m5-docs/docs/en/api/imu.md

IMU

IMU automatically call different IMU models according to different configurations

Init()

Syntax:

int Init(void);

Description：initialize IMU

Example：

#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:

void getGyroData(float *gx, float *gy, float *gz);

Description：Obtain the three-axis gyroscope data of the IMU chip.

Example：

#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:

void getAccelData(float *ax, float *ay, float *az);

Description：Obtain the three-axis accelerometer data of the IMU chip.

Example：

#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：

void getAhrsData(float *pitch, float *roll, float *yaw);

Description：Get the attitude of the IMU chip.

Example：

#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：

void getTempData(float *t);

Description：Get the temperature of the IMU chip.

Example：

#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);
}