mpu9250IP地址为什么显示0x75

xbk_949857

• 2022-07-01

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}