From 5e14dead1c4b0f9572f03dd96b197875ffa5d5c0 Mon Sep 17 00:00:00 2001 From: Enrique Crespo Date: Tue, 15 Nov 2016 13:41:16 +0100 Subject: [PATCH] Ejercicio 62 --- Ejercicio33-I2C/scanI2CBus/scanI2CBus.ino | 37 + .../MPU6050_DMP6_SERVO/MPU6050_DMP6_SERVO.ino | 387 ++++++++ .../advanced_values/advanced_values.ino | 884 ++++++++++++++++++ Ejercicio62-MPU6050/raw_values/raw_values.ino | 36 + 4 files changed, 1344 insertions(+) create mode 100644 Ejercicio33-I2C/scanI2CBus/scanI2CBus.ino create mode 100644 Ejercicio62-MPU6050/MPU6050_DMP6_SERVO/MPU6050_DMP6_SERVO.ino create mode 100644 Ejercicio62-MPU6050/advanced_values/advanced_values.ino create mode 100644 Ejercicio62-MPU6050/raw_values/raw_values.ino diff --git a/Ejercicio33-I2C/scanI2CBus/scanI2CBus.ino b/Ejercicio33-I2C/scanI2CBus/scanI2CBus.ino new file mode 100644 index 0000000..32a5e0c --- /dev/null +++ b/Ejercicio33-I2C/scanI2CBus/scanI2CBus.ino @@ -0,0 +1,37 @@ +#include "Wire.h" +extern "C" { + #include "utility/twi.h" +} +void scanI2CBus(byte from_addr, byte to_addr, void(*callback)(byte address, byte result) ) +{ + byte rc; + byte data = 0; + for( byte addr = from_addr; addr <= to_addr; addr++ ) { + rc = twi_writeTo(addr, &data, 0, 1, 0); + callback( addr, rc ); + } +} +void scanFunc( byte addr, byte result ) { + Serial.print("addr: "); + Serial.print(addr,DEC); + Serial.print( (result==0) ? " Encontrado!":" "); + Serial.print( (addr%4) ? "\t":"\n"); +} + + +const byte start_address = 8; +const byte end_address = 119; + +void setup() +{ + Wire.begin(); + Serial.begin(9600); + Serial.print("Escaneando bus I2C..."); + scanI2CBus( start_address, end_address, scanFunc ); + Serial.println("\nTerminado"); +} + +void loop() +{ + delay(1000); +} diff --git a/Ejercicio62-MPU6050/MPU6050_DMP6_SERVO/MPU6050_DMP6_SERVO.ino b/Ejercicio62-MPU6050/MPU6050_DMP6_SERVO/MPU6050_DMP6_SERVO.ino new file mode 100644 index 0000000..8ac37ad --- /dev/null +++ b/Ejercicio62-MPU6050/MPU6050_DMP6_SERVO/MPU6050_DMP6_SERVO.ino @@ -0,0 +1,387 @@ +// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0) +// 6/21/2012 by Jeff Rowberg +// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib +// +// Changelog: +// 2013-05-08 - added seamless Fastwire support +// - added note about gyro calibration +// 2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error +// 2012-06-20 - improved FIFO overflow handling and simplified read process +// 2012-06-19 - completely rearranged DMP initialization code and simplification +// 2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly +// 2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING +// 2012-06-05 - add gravity-compensated initial reference frame acceleration output +// - add 3D math helper file to DMP6 example sketch +// - add Euler output and Yaw/Pitch/Roll output formats +// 2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee) +// 2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250 +// 2012-05-30 - basic DMP initialization working + +/* ============================================ +I2Cdev device library code is placed under the MIT license +Copyright (c) 2012 Jeff Rowberg + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. +=============================================== +*/ + +// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files +// for both classes must be in the include path of your project +#include "I2Cdev.h" +#include + +#include "MPU6050_6Axis_MotionApps20.h" +//#include "MPU6050.h" // not necessary if using MotionApps include file + +// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation +// is used in I2Cdev.h +#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE + #include "Wire.h" +#endif + +// class default I2C address is 0x68 +// specific I2C addresses may