#include <SPI.h>
#include <SD.h>
File myFile;
int trig = 0;
int led = 1;
void TakePicture() {
digitalWrite(trig, LOW);
digitalWrite(led, LOW);
digitalWrite(trig, HIGH);
digitalWrite(led, HIGH);
}
// (c) Michael Schoeffler 2017, http://www.mschoeffler.de
#include "Wire.h" // This library allows you to communicate with I2C devices.
const int MPU_ADDR = 0x68; // I2C address of the MPU-6050. If AD0 pin is set to HIGH, the I2C address will be 0x69.
int16_t accelerometer_x, accelerometer_y, accelerometer_z; // variables for accelerometer raw data
int16_t gyro_x, gyro_y, gyro_z; // variables for gyro raw data
int16_t temperature; // variables for temperature data
char tmp_str[7]; // temporary variable used in convert function
char* convert_int16_to_str(int16_t i) { // converts int16 to string. Moreover, resulting strings will have the same length in the debug monitor.
sprintf(tmp_str, "%6d", i);
return tmp_str;
}
void setup() {
// put your setp code here, to run once:
Serial.begin(9600);
Wire.begin();
Wire.beginTransmission(MPU_ADDR); // Begins a transmission to the I2C slave (GY-521 board)
Wire.write(0x6B); // PWR_MGMT_1 register
Wire.write(0); // set to zero (wakes up the MPU-6050)
Wire.endTransmission(true);
while (!Serial) {
; //wait for serial port to connect
}
Serial.print("Initializing SD card...");
if (!SD.begin(4)) {
Serial.println("initalization failed!");
}
// Spycam code
// initialize the digital pins as output.
pinMode(led, OUTPUT);
pinMode(trig, OUTPUT);
digitalWrite(led, HIGH);
digitalWrite(trig, HIGH);
TakePicture();
}
// Hold HIGH and trigger quick (<250ms) LOW to take a photo. Holding LOW and trigger HIGH starts/stops video recording
void loop() {
Wire.beginTransmission(MPU_ADDR);
Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H) [MPU-6000 and MPU-6050 Register Map and Descriptions Revision 4.2, p.40]
Wire.endTransmission(false); // the parameter indicates that the Arduino will send a restart. As a result, the connection is kept active.
Wire.requestFrom(MPU_ADDR, 7 * 2, true); // request a total of 7*2=14 registers
{
myFile = SD.open("report.txt", FILE_WRITE);
if (myFile) {
myFile.print(convert_int16_to_str(accelerometer_x)); // aX
myFile.print(","); myFile.print(convert_int16_to_str(accelerometer_y)); // aY
myFile.print(","); myFile.print(convert_int16_to_str(accelerometer_z)); // aZ
// the following equation was taken from the documentation [MPU-6000/MPU-6050 Register Map and Description, p.30]
myFile.print(", "); myFile.print(temperature / 340.00 + 36.53); // temp
myFile.print(","); myFile.print(convert_int16_to_str(gyro_x)); // gX
myFile.print(","); myFile.print(convert_int16_to_str(gyro_y)); // gY
myFile.print(","); myFile.print(convert_int16_to_str(gyro_z)); // gZ
myFile.println();
myFile.close();
}
// "Wire.read()<<8 | Wire.read();" means two registers are read and stored in the same variable
accelerometer_x = Wire.read() << 8 | Wire.read(); // reading registers: 0x3B (ACCEL_XOUT_H) and 0x3C (ACCEL_XOUT_L)
accelerometer_y = Wire.read() << 8 | Wire.read(); // reading registers: 0x3D (ACCEL_YOUT_H) and 0x3E (ACCEL_YOUT_L)
accelerometer_z = Wire.read() << 8 | Wire.read(); // reading registers: 0x3F (ACCEL_ZOUT_H) and 0x40 (ACCEL_ZOUT_L)
temperature = Wire.read() << 8 | Wire.read(); // reading registers: 0x41 (TEMP_OUT_H) and 0x42 (TEMP_OUT_L)
gyro_x = Wire.read() << 8 | Wire.read(); // reading registers: 0x43 (GYRO_XOUT_H) and 0x44 (GYRO_XOUT_L)
gyro_y = Wire.read() << 8 | Wire.read(); // reading registers: 0x45 (GYRO_YOUT_H) and 0x46 (GYRO_YOUT_L)
gyro_z = Wire.read() << 8 | Wire.read(); // reading registers: 0x47 (GYRO_ZOUT_H) and 0x48 (GYRO_ZOUT_L)
// print out data
Serial.print("aX = "); Serial.print(convert_int16_to_str(accelerometer_x));
Serial.print(" | aY = "); Serial.print(convert_int16_to_str(accelerometer_y));
Serial.print(" | aZ = "); Serial.print(convert_int16_to_str(accelerometer_z));
// the following equation was taken from the documentation [MPU-6000/MPU-6050 Register Map and Description, p.30]
Serial.print(" | tmp = "); Serial.print(temperature / 340.00 + 36.53);
Serial.print(" | gX = "); Serial.print(convert_int16_to_str(gyro_x));
Serial.print(" | gY = "); Serial.print(convert_int16_to_str(gyro_y));
Serial.print(" | gZ = "); Serial.print(convert_int16_to_str(gyro_z));
Serial.println();
}
if (accelerometer_y > 500)
{TakePicture();
delay(500);
}
{
myFile = SD.open("report.txt", FILE_WRITE);
if (myFile) {
myFile.print(",");
myFile.close();
}
}
}Preformatted text