// I2C device class (I2Cdev) demonstration Arduino sketch for ADXL345 class
// 10/7/2011 by Jeff Rowberg <jeff@rowberg.net>
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
//
// Changelog:
// 2011-10-07 - initial release
/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2011 Jeff Rowberg
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
===============================================
*/
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#include "Wire.h"
// I2Cdev and ADXL345 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "I2Cdev.h"
#include "ADXL345.h"
// class default I2C address is 0x53
// specific I2C addresses may be passed as a parameter here
// ALT low = 0x53 (default for SparkFun 6DOF board)
// ALT high = 0x1D
ADXL345 accel;
int16_t ax, ay, az;
#define LED_PIN 13 // (Arduino is 13, Teensy is 6)
bool blinkState = false;
void setup() {
// join I2C bus (I2Cdev library doesn't do this automatically)
Wire.begin();
// initialize serial communication
// (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
// it's really up to you depending on your project)
Serial.begin(9600);
// initialize device
Serial.println("Initializing I2C devices...");
accel.initialize();
// verify connection
Serial.println("Testing device connections...");
Serial.println(accel.testConnection() ? "ADXL345 connection successful" : "ADXL345 connection failed");
// configure LED for output
pinMode(LED_PIN, OUTPUT);
}
void loop() {
// read raw accel measurements from device
accel.getAcceleration(&ax, &ay, &az);
// display tab-separated accel x/y/z values
Serial.print("accel:\t");
Serial.print(ax); Serial.print("\t");
Serial.print(ay); Serial.print("\t");
Serial.println(az);
// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
}

/********************************************************************************
* ADXL345 Library Examples- pitch_roll.ino *
* *
* Copyright (C) 2012 Anil Motilal Mahtani Mirchandani(anil.mmm@gmail.com) *
* *
* License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html> *
* This is free software: you are free to change and redistribute it. *
* There is NO WARRANTY, to the extent permitted by law. *
* *
*********************************************************************************/
#include <Wire.h>
#include "adxl345.h"
const float alpha = 0.5;
double fXg = 0;
double fYg = 0;
double fZg = 0;
ADXL345 acc;
void setup()
{
acc.begin();
Serial.begin(9600);
delay(100);
}
void loop()
{
double pitch, roll, Xg, Yg, Zg;
acc.read(&Xg, &Yg, &Zg);
//Low Pass Filter
fXg = Xg * alpha + (fXg * (1.0 - alpha));
fYg = Yg * alpha + (fYg * (1.0 - alpha));
fZg = Zg * alpha + (fZg * (1.0 - alpha));
//Roll & Pitch Equations
roll = (atan2(-fYg, fZg)*180.0)/M_PI;
pitch = (atan2(fXg, sqrt(fYg*fYg + fZg*fZg))*180.0)/M_PI;
Serial.print(pitch);
Serial.print(":");
Serial.println(roll);
delay(10);
}

/********************************************************************************
* ADXL345 Library Examples- pitch_roll.pde *
* *
* Copyright (C) 2012 Anil Motilal Mahtani Mirchandani(anil.mmm@gmail.com) *
* *
* License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html> *
* This is free software: you are free to change and redistribute it. *
