File transfer add

1-January/lab1.md

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+How many LEDs?
+4
+
+To which pins are they connected?
+PB5, PD4, PD5, and one is not connected to the microcontroller except via 5V and ground.
+
+
+

1-January/lab1a.ino/lab1a.ino.ino

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+//Lab1_hello_arduino
+#define LED_PIN 13
+
+void setup() {
+  // put your setup code here, to run once:
+  pinMode(LED_PIN , OUTPUT);
+  digitalWrite(LED_PIN , LOW);
+
+  Serial.begin(9600);
+  Serial.println("Lab 1: Hello arduino v0.0\n");
+  delay(10000);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  digitalWrite(LED_PIN , HIGH); //turn on LED
+  Serial.println("On");
+  delay(500);                   //wait half second
+  digitalWrite(LED_PIN , LOW);  //turn off LED
+  Serial.println("Off");        
+  delay(500);                   //wait half second
+}

1-January/lab1b.ino/lab1b.ino.ino

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+//Lab_1_hello_arduino
+#define LED_PIN  13
+char inChar;
+boolean isFreshInChar;
+
+void setup() {
+  pinMode(LED_PIN , OUTPUT);
+  digitalWrite(LED_PIN , LOW);
+  
+  // Set serial monitor console termination for 'No line ending'
+  Serial.begin(9600);
+  Serial.println(F("Lab 1: hello arduino v0.4\n"));
+  delay(5000);
+}
+
+void loop() { 
+  isFreshInChar = false;  
+  if (Serial.available()) {
+    inChar = Serial.read();
+    Serial.print("Serial input detected: ");
+    Serial.println(inChar);
+    isFreshInChar = true;
+  }
+
+  if (inChar == 'n') digitalWrite(LED_PIN , HIGH); // oN
+  if (inChar == 'f') digitalWrite(LED_PIN , LOW);  // oFf
+
+  if (inChar == 'b') { // blink with 25% duty cycle
+    digitalWrite(LED_PIN , HIGH);
+    delay(250);
+    digitalWrite(LED_PIN , LOW);
+    delay(750);
+  }
+
+  // function for readability: blink with 75% duty cycle
+  if (inChar == 'B') blinkLED(750,1000);
+
+  // Discover 't' persistence bug by observing high rate LED blink
+  if (inChar == 't') { // toggle
+    digitalWrite(LED_PIN , !digitalRead(LED_PIN ));
+  }
+
+  // Add state change detection to get proper toggle action.
+  if (inChar == 'T') { // toggle
+    if (isFreshInChar) digitalWrite(LED_PIN , !digitalRead(LED_PIN ));
+  }
+
+} // loop()
+
+//********************************************************************************
+void blinkLED(unsigned int msecT, unsigned int msecOn) {
+  digitalWrite(LED_PIN , HIGH);
+  delay(msecOn);
+  digitalWrite(LED_PIN , LOW);
+  delay(msecT - msecOn);
+}

1-January/lab2a/lab2a.ino

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+#define SW1_PIN 8
+#define LED1_PIN 11
+bool isSwPressed = 0;
+bool prevIsSwPressed = 0;
+bool isSwJustPressed = 0;
+bool isSwJustReleased = 0;
+bool isSwChange = 0;
+void setup() {
+  pinMode(SW1_PIN, INPUT_PULLUP);
+  pinMode(LED1_PIN, OUTPUT);  digitalWrite(LED1_PIN, LOW);
+   
+  Serial.begin(9600);
+  Serial.println(F("Lab 2: Switch State Decoding v0.0\n"));
+}
+
+void loop() {
+  prevIsSwPressed = isSwPressed;
+  isSwPressed = !digitalRead(SW1_PIN);  
+  // When the switch is pressed, the SW_PIN is low, so !low is high or true
+  isSwJustPressed = (isSwPressed && !prevIsSwPressed);  // switch edge detection
+  isSwJustReleased = (!isSwPressed && prevIsSwPressed);    
+  isSwChange = (isSwJustReleased || isSwJustPressed);
+
+// uncomment just one line below at time to see how each input 
+//  condition is detected. (enable just one output function at a time)
+
+//  digitalWrite(LED1_PIN, isSwPressed);
+  digitalWrite(LED1_PIN, isSwJustReleased);
+//  digitalWrite(LED1_PIN, isSwJustPressed);
+//  digitalWrite(LED1_PIN, isSwChange);  
+//  digitalWrite(LED1_PIN, !digitalRead(LED1_PIN)); // see the sample rate  
+
+  delay(100);
+}

1-January/lab2d/lab2d.ino

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+#define SW1_PIN 8
+#define LED1_PIN 11
+#define QTR_SIG_PIN A3
+#define QTR_5V_PIN A4
+#define QTR_GND_PIN A5
+
+#define MSEC_SAMPLE 200
+
+boolean isSwPressed;
+unsigned int adcQTR;
+
+void setup(){
+  pinMode(SW1_PIN, INPUT_PULLUP);
+  
+  pinMode(LED1_PIN, OUTPUT);  digitalWrite(LED1_PIN, LOW);
+  
+  pinMode(QTR_SIG_PIN, INPUT);
+  pinMode(QTR_GND_PIN, OUTPUT); digitalWrite(QTR_GND_PIN, LOW);
+  pinMode(QTR_5V_PIN, OUTPUT); digitalWrite(QTR_5V_PIN, HIGH);
+  //
+  //
+  
+  Serial.begin(9600);
+  Serial.println(F("Lab 2: Analog Sensor Reading\n"));
+}
+
+void loop(){   
+  // scan input and condition it (low to hi true)
+  isSwPressed = !digitalRead(SW1_PIN); 
+  digitalWrite(LED1_PIN, isSwPressed);
+
+  adcQTR = analogRead(QTR_SIG_PIN);  // 0..1023 output
+  Serial.println(adcQTR);
+  delay(MSEC_SAMPLE);
+} // loop()

1-January/lab2e/lab2e.ino

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+#define SW1_PIN 8
+#define LED1_PIN 11
+#define QTR_SIG_PIN A3
+#define QTR_5V_PIN A4
+#define QTR_GND_PIN A5
+
+#define MSEC_SAMPLE 200
+
+boolean isSwPressed;
+unsigned int adcQTR;
+
+void setup(){
+  pinMode(SW1_PIN, INPUT_PULLUP);
+  
+  pinMode(LED1_PIN, OUTPUT);  digitalWrite(LED1_PIN, LOW);
+  
+  pinMode(QTR_SIG_PIN, INPUT);
+  pinMode(QTR_GND_PIN, OUTPUT); digitalWrite(QTR_GND_PIN, LOW);
+  pinMode(QTR_5V_PIN, OUTPUT); digitalWrite(QTR_5V_PIN, HIGH);
+  //
+  //
+  
+  Serial.begin(9600);
+  Serial.println(F("Lab 2: Analog Sensor Reading\n"));
+}
+
+void loop(){   
+  // scan input and condition it (low to hi true)
+  isSwPressed = !digitalRead(SW1_PIN); 
+  digitalWrite(LED1_PIN, isSwPressed);
+
+  adcQTR = analogRead(QTR_SIG_PIN);  // 0..1023 output
+  if(isSwPressed){
+  Serial.println(adcQTR);
+  };
+  delay(MSEC_SAMPLE);
+} // loop()

1-January/lab2f/lab2f.ino

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+#define SW1_PIN 8  
+#define LED1_PIN 11 
+#define MSEC_SAMPLE 1
+
+enum {STOP, LED_ON, LED_OFF};
+
+boolean isSwPressed, prevIsSwPressed, isSwJustReleased, isSwJustPressed, isSwChange;
+int state = STOP, prevState = !state;
+int stateTimer;
+boolean isNewState;
+
+void setup() {
+  pinMode(SW1_PIN, INPUT_PULLUP);
+  pinMode(LED1_PIN, OUTPUT);  digitalWrite(LED1_PIN, LOW);
+  Serial.begin(9600);  Serial.println(F("Lab 2: if-then state machine\n"));
+  Serial.println(STOP);  Serial.println(LED_ON); Serial.println(LED_OFF);
+}
+
+void loop() {
+  // Input scan, signal conditioning, history evolution
+  prevIsSwPressed = isSwPressed;
+  isSwPressed = !digitalRead(SW1_PIN);
+  isSwJustPressed = (isSwPressed && !prevIsSwPressed);  // switch edge detection
+  isSwJustReleased = (!isSwPressed && prevIsSwPressed);    
+  isSwChange = (isSwJustReleased || isSwJustPressed);
+  
+  // update state information
+  isNewState = (state != prevState); // if state != prevState, then isNewState
+  prevState = state;
+  
+  if (state == STOP) {
+    // Entry housekeeping
+    if (isNewState) Serial.println("STOP");
+    // State business
+    digitalWrite(LED1_PIN, LOW);
+    // Exit condition is based only on switch changing
+    if (isSwPressed) state = LED_ON;
+  }
+      
+  else if (state == LED_ON) {
+    // Entry housekeeping
+    if (isNewState) {
+      stateTimer = 0; // reset state timer to zero
+      Serial.println("LED_ON");
+      digitalWrite(LED1_PIN, HIGH);
+    }
+    // State business
+    stateTimer++;
+    // Exit condition 1 is based on switch changing
+    if (isSwJustReleased) {
+      digitalWrite(LED1_PIN, LOW);
+      state = STOP;
+    }
+    // Exit condition 2 is based on timer expiring
+    if (isSwPressed) state = LED_OFF;
+  }
+  
+  else if (state == LED_OFF) {
+    // Entry housekeeping
+    if (isNewState) {
+      stateTimer = 0; // reset state timer to zero
+      Serial.println("LED_OFF");
+      digitalWrite(LED1_PIN, LOW);
+    }
+    // State business
+    stateTimer++;
+    // Exit condition 1 is based on switch changing
+    if (isSwJustReleased) {
+      digitalWrite(LED1_PIN, LOW);
+      state = STOP;
+    }
+    // Exit condition 2 is based on timer expiring
+    if (isSwPressed) state = LED_ON;
+  }
+  else state = STOP;
+
+  delay(MSEC_SAMPLE);
+} //loop()

1-January/lab2g/lab2g.ino

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+#define SW1_PIN 8
+#define LED1_PIN 10
+#define LED2_PIN 11
+#define QTR_SIG_PIN A3
+#define QTR_5V_PIN A4
+#define QTR_GND_PIN A5
+#define MSEC_SAMPLE 1
+
+enum {LED_OFF, BLINK_G, BLINK_R, BLINK_GR, BLINK_RATE};
+
+boolean isSwPressed, prevIsSwPressed, isSwJustReleased, isSwJustPressed, isSwChange;
+int state = LED_OFF, prevState = !state;
+int stateTimer, adcQTR;
+boolean isNewState;
+
+void setup() {
+  pinMode(SW1_PIN, INPUT_PULLUP);//  pinMode(SW1_PIN, INPUT); won't work
+
+  pinMode(LED1_PIN, OUTPUT);  digitalWrite(LED1_PIN, LOW);
+  pinMode(LED2_PIN, OUTPUT);  digitalWrite(LED2_PIN, LOW);
+
+  pinMode(QTR_SIG_PIN, INPUT);
+  pinMode(QTR_5V_PIN, OUTPUT);   digitalWrite(QTR_5V_PIN, HIGH);
+  pinMode(QTR_GND_PIN, OUTPUT);  digitalWrite(QTR_GND_PIN, LOW);
+   
+  Serial.begin(9600);
+  Serial.println(F("Lab 2 Complex State Machine"));
+} // setup()
+
+// ADD loop() HERE - IT IS GIVEN ON THE NEXT PAGE
+
+//****************************************************************************
+void redOn(void) {
+  PORTB = PORTB |(1 << 0);  // sets Uno dig_8, PORTB.0, pin to 1 (HIGH)
+                            // physical pin 14 (28 pin DIP)
+  digitalWrite(LED1_PIN, HIGH);  // alternative to PORTB setting
+  digitalWrite(LED2_PIN, LOW);
+}
+
+//****************************************************************************
+void greenOn(void) {
+  digitalWrite(LED1_PIN, LOW);
+  digitalWrite(LED2_PIN, HIGH);
+}
+
+//****************************************************************************
+void allOff(void) {
+  digitalWrite(LED1_PIN, LOW);
+  digitalWrite(LED2_PIN, LOW);
+}
+void loop() {
+  prevIsSwPressed = isSwPressed;
+  isSwPressed = !digitalRead(SW1_PIN);
+  isSwJustPressed = (isSwPressed && !prevIsSwPressed);  // switch edge detection
+  isSwJustReleased = (!isSwPressed && prevIsSwPressed);    
+  isSwChange = (isSwJustReleased || isSwJustPressed);
+  
+  isNewState = (state != prevState);
+  prevState = state;
+  
+  switch (state) {
+ 
+    case LED_OFF:
+      if (isNewState) Serial.println("LED_OFF");
+      allOff();
+      if (isSwJustReleased) state = BLINK_G;
+    break;
+    
+    case BLINK_G:
+      if (isNewState) {
+      stateTimer = 0;
+      Serial.println("BLINK_G");
+      }
+      stateTimer++;
+      if (stateTimer < 250) greenOn();
+      else allOff();
+      if (stateTimer >= 1000) stateTimer = 0;
+      if (isSwJustReleased) {
+        allOff();
+        state = BLINK_R; 
+      }
+    break;
+
+  // ADD BLINK_R STATE HERE. ************
+    case BLINK_R:
+    if (isNewState) {
+      stateTimer = 0;
+      Serial.println("BLINK_R");
+      }
+      stateTimer++;
+      if (stateTimer < 250) redOn();
+      else allOff();
+      if (stateTimer >= 1000) stateTimer = 0;
+      if (isSwJustReleased) {
+        allOff();
+        state = BLINK_GR; 
+      }
+    break;
+
+    case BLINK_GR:
+      if (isNewState) {
+        stateTimer = 0;
+        Serial.println("BLINK_GR");
+      }
+      stateTimer++;
+      if (stateTimer < 500) redOn();
+      else greenOn();
+      if (stateTimer >= 1000) stateTimer = 0;
+      if (isSwJustReleased) {
+        allOff();
+        state = BLINK_RATE;
+      }
+    break;
+
+    case BLINK_RATE:
+      if (isNewState) {
+        stateTimer = 0;
+        Serial.println("BLINK_RATE");
+      }
+      stateTimer++;
+      adcQTR = analogRead(QTR_SIG_PIN);
+      if (stateTimer < adcQTR/2) redOn();
+      else greenOn();
+      if (stateTimer >= adcQTR) stateTimer = 0;
+      if (isSwJustReleased) {
+        allOff();
+        state = LED_OFF;
+      }
+    break; 
+      
+    default: state = LED_OFF;
+  } // switch (state)
+
+  delay(MSEC_SAMPLE);
+} // loop()

