Tri Axis_Gyro_Breakout SD740_(SKU__SEN0095) - jimaobian/DFRobotWiki GitHub Wiki

/*
Gyroscope SD740 I2C Mode

 Version 1.0  Lauren <[email protected]>

 Operating Supply Voltage           V    2.6 - 5% - 3.3 + 5%
 Full Scale Range (digital output) °/s  1024
 Sensitivity Accuracy               %    ± 5
 Sensitivity Error Over Temperature %    ± 5
 Signal Update Rate                 KHz  10
 SPI Communication Speed            KHz  400

 Full scale range is factory defined. Please contact SensorDynamics for setting different ranges. Maximum full scale
 factor is 4096°/s
 Bandwidth is factory defined. Please contact SensorDynamics for setting different ranges. Maximum bandwidth is
 150Hz

 I2C Address setting

 Pin          state        Device address

 MISO/ADDR    LOW          0x4E
 MISO/ADDR    HIGH         0x4F

 */

#include <Wire.h>
#define DEVICE 0x4F

byte buff[20] ;    //6 bytes buffer for saving data read from the device
char str[128];                      //string buffer to transform data before sending it to the serial port

//I2C Address A7

void setup(){

  Wire.begin();        // join i2c bus (address optional for master)
  Serial.begin(57600);  // start serial for output

}


void loop(){

  int regAddress = 0x00;    //first axis-acceleration-data register on the ADXL345
  int x, y, z;

  readFrom(byte(DEVICE), regAddress, 8, buff);//receive data

  x = (((int)buff[2]) << 8) | buff[3];
  y = (((int)buff[4]) << 8) | buff[5];
  z = (((int)buff[6]) << 8) | buff[7];

//  we send the x y z values as a string to the serial port
//
  sprintf(str, "%d %d %d", x, y, z);
  Serial.print(str);
  Serial.print(10, BYTE);

//  It appears that delay is needed in order not to clog the port
  delay(100);

}

//---------------- Functions
//Writes val to address register on device
void writeTo(int device, byte address, byte val) {

  Wire.beginTransmission(device); //start transmission to device
  Wire.send(address);        // send register address
  Wire.send(val);        // send value to write
  Wire.endTransmission(); //end transmission

}

//reads num bytes starting from address register on device in to buff array
void readFrom(int device, byte address, int num, byte buff[]) {

  Wire.beginTransmission(device); //start transmission to device
  Wire.send(address);        //sends address to read from
  Wire.endTransmission(); //end transmission

  Wire.beginTransmission(device); //start transmission to device
  Wire.requestFrom(device, num);    // request 6 bytes from device

  int i = 0;
  while(Wire.available())    //device may send less than requested (abnormal)
  {
    buff[i] = Wire.receive(); // receive a byte
    i++;
  }
  Wire.endTransmission(); //end transmission

//  for(int j = 0;j < i;j ++){    //output all received bytes
//    Serial.print(buff[j],HEX);
//    Serial.print("\t");
//  }
//  Serial.print(10, BYTE);

}

/*
Gyroscope SD740 SPI connection

 Version 1.0  Lauren <[email protected]>

 Pin connection to the Arduino board:

 CSN         ->   digital pin 10(D10)
 MOSI/SDA    ->   digital pin 11(D11)
 MISO/ADDR   ->   digital pin 12(D12)
 SCL         ->   digital pin 13(D13)

 Operating Supply Voltage           V    2.6 - 5% - 3.3 + 5%
 Full Scale Range (digital output) °/s  1024
 Sensitivity Accuracy               %    ± 5
 Sensitivity Error Over Temperature %    ± 5
 Signal Update Rate                 KHz  10
 SPI Communication Speed            MHz  40

 Full scale range is factory defined. Please contact SensorDynamics for setting different ranges. Maximum full scale
 factor is 4096°/s
 Bandwidth is factory defined. Please contact SensorDynamics for setting different ranges. Maximum bandwidth is
 150Hz

