GY80 IMU chip I2C scanner code for uno

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1

Hi,
I am using GY80 IMU chip with arduino uno.
I am not able to detect the addresses when i run the i2c scanner , it does not detect the sensor!

#include <Wire.h>
//--- Accelerometer Register Addresses
#define Power_Register 0x2D
#define X_Axis_Register_DATAX0 0x32 // Hexadecimal address for the DATAX0 internal register.
#define X_Axis_Register_DATAX1 0x33 // Hexadecimal address for the DATAX1 internal register.
#define Y_Axis_Register_DATAY0 0x34
#define Y_Axis_Register_DATAY1 0x35
#define Z_Axis_Register_DATAZ0 0x36
#define Z_Axis_Register_DATAZ1 0x37
//--- Gyro Register Addresses
#define Gyro_gX0 0x28
#define Gyro_gX1 0x29
#define Gyro_gY0 0x2A
#define Gyro_gY1 0x2B
#define Gyro_gZ0 0x2C
#define Gyro_gZ1 0x2D
#define Magnetometer_mX0 0x03
#define Magnetometer_mX1 0x04
#define Magnetometer_mZ0 0x05
#define Magnetometer_mZ1 0x06
#define Magnetometer_mY0 0x07
#define Magnetometer_mY1 0x08
int Gyro = 0x69; //Gyro Device address
int ADXAddress = 0x53; //Accelerometer Device address
#define Magnetometer 0x1E //I2C 7bit address of HMC5883
int X0,X1,X_out;
int Y0,Y1,Y_out;
int Z1,Z0,Z_out;
float Xa,Ya,Za;
int gX0, gX1, gX_out;
int gY0, gY1, gY_out;
int gZ0, gZ1, gZ_out;
float Xg,Yg,Zg;
float angleX,angleY,angleZ,angleXc,angleYc,angleZc;
int mX0, mX1, mX_out;
int mY0, mY1, mY_out;
int mZ0, mZ1, mZ_out;
float Xm,Ym,Zm;
unsigned long start, finished, elapsed;
float dt=0.015;
void setup() {
Wire.begin(); // Initiate the Wire library
Serial.begin(9600);
delay(100);
Wire.beginTransmission(ADXAddress);
Wire.write(Power_Register); // Power_CTL Register
// Enable measurement
Wire.write(8); // Bit D3 High for measuring enable (0000 1000)
Wire.endTransmission();
Wire.beginTransmission(Gyro);
Wire.write(0x20); // CTRL_REG1 - Power Mode
Wire.write(15); // Normal mode: 15d - 00001111b
Wire.endTransmission();
Wire.beginTransmission(Gyro);
Wire.write(0x23); // CTRL_REG4 - Sensitivity, Scale Selection
Wire.write(48); // 2000dps: 48d - 00110000b
Wire.endTransmission();
Wire.beginTransmission(Magnetometer);
Wire.write(0x02); // Select mode register
Wire.write(0x00); // Continuous measurement mode
Wire.endTransmission();
}
void loop() {
// X-axis
Wire.beginTransmission(ADXAddress); // Begin transmission to the Sensor
//Ask the particular registers for data
Wire.write(X_Axis_Register_DATAX0);
Wire.write(X_Axis_Register_DATAX1);
Wire.endTransmission(); // Ends the transmission and transmits the data from the two registers
Wire.requestFrom(ADXAddress,2); // Request the transmitted two bytes from the two registers
if(Wire.available()<=2) { //
X0 = Wire.read(); // Reads the data from the register
X1 = Wire.read();
/* Converting the raw data of the X-Axis into X-Axis Acceleration /
X1=X1<<8;
X_out =X0+X1;
Xa=X_out/256.0; // Xa = output value from -1 to +1, Gravity acceleration acting on the X-Axis
}
// Y-Axis
Wire.beginTransmission(ADXAddress);
Wire.write(Y_Axis_Register_DATAY0);
Wire.write(Y_Axis_Register_DATAY1);
Wire.endTransmission();
Wire.requestFrom(ADXAddress,2);
if(Wire.available()<=2) {
Y0 = Wire.read();
Y1 = Wire.read();
Y1=Y1<<8;
Y_out =Y0+Y1;
Ya=Y_out/256.0;
}
// Z-Axis
Wire.beginTransmission(ADXAddress);
Wire.write(Z_Axis_Register_DATAZ0);
Wire.write(Z_Axis_Register_DATAZ1);
Wire.endTransmission();
Wire.requestFrom(ADXAddress,2);
if(Wire.available()<=2) {
Z0 = Wire.read();
Z1 = Wire.read();
Z1=Z1<<8;
Z_out =Z0+Z1;
Za=Z_out/256.0;
}
start=millis();
//---- X-Axis
Wire.beginTransmission(Gyro); // transmit to device
Wire.write(Gyro_gX0);
Wire.endTransmission();
Wire.requestFrom(Gyro,1);
if(Wire.available()<=1)
