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$regfile = "m1284pdef.dat" $crystal = 20000000 $framesize = 32 $swstack = 32 $hwstack = 32 Config Portc = Output 'Fürs LCD Config Scl = Portc.0 'Ports fuer IIC-Bus Config Sda = Portc.1 Config Lcdpin = Pin , Db4 = Portc.2 , Db5 = Portc.3 , Db6 = Portc.4 , Db7 = Portc.5 , E = Portc.6 , Rs = Portc.7 Config Lcd = 20 * 4 Config Portd = Input 'Fernsteuerung D4 - D7 ,Taster u.s.w Declare Sub 6050_write(regadr As Byte , Byval Wert As Byte) Declare Sub 6050_read(regadr As Byte) As Byte Declare Sub Werte_berechnen Declare Sub Werte_anzeigen Dim 6050_adr As Byte Dim 6050_adr1 As Byte Dim 6050_accel_x_h As Byte Dim 6050_pwr_mgmt_1 As Byte Dim Accel_x_h As Byte Dim Accel_x_l As Byte Dim Accel_y_h As Byte Dim Accel_y_l As Byte Dim Accel_z_h As Byte Dim Accel_z_l As Byte Dim Temp_h As Byte Dim Temp_l As Byte Dim Gyro_x_h As Byte Dim Gyro_x_l As Byte Dim Gyro_y_h As Byte Dim Gyro_y_l As Byte Dim Gyro_z_h As Byte Dim Gyro_z_l As Byte Dim Accel_x_int As Integer Dim Accel_x_real As Single Dim Accel_y_int As Integer Dim Accel_y_real As Single Dim Accel_z_int As Integer Dim Accel_z_real As Single Dim Temp_int As Integer Dim Temp_real As Single Dim Gyro_x_int As Integer Dim Gyro_x_real As Single Dim Gyro_y_int As Integer Dim Gyro_y_real As Single Dim Gyro_z_int As Integer Dim Gyro_z_real As Single 6050_adr = &HD0 6050_adr1 = &HD1 6050_accel_x_h = &H3B 6050_pwr_mgmt_1 = &H6B Call 6050_write(6050_pwr_mgmt_1 , 0) 'aus dem sleepmodus wecken Do Wait 1 'Jede Sekunde 1 mal Call 6050_read(6050_accel_x_h) 'register auslesen Call Werte_berechnen 'Werte errechnen Call Werte_anzeigen Loop End Sub 6050_write(regadr As Byte , Byval Wert As Byte) I2cstart I2cwbyte 6050_adr If Err = 0 Then I2cwbyte Regadr I2cwbyte Wert End If I2cstop End Sub Sub 6050_read(regadr As Byte) As Byte 'Gyro Temp + Accelerometer I2cstart I2cwbyte 6050_adr If Err = 0 Then I2cwbyte Regadr I2cstart I2cwbyte 6050_adr1 I2crbyte Accel_x_h , Ack I2crbyte Accel_x_l , Ack I2crbyte Accel_y_h , Ack I2crbyte Accel_y_l , Ack I2crbyte Accel_z_h , Ack I2crbyte Accel_z_l , Ack I2crbyte Temp_h , Ack I2crbyte Temp_l , Ack I2crbyte Gyro_x_h , Ack I2crbyte Gyro_x_l , Ack I2crbyte Gyro_y_h , Ack I2crbyte Gyro_y_l , Ack I2crbyte Gyro_z_h , Ack I2crbyte Gyro_z_l , Nack End If I2cstop End Sub Sub Werte_berechnen Accel_x_int = 256 * Accel_x_h Accel_x_int = Accel_x_int + Accel_x_l '1 g entspricht 2^14 = 16384 bei Standard Einstellung 2g; also Beschl = Acceleration *9.81/16384 Accel_x_real = Accel_x_int * 9.81 Accel_x_real = Accel_x_real / 16384 Accel_y_int = 256 * Accel_y_h Accel_y_int = Accel_y_int + Accel_y_l Accel_y_real = Accel_y_int * 9.81 Accel_y_real = Accel_y_real / 16384 Accel_z_int = 256 * Accel_z_h Accel_z_int = Accel_z_int + Accel_z_l Accel_z_real = Accel_z_int * 9.81 Accel_z_real = Accel_z_real / 16384 Temp_int = 256 * Temp_h 'lt. Anleitung Temp_int = Temp_int + Temp_l Temp_real = Temp_int / 340 Temp_real = Temp_real + 36.53 Gyro_x_int = 256 * Gyro_x_h Gyro_x_int = Gyro_x_int + Gyro_x_l Gyro_y_int = 256 * Gyro_y_h Gyro_y_int = Gyro_y_int + Gyro_y_l Gyro_z_int = 256 * Gyro_z_h Gyro_z_int = Gyro_z_int + Gyro_z_l End Sub Sub Werte_anzeigen Cls Locate 1 , 1 : Lcd "AX=" ; Accel_x_real Locate 1 , 10 : Lcd "AY=" ; Accel_y_real Locate 2 , 1 : Lcd "AZ=" ; Accel_z_real Locate 2 , 10 : Lcd "T=" ; Temp_real ; "°C" Locate 3 , 1 : Lcd "GX=" ; Gyro_x_int ; "GY=" ; Gyro_y_int Locate 4 , 1 : Lcd "GZ=" ; Gyro_z_int End Sub |