LAMPIRAN A /*******************************************************

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1 42 Program pada mikrokontroler LAMPIRAN A /******************************************************* This program was created by the CodeWizardAVR V3.12 Advanced Project : gelombang Version : Revisi 4 Date : xx/xx/2015 Author : Nisa Company : Fisika s-1 FMIPA USU 2010 Comments: ganbatte ****************************************************** /#include <mega32a.h // I2C Bus functions #include <i2c.h> #include <stdlib.h> #include <delay.h> #include <math.h> // Declare your global variables here // // #define DATA_REGISTER_EMPTY (1<<UDRE) #define RX_COMPLETE (1<<RXC) #define FRAMING_ERROR (1<<FE) #define PARITY_ERROR (1<<UPE)

2 43 #define DATA_OVERRUN (1<<DOR) // USART Receiver buffer #define RX_BUFFER_SIZE 8 char rx_buffer[rx_buffer_size]; #if RX_BUFFER_SIZE <= 256 unsigned char rx_wr_index=0,rx_rd_index=0; #else unsigned int rx_wr_index=0,rx_rd_index=0; #endif #if RX_BUFFER_SIZE < 256 unsigned char rx_counter=0; #else unsigned int rx_counter=0; #endif // This flag is set on USART Receiver buffer overflow bit rx_buffer_overflow; // USART Receiver interrupt service routine interrupt [USART_RXC] void usart_rx_isr(void) char status,data; status=ucsra; data=udr; if ((status & (FRAMING_ERROR PARITY_ERROR DATA_OVERRUN))==0) rx_buffer[rx_wr_index++]=data;

3 44 #if RX_BUFFER_SIZE == 256 // special case for receiver buffer size=256 if (++rx_counter == 0) rx_buffer_overflow=1; #else if (rx_wr_index == RX_BUFFER_SIZE) rx_wr_index=0; if (++rx_counter == RX_BUFFER_SIZE) rx_counter=0; rx_buffer_overflow=1; #endif #ifndef _DEBUG_TERMINAL_IO_ // Get a character from the USART Receiver buffer #define _ALTERNATE_GETCHAR_ #pragma used+ char getchar(void) char data; while (rx_counter==0); data=rx_buffer[rx_rd_index++]; #if RX_BUFFER_SIZE!= 256 if (rx_rd_index == RX_BUFFER_SIZE) rx_rd_index=0; #endif #asm("cli")

4 45 --rx_counter; #asm("sei") return data; #pragma used- #endif // USART Transmitter buffer #define TX_BUFFER_SIZE 8 char tx_buffer[tx_buffer_size]; #if TX_BUFFER_SIZE <= 256 unsigned char tx_wr_index=0,tx_rd_index=0; #else unsigned int tx_wr_index=0,tx_rd_index=0; #endif #if TX_BUFFER_SIZE < 256 unsigned char tx_counter=0; #else unsigned int tx_counter=0; #endif // USART Transmitter interrupt service routine interrupt [USART_TXC] void usart_tx_isr(void) if (tx_counter) --tx_counter; UDR=tx_buffer[tx_rd_index++]; #if TX_BUFFER_SIZE!= 256

5 46 if (tx_rd_index == TX_BUFFER_SIZE) tx_rd_index=0; #endif #ifndef _DEBUG_TERMINAL_IO_ // Write a character to the USART Transmitter buffer #define _ALTERNATE_PUTCHAR_ #pragma used+ void putchar(char c) while (tx_counter == TX_BUFFER_SIZE); #asm("cli") if (tx_counter ((UCSRA & DATA_REGISTER_EMPTY)==0)) tx_buffer[tx_wr_index++]=c; #if TX_BUFFER_SIZE!= 256 if (tx_wr_index == TX_BUFFER_SIZE) tx_wr_index=0; #endif ++tx_counter; else UDR=c; #asm("sei") #pragma used- #endif

