ESP32 vs code 使用esp32-MPU-driver

1、在项目文件夹中新建文件夹  components

 2、进入该文件夹 打开终端输入

sudo git clone https://github.com/natanaeljr/esp32-I2Cbus.git I2Cbus

sudo git clone https://github.com/natanaeljr/esp32-MPU-driver.git MPUdriver

sudo chmod -R 777 *

3、在vs code 终端中输入

idf.py menuconfig

 

输入 S 保存配置

4、修改 main.c 文件名为main.cpp，在文件中 main函数前增加   extern "C"

 5、根据模板例子填入代码

#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>

#include "driver/gpio.h"
#include "driver/i2c.h"
#include "esp_err.h"
#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/portmacro.h"
#include "freertos/task.h"
#include "sdkconfig.h"

#include "I2Cbus.hpp"
#include "MPU.hpp"
#include "mpu/math.hpp"
#include "mpu/types.hpp"

static const char *TAG = "example";

static constexpr gpio_num_t SDA = GPIO_NUM_20;
static constexpr gpio_num_t SCL = GPIO_NUM_21;
static constexpr uint32_t CLOCK_SPEED = 400000;
extern "C" void app_main(void)
{
    fflush(stdout);
    i2c0.begin(SDA, SCL, CLOCK_SPEED);
    MPU_t MPU;        // create a default MPU object
    MPU.setBus(i2c0); // set bus port, not really needed since default is i2c0
    MPU.setAddr(mpud::MPU_I2CADDRESS_AD0_LOW);
    while (esp_err_t err = MPU.testConnection())
    {
        ESP_LOGE(TAG, "Failed to connect to the MPU, error=%#X", err);
        vTaskDelay(1000 / portTICK_PERIOD_MS);
    }
    ESP_LOGI(TAG, "MPU connection successful!");
    ESP_ERROR_CHECK(MPU.initialize());
    printf("Reading sensor data:\n");
    mpud::raw_axes_t accelRaw;
    mpud::raw_axes_t gyroRaw;
    mpud::float_axes_t accelG;
    mpud::float_axes_t gyroDPS;
    while (true)
    {

        MPU.acceleration(&accelRaw);
        MPU.rotation(&gyroRaw);

        accelG = mpud::accelGravity(accelRaw, mpud::ACCEL_FS_4G);
        gyroDPS = mpud::gyroDegPerSec(gyroRaw, mpud::GYRO_FS_500DPS);

        printf("accel: [%+6.2f %+6.2f %+6.2f ] (G) \t", accelG.x, accelG.y, accelG.z);
        printf("gyro: [%+7.2f %+7.2f %+7.2f ] (º/s)\n", gyroDPS[0], gyroDPS[1], gyroDPS[2]);
        vTaskDelay(100 / portTICK_PERIOD_MS);
    }
}

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