Trouble reading from 9DOF sensor stick

Saravanan

I just bought a 9DOF Sensor Stick from sparkfun last week(https://www.sparkfun.com/products/10724) . Since then I am trying to retrieve raw data from the sensors through the Propeller Activity Board. But I have been unsuccessful in my attempts.

I am wondering if propeller activity board could be not compatible with this sensor stick, as most of the experiments that I saw online uses Arduino micro-controller. Do kindly advice if there is any ways to interface propeller activity board with 9DOF sensor stick. If there is.... a sample code would be of great help . Thanks

Saravanan

The code that I used is below:

#include "simpletools.h" // Include simple tools
#include "simplei2c.h"

#include "simpletools.h" // Include simple tools
#include "simplei2c.h"
#include "inttypes.h"

const char accread =0xA7;
const char accwrite =0xA6;

void Acc_setup(int ADCSbus, int Device_Addr)
{
unsigned char Read_back[]={0,0};
i2c_in(ADCSBus, Device_Addr,0x00,1,&Read_back,2);
print("Accel ID is: %x \n",Read_back[0]); //should be 0xE5

unsigned char regs[] = {0x00, 0x08};
i2c_out(ADCSbus,Device_Addr,0x2D,1,&regs[0],2); //change from standby to measure mode
i2c_out(ADCSbus,Device_Addr,0x2D,1,&regs[1],2); //write 0x2D

i2c_in(ADCSbus,Device_Addr,0x2D,1,&Read_back,2);
print("Read from reg 2d: %x \n",Read_back[0]); //to check if ox08 is written onto reg 0x2D

unsigned char reg2[] ={0x84};
i2c_out(ADCSbus,Device_Addr,0x38,1,&reg2[0],2); //change FIFO to stream and set D2 to 1
i2c_in(ADCSbus,Device_Addr,0x38,1,&Read_back,2); //0x84 should be written to reg0x38
print("Read from reg 38: %x \n",Read_back[0]);
}

int main() // Main function
{
i2c *ADCSbus = i2c_newbus(SCL, SDA, 0);

Acc_setup(ADCSbus,accAddr);

while(1)
{
uint16_t x16,y16,z16; //16 bit variables
uint8_t data[6];
int datReg =0x32;
i2c_in(ADCSBus, accread >>1 , datReg, 1, data, 6); // ******************************

x16 = (data[0] << 8) | data[1];
y16 = (data[2] << 8) | data[3];
z16 = (data[4] << 8) | data[5];


print("%cx=%d, y=%d, z=%d%c\n",HOME, x16, y16, z16, CLREOL);

}
}


This is the code that I used and I keep getting the same data when I run it on my propeller board.
The Output was : x=4096 y=48136 z=56839
Is there any error that I have made?

Hal Albach

I cannot make out how you are deriving two of the three device addresses. I do see where you have two constants, accread =0xA7 and accwrite =0xA6. According to the ADXL345 datasheet 0xA6 and 0xA7 are 8-bit addresses but the i2c_in and i2c_out functions specifically request a 7 bit address, which the datasheet provides as 0x53 for write and 0x54 for read, with SDO tied to ground. Similarly, for the HMC device the 7 bit addresses are 0x3C write and 0x3D read. The ITG device, as wired by Sparkfun, looks for 0x68 & 0x69.
Might I suggest that you try and access each device one at a time until you know you are getting a good response from it? Also, at the beginning of your code you only need to include simpletools.h once which includes simplei2c.h within. Can you show us what is in inttypes.h?

