/*Ausgabe der "Rohdaten" des MPU6050 am Serial Monitor, inkl.Temperatur. MPU-6050 Short Example Sketch, from Arduino User JohnChi, Public Domain.*/ #include<Wire.h> const int MPU_addr=0x68; // I2C address of the MPU-6050 int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ; // "16_t" gibt an, dass die integer-Variable 16 Bit haben soll... // ...dadurch funkioniert es auch mit ESP8622 (integer ist dort 32 Bit lang). void setup() { Wire.begin(D2,D1); // D2 (SDA) und D1 (SCL) Wire.beginTransmission(MPU_addr); Wire.write(0x6B); // PWR_MGMT_1 register Wire.write(0); // set to zero (wakes up the MPU-6050) Wire.endTransmission(); Serial.begin(9600); // Serial Monitor auf 9600 Baud einstellen ! } void loop() { Wire.beginTransmission(MPU_addr); Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H) Wire.endTransmission(); Wire.requestFrom(MPU_addr,14); // request a total of 14 registers AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L) AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L) AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L) Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L) GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L) GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L) GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L) Serial.print("AcX = "); Serial.print(AcX); Serial.print(" | AcY = "); Serial.print(AcY); Serial.print(" | AcZ = "); Serial.print(AcZ); Serial.print(" | Tmp = "); Serial.print(Tmp/340.00+36.53); // see data sheet Serial.print(" | GyX = "); Serial.print(GyX); Serial.print(" | GyY = "); Serial.print(GyY); Serial.print(" | GyZ = "); Serial.println(GyZ); delay(2000); }