gy-85.ino

#include <Wire.h>

#define ADXL345_ADDRESS (0x53)  // ADXL345 accelerometer address
#define ITG3205_ADDRESS (0x68)  // ITG3205 gyroscope address
#define HMC5883L_ADDRESS (0x1E) // HMC5883L magnetometer address

void setup() {
  Serial.begin(9600);
  Wire.begin();

  // Initialize ADXL345
  writeTo(ADXL345_ADDRESS, 0x2D, 0); // Power register
  writeTo(ADXL345_ADDRESS, 0x2D, 16); // Measure mode

  // Initialize ITG3205
  writeTo(ITG3205_ADDRESS, 0x3E, 0); // Power register
  writeTo(ITG3205_ADDRESS, 0x15, 0x07); // Full-scale range and DLPF setting

  // Initialize HMC5883L
  writeTo(HMC5883L_ADDRESS, 0x00, 0x18); // Configuration register A
  writeTo(HMC5883L_ADDRESS, 0x01, 0x20); // Configuration register B
  writeTo(HMC5883L_ADDRESS, 0x02, 0x00); // Mode register
}

void loop() {
  // Read accelerometer data
  int16_t ax, ay, az;
  readFrom(ADXL345_ADDRESS, 0x32, 6, &ax);
  Serial.print("Accelerometer: ");
  Serial.print("X = "); Serial.print(ax); Serial.print(" | ");
  Serial.print("Y = "); Serial.print(ay); Serial.print(" | ");
  Serial.print("Z = "); Serial.println(az);

  // Read gyroscope data
  int16_t gx, gy, gz;
  readFrom(ITG3205_ADDRESS, 0x1D, 6, &gx);
  Serial.print("Gyroscope: ");
  Serial.print("X = "); Serial.print(gx); Serial.print(" | ");
  Serial.print("Y = "); Serial.print(gy); Serial.print(" | ");
  Serial.print("Z = "); Serial.println(gz);

  // Read magnetometer data
  int16_t mx, my, mz;
  readFrom(HMC5883L_ADDRESS, 0x03, 6, &mx);
  Serial.print("Magnetometer: ");
  Serial.print("X = "); Serial.print(mx); Serial.print(" | ");
  Serial.print("Y = "); Serial.print(my); Serial.print(" | ");
  Serial.print("Z = "); Serial.println(mz);

  delay(1000); // Delay for 1 second
}

void writeTo(int device, byte address, byte val) {
  Wire.beginTransmission(device);
  Wire.write(address);
  Wire.write(val);
  Wire.endTransmission();
}

void readFrom(int device, byte address, int num, int *values) {
  Wire.beginTransmission(device);
  Wire.write(address);
  Wire.endTransmission();
  
  Wire.requestFrom(device, num);

  int i = 0;
  while (Wire.available() && i < num) {
    values[i] = Wire.read() | (Wire.read() << 8);
    i++;
  }
}