لطفا يك عزيزي اين كد رو نگاه كنه و نظرش رو بگه فقط كد رو از كتابخانه برداشتم و نتيجه رو خودم در 9.81 ضرب كردم تا برحسب متر بر مجذور
/***************************************************************************
* Example sketch for the MPU9250_WE library
*
* This sketch shows how to obtain raw accleration data and g values from
* the MPU9250.
*
* For further information visit my blog:
*
* https://wolles-elektronikkiste.de/mpu9250-9-achsen-sensormodul-teil-1 (German)
* https://wolles-elektronikkiste.de/en/mpu9250-9-axis-sensor-module-part-1 (English)
*
***************************************************************************/
#include <MPU9250_WE.h>
#include <Wire.h>
#define MPU9250_ADDR 0x68
/* There are several ways to create your MPU9250 object:
* MPU9250_WE myMPU9250 = MPU9250_WE() -> uses Wire / I2C Address = 0x68
* MPU9250_WE myMPU9250 = MPU9250_WE(MPU9250_ADDR) -> uses Wire / MPU9250_ADDR
* MPU9250_WE myMPU9250 = MPU9250_WE(&wire2) -> uses the TwoWire object wire2 / MPU9250_ADDR
* MPU9250_WE myMPU9250 = MPU9250_WE(&wire2, MPU9250_ADDR) -> all together
* Successfully tested with two I2C busses on an ESP32
*/
MPU9250_WE myMPU9250 = MPU9250_WE(MPU9250_ADDR);
void setup() {
Serial.begin(115200);
Wire.begin();
if(!myMPU9250.init()){
Serial.println("MPU9250 does not respond");
}
else{
Serial.println("MPU9250 is connected");
}
/* The slope of the curve of acceleration vs measured values fits quite well to the theoretical
* values, e.g. 16384 units/g in the +/- 2g range. But the starting point, if you position the
* MPU9250 flat, is not necessarily 0g/0g/1g for x/y/z. The autoOffset function measures offset
* values. It assumes your MPU9250 is positioned flat with its x,y-plane. The more you deviate
* from this, the less accurate will be your results.
* The function also measures the offset of the gyroscope data. The gyroscope offset does not
* depend on the positioning.
* This function needs to be called at the beginning since it can overwrite your settings!
*/
Serial.println("Position you MPU9250 flat and don't move it - calibrating...");
delay(1000);
myMPU9250.autoOffsets();
Serial.println("Done!");
/* This is a more accurate method for calibration. You have to determine the minimum and maximum
* raw acceleration values of the axes determined in the range +/- 2 g.
* You call the function as follows: setAccOffsets(xMin,xMax,yMin,yMax,zMin,zMax);
* Use either autoOffset or setAccOffsets, not both.
*/
//myMPU9250.setAccOffsets(-14240.0, 18220.0, -17280.0, 15590.0, -20930.0, 12080.0);
/* Sample rate divider divides the output rate of the gyroscope and accelerometer.
* Sample rate = Internal sample rate / (1 + divider)
* It can only be applied if the corresponding DLPF is enabled and 0<DLPF<7!