* There is NO WARRANTY, to the extent permitted by law. *
* *
*********************************************************************************/
// If you are working with Arduino Mega
// sudo ln -s /dev/ttyACM0 /dev/ttyS8
import processing.serial.*;
Serial fd;
int pitch = 0;
int roll = 0;
void setup () {
size(640, 360, P3D); //Connect to the corresponding serial port
fd = new Serial(this, Serial.list()[0], 9600);
// Defer callback until new line
fd.bufferUntil('\n');
}
void draw () {
//Set background
background(0.5);
pushMatrix(); translate(width/2, height/2, -30); //Rotate
rotateX(((float)pitch)*PI/180.0); rotateZ(((float)roll)*PI/180.0); //Print data
print("Pitch: ");
print(pitch);
print(", Roll: ");
println(roll);
scale(90);
beginShape(QUADS);
fill(0, 255, 0); vertex(-1, 1, 1);
fill(0, 255, 0); vertex( 1, 1, 1);
fill(0, 255, 0); vertex( 1, -1, 1);
fill(0, 255, 0); vertex(-1, -1, 1);
fill(0, 255, 255); vertex( 1, 1, 1);
fill(0, 255, 255); vertex( 1, 1, -1);
fill(0, 255, 255); vertex( 1, -1, -1);
fill(0, 255, 255); vertex( 1, -1, 1);
fill(255, 0, 255); vertex( 1, 1, -1);
fill(255, 0, 255); vertex(-1, 1, -1);
fill(255, 0, 255); vertex(-1, -1, -1);
fill(255, 0, 255); vertex( 1, -1, -1);
fill(255, 255, 0); vertex(-1, 1, -1);
fill(255, 255, 0); vertex(-1, 1, 1);
fill(255, 255, 0); vertex(-1, -1, 1);
fill(255, 255, 0); vertex(-1, -1, -1);
fill(255, 0, 0); vertex(-1, 1, -1);
fill(255, 0, 0); vertex( 1, 1, -1);
fill(255, 0, 0); vertex( 1, 1, 1);
fill(255, 0, 0); vertex(-1, 1, 1);
fill(0, 0, 255); vertex(-1, -1, -1);
fill(0, 0, 255); vertex( 1, -1, -1);
fill(0, 0, 255); vertex( 1, -1, 1);
fill(0, 0, 255); vertex(-1, -1, 1);
endShape();
popMatrix(); }
void serialEvent (Serial fd) {
// get the ASCII string:
String rpstr = fd.readStringUntil('\n');
if (rpstr != null) {
String[] list = split(rpstr, ':');
pitch = ((int)float(list[0]));
roll = ((int)float(list[1]));
}
}

/*
 ADXL345 Triple Axis Accelerometer. Output for ADXL345_processing.pde
 Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-akcelerometr-adxl345.html
 GIT: https://github.com/jarzebski/Arduino-ADXL345
 Web: http://www.jarzebski.pl
 (c) 2014 by Korneliusz Jarzebski
*/
#include <Wire.h>
#include "adxl345.h"
ADXL345 accelerometer;
void setup(void) {
Serial.begin(115200);
// Initialize ADXL345
if (!accelerometer.begin())
{
delay(500);
}
// Set measurement range
// +/- 2G: ADXL345_RANGE_2G
// +/- 4G: ADXL345_RANGE_4G
// +/- 8G: ADXL345_RANGE_8G
// +/- 16G: ADXL345_RANGE_16G
accelerometer.setRange(ADXL345_RANGE_16G);
}
void loop(void) {
// Read normalized values
Vector norm = accelerometer.readNormalize();
// Low Pass Filter to smooth out data. 0.1 - 0.9
Vector filtered = accelerometer.lowPassFilter(norm, 0.15);
// Calculate Pitch & Roll
int pitch = -(atan2(norm.XAxis, sqrt(norm.YAxis*norm.YAxis + norm.ZAxis*norm.ZAxis))*180.0)/M_PI;
int roll = (atan2(norm.YAxis, norm.ZAxis)*180.0)/M_PI;
// Calculate Pitch & Roll (Low Pass Filter)
int fpitch = -(atan2(filtered.XAxis, sqrt(filtered.YAxis*filtered.YAxis + filtered.ZAxis*filtered.ZAxis))*180.0)/M_PI;
int froll = (atan2(filtered.YAxis, filtered.ZAxis)*180.0)/M_PI;
// Output
Serial.print(pitch);
Serial.print(":");
Serial.print(roll);
Serial.print(":");
// Output (filtered)