6 47 // Standard Input/Output functions #include <stdio.h> // ADDRESS REGISTER VARIABEL SENSOR // #define MPU6050_ADDRESS 0xD0 // Address with end write bit #define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD #define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD #define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD #define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN #define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN #define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN #define MPU6050_RA_SMPLRT_DIV 0x19 #define MPU6050_RA_CONFIG 0x1A #define MPU6050_RA_GYRO_CONFIG 0x1B #define MPU6050_RA_ACCEL_CONFIG 0x1C #define MPU6050_RA_FF_THR 0x1D #define MPU6050_RA_FF_DUR 0x1E #define MPU6050_RA_MOT_THR 0x1F #define MPU6050_RA_MOT_DUR 0x20 #define MPU6050_RA_ZRMOT_THR 0x21 #define MPU6050_RA_ZRMOT_DUR 0x22 #define MPU6050_RA_FIFO_EN 0x23 #define MPU6050_RA_I2C_MST_CTRL 0x24

7 48 #define MPU6050_RA_I2C_SLV0_ADDR 0x25 #define MPU6050_RA_I2C_SLV0_REG 0x26 #define MPU6050_RA_I2C_SLV0_CTRL 0x27 #define MPU6050_RA_I2C_SLV1_ADDR 0x28 #define MPU6050_RA_I2C_SLV1_REG 0x29 #define MPU6050_RA_I2C_SLV1_CTRL 0x2A #define MPU6050_RA_I2C_SLV2_ADDR 0x2B #define MPU6050_RA_I2C_SLV2_REG 0x2C #define MPU6050_RA_I2C_SLV2_CTRL 0x2D #define MPU6050_RA_I2C_SLV3_ADDR 0x2E #define MPU6050_RA_I2C_SLV3_REG 0x2F #define MPU6050_RA_I2C_SLV3_CTRL 0x30 #define MPU6050_RA_I2C_SLV4_ADDR 0x31 #define MPU6050_RA_I2C_SLV4_REG 0x32 #define MPU6050_RA_I2C_SLV4_DO 0x33 #define MPU6050_RA_I2C_SLV4_CTRL 0x34 #define MPU6050_RA_I2C_SLV4_DI 0x35 #define MPU6050_RA_I2C_MST_STATUS 0x36 #define MPU6050_RA_INT_PIN_CFG 0x37 #define MPU6050_RA_INT_ENABLE 0x38 #define MPU6050_RA_DMP_INT_STATUS 0x39 #define MPU6050_RA_INT_STATUS 0x3A #define MPU6050_RA_ACCEL_XOUT_H 0x3B #define MPU6050_RA_ACCEL_XOUT_L 0x3C #define MPU6050_RA_ACCEL_YOUT_H 0x3D #define MPU6050_RA_ACCEL_YOUT_L 0x3E

8 49 #define MPU6050_RA_ACCEL_ZOUT_H 0x3F #define MPU6050_RA_ACCEL_ZOUT_L 0x40 #define MPU6050_RA_TEMP_OUT_H 0x41 #define MPU6050_RA_TEMP_OUT_L 0x42 #define MPU6050_RA_GYRO_XOUT_H 0x43 #define MPU6050_RA_GYRO_XOUT_L 0x44 #define MPU6050_RA_GYRO_YOUT_H 0x45 #define MPU6050_RA_GYRO_YOUT_L 0x46 #define MPU6050_RA_GYRO_ZOUT_H 0x47 #define MPU6050_RA_GYRO_ZOUT_L 0x48 #define MPU6050_RA_EXT_SENS_DATA_00 0x49 #define MPU6050_RA_EXT_SENS_DATA_01 0x4A #define MPU6050_RA_EXT_SENS_DATA_02 0x4B #define MPU6050_RA_EXT_SENS_DATA_03 0x4C #define MPU6050_RA_EXT_SENS_DATA_04 0x4D #define MPU6050_RA_EXT_SENS_DATA_05 0x4E #define MPU6050_RA_EXT_SENS_DATA_06 0x4F #define MPU6050_RA_EXT_SENS_DATA_07 0x50 #define MPU6050_RA_EXT_SENS_DATA_08 0x51 #define MPU6050_RA_EXT_SENS_DATA_09 0x52 #define MPU6050_RA_EXT_SENS_DATA_10 0x53 #define MPU6050_RA_EXT_SENS_DATA_11 0x54 #define MPU6050_RA_EXT_SENS_DATA_12 0x55 #define MPU6050_RA_EXT_SENS_DATA_13 0x56 #define MPU6050_RA_EXT_SENS_DATA_14 0x57 #define MPU6050_RA_EXT_SENS_DATA_15 0x58

