项目（1-2）ES32获取mpu9250传入数据库

、

报一个错，找不到min函数

#define min(X,Y) ((X) < (Y) ? (X) : (Y))

手动添加

　

之后不报错了

　

、最原始的采集

/************************************************************
MPU9250_Basic
 Basic example sketch for MPU-9250 DMP Arduino Library
Jim Lindblom @ SparkFun Electronics
original creation date: November 23, 2016
https://github.com/sparkfun/SparkFun_MPU9250_DMP_Arduino_Library

This example sketch demonstrates how to initialize the
MPU-9250, and stream its sensor outputs to a serial monitor.

Development environment specifics:
Arduino IDE 1.6.12
SparkFun 9DoF Razor IMU M0

Supported Platforms:
- ATSAMD21 (Arduino Zero, SparkFun SAMD21 Breakouts)
*************************************************************/
#include <SparkFunMPU9250-DMP.h>

#define SerialPort Serial

MPU9250_DMP imu;

void setup()
{
  SerialPort.begin(115200);

  // Call imu.begin() to verify communication with and
  // initialize the MPU-9250 to it's default values.
  // Most functions return an error code - INV_SUCCESS (0)
  // indicates the IMU was present and successfully set up
  if (imu.begin() != INV_SUCCESS)
  {
    while (1)
    {
      SerialPort.println("Unable to communicate with MPU-9250");
      SerialPort.println("Check connections, and try again.");
      SerialPort.println();
      delay(5000);
    }
  }

  // Use setSensors to turn on or off MPU-9250 sensors.
  // Any of the following defines can be combined:
  // INV_XYZ_GYRO, INV_XYZ_ACCEL, INV_XYZ_COMPASS,
  // INV_X_GYRO, INV_Y_GYRO, or INV_Z_GYRO
  // Enable all sensors:
  imu.setSensors(INV_XYZ_GYRO | INV_XYZ_ACCEL | INV_XYZ_COMPASS);

  // Use setGyroFSR() and setAccelFSR() to configure the
  // gyroscope and accelerometer full scale ranges.
  // Gyro options are +/- 250, 500, 1000, or 2000 dps
  imu.setGyroFSR(2000); // Set gyro to 2000 dps
  // Accel options are +/- 2, 4, 8, or 16 g
  imu.setAccelFSR(2); // Set accel to +/-2g
  // Note: the MPU-9250's magnetometer FSR is set at
  // +/- 4912 uT (micro-tesla's)

  // setLPF() can be used to set the digital low-pass filter
  // of the accelerometer and gyroscope.
  // Can be any of the following: 188, 98, 42, 20, 10, 5
  // (values are in Hz).
  imu.setLPF(5); // Set LPF corner frequency to 5Hz

  // The sample rate of the accel/gyro can be set using
  // setSampleRate. Acceptable values range from 4Hz to 1kHz
  imu.setSampleRate(10); // Set sample rate to 10Hz

  // Likewise, the compass (magnetometer) sample rate can be
  // set using the setCompassSampleRate() function.
  // This value can range between: 1-100Hz
  imu.setCompassSampleRate(10); // Set mag rate to 10Hz
}

void loop()
{
  // dataReady() checks to see if new accel/gyro data
  // is available. It will return a boolean true or false
  // (New magnetometer data cannot be checked, as the library
  //  runs that sensor in single-conversion mode.)
  if ( imu.dataReady() )
  {
    // Call update() to update the imu objects sensor data.
    // You can specify which sensors to update by combining
    // UPDATE_ACCEL, UPDATE_GYRO, UPDATE_COMPASS, and/or
    // UPDATE_TEMPERATURE.
    // (The update function defaults to accel, gyro, compass,
    //  so you don't have to specify these values.)
    imu.update(UPDATE_ACCEL | UPDATE_GYRO | UPDATE_COMPASS | UPDATE_TEMP);
    printIMUData();
  }
}

void printIMUData(void)
{
  // After calling update() the ax, ay, az, gx, gy, gz, mx,
  // my, mz, time, and/or temerature class variables are all
  // updated. Access them by placing the object. in front:

  // Use the calcAccel, calcGyro, and calcMag functions to
  // convert the raw sensor readings (signed 16-bit values)
  // to their respective units.
  float accelX = imu.calcAccel(imu.ax);
  float accelY = imu.calcAccel(imu.ay);
  float accelZ = imu.calcAccel(imu.az);
  float gyroX = imu.calcGyro(imu.gx);
  float gyroY = imu.calcGyro(imu.gy);
  float gyroZ = imu.calcGyro(imu.gz);
  float magX = imu.calcMag(imu.mx);
  float magY = imu.calcMag(imu.my);
  float magZ = imu.calcMag(imu.mz);
 // long imu_temperature=imu.temperature;