Serial.print(fpitch);
Serial.print(":");
Serial.print(froll);
Serial.println();
}

/*
 ADXL345 Triple Axis Accelerometer. Processing for ADXL345_processing.ino
 Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-akcelerometr-adxl345.html
 GIT: https://github.com/jarzebski/Arduino-ADXL345
 Web: http://www.jarzebski.pl
 (c) 2014 by Korneliusz Jarzebski
*/
import processing.serial.*;
Serial myPort;
// Data samples
int actualSample = 0;
int maxSamples = 400;
int sampleStep = 1;
boolean hasData = false;
// Charts
PGraphics pgChart;
int[] colors = { #ff4444, #33ff99, #5588ff };
String[] pyrSeries = { "Pitch", "Roll" };
String[] compareSeries = { "Normal", "Filtered" };
// Data for accelerometer Pitch, Roll
float[][] pyrValues = new float[2][maxSamples];
float[][] pyrValuesFiltered = new float[2][maxSamples];
// Data for compare
float[][] pitchValues = new float[2][maxSamples];
float[][] rollValues = new float[2][maxSamples];
// Artificial Horizon
PGraphics pgArtificialHorizon;
PGraphics pgArtificialHorizonRing;
PImage imgArtificialHorizon;
PImage imgArtificialHorizonRing;
int ahWidth = 0;
int ahHeight = 0;
int ahDiameter = 0;
int ahRadius = 0;
float ahKappa = 0.5522847498;
float ahRadiusKappa = 0;
void setup ()
{
size(755, 550, P2D);
background(0);
// Init
initArtificialHorizon();
// Serial
myPort = new Serial(this, Serial.list()[0], 115200);
myPort.bufferUntil(10);
}
void drawChart(String title, String[] series, float[][] chart, int x, int y, int h, boolean symmetric, boolean fixed, int fixedMin, int fixedMax, int hlines) {
int actualColor = 0;
int maxA = 0;
int maxB = 0;
int maxAB = 0;
int min = 0;
int max = 0;
int step = 0;
int divide = 0;
if (fixed)
{
min = fixedMin;
max = fixedMax;
step = hlines;
} else
{
if (hlines > 2)
{
divide = (hlines - 2);
} else
{
divide = 1;
}
if (symmetric)
{
maxA = (int)abs(getMin(chart));
maxB = (int)abs(getMax(chart));
maxAB = max(maxA, maxB);
step = (maxAB * 2) / divide;
min = -maxAB-step;
max = maxAB+step;
} else
{
min = (int)(getMin(chart));
max = (int)(getMax(chart));
if ((max >= 0) && (min <= 0)) step = (abs(min) + abs(max)) / divide; if ((max < 0) && (min < 0)) step = abs(min - max) / divide; if ((max > 0) && (min > 0)) step = (max - min) / divide; if (divide > 1)
{
min -= step;
max += step;
}
}
}
pgChart = createGraphics((maxSamples*sampleStep)+50, h+60);
pgChart.beginDraw();
// Draw chart area and title
pgChart.background(0);
pgChart.strokeWeight(1);
pgChart.noFill();
pgChart.stroke(50);
pgChart.rect(0, 0, (maxSamples*sampleStep)+49, h+59);
pgChart.text(title, ((maxSamples*sampleStep)/2)-(textWidth(title)/2)+40, 20);
// Draw chart description
String Description[] = new String[chart.length];
int DescriptionWidth[] = new int[chart.length];
int DesctiptionTotalWidth = 0;
int DescriptionOffset = 0;
for (int j = 0; j < chart.length; j++)
{
Description[j] = " "+series[j]+" = ";
DescriptionWidth[j] += textWidth(Description[j]+"+000.00");
Description[j] += nf(chart[j][actualSample-1], 0, 2)+" ";
DesctiptionTotalWidth += DescriptionWidth[j];
}
actualColor = 0;
for (int j = 0; j < chart.length; j++)
{
pgChart.fill(colors[actualColor]);
pgChart.text(Description[j], ((maxSamples*sampleStep)/2)-(DesctiptionTotalWidth/2)+DescriptionOffset+40, h+50);
