Somebody correct me if im wrong with my connection of my 9Dof IMU Sensor stick ( Sparkfun ) and my Arduino Micro board..
My connection:
IMU : Arduino
SCL : Digital Pin 3
SDA : Digital Pin 2
GND : GND
Vcc : 3V
with 2 4.7k Ohms pull-up resistor to each of the SDA SCL pin with 3v.
I need a confirmation here please.
Thank you in advance!
#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);
}
}
