Create imu.md

docs/zh_CN/api/imu.md

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+# IMU
+
+*IMU根据主机配置不同自动调用不同的IMU型号*
+
+## Init()
+
+**函数原型：**
+
+<mark>int Init(void);</mark>
+
+**功能：初始化 IMU 芯片。**
+
+**例程：**
+```arduino
+#include <M5StickC.h>
+
+void setup() {
+  M5.begin();
+  int x = M5.IMU.Init(); //return 0 is ok, return -1 is unknow
+  Serial.println(x); 
+}
+void loop() {}
+```
+
+## getGyroData()
+
+**函数原型：**
+
+<mark>void getGyroData(float *gx, float *gy, float *gz);</mark>
+
+**功能：获取 IMU 芯片的三轴陀螺仪数据。**
+
+**例程：**
+```arduino
+#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()
+
+**函数原型：**
+
+<mark>void getAccelData(float *ax, float *ay, float *az);</mark>
+
+**功能：获取 IMU 芯片的三轴加速度计数据。**
+
+**例程：**
+```arduino
+#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()
+
+**函数原型：**
+
+<mark>void getAccelData(float *pitch, float *roll, float *yaw);</mark>
+
+**功能：获取 IMU 芯片的姿态。**
+
+**例程：**
+```arduino
+#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()
+
+**函数原型：**
+
+<mark>void getTempData(float *t);</mark>
+
+**功能：获取 IMU 芯片的温度。**
+
+**例程：**
+```arduino
+#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);
+}
+```