Introduction: 3 Axis Arduino Accelerometer / Inclinometer (Tilt / Roll / Yaw)
Years ago I saw a neat dash gadget for a Jeep that had two pictures of a Jeep on the unit. As you drove, the two pictures would move, showing tilt and roll angles, with the idea it would help prevent you from tipping over when driving off road.
I received a BMA180 Accelerometer, and decided to build an Arduino version, maybe eventually displaying graphics on a LCD screen. For now I want to get the unit talking to the Arduino, displaying G forces in 3 dimensions:
Tilt (front to back, or X)
Roll (side to side, or Y)
Yaw (pivoting as in a skid, or Z)
Step 1: Connecting the Breakout Board
Step 2: The Code!
I then uploaded the following code from http://www.geeetech.com/wiki/index.php/BMA180_Triple_Axis_Accelerometer_Breakout
//BMA180 triple axis accelerometer sample code//
//www.geeetech.com//
//
#include <wire.h>
#define BMA180 0x40 //address of the accelerometer
#define RESET 0x10
#define PWR 0x0D
#define BW 0X20
#define RANGE 0X35
#define DATA 0x02
//
int offx = 31;
int offy = 47;
int offz = -23;
//
void setup()
{
Serial.begin(9600);
Wire.begin();
Serial.println("Demo started, initializing sensors");
AccelerometerInit();
Serial.println("Sensors have been initialized");
}
//
void AccelerometerInit()
//
{
byte temp[1];
byte temp1;
//
writeTo(BMA180,RESET,0xB6);
//wake up mode
writeTo(BMA180,PWR,0x10);
// low pass filter,
readFrom(BMA180, BW,1,temp);
temp1=temp[0]&0x0F;
writeTo(BMA180, BW, temp1);
// range +/- 2g
readFrom(BMA180, RANGE, 1 ,temp);
temp1=(temp[0]&0xF1) | 0x04;
writeTo(BMA180,RANGE,temp1);
}
//
void AccelerometerRead()
{
// read in the 3 axis data, each one is 14 bits
// print the data to terminal
int n=6;
byte result[5];
readFrom(BMA180, DATA, n , result);
int x= (( result[0] | result[1]<<8>>2)+offx ;
float x1=x/4096.0;
Serial.print("x=");
Serial.print(x1);
Serial.print("g");
//
int y= (( result[2] | result[3]<<8>>2)+offy;
float y1=y/4096.0;
Serial.print(",y=");
Serial.print(y1);
Serial.print("g");
//
int z= (( result[4] | result[5]<<8>>2)+offz;
float z1=z/4096.0;
Serial.print(",z=");
Serial.print(z1);
Serial.println("g");
}
//
void loop()
{
AccelerometerRead();
delay(300); // slow down output
}
//
//---------------- Functions--------------------
//Writes val to address register on ACC
void writeTo(int DEVICE, byte address, byte val)
{
Wire.beginTransmission(DEVICE); //start transmission to ACC
Wire.write(address); //send register address
Wire.write(val); //send value to write
Wire.endTransmission(); //end trnsmisson
}
//reads num bytes starting from address register in to buff array
void readFrom(int DEVICE, byte address , int num ,byte buff[])
{
Wire.beginTransmission(DEVICE); //start transmission to ACC
Wire.write(address); //send reguster address
Wire.endTransmission(); //end transmission
Wire.beginTransmission(DEVICE); //start transmission to ACC
Wire.requestFrom(DEVICE,num); //request 6 bits from ACC
int i=0;
while(Wire.available()) //ACC may abnormal
{
buff[i] =Wire.read(); //receive a byte
i++;
}
Wire.endTransmission(); //end transmission
}
Step 3: Output
Step 4: Future Changes
My next ideas are to display angles for pitch and yaw & roll on an LCD screen, then design graphics showing the vehicle actively in those positions on a graphical LCD. I have not had a chance to try the angle conversion, but look at http://wizmoz.blogspot.com/2013/01/simple-accelerometer-data-conversion-to.html and if that works for you, please let me know!
