Windows7+Msys2でarduino-cli

gista-file

# Arduino cli

Windows7 + Msys2 で[arduino-cli](https://github.com/arduino/arduino-cli)を使うときの注意点

## インストール
[Windows用zip](https://downloads.arduino.cc/arduino-cli/arduino-cli-latest-windows.zip)を解凍して、出てきたarduino-cli.exeを.../msys64/usr/binに移動するとMsys2上でarduino-cli.exeが使えるようになる。

## core installができない

```sh
$ arduino-cli.exe core install arduino:avr
Tool arduino:avr-gcc@5.4.0-atmel3.6.1-arduino2 already installed
Tool arduino:avrdude@6.3.0-arduino14 already installed
arduino:arduinoOTA@1.2.1 already downloaded
arduino:avr@1.6.23 already downloaded
Installing arduino:arduinoOTA@1.2.1...
Error: moving extracted archive to destination dir: rename C:\Users\xxxx\AppData\Local\Arduino15\tmp\package-061336559\arduinoOTA C:\Users\xxxx\AppData\Local\Arduino15\packages\arduino\tools\arduinoOTA\1.2.1: Access is denied.
Cannot install tool: arduino:arduinoOTA@1.2.1
```

xxxxはユーザー名

`C:\Users\xxxx\AppData\Local\Arduino15\packages\arduino\tools\arduinoOTA`
ディレクトリを手動で追加したら

`$ arduino-cli.exe core install arduino:avr`
ができた

```sh
$ arduino-cli.exe board list
FQBN            Port    ID              Board Name
arduino:avr:uno COM3    2341:0043       Arduino/Genuino Uno
```
boardも見つけることができた

## configファイルの作成

```sh
$ arduino-cli.exe config dump
proxy_type: auto
sketchbook_path: C:\Users\xxx\Documents\Arduino
arduino_data: C:\Users\xxx\AppData\Local\Arduino15
board_manager: {}
```

configファイルはどこに作られているのか・・・

```
$ arduino-cli.exe config init --default
Config file PATH: C:\Users\xxx\AppData\Local\Arduino15\arduino-cli.yaml
```

`arduino-cli config init --default` でデフォルトの場所を教えてくれる。
とりあえずconfigファイルの作成ここでいいや。


```arduino-cli.yaml
proxy_type: auto
sketchbook_path: C:\home\Arduino
arduino_data: C:\home\Arduino15
board_manager: {}
```

以上の用意書き換えるとライブラリの場所も`C:\home\Arduino\libralies\`だと認識してくれた

```
$ arduino-cli.exe lib list
Name                    Installed       Location
DFRobot_LCD-master                      sketchbook
```

`C:\home\Arduino\libralies\` にzipファイルを解凍しておいておけばライブラリとして認識される。
`arduino-cli lib search ***` でみつからないライブラリはzipをここに解凍すればインストールできたことになる。

# vim scritpt
```vim
if executable('arduino-cli')
    set makeprg=!arduino-cli\ compile\ --fqbn\ arduino:avr:uno\ %:p:h
    command! ArduinoCompile make %:p:h
    command! ArduinoUpload !arduino-cli upload -p COM3 --fqbn arduino:avr:uno %:p:h
    command! ArduinoNew -nargs=1 !arduino-cli sketch new <args>
endif
```

golang_serialport.md

jacobsa

stack-over-flow - Reading from arduino's serial port using go-serial

Install

$ go get github.com/jacobsa/go-serial/serial

mikepb go serial

Install

Needs gcc

$ pacman -S gcc
$ go get github.com/mikepb/go-serial

github.com/mikepb/go-serial install ERROR

serialport.c: 関数 ‘sp_output_waiting’ 内:
	serialport.c:1077:22: エラー: ‘TIOCOUTQ’ undeclared (first use in this function); did you mean ‘TIOCPKT’?
if (ioctl(port->fd, TIOCOUTQ, &bytes_waiting) < 0)
	^~~~~~~~
	TIOCPKT
	serialport.c:1077:22: 備考: 未宣言の識別子は出現した各関数内で一回のみ報告されます
	In file included from serialport.c:25:0:
	serialport.c: 関数 ‘sp_list_ports’ 内:
	libserialport_internal.h:167:5: 警告: this statement may fall through [-Wimplicit-fallthrough=]
	if (sp_debug_handler) \
		^
		libserialport_internal.h:171:31: 備考: in expansion of macro ‘DEBUG_FMT’
#define DEBUG_ERROR(err, msg) DEBUG_FMT("%s returning " #err ": " msg, __func__)
		^~~~~~~~~
		serialport.c:345:3: 備考: in expansion of macro ‘DEBUG_ERROR’
		DEBUG_ERROR(SP_ERR_SUPP, "Enumeration not supported on this platform");
		^~~~~~~~~~~
		serialport.c:346:2: 備考: here
		default:
		^~~~~~~

hello_serial.ino

/*
シリアル通信hello world
hello worldの文字列表示の後、カウントダウンがループする
*/

void setup() {
    Serial.begin(9600);  // ボーレート9600でポートを開く
    Serial.println("hello world");
    delay(1000);
}

void loop() {
    Serial.println("my first job");
    Serial.println("count down 10");
    for (int x=10; x>0; x--){
        Serial.println(x);
        delay(200);
    }
}

lcd1602_module.md

リンク

• 購入ページ

間違えて？SDA, SCL, Vcc, GNDの4ピンしか出ていないLCDモジュールを買ってしまった。 使えるのか？

• DFRobot wiki

• ライブラリの場所: DFRobot専用library bearwaterfall/DFRobot_LCD-master

zipファイルで落として、Arduinoの指定したlibraiesディレクトリに解凍する。 私の場合は/c/home/Arduino15/libralies

動作確認

SDA, SCLを使用すればHello DFRobotの文字列を出力できた。 ソースファイルは以下。ホームページからのコピペ 別途ライブラリインストールが必要(上記)

