5.begin();
|
||||
Serial.begin(115200);
|
||||
void setup() {
|
||||
M5.begin();
|
||||
Wire.begin();
|
||||
|
||||
byte c = IMU.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
|
||||
Serial.print("MPU9250 "); Serial.print("I AM "); Serial.print(c, HEX);
|
||||
uint8_t id = IMU.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
|
||||
M5.Lcd.print("MPU9250 I AM 0x"); M5.Lcd.print(id, HEX);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
}
|
||||
```
|
||||
|
||||
## readGyroData()
|
||||
|
||||
**函数原型：**
|
||||
**Syntax:**
|
||||
|
||||
<mark>void readGyroData(int16_t * destination);</mark>
|
||||
```arduino
|
||||
void readGyroData(int16_t * destination);
|
||||
```
|
||||
|
||||
<!-- <mark>fillScreen(color)</mark> # for micropython -->
|
||||
**Description:**
|
||||
|
||||
**功能：读取三个方向的陀螺仪值。**
|
||||
This function reads the value of 3-axis gyro sensor.
|
||||
|
||||
| 参数 | 描述 |
|
||||
| --- | --- |
|
||||
| destination | 保存陀螺仪值的数组的地址 |
|
||||
| Argument | Description | Type |
|
||||
| --- | --- | -- |
|
||||
| destination | read gyro values | int16_t * |
|
||||
|
||||
**Example:**
|
||||
|
||||
**例程：**
|
||||
```arduino
|
||||
#include <M5Stack.h>
|
||||
#include "utility/MPU9250.h"
|
||||
|
||||
MPU9250 IMU; // new a MPU9250 object
|
||||
|
||||
void setup(){
|
||||
M5.begin();
|
||||
Serial.begin(115200);
|
||||
|
||||
IMU.initMPU9250();
|
||||
byte c = IMU.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
|
||||
Serial.print("MPU9250 "); Serial.print("I AM "); Serial.print(c, HEX);
|
||||
IMU.calibrateMPU9250(IMU.gyroBias, IMU.accelBias);
|
||||
void setup() {
|
||||
M5.begin();
|
||||
Wire.begin();
|
||||
IMU.initMPU9250();
|
||||
IMU.calibrateMPU9250(IMU.gyroBias, IMU.accelBias);
|
||||
}
|
||||
|
||||
void loop(){
|
||||
// If intPin goes high, all data registers have new data
|
||||
// On interrupt, check if data ready interrupt
|
||||
if (IMU.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01)
|
||||
{
|
||||
// "gyroCount[3] = {0};" was defined at file "MPU9250.h"
|
||||
IMU.readGyroData(IMU.gyroCount); // Read the x/y/z adc values
|
||||
IMU.getGres(); // get Gyro scales saved to "gRes"
|
||||
IMU.gx = (float)IMU.gyroCount[0]*IMU.gRes;
|
||||
IMU.gy = (float)IMU.gyroCount[1]*IMU.gRes;
|
||||
IMU.gz = (float)IMU.gyroCount[2]*IMU.gRes;
|
||||
Serial.print("X-gyro rate: "); Serial.print(IMU.gx, 3);
|
||||
Serial.print(" degrees/sec ");
|
||||
Serial.print("Y-gyro rate: "); Serial.print(IMU.gy, 3);
|
||||
Serial.print(" degrees/sec ");
|
||||
Serial.print("Z-gyro rate: "); Serial.print(IMU.gz, 3);
|
||||
Serial.println(" degrees/sec");
|
||||
}
|
||||
void loop() {
|
||||
// If intPin goes high, all data registers have new data
|
||||
// On interrupt, check if data ready interrupt
|
||||
if (IMU.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01)
|
||||
{
|
||||
M5.Lcd.clear();
|
||||
M5.Lcd.setCursor(0, 0);
|
||||
IMU.readGyroData(IMU.gyroCount); // Read the x/y/z adc values
|
||||
IMU.getGres(); // get Gyro scales saved to "gRes"
|
||||
IMU.gx = (float)IMU.gyroCount[0] * IMU.gRes;
|
||||
IMU.gy = (float)IMU.gyroCount[1] * IMU.gRes;
|
||||
IMU.gz = (float)IMU.gyroCount[2] * IMU.gRes;
|
||||
M5.Lcd.print("X-gyro rate: "); M5.Lcd.print(IMU.gx, 3);
|
||||
M5.Lcd.println(" degrees/sec ");
|
||||
M5.Lcd.print("Y-gyro rate: "); M5.Lcd.print(IMU.gy, 3);
|
||||
M5.Lcd.println(" degrees/sec ");
|
||||
M5.Lcd.print("Z-gyro rate: "); M5.Lcd.print(IMU.gz, 3);
|
||||
M5.Lcd.println(" degrees/sec");
|
||||
}
|
||||
delay(500);
|
||||
}
|
||||
```
|
||||
|
||||
## readAccelData()
|
||||
|
||||
**函数原型：**
|
||||
**Syntax:**
|
||||
|
||||
<mark>void readAccelData(int16_t * destination);</mark>
|
||||
```arduino
|
||||
void readAccelData(int16_t * destination);
|
||||
```
|
||||
|
||||
<!-- <mark>fillScreen(color)</mark> # for micropython -->
|
||||
**Description:**
|
||||
|
||||
**功能：读取三个方向的加速度值。**
|
||||
This function reads the value of 3-axis accelerate sensor.
