diff --git a/earthquake/earthquake.ino b/earthquake/earthquake.ino
index b1dc79b22df0d29ab33d23607c52fd0099f8f3dd..75442fbd026e3e11fe52c973a72f175871264f52 100644
--- a/earthquake/earthquake.ino
+++ b/earthquake/earthquake.ino
@@ -1,10 +1,15 @@
#include <LiquidCrystal.h>
+#include "I2Cdev.h"
+#include "MPU6050_6Axis_MotionApps20.h"
+#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
+ #include "Wire.h"
+#endif
//LCD
LiquidCrystal lcd(0, 1, 8, 9, 10, 11); /// REGISTER SELECT PIN,ENABLE PIN,D4 PIN,D5 PIN, D6 PIN, D7 PIN
//SEVEN SEGMENT
-const int latchPin = 2; //to IC pin 12
+const int latchPin = 7; //to IC pin 12
const int dataPin = 3; //to IC pin 14
const int clockPin = 4; //to IC pin 11
const int seismicPin = A0;
@@ -13,6 +18,34 @@ byte magnitude;
int lastSeismoDetected;
int loopNumber;
+//ACCELEROMETER/GYRO
+MPU6050 mpu;
+#define OUTPUT_READABLE_WORLDACCEL
+#define INTERRUPT_PIN 2 // use pin 2 on Arduino Uno & most boards
+#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
+bool blinkState = false;
+// MPU control/status vars
+bool dmpReady = false; // set true if DMP init was successful
+uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
+uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
+uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
+uint16_t fifoCount; // count of all bytes currently in FIFO
+uint8_t fifoBuffer[64]; // FIFO storage buffer
+// orientation/motion vars
+Quaternion q; // [w, x, y, z] quaternion container
+VectorInt16 aa; // [x, y, z] accel sensor measurements
+VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
+VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
+VectorInt16 aaWorldPrev; // [x, y, z] world-frame accel sensor measurements
+VectorFloat gravity; // [x, y, z] gravity vector
+float euler[3]; // [psi, theta, phi] Euler angle container
+float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
+//INTERRUPT DETECTION ROUTINE
+volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
+void dmpDataReady() {
+ mpuInterrupt = true;
+}
+
void setup() {
//SEVEN SEGMENT
pinMode(latchPin, OUTPUT);
@@ -26,36 +59,163 @@ void setup() {
//LCD
lcd.begin(16, 2);
- Serial.begin(9600);
+ //ACCELEROMETER/GYRO
+ // join I2C bus (I2Cdev library doesn't do this automatically)
+ #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
+ Wire.begin();
+ Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
+ #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
+ Fastwire::setup(400, true);
+ #endif
+ // initialize serial communication
+ // (115200 chosen because it is required for Teapot Demo output, but it's
+ // really up to you depending on your project)
+ Serial.begin(115200);
+ while (!Serial); // wait for Leonardo enumeration, others continue immediately
+ // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino
+ // Pro Mini running at 3.3V, cannot handle this baud rate reliably due to
+ // the baud timing being too misaligned with processor ticks. You must use
+ // 38400 or slower in these cases, or use some kind of external separate
+ // crystal solution for the UART timer.
+ // initialize device
+ Serial.println(F("Initializing I2C devices..."));
+ mpu.initialize();
+ pinMode(INTERRUPT_PIN, INPUT);
+ // verify connection
+ Serial.println(F("Testing device connections..."));
+ Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
+
+ // load and configure the DMP
+ Serial.println(F("Initializing DMP..."));
+ devStatus = mpu.dmpInitialize();
+ // supply your own gyro offsets here, scaled for min sensitivity
+ mpu.setXGyroOffset(220);
+ mpu.setYGyroOffset(76);
+ mpu.setZGyroOffset(-85);
+ mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
+ // make sure it worked (returns 0 if so)
+ if (devStatus == 0) {
+ // turn on the DMP, now that it's ready
+ Serial.println(F("Enabling DMP..."));
+ mpu.setDMPEnabled(true);
+
+ // enable Arduino interrupt detection
+ Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
+ attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
+ mpuIntStatus = mpu.getIntStatus();
+
+ // set our DMP Ready flag so the main loop() function knows it's okay to use it
+ Serial.println(F("DMP ready! Waiting for first interrupt..."));
+ dmpReady = true;
+
+ // get expected DMP packet size for later comparison
+ packetSize = mpu.dmpGetFIFOPacketSize();
+ } else {
+ // ERROR!
