Example Code for Arduino-Read the x, y, z data of accelerometer

Hardware Preparation

• FireBeetle Board-M0× 1
• 6-Axis IMU Sensor × 1
• Jumper wires

Software Preparation

1. Install the Arduino IDE
   Download from the official website:
   https://www.arduino.cc/en/software

2. Download and install the ICG-20660L library and sample code
   GitHub repository:
   DFRobot_ICG20660L

3. If needed, refer to the official guide on how to install Arduino libraries
   Arduino Library Installation Guide

4. Open the getAccelData.ino example file from the downloaded library.

Wiring Diagram

Please connect the sensor to the M0 (or other mainboards) according to the wiring diagram.

Sample Code

/*!
 * @file getAccelData.ino
 * @brief 获取传感器的加速度数据，仅适用于寄存器模式（此demo不支持FIFO读取模式）。
 *
 * @n connected table in SPI
 * -----------------------------------------------------------------------------------------------------
 *  sensor pin  |            MCU                  | ESP32 | ESP8266 |    M0   | micro:bit | Mega2560 |
 *    FSY       | not connected, floating         |   X   |    X    |    X    |     X     |     X    |
 *    INT       | not connected, floating         |   X   |    X    |    X    |     X     |     X    |
 *    CS        | connected to the IO pin of MCU  | 5/D8  |  5/D6   |    5    |     P8    |     5    |
 *    SDO       | connected to miso of mcu'spi    |19/MISO|  MISO   |  MISO   |  P14/MISO |  50/MISO |
 *    SDI       | connected to mosi of mcu'spi    |23/MOSI|  MOSI   |  MOSI   |  P15/MOSI |  51/MOSI |
 *    SCK       | connected to sck of mcu'spi     |18/SCK |  SCK    |  SCK    |  P13/SCK  |  52/SCK  |
 *    GND       | GND                             |  GND  |   GND   |   GND   |    GND    |    GND   |
 *    3V3/VCC   | 3V3/VCC                         |  3V3  |   3V3   |   3V3   |    3V3    |    5V    |
 * -----------------------------------------------------------------------------------------------------
 *
 * @n connected table in IIC
 * ---------------------------------------------------------------------------------------------------
 * sensor pin |            MCU                    | ESP32 | ESP8266 |    M0   | micro:bit | Mega2560 |
 *    FSY     | not connected, floating           |   X   |    X    |    X    |     X     |     X    |
 *    INT     | not connected, floating           |   X   |    X    |    X    |     X     |     X    |
 *    SDA     | connected to SDA of mcu'iic       | 21/SDA|   SDA   |   SDA   |  P20/SDA  |  20/SDA  |
 *    SCL     | connected to scl of mcu'iic       | 22/SCL|   SCL   |   SCL   |  P19/SCL  |  21/SCL  |
 *    GND     | GND                               |  GND  |   GND   |   GND   |    GND    |    GND   |
 *    3V3/VCC | 3V3/VCC                           |  3V3  |   3V3   |   3V3   |    3V3    |    5V    |
 * ---------------------------------------------------------------------------------------------------
 */

#include "DFRobot_ICG20660L.h"

#ifdef ARDUINO_BBC_MICROBIT
#define CS_PIN      8
#else
#define CS_PIN      5
#endif

DFRobot_ICG20660L_IIC icg(/*addr=*/IIC_ADDR_SDO_H, &Wire);
// DFRobot_ICG20660L_SPI icg(/*csPin=*/CS_PIN, &SPI);

float G = 9.80665; // 1G = 9.80665 m/s²

void setup() {
  Serial.begin(115200);
  while(!Serial){}

  Serial.print("Initialization sensor...");
  while(icg.begin(/*mode=*/icg.eRegMode) != 0){
      Serial.println("failed. Please check whether the hardware connection is wrong.");
      delay(1000);
      Serial.print("Initialization sensor...");
  }
  Serial.println("done.");

  Serial.print("ICG20660L Device ID: 0x");
  Serial.println(icg.readID(), HEX);

  icg.enableSensor(icg.eAccelAxisXYZ);
  icg.configAccel(icg.eFSR_A_16G, icg.eAccel_DLPF_99_1KHZ);
  icg.setSampleDiv(19);
}

void loop() {
  float x, y, z;
  sIcg20660SensorData_t accel;

  accel.x = icg.getAccelDataX();
  accel.y = icg.getAccelDataY();
  accel.z = icg.getAccelDataZ();

  Serial.print("Accel: unit(g) ");
  Serial.print("x: ");Serial.print(accel.x);
  Serial.print(",\ty: ");Serial.print(accel.y);
  Serial.print(",\tz: ");Serial.println(accel.z);

  Serial.print("Accel: unit(m/s2)");
  Serial.print("x: ");Serial.print(accel.x*G);
  Serial.print(",\ty: ");Serial.print(accel.y*G);
  Serial.print(",\tz: ");Serial.println(accel.z*G);

  Serial.println();
  delay(1000);
}

Result