Hi ,
I am new to SPI and trying to read data from the IMU.
Can anyone share a code that is working to read data from IMU ?
The code I am using is
#include <SPI.h>
//ADIS16362 ---- Arduino Mega
//2(SCLK)--------52(SCLK)
//3(SS)----------53(ss)
//4(SDO)---------50(MISO)
//6(SDI)---------51(MOSI)
//7,8,9----------GND
//10,11,12-------V(3.3 OR 5)
//13-------------8(IRQ)
//uint16_t value = (highByte << 8) | lowByte ;
int ss = 53;
word ax_l, ay_l, az_l,ax_h,ay_h ,az_h;
word gx_l, gy_l, gz_l,gx_h,gy_h, gz_h;
word datax, datay, dataz;
word dataxg, datayg, datazg;
float dax, day, daz ;
float dgx, dgy, dgz;
void setup()
{
Serial.begin (1000000);
SPI.begin();
pinMode(ss, OUTPUT);
SPI.setDataMode(SPI_MODE3);
SPI.setBitOrder(MSBFIRST);
SPI.setClockDivider(SPI_CLOCK_DIV8);
digitalWrite(ss, HIGH);
}
void loop()
{
//=================================
// Accelerometer Readings
//=================================
// X_ACCELEROMETER_OUT
digitalWrite(ss,LOW);
delayMicroseconds(200);
ax_l=SPI.transfer(0x0A);
delayMicroseconds(200);
ax_h=SPI.transfer(0x0B);
digitalWrite(ss,HIGH);
datax=(ax_h<<8)|ax_l;
dax=datax*(0.333);
Serial.print("X Accel: ");
Serial.print(dax, DEC);
Serial.print(" mg");
Serial.print("\n");
delay(200);
////=============================
//
////Y_ACCELEROMETER_OUT
digitalWrite(ss,LOW);
delayMicroseconds(200);
ay_l=SPI.transfer(0x0C);
delayMicroseconds(200);
ay_h=SPI.transfer(0x0D);
digitalWrite(ss,HIGH);
datay=(ay_h<<8)|ay_l;
day=datay*(0.333);
Serial.print("Y Accel: ");
Serial.print(day, DEC);
Serial.print(" mg");
Serial.print("\n");
delay(200);
//=====================================
//z_ACCELEROMETER_OUT
digitalWrite(ss,LOW);
delayMicroseconds(200);
az_l=SPI.transfer(0xE);
delayMicroseconds(200);
az_h =SPI.transfer(0xF);
digitalWrite(ss,HIGH);
dataz= (az_h<<8) | az_l;
daz=dataz*(0.333);
Serial.print("Z Accel: ");
Serial.print(daz, DEC);
Serial.print(" mg");
Serial.print("\n\n");
delay(200);
//========================
// GyRoScOpE READINGS
//========================
//
////X_GYRO_OUT
//
digitalWrite(ss,LOW);
delayMicroseconds(200);
gx_l=SPI.transfer(0x04);
delayMicroseconds(200);
gx_h=SPI.transfer(0x05);
digitalWrite(ss,HIGH);
dataxg=(gx_h<<8)|gy_l;
dgx=(dataxg*0.05);
Serial.print("X Gyro: ");
Serial.print(dgx, DEC);
Serial.print(" deg/sec");
Serial.print("\n");
delay(200);
////=================================================
////Y_GYRO_OUT
//
digitalWrite(ss,LOW);
delayMicroseconds(200);
gy_l=SPI.transfer(0x06);
delayMicroseconds(200);
gy_h=SPI.transfer(0x07);
digitalWrite(ss,HIGH);
datayg=(gy_h<<8)| gy_l ;
dgy=(datayg*0.05);
Serial.print("Y Gyro: ");
Serial.print(dgy, DEC);
Serial.print(" deg/sec");
Serial.print("\n");
delay(200);
//
////=================================================
////Z_GYRO_OUT
digitalWrite(ss,LOW);
delayMicroseconds(200);
gz_l=SPI.transfer(0x08);
delayMicroseconds(200);
gz_h =SPI.transfer(0x09);
digitalWrite(ss,HIGH);
datazg=(gz_h<<8)| gz_l;
dgz=(datazg*0.05);
Serial.print("Z Gyro: ");
Serial.print(dgz, DEC);
Serial.print(" deg/sec");
Serial.print("\n\n");
delay(1000);
}
The output is this
X Accel: 85.2480010986 mg
Y Accel: 342.3240051269 mg
Z Accel: 0.0000000000 mg
X Gyro: 0.1000000000 deg/sec
Y Gyro: 0.0000000000 deg/sec
Z Gyro: 0.0000000000 deg/sec
X Accel: 85.2480010986 mg
Y Accel: 342.3240051269 mg
Z Accel: 598.7340087890 mg
X Gyro: 0.0000000000 deg/sec
Y Gyro: 38.5000000000 deg/sec
Z Gyro: 0.0000000000 deg/sec
X Accel: 0.0000000000 mg
Y Accel: 0.0000000000 mg
Z Accel: 0.0000000000 mg
X Gyro: 0.1000000000 deg/sec
Y Gyro: 38.5000000000 deg/sec
Z Gyro: 0.0000000000 deg/sec
X Accel: 85.2480010986 mg
Y Accel: 342.3240051269 mg
Z Accel: 598.7340087890 mg
X Gyro: 0.1000000000 deg/sec
Y Gyro: 0.0000000000 deg/sec
Z Gyro: 0.0000000000 deg/sec
X Accel: 85.2480010986 mg
Y Accel: 342.3240051269 mg