|
||||
|
||||
| 参数 | 描述 |
|
||||
| --- | --- |
|
||||
| destination | 保存加速度值的数组的地址 |
|
||||
| Argument | Description | Type |
|
||||
| --- | --- | -- |
|
||||
| destination | read accelerate values | int16_t * |
|
||||
|
||||
**Example:**
|
||||
|
||||
**例程：**
|
||||
```arduino
|
||||
#include <M5Stack.h>
|
||||
#include "utility/MPU9250.h"
|
||||
|
||||
MPU9250 IMU; // new a MPU9250 object
|
||||
|
||||
void setup(){
|
||||
M5.begin();
|
||||
Serial.begin(115200);
|
||||
|
||||
IMU.initMPU9250();
|
||||
byte c = IMU.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
|
||||
Serial.print("MPU9250 "); Serial.print("I AM "); Serial.print(c, HEX);
|
||||
IMU.calibrateMPU9250(IMU.gyroBias, IMU.accelBias);
|
||||
void setup() {
|
||||
M5.begin();
|
||||
Wire.begin();
|
||||
IMU.initMPU9250();
|
||||
IMU.calibrateMPU9250(IMU.gyroBias, IMU.accelBias);
|
||||
}
|
||||
|
||||
void loop(){
|
||||
// If intPin goes high, all data registers have new data
|
||||
// On interrupt, check if data ready interrupt
|
||||
if (IMU.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01)
|
||||
{
|
||||
// "accelCount[3] = {0};" was defined at file "MPU9250.h"
|
||||
IMU.readAccelData(IMU.accelCount);
|
||||
IMU.getAres(); // get accelerometer scales saved to "aRes"
|
||||
IMU.ax = (float)IMU.accelCount[0]*IMU.aRes; // - accelBias[0];
|
||||
IMU.ay = (float)IMU.accelCount[1]*IMU.aRes; // - accelBias[1];
|
||||
IMU.az = (float)IMU.accelCount[2]*IMU.aRes; // - accelBias[2];
|
||||
Serial.print("X-acceleration: "); Serial.print(1000*IMU.ax);
|
||||
Serial.print(" mg ");
|
||||
Serial.print("Y-acceleration: "); Serial.print(1000*IMU.ay);
|
||||
Serial.print(" mg ");
|
||||
Serial.print("Z-acceleration: "); Serial.print(1000*IMU.az);
|
||||
Serial.println(" mg ");
|
||||
}
|
||||
void loop() {
|
||||
// If intPin goes high, all data registers have new data
|
||||
// On interrupt, check if data ready interrupt
|
||||
if (IMU.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01)
|
||||
{
|
||||
M5.Lcd.clear();
|
||||
M5.Lcd.setCursor(0, 0);
|
||||
IMU.readAccelData(IMU.accelCount);
|
||||
IMU.getAres(); // get accelerometer scales saved to "aRes"
|
||||
IMU.ax = (float)IMU.accelCount[0] * IMU.aRes; // - accelBias[0];
|
||||
IMU.ay = (float)IMU.accelCount[1] * IMU.aRes; // - accelBias[1];
|
||||
