imu example of adding magnetometer data

Author: TinyuZhao

examples/Basics/imu/imu.ino

@@ -3,11 +3,11 @@
  * @file imu.ino
  * @author SeanKwok ([email protected])
  * @brief M5AtomS3 IMU Test
- * @version 0.1
+ * @version 0.2
  * @date 2023-12-13
  *
  *
- * @Hardwares: M5AtomS3
+ * @Hardwares: M5AtomS3 / M5AtomS3R
  * @Platform Version: Arduino M5Stack Board Manager v2.0.9
  * @Dependent Library:
  * M5GFX: https://github.com/m5stack/M5GFX
@@ -17,16 +17,20 @@
 
 #include <M5Unified.h>
 
-void setup(void) {
-    auto cfg = M5.config();
+void setup(void)
+{
+    delay(2000);
+    auto cfg            = M5.config();
+    cfg.serial_baudrate = 115200;
     M5.begin(cfg);
 }
 
-void loop(void) {
+void loop(void)
+{
     auto imu_update = M5.Imu.update();
     if (imu_update) {
         M5.Lcd.setCursor(0, 40);
-        M5.Lcd.clear();  // Delay 100ms 延迟100ms
+        M5.Lcd.fillRect(0, 40, M5.Lcd.width(), 40, BLACK);
 
         auto data = M5.Imu.getImuData();
 
@@ -41,19 +45,25 @@ void loop(void) {
         data.gyro.z;      // gyro z-axis value.
         data.gyro.value;  // gyro 3values array [0]=x / [1]=y / [2]=z.
 
+        if (M5.getBoard() == m5::board_t::board_M5AtomS3R) {
+            data.mag.x;      // mag x-axis value.
+            data.mag.y;      // mag y-axis value.
+            data.mag.z;      // mag z-axis value.
+            data.mag.value;  // mag 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);
+        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);
+        Serial.printf("mx:%f  my:%f  mz:%f\r\n", data.mag.x, data.mag.y, data.mag.z);
 
         M5.Lcd.printf("IMU:\r\n");
-        M5.Lcd.printf("%0.2f %0.2f %0.2f\r\n", data.accel.x, data.accel.y,
-                      data.accel.z);
-        M5.Lcd.printf("%0.2f %0.2f %0.2f\r\n", data.gyro.x, data.gyro.y,
-                      data.gyro.z);
+        M5.Lcd.printf("%0.2f %0.2f %0.2f\r\n", data.accel.x, data.accel.y, data.accel.z);
+        M5.Lcd.printf("%0.2f %0.2f %0.2f\r\n", data.gyro.x, data.gyro.y, data.gyro.z);
+        M5.Lcd.printf("%0.2f %0.2f %0.2f\r\n", data.mag.x, data.mag.y, data.mag.z);
     }
+
     delay(100);
 }