MPU6050获取数据实例

实例代码

/* Interrupt Example

   This example code is in the Public Domain (or CC0 licensed, at your option.)

   Unless required by applicable law or agreed to in writing, this
   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
   CONDITIONS OF ANY KIND, either express or implied.
*/
#include <string.h>
#include <stdio.h>
#include "driver/gpio.h"
#include "driver/uart.h"
#include "freertos/FreeRTOS.h"
#include "mpu6050.h"


#define LED_RED GPIO_NUM_5

#define BTN_RED GPIO_NUM_13

#define DELAY_TIME 200

#define I2C_MASTER_SCL_IO 22      /*!< gpio number for I2C master clock */
#define I2C_MASTER_SDA_IO 21      /*!< gpio number for I2C master data  */
#define I2C_MASTER_NUM I2C_NUM_0  /*!< I2C port number for master dev */
#define I2C_MASTER_FREQ_HZ 100000 /*!< I2C master clock frequency */

volatile bool button_pressed = false;
static mpu6050_handle_t mpu6050 = NULL;

// 首先初始化i2c总线
static void i2c_bus_init(void)
{
    i2c_config_t conf;
    conf.mode = I2C_MODE_MASTER;
    conf.sda_io_num = (gpio_num_t)I2C_MASTER_SDA_IO;
    conf.sda_pullup_en = GPIO_PULLUP_ENABLE;
    conf.scl_io_num = (gpio_num_t)I2C_MASTER_SCL_IO;
    conf.scl_pullup_en = GPIO_PULLUP_ENABLE;
    conf.master.clk_speed = I2C_MASTER_FREQ_HZ;
    conf.clk_flags = I2C_SCLK_SRC_FLAG_FOR_NOMAL;

    esp_err_t ret = i2c_param_config(I2C_MASTER_NUM, &conf);
    ret = i2c_driver_install(I2C_MASTER_NUM, conf.mode, 0, 0, 0);
}

/**
 * @brief i2c master initialization
 */
static void i2c_sensor_mpu6050_init(void)
{
    esp_err_t ret;

    i2c_bus_init();
    mpu6050 = mpu6050_create(I2C_MASTER_NUM, MPU6050_I2C_ADDRESS);

    ret = mpu6050_config(mpu6050, ACCE_FS_4G, GYRO_FS_500DPS);
    ret = mpu6050_wake_up(mpu6050);
}

static void gpio_isr_handler(void* arg)
{
    button_pressed = true;
}

void button_config()
{
    gpio_install_isr_service(0);
    printf("configuring button\n");
    gpio_reset_pin(BTN_RED);
    gpio_set_direction(BTN_RED, GPIO_MODE_INPUT);
    gpio_pullup_en(BTN_RED);
    gpio_set_intr_type(BTN_RED, GPIO_INTR_POSEDGE);
    gpio_isr_handler_add(BTN_RED, gpio_isr_handler, NULL);
    printf("config complete\n");
}

void led_config()
{
    gpio_reset_pin(LED_RED);
    gpio_set_direction(LED_RED, GPIO_MODE_OUTPUT);
}

void show_mpu6050_data()
{
    esp_err_t ret;
    uint8_t mpu6050_deviceid;
    mpu6050_acce_value_t acce;
    mpu6050_gyro_value_t gyro;
    mpu6050_temp_value_t temp;

    i2c_sensor_mpu6050_init();

    ret = mpu6050_get_deviceid(mpu6050, &mpu6050_deviceid);
    printf("Get device id   : %d\n", mpu6050_deviceid);

    ret = mpu6050_get_acce(mpu6050, &acce);
    printf("acce_x:%.2f, acce_y:%.2f, acce_z:%.2f\n", acce.acce_x, acce.acce_y, acce.acce_z);

    ret = mpu6050_get_gyro(mpu6050, &gyro);
    printf("gyro_x:%.2f, gyro_y:%.2f, gyro_z:%.2f\n", gyro.gyro_x, gyro.gyro_y, gyro.gyro_z);

    ret = mpu6050_get_temp(mpu6050, &temp);

    printf("t:%.2f \n", temp.temp);

    mpu6050_delete(mpu6050);
    ret = i2c_driver_delete(I2C_MASTER_NUM);
}

void app_main()
{   
    uint8_t led_value = 0;

    button_config();
    led_config();

    while (1) {
        show_mpu6050_data();

        if (button_pressed) {
            printf("*\n");
            button_pressed = false;
            led_value = !led_value;
            gpio_set_level(LED_RED, led_value);
        }
        vTaskDelay(DELAY_TIME / portTICK_PERIOD_MS);
    }
}