IMU.az = (float)IMU.accelCount[2] * IMU.aRes; // - accelBias[2];
|
||||
M5.Lcd.print("X-acceleration: "); M5.Lcd.print(1000 * IMU.ax);
|
||||
M5.Lcd.println(" mg ");
|
||||
M5.Lcd.print("Y-acceleration: "); M5.Lcd.print(1000 * IMU.ay);
|
||||
M5.Lcd.println(" mg ");
|
||||
M5.Lcd.print("Z-acceleration: "); M5.Lcd.print(1000 * IMU.az);
|
||||
M5.Lcd.println(" mg ");
|
||||
}
|
||||
delay(500);
|
||||
}
|
||||
```
|
||||
+13
-13
@@ -2,25 +2,25 @@
|
||||
|
||||
### tone
|
||||
|
||||
**Function prototype:**
|
||||
**Syntax:**
|
||||
|
||||
<mark>tone(uint16_t freq);</mark> // for arduino
|
||||
```arduino
|
||||
tone(uint16_t freq, [uint32_t duration]);
|
||||
```
|
||||
|
||||
<mark>tone(uint16_t freq, uint32_t duration);</mark> // for arduino
|
||||
<!-- <mark>fillScreen(color)</mark> # for micropython -->
|
||||
**Description: Set the pitch of speaker.**
|
||||
|
||||
**Function: Set the pitch of speaker.**
|
||||
|
||||
| Param | Description |
|
||||
| --- | --- |
|
||||
| freq | frequency |
|
||||
| duration | duration (unit: millisecond) |
|
||||
| Param | Description | type |
|
||||
| --- | --- | -- |
|
||||
| freq | frequency | uint16_t |
|
||||
| duration | duration (unit: millisecond) | uint16_t |
|
||||
|
||||
**Example**
|
||||
```arduino
|
||||
#include <M5Stack.h>
|
||||
|
||||
M5.begin();
|
||||
|
||||
M5.Speaker.tone(900, 1000);
|
||||
void setup() {
|
||||
M5.begin();
|
||||
M5.Speaker.tone(900, 1000);
|
||||
}
|
||||
```
|
||||
@@ -34,7 +34,7 @@ void M5Stack::begin(bool LCDEnable, bool SDEnable, bool SerialEnable) {
|
||||
}
|
||||
```
|
||||
|
||||
**Sample:**
|
||||
**Example:**
|
||||
|
||||
```arduino
|
||||
#include <M5Stack.h>
|
||||
@@ -71,7 +71,7 @@ void M5Stack::update() {
|
||||
}
|
||||
```
|
||||
|
||||
**Sample:**
|
||||
**Example:**
|
||||
|
||||
```arduino
|
||||
#include <M5Stack.h>
|
||||
@@ -121,7 +121,7 @@ void M5Stack::powerOFF() {
|
||||
}
|
||||
```
|
||||
|
||||
**Sample:**
|
||||
**Example:**
|
||||
|
||||
```arduino
|
||||
#include <M5Stack.h>
|
||||
|
||||
+2
-2
@@ -16,7 +16,7 @@ This function initialize TF card.
|
||||
| --- | --- | -- |
|
||||
| cspin | chip select line (defaults SS line of SPI bus) | uint8_t |
|
||||
|
||||
**Sample:**
|
||||
**Example:**
|
||||
|
||||
```arduino
|
||||
#include <M5Stack.h>
|
||||
@@ -43,7 +43,7 @@ This function open the file.