Saravanan

This is my modified code according to your suggestions.
#include "simpletools.h" // Include simple tools

const char accread =0x54;
const char accwrite =0x53;

i2c* ADCSBus;

const int SDA=4; // Chip SDA pin
const int SCL=3; // Chip SCL pin

void Acc_setup(int ADCSbus, int Device_Addr)
{
unsigned char Read_back[]={0,0};
i2c_in(ADCSBus, Device_Addr,0x00,1,&Read_back,2);
print("Accel ID is: %x \n",Read_back[0]); //should be 0xE5

unsigned char regs[] = {0x00, 0x08};
i2c_out(ADCSbus,Device_Addr,0x2D,1,&regs[0],2); //change from standby to measure mode
i2c_out(ADCSbus,Device_Addr,0x2D,1,&regs[1],2); //write 0x2D

i2c_in(ADCSbus,Device_Addr,0x2D,1,&Read_back,2);
print("Read from reg 2d: %x \n",Read_back[0]); //to check if ox08 is written onto reg 0x2D

unsigned char reg2[] ={0x84};
i2c_out(ADCSbus,Device_Addr,0x38,1,&reg2[0],2); //change FIFO to stream and set D2 to 1
i2c_in(ADCSbus,Device_Addr,0x38,1,&Read_back,2); //0x84 should be written to reg0x38
print("Read from reg 38: %x \n",Read_back[0]);
}

int main() // Main function
{
i2c *ADCSbus = i2c_newbus(SCL, SDA, 0);

Acc_setup(ADCSbus,accAddr);

while(1)
{
uint16_t x16,y16,z16; //16 bit variables
uint8_t data[6];
int datReg =0x32;
i2c_in(ADCSBus, accread , datReg, 1, data, 6); // ******************************

x16 = (data[0] << 8) | data[1];
y16 = (data[2] << 8) | data[3];
z16 = (data[4] << 8) | data[5];


print("%cx=%d, y=%d, z=%d%c\n",HOME, x16, y16, z16, CLREOL);

}
}

What should be the address that I should send in as a second parameter of Acc_setup. I got this setup function from another thread stating that the mode has to be changed so as to produce proper output. Is the setup function necessary at all? Do let me know if there is any other errors too.

Saravanan

In the above code I am only trying to retrieve the accelerator's XYZ data. According to the data sheet each axis is split into 2 portions(MSB,LSB). Therefor I have tried to extract 6 bytes of data.

Hal Albach

In MAIN you are making a call to Acc_setup with two parameters, ADCSbus, accAddr, of which the second one, accAddr, is undefined. Before making the call you must define and initialize variable accAddr with the address of the device you want to access. Since the function Acc_setup(...) uses both i2c_in and i2c_out calls you will have to provide both read and write addresses, requiring an additional parameter or address modification in the function.
My suggestion would be to eliminate the second parameter and use the defined global constants accread and accwrite directly in each i2c_xxx call. Replace Device_Addr in each i2c_out call with accwrite and in i2c_in call use accread.
Something like this, for instance:

#include "simpletools.h" // Include simple tools

// #include "inttypes.h"     // What is in here?????

const char accread =0x54;
const char accwrite =0x53;

void Acc_setup(int ADCSbus)
{
  unsigned char Read_back[]={0,0};                    // place var definitions at top of function
  unsigned char regs[] = {0x00, 0x08};  
  unsigned char reg2[] = {0x84};  
  
  i2c_in(ADCSBus, accread, 0x00, 1, &Read_back, 2);
  print("Accel ID is: %x \n", Read_back[0]);          //should be 0xE5


  i2c_out(ADCSbus, accwrite, 0x2D, 1, &regs[0], 2);   //change from standby to measure mode
  i2c_out(ADCSbus, accwrite, 0x2D, 1, &regs[1], 2);   //write 0x2D

  i2c_in(ADCSbus, accread, 0x2D, 1, &Read_back, 2);
  print("Read from reg 2d: %x \n", Read_back[0]);     //to check if ox08 is written onto reg 0x2D


  i2c_out(ADCSbus, accwrite, 0x38, 1, &reg2[0], 2);   //change FIFO to stream and set D2 to 1
  i2c_in(ADCSbus, accread, 0x38, 1, &Read_back, 2);   //0x84 should be written to reg0x38
  print("Read from reg 38: %x \n", Read_back[0]);
}

int main() // Main function
{
  uint16_t x16, y16, z16;                             // 16 bit variables
  uint8_t data[6];
  int datReg = 0x32;

  i2c *ADCSbus = i2c_newbus(SCL, SDA, 0);