be passed as a parameter here +// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board) +// AD0 high = 0x69 +MPU6050 mpu; +//MPU6050 mpu(0x69); // <-- use for AD0 high +Servo myservo; + +/* ========================================================================= + NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch + depends on the MPU-6050's INT pin being connected to the Arduino's + external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is + digital I/O pin 2. + * ========================================================================= */ + +/* ========================================================================= + NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error + when using Serial.write(buf, len). The Teapot output uses this method. + The solution requires a modification to the Arduino USBAPI.h file, which + is fortunately simple, but annoying. This will be fixed in the next IDE + release. For more info, see these links: + + http://arduino.cc/forum/index.php/topic,109987.0.html + http://code.google.com/p/arduino/issues/detail?id=958 + * ========================================================================= */ + + + +// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual +// quaternion components in a [w, x, y, z] format (not best for parsing +// on a remote host such as Processing or something though) +//#define OUTPUT_READABLE_QUATERNION + +// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles +// (in degrees) calculated from the quaternions coming from the FIFO. +// Note that Euler angles suffer from gimbal lock (for more info, see +// http://en.wikipedia.org/wiki/Gimbal_lock) +//#define OUTPUT_READABLE_EULER + +// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/ +// pitch/roll angles (in degrees) calculated from the quaternions coming +// from the FIFO. Note this also requires gravity vector calculations. +// Also note that yaw/pitch/roll angles suffer from gimbal lock (for +// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock) +#define OUTPUT_READABLE_YAWPITCHROLL + +// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration +// components with gravity removed. This acceleration reference frame is +// not compensated for orientation, so +X is always +X according to the +// sensor, just without the effects of gravity. If you want acceleration +// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead. +//#define OUTPUT_READABLE_REALACCEL + +// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration +// components with gravity removed and adjusted for the world frame of +// reference (yaw is relative to initial orientation, since no magnetometer +// is present in this case). Could be quite handy in some cases. +//#define OUTPUT_READABLE_WORLDACCEL + +// uncomment "OUTPUT_TEAPOT" if you want output that matches the +// format used for the InvenSense teapot demo +//#define OUTPUT_TEAPOT + + + +#define INTERRUPT_PIN 2 // use pin 2 on Arduino Uno & most boards +#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6) +bool blinkState = false; + +// MPU control/status vars +bool dmpReady = false; // set true if DMP init was successful +uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU +uint8_t devStatus; // return status after each device operation (0 = success, !0 = error) +uint16_t packetSize; // expected DMP packet size (default is 42 bytes) +uint16_t fifoCount; // count of all bytes currently in FIFO +uint8_t fifoBuffer[64]; // FIFO storage buffer + +// orientation/motion vars +Quaternion q; // [w, x, y, z] quaternion container +VectorInt16 aa; // [x, y, z] accel sensor measurements +VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements +VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements +VectorFloat gravity; // [x, y, z] gravity vector +float euler[3]; // [psi, theta, phi] Euler angle container +float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector + +// packet structure for InvenSense teapot demo +uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' }; + + + +// ================================================================ +// === INTERRUPT DETECTION ROUTINE === +// ================================================================ + +volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high +void dmpDataReady() { + mpuInterrupt = true; +} + + + +// ================================================================ +// === INITIAL SETUP === +// ================================================================ + +void setup() { + // join I2C bus (I2Cdev library doesn't do this automatically) + #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE + Wire.begin(); + Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties + #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE + Fastwire::setup(400, true); + #endif + + // initialize serial communication + // (115200 chosen because it is required for Teapot Demo output, but it's + // really up to you depending on your project) + Serial.begin(115200); + while (!Serial); // wait for Leonardo enumeration, others continue immediately + + myservo.attach(9); + + // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3v or Ardunio + // Pro Mini running at 3.3v, cannot handle this baud rate reliably due to + // the baud timing being too misaligned with processor ticks. You must use + // 38400 or slower in these cases, or use some kind of external separate + // crystal solution for the UART timer. + + // initialize device + Serial.println(F("Initializing I2C devices...")); + mpu.initialize(); + pinMode(INTERRUPT_PIN, INPUT); + + // verify connection + Serial.println(F("Testing device connections...")); + Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed")); + + // wait for ready + Serial.println(F("\nSend any character to begin DMP programming and demo: ")); + while (Serial.available() && Serial.read()); // empty buffer + while (!Serial.available()); // wait for data + while (Serial.available() && Serial.read()); // empty buffer again + + // load and configure the DMP + Serial.println(F("Initializing DMP...")); + devStatus = mpu.dmpInitialize(); + + // supply your own gyro offsets here, scaled for min sensitivity + mpu.setXGyroOffset(220); + mpu.setYGyroOffset(76); + mpu.setZGyroOffset(-85); + mpu.setZAccelOffset(1788); // 1688 factory default for my test chip + + // make sure it worked (returns 0 if so) + if (devStatus == 0) { + // turn on the DMP, now that it's ready + Serial.println(F("Enabling DMP...")); + mpu.setDMPEnabled(true); + + // enable Arduino interrupt detection + Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)...")); + attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING); + mpuIntStatus = mpu.getIntStatus(); + + // set our DMP Ready flag so the main loop() function knows it's okay to use it + Serial.println(F("DMP ready! Waiting for first interrupt...")); + dmpReady = true; + + // get expected DMP packet size for later comparison + packetSize = mpu.dmpGetFIFOPacketSize(); + } else { + // ERROR! + // 1 = initial memory load failed + // 2 = DMP configuration updates failed + // (if it's going to break, usually the code will be 1) + Serial.print(F("DMP Initialization failed (code ")); + Serial.print(devStatus); + Serial.println(F(")")); + } + + // configure LED for output + pinMode(LED_PIN, OUTPUT); +} + + + +// ================================================================ +// === MAIN PROGRAM LOOP === +// ================================================================ + +void