// MPU-6050 Short Example Sketch
// By Arduino User JohnChi
// August 17, 2014
// Public Domain
#include <TinyWireM.h>                  // I2C Master lib for ATTinys which use USI
#include <SendOnlySoftwareSerial.h>

const int MPU_addr=0x68;  // I2C address of the MPU-6050
int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;

SendOnlySoftwareSerial mySerial(1);//TX

void setup(){
  TinyWireM.begin();
  TinyWireM.beginTransmission(MPU_addr);
  TinyWireM.write(0x6B);  // PWR_MGMT_1 register
  TinyWireM.write(0);     // set to zero (wakes up the MPU-6050)
  TinyWireM.endTransmission(true);
  mySerial.begin(9600);
}

void loop(){
  TinyWireM.beginTransmission(MPU_addr);
  TinyWireM.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
  TinyWireM.endTransmission(false);
  TinyWireM.requestFrom(MPU_addr,14);  // request a total of 14 registers
  AcX=TinyWireM.read()<<8|TinyWireM.read();  // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)    
  AcY=TinyWireM.read()<<8|TinyWireM.read();  // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
  AcZ=TinyWireM.read()<<8|TinyWireM.read();  // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
  Tmp=TinyWireM.read()<<8|TinyWireM.read();  // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
  GyX=TinyWireM.read()<<8|TinyWireM.read();  // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
  GyY=TinyWireM.read()<<8|TinyWireM.read();  // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
  GyZ=TinyWireM.read()<<8|TinyWireM.read();  // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
  
  mySerial.print("AcX = "); 
  mySerial.print(AcX);
  mySerial.print(" | AcY = ");
  mySerial.print(AcY);
  mySerial.print(" | AcZ = "); 
  mySerial.print(AcZ);
  mySerial.print(" | Tmp = "); 
  mySerial.print(Tmp/340.00+36.53);  //equation for temperature in degrees C from datasheet
  mySerial.print(" | GyX = "); 
  mySerial.print(GyX);
  mySerial.print(" | GyY = "); 
  mySerial.print(GyY);
  mySerial.print(" | GyZ = "); 
  mySerial.println(GyZ);
  delay(10);
}