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ekettenburgekettenburg
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pwm fix - add 9dof example
1 parent 02c36df commit fb93846

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5 files changed

+160
-14
lines changed

5 files changed

+160
-14
lines changed

‎hardware/digistump/avr/cores/pro/Arduino.h

Lines changed: 3 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -103,10 +103,6 @@ int digitalRead(uint8_t);
103103
int analogRead(uint8_t);
104104
void analogReference(uint8_t mode);
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void analogWrite(uint8_t, int);
106-
void pwmWrite(uint8_t, int);
107-
void pwmConnect(uint8_t, int);
108-
void pwmDisconnect(uint8_t, int);
109-
void pwmReset(void);
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111107
unsigned long millis(void);
112108
unsigned long micros(void);
@@ -164,6 +160,9 @@ extern const uint8_t PROGMEM digital_pin_to_timer_PGM[];
164160
#define TIMER1B 4
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#define TIMER1D 5
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163+
#define CHANNELA 3; //TIMER1A
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#define CHANNELB 4; //TIMER1B
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167166
#include "pins_arduino.h"
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169168
#ifndef USE_SOFTWARE_SERIAL

‎hardware/digistump/avr/libraries/Digispark_Examples/_9DOF_Shield/_9DOF_Shield.ino

Lines changed: 157 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,157 @@
1+
#include <Wire.h>
2+
#include <DigiKeyboard.h>
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#define ADXL345 (0x53) //address of Accelerometer
4+
#define ADXL345_X (0x32) //register for X value from Accelerometer
5+
#define ADXL345_Y (0x34) //register for Y value from Accelerometer
6+
#define ADXL345_Z (0x36) //register for Z value from Accelerometer
7+
#define HMC5883 (0x1E) //address of Magnetometer
8+
#define ITG3200 (0x68) //address of Gyro
9+
int16_t magX = 0; //X value from Magnetometer
10+
int16_t magY = 0; //Y value from Magnetometer
11+
int16_t magZ = 0; //Z value from Magnetometer
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int gyroHX = 0; //HX value from Gyro
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int gyroHY = 0; //HY value from Gyro
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int gyroHZ = 0; //HZ value from Gyro
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void setup()
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{
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Wire.begin();
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initAccelerometer();
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initMagnetometer();
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initGyro();
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}
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void loop()
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{
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DigiKeyboard.println(readAccelerometer(ADXL345_X));
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DigiKeyboard.println(readAccelerometer(ADXL345_Y));
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DigiKeyboard.println(readAccelerometer(ADXL345_Z));
34+
DigiKeyboard.delay(1000);
35+
readMagnetometer();
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DigiKeyboard.println(magX);
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DigiKeyboard.println(magY);
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DigiKeyboard.println(magZ);
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DigiKeyboard.println(getHeading());
40+
DigiKeyboard.delay(1000);
41+
readGyro();
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DigiKeyboard.println(gyroHX);
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DigiKeyboard.println(gyroHY);
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DigiKeyboard.println(gyroHZ);
45+
DigiKeyboard.delay(1000);
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}
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void initGyro(){
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writeRegister(ITG3200, 0x3E, 0x00); //enable
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writeRegister(ITG3200, 0x15, 0x07); // EB, 50, 80, 7F, DE, 23, 20, FF
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writeRegister(ITG3200, 0x16, 0x1E); // +/- 2000 dgrs/sec, 1KHz, 1E, 19
57+
writeRegister(ITG3200, 0x17, 0x00);
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}
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void readGyro(){
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Wire.beginTransmission(ITG3200);
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Wire.write(0x1B); //format x y z temp
63+
Wire.endTransmission();
64+
Wire.requestFrom(ITG3200, (byte)8);
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// Wait around until enough data is available
67+
while (Wire.available() < 8);
68+
uint8_t lo = Wire.read();
69+
uint8_t hi = Wire.read();
70+
//throw out first two - don't seem accurate
71+
//gyroTemp = (lo << 8) | hi; // temperature
72+
//gyroTemp = ((double) (gyroTemp + 13200)) / 280;
73+
lo = Wire.read();
74+
hi = Wire.read();
75+
gyroHX = (((lo << 8) | hi) + 120 )/ 14.375;
76+
lo = Wire.read();
77+
hi = Wire.read();
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gyroHY = (((lo << 8) | hi) + 20 )/ 14.375;
79+
lo = Wire.read();
80+
hi = Wire.read();
81+
gyroHZ = (((lo << 8) | hi) + 93 )/ 14.375;
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}
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void initMagnetometer(){
86+
writeRegister(HMC5883, 0x02, 0x00); //enable
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}
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void readMagnetometer(){
91+
Wire.beginTransmission(HMC5883);
92+
Wire.write(0x03); //format X_H_M
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Wire.endTransmission();
94+
Wire.requestFrom(HMC5883, (byte)6);
95+
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// Wait around until enough data is available
97+
while (Wire.available() < 6);
98+
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// Note high before low (different than accel)
100+
uint8_t hi = Wire.read();
101+
uint8_t lo = Wire.read();
102+
// Shift values to create properly formed integer (low byte first)
103+
magX = (int16_t)(hi | ((int16_t)lo << 8));
104+
// Note high before low (different than accel)
105+
hi = Wire.read();
106+
lo = Wire.read();
107+
// Shift values to create properly formed integer (low byte first)
108+
magY = (int16_t)(hi | ((int16_t)lo << 8));
109+
// Note high before low (different than accel)
110+
hi = Wire.read();
111+
lo = Wire.read();
112+
// Shift values to create properly formed integer (low byte first)
113+
magZ = (int16_t)(hi | ((int16_t)lo << 8));
114+
}
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void initAccelerometer(){
117+
//if(readRegister(ADXL345,0x00) != 0xE5)
118+
writeRegister(ADXL345, 0x2D, 0x08); //power up and enable measurements
119+
writeRegister(ADXL345, 0x31, 0x01);//set range to +/-4G
120+
}
121+
122+
uint16_t readAccelerometer(uint8_t reg){
123+
Wire.beginTransmission(ADXL345);
124+
Wire.write(reg);
125+
Wire.endTransmission();
126+
Wire.requestFrom(ADXL345, 2);
127+
return (uint16_t)(Wire.read() | (Wire.read() << 8));
128+
}
129+
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uint8_t readRegister(uint8_t address, uint8_t reg){
131+
Wire.beginTransmission(address);
132+
Wire.write(reg);
133+
Wire.endTransmission();
134+
Wire.requestFrom(address, 1);
135+
return Wire.read();
136+
}
137+
void writeRegister(uint8_t address, uint8_t reg, uint8_t val){
138+
Wire.beginTransmission(address);
139+
Wire.write(reg);
140+
Wire.write(val);
141+
Wire.endTransmission();
142+
}
143+
144+
float getHeading(){
145+
// Hold the module so that Z is pointing 'up' and you can measure the heading with x&y
146+
// Calculate heading when the magnetometer is level, then correct for signs of axis.
147+
float heading = atan2(magY, magX);
148+
// Correct for when signs are reversed.
149+
if(heading < 0)
150+
heading += 2*PI;
151+
// Check for wrap due to addition of declination.
152+
if(heading > 2*PI)
153+
heading -= 2*PI;
154+
// Convert radians to degrees for readability.
155+
heading = heading * 180/M_PI;
156+
return heading;
157+
}

