Gy 80 9 Axis Imu Magnetic Acceleration Gyroscope Atmospheric Module
Rs. 993.00 Rs. 1,192.00
- Brand: https://www.analog.com/en/products/adxl345.html, https://www.dig
- Product Code: SEN-DOF
- SKU -
- Availability: In Stock
- Price in reward points: 16
- For Bulk Order
9962060070
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SPECIFICATION:
-GY-80 9-Axis IMU-Magnetic-Acceleration-Gyroscope-Atmospheric Module - General Specifications
-L3G4200D 3-axis gyroscope
-ADXL345 3-axis accelerometer
-MC5883L 3-axis magnetometer
-BMP085 barometer – thermometer
-I2C interface
-GY-80 9-Axis IMU-Magnetic-Acceleration-Gyroscope-Atmospheric Module - Technical Specifications
-Supply Voltage: 3V – 5V
-Communication Mode: I2C
OVERVIEW:
-L3G4200D 3-axis gyroscope
-ADXL345 3-axis accelerometer
-MC5883L 3-axis magnetometer
-BMP085 barometer – thermometer
-I2C interface
PACKAGE INCLUDES:
1 PCS x Gy 80 9 Axis Imu Magnetic Acceleration Gyroscope Atmospheric Module
https://www.analog.com/en/products/adxl345.html
https://www.digikey.in/product-detail/en/honeywell-aerospace/HMC5883L-TR/342-1082-2-ND/2507850
https://www.digikey.in/product-detail/en/bosch-sensortec/BMP085/828-1005-1-ND/1987010
https://www.mouser.in/ProductDetail/STMicroelectronics/L3G4200D?qs=Mmr5WwCtLzN7Jc5xVj4UAQ%3D%3D
//SOURCE CODE TAKEN FROMBELOW LINK
//https://wiki.eprolabs.com/index.php?title=GY-80_10DOF_IMU
#include <Wire.h>
//--- Accelerometer Register Addresses
#define Power_Register 0x2D
#define X_Axis_Register_DATAX0 0x32 // Hexadecimal address for the DATAX0 internal register.
#define X_Axis_Register_DATAX1 0x33 // Hexadecimal address for the DATAX1 internal register.
#define Y_Axis_Register_DATAY0 0x34
#define Y_Axis_Register_DATAY1 0x35
#define Z_Axis_Register_DATAZ0 0x36
#define Z_Axis_Register_DATAZ1 0x37
//--- Gyro Register Addresses
#define Gyro_gX0 0x28
#define Gyro_gX1 0x29
#define Gyro_gY0 0x2A
#define Gyro_gY1 0x2B
#define Gyro_gZ0 0x2C
#define Gyro_gZ1 0x2D
#define Magnetometer_mX0 0x03
#define Magnetometer_mX1 0x04
#define Magnetometer_mZ0 0x05
#define Magnetometer_mZ1 0x06
#define Magnetometer_mY0 0x07
#define Magnetometer_mY1 0x08
int Gyro = 0x69; //Gyro Device address
int ADXAddress = 0x53; //Accelerometer Device address
#define Magnetometer 0x1E //I2C 7bit address of HMC5883
int X0,X1,X_out;
int Y0,Y1,Y_out;
int Z1,Z0,Z_out;
float Xa,Ya,Za;
int gX0, gX1, gX_out;
int gY0, gY1, gY_out;
int gZ0, gZ1, gZ_out;
float Xg,Yg,Zg;
float angleX,angleY,angleZ,angleXc,angleYc,angleZc;
int mX0, mX1, mX_out;
int mY0, mY1, mY_out;
int mZ0, mZ1, mZ_out;
float Xm,Ym,Zm;
unsigned long start, finished, elapsed;
float dt=0.015;
void setup() {
Wire.begin(); // Initiate the Wire library
Serial.begin(9600);
delay(100);
Wire.beginTransmission(ADXAddress);
Wire.write(Power_Register); // Power_CTL Register
// Enable measurement
