Hi hi there,
I’m a rookie programmer.Had a big problem :o :o
I have been trying to connect two accelerometers (ADXL355, mpu9250 or mpu6050) to the nano via the I2C interface and save them to the SD card.
But i2c reading always fails, I also tried to use the WSwire function library, only the fact that the program is not stuck, but still not successful.
Let me first say that I use mpu9250 to read gyroscopes and magnetometers, but first try to communicate and find big problems…
Mpu6050 is only for testing.
The situation is like this, as long as the i2c port of both chips is connected to nano, the program will run very slowly (about two seconds to read the data), and the data is a fixed error value.
If one of the i2c pins is unplugged, the other party will return to normal and log at normal speed(100hz).
However, I have also tested two accelerometers separately and only wrote one of them, and of course, it is successful. but…
If I insert the pin of adxl355 while reading mpu9250 or mpu6050, the program still will return to the fault state (slow, data error), and it will remain fault state after reset.
In turn, testing the ADXL355, inserting mpu9250 or mpu6050 will have no effect.
After trying, there is a way for the ADXL355 to not affect the mpu6050, that is, to run at 10hz, and only write the program of mpu6050.
But it can only run for about 20 seconds, and as long as the mpu6050 is moved, it will fail again…
So I still haven’t reached a conclusion. I can only guess that the ADXL355 is not working properly with other I2c interface?
I thought it might be a memory problem, I changed to mega2560, but the situation remains the same…
No matter whether I have connected to the sd module or not, it has no effect.
I can’t try mpu9250 and mpu6050 at the same time, because the address is the same.
I can’t seem to change the AD0 of the mpu9250 so that its address becomes 0x69.
Because this chip’s AD0 is connected to GND(link below)
btw,why not try spi? here’s my post
My connection:
accelerometers:
vcc:3.3V
scl:scl
sda:sda
gnd:gnd
sd module:
vcc:5v
cs:cs(10 or 53)
sclk:sclk
miso:miso
mosi:mosi
gnd:gnd
files:
adxl355 datasheet
EVAL-ADXL355 User Guide
mpu9250 datasheet
9dof razor imu m0 schematic
9DoF Razor IMU M0 Introduction
results(wiring both)
if only connect to ADXL355
if only connected to MPU9250
connect the ADXL355 when testing the MPU9250 (three axes become -0.0156)
mpu6050 10hz
My code is attached~
#include <SD.h>
#include <SPI.h>
#include <WSWire.h>
const int SD_CS = 53; // Pin 10 on Arduino Uno
const int acc_I2c = 0x1D; //
const int IMU_I2c = 0x68; //
const int led = 4; //
long values[20], t[9];
double x, y, z, x1, y1, z1, c;
File test0;
void setup() {
Serial.begin(115200);
Wire.begin();
TWBR = 12;
if (!SD.begin(SD_CS)) {
Serial.println("Card failed, or not present");
}
pinMode(SD_CS, OUTPUT);
//adxl355 setting
writeRegister(POWER_CTL, 0x00); // writing 0 to to enable sensor
writeRegister(RANGE, 0xC1);
writeRegister(SELF_TEST, 0x00); // writing 3 to to enable
delay(200);
//imu setting
//writeRegister1(PWR_MGMT_1, 0x80); //reset
writeRegister1(PWR_MGMT_2, 0x00);
writeRegister1(PWR_MGMT_1, 0x01); //enable all axis
//writeRegister1(ACCEL_CONFIG, 0xE0); // Accel self-test
delay(200);
//digitalWrite(SD_CS, LOW);
