Example Code for Arduino-Read gyroscope, accelerometer and onboard temperature data
This tutorial shows how to read gyroscope, accelerometer, and onboard temperature data from the ICG-20660L in real time.
Hardware Preparation
- FireBeetle Board-M0× 1
- 6-Axis IMU Sensor × 1
- Jumper wires
Software Preparation
-
Install the Arduino IDE
Download from the official website:
https://www.arduino.cc/en/software -
Download and install the ICG-20660L library and sample code
GitHub repository:
DFRobot_ICG20660L -
If needed, refer to the official guide on how to install Arduino libraries
Arduino Library Installation Guide -
Open the getSensorData.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 getSensorData.ino
* @brief 获取传感器的陀螺仪、加速度和板载温度。
* @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 |
* ---------------------------------------------------------------------------------------------------
*
* @copyright Copyright (c) 2010 DFRobot Co.Ltd (http://www.dfrobot.com)
* @licence The MIT License (MIT)
* @author [Arya]([email protected])
* @version V1.0
* @data 2021-05-24
* @get from https://www.dfrobot.com
* @url https://github.com/DFRobot/DFRobot_ICG20660L
*/
#include "DFRobot_ICG20660L.h"
#ifdef ARDUINO_BBC_MICROBIT
#define CS_PIN 8 //The CS pin of sensor which is connected to the 8 digital io pin of micro:bit,and also can connected to other pin.
#else
#define CS_PIN 5 //The CS pin of sensor which is connected to the 5 digital io pin of MCU,and also can connected to other pin.
#endif
/**
* @brief The constructor of the ICG20660L sensor using IIC communication.
* @param addr: 7-bit IIC address, controlled by SDO pin.
* @n IIC_ADDR_SDO_H or 0x69: SDO pull high.(default)
* @n IIC_ADDR_SDO_L or 0x68: SDO pull down.
* @param pWire: TwoWire class pointer.
*/
DFRobot_ICG20660L_IIC icg(/*addr=*/IIC_ADDR_SDO_H, &Wire);
/**
* @brief The constructor of the ICG20660L sensor using SPI communication.
* @param csPin: SPI chip select pin, connected to IO pin of MCU.
* @param spi: SPIClass class pointer.
*/
//DFRobot_ICG20660L_SPI icg(/*csPin=*/CS_PIN, &SPI);
void setup() {
Serial.begin(115200);
while(!Serial){ //Waiting for USB Serial COM port to open.
}
Serial.print("Initialization sensor...");
/**
* @brief 初始化传感器，初始化后，所有传感器都被关闭，需通过enableSensor打开相应的配置.
* @param mode: Enum variable,from eDataReadMode_t,配置读取传感器数据是从FIFO还是从寄存器。
* @n eRegMode: 配置为从寄存器读取传感器数据
* @n eFIFOMode: 从512字节FIFO读取数据,注意：从FIFO读取，加速度，陀螺仪、温度必须全部使能，且将其内部采样率必须配置成一致
* @return status:
* @n 0 : Initialization sucess.
* @n -1: Interface Initialization failed(IIC or SPI).
* @n -2: 读取设备ID失败，ID不是0x91
*/
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);
/**
* @brief Enable sensor, Include Accel of xyz axis, Gyro of xyz, temperature.
* @param bit: 8位字节数据，每一位都代表使能一个功能位，如下表所示：
* @n -------------------------------------------------------------------------------------------------------------------
* @n | bit7 | bit6 | bit5 | bit4 | bit3 | bit2 | bit1 | bit0 |
* @n -------------------------------------------------------------------------------------------------------------------
* @n | reserve | reserve | eAccelAxisX | eAccelAxisY | eAccelAxisZ | eGyroAxisX | eGyroAxisY | eGyroAxisZ |
* @n | | eAccelAxisXYZ | eGyroAxisXYZ |
* @n | | eAxisAll |
* @n -------------------------------------------------------------------------------------------------------------------
* @n bit0: Z-axis of gyro and temperature.
* @n bit1: Y-axis of gyro and temperature.
* @n bit2: X-axis of gyro and temperature.
* @n bit3: Z-axis of acceleration.
* @n bit4: Z-axis of acceleration.
