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--- digispark:tutorials:9dof [2014/11/24 15:00]
digistump
+++ digispark:tutorials:9dof [2015/01/12 21:59]
defragster startup delay and notepad note
@@ Line 60: / Line 60: @@
 =====Programming:=====
+Example can be found in File->Examples->Digispark_Examples->_9DOF_Shield
+<code arduino>
+#include <Wire.h>
+#include <DigiKeyboard.h>
+#define ADXL345                (0x53) //address of Accelerometer
+#define ADXL345_X              (0x32) //register for X value from Accelerometer
+#define ADXL345_Y              (0x34) //register for Y value from Accelerometer
+#define ADXL345_Z              (0x36) //register for Z value from Accelerometer
+#define HMC5883                (0x1E) //address of Magnetometer
+#define ITG3200                (0x68) //address of Gyro
+int16_t magX = 0; //X value from Magnetometer
+int16_t magY = 0; //Y value from Magnetometer
+int16_t magZ = 0; //Z value from Magnetometer
+int gyroHX = 0; //HX value from Gyro
+int gyroHY = 0; //HY value from Gyro
+int gyroHZ = 0; //HZ value from Gyro
+void setup()
+{
+    Wire.begin();
+    initAccelerometer();
+    initMagnetometer();
+    initGyro();
+    DigiKeyboard.delay(1000);    // Open Notepad (or similar) and make sure it has the focus
+}
+void loop()
+{
+  DigiKeyboard.println(readAccelerometer(ADXL345_X));
+  DigiKeyboard.println(readAccelerometer(ADXL345_Y));
+  DigiKeyboard.println(readAccelerometer(ADXL345_Z));
+  DigiKeyboard.delay(1000);
+  readMagnetometer();
+  DigiKeyboard.println(magX);
+  DigiKeyboard.println(magY);
+  DigiKeyboard.println(magZ);
+  DigiKeyboard.println(getHeading());
+  DigiKeyboard.delay(1000);
+  readGyro();
+  DigiKeyboard.println(gyroHX);
+  DigiKeyboard.println(gyroHY);
+  DigiKeyboard.println(gyroHZ);
+  DigiKeyboard.delay(1000);
+}
+void initGyro(){
+  writeRegister(ITG3200, 0x3E, 0x00); //enable
+  writeRegister(ITG3200, 0x15, 0x07); // EB, 50, 80, 7F, DE, 23, 20, FF
+  writeRegister(ITG3200, 0x16, 0x1E); // +/- 2000 dgrs/sec, 1KHz, 1E, 19
+  writeRegister(ITG3200, 0x17, 0x00);
+}
+void readGyro(){
+ Wire.beginTransmission(ITG3200);
+ Wire.write(0x1B);  //format x y z temp
+ Wire.endTransmission();
+ Wire.requestFrom(ITG3200, (byte)8);
+  // Wait around until enough data is available
+ while (Wire.available() < 8);
+ uint8_t lo = Wire.read();
+ uint8_t hi = Wire.read();
+ //throw out first two - don't seem accurate
+ //gyroTemp = (lo << 8) | hi; // temperature
+ //gyroTemp = ((double) (gyroTemp + 13200)) / 280;
+ lo = Wire.read();
+ hi = Wire.read();
+ gyroHX = (((lo << 8) | hi) + 120 )/ 14.375;
+ lo = Wire.read();
+ hi = Wire.read();
+ gyroHY = (((lo << 8) | hi) + 20 )/ 14.375;
+ lo = Wire.read();
+ hi = Wire.read();
+ gyroHZ = (((lo << 8) | hi) + 93 )/ 14.375;
+}
+void initMagnetometer(){
+  writeRegister(HMC5883, 0x02, 0x00); //enable
+}
+void readMagnetometer(){
+  Wire.beginTransmission(HMC5883);
+  Wire.write(0x03);  //format X_H_M
+  Wire.endTransmission();
+  Wire.requestFrom(HMC5883, (byte)6);
+  // Wait around until enough data is available
+  while (Wire.available() < 6);
+  // Note high before low (different than accel)
+  uint8_t hi = Wire.read();
+  uint8_t lo = Wire.read();
+  // Shift values to create properly formed integer (low byte first)
+  magX = (int16_t)(hi | ((int16_t)lo << 8));
+  // Note high before low (different than accel)
+  hi = Wire.read();
+  lo = Wire.read();
+  // Shift values to create properly formed integer (low byte first)
+  magY = (int16_t)(hi | ((int16_t)lo << 8));
+  // Note high before low (different than accel)
+  hi = Wire.read();
+  lo = Wire.read();
+  // Shift values to create properly formed integer (low byte first)
+  magZ = (int16_t)(hi | ((int16_t)lo << 8));
+}
+void initAccelerometer(){
+  //if(readRegister(ADXL345,0x00) != 0xE5)
+  writeRegister(ADXL345, 0x2D, 0x08); //power up and enable measurements
+  writeRegister(ADXL345, 0x31, 0x01);//set range to +/-4G
+}
+uint16_t readAccelerometer(uint8_t reg){
+    Wire.beginTransmission(ADXL345);
+    Wire.write(reg);
+    Wire.endTransmission();
+    Wire.requestFrom(ADXL345, 2);
+    return (uint16_t)(Wire.read() | (Wire.read() << 8));
+}
+uint8_t readRegister(uint8_t address, uint8_t reg){
+      Wire.beginTransmission(address);
+      Wire.write(reg);
+      Wire.endTransmission();
+      Wire.requestFrom(address, 1);
+      return Wire.read();
+    }
+void writeRegister(uint8_t address, uint8_t reg, uint8_t val){
+      Wire.beginTransmission(address);
+      Wire.write(reg);
+      Wire.write(val);
+      Wire.endTransmission();
+    }
+float getHeading(){
+    // Hold the module so that Z is pointing 'up' and you can measure the heading with x&y
+  // Calculate heading when the magnetometer is level, then correct for signs of axis.
+  float heading = atan2(magY, magX);
+  // Correct for when signs are reversed.
+  if(heading < 0)
+    heading += 2*PI;
+  // Check for wrap due to addition of declination.
+  if(heading > 2*PI)
+    heading -= 2*PI;
+  // Convert radians to degrees for readability.
+  heading = heading * 180/M_PI;
+  return heading;
+}
+</code>

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