Adding accelerometer

master
Lukas Bachschwell 5 years ago
parent 76fb5d0dcf
commit 2c803918e9

@ -0,0 +1,36 @@
#include <Wire.h>
#define MPU_addr 0x68 // I2C address of the MPU-6050
int16_t AcX = 0;
int16_t AcY = 0;
int16_t AcZ = 0;
int16_t Tmp = 0;
int16_t GyX = 0;
int16_t GyY = 0;
int16_t GyZ = 0;
int16_t cels = 0;
void initAccel() {
Wire.begin();
Wire.beginTransmission(0x68); // I2C address of the MPU-6050
Wire.write(0x6B); // PWR_MGMT_1 register
Wire.write(0); // set to zero (wakes up the MPU-6050)
Wire.endTransmission(true);
}
void readAccel() {
Wire.beginTransmission(MPU_addr);
Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
Wire.endTransmission(false);
Wire.requestFrom(MPU_addr, 14); // request a total of 14 registers LB : removing stop, no support in tiny wire
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)
cels = Tmp / 340.00 + 36.53; //equation for temperature in degrees C from datasheet
}
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