From 2c803918e9deffed019b6efef901d3747a480594 Mon Sep 17 00:00:00 2001 From: Lukas Bachschwell Date: Sun, 22 Apr 2018 21:44:10 +0200 Subject: [PATCH] Adding accelerometer --- src/accel.h | 36 ++++++++++++++++++++++++++++++++++++ 1 file changed, 36 insertions(+) create mode 100644 src/accel.h diff --git a/src/accel.h b/src/accel.h new file mode 100644 index 0000000..f4b57e5 --- /dev/null +++ b/src/accel.h @@ -0,0 +1,36 @@ +#include +#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 +}