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void loop(){
int error;
double dT;
accel_t_gyro_union accel_t_gyro;
error = MPU6050_read (MPU6050_ACCEL_XOUT_H,(uint8_t *)&accel_t_gyro,sizeof(accel_t_gyro));
uint8_t swap;
#define SWAP(x,y) swap = x; x = y; y = swap
SWAP (accel_t_gyro.reg.x_accel_h, accel_t_gyro.reg.x_accel_l);
SWAP (accel_t_gyro.reg.y_accel_h, accel_t_gyro.reg.y_accel_l);
SWAP (accel_t_gyro.reg.z_accel_h, accel_t_gyro.reg.z_accel_l);
SWAP (accel_t_gyro.reg.t_h, accel_t_gyro.reg.t_l);
SWAP (accel_t_gyro.reg.x_gyro_h, accel_t_gyro.reg.x_gyro_l);
SWAP (accel_t_gyro.reg.y_gyro_h, accel_t_gyro.reg.y_gyro_l);
SWAP (accel_t_gyro.reg.z_gyro_h, accel_t_gyro.reg.z_gyro_l);
int accel_x, accel_y, accel_z;
accel_x=accel_t_gyro.value.x_accel*0.061035156;
accel_y=accel_t_gyro.value.y_accel*0.061035156;
accel_z=accel_t_gyro.value.z_accel*0.061035156;
Serial.print(F("Aceleracion: x="));
Serial.print(accel_x, DEC);
Serial.print(F(" mG, y="));
Serial.print(accel_y, DEC);
Serial.print(F(" mG, z="));
Serial.print(accel_z, DEC);
Serial.print(F(" mG, Giroscopio: x="));
Serial.print(accel_t_gyro.value.x_gyro, DEC);
Serial.print(F(" b, y="));
Serial.print(accel_t_gyro.value.y_gyro, DEC);
Serial.print(F(" b, z="));
Serial.print(accel_t_gyro.value.z_gyro, DEC);
Serial.print(F(", Temp: "));
dT = ( (double) accel_t_gyro.value.temperature + 12412.0) / 340.0;
Serial.print(dT, 3);
Serial.println(F(" C"));
delay(1000);
}
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