Arduino for STM32

Code: Select all

//thanks to JoopBrokking http://www.brokking.net/imu.html

#include <Wire.h>
#include <LiquidCrystal_I2C.h>          //johnrickman/LiquidCrystal_I2C


//Declaring global variables

int gyro_x, gyro_y, gyro_z;
long acc_x, acc_y, acc_z, acc_total_vector;
int temperature;
long gyro_x_cal, gyro_y_cal, gyro_z_cal;
long loop_timer;
int lcd_loop_counter;
float angle_pitch, angle_roll, angle_yaw;
int angle_pitch_buffer, angle_roll_buffer, angle_yaw_buffer;
//boolean set_gyro_angles;
float angle_roll_acc, angle_pitch_acc, angle_yaw_acc;
float angle_pitch_output, angle_roll_output, angle_yaw_output;


LiquidCrystal_I2C lcd(0x27, 16, 4);//Initialize the LCD library

void setup() {
    pinMode(PC13, OUTPUT);// Set up the built-in LED pin as an output:
   // Serial.begin(9600);//not needed
   // Wire.setClock(100000);
    Wire.begin();
    delay(250);

    //setup_mpu_6050_registers();
  }

// the loop function runs over and over again until power down or reset
void loop() {
 
    digitalWrite(PC13, !digitalRead(PC13));
    delay(500); //change each build as programme check
    Serial.println("Hello Jimmy");
/*
    read_mpu_6050_data();
    Serial.print("X = ");
    Serial.println(gyro_x);
    Serial.print("Y = ");
    Serial.println(gyro_y);
    Serial.print("Z = ");
    Serial.println(gyro_z);
    delay(250);
 */   
}

void read_mpu_6050_data() {                                             //Subroutine for reading the raw gyro and accelerometer data
    Wire.beginTransmission(0x68);                                        //Start communicating with the MPU-6050
    Wire.write(0x3B);                                                    //Send the requested starting register
    Wire.endTransmission();                                              //End the transmission
    Wire.requestFrom(0x68, 14);                                           //Request 14 bytes from the MPU-6050
    while (Wire.available() < 14);                                        //Wait until all the bytes are received
    acc_x = Wire.read() << 8 | Wire.read();                                  //Add the low and high byte to the acc_x variable
    acc_y = Wire.read() << 8 | Wire.read();                                  //Add the low and high byte to the acc_y variable
    acc_z = Wire.read() << 8 | Wire.read();                                  //Add the low and high byte to the acc_z variable
    temperature = Wire.read() << 8 | Wire.read();                            //Add the low and high byte to the temperature variable
    gyro_x = Wire.read() << 8 | Wire.read();                                 //Add the low and high byte to the gyro_x variable
    gyro_y = Wire.read() << 8 | Wire.read();                                 //Add the low and high byte to the gyro_y variable
    gyro_z = Wire.read() << 8 | Wire.read();                                 //Add the low and high byte to the gyro_z variable

}


void setup_mpu_6050_registers() {
    //Activate the MPU-6050
    Wire.beginTransmission(0x68);                                        //Start communicating with the MPU-6050
    Wire.write(0x6B);                                                    //Send the requested starting register
    Wire.write(0x00);                                                    //Set the requested starting register
    Wire.endTransmission();                                              //End the transmission
    //Configure the accelerometer (+/-8g)
    Wire.beginTransmission(0x68);                                        //Start communicating with the MPU-6050
    Wire.write(0x1C);                                                    //Send the requested starting register
    Wire.write(0x10);                                                    //Set the requested starting register
    Wire.endTransmission();                                              //End the transmission
    //Configure the gyro (500dps full scale)
    Wire.beginTransmission(0x68);                                        //Start communicating with the MPU-6050
    Wire.write(0x1B);                                                    //Send the requested starting register
    Wire.write(0x08);                                                    //Set the requested starting register
    Wire.endTransmission();                                              //End the transmission
}