/*!
  * file Fade.ino
  * brief Fade.
  *
  * Copyright  [DFRobot](http://www.dfrobot.com), 2016
  * Copyright GNU Lesser General Public License
  *
  * version  V1.0
  * date  2018-1-13
  */

#include <Wire.h>
#include "DFRobot_LCD.h"

DFRobot_LCD lcd(16,2);  //16 characters and 2 lines of show

void breath(unsigned char color){
    for(int i=0; i<255; i++){
        lcd.setPWM(color, i);
        delay(5);
    }

    delay(500);
    for(int i=254; i>=0; i--){
        lcd.setPWM(color, i);
        delay(5);
    }

    delay(500);
}

void setup() {
    // initialize
    lcd.init();
    // Print a message to the LCD.
    lcd.setCursor(1, 0);
    lcd.print("Hello DFRobot");
    lcd.setCursor(1, 1);
    lcd.print("lcd1602 module");
}

void loop() {

     breath(REG_ONLY);
}

トラブルシューティング

つないでも□□□□□□□が表示されるだけで文字が表示されないときは、Arduinoのリセットボタンを押してみたらうまくいった。

mpu9250.md

購入ページ ドキュメント sparkfun - MPU-9250 Hookup Guide <- サンプルコード、配線図等

1. ピンソケットを半田付け
2. サンプルコードを上記URLからコピー (.../home/Arduino/hello_mpu9250/hello_mpu925.ino)
3. ライブラリインストール

$ arduino-cli lib install "SparkFun MPU-9250 9 DOF IMU Breakout"

4. 配線。内側がA4(SDA), A5(SDL)

mpu9250_display.ino

/*!
加速度センサーの出力をLCDに表示
  * version  V1.0
  * date  2019-5-24

# LCD 16x02 module
SDA --- LCD SDA
SCL --- LCD SCL
5V --- VCC
GND --- GND

# MPU-9250 module
SDA --- A4
SCL --- A5
VCC --- 3.3V (LCDと異なるので注意！)
GND --- GND

     SCL SDA VCC GND
      ------------
      | o o o o  |
      | MPU-9250 |
      | BREAKOUT |
      |          |
      | o o o o  |
      ------------
*/

// --- for mpu9250
#include "quaternionFilters.h"
#include "MPU9250.h"
// --- for lcd
#include <Wire.h>
#include "DFRobot_LCD.h"

DFRobot_LCD lcd(16,2);  //16 characters and 2 lines of show

/* void breath(unsigned char color){ */
/*     for(int i=0; i<255; i++){ */
/*         lcd.setPWM(color, i); */
/*         delay(5); */
/*     } */
/*  */
/*     delay(500); */
/*     for(int i=254; i>=0; i--){ */
/*         lcd.setPWM(color, i); */
/*         delay(5); */
/*     } */
/*  */
/*     delay(500); */
/* } */

#define AHRS false         // Set to false for basic data read
#define SerialDebug true  // Set to true to get Serial output for debugging
#define I2Cclock 400000
#define I2Cport Wire
#define MPU9250_ADDRESS MPU9250_ADDRESS_AD0   // Use either this line or the next to select which I2C address your device is using
//#define MPU9250_ADDRESS MPU9250_ADDRESS_AD1
MPU9250 myIMU(MPU9250_ADDRESS, I2Cport, I2Cclock);

void setup() {
    // initialize
    lcd.init();

    // Read the WHO_AM_I register, this is a good test of communication
    // 定数MPU9250_ADDRESSとWHO_AM_I_MPU9250はlibraryに含まれている
    byte c = myIMU.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
    Serial.print(F("MPU9250 I AM 0x"));
    Serial.print(c, HEX);
    Serial.print(F(" I should be 0x"));
    Serial.println(0x71, HEX);

    // Print a message to the LCD.
    lcd.setCursor(1, 0); lcd.print("DFRobot&MPU");
    lcd.setCursor(1, 1); lcd.print("hello world");
    delay(1000);

    //ifdef LCD
    lcd.setCursor(20,0); lcd.print("MPU9250");
    lcd.setCursor(0,10); lcd.print("I AM");
    lcd.setCursor(0,20); lcd.print(c, HEX);
    lcd.setCursor(0,30); lcd.print("I Should Be");
    lcd.setCursor(0,40); lcd.print(0x71, HEX);
    lcd.display();
    delay(1000);
    //endif // LCD


    if (c == 0x71) // WHO_AM_I should always be 0x71
    {
      Serial.println(F("MPU9250 is online..."));
  
      // Start by performing self test and reporting values
      myIMU.MPU9250SelfTest(myIMU.selfTest);
      Serial.print(F("x-axis self test: acceleration trim within : "));
      Serial.print(myIMU.selfTest[0],1); Serial.println("% of factory value");
      Serial.print(F("y-axis self test: acceleration trim within : "));
      Serial.print(myIMU.selfTest[1],1); Serial.println("% of factory value");
      Serial.print(F("z-axis self test: acceleration trim within : "));
      Serial.print(myIMU.selfTest[2],1); Serial.println("% of factory value");
      Serial.print(F("x-axis self test: gyration trim within : "));
      Serial.print(myIMU.selfTest[3],1); Serial.println("% of factory value");
      Serial.print(F("y-axis self test: gyration trim within : "));
      Serial.print(myIMU.selfTest[4],1); Serial.println("% of factory value");
      Serial.print(F("z-axis self test: gyration trim within : "));
      Serial.print(myIMU.selfTest[5],1); Serial.println("% of factory value");
  
