Arduino Quick Start
2. Devices & Examples
3. M5Unified
5. Extensions & Examples
Atom DTU
Hat
Atom IMU
- Functions
Init
Description:
Initializes the attitude sensor.
Syntax:
int Init();Example:
cpp
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#include "M5Atom.h"void setup(){ M5.begin(true, true, true); //Clear the serial buffer, set the serial baud rate to 115200; initialize I2C; initialize the LED matrix.}SetGyroFsr
Description:
Sets the gyroscope sensitivity.
Syntax:
void SetGyroFsr(Gscale scale);| Parameter | Corresponding Value |
|---|---|
| GFS_250DPS | 0 |
| GFS_500DPS | 1 |
| GFS_1000DPS | 2 |
| GFS_2000DPS | 3 |
Example:
cpp
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#include <M5Atom.h> void setup(){ M5.begin(true, false, true); M5.IMU.Init();} void loop(){ M5.IMU.SetGyroFsr(M5.IMU.GFS_2000DPS); delay(100);}SetAccelFsr
Description:
Sets the accelerometer sensitivity.
Syntax:
void SetAccelFsr(Ascale scale);| Parameter | Corresponding Value |
|---|---|
| AFS_2G | 0 |
| AFS_4G | 1 |
| AFS_8G | 2 |
| AFS_16G | 3 |
Example:
cpp
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#include <M5Atom.h> void setup(){ M5.begin(true, false, true); M5.IMU.Init();} void loop(){ M5.IMU.SetAccelFsr(M5.IMU.AFS_2G); delay(100);}getAccelAdc
Description:
Reads the raw data from the accelerometer.
Syntax:
void getAccelAdc(int16_t* ax, int16_t* ay, int16_t* az);Example:
cpp
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#include "M5Atom.h" void setup(){ M5.begin(true, false, true); M5.IMU.Init();} int16_t x,y,z; void loop(){ M5.IMU.getAccelAdc(&x,&y,&z); Serial.printf("Ax:%d Ay:%d Az:%d/n",x ,y,z); delay(100);}getGyroAdc
Description:
Reads the raw data from the gyroscope.
Syntax:
void getGyroAdc(int16_t* gx, int16_t* gy, int16_t* gz);Example:
cpp
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#include "M5Atom.h" void setup(){ M5.begin(true, false, true); M5.IMU.Init();} int16_t x,y,z; void loop(){ M5.IMU.getGyroAdc(&x,&y,&z); Serial.printf("Gx:%d Gy:%d Gz:%d/n",x ,y,z); delay(100);}getTempAdc
Description:
Reads the temperature from the sensor.
Syntax:
void getTempAdc(int16_t *t);Example:
cpp
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void M5Atom::update(){ M5.Btn.read();}getAccelData
Description:
Reads the values of the three-axis accelerometer.
Syntax:
void getAccelData(float* ax, float* ay, float* az);Example:
cpp
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#include "M5Atom.h" void setup(){ M5.begin(true, false, true); M5.IMU.Init();} float accX = 0.0F;float accY = 0.0F;float accZ = 0.0F; void loop(){ M5.IMU.getAccelData(&accX,&accY,&accZ); Serial.printf("accX, accY, accZ/n"); Serial.printf("%5.2f %5.2f %5.2f G/n", accX, accY, accZ); delay(100);}getGyroData
Description:
Reads the values of the three-axis gyroscope.
Syntax:
void getGyroData(float* gx, float* gy, float* gz);Example:
cpp
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#include "M5Atom.h" void setup(){ M5.begin(true, false, true); M5.IMU.Init();} float gyroX = 0.0F;float gyroY = 0.0F;float gyroZ = 0.0F; void loop(){ M5.IMU.getGyroData(&gyroX,&gyroY,&gyroZ); Serial.printf("gyroX, gyroY, gyroZ/n"); Serial.printf("%6.2f %6.2f%6.2f o/s/n", gyroX, gyroY, gyroZ); delay(100);}getTempData
Description:
Reads the temperature from the sensor.
Syntax:
void getTempData(float *t);Example:
cpp
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#include "M5Atom.h" void setup(){ M5.begin(true, false, true); M5.IMU.Init();} float temp = 0.0F; void loop(){ M5.IMU.getTempData(&temp); Serial.printf("Temperature : %.2f C/n", temp); delay(100);}getAttitude
Description:
Reads the attitude (pitch and roll).
Syntax:
void getAttitude(double *pitch, double *roll);Example:
cpp
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#include "M5Atom.h" void setup(){ M5.begin(true, false, true); M5.IMU.Init();} double pitch, roll;double r_rand = 180 / PI; void loop(){ M5.IMU.getAttitude(&pitch, &roll); double arc = atan2(pitch, roll) * r_rand + 180; double val = sqrt(pitch * pitch + roll * roll); Serial.printf("%.2f, %.2f, %.2f, %.2f/n", pitch, roll, arc, val); //serial port output the formatted string delay(100);}getAhrsData
Description:
Reads the attitude (pitch, roll, and yaw).
Syntax:
void getAhrsData(float *pitch,float *roll,float *yaw);Example:
cpp
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#include "M5Atom.h" float pitch, roll, yaw; //Stores attitude related variables. void setup(){ M5.begin(true, false, true); M5.IMU.Init();} void loop(){ M5.IMU.getAhrsData(&pitch,&roll,&yaw); Serial.printf("pitch:%.2f, roll:%.2f, yaw:%.2f", pitch,roll,yaw); delay(100);}