|
||||
| filepath | path to file | const char * |
|
||||
| mode | read / write / rw (optional) | uint8_t |
|
||||
|
||||
**Sample:**
|
||||
**Example:**
|
||||
|
||||
```arduino
|
||||
/*
|
||||
|
||||
+167
-151
@@ -1,259 +1,275 @@
|
||||
# 姿态传感器 MPU9250
|
||||
# IMU Sensor MPU9250
|
||||
|
||||
*姿态传感器 MPU9250 是一款多芯片模块，集成两个芯片，一个芯片是 MPU6500，由 3 轴陀螺仪和 3 轴加速度计组成，另外一个是 AK8963 是 3 轴磁力计。*
|
||||
*IMUとして搭載されているMPU9250は２種類のチップを１つのモジュールに統合しています。ひとつはMPU6500という３軸のジャイロセンサーと3軸の加速度センサーのチップです。もうひとつはAK8963という3軸地磁気センサーのチップです。*
|
||||
|
||||
## initMPU9250()
|
||||
|
||||
**函数原型：**
|
||||
**構文:**
|
||||
|
||||
<mark>void initMPU9250();</mark>
|
||||
```arduino
|
||||
void initMPU9250();
|
||||
```
|
||||
|
||||
<!-- <mark>fillScreen(color)</mark> # for micropython -->
|
||||
**説明:**
|
||||
|
||||
**功能：初始化 MPU6500 芯片。**
|
||||
MPU6500チップを初期化します。
|
||||
|
||||
**使用例:**
|
||||
|
||||
**例程：**
|
||||
```arduino
|
||||
#include <M5Stack.h>
|
||||
#include "utility/MPU9250.h"
|
||||
|
||||
MPU9250 IMU; // new a MPU9250 object
|
||||
|
||||
void setup(){
|
||||
M5.begin();
|
||||
Serial.begin(115200);
|
||||
void setup() {
|
||||
M5.begin();
|
||||
Wire.begin();
|
||||
IMU.initMPU9250(); // this line must be after Wire.begin()
|
||||
}
|
||||
|
||||
IMU.initMPU9250();
|
||||
byte c = IMU.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
|
||||
Serial.print("MPU9250 "); Serial.print("I AM "); Serial.print(c, HEX);
|
||||
void loop() {
|
||||
}
|
||||
```
|
||||
|
||||
## initAK8963()
|
||||
|
||||
**函数原型：**
|
||||
**構文:**
|
||||
|
||||
<mark>void initAK8963(float * destination);</mark>
|
||||
```arduino
|
||||
void initAK8963(float * destination);
|
||||
```
|
||||
|
||||
<!-- <mark>fillScreen(color)</mark> # for micropython -->
|
||||
**説明:**
|
||||
|
||||
**功能：初始化 AK8963 芯片。**
|
||||
AK8963チップを初期化します。
|
||||
|
||||
| 参数 | 描述 |
|
||||
| --- | --- |
|
||||
| destination | 出厂预设于 AK8963 芯片内缺省值的数组指针 |
|
||||
| 引数 | 説明 | 型 |
|
||||
| --- | --- | -- |
|
||||
| destination | AK8963補正用の値を保存する変数 | float * |
|
||||
|
||||
**使用例:**
|
||||
|
||||
**例程：**
|
||||
```arduino
|
||||
#include <M5Stack.h>
|
||||
#include "utility/MPU9250.h"
|
||||
|
||||
MPU9250 IMU; // new a MPU9250 object
|
||||
|
||||
void setup(){
|
||||
M5.begin();
|
||||
Serial.begin(115200);
|
||||
void setup() {
|
||||
M5.begin();
|
||||
Wire.begin();
|
||||
|
||||
// "magCalibration[3] = {0};" was defined at file "MPU9250.h"
|
||||
IMU.initAK8963(IMU.magCalibration);
|
||||
Serial.println("AK8963 initialized for active data mode....");
|
||||
if (Serial)
|
||||
{
|
||||
// Serial.println("Calibration values: ");
|
||||
Serial.print("X-Axis sensitivity adjustment value ");
|
||||
Serial.println(IMU.magCalibration[0], 2);
|
||||
Serial.print("Y-Axis sensitivity adjustment value ");
|
||||
Serial.println(IMU.magCalibration[1], 2);
|
||||
Serial.print("Z-Axis sensitivity adjustment value ");
