mpu6xxx - mpu6xxx Six-axis/nine-axis sensor support mpu6500,mpu6050,mpu9250,icm2068g,icm20608d

Adaptation status unknown

Note

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Example

--Support mpu6500,mpu6050,mpu9250,icm2068g,icm20608d, automatic determination of device id, only need to configure i2c id
--Note: due to the use of sys.wait() all apis need to be used in the coroutine
-- Usage Examples
local mpu6xxx = require "mpu6xxx"
i2cid = 0
i2c_speed = i2c.FAST
sys.taskInit(function()
    i2c.setup(i2cid,i2c_speed)
    mpu6xxx.init(i2cid)--initialization, passing in i2c_id
    while 1 do
        sys.wait(100)
        local temp = mpu6xxx.get_temp()--Get Temperature
        log.info("6050temp", temp)
        local accel = mpu6xxx.get_accel()--Get Acceleration
        log.info("6050accel", "accel.x",accel.x,"accel.y",accel.y,"accel.z",accel.z)
        local gyro = mpu6xxx.get_gyro()--Get Gyroscope
        log.info("6050gyro", "gyro.x",gyro.x,"gyro.y",gyro.y,"gyro.z",gyro.z)
    end
end)

mpu6xxx.init(i2c_id)

mpu6xxx Initialization

Parameters

Incoming Value Type	Explanation
number	The i2c bus id

Return Value

return value type	explanation
bool	Successful return true

Examples

mpu6xxx.init(0)

---

mpu6xxx.get_temp()

Obtaining Temperature Data

Parameters

None

Return Value

return value type	explanation
number	Temperature data

Examples

local temp = mpu6xxx.get_temp()--Get Temperature
log.info("6050temp", temp)

---

mpu6xxx.get_accel()

Get accelerometer data, unit: mg

Parameters

None

Return Value

return value type	explanation
table	Acceleration data

Examples

local accel = mpu6xxx.get_accel()--Get Acceleration
log.info("6050accel", "accel.x",accel.x,"accel.y",accel.y,"accel.z",accel.z)

---

mpu6xxx.get_gyro()

Get the data of the gyroscope, unit: deg / 10s

Parameters

None

Return Value

return value type	explanation
table	Gyroscope data

Examples

local gyro = mpu6xxx.get_gyro()--Get Gyroscope
log.info("6050gyro", "gyro.x",gyro.x,"gyro.y",gyro.y,"gyro.z",gyro.z)

---