1  #include <Wire.h>
 2  #include <SPI.h>
 3  #include <MPU9250_asukiaaa.h>
 4  #include <Adafruit_Sensor.h>
 5  #include <Adafruit_BMP280.h>
 6  
 7  #define BMP_SCK 27
 8  #define BMP_MISO 12
 9  #define BMP_MOSI 11
10  #define BMP_CS 10
11  #define MPU_SDA 18
12  #define MPU_SCL 19
13  
14  Adafruit_BMP280 bmp(BMP_CS, BMP_MOSI, BMP_MISO, BMP_SCK);
15  MPU9250_asukiaaa mpu; 
16  
17  float aX, aY, aZ, gX, gY, gZ;
18  float temperature, pressure, altitude; 
19  
20  void setup() {
21      Serial.begin(115200);
22      Wire.begin();
23      mpu.setWire(&Wire);
24      while (!Serial) delay(100);
25      Serial.println("BMP280 Test");
26      unsigned status;
27      status = bmp.begin(0x76);
28      if(!status) {
29        Serial.println("No Sensor Found");
30        Serial.print("SensorID was: 0x"); Serial.println(bmp.sensorID(),16);
31        Serial.print("        ID of 0xFF probably means a bad 13/02/2025dress, a BMP 180 or BMP 085\n");
32        Serial.print("   ID of 0x56-0x58 represents a BMP 280,\n");
33        Serial.print("        ID of 0x60 represents a BME 280.\n");
34        Serial.print("        ID of 0x61 represents a BME 680.\n");
35        while (1) delay(10);
36      }
37  
38      bmp.setSampling(
39        Adafruit_BMP280::MODE_NORMAL, 
40        Adafruit_BMP280::SAMPLING_X2, 
41        Adafruit_BMP280::SAMPLING_X16, 
42        Adafruit_BMP280::FILTER_X16, 
43        Adafruit_BMP280::STANDBY_MS_500
44      );
45  
46      mpu.beginAccel();
47      mpu.beginGyro();
48  }
49  
50  void loop() {
51    mpu.accelUpdate();
52    mpu.gyroUpdate();
53  
54    aX = mpu.accelX();
55    aY = mpu.accelY();
56    aZ = mpu.accelZ();
57  
58    gX = mpu.gyroX();
59    gY = mpu.gyroY();
60    gZ = mpu.gyroZ();
61  
62    temperature = bmp.readTemperature();
63    pressure = bmp.readPressure();
64    altitude = bmp.readAltitude(1031.25);
65  
66    Serial.print("AccelX: "); Serial.println(aX);
67    Serial.print("AccelY: "); Serial.println(aY);
68    Serial.print("AccelZ: "); Serial.println(aZ);
69  
70    Serial.println();
71  
72    Serial.print("GyroX: "); Serial.println(gX);
73    Serial.print("GyroY: "); Serial.println(gY);
74    Serial.print("GyroZ: "); Serial.println(gZ);
75  
76    Serial.println();
77  
78    Serial.print("Temperature: "); Serial.println(temperature);
79    Serial.print("Pressure: "); Serial.println(pressure);
80    Serial.print("Altitude: "); Serial.println(altitude);
81  
82    Serial.println();
83  
84    delay(1000);
85  }