From 4764fb9bab8a2b3c2819de4ac882b23b742fe248 Mon Sep 17 00:00:00 2001
From: dtb <git@trinity.moe>
Date: Tue, 1 Aug 2023 21:25:54 -0400
Subject: [PATCH] beginning of gyro code

---
 tekubi/main.ino | 119 +++++++++++++++++++++++++++++-------------------
 1 file changed, 72 insertions(+), 47 deletions(-)

diff --git a/tekubi/main.ino b/tekubi/main.ino
index 28b8726..4549d9b 100644
--- a/tekubi/main.ino
+++ b/tekubi/main.ino
@@ -1,69 +1,94 @@
-#include <SPI.h>
-#include <Wire.h>
+/* TEKUBI
+ *  ___________   ____________________________
+ * |           | |                            |
+ * | USB POWER | | TEENSY 4.0                 |
+ * |           | |                            |
+ * |__GND__5V__| |__Vin__GND__D3__SDA0__SCL0__|
+ *     |    |        |    |   |    |     |
+ *     |    +--------+----|---|-+--|-----|----------+
+ *     |    |             |   | |  |     |          |
+ *     +----|-------------+---|-|--|-----|----------|----+
+ *     |    |             |   | |  |     |          |    |
+ *     |    |   +---------|---+ |  +---+ |          |    |
+ *  __ | __ |__ | __   __ | __  |____  | |     ____ | __ | __
+ * |  GND  5V  INT  | |  GND  Vcc    | | |    |    Vcc  GND  |
+ * | (100mA?)       | |   (10mA)  SDA--+-|----SDA   (4mA)    |
+ * |                | |              |   |    |              |
+ * | GEIGER COUNTER | | GYRO      SCL----+----SCL        ECG |
+ * |________________| |______________|        |______________| */
 
-/* https://github.com/jrowberg/i2cdevlib/ */
-#include "I2Cdev.h"
-#include "MPU6050.h"
-
-#define RAD_LOG_PERIOD 5000 /* milliseconds; sample rate */
-#define MINUTE 60000 /* milliseconds in a minute */
-
-/* USB power
- *	5V -> Teensy Vin (100mA)
- *	GND -> Teensy GND
-
- *	5V -> Geiger 5V (100mA?)
- *	GND -> Geiger GND
-
- *	5V -> Gyro Vcc (10mA)
- *	GND -> Gyro GND
-
- *	5V -> ECG Vcc (4mA)
- *	GND -> ECG GND */
-
-/* teensy 4.0
- * https://www.pjrc.com/store/teensy40.html */
 
 /* geiger counter
  * https://www.rhelectronics.store
  *	/radiation-detector-geiger-counter-diy-kit-second-edition
  * INT -> Teensy D3 */
+#include <SPI.h>
+#define RAD_LOG_PERIOD 5000 /* milliseconds; sample rate */
+#define MINUTE 60000 /* milliseconds in a minute */
+/* https://www.arduino.cc/reference/en/language/variables/data-types/
+ *	unsignedlong/ - 32 bit */
+unsigned long rad_count = 0;
+unsigned long rad_cpm;
+void rad_interrupt(){ ++rad_count; }
+/* https://www.pjrc.com/teensy/td_timing_elaspedMillis.html */
+elapsedMillis rad_period = 0;
+void geiger_setup(){
+	pinMode(3, INPUT);
+	digitalWrite(3, HIGH);
+	attachInterrupt(0, rad_interrupt, FALLING);
+}
+void geiger_loop(){
+	if(rad_period > RAD_LOG_PERIOD){
+		rad_cpm = rad_count * (MINUTE / RAD_LOG_PERIOD);
+		rad_period = 0;
+	}
+	/* use rad_cpm */
+}
 
 /* gyro
  * https://www.elecrow.com/crowtail-mpu6050-accelerometer-gyro.html
  * SDA -> Teensy SDA0
  * SCL -> Teensy SCL0 */
+/* https://github.com/jrowberg/i2cdevlib/
+ * Most inexplicable stuff is because it was in Arduino/MPU6050/examples/
+ *	MPU6050_raw/MPU6050_raw.ino */
+#include "I2Cdev.h"
+#include "MPU6050.h"
+#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
+#	include "Wire.h"
+#endif
+MPU6050 accelgyro;
+int16_t accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z;
+void gyro_setup(){
+	#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
+	Wire.begin();
+	#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
+	Fastwire::setup(400, true);
+	#endif
+	accelgyro.initialize();
+}
+void gyro_loop(){
+	accelgyro.getMotion6(&accel_x, &accel_y, &accel_z,
+		&gyro_x, &gyro_y, &gyro_z);
+	/* use accel_*, gyro_* */
+}
 
 /* ecg
  * https://www.elecrow.com/crowtail-pulse-sensor-p-1673.html
  * SDA -> Teensy SDA0
  * SCL -> Teensy SCL0 */
-
-
-unsigned long rad_count = 0;
-unsigned long rad_cpm;
-/* https://www.pjrc.com/teensy/td_timing_elaspedMillis.html */
-elapsedMillis rad_period = 0;
-
-void rad_interrupt(){
-	++rad_count;
+void ecg_setup(){
+	/* I2C is set up in gyro_setup */
 }
 
+/* teensy 4.0
+ * https://www.pjrc.com/store/teensy40.html */
 void setup(){
-
-	/* geiger counter */{
-		pinMode(3, INPUT);
-		digitalWrite(3, HIGH);
-		attachInterrupt(0, rad_interrupt, FALLING);
-	}
+	geiger_setup();
+	gyro_setup();
+	ecg_setup();
 }
-
 void loop(){
-
-	/* geiger counter */{
-		if(rad_period > RAD_LOG_PERIOD){
-			rad_cpm = rad_count * (MINUTE / RAD_LOG_PERIOD);
-			rad_period = 0;
-		}
-	}
+	geiger_loop();
+	gyro_loop();
 }