+ // 1 = initial memory load failed
+ // 2 = DMP configuration updates failed
+ // (if it's going to break, usually the code will be 1)
+ Serial.print(F("DMP Initialization failed (code "));
+ Serial.print(devStatus);
+ Serial.println(F(")"));
+ }
+ // configure LED for output
+ pinMode(LED_PIN, OUTPUT);
+
+}
+
+bool change(VectorInt16 prev, VectorInt16 curr){
+ int offset = 500;
+ return (abs(prev.x-curr.x)>offset || abs(prev.y-curr.y)>offset || abs(prev.z-curr.z)>offset);
}
void loop() {
loopNumber++;
- //SEVEN SEGMENT
- digitalWrite(latchPin, LOW);
- shiftOut(dataPin, clockPin, MSBFIRST, digit[magnitude]);
- digitalWrite(latchPin, HIGH);
- magnitude = (magnitude+1)%10;
- delay(250);
+// //SEVEN SEGMENT
+// digitalWrite(latchPin, LOW);
+// shiftOut(dataPin, clockPin, MSBFIRST, digit[9]);
+// digitalWrite(latchPin, HIGH);
+// magnitude = (magnitude+1)%10;
+// delay(250);
- //LCD
- lcd.print(" circuit digest");//print name
- lcd.setCursor(0, 1); // set the cursor to column 0, line 2
- lcd.print("ic tronic");//print name
- delay(250);//delay of 0.75sec
- lcd.scrollDisplayLeft();//shifting data on LCD
- lcd.setCursor(0, 0);// set the cursor to column 0, line1
-
- int measurement = analogRead(seismicPin);
- float seismoMag = measurement / 2000000000.0 * 5.0;
- Serial.print("measurment = "); Serial.println(measurement);
- Serial.print("magnitude = "); Serial.println(seismoMag);
- if (seismoMag > 2 && loopNumber - lastSeismoDetected > 10000) {
- lastSeismoDetected = loopNumber;
- // detected
- // send post to http://jauhararifin.cf:8888/api/earthquakes
- // header : content-type = application/x-www-form-urlencoded
- // data = "lat=1&long=1&date=2016-12-06 PM 22:03:36.000Z&strength=" + seismoMag
+// //LCD
+// lcd.print(" circuit digest");//print name
+// lcd.setCursor(0, 1); // set the cursor to column 0, line 2
+// lcd.print("ic tronic");//print name
+// delay(250);//delay of 0.75sec
+// lcd.scrollDisplayLeft();//shifting data on LCD
+// lcd.setCursor(0, 0);// set the cursor to column 0, line1
+
+// int measurement = analogRead(seismicPin);
+// float seismoMag = measurement / 2000000000.0 * 5.0;
+// Serial.print("measurment = "); Serial.println(measurement);
+// Serial.print("magnitude = "); Serial.println(seismoMag);
+// if (seismoMag > 2 && loopNumber - lastSeismoDetected > 10000) {
+// lastSeismoDetected = loopNumber;
+// // detected
+// // send post to http://jauhararifin.cf:8888/api/earthquakes
+// // header : content-type = application/x-www-form-urlencoded
+// // data = "lat=1&long=1&date=2016-12-06 PM 22:03:36.000Z&strength=" + seismoMag
+// }
+
+ //ACCELERO/GYRO
+ // if programming failed, don't try to do anything
+ if (!dmpReady) return;
+ // wait for MPU interrupt or extra packet(s) available
+ while (!mpuInterrupt && fifoCount < packetSize) {
+ // other program behavior stuff here
+ // .
+ // .
+ // .
+ // if you are really paranoid you can frequently test in between other
+ // stuff to see if mpuInterrupt is true, and if so, "break;" from the
+ // while() loop to immediately process the MPU data
+ // .
+ // .
+ // .
+ }
+ // reset interrupt flag and get INT_STATUS byte
+ mpuInterrupt = false;
+ mpuIntStatus = mpu.getIntStatus();
+ // get current FIFO count
+ fifoCount = mpu.getFIFOCount();
+ // check for overflow (this should never happen unless our code is too inefficient)
+ if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
+ // reset so we can continue cleanly
+ mpu.resetFIFO();
+ Serial.println(F("FIFO overflow!"));
+ // otherwise, check for DMP data ready interrupt (this should happen frequently)
+ } else if (mpuIntStatus & 0x02) {
+ // wait for correct available data length, should be a VERY short wait
+ while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
+
+ // read a packet from FIFO
+ mpu.getFIFOBytes(fifoBuffer, packetSize);
+
+ // track FIFO count here in case there is > 1 packet available
+ // (this lets us immediately read more without waiting for an interrupt)
+ fifoCount -= packetSize;
+
+ #ifdef OUTPUT_READABLE_WORLDACCEL
+ // display initial world-frame acceleration, adjusted to remove gravity
+ // and rotated based on known orientation from quaternion
+ mpu.dmpGetQuaternion(&q, fifoBuffer);
+ mpu.dmpGetAccel(&aa, fifoBuffer);
+ mpu.dmpGetGravity(&gravity, &q);
+ mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
+ mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
+ Serial.print("aworld\t");
+ Serial.print(aaWorld.x);
+ Serial.print("\t");
+ Serial.print(aaWorld.y);
+ Serial.print("\t");
+ Serial.println(aaWorld.z);
+ #endif
+
+ // blink LED to indicate activity
+ digitalWrite(LED_PIN, change(aaWorldPrev,aaWorld));
+ aaWorldPrev = aaWorld;
+
}
}