Скачать с ютуб ATtiny85 and MPU-6050 6-axis Accelerometer and Gyro Arduino IDE в хорошем качестве

ATtiny85 and MPU-6050 6-axis Accelerometer and Gyro Arduino IDE

#MPU6050, #ATtiny85, #Arduino I'll show you how to get the ATtiny85 reading the sensors on the Invensense MPU-6050 MEMS 6-axis DOF Gyroscope and Accelerometer. NOTE! Change Quotes to "Less-than" and "Greater than" symbols in library 'includes' where appropriate. Change LT and GT to maths symbols. // Connect SDA and SDC (ATTINY85 physical pins 5 & 7) to the MPU6050 and the SSD1306 OLED Display // Connect Vcc/Gnd to MPU6050 and SSD1306 OLED Display (if you are using the 128x64 display, comment out "setdisplay()" // If you only want to use Serial Monitor OR OLED display, comment out calls to libraries, functions and routines which you don't require // // Tom Donnelly 2018 #include "TinyWireM.h" #include "TinyOzOLED.h" #include "SoftwareSerial.h" // #define DEBUG 1 // - uncomment this line to display accel/gyro values #ifdef DEBUG #endif int accelX, accelY, accelZ; int gyroX, gyroY, gyroZ; int gyroXold, gyroYold, gyroZold; char mpu = 0x68; // I2C address of MPU. Connect 5V to pin ADO to use 0x69 address instead SoftwareSerial Monitor(-1, 4); // We will only use Tx on PortB 4 void setup() { Monitor.begin(9600); TinyWireM.begin(); OzOled.init(); setDisplay(); // set display to 128x32px. Comment out of you're using 128x64 display OzOled.printString("Bond Gyro"); delay(1000); // Display title OzOled.clearDisplay(); // We need to do three things. 1. Disable sleep mode on the MPU (it activates on powerup). 2. Set the scale of the Gyro. 3. Set the scale of the accelerometer // We do this by sending 2 bytes for each: Register Address & Value TinyWireM.beginTransmission(mpu); TinyWireM.write(0x6B); // Power setting address TinyWireM.write(0b00000000); // Disable sleep mode (just in case) TinyWireM.endTransmission(); TinyWireM.beginTransmission(mpu); TinyWireM.write(0x1B); // Config register for Gyro TinyWireM.write(0x00000000); // 250° per second range (default) TinyWireM.endTransmission(); TinyWireM.beginTransmission(mpu); //I2C address of the MPU TinyWireM.write(0x1C); // Accelerometer config register TinyWireM.write(0b00000000); // 2g range +/- (default) TinyWireM.endTransmission(); } void loop() { getAccel(); getGyro(); if (shaken()) { Monitor.print((long)millis()); Monitor.println(" Shaken.."); OzOled.printNumber((long)millis(), 0, 1); OzOled.printString("Shaken..", 0, 2); #ifdef DEBUG Monitor.println((long)accelX); Monitor.println(accelY); Monitor.println(accelZ); OzOled.printNumber((long)accelX, 0, 0); OzOled.printNumber(accelY, 0, 1); OzOled.printNumber(accelZ, 0, 2); OzOled.printNumber((long)millis(), 0, 3); #endif } if (stirred()) { Monitor.print((long)millis()); Monitor.println(" Stirred.."); #ifdef DEBUG Monitor.println(gyroX); Monitor.println(gyroY); Monitor.println(gyroZ); OzOled.printNumber((long)gyroX, 0, 0); OzOled.printNumber(gyroY, 0, 1); OzOled.printNumber(gyroZ, 0, 2); OzOled.printNumber((long)millis(), 0, 3); #endif } // delay(100); } void getAccel() { TinyWireM.beginTransmission(mpu); //I2C address of the MPU TinyWireM.write(0x3B); // Acceleration data register TinyWireM.endTransmission(); TinyWireM.requestFrom(mpu, 6); // Get 6 bytes, 2 for each DoF accelX = TinyWireM.read() LTLT 8; // Get X upper byte first accelX |= TinyWireM.read(); // lower accelY = TinyWireM.read() LTLT 8; // Get Y upper byte first accelY |= TinyWireM.read(); // lower accelZ = TinyWireM.read() LTLT 8; // Get Z upper byte first accelZ |= TinyWireM.read(); // lower } void getGyro() { TinyWireM.beginTransmission(mpu); //I2C address of the MPU TinyWireM.write(0x43); // Gyro data register TinyWireM.endTransmission(); TinyWireM.requestFrom(mpu, 6); // Get 6 bytes, 2 for each DoF while (TinyWireM.available() LT 6); gyroX = TinyWireM.read() LTLT 8; // Get X upper byte first gyroX |= TinyWireM.read(); // lower gyroY = TinyWireM.read() LTLT 8; // Get Y upper byte first gyroY |= TinyWireM.read(); // lower gyroZ = TinyWireM.read() LTLT 8; // Get Z upper byte first gyroZ |= TinyWireM.read(); // lower } bool shaken() { if ((abs(accelX) GT 20000) || (abs(accelY) GT 20000) || (abs(accelZ) GT 32760)) { return true; } else return false; } bool stirred() { gyroXold = gyroX; // Save current Gyro settings... gyroYold = gyroY; gyroZold = gyroZ; getGyro(); // get a second reading to compare with the last to see if we're moving // 300 is just a number to filter noise-level fluxuations .. DYOR if (((gyroX - gyroXold) GT 300) || ((gyroY - gyroYold) GT 300) || ((gyroZ - gyroZold) GT 300)) { return true; } else return false; } void setDisplay () { // 128x32px OLED settings OzOled.sendCommand(0xA8); // Multiplexer OzOled.sendCommand(0x1F); OzOled.sendCommand(0xDA); // Com Pins OzOled.sendCommand(0x02); }