9 50 #define MPU6050_RA_EXT_SENS_DATA_16 0x59 #define MPU6050_RA_EXT_SENS_DATA_17 0x5A #define MPU6050_RA_EXT_SENS_DATA_18 0x5B #define MPU6050_RA_EXT_SENS_DATA_19 0x5C #define MPU6050_RA_EXT_SENS_DATA_20 0x5D #define MPU6050_RA_EXT_SENS_DATA_21 0x5E #define MPU6050_RA_EXT_SENS_DATA_22 0x5F #define MPU6050_RA_EXT_SENS_DATA_23 0x60 #define MPU6050_RA_MOT_DETECT_STATUS 0x61 #define MPU6050_RA_I2C_SLV0_DO 0x63 #define MPU6050_RA_I2C_SLV1_DO 0x64 #define MPU6050_RA_I2C_SLV2_DO 0x65 #define MPU6050_RA_I2C_SLV3_DO 0x66 #define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67 #define MPU6050_RA_SIGNAL_PATH_RESET 0x68 #define MPU6050_RA_MOT_DETECT_CTRL 0x69 #define MPU6050_RA_USER_CTRL 0x6A #define MPU6050_RA_PWR_MGMT_1 0x6B #define MPU6050_RA_PWR_MGMT_2 0x6C #define MPU6050_RA_BANK_SEL 0x6D #define MPU6050_RA_MEM_START_ADDR 0x6E #define MPU6050_RA_MEM_R_W 0x6F #define MPU6050_RA_DMP_CFG_1 0x70 #define MPU6050_RA_DMP_CFG_2 0x71 #define MPU6050_RA_FIFO_COUNTH 0x72 #define MPU6050_RA_FIFO_COUNTL 0x73

10 51 #define MPU6050_RA_FIFO_R_W 0x74 #define MPU6050_RA_WHO_AM_I 0x75 // END / // FUNGSI-FUNGSI PADA SENSOR // void nulis_i2c(unsigned char alamatt,unsigned char regg, unsigned char dataa) i2c_start(); i2c_write(alamatt 0); i2c_write(regg); i2c_write(dataa); i2c_stop(); delay_ms(10); char baca_i2c(unsigned char alamat,unsigned char reg) unsigned char baca; i2c_start(); i2c_write(alamat 0); i2c_write(reg); i2c_start(); i2c_write(alamat 1); baca=i2c_read(0); i2c_stop(); return baca;

11 52 void tes_i2c() unsigned char Datax = 0x00; dodatax=baca_i2c(mpu6050_address, MPU6050_RA_WHO_AM_I); if(datax == 0x68) printf("cek berhasil"); else printf("cek gagal"); delay_ms(1000); while(datax!=0x68); //setelah sesuai dengan register who am i kita lanjut ke setting register : void setup_mpu6050() //f sample ratenya 1k karena DPLF aktif 1000/1+1 = 500Hz nulis_i2c(mpu6050_address,mpu6050_ra_smplrt_div,0x01); //Disable FSync, 48Hz DLPF acceleronya bandwith 44 HZ delay 4.9 gyronya bandwith 42Hz delay 4.8Fs 1k

12 53 nulis_i2c(mpu6050_address,mpu6050_ra_config,0x03); //Disable gyro self tests, scale of 250 degrees/s nulis_i2c(mpu6050_address, MPU6050_RA_GYRO_CONFIG, 0x00); //Disable accel self tests, scale of +-2g, no DHPF nulis_i2c(mpu6050_address, MPU6050_RA_ACCEL_CONFIG, 0b ); //Freefall threshold of 0mg nulis_i2c(mpu6050_address, MPU6050_RA_FF_THR, 0x00); //Freefall duration limit of 0 nulis_i2c(mpu6050_address, MPU6050_RA_FF_DUR, 0x00); //Motion threshold of 0mg nulis_i2c(mpu6050_address, MPU6050_RA_MOT_THR, 0x00); //Motion duration of 0s nulis_i2c(mpu6050_address, MPU6050_RA_MOT_DUR, 0x00); //Zero motion threshold nulis_i2c(mpu6050_address, MPU6050_RA_ZRMOT_THR, 0x00); //Zero motion duration threshold nulis_i2c(mpu6050_address, MPU6050_RA_ZRMOT_DUR, 0x00); //Disable sensor output to FIFO buffer nulis_i2c(mpu6050_address, MPU6050_RA_FIFO_EN, 0x00); //i2c MST CLOCK 348 khz divider 23 dari 8Mhz mpu6050 internal clk nulis_i2c(mpu6050_address, MPU6050_RA_I2C_MST_CTRL, 0x00); //Setup AUX I2C slaves nulis_i2c(mpu6050_address, MPU6050_RA_I2C_SLV0_ADDR, 0x00); nulis_i2c(mpu6050_address, MPU6050_RA_I2C_SLV0_REG, 0x00); nulis_i2c(mpu6050_address, MPU6050_RA_I2C_SLV0_CTRL, 0x00);

