MPU6050 Motion rev_01

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    - Project: MPU6050 Motion
    - Source Code NOT compiled for: Arduino Uno
    - Source Code created on: 2025-12-13 18:55:18

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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
    /* Detect and process motion data from the MPU6050 */
    /* sensor to monitor device orientation and movement. */
/****** END SYSTEM REQUIREMENTS *****/


/* START CODE */

/*
  System Requirements:
  1. Detect and process motion data from the MPU6050 sensor to monitor device orientation and movement.
*/

#include <Wire.h>
#include <MPU6050.h>

/* Define interrupt pin for MPU6050 */
const uint8_t MPU6050_Interrupt_PIN_D2 = 2;

/* Create MPU6050 instance */
MPU6050 mpu;

/* Variables for motion detection */
volatile bool motionDetected = false;

/* Function prototype for interrupt routine */
void MPU6050Interrupt() {
  motionDetected = true;
}

void setup() {
  // Initialize serial communication for debugging
  Serial.begin(9600);
  // Configure the MPU6050 interrupt pin
  pinMode(MPU6050_Interrupt_PIN_D2, INPUT);
  // Initialize I2C communication
  Wire.begin();

  // Initialize MPU6050 device
  Serial.println("Initializing MPU6050...");
  mpu.initialize();
  if (mpu.testConnection()) {
    Serial.println("MPU6050 connection successful");
  } else {
    Serial.println("MPU6050 connection failed");
    while (1); // Halt if connection fails
  }

  // Calibrate the sensor (optional, based on system requirements)
  // mpu.CalibrateAccel(6);
  // mpu.CalibrateGyro(6);

  // Attach interrupt routine to the interrupt pin
  attachInterrupt(digitalPinToInterrupt(MPU6050_Interrupt_PIN_D2), MPU6050Interrupt, RISING);

  // Enable the DMP (Digital Motion Processor) if supported
  // For simplified detection, we can just read raw data if DMP is not used
  Serial.println("Setup complete, entering main loop...");
}

void loop() {
  // Check if motion has been detected
  if (motionDetected) {
    motionDetected = false;
    // Read raw motion data from MPU6050
    int16_t ax, ay, az;
    int16_t gx, gy, gz;
    mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

    // Process motion data to determine orientation and movement
    // For demonstration, print raw data to serial
    Serial.print("Accel:\t");
    Serial.print(ax); Serial.print( );
    Serial.print(ay); Serial.print( );
    Serial.print(az); Serial.println();

    Serial.print("Gyro:\t");
    Serial.print(gx); Serial.print( );
    Serial.print(gy); Serial.print( );
    Serial.print(gz); Serial.println();

    // Additional processing can be done here, e.g., calculations for device orientation.
  }
  // Optional: add delay for sensor reading stability
  delay(100);
}

/* END CODE */