arduino mpu9250_arduino模拟输出

//连线方法
//MPU-UNO
//VCC-5V
//GND-GND
//SCL-A5
//SDA-A4
//ADO-GND
//未使用中断功能，即没有做 INT-digital pin 2 (interrupt pin 0) 这样的接线
//参考手册：MPU-6000 and MPU-6050 Register Map and Descriptions Revision 4.2
#include <Wire.h>
long accelX, accelY, accelZ;      // 定义为全局变量，可直接在函数内部使用
float gForceX, gForceY, gForceZ;
long gyroX, gyroY, gyroZ;
float rotX, rotY, rotZ;
void setup() {
Serial.begin(9600);
Wire.begin();
setupMPU();
}
void loop() {
recordAccelRegisters();
recordGyroRegisters();
printData();
delay(100);
}
void setupMPU(){
// REGISTER 0x6B/REGISTER 107:Power Management 1
Wire.beginTransmission(0b1101000); //This is the I2C address of the MPU (b1101000/b1101001 for AC0 low/high datasheet Sec. 9.2)
Wire.write(0x6B); //Accessing the register 6B/107 - Power Management (Sec. 4.30) 
Wire.write(0b00000000); //Setting SLEEP register to 0, using the internal 8 Mhz oscillator
Wire.endTransmission();
// REGISTER 0x1b/REGISTER 27:Gyroscope Configuration
Wire.beginTransmission(0b1101000); //I2C address of the MPU
Wire.write(0x1B); //Accessing the register 1B - Gyroscope Configuration (Sec. 4.4) 
Wire.write(0x00000000); //Setting the gyro to full scale +/- 250deg./s (转化为rpm:250/360 * 60 = 41.67rpm) 最高可以转化为2000deg./s 
Wire.endTransmission();
// REGISTER 0x1C/REGISTER 28:ACCELEROMETER CONFIGURATION
Wire.beginTransmission(0b1101000); //I2C address of the MPU
Wire.write(0x1C); //Accessing the register 1C - Acccelerometer Configuration (Sec. 4.5) 
Wire.write(0b00000000); //Setting the accel to +/- 2g（if choose +/- 16g，the value would be 0b00011000）
Wire.endTransmission(); 
}
void recordAccelRegisters() {
// REGISTER 0x3B~0x40/REGISTER 59~64
Wire.beginTransmission(0b1101000); //I2C address of the MPU
Wire.write(0x3B); //Starting register for Accel Readings
Wire.endTransmission();
Wire.requestFrom(0b1101000,6); //Request Accel Registers (3B - 40)
// 使用了左移<<和位运算|。Wire.read()一次读取1bytes，并在下一次调用时自动读取下一个地址的数据
while(Wire.available() < 6);  // Waiting for all the 6 bytes data to be sent from the slave machine （必须等待所有数据存储到缓冲区后才能读取） 
accelX = Wire.read()<<8|Wire.read(); //Store first two bytes into accelX （自动存储为定义的long型值）
accelY = Wire.read()<<8|Wire.read(); //Store middle two bytes into accelY
accelZ = Wire.read()<<8|Wire.read(); //Store last two bytes into accelZ
processAccelData();
}
void processAccelData(){
gForceX = accelX / 16384.0;     //float = long / float
gForceY = accelY / 16384.0; 
gForceZ = accelZ / 16384.0;
}
void recordGyroRegisters() {
// REGISTER 0x43~0x48/REGISTER 67~72
Wire.beginTransmission(0b1101000); //I2C address of the MPU
Wire.write(0x43); //Starting register for Gyro Readings
Wire.endTransmission();
Wire.requestFrom(0b1101000,6); //Request Gyro Registers (43 ~ 48)
while(Wire.available() < 6);
gyroX = Wire.read()<<8|Wire.read(); //Store first two bytes into accelX
gyroY = Wire.read()<<8|Wire.read(); //Store middle two bytes into accelY
gyroZ = Wire.read()<<8|Wire.read(); //Store last two bytes into accelZ
processGyroData();
}
void processGyroData() {
rotX = gyroX / 131.0;
rotY = gyroY / 131.0; 
rotZ = gyroZ / 131.0;
}
void printData() {
Serial.print("Gyro (deg)");
Serial.print(" X=");
Serial.print(rotX);
Serial.print(" Y=");
Serial.print(rotY);
Serial.print(" Z=");
Serial.print(rotZ);
Serial.print(" Accel (g)");
Serial.print(" X=");
Serial.print(gForceX);
Serial.print(" Y=");
Serial.print(gForceY);
Serial.print(" Z=");
Serial.println(gForceZ);
}