{
gX0 = Wire.read();
}
Wire.beginTransmission(Gyro); // transmit to device
Wire.write(Gyro_gX1);
Wire.endTransmission();
Wire.requestFrom(Gyro,1);
if(Wire.available()<=1)
{
gX1 = Wire.read();
}
//---- Y-Axis
Wire.beginTransmission(Gyro); // transmit to device
Wire.write(Gyro_gY0);
Wire.endTransmission();
Wire.requestFrom(Gyro,1);
if(Wire.available()<=1)
{
gY0 = Wire.read();
}
Wire.beginTransmission(Gyro); // transmit to device
Wire.write(Gyro_gY1);
Wire.endTransmission();
Wire.requestFrom(Gyro,1);
if(Wire.available()<=1)
{
gY1 = Wire.read();
}
//---- Z-Axis
Wire.beginTransmission(Gyro); // transmit to device
Wire.write(Gyro_gZ0);
Wire.endTransmission();
Wire.requestFrom(Gyro,1);
if(Wire.available()<=1)
{
gZ0 = Wire.read();
}
Wire.beginTransmission(Gyro); // transmit to device
Wire.write(Gyro_gZ1);
Wire.endTransmission();
Wire.requestFrom(Gyro,1);
if(Wire.available()<=1)
{
gZ1 = Wire.read();
}
//---------- X - Axis
// Raw Data
gX1=gX1<<8;
gX_out =gX0+gX1;
// From the datasheet: 70 mdps/digit
Xg=gX_out0.07; // Angular rate
// Angular_rate * dt = angle
angleXc = Xgdt;
angleX = angleX + angleXc;
//---------- Y - Axis
gY1=gY1<<8;
gY_out =gY0+gY1;
Yg=gY_out0.07;
angleYc = Ygdt;
angleY = angleY + angleYc;
//---------- Z - Axis
gZ1=gZ1<<8;
gZ_out =gZ0+gZ1;
Zg=gZ_out0.07;
angleZc = Zgdt;
angleZ = angleZ + angleZc;
//---- X-Axis
Wire.beginTransmission(Magnetometer); // transmit to device
Wire.write(Magnetometer_mX1);
Wire.endTransmission();
Wire.requestFrom(Magnetometer,1);
if(Wire.available()<=1)
{
mX0 = Wire.read();
}
Wire.beginTransmission(Magnetometer); // transmit to device
Wire.write(Magnetometer_mX0);
Wire.endTransmission();
Wire.requestFrom(Magnetometer,1);
if(Wire.available()<=1)
{
mX1 = Wire.read();
}
//---- Y-Axis
Wire.beginTransmission(Magnetometer); // transmit to device
Wire.write(Magnetometer_mY1);
Wire.endTransmission();
Wire.requestFrom(Magnetometer,1);
if(Wire.available()<=1)
{
mY0 = Wire.read();
}
Wire.beginTransmission(Magnetometer); // transmit to device
Wire.write(Magnetometer_mY0);
Wire.endTransmission();
Wire.requestFrom(Magnetometer,1);
if(Wire.available()<=1)
{
mY1 = Wire.read();
}
//---- Z-Axis
Wire.beginTransmission(Magnetometer); // transmit to device
Wire.write(Magnetometer_mZ1);
Wire.endTransmission();
Wire.requestFrom(Magnetometer,1);
if(Wire.available()<=1)
{
mZ0 = Wire.read();
}
Wire.beginTransmission(Magnetometer); // transmit to device
Wire.write(Magnetometer_mZ0);
Wire.endTransmission();
Wire.requestFrom(Magnetometer,1);
if(Wire.available()<=1)
{
mZ1 = Wire.read();
}
//---- X-Axis
mX1=mX1<<8;
mX_out =mX0+mX1; // Raw data
// From the datasheet: 0.92 mG/digit
Xm = mX_out0.00092; // Gauss unit
//* Earth magnetic field ranges from 0.25 to 0.65 Gauss, so these are the values that we need to get approximately.
//---- Y-Axis
mY1=mY1<<8;
mY_out =mY0+mY1;
Ym = mY_out0.00092;
//---- Z-Axis
mZ1=mZ1<<8;
mZ_out =mZ0+mZ1;
Zm = mZ_out0.00092;
// Prints the data on the Serial Monitor
Serial.print("Xa= ");
Serial.print(Xa);Serial.print("\t");
Serial.print("Ya= ");
Serial.print(Ya);Serial.print("\t");
Serial.print("Za= ");
Serial.println(Za);
Serial.print("angleX= ");
Serial.print(angleX);Serial.print("\t");
Serial.print("angleY= ");
Serial.print(angleY);Serial.print("\t");
Serial.print("angleZ= ");
Serial.println(angleZ);
// Calculating dt
finished=millis();
elapsed=finished-start;
dt=elapsed/1000.0;
start = elapsed = 0;
//Print out values of each axis
Serial.print("x: ");
Serial.print(Xm);Serial.print("\t");
Serial.print("y: ");
Serial.print(Ym);Serial.print("\t");
Serial.print("z: ");
Serial.println(Zm);Serial.print("\t");
delay(500);
Serial.println();
}

