8/19/2019 CODIGOS 666

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*

*

* Copyright 2013 Moisés 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 

#define MPU6050_R 0b11010011 

#define MPU6050_RA_WHO_AM_I 0x75 //quien soy 

// Lcd pinout settings 

sbit LCD_RS at RD1_bit; 

sbit LCD_EN at RD0_bit; 

sbit LCD_D7 at RD7_bit; 

sbit LCD_D6 at RD6_bit; 

sbit LCD_D5 at RD5_bit; 

sbit LCD_D4 at RD4_bit; 

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// Pin direction 

sbit LCD_RS_Direction at TRISD1_bit; 

sbit LCD_EN_Direction at TRISD0_bit; 

sbit LCD_D7_Direction at TRISD7_bit; 

sbit LCD_D6_Direction at TRISD6_bit; 

sbit LCD_D5_Direction at TRISD5_bit; 

sbit LCD_D4_Direction at TRISD4_bit; 

unsigned short ACC_data[8]; 

unsigned int Ax_raw, Ay_raw, Az_raw; 

char  salida1[7]; 

unsigned short I2C_read_Accelerometer(unsigned short reg) 

{ 

I2C1_Start();  //send START 

I2C1_Wr(0b11010010);  //Write device address to bus for Write mode ACCEL_ADDR from

Arduino ex 

I2C1_Wr(reg);  //Write desired address bits x axis MSB with 7th bit set to enable

multi-byte read 

I2C1_Start();  //send repeated start 

I2C1_Wr(0b11010011);  //Write device address to bus for Read mode taken from MikroC

I2C example 

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

 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

 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);

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

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

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I2C1_Stop();  //send STOP 

return ACC_data[0]; 

} 

void main(){ 

char  salida[7]; 

// unsigned int completeValue, i = 0; 

unsigned short high; 

unsigned short low; 

TRISD = 0x00;  //Puerto D salida 

PORTD = 0x00;  //Valores por default en cero para el puerto D 

PORTD.RD2 = 0; 

ADCON1 = 0x0F; 

PORTB = 0; 

TRISB = 0; 

Lcd_Init(); 

Delay_ms(500); 

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(); 

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(); 

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I2C1_Start();  // issue I2C start signal 

I2C1_Wr(MPU6050_W);  // send byte via I2C (device address + W) 

I2C1_Wr(0x1C); 

I2C1_Wr(0x00);  //escribimos valor en el registro 1c*/ 

I2C1_Stop(); 

//////////////////start configuration/////////////////// 

I2C1_Start(); 

I2C1_Wr(MPU6050_W); 

I2C1_Wr(MPU6050_RA_WHO_AM_I); 

I2C1_Start(); 

I2C1_Wr(MPU6050_R); 

high = I2C1_Rd(0); 

I2C1_Stop(); 

ShortToHex(high, salida); 

Lcd_Out(1, 1, salida); 

while(1){ 

high = I2C_read_Accelerometer(0x3B); 

low = I2C_read_Accelerometer(0x3C); 

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

Lcd_Out(1, 7, salida1); 

high = I2C_read_Accelerometer(0x3D); 

low = I2C_read_Accelerometer(0x3E); 

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

Lcd_Out(2, 1, salida1); 

high = I2C_read_Accelerometer(0x3F); 

low = I2C_read_Accelerometer(0x40); 

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

Lcd_Out(2, 7, salida1); 

Delay_ms(400);}} 

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} 

} 

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- See more at: http://geekalt42.net/controlando-al-mpu6050-mediante-pic18f4550-7525#comment-3138