satakagi/i2c-MPU6050.js

## i2c-MPU6050.js
// MPU-6050 Driver for CHIRIMEN WebI2C
// based on http://www.widesnow.com/entry/2015/09/10/061128
// https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf
// by Satoru Takagi

var MPU6050 = function(i2cPort,slaveAddress){
  this.i2cPort = i2cPort;
  this.i2cSlave = null;
  if ( slaveAddress ){
    this.slaveAddress = slaveAddress;
  } else {
    this.slaveAddress =  0x68;
  }
};

MPU6050.prototype = {
  init: function(){
    return new Promise((resolve, reject)=>{
      this.i2cPort.open(this.slaveAddress).then(async (i2cSlave)=>{
        this.i2cSlave = i2cSlave;
//        console.log("init ok:"+this.i2cSlave);
        await this.i2cSlave.write8(0x6b,0x00);
        console.log("init ok:"+this.i2cSlave);
        resolve();
      },(err)=>{
        reject(err);
      });
    });
  },
  readTemp: function(){
    return new Promise(async (resolve, reject)=>{
      if(this.i2cSlave == null){
        reject("i2cSlave Address does'nt yet open!");
      }else{
         var ans = await this.i2cSlave.read16(0x41);
            console.log(ans);
//         var data = ((MSB << 8) + LSB)/128.0;
        var temp = ans / 340 + 36.53;
         resolve(temp);
      }
    });
  },
  readAll: function(){
    return new Promise(async (resolve, reject)=>{
      if(this.i2cSlave == null){
        reject("i2cSlave Address does'nt yet open!");
      }else{
         var ans = await this.i2cSlave.read16(0x41);
        console.log("tmpW:",ans);
        var temp = this.getVal(ans) / 340 + 36.53;
         ans = await this.i2cSlave.read16(0x43);
        var rx = this.getVal(ans) / 131;
         ans = await this.i2cSlave.read16(0x45);
        var ry = this.getVal(ans) / 131;
         ans = await this.i2cSlave.read16(0x47);
        var rz = this.getVal(ans) / 131;
         ans = await this.i2cSlave.read16(0x3b);
        var gx = this.getVal(ans) / 16384;
         ans = await this.i2cSlave.read16(0x3d);
        var gy = this.getVal(ans) / 16384;
         ans = await this.i2cSlave.read16(0x3f);
        var gz = this.getVal(ans) / 16384;
//        console.log("t:",temp,"  rxyz:",rz,ry,rz,"  gxyz:",gx,gy,gz);
           resolve({
             temperature: temp,
             gx: gx,
             gy: gy,
             gz: gz,
             rx: rx,
             ry: ry,
             rz: rz
           });
      }
    });
  },
  wake: function(){
    return new Promise(async (resolve, reject)=>{
      if(this.i2cSlave == null){
        reject("i2cSlave Address does'nt yet open!");
      }else{
        await this.i2cSlave.write8(0x6b,0x00);
         resolve();
      }
    });
  },
  reset: function(){ // deep sleep?
    return new Promise(async (resolve, reject)=>{
      if(this.i2cSlave == null){
        reject("i2cSlave Address does'nt yet open!");
      }else{
        await this.i2cSlave.write8(0x6b,0x80);
         resolve();
      }
    });
  },
  getVal: function( w ){

    var l = w >>> 8;
    var b = w & 0xff;
    var v = l + ( b << 8 );
//    console.log("Val:",w.toString(16),b.toString(16),l.toString(16),v.toString(16),b,l,v);
    if ( v >= 0x8000 ){
      return ( - ((65535 - v ) + 1 ) );
    } else {
      return(v);
    }
  }
};

## index.html
<!doctype html>
<html>

<head>
  <meta charset="UTF-8" />
  <meta name="viewport" content="width=device-width, user-scalable=no, initial-scale=1">
  <title>i2c-DHT12</title>
  <script src="../../polyfill/polyfill.js"></script>
  <script src="../../driversD/i2c-MPU6050.js"></script>
  <script src="./mainMpu.js"></script>
  <style>
    table,p {
      color: blue;
      text-align: center;
      font-size: 24px;
    }

    img {
      display: block;
      margin-left: auto;
      margin-right: auto;
    }
  </style>
</head>

<body>
  <p id="head">MPU-6050</p>
  <table>
  <tr><td>temp</td><td id="temp"></td></tr>
  <tr><td>Gx</td><td id="gx"></td></tr>
  <tr><td>Gy</td><td id="gy"></td></tr>
  <tr><td>Gz</td><td id="gz"></td></tr>
  <tr><td>Rx</td><td id="rx"></td></tr>
  <tr><td>Ry</td><td id="ry"></td></tr>
  <tr><td>Rz</td><td id="rz"></td></tr>
  </table>
</body>

</html>

## mainMpu.js
"use strict";

var head;
window.addEventListener(
  "load",
  function() {
    head = document.querySelector("#head");
    mainFunction();
  },
  false
);

async function mainFunction() {
  try {
    var i2cAccess = await navigator.requestI2CAccess();
    var port = i2cAccess.ports.get(1);
    var mpu6050 = new MPU6050(port, 0x68);
    await mpu6050.init();
    while (1) {
      var val = await mpu6050.readAll();
      // console.log('value:', value);
    	temp.innerHTML=val.temperature;
    	gx.innerHTML=val.gx;
    	gy.innerHTML=val.gy;
    	gz.innerHTML=val.gz;
    	rx.innerHTML=val.rx;
    	ry.innerHTML=val.ry;
    	rz.innerHTML=val.rz;
      await sleep(1000);
    }
  } catch (error) {
    console.error("error", error);
  }
}

function sleep(ms) {
  return new Promise(function(resolve) {
    setTimeout(resolve, ms);
  });
}
	// MPU-6050 Driver for CHIRIMEN WebI2C
	// based on http://www.widesnow.com/entry/2015/09/10/061128
	// https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf
	// by Satoru Takagi

	var MPU6050 = function(i2cPort,slaveAddress){
	this.i2cPort = i2cPort;
	this.i2cSlave = null;
	if ( slaveAddress ){
	this.slaveAddress = slaveAddress;
	} else {
	this.slaveAddress = 0x68;
	}
	};