      // Calibrate gyro and accelerometers, load biases in bias registers
      myIMU.calibrateMPU9250(myIMU.gyroBias, myIMU.accelBias);

      lcd.clear();
  
      lcd.setCursor(0, 0); lcd.print("MPU9250 bias");
      lcd.setCursor(0, 8); lcd.print(" x   y   z  ");
  
      lcd.setCursor(0,  16); lcd.print((int)(1000*myIMU.accelBias[0]));
      lcd.setCursor(24, 16); lcd.print((int)(1000*myIMU.accelBias[1]));
      lcd.setCursor(48, 16); lcd.print((int)(1000*myIMU.accelBias[2]));
      lcd.setCursor(72, 16); lcd.print("mg");
  
      lcd.setCursor(0,  24); lcd.print(myIMU.gyroBias[0], 1);
      lcd.setCursor(24, 24); lcd.print(myIMU.gyroBias[1], 1);
      lcd.setCursor(48, 24); lcd.print(myIMU.gyroBias[2], 1);
      lcd.setCursor(66, 24); lcd.print("o/s");
  
      lcd.display();
      delay(1000);

      myIMU.initMPU9250();
      // Initialize device for active mode read of acclerometer, gyroscope, and
      // temperature
      Serial.println("MPU9250 initialized for active data mode....");
  
      // Read the WHO_AM_I register of the magnetometer, this is a good test of
      // communication
      byte d = myIMU.readByte(AK8963_ADDRESS, WHO_AM_I_AK8963);
      Serial.print("AK8963 ");
      Serial.print("I AM 0x");
      Serial.print(d, HEX);
      Serial.print(" I should be 0x");
      Serial.println(0x48, HEX);


      lcd.clear();
      lcd.setCursor(20,0); lcd.print("AK8963");
      lcd.setCursor(0,10); lcd.print("I AM");
      lcd.setCursor(0,20); lcd.print(d, HEX);
      lcd.setCursor(0,30); lcd.print("I Should Be");
      lcd.setCursor(0,40); lcd.print(0x48, HEX);
      lcd.display();
      delay(1000);


      if (d != 0x48)
      {
        // Communication failed, stop here
        Serial.println(F("Communication failed, abort!"));
        Serial.flush();
        abort();
      }
  
      // Get magnetometer calibration from AK8963 ROM
      myIMU.initAK8963(myIMU.factoryMagCalibration);
      // Initialize device for active mode read of magnetometer
      Serial.println("AK8963 initialized for active data mode....");
  
      if (SerialDebug)
      {
        //  Serial.println("Calibration values: ");
        Serial.print("X-Axis factory sensitivity adjustment value ");
        Serial.println(myIMU.factoryMagCalibration[0], 2);
        Serial.print("Y-Axis factory sensitivity adjustment value ");
        Serial.println(myIMU.factoryMagCalibration[1], 2);
        Serial.print("Z-Axis factory sensitivity adjustment value ");
        Serial.println(myIMU.factoryMagCalibration[2], 2);
      }


      lcd.clear();
      lcd.setCursor(20,0);  lcd.print("AK8963");
      lcd.setCursor(0,10);  lcd.print("ASAX ");
      lcd.setCursor(50,10); lcd.print(myIMU.factoryMagCalibration[0], 2);
      lcd.setCursor(0,20);  lcd.print("ASAY ");
      lcd.setCursor(50,20); lcd.print(myIMU.factoryMagCalibration[1], 2);
      lcd.setCursor(0,30);  lcd.print("ASAZ ");
      lcd.setCursor(50,30); lcd.print(myIMU.factoryMagCalibration[2], 2);
      lcd.display();
      delay(1000);
    } // if (c == 0x71)
    else
    {
      Serial.print("Could not connect to MPU9250: 0x");
      Serial.println(c, HEX);

      // Communication failed, stop here
      Serial.println(F("Communication failed, abort!"));
      Serial.flush();
      abort();
    }
}

void loop() {
     /* breath(REG_ONLY);  LCD 明滅　使わないだろ*/
    // If intPin goes high, all data registers have new data
    // On interrupt, check if data ready interrupt
    if (myIMU.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01)
    {
        myIMU.readAccelData(myIMU.accelCount);  // Read the x/y/z adc values

        // Now we'll calculate the accleration value into actual g's
        // This depends on scale being set
        myIMU.ax = (float)myIMU.accelCount[0] * myIMU.aRes; // - myIMU.accelBias[0];
        myIMU.ay = (float)myIMU.accelCount[1] * myIMU.aRes; // - myIMU.accelBias[1];
        myIMU.az = (float)myIMU.accelCount[2] * myIMU.aRes; // - myIMU.accelBias[2];

        myIMU.readGyroData(myIMU.gyroCount);  // Read the x/y/z adc values

        // Calculate the gyro value into actual degrees per second
        // This depends on scale being set
        myIMU.gx = (float)myIMU.gyroCount[0] * myIMU.gRes;
        myIMU.gy = (float)myIMU.gyroCount[1] * myIMU.gRes;
        myIMU.gz = (float)myIMU.gyroCount[2] * myIMU.gRes;

        myIMU.readMagData(myIMU.magCount);  // Read the x/y/z adc values

        // Calculate the magnetometer values in milliGauss
        // Include factory calibration per data sheet and user environmental
        // corrections
        // Get actual magnetometer value, this depends on scale being set
        myIMU.mx = (float)myIMU.magCount[0] * myIMU.mRes
            * myIMU.factoryMagCalibration[0] - myIMU.magBias[0];
        myIMU.my = (float)myIMU.magCount[1] * myIMU.mRes
            * myIMU.factoryMagCalibration[1] - myIMU.magBias[1];
        myIMU.mz = (float)myIMU.magCount[2] * myIMU.mRes
            * myIMU.factoryMagCalibration[2] - myIMU.magBias[2];
    } // if (readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01)

