IMU

IMU根据主机配置不同自动调用不同的IMU型号

Init()

功能说明:

初始化 IMU 芯片

函数原型:

int Init(void)

案例程序:

#include <M5StickC.h>

void setup() {
  M5.begin();
  int x = M5.IMU.Init(); //return 0 is ok, return -1 is unknow. 返回值为0则初始化成功
  Serial.println(x);
}
void loop() {
}

getGyroData()

功能说明:

获取 IMU 芯片的三轴陀螺仪数据

函数原型:

void getGyroData(float *gx, float *gy, float *gz)

案例程序:

#include <M5StickC.h>

float gyroX, gyroY, gyroZ;

void setup() {
  M5.begin();
  M5.IMU.Init();
}

void loop() {
  M5.IMU.getGyroData(&gyroX, &gyroY, &gyroZ);
  M5.Lcd.setCursor(0, 30);
  M5.Lcd.printf("X:%7.2f/nY:%7.2f/nZ:%7.2f ", gyroX, gyroY, gyroZ);
  delay(500);
}

getAccelData()

功能说明:

获取 IMU 芯片的三轴加速度计数据

函数原型:

void getAccelData(float *ax, float *ay, float *az)

案例程序:

#include <M5StickC.h>

float accX, accY, accZ;

void setup() {
  M5.begin();
  M5.IMU.Init();
}
void loop() {
  M5.IMU.getAccelData(&accX, &accY, &accZ);
  M5.Lcd.setCursor(0, 45);
  M5.Lcd.printf("X:%5.2f/nY:%5.2f/nZ:%5.2f ", accX, accY, accZ);
  delay(500);
}

getAhrsData()

功能说明:

获取 IMU 芯片的姿态

函数原型:

void getAccelData(float *pitch, float *roll, float *yaw)

案例程序:

#include <M5StickC.h>

float pitch, roll, yaw;

void setup() {
  M5.begin();
  M5.IMU.Init();
}
void loop() {
  M5.IMU.getAhrsData(&pitch, &roll, &yaw);
  M5.Lcd.setCursor(0, 45);
  M5.Lcd.printf("X:%5.2f/nY:%5.2f/nZ:%5.2f ", pitch, roll, yaw);
  delay(500);
}

getTempData()

功能说明:

获取 IMU 芯片的温度

函数原型:

void getTempData(float *t)

案例程序:

#include <M5StickC.h>

float temp;

void setup() {
  M5.begin();
  M5.IMU.Init();
}
void loop() {
  M5.IMU.getTempData(&temp);
  M5.Lcd.setCursor(0, 45);
  M5.Lcd.printf("Temperature : %.2f C", temp);
  delay(500);
}