https://github.com/okalachev/flixperiph
Arduino drivers for the Flix drone peripherals: MPU-9250/MPU-6500, ICM-20948, SBUS receiver
https://github.com/okalachev/flixperiph
arduino autopilot drone icm20948 mpu6500 mpu9250 quadcopter sbus uav
Last synced: about 1 month ago
JSON representation
Arduino drivers for the Flix drone peripherals: MPU-9250/MPU-6500, ICM-20948, SBUS receiver
- Host: GitHub
- URL: https://github.com/okalachev/flixperiph
- Owner: okalachev
- License: other
- Created: 2024-03-13T01:19:10.000Z (about 1 year ago)
- Default Branch: master
- Last Pushed: 2025-02-13T06:24:55.000Z (2 months ago)
- Last Synced: 2025-02-13T07:28:06.690Z (2 months ago)
- Topics: arduino, autopilot, drone, icm20948, mpu6500, mpu9250, quadcopter, sbus, uav
- Language: C++
- Homepage: https://github.com/okalachev/flix
- Size: 194 KB
- Stars: 4
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# Arduino drivers for the Flix drone peripherals
This library contains Arduino drivers for the peripherals used in the [Flix drone](https://github.com/okalachev/flix) project.
Based on:
* [Bolder Flight InvenSense-IMU library](https://github.com/bolderflight/invensense-imu). Original author: Brian Taylor ([email protected]).
* [Bolder Flight SBUS library](https://github.com/bolderflight/sbus). Original author: Brian Taylor ([email protected]).
* [ICM20948_WE Arduino library](https://github.com/wollewald/ICM20948_WE/). Original author: Wolfgang Ewald ([email protected]).
## IMU
### MPU-9250/MPU-6500
Example for SPI-connected IMU:
```cpp
#include
#include
MPU9250 IMU(SPI); // no need to specify CS pin, the default pin is used automatically
void setup() {
IMU.begin();
}
void loop() {
float gx, gy, gz, ax, ay, az, mx, my, mz;
IMU.waitForData(); // blockingly read the data, use IMU.read() for non-blocking read
IMU.getGyro(gx, gy, gz);
IMU.getAccel(ax, ay, az);
IMU.getMag(mx, my, mz);
// Process the data...
}
```
The library will detect IMU type (MPU-9250 or MPU-6500) automatically. You can use the `whoAmI()` method to check the IMU type:
```cpp
if (IMU.whoAmI() == IMU.WHOAMI_MPU6500) {
// MPU6500 detected
} else {
// MPU9250 detected
}
```
Notice, that MPU6500 does not include a magnetometer, so magnetometer data will be always zero.
You can also use `` header and `MPU6500` class, which is an alias for `MPU9250` class.
#### I²C
In case of using I²C connection (not recommended), the initialization would look like this:
```cpp
#include
#include
MPU9250 IMU(Wire); // the default address is used automatically
void setup() {
Wire.begin();
Wire.setClock(400000); // 400 kHz I²C clock
IMU.begin();
}
```
### ICM-20948
The ICM-20948 IMU driver has the same interface. Only the declaration is changed in the example above:
```cpp
#include
ICM20948 IMU(SPI);
```
### IMU axes orientation
Orientation of the IMU axes (including magnetometer) on various boards:
|GY-91|MPU-9265|ICM-20948|
|-|-|-|
|
|
|
|
### Connection
Connecting GY-91 board to ESP32 using VSPI:
* 3V3 → 3V3
* GND → GND
* SCL → IO18
* SDA (MOSI) → IO23
* SAO (MISO) → IO19
* NCS → IO5
Connecting MPU-92.65 board to ESP32 using VSPI:
* VCC → 3V3
* GND → GND
* SCL → IO18
* SDA (MOSI) → IO23
* AD0 (MISO) → IO19
* NCS → IO5
Connecting ICM-20948 board to ESP32 using VSPI:
* VCC → 3V3
* GND → GND
* SCL → IO18
* SDA (MOSI) → IO23
* NCS → IO5
* AD0 (MISO) → IO19
### Logging
By default, the library logs some of the errors to the serial output. On ESP32, the default serial port is determined by the Core Debug Output mechanism, thus can be changed using `setDebugOutput` method:
```cpp
Serial2.setDebugOutput(true); // all the debug output will now be sent to Serial2
```
On platforms other than ESP32, the default output port is *Serial*. On all platforms the debug output can be changed using `setLogOutput` method:
```cpp
IMU.setLogOutput(Serial2);
```
The debug output can be disabled using `setVerbosity` method:
```cpp
IMU.setVerbosity(false); // disable debug output
```
## SBUS
Example for SBUS receiver, connected to Serial2:
```cpp
#include
SBUS RC(Serial2, true); // Using Serial2, software inversion enabled
void setup() {
Serial.begin(115200);
RC.begin();
}
void loop() {
if (!RC.read()) return;
SBUSData data = RC.data();
for (int i = 0; i < data.NUM_CH; i++) {
Serial.print(data.ch[i]);
Serial.print(" ");
}
}
```
### Connection
Connecting SBUS receiver to ESP32:
* VIN → 3V3
* GND → GND
* SIGNAL → IO16 (RX2)