    // Must be called before updating quaternions!
    myIMU.updateTime();

    // Sensors x (y)-axis of the accelerometer is aligned with the y (x)-axis of
    // the magnetometer; the magnetometer z-axis (+ down) is opposite to z-axis
    // (+ up) of accelerometer and gyro! We have to make some allowance for this
    // orientationmismatch in feeding the output to the quaternion filter. For the
    // MPU-9250, we have chosen a magnetic rotation that keeps the sensor forward
    // along the x-axis just like in the LSM9DS0 sensor. This rotation can be
    // modified to allow any convenient orientation convention. This is ok by
    // aircraft orientation standards! Pass gyro rate as rad/s
    MahonyQuaternionUpdate(myIMU.ax, myIMU.ay, myIMU.az, myIMU.gx * DEG_TO_RAD,
            myIMU.gy * DEG_TO_RAD, myIMU.gz * DEG_TO_RAD, myIMU.my,
            myIMU.mx, myIMU.mz, myIMU.deltat);

    if (!AHRS)
    {
        myIMU.delt_t = millis() - myIMU.count;
        if (myIMU.delt_t > 500)
        {
            if(SerialDebug)
            {
                // Print acceleration values in milligs!
                Serial.print("X-acceleration: "); Serial.print(1000 * myIMU.ax);
                Serial.print(" mg ");
                Serial.print("Y-acceleration: "); Serial.print(1000 * myIMU.ay);
                Serial.print(" mg ");
                Serial.print("Z-acceleration: "); Serial.print(1000 * myIMU.az);
                Serial.println(" mg ");

                // Print gyro values in degree/sec
                Serial.print("X-gyro rate: "); Serial.print(myIMU.gx, 3);
                Serial.print(" degrees/sec ");
                Serial.print("Y-gyro rate: "); Serial.print(myIMU.gy, 3);
                Serial.print(" degrees/sec ");
                Serial.print("Z-gyro rate: "); Serial.print(myIMU.gz, 3);
                Serial.println(" degrees/sec");

                // Print mag values in degree/sec
                Serial.print("X-mag field: "); Serial.print(myIMU.mx);
                Serial.print(" mG ");
                Serial.print("Y-mag field: "); Serial.print(myIMU.my);
                Serial.print(" mG ");
                Serial.print("Z-mag field: "); Serial.print(myIMU.mz);
                Serial.println(" mG");

                myIMU.tempCount = myIMU.readTempData();  // Read the adc values
                // Temperature in degrees Centigrade
                myIMU.temperature = ((float) myIMU.tempCount) / 333.87 + 21.0;
                // Print temperature in degrees Centigrade
                Serial.print("Temperature is ");  Serial.print(myIMU.temperature, 1);
                Serial.println(" degrees C");
            }

#ifdef LCD
            lcd.clear();
            lcd.setCursor(0, 0); lcd.print("MPU9250/AK8963");
            lcd.setCursor(0, 8); lcd.print(" x   y   z  ");

            lcd.setCursor(0,  16); lcd.print((int)(1000 * myIMU.ax));
            lcd.setCursor(24, 16); lcd.print((int)(1000 * myIMU.ay));
            lcd.setCursor(48, 16); lcd.print((int)(1000 * myIMU.az));
            lcd.setCursor(72, 16); lcd.print("mg");

            lcd.setCursor(0,  24); lcd.print((int)(myIMU.gx));
            lcd.setCursor(24, 24); lcd.print((int)(myIMU.gy));
            lcd.setCursor(48, 24); lcd.print((int)(myIMU.gz));
            lcd.setCursor(66, 24); lcd.print("o/s");

            lcd.setCursor(0,  32); lcd.print((int)(myIMU.mx));
            lcd.setCursor(24, 32); lcd.print((int)(myIMU.my));
            lcd.setCursor(48, 32); lcd.print((int)(myIMU.mz));
            lcd.setCursor(72, 32); lcd.print("mG");

            lcd.setCursor(0,  40); lcd.print("Gyro T ");
            lcd.setCursor(50,  40); lcd.print(myIMU.temperature, 1);
            lcd.print(" C");
            lcd.display();
#endif // LCD

            myIMU.count = millis();
        } // if (myIMU.delt_t > 500)
    } // if (!AHRS)
    else
    {
        // Serial print and/or lcd at 0.5 s rate independent of data rates
        myIMU.delt_t = millis() - myIMU.count;

        // update LCD once per half-second independent of read rate
        if (myIMU.delt_t > 500)
        {
            if(SerialDebug)
            {
                Serial.print("ax = ");  Serial.print((int)1000 * myIMU.ax);
                Serial.print(" ay = "); Serial.print((int)1000 * myIMU.ay);
                Serial.print(" az = "); Serial.print((int)1000 * myIMU.az);
                Serial.println(" mg");

                Serial.print("gx = ");  Serial.print(myIMU.gx, 2);
                Serial.print(" gy = "); Serial.print(myIMU.gy, 2);
                Serial.print(" gz = "); Serial.print(myIMU.gz, 2);
                Serial.println(" deg/s");

                Serial.print("mx = ");  Serial.print((int)myIMU.mx);
                Serial.print(" my = "); Serial.print((int)myIMU.my);
                Serial.print(" mz = "); Serial.print((int)myIMU.mz);
                Serial.println(" mG");

                Serial.print("q0 = ");  Serial.print(*getQ());
                Serial.print(" qx = "); Serial.print(*(getQ() + 1));
                Serial.print(" qy = "); Serial.print(*(getQ() + 2));
                Serial.print(" qz = "); Serial.println(*(getQ() + 3));
            }

