IMU 9Dof with Arduino Micro

somebody correct me if im wrong connection of 9dof imu sensor stick ( sparkfun ) , arduino micro board..

my connection:

imu : arduino
scl : digital pin 3
sda : digital pin 2
gnd : gnd
vcc : 3v

with 2 4.7k ohms pull-up resistor each of sda scl pin 3v.

i need confirmation here please.
thank in advance!

code: [select]


#include <adafruit_sensor.h>
#include <wire.h>

#define adxl345_address (0xa6 >> 1)
#define adxl345_register_xlsb (0x32)
#define adxl_register_pwrctl (0x2d)
#define adxl_pwrctl_measure (1 << 3)

#define itg3200_address (0xd0 >> 1)
#define itg3200_register_xmsb (0x1d)
#define itg3200_register_dlpf_fs (0x16)
#define itg3200_fullscale (0x03 << 3)
#define itg3200_42hz (0x03)

#define hmc5843_address (0x3c >> 1)
#define hmc5843_register_xmsb (0x03)
#define hmc5843_register_measmode (0x02)
#define hmc5843_measmode_cont (0x00)

int accelerometer_data[3];
int gyro_data[3];
int magnetometer_data[3];

char c;

void setup() {
  wire.begin();
  serial.begin(9600);

  for(int = 0; < 3; ++i) {
    accelerometer_data[i] = magnetometer_data[i] = gyro_data[i] = 0;
  }
  
  init_adxl345();
  init_hmc5843();
  init_itg3200();
}

void loop() {
   read_adxl345();

   serial.print("accel: ");
   serial.print(accelerometer_data[0]);
   serial.print("\t");
   serial.print(accelerometer_data[1]);
   serial.print("\t");
   serial.print(accelerometer_data[2]);
   serial.print("\t");

   read_hmc5843();

   serial.print("mag: ");
   serial.print(magnetometer_data[0]);
   serial.print(",");
   serial.print(magnetometer_data[1]);
   serial.print(",");
   serial.print(magnetometer_data[2]);
   serial.print("\t");

   read_itg3200();

   serial.print("gyro: ");
   serial.print(gyro_data[0]);
   serial.print("\t");
   serial.print(gyro_data[1]);
   serial.print("\t");
   serial.print(gyro_data[2]);
   serial.print("\n");

   delay(100);
}

void i2c_write(int address, byte reg, byte data) {
  wire.begintransmission(address);
  wire.write(reg);
  wire.write(data);
  wire.endtransmission();
}

void i2c_read(int address, byte reg, int count, byte* data) {
 int = 0;

 wire.begintransmission(address);
 wire.write(reg);
 wire.endtransmission();
 wire.begintransmission(address);
 wire.requestfrom(address,count);
 while(wire.available()){
   c = wire.read();
   data[i] = c;
   i++;
 }
 wire.endtransmission();
} 

void init_adxl345() {
  byte data = 0;

  i2c_write(adxl345_address, adxl_register_pwrctl, adxl_pwrctl_measure);

  i2c_read(adxl345_address, adxl_register_pwrctl, 1, &data);
  serial.println((unsigned int)data);
}

void read_adxl345() {
 byte bytes[6];
 memset(bytes,0,6);

 i2c_read(adxl345_address, adxl345_register_xlsb, 6, bytes);

 for (int i=0;i<3;++i) {
 accelerometer_data[i] = (int)bytes[2*i] + (((int)bytes[2*i + 1]) << 8);
 }
}

void init_itg3200() {
  byte data = 0;

  i2c_write(itg3200_address, itg3200_register_dlpf_fs, itg3200_fullscale | itg3200_42hz);

  i2c_read(itg3200_address, itg3200_register_dlpf_fs, 1, &data);

  serial.println((unsigned int)data);
}

void read_itg3200() {
  byte bytes[6];
  memset(bytes,0,6);

  i2c_read(itg3200_address, itg3200_register_xmsb, 6, bytes);
  for (int i=0;i<3;++i) {
  gyro_data[i] = (int)bytes[2*i + 1] + (((int)bytes[2*i]) << 8);
  }
}

void init_hmc5843() {
  byte data = 0;
  
  i2c_write(hmc5843_address, hmc5843_register_measmode, hmc5843_measmode_cont);

  i2c_read(hmc5843_address, hmc5843_register_measmode, 1, &data);
  serial.println((unsigned int)data);
}

void read_hmc5843() {
 byte bytes[6];
 memset(bytes,0,6);

 i2c_read(hmc5843_address, hmc5843_register_xmsb, 6, bytes);

 for (int i=0;i<3;++i) {
 magnetometer_data[i] = (int)bytes[2*i + 1] + (((int)bytes[2*i]) << 8);
 }
}



correct..


connect scl pin on breakout scl pin on arduino. on uno & '328 based arduino, known a5, on mega known digital 21 , on leonardo/micro, digital 3
connect sda pin on breakout sda pin on arduino. on uno & '328 based arduino, known a4, on mega known digital 20 , on leonardo/micro, digital 2
connect vin pin on breakout 3.3v or 5v on uno (5v preferred if have 3v logic arduino 3v best)
connect gnd pin on breakout gnd pin on uno
that's it! 4 wires, should able talk of i2c chips on board , run of example sketches.

https://learn.adafruit.com/adafruit-9-dof-imu-breakout/connecting-it-up

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