Project #28 – Sensors – Gyroscope L3G4200D – Mk03

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#DonLucElectronics #DonLuc #Sensors #L3G4200D #HMC5883L #ADXL335 #Adafruit #SparkFun #Arduino #Project #Fritzing #Programming #Electronics #Microcontrollers #Consultant

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SparkFun Tri-Axis Gyroscope – L3G4200D

This is a breakout board for the L3G4200D low-power three-axis angular rate sensor. The L3G4200D is a MEMS motion sensor and has a full scale of dps and is capable of measuring rates with a user-selectable bandwidth. These work great in gaming and virtual reality input devices, motion control with MMI, GPS navigation systems, appliances and robotics. The L3G4200D is a low-power three-axis angular rate sensor able to provide unprecedented stablility of zero rate level and sensitivity over temperature and time. It includes a sensing element and an IC interface capable of providing the measured angular rate to the external world through a digital interface.

DL2308Mk04

1 x Adafruit METRO M0 Express
1 x DS3231 Precision RTC FeatherWing
1 x SparkFun Triple Axis Accelerometer ADXL335
1 x SparkFun Triple Axis Magnetometer – HMC5883L
1 x SparkFun Tri-Axis Gyroscope – L3G4200D
1 x Rocker Switch – SPST
1 x Resistor 10K Ohm
1 x CR1220 3V Lithium Coin Cell Battery
1 x SparkFun Cerberus USB Cable

Adafruit METRO M0 Express

LED – LED_BUILTIN
SDA – Digital 20
SCL – Digital 21
SW1 – Digital 2
ACX – Analog A0
ACY – Analog A1
ACZ – Analog A2
VIN – +3.3V
GND – GND

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DL2308Mk04p.ino

/****** Don Luc Electronics © ******
Software Version Information
Project #28 - Sensors - Gyroscope L3G4200D - Mk03
28-03
DL2308Mk04p.ino
1 x Adafruit METRO M0 Express
1 x DS3231 Precision RTC FeatherWing
1 x SparkFun Triple Axis Accelerometer ADXL335
1 x SparkFun Tri-Axis Gyroscope - L3G4200D
1 x Rocker Switch - SPST
1 x Resistor 10K Ohm
1 x CR1220 3V Lithium Coin Cell Battery
1 x SparkFun Cerberus USB Cable
*/

// Include the Library Code
// DS3231 Precision RTC 
#include <RTClib.h>
// Two Wire Interface (TWI/I2C)
#include <Wire.h>
// Keyboard
#include <Keyboard.h>
// Triple Axis Magnetometer
#include <HMC5883L.h>
// Gyroscope
#include <L3G4200D.h>

// Keyboard
String sKeyboard = "";

// DS3231 Precision RTC 
RTC_DS3231 rtc;
String dateRTC = "";
String timeRTC = "";

// Accelerometer
int iX = A0;
int iY = A1;
int iZ = A2;
// Accelerometer
int X = 0;
int Y = 0;
int Z = 0;

// Triple Axis Magnetometer
HMC5883L compass;
// Triple Axis Magnetometer
int mX = 0;
int mY = 0;
int mZ = 0;

// Gyroscope
L3G4200D gyroscope;
// Timers
unsigned long timer = 0;
float timeStep = 0.01;
// Pitch, Roll and Yaw values
float pitch = 0;
float roll = 0;
float yaw = 0;

// The number of the pushbutton pin
int iButton = 2;
// Variable for reading the button status
int buttonState = 0;

// Software Version Information
String sver = "28-03";

void loop() {

  // Date and Time RTC
  isRTC ();

  // Accelerometer
  isAccelerometer();

  // Magnetometer
  isMagnetometer();

  // Gyroscope
  isGyroscope();

  // Read the state of the button value:
  buttonState = digitalRead(iButton);

  // Check if the button is pressed. If it is, the buttonState is HIGH:
  if (buttonState == HIGH) {

     Keyboard.println(sKeyboard);
    
  }

  // Delay 1 Second
  delay(1000);

}

getAccelerometer.ino

// Accelerometer
// Accelerometer
void isAccelerometer(){

  // Accelerometer X, Y, Z
  // X
  X = analogRead(iX);
  // Y
  Y = analogRead(iY);
  // Z
  Z = analogRead(iZ);

  sKeyboard = sKeyboard + String(X) + "|" + String(Y) + "|" + String(Z) + "|";

}

getGyroscope.ino

// L3G4200D Triple Axis Gyroscope
// Setup Gyroscope
void isSetupGyroscope() {

  // Setup Gyroscope
  // Set scale 2000 dps and 400HZ Output data rate (cut-off 50)
  while(!gyroscope.begin(L3G4200D_SCALE_2000DPS, L3G4200D_DATARATE_400HZ_50))
  {
    // Could not find a valid L3G4200D sensor, check wiring!
    delay(500);
    