            // Define output variables from updated quaternion---these are Tait-Bryan
            // angles, commonly used in aircraft orientation. In this coordinate system,
            // the positive z-axis is down toward Earth. Yaw is the angle between Sensor
            // x-axis and Earth magnetic North (or true North if corrected for local
            // declination, looking down on the sensor positive yaw is counterclockwise.
            // Pitch is angle between sensor x-axis and Earth ground plane, toward the
            // Earth is positive, up toward the sky is negative. Roll is angle between
            // sensor y-axis and Earth ground plane, y-axis up is positive roll. These
            // arise from the definition of the homogeneous rotation matrix constructed
            // from quaternions. Tait-Bryan angles as well as Euler angles are
            // non-commutative; that is, the get the correct orientation the rotations
            // must be applied in the correct order which for this configuration is yaw,
            // pitch, and then roll.
            // For more see
            // http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
            // which has additional links.
            myIMU.yaw   = atan2(2.0f * (*(getQ()+1) * *(getQ()+2) + *getQ()
                        * *(getQ()+3)), *getQ() * *getQ() + *(getQ()+1)
                    * *(getQ()+1) - *(getQ()+2) * *(getQ()+2) - *(getQ()+3)
                    * *(getQ()+3));
            myIMU.pitch = -asin(2.0f * (*(getQ()+1) * *(getQ()+3) - *getQ()
                        * *(getQ()+2)));
            myIMU.roll  = atan2(2.0f * (*getQ() * *(getQ()+1) + *(getQ()+2)
                        * *(getQ()+3)), *getQ() * *getQ() - *(getQ()+1)
                    * *(getQ()+1) - *(getQ()+2) * *(getQ()+2) + *(getQ()+3)
                    * *(getQ()+3));
            myIMU.pitch *= RAD_TO_DEG;
            myIMU.yaw   *= RAD_TO_DEG;

            // Declination of SparkFun Electronics (40°05'26.6"N 105°11'05.9"W) is
            //    8° 30' E  ± 0° 21' (or 8.5°) on 2016-07-19
            // - http://www.ngdc.noaa.gov/geomag-web/#declination
            myIMU.yaw  -= 8.5;
            myIMU.roll *= RAD_TO_DEG;

            if(SerialDebug)
            {
                Serial.print("Yaw, Pitch, Roll: ");
                Serial.print(myIMU.yaw, 2);
                Serial.print(", ");
                Serial.print(myIMU.pitch, 2);
                Serial.print(", ");
                Serial.println(myIMU.roll, 2);

                Serial.print("rate = ");
                Serial.print((float)myIMU.sumCount / myIMU.sum, 2);
                Serial.println(" Hz");
            }

#ifdef LCD
            lcd.clear();

            lcd.setCursor(0, 0); lcd.print(" x   y   z  ");

            lcd.setCursor(0,  8); lcd.print((int)(1000 * myIMU.ax));
            lcd.setCursor(24, 8); lcd.print((int)(1000 * myIMU.ay));
            lcd.setCursor(48, 8); lcd.print((int)(1000 * myIMU.az));
            lcd.setCursor(72, 8); lcd.print("mg");

            lcd.setCursor(0,  16); lcd.print((int)(myIMU.gx));
            lcd.setCursor(24, 16); lcd.print((int)(myIMU.gy));
            lcd.setCursor(48, 16); lcd.print((int)(myIMU.gz));
            lcd.setCursor(66, 16); lcd.print("o/s");

            lcd.setCursor(0,  24); lcd.print((int)(myIMU.mx));
            lcd.setCursor(24, 24); lcd.print((int)(myIMU.my));
            lcd.setCursor(48, 24); lcd.print((int)(myIMU.mz));
            lcd.setCursor(72, 24); lcd.print("mG");

            lcd.setCursor(0,  32); lcd.print((int)(myIMU.yaw));
            lcd.setCursor(24, 32); lcd.print((int)(myIMU.pitch));
            lcd.setCursor(48, 32); lcd.print((int)(myIMU.roll));
            lcd.setCursor(66, 32); lcd.print("ypr");

            // With these settings the filter is updating at a ~145 Hz rate using the
            // Madgwick scheme and >200 Hz using the Mahony scheme even though the
            // lcd refreshes at only 2 Hz. The filter update rate is determined
            // mostly by the mathematical steps in the respective algorithms, the
            // processor speed (8 MHz for the 3.3V Pro Mini), and the magnetometer ODR:
            // an ODR of 10 Hz for the magnetometer produce the above rates, maximum
            // magnetometer ODR of 100 Hz produces filter update rates of 36 - 145 and
            // ~38 Hz for the Madgwick and Mahony schemes, respectively. This is
            // presumably because the magnetometer read takes longer than the gyro or
            // accelerometer reads. This filter update rate should be fast enough to
            // maintain accurate platform orientation for stabilization control of a
            // fast-moving robot or quadcopter. Compare to the update rate of 200 Hz
            // produced by the on-board Digital Motion Processor of Invensense's MPU6050
            // 6 DoF and MPU9150 9DoF sensors. The 3.3 V 8 MHz Pro Mini is doing pretty
            // well!
            lcd.setCursor(0, 40); lcd.print("rt: ");
            lcd.print((float) myIMU.sumCount / myIMU.sum, 2);
            lcd.print(" Hz");
            lcd.display();
#endif // LCD

            myIMU.count = millis();
            myIMU.sumCount = 0;
            myIMU.sum = 0;
        } // if (myIMU.delt_t > 500)
    } // if (AHRS)
}

mpu9250_write.ino

/*!
加速度センサーの出力をSDcardに保存
  * version  V1.0
  * date  2019-5-28

# MPU-9250 module
SDA --- A4
SCL --- A5
VCC --- 3.3V (LCDと異なるので注意！)
GND --- GND

     SCL SDA VCC GND
      ------------
      | o o o o  |
      | MPU-9250 |
      | BREAKOUT |
      |          |
      | o o o o  |
      ------------