|
||||
Serial.println(IMU.magCalibration[2], 2);
|
||||
}
|
||||
IMU.initAK8963(IMU.magCalibration);
|
||||
M5.Lcd.println("AK8963 initialized for active data mode....");
|
||||
if (Serial)
|
||||
{
|
||||
M5.Lcd.println("Calibration values: ");
|
||||
M5.Lcd.print("X-Axis sensitivity adjustment value ");
|
||||
M5.Lcd.println(IMU.magCalibration[0], 2);
|
||||
M5.Lcd.print("Y-Axis sensitivity adjustment value ");
|
||||
M5.Lcd.println(IMU.magCalibration[1], 2);
|
||||
M5.Lcd.print("Z-Axis sensitivity adjustment value ");
|
||||
M5.Lcd.println(IMU.magCalibration[2], 2);
|
||||
}
|
||||
}
|
||||
|
||||
void loop() {
|
||||
}
|
||||
```
|
||||
|
||||
## calibrateMPU9250()
|
||||
|
||||
**函数原型：**
|
||||
**構文:**
|
||||
|
||||
<mark>void calibrateMPU9250(float * gyroBias, float * accelBias);</mark>
|
||||
```arduino
|
||||
void calibrateMPU9250(float * gyroBias, float * accelBias);
|
||||
```
|
||||
|
||||
<!-- <mark>fillScreen(color)</mark> # for micropython -->
|
||||
**説明:**
|
||||
|
||||
**功能：初始化芯片后，执行该函数以读取静止状态下的陀螺仪和加速度值偏移，并保存到各自的偏移寄存器。**
|
||||
ジャイロと加速度センサーの補正値を計算します。
|
||||
|
||||
| 参数 | 描述 |
|
||||
| --- | --- |
|
||||
| gyroBias | 保存静止下陀螺仪值的数组的地址 |
|
||||
| accelBias | 保存静止下加速度值的数组的地址 |
|
||||
| 引数 | 説明 | 型 |
|
||||
| --- | --- | -- |
|
||||
| gyroBias | gyro オフセット | float * |
|
||||
| accelBias | accel オフセット | float * |
|
||||
|
||||
**使用例:**
|
||||
|
||||
**例程：**
|
||||
```arduino
|
||||
#include <M5Stack.h>
|
||||
#include "utility/MPU9250.h"
|
||||
|
||||
MPU9250 IMU; // new a MPU9250 object
|
||||
|
||||
void setup(){
|
||||
M5.begin();
|
||||
Serial.begin(115200);
|
||||
void setup() {
|
||||
M5.begin();
|
||||
Wire.begin();
|
||||
|
||||
IMU.initMPU9250();
|
||||
byte c = IMU.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
|
||||
Serial.print("MPU9250 "); Serial.print("I AM "); Serial.print(c, HEX);
|
||||
// "gyroBias[3] = {0};" was defined at file "MPU9250.h"
|
||||
// "accelBias[3] = {0};" was defined at file "MPU9250.h"
|
||||
IMU.calibrateMPU9250(IMU.gyroBias, IMU.accelBias);
|
||||
M5.Lcd.fillScreen(BLACK);
|
||||
M5.Lcd.setTextSize(1);
|
||||
M5.Lcd.setCursor(0, 0); M5.Lcd.print("MPU9250 bias");
|
||||
M5.Lcd.setCursor(0, 16); M5.Lcd.print(" x y z ");
|
||||
IMU.initMPU9250();
|
||||
IMU.calibrateMPU9250(IMU.gyroBias, IMU.accelBias);
|
||||
M5.Lcd.fillScreen(BLACK);
|
||||
M5.Lcd.setTextSize(1);
|
||||
M5.Lcd.setCursor(0, 0); M5.Lcd.print("MPU9250 bias");
|
||||
M5.Lcd.setCursor(0, 16); M5.Lcd.print(" x y z ");
|
||||
|
||||
M5.Lcd.setCursor(0, 32); M5.Lcd.print((int)(1000*IMU.accelBias[0]));
|
||||
M5.Lcd.setCursor(32, 32); M5.Lcd.print((int)(1000*IMU.accelBias[1]));
|
||||
M5.Lcd.setCursor(64, 32); M5.Lcd.print((int)(1000*IMU.accelBias[2]));
|
||||
M5.Lcd.setCursor(96, 32); M5.Lcd.print("mg");
|
||||
M5.Lcd.setCursor(0, 32); M5.Lcd.print((int)(1000 * IMU.accelBias[0]));
