Hi I hope I have posted this in the right forum,
I recently borrowed a 9DOF sensor stick from sparkfun (SparkFun 9 Degrees of Freedom - Sensor Stick - SEN-10724 - SparkFun Electronics) to learn how sensors work. I wrote a small program that outputs readings and viewed it via the serial monitor window.
The output was as follows
ACCEL: 1234 3421 3643
MAG: 2354 0 9012
GYRO: 1231 2525 0
(these are not the actual readings, its just what the output looks like)
After knowing that the program works, I went ahead and purchased the same sensor. I then soldered headers onto the sensor and uploaded the exact same program. When I ran monitored the output via the serial monitor, I am getting some wierd symbols
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(these are the actual readings copied from the serial monitor)
I have no idea why this is happening 
. Is it possible that I damaged the sensor when soldering the header? Or any other reason as to why this is happening? I am totally new to sensors.
Any help would be much appreciated.
This is the program I have used
#include <Wire.h>
// Registers for ADXL345
#define ADXL345_ADDRESS (0xA6 >> 1) // address for device is 8 bit but shift to the
// right by 1 bit to make it 7 bit because the
// wire library only takes in 7 bit addresses
// Need to set the power control bit to wake up the adxl345
#define ADXL_REGISTER_PWRCTL (0x2D) // Power register
#define ADXL_PWRCTL_MEASURE (0x08)
// There are 6 data registers, they are sequential starting with the LSB of X.
// We'll read all 6 in a burst and won't adress them indivisually
#define ADXL345_REGISTER_XLSB (0x32)
// Registers for ITG3200
#define ITG3200_ADDRESS (0xD0 >> 1)
// Again request data of 6 bytes in a burst
#define ITG3200_REGISTER_XMBS (0x1D)
// Initialise low pass filter
#define ITG3200_REGISTER_DLPF_FS (0x16)
// Initialise scale
#define ITG3200_FULLSCALE (0x03 << 3)
#define ITG3200_42HZ (0x03)
// Registers for HMC5843
#define HMC5843_ADDRESS (0x3C >> 1)
// First data address of 6 is XMSB.
// Need to set measurement to continuous or else will just get 1 reading
#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];
// void because this only tells the cip to send data to its output register
// writes data to the slave's buffer
void i2c_write(int address, byte reg, byte data) {
// Send output register address
Wire.beginTransmission(address);
// Connect to device
Wire.write(reg);
// Send data
Wire.write(data); //low byte
Wire.endTransmission();
}
// void because using pointers
// microcontroller reads data from the sensor's input register
void i2c_read(int address, byte reg, int count, byte* data) {
// Used to read the number of data received
int i = 0;
// Send input register address
Wire.beginTransmission(address);
// Connect to device
Wire.write(reg);
Wire.endTransmission();
// Connect to device
Wire.beginTransmission(address);
// Request data from slave
// Count stands for number of bytes to request
Wire.requestFrom(address, count);
while(Wire.available()) // slave may send less than requested
{
char c = Wire.read(); // receive a byte as character
data[i] = c;
i++;
}
Wire.endTransmission();
}
void init_adxl345() {
byte data = 0;
// Wake the accelerometer up by sending setting the measure bit (0x08) to the
// power register (0x2D)
i2c_write(ADXL345_ADDRESS, ADXL_REGISTER_PWRCTL, ADXL_PWRCTL_MEASURE);
// Check to see if it worked!
i2c_read(ADXL345_ADDRESS, ADXL_REGISTER_PWRCTL, 1, &data);
Serial.println((unsigned int)data);
}
void read_adxl345() {
byte bytes[6];
memset(bytes,0,6);
// Read 6 bytes from the ADXL345
i2c_read(ADXL345_ADDRESS, ADXL345_REGISTER_XLSB, 6, bytes);
// Unpack data
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;
// Set DLPF to 42Hz (can change if want) and set scale to full scale
i2c_write(ITG3200_ADDRESS, ITG3200_REGISTER_DLPF_FS, ITG3200_FULLSCALE | ITG3200_42HZ);
//check if working
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);
//read 6 bytes from the ITG3200
i2c_read(ITG3200_ADDRESS, ITG3200_REGISTER_XMBS, 6, bytes); //now unpack the bytes
for (int i=0;i<3;++i) {
gyro_data[i] = (int)bytes[2*i + 1] + (((int)bytes[2*i]) << 8);
}
}
/*void read_itg3200() {
byte bytes[6];
memset(bytes,0,6);
// read 6 bytes from the ITG3200
i2c_read(ITG3200_ADDRESS, ITG3200_REGISTER_XMBS, 6, bytes);
// unpack data
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;
// set to continuous measurement
i2c_write(HMC5843_ADDRESS, HMC5843_REGISTER_MEASMODE, HMC5843_MEASMODE_CONT);
// check if worked
i2c_read(HMC5843_ADDRESS, HMC5843_REGISTER_MEASMODE, 1, &data);
Serial.println((unsigned int)data);
}
void read_hmc5843() {
byte bytes[6];
memset(bytes,0,6);
// read 6 bytes from the HMC5843
i2c_read(HMC5843_ADDRESS, HMC5843_REGISTER_XMSB, 6, bytes);
// now unpack the bytes
for(int i=0; i<3; ++i) {
magnetometer_data[i] = (int)bytes[2*i + 1] + (((int)bytes[2*i]) << 8);
}
}
// initialise and start everything
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_itg3200();
init_hmc5843();
}
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("\n");
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("\n");
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);
}
Thanks in advance
