Arduino Due and 6DOF Accel/Gyro

Hi all

I’m in possession of Arduino Due and I’m trying to get my 6DOF accelerometer working. bildr Stable Orientation - Digital IMU 6DOF + Arduino - bildr
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
  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()

void loop()
  int acc[3];
  int gyro[4];
  sprintf(str, "%d,%d,%d,%d,%d,%d,%d", acc[0], acc[1], acc[2], gyro[0], gyro[1], gyro[2], gyro[3]);  

//---------------- 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] =; // receive a byte
  Wire.endTransmission(); //end transmission

Bump... :smiley:
Can anyone try this code, and see if you are faceing same problem.


I have not tried your code, but a common problem is that
the type “int” is 4 bytes large, not 2 as on the uno (i do not know about the mega).

try using int16_t as a type, which is a 2 byte integer and see if things improve.

furthermore, are you sure the wire library is reported to work on the Due ?

good luck.

because I have access to secret and undocumented tools,
like the mythical “search button” and “google” I was able to find this post :,158526.0.html
so it seems wire might have problems running on the due…

Bump... :smiley:
Can anyone try this code, and see if you are faceing same problem.


Well I am also trying to make this Wire library work. According to the DUE main page and a fast look at the source code, it seems that for the DUE they have adapted the library so it SHOULD be working. I tried to get a feedback from the library but the only thing I can do is reading the result of Wire.write() that returns the number of bytes written and it always returns '1' (that seems to be ok, but my board isn't working).

I have to say my problem is a little bit complex, I want to use the WM8731 audio codec, and this codec use two serial interfaces, one for the configuration of the chip (I2C that works with the Wire library) and the other for the data transmission (SPI). So I don't know if my problem is with the Wire library or with the SPI library... or both :frowning:

I suspect that the problem has something to do with the I2C or SPI speed, I have also checked the source code but it's a little hard to me to get some information from there. So at my job I have access to oscilloscopes and my next step is to check the protocols with the oscilloscope. I think I should do that this week, so as soon as I get some information I will reply.