loop() { + // if programming failed, don't try to do anything + if (!dmpReady) return; + + // wait for MPU interrupt or extra packet(s) available + while (!mpuInterrupt && fifoCount < packetSize) { + // other program behavior stuff here + // . + // . + // . + // if you are really paranoid you can frequently test in between other + // stuff to see if mpuInterrupt is true, and if so, "break;" from the + // while() loop to immediately process the MPU data + // . + // . + // . + } + + // reset interrupt flag and get INT_STATUS byte + mpuInterrupt = false; + mpuIntStatus = mpu.getIntStatus(); + + // get current FIFO count + fifoCount = mpu.getFIFOCount(); + + // check for overflow (this should never happen unless our code is too inefficient) + if ((mpuIntStatus & 0x10) || fifoCount == 1024) { + // reset so we can continue cleanly + mpu.resetFIFO(); + Serial.println(F("FIFO overflow!")); + + // otherwise, check for DMP data ready interrupt (this should happen frequently) + } else if (mpuIntStatus & 0x02) { + // wait for correct available data length, should be a VERY short wait + while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount(); + + // read a packet from FIFO + mpu.getFIFOBytes(fifoBuffer, packetSize); + + // track FIFO count here in case there is > 1 packet available + // (this lets us immediately read more without waiting for an interrupt) + fifoCount -= packetSize; + + #ifdef OUTPUT_READABLE_QUATERNION + // display quaternion values in easy matrix form: w x y z + mpu.dmpGetQuaternion(&q, fifoBuffer); + Serial.print("quat\t"); + Serial.print(q.w); + Serial.print("\t"); + Serial.print(q.x); + Serial.print("\t"); + Serial.print(q.y); + Serial.print("\t"); + Serial.println(q.z); + #endif + + #ifdef OUTPUT_READABLE_EULER + // display Euler angles in degrees + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetEuler(euler, &q); + Serial.print("euler\t"); + Serial.print(euler[0] * 180/M_PI); + Serial.print("\t"); + Serial.print(euler[1] * 180/M_PI); + Serial.print("\t"); + Serial.println(euler[2] * 180/M_PI); + #endif + + #ifdef OUTPUT_READABLE_YAWPITCHROLL + int angulo_servo = abs(ypr[0] * 180/M_PI); + myservo.write(angulo_servo); + //Serial.print("muevo servo a posicion: "); + //Serial.println(angulo_servo); + + // display Euler angles in degrees + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetGravity(&gravity, &q); + mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); + Serial.print("ypr\t"); + Serial.print(ypr[0] * 180/M_PI); + Serial.print("\t"); + Serial.print(ypr[1] * 180/M_PI); + Serial.print("\t"); + Serial.printa(ypr[2] * 180/M_PI); + Serial.print("\t"); + Serial.println(angulo_servo); + + #endif + + #ifdef OUTPUT_READABLE_REALACCEL + // display real acceleration, adjusted to remove gravity + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetAccel(&aa, fifoBuffer); + mpu.dmpGetGravity(&gravity, &q); + mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); + Serial.print("areal\t"); + Serial.print(aaReal.x); + Serial.print("\t"); + Serial.print(aaReal.y); + Serial.print("\t"); + Serial.println(aaReal.z); + #endif + + #ifdef OUTPUT_READABLE_WORLDACCEL + // display initial world-frame acceleration, adjusted to remove gravity + // and rotated based on known orientation from quaternion + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetAccel(&aa, fifoBuffer); + mpu.dmpGetGravity(&gravity, &q); + mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); + mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q); + Serial.print("aworld\t"); + Serial.print(aaWorld.x); + Serial.print("\t"); + Serial.print(aaWorld.y); + Serial.print("\t"); + Serial.println(aaWorld.z); + #endif + + #ifdef OUTPUT_TEAPOT + // display quaternion values in InvenSense Teapot demo