13 54 nulis_i2c(mpu6050_address, MPU6050_RA_I2C_SLV1_ADDR, 0x00); nulis_i2c(mpu6050_address, MPU6050_RA_I2C_SLV1_REG, 0x00); nulis_i2c(mpu6050_address, MPU6050_RA_I2C_SLV1_CTRL, 0x00); nulis_i2c(mpu6050_address, MPU6050_RA_I2C_SLV2_ADDR, 0x00); nulis_i2c(mpu6050_address, MPU6050_RA_I2C_SLV2_REG, 0x00); nulis_i2c(mpu6050_address, MPU6050_RA_I2C_SLV2_CTRL, 0x00); nulis_i2c(mpu6050_address, MPU6050_RA_I2C_SLV3_ADDR, 0x00); nulis_i2c(mpu6050_address, MPU6050_RA_I2C_SLV3_REG, 0x00); nulis_i2c(mpu6050_address, MPU6050_RA_I2C_SLV3_CTRL, 0x00); nulis_i2c(mpu6050_address, MPU6050_RA_I2C_SLV4_ADDR, 0x00); nulis_i2c(mpu6050_address, MPU6050_RA_I2C_SLV4_REG, 0x00); nulis_i2c(mpu6050_address, MPU6050_RA_I2C_SLV4_DO, 0x00); nulis_i2c(mpu6050_address, MPU6050_RA_I2C_SLV4_CTRL, 0x00); nulis_i2c(mpu6050_address, MPU6050_RA_I2C_SLV4_DI, 0x00); //MPU6050_RA_I2C_MST_STATUS //Read-only //Setup INT pin and AUX I2C pass through nulis_i2c(mpu6050_address, MPU6050_RA_INT_PIN_CFG, 0x00); //Enable data ready interrupt nulis_i2c(mpu6050_address, MPU6050_RA_INT_ENABLE, 0x00); //Slave out, dont care nulis_i2c(mpu6050_address, MPU6050_RA_I2C_SLV0_DO, 0x00); nulis_i2c(mpu6050_address, MPU6050_RA_I2C_SLV1_DO, 0x00); nulis_i2c(mpu6050_address, MPU6050_RA_I2C_SLV2_DO, 0x00); nulis_i2c(mpu6050_address, MPU6050_RA_I2C_SLV3_DO, 0x00); //More slave config

14 55 nulis_i2c(mpu6050_address, MPU6050_RA_I2C_MST_DELAY_CTRL, 0x00); //Reset sensor signal paths nulis_i2c(mpu6050_address, MPU6050_RA_SIGNAL_PATH_RESET, 0x00); //Motion detection control nulis_i2c(mpu6050_address, MPU6050_RA_MOT_DETECT_CTRL, 0x00); //Disables FIFO, AUX I2C, FIFO and I2C reset bits to 0 nulis_i2c(mpu6050_address, MPU6050_RA_USER_CTRL, 0x00); //Sets clock source to gyro reference w/ PLL nulis_i2c(mpu6050_address, MPU6050_RA_PWR_MGMT_1, 0b ); //Controls frequency of wakeups in accel low power mode plus the sensor standby modes nulis_i2c(mpu6050_address, MPU6050_RA_PWR_MGMT_2, 0x00); nulis_i2c(mpu6050_address, MPU6050_RA_FIFO_R_W, 0x00); printf("setup done"); delay_ms(1000); //setelah menulis register-register ini sensor data sensor siap di akuisisi. pertama akusisi data accelero //contoh programnya seperti dibawah: void akusisi_accel() axx_xh = baca_i2c(mpu6050_address,mpu6050_ra_accel_xout_h); axx_xl = baca_i2c(mpu6050_address,mpu6050_ra_accel_xout_l); axx_yh = baca_i2c(mpu6050_address,mpu6050_ra_accel_yout_h);

