初始化提交

arduino-cli/libraries/MPU6050_ESP8266/MPU6050_ESP8266.cpp

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+#include "MPU6050_ESP8266.h"
+
+MPU6050_ESP8266::MPU6050_ESP8266(){
+  Wire.begin();
+}
+
+void MPU6050_ESP8266::I2C_Write(uint8_t regAddress, uint8_t data){
+  Wire.beginTransmission(MPU6050SlaveAddress);
+  Wire.write(regAddress);
+  Wire.write(data);
+  Wire.endTransmission();
+}
+
+//初始化 MPU6050
+void MPU6050_ESP8266::begin(){
+  I2C_Write(MPU6050_REGISTER_SMPLRT_DIV, 0x07);
+  I2C_Write(MPU6050_REGISTER_PWR_MGMT_1, 0x01);
+  I2C_Write(MPU6050_REGISTER_PWR_MGMT_2, 0x00);
+  I2C_Write(MPU6050_REGISTER_CONFIG, 0x00);
+  I2C_Write(MPU6050_REGISTER_GYRO_CONFIG, 0x00);//set +/-250 degree/second full scale
+  I2C_Write(MPU6050_REGISTER_ACCEL_CONFIG, 0x00);// set +/- 2g full scale
+  I2C_Write(MPU6050_REGISTER_FIFO_EN, 0x00);
+  I2C_Write(MPU6050_REGISTER_INT_ENABLE, 0x01);
+  I2C_Write(MPU6050_REGISTER_SIGNAL_PATH_RESET, 0x00);
+  I2C_Write(MPU6050_REGISTER_USER_CTRL, 0x00);
+}
+
+// 更新数据
+void MPU6050_ESP8266::update(){
+  Wire.beginTransmission(MPU6050SlaveAddress);
+  Wire.write(MPU6050_REGISTER_ACCEL_XOUT_H);
+  Wire.endTransmission();
+  Wire.requestFrom(MPU6050SlaveAddress, (uint8_t)14);
+
+  int16_t AccelX, AccelY, AccelZ, Temperature, GyroX, GyroY, GyroZ;
+
+  AccelX = (((int16_t)Wire.read()<<8) | Wire.read());
+  AccelY = (((int16_t)Wire.read()<<8) | Wire.read());
+  AccelZ = (((int16_t)Wire.read()<<8) | Wire.read());
+  Temperature = (((int16_t)Wire.read()<<8) | Wire.read());
+  GyroX = (((int16_t)Wire.read()<<8) | Wire.read());
+  GyroY = (((int16_t)Wire.read()<<8) | Wire.read());
+  GyroZ = (((int16_t)Wire.read()<<8) | Wire.read());
+
+  angleAccX = (double)AccelX/AccelScaleFactor*100;
+  angleAccY = (double)AccelY/AccelScaleFactor*100;
+  angleZ = (double)AccelZ/AccelScaleFactor*100;
+  temp = (double)Temperature/340+36.53; //温度公式
+  accX = (double)GyroX/GyroScaleFactor;
+  accY = (double)GyroY/GyroScaleFactor;
+  accZ = (double)GyroZ/GyroScaleFactor;
+}
+
+
+
+
+

arduino-cli/libraries/MPU6050_ESP8266/MPU6050_ESP8266.h

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+#ifndef MPU6050_ESP8266_H
+#define MPU6050_ESP8266_H
+
+#include "Arduino.h"
+#include <Wire.h>
+
+
+// MPU6050 配置寄存器地址
+#define  MPU6050_REGISTER_SMPLRT_DIV     0x19
+#define  MPU6050_REGISTER_USER_CTRL      0x6A
+#define  MPU6050_REGISTER_PWR_MGMT_1     0x6B
+#define  MPU6050_REGISTER_PWR_MGMT_2     0x6C
+#define  MPU6050_REGISTER_CONFIG         0x1A
+#define  MPU6050_REGISTER_GYRO_CONFIG    0x1B
+#define  MPU6050_REGISTER_ACCEL_CONFIG   0x1C
+#define  MPU6050_REGISTER_FIFO_EN        0x23
+#define  MPU6050_REGISTER_INT_ENABLE     0x38
+#define  MPU6050_REGISTER_ACCEL_XOUT_H   0x3B
+#define  MPU6050_REGISTER_SIGNAL_PATH_RESET   0x68
+
+// 数据表中提供的灵敏度比例系数分别为满刻度设置
+#define  AccelScaleFactor	16384
+#define  GyroScaleFactor	131
+#define  MPU6050SlaveAddress   0x68
+
+class MPU6050_ESP8266{
+  public:
+  	MPU6050_ESP8266();
+  	float getTemp(){ return temp; };
+    float getAccX(){ return accX; };
+    float getAccY(){ return accY; };
+    float getAccZ(){ return accZ; };
+    float getAccAngleX(){ return angleAccX; };
+    float getAccAngleY(){ return angleAccY; };
+    float getAngleZ(){ return angleZ; };
+
+  	void begin();
+  	void I2C_Write(uint8_t regAddress, uint8_t data);
+  	void update();
+
+  private:
+  	float temp, accX, accY, accZ, angleAccX, angleAccY, angleZ;
+
+ };
+
+#endif