https://github.com/stm32duino/ism330dhcx
Arduino library to support the ISM330DHCX 3D accelerometer and 3D gyroscope
https://github.com/stm32duino/ism330dhcx
Last synced: 4 months ago
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Arduino library to support the ISM330DHCX 3D accelerometer and 3D gyroscope
- Host: GitHub
- URL: https://github.com/stm32duino/ism330dhcx
- Owner: stm32duino
- License: bsd-3-clause
- Created: 2020-10-01T08:31:05.000Z (over 4 years ago)
- Default Branch: main
- Last Pushed: 2022-11-23T16:42:50.000Z (over 2 years ago)
- Last Synced: 2023-02-26T16:01:13.553Z (about 2 years ago)
- Language: C
- Size: 150 KB
- Stars: 5
- Watchers: 3
- Forks: 6
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# ISM330DHCX
Arduino library to support the ISM330DHCX 3D accelerometer and 3D gyroscope
## API
This sensor uses I2C or SPI to communicate.
For I2C it is then required to create a TwoWire interface before accessing to the sensors:
TwoWire dev_i2c(I2C_SDA, I2C_SCL);
dev_i2c.begin();
For SPI it is then required to create a SPI interface before accessing to the sensors:
SPIClass dev_spi(SPI_MOSI, SPI_MISO, SPI_SCK);
dev_spi.begin();
An instance can be created and enabled when the I2C bus is used following the procedure below:
ISM330DHCXSensor AccGyr(&dev_i2c);
AccGyr.begin();
AccGyr.ACC_Enable();
AccGyr.GYRO_Enable();
An instance can be created and enabled when the SPI bus is used following the procedure below:
ISM330DHCXSensor AccGyr(&dev_spi, CS_PIN);
AccGyr.begin();
AccGyr.ACC_Enable();
AccGyr.GYRO_Enable();
The access to the sensor value is done as explained below:
Read accelerometer and gyroscope.
int32_t accelerometer[3];
int32_t gyroscope[3];
AccGyr.ACC_GetAxes(accelerometer);
AccGyr.GYRO_GetAxes(gyroscope);
## Units
All the MEMS drivers in stm32duino repositories have the same units when returning physical (scaled) values:
- mg for accelerometer (thousandth of g, 1g is 9.81 m/s^2)
- mdps for gyroscope (thousandth of degree/s)
- mgauss for magnetometer (thousandth of gauss)
Readings can be obtained either as raw (unscaled) ```uint16_t``` values from the ```XXX_GetAxesRaw``` functions, or as physical (scaled) ```uint32_t``` values from the ```XXX_GetAxes``` functions, where ```XXX``` is either ```ACC``` or ```GYRO```. The factor to use for scaling from a raw to a physical value is obtained from the ```XXX_GetSensitivity``` functions.
For example, to convert the raw acceleration reading to float m/s^2, the following can be done:
```cpp
int16_t acc_raw[3];
float acc_ms2[3];
float acc_sensitivity;
AccGyr.ACC_GetAxesRaw(acc_raw);
AccGyr.ACC_GetSensitivity(&acc_sensitivity);
acc_ms2[0] = ((float)acc_raw[0] * acc_sensitivity) / 1000.0f * 9.81f;
acc_ms2[1] = ((float)acc_raw[1] * acc_sensitivity) / 1000.0f * 9.81f;
acc_ms2[2] = ((float)acc_raw[2] * acc_sensitivity) / 1000.0f * 9.81f;
```
## Documentation
You can find the source files at
https://github.com/stm32duino/ISM330DHCX
The ISM330DHCX datasheet is available at
https://www.st.com/en/mems-and-sensors/ism330dhcx.html