feat: 全量同步 254 个常用的 Arduino 扩展库文件

arduino-libs/arduino-cli/libraries/MPU6050_tockn/src/MPU6050_tockn.h

@@ -0,0 +1,92 @@
+#ifndef MPU6050_TOCKN_H
+#define MPU6050_TOCKN_H
+
+#include "Arduino.h"
+#include "Wire.h"
+
+#define MPU6050_ADDR         0x68
+#define MPU6050_SMPLRT_DIV   0x19
+#define MPU6050_CONFIG       0x1a
+#define MPU6050_GYRO_CONFIG  0x1b
+#define MPU6050_ACCEL_CONFIG 0x1c
+#define MPU6050_WHO_AM_I     0x75
+#define MPU6050_PWR_MGMT_1   0x6b
+#define MPU6050_TEMP_H       0x41
+#define MPU6050_TEMP_L       0x42
+
+class MPU6050{
+  public:
+
+  MPU6050(TwoWire &w);
+  MPU6050(TwoWire &w, float aC, float gC);
+
+  void begin();
+
+  void setGyroOffsets(float x, float y, float z);
+
+  void writeMPU6050(byte reg, byte data);
+  byte readMPU6050(byte reg);
+
+  int16_t getRawAccX(){ return rawAccX; };
+  int16_t getRawAccY(){ return rawAccY; };
+  int16_t getRawAccZ(){ return rawAccZ; };
+
+  int16_t getRawTemp(){ return rawTemp; };
+
+  int16_t getRawGyroX(){ return rawGyroX; };
+  int16_t getRawGyroY(){ return rawGyroY; };
+  int16_t getRawGyroZ(){ return rawGyroZ; };
+
+  float getTemp(){ return temp; };
+
+  float getAccX(){ return accX; };
+  float getAccY(){ return accY; };
+  float getAccZ(){ return accZ; };
+
+  float getGyroX(){ return gyroX; };
+  float getGyroY(){ return gyroY; };
+  float getGyroZ(){ return gyroZ; };
+
+	void calcGyroOffsets(bool console = false, uint16_t delayBefore = 1000, uint16_t delayAfter = 3000);
+
+  float getGyroXoffset(){ return gyroXoffset; };
+  float getGyroYoffset(){ return gyroYoffset; };
+  float getGyroZoffset(){ return gyroZoffset; };
+
+  void update();
+
+  float getAccAngleX(){ return angleAccX; };
+  float getAccAngleY(){ return angleAccY; };
+
+  float getGyroAngleX(){ return angleGyroX; };
+  float getGyroAngleY(){ return angleGyroY; };
+  float getGyroAngleZ(){ return angleGyroZ; };
+
+  float getAngleX(){ return angleX; };
+  float getAngleY(){ return angleY; };
+  float getAngleZ(){ return angleZ; };
+  void resetAngle(){angleGyroX=0;angleGyroY=0;angleGyroZ=0;}
+
+  private:
+
+  TwoWire *wire;
+
+  int16_t rawAccX, rawAccY, rawAccZ, rawTemp,
+  rawGyroX, rawGyroY, rawGyroZ;
+
+  float gyroXoffset, gyroYoffset, gyroZoffset;
+
+  float temp, accX, accY, accZ, gyroX, gyroY, gyroZ;
+
+  float angleGyroX, angleGyroY, angleGyroZ,
+  angleAccX, angleAccY, angleAccZ;
+
+  float angleX, angleY, angleZ;
+
+  float interval;
+  long preInterval;
+
+  float accCoef, gyroCoef;
+};
+
+#endif