15 56 axx_yl = baca_i2c(mpu6050_address,mpu6050_ra_accel_yout_l); axx_zh = baca_i2c(mpu6050_address,mpu6050_ra_accel_zout_h); axx_zl = baca_i2c(mpu6050_address,mpu6050_ra_accel_zout_l); axx_x = ((axx_xh<<8) axx_xl)/100; axx_y = ((axx_yh<<8) axx_yl)/100; axx_z = ((axx_zh<<8) axx_zl)/100; axx_sudut_x =(float) *atan((float)axx_y/ sqrt(pow((float)axx_z,2)+pow((float)axx_x,2))); axx_sudut_y =(float) *atan((float)-axx_x/ sqrt(pow((float)axx_z,2)+pow((float)axx_y,2))); axx_sudut_z =(float) *atan(sqrt(pow((float)axx_x,2)+pow((float)axx_y,2))/(float)axx_z); // END // void main(void) // Declare your local variables here // Input/Output Ports initialization // Port A initialization // Function: Bit7=In Bit6=In Bit5=In Bit4=In Bit3=In Bit2=In Bit1=In Bit0=In DDRA=(0<<DDA7) (0<<DDA6) (0<<DDA5) (0<<DDA4) (0<<DDA3) (0<<DDA2) (0<<DDA1) (0<<DDA0); // State: Bit7=T Bit6=T Bit5=T Bit4=T Bit3=T Bit2=T Bit1=T Bit0=T PORTA=(0<<PORTA7) (0<<PORTA6) (0<<PORTA5) (0<<PORTA4) (0<<PORTA3) (0<<PORTA2) (0<<PORTA1) (0<<PORTA0); // Port B initialization // Function: Bit7=In Bit6=In Bit5=In Bit4=In Bit3=In Bit2=In Bit1=In Bit0=In

16 57 DDRB=(0<<DDB7) (0<<DDB6) (0<<DDB5) (0<<DDB4) (0<<DDB3) (0<<DDB2) (0<<DDB1) (0<<DDB0); // State: Bit7=T Bit6=T Bit5=T Bit4=T Bit3=T Bit2=T Bit1=T Bit0=T PORTB=(0<<PORTB7) (0<<PORTB6) (0<<PORTB5) (0<<PORTB4) (0<<PORTB3) (0<<PORTB2) (0<<PORTB1) (0<<PORTB0); // Port C initialization // Function: Bit7=In Bit6=In Bit5=In Bit4=In Bit3=In Bit2=In Bit1=In Bit0=In DDRC=(0<<DDC7) (0<<DDC6) (0<<DDC5) (0<<DDC4) (0<<DDC3) (0<<DDC2) (0<<DDC1) (0<<DDC0); // State: Bit7=T Bit6=T Bit5=T Bit4=T Bit3=T Bit2=T Bit1=T Bit0=T PORTC=(0<<PORTC7) (0<<PORTC6) (0<<PORTC5) (0<<PORTC4) (0<<PORTC3) (0<<PORTC2) (0<<PORTC1) (0<<PORTC0); // Port D initialization // Function: Bit7=In Bit6=In Bit5=In Bit4=In Bit3=In Bit2=In Bit1=In Bit0=In DDRD=(0<<DDD7) (0<<DDD6) (0<<DDD5) (0<<DDD4) (0<<DDD3) (0<<DDD2) (0<<DDD1) (0<<DDD0); // State: Bit7=T Bit6=T Bit5=T Bit4=T Bit3=T Bit2=T Bit1=T Bit0=T PORTD=(0<<PORTD7) (0<<PORTD6) (0<<PORTD5) (0<<PORTD4) (0<<PORTD3) (0<<PORTD2) (0<<PORTD1) (0<<PORTD0); // Timer/Counter 0 initialization // Clock source: System Clock // Clock value: Timer 0 Stopped // Mode: Normal top=0xff // OC0 output: Disconnected TCCR0=(0<<WGM00) (0<<COM01) (0<<COM00) (0<<WGM01) (0<<CS02) (0<<CS01) (0<<CS00);