1-January/lab2h/lab2h.ino

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+enum{fwd, backr, backl, turnr, turnl, stop};
+bool rs = false, ls = false;
+int state = fwd, prevState = !fwd;
+int stateTimer = 0;
+#define forward  0xC0
+#define rightTurn  0x40
+#define leftTurn  0x80
+void setup(){
+    DDRD |= 0xC0; DDRD &= ~(0x03); //setting input/output pins
+    PORTD |= 0x03; //setting pushbutton pullups
+}
+
+void loop(){
+    rs = !(PIND & 0x02);
+    ls = !(PIND & 0x01);
+    isNewState = (state != prevState);
+    prevState = state;
+    switch(state){
+        case fwd:
+            if(isNewState){
+                PORTD |= forward;
+            }
+            if(rs) state = backr;
+            else if(ls) state = backl;
+            break;
+            
+        case backr:
+            if(isNewState){
+                PORTD &= ~(forward);
+                stateTimer=0;
+            }
+            if(!(isNewState)){
+                stateTimer++;
+            }
+            if (stateTimmer >= 500) state = turnr;
+            break;
+         
+        case turnr:
+            if(isNewState){
+                PORTD |= rightTurn;
+            }
+            if (stateTimmer >= 500) state = fwd;
+            break;
+            
+        case backl:
+            if(isNewState){
+                PORTD &= ~(forward);
+                stateTimer=0;
+            }
+            if(!(isNewState)){
+                stateTimer++;
+            }
+            if (stateTimmer >= 500) state = turnl;
+            break;
+         
+        case turnl:
+            if(isNewState){
+                PORTD |= leftTurn;
+            }
+            if (stateTimmer >= 500) state = fwd;
+            break;
+            
+        case stop:
+            if(isNewState){
+                PORTD &= ~(forward);
+            }
+            break;
+            
+        default: state = stop;
+    }
+    delay(1);
+}

2-February/lab4/Lab4_Timer1_p1.ino/Lab4_Timer1_p1/Lab4_Timer1_p1.ino

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+// Lab4_Timer1_p1
+// Written By: C. Hochgraf
+// Date: Feb 2017
+
+// declare variables
+  enum {TC1_PCFC_DC90_D10};
+  int state, sreg;
+//***********************************************************************************
+void setup()
+{
+  Serial.begin(9600);
+  Serial.println(F("Lab 4: Hardware Timers"));
+}
+//***********************************************************************************
+void loop()
+{
+  // loop() is only executed once because each state contains an infinite loop.
+  state = TC1_PCFC_DC90_D10;
+
+  switch(state)
+  {
+    //-------------------------------------------------------------------------------
+    case TC1_PCFC_DC90_D10:
+      // Create 90% duty cycle square wave using Timer 1.
+
+      Serial.println(F("Print out all the default Timer1 settings"));
+      Serial.println(F("The settings are all stored in registers"));
+      Serial.println(F("Later, you will change the values in the registers"));
+      Serial.println();
+      Serial.println(F("First, what is in the Timer 1 Control Registers?"));
+
+      printTimer1Registers();
+      delay(8000);
+
+      // you can comment out the printWGM function below when you are ready
+      Serial.println(F("you can comment out the printing of WGM values to save time"));
+      //printWGMCOMCS1Values();
+
+      Serial.println();
+      delay(1000);
+      Serial.println(F("Initializing Timer1 in PCFC mode, toggling OC1B on d10"));
+
+      sreg = SREG; /* Save global interrupt flag */
+      cli(); // temporarily stop interrupts while setting register values
+      TCCR1A = 0; // set to defaults as good practice
+      TCCR1B = 0; // set to defaults as good practice
+      TCCR1A  = (0 << WGM11)|(0 << WGM10);    // first part of setup for PCFC PWM (mode 8)
+      TCCR1B  = (1 << WGM13)|(0 << WGM12);    // second part of setup for PCFC PWM (mode 8)
+      TCCR1A |= (1 << COM1B1)|(0 << COM1B0);  // non-inverting PWM on channel B: PORTB2, UNOd10
+      TCCR1A |= (1 << COM1A1)|(0 << COM1A0);  // non-inverting PWM on channel A: PORTB1, UNOd9
+
+      //This setup COM1A (10) COM1B (11), gives d9 to be inverted from d10 if OCR1A=OCR1B.
+      // WGM mode 8 (1000) has ICR1 as top.
+
+      //TCCR1B |= (1 << CS12)|(0 << CS11)|(1 << CS10); // clock prescale = 1024 -> 15.625 kHz
+      //TCCR1B |= (1 << CS12)|(0 << CS11)|(0 << CS10); // clock prescale = 256 -> 62.5 kHz
+      TCCR1B |= (1 << CS12)|(0 << CS11)|(0 << CS10); // clock prescale = 64 -> 250 kHz
+      ICR1 = 125000;  // period   ICR1=10000 gives visible blips
+      OCR1A = (125000/2);  //  =10000/16 = 625
+      OCR1B = (125000/2);  //  =10000/16 = 625
+      sei(); // reenable interrupts
+      SREG = sreg; /* Restore global interrupt flag */
+      //did it work right? check by printing registers
+      printTimer1Registers();
+      //delay(10000);
+      pinMode(9,OUTPUT);  // to drive led on pin 13
+      pinMode(10,OUTPUT);
+      pinMode(13,INPUT); // to receive digital signal from pin 9
+      Serial.println();
+      Serial.println("I'm ready to blink now. Attach a wire from pin 9 to 13");
+      while(true) {; // dwell forever
+         }
+      break;
+  } // switch(state)
+} // Arduino loop()
+
+//==============================================================================
+//void printWGMCOMCS1Values(void) {
+    //Serial.println();
+    //delay(8000);
+    //Serial.println(F("Second, what are these WGM values? Try printing as decimals"));
+    //Serial.println();
+    //Serial.print(F("WGM10    DECIMAL: ")); Serial.println(WGM10, DEC);
+    //Serial.print(F("WGM11    DECIMAL: ")); Serial.println(WGM11, DEC);
+    //Serial.print(F("WGM12    DECIMAL: ")); Serial.println(WGM12, DEC);
+    //Serial.print(F("WGM13    DECIMAL: ")); Serial.println(WGM13, DEC);
+
+    //delay(8000);
+    //Serial.println();
+    //Serial.println(F("The WGM values are #defines that tell you how far"));
+    //delay(1000);
+    //Serial.println(F("to shift a bit value to have it land at the right place "));
+    //delay(1000);
+    //Serial.println(F("in the register. "));
+    //Serial.println();
+
+    //delay(2000);
+    //Serial.println(F("Now print the COM1B values."));
+    //Serial.println(F("Thes are #defines that tell you how far"));
+    //Serial.println(F("to shift a bit value to have it land at the right place "));
+
+    //Serial.println();
+    //Serial.print(F("COM1B0    DECIMAL: ")); Serial.println(COM1B0, DEC);
+    //Serial.print(F("COM1B1    DECIMAL: ")); Serial.println(COM1B1, DEC);
+    //Serial.println();
+    //delay(8000);
+    //Serial.println(F("Now print the CS values that help with setting the "));
+    //Serial.println(F("clock prescaler value (clock divider). "));
+    //Serial.println();
+    //delay(2000);
+
+    //Serial.print(F("CS10    DECIMAL: ")); Serial.println(CS10, DEC);
+    //Serial.print(F("CS11    DECIMAL: ")); Serial.println(CS11, DEC);
+    //Serial.print(F("CS12    DECIMAL: ")); Serial.println(CS12, DEC);
+    //Serial.println();
+    //delay(8000);
+  //};
+//==============================================================================
+void printHex8(byte data) { // prints 8-bit data in hex with leading zeroes
+  Serial.print("0x");
+  if (data<0x10) {Serial.print("0");}
+  Serial.print(data,HEX);
+}
+
+//==============================================================================
+void printHex16(uint16_t data) { // prints 16-bit data in hex with leading zeroes
+  Serial.print("0x");
+  uint8_t MSB=byte(data>>8);
+  uint8_t LSB=byte(data);
+  if (MSB<0x10) {Serial.print("0");} Serial.print(MSB,HEX);
+  if (LSB<0x10) {Serial.print("0");} Serial.print(LSB,HEX);
+
+}
+//==============================================================================
+void printBinaryByte(byte value) { // prints 8-bit data in binary with leading 0's
+  Serial.print("B");
+  for (byte bitmask = 0x80; bitmask; bitmask >>= 1) {
+        Serial.print((bitmask & value) ? '1' : '0');
+    }
+}
+//==============================================================================
+void printBinaryWord(unsigned int value) { // prints 16-bit data in binary with leading 0's
+  Serial.print("B");
+  for (unsigned int bitmask = 0x8000; bitmask; bitmask >>= 1) {
+        Serial.print((bitmask & value) ? '1' : '0');
+    }
+}
+
+//==============================================================================
+void printRegister16InDecHexBin(unsigned int registerName) {
+  Serial.print(F("Binary:  ")); printBinaryWord(registerName); Serial.print("\t");
+  Serial.print(F("Hex:     ")); printHex16(registerName); Serial.print("\t");
+  Serial.print(F("Decimal: ")); Serial.println(registerName);
+}
+
+//==============================================================================
+void printRegister8InDecHexBin(unsigned int registerName) {
+  Serial.print(F("Binary:  ")); printBinaryByte(registerName); Serial.print("\t\t");
+  Serial.print(F("Hex:     ")); printHex8(registerName); Serial.print("\t");
+  Serial.print(F("Decimal: ")); Serial.println(registerName);
+}
+
+//==============================================================================
+void printTimer1Registers() {
+  Serial.print(F("TCCR1A: ")); printRegister8InDecHexBin(TCCR1A);
+  Serial.print(F("TCCR1B: ")); printRegister8InDecHexBin(TCCR1B);
+  Serial.print(F("OCR1A:  ")); printRegister16InDecHexBin(OCR1A);
+  Serial.print(F("OCR1B:  ")); printRegister16InDecHexBin(OCR1B);
+  Serial.print(F("ICR1:   ")); printRegister16InDecHexBin(ICR1);
+  Serial.print(F("TIMSK1: ")); printRegister8InDecHexBin(TIMSK1);
+}

2-February/lab4/lab4_0.1a.ino/lab4_0.1a.ino.ino

@@ -0,0 +1,22 @@
+// Lab4_BlinkUsingDelay
+// Written By: C. Hochgraf
+// Date: Feb 2017
+
+unsigned long numberOfLoopsRun=0;
+//***********************************************************************************
+void setup() {
+  pinMode(13,OUTPUT);
+  Serial.begin(9600);
+  Serial.println(F("Lab 4: BlinkUsingDelay"));
+  Serial.println(F("I'm ready to blink now."));
+}
+//***********************************************************************************
+void loop() {
+  digitalWrite(13,HIGH);
+  delay(1000);
+  digitalWrite(13,LOW);
+  delay(1000);
+  Serial.print(F("The number of times loop code has run is: "));
+  Serial.println(numberOfLoopsRun);
+  numberOfLoopsRun++;
+} // Arduino loop()

2-February/lab4/lab4_0.1b.ino/lab4_0.1b.ino.ino

@@ -0,0 +1,27 @@
+// Lab4_BlinkUsingTimer1
+// Written By: C. Hochgraf
+// Date: Feb 2017
+
+unsigned long numberOfLoopsRun=0;
+//***********************************************************************************
+void setup()
+{
+  pinMode(9,OUTPUT);  // to drive led on pin 13
+  pinMode(13,INPUT); // to receive digital signal from pin 9
+  Serial.begin(9600);
+  Serial.println(F("Lab 4: BlinkUsingTimer1"));
+  TCCR1A=0x50; // Configures timer to CTC mode 4 with OCR1A as top
+  TCCR1B=0x0D; // toggles pin 9 every one second
+  OCR1A=0x3D09; // one second interval
+  Serial.println("I'm ready to blink now. Attach a wire from pin 9 to 13");
+}
+//***********************************************************************************
+void loop()
+{
+  // every time numberOfLoopsRun is a multiple of 10000, print the number of loops run so far
+  if ((numberOfLoopsRun % 10000)==0) {
+    Serial.print(F("The number of times loop code has run is: "));
+    Serial.println(numberOfLoopsRun);
+  }
+  numberOfLoopsRun++;
+} // Arduino loop()