  Acc_setup(ADCSbus);

  while(1)
  { 
//  i2c_in(ADCSBus, accread >>1 , datReg, 1, data, 6); // ******************************
    i2c_in(ADCSBus, accread, datReg, 1, data, 6);     // don't right shift accread if it is 7 bit

    x16 = (data[0] << 8) | data[1];
    y16 = (data[2] << 8) | data[3];
    z16 = (data[4] << 8) | data[5];


    print("%cx=%d, y=%d, z=%d%c\n",HOME, x16, y16, z16, CLREOL);

  } 
} 

Saravanan

This is the code that I tried out according to your suggestions. I am still getting the same output " x=4096 y=48136 z=56839 "

#include "simpletools.h" // Include simple tools

const char accread =0x54;
const char accwrite =0x53;

i2c* ADCSBus;

const int SDA=4;    // Chip SDA pin
const int SCL=3;    // Chip SCL pin
 
 
void Acc_setup(int ADCSbus)
{
  unsigned char Read_back[]={0,0};                    // place var definitions at top of function
  unsigned char regs[] = {0x00, 0x08};  
  unsigned char reg2[] = {0x84};  
  
  i2c_in(ADCSBus, accread, 0x00, 1, &Read_back, 2);
  print("Accel ID is: %x \n", Read_back[0]);          //should be 0xE5


  i2c_out(ADCSbus, accwrite, 0x2D, 1, &regs[0], 2);   //change from standby to measure mode
  i2c_out(ADCSbus, accwrite, 0x2D, 1, &regs[1], 2);   //write 0x2D

  i2c_in(ADCSbus, accread, 0x2D, 1, &Read_back, 2);
  print("Read from reg 2d: %x \n", Read_back[0]);     //to check if ox08 is written onto reg 0x2D


  i2c_out(ADCSbus, accwrite, 0x38, 1, &reg2[0], 2);   //change FIFO to stream and set D2 to 1
  i2c_in(ADCSbus, accread, 0x38, 1, &Read_back, 2);   //0x84 should be written to reg0x38
  print("Read from reg 38: %x \n", Read_back[0]);
}

int main() // Main function
{
  uint16_t x16, y16, z16;                             // 16 bit variables
  uint8_t data[6];
  int datReg = 0x32;

  i2c *ADCSbus = i2c_newbus(SCL, SDA, 0);

  Acc_setup(ADCSbus);

  while(1)
  { 
//  i2c_in(ADCSBus, accread >>1 , datReg, 1, data, 6); // ******************************
    i2c_in(ADCSBus, accread, datReg, 1, data, 6);     // don't right shift accread if it is 7 bit

    x16 = (data[0] << 8) | data[1];
    y16 = (data[2] << 8) | data[3];
    z16 = (data[4] << 8) | data[5];


    print("%cx=%d, y=%d, z=%d%c\n",HOME, x16, y16, z16, CLREOL);

  } 
}

Hal Albach

I have found several more errors in the listing, such as not defining what SCL and SDA are, and inside acc_setup() all the I2C functions transfer two bytes where (I think) you intend to transfer just one. Remember, the last parameter in the I2C calls is the number of bytes to transfer. Also, in C the name of an array is a pointer so that in the I2C calls when the 5th parameter is an array then just use the array name without the & in front of it unless the array name is followed by the brackets. Read_back works the same as &Read_back[0] and produces no warnings but using &Read_back or Read_back[0] will.
I also split up the i2c declaration with i2c *ADCSbus; outside of Main, and ADCSbus = i2c_newbus(SCL, SDA, 0); inside Main.

The below listing compiles without errors or warnings on my Simpleide.

I did not change the number of bytes to transfer in the I2C calls, I'll leave that up to you in case that is your intention.