* @n bit5: Z-axis of acceleration.
* @n bit6: reserve.
* @n bit7: reserve.
* @n Note: 使能陀螺仪的任意轴，都会自动使能传感器板载温度传感器。
* @n eGyroAxisZ: The bit0 of the bit, enable gyro's z axis and temperature.
* @n eGyroAxisY: The bit1 of the bit, enable gyro's y axis and temperature.
* @n eGyroAxisX: The bit2 of the bit, enable gyro's X axis and temperature.
* @n eAccelAxisZ: The bit3 of the bit, enable accel's z axis.
* @n eAccelAxisY: The bit4 of the bit, enable Accel's y axis.
* @n eAccelAxisX: The bit5 of the bit, enable Accel's X axis.
* @n eGyroAxisXYZ or eGyroAxisX|eGyroAxisY|eGyroAxisZ: The bit0/bit1/bit2 of the bit, enable gyro's xyz axis and temperature.
* @n eAccelAxisXYZ or eAccelAxisX|eAccelAxisY|eAccelAxisZ: The bit3/bit4/bit5 of the bit, enable Accel's xyz axis.
* @n eAxisAll or eGyroAxisX|eGyroAxisY|eGyroAxisZ|eAccelAxisX|eAccelAxisY|eAccelAxisZ: The bit0/bit1/bit2/bit3/bit4/bit5 of the bit, enable temperature, Accel's and gyro's xyz axis.
*/
icg.enableSensor(icg.eAxisAll);
//icg.enableSensor(icg.eGyroAxisXYZ|icg.eAccelAxisXYZ);
//icg.enableSensor(icg.eGyroAxisX|icg.eGyroAxisY|icg.eGyroAxisZ|icg.eAccelAxisX|icg.eAccelAxisY|icg.eAccelAxisZ);
/**
* @brief Config of gyro's full scale 、dlpf bandwidth and internal sample rate.
* @param scale The full scale of gyro, unit: dps(Degrees per second).
* @n eFSR_G_125DPS: The full scale range is ±125 dps.
* @n eFSR_G_250DPS: The full scale range is ±250 dps.
* @n eFSR_G_500DPS: The full scale range is ±500 dps.
* @param bd Set 3-db bandwidth.
* @n eGyro_DLPF_8173_32KHZ: 当信号等于或大于8173Hz时，会出现明显衰减，衰减3-db，内部采样率为32KHz
* @n eGyro_DLPF_3281_32KHZ: 当信号等于或大于3281Hz时，会出现明显衰减，衰减3-db，内部采样率为32KHz
* @n eGyro_DLPF_250_8KHZ: 当信号等于或大于250Hz时，会出现明显衰减，衰减3-db，内部采样率为8KHz
* @n eGyro_DLPF_176_1KHZ: 当信号等于或大于176Hz时，会出现明显衰减，衰减3-db，内部采样率为1KHz
* @n eGyro_DLPF_92_1KHZ: 当信号等于或大于92Hz时，会出现明显衰减，衰减3-db，内部采样率为1KHz
* @n eGyro_DLPF_3281_8KHZ: 当信号等于或大于3281Hz时，会出现明显衰减，衰减3-db，内部采样率为8KHz
* @n 注意：当陀螺仪和加速度都使能的时候，如果通过FIFO读取传感器数据，必须保证陀螺仪和加速度的内部采样率一致
*/
icg.configGyro(/*scale=*/icg.eFSR_G_250DPS, /*bd=*/icg.eGyro_DLPF_176_1KHZ);
/**
* @brief Config of accel's full scale 、dlpf bandwidth and internal sample rate.
* @param scale The full scale of accel, unit: g(1g = 9.80665 m/s²).
* @n eFSR_A_2G: The full scale range is ±2g.
* @n eFSR_A_4G: The full scale range is ±4g.
* @n eFSR_A_8G: The full scale range is ±8g.
* @n eFSR_A_16G: The full scale range is ±16g.
* @param bd Set 3-db bandwidth.
* @n eAccel_DLPF_5_1KHZ or 0: 当信号小于或等于5Hz时，会出现明显衰减，衰减3-db，内部采样率为1KHz
* @n eