mirror of https://github.com/arendst/Tasmota.git
152 lines
6.0 KiB
C++
152 lines
6.0 KiB
C++
// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class
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// 10/7/2011 by Jeff Rowberg <jeff@rowberg.net>
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// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
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//
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// Changelog:
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// 2013-05-08 - added multiple output formats
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// - added seamless Fastwire support
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// 2011-10-07 - initial release
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/* ============================================
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I2Cdev device library code is placed under the MIT license
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Copyright (c) 2011 Jeff Rowberg
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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===============================================
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*/
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// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
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// for both classes must be in the include path of your project
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#include "I2Cdev.h"
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#include "MPU6050.h"
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// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
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// is used in I2Cdev.h
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#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
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#include "Wire.h"
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#endif
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// class default I2C address is 0x68
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// specific I2C addresses may be passed as a parameter here
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// AD0 low = 0x68 (default for InvenSense evaluation board)
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// AD0 high = 0x69
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MPU6050 accelgyro;
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//MPU6050 accelgyro(0x69); // <-- use for AD0 high
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int16_t ax, ay, az;
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int16_t gx, gy, gz;
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// uncomment "OUTPUT_READABLE_ACCELGYRO" if you want to see a tab-separated
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// list of the accel X/Y/Z and then gyro X/Y/Z values in decimal. Easy to read,
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// not so easy to parse, and slow(er) over UART.
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#define OUTPUT_READABLE_ACCELGYRO
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// uncomment "OUTPUT_BINARY_ACCELGYRO" to send all 6 axes of data as 16-bit
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// binary, one right after the other. This is very fast (as fast as possible
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// without compression or data loss), and easy to parse, but impossible to read
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// for a human.
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//#define OUTPUT_BINARY_ACCELGYRO
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#define LED_PIN 13
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bool blinkState = false;
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void setup() {
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// join I2C bus (I2Cdev library doesn't do this automatically)
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#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
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Wire.begin();
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#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
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Fastwire::setup(400, true);
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#endif
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// initialize serial communication
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// (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
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// it's really up to you depending on your project)
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Serial.begin(38400);
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// initialize device
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Serial.println("Initializing I2C devices...");
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accelgyro.initialize();
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// verify connection
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Serial.println("Testing device connections...");
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Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
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// use the code below to change accel/gyro offset values
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/*
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Serial.println("Updating internal sensor offsets...");
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// -76 -2359 1688 0 0 0
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Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76
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Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359
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Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688
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Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0
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Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0
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Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0
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Serial.print("\n");
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accelgyro.setXGyroOffset(220);
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accelgyro.setYGyroOffset(76);
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accelgyro.setZGyroOffset(-85);
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Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76
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Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359
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Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688
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Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0
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Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0
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Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0
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Serial.print("\n");
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*/
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// configure Arduino LED for
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pinMode(LED_PIN, OUTPUT);
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}
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void loop() {
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// read raw accel/gyro measurements from device
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accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
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// these methods (and a few others) are also available
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//accelgyro.getAcceleration(&ax, &ay, &az);
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//accelgyro.getRotation(&gx, &gy, &gz);
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#ifdef OUTPUT_READABLE_ACCELGYRO
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// display tab-separated accel/gyro x/y/z values
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Serial.print("a/g:\t");
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Serial.print(ax); Serial.print("\t");
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Serial.print(ay); Serial.print("\t");
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Serial.print(az); Serial.print("\t");
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Serial.print(gx); Serial.print("\t");
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Serial.print(gy); Serial.print("\t");
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Serial.println(gz);
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#endif
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#ifdef OUTPUT_BINARY_ACCELGYRO
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Serial.write((uint8_t)(ax >> 8)); Serial.write((uint8_t)(ax & 0xFF));
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Serial.write((uint8_t)(ay >> 8)); Serial.write((uint8_t)(ay & 0xFF));
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Serial.write((uint8_t)(az >> 8)); Serial.write((uint8_t)(az & 0xFF));
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Serial.write((uint8_t)(gx >> 8)); Serial.write((uint8_t)(gx & 0xFF));
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Serial.write((uint8_t)(gy >> 8)); Serial.write((uint8_t)(gy & 0xFF));
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Serial.write((uint8_t)(gz >> 8)); Serial.write((uint8_t)(gz & 0xFF));
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#endif
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// blink LED to indicate activity
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blinkState = !blinkState;
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digitalWrite(LED_PIN, blinkState);
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}
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