MinIMU-9 v2 from Pololu interfacing problem with PIC

i have got code written for -lis3lv02dl sensor, from that i have changed for the sensor minIMU9v2 in order to read only accelerometer value. bu8t i do no what to replace in place of E& and 40 in main program. it is not working, also that program written to display data in PC using Bluetooth module, but i want to display in lcd. kindly do the need ful.
my code changed from actual code:

#include <18f4550.h>
#device ADC=10
#fuses HS,MCLR,NOWDT,NOPROTECT,NOLVP,USBDIV,PLL5,CPUDIV1,VREGEN
#use delay(clock=20000000)
#use rs232(baud=9600, xmit=PIN_C6, rcv=PIN_C7,stream=Rec_Dat)    /*Set USART to 9600 Baudrate */
#use I2C(master,sda=PIN_B0, scl=PIN_B1)          /*Set I2C Settings */
#define LCD_ENABLE_PIN PIN_C2
#define LCD_RS_PIN PIN_C0
#define LCD_RW_PIN PIN_C1
#define DATA_PORT  PORTD
#include <lcd.c>
//long int  n,ch0;
unsigned int i,I2c_Data[10];
int x_acc,  y_acc,  z_acc;                   //x,y,z-data_16bit
float X_out;                              //Define floating variables for results in G units
float Y_out;
float Z_out;
int read_acc(int address_out);                //reading
long acc_change(int data_H,int data_L);       //change
float convert_into_g(int16 data);           //Converts into gravity values
#define WRITE        0x32   
#define READ         0x33   
#define REG1         0x20
#define REG2         0x21
#define OUTX_L_A       0x28
#define OUTX_H_A       0x29
#define OUTY_L_A       0x2A
#define OUTY_H_A       0x2B
#define OUTZ_L_A       0x2C
#define OUTZ_H_A       0x2D
//#define LED    PIN_B2
int read_acc(int address_out)
{
int DL=0x00, DH=0x00;    
int  out = 0;
i2c_start();                //Start communication
i2c_write(WRITE);           //prepare the device to receive data
i2c_write(address_out|0x80);  //address register, autoincrement of address
i2c_start();                //
i2c_write(READ);            //Prepares the device to be read
DL=i2c_read();              //Read data LSB
DH=i2c_read(0);             //Read data MSB
i2c_stop();                //Stop  condition
//concatenating result    
out=DL|((DH&0x0F)<<8);     //Join the LSB and the MSB 
return(out);              //Returns the result
}
float  convert_into_g(int data)
{
float output;
output=(float)data;       //Converts integer data into float
if (data>=2048)         //check if the result is indicating a negative value
{
output=(output/1024)-4;  //Converts into g
}
if (data<2048)          //if the result indicates a positive value
{
output=output/1024;   //converts into g
}
return(output);               //Returns the result
}
void main()
{
//setup_adc_ports(NO_ANALOGS);  
lcd_init();

set_tris_c(0xff);
  set_tris_d(0x00);
//i2c_start();
   //i2c_write(0x6B);
//WriteData(0x30,0xFF);
i2c_start();                            //Sends a start command to the device
i2c_write(WRITE);                       //Sends a single byte preparing the device to receive data
i2c_write(REG1);                        //Indicate the device's addres to be modified   
i2c_write(0xE7);                        //11100111 = C7-->Turn on device activating all the axis, 640Hz sampling rate
i2c_stop();                             //Stop  I2C transmission

i2c_start();               //Start I2C communication

i2c_write(WRITE);          //Sends command to write data

i2c_write(REG2);           //Address the control register 2

i2c_write(0x40);           //01000001 --> 2g, no update between readings,12bits right justified

i2c_stop();                //Close trasmmision

while(true)

{
lcd_gotoxy(1,1);
    lcd_putc(" acc:");
//output_high(LED); 
x_acc = read_acc(OUTX_L_A);    //Read data for the x axis

y_acc = read_acc(OUTY_L_A);    //Read data for the y axis

z_acc = read_acc(OUTZ_L_A);    //Read data for the z axis

X_out=convert_into_g(x_acc);            //Converts binary value into g

Y_out=convert_into_g(y_acc);

Z_out=convert_into_g(z_acc);
lcd_gotoxy(2,2);
printf( lcd_putc X " %g ", X_out); //display    //send results over RS232

printf(lcd_putc  Y " %g ", Y_out); //display

printf(lcd_putc Z  "%g \n \r", Z_out); //display

delay_ms(10);                           //delay for sampling 100Hz

//output_low(LED);   

   i2c_stop();
//delay_ms(1000);
}
}

Hello and welcome to the forum. Could you please clarify what you are trying to accomplish in the program? Is it able to compile? What values are you getting?

