// I2C device class (I2Cdev) demonstration Arduino sketch for L3G4200D class
// 7/31/2013 by Jonathan Arnett <j3rn@j3rn.com>
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
//
// Changelog:
// 2011-07-31 - initial release
/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2011 Jonathan Arnett, 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 L3G4200D 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 "L3G4200D.h"
// default address is 105
// specific I2C address may be passed here
L3G4200D gyro;
int16_t avx, avy, avz;
#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...");
gyro.initialize();
// verify connection
Serial.println("Testing device connections...");
Serial.println(gyro.testConnection() ? "L3G4200D connection successful" : "L3G4200D connection failed");
// configure LED for output
pinMode(LED_PIN, OUTPUT);
// data seems to be best when full scale is 2000
gyro.setFullScale(2000);
}
void loop() {
// read raw angular velocity measurements from device
gyro.getAngularVelocity(&avx, &avy, &avz);
Serial.print("angular velocity:\t");
Serial.print(avx); Serial.print("\t");
Serial.print(avy); Serial.print("\t");
Serial.println(avz);
// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
delay(1000);
}

#include <Wire.h>
#define CTRL_REG1 0x20
#define CTRL_REG2 0x21
#define CTRL_REG3 0x22
#define CTRL_REG4 0x23
#define CTRL_REG5 0x24
// I2C address of the L3G4200D.
// Use I2C scanner to find this value!
int L3G4200D_Address = 0x69;
// Can fine-tune this if you need to
float DPS_MULT = 0.0000085;
// Delta angles (raw input from gyro)
int x = 0;
int y = 0;
int z = 0;
// Actual angles
float angX = 0;
float angY = 0;
float angZ = 0;
// Previous angles for calculation
float p_angX = 0;
float p_angY = 0;
float p_angZ = 0;
// Calibration values
int gyroLowX = 0;
int gyroLowY = 0;
int gyroLowZ = 0;
int gyroHighX = 0;
int gyroHighY = 0;
int gyroHighZ = 0;
// Used for calculating delta time
unsigned long pastMicros = 0;
void setup()
{
Wire.begin();
Serial.begin(9600);
Serial.println("Starting up L3G4200D");
setupL3G4200D(250); // Configure L3G4200 - 250, 500 or 2000 deg/sec
delay(1000); // wait for the sensor to be ready 
calibrate();
attachInterrupt(0, updateAngle, RISING);
pastMicros = micros();
}
void loop()
{
getGyroValues();
// Calculate delta time
float dt;
if(micros() > pastMicros) //micros() overflows every ~70 minutes
dt = (float) (micros()-pastMicros)/1000000.0;
else
dt = (float) ((4294967295-pastMicros)+micros())/1000000.0;
// Calculate angles
if(x >= gyroHighX || x <= gyroLowX) {
angX += ((p_angX + (x * DPS_MULT))/2) * dt;
p_angX = x * DPS_MULT;
} else {
p_angX = 0;
}
if(y >= gyroHighY || y <= gyroLowY) {
angY += ((p_angY + (y * DPS_MULT))/2) * dt;
p_angY = y * DPS_MULT;
} else {
p_angY = 0;
}
if(z >= gyroHighZ || z <= gyroLowZ) {
angZ += ((p_angZ + (z * DPS_MULT))/2) * dt;
p_angZ = z * DPS_MULT;
} else {
p_angZ = 0;
}
pastMicros = micros();
sendJson();
delay(10);
}
void updateAngle()
{
getGyroValues();
}
void calibrate()
{
Serial.println("Calibrating gyro, don't move!");
for(int i = 0; i < 200; i++) {
getGyroValues();
if(x > gyroHighX)
gyroHighX = x;
else if(x < gyroLowX)
gyroLowX = x;
if(y > gyroHighY)
gyroHighY = y;
else if(y < gyroLowY)
gyroLowY = y;
if(z > gyroHighZ)
gyroHighZ = z;
else if(z < gyroLowZ)
