AtomS3R IMU 姿态传感器

#include <M5Unified.h>

void setup(void) {
    M5.begin();
    M5.Display.setFont(&fonts::FreeMonoBold9pt7b);
    Serial.begin(115200);
}

void loop(void) {
    auto imu_update = M5.Imu.update();
    if (imu_update) {
        auto data = M5.Imu.getImuData();

        // The data obtained by getImuData can be used as follows.
        data.accel.x;      // accel x-axis value.
        data.accel.y;      // accel y-axis value.
        data.accel.z;      // accel z-axis value.
        data.accel.value;  // accel 3values array [0]=x / [1]=y / [2]=z.

        data.gyro.x;      // gyro x-axis value.
        data.gyro.y;      // gyro y-axis value.
        data.gyro.z;      // gyro z-axis value.
        data.gyro.value;  // gyro 3values array [0]=x / [1]=y / [2]=z.

        data.value;  // all sensor 9values array [0~2]=accel / [3~5]=gyro / [6~8]=mag

        Serial.printf("ax:%f  ay:%f  az:%f\r\n", data.accel.x, data.accel.y, data.accel.z);
        Serial.printf("gx:%f  gy:%f  gz:%f\r\n", data.gyro.x, data.gyro.y, data.gyro.z);
        M5.Display.clear();
        M5.Display.setCursor(0, 0);          
        M5.Display.printf("ax:%.3f\nay:%.3f\naz:%.3f\r\n", data.accel.x, data.accel.y, data.accel.z);
        M5.Display.printf("gx:%.3f\ngy:%.3f\ngz:%.3f\r\n", data.gyro.x, data.gyro.y, data.gyro.z);
    }
    delay(100);
}