mpu9250
dinosalvioni/mpu9250/mpu9250
No description
mpu9250
@/mpu9250
CAGpulse
Calibra Gyroscopio
CMpulse
Calibra Magnetometro. Dopo l'impulso muovere l'hardware a figura di 8
UPDATEpulse
Update pulse per nuova lettura
DONEpulse
Lettura avvenuta
CONboolean
True se connesso
ROLLnumber
Asse Z
YAWnumber
Asse Y
PITCHnumber
Asse X
C++ implementation
#pragma XOD require "https://github.com/hideakitai/MPU9250"
{{#global}}
#include <Arduino.h>
#include <Wire.h>
#include "MPU9250.h"
{{/global}}
struct State {
MPU9250 mpu;
};
{{ GENERATED_CODE }}
void evaluate(Context ctx) {
auto state=getState(ctx);
if(isSettingUp()){
Serial.begin(115200);
Wire.begin();
if (!state->mpu.setup(0x68)) { // change to your own address
emitValue<output_CON>(ctx,false);
} else {
emitValue<output_CON>(ctx,true);
}
}
if(isInputDirty<input_CAG>(ctx)){
state->mpu.calibrateAccelGyro();
}
if(isInputDirty<input_CM>(ctx)){
state->mpu.calibrateMag();
}
if(isInputDirty<input_UPDATE>(ctx)){
state->mpu.update();
static uint32_t prev_ms = millis();
if (millis() > prev_ms + 5000) {
int Pitch = state->mpu.getPitch();
int Yaw = state->mpu.getYaw();
int Roll = state->mpu.getRoll();
emitValue<output_PITCH>(ctx,Pitch);
emitValue<output_YAW>(ctx,Yaw);
emitValue<output_ROLL>(ctx,Roll);
emitValue<output_DONE>(ctx,true);
}
}
}