From ebe343ae7edf8479918f5a620bcb347164eec287 Mon Sep 17 00:00:00 2001
From: vany5921 <908744431@qq.com>
Date: Tue, 7 Jul 2020 16:46:00 +0800
Subject: [PATCH] Create imu.md

---
 docs/en/api/imu.md | 127 +++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 127 insertions(+)
 create mode 100644 docs/en/api/imu.md

diff --git a/docs/en/api/imu.md b/docs/en/api/imu.md
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+# IMU
+
+*IMU automatically call different IMU models according to different configurations*
+
+## Init()
+
+**Syntax:**
+
+<mark>int Init(void);</mark>
+
+**Description：initialize IMU**
+
+**Example：**
+```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()
+
+**Syntax:**
+
+<mark>void getGyroData(float *gx, float *gy, float *gz);</mark>
+
+**Description：Obtain the three-axis gyroscope data of the IMU chip.**
+
+**Example：**
+```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()
+
+**Syntax:**
+
+<mark>void getAccelData(float *ax, float *ay, float *az);</mark>
+
+**Description：Obtain the three-axis accelerometer data of the IMU chip.**
+
+**Example：**
+```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()
+
+**Syntax：**
+
+<mark>void getAhrsData(float *pitch, float *roll, float *yaw);</mark>
+
+**Description：Get the attitude of the IMU chip.**
+
+**Example：**
+```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()
+
+**Syntax：**
+
+<mark>void getTempData(float *t);</mark>
+
+**Description：Get the temperature of the IMU chip.**
+
+**Example：**
+```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);
+}
+```
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