SMR3000 gyroskooppianturin ja SCA3100 kiihtyvyysanturin käyttöönotto arduino mega 2560 mikro-ohjaimella. Ohjelma ja SPI kirjasto löytyy [täältä|^gyro_acc_temp_log_valmis.zip] . Kopioi SPI kirjasto kansioon arduino/libaries.
h4. Johdotus: !accelerometer_arduino1.JPG|border=1!
Kuvassa on kiinnitetty CMR3000 anturi. SCA3100 kiihtyvyysanturi tulee muuten samanlailla kiinni mutta INT pinniä ei tarvitse liittää ja CSB pinni tulee arduinossa pinniiin 49.
h4. Koodi:
{code}
#include <SPI.h>
#include <stdio.h>
const byte READ = 0b11111100;
const byte WRITE = 0b00000010;
//Gyron registerit
#define REVID 0x01
#define CTRL 0x02
#define I2C_DIS 0x10
#define MODE_80 0x06
#define RESET 0x80
#define STATUS 0x02
// CSB pinnit ja gyron data ready pin
const int GyroDataReadyPin = 6;
const int GyroChipSelectPin = 48;
const int AccChipSelectPin = 49;
// Gyron muuttujat
unsigned short gyro_msb_ydata;
unsigned short gyro_lsb_ydata;
short gyro_ydata;
unsigned short gyro_msb_xdata;
unsigned short gyro_lsb_xdata;
short gyro_xdata;
unsigned short gyro_msb_zdata;
unsigned short gyro_lsb_zdata;
short gyro_zdata;
// ACC muuttujat
unsigned short acc_msb_ydata;
unsigned short acc_lsb_ydata;
short acc_ydata;
unsigned short acc_msb_xdata;
unsigned short acc_lsb_xdata;
short acc_xdata;
unsigned short acc_msb_zdata;
unsigned short acc_lsb_zdata;
short acc_zdata;
void setup() {
Serial.begin(115200);
SPI.begin();
SPI.setClockDivider(SPI_CLOCK_DIV64);
pinMode(GyroDataReadyPin, INPUT);
pinMode(GyroChipSelectPin, OUTPUT);
pinMode(AccChipSelectPin, OUTPUT);
GyroWriteRegister(CTRL, RESET);
delay(100);
GyroWriteRegister(CTRL,0x16);//, I2C_DIS | MODE_80);
delay(100);
}
void loop()
{
if (digitalRead(GyroDataReadyPin) == HIGH)
{
// Gyro x-data
gyro_msb_xdata=GyroReadRegister(0x0D, 1);
gyro_lsb_xdata=GyroReadRegister(0x0C, 1);
gyro_xdata=(gyro_msb_xdata<<8) | gyro_lsb_xdata;
// Gyro y-data
gyro_msb_ydata=GyroReadRegister(0x0F, 1);
gyro_lsb_ydata=GyroReadRegister(0x0E, 1);
gyro_ydata=(gyro_msb_ydata<<8) | gyro_lsb_ydata;
// Gyro z-data
gyro_msb_zdata=GyroReadRegister(0x11, 1);
gyro_lsb_zdata=GyroReadRegister(0x10, 1);
gyro_zdata=(gyro_msb_zdata<<8) | gyro_lsb_zdata;
}
//Acc x-data
acc_msb_xdata=AccReadRegister(0x05, 1);
acc_lsb_xdata=AccReadRegister(0x04, 1);
acc_xdata=(acc_msb_xdata<<8) | acc_lsb_xdata;
acc_xdata=realValues(acc_xdata);
//Acc y-data
acc_msb_ydata=AccReadRegister(0x07, 1);
acc_lsb_ydata=AccReadRegister(0x06, 1);
acc_ydata=(acc_msb_ydata<<8) | acc_lsb_ydata;
acc_ydata=realValues(acc_ydata);
//Acc z-data
acc_msb_zdata=AccReadRegister(0x09, 1);
acc_lsb_zdata=AccReadRegister(0x08, 1);
acc_zdata=(acc_msb_zdata<<8) | acc_lsb_zdata;
acc_zdata=realValues(acc_zdata);
// tulostetaan arvot sarjaväylään