Wire.write(8); // Bit D3 High for measuring enable (0000 1000)
Wire.endTransmission();
Wire.beginTransmission(Gyro);
Wire.write(0x20); // CTRL_REG1 - Power Mode
Wire.write(15); // Normal mode: 15d - 00001111b
Wire.endTransmission();
Wire.beginTransmission(Gyro);
Wire.write(0x23); // CTRL_REG4 - Sensitivity, Scale Selection
Wire.write(48); // 2000dps: 48d - 00110000b
Wire.endTransmission();
Wire.beginTransmission(Magnetometer);
Wire.write(0x02); // Select mode register
Wire.write(0x00); // Continuous measurement mode
Wire.endTransmission();
}
void loop() {
// X-axis
Wire.beginTransmission(ADXAddress); // Begin transmission to the Sensor
//Ask the particular registers for data
Wire.write(X_Axis_Register_DATAX0);
Wire.write(X_Axis_Register_DATAX1);
Wire.endTransmission(); // Ends the transmission and transmits the data from the two registers
Wire.requestFrom(ADXAddress,2); // Request the transmitted two bytes from the two registers
if(Wire.available()<=2) { //
X0 = Wire.read(); // Reads the data from the register
X1 = Wire.read();
/* Converting the raw data of the X-Axis into X-Axis Acceleration */
X1=X1<<8;
X_out =X0+X1;
Xa=X_out/256.0; // Xa = output value from -1 to +1, Gravity acceleration acting on the X-Axis
}
// Y-Axis
Wire.beginTransmission(ADXAddress);
Wire.write(Y_Axis_Register_DATAY0);
Wire.write(Y_Axis_Register_DATAY1);
Wire.endTransmission();
Wire.requestFrom(ADXAddress,2);
if(Wire.available()<=2) {
Y0 = Wire.read();
Y1 = Wire.read();
Y1=Y1<<8;
Y_out =Y0+Y1;
Ya=Y_out/256.0;
}
// Z-Axis
Wire.beginTransmission(ADXAddress);
Wire.write(Z_Axis_Register_DATAZ0);
Wire.write(Z_Axis_Register_DATAZ1);
Wire.endTransmission();
Wire.requestFrom(ADXAddress,2);
if(Wire.available()<=2) {
Z0 = Wire.read();
Z1 = Wire.read();
Z1=Z1<<8;
Z_out =Z0+Z1;
Za=Z_out/256.0;
}
start=millis();
//---- X-Axis
Wire.beginTransmission(Gyro); // transmit to device
Wire.write(Gyro_gX0);
Wire.endTransmission();
Wire.requestFrom(Gyro,1);
if(Wire.available()<=1)
{
gX0 = Wire.read();
}
Wire.beginTransmission(Gyro); // transmit to device
Wire.write(Gyro_gX1);
Wire.endTransmission();
Wire.requestFrom(Gyro,1);
if(Wire.available()<=1)
{
gX1 = Wire.read();
}
//---- Y-Axis
Wire.beginTransmission(Gyro); // transmit to device
Wire.write(Gyro_gY0);
Wire.endTransmission();
Wire.requestFrom(Gyro,1);
if(Wire.available()<=1)
{
gY0 = Wire.read();
}
Wire.beginTransmission(Gyro); // transmit to device
Wire.write(Gyro_gY1);
Wire.endTransmission();
Wire.requestFrom(Gyro,1);
if(Wire.available()<=1)
{
gY1 = Wire.read();
}
//---- Z-Axis
Wire.beginTransmission(Gyro); // transmit to device
Wire.write(Gyro_gZ0);
Wire.endTransmission();
Wire.requestFrom(Gyro,1);
if(Wire.available()<=1)
{
gZ0 = Wire.read();
}
Wire.beginTransmission(Gyro); // transmit to device
Wire.write(Gyro_gZ1);
Wire.endTransmission();