2-February/lab4/lab4_0.2.ino/lab4_0.2.ino.ino

@@ -0,0 +1,26 @@
+// Lab4 PWM_dim_LED_compact.ino
+// Written By: C. Hochgraf
+// Date: Feb 2017
+
+  int sreg;
+  unsigned long fadeValue=0;
+//***********************************************************************************
+void setup()
+{
+  pinMode(9,OUTPUT);  // to drive led on pin 13
+  pinMode(13,INPUT); // to receive digital signal from pin 9
+  Serial.begin(9600);
+  Serial.println(F("Lab 4: PWM_dim_LED_compact"));
+  TCCR1A=0xA3; // configure registers for Timer 1 Mode 7 fast PWM 10bit, clock scale=8x
+  TCCR1B=0x0A; // configure registers for Timer 1 Mode 7 fast PWM 10bit, clock scale=8x
+  Serial.println();
+  Serial.println("I'm ready to blink now. Attach a wire from pin 9 to 13");
+}
+//***********************************************************************************
+void loop()
+{ delay(10);
+  fadeValue++;
+  OCR1A=fadeValue; // load PWM compare register (OCR1A) with new PWM value (fadeValue)
+  //OCR1A=512; // generates fixed PWM "analog voltage" of around 2.5 volts dc
+  if (fadeValue>=1023) fadeValue=0; // PWM counts up to 10 bit value (1023)
+} // Arduino loop()

2-February/lab4/lab4_0.3.ino/lab4_0.3.ino.ino

@@ -0,0 +1,26 @@
+// Lab4 PWM_motor_pos_neg_compact.ino
+// Written By: C. Hochgraf
+// Date: Feb 2017
+
+  unsigned long fadeValue=0;
+//***********************************************************************************
+void setup()
+{
+  pinMode(9,OUTPUT);  // motor lead +
+  pinMode(10,OUTPUT);  // motor lead -
+  Serial.begin(9600);
+  Serial.println(F("Lab 4: PWM_motor_pos_neg_compact"));
+  TCCR1A=0xB3; // configure registers for Timer 1 Mode 7 fast PWM 10bit, clock scale=8x
+  TCCR1B=0x0A; // configure registers for Timer 1 Mode 7 fast PWM 10bit, clock scale=8x
+  Serial.println();
+  Serial.println("I'm ready to blink now. Attach 330 ohm resistor and back to back LEDs");
+  Serial.println("(just like in lab 2) between pins 9 and 10");
+}
+//***********************************************************************************
+void loop()
+{ delay(10);
+  fadeValue++;
+  OCR1A=fadeValue; // load PWM compare register (OCR1A) with new PWM value (fadeValue)
+  OCR1B=fadeValue;
+  if (fadeValue>=1023) fadeValue=0; // PWM counts up to 10 bit value (1023)
+} // Arduino loop()

2-February/lab5/lab5b/lab5b.ino

@@ -0,0 +1,78 @@
+// Lab5_ISR_INT0
+// Written by: Nov 01, 2014, JTSchueckler
+// revised:  Mar 05, 2017, Clark Hochgraf
+// Desc: ++ PLEASE READ ALL COMMENTS ++
+//       This program demonstrates a simple use of the INTO functionality.
+//       Review the initialization of the interrupt system.
+//       Review the setup of the ISR.
+// Define volatile global variables for ISR system interface.
+volatile long pulseCount = 0, prevpulseCount = -1;
+
+//***********************************************************************************
+void setup() {
+  Serial.begin(9600);   Serial.println("Lab 5 ISR INT0 counter");
+
+  configurePins();
+  // Display the bootup values of EICRA, EIFR and EIMSK
+  Serial.print("EIFR \t"); printlnBinaryByte(EIFR);
+  Serial.print("EICRA \t"); printlnBinaryByte(EICRA);
+  Serial.print("EIMSK \t"); printlnBinaryByte(EIMSK);
+  Serial.println();
+
+  initInterrupts();
+// Display the programmed values of EICRA, EIFR and EIMSK
+  Serial.print("EIFR \t"); printlnBinaryByte(EIFR);
+  Serial.print("EICRA \t"); printlnBinaryByte(EICRA);
+  Serial.print("EIMSK \t"); printlnBinaryByte(EIMSK);
+  Serial.println();
+}
+
+//***********************************************************************************
+void loop() {
+  if (pulseCount != prevpulseCount)  { // only print the pulse count if it has changed
+    prevpulseCount = pulseCount;
+    Serial.print("Switch was pressed ");
+    Serial.print(pulseCount);
+    Serial.println(" times.");
+  }
+} // Arduino loop()
+
+//===================================================================================
+void configurePins(void) {
+  pinMode(2,INPUT_PULLUP); //Set up PD2 (INT0) as an INPUT w/Pullup;
+  pinMode(3,INPUT_PULLUP); //Set up PD3 (INT1) as an INPUT w/Pullup;
+}
+
+//===================================================================================
+void initInterrupts(void)   {
+/* disable interrupts using cli(); and enable interrupts using sei(); with Arduino IDE
+   Typical Atmel C code would use  __disable_interrupt();
+   to clear the global interrupt bit in the SREG.
+      and  __enable_interrupt(); to set the global interrupt enable in the SREG.
+   OR by direct manipulation of the "I" bit in the SREG.
+
+   NOTE: The Serial Monitor and other Arduino functions will be directly affected
+   if you try to manipulate the SREG in the Arduino operation. */
+  cli(); // Clear the Global INT bit to disable ALL interrrupts
+  EICRA |=(1<<1); EICRA |= 0x04; // Configure EICRA to detect falling edge for INT0
+         // ISC0 = 0b10 refers to Interrupt Sense Control for INT0
+         // the two bits {1 and 0} program the hardware to respond to a falling edge
+         // at the input pin INT0 (PD2)
+  EIMSK |= 0x03;  // Unmask INT0 in EIMSK so that it is enabled
+  EIFR  |= 0x03; // Clear any pending interrupt flags for INTO by writing a 1 to bit 0
+  sei();   // Sets the Global INT bit to enable ALL interrrupts
+}
+//===================================================================================
+void printlnBinaryByte(byte value) { // prints 8-bit data in binary with leading 0's
+  Serial.print("B");
+  for (byte bitmask = 0x80; bitmask; bitmask >>= 1) {
+        Serial.print((bitmask & value) ? '1' : '0');
+    }
+  Serial.println();
+}
+//===================================================================================
+ISR(INT0_vect){ // the ISR name must match the interrupt (e.g. INT0_vect)
+  pulseCount++;
+  // NOTE: NO Extraneous instructions in the ISR
+}
+ISR(INT1_vect){ pulseCount--; }

2-February/lab5/lab5d/lab5d.ino

@@ -0,0 +1,72 @@
+// Lab5_ISR_INT0
+// Written by: Nov 01, 2014, JTSchueckler
+// revised:  Mar 05, 2017, Clark Hochgraf
+// Desc: ++ PLEASE READ ALL COMMENTS ++
+//       This program demonstrates a simple use of the INTO functionality.
+//       Review the initialization of the interrupt system.
+//       Review the setup of the ISR.
+// Define volatile global variables for ISR system interface.
+volatile long pulseCount = 0, prevpulseCount = -1;
+
+//***********************************************************************************
+void setup() {
+  Serial.begin(9600);   Serial.println("Lab 5 ISR INT0 counter");
+
+  configurePins();
+  // Display the bootup values of EICRA, EIFR and EIMSK
+  Serial.print("EIFR \t"); printlnBinaryByte(EIFR);
+  Serial.print("EICRA \t"); printlnBinaryByte(EICRA);
+  Serial.print("EIMSK \t"); printlnBinaryByte(EIMSK);
+  Serial.println();
+
+  initInterrupts();
+// Display the programmed values of EICRA, EIFR and EIMSK
+  Serial.print("EIFR \t"); printlnBinaryByte(EIFR);
+  Serial.print("EICRA \t"); printlnBinaryByte(EICRA);
+  Serial.print("EIMSK \t"); printlnBinaryByte(EIMSK);
+  Serial.println();
+}
+
+//***********************************************************************************
+void loop() {
+  cli();
+  if (pulseCount != prevpulseCount)  { // only print the pulse count if it has changed
+    prevpulseCount = pulseCount;
+    Serial.print("Switch was pressed ");
+    Serial.print(pulseCount);
+    Serial.println(" times.");
+  }
+  sei();
+} // Arduino loop()
+
+//============================================================================sei();=======
+void configurePins(void) {
+  DDRC &= (0 << 5 | 0 << 0);
+  PORTC |= (1 << 5 | 1 << 0);
+}
+
+//===================================================================================
+void initInterrupts(void)   {
+  cli(); // Clear the Global INT bit to disable ALL interrrupts
+  PCMSK1 |= (1 << 5 | 1 << 0);
+  PCICR |= (1 << 1);
+  sei();   // Sets the Global INT bit to enable ALL interrrupts
+}
+//===================================================================================
+void printlnBinaryByte(byte value) { // prints 8-bit data in binary with leading 0's
+  Serial.print("B");
+  for (byte bitmask = 0x80; bitmask; bitmask >>= 1) {
+        Serial.print((bitmask & value) ? '1' : '0');
+    }
+  Serial.println();
+}
+
+ISR(PCINT1_vect){
+  static byte prevPINC;
+  byte newPINC, changeMap;
+  newPINC = PINC;
+  changeMap = newPINC ^ prevPINC;
+  if (changeMap & 0x01) pulseCount++;
+  if (changeMap & 0x20) pulseCount--;
+  //prevPINC = newPINC;
+}

2-February/lab5/lab5dTake2/lab5dTake2.ino

@@ -0,0 +1,72 @@
+// Lab5_ISR_INT0
+// Written by: Nov 01, 2014, JTSchueckler
+// revised:  Mar 05, 2017, Clark Hochgraf
+// Desc: ++ PLEASE READ ALL COMMENTS ++
+//       This program demonstrates a simple use of the INTO functionality.
+//       Review the initialization of the interrupt system.
+//       Review the setup of the ISR.
+// Define volatile global variables for ISR system interface.
+volatile long pulseCount = 0, prevpulseCount = -1;
+volatile bool triggered = 0;
+//***********************************************************************************
+void setup() {
+  Serial.begin(9600);   Serial.println("Lab 5 ISR INT0 counter");
+
+  configurePins();
+  // Display the bootup values of EICRA, EIFR and EIMSK
+  Serial.print("EIFR \t"); printlnBinaryByte(EIFR);
+  Serial.print("EICRA \t"); printlnBinaryByte(EICRA);
+  Serial.print("EIMSK \t"); printlnBinaryByte(EIMSK);
+  Serial.println();
+
+  initInterrupts();
+// Display the programmed values of EICRA, EIFR and EIMSK
+  Serial.print("EIFR \t"); printlnBinaryByte(EIFR);
+  Serial.print("EICRA \t"); printlnBinaryByte(EICRA);
+  Serial.print("EIMSK \t"); printlnBinaryByte(EIMSK);
+  Serial.println();
+}
+
+//***********************************************************************************
+void loop() {
+  cli();
+  if (pulseCount != prevpulseCount)  { // only print the pulse count if it has changed
+    prevpulseCount = pulseCount;
+    Serial.print("Switch was pressed ");
+    Serial.print(pulseCount);
+    Serial.println(" times.");
+  }
+  sei();
+} // Arduino loop()
+
+//===================================================================================
+void configurePins(void) {
+  DDRC &= (0 << 5 | 0 << 0); //pc0 and pc5
+  PORTC |= (1 << 5 | 1 << 0);
+}
+
+//===================================================================================
+void initInterrupts(void)   {
+  cli(); // Clear the Global INT bit to disable ALL interrrupts
+  PCMSK1 |= (1 << 5 | 1 << 0);
+  PCICR |= (1 << 1);
+  sei();   // Sets the Global INT bit to enable ALL interrrupts
+}
+//===================================================================================
+void printlnBinaryByte(byte value) { // prints 8-bit data in binary with leading 0's
+  Serial.print("B");
+  for (byte bitmask = 0x80; bitmask; bitmask >>= 1) {
+        Serial.print((bitmask & value) ? '1' : '0');
+    }
+  Serial.println();
+}
+//===================================================================================
+ISR(PCINT1_vect){
+  static byte prevPINC;
+  byte newPINC, changeMap;
+  newPINC = PINC;
+  changeMap = newPINC ^ prevPINC;
+  if (changeMap & 0x01) pulseCount++;
+  if (changeMap & 0x20) pulseCount--;
+  //prevPINC = newPINC;
+}

