INTEGRATION¶

Introduction¶

Note

In this section, we introduce how to integrate the mpu6050 driver into the project.

Create a New Component¶

Warning

Before you create a component in the driver directory, make sure you have incorporated the driver directory into the project by adding the path to the driver directory to the EXTRA_COMPONENT_DIRS variable in the project-level CMakeLists.txt file.

Open the project in VSCode, open the integrated terminal, and type in

get_idf

to actiate the ESP-IDF environment. Then type in the following command to create a new component named mpu6050:

idf.py -C driver create-component mpu6050

The command above means to create a new component named mpu6050 in the driver directory. After executing the command, you will see a new directory named mpu6050 in the driver directory. And the command will automatically generate the CMakeLists.txt file for the new component, as well as the mpu6050.h and mpu6050.c files.

Alternatively, you can mannually create the mpu6050 directory in the driver directory, and then create the CMakeLists.txt, mpu6050.h, and mpu6050.c files in the mpu6050 directory.

Replace the Code¶

Component Level

Replace the code in this section into the CMakelists.txt, mpu6050.h, and mpu6050.c files under the component.

Project Level

Replace the code in main.c with the corresponding code. No need to change the CMakeLists.txt file at the project level.

Compile and Flash the Project¶

Open the project in VSCode, open the integrated terminal, and type in

idf.py build flash monitor

Then you can see the corresponding component output information.