* Divider is a number 0...255
*/
myMPU9250.setSampleRateDivider(5);
/* MPU9250_ACC_RANGE_2G 2 g
* MPU9250_ACC_RANGE_4G 4 g
* MPU9250_ACC_RANGE_8G 8 g
* MPU9250_ACC_RANGE_16G 16 g
*/
myMPU9250.setAccRange(MPU9250_ACC_RANGE_16G);
/* Enable/disable the digital low pass filter for the accelerometer
* If disabled the bandwidth is 1.13 kHz, delay is 0.75 ms, output rate is 4 kHz
*/
myMPU9250.enableAccDLPF(true);
/* Digital low pass filter (DLPF) for the accelerometer, if enabled
* MPU9250_DPLF_0, MPU9250_DPLF_2, ...... MPU9250_DPLF_7
* DLPF Bandwidth [Hz] Delay [ms] Output rate [kHz]
* 0 460 1.94 1
* 1 184 5.80 1
* 2 92 7.80 1
* 3 41 11.80 1
* 4 20 19.80 1
* 5 10 35.70 1
* 6 5 66.96 1
* 7 460 1.94 1
*/
myMPU9250.setAccDLPF(MPU9250_DLPF_6);
/* Set accelerometer output data rate in low power mode (cycle enabled)
* MPU9250_LP_ACC_ODR_0_24 0.24 Hz
* MPU9250_LP_ACC_ODR_0_49 0.49 Hz
* MPU9250_LP_ACC_ODR_0_98 0.98 Hz
* MPU9250_LP_ACC_ODR_1_95 1.95 Hz
* MPU9250_LP_ACC_ODR_3_91 3.91 Hz
* MPU9250_LP_ACC_ODR_7_81 7.81 Hz
* MPU9250_LP_ACC_ODR_15_63 15.63 Hz
* MPU9250_LP_ACC_ODR_31_25 31.25 Hz
* MPU9250_LP_ACC_ODR_62_5 62.5 Hz
* MPU9250_LP_ACC_ODR_125 125 Hz
* MPU9250_LP_ACC_ODR_250 250 Hz
* MPU9250_LP_ACC_ODR_500 500 Hz
*/
//myMPU9250.setLowPowerAccDataRate(MPU9250_LP_ACC_ODR_500);
/* sleep() sends the MPU9250 to sleep or wakes it up.
* Please note that the gyroscope needs 35 milliseconds to wake up.
*/
//myMPU9250.sleep(true);
/* If cycle is set, and standby or sleep are not set, the module will cycle between
* sleep and taking a sample at a rate determined by setLowPowerAccDataRate().
*/
//myMPU9250.enableCycle(true);
/* You can enable or disable the axes for gyroscope and/or accelerometer measurements.
* By default all axes are enabled. Parameters are:
* MPU9250_ENABLE_XYZ //all axes are enabled (default)
* MPU9250_ENABLE_XY0 // X, Y enabled, Z disabled
* MPU9250_ENABLE_X0Z
* MPU9250_ENABLE_X00
* MPU9250_ENABLE_0YZ
* MPU9250_ENABLE_0Y0
* MPU9250_ENABLE_00Z
* MPU9250_ENABLE_000 // all axes disabled
*/
//myMPU9250.enableAccAxes(MPU9250_ENABLE_XYZ);
}
void loop() {
xyzFloat accRaw = myMPU9250.getAccRawValues();
xyzFloat accCorrRaw = myMPU9250.getCorrectedAccRawValues();
xyzFloat gValue = myMPU9250.getGValues();
float resultantG = myMPU9250.getResultantG(gValue);
/*
Serial.println("Raw acceleration values (x,y,z):");
Serial.print(accRaw.x);
Serial.print(" ");
Serial.print(accRaw.y);
Serial.print(" ");
Serial.println(accRaw.z);
Serial.println("Corrected ('calibrated') acceleration values (x,y,z):");
Serial.print(accCorrRaw.x);
Serial.print(" ");
Serial.print(accCorrRaw.y);
Serial.print(" ");
Serial.println(accCorrRaw.z);
*/
Serial.println("g values (x,y,z):");
Serial.print(gValue.x*9.81);
Serial.print(" ");
Serial.print(gValue.y*9.81);
Serial.print(" ");
Serial.println(gValue.z*9.81);
// Serial.print("Resultant g: ");
// Serial.println(resultantG); // should always be 1 g if only gravity acts on the sensor.
Serial.println();
delay(200);
}
ثانيه بشه.
فقط در ديتا شيت سنسور گفته اگه دامنه شتاب رو كمتر انتخاب كنيم دقت و حساسيت سنسور بالاتر ميره. حالا سوال اينجاست من در كد مورد نظر دامنه شتاب رو انتخاب كنم براي دقت و حساسيت بالاتر نياز به تنظيمات خاصي هست يا اتومات خودش انجام ميده ممنون.
24 بهمن 01 در 05:27
رسول ملکی
1
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