I2C通信之Arduino与陀螺仪传感器ITG3205
转载自:https://www.geek-workshop.com/thread-8540-1-1.html
#include <Wire.h>
//陀螺仪传感器ITG3205
#define ITGAddress 0x68 //ITG3205的I2C地址(AD0接地)
#define G_SMPLRT_DIV 0x15 //设置采样率的寄存器
#define G_DLPF_FS 0x16 //设置量程、低通滤波带宽、时钟频率的寄存器
#define G_INT_CFG 0x17 //设置中断的寄存器
#define G_PWR_MGM 0x3E //设置电源管理的寄存器
int xGyro, yGyro, zGyro; //存放角速度值,温度
int buff[6]; //存放寄存器高低位值,X、Y、Z轴共6个
// 陀螺仪传感器误差修正的偏移量
int g_offx = 0;
int g_offy = 0;
int g_offz = 0;
void writeRegister(int deviceAddress, byte address, byte val)
{
Wire.beginTransmission(deviceAddress);
Wire.write(address);
Wire.write(val);
Wire.endTransmission();
}
void readRegister(int deviceAddress, byte address)
{
Wire.beginTransmission(deviceAddress);
Wire.write(address);
Wire.endTransmission();
Wire.beginTransmission(deviceAddress);
Wire.requestFrom(deviceAddress, 6);
int i = 0;
while (Wire.available())
{
buff[i++] = Wire.read();
}
Wire.endTransmission();
}
void initGyro()
{
/*****************************************
ITG3205
G_SMPLRT_DIV:采样率 = 125Hz
G_DLPF_FS:+ - 2000度/秒、低通滤波器5HZ、内部采样率1kHz
G_INT_CFG:没有中断
G_PWR_MGM:电源管理设定:无复位、无睡眠模式、无待机模式、内部振荡器
******************************************/
writeRegister(ITGAddress, G_SMPLRT_DIV, 0x07); //设置采样率
writeRegister(ITGAddress, G_DLPF_FS, 0x1E); //设置量程、低通滤波带宽、内部采样率
writeRegister(ITGAddress, G_INT_CFG, 0x00); //设置中断(默认值)
writeRegister(ITGAddress, G_PWR_MGM, 0x00); //设置电源管理(默认值)
}
void getGyroValues()
{
readRegister(ITGAddress, 0x1D); //读取陀螺仪ITG3205的数据
xGyro = ((buff[0] << 8) | buff[1]) + g_offx;
yGyro = ((buff[2] << 8) | buff[3]) + g_offy;
zGyro = ((buff[4] << 8) | buff[5]) + g_offz;
}
void setup()
{
Serial.begin(9600);
Wire.begin();
initGyro();
delay(50);
}
void loop()
{
getGyroValues();
Serial.print("xGyro=");
Serial.print(xGyro);
Serial.print(" yGyro=");
Serial.print(yGyro);
Serial.print(" zGyro=");
Serial.println(zGyro);
delay(200);
}
将陀螺仪静止放置,运行后截图如下,然后再修正陀螺仪传感器误差偏移量g_offx、g_offy、g_offz。