17 58 TCNT0=0x00; OCR0=0x00; // Timer/Counter 1 initialization // Clock source: System Clock // Clock value: Timer1 Stopped // Mode: Normal top=0xffff // OC1A output: Disconnected // OC1B output: Disconnected // Noise Canceler: Off // Input Capture on Falling Edge // Timer1 Overflow Interrupt: Off // Input Capture Interrupt: Off // Compare A Match Interrupt: Off // Compare B Match Interrupt: Off TCCR1A=(0<<COM1A1) (0<<COM1A0) (0<<COM1B1) (0<<COM1B0) (0<<WGM11) (0<<WGM10); TCCR1B=(0<<ICNC1) (0<<ICES1) (0<<WGM13) (0<<WGM12) (0<<CS12) (0<<CS11) (0<<CS10); TCNT1H=0x00; TCNT1L=0x00; ICR1H=0x00; ICR1L=0x00; OCR1AH=0x00; OCR1AL=0x00; OCR1BH=0x00; OCR1BL=0x00;

18 59 // Timer/Counter 2 initialization // Clock source: System Clock // Clock value: Timer2 Stopped // Mode: Normal top=0xff // OC2 output: Disconnected ASSR=0<<AS2; TCCR2=(0<<PWM2) (0<<COM21) (0<<COM20) (0<<CTC2) (0<<CS22) (0<<CS21) (0<<CS20); TCNT2=0x00; OCR2=0x00; // Timer(s)/Counter(s) Interrupt(s) initialization TIMSK=(0<<OCIE2) (0<<TOIE2) (0<<TICIE1) (0<<OCIE1A) (0<<OCIE1B) (0<<TOIE1) (0<<OCIE0) (0<<TOIE0); // External Interrupt(s) initialization // INT0: Off // INT1: Off // INT2: Off MCUCR=(0<<ISC11) (0<<ISC10) (0<<ISC01) (0<<ISC00); MCUCSR=(0<<ISC2); // USART initialization // Communication Parameters: 8 Data, 1 Stop, No Parity // USART Receiver: On // USART Transmitter: On // USART Mode: Asynchronous // USART Baud Rate: 9600

19 60 UCSRA=(0<<RXC) (0<<TXC) (0<<UDRE) (0<<FE) (0<<DOR) (0<<UPE) (0<<U2X) (0<<MPCM); UCSRB=(1<<RXCIE) (1<<TXCIE) (0<<UDRIE) (1<<RXEN) (1<<TXEN) (0<<UCSZ2) (0<<RXB8) (0<<TXB8); UCSRC=(1<<URSEL) (0<<UMSEL) (0<<UPM1) (0<<UPM0) (0<<USBS) (1<<UCSZ1) (1<<UCSZ0) (0<<UCPOL); UBRRH=0x00; UBRRL=0x47; // Analog Comparator initialization // Analog Comparator: Off // The Analog Comparator's positive input is // connected to the AIN0 pin // The Analog Comparator's negative input is // connected to the AIN1 pin ACSR=(1<<ACD) (0<<ACBG) (0<<ACO) (0<<ACI) (0<<ACIE) (0<<ACIC) (0<<ACIS1) (0<<ACIS0); SFIOR=(0<<ACME); // ADC initialization // ADC disabled ADCSRA=(0<<ADEN) (0<<ADSC) (0<<ADATE) (0<<ADIF) (0<<ADIE) (0<<ADPS2) (0<<ADPS1) (0<<ADPS0); // SPI initialization // SPI disabled SPCR=(0<<SPIE) (0<<SPE) (0<<DORD) (0<<MSTR) (0<<CPOL) (0<<CPHA) (0<<SPR1) (0<<SPR0);

20 61 // TWI initialization // TWI disabled TWCR=(0<<TWEA) (0<<TWSTA) (0<<TWSTO) (0<<TWEN) (0<<TWIE); // Bit-Banged I2C Bus initialization // I2C Port: PORTA // I2C SDA bit: 0 // I2C SCL bit: 1 // Bit Rate: 100 khz // Note: I2C settings are specified in the // Project Configure C Compiler Libraries I2C menu. i2c_init // Global enable interrupts #asm("sei") tes_i2c(); setup_mpu6050(); while (1) akusisi_accel(); (data_raw*16,384/32000)*9,81; printf("%da%db%dc%dd",axx_x,axx_y,axx_z,); delay_ms(10);

