| 0,0 → 1,101 |
|---|
| /* IMU Fusion Board - ADXL345 & IMU3000 |
| Example Arduino Sketch to read the Gyro and Accelerometer Data |
| |
| Written by www.hobbytronics.co.uk |
| See the latest version at www.hobbytronics.co.uk/arduino-adxl345-imu3000 |
| 08-Apr-2011 |
| */ |
| |
| #define GYRO 0x68 // gyro I2C address |
| #define REG_GYRO_X 0x1D // IMU-3000 Register address for GYRO_XOUT_H |
| #define ACCEL 0x53 // Accel I2c Address |
| #define ADXL345_POWER_CTL 0x2D |
| |
| byte buffer[12]; // Array to store ADC values |
| int gyro_x; |
| int gyro_y; |
| int gyro_z; |
| int accel_x; |
| int accel_y; |
| int accel_z; |
| int i; |
| #include <Wire.h> |
| |
| void setup() |
| { |
| Serial.begin(9600); |
| |
| Wire.begin(); |
| // Set Gyro settings |
| // Sample Rate 1kHz, Filter Bandwidth 42Hz, Gyro Range 500 d/s |
| writeTo(GYRO, 0x16, 0x0B); |
| //set accel register data address |
| writeTo(GYRO, 0x18, 0x32); |
| // set accel i2c slave address |
| writeTo(GYRO, 0x14, ACCEL); |
| |
| // Set passthrough mode to Accel so we can turn it on |
| writeTo(GYRO, 0x3D, 0x08); |
| // set accel power control to 'measure' |
| writeTo(ACCEL, ADXL345_POWER_CTL, 8); |
| //cancel pass through to accel, gyro will now read accel for us |
| writeTo(GYRO, 0x3D, 0x28); |
| |
| } |
| |
| // Write a value to address register on device |
| void writeTo(int device, byte address, byte val) { |
| Wire.beginTransmission(device); // start transmission to device |
| Wire.send(address); // send register address |
| Wire.send(val); // send value to write |
| Wire.endTransmission(); // end transmission |
| } |
| |
| void loop() |
| { |
| // Read the Gyro X, Y and Z and Accel X, Y and Z all through the gyro |
| |
| // First set the register start address for X on Gyro |
| Wire.beginTransmission(GYRO); |
| Wire.send(REG_GYRO_X); //Register Address GYRO_XOUT_H |
| Wire.endTransmission(); |
| |
| // New read the 12 data bytes |
| Wire.beginTransmission(GYRO); |
| Wire.requestFrom(GYRO,12); // Read 12 bytes |
| i = 0; |
| while(Wire.available()) |
| { |
| buffer[i] = Wire.receive(); |
| i++; |
| } |
| Wire.endTransmission(); |
| |
| //Combine bytes into integers |
| // Gyro format is MSB first |
| gyro_x = buffer[0] << 8 | buffer[1]; |
| gyro_y = buffer[2] << 8 | buffer[3]; |
| gyro_z = buffer[4] << 8 | buffer[5]; |
| // Accel is LSB first. Also because of orientation of chips |
| // accel y output is in same orientation as gyro x |
| // and accel x is gyro -y |
| accel_y = buffer[7] << 8 | buffer[6]; |
| accel_x = buffer[9] << 8 | buffer[8]; |
| accel_z = buffer[11] << 8 | buffer[10]; |
| |
| // Print out what we have |
| Serial.print(gyro_x); // echo the number received to screen |
| Serial.print(","); |
| Serial.print(gyro_y); // echo the number received to screen |
| Serial.print(","); |
| Serial.print(gyro_z); // echo the number received to screen |
| Serial.print(","); |
| Serial.print(accel_x); // echo the number received to screen |
| Serial.print(","); |
| Serial.print(accel_y); // echo the number received to screen |
| Serial.print(","); |
| Serial.print(accel_z); // echo the number received to screen |
| |
| Serial.println(""); // prints carriage return |
| delay(400); // wait for a second |
| } |