3-March/lab7/lab7p1/lab7p1.ino

@@ -0,0 +1,47 @@
+/* Lab7_I2C_gyro_serial_plotter.ino
+ Written by: Clark Hochgraf, revised: Feb 18, 2019
+ Description: ++ PLEASE READ ALL COMMENTS ++
+       Demonstrates calculation of roll, pitch and yaw angles using a gyroscope sensor.
+       The gyro outputs the rate of rotation in degrees per second.
+       The gyro signal is the integrated (multipled by sample interval) to get degrees.
+       Hardware: uses the MPU-6050 6-axis accelerometer and gyro
+       Software: uses library for MPU6050, on personal machines, you will have to install
+*/
+#include <Wire.h>
+#include <MPU6050.h>
+
+MPU6050 mpu; // declare a variable called mpu of datatype MPU6050
+unsigned long timeStampStartOfLoopMs = 0;
+float timeStepS = 0.01;
+float pitch,roll,yaw = 0.0f; // pitch, roll and yaw values
+Vector normalizedGyroDPS; //stores the three gyroscope readings XYZ in degrees per second (DPS)
+//==============================================================================
+
+void setup() {
+  Serial.begin(115200);
+  // Initialize MPU6050 to have full scale range of 2000 degrees per second
+  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G)) {
+    Serial.println("Could not find a valid MPU6050 sensor, check wiring.");
+    delay(1000);
+  }
+  mpu.calibrateGyro(); // Calibrate gyroscope- must be done with sensor not moving.
+  mpu.setThreshold(1);// sets level below which changes in gyro readings are ignored.
+                 // helps to reduce noise. 1 = one standard deviation. Range is 0 to 3.
+} // setup
+
+//==============================================================================
+void loop() {
+  timeStampStartOfLoopMs = millis(); // mark the time
+  normalizedGyroDPS = mpu.readNormalizeGyro(); // Read normalized values
+  // Calculate Pitch, Roll and Yaw
+  pitch = pitch + normalizedGyroDPS.YAxis * timeStepS;
+  roll = roll + normalizedGyroDPS.XAxis * timeStepS;
+  yaw = yaw + normalizedGyroDPS.ZAxis * timeStepS;
+  Serial.print(pitch);
+  Serial.print(" ");
+  Serial.print(roll);
+  Serial.print(" ");
+  Serial.println(yaw);
+  // Wait until a full timeStepS has passed before next reading
+  delay((timeStepS*1000) - (millis() - timeStampStartOfLoopMs));
+} //loop

3-March/lab7/lab7p3/lab7p3.ino

@@ -0,0 +1,62 @@
+/* Lab7_I2C_gyro_serial_plotter.ino
+ Written by: Clark Hochgraf, revised: Feb 18, 2019
+ Description: ++ PLEASE READ ALL COMMENTS ++
+       Demonstrates calculation of roll, pitch and yaw angles using a gyroscope sensor.
+       The gyro outputs the rate of rotation in degrees per second.
+       The gyro signal is the integrated (multipled by sample interval) to get degrees.
+       Hardware: uses the MPU-6050 6-axis accelerometer and gyro
+       Software: uses library for MPU6050, on personal machines, you will have to install
+*/
+#include <Wire.h>
+#include <MPU6050.h>
+
+MPU6050 mpu; // declare a variable called mpu of datatype MPU6050
+unsigned long timeStampStartOfLoopMs = 0;
+float timeStepS = 0.01;
+float pitch,roll,yaw = 0.0f; // pitch, roll and yaw values
+Vector normalizedGyroDPS; //stores the three gyroscope readings XYZ in degrees per second (DPS)
+volatile bool newDataFlag=false;  // boolean flag to indicate that timer1 overflow has occurred
+unsigned long startMicroseconds,elapsedMicroseconds;  // use for profiling time for certain tasks
+//==============================================================================
+
+void setup() {
+  Serial.begin(115200);
+  // Initialize MPU6050 to have full scale range of 2000 degrees per second
+  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G)) {
+    Serial.println("Could not find a valid MPU6050 sensor, check wiring.");
+    delay(1000);
+  }
+  mpu.calibrateGyro(); // Calibrate gyroscope- must be done with sensor not moving.
+  mpu.setThreshold(1);// sets level below which changes in gyro readings are ignored.
+                 // helps to reduce noise. 1 = one standard deviation. Range is 0 to 3.
+  TIFR1 |= (1 << OCF1A | 1 << TOV1);
+  TIMSK1 |= (1 <<TOIE1);
+  TCCR1A = 0b00000010;
+  TCCR1B = 0b00011100;
+  ICR1 = 624;
+} // setup
+
+ISR(TIMER1_OVF_vect){newDataFlag=true;}
+
+void loop() {
+  while (!newDataFlag) {}; // stay stuck here until new data arrives, then run loop
+                            // this will occur every 10 millisecond
+//  elapsedMicroseconds=micros()-startMicroseconds;  // check time for Timer 1 OVF
+  startMicroseconds=micros(); // mark time at start of main loop code
+  normalizedGyroDPS = mpu.readNormalizeGyro();
+//  elapsedMicroseconds=micros()-startMicroseconds;  // check time for I2C comms
+  // Calculate Pitch, Roll and Yaw
+  pitch = pitch + normalizedGyroDPS.YAxis * timeStepS;
+  roll = roll + normalizedGyroDPS.XAxis * timeStepS;
+  yaw = yaw + normalizedGyroDPS.ZAxis * timeStepS;
+//  elapsedMicroseconds=micros()-startMicroseconds;  // check time without prints
+  Serial.print(pitch);
+  Serial.print(F(" "));
+  Serial.print(roll);
+  Serial.print(F(" "));
+  Serial.println(yaw);
+  elapsedMicroseconds=micros()-startMicroseconds;  // check total time main loop
+ Serial.print(F("elapsed time in microseconds = "));
+  Serial.println(elapsedMicroseconds);
+  newDataFlag=false;
+} //loop

classDescription.txt

@@ -0,0 +1,8 @@
+CPET-252-O3
+Microcontroller Systems Lab
+Professor: Ken Garland
+Semester: 2195 (2020 Spring)
+Time Slot: T 14-15 (2-3pm)
+
+Professor Garland is a very strict professor. He knows what he wants, and he wants it exactly. If at all possible, have as much of your lab work checked by the LA instead of him, if you wish to leave in a timely manner. He is not overly helpful either, simply saying whether your results are correct or incorrect. The LA will be more likely to give you a nudge in the right direction if you and your lab partner are stuck.
+This course is incredibly easy. 98% of it is plugging code given to you in the "notes" and making sure that it runs properly, while occasionally replacing a value or two. There is little to no skill needed for this course, except in soldering, which will be necessary as you will be building a small robot. Note that at the time of taking this course, the robot kit required to take this course successfully costs $80, and must be paid for in Tiger Bucks.

libraries/Arduino-MPU6050/CHANGELOG

@@ -0,0 +1,23 @@
+MPU6050 Arduino Library 1.0.3 / 03.03.2015
+======================================================================
+
+ * Added setDLPFMode(mpu6050_dlpf_t dlpf) function
+   MPU6050_DLPF_0...6 (see datatsheet)
+
+MPU6050 Arduino Library 1.0.2 / 10.02.2015
+======================================================================
+
+ * Adjustable i2c address
+   mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G) - default 0x68
+   mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G, 0x69) - use 0x69
+
+MPU6050 Arduino Library 1.0.1 / 26.10.2014
+======================================================================
+
+ * Removing examples for Kalman Filter. Moved to KalmanFilter Git repo
+ * Removing examples for HMC5883L. Moved to HMC5833L Git repo
+
+MPU6050 Arduino Library 1.0.0 / 20.10.2014
+======================================================================
+
+ * First release

libraries/Arduino-MPU6050/LICENSE

@@ -0,0 +1,674 @@
+GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
+  The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+  The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works.  By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users.  We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors.  You can apply it to
+your programs, too.
+
+  When we speak of free software, we are referring to freedom, not
+price.  Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
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+
+  To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights.  Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
+
+  For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must pass on to the recipients the same
+freedoms that you received.  You must make sure that they, too, receive
+or can get the source code.  And you must show them these terms so they
+know their rights.
+
+  Developers that use the GNU GPL protect your rights with two steps:
+(1) assert copyright on the software, and (2) offer you this License
+giving you legal permission to copy, distribute and/or modify it.
+
+  For the developers' and authors' protection, the GPL clearly explains
+that there is no warranty for this free software.  For both users' and
+authors' sake, the GPL requires that modified versions be marked as
+changed, so that their problems will not be attributed erroneously to
+authors of previous versions.
+
+  Some devices are designed to deny users access to install or run
+modified versions of the software inside them, although the manufacturer
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+protecting users' freedom to change the software.  The systematic
+pattern of such abuse occurs in the area of products for individuals to
+use, which is precisely where it is most unacceptable.  Therefore, we
+have designed this version of the GPL to prohibit the practice for those
+products.  If such problems arise substantially in other domains, we
+stand ready to extend this provision to those domains in future versions
+of the GPL, as needed to protect the freedom of users.
+
+  Finally, every program is threatened constantly by software patents.
+States should not allow patents to restrict development and use of
+software on general-purpose computers, but in those that do, we wish to
+avoid the special danger that patents applied to a free program could
+make it effectively proprietary.  To prevent this, the GPL assures that
+patents cannot be used to render the program non-free.
+
+  The precise terms and conditions for copying, distribution and
+modification follow.
+
+                       TERMS AND CONDITIONS
+
+  0. Definitions.
+
+  "This License" refers to version 3 of the GNU General Public License.
+
+  "Copyright" also means copyright-like laws that apply to other kinds of
+works, such as semiconductor masks.
+
+  "The Program" refers to any copyrightable work licensed under this
+License.  Each licensee is addressed as "you".  "Licensees" and
+"recipients" may be individuals or organizations.
+
+  To "modify" a work means to copy from or adapt all or part of the work
+in a fashion requiring copyright permission, other than the making of an
+exact copy.  The resulting work is called a "modified version" of the
+earlier work or a work "based on" the earlier work.
+
+  A "covered work" means either the unmodified Program or a work based
+on the Program.
+
+  To "propagate" a work means to do anything with it that, without
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libraries/Arduino-MPU6050/MPU6050.cpp

