95 lines
3.0 KiB
C++
95 lines
3.0 KiB
C++
// NodeMCU 0.9 (ESP-12 module)
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#include <Wire.h>
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/*#include <BluetoothSerial.h>
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#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
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#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
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#endif
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*/
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const int MPU_addr=0x68; // I2C address of the MPU-6050
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const float MPU_GYRO_250_SCALE = 131.0;
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const float MPU_GYRO_500_SCALE = 65.5;
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const float MPU_GYRO_1000_SCALE = 32.8;
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const float MPU_GYRO_2000_SCALE = 16.4;
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const float MPU_ACCL_2_SCALE = 16384.0;
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const float MPU_ACCL_4_SCALE = 8192.0;
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const float MPU_ACCL_8_SCALE = 4096.0;
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const float MPU_ACCL_16_SCALE = 2048.0;
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// Sem dobimo vrednosti
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int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
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void setup() {
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pinMode(LED_BUILTIN, OUTPUT);
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Wire.begin();
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Serial.begin(115200);
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check_I2c(MPU_addr);
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Wire.beginTransmission(MPU_addr);
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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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delay(30); // Ensure gyro has enough time to power up
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//SerialBT.begin("MotionGlove");
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//Serial.print("BT on");
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}
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void loop() {
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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,true); // request a total of 14 registers
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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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Serial.print("AcX = "); Serial.print(AcX);
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Serial.print(" | AcY = "); Serial.print(AcY);
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Serial.print(" | AcZ = "); Serial.print(AcZ);
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Serial.print(" | Tmp = "); Serial.print(Tmp);
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Serial.print(" | GyX = "); Serial.print(GyX);
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Serial.print(" | GyY = "); Serial.print(GyY);
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Serial.print(" | GyZ = "); Serial.println(GyZ);
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/*
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SerialBT.write("/accel/0/x/" + String(AcX) + "\n");
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SerialBT.write("/accel/0/y/" + String(AcY) + "\n");
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SerialBT.write("/accel/0/z/" + String(AcZ) + "\n");
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SerialBT.write("/gy/0/x/" + String(GyX) + "\n");
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SerialBT.write("/gy/0/y/" + String(GyY) + "\n");
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SerialBT.write("/gy/0/z/" + String(GyZ) + "\n");
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SerialBT.write("/tmp/0/val/" + String(Tmp) + "\n");
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*/
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// Blink blink
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digitalWrite(LED_BUILTIN, 1);
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//delay(500);
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digitalWrite(LED_BUILTIN, 0);
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Serial.print("\n");
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}
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byte check_I2c(byte addr){
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// We are using the return value of
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// the Write.endTransmisstion to see if
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// a device did acknowledge to the address.
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byte error;
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Wire.beginTransmission(addr);
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error = Wire.endTransmission();
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if (error == 0) {
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Serial.print(" Device Found at 0x");
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Serial.println(addr,HEX);
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} else {
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Serial.print(" No Device Found at 0x");
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Serial.println(addr,HEX);
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}
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return error;
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}
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