pifcamp-2021/proto32/proto32.ino

96 lines
2.9 KiB
C++

// ESP32 Dev Module
#include "Wire.h"
/*
#include <BluetoothSerial.h>
#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
#endif
BluetoothSerial SerialBT;
*/
const int MPU_addr=0x68; // I2C address of the MPU-6050
// Sem dobimo vrednosti
int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
void setup() {
Wire.begin();
Serial.begin(9600);
// Pocakaj na serijski port
while (!Serial);
delay(1000);
Serial.println("Helllloooo. ☭");
Wire.begin(21, 22, 100000); // sda, scl, clock speed
check_I2c(MPU_addr);
Wire.beginTransmission(MPU_addr);
Wire.write(0x6B); // PWR_MGMT_1 register
Wire.write(0); // set to zero (wakes up the MPU-6050)
Wire.endTransmission(true);
delay(30); // Ensure gyro has enough time to power up
Serial.println("Here we go!");
/*
SerialBT.begin("MotionGlove");
Serial.print("BT on");
*/
}
void loop() {
Wire.beginTransmission(MPU_addr);
Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
Wire.endTransmission(false);
Wire.requestFrom(MPU_addr,14,true); // request a total of 14 registers
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)
Serial.print("AcX = "); Serial.print(AcX);
Serial.print(" | AcY = "); Serial.print(AcY);
Serial.print(" | AcZ = "); Serial.print(AcZ);
Serial.print(" | Tmp = "); Serial.print(Tmp);
Serial.print(" | GyX = "); Serial.print(GyX);
Serial.print(" | GyY = "); Serial.print(GyY);
Serial.print(" | GyZ = "); Serial.println(GyZ);
Serial.print("\n");
/*
SerialBT.write(String("/accel/0/x/" + String(AcX) + "\n"));
SerialBT.write(String("/accel/0/y/" + String(AcY) + "\n"));
SerialBT.write(String("/accel/0/z/" + String(AcZ) + "\n"));
SerialBT.write(String("/gy/0/x/" + String(GyX) + "\n"));
SerialBT.write(String("/gy/0/y/" + String(GyY) + "\n"));
SerialBT.write(String("/gy/0/z/" + String(GyZ) + "\n"));
SerialBT.write(String("/tmp/0/val/" + String(Tmp) + "\n"));
*/
}
byte check_I2c(byte addr){
Serial.println("Looking for sensor...");
// We are using the return value of
// the Write.endTransmisstion to see if
// a device did acknowledge to the address.
byte error;
Wire.beginTransmission(addr);
error = Wire.endTransmission();
if (error == 0) {
Serial.print(" Device Found at 0x");
Serial.println(addr,HEX);
} else {
Serial.print(" No Device Found at 0x");
Serial.println(addr,HEX);
}
return error;
}