format: + teapotPacket[2] = fifoBuffer[0]; + teapotPacket[3] = fifoBuffer[1]; + teapotPacket[4] = fifoBuffer[4]; + teapotPacket[5] = fifoBuffer[5]; + teapotPacket[6] = fifoBuffer[8]; + teapotPacket[7] = fifoBuffer[9]; + teapotPacket[8] = fifoBuffer[12]; + teapotPacket[9] = fifoBuffer[13]; + Serial.write(teapotPacket, 14); + teapotPacket[11]++; // packetCount, loops at 0xFF on purpose + #endif + + // blink LED to indicate activity + blinkState = !blinkState; + digitalWrite(LED_PIN, blinkState); + + } +} diff --git a/Ejercicio62-MPU6050/advanced_values/advanced_values.ino b/Ejercicio62-MPU6050/advanced_values/advanced_values.ino new file mode 100644 index 0000000..6b472bc --- /dev/null +++ b/Ejercicio62-MPU6050/advanced_values/advanced_values.ino @@ -0,0 +1,884 @@ +// MPU-6050 Accelerometer + Gyro +// ----------------------------- +// +// By arduino.cc user "Krodal". +// +// June 2012 +// first version +// July 2013 +// The 'int' in the union for the x,y,z +// changed into int16_t to be compatible +// with Arduino Due. +// +// Open Source / Public Domain +// +// Using Arduino 1.0.1 +// It will not work with an older version, +// since Wire.endTransmission() uses a parameter +// to hold or release the I2C bus. +// +// Documentation: +// - The InvenSense documents: +// - "MPU-6000 and MPU-6050 Product Specification", +// PS-MPU-6000A.pdf +// - "MPU-6000 and MPU-6050 Register Map and Descriptions", +// RM-MPU-6000A.pdf or RS-MPU-6000A.pdf +// - "MPU-6000/MPU-6050 9-Axis Evaluation Board User Guide" +// AN-MPU-6000EVB.pdf +// +// The accuracy is 16-bits. +// +// Temperature sensor from -40 to +85 degrees Celsius +// 340 per degrees, -512 at 35 degrees. +// +// At power-up, all registers are zero, except these two: +// Register 0x6B (PWR_MGMT_2) = 0x40 (I read zero). +// Register 0x75 (WHO_AM_I) = 0x68. +// + +#include + + +// The name of the sensor is "MPU-6050". +// For program code, I omit the '-', +// therefor I use the name "MPU6050....". + + +// Register names according to the datasheet. +// According to the InvenSense document +// "MPU-6000 and MPU-6050 Register Map +// and Descriptions Revision 3.2", there are no registers +// at 0x02 ... 0x18, but according other information +// the registers in that unknown area are for gain +// and offsets. +// +#define MPU6050_AUX_VDDIO 0x01 // R/W +#define MPU6050_SMPLRT_DIV 0x19 // R/W +#define MPU6050_CONFIG 0x1A // R/W +#define MPU6050_GYRO_CONFIG 0x1B // R/W +#define MPU6050_ACCEL_CONFIG 0x1C // R/W +#define MPU6050_FF_THR 0x1D // R/W +#define MPU6050_FF_DUR 0x1E // R/W +#define MPU6050_MOT_THR 0x1F // R/W +#define MPU6050_MOT_DUR 0x20 // R/W +#define MPU6050_ZRMOT_THR 0x21 // R/W +#define MPU6050_ZRMOT_DUR 0x22 // R/W +#define MPU6050_FIFO_EN 0x23 // R/W +#define MPU6050_I2C_MST_CTRL 0x24 // R/W +#define MPU6050_I2C_SLV0_ADDR 0x25 // R/W +#define MPU6050_I2C_SLV0_REG 0x26 // R/W +#define MPU6050_I2C_SLV0_CTRL 0x27 // R/W +#define MPU6050_I2C_SLV1_ADDR 0x28 // R/W +#define MPU6050_I2C_SLV1_REG 0x29 // R/W +#define MPU6050_I2C_SLV1_CTRL 0x2A // R/W +#define MPU6050_I2C_SLV2_ADDR 0x2B // R/W +#define MPU6050_I2C_SLV2_REG 0x2C // R/W +#define MPU6050_I2C_SLV2_CTRL 0x2D // R/W +#define MPU6050_I2C_SLV3_ADDR 0x2E // R/W +#define MPU6050_I2C_SLV3_REG 0x2F // R/W +#define MPU6050_I2C_SLV3_CTRL 0x30 // R/W +#define MPU6050_I2C_SLV4_ADDR 0x31 // R/W +#define MPU6050_I2C_SLV4_REG 0x32 // R/W +#define MPU6050_I2C_SLV4_DO 0x33 // R/W +#define MPU6050_I2C_SLV4_CTRL 0x34 // R/W +#define MPU6050_I2C_SLV4_DI 0x35 // R +#define MPU6050_I2C_MST_STATUS 0x36 // R +#define MPU6050_INT_PIN_CFG 0x37 // R/W +#define MPU6050_INT_ENABLE 0x38 // R/W +#define MPU6050_INT_STATUS 0x3A // R +#define MPU6050_ACCEL_XOUT_H 0x3B // R +#define MPU6050_ACCEL_XOUT_L 0x3C // R +#define MPU6050_ACCEL_YOUT_H 0x3D // R +#define MPU6050_ACCEL_YOUT_L 0x3E // R +#define MPU6050_ACCEL_ZOUT_H 0x3F // R +#define MPU6050_ACCEL_ZOUT_L 0x40 // R +#define MPU6050_TEMP_OUT_H 0x41 // R +#define MPU6050_TEMP_OUT_L 0x42 // R +#define MPU6050_GYRO_XOUT_H 0x43 // R +#define MPU6050_GYRO_XOUT_L 0x44 // R +#define MPU6050_GYRO_YOUT_H 0x45 // R +#define MPU6050_GYRO_YOUT_L 0x46 // R +#define MPU6050_GYRO_ZOUT_H 0x47 // R +#define MPU6050_GYRO_ZOUT_L 0x48 // R +#define MPU6050_EXT_SENS_DATA_00 0x49 // R +#define MPU6050_EXT_SENS_DATA_01 0x4A // R +#define MPU6050_EXT_SENS_DATA_02 0x4B // R +#define MPU6050_EXT_SENS_DATA_03 0x4C // R +#define MPU6050_EXT_SENS_DATA_04 0x4D // R +#define MPU6050_EXT_SENS_DATA_05 0x4E // R +#define MPU6050_EXT_SENS_DATA_06 0x4F // R +#define MPU6050_EXT_SENS_DATA_07 0x50 // R +#define MPU6050_EXT_SENS_DATA_08 0x51 // R +#define MPU6050_EXT_SENS_DATA_09 0x52 // R +#define MPU6050_EXT_SENS_DATA_10 0x53 // R +#define MPU6050_EXT_SENS_DATA_11 0x54 // R +#define MPU6050_EXT_SENS_DATA_12 0x55 // R +#define MPU6050_EXT_SENS_DATA_13 0x56 // R +#define MPU6050_EXT_SENS_DATA_14 0x57 // R +#define MPU6050_EXT_SENS_DATA_15 0x58 // R +#define MPU6050_EXT_SENS_DATA_16 0x59 // R +#define MPU6050_EXT_SENS_DATA_17 0x5A // R +#define MPU6050_EXT_SENS_DATA_18 0x5B // R +#define MPU6050_EXT_SENS_DATA_19 0x5C // R +#define MPU6050_EXT_SENS_DATA_20 0x5D // R +#define MPU6050_EXT_SENS_DATA_21 0x5E // R +#define MPU6050_EXT_SENS_DATA_22 0x5F // R +#define MPU6050_EXT_SENS_DATA_23 0x60 // R +#define MPU6050_MOT_DETECT_STATUS 0x61 // R +#define MPU6050_I2C_SLV0_DO 0x63 // R/W +#define MPU6050_I2C_SLV1_DO 0x64 // R/W +#define MPU6050_I2C_SLV2_DO 0x65 // R/W +#define MPU6050_I2C_SLV3_DO 0x66 // R/W +#define MPU6050_I2C_MST_DELAY_CTRL 0x67 // R/W +#define MPU6050_SIGNAL_PATH_RESET 0x68 // R/W +#define MPU6050_MOT_DETECT_CTRL 0x69 // R/W +#define MPU6050_USER_CTRL 0x6A // R/W +#define MPU6050_PWR_MGMT_1 0x6B // R/W +#define MPU6050_PWR_MGMT_2 0x6C // R/W +#define MPU6050_FIFO_COUNTH 0x72 // R/W +#define MPU6050_FIFO_COUNTL 0x73 // R/W +#define MPU6050_FIFO_R_W 0x74 // R/W +#define MPU6050_WHO_AM_I 0x75 // R + + +// Defines for the bits, to be able to change +// between bit number and binary definition. +// By using the bit number, programming the sensor +// is like programming the AVR microcontroller. +// But instead of using "(1< +const int MPU_addr=0x68; // I2C address of the MPU-6050 +int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ; +void setup(){ + Wire.begin(); + Wire.beginTransmission(MPU_addr); + Wire.write(0x6B); // PWR_MGMT_1 register + Wire.write(0); // set to zero (wakes up the MPU-6050) + Wire.endTransmission(true); + Serial.begin(9600); +} +void loop(){ + Wire.beginTransmission(MPU_addr); + Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H) + Wire.endTransmission(false); + Wire.requestFrom(MPU_addr,14,true); // request a total of 14 registers + AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L) + AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L) + AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L) + Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L) + GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L) + GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L) + GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L) + Serial.print("AcX = "); Serial.print(AcX); + Serial.print(" | AcY = "); Serial.print(AcY); + Serial.print(" | AcZ = "); Serial.print(AcZ); + Serial.print(" | Tmp = "); Serial.print(Tmp/340.00+36.53); //equation for temperature in degrees C from datasheet + Serial.print(" | GyX = "); Serial.print(GyX); + Serial.print(" | GyY = "); Serial.print(GyY); + Serial.print(" | GyZ = "); Serial.println(GyZ); + delay(333); +}