luat i2c驱动 mpu6050 获取数据

local i2cslaveaddr = 0x68 --mpu6050
local i2cid = 2
if i2c.setup(i2cid,i2c.SLOW) ~= i2c.SLOW then
    log.error("testI2c.init","fail")
    return
end
sys.taskInit(function ()
    i2c.send(i2cid,i2cslaveaddr,{0X6b,0x80})--复位
    sys.wait(100)
    i2c.send(i2cid,i2cslaveaddr,{0X6b,0x00})--唤醒
    sys.wait(100)
    i2c.send(i2cid,i2cslaveaddr,{0x1b,0x80})--陀螺仪传感器±2000dps
    i2c.send(i2cid,i2cslaveaddr,{0x1c,0x00})--加速度传感器±2g
    i2c.send(i2cid,i2cslaveaddr,{0x19,19})--采样率50hz
    i2c.send(i2cid,i2cslaveaddr,{0x38,0x00})--关闭所有中断
    i2c.send(i2cid,i2cslaveaddr,{0x6a,0x00})--I2C主模式关闭
    i2c.send(i2cid,i2cslaveaddr,{0x23,0x00})--关闭fifo
    i2c.send(i2cid,i2cslaveaddr,{0x37,0x80})--int引脚低电平有效
    i2c.send(i2cid,i2cslaveaddr,0x75)--读器件地址
    local revData = i2c.recv(i2cid,i2cslaveaddr,1)
    log.info("i2c read",revData:toHex())
    if revData:byte() == 0x68 then
        i2c.send(i2cid,i2cslaveaddr,{0x6b,0x01})--设置x轴的pll为参考
        i2c.send(i2cid,i2cslaveaddr,{0x6c,0x00})--加速度计与陀螺仪开启
    else
        log.info("i2c","address not right")
        return
    end
    --处理接收到的数据，变成正确数值
    function getTrueData(d)
        i2c.send(i2cid,i2cslaveaddr,d)--获取的地址
        local s = i2c.recv(i2cid,i2cslaveaddr,2)--获取2字节
        return s:byte()*256 + s:byte(2)
    end
    while true do
        sys.wait(50)
        local gx = getTrueData(0x43)/131
        local gy = getTrueData(0x44)/131
        local gz = getTrueData(0x45)/131
        log.info("mpu6050.Gyroscope",gx,gy,gz)
        local ax = getTrueData(0x3b)/16
        local ay = getTrueData(0x3c)/16
        local az = getTrueData(0x3d)/16
        log.info("mpu6050.Accelerometer",ax,ay,az)
    end
end)