arduino

gistfile1.ino

#include <Wire.h>

#define MPU6050_ACCEL_XOUT_H       0x3B   // R  
#define MPU6050_WHO_AM_I           0x75   // R
#define MPU6050_PWR_MGMT_1         0x6B   // R/W
#define MPU6050_I2C_ADDRESS 0x68

typedef union accel_t_gyro_union{
  struct{
    uint8_t x_accel_h;
    uint8_t x_accel_l;
    uint8_t y_accel_h;
    uint8_t y_accel_l;
    uint8_t z_accel_h;
    uint8_t z_accel_l;
    uint8_t t_h;
    uint8_t t_l;
    uint8_t x_gyro_h;
    uint8_t x_gyro_l;
    uint8_t y_gyro_h;
    uint8_t y_gyro_l;
    uint8_t z_gyro_h;
    uint8_t z_gyro_l;
  } 
  reg;
  struct{
    int16_t x_accel;
    int16_t y_accel;
    int16_t z_accel;
    int16_t temperature;
    int16_t x_gyro;
    int16_t y_gyro;
    int16_t z_gyro;
  } 
  value;
};

int ledR = 13;//ココ何番だろう?
int ledL = 13;//ココ何番だろう?
char lastStatus = '0';
String gpsStr="";

char x[5];
char y[5];
char z[5];

void setup(){
  // シリアルポートを9600 bps[ビット/秒]で初期化
  Serial1.begin(9600);
  Wire.begin();
  MPU6050_write_reg (MPU6050_PWR_MGMT_1, 0);
}
 
void loop(){
  int inputchar;
  
  inputchar = Serial1.read();
  
  if(inputchar != -1) {
    switch(inputchar){
      case 'R':
        if(lastStatus != 'R') {
          digitalWrite(ledL, LOW);
          digitalWrite(ledR, HIGH);
          lastStatus = 'R';
        }
      break;
      
      case 'L':
        if(lastStatus != 'L') {
          digitalWrite(ledR, LOW);
          digitalWrite(ledL, HIGH);
          lastStatus = 'L';
        }
      break;
        
      case 'S':
        digitalWrite(ledR, HIGH);
        digitalWrite(ledL, HIGH);
      break;
    }
  }
  
  
  float dT;
  accel_t_gyro_union accel_t_gyro;
  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_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);
  float gyro_x = accel_t_gyro.value.x_gyro / 131.0;  //FS_SEL_0 131 LSB / (°/s)
  float gyro_y = accel_t_gyro.value.y_gyro / 131.0;
  float gyro_z = accel_t_gyro.value.z_gyro / 131.0;
  gpsStr= String(gyro_x) + ":" + String(gyro_y) + ":" + String(gyro_z)+"EOL";
  String apa= "hello";
  Serial1.println(gpsStr);
  delay(100);
}

// MPU6050_read
int MPU6050_read(int start, uint8_t *buffer, int size){
  int i, n, error;
  Wire.beginTransmission(MPU6050_I2C_ADDRESS);
  n = Wire.write(start);
  if (n != 1)
    return (-10);
  n = Wire.endTransmission(false);    // hold the I2C-bus
  if (n != 0)
    return (n);
  // Third parameter is true: relase I2C-bus after data is read.
  Wire.requestFrom(MPU6050_I2C_ADDRESS, size, true);
  i = 0;
  while(Wire.available() && i<size){
    buffer[i++]=Wire.read();
  }
  if ( i != size)
    return (-11);
  return (0);  // return : no error
}
 
// MPU6050_write
int MPU6050_write(int start, const uint8_t *pData, int size){
  int n, error;
  Wire.beginTransmission(MPU6050_I2C_ADDRESS);
  n = Wire.write(start);        // write the start address
  if (n != 1)
    return (-20);
  n = Wire.write(pData, size);  // write data bytes
  if (n != size)
    return (-21);
  error = Wire.endTransmission(true); // release the I2C-bus
  if (error != 0)
    return (error);
  return (0);         // return : no error
}
 
// MPU6050_write_reg
int MPU6050_write_reg(int reg, uint8_t data){
  int error;
  error = MPU6050_write(reg, &data, 1);
  return (error);
}