|
||||
M5.Lcd.setCursor(32, 32); M5.Lcd.print((int)(1000 * IMU.accelBias[1]));
|
||||
M5.Lcd.setCursor(64, 32); M5.Lcd.print((int)(1000 * IMU.accelBias[2]));
|
||||
M5.Lcd.setCursor(96, 32); M5.Lcd.print("mg");
|
||||
|
||||
M5.Lcd.setCursor(0, 48); M5.Lcd.print(IMU.gyroBias[0], 1);
|
||||
M5.Lcd.setCursor(32, 48); M5.Lcd.print(IMU.gyroBias[1], 1);
|
||||
M5.Lcd.setCursor(64, 48); M5.Lcd.print(IMU.gyroBias[2], 1);
|
||||
M5.Lcd.setCursor(96, 48); M5.Lcd.print("o/s");
|
||||
M5.Lcd.setCursor(0, 48); M5.Lcd.print(IMU.gyroBias[0], 1);
|
||||
M5.Lcd.setCursor(32, 48); M5.Lcd.print(IMU.gyroBias[1], 1);
|
||||
M5.Lcd.setCursor(64, 48); M5.Lcd.print(IMU.gyroBias[2], 1);
|
||||
M5.Lcd.setCursor(96, 48); M5.Lcd.print("o/s");
|
||||
}
|
||||
|
||||
void loop(){
|
||||
|
||||
void loop() {
|
||||
}
|
||||
```
|
||||
|
||||
## readByte()
|
||||
|
||||
**函数原型：**
|
||||
**構文:**
|
||||
|
||||
<mark>uint8_t readByte(uint8_t address, uint8_t subAddress);</mark>
|
||||
```arduino
|
||||
uint8_t readByte(uint8_t address, uint8_t subAddress);
|
||||
```
|
||||
|
||||
<!-- <mark>fillScreen(color)</mark> # for micropython -->
|
||||
**説明:**
|
||||
|
||||
**功能：读取指定寄存器内数据。返回值：寄存器值，长度为8 位。**
|
||||
MPU9250の指定のレジスタから1バイト分のデータを取得します。
|
||||
|
||||
| 参数 | 描述 |
|
||||
| --- | --- |
|
||||
| address | 芯片 (MPU9250/AK8963)地址 |
|
||||
| subAddress | 芯片内寄存器地址 |
|
||||
| 引数 | 説明 | 型 |
|
||||
| --- | --- | -- |
|
||||
| address | (MPU9250/AK8963) I2Cアドレス | uint8_t |
|
||||
| subAddress | レジスタアドレス | uint8_t |
|
||||
|
||||
**使用例:**
|
||||
|
||||
**例程：**
|
||||
```arduino
|
||||
#include <M5Stack.h>
|
||||
#include "utility/MPU9250.h"
|
||||
|
||||
MPU9250 IMU; // new a MPU9250 object
|
||||
|
||||
void setup(){
|
||||
M5.begin();
|
||||
Serial.begin(115200);
|
||||
void setup() {
|
||||
M5.begin();
|
||||
Wire.begin();
|
||||
|
||||
byte c = IMU.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
|
||||
Serial.print("MPU9250 "); Serial.print("I AM "); Serial.print(c, HEX);
|
||||
uint8_t id = IMU.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
|
||||
M5.Lcd.print("MPU9250 I AM 0x"); M5.Lcd.print(id, HEX);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
}
|
||||
```
|
||||
|
||||
## readGyroData()
|
||||
|
||||
**函数原型：**
|
||||
**構文:**
|
||||
|
||||
<mark>void readGyroData(int16_t * destination);</mark>
|
||||
```arduino
|
||||
void readGyroData(int16_t * destination);
|
||||
```
|
||||
|
||||
<!-- <mark>fillScreen(color)</mark> # for micropython -->
|
||||
**説明:**
|
||||
|
||||
**功能：读取三个方向的陀螺仪值。**
|
||||
3軸ジャイロセンサーの値を取得します。
|
||||
|
||||
| 参数 | 描述 |
|
||||
| --- | --- |
|
||||
| destination | 保存陀螺仪值的数组的地址 |
|
||||
| 引数 | 説明 | 型 |
|
||||
| --- | --- | -- |
|
||||
| destination | ジャイロセンサーの値 | int16_t * |
|
||||
|
||||
**使用例:**
|
||||
|
||||
**例程：**
|
||||
```arduino
|
||||
#include <M5Stack.h>
|
||||
#include "utility/MPU9250.h"