You can refer to our sample code on using the accelerometer here. You might also find the datasheet useful.

If you still have trouble with the code, please simplify the program to the bare minimum that you expect to work but does not and post it here. Please use [ code ][ /code ] tags (without spaces) when posting your code.

-Jeremy

im trying to read accelerometer value from this sensor, but im not sure whether this code is working or not. in lcd it is not showing anything related to sensor… kindly correct this code in order to read values from sensor… if u got any working code other than arduino kindly send me.

[code]
#include <18f4550.h>
#device ADC=10
#fuses HS,MCLR,NOWDT,NOPROTECT,NOLVP,USBDIV,PLL5,CPUDIV1,VREGEN
#use delay(clock=20000000)
#use rs232(baud=9600, xmit=PIN_C6, rcv=PIN_C7,stream=Rec_Dat) /*Set USART to 9600 Baudrate */

#use I2C(master,sda=PIN_B0, scl=PIN_B1, force_hw) /*Set I2C Settings */

#define LCD_ENABLE_PIN PIN_C2
#define LCD_RS_PIN PIN_C0
#define LCD_RW_PIN PIN_C1
#define DATA_PORT PORTD
#include <lcd.c>

int x_acc, y_acc, z_acc; //x,y,z-data_16bit
float X_out; //Define floating variables for results in G units

float Y_out;

float Z_out;

#define WRITE 0x32

#define READ 0x33

#define REG1_A 0x20

#define REG2_A 0x21

#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

int read_acc(int address_out); //reading

long acc_change(int data_H,int data_L); //change

float convert_into_g(int data);

int read_acc(int address_out)

{

int DL=0x00, DH=0x00;

int out = 0;

i2c_start(); //Start communication

i2c_write(WRITE); //prepare the device to receive data

i2c_write(address_out|0x80); //address register, autoincrement of address

i2c_start(); //

i2c_write(READ); //Prepares the device to be read

DL=i2c_read(); //Read data LSB

DH=i2c_read(0); //Read data MSB

i2c_stop(); //Stop condition

//concatenating result

out=DL|((DH&0x0F)<<8); //Join the LSB and the MSB

return(out); //Returns the result

}

float convert_into_g(int data)

{

float output;

output=(float)data; //Converts integer data into float

if (data>=2048) //check if the result is indicating a negative value

{

output=(output/1024)-4; //Converts into g

}

if (data<2048) //if the result indicates a positive value

{

output=output/1024; //converts into g

}

return(output); //Returns the result

}

void main()
{
//setup_adc_ports(NO_ANALOGS);
lcd_init();

set_tris_c(0xff);
set_tris_d(0x00);

i2c_start(); //Sends a start command to the device

i2c_write(WRITE); //Sends a single byte preparing the device to receive data

i2c_write(REG1_A); //Indicate the device’s addres to be modified

i2c_write(0x19); //11100111 = C7–>Turn on device activating all the axis, 640Hz sampling rate

i2c_stop(); //Stop I2C transmission

i2c_start(); //Start I2C communication

i2c_write(WRITE); //Sends command to write data

i2c_write(REG2_A); //Address the control register 2

i2c_write(0x40); //01000001 --> 2g, no update between readings,12bits right justified

i2c_stop(); //Close trasmmision

while(true)

{
lcd_gotoxy(1,1);
lcd_putc(" acc:");
//output_high(LED);
x_acc = read_acc(OUT_X_L_A); //Read data for the x axis

y_acc = read_acc(OUT_Y_L_A); //Read data for the y axis

z_acc = read_acc(OUT_Z_L_A); //Read data for the z axis

X_out=convert_into_g(x_acc); //Converts binary value into g

Y_out=convert_into_g(y_acc);

Z_out=convert_into_g(z_acc);
lcd_gotoxy(2,2);
printf( LCD_PUTC, X_out " %g=%u ", X_out); //display //send results over RS232

printf(LCD_PUTC, Y_out " %g =%u", Y_out); //display

printf(LCD_PUTC, Z_out “%g=%u \n \r”, Z_out); //display

delay_ms(10); //delay for sampling 100Hz

i2c_stop();

}
}[/code]

We cannot verify if your code is working for you or not. You might be able to verify if your sensor is reading correctly by using a serial interface on your microcontroller. You can use the serial example in the LSM303 library for reference. Unfortunately, the only sample code for the MinIMU we have is for the Arduino.

- Jeremy

in order to read only gyro reading from this sensor how the register to be defined in the particular sensor sing i2c…

regards.