https://github.com/aler9/sensor-imu

C library to interact with various IMUs (MPU6000, MPU6050, MPU6500, ICM20600, ICM20601, ICM2062)
https://github.com/aler9/sensor-imu

icm20600 icm20601 icm20602 imu mpu6000 mpu6050 mpu6500 raspberry-pi

Last synced: 3 months ago
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C library to interact with various IMUs (MPU6000, MPU6050, MPU6500, ICM20600, ICM20601, ICM2062)

• Host: GitHub
• URL: https://github.com/aler9/sensor-imu
• Owner: aler9
• License: mit
• Created: 2019-09-18T12:35:09.000Z (over 5 years ago)
• Default Branch: main
• Last Pushed: 2024-08-17T12:09:59.000Z (5 months ago)
• Last Synced: 2024-10-06T05:06:23.737Z (4 months ago)
• Topics: icm20600, icm20601, icm20602, imu, mpu6000, mpu6050, mpu6500, raspberry-pi
• Language: C
• Homepage:
• Size: 41 KB
• Stars: 20
• Watchers: 4
• Forks: 10
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        

# sensor-imu

[![Lint](https://github.com/aler9/sensor-imu/workflows/lint/badge.svg)](https://github.com/aler9/sensor-imu/actions?query=workflow:lint)

[![Test](https://github.com/aler9/sensor-imu/workflows/test/badge.svg)](https://github.com/aler9/sensor-imu/actions?query=workflow:test)

C library to interact with various IMUs (MPU6000, MPU6050, MPU6500, ICM20600, ICM20601, ICM2062). It was written for the **[raspberry-imu-viewer](https://github.com/aler9/raspberry-imu-viewer)** project, an orientation viewer in 3D for the Raspberry Pi, where you can also find a working example on how to use this library.

Features:

* works with Raspberry Pi / Linux and probably with almost every single-board computer equipped with I2C

* IMU model and address are autodetected during initialization

* sampling rate can reach 1khz (when I2C speed is 400khz)

* orientation estimation algorithms are available in folder `/orientation`

## Installation

1. On the Raspberry Pi, enable I2C and set speed to 400khz: edit `/boot/config.txt` and add:

   ```

   dtparam=i2c_arm=on

   dtparam=i2c_arm_baudrate=400000

   ```

   then edit `/etc/modules` and add

   ```

   i2c-dev

   ```

   then reboot the system.

2. Install the dependencies:

   ```

   sudo apt install -y git make gcc libc6-dev libi2c-dev

   ```

3. Clone this repository:

   ```

   git clone https://github.com/aler9/sensor-imu

   ```

4. Create a sample source file named `main.c`:

   ```c

   #include 

   #include 

   #include "sensor-imu/imu.h"

   int main() {

       imut *imu;

       error *err = imu_init(&imu, "/dev/i2c-1", IMU_ACC_RANGE_2G, IMU_GYRO_RANGE_250DPS);

       if(err != NULL) {

           printf("ERR: %s\n", err);

           return -1;

       }

       imu_output io;

       err = imu_read(imu, &io);

       if(err != NULL) {

           printf("ERR: %s\n", err);

           return -1;

       }

       printf("gyro x,y,z: %f, %f, %f\n", io.gyro.x, io.gyro.y, io.gyro.z);

       printf("acc x,y,z: %f, %f, %f\n", io.acc.x, io.acc.y, io.acc.z);

       return 0;

   }

   ```

5. Build:

   ```

   gcc -o main sensor-imu/*.c main.c

   ```

6. Launch:

   ```

   ./main

   ```

## API Documentation

```error *imu_init(imut **pobj, const char *path, imu_acc_range acc_range, imu_gyro_range gyro_range)```

Creates an IMU reader. Arguments a pointer to an empty `imut*` object, the path to the I2C device, the accelerometer range and the gyroscope range. It returns `NULL` in case of success, otherwise returns an error.

```void imu_destroy(imut *obj)```

Destroys an IMU reader.

```error *imu_read(imut *obj, imu_output *out)```

Performs a measurement. Returns an `imu_output` that contains the measurements.

Accelerometer measurements are expressed in [g], while gyroscope measurements are expressed in [deg/s]

## Links

* [raspberry-imu-viewer](https://github.com/aler9/raspberry-imu-viewer)