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This commit is contained in:
Otto Winter
2019-05-08 09:58:03 +02:00
parent c3d4ef284d
commit 521c080989
41 changed files with 396 additions and 148 deletions
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esphome/components/mpu6050/mpu6050.cpp
+4 -3
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@@ -99,17 +99,18 @@ void MPU6050Component::dump_config() {
void MPU6050Component::update() {
ESP_LOGV(TAG, " Updating MPU6050...");
uint16_t data[7];
if (!this->read_bytes_16(MPU6050_REGISTER_ACCEL_XOUT_H, data, 7)) {
uint16_t raw_data[7];
if (!this->read_bytes_16(MPU6050_REGISTER_ACCEL_XOUT_H, raw_data, 7)) {
this->status_set_warning();
return;
}
auto *data = reinterpret_cast<int16_t *>(raw_data);
float accel_x = data[0] * MPU6050_RANGE_PER_DIGIT_2G * GRAVITY_EARTH;
float accel_y = data[1] * MPU6050_RANGE_PER_DIGIT_2G * GRAVITY_EARTH;
float accel_z = data[2] * MPU6050_RANGE_PER_DIGIT_2G * GRAVITY_EARTH;
float temperature = data[3] / 340.0f + 36.53f;
float temperature = raw_data[3] / 340.0f + 36.53f;
float gyro_x = data[4] * MPU6050_SCALE_DPS_PER_DIGIT_2000;
float gyro_y = data[5] * MPU6050_SCALE_DPS_PER_DIGIT_2000;