# SD card sheild
そのままさすだけ
*/

// --加速度センサー--
#include "quaternionFilters.h"
#include "MPU9250.h"
// --SD card--
#include <SPI.h>
#include <SD.h>
File myFile;

#define I2Cclock 400000
#define I2Cport Wire
#define MPU9250_ADDRESS MPU9250_ADDRESS_AD0   // Use either this line or the next to select which I2C address your device is using
//#define MPU9250_ADDRESS MPU9250_ADDRESS_AD1

#define SerialDebug true  // Set to true to get Serial output for debugging

MPU9250 myIMU(MPU9250_ADDRESS, I2Cport, I2Cclock);

void mpu9250_init() {
    Serial.println(F("### MPU9250 ONLINE ###"));

    // Start by performing self test and reporting values
    // 自己診断テストと工場出荷時の値を出力
    myIMU.MPU9250SelfTest(myIMU.selfTest);
    Serial.print(F("x-axis self test: acceleration trim within : "));
    Serial.print(myIMU.selfTest[0],1); Serial.println("% of factory value");
    Serial.print(F("y-axis self test: acceleration trim within : "));
    Serial.print(myIMU.selfTest[1],1); Serial.println("% of factory value");
    Serial.print(F("z-axis self test: acceleration trim within : "));
    Serial.print(myIMU.selfTest[2],1); Serial.println("% of factory value");
    Serial.print(F("x-axis self test: gyration trim within : "));
    Serial.print(myIMU.selfTest[3],1); Serial.println("% of factory value");
    Serial.print(F("y-axis self test: gyration trim within : "));
    Serial.print(myIMU.selfTest[4],1); Serial.println("% of factory value");
    Serial.print(F("z-axis self test: gyration trim within : "));
    Serial.print(myIMU.selfTest[5],1); Serial.println("% of factory value");

    // Calibrate gyro and accelerometers, load biases in bias registers
    // センサー校正
    myIMU.calibrateMPU9250(myIMU.gyroBias, myIMU.accelBias);
    delay(1000);

    // 初期化
    myIMU.initMPU9250();
    // Initialize device for active mode read of acclerometer, gyroscope, and
    // temperature
    Serial.println("MPU9250 initialized for active data mode....");

    // Get sensor resolutions, only need to do this once
    // センサーの解像度を取得
    myIMU.getAres();
    myIMU.getGres();
    myIMU.getMres();
}

// デバッグ用 SerialDebug = trueのときにシリアルモニタに加速度表示
void serial_output() {
    // Print acceleration values in milligs!
    Serial.print("X-acceleration: "); Serial.print(1000 * myIMU.ax);
    Serial.print(" mg ");
    Serial.print("Y-acceleration: "); Serial.print(1000 * myIMU.ay);
    Serial.print(" mg ");
    Serial.print("Z-acceleration: "); Serial.print(1000 * myIMU.az);
    Serial.println(" mg ");

    // Print gyro values in degree/sec
    Serial.print("X-gyro rate: "); Serial.print(myIMU.gx, 3);
    Serial.print(" degrees/sec ");
    Serial.print("Y-gyro rate: "); Serial.print(myIMU.gy, 3);
    Serial.print(" degrees/sec ");
    Serial.print("Z-gyro rate: "); Serial.print(myIMU.gz, 3);
    Serial.println(" degrees/sec");

    // Print temperature in degrees Centigrade
    Serial.print("Temperature is ");  Serial.print(myIMU.temperature, 1);
    Serial.println(" degrees C");
}

void setup() {
  Wire.begin();  // Arduinoをmasterとして(=引数なし)Wireを開始する

  Serial.begin(9600);
  // wait for serial port to connect. Needed for native USB port only
  while(!Serial){};

  // ==== MPU9250 INITIALIZE ====
  // Read the WHO_AM_I register, this is a good test of communication
  byte c = myIMU.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
  // WHO_AM_I_MPU9250 -> 0x71
  Serial.print(F("MPU9250 I AM 0x"));
  Serial.print(c, HEX);
  Serial.print(F(" I should be 0x"));
  Serial.println(0x71, HEX);

  if (c== 0x71) // WHO_AM_I_MPU9250 は常に0x71
  {
    mpu9250_init();
  }
  else
  {
    Serial.print("Could not connect to MPU9250: 0x");
    Serial.println(c, HEX);

    // Communication failed, stop here
    Serial.println(F("Communication failed, abort!"));
    Serial.flush();
    abort();
  }

  // ==== SD CARD INITIALIZE ====
  Serial.print("Initializing SD card...");

  if (!SD.begin(4)) {
    Serial.println("initialization failed!");
    while (1);
  }
  Serial.println("initialization done.");

  // clear test.txt file in SD card
  char filename[] = "test.txt";
  if (SD.exists(filename)){
     SD.remove(filename);
     Serial.println("file initialized!");
  }

  myFile = SD.open("test.txt", FILE_WRITE);
  if (myFile)
  {
    myfile.println("the test file!");
    myfile.println("ax, ay, az, gx, gy, gz, temp");
    myfile.println("============================");
    myfile.close();
  }
  else
  {
    Serial.println("!!!Error opening test.txt!!!");
  }
}

void loop() {
  // If intPin goes high, all data registers have new data
  // On interrupt, check if data ready interrupt
  if (myIMU.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01)
  {
    myIMU.readAccelData(myIMU.accelCount);  // Read the x/y/z adc values

