My first 6 DOF IMU Sensors Fusion Implementation: ADXL345, ITG3200, Arduino and Processing

Hi,
we're using the processing ide code ,with the off chip filter to try and validate our data...
I'll paste the code here... in the processing ide we changed the usb port to 'COM11' and we even tried Serial.list()[0] since we only have one port
(the port is actually a virtual serial port).
we tried changing the baudrate from 9600 to 57600 as well but it didnt work for us..
could please take a look at the arduino code and see if maybe we're sending data the wrong way or something...
because though we can use the serial port monitor on arduino to view our data (and it comes out fine...) we cant seem to get any data on processing ide...

#define GYRO 0x68 // gyro I2C address
#define REG_GYRO_X 0x1D // IMU-3000 Register address for GYRO_XOUT_H
#define ACCEL 0x53 // Accel I2c Address
#define ADXL345_POWER_CTL 0x2D
char buffer[12]; // Array to store ADC values
int gyro_x;
int gyro_y;
int gyro_z;
int accel_x;
int accel_y;
int accel_z;
int i;
int c;
char str[512];
#include
void setup(){
Serial.begin(9600);
c=0;
Wire.begin();
// Set Gyro settings
// Sample Rate 1kHz, Filter Bandwidth 42Hz, Gyro Range 2000 d/s
writeTo(GYRO, 0x16, 0x0F);
//set accel register data address
writeTo(GYRO, 0x18, 0x32);
// set accel i2c slave address
writeTo(GYRO, 0x14, ACCEL);
// Set passthrough mode to Accel so we can turn it on
writeTo(GYRO, 0x3D, 0x08);
// set accel power control to 'measure'
writeTo(ACCEL, ADXL345_POWER_CTL, 8);
//set accel right justified range to 16g
writeTo(ACCEL,B00110001,B00000011);
//cancel pass through to accel, gyro will now read accel for us
writeTo(GYRO, 0x3D, 0x28);
}
// Write a value 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
}
void loop()
{// Read the Gyro X, Y and Z and Accel X, Y and Z all through the gyro
// First set the register start address for X on Gyro
Wire.beginTransmission(GYRO);
Wire.send(REG_GYRO_X); //Register Address GYRO_XOUT_H
Wire.endTransmission();
// New read the 12 data bytes
Wire.beginTransmission(GYRO);
Wire.requestFrom(GYRO,12); // Read 12 bytes
i = 0;
while(Wire.available())
{ buffer[i] = Wire.receive();
i++;
}
Wire.endTransmission();
//Combine bytes into integers
// Gyro format is MSB first
gyro_x = buffer[0] << 8 | buffer[1];
gyro_y = buffer[2] << 8 | buffer[3];
gyro_z = buffer[4] << 8 | buffer[5];
// Accel is LSB first. Also because of orientation of chips
// accel y output is in same orientation as gyro x
// and accel x is gyro -y
accel_y = buffer[7] << 8 | buffer[6];
accel_x = buffer[9] << 8 | buffer[8];
accel_z = buffer[11] << 8 | buffer[10];
sprintf(str, "%d,%d,%d,%d,%d,%d,%d", accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z);
Serial.print(str);
Serial.print(10, BYTE);
c++;
// delay(400); // wait for a second
}
p.s the basic code we got from hobbytronics

Hey again Fabio!

So, ive got to code to work thanks to you, but now i need to correct it. The directions are completely wrong for me. Do you know what i need to change in my code please? For example, for the cube to be flat in the program i need to place my device upside down! Can you check my code please as see what's wrong?
http://pastebin.com/v8ixYL7e
Highly appreciate it!
Becky

Hi
this is my code for Accelerometer and Gyroscope:
http://pastebin.com/Q4uuMgJH
could you check the part about GYRO and see if there is something wrong or not?
when I am at 90 degree, it gives me very big values like 400 degree.
the clock for timer is 1MHz.

Hi everybody!
Great job, Fabio. I'm having a lot of fun playing with your code and it works very fine for me. Many thanks for that :)
Now I'm trying to use a wireless connection through XBee radios, and checking the serial lines everything is ok, but starting up with the Processing code I get an "out of range" error message on line
"inString = inString.substring(2, 10);"

Do you have any idea what might be happening?

Many thanks in advance.

Hi,
we have a digital gyro and we need to figure out how to covert the data.
I've found the following equation:
Rt = SC × (Rm - R0)

Where,
Rt (dps): true angular rate
Rm (LSBs): gyroscope measurement
R0 (LSBs): zero-rate level
SC (dps/LSB): sensitivity

but how do we get zero rate level from the gryo datasheet??

thanks

Hi
I am reading my gyro and integrate my input and it takes me 0.036~0.039 second. I am using 1MHZ clock. Does this mean that my code is not efficient? could you measure the loop that you measure your gyro in all three axis and integrate? and could you state your clock if you did that?
thanks

Hey Fabio,

Quick question, i connected my hardware like this ( http://voidbot.net/razor-6dof.html (look at the third image from that page)). Would your code still work for my device when refering to the hardware or do i need to change something in the code to connect them properly?
Thanks a lot!

Hey,

I have a quick question. Once I get the values from the gyroscope and accelerometer, I'm trying to combine them using a complimentary filter algorithm.

On most websites, they have a formula or function (in code) that takes in a value for the gyro and a value for the accelerometer.

My question is: We have 3 values for the gyro and accelerometer. Does this mean that the formula/function will have to be used 3 times like this:

function(gyroX, accelX)
function(gyroY, accelY)
function(gyroZ, accelZ)

Thanks!

Hi, I'm using the Combo Board from Sparkfun, not currently working.
I'm not sure how to connect the Arduino board Duemilanove.

D2>INT1?
A4>SDA?
A5>SCL
?>INT0

thanks in advance