21 62 Program tampilan PC dalam Software delphi unit Unit1; interface uses Windows, Messages, SysUtils, Variants, Classes, Graphics, Controls, Forms, Dialogs, StdCtrls, CPort, DB, ADODB, ExtCtrls, DBCtrls, Grids, DBGrids, RpCon, RpConDS, RpDefine, RpRave, SUIForm, TeEngine, Series, TeeProcs, Chart; type TForm1 = class(tform) ComPort1: TComPort; GroupBox1: TGroupBox; Label1: TLabel; Label2: TLabel; Label3: TLabel; Edit1: TEdit; Edit2: TEdit; Edit3: TEdit; GroupBox2: TGroupBox; Button1: TButton; Button2: TButton; Button4: TButton; Label4: TLabel; ListBox1: TListBox; Edit4: TEdit; Label5: TLabel; Button3: TButton; GroupBox3: TGroupBox; DBGrid1: TDBGrid; DBNavigator1: TDBNavigator; ADOConnection1: TADOConnection; ADOTable1: TADOTable; DataSource1: TDataSource; Label6: TLabel; Label7: TLabel; Timer1: TTimer; Button5: TButton; RvProject1: TRvProject; RvDataSetConnection1: TRvDataSetConnection; suiform1: TsuiForm; Chart1: TChart; Series1: TFastLineSeries; Timer2: TTimer;

22 63 Timer3: TTimer; Button6: TButton; Series2: TFastLineSeries; Series3: TFastLineSeries; Series4: TFastLineSeries; procedure Button4Click(Sender: TObject); procedure Button3Click(Sender: TObject); procedure FormDestroy(Sender: TObject); procedure ComPort1RxChar(Sender: TObject; Count: Integer); procedure Button1Click(Sender: TObject); procedure Button2Click(Sender: TObject); procedure FormCreate(Sender: TObject); procedure Timer1Timer(Sender: TObject); procedure Timer2Timer(Sender: TObject); procedure Button5Click(Sender: TObject); procedure Timer3Timer(Sender: TObject); procedure Button6Click(Sender: TObject); private Private declarations public Public declarations var Form1: TForm1; implementation $R *.dfm procedure TForm1.Button4Click(Sender: TObject); comport1.showsetupdialog; procedure TForm1.Button3Click(Sender: TObject); close; //close aplikasi procedure TForm1.FormDestroy(Sender: TObject); //jika form langsung ditutup,comport otomatis nutup sendiri if comport1.connected = true then comport1.connected := false;

23 64 ///////////////////////////////////////////////////////////////////////////////// //////////////////////////INTI PROGRAM/////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////// procedure TForm1.ComPort1RxChar(Sender: TObject; Count: Integer); var A, B, C, D, DataA, DataB, DataC, DataD :string; s :TstringList D,E,F,DataD,DataE,DataF,,dan seterusnya.. cari string 'A', jika ketemu string 'A' maka string SEBELUM 'A' atau data murni akan di taruh dilistbox1 dan string 'A' di delimiter(dihapus). data dilistbox1 akan diambil dan ditampilkan ke edit1, begitu berurutan untuk data setelahnya. kok bisa? ya karena nantinya format pengiriman datanya kan untuk misal 4 sensor suhu LM35 adalah 30A40B50C60D jadi dari format itu kan yg dimasukkan ke edit1 adalah 30 aja,sedangkan string pengenal 'A' masuk ke listbox1 trus dihapus, data sensor berurutan dari A,B,C,D //////////////////SENSOR 1 delimiter string 'A'//////////////////////// ////////////////////////////////////////////////////////////////////// repeat comport1.readstr(a,1); DataA:=DataA+A; until A='A'; s:=tstringlist.create; s.delimiter:='a'; s.delimitedtext:=dataa; listbox1.items:=s; edit1.text:=listbox1.items[0 listbox1.clear; //////////////////////AKHIR UNTUK SENSOR 1/////////////////////////////// //////////////////SENSOR 2 delimiter string 'B'//////////////////////// ////////////////////////////////////////////////////////////////////// repeat comport1.readstr(b,1); DataB:=DataB+B; until B='B'; s:=tstringlist.create; s.delimiter:='b'; s.delimitedtext:=datab;