DescriptionOffset += DescriptionWidth[j];
actualColor++;
if (actualColor >= colors.length) actualColor = 0;
}
// Draw H-Lines 
pgChart.stroke(100);
for (float t = min; t <= max; t=t+step)
{
float line = map(t, min, max, 0, h);
pgChart.line(40, h-line+30, (maxSamples*sampleStep)+40, h-line+30);
pgChart.fill(200, 200, 200);
pgChart.textSize(12);
pgChart.text(int(t), 5, h-line+34);
}
// Draw data series
pgChart.strokeWeight(2);
for (int i = 1; i < actualSample; i++)
{
actualColor = 0;
for (int j = 0; j < chart.length; j++)
{
pgChart.stroke(colors[actualColor]);
float d0 = chart[j][i-1];
float d1 = chart[j][i];
if (d0 < min) d0 = min;
if (d0 > max) d0 = max;
if (d1 < min) d1 = min;
if (d1 > max) d1 = max;
float v0 = map(d0, min, max, 0, h);
float v1 = map(d1, min, max, 0, h);
pgChart.line(((i-1)*sampleStep)+40, h-v0+30, (i*sampleStep)+40, h-v1+30);
actualColor++;
if (actualColor >= colors.length) actualColor = 0;
}
}
pgChart.endDraw();
image(pgChart, x, y);
}
void initArtificialHorizon()
{
imgArtificialHorizon = loadImage("artificialHorizon.png");
imgArtificialHorizonRing = loadImage("artificialHorizonRing.png");
ahWidth = imgArtificialHorizon.width - 20;
ahHeight = imgArtificialHorizon.height - 20;
ahDiameter = min(ahWidth, ahHeight);
ahRadius = ahDiameter / 2;
ahRadiusKappa = ahRadius * ahKappa;
}
float getArtificialHorizon(float pitch)
{
return -sin(pitch)*ahRadius;
}
void drawScale(float offset, float[][] pyr)
{
float horizon;
// Ground side
horizon = getArtificialHorizon(radians(pyr[0][actualSample-1]) - offset * PI / 180);
pgArtificialHorizon.noFill();
pgArtificialHorizon.beginShape();
pgArtificialHorizon.vertex(ahRadius, 0);
pgArtificialHorizon.stroke(255);
pgArtificialHorizon.strokeWeight(2);
pgArtificialHorizon.bezierVertex(ahRadius, horizon * ahKappa, ahRadiusKappa, horizon, 0, horizon);
pgArtificialHorizon.bezierVertex( -ahRadiusKappa, horizon, -ahRadius, horizon * ahKappa, -ahRadius, 0);
pgArtificialHorizon.endShape();
// Sky side
horizon = getArtificialHorizon(radians(pyr[0][actualSample-1]) + offset * PI / 180);
pgArtificialHorizon.noFill();
pgArtificialHorizon.beginShape();
pgArtificialHorizon.vertex(ahRadius, 0);
pgArtificialHorizon.stroke(0);
pgArtificialHorizon.strokeWeight(2);
pgArtificialHorizon.bezierVertex(ahRadius, horizon * ahKappa, ahRadiusKappa, horizon, 0, horizon);
pgArtificialHorizon.bezierVertex( -ahRadiusKappa, horizon, -ahRadius, horizon * ahKappa, -ahRadius, 0);
pgArtificialHorizon.endShape();
}
void drawArtificialHorizon(int x, int y, float[][] pyr)
{
pgArtificialHorizon = createGraphics(ahWidth, ahHeight);
pgArtificialHorizonRing = createGraphics(ahWidth+20, ahHeight+20); float horizon = getArtificialHorizon(radians(pyr[0][actualSample-1]));
// pgArtificialHorizon.clear();
pgArtificialHorizon.beginDraw();
// Ground
pgArtificialHorizon.translate(ahRadius, ahRadius);
pgArtificialHorizon.rotate(radians(-pyr[1][actualSample-1]));
pgArtificialHorizon.strokeWeight(0);
pgArtificialHorizon.fill(40, 40, 40);
pgArtificialHorizon.arc(0.0, 0.0, ahDiameter, ahDiameter, 0, 2 * PI);
// Sky
pgArtificialHorizon.beginShape();
pgArtificialHorizon.fill(200, 200, 250);
pgArtificialHorizon.strokeWeight(2);
