Grove - 6-Axis Accelerometer&Compass V2.0

Grove - 6-Axis Accelerometer&Compass V2.0

En 3-axlig accelerometer i kombination med en 3-axlig magnetisk sensor.

Kompatibilitet

• Arduino
• Raspberry Pi

Port

• I2C

Exempelkod

Arduino

/*
hardware & software comment

I2C mode:
1, solder the jumper "I2C EN" and the jumper of ADDR to 0x1E
2, use Lsm303d.initI2C() function to initialize the Grove by I2C

SPI mode:

1, break the jumper "I2C_EN" and the jumper ADDR to any side
2, define a pin as chip select for SPI protocol.
3, use Lsm303d.initSPI(SPI_CS) function to initialize the Grove by SPI
SPI.h sets these for us in arduino
const int SDI = 11;
const int SDO = 12;
const int SCL = 13;
*/

#include <LSM303D.h>
#include <Wire.h>
#include <SPI.h>

/* Global variables */
int accel[3];  // raw acceleration values store
int mag[3];  // raw magnetometer values store
float realAccel[3];  // calculated acceleration values 
float heading, titleHeading;

#define SPI_CS 10

void setup()
{
	char rtn = 0;
    Serial.begin(9600);  // Serial is used for debugging
    Serial.println("\r\npower on");
    rtn = Lsm303d.initI2C();
    //rtn = Lsm303d.initSPI(SPI_CS);
    if(rtn != 0)  // Initialize the LSM303, using a SCALE full-scale range
	{
		Serial.println("\r\nLSM303D is not found");
		while(1);
	}
	else
	{
		Serial.println("\r\nLSM303D is found");
	}
}

void loop()
{
	Serial.println("\r\n**************");
	//getLSM303_accel(accel);  // get the acceleration values and store them in the accel array
	Lsm303d.getAccel(accel);
	while(!Lsm303d.isMagReady());// wait for the magnetometer readings to be ready
	Lsm303d.getMag(mag);  // get the magnetometer values, store them in mag
	
	for (int i=0; i<3; i++)
	{
		realAccel[i] = accel[i] / pow(2, 15) * ACCELE_SCALE;  // calculate real acceleration values, in units of g
	}
	heading = Lsm303d.getHeading(mag);
	titleHeading = Lsm303d.getTiltHeading(mag, realAccel);
	
	printValues();
	
	delay(200);  // delay for serial readability
}

void printValues()
{  
	Serial.println("Acceleration of X,Y,Z is");
	for (int i=0; i<3; i++)
	{
		Serial.print(realAccel[i]);
		Serial.println("g");
	}
	/* print both the level, and tilt-compensated headings below to compare */
	Serial.println("The clockwise angle between the magnetic north and x-axis: ");
	Serial.print(heading, 3); // this only works if the sensor is level
	Serial.println(" degrees");
	Serial.print("The clockwise angle between the magnetic north and the projection");
	Serial.println(" of the positive x-axis in the horizontal plane: ");
	Serial.print(titleHeading, 3);  // see how awesome tilt compensation is?!
	Serial.println(" degrees");
}

Raspberry Pi

import lsm303d

try:
    acc_mag=lsm303d.lsm303d()

    while True:

        # Get accelerometer values
        acc=acc_mag.getRealAccel()

        # Wait for compass to get ready
        while True:
            if acc_mag.isMagReady():
                break

        # Read the heading
        heading= acc_mag.getHeading()

        print("Acceleration of X,Y,Z is %.3fg, %.3fg, %.3fg" %(acc[0],acc[1],acc[2]))
        print("Heading %.3f degrees\n" %(heading))

except IOError:
    print("Unable to read from accelerometer, check the sensor and try again")

Bibliotek (Arduino) på Github

https://github.com/Seeed-Studio/6Axis_Accelerometer_And_Compass_v2

Mer information

http://wiki.seeedstudio.com/Grove-6-Axis_AccelerometerAndCompass_V2.0/