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--- digispark:tutorials:9dof [2015/01/12 17:57]
digistump [Programming:]
+++ digispark:tutorials:9dof [2016/06/09 12:03]
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-======Pro 9DOF Shield Kit Tutorial======
-=====Product Description:=====
-[[https://s3.amazonaws.com/digispark/images/m/9dof1.JPG|{{https://s3.amazonaws.com/digispark/images/t/9dof1.JPG}}]]
-[[https://s3.amazonaws.com/digispark/images/m/9dof4.JPG|{{https://s3.amazonaws.com/digispark/images/t/9dof4.JPG}}]]
-This is an unassembled kit and requires basic soldering. This is designed for use with the Digispark development board, which is not included.
-=====Parts:=====
-^ Part       ^ Quantity          ^Identification^
-| Pro Combo PCB|1| |
-| 4.7K (4K7) Ohm 1/4W resistor 1% or 5%|2| Yellow - Violet - Red|
-| I2C 9DOF Module |1||
-| 1x40pin male 0.1" pitch header| 29 pins worth| |
-**Resistor Values:** For more information on how to identify the value of the resistors we recommend these sites:
-A nice simple resistor calculator: http://www.ealnet.com/m-eal/resistor/resistor.htm
-A comprehensive article on identification: http://www.diyaudioandvideo.com/Electronics/Color/
-**Soldering:** If you are new to soldering we recommend the following tutorials:
-Soldering Basics (http://www.sparkfun.com/tutorials/106) and Soldering Crash Course from the folks at Sparkfun (http://www.sparkfun.com/tutorials/354).
-How to solder from the Curious Inventor: http://store.curiousinventor.com/guides/How_to_Solder
-Adafruit has this excellent guide that starts with the tools needed and then shows detailed pictures, including some of the common problems that beginners experience (http://learn.adafruit.com/adafruit-guide-excellent-soldering)
-**We assume for these assembly instructions that you know the basics of thru-hole soldering. If you don't check out the links above, these boards are very easy to solder - we promise!**
-=====Assembly:=====
-[[https://s3.amazonaws.com/digispark/images/m/9dof1.JPG|{{https://s3.amazonaws.com/digispark/images/t/9dof1.JPG}}]]
-Solder resistors one at a time. Solder the leads and clip off the excess. Repeat for both resistors.
-[[https://s3.amazonaws.com/digispark/images/m/comboi2c1.JPG|{{https://s3.amazonaws.com/digispark/images/t/comboi2c1.JPG}}]]
-Cut two lengths of male headers each 9 pins long and one 3 pins long. Insert into corresponding positions (on the bottom of the board) and solder each pin.
-**Tip:** Inserting the headers into a breadboard and then placing the board on top can make this process easier.
-**Note:** If you are using stackable headers, use them here instead of the standard male headers.
-[[https://s3.amazonaws.com/digispark/images/m/comboi2c2.JPG|{{https://s3.amazonaws.com/digispark/images/t/comboi2c2.JPG}}]]
-Insert a strip of 8 straight header pins into the front of the board matching the pins labeled for the 9DOF module. Solder the pins on the back.
-[[https://s3.amazonaws.com/digispark/images/m/9dof2.JPG|{{https://s3.amazonaws.com/digispark/images/t/9dof2.JPG}}]]
-Insert the 9DOF module onto the front of the board, on to the strip of 8 pins. Solder the pins where they come through the module, optionally snip off the excess.
-[[https://s3.amazonaws.com/digispark/images/m/9dof3.JPG|{{https://s3.amazonaws.com/digispark/images/t/9dof3.JPG}}]]
-[[https://s3.amazonaws.com/digispark/images/m/9dof4.JPG|{{https://s3.amazonaws.com/digispark/images/t/9dof4.JPG}}]]
-=====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();
-}
-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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