@@ -0,0 +1,749 @@
+/*
+MPU6050.cpp - Class file for the MPU6050 Triple Axis Gyroscope & Accelerometer Arduino Library.
+
+Version: 1.0.3
+(c) 2014-2015 Korneliusz Jarzebski
+www.jarzebski.pl
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the version 3 GNU General Public License as
+published by the Free Software Foundation.
+
+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, see <http://www.gnu.org/licenses/>.
+*/
+
+#if ARDUINO >= 100
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+
+#include <Wire.h>
+#include <math.h>
+
+#include <MPU6050.h>
+
+bool MPU6050::begin(mpu6050_dps_t scale, mpu6050_range_t range, int mpua)
+{
+    // Set Address
+    mpuAddress = mpua;
+
+    Wire.begin();
+
+    // Reset calibrate values
+    dg.XAxis = 0;
+    dg.YAxis = 0;
+    dg.ZAxis = 0;
+    useCalibrate = false;
+
+    // Reset threshold values
+    tg.XAxis = 0;
+    tg.YAxis = 0;
+    tg.ZAxis = 0;
+    actualThreshold = 0;
+
+    // Check MPU6050 Who Am I Register
+    if (fastRegister8(MPU6050_REG_WHO_AM_I) != 0x68)
+    {
+	return false;
+    }
+
+    // Set Clock Source
+    setClockSource(MPU6050_CLOCK_PLL_XGYRO);
+
+    // Set Scale & Range
+    setScale(scale);
+    setRange(range);
+
+    // Disable Sleep Mode
+    setSleepEnabled(false);
+
+    return true;
+}
+
+void MPU6050::setScale(mpu6050_dps_t scale)
+{
+    uint8_t value;
+
+    switch (scale)
+    {
+	case MPU6050_SCALE_250DPS:
+	    dpsPerDigit = .007633f;
+	    break;
+	case MPU6050_SCALE_500DPS:
+	    dpsPerDigit = .015267f;
+	    break;
+	case MPU6050_SCALE_1000DPS:
+	    dpsPerDigit = .030487f;
+	    break;
+	case MPU6050_SCALE_2000DPS:
+	    dpsPerDigit = .060975f;
+	    break;
+	default:
+	    break;
+    }
+
+    value = readRegister8(MPU6050_REG_GYRO_CONFIG);
+    value &= 0b11100111;
+    value |= (scale << 3);
+    writeRegister8(MPU6050_REG_GYRO_CONFIG, value);
+}
+
+mpu6050_dps_t MPU6050::getScale(void)
+{
+    uint8_t value;
+    value = readRegister8(MPU6050_REG_GYRO_CONFIG);
+    value &= 0b00011000;
+    value >>= 3;
+    return (mpu6050_dps_t)value;
+}
+
+void MPU6050::setRange(mpu6050_range_t range)
+{
+    uint8_t value;
+
+    switch (range)
+    {
+	case MPU6050_RANGE_2G:
+	    rangePerDigit = .000061f;
+	    break;
+	case MPU6050_RANGE_4G:
+	    rangePerDigit = .000122f;
+	    break;
+	case MPU6050_RANGE_8G:
+	    rangePerDigit = .000244f;
+	    break;
+	case MPU6050_RANGE_16G:
+	    rangePerDigit = .0004882f;
+	    break;
+	default:
+	    break;
+    }
+
+    value = readRegister8(MPU6050_REG_ACCEL_CONFIG);
+    value &= 0b11100111;
+    value |= (range << 3);
+    writeRegister8(MPU6050_REG_ACCEL_CONFIG, value);
+}
+
+mpu6050_range_t MPU6050::getRange(void)
+{
+    uint8_t value;
+    value = readRegister8(MPU6050_REG_ACCEL_CONFIG);
+    value &= 0b00011000;
+    value >>= 3;
+    return (mpu6050_range_t)value;
+}
+
+void MPU6050::setDHPFMode(mpu6050_dhpf_t dhpf)
+{
+    uint8_t value;
+    value = readRegister8(MPU6050_REG_ACCEL_CONFIG);
+    value &= 0b11111000;
+    value |= dhpf;
+    writeRegister8(MPU6050_REG_ACCEL_CONFIG, value);
+}
+
+void MPU6050::setDLPFMode(mpu6050_dlpf_t dlpf)
+{
+    uint8_t value;
+    value = readRegister8(MPU6050_REG_CONFIG);
+    value &= 0b11111000;
+    value |= dlpf;
+    writeRegister8(MPU6050_REG_CONFIG, value);
+}
+
+void MPU6050::setClockSource(mpu6050_clockSource_t source)
+{
+    uint8_t value;
+    value = readRegister8(MPU6050_REG_PWR_MGMT_1);
+    value &= 0b11111000;
+    value |= source;
+    writeRegister8(MPU6050_REG_PWR_MGMT_1, value);
+}
+
+mpu6050_clockSource_t MPU6050::getClockSource(void)
+{
+    uint8_t value;
+    value = readRegister8(MPU6050_REG_PWR_MGMT_1);
+    value &= 0b00000111;
+    return (mpu6050_clockSource_t)value;
+}
+
+bool MPU6050::getSleepEnabled(void)
+{
+    return readRegisterBit(MPU6050_REG_PWR_MGMT_1, 6);
+}
+
+void MPU6050::setSleepEnabled(bool state)
+{
+    writeRegisterBit(MPU6050_REG_PWR_MGMT_1, 6, state);
+}
+
+bool MPU6050::getIntZeroMotionEnabled(void)
+{
+    return readRegisterBit(MPU6050_REG_INT_ENABLE, 5);
+}
+
+void MPU6050::setIntZeroMotionEnabled(bool state)
+{
+    writeRegisterBit(MPU6050_REG_INT_ENABLE, 5, state);
+}
+
+bool MPU6050::getIntMotionEnabled(void)
+{
+    return readRegisterBit(MPU6050_REG_INT_ENABLE, 6);
+}
+
+void MPU6050::setIntMotionEnabled(bool state)
+{
+    writeRegisterBit(MPU6050_REG_INT_ENABLE, 6, state);
+}
+
+bool MPU6050::getIntFreeFallEnabled(void)
+{
+    return readRegisterBit(MPU6050_REG_INT_ENABLE, 7);
+}
+
+void MPU6050::setIntFreeFallEnabled(bool state)
+{
+    writeRegisterBit(MPU6050_REG_INT_ENABLE, 7, state);
+}
+
+uint8_t MPU6050::getMotionDetectionThreshold(void)
+{
+    return readRegister8(MPU6050_REG_MOT_THRESHOLD);
+}
+
+void MPU6050::setMotionDetectionThreshold(uint8_t threshold)
+{
+    writeRegister8(MPU6050_REG_MOT_THRESHOLD, threshold);
+}
+
+uint8_t MPU6050::getMotionDetectionDuration(void)
+{
+    return readRegister8(MPU6050_REG_MOT_DURATION);
+}
+
+void MPU6050::setMotionDetectionDuration(uint8_t duration)
+{
+    writeRegister8(MPU6050_REG_MOT_DURATION, duration);
+}
+
+uint8_t MPU6050::getZeroMotionDetectionThreshold(void)
+{
+    return readRegister8(MPU6050_REG_ZMOT_THRESHOLD);
+}
+
+void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold)
+{
+    writeRegister8(MPU6050_REG_ZMOT_THRESHOLD, threshold);
+}
+
+uint8_t MPU6050::getZeroMotionDetectionDuration(void)
+{
+    return readRegister8(MPU6050_REG_ZMOT_DURATION);
+}
+
+void MPU6050::setZeroMotionDetectionDuration(uint8_t duration)
+{
+    writeRegister8(MPU6050_REG_ZMOT_DURATION, duration);
+}
+
+uint8_t MPU6050::getFreeFallDetectionThreshold(void)
+{
+    return readRegister8(MPU6050_REG_FF_THRESHOLD);
+}
+
+void MPU6050::setFreeFallDetectionThreshold(uint8_t threshold)
+{
+    writeRegister8(MPU6050_REG_FF_THRESHOLD, threshold);
+}
+
+uint8_t MPU6050::getFreeFallDetectionDuration(void)
+{
+    return readRegister8(MPU6050_REG_FF_DURATION);
+}
+
+void MPU6050::setFreeFallDetectionDuration(uint8_t duration)
+{
+    writeRegister8(MPU6050_REG_FF_DURATION, duration);
+}
+
+bool MPU6050::getI2CMasterModeEnabled(void)
+{
+    return readRegisterBit(MPU6050_REG_USER_CTRL, 5);
+}
+
+void MPU6050::setI2CMasterModeEnabled(bool state)
+{
+    writeRegisterBit(MPU6050_REG_USER_CTRL, 5, state);
+}
+
+void MPU6050::setI2CBypassEnabled(bool state)
+{
+    return writeRegisterBit(MPU6050_REG_INT_PIN_CFG, 1, state);
+}
+
+bool MPU6050::getI2CBypassEnabled(void)
+{
+    return readRegisterBit(MPU6050_REG_INT_PIN_CFG, 1);
+}
+
+void MPU6050::setAccelPowerOnDelay(mpu6050_onDelay_t delay)
+{
+    uint8_t value;
+    value = readRegister8(MPU6050_REG_MOT_DETECT_CTRL);
+    value &= 0b11001111;
+    value |= (delay << 4);
+    writeRegister8(MPU6050_REG_MOT_DETECT_CTRL, value);
+}
+
+mpu6050_onDelay_t MPU6050::getAccelPowerOnDelay(void)
+{
+    uint8_t value;
+    value = readRegister8(MPU6050_REG_MOT_DETECT_CTRL);
+    value &= 0b00110000;
+    return (mpu6050_onDelay_t)(value >> 4);
+}
+
+uint8_t MPU6050::getIntStatus(void)
+{
+    return readRegister8(MPU6050_REG_INT_STATUS);
+}
+
+Activites MPU6050::readActivites(void)
+{
+    uint8_t data = readRegister8(MPU6050_REG_INT_STATUS);
+
+    a.isOverflow = ((data >> 4) & 1);
+    a.isFreeFall = ((data >> 7) & 1);
+    a.isInactivity = ((data >> 5) & 1);
+    a.isActivity = ((data >> 6) & 1);
+    a.isDataReady = ((data >> 0) & 1);
+
+    data = readRegister8(MPU6050_REG_MOT_DETECT_STATUS);
+
+    a.isNegActivityOnX = ((data >> 7) & 1);
+    a.isPosActivityOnX = ((data >> 6) & 1);
+
+    a.isNegActivityOnY = ((data >> 5) & 1);
+    a.isPosActivityOnY = ((data >> 4) & 1);
+
+    a.isNegActivityOnZ = ((data >> 3) & 1);
+    a.isPosActivityOnZ = ((data >> 2) & 1);
+
+    return a;
+}
+
+Vector MPU6050::readRawAccel(void)
+{
+    Wire.beginTransmission(mpuAddress);
+    #if ARDUINO >= 100
+	Wire.write(MPU6050_REG_ACCEL_XOUT_H);
+    #else
+	Wire.send(MPU6050_REG_ACCEL_XOUT_H);
+    #endif
+    Wire.endTransmission();
+
+    Wire.beginTransmission(mpuAddress);
+    Wire.requestFrom(mpuAddress, 6);
+
+    while (Wire.available() < 6);
+
+    #if ARDUINO >= 100
+	uint8_t xha = Wire.read();
+	uint8_t xla = Wire.read();
+        uint8_t yha = Wire.read();
+	uint8_t yla = Wire.read();
+	uint8_t zha = Wire.read();
+	uint8_t zla = Wire.read();
+    #else
+	uint8_t xha = Wire.receive();
+	uint8_t xla = Wire.receive();
+	uint8_t yha = Wire.receive();
+	uint8_t yla = Wire.receive();
+	uint8_t zha = Wire.receive();
+	uint8_t zla = Wire.receive();
+    #endif
+
+    ra.XAxis = xha << 8 | xla;
+    ra.YAxis = yha << 8 | yla;
+    ra.ZAxis = zha << 8 | zla;
+
+    return ra;
+}
+
+Vector MPU6050::readNormalizeAccel(void)
+{
+    readRawAccel();
+
+    na.XAxis = ra.XAxis * rangePerDigit * 9.80665f;
+    na.YAxis = ra.YAxis * rangePerDigit * 9.80665f;
+    na.ZAxis = ra.ZAxis * rangePerDigit * 9.80665f;
+
+    return na;
+}
+
+Vector MPU6050::readScaledAccel(void)
+{
+    readRawAccel();
+
+    na.XAxis = ra.XAxis * rangePerDigit;
+    na.YAxis = ra.YAxis * rangePerDigit;
+    na.ZAxis = ra.ZAxis * rangePerDigit;
+
+    return na;
+}
+
+
+Vector MPU6050::readRawGyro(void)
+{
+    Wire.beginTransmission(mpuAddress);
+    #if ARDUINO >= 100
+	Wire.write(MPU6050_REG_GYRO_XOUT_H);
+    #else
+	Wire.send(MPU6050_REG_GYRO_XOUT_H);
+    #endif
+    Wire.endTransmission();
+
+    Wire.beginTransmission(mpuAddress);
+    Wire.requestFrom(mpuAddress, 6);
+
+    while (Wire.available() < 6);
+
+    #if ARDUINO >= 100
+	uint8_t xha = Wire.read();
+	uint8_t xla = Wire.read();
+        uint8_t yha = Wire.read();
+	uint8_t yla = Wire.read();
+	uint8_t zha = Wire.read();
+	uint8_t zla = Wire.read();
+    #else
+	uint8_t xha = Wire.receive();
+	uint8_t xla = Wire.receive();
+	uint8_t yha = Wire.receive();
+	uint8_t yla = Wire.receive();
+	uint8_t zha = Wire.receive();
+	uint8_t zla = Wire.receive();
+    #endif
+
+    rg.XAxis = xha << 8 | xla;
+    rg.YAxis = yha << 8 | yla;
+    rg.ZAxis = zha << 8 | zla;
+
+    return rg;
+}
+
+Vector MPU6050::readNormalizeGyro(void)
+{
+    readRawGyro();
+
+    if (useCalibrate)
+    {
+	ng.XAxis = (rg.XAxis - dg.XAxis) * dpsPerDigit;
+	ng.YAxis = (rg.YAxis - dg.YAxis) * dpsPerDigit;
+	ng.ZAxis = (rg.ZAxis - dg.ZAxis) * dpsPerDigit;
+    } else
+    {
+	ng.XAxis = rg.XAxis * dpsPerDigit;
+	ng.YAxis = rg.YAxis * dpsPerDigit;
+	ng.ZAxis = rg.ZAxis * dpsPerDigit;
+    }
+
+    if (actualThreshold)
+    {
+	if (abs(ng.XAxis) < tg.XAxis) ng.XAxis = 0;
+	if (abs(ng.YAxis) < tg.YAxis) ng.YAxis = 0;
+	if (abs(ng.ZAxis) < tg.ZAxis) ng.ZAxis = 0;
+    }
+
+    return ng;
+}
+
+float MPU6050::readTemperature(void)
+{
+    int16_t T;
+    T = readRegister16(MPU6050_REG_TEMP_OUT_H);
+    return (float)T/340 + 36.53;
+}
+
+int16_t MPU6050::getGyroOffsetX(void)
+{
+    return readRegister16(MPU6050_REG_GYRO_XOFFS_H);
+}
+
+int16_t MPU6050::getGyroOffsetY(void)
+{
+    return readRegister16(MPU6050_REG_GYRO_YOFFS_H);
+}
+
+int16_t MPU6050::getGyroOffsetZ(void)
+{
+    return readRegister16(MPU6050_REG_GYRO_ZOFFS_H);
+}
+
+void MPU6050::setGyroOffsetX(int16_t offset)
+{
+    writeRegister16(MPU6050_REG_GYRO_XOFFS_H, offset);
+}
+
+void MPU6050::setGyroOffsetY(int16_t offset)
+{
+    writeRegister16(MPU6050_REG_GYRO_YOFFS_H, offset);
+}
+
+void MPU6050::setGyroOffsetZ(int16_t offset)
+{
+    writeRegister16(MPU6050_REG_GYRO_ZOFFS_H, offset);
+}
+
+int16_t MPU6050::getAccelOffsetX(void)
+{
+    return readRegister16(MPU6050_REG_ACCEL_XOFFS_H);
+}
+
+int16_t MPU6050::getAccelOffsetY(void)
+{
+    return readRegister16(MPU6050_REG_ACCEL_YOFFS_H);
+}
+
+int16_t MPU6050::getAccelOffsetZ(void)
+{
+    return readRegister16(MPU6050_REG_ACCEL_ZOFFS_H);
+}
+
+void MPU6050::setAccelOffsetX(int16_t offset)
+{
+    writeRegister16(MPU6050_REG_ACCEL_XOFFS_H, offset);
+}
+
+void MPU6050::setAccelOffsetY(int16_t offset)
+{
+    writeRegister16(MPU6050_REG_ACCEL_YOFFS_H, offset);
+}
+
+void MPU6050::setAccelOffsetZ(int16_t offset)
+{
+    writeRegister16(MPU6050_REG_ACCEL_ZOFFS_H, offset);
+}
+
+// Calibrate algorithm
+void MPU6050::calibrateGyro(uint8_t samples)
+{
+    // Set calibrate
+    useCalibrate = true;
+
+    // Reset values
+    float sumX = 0;
+    float sumY = 0;
+    float sumZ = 0;
+    float sigmaX = 0;
+    float sigmaY = 0;
+    float sigmaZ = 0;
+
+    // Read n-samples
+    for (uint8_t i = 0; i < samples; ++i)
+    {
+	readRawGyro();
+	sumX += rg.XAxis;
+	sumY += rg.YAxis;
+	sumZ += rg.ZAxis;
+
+	sigmaX += rg.XAxis * rg.XAxis;
+	sigmaY += rg.YAxis * rg.YAxis;
+	sigmaZ += rg.ZAxis * rg.ZAxis;
+
+	delay(5);
+    }
+
+    // Calculate delta vectors
+    dg.XAxis = sumX / samples;
+    dg.YAxis = sumY / samples;
+    dg.ZAxis = sumZ / samples;
+
+    // Calculate threshold vectors
+    th.XAxis = sqrt((sigmaX / 50) - (dg.XAxis * dg.XAxis));
+    th.YAxis = sqrt((sigmaY / 50) - (dg.YAxis * dg.YAxis));
+    th.ZAxis = sqrt((sigmaZ / 50) - (dg.ZAxis * dg.ZAxis));
+
+    // If already set threshold, recalculate threshold vectors
+    if (actualThreshold > 0)
+    {
+	setThreshold(actualThreshold);
+    }
+}
+
+// Get current threshold value
+uint8_t MPU6050::getThreshold(void)
+{
+    return actualThreshold;
+}
+
+// Set treshold value
+void MPU6050::setThreshold(uint8_t multiple)
+{
+    if (multiple > 0)
+    {
+	// If not calibrated, need calibrate
+	if (!useCalibrate)
+	{
+	    calibrateGyro();
+	}
+
+	// Calculate threshold vectors
+	tg.XAxis = th.XAxis * multiple;
+	tg.YAxis = th.YAxis * multiple;
+	tg.ZAxis = th.ZAxis * multiple;
+    } else
+    {
+	// No threshold
+	tg.XAxis = 0;
+	tg.YAxis = 0;
+	tg.ZAxis = 0;
+    }
+
+    // Remember old threshold value
+    actualThreshold = multiple;
+}
+
+// Fast read 8-bit from register
+uint8_t MPU6050::fastRegister8(uint8_t reg)
+{
+    uint8_t value;
+
+    Wire.beginTransmission(mpuAddress);
+    #if ARDUINO >= 100
+	Wire.write(reg);
+    #else
+	Wire.send(reg);
+    #endif
+    Wire.endTransmission();
+
+    Wire.beginTransmission(mpuAddress);
+    Wire.requestFrom(mpuAddress, 1);
+    #if ARDUINO >= 100
+	value = Wire.read();
+    #else
+	value = Wire.receive();
+    #endif;
+    Wire.endTransmission();
+
+    return value;
+}
+
+// Read 8-bit from register
+uint8_t MPU6050::readRegister8(uint8_t reg)
+{
+    uint8_t value;
+
+    Wire.beginTransmission(mpuAddress);
+    #if ARDUINO >= 100
+	Wire.write(reg);
+    #else
+	Wire.send(reg);
+    #endif
+    Wire.endTransmission();
+
+    Wire.beginTransmission(mpuAddress);
+    Wire.requestFrom(mpuAddress, 1);
+    while(!Wire.available()) {};
+    #if ARDUINO >= 100
+	value = Wire.read();
+    #else
+	value = Wire.receive();
+    #endif;
+    Wire.endTransmission();
+
+    return value;
+}
+
+// Write 8-bit to register
+void MPU6050::writeRegister8(uint8_t reg, uint8_t value)
+{
+    Wire.beginTransmission(mpuAddress);
+
+    #if ARDUINO >= 100
+	Wire.write(reg);
+	Wire.write(value);
+    #else
+	Wire.send(reg);
+	Wire.send(value);
+    #endif
+    Wire.endTransmission();
+}
+
+int16_t MPU6050::readRegister16(uint8_t reg)
+{
+    int16_t value;
+    Wire.beginTransmission(mpuAddress);
+    #if ARDUINO >= 100
+        Wire.write(reg);
+    #else
+        Wire.send(reg);
+    #endif
+    Wire.endTransmission();
+
+    Wire.beginTransmission(mpuAddress);
+    Wire.requestFrom(mpuAddress, 2);
+    while(!Wire.available()) {};
+    #if ARDUINO >= 100
+        uint8_t vha = Wire.read();
+        uint8_t vla = Wire.read();
+    #else
+        uint8_t vha = Wire.receive();
+        uint8_t vla = Wire.receive();
+    #endif;
+    Wire.endTransmission();
+
+    value = vha << 8 | vla;
+
+    return value;
+}
+
+void MPU6050::writeRegister16(uint8_t reg, int16_t value)
+{
+    Wire.beginTransmission(mpuAddress);
+
+    #if ARDUINO >= 100
+	Wire.write(reg);
+	Wire.write((uint8_t)(value >> 8));
+	Wire.write((uint8_t)value);
+    #else
+	Wire.send(reg);
+	Wire.send((uint8_t)(value >> 8));
+	Wire.send((uint8_t)value);
+    #endif
+    Wire.endTransmission();
+}
+
+// Read register bit
+bool MPU6050::readRegisterBit(uint8_t reg, uint8_t pos)
+{
+    uint8_t value;
+    value = readRegister8(reg);
+    return ((value >> pos) & 1);
+}
+
+// Write register bit
+void MPU6050::writeRegisterBit(uint8_t reg, uint8_t pos, bool state)
+{
+    uint8_t value;
+    value = readRegister8(reg);
+
+    if (state)
+    {
+        value |= (1 << pos);
+    } else 
+    {
+        value &= ~(1 << pos);
+    }
+
+    writeRegister8(reg, value);
+}