#include "simpletools.h"

const char accread =0x54;       
const char accwrite =0x53;
const char SCL = 0;             // change to reflect actual pin used
const char SDA = 1;             // change to reflect actual pin used

i2c *ADCSbus;

void Acc_setup()
{
  unsigned char Read_back[]={0,0};                    // place var definitions at top of function
  unsigned char regs[] = {0x00, 0x08};  
  unsigned char reg2[] = {0x84};  
  
  i2c_in(ADCSbus, accread, 0x00, 1, Read_back, 2);    // device register 0x00 is one byte, why read two?
  print("Accel ID is: %x \n", Read_back[0]);          //should be 0xE5


//  i2c_out(ADCSbus, accwrite, 0x2D, 1, &regs[0], 2);   //change from standby to measure mode
//  Above statement writes 0x00 to 2D and 0x08 to 2E and changes nothing in 2D since it starts at 0x00

  i2c_out(ADCSbus, accwrite, 0x2D, 1, &regs[1], 2);   //write 0x2D
  i2c_in(ADCSbus, accread, 0x2D, 1, Read_back, 2);
  print("Read from reg 2d: %x \n", Read_back[0]);     //to check if ox08 is written onto reg 0x2D


  i2c_out(ADCSbus, accwrite, 0x38, 1, &reg2[0], 2);   //change FIFO to stream and set D2 to 1
  i2c_in(ADCSbus, accread, 0x38, 1, Read_back, 2);   //0x84 should be written to reg0x38
  print("Read from reg 38: %x \n", Read_back[0]);
}

/*
 * Is there a particular reason why you are writing two bytes to one byte registers in the device?
   This causes unintended data to be written to the register following the one you want to change!
   
 * The last parameter in the i2c statements is the number of bytes to transfer.
*/


int main() // Main function
{
    uint16_t x16, y16, z16;                           //16 bit variables
    uint8_t data[6];
    int datReg = 0x32;

  ADCSbus = i2c_newbus(SCL, SDA, 0);

  Acc_setup();

  while(1)
  { 
//  i2c_in(ADCSbus, accread >>1 , datReg, 1, data, 6); // ******************************
    i2c_in(ADCSbus, accread, datReg, 1, data, 6);     // don't right shift accread if it is 7 bit

    x16 = (data[0] << 8) | data[1];
    y16 = (data[2] << 8) | data[3];
    z16 = (data[4] << 8) | data[5];


    print("%cx=%d, y=%d, z=%d%c\n",HOME, x16, y16, z16, CLREOL);

  } 
} 

Saravanan

I have changed the number of bytes to transfer from the code that you sent . I have also edited the SDA and SCL pin numbers according to my connection on the board.

The final code that you posted compiles without any warnings when I compile it too. But however I am still getting the same output as before. Output: " x=4096 y=48136 z=56839 "

I am wondering if this might be related to the type of declarations of the variables as the output is a nice number(4096=2^12). Is there any overflow of data or something? I am just thinking at it in this angle because all this while I am getting the same data for about a week. There might be some other faults in the code too.

This is the code that I modified from your previous post.

#include "simpletools.h"

const char accread =0x54;       
const char accwrite =0x53;
const char SCL = 3;             // change to reflect actual pin used
const char SDA = 4;             // change to reflect actual pin used

i2c *ADCSbus;

void Acc_setup()
{
  unsigned char Read_back[]={0,0};                    // place var definitions at top of function
  unsigned char regs[] = {0x00, 0x08};  
  unsigned char reg2[] = {0x84};  
  
  i2c_in(ADCSbus, accread, 0x00, 1, Read_back, 1);    // device register 0x00 is one byte, why read two?
  print("Accel ID is: %x \n", Read_back[0]);          //should be 0xE5


//  i2c_out(ADCSbus, accwrite, 0x2D, 1, &regs[0], 2);   //change from standby to measure mode
//  Above statement writes 0x00 to 2D and 0x08 to 2E and changes nothing in 2D since it starts at 0x00

  i2c_out(ADCSbus, accwrite, 0x2D, 1, &regs[1], 1);   //write 0x2D
  i2c_in(ADCSbus, accread, 0x2D, 1, Read_back, 1);
  print("Read from reg 2d: %x \n", Read_back[0]);     //to check if ox08 is written onto reg 0x2D


  i2c_out(ADCSbus, accwrite, 0x38, 1, &reg2[0], 1);   //change FIFO to stream and set D2 to 1
  i2c_in(ADCSbus, accread, 0x38, 1, Read_back, 1);   //0x84 should be written to reg0x38
  print("Read from reg 38: %x \n", Read_back[0]);
}



int main() // Main function
{
    uint16_t x16, y16, z16;                           //16 bit variables
    uint8_t data[6];
    int datReg = 0x32;

