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mpu9250IP地址为什么显示0x75

xbk_949857 2022-07-01 浏览量：1525

void setup()
{
Serial.begin(115200);

Wire.begin();
Wire.setClock(400000);

pinMode(myLed OUTPUT);
digitalWrite(myLed HIGH);

pinMode(intPin1 INPUT); // interrupt
pinMode(intPin2 INPUT);

Serial.println("MPU9250 9-axis motion sensor...");
uint8_t c = MPU9250.getMPU9250ID(MPU1);
uint8_t d = MPU9250.getMPU9250ID(MPU2);
if (c == 0x71)
{
Serial.println("MPU 1 is online");
isOnline_1 = true;
}
if (d == 0x71)
{
Serial.println("MPU 2 is online");
isOnline_2 = true;
}
if(!isOnline_1 && !isOnline_2)
{
Serial.print("Could not connect to MPU9250"); Serial.println(c HEX);
while(1) ;
}
// get sensor resolutions only need to do this once same for both MPU9250s for now获取传感器分辨率，只需要做一次，目前对于两个mpu9250都是一样的
aRes = MPU9250.getAres(Ascale);
gRes = MPU9250.getGres(Gscale);
mRes = MPU9250.getMres(Mscale);

#if CALIBRATION_GYRO
MPU9250.calibrateMPU9250(MPU1 gyroBias1 accelBias1); // Calibrate gyro and accelerometers load biases in bias registers
Serial.println("MPU accel biases (g)"); Serial.println(accelBias1[0]10); Serial.println(accelBias1[1]10); Serial.println(accelBias1[2]10);
Serial.println("MPU gyro biases"); Serial.println(gyroBias1[0]); Serial.println(gyroBias1[1]); Serial.println(gyroBias1[2]);
Serial.println("Finished!! Please reset");
while(1);
#endif
//update gyro bias reg
if(isOnline_1)
{
MPU9250.GyroBiasWriteToReg(MPU1 gyroBias1);
MPU9250.initMPU9250(MPU1 Ascale Gscale sampleRate);
byte e = MPU9250.getAK8963CID(MPU1); // Read WHO_AM_I register for AK8963读取
Serial.print("AK8963 1 "); Serial.print("I AM "); Serial.print(e HEX); Serial.print(" I should be "); Serial.println(0x48 HEX);
MPU9250.initAK8963Slave(MPU1 Mscale Mmode magCalibration1); Serial.println("AK8963 1 initialized for active data mode...."); // Initialize device 1 for active mode read of magnetometer初始化设备1以读取磁力计的有源模式
}
if(isOnline_2)
{
MPU9250.GyroBiasWriteToReg(MPU2 gyroBias2);
MPU9250.initMPU9250(MPU2 Ascale Gscale sampleRate);
byte e = MPU9250.getAK8963CID(MPU2); // Read WHO_AM_I register for AK8963
Serial.print("AK8963 2 "); Serial.print("I AM "); Serial.print(e HEX); Serial.print(" I should be "); Serial.println(0x48 HEX);
MPU9250.initAK8963Slave(MPU2 Mscale Mmode magCalibration1); Serial.println("AK8963 2 initialized for active data mode...."); // Initialize device 2 for active mode read of magnetometer
}

#if CALIBRATION_MAG
MPU9250.magcalMPU9250(MPU1 magBias1 magScale1);
Serial.println("AK8963 1 mag biases (mG)"); Serial.println(magBias1[0]); Serial.println(magBias1[1]); Serial.println(magBias1[2]);
Serial.println("AK8963 1 mag scale (mG)"); Serial.println(magScale1[0]); Serial.println(magScale1[1]); Serial.println(magScale1[2]);
while(1);
#endif

attachInterrupt(digitalPinToInterrupt(intPin1) myinthandler1 RISING); // define interrupt for intPin output of MPU9250 1定义MPU9250的intPin输出中断
attachInterrupt(digitalPinToInterrupt(intPin2) myinthandler2 RISING); // define interrupt for intPin output of MPU9250 2

digitalWrite(myLed LOW); // turn off led when using flash memory使用闪存时关闭led灯
}

单片机可穿戴设备 Arduino

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