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arduino-cli/libraries/MPU6050_ESP8266/MPU6050_ESP8266.h

@@ -0,0 +1,46 @@
+#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