|
||||
|
||||
MPU9250 IMU; // new a MPU9250 object
|
||||
|
||||
void setup(){
|
||||
M5.begin();
|
||||
Serial.begin(115200);
|
||||
|
||||
IMU.initMPU9250();
|
||||
byte c = IMU.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
|
||||
Serial.print("MPU9250 "); Serial.print("I AM "); Serial.print(c, HEX);
|
||||
IMU.calibrateMPU9250(IMU.gyroBias, IMU.accelBias);
|
||||
void setup() {
|
||||
M5.begin();
|
||||
Wire.begin();
|
||||
IMU.initMPU9250();
|
||||
IMU.calibrateMPU9250(IMU.gyroBias, IMU.accelBias);
|
||||
}
|
||||
|
||||
void loop(){
|
||||
// If intPin goes high, all data registers have new data
|
||||
// On interrupt, check if data ready interrupt
|
||||
if (IMU.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01)
|
||||
{
|
||||
// "gyroCount[3] = {0};" was defined at file "MPU9250.h"
|
||||
IMU.readGyroData(IMU.gyroCount); // Read the x/y/z adc values
|
||||
IMU.getGres(); // get Gyro scales saved to "gRes"
|
||||
IMU.gx = (float)IMU.gyroCount[0]*IMU.gRes;
|
||||
IMU.gy = (float)IMU.gyroCount[1]*IMU.gRes;
|
||||
IMU.gz = (float)IMU.gyroCount[2]*IMU.gRes;
|
||||
Serial.print("X-gyro rate: "); Serial.print(IMU.gx, 3);
|
||||
Serial.print(" degrees/sec ");
|
||||
Serial.print("Y-gyro rate: "); Serial.print(IMU.gy, 3);
|
||||
Serial.print(" degrees/sec ");
|
||||
Serial.print("Z-gyro rate: "); Serial.print(IMU.gz, 3);
|
||||
Serial.println(" degrees/sec");
|
||||
}
|
||||
void loop() {
|
||||
// If intPin goes high, all data registers have new data
|
||||
// On interrupt, check if data ready interrupt
|
||||
if (IMU.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01)
|
||||
{
|
||||
M5.Lcd.clear();
|
||||
M5.Lcd.setCursor(0, 0);
|
||||
IMU.readGyroData(IMU.gyroCount); // Read the x/y/z adc values
|
||||
IMU.getGres(); // get Gyro scales saved to "gRes"
|
||||
IMU.gx = (float)IMU.gyroCount[0] * IMU.gRes;
|
||||
IMU.gy = (float)IMU.gyroCount[1] * IMU.gRes;
|
||||
IMU.gz = (float)IMU.gyroCount[2] * IMU.gRes;
|
||||
M5.Lcd.print("X-gyro rate: "); M5.Lcd.print(IMU.gx, 3);
|
||||
M5.Lcd.println(" degrees/sec ");
|
||||
M5.Lcd.print("Y-gyro rate: "); M5.Lcd.print(IMU.gy, 3);
|
||||
M5.Lcd.println(" degrees/sec ");
|
||||
M5.Lcd.print("Z-gyro rate: "); M5.Lcd.print(IMU.gz, 3);
|
||||
M5.Lcd.println(" degrees/sec");
|
||||
}
|
||||
delay(500);
|
||||
}
|
||||
```
|
||||
|
||||
## readAccelData()
|
||||
|
||||
**函数原型：**
|
||||
**構文:**
|
||||
|
||||
<mark>void readAccelData(int16_t * destination);</mark>
|
||||
```arduino
|
||||
void readAccelData(int16_t * destination);
|
||||
```
|
||||
|
||||
<!-- <mark>fillScreen(color)</mark> # for micropython -->
|
||||
**説明:**
|
||||
|
||||
**功能：读取三个方向的加速度值。**
|
||||
３軸加速度センサーから値を取得します。
|
||||
|
||||
| 参数 | 描述 |
|
||||
| --- | --- |
|
||||
| destination | 保存加速度值的数组的地址 |
|
||||
| 引数 | 説明 | 型 |
|
||||
| --- | --- | -- |
|
||||
| destination | 加速度センサーの値 | int16_t * |
