The 10 DOF(degrees of the freedom) IMU sensor is a compact and low-cost IMU from DFRobot. It integrates ADXL345 accelerometer, QMC5883L magnetometer, ITG3200 gyro, BMP280 barometric sensor and temperature sensor. This sensor embeds a low noise LDO regulator for supplying a wide range of power input, and works well with a 3V-5V power supply. Certainly, it is compatible with the Arduino board.
Product Link (https://www.dfrobot.com/product-818.html)
SKU: SEN0140
This library provides a routine for the ITG3200 gyro to get the data on X, Y, and Z axis.
To use this library, first download the library file, paste it into the \Arduino\libraries directory, then open the examples folder and run the demo in the folder.
/**
* @fn begin
* @param _SRateDiv Sample rate divider
* @param _Range Gyro Full Scale Range
* @param _filterBW Digital Low Pass Filter BandWidth and SampleRate
* @param _ClockSrc Clock Source - user parameters
* @param _ITGReady enable interrupt register
* @param _INTRawDataReady enable data ready register
* @return bool type, indicate returning init status
* @retval true init succeeded
* @retval false init failed
*/
bool begin(uint8_t _SRateDiv = NOSRDIVIDER, uint8_t _Range = RANGE2000, uint8_t _filterBW = BW256_SR8, uint8_t _ClockSrc = PLL_XGYRO_REF, bool _ITGReady = true, bool _INTRawDataReady = true);
/**
* @fn setSamplerateDiv
* @brief Set the gyroscope sampling rate
* @param _SampleRate
* @n Sample rate divider: 0 to 255
* @n calculate:Fsample = Finternal / (_SampleRate+1)
* @n Finternal is 1kHz or 8kHz
*/
void setSamplerateDiv(uint8_t _SampleRate);
/**
* @fn getSamplerateDiv
* @brief Get the gyroscope sampling rate
* @return uint8_t
*/
uint8_t getSamplerateDiv(void);
/**
* @fn setIntlogicLvl
* @brief Interrupt Configuration
* @param bool
* @n ACTIVE_ONHIGH interrupt active on high
* @n ACTIVE_ONLOW interrupt active on low
*/
void setIntlogicLvl(bool _State);
/**
* @fn isIntactiveOnlow
* @brief whether the module is at low level when an interrupt is triggered
* @return bool
* @retval true interrupt active on high
* @retval false interrupt active on low
*/
bool isIntactiveOnlow(void);
/**
* @fn setIntdriveType
* @brief set interrupt pin status
* @param _State pin status
* @n OPEN_DRAIN open drain output
* @n PUSH_PULL push pull output
*/
void setIntdriveType(bool _State);
/**
* @fn isIntopenDrain
* @brief whether the interrupt pin is open drain output
* @return bool
* @retval true yes
* @retval false no
*/
bool isIntopenDrain(void);
/**
* @fn setItgready
* @brief if enable interrupt when device is ready (PLL ready after changing clock source)
* @param _State
* @n true enable
* @n false disable
*/
void setItgready(bool _State);
/**
* @fn isItgreadyOn
* @brief if the interrupt switch has been turned on
* @return true yes
* @return false no
*/
bool isItgreadyOn(void);
/**
* @fn isItgready
* @brief whether to enable or disable interrupt
* @return bool
* @retval true enable
* @retval false disable
*/
bool isItgready(void);
/**
* @fn isRawdataReady
* @brief whether the raw data has been ready
* @return bool
* @retval true yes
* @retval false no
*/
bool isRawdataReady(void);
/**
* @fn readTemp
* @brief Get board temp
* @param _Temp Save the temp
*/
void readTemp(float *_Temp);
/**
* @fn zeroCalibrate
* @brief assuming gyroscope is stationary (updates XYZ offsets)
* @param totSamples
* @param sampleDelayMS
*/
void zeroCalibrate(unsigned int totSamples, unsigned int sampleDelayMS);
/**
* @fn readGyro(float *_GyroX, float *_GyroY, float *_GyroZ)
* @brief read deg/sec calibrated & ScaleFactor
* @param _GyroX
* @param _GyroY
* @param _GyroZ
*/
void readGyro(float *_GyroX, float *_GyroY, float *_GyroZ);
/**
* @fn readGyro(float *_GyroXYZ)
* @brief read deg/sec calibrated & ScaleFactor
* @param _GyroXYZ
*/
void readGyro(float *_GyroXYZ);
/**
* @fn reset
* @brief after reset all registers have default values
*/
void reset(void);
/**
* @fn isLowpower
* @brief Check if the sensor is in low power mode
* @return bool
* @retval true yes
* @retval false no
*/
bool isLowpower(void);
/**
* @fn setPowerMode
* @brief Set power mode
* @param _State mode select
* @n NORMAL
* @n STANDBY
*/
void setPowermode(bool _State);
/**
* @fn isXgyroStandby
* @brief whether the data on the X-axis of the gyro is ready
* @return bool
* @retval true it is
* @retval false it isn't
*/
bool isXgyroStandby(void);
/**
* @fn isYgyroStandby
* @brief whether the data on the Y-axis of the gyro is ready
* @return bool
* @retval true it is
* @retval false it isn't
*/
bool isYgyroStandby(void);
/**
* @fn isZgyroStandby
* @brief whether the data on the Z-axis of the gyro is ready
* @return bool
* @retval true it is
* @retval false it isn't
*/
bool isZgyroStandby(void);
/**
* @fn setXgyroStandby
* @brief set X-axis standby mode, the data on the X-axis will not be obtained in standby mode
* @param _Status
* @n NORMAL enable
* @n STANDBY disable
*/
void setXgyroStandby(bool _Status);
/**
* @fn setYgyroStandby
* @brief set Y-axis standby mode, the data on the Y-axis will not be obtained in standby mode
* @param _Status
* @n NORMAL enable
* @n STANDBY disable
*/
void setYgyroStandby(bool _Status);
/**
* @fn setZgyroStandby
* @brief set Z-axis standby mode, the data on the Z-axis will not be obtained in standby mode
* @param _Status
* @n NORMAL enable
* @n STANDBY disable
*/
void setZgyroStandby(bool _Status);
/**
* @fn setFilterBW
* @brief set filter bandwidth
* @param _BW bandwidth
*/
void setFilterBW(uint8_t _BW);
/**
* @fn getFilterBW
* @brief get filter bandwidth
* @return uint8_t
*/
uint8_t getFilterBW(void);
/**
* @fn getFSrange
* @brief get gyroscope range
* @return uint8_t
*/
uint8_t getFSrange(void);
/**
* @fn isLatchuntilCleared
* @brief if Latch mode is latch until interrupt is cleared
* @return true latch until interrupt is cleared
* @return false 50us pulse
*/
bool isLatchuntilCleared(void);
/**
* @fn isAnyregClrmode
* @brief if Latch clear method is any register read
* @return true any register read
* @return false status register read only
*/
bool isAnyregClrmode(void);
/**
* @fn getClocksource
* @brief Get clock source
* @return uint8_t
*/
uint8_t getClocksource(void);
| MCU | Work Well | Work Wrong | Untested | Remarks |
|---|---|---|---|---|
| Arduino uno | √ | |||
| Mega2560 | √ | |||
| Leonardo | √ | |||
| ESP32 | √ | |||
| ESP8266 | √ | |||
| Micro:bit | √ |
- 2022/3/2 - 2.0.0 Version
Written by Peng Kaixing([email protected]), 2020. (Welcome to our website)