I DONT GET ANY OUTPUT !!

TRIED THIS CODE TOO .....................

Not getting output on Serial Monitor.

Any suggestions..

2

I am not able to detect the addresses when i run the i2c scanner , it does not detect the sensor!

That usually indicates a wrong wiring. Post a wiring diagram! Post links to the used hardware!

I DONT GET ANY OUTPUT !!

That code always prints on the serial interface even if the sensors are not found. If you get nothing, check the baud rate.

3

Please edit your post and add code tags.

See the "How to use this forum" post.

4

Hi,
The serial monitor is working , but it does not detect any sensor from the IMU chip.
However any serialprintln code like below gets executed
#include <Wire.h>

void setup()
{
Wire.begin();

Serial.begin(9600);
Serial.println("\nI2C Scanner");
}

but anything inside void loop is not showing up result ///

Complete code is here

// i2c_scanner
//
// Version 1
// This program (or code that looks like it)
// can be found in many places.
// For example on the Arduino.cc forum.
// The original author is not known.
// Version 2, Juni 2012, Using Arduino 1.0.1
// Adapted to be as simple as possible by Arduino.cc user Krodal
// Version 3, Feb 26 2013
// V3 by louarnold
// Version 4, March 3, 2013, Using Arduino 1.0.3
// by Arduino.cc user Krodal.
// Changes by louarnold removed.
// Scanning addresses changed from 0...127 to 1...119,
// according to the i2c scanner by Nick Gammon
// Gammon Forum : Electronics : Microprocessors : I2C - Two-Wire Peripheral Interface - for Arduino
// Version 5, March 28, 2013
// As version 4, but address scans now to 127.
// A sensor seems to use address 120.
//
//
// This sketch tests the standard 7-bit addresses
// Devices with higher bit address might not be seen properly.
//

#include <Wire.h>

void setup()
{
Wire.begin();

Serial.begin(9600);
Serial.println("\nI2C Scanner");
}

void loop()
{
byte error, address;
int nDevices;

Serial.println("Scanning...");

nDevices = 0;
for(address = 1; address < 127; address++ )
{
// The i2c_scanner uses the return value of
// the Write.endTransmisstion to see if
// a device did acknowledge to the address.
Wire.beginTransmission(address);
error = Wire.endTransmission();

if (error == 0)
{
Serial.print("I2C device found at address 0x");
if (address<16)
Serial.print("0");
Serial.print(address,HEX);
Serial.println(" !");

nDevices++;
}
else if (error==4)
{
Serial.print("Unknow error at address 0x");
if (address<16)
Serial.print("0");
Serial.println(address,HEX);
}
}
if (nDevices == 0)
Serial.println("No I2C devices found\n");
else
Serial.println("done\n");

delay(5000); // wait 5 seconds for next scan
}

Captureuno.PNG
Captureuno.PNG1397×694 22.2 KB

5

Please edit your post and add code tags.

6

That usually indicates a wrong wiring. Post a wiring diagram! Post links to the used hardware!