Hi all
I’m in possession of Arduino Due and I’m trying to get my 6DOF accelerometer working. http://bildr.org/2012/03/stable-orientation-digital-imu-6dof-arduino/
When using bellow code, the board become incredible slow. When i open the serial monitor, the print out is with 1 sec delay.
I have tried to use this code with Arduino mega 2560 and it works great. fast response at serial print out.
Is there something i need to change in this code to speed up the board?
Or should i use a different code?
Any help would be great.
I’m using this code:
#include <Wire.h> // I2C library, gyroscope
// Accelerometer ADXL345
#define ACC (0x53) //ADXL345 ACC address
#define A_TO_READ (6) //num of bytes we are going to read each time (two bytes for each axis)
// Gyroscope ITG3200
#define GYRO 0x69 // gyro address, binary = 11101001 when AD0 is connected to Vcc (see schematics of your breakout board)
#define G_SMPLRT_DIV 0x15
#define G_DLPF_FS 0x16
#define G_INT_CFG 0x17
#define G_PWR_MGM 0x3E
#define G_TO_READ 8 // 2 bytes for each axis x, y, z
// offsets are chip specific.
int g_offx = 120;
int g_offy = 20;
int g_offz = 93;
char str[512];
void initAcc() {
//Turning on the ADXL345
writeTo(ACC, 0x2D, 0);
writeTo(ACC, 0x2D, 16);
writeTo(ACC, 0x2D, 8);
//by default the device is in +-2g range reading
}
void getAccelerometerData(int * result) {
int regAddress = 0x32; //first axis-acceleration-data register on the ADXL345
byte buff[A_TO_READ];
readFrom(ACC, regAddress, A_TO_READ, buff); //read the acceleration data from the ADXL345
//each axis reading comes in 10 bit resolution, ie 2 bytes. Least Significat Byte first!!
//thus we are converting both bytes in to one int
result[0] = (((int)buff[1]) << 8) | buff[0];
result[1] = (((int)buff[3])<< 8) | buff[2];
result[2] = (((int)buff[5]) << 8) | buff[4];
}
//initializes the gyroscope
void initGyro()
{
/*****************************************
* ITG 3200
* power management set to:
* clock select = internal oscillator
* no reset, no sleep mode
* no standby mode
* sample rate to = 125Hz
* parameter to +/- 2000 degrees/sec
* low pass filter = 5Hz
* no interrupt
******************************************/
writeTo(GYRO, G_PWR_MGM, 0x00);
writeTo(GYRO, G_SMPLRT_DIV, 0x07); // EB, 50, 80, 7F, DE, 23, 20, FF
writeTo(GYRO, G_DLPF_FS, 0x1E); // +/- 2000 dgrs/sec, 1KHz, 1E, 19
writeTo(GYRO, G_INT_CFG, 0x00);
}
void getGyroscopeData(int * result)
{
/**************************************
Gyro ITG-3200 I2C
registers:
temp MSB = 1B, temp LSB = 1C
x axis MSB = 1D, x axis LSB = 1E
y axis MSB = 1F, y axis LSB = 20
z axis MSB = 21, z axis LSB = 22
*************************************/
int regAddress = 0x1B;
int temp, x, y, z;
byte buff[G_TO_READ];
readFrom(GYRO, regAddress, G_TO_READ, buff); //read the gyro data from the ITG3200
result[0] = ((buff[2] << 8) | buff[3]) + g_offx;
result[1] = ((buff[4] << 8) | buff[5]) + g_offy;
result[2] = ((buff[6] << 8) | buff[7]) + g_offz;
result[3] = (buff[0] << 8) | buff[1]; // temperature
}
void setup()
{
Serial.begin(9600);
Wire.begin();
initAcc();
initGyro();
}
void loop()
{
int acc[3];
int gyro[4];
getAccelerometerData(acc);
getGyroscopeData(gyro);
sprintf(str, "%d,%d,%d,%d,%d,%d,%d", acc[0], acc[1], acc[2], gyro[0], gyro[1], gyro[2], gyro[3]);
Serial.print(str);
Serial.write(10);
//delay(50);
}
//---------------- Functions
//Writes val to address register on ACC
void writeTo(int DEVICE, byte address, byte val) {
Wire.beginTransmission(DEVICE); //start transmission to ACC
Wire.write(address); // send register address
Wire.write(val); // send value to write
Wire.endTransmission(); //end transmission
}
//reads num bytes starting from address register on ACC in to buff array
void readFrom(int DEVICE, byte address, int num, byte buff[]) {
Wire.beginTransmission(DEVICE); //start transmission to ACC
Wire.write(address); //sends address to read from
Wire.endTransmission(); //end transmission
Wire.beginTransmission(DEVICE); //start transmission to ACC
Wire.requestFrom(DEVICE, num); // request 6 bytes from ACC
int i = 0;
while(Wire.available()) //ACC may send less than requested (abnormal)
{
buff[i] = Wire.read(); // receive a byte
i++;
}
Wire.endTransmission(); //end transmission
}