  SerialPort.println();
  SerialPort.print("Time: " + String(imu.time) + " ms");
  SerialPort.print("Accel: " + String(accelX) + ", " +
              String(accelY) + ", " + String(accelZ) + " g");
  SerialPort.print("  ");
  SerialPort.print("Gyro: " + String(gyroX) + ", " +
              String(gyroY) + ", " + String(gyroZ) + " dps");
  SerialPort.print("  ");
  SerialPort.print("Mag: " + String(magX) + ", " +
              String(magY) + ", " + String(magZ) + " uT");
  SerialPort.print("  ");
//  SerialPort.print("temperature: " +imu_temperature);
}

　　

增加数据库交互，增加wifi连接

修改自己的数据库地址

#include <Arduino.h>

#include <WiFi.h>
#include <WiFiMulti.h>

#include <HTTPClient.h>

#include <SparkFunMPU9250-DMP.h>

#define USE_SERIAL Serial
#define SerialPort Serial

WiFiMulti wifiMulti;

MPU9250_DMP imu;

const char* ssid     = "love";
const char* password = "love123456";

// 1 WIFI连接初始化
void wifi_int(){
    USE_SERIAL.println();
    USE_SERIAL.println();
    USE_SERIAL.println();

    WiFi.begin(ssid, password);
    while (WiFi.status() != WL_CONNECTED) {
        delay(500);
        Serial.print(".");
    }

    Serial.println("");
    Serial.println("WiFi connected.");
    Serial.println("IP address: ");
    Serial.println(WiFi.localIP());

 //   wifiMulti.addAP("love", "love123456");
  }

// 2 传感器初始化
 void IMU_int(){
   // Call imu.begin() to verify communication with and
  // initialize the MPU-9250 to it's default values.
  // Most functions return an error code - INV_SUCCESS (0)
  // indicates the IMU was present and successfully set up
  if (imu.begin() != INV_SUCCESS)
  {
    while (1)
    {
      SerialPort.println("Unable to communicate with MPU-9250");
      SerialPort.println("Check connections, and try again.");
      SerialPort.println();
      delay(5000);
    }
  }

  // Use setSensors to turn on or off MPU-9250 sensors.
  // Any of the following defines can be combined:
  // INV_XYZ_GYRO, INV_XYZ_ACCEL, INV_XYZ_COMPASS,
  // INV_X_GYRO, INV_Y_GYRO, or INV_Z_GYRO
  // Enable all sensors:
  imu.setSensors(INV_XYZ_GYRO | INV_XYZ_ACCEL | INV_XYZ_COMPASS);

  // Use setGyroFSR() and setAccelFSR() to configure the
  // gyroscope and accelerometer full scale ranges.
  // Gyro options are +/- 250, 500, 1000, or 2000 dps
  imu.setGyroFSR(2000); // Set gyro to 2000 dps
  // Accel options are +/- 2, 4, 8, or 16 g
  imu.setAccelFSR(2); // Set accel to +/-2g
  // Note: the MPU-9250's magnetometer FSR is set at
  // +/- 4912 uT (micro-tesla's)

  // setLPF() can be used to set the digital low-pass filter
  // of the accelerometer and gyroscope.
  // Can be any of the following: 188, 98, 42, 20, 10, 5
  // (values are in Hz).
  imu.setLPF(5); // Set LPF corner frequency to 5Hz

  // The sample rate of the accel/gyro can be set using
  // setSampleRate. Acceptable values range from 4Hz to 1kHz
  imu.setSampleRate(10); // Set sample rate to 10Hz

  // Likewise, the compass (magnetometer) sample rate can be
  // set using the setCompassSampleRate() function.
  // This value can range between: 1-100Hz
  imu.setCompassSampleRate(10); // Set mag rate to 10Hz

  }

//3 发送数据给服务器 数据库
void send_imu_http(float accelX,float accelY , float accelZ, float gyroX , float gyroY, float gyroZ,float magX,float magY,float magZ,float imu_temperature){
        HTTPClient http;
        USE_SERIAL.print("[HTTP] begin...\n");
       // String http_msg="http://45.76.105.89/IMU/msql_inset.php?ax=1.0&ay=2.0&az=3.0&gx=4.0&gy=5.0&gz=6.0&mx=7.0&my=8.0&mz=9.0&temperature=10.0"; 

       // -1 修改自己的服务器
          String http_msg=String("")+"http://45.76.105.89/IMU/msql_inset.php?"
                         +"ax="+accelX+"&ay="+accelY+"&az="+accelZ
                        +"&gx="+gyroX+"&gy="+gyroY+"&gz="+ gyroZ
                        +"&mx="+magX+"&my="+magY+"&mz="+magZ
                        +"&temperature="+imu_temperature; 

        http.begin(http_msg); //HTTP
        USE_SERIAL.print("[HTTP] GET...\n");
        // start connection and send HTTP header
        int httpCode = http.GET();
        // httpCode will be negative on error
        if(httpCode > 0) {
            // HTTP header has been send and Server response header has been handled
            USE_SERIAL.printf("[HTTP] GET... code: %d\n", httpCode);

