First upload

Basic port complete - ESP32 specific features coming soon

twang_mpu.h

@@ -0,0 +1,44 @@
+// A very simple implementation of the MPU-6050 limited to the 
+// TWANG requirements
+// I reused the function names to make it compatible
+// B. Dring 2/2018
+
+class Twang_MPU
+{
+
+  public:
+	  void initialize();
+	  void getMotion6(int16_t* xAccel, int16_t* yAccel, int16_t* zAccel, int16_t* xGyro, int16_t* yGyro, int16_t* zGyro);
+
+  private:
+	  static const uint8_t MPU_ADDR = 0x68;
+	  static const uint8_t PWR_MGMT_1 = 0x6B;
+	  static const uint8_t MPU_DATA_REG_START = 0x3B;
+	  static const uint8_t MPU_DATA_LEN = 14;	
+};
+
+void Twang_MPU::initialize()
+{
+	Wire.beginTransmission(MPU_ADDR);
+	Wire.write(PWR_MGMT_1);  // PWR_MGMT_1 register
+	Wire.write(0);     // set to zero (wakes up the MPU-6050)
+	Wire.endTransmission(true);
+}
+
+
+void Twang_MPU::getMotion6(int16_t* xAccel, int16_t* yAccel, int16_t* zAccel, int16_t* xGyro, int16_t* yGyro, int16_t* zGyro)
+{
+	
+	Wire.beginTransmission(MPU_ADDR);
+	Wire.write(MPU_DATA_REG_START);  // starting with register 0x3B (ACCEL_XOUT_H)
+	Wire.endTransmission(false);
+	Wire.requestFrom(MPU_ADDR,MPU_DATA_LEN,true);  // read the whole MPU data section
+	*xAccel=Wire.read()<<8|Wire.read();  // x Accel    
+	*yAccel=Wire.read()<<8|Wire.read();  // y Accel
+	*zAccel=Wire.read()<<8|Wire.read();  // z Accel
+	Wire.read(); Wire.read();  // Temperature..not used, but need to read it
+	*xGyro=Wire.read()<<8|Wire.read();  // x Gyro
+	*yGyro=Wire.read()<<8|Wire.read();  // y Gyro
+	*zGyro=Wire.read()<<8|Wire.read();  // z Gyro
+}
+