	MPU6050.prototype = {
	init: function(){
	return new Promise((resolve, reject)=>{
	this.i2cPort.open(this.slaveAddress).then(async (i2cSlave)=>{
	this.i2cSlave = i2cSlave;
	// console.log("init ok:"+this.i2cSlave);
	await this.i2cSlave.write8(0x6b,0x00);
	console.log("init ok:"+this.i2cSlave);
	resolve();
	},(err)=>{
	reject(err);
	});
	});
	},
	readTemp: function(){
	return new Promise(async (resolve, reject)=>{
	if(this.i2cSlave == null){
	reject("i2cSlave Address does'nt yet open!");
	}else{
	var ans = await this.i2cSlave.read16(0x41);
	console.log(ans);
	// var data = ((MSB << 8) + LSB)/128.0;
	var temp = ans / 340 + 36.53;
	resolve(temp);
	}
	});
	},
	readAll: function(){
	return new Promise(async (resolve, reject)=>{
	if(this.i2cSlave == null){
	reject("i2cSlave Address does'nt yet open!");
	}else{
	var ans = await this.i2cSlave.read16(0x41);
	console.log("tmpW:",ans);
	var temp = this.getVal(ans) / 340 + 36.53;
	ans = await this.i2cSlave.read16(0x43);
	var rx = this.getVal(ans) / 131;
	ans = await this.i2cSlave.read16(0x45);
	var ry = this.getVal(ans) / 131;
	ans = await this.i2cSlave.read16(0x47);
	var rz = this.getVal(ans) / 131;
	ans = await this.i2cSlave.read16(0x3b);
	var gx = this.getVal(ans) / 16384;
	ans = await this.i2cSlave.read16(0x3d);
	var gy = this.getVal(ans) / 16384;
	ans = await this.i2cSlave.read16(0x3f);
	var gz = this.getVal(ans) / 16384;
	// console.log("t:",temp," rxyz:",rz,ry,rz," gxyz:",gx,gy,gz);
	resolve({
	temperature: temp,
	gx: gx,
	gy: gy,
	gz: gz,
	rx: rx,
	ry: ry,
	rz: rz
	});
	}
	});
	},
	wake: function(){
	return new Promise(async (resolve, reject)=>{
	if(this.i2cSlave == null){
	reject("i2cSlave Address does'nt yet open!");
	}else{
	await this.i2cSlave.write8(0x6b,0x00);
	resolve();
	}
	});
	},
	reset: function(){ // deep sleep?
	return new Promise(async (resolve, reject)=>{
	if(this.i2cSlave == null){
	reject("i2cSlave Address does'nt yet open!");
	}else{
	await this.i2cSlave.write8(0x6b,0x80);
	resolve();
	}
	});
	},
	getVal: function( w ){

	var l = w >>> 8;
	var b = w & 0xff;
	var v = l + ( b << 8 );
	// console.log("Val:",w.toString(16),b.toString(16),l.toString(16),v.toString(16),b,l,v);
	if ( v >= 0x8000 ){
	return ( - ((65535 - v ) + 1 ) );
	} else {
	return(v);
	}
	}
	};
	<!doctype html>
	<html>

	<head>
	<meta charset="UTF-8" />
	<meta name="viewport" content="width=device-width, user-scalable=no, initial-scale=1">
	<title>i2c-DHT12</title>
	<script src="../../polyfill/polyfill.js"></script>
	<script src="../../driversD/i2c-MPU6050.js"></script>
	<script src="./mainMpu.js"></script>
	<style>
	table,p {
	color: blue;
	text-align: center;
	font-size: 24px;
	}

	img {
	display: block;
	margin-left: auto;
	margin-right: auto;
	}
	</style>
	</head>

	<body>
	<p id="head">MPU-6050</p>
	<table>
	<tr><td>temp</td><td id="temp"></td></tr>
	<tr><td>Gx</td><td id="gx"></td></tr>
	<tr><td>Gy</td><td id="gy"></td></tr>
	<tr><td>Gz</td><td id="gz"></td></tr>
	<tr><td>Rx</td><td id="rx"></td></tr>
	<tr><td>Ry</td><td id="ry"></td></tr>
	<tr><td>Rz</td><td id="rz"></td></tr>
	</table>
	</body>

	</html>
	"use strict";

	var head;
	window.addEventListener(
	"load",
	function() {
	head = document.querySelector("#head");
	mainFunction();
	},
	false
	);

	async function mainFunction() {
	try {
	var i2cAccess = await navigator.requestI2CAccess();
	var port = i2cAccess.ports.get(1);
	var mpu6050 = new MPU6050(port, 0x68);
	await mpu6050.init();
	while (1) {
	var val = await mpu6050.readAll();
	// console.log('value:', value);
	temp.innerHTML=val.temperature;
	gx.innerHTML=val.gx;
	gy.innerHTML=val.gy;
	gz.innerHTML=val.gz;
	rx.innerHTML=val.rx;
	ry.innerHTML=val.ry;
	rz.innerHTML=val.rz;
	await sleep(1000);
	}
	} catch (error) {
	console.error("error", error);
	}
	}

	function sleep(ms) {
	return new Promise(function(resolve) {
	setTimeout(resolve, ms);
	});
	}