pgArtificialHorizon.stroke(255);
pgArtificialHorizon.vertex(-ahRadius, 0);
pgArtificialHorizon.bezierVertex(-ahRadius, -ahRadius-20, ahRadius, -ahRadius-20, ahRadius, 0);
pgArtificialHorizon.bezierVertex(ahRadius, horizon * ahKappa, ahRadiusKappa, horizon, 0, horizon);
pgArtificialHorizon.bezierVertex(-ahRadiusKappa, horizon, -ahRadius, horizon * ahKappa, -ahRadius, 0);
pgArtificialHorizon.endShape();
// Scale
drawScale(60, pyr);
drawScale(50, pyr);
drawScale(40, pyr);
drawScale(30, pyr);
drawScale(20, pyr);
drawScale(10, pyr);
pgArtificialHorizon.endDraw();
image(pgArtificialHorizon, x+10, y+10);
image(imgArtificialHorizon, x, y);
// Draw ring
pgArtificialHorizonRing.beginDraw();
pgArtificialHorizonRing.clear();
pgArtificialHorizonRing.translate(130,130);
pgArtificialHorizonRing.rotate(radians(pyr[1][actualSample-1]));
pgArtificialHorizonRing.image(imgArtificialHorizonRing, -130, -130);
pgArtificialHorizonRing.endDraw();
image(pgArtificialHorizonRing, x, y);
}
float getMin(float[][] chart)
{
float minValue = 0;
float[] testValues = new float[chart.length];
float testMin = 0;
for (int i = 0; i < actualSample; i++)
{
for (int j = 0; j < testValues.length; j++)
{
testValues[j] = chart[j][i];
}
testMin = min(testValues);
if (i == 0)
{
minValue = testMin;
} else
{
if (minValue > testMin) minValue = testMin;
}
}
return ceil(minValue)-1; }
float getMax(float[][] chart)
{
float maxValue = 0;
float[] testValues = new float[chart.length];
float testMax = 0;
for (int i = 0; i < actualSample; i++)
{
for (int j = 0; j < testValues.length; j++)
{
testValues[j] = chart[j][i];
}
testMax = max(testValues);
if (i == 0)
{
maxValue = testMax;
} else
{
if (maxValue < testMax) maxValue = testMax;
}
}
return ceil(maxValue); }
void draw() {
if (!hasData) return;
background(0);
drawChart("Pitch [deg]", compareSeries, pitchValues, 10, 10, 200, true, true, -90, 90, 30);
drawChart("Roll [deg]", compareSeries, rollValues, 10, 280, 200, true, true, -90, 90, 30);
drawArtificialHorizon(480, 20, pyrValues);
drawArtificialHorizon(480, 290, pyrValuesFiltered);
}
void nextSample(float[][] chart)
{
for (int j = 0; j < chart.length; j++)
{
float last = chart[j][maxSamples-1];
for (int i = 1; i < maxSamples; i++)
{
chart[j][i-1] = chart[j][i];
}
chart[j][(maxSamples-1)] = last;
}
}
void serialEvent (Serial myPort)
{
String inString = myPort.readStringUntil(10);
if (inString != null)
{
inString = trim(inString);
String[] list = split(inString, ':');
String testString = trim(list[0]);
if (list.length != 4) return;
// Fill Pitch & Roll
pyrValues[0][actualSample] = (float(list[0]));
pyrValues[1][actualSample] = (float(list[1]));
// Fill Pitch & Roll (Filtered)
pyrValuesFiltered[0][actualSample] = (float(list[2]));
pyrValuesFiltered[1][actualSample] = (float(list[3]));
// Fill Pitch compare
pitchValues[0][actualSample] = (float(list[0]));
pitchValues[1][actualSample] = (float(list[2]));
// Fill Roll compare
rollValues[0][actualSample] = (float(list[1]));
rollValues[1][actualSample] = (float(list[3]));
if (actualSample > 1)
{
hasData = true;
}
if (actualSample == (maxSamples-1))
{
nextSample(pyrValues);
nextSample(pyrValuesFiltered);
nextSample(pitchValues);
nextSample(rollValues);
} else
{
actualSample++;
}
}
}