/*

*
1

* Copyright 2013 Moiss Vera <moyvera@geekalt42.net>

*

* This program is free software; you can redistribute it and/or modify

* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or

* (at your option) any later version.

*
* This program is distributed in the hope that it will be useful,

* but WITHOUT ANY WARRANTY; without even the implied warranty of

* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

* GNU General Public License for more details.

*
* You should have received a copy of the GNU General Public License

* along with this program; if not, write to the Free Software

* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,

* MA 02110-1301, USA.
*
*

*/

#define MPU6050_W 0b11010010

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#define MPU6050_R 0b11010011

#define MPU6050_RA_WHO_AM_I

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// Lcd pinout settings
sbit LCD_RS at RD1_bit;
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sbit LCD_EN at RD0_bit;

sbit LCD_D7 at RD7_bit;

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sbit LCD_D6 at RD6_bit;

sbit LCD_D5 at RD5_bit;
sbit LCD_D4 at RD4_bit;

0x75 //quien soy

13
// Pin direction
sbit LCD_RS_Direction at TRISD1_bit;
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sbit LCD_EN_Direction at TRISD0_bit;

sbit LCD_D7_Direction at TRISD7_bit;
sbit LCD_D6_Direction at TRISD6_bit;

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sbit LCD_D5_Direction at TRISD5_bit;

sbit LCD_D4_Direction at TRISD4_bit;
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unsigned short ACC_data[8];
unsigned int Ax_raw, Ay_raw, Az_raw;

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char salida1[7];

18 unsigned short I2C_read_Accelerometer(unsigned short reg)

{
I2C1_Start();
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I2C1_Wr(0b11010010);

//send START
//Write device address to bus for Write mode ACCEL_ADDR from

Arduino ex
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I2C1_Wr(reg);

//Write desired address bits x axis MSB with 7th bit set to enable

multi-byte read
I2C1_Start();
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I2C1_Wr(0b11010011);

//send repeated start

//Write device address to bus for Read mode taken from MikroC

I2C example
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ACC_data[0]=I2C1_Rd(0);

//Read in data from register master ack after each byte read except

the last one

/*ACC_data[1]=I2C1_Rd(1); //Read in data from register
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ACC_data[2]=I2C1_Rd(1); //Read in data from register

ACC_data[3]=I2C1_Rd(1); //Read in data from register
ACC_data[4]=I2C1_Rd(1); //Read in data from register

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ACC_data[5]=I2C1_Rd(0); //Read in data from register, the last byte read should not acknowledge
Ax_raw = (int)(((ACC_Data[1] << 8) + ACC_Data[0]) >> 4);

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Ay_raw = (int)(((ACC_Data[3] << 8) + ACC_Data[2]) >> 4);

Az_raw = (int)(((ACC_Data[5] << 8) + ACC_Data[4]) >> 4);*/

I2C1_Stop();

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//send STOP

return ACC_data[0];
27

28 void main(){
char salida[7];

29 //

unsigned int completeValue, i = 0;

unsigned short high;

30

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unsigned short low;

TRISD = 0x00;

//Puerto D salida

PORTD = 0x00;

//Valores por default en cero para el puerto D

PORTD.RD2 = 0;
ADCON1 = 0x0F;
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PORTB = 0;
TRISB = 0;

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Lcd_Init();
Delay_ms(500);
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35

36

I2C1_Init(100000);

I2C1_Start();

// issue I2C start signal

I2C1_Wr(MPU6050_W);

// send byte via I2C (device address + W)

I2C1_Wr(0x6B);

// send byte (address of EEPROM location)

I2C1_Wr(0x02);

// send data (data to be written)

I2C1_Stop();
37

38

I2C1_Start();

// issue I2C start signal

I2C1_Wr(MPU6050_W);

// send byte via I2C (device address + W)

I2C1_Wr(0x6C);

// send byte (address of EEPROM location)

I2C1_Wr(0x00);

// send data (data to be written)

I2C1_Stop();

39

40

I2C1_Start();

// issue I2C start signal

I2C1_Wr(MPU6050_W);

// send byte via I2C (device address + W)

I2C1_Wr(0x1C);
I2C1_Wr(0x00);

41

//escribimos valor en el registro 1c*/

I2C1_Stop();

//////////////////start configuration///////////////////
42
I2C1_Start();
43

I2C1_Wr(MPU6050_W);
I2C1_Wr(MPU6050_RA_WHO_AM_I);
I2C1_Start();

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I2C1_Wr(MPU6050_R);
high = I2C1_Rd(0);
I2C1_Stop();

45

ShortToHex(high, salida);
Lcd_Out(1, 1, salida);

46
while(1){
high = I2C_read_Accelerometer(0x3B);
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low = I2C_read_Accelerometer(0x3C);
IntToStr((signed int)(high <<8) | low, salida1);

48

Lcd_Out(1, 7, salida1);
high = I2C_read_Accelerometer(0x3D);
low = I2C_read_Accelerometer(0x3E);

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IntToStr((signed int)(high <<8) | low, salida1);

Lcd_Out(2, 1, salida1);
high = I2C_read_Accelerometer(0x3F);

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low = I2C_read_Accelerometer(0x40);
IntToStr((signed int)(high <<8) | low, salida1);

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Lcd_Out(2, 7, salida1);
Delay_ms(400);}}

52

}
}

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- See more at: http://geekalt42.net/controlando-al-mpu6050-mediante-pic18f45507525#comment-3138