37 lines
1.4 KiB
C
37 lines
1.4 KiB
C
#include <Wire.h>
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#define MPU_addr 0x68 // I2C address of the MPU-6050
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int16_t AcX = 0;
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int16_t AcY = 0;
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int16_t AcZ = 0;
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int16_t Tmp = 0;
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int16_t GyX = 0;
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int16_t GyY = 0;
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int16_t GyZ = 0;
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int16_t cels = 0;
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void initAccel() {
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Wire.begin();
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Wire.beginTransmission(0x68); // I2C address of the MPU-6050
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Wire.write(0x6B); // PWR_MGMT_1 register
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Wire.write(0); // set to zero (wakes up the MPU-6050)
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Wire.endTransmission(true);
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}
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void readAccel() {
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Wire.beginTransmission(MPU_addr);
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Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
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Wire.endTransmission(false);
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Wire.requestFrom(MPU_addr, 14); // request a total of 14 registers LB : removing stop, no support in tiny wire
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AcX = Wire.read() << 8 | Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
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AcY = Wire.read() << 8 | Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
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AcZ = Wire.read() << 8 | Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
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Tmp = Wire.read() << 8 | Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
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GyX = Wire.read() << 8 | Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
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GyY = Wire.read() << 8 | Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
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GyZ = Wire.read() << 8 | Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
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cels = Tmp / 340.00 + 36.53; //equation for temperature in degrees C from datasheet
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}
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