#include<Arduino.h> #include"Wire.h" // This library allows you to communicate with I2C devices. constint MPU_ADDR = 0x68; // I2C address of the MPU-6050. If AD0 pin is set to HIGH, the I2C address will be 0x69. int16_t accelerometer_x, accelerometer_y, accelerometer_z; // variables for accelerometer raw data int16_t gyro_x, gyro_y, gyro_z; // variables for gyro raw data int16_t temperature; // variables for temperature data char tmp_str[7]; // temporary variable used in convert function char *convert_int16_to_str(int16_t i) { // converts int16 to string. Moreover, resulting strings will have the same length in the debug monitor. sprintf(tmp_str, "%6d", i); return tmp_str; } voidsetup() { Serial.begin(9600); Wire.begin(); Wire.beginTransmission(MPU_ADDR); // Begins a transmission to the I2C slave (GY-521 board) Wire.write(0x6B); // PWR_MGMT_1 register Wire.write(0); // set to zero (wakes up the MPU-6050) Wire.endTransmission(true); } voidloop() { Wire.beginTransmission(MPU_ADDR); Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H) [MPU-6000 and MPU-6050 Register Map and Descriptions Revision 4.2, p.40] Wire.endTransmission(false); // the parameter indicates that the Arduino will send a restart. As a result, the connection is kept active. Wire.requestFrom(MPU_ADDR, 7 * 2, true); // request a total of 7*2=14 registers
// "Wire.read()<<8 | Wire.read();" means two registers are read and stored in the same variable accelerometer_x = Wire.read() << 8 | Wire.read(); // reading registers: 0x3B (ACCEL_XOUT_H) and 0x3C (ACCEL_XOUT_L) accelerometer_y = Wire.read() << 8 | Wire.read(); // reading registers: 0x3D (ACCEL_YOUT_H) and 0x3E (ACCEL_YOUT_L) accelerometer_z = Wire.read() << 8 | Wire.read(); // reading registers: 0x3F (ACCEL_ZOUT_H) and 0x40 (ACCEL_ZOUT_L) temperature = Wire.read() << 8 | Wire.read(); // reading registers: 0x41 (TEMP_OUT_H) and 0x42 (TEMP_OUT_L) gyro_x = Wire.read() << 8 | Wire.read(); // reading registers: 0x43 (GYRO_XOUT_H) and 0x44 (GYRO_XOUT_L) gyro_y = Wire.read() << 8 | Wire.read(); // reading registers: 0x45 (GYRO_YOUT_H) and 0x46 (GYRO_YOUT_L) gyro_z = Wire.read() << 8 | Wire.read(); // reading registers: 0x47 (GYRO_ZOUT_H) and 0x48 (GYRO_ZOUT_L)
// print out data Serial.print("aX = "); Serial.print(convert_int16_to_str(accelerometer_x)); Serial.print(" | aY = "); Serial.print(convert_int16_to_str(accelerometer_y)); Serial.print(" | aZ = "); Serial.print(convert_int16_to_str(accelerometer_z)); // the following equation was taken from the documentation [MPU-6000/MPU-6050 Register Map and Description, p.30] Serial.print(" | tmp = "); Serial.print(temperature / 340.00 + 36.53); Serial.print(" | gX = "); Serial.print(convert_int16_to_str(gyro_x)); Serial.print(" | gY = "); Serial.print(convert_int16_to_str(gyro_y)); Serial.print(" | gZ = "); Serial.print(convert_int16_to_str(gyro_z)); Serial.println();