    // Now we'll calculate the accleration value into actual g's
    // This depends on scale being set
    myIMU.ax = (float)myIMU.accelCount[0] * myIMU.aRes; // - myIMU.accelBias[0];
    myIMU.ay = (float)myIMU.accelCount[1] * myIMU.aRes; // - myIMU.accelBias[1];
    myIMU.az = (float)myIMU.accelCount[2] * myIMU.aRes; // - myIMU.accelBias[2];

    myIMU.readGyroData(myIMU.gyroCount);  // Read the x/y/z adc values

    // Calculate the gyro value into actual degrees per second
    // This depends on scale being set
    myIMU.gx = (float)myIMU.gyroCount[0] * myIMU.gRes;
    myIMU.gy = (float)myIMU.gyroCount[1] * myIMU.gRes;
    myIMU.gz = (float)myIMU.gyroCount[2] * myIMU.gRes;
    // Read the adc values
    myIMU.tempCount = myIMU.readTempData();
    // Temperature in degrees Centigrade
    myIMU.temperature = ((float) myIMU.tempCount) / 333.87 + 21.0;
  }

  // Must be called before updating quaternions!
  myIMU.updateTime();

  myIMU.delt_t = millis() - myIMU.count;
  int rate=2000;
  if (myIMU.delt_t > rate)  // rateミリ秒毎に表示
  {
      // SD カードに記録
      myFile = SD.open("test.txt", FILE_WRITE);
      if (myFile)
      {
        myfile.print(1000*muIMU.ax);
        myfile.print(1000*muIMU.ay);
        myfile.print(1000*muIMU.az);
        myfile.print(myIMU.gx, 3);
        myfile.print(myIMU.gy, 3);
        myfile.print(myIMU.gz, 3);
        myfile.print(myIMU.gz, 3);
        myfile.print(myIMU.temperature, 1);
        myfile.close();
      }
      else
      {
        Serial.println("!!!Error opening test.txt!!!");
      }
      // Debug mode = trueのとき、シリアルモニタに表示
      if(SerialDebug)
      {
        serial_output();
      }
      myIMU.count = millis();
  }
}

sd_read_write.ino

/*!
加速度センサーの出力をSDcardに保存
  * version  V1.0
  * date  2019-5-28

# MPU-9250 module
SDA --- A4
SCL --- A5
VCC --- 3.3V (LCDと異なるので注意！)
GND --- GND

     SCL SDA VCC GND
      ------------
      | o o o o  |
      | MPU-9250 |
      | BREAKOUT |
      |          |
      | o o o o  |
      ------------

# SD card sheild
そのままさすだけ

# TODO
memory error

```std err
Global variables use 1627 bytes (79%) of dynamic memory, leaving 421 bytes for local variables. Maximum is 2048 bytes.
Low memory available, stability problems may occur.
```

メモリーが足りなくてエラーが起こるかもしれない。
実際SDカードのファイルが開けなくなってしまっている。

ローカル変数や関数を減らす。
実際にシリアルアウトプットする関数serial_output()をコメントアウトしたらSDカードには書き込めている模様。
*/

// --加速度センサー--
/* #include "quaternionFilters.h" */
#include "MPU9250.h"
// --SD card--
#include <SPI.h>
#include <SD.h>
File myfile;

#define I2Cclock 400000
#define I2Cport Wire
#define MPU9250_ADDRESS MPU9250_ADDRESS_AD0   // Use either this line or the next to select which I2C address your device is using
//#define MPU9250_ADDRESS MPU9250_ADDRESS_AD1

/* #define SerialDebug true  // Set to true to get Serial output for debugging */

MPU9250 myIMU(MPU9250_ADDRESS, I2Cport, I2Cclock);

#define FILENAME "test.txt"  // Record file name


void mpu9250_init() {
    Serial.println(F("### MPU9250 ONLINE ###"));

    // Start by performing self test and reporting values
    // 自己診断テストと工場出荷時の値を出力
    myIMU.MPU9250SelfTest(myIMU.selfTest);
    Serial.print(F("x-axis self test: acceleration trim within : "));
    Serial.print(myIMU.selfTest[0],1); Serial.println("% of factory value");
    Serial.print(F("y-axis self test: acceleration trim within : "));
    Serial.print(myIMU.selfTest[1],1); Serial.println("% of factory value");
    Serial.print(F("z-axis self test: acceleration trim within : "));
    Serial.print(myIMU.selfTest[2],1); Serial.println("% of factory value");
    Serial.print(F("x-axis self test: gyration trim within : "));
    Serial.print(myIMU.selfTest[3],1); Serial.println("% of factory value");
    Serial.print(F("y-axis self test: gyration trim within : "));
    Serial.print(myIMU.selfTest[4],1); Serial.println("% of factory value");
    Serial.print(F("z-axis self test: gyration trim within : "));
    Serial.print(myIMU.selfTest[5],1); Serial.println("% of factory value");

    // Calibrate gyro and accelerometers, load biases in bias registers
    // センサー校正
    myIMU.calibrateMPU9250(myIMU.gyroBias, myIMU.accelBias);
    delay(1000);

    // 初期化
    myIMU.initMPU9250();
    // Initialize device for active mode read of acclerometer, gyroscope, and
    // temperature
    Serial.println("MPU9250 initialized for active data mode....");

    // Get sensor resolutions, only need to do this once
    // センサーの解像度を取得
    myIMU.getAres();
    myIMU.getGres();
    myIMU.getMres();
}