Wire.requestFrom(Gyro,1);
if(Wire.available()<=1)
{
gZ1 = Wire.read();
}
//---------- X - Axis
// Raw Data
gX1=gX1<<8;
gX_out =gX0+gX1;
// From the datasheet: 70 mdps/digit
Xg=gX_out*0.07; // Angular rate
// Angular_rate * dt = angle
angleXc = Xg*dt;
angleX = angleX + angleXc;
//---------- Y - Axis
gY1=gY1<<8;
gY_out =gY0+gY1;
Yg=gY_out*0.07;
angleYc = Yg*dt;
angleY = angleY + angleYc;
//---------- Z - Axis
gZ1=gZ1<<8;
gZ_out =gZ0+gZ1;
Zg=gZ_out*0.07;
angleZc = Zg*dt;
angleZ = angleZ + angleZc;
//---- X-Axis
Wire.beginTransmission(Magnetometer); // transmit to device
Wire.write(Magnetometer_mX1);
Wire.endTransmission();
Wire.requestFrom(Magnetometer,1);
if(Wire.available()<=1)
{
mX0 = Wire.read();
}
Wire.beginTransmission(Magnetometer); // transmit to device
Wire.write(Magnetometer_mX0);
Wire.endTransmission();
Wire.requestFrom(Magnetometer,1);
if(Wire.available()<=1)
{
mX1 = Wire.read();
}
//---- Y-Axis
Wire.beginTransmission(Magnetometer); // transmit to device
Wire.write(Magnetometer_mY1);
Wire.endTransmission();
Wire.requestFrom(Magnetometer,1);
if(Wire.available()<=1)
{
mY0 = Wire.read();
}
Wire.beginTransmission(Magnetometer); // transmit to device
Wire.write(Magnetometer_mY0);
Wire.endTransmission();
Wire.requestFrom(Magnetometer,1);
if(Wire.available()<=1)
{
mY1 = Wire.read();
}
//---- Z-Axis
Wire.beginTransmission(Magnetometer); // transmit to device
Wire.write(Magnetometer_mZ1);
Wire.endTransmission();
Wire.requestFrom(Magnetometer,1);
if(Wire.available()<=1)
{
mZ0 = Wire.read();
}
Wire.beginTransmission(Magnetometer); // transmit to device
Wire.write(Magnetometer_mZ0);
Wire.endTransmission();
Wire.requestFrom(Magnetometer,1);
if(Wire.available()<=1)
{
mZ1 = Wire.read();
}
//---- X-Axis
mX1=mX1<<8;
mX_out =mX0+mX1; // Raw data
// From the datasheet: 0.92 mG/digit
Xm = mX_out*0.00092; // Gauss unit
//* Earth magnetic field ranges from 0.25 to 0.65 Gauss, so these are the values that we need to get approximately.
//---- Y-Axis
mY1=mY1<<8;
mY_out =mY0+mY1;
Ym = mY_out*0.00092;
//---- Z-Axis
mZ1=mZ1<<8;
mZ_out =mZ0+mZ1;
Zm = mZ_out*0.00092;
// Prints the data on the Serial Monitor
Serial.print("Xa= ");
Serial.print(Xa);Serial.print("\t");
Serial.print("Ya= ");
Serial.print(Ya);Serial.print("\t");
Serial.print("Za= ");
Serial.println(Za);
Serial.print("angleX= ");
Serial.print(angleX);Serial.print("\t");
Serial.print("angleY= ");
Serial.print(angleY);Serial.print("\t");
Serial.print("angleZ= ");
Serial.println(angleZ);
// Calculating dt
finished=millis();
elapsed=finished-start;
dt=elapsed/1000.0;
start = elapsed = 0;
//Print out values of each axis
Serial.print("x: ");
Serial.print(Xm);Serial.print("\t");
Serial.print("y: ");
Serial.print(Ym);Serial.print("\t");
Serial.print("z: ");
Serial.println(Zm);Serial.print("\t");
delay(500);
Serial.println();
}
15 days