‎hardware/digistump/avr/variants/pro/pins_arduino.h

Lines changed: 0 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -42,10 +42,6 @@
4242
#define MISO 8
4343
#define SCK 11
4444

45-
46-
static const uint8_t CHANNELA = TIMER1A;
47-
static const uint8_t CHANNELB = TIMER1B;
48-
4945
static const uint8_t SDA = 0;
5046
static const uint8_t SCL = 2;
5147

‎hardware/digistump/avr/variants/pro32buffer/pins_arduino.h

Lines changed: 0 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -42,9 +42,6 @@
4242
#define MISO 8
4343
#define SCK 11
4444

45-
static const uint8_t CHANNELA = TIMER1A;
46-
static const uint8_t CHANNELB = TIMER1B;
47-
4845
static const uint8_t SDA = 0;
4946
static const uint8_t SCL = 2;
5047

‎hardware/digistump/avr/variants/pro64buffer/pins_arduino.h

Lines changed: 0 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -42,9 +42,6 @@
4242
#define MISO 8
4343
#define SCK 11
4444

45-
static const uint8_t CHANNELA = TIMER1A;
46-
static const uint8_t CHANNELB = TIMER1B;
47-
4845
static const uint8_t SDA = 0;
4946
static const uint8_t SCL = 2;
5047

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