// デバッグ用 SerialDebug = trueのときにシリアルモニタに加速度表示
/* void serial_output() { */
/*     // Print acceleration values in milligs! */
/*     Serial.print("X-acceleration: "); Serial.print(1000 * myIMU.ax); */
/*     Serial.print(" mg "); */
/*     Serial.print("Y-acceleration: "); Serial.print(1000 * myIMU.ay); */
/*     Serial.print(" mg "); */
/*     Serial.print("Z-acceleration: "); Serial.print(1000 * myIMU.az); */
/*     Serial.println(" mg "); */
/*  */
/*     // Print gyro values in degree/sec */
/*     Serial.print("X-gyro rate: "); Serial.print(myIMU.gx, 3); */
/*     Serial.print(" degrees/sec "); */
/*     Serial.print("Y-gyro rate: "); Serial.print(myIMU.gy, 3); */
/*     Serial.print(" degrees/sec "); */
/*     Serial.print("Z-gyro rate: "); Serial.print(myIMU.gz, 3); */
/*     Serial.println(" degrees/sec"); */
/*  */
/*     // Print temperature in degrees Centigrade */
/*     Serial.print("Temperature is ");  Serial.print(myIMU.temperature, 1); */
/*     Serial.println(" degrees C"); */
/* } */
/*  */
void setup() {
  Wire.begin();  // Arduinoをmasterとして(=引数なし)Wireを開始する

  Serial.begin(9600);
  // wait for serial port to connect. Needed for native USB port only
  while(!Serial){};

  // ==== MPU9250 INITIALIZE ====
  // Read the WHO_AM_I register, this is a good test of communication
  byte c = myIMU.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
  // WHO_AM_I_MPU9250 -> 0x71
  Serial.print(F("MPU9250 I AM 0x"));
  Serial.print(c, HEX);
  Serial.print(F(" I should be 0x"));
  Serial.println(0x71, HEX);

  if (c== 0x71) //// Connect success WHO_AM_I_MPU9250 は常に0x71
  {
    mpu9250_init();
  }
  else  // Connect fail
  {
    Serial.print("Could not connect to MPU9250: 0x");
    Serial.println(c, HEX);

    // Communication failed, stop here
    Serial.println(F("Communication failed, abort!"));
    Serial.flush();
    abort();
  }

  // ==== SD CARD INITIALIZE ====
  Serial.print("Initializing SD card...");

  if (!SD.begin(4)) {
    Serial.println("initialization failed!");
    while (1);
  }
  Serial.println("initialization done.");

  // clear test.txt file in SD card
  if (SD.exists(FILENAME)){
     SD.remove(FILENAME);
     Serial.println("file initialized!");
  }

  myfile = SD.open(FILENAME, FILE_WRITE);
  if (myfile)
  {
    myfile.println("the test file!");
    myfile.println("ax, ay, az, gx, gy, gz, temp");
    myfile.println("============================");
    myfile.close();
  }
  else
  {
    Serial.println("!!!Error opening test.txt!!!");
  }
}

void loop() {
  // If intPin goes high, all data registers have new data
  // On interrupt, check if data ready interrupt
  if (myIMU.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01)
  {
    myIMU.readAccelData(myIMU.accelCount);  // Read the x/y/z adc values

    // Now we'll calculate the accleration value into actual g's
    // This depends on scale being set
    myIMU.ax = (float)myIMU.accelCount[0] * myIMU.aRes; // - myIMU.accelBias[0];
    myIMU.ay = (float)myIMU.accelCount[1] * myIMU.aRes; // - myIMU.accelBias[1];
    myIMU.az = (float)myIMU.accelCount[2] * myIMU.aRes; // - myIMU.accelBias[2];

    myIMU.readGyroData(myIMU.gyroCount);  // Read the x/y/z adc values

    // Calculate the gyro value into actual degrees per second
    // This depends on scale being set
    myIMU.gx = (float)myIMU.gyroCount[0] * myIMU.gRes;
    myIMU.gy = (float)myIMU.gyroCount[1] * myIMU.gRes;
    myIMU.gz = (float)myIMU.gyroCount[2] * myIMU.gRes;
    // Read the adc values
    myIMU.tempCount = myIMU.readTempData();
    // Temperature in degrees Centigrade
    myIMU.temperature = ((float) myIMU.tempCount) / 333.87 + 21.0;
  }

  // Must be called before updating quaternions!
  myIMU.updateTime();

  myIMU.delt_t = millis() - myIMU.count;
  int rate=2000;
  if (myIMU.delt_t > rate)  // rateミリ秒毎に表示
  {
      // SD カードに記録
      myfile = SD.open(FILENAME, FILE_WRITE);
      if (myfile)
      {
        myfile.print(1000*myIMU.ax);
        myfile.print(1000*myIMU.ay);
        myfile.print(1000*myIMU.az);
        myfile.print(myIMU.gx, 3);
        myfile.print(myIMU.gy, 3);
        myfile.print(myIMU.gz, 3);
        myfile.print(myIMU.gz, 3);
        myfile.print(myIMU.temperature, 1);
        myfile.close();
      }
      else
      {
        Serial.println("!!!Error opening test.txt!!!");
      }
      // Debug mode = trueのとき、シリアルモニタに表示
      /* if(true) */
      /* { */
      /*   serial_output(); */
      /* } */
      myIMU.count = millis();
  }
}

SDcard_read.ino

#include <SPI.h>
#include <SD.h>

File myFile;
void setup() {
  Serial.begin(9600);
  // wait for serial port to connect. Needed for native USB port only
  while(!Serial){};

  Serial.print("Initializing SD card...");

  if (!SD.begin(4)) {
    Serial.println("initialization failed!");
    while (1);
  }
  Serial.println("initialization done.");

  myFile = SD.open("test.txt");
  if (myFile) {
    Serial.println("test.txt:");

    // read from the file until there's nothing else in it:
    while (myFile.available()) {
      Serial.write(myFile.read());
    }
    // close the file:
    myFile.close();
  } else {
    // if the file didn't open, print an error:
    Serial.println("error opening test.txt");
  }
}

void loop() {
  // nothing happens after setup
}

SDCard_SEEEDStudio.md

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