24 65 listbox1.items:=s; edit2.text:=listbox1.items[0]; listbox1.clear; //////////////////////AKHIR UNTUK SENSOR 2/////////////////////////////// //////////////////SENSOR 3 delimiter string 'C'//////////////////////// ////////////////////////////////////////////////////////////////////// repeat comport1.readstr(c,1); DataC:=DataC+C; until C='C'; s:=tstringlist.create; s.delimiter:='c'; s.delimitedtext:=datac; listbox1.items:=s; edit3.text:=listbox1.items[0]; listbox1.clear; //////////////////////AKHIR UNTUK SENSOR 3/////////////////////////////// //////////////////SENSOR D delimiter string 'D'//////////////////////// ////////////////////////////////////////////////////////////////////// repeat comport1.readstr(d,1); DataD:=DataD+D; until D='D'; s:=tstringlist.create; s.delimiter:='d'; s.delimitedtext:=datad; listbox1.items:=s; edit4.text:=listbox1.items[0]; listbox1.clear; //////////////////////AKHIR UNTUK SENSOR 4/////////////////////////////// adotable1.open; adotable1.app adotable1.fieldbyname('sensor 1').AsString:=edit1.Text; adotable1.fieldbyname('sensor 2').AsString:=edit2.Text; adotable1.fieldbyname('sensor 3').AsString:=edit3.Text; adotable1.fieldbyname('sensor 4').AsString:=edit4.Text; adotable1.fieldbyname('time').asstring:=label7.caption; adotable1.post;

25 66 /////////////////////////////////////////////////////////////////////////// //////////////////////////AKHIR INTI PROGRAM/////////////////////////////// /////////////////////////////////////////////////////////////////////////// procedure TForm1.Button1Click(Sender: TObject); if comport1.connected = false then comport1.connected := true; procedure TForm1.Button2Click(Sender: TObject); if comport1.connected = true then comport1.connected := false; timer3.enabled:=false; procedure TForm1.FormCreate(Sender: TObject); var alamatdb : WideString; alamatdb := ExtractFilePath(Application.ExeName) + 'database.mdb'; with ADOConnection1 do Connected := False; LoginPrompt := False; Mode := cmsharedenynone; ConnectionString := 'Provider=Microsoft.Jet.OLEDB.4.0;Data Source=' + alamatdb + ';Persist Security Info=False'; ADOConnection1.Connected := True; ADOtable1.Connection:= ADOConnection1; ADOtable1.TableName:='dataTemperature'; ADOtable1.Active:=true; Datasource1.DataSet:= ADOTable1; DBGrid1.DataSource:= DataSource1; RvProject1.ProjectFile:='project1.rav' ; form1.position := podesktopcenter; listbox1.visible := false; label7.caption:=timetostr(time); procedure TForm1.Timer1Timer(Sender: TObject); label7.caption:=timetostr(now); procedure TForm1.Timer2Timer(Sender: TObject); IF LABEL7.Visible Then label7.hide else

26 67 label7.visible:=true; procedure TForm1.Button5Click(Sender: TObject); RvProject1.Execute; RvProject1.ExecuteReport('project1.rav'); procedure TForm1.Timer3Timer(Sender: TObject); var suhu1,suhu2,suhu3:integer; suhu4:real; time:string ; suhu1:=strtoint(edit1.text); chart1.series[0].add(suhu1,time,clgreen); suhu2:=strtoint(edit2.text); chart1.series[1].add(suhu2,time,cllime); suhu3:=strtoint(edit3.text); chart1.series[2].add(suhu3,time,clred); suhu4:=strtofloat(edit4.text); chart1.series[3].add(suhu4,time,clblue); procedure TForm1.Button6Click(Sender: TObject); timer3.enabled:=true;

27 68 LAMPIRAN B Gambar grafik di PC pada sofware delphi7 Gambar alat pada saat pengambilan data

28 69 Gambar wireless receiver Gambar alat secara keseluruhan

29 70 Gambar keseluruhan rangkaian LAMPIRAN C KYL-Rx USB serial

Lampiran. Universitas Sumatera Utara

Lampiran. Universitas Sumatera Utara Lampiran LISTING PROGRAM #include #include // Declare your global variables here char buff[16]; unsigned int frekuensi,x; unsigned int detak; // External Interrupt 0 service routine