libraries/Arduino-MPU6050/MPU6050.h

@@ -0,0 +1,258 @@
+/*
+MPU6050.h - Header file for the MPU6050 Triple Axis Gyroscope & Accelerometer Arduino Library.
+
+Version: 1.0.3
+(c) 2014-2015 Korneliusz Jarzebski
+www.jarzebski.pl
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the version 3 GNU General Public License as
+published by the Free Software Foundation.
+
+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, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef MPU6050_h
+#define MPU6050_h
+
+#if ARDUINO >= 100
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+
+#define MPU6050_ADDRESS             (0x68) // 0x69 when AD0 pin to Vcc
+
+#define MPU6050_REG_ACCEL_XOFFS_H     (0x06)
+#define MPU6050_REG_ACCEL_XOFFS_L     (0x07)
+#define MPU6050_REG_ACCEL_YOFFS_H     (0x08)
+#define MPU6050_REG_ACCEL_YOFFS_L     (0x09)
+#define MPU6050_REG_ACCEL_ZOFFS_H     (0x0A)
+#define MPU6050_REG_ACCEL_ZOFFS_L     (0x0B)
+#define MPU6050_REG_GYRO_XOFFS_H      (0x13)
+#define MPU6050_REG_GYRO_XOFFS_L      (0x14)
+#define MPU6050_REG_GYRO_YOFFS_H      (0x15)
+#define MPU6050_REG_GYRO_YOFFS_L      (0x16)
+#define MPU6050_REG_GYRO_ZOFFS_H      (0x17)
+#define MPU6050_REG_GYRO_ZOFFS_L      (0x18)
+#define MPU6050_REG_CONFIG            (0x1A)
+#define MPU6050_REG_GYRO_CONFIG       (0x1B) // Gyroscope Configuration
+#define MPU6050_REG_ACCEL_CONFIG      (0x1C) // Accelerometer Configuration
+#define MPU6050_REG_FF_THRESHOLD      (0x1D)
+#define MPU6050_REG_FF_DURATION       (0x1E)
+#define MPU6050_REG_MOT_THRESHOLD     (0x1F)
+#define MPU6050_REG_MOT_DURATION      (0x20)
+#define MPU6050_REG_ZMOT_THRESHOLD    (0x21)
+#define MPU6050_REG_ZMOT_DURATION     (0x22)
+#define MPU6050_REG_INT_PIN_CFG       (0x37) // INT Pin. Bypass Enable Configuration
+#define MPU6050_REG_INT_ENABLE        (0x38) // INT Enable
+#define MPU6050_REG_INT_STATUS        (0x3A)
+#define MPU6050_REG_ACCEL_XOUT_H      (0x3B)
+#define MPU6050_REG_ACCEL_XOUT_L      (0x3C)
+#define MPU6050_REG_ACCEL_YOUT_H      (0x3D)
+#define MPU6050_REG_ACCEL_YOUT_L      (0x3E)
+#define MPU6050_REG_ACCEL_ZOUT_H      (0x3F)
+#define MPU6050_REG_ACCEL_ZOUT_L      (0x40)
+#define MPU6050_REG_TEMP_OUT_H        (0x41)
+#define MPU6050_REG_TEMP_OUT_L        (0x42)
+#define MPU6050_REG_GYRO_XOUT_H       (0x43)
+#define MPU6050_REG_GYRO_XOUT_L       (0x44)
+#define MPU6050_REG_GYRO_YOUT_H       (0x45)
+#define MPU6050_REG_GYRO_YOUT_L       (0x46)
+#define MPU6050_REG_GYRO_ZOUT_H       (0x47)
+#define MPU6050_REG_GYRO_ZOUT_L       (0x48)
+#define MPU6050_REG_MOT_DETECT_STATUS (0x61)
+#define MPU6050_REG_MOT_DETECT_CTRL   (0x69)
+#define MPU6050_REG_USER_CTRL         (0x6A) // User Control
+#define MPU6050_REG_PWR_MGMT_1        (0x6B) // Power Management 1
+#define MPU6050_REG_WHO_AM_I          (0x75) // Who Am I
+
+#ifndef VECTOR_STRUCT_H
+#define VECTOR_STRUCT_H
+struct Vector
+{
+    float XAxis;
+    float YAxis;
+    float ZAxis;
+};
+#endif
+
+struct Activites
+{
+    bool isOverflow;
+    bool isFreeFall;
+    bool isInactivity;
+    bool isActivity;
+    bool isPosActivityOnX;
+    bool isPosActivityOnY;
+    bool isPosActivityOnZ;
+    bool isNegActivityOnX;
+    bool isNegActivityOnY;
+    bool isNegActivityOnZ;
+    bool isDataReady;
+};
+
+typedef enum
+{
+    MPU6050_CLOCK_KEEP_RESET      = 0b111,
+    MPU6050_CLOCK_EXTERNAL_19MHZ  = 0b101,
+    MPU6050_CLOCK_EXTERNAL_32KHZ  = 0b100,
+    MPU6050_CLOCK_PLL_ZGYRO       = 0b011,
+    MPU6050_CLOCK_PLL_YGYRO       = 0b010,
+    MPU6050_CLOCK_PLL_XGYRO       = 0b001,
+    MPU6050_CLOCK_INTERNAL_8MHZ   = 0b000
+} mpu6050_clockSource_t;
+
+typedef enum
+{
+    MPU6050_SCALE_2000DPS         = 0b11,
+    MPU6050_SCALE_1000DPS         = 0b10,
+    MPU6050_SCALE_500DPS          = 0b01,
+    MPU6050_SCALE_250DPS          = 0b00
+} mpu6050_dps_t;
+
+typedef enum
+{
+    MPU6050_RANGE_16G             = 0b11,
+    MPU6050_RANGE_8G              = 0b10,
+    MPU6050_RANGE_4G              = 0b01,
+    MPU6050_RANGE_2G              = 0b00,
+} mpu6050_range_t;
+
+typedef enum
+{
+    MPU6050_DELAY_3MS             = 0b11,
+    MPU6050_DELAY_2MS             = 0b10,
+    MPU6050_DELAY_1MS             = 0b01,
+    MPU6050_NO_DELAY              = 0b00,
+} mpu6050_onDelay_t;
+
+typedef enum
+{
+    MPU6050_DHPF_HOLD             = 0b111,
+    MPU6050_DHPF_0_63HZ           = 0b100,
+    MPU6050_DHPF_1_25HZ           = 0b011,
+    MPU6050_DHPF_2_5HZ            = 0b010,
+    MPU6050_DHPF_5HZ              = 0b001,
+    MPU6050_DHPF_RESET            = 0b000,
+} mpu6050_dhpf_t;
+
+typedef enum
+{
+    MPU6050_DLPF_6                = 0b110,
+    MPU6050_DLPF_5                = 0b101,
+    MPU6050_DLPF_4                = 0b100,
+    MPU6050_DLPF_3                = 0b011,
+    MPU6050_DLPF_2                = 0b010,
+    MPU6050_DLPF_1                = 0b001,
+    MPU6050_DLPF_0                = 0b000,
+} mpu6050_dlpf_t;
+
+class MPU6050
+{
+    public:
+
+	bool begin(mpu6050_dps_t scale = MPU6050_SCALE_2000DPS, mpu6050_range_t range = MPU6050_RANGE_2G, int mpua = MPU6050_ADDRESS);
+
+	void setClockSource(mpu6050_clockSource_t source);
+	void setScale(mpu6050_dps_t scale);
+	void setRange(mpu6050_range_t range);
+	mpu6050_clockSource_t getClockSource(void);
+	mpu6050_dps_t getScale(void);
+	mpu6050_range_t getRange(void);
+	void setDHPFMode(mpu6050_dhpf_t dhpf);
+	void setDLPFMode(mpu6050_dlpf_t dlpf);
+	mpu6050_onDelay_t getAccelPowerOnDelay();
+	void setAccelPowerOnDelay(mpu6050_onDelay_t delay);
+
+	uint8_t getIntStatus(void);
+
+	bool getIntZeroMotionEnabled(void);
+	void setIntZeroMotionEnabled(bool state);
+	bool getIntMotionEnabled(void);
+	void setIntMotionEnabled(bool state);
+	bool getIntFreeFallEnabled(void);
+	void setIntFreeFallEnabled(bool state);
+
+	uint8_t getMotionDetectionThreshold(void);
+	void setMotionDetectionThreshold(uint8_t threshold);
+	uint8_t getMotionDetectionDuration(void);
+	void setMotionDetectionDuration(uint8_t duration);
+
+	uint8_t getZeroMotionDetectionThreshold(void);
+	void setZeroMotionDetectionThreshold(uint8_t threshold);
+	uint8_t getZeroMotionDetectionDuration(void);
+	void setZeroMotionDetectionDuration(uint8_t duration);
+
+	uint8_t getFreeFallDetectionThreshold(void);
+	void setFreeFallDetectionThreshold(uint8_t threshold);
+	uint8_t getFreeFallDetectionDuration(void);
+	void setFreeFallDetectionDuration(uint8_t duration);
+
+	bool getSleepEnabled(void);
+	void setSleepEnabled(bool state);
+	bool getI2CMasterModeEnabled(void);
+	void setI2CMasterModeEnabled(bool state);
+	bool getI2CBypassEnabled(void);
+	void setI2CBypassEnabled(bool state);
+
+	float readTemperature(void);
+	Activites readActivites(void);
+
+	int16_t getGyroOffsetX(void);
+	void setGyroOffsetX(int16_t offset);
+	int16_t getGyroOffsetY(void);
+	void setGyroOffsetY(int16_t offset);
+	int16_t getGyroOffsetZ(void);
+	void setGyroOffsetZ(int16_t offset);
+
+	int16_t getAccelOffsetX(void);
+	void setAccelOffsetX(int16_t offset);
+	int16_t getAccelOffsetY(void);
+	void setAccelOffsetY(int16_t offset);
+	int16_t getAccelOffsetZ(void);
+	void setAccelOffsetZ(int16_t offset);
+
+	void calibrateGyro(uint8_t samples = 50);
+	void setThreshold(uint8_t multiple = 1);
+	uint8_t getThreshold(void);
+
+	Vector readRawGyro(void);
+	Vector readNormalizeGyro(void);
+
+	Vector readRawAccel(void);
+	Vector readNormalizeAccel(void);
+	Vector readScaledAccel(void);
+
+    private:
+	Vector ra, rg; // Raw vectors
+	Vector na, ng; // Normalized vectors
+	Vector tg, dg; // Threshold and Delta for Gyro
+	Vector th;     // Threshold
+	Activites a;   // Activities
+	
+	float dpsPerDigit, rangePerDigit;
+	float actualThreshold;
+	bool useCalibrate;
+	int mpuAddress;
+
+	uint8_t fastRegister8(uint8_t reg);
+
+	uint8_t readRegister8(uint8_t reg);
+	void writeRegister8(uint8_t reg, uint8_t value);
+
+	int16_t readRegister16(uint8_t reg);
+	void writeRegister16(uint8_t reg, int16_t value);
+
+	bool readRegisterBit(uint8_t reg, uint8_t pos);
+	void writeRegisterBit(uint8_t reg, uint8_t pos, bool state);
+
+};
+
+#endif