  ADCSbus = i2c_newbus(SCL, SDA, 0);

  Acc_setup(ADCSbus);

  while(1)
  { 
//  i2c_in(ADCSbus, accread >>1 , datReg, 1, data, 6); // ******************************
    i2c_in(ADCSbus, accread, datReg, 1, data, 6);     // don't right shift accread if it is 7 bit

    x16 = (data[0] << 8) | data[1];
    y16 = (data[2] << 8) | data[3];
    z16 = (data[4] << 8) | data[5];


    print("%cx=%d, y=%d, z=%d%c\n",HOME, x16, y16, z16, CLREOL);

  } 
}

Hal Albach

Perhaps we should zero the data[6] array on each pass to ensure that you are not using residual data in the array. With the array zeroed your output would also be zero in the event that the ADXL345 is still not configured properly. Using the memset function makes this very easy. In the MAIN function near the end of the source listing replace the commented out line :

// i2c_in(ADCSbus, accread >>1 , datReg, 1, data, 6); // ******************************

with

memset(data, 0, 6);

Now, if you continue to get the same output as before then you are communicating with the device but probably have a configuration problem with ADXL345. If the output now remains at zero then you may have communication as well as configuration issues. You also may want to look into OBEX and try some of the SPIN objects for this device.

Saravanan

I did the change as you said. I now receive output as zero.

Hal Albach

Are you getting the three read backs during Acc_setup as E5, 08, and 84?

Saravanan

No. I am getting all zero for that too. Earlier when I used to write and read back from the same register(same read & write registers) I got 0, 08 and 84.

Hal Albach

" when I used to write and read back from the same register(same read & write registers) I got 0, 08 and 84."
Just so I get this right, you would write a variable out to the device and then read the device back to the same variable? If that was the case, then reading from a non-responsive device would not change the variable.
It looks like a basic communications failure, the device is simply not responding. How is the board being powered? Per the schematic there should be a blue led near the center to one side. Is it on? Can you measure the voltage at SCL and SDA, is it near 3.3 Volts?

Hal Albach

Oh, boy! Do I ever feel red faced. My sincere apologies for having given you bad information. I screwed up royally on the device addressing. When using the i2c_out and i2c_in functions they both require only one 7 bit address, in this case, 0x53. the i2c functions then take that 7 bit address, shift it left one position and append the write (0) or read (1) bit to the LSB position. I have corrected the code and tried it out on an eeprom and worked as expected, just no x-y-z readings.
I hope this one will work out for you...

#include "simpletools.h"


const char acc_addr = 0x53;
const char SCL = 3;             // change to reflect actual pin used
const char SDA = 4;             // change to reflect actual pin used

i2c *ADCSbus;

void Acc_setup()
{
  unsigned char Read_back[]={0,0};                    // place var definitions at top of function
  unsigned char regs[] = {0x00, 0x08};  
  unsigned char reg2[] = {0x84};  
  
  i2c_in(ADCSbus, acc_addr, 0x00, 1, Read_back, 1);   // device register 0x00 is one byte, why read two?
  print("Accel ID is: %x \n", Read_back[0]);          //should be 0xE5

  i2c_out(ADCSbus, acc_addr, 0x2D, 1, &regs[1], 1);   //write 0x2D
  i2c_in(ADCSbus, acc_addr, 0x2D, 1, Read_back, 1);
  print("Read from reg 2d: %x \n", Read_back[0]);     //to check if ox08 is written onto reg 0x2D
  
  i2c_out(ADCSbus, acc_addr, 0x38, 1, &reg2[0], 1);   //change FIFO to stream and set D2 to 1
  i2c_in(ADCSbus, acc_addr, 0x38, 1, Read_back, 1);   //0x84 should be written to reg0x38
  print("Read from reg 38: %x \n", Read_back[0]);
}

int main() // Main function
{
    uint16_t x16, y16, z16;                           //16 bit variables
    uint8_t data[6];
    int datReg = 0x32;