gyroLowZ = z;
delay(10);
}
Serial.println("Calibration complete.");
}
// Print angles to Serial (for use in Processing, for example)
void sendJson() {
char json[40];
sprintf(json, "{\"x\":%d,\"y\":%d,\"z\":%d}", (int)(angX*1000), (int)(angY*1000), (int)(angZ*1000));
Serial.println(json);
}
void getGyroValues() {
byte xMSB = readRegister(L3G4200D_Address, 0x29);
byte xLSB = readRegister(L3G4200D_Address, 0x28);
x = ((xMSB << 8) | xLSB);
byte yMSB = readRegister(L3G4200D_Address, 0x2B);
byte yLSB = readRegister(L3G4200D_Address, 0x2A);
y = ((yMSB << 8) | yLSB);
byte zMSB = readRegister(L3G4200D_Address, 0x2D);
byte zLSB = readRegister(L3G4200D_Address, 0x2C);
z = ((zMSB << 8) | zLSB);
}
int setupL3G4200D(int scale) {
//From Jim Lindblom of Sparkfun's code
// Enable x, y, z and turn off power down:
writeRegister(L3G4200D_Address, CTRL_REG1, 0b00001111);
// If you'd like to adjust/use the HPF, you can edit the line below to configure CTRL_REG2:
writeRegister(L3G4200D_Address, CTRL_REG2, 0b00000000);
// Configure CTRL_REG3 to generate data ready interrupt on INT2
// No interrupts used on INT1, if you'd like to configure INT1
// or INT2 otherwise, consult the datasheet:
writeRegister(L3G4200D_Address, CTRL_REG3, 0b00001000);
// CTRL_REG4 controls the full-scale range, among other things:
if(scale == 250) {
writeRegister(L3G4200D_Address, CTRL_REG4, 0b00000000);
} else if(scale == 500) {
writeRegister(L3G4200D_Address, CTRL_REG4, 0b00010000);
} else {
writeRegister(L3G4200D_Address, CTRL_REG4, 0b00110000);
}
// CTRL_REG5 controls high-pass filtering of outputs, use it
// if you'd like:
writeRegister(L3G4200D_Address, CTRL_REG5, 0b00000000);
}
void writeRegister(int deviceAddress, byte address, byte val)
{
Wire.beginTransmission(deviceAddress); // start transmission to device 
Wire.write(address); // send register address
Wire.write(val); // send value to write
Wire.endTransmission(); // end transmission
}
int readRegister(int deviceAddress, byte address)
{
int v;
Wire.beginTransmission(deviceAddress);
Wire.write(address); // register to read
Wire.endTransmission();
Wire.requestFrom(deviceAddress, 1); // read a byte
while(!Wire.available()) {
// waiting
}
v = Wire.read();
return v;
}

// import org.json.JSONObject;
import processing.serial.*;
JSONObject json;
Serial myPort;
boolean ready = false;
int x = 0;
int y = 0;
int z = 0;
void setup()
{
size(600, 600, P3D);
println(Serial.list()); myPort = new Serial(this, Serial.list()[0], 9600); myPort.bufferUntil(10);
}
void draw()
{
lights();
background(0);
if(ready) {
fill(255);
textSize(16);
text("X: " + x, 10, 20);
text("Y: " + y, 10, 40);
text("Z: " + z, 10, 60);
pushMatrix();
fill(255, 0, 0);
translate(width/2, height/2, 0);
rotateX(radians(-x));
rotateY(radians(z));
rotateZ(radians(y));
box(200);
popMatrix();
} else {
fill(255);
textSize(20);
text("Calibrating, don't move...", 10, 80);
}
}
void serialEvent(Serial port)
{
String str = port.readString(); str = str.substring(0, str.length() - 1);
println(str);
if(str.charAt(0) == '{') {
ready = true; str = str.substring(1, str.length() - 2);
// println("str=" + str);
String[] ar = splitTokens(str, ":,");
x = Integer.parseInt(ar[1]);
y = Integer.parseInt(ar[3]);
z = Integer.parseInt(ar[5]);
} else {
ready = false;
println(str);
} }