GY-89(LSM303D) + arduino + SPI

[abimann]

Here is smth wrong with SPI i think. Where it needed to change CPHA,CPOL and etc.. to get stable data, in attachment picture of output acceleration x axis data,when sensor not move ..
I tryed kalman filter and filters inside LSM303D there are too much difference between normal signal and high level noise, so filtering is not a way.


.

pls help !

some kind of kalman https://www.youtube.com/watch?v=AA1tqkkzmeI

 

[KlausST]

Hi,

You need help. Could you please be so kind to give almost complete informations?

Here is smth wrong with SPI i think

Where can we see: SPI code, SPI schematic, SPI scope pictures

Where it needed to change CPHA,CPOL and etc.

Where can we see any informatin about CPHA, CPOL?

in attachment picture of output acceleration x axis data,

Sure you mean X-data?
We don´t see any X nor any Y data information?

I tryed kalman filter

Where can we see this?

... and so on

I really tried to find you what problem you see and what problem you describe.

Klaus

 

[abimann]

Thank you for quick reply, I already tried all SPI mode (SPI_MODE0,1,2,3) , speed, MSB|LSB first settings, but no success , I thought it must be mode3 I add peace of datasheet? In attachment result and in a green color i expected result from lSM303D with movement in X-axis, and other file noise from accelerometer which is not move, just stay on my table.


**broken link removed****broken link removed**

/*
 * Interface Code for Explore Labs 3D Accelerometer + 3D Magnetometer
 * LSM303D Compass Breakout Board and Arduino Uno. This code assumes
 * selected communication method is Serial Peripheral Interface (SPI)
 * and hardware connections are made as follows:
 * 
 * Sensor VIN - Arduino Uno 5V or 3.3V
 * Sensor GND - Arduino Uno GND
 * Sensor SDI/SDA - Arduino Uno Digital Pin 11 or MOSI (Master Out Slave In)
 * Sensor SCK/SCL - Arduino Uno Digital Pin 13 or SCK (Serial Clock)
 * Sensor SDO/ADR - Arduino Uno Digital Pin 12 or MISO (Master In Slave Out)
 * Sensor CS - Arduino Uno Digital Pin 10 or SS (Slave Select or Chip Select)
 */
 
#include <SPI.h>          // Include Arduino SPI library

#define OUT_X_L_M   0x08  // Register addresses from sensor datasheet.
#define OUT_X_H_M   0x09  // Only the registers that are used
#define OUT_Y_L_M   0x0A  // in this program are defined here.
#define OUT_Y_H_M   0x0B
#define OUT_Z_L_M   0x0C
#define OUT_Z_H_M   0x0D
#define CTRL1       0x20
#define CTRL2       0x21
#define CTRL5       0x24
#define CTRL7       0x26
#define OUT_X_L_A   0x28
#define OUT_X_H_A   0x29
#define OUT_Y_L_A   0x2A
#define OUT_Y_H_A   0x2B
#define OUT_Z_L_A   0x2C
#define OUT_Z_H_A   0x2D
    
int8_t readData   = 0x80;
int8_t writeData  = 0x00;

int16_t ax, ay, az;       // 16-bit variables to hold raw data from sensor
int16_t mx, my, mz;
float heading;

const int CS = 10;        // Chip Select pin for SPI
// Some kind of Kalman filter variables
float varVolt = 5.8;  // average deviation (find in excel file)
float varProcess = 0.5; // reaction speed for deviation (manually)
float Pc = 0.0;
float G = 0.0;
float P = 1.0;
float Xp = 0.0;
float Zp = 0.0;
float Xe = 0.0;

int f_ax;
// переменные для калмана
void setup() {
  Serial.begin(115200);
  SPI.begin();
  SPI.beginTransaction (SPISettings (10000000, MSBFIRST, SPI_MODE0));  // already try SPI_MODE0,1,2,3  and changed speed also 
  pinMode(CS, OUTPUT);
  writeReg(CTRL1, 0x37);  // Initialize the sensor by setting
  writeReg(CTRL2, 0xE2);
  writeReg(CTRL5, 0x04);  // control registers
  writeReg(CTRL7, 0x00);  
  delay(100);
}