            // file found at server
            if(httpCode == HTTP_CODE_OK) {
                String payload = http.getString();
                USE_SERIAL.println(payload);
            }
        } else {
            USE_SERIAL.printf("[HTTP] GET... failed, error: %s\n", http.errorToString(httpCode).c_str());
        }
        http.end();

  }

// 4 主函数 初始化
void setup() {

    USE_SERIAL.begin(115200);//串口初始化

    wifi_int();// wifi连接初始化

    IMU_int();// 传感器初始化 mpu9250

}

// 5 主函数 无限循环
void loop() {

 delay(9000);// 延迟9秒  程序运行约1秒 加起来10秒循环一次

// 读取传感器数据
 if ( imu.dataReady() )
  {
   imu.update(UPDATE_ACCEL | UPDATE_GYRO | UPDATE_COMPASS | UPDATE_TEMP);// 

// 原始数据转换
  float accelX = imu.calcAccel(imu.ax); //加速度
  float accelY = imu.calcAccel(imu.ay);
  float accelZ = imu.calcAccel(imu.az);
  float gyroX = imu.calcGyro(imu.gx);  // 陀螺仪
  float gyroY = imu.calcGyro(imu.gy);
  float gyroZ = imu.calcGyro(imu.gz);
  float magX = imu.calcMag(imu.mx);//磁力计
  float magY = imu.calcMag(imu.my);
  float magZ = imu.calcMag(imu.mz);
//串口打印传感器数据
  SerialPort.println();
  SerialPort.print("Time: " + String(imu.time) + " ms");
  SerialPort.print("Accel: " + String(accelX) + ", " +
              String(accelY) + ", " + String(accelZ) + " g");
  SerialPort.print("  ");
  SerialPort.print("Gyro: " + String(gyroX) + ", " +
              String(gyroY) + ", " + String(gyroZ) + " dps");
  SerialPort.print("  ");
  SerialPort.print("Mag: " + String(magX) + ", " +
              String(magY) + ", " + String(magZ) + " uT");
  SerialPort.print("  ");
//  SerialPort.print("temperature: " +imu_temperature);

//发送给服务器数据库
  send_imu_http(accelX,accelY,accelZ,gyroX,gyroY,gyroZ,magX,magY,magZ,23.5);
  }

}

　　

数据库php代码

<?php

//   http://45.76.105.88/IMU/msql_inset.php?ax=1.0&ay=2.0&az=3.0&gx=4.0&gy=5.0&gz=6.0&mx=7.0&my=8.0&mz=9.0&temperature=10.0
 echo "设备请求插入新数据：<br>";
// 1获取请求参数
echo "服务器时间：".date('Y-m-d H:i:s')."<br>";// 当前时间

echo "加速度   ";
echo "ax:   ";echo $_GET["ax"]."    ";//
echo "ay:   ";echo $_GET["ay"]."    ";//
echo "az:   ";echo $_GET["az"]."    ";// 

echo "陀螺仪   ";
echo "gx:   ";echo $_GET["gx"]."    ";//
echo "gy:   ";echo $_GET["gy"]."    ";//
echo "gz:   ";echo $_GET["gz"]."    ";// 

echo "磁力计   ";
echo "mx:   ";echo $_GET["mx"]."    ";//
echo "my:   ";echo $_GET["my"]."    ";//
echo "mz:   ";echo $_GET["mz"]."    ";// 

echo "温度   ";
echo $_GET["temperature"];

echo "<br>";

// 2交互数据库

// 2-1连接
$servername = "localhost";
$username = "root";
$password = "root";
$dbname = "IMU";// 数据库
$tablename = "IMU";// 数据库
//创建数据库连接
$conn = new mysqli($servername, $username, $password, $dbname);
//检测是否连接成功
if ($conn->connect_error) {
    die("数据库连接失败: " . $conn->connect_error."<br>");
}
echo "数据库连接成功<br> ";

// 2-2插入

$sql="INSERT INTO ".$tablename." (ax,ay,az,gx,gy,gz,mx,my,mz,temperature) VALUES (".$_GET["ax"].",".$_GET["ay"].",".$_GET["az"].",".$_GET["gx"].",".$_GET["gy"].",".$_GET["gz"].",".$_GET["mx"].",".$_GET["my"].",".$_GET["mz"].",".$_GET["temperature"].");";

if ($conn->query($sql) === TRUE) {
    echo "新记录插入成功" . "<br>";
} else {
    echo "数据库插入失败: " . $sql . "<br>" . $conn->error;
}

// 2-4关闭结束

$conn->close();
//echo "数据库关闭<br>";

?>