test0 = SD.open("test0.txt", FILE_WRITE);
if (test0) {
Serial.println("writing");
//test0.print("666666");
//test0.close(); // close the file
}
// if the file didn't open, print an error:
else {
Serial.println("error opening test.txt");
//return;
}
pinMode(led, OUTPUT);
digitalWrite(led, LOW);
delay(200);
}
void loop() {
acc_data();
Serial.print(x, 5);
Serial.print(", ");
Serial.print(y, 5);
Serial.print(", ");
Serial.print(z, 5);
Serial.print(", ");
//delay(200);
imu_data();
Serial.print(x1, 5);
Serial.print(", ");
Serial.print(y1, 5);
Serial.print(", ");
Serial.print(z1, 5);
Serial.print('\n');
delay(5);
if (!test0) {
test0 = SD.open("test0.txt", FILE_WRITE);
Serial.println("file opened");
}
if (test0) {
Serial.println("writing");
digitalWrite(led, HIGH);
test0.print(x, 5);
test0.print(", ");
test0.print(y, 5);
test0.print(", ");
test0.print(z, 5);
test0.print(", ");
test0.print(x1, 5);
test0.print(", ");
test0.print(y1, 5);
test0.print(", ");
test0.println(z1, 5);
test0.close(); // close the file
}
// if the file didn't open, print an error:
else {
Serial.println("error opening test.txt");
}
delay(5);
digitalWrite(led, LOW);
}
void writeRegister(int reg, int data) {
Wire.beginTransmission(acc_I2c);
Wire.write(reg);
Wire.write(data);
Wire.endTransmission();
}
int readRegister(int reg) {
Wire.beginTransmission(acc_I2c);
Wire.write(reg);
Wire.endTransmission();
Wire.requestFrom(acc_I2c, 1);
if (Wire.available() <= 1) {
return Wire.read();
}
Wire.endTransmission();
}
void writeRegister1(int reg1, int data1) {
Wire.beginTransmission(IMU_I2c);
Wire.write(reg1);
Wire.write(data1);
Wire.endTransmission();
}
int readRegister1(int reg1) {
Wire.beginTransmission(IMU_I2c);
Wire.write(reg1);
Wire.endTransmission();
Wire.requestFrom(IMU_I2c, 0x80);
if (Wire.available() <= 0x80) {
return Wire.read();
}
Wire.endTransmission();
}
void acc_data() {
values[0] = readRegister(XDATA3);
values[1] = readRegister(XDATA2);
values[2] = readRegister(YDATA3);
values[3] = readRegister(YDATA2);
values[4] = readRegister(ZDATA3);
values[5] = readRegister(ZDATA2);
values[6] = readRegister(XDATA1);
values[7] = readRegister(YDATA1);
values[8] = readRegister(ZDATA1);
t[0] = readRegister(TEMP2);
t[1] = readRegister(TEMP1);
x = (values[0] << 12) + (values[1] << 4) + (values[6] >> 4);
y = (values[2] << 12) + (values[3] << 4) + (values[7] >> 4);
z = (values[4] << 12) + (values[5] << 4) + (values[8] >> 4);
if (x >= 0x80000) {
x = x - (2 * 0x80000);
}
if (y >= 0x80000) {
y = y - (2 * 0x80000);
}
if (z >= 0x80000) {
z = z - (2 * 0x80000);
}
c = (t[0] << 8) + t[1];
c = ((1852 - c) / 9.05) + 25.7;
x = x * 0.0000039;
y = y * 0.0000039;
z = z * 0.0000039;
}
void imu_data() {
values[10] = readRegister1(ACCEL_XOUT_H);
values[11] = readRegister1(ACCEL_XOUT_L);
values[12] = readRegister1(ACCEL_YOUT_H);
values[13] = readRegister1(ACCEL_YOUT_L);
values[14] = readRegister1(ACCEL_ZOUT_H);
values[15] = readRegister1(ACCEL_ZOUT_L);
x1 = (values[10] << 8) + values[11];
y1 = (values[12] << 8) + values[13];
z1 = (values[14] << 8) + values[15];
if (x1 >= 0x8000) {
x1 = x1 - 0x10000;
}
if (y1 >= 0x8000) {
y1 = y1 - 0x10000;
}
if (z1 >= 0x8000) {
z1 = z1 - 0x10000;
}
x1 = x1/0x4000;
y1 = y1/0x4000;
z1 = z1/0x4000;
}
sd_loggingi2c.ino (6.41 KB)
9250_i2c.ino (2.03 KB)
mpu6050 shory2.ino (1.62 KB)