libraries/Arduino-MPU6050/MPU6050_accel_pitch_roll/MPU6050_accel_pitch_roll.ino

@@ -0,0 +1,47 @@
+/*
+    MPU6050 Triple Axis Gyroscope & Accelerometer. Pitch & Roll Accelerometer Example.
+    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
+    GIT: https://github.com/jarzebski/Arduino-MPU6050
+    Web: http://www.jarzebski.pl
+    (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include <Wire.h>
+#include <MPU6050.h>
+
+MPU6050 mpu;
+
+void setup() 
+{
+  Serial.begin(115200);
+
+  Serial.println("Initialize MPU6050");
+
+  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
+  {
+    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
+    delay(500);
+  }
+}
+
+void loop()
+{
+  // Read normalized values 
+  Vector normAccel = mpu.readNormalizeAccel();
+
+  // Calculate Pitch & Roll
+  int pitch = -(atan2(normAccel.XAxis, sqrt(normAccel.YAxis*normAccel.YAxis + normAccel.ZAxis*normAccel.ZAxis))*180.0)/M_PI;
+  int roll = (atan2(normAccel.YAxis, normAccel.ZAxis)*180.0)/M_PI;
+
+  // Output
+  Serial.print(" Pitch = ");
+  Serial.print(pitch);
+  Serial.print(" Roll = ");
+  Serial.print(roll);
+  
+  Serial.println();
+  
+  delay(10);
+}
+
+

libraries/Arduino-MPU6050/MPU6050_accel_simple/MPU6050_accel_simple.ino

@@ -0,0 +1,94 @@
+/*
+    MPU6050 Triple Axis Gyroscope & Accelerometer. Simple Accelerometer Example.
+    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
+    GIT: https://github.com/jarzebski/Arduino-MPU6050
+    Web: http://www.jarzebski.pl
+    (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include <Wire.h>
+#include <MPU6050.h>
+
+MPU6050 mpu;
+
+void setup() 
+{
+  Serial.begin(115200);
+
+  Serial.println("Initialize MPU6050");
+
+  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
+  {
+    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
+    delay(500);
+  }
+
+  // If you want, you can set accelerometer offsets
+  // mpu.setAccelOffsetX();
+  // mpu.setAccelOffsetY();
+  // mpu.setAccelOffsetZ();
+  
+  checkSettings();
+}
+
+void checkSettings()
+{
+  Serial.println();
+  
+  Serial.print(" * Sleep Mode:            ");
+  Serial.println(mpu.getSleepEnabled() ? "Enabled" : "Disabled");
+  
+  Serial.print(" * Clock Source:          ");
+  switch(mpu.getClockSource())
+  {
+    case MPU6050_CLOCK_KEEP_RESET:     Serial.println("Stops the clock and keeps the timing generator in reset"); break;
+    case MPU6050_CLOCK_EXTERNAL_19MHZ: Serial.println("PLL with external 19.2MHz reference"); break;
+    case MPU6050_CLOCK_EXTERNAL_32KHZ: Serial.println("PLL with external 32.768kHz reference"); break;
+    case MPU6050_CLOCK_PLL_ZGYRO:      Serial.println("PLL with Z axis gyroscope reference"); break;
+    case MPU6050_CLOCK_PLL_YGYRO:      Serial.println("PLL with Y axis gyroscope reference"); break;
+    case MPU6050_CLOCK_PLL_XGYRO:      Serial.println("PLL with X axis gyroscope reference"); break;
+    case MPU6050_CLOCK_INTERNAL_8MHZ:  Serial.println("Internal 8MHz oscillator"); break;
+  }
+  
+  Serial.print(" * Accelerometer:         ");
+  switch(mpu.getRange())
+  {
+    case MPU6050_RANGE_16G:            Serial.println("+/- 16 g"); break;
+    case MPU6050_RANGE_8G:             Serial.println("+/- 8 g"); break;
+    case MPU6050_RANGE_4G:             Serial.println("+/- 4 g"); break;
+    case MPU6050_RANGE_2G:             Serial.println("+/- 2 g"); break;
+  }  
+
+  Serial.print(" * Accelerometer offsets: ");
+  Serial.print(mpu.getAccelOffsetX());
+  Serial.print(" / ");
+  Serial.print(mpu.getAccelOffsetY());
+  Serial.print(" / ");
+  Serial.println(mpu.getAccelOffsetZ());
+  
+  Serial.println();
+}
+
+void loop()
+{
+  Vector rawAccel = mpu.readRawAccel();
+  Vector normAccel = mpu.readNormalizeAccel();
+
+  Serial.print(" Xraw = ");
+  Serial.print(rawAccel.XAxis);
+  Serial.print(" Yraw = ");
+  Serial.print(rawAccel.YAxis);
+  Serial.print(" Zraw = ");
+
+  Serial.println(rawAccel.ZAxis);
+  Serial.print(" Xnorm = ");
+  Serial.print(normAccel.XAxis);
+  Serial.print(" Ynorm = ");
+  Serial.print(normAccel.YAxis);
+  Serial.print(" Znorm = ");
+  Serial.println(normAccel.ZAxis);
+  
+  delay(10);
+}
+
+

libraries/Arduino-MPU6050/MPU6050_free_fall/MPU6050_free_fall.ino

@@ -0,0 +1,143 @@
+/*
+    MPU6050 Triple Axis Gyroscope & Accelerometer. Free fall detection.
+    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
+    GIT: https://github.com/jarzebski/Arduino-MPU6050
+    Web: http://www.jarzebski.pl
+    (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include <Wire.h>
+#include <MPU6050.h>
+
+MPU6050 mpu;
+
+boolean ledState = false;
+boolean freefallDetected = false;
+int freefallBlinkCount = 0;
+
+void setup() 
+{
+  Serial.begin(115200);
+
+  Serial.println("Initialize MPU6050");
+
+  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_16G))
+  {
+    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
+    delay(500);
+  }
+
+  mpu.setAccelPowerOnDelay(MPU6050_DELAY_3MS);
+  
+  mpu.setIntFreeFallEnabled(true);
+  mpu.setIntZeroMotionEnabled(false);
+  mpu.setIntMotionEnabled(false);
+  
+  mpu.setDHPFMode(MPU6050_DHPF_5HZ);
+
+  mpu.setFreeFallDetectionThreshold(17);
+  mpu.setFreeFallDetectionDuration(2);	
+  
+  checkSettings();
+
+  pinMode(4, OUTPUT);
+  digitalWrite(4, LOW);
+  
+  attachInterrupt(0, doInt, RISING);
+}
+
+void doInt()
+{
+  freefallBlinkCount = 0;
+  freefallDetected = true;  
+}
+
+void checkSettings()
+{
+  Serial.println();
+  
+  Serial.print(" * Sleep Mode:                ");
+  Serial.println(mpu.getSleepEnabled() ? "Enabled" : "Disabled");
+
+  Serial.print(" * Motion Interrupt:     ");
+  Serial.println(mpu.getIntMotionEnabled() ? "Enabled" : "Disabled");
+
+  Serial.print(" * Zero Motion Interrupt:     ");
+  Serial.println(mpu.getIntZeroMotionEnabled() ? "Enabled" : "Disabled");
+
+  Serial.print(" * Free Fall Interrupt:       ");
+  Serial.println(mpu.getIntFreeFallEnabled() ? "Enabled" : "Disabled");
+
+  Serial.print(" * Free Fal Threshold:          ");
+  Serial.println(mpu.getFreeFallDetectionThreshold());
+
+  Serial.print(" * Free FallDuration:           ");
+  Serial.println(mpu.getFreeFallDetectionDuration());
+  
+  Serial.print(" * Clock Source:              ");
+  switch(mpu.getClockSource())
+  {
+    case MPU6050_CLOCK_KEEP_RESET:     Serial.println("Stops the clock and keeps the timing generator in reset"); break;
+    case MPU6050_CLOCK_EXTERNAL_19MHZ: Serial.println("PLL with external 19.2MHz reference"); break;
+    case MPU6050_CLOCK_EXTERNAL_32KHZ: Serial.println("PLL with external 32.768kHz reference"); break;
+    case MPU6050_CLOCK_PLL_ZGYRO:      Serial.println("PLL with Z axis gyroscope reference"); break;
+    case MPU6050_CLOCK_PLL_YGYRO:      Serial.println("PLL with Y axis gyroscope reference"); break;
+    case MPU6050_CLOCK_PLL_XGYRO:      Serial.println("PLL with X axis gyroscope reference"); break;
+    case MPU6050_CLOCK_INTERNAL_8MHZ:  Serial.println("Internal 8MHz oscillator"); break;
+  }
+  
+  Serial.print(" * Accelerometer:             ");
+  switch(mpu.getRange())
+  {
+    case MPU6050_RANGE_16G:            Serial.println("+/- 16 g"); break;
+    case MPU6050_RANGE_8G:             Serial.println("+/- 8 g"); break;
+    case MPU6050_RANGE_4G:             Serial.println("+/- 4 g"); break;
+    case MPU6050_RANGE_2G:             Serial.println("+/- 2 g"); break;
+  }  
+
+  Serial.print(" * Accelerometer offsets:     ");
+  Serial.print(mpu.getAccelOffsetX());
+  Serial.print(" / ");
+  Serial.print(mpu.getAccelOffsetY());
+  Serial.print(" / ");
+  Serial.println(mpu.getAccelOffsetZ());
+
+  Serial.print(" * Accelerometer power delay: ");
+  switch(mpu.getAccelPowerOnDelay())
+  {
+    case MPU6050_DELAY_3MS:            Serial.println("3ms"); break;
+    case MPU6050_DELAY_2MS:            Serial.println("2ms"); break;
+    case MPU6050_DELAY_1MS:            Serial.println("1ms"); break;
+    case MPU6050_NO_DELAY:             Serial.println("0ms"); break;
+  }  
+  
+  Serial.println();
+}
+
+void loop()
+{
+  Vector rawAccel = mpu.readRawAccel();
+  Activites act = mpu.readActivites();
+
+  Serial.print(act.isFreeFall);
+  Serial.print("\n");
+  
+  if (freefallDetected)
+  {
+    ledState = !ledState;
+
+    digitalWrite(4, ledState);
+
+    freefallBlinkCount++;
+
+    if (freefallBlinkCount == 20)
+    {
+      freefallDetected = false;
+      ledState = false;
+      digitalWrite(4, ledState);
+    }
+  }
+  
+  delay(100);
+  
+}

libraries/Arduino-MPU6050/MPU6050_gyro_pitch_roll_yaw/MPU6050_gyro_pitch_roll_yaw.ino