  ADCSbus = i2c_newbus(SCL, SDA, 0);

  Acc_setup();

  while(1)
  { 
    memset(data, 0, 6);
    i2c_in(ADCSbus, acc_addr, datReg, 1, data, 6);

    x16 = (data[0] << 8) | data[1];
    y16 = (data[2] << 8) | data[3];
    z16 = (data[4] << 8) | data[5];


    print("%cx=%d, y=%d, z=%d%c\n",HOME, x16, y16, z16, CLREOL);

  } 
} 

Saravanan

Thanks alot. The code seems to be working now. Just that the data[1], data[3] and data[5] seems to be maxed out at 255. However, data[0],data[1] and data[2] seems to be working when I move the sensor.

I got the magnetometer working too. I am however stuck on getting the gyroscope reading. I am not sure of what I should include in the gyroscope's setup function.

Saravanan

This is the code that I wrote for the gyro. The the output of the setup function is not as I expected!
The output that I got is:
"gyros ID is : 7fec
Read from DLPF is : 89 "

#include "simpletools.h"                      // Include simple tools

const char gyrosAddr = 0x68;
const char SCL = 3;             
const char SDA = 4;            

i2c *ADCSbus;

void Gyro_setup()
{
  unsigned char Read_back[]={0,0};
  unsigned char DLPF = 0x16;    //Register 22- DLPF,FullScale
  i2c_in(ADCSbus,gyrosAddr,0x00,1,Read_back,1);  //Test Device ID
  print("gyros ID is : %x \n",Read_back);
  
  i2c_out(ADCSbus,gyrosAddr,DLPF,1,0x19,1);  //0x19 is written to set FS_SEL to proper opperation 
                                            // DLPF_CFG to a random mode(1 in this case-I dono about this)
  i2c_in(ADCSbus,gyrosAddr,DLPF,1,Read_back,1);
  print("Read from DLPF is : %x \n",Read_back[0]);
}

int main()                                    // Main function
{
    uint16_t x16, y16, z16;                           //16 bit variables
    uint8_t data[6];
    int datReg = 0x1D;

    ADCSbus = i2c_newbus(SCL, SDA, 0);
 
    Gyro_setup();
    
  while(1)
  {
    memset(data, 0, 6);
    i2c_in(ADCSbus,gyrosAddr,datReg,1,data,6);
    x16 = (data[0] << 8) | data[1];
    y16 = (data[2] << 8) | data[3];
    z16 = (data[4] << 8) | data[5];

    pause(100);
    
    print("%cx=%d, y=%d, z=%d%c\n",HOME, x16, y16, z16,CLREOL);
  }  
}

Hal Albach

Happy to hear you are making some headway, in spite of some some bad advice.
I'm not quite sure what to make of you getting a two byte response from reg 0, which is one byte and should contain the I2C device address. Going to have to dig deeper into the datasheet and see if there are any quirks in their I2C protocol. I do see a problem with the i2c_out statement. Parameter 5, 0x19 in this case, is being treated as a pointer, so 0x19 is not being written to reg 22, but whatever 0x19 is pointing to. (Aren't pointers fun?) Instead, place the 0x19 into Read_back[0] and then use &Read_back[0] as parameter 5.

When I compiled the above code I got a warning message; NineDOFgyro.c:16:3: warning: passing argument 5 of 'i2c_out' makes pointer from integer without a cast [enabled by default].

It still compiles without errors, which are showstoppers, but a warning usually means that something is not going to behave as you might expect.

Hal Albach

Data 1,3,5 at 255 is probably the reading for 1g. In the datasheet text I remember reading that to convert the readings to g's you multiply each output by the conversion factor of 3.9 mg which comes out to 0.9945 g, pretty close to 1 g. To obtain a 0 reading would require placing the sensor in 0 gravity.

Saravanan

Thanks alot for the help! I am making good progress now