 */


#include <SPI.h>

#define DataRegister 0x00
#define CS_Pin 10            //chip selection pin

char receiveData[128];        //data array
int x,y,z;
float xg,yg,zg;
float absHeading = 0;         // calculate the absolute heading
unsigned long iTime = 0;

void setup(){

  Serial.begin(57600);

  SPI.begin();
  SPI.setDataMode(SPI_MODE0);

  pinMode(CS_Pin, OUTPUT);// init the chip selection pin
  digitalWrite(CS_Pin, HIGH);

  checkGyroStatus();

}

void checkGyroStatus(){

  readRegister(20,1,receiveData);
  Serial.print("check lock state:\t");
  Serial.println(receiveData[0],BIN);//bin; 110 means works well

  if(bitRead(receiveData[0],1) == 0 || bitRead(receiveData[0],2) == 0){
    Serial.println("Chip start error! You could reset the arduino board");
    while(1){
    }
  }

  readRegister(70,1,receiveData);
  Serial.print("check standby bit:\t");
  Serial.println(receiveData[0],BIN);//check bit0 0->normal 1->standby

}

void loop(){

  readRegister(DataRegister, 6, receiveData);

  x = ((int)receiveData[0]<<8)|(int)receiveData[1];
  y = ((int)receiveData[2]<<8)|(int)receiveData[3];
  z = ((int)receiveData[4]<<8)|(int)receiveData[5];

  float scale = 0.03125;// scale: 1024 / 2^15

  xg = x * scale;
  yg = y * scale;
  zg = z * scale;
  float pastTime = float(micros() - iTime) / float(1000000);
  absHeading += zg * pastTime;
  iTime = micros();

  /*
  Serial.print(x, DEC);
  Serial.print(',');
  Serial.print(y, DEC);
  Serial.print(',');
  Serial.println(z, DEC);
  Serial.print((float)xg,2);
  Serial.print("\t");
  Serial.print((float)yg,2);
  Serial.print("\t");
  Serial.print((float)zg,2);
  Serial.println(" °/s");
  */
  Serial.print("Heading:");
  Serial.println(absHeading);//Axis Z absolute heading


  delay(10);

}

void writeRegister(char registerAddress, char value){

  digitalWrite(CS_Pin, LOW);
  SPI.transfer(registerAddress);
  SPI.transfer(value);
  digitalWrite(CS_Pin, HIGH);

}


void readRegister(char registerAddress, int numBytes, char * values){

  char address = 0x80 | registerAddress;
  digitalWrite(CS_Pin, LOW);
  SPI.transfer(address);
  for(int i=0; i<numBytes; i++){
    values[i] = SPI.transfer(0x00);
  }
  digitalWrite(CS_Pin, HIGH);

}

/*
Gyroscope SD740
Analog output mode
Display the gyro output volts

Version 1.0  Lauren <[email protected]>

Full Scale Range (analog outputs)   °/s   - 64, 128, 256, 512 -
Operating Supply Voltage              V     2.6 - 5% - 3.3 + 5%

Analog Output Range             Vdd * 0.1       -       Vdd * 0.9
Analog Output Sensitivity       V / (°/s)      (Vdd / 2) / Full Scale
Analog Output @ 0°/s           Vdd/2 � 0.05    -       Vdd/2 + 0.05
Analog Output Resolution bit    10

Full scale range is factory defined. Please contact SensorDynamics for setting different ranges. Maximum full scale
factor is 4096°/s
Bandwidth is factory defined. Please contact SensorDynamics for setting different ranges. Maximum bandwidth is
150Hz
*/


void setup(){

  Serial.begin(57600);

}

void loop(){

  float voltX,voltY,voltZ;

  voltX = analogRead(0) * 5.0 / 1024.0;
  voltY = analogRead(1) * 5.0 / 1024.0;
  voltZ = analogRead(2) * 5.0 / 1024.0;

  Serial.print("x: ");
  Serial.print(voltX,5);
  Serial.print(" v\ty: ");
  Serial.print(voltY,5);
  Serial.print(" v\tz: ");
  Serial.print(voltZ,5);
  Serial.println(" v\t Reference: 3.3v");

  delay(50);

}