9Dof Imu Sensor Results

[Johazzz]

Hi,

Can someone please check with me whether the values I obtained from the 9Dof Sensor stick
(Accelerometer, Magnetometer and gyroscope) when placed on a table are correct? Thank you.
I am using a Arduino Micro board.

Here's the code for it:

 #include <Adafruit_Sensor.h>
#include <Wire.h>

#define ADXL345_ADDRESS (0XA6 >> 1)
#define ADXL345_REGISTER_XLSB (0x32)
#define ADXL_REGISTER_PWRCTL (0x2D)
#define ADXL_PWRCTL_MEASURE (1 << 3)

#define ITG3200_ADDRESS (0xD0 >> 1)
#define ITG3200_REGISTER_XMSB (0x1D)
#define ITG3200_REGISTER_DLPF_FS (0x16)
#define ITG3200_FULLSCALE (0x03 << 3)
#define ITG3200_42HZ (0x03)

#define HMC5843_ADDRESS (0x3C >> 1)
#define HMC5843_REGISTER_XMSB (0x03)
#define HMC5843_REGISTER_MEASMODE (0x02)
#define HMC5843_MEASMODE_CONT (0x00)

int accelerometer_data[3];
int gyro_data[3];
int magnetometer_data[3];

char c;

void setup() 
{
  Wire.begin();
  Serial.begin(9600);

  for(int i = 0; i < 3; ++i) 
  {
    accelerometer_data[i] = magnetometer_data[i] = gyro_data[i] = 0;
  }
  
  init_adxl345();
  init_hmc5843();
  init_itg3200();
}

void loop() 
{
   read_adxl345();

   Serial.print("ACCEL: ");
   Serial.print(accelerometer_data[0]);
   Serial.print("\t");
   Serial.print(accelerometer_data[1]);
   Serial.print("\t");
   Serial.print(accelerometer_data[2]);
   Serial.print("\t");

   read_hmc5843();

   Serial.print("MAG: ");
   Serial.print(magnetometer_data[0]);
   Serial.print(",");
   Serial.print(magnetometer_data[1]);
   Serial.print(",");
   Serial.print(magnetometer_data[2]);
   Serial.print("\t");

   read_itg3200();

   Serial.print("GYRO: ");
   Serial.print(gyro_data[0]);
   Serial.print("\t");
   Serial.print(gyro_data[1]);
   Serial.print("\t");
   Serial.print(gyro_data[2]);
   Serial.print("\n");

   delay(100);
}

void i2c_write(int address, byte reg, byte data) {
  Wire.beginTransmission(address);
  Wire.write(reg);
  Wire.write(data);
  Wire.endTransmission();
}

void i2c_read(int address, byte reg, int count, byte* data) {
 int i = 0;

 Wire.beginTransmission(address);
 Wire.write(reg);
 Wire.endTransmission();
 Wire.beginTransmission(address);
 Wire.requestFrom(address,count);
 while(Wire.available()){
   c = Wire.read();
   data[i] = c;
   i++;
 }
 Wire.endTransmission();
} 

void init_adxl345() {
  byte data = 0;

  i2c_write(ADXL345_ADDRESS, ADXL_REGISTER_PWRCTL, ADXL_PWRCTL_MEASURE);

  i2c_read(ADXL345_ADDRESS, ADXL_REGISTER_PWRCTL, 1, &data);
  Serial.println((unsigned int)data);
}

void read_adxl345() {
 byte bytes[6];
 memset(bytes,0,6);

 i2c_read(ADXL345_ADDRESS, ADXL345_REGISTER_XLSB, 6, bytes);

 for (int i=0;i<3;++i) {
 accelerometer_data[i] = (int)bytes[2*i] + (((int)bytes[2*i + 1]) << 8);
 }
}

void init_itg3200() {
  byte data = 0;

  i2c_write(ITG3200_ADDRESS, ITG3200_REGISTER_DLPF_FS, ITG3200_FULLSCALE | ITG3200_42HZ);

  i2c_read(ITG3200_ADDRESS, ITG3200_REGISTER_DLPF_FS, 1, &data);

  Serial.println((unsigned int)data);
}

void read_itg3200() {
  byte bytes[6];
  memset(bytes,0,6);

  i2c_read(ITG3200_ADDRESS, ITG3200_REGISTER_XMSB, 6, bytes);
  for (int i=0;i<3;++i) {
  gyro_data[i] = (int)bytes[2*i + 1] + (((int)bytes[2*i]) << 8);
  }
}

void init_hmc5843() {
  byte data = 0;
  
  i2c_write(HMC5843_ADDRESS, HMC5843_REGISTER_MEASMODE, HMC5843_MEASMODE_CONT);

  i2c_read(HMC5843_ADDRESS, HMC5843_REGISTER_MEASMODE, 1, &data);
  Serial.println((unsigned int)data);
}

void read_hmc5843() {
 byte bytes[6];
 memset(bytes,0,6);

 i2c_read(HMC5843_ADDRESS, HMC5843_REGISTER_XMSB, 6, bytes);

 for (int i=0;i<3;++i) {
 magnetometer_data[i] = (int)bytes[2*i + 1] + (((int)bytes[2*i]) << 8);
 }
}