void loop() {  
  mx = (int16_t) readReg(OUT_X_H_M) <<8 | readReg(OUT_X_L_M); 
  my = (int16_t) readReg(OUT_Y_H_M) <<8 | readReg(OUT_Y_L_M); 
  mz = (int16_t) readReg(OUT_Z_H_M) <<8 | readReg(OUT_Z_L_M);
  ax = (int16_t) readReg(OUT_X_H_A) <<8 | readReg(OUT_X_L_A);
  ay = (int16_t) readReg(OUT_Y_H_A) <<8 | readReg(OUT_Y_L_A);
  az = (int16_t) readReg(OUT_Z_H_A) <<8 | readReg(OUT_Z_L_A);
  
  
  Serial.print(ax); Serial.print("\t");
  Serial.print(f_ax); Serial.print("\t");
  Serial.println();


  f_ax = filter(ax);
  
 delay(100);
}

int8_t readReg(int8_t address) {
  int8_t buffer = 0;
  digitalWrite(CS, LOW); 
  SPI.transfer(readData | address);
  buffer = SPI.transfer(writeData);
  digitalWrite(CS, HIGH);
  return(buffer);  
}

void writeReg(int8_t address, int8_t val) {
  digitalWrite(CS, LOW);
  SPI.transfer(writeData | address);
  SPI.transfer(val);
  digitalWrite(CS, HIGH);
}

float filter(float val) {  /////////////// filtering function
  Pc = P + varProcess;
  G = Pc/(Pc + varVolt);
  P = (1-G)*Pc;
  Xp = Xe;
  Zp = Xp;
  Xe = G*(val-Zp)+Xp; //////////// filtered value
  return(Xe);
}

 

[KlausST]

Hi,

Without the requested informations it's impossible to analyze the problem.

Klaus

 

[abimann]

I think SPI wiring has no problem, it communicated with gy-89 through SPI, only when mode1 and 2 used it cannot understand each other.



But data jumping even sensor doesn't move. Plz never mind for red color diagram that kalman filtered data. In a diagram is X-Axis data only. with and filtered one.

 

[KlausST]

Hi,

It seems you don't read my posts.

Klaus

 

[abimann]

SPI code ---> 7th May 2019, 04:14, that is Arduino UNO
SPI schematic, ---> information below can be interpreted as a schematic :
* Sensor VIN - Arduino Uno 5V or 3.3V
* Sensor GND - Arduino Uno GND
* Sensor SDI/SDA - Arduino Uno Digital Pin 11 or MOSI (Master Out Slave In)
* Sensor SCK/SCL - Arduino Uno Digital Pin 13 or SCK (Serial Clock)
* Sensor SDO/ADR - Arduino Uno Digital Pin 12 or MISO (Master In Slave Out)
* Sensor CS - Arduino Uno Digital Pin 10 or SS (Slave Select or Chip Select)
SPI scope pictures, ---> Yesterday, 15:53 message above, 4 images with SPI communication analyze that is in 24Million samples per second,right side below you can see what packets are works
CPHA, ---> Yesterday, 15:53 message above, inside a picture , you can see a SPI_MODES0,1,2,3, Diagnostic diagram from Arduino result, also can find logic analyzer spi modes by CPHA,CPOL,
CPOL? ---> above answer
Here is in attachment csv files with data , for all modes.

 

[KlausST]

Hi,

The most important is the power supply:
Now you give new information:

* Sensor VIN - Arduino Uno 5V or 3.3V

There is no "VIN" at the LSM303D.
* Please use the same terminology as in the datasheet to avoid confusions.
* The LSM303D is not designed to operate at 5V. Any voltage at any pin above 4.8V may immediately kill the IC. Please check this.
(Maybe I´m blind, but I can´t find the information in your posts to verify this.)


Then focus on the SPI.

You need to verify:
1) voltage levels HIGH, LOW (and other wavefrom informations like: ringing, rise time, fall time...)
2) timing according datasheet (All values specified in datasheet section: 2.4.1)
3) data / protocol
(Here, too, I can´t verify neither voltage waveform nor timing of the SPI with your given informations.)

Klaus

My personal opinion: If you want us to help you, then you are responsible to give useful informations and (links to) datasheets.