Serial.print("GYRO: ");
Serial.print(gyro_xdata, DEC);
Serial.print(" ");
Serial.print(gyro_ydata, DEC);
Serial.print(" ");
Serial.print(gyro_zdata, DEC);
Serial.print(" ");
Serial.print("ACC: ");
Serial.print(acc_xdata, DEC);
Serial.print(" ");
Serial.print(acc_ydata, DEC);
Serial.print(" ");
Serial.println(acc_zdata, DEC);
}
//gyro read
unsigned int GyroReadRegister(byte thisRegister, int bytesToRead ) {
byte inByte = 0;
unsigned int result = 0;
thisRegister = thisRegister << 2;
byte dataToSend = thisRegister & READ;
digitalWrite(GyroChipSelectPin, LOW);
SPI.transfer(dataToSend);
result = SPI.transfer(0x00);
bytesToRead--;
if (bytesToRead > 0)
{
result = result << 8;
inByte = SPI.transfer(0x00);
result = result | inByte;
bytesToRead--;
}
digitalWrite(GyroChipSelectPin, HIGH);
delay(5);
return(result);
}
//gyro write
void GyroWriteRegister(byte thisRegister, byte thisValue)
{
thisRegister = thisRegister << 2;
byte dataToSend = thisRegister | WRITE;
digitalWrite(GyroChipSelectPin, LOW);
SPI.transfer(dataToSend);
SPI.transfer(thisValue);
digitalWrite(GyroChipSelectPin, HIGH);
delay(20);
}
//acc read
unsigned int AccReadRegister(byte thisRegister, int bytesToRead ) {
byte inByte = 0;
unsigned int result = 0;
thisRegister = thisRegister << 2;
byte dataToSend = thisRegister & READ;
digitalWrite(AccChipSelectPin, LOW);
SPI.transfer(dataToSend);
result = SPI.transfer(0x00);
bytesToRead--;
if (bytesToRead > 0)
{
result = result << 8;
inByte = SPI.transfer(0x00);
result = result | inByte;
bytesToRead--;
}
digitalWrite(AccChipSelectPin, HIGH);
delay(10);
return(result);
}
//acc write
void AccWriteRegister(byte thisRegister, byte thisValue)
{
thisRegister = thisRegister << 2;
byte dataToSend = thisRegister | WRITE;
digitalWrite(AccChipSelectPin, LOW);
SPI.transfer(dataToSend);
SPI.transfer(thisValue);
digitalWrite(AccChipSelectPin, HIGH);
delay(20);
}
unsigned int shift(unsigned short thisData, int thisBit)
{
unsigned short data;
data=thisData>>(thisBit-1);
data=data&0x01;
return data;
}
unsigned short realValues(unsigned short values)
{
short taulukko[14];
int i;
int bitti=3;
unsigned short valmis;
for(i=0;i<14;i++)
{
taulukko[i]= shift(values,bitti);
bitti++;
}
valmis=(10/9)*(-taulukko[13]*pow(2,13)+taulukko[12]*pow(2,12)+taulukko[11]*pow(2,11)+taulukko[10]*pow(2,10)+taulukko[9]*pow(2,9)+taulukko[8]*pow(2,8)+taulukko[7]*pow(2,7)+taulukko[6]*pow(2,6)+taulukko[5]*pow(2,5)+taulukko[4]*pow(2,4)+taulukko[3]*pow(2,3)+taulukko[2]*pow(2,2)+taulukko[1]*2+taulukko[0]);
return valmis;
}
{code}Alla koodit CMR3000 ja SCA3100 antureille yksittäin. Molemmissa CSB pinni on 48.
[Arduino ja CMR3000|koneautomaatio:Arduino + CMR3000]
[Arduino ja SCA3100|koneautomaatio:Arduino + SCA3100] |