roboforum.ru

#include <HardWire.h>

HardWire H1Wire(1, I2C_FAST_MODE); // I2c1

#define M_S 1000
int z_1[M_S];
int z_2[M_S];
int x_1[M_S]; 

int i=0;

int16_t AcX,AcY;

void setup()
{
    Serial.begin(115200);
        
  H1Wire.begin();
  
  H1Wire.beginTransmission(0x69); //77
  H1Wire.write(0x6B);
  H1Wire.write(0x00); 
  byte error=H1Wire.endTransmission();
  Serial.print(error, HEX);

  H1Wire.beginTransmission(0x68); //77
  H1Wire.write(0x6B);
  H1Wire.write(0x00); 
  byte error2=H1Wire.endTransmission();
  Serial.print(error, HEX);

 
}

void loop()
{
  delayMicroseconds(720);
 x_1[i] = digitalRead(PB9);      // считываем значение с входа

H1Wire.beginTransmission(0x69);
  H1Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
  H1Wire.endTransmission();
  H1Wire.requestFrom(0x69,2);  // request a total of 14 registers
  AcX=H1Wire.read()<<8 | H1Wire.read();  // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)    
 
  
H1Wire.beginTransmission(0x68);
  H1Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
  H1Wire.endTransmission();
  H1Wire.requestFrom(0x68,2);  // request a total of 14 registers
  AcY=H1Wire.read()<<8 | H1Wire.read();  // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L) 
    
  
 z_1[i] = AcY;
 z_2[i] = AcX;



i++;

 if(i==M_S)
{
for(i=0;i<M_S;i++)
{
           Serial.write((uint8_t)(z_1[i] >> 8)); Serial.write((uint8_t)(z_1[i] & 0xFF));
           Serial.write((uint8_t)(z_2[i] >> 8)); Serial.write((uint8_t)(z_2[i] & 0xFF));
           Serial.write((uint8_t)(x_1[i] >> 8)); Serial.write((uint8_t)(x_1[i] & 0xFF));
 }
i=0;
}

}