  }

  // Calibrate gyroscope. The calibration must be at rest.
  // If you don't want calibrate, comment this line.
  gyroscope.calibrate(100);
  
}
// L3G4200D Gyroscope
void isGyroscope(){

  // Timer
  timer = millis();

  // Read normalized values
  Vector norm = gyroscope.readNormalize();

  // Calculate Pitch, Roll and Yaw
  pitch = pitch + norm.YAxis * timeStep;
  roll = roll + norm.XAxis * timeStep;
  yaw = yaw + norm.ZAxis * timeStep;

  sKeyboard = sKeyboard + String(pitch) + "|" + String(roll) + "|" + String(yaw) + "|*";

}

getMagnetometer.ino

// Magnetometer
// Setup Magnetometer
void isSetupMagnetometer(){

  // Magnetometer Serial
  // Initialize HMC5883L
  while (!compass.begin())
  {
    delay(500);
  }

  // Set measurement range
  // +/- 1.30 Ga: HMC5883L_RANGE_1_3GA (default)
  compass.setRange(HMC5883L_RANGE_1_3GA);

  // Set measurement mode
  // Continuous-Measurement: HMC5883L_CONTINOUS (default)
  compass.setMeasurementMode(HMC5883L_CONTINOUS);
 
  // Set data rate
  // 15.00Hz: HMC5883L_DATARATE_15HZ (default)
  compass.setDataRate(HMC5883L_DATARATE_15HZ);

  // Set number of samples averaged
  // 1 sample:  HMC5883L_SAMPLES_1 (default)
  compass.setSamples(HMC5883L_SAMPLES_1);
  
}
// Magnetometer
void isMagnetometer(){

  // Vector Norm
  Vector norm = compass.readNormalize();
  // Vector X, Y, Z
  // X Normalize
  mX = norm.XAxis;
  // Y Normalize
  mY = norm.YAxis;
  // Z Normalize
  mZ = norm.ZAxis;

  sKeyboard = sKeyboard + String(mX) + "|" + String(mY) + "|" + String(mZ) + "|";

}

getRTC.ino

// Date & Time
// DS3231 Precision RTC
void setupRTC() {

  // DS3231 Precision RTC
  if (! rtc.begin()) {
    //Serial.println("Couldn't find RTC");
    //Serial.flush();
    while (1) delay(10);
  }

  if (rtc.lostPower()) {
    //Serial.println("RTC lost power, let's set the time!");
    // When time needs to be set on a new device, or after a power loss, the
    // following line sets the RTC to the date & time this sketch was compiled
    rtc.adjust(DateTime(F(__DATE__), F(__TIME__)));
    // This line sets the RTC with an explicit date & time, for example to set
    // January 21, 2014 at 3am you would call:
    //rtc.adjust(DateTime(2023, 8, 10, 11, 0, 0));
  }
  
}
// Date and Time RTC
void isRTC () {

  // Date and Time
  dateRTC = "";
  timeRTC = "";
  DateTime now = rtc.now();
  
  // Date
  dateRTC = now.year(), DEC; 
  dateRTC = dateRTC + "/";
  dateRTC = dateRTC + now.month(), DEC;
  dateRTC = dateRTC + "/";
  dateRTC = dateRTC + now.day(), DEC;

  // Time
  timeRTC = now.hour(), DEC;
  timeRTC = timeRTC + ":";
  timeRTC = timeRTC + now.minute(), DEC;
  timeRTC = timeRTC + ":";
  timeRTC = timeRTC + now.second(), DEC;

  sKeyboard = "SEN|" + sver + "|" + String(dateRTC) + "|" + 
  String(timeRTC) + "|";
  
}

setup.ino

// Setup
void setup()
{
  
  // Give display time to power on
  delay(100);
  
  // Wire - Inialize I2C Hardware
  Wire.begin();

  // Give display time to power on
  delay(100);

  // Date & Time RTC
  // DS3231 Precision RTC 
  setupRTC();
  
  // Initialize control over the keyboard:
  Keyboard.begin();

  // Setup Triple Axis Magnetometer
  isSetupMagnetometer();

  // L3G4200D Gyroscope
  isSetupGyroscope();

  // Initialize the button pin as an input
  pinMode(iButton, INPUT);

  // Initialize digital pin LED_BUILTIN as an output
  pinMode(LED_BUILTIN, OUTPUT);
  // Turn the LED on HIGH
  digitalWrite(LED_BUILTIN, HIGH);

  // Delay 5 Second
  delay( 5000 );

}

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