$regfile = "m328pbdef.dat"                                     'Field=i Board
$crystal = 16000000                                            'used crystal 16MHZ frequency
$baud = 9600                                                   'use baud rate
$hwstack = 64
$swstack = 128
$framesize = 256
$version 1 , 0 , 182

'Config Serialin = Buffered , Size = 10

'SETUP CONSTANTS
'***************
Const Compiler = "Bascom 2.0.8.2"                            'With Local CONSTANS
Const _valcheck = 1                                          'Set ERR=1 whenever VAL() function encounters an illegal numeric string


'SYSTEM MATHS CONSTANTS (Don't modify)
'***************
Const On = 1
Const Off = 0
Const True = 1
Const False = 0
Const Pi = 3.1415926
Const Clockwise=0
Const Anticlockwise=1

'PROJECT CONSTANTS
'*****************
'----------list of MPY-6065 register positions----------
Const WHO_AM_I_MPU6050 = &H75                                 'Should reply &b110100 for the correct chip on the bus  GY-521 Module
Const MPU6050_R = &HD1                                        '1101000 Chip address if ADO pin is grounded + 1 for read bit  = 11010001 (hex D1)
Const MPU6050_W = &HD0                                        '1101000 Chip address if ADO pin is grounded + 0 for write bit = 11010000 (hex D0)
'-------------------------------------------------------
'*****************

'SETUP SUBROUTINES
'*****************
Declare Sub ReadAccel()
'*****************

'PIN MAPPING
'***********
Buzzer Alias PortE.0
'***********

 'CONFIGURE I²C bus
'*******************
Config Scl = Portc.5                                             'I²C clock pin
Config Sda = Portc.4                                             'I²C data bus pin
Config Twi = 400000                                              'I²C bus clock speed   400khz
I2cinit


'CONFIGURE PORTS
'*******************
 Config Buzzer = Output                 'Board buzzer
'*******************


'CONFIGURE ADC'S
'***************
'Config Adc = Single , Prescaler = Auto , Reference = Avcc
'Start Adc
'***************

'DIMENSION UP VARIABLES
'**********************

Dim AccelTemp as Integer
Dim L_AccelTemp as byte at AccelTemp + 0 overlay
Dim H_AccelTemp as byte at AccelTemp + 1 overlay

Dim Z_Accel as integer
Dim Zl_Accel as byte at Z_Accel + 0 overlay
Dim Zh_Accel as byte at Z_Accel + 1 overlay
Dim MPU6050_WhoAmIAddress as Byte


Dim Tick as byte
Dim RegisterData as byte

'SETUP REQUIRED TIMERS
'*********************
'*********************

'SET PORT STATE'S
'****************
'****************

'LOAD VARIABLES
'**************
Buzzer = off
'***************

'STARTUP
'*******
Enable Interrupts
Gosub InitMPU6050



'***************************************************************************************
'***************************  M A I N  *************************************************
'***************************************************************************************
Do

   ReadAccel

   If Z_Accel<1000 then    'If blelow threshold turn buzzer on
     Buzzer = on
     waitms 100
     buzzer = off
     waitms 100
   End If

   Print "Accel:";Z_Accel
   Print "Pcb Temp:" ; AccelTemp
   Print "Register &H6B:" ; RegisterData            ' Check to see MPU-6050 not stuck in reset
   Print ""
   Wait  1

 Loop

Sub ReadAccel()

   I2cstart
   I2cwbyte MPU6050_W
   I2cwbyte &H3F

   I2cstart
   I2cwbyte MPU6050_R
   I2crbyte  Zh_Accel , ack
   I2crbyte  Zl_Accel , ack

   I2crbyte  H_AccelTemp ,ack
   I2crbyte  L_AccelTemp , Nack
   I2cstop

   I2cstart
   I2cwbyte MPU6050_W
   I2cwbyte &H6B
   I2cstart
   I2cwbyte MPU6050_R
   I2crbyte RegisterData  , Nack
   I2cstop



End Sub


'=====[ Initilize MPU-6050 ]=========================================================
InitMPU6050:


   I2cstart                                  'Reset device
   I2cwbyte Mpu6050_w
   I2cwbyte &H6B
   I2cwbyte &b10000000
   I2cstop

   wait 1

   I2cstart
   I2cwbyte Mpu6050_w
   I2cwbyte &H6B
   I2cwbyte &b0000010                       'Turn on internal temperature reading and set Clock source
   I2cstop

   wait 1

   I2cstart                                  'Set the slowest sampling rate
   I2cwbyte Mpu6050_w
   I2cwbyte &H19
   I2cwbyte &B11111111


   I2cstart                   'Set full scale reading
   I2cwbyte Mpu6050_w
   I2cwbyte &H1C
   'I2cwbyte  &B000_00_000  '2g's
   'I2cwbyte  &B000_01_000  '4g's
   'I2cwbyte  &B000_10_000  '8g's
   I2cwbyte &B000_11_000  '16g's

    ' Read the WHO_AM_I register
    I2cstart
    I2cwbyte MPU6050_W
    I2cwbyte WHO_AM_I_MPU6050
    I2cstart
    I2cwbyte MPU6050_R
    I2crbyte MPU6050_WhoAmIAddress , Nack
    I2cstop

    Print "Accel Chip &H" ; Hex(MPU6050_WhoAmIAddress)        'If MPU6050_WhoAmIAddress = &H68 chip found

return