@@ -0,0 +1,65 @@
+/*
+    MPU6050 Triple Axis Gyroscope & Accelerometer. Pitch & Roll & Yaw Gyroscope Example.
+    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
+    GIT: https://github.com/jarzebski/Arduino-MPU6050
+    Web: http://www.jarzebski.pl
+    (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include <Wire.h>
+#include <MPU6050.h>
+
+MPU6050 mpu;
+
+// Timers
+unsigned long timer = 0;
+float timeStep = 0.01;
+
+// Pitch, Roll and Yaw values
+float pitch = 0;
+float roll = 0;
+float yaw = 0;
+
+void setup() 
+{
+  Serial.begin(115200);
+
+  // Initialize MPU6050
+  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
+  {
+    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
+    delay(500);
+  }
+  
+  // Calibrate gyroscope. The calibration must be at rest.
+  // If you don't want calibrate, comment this line.
+  mpu.calibrateGyro();
+
+  // Set threshold sensivty. Default 3.
+  // If you don't want use threshold, comment this line or set 0.
+  mpu.setThreshold(3);
+}
+
+void loop()
+{
+  timer = millis();
+
+  // Read normalized values
+  Vector norm = mpu.readNormalizeGyro();
+
+  // Calculate Pitch, Roll and Yaw
+  pitch = pitch + norm.YAxis * timeStep;
+  roll = roll + norm.XAxis * timeStep;
+  yaw = yaw + norm.ZAxis * timeStep;
+
+  // Output raw
+  Serial.print(" Pitch = ");
+  Serial.print(pitch);
+  Serial.print(" Roll = ");
+  Serial.print(roll);  
+  Serial.print(" Yaw = ");
+  Serial.println(yaw);
+
+  // Wait to full timeStep period
+  delay((timeStep*1000) - (millis() - timer));
+}

libraries/Arduino-MPU6050/MPU6050_gyro_simple/MPU6050_gyro_simple.ino

@@ -0,0 +1,103 @@
+/*
+    MPU6050 Triple Axis Gyroscope & Accelerometer. Simple Gyroscope Example.
+    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
+    GIT: https://github.com/jarzebski/Arduino-MPU6050
+    Web: http://www.jarzebski.pl
+    (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include <Wire.h>
+#include <MPU6050.h>
+
+MPU6050 mpu;
+
+void setup() 
+{
+  Serial.begin(115200);
+
+  // Initialize MPU6050
+  Serial.println("Initialize MPU6050");
+  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
+  {
+    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
+    delay(500);
+  }
+  
+  // If you want, you can set gyroscope offsets
+  // mpu.setGyroOffsetX(155);
+  // mpu.setGyroOffsetY(15);
+  // mpu.setGyroOffsetZ(15);
+  
+  // Calibrate gyroscope. The calibration must be at rest.
+  // If you don't want calibrate, comment this line.
+  mpu.calibrateGyro();
+
+  // Set threshold sensivty. Default 3.
+  // If you don't want use threshold, comment this line or set 0.
+  mpu.setThreshold(3);
+  
+  // Check settings
+  checkSettings();
+}
+
+void checkSettings()
+{
+  Serial.println();
+  
+  Serial.print(" * Sleep Mode:        ");
+  Serial.println(mpu.getSleepEnabled() ? "Enabled" : "Disabled");
+  
+  Serial.print(" * Clock Source:      ");
+  switch(mpu.getClockSource())
+  {
+    case MPU6050_CLOCK_KEEP_RESET:     Serial.println("Stops the clock and keeps the timing generator in reset"); break;
+    case MPU6050_CLOCK_EXTERNAL_19MHZ: Serial.println("PLL with external 19.2MHz reference"); break;
+    case MPU6050_CLOCK_EXTERNAL_32KHZ: Serial.println("PLL with external 32.768kHz reference"); break;
+    case MPU6050_CLOCK_PLL_ZGYRO:      Serial.println("PLL with Z axis gyroscope reference"); break;
+    case MPU6050_CLOCK_PLL_YGYRO:      Serial.println("PLL with Y axis gyroscope reference"); break;
+    case MPU6050_CLOCK_PLL_XGYRO:      Serial.println("PLL with X axis gyroscope reference"); break;
+    case MPU6050_CLOCK_INTERNAL_8MHZ:  Serial.println("Internal 8MHz oscillator"); break;
+  }
+  
+  Serial.print(" * Gyroscope:         ");
+  switch(mpu.getScale())
+  {
+    case MPU6050_SCALE_2000DPS:        Serial.println("2000 dps"); break;
+    case MPU6050_SCALE_1000DPS:        Serial.println("1000 dps"); break;
+    case MPU6050_SCALE_500DPS:         Serial.println("500 dps"); break;
+    case MPU6050_SCALE_250DPS:         Serial.println("250 dps"); break;
+  } 
+  
+  Serial.print(" * Gyroscope offsets: ");
+  Serial.print(mpu.getGyroOffsetX());
+  Serial.print(" / ");
+  Serial.print(mpu.getGyroOffsetY());
+  Serial.print(" / ");
+  Serial.println(mpu.getGyroOffsetZ());
+  
+  Serial.println();
+}
+
+void loop()
+{
+  Vector rawGyro = mpu.readRawGyro();
+  Vector normGyro = mpu.readNormalizeGyro();
+
+  Serial.print(" Xraw = ");
+  Serial.print(rawGyro.XAxis);
+  Serial.print(" Yraw = ");
+  Serial.print(rawGyro.YAxis);
+  Serial.print(" Zraw = ");
+  Serial.println(rawGyro.ZAxis);
+
+  Serial.print(" Xnorm = ");
+  Serial.print(normGyro.XAxis);
+  Serial.print(" Ynorm = ");
+  Serial.print(normGyro.YAxis);
+  Serial.print(" Znorm = ");
+  Serial.println(normGyro.ZAxis);
+  
+  delay(10);
+}
+
+

libraries/Arduino-MPU6050/MPU6050_motion/MPU6050_motion.ino

@@ -0,0 +1,156 @@
+/*
+    MPU6050 Triple Axis Gyroscope & Accelerometer. Motion detection.
+    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
+    GIT: https://github.com/jarzebski/Arduino-MPU6050
+    Web: http://www.jarzebski.pl
+    (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include <Wire.h>
+#include <MPU6050.h>
+
+MPU6050 mpu;
+
+void setup() 
+{
+  Serial.begin(115200);
+
+  Serial.println("Initialize MPU6050");
+
+  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_16G))
+  {
+    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
+    delay(500);
+  }
+
+  mpu.setAccelPowerOnDelay(MPU6050_DELAY_3MS);
+
+  mpu.setIntFreeFallEnabled(false);  
+  mpu.setIntZeroMotionEnabled(false);
+  mpu.setIntMotionEnabled(false);
+  
+  mpu.setDHPFMode(MPU6050_DHPF_5HZ);
+
+  mpu.setMotionDetectionThreshold(2);
+  mpu.setMotionDetectionDuration(5);
+
+  mpu.setZeroMotionDetectionThreshold(4);
+  mpu.setZeroMotionDetectionDuration(2);	
+  
+  checkSettings();
+
+  pinMode(4, OUTPUT);
+  digitalWrite(4, LOW);
+
+  pinMode(7, OUTPUT);
+  digitalWrite(7, LOW);  
+}
+
+void checkSettings()
+{
+  Serial.println();
+  
+  Serial.print(" * Sleep Mode:                ");
+  Serial.println(mpu.getSleepEnabled() ? "Enabled" : "Disabled");
+
+  Serial.print(" * Motion Interrupt:     ");
+  Serial.println(mpu.getIntMotionEnabled() ? "Enabled" : "Disabled");
+
+  Serial.print(" * Zero Motion Interrupt:     ");
+  Serial.println(mpu.getIntZeroMotionEnabled() ? "Enabled" : "Disabled");
+
+  Serial.print(" * Free Fall Interrupt:       ");
+  Serial.println(mpu.getIntFreeFallEnabled() ? "Enabled" : "Disabled");
+  
+  Serial.print(" * Motion Threshold:          ");
+  Serial.println(mpu.getMotionDetectionThreshold());
+
+  Serial.print(" * Motion Duration:           ");
+  Serial.println(mpu.getMotionDetectionDuration());
+
+  Serial.print(" * Zero Motion Threshold:     ");
+  Serial.println(mpu.getZeroMotionDetectionThreshold());
+
+  Serial.print(" * Zero Motion Duration:      ");
+  Serial.println(mpu.getZeroMotionDetectionDuration());
+  
+  Serial.print(" * Clock Source:              ");
+  switch(mpu.getClockSource())
+  {
+    case MPU6050_CLOCK_KEEP_RESET:     Serial.println("Stops the clock and keeps the timing generator in reset"); break;
+    case MPU6050_CLOCK_EXTERNAL_19MHZ: Serial.println("PLL with external 19.2MHz reference"); break;
+    case MPU6050_CLOCK_EXTERNAL_32KHZ: Serial.println("PLL with external 32.768kHz reference"); break;
+    case MPU6050_CLOCK_PLL_ZGYRO:      Serial.println("PLL with Z axis gyroscope reference"); break;
+    case MPU6050_CLOCK_PLL_YGYRO:      Serial.println("PLL with Y axis gyroscope reference"); break;
+    case MPU6050_CLOCK_PLL_XGYRO:      Serial.println("PLL with X axis gyroscope reference"); break;
+    case MPU6050_CLOCK_INTERNAL_8MHZ:  Serial.println("Internal 8MHz oscillator"); break;
+  }
+  
+  Serial.print(" * Accelerometer:             ");
+  switch(mpu.getRange())
+  {
+    case MPU6050_RANGE_16G:            Serial.println("+/- 16 g"); break;
+    case MPU6050_RANGE_8G:             Serial.println("+/- 8 g"); break;
+    case MPU6050_RANGE_4G:             Serial.println("+/- 4 g"); break;
+    case MPU6050_RANGE_2G:             Serial.println("+/- 2 g"); break;
+  }  
+
+  Serial.print(" * Accelerometer offsets:     ");
+  Serial.print(mpu.getAccelOffsetX());
+  Serial.print(" / ");
+  Serial.print(mpu.getAccelOffsetY());
+  Serial.print(" / ");
+  Serial.println(mpu.getAccelOffsetZ());
+
+  Serial.print(" * Accelerometer power delay: ");
+  switch(mpu.getAccelPowerOnDelay())
+  {
+    case MPU6050_DELAY_3MS:            Serial.println("3ms"); break;
+    case MPU6050_DELAY_2MS:            Serial.println("2ms"); break;
+    case MPU6050_DELAY_1MS:            Serial.println("1ms"); break;
+    case MPU6050_NO_DELAY:             Serial.println("0ms"); break;
+  }  
+  
+  Serial.println();
+}
+
+void loop()
+{
+  Vector rawAccel = mpu.readRawAccel();
+  Activites act = mpu.readActivites();
+
+  if (act.isActivity)
+  {
+    digitalWrite(4, HIGH);
+  } else
+  {
+    digitalWrite(4, LOW);
+  }
+
+  if (act.isInactivity)
+  {
+    digitalWrite(7, HIGH);
+  } else
+  {
+    digitalWrite(7, LOW);
+  }
+
+  Serial.print(act.isActivity);
+  Serial.print(act.isInactivity);
+
+  Serial.print(" ");
+  Serial.print(act.isPosActivityOnX);
+  Serial.print(act.isNegActivityOnX);
+  Serial.print(" ");
+
+  Serial.print(act.isPosActivityOnY);
+  Serial.print(act.isNegActivityOnY);
+  Serial.print(" ");
+
+  Serial.print(act.isPosActivityOnZ);
+  Serial.print(act.isNegActivityOnZ);
+  Serial.print("\n");
+  delay(50);
+}
+
+

libraries/Arduino-MPU6050/MPU6050_temperature/MPU6050_temperature.ino

@@ -0,0 +1,38 @@
+/*
+    MPU6050 Triple Axis Gyroscope & Accelerometer. Temperature Example.
+    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
+    GIT: https://github.com/jarzebski/Arduino-MPU6050
+    Web: http://www.jarzebski.pl
+    (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include <Wire.h>
+#include <MPU6050.h>
+
+MPU6050 mpu;
+
+void setup() 
+{
+  Serial.begin(115200);
+
+  Serial.println("Initialize MPU6050");
+
+  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
+  {
+    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
+    delay(500);
+  }
+}
+
+void loop()
+{
+  float temp = mpu.readTemperature();
+
+  Serial.print(" Temp = ");
+  Serial.print(temp);
+  Serial.println(" *C");
+  
+  delay(500);
+}
+
+

libraries/Arduino-MPU6050/README.md

@@ -0,0 +1,25 @@
+Arduino-MPU6050
+===============
+
+MPU6050 Triple Axis Gyroscope & Accelerometer Arduino Library.
+
+![MPU6050 Processing](http://www.jarzebski.pl/media/zoom/publish/2014/10/mpu6050-processing-2.png "MPU6050 Processing")
+
+Tutorials: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
+
+This library use I2C to communicate, 2 pins are required to interface
+
+I need your help
+----------------
+
+July 31, 2017
+
+In the near future I plan to refactoring the libraries. The main goal is to improve code quality, new features and add support for different versions of Arduino boards like Uno, Mega and Zero.
+
+For this purpose I need to buy modules, Arduino Boards and lot of beer. 
+
+If you want to support the further and long-term development of libraries, please help.
+
+You can do this by transferring any amount to my PayPal account: paypal@jarzebski.pl
+
+Thanks!

libraries/readme.txt

@@ -0,0 +1 @@
+For information on installing libraries, see: http://www.arduino.cc/en/Guide/Libraries