|
||||
|
||||
**使用例:**
|
||||
|
||||
**例程：**
|
||||
```arduino
|
||||
#include <M5Stack.h>
|
||||
#include "utility/MPU9250.h"
|
||||
|
||||
MPU9250 IMU; // new a MPU9250 object
|
||||
|
||||
void setup(){
|
||||
M5.begin();
|
||||
Serial.begin(115200);
|
||||
|
||||
IMU.initMPU9250();
|
||||
byte c = IMU.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
|
||||
Serial.print("MPU9250 "); Serial.print("I AM "); Serial.print(c, HEX);
|
||||
IMU.calibrateMPU9250(IMU.gyroBias, IMU.accelBias);
|
||||
void setup() {
|
||||
M5.begin();
|
||||
Wire.begin();
|
||||
IMU.initMPU9250();
|
||||
IMU.calibrateMPU9250(IMU.gyroBias, IMU.accelBias);
|
||||
}
|
||||
|
||||
void loop(){
|
||||
// If intPin goes high, all data registers have new data
|
||||
// On interrupt, check if data ready interrupt
|
||||
if (IMU.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01)
|
||||
{
|
||||
// "accelCount[3] = {0};" was defined at file "MPU9250.h"
|
||||
IMU.readAccelData(IMU.accelCount);
|
||||
IMU.getAres(); // get accelerometer scales saved to "aRes"
|
||||
IMU.ax = (float)IMU.accelCount[0]*IMU.aRes; // - accelBias[0];
|
||||
IMU.ay = (float)IMU.accelCount[1]*IMU.aRes; // - accelBias[1];
|
||||
IMU.az = (float)IMU.accelCount[2]*IMU.aRes; // - accelBias[2];
|
||||
Serial.print("X-acceleration: "); Serial.print(1000*IMU.ax);
|
||||
Serial.print(" mg ");
|
||||
Serial.print("Y-acceleration: "); Serial.print(1000*IMU.ay);
|
||||
Serial.print(" mg ");
|
||||
Serial.print("Z-acceleration: "); Serial.print(1000*IMU.az);
|
||||
Serial.println(" mg ");
|
||||
}
|
||||
void loop() {
|
||||
// If intPin goes high, all data registers have new data
|
||||
// On interrupt, check if data ready interrupt
|
||||
if (IMU.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01)
|
||||
{
|
||||
M5.Lcd.clear();
|
||||
M5.Lcd.setCursor(0, 0);
|
||||
IMU.readAccelData(IMU.accelCount);
|
||||
IMU.getAres(); // get accelerometer scales saved to "aRes"
|
||||
IMU.ax = (float)IMU.accelCount[0] * IMU.aRes; // - accelBias[0];
|
||||
IMU.ay = (float)IMU.accelCount[1] * IMU.aRes; // - accelBias[1];
|
||||
IMU.az = (float)IMU.accelCount[2] * IMU.aRes; // - accelBias[2];
|
||||
M5.Lcd.print("X-acceleration: "); M5.Lcd.print(1000 * IMU.ax);
|
||||
M5.Lcd.println(" mg ");
|
||||
M5.Lcd.print("Y-acceleration: "); M5.Lcd.print(1000 * IMU.ay);
|
||||
M5.Lcd.println(" mg ");
|
||||
M5.Lcd.print("Z-acceleration: "); M5.Lcd.print(1000 * IMU.az);
|
||||
M5.Lcd.println(" mg ");
|
||||
}
|
||||
delay(500);
|
||||
}
|
||||
```
|
||||
@@ -22,8 +22,10 @@ tone(uint16_t freq, [uint32_t duration]);
|
||||
```arduino
|
||||
#include <M5Stack.h>
|
||||
|
||||
M5.begin();
|
||||
M5.Speaker.tone(900, 1000);
|
||||
void setup() {
|
||||
M5.begin();
|
||||
M5.Speaker.tone(900, 1000);
|
||||
}
|
||||
```
|
||||
|
||||
<!--
|
||||
|
||||
Reference in New Issue
Block a user