From ad36a04f40cd9d10379362280d54be5fb4c34add Mon Sep 17 00:00:00 2001
From: Luthics <luthics@foxmail.com>
Date: Sat, 17 Dec 2022 20:46:19 +0800
Subject: [PATCH] mpu update

---
 platformio.ini |  1 +
 src/mpu.cpp    | 45 +++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 46 insertions(+)

diff --git a/platformio.ini b/platformio.ini
index 8e3d90a..23e8be4 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -18,4 +18,5 @@ lib_deps =
 	ottowinter/ESPAsyncWebServer-esphome@^3.0.0
 	teckel12/NewPing@^1.9.5
 	gitlab-airbornemint/Protothreads@^1.4.0-arduino.beta.1
+	adafruit/Adafruit MPU6050@^2.2.4
 monitor_speed = 115200
diff --git a/src/mpu.cpp b/src/mpu.cpp
index e69de29..3bcfc97 100644
--- a/src/mpu.cpp
+++ b/src/mpu.cpp
@@ -0,0 +1,45 @@
+#include <Adafruit_MPU6050.h>
+#include <Adafruit_Sensor.h>
+#include <Wire.h>
+#include <mpu.h>
+
+Adafruit_MPU6050 mpu;
+
+void mpu_init() {
+  if (!mpu.begin()) {
+    while (1) {
+      delay(10);
+    }
+  }
+  mpu.setHighPassFilter(MPU6050_HIGHPASS_0_63_HZ);
+  mpu.setMotionDetectionThreshold(1);
+  mpu.setMotionDetectionDuration(20);
+  mpu.setInterruptPinLatch(true);
+  mpu.setInterruptPinPolarity(true);
+  mpu.setMotionInterrupt(true);
+}
+
+void mpu_loop() {
+  if (mpu.getMotionInterruptStatus()) {
+    sensors_event_t a, g, temp;
+    mpu.getEvent(&a, &g, &temp);
+    Serial.print("AccelX:");
+    Serial.print(a.acceleration.x);
+    Serial.print(",");
+    Serial.print("AccelY:");
+    Serial.print(a.acceleration.y);
+    Serial.print(",");
+    Serial.print("AccelZ:");
+    Serial.print(a.acceleration.z);
+    Serial.print(", ");
+    Serial.print("GyroX:");
+    Serial.print(g.gyro.x);
+    Serial.print(",");
+    Serial.print("GyroY:");
+    Serial.print(g.gyro.y);
+    Serial.print(",");
+    Serial.print("GyroZ:");
+    Serial.print(g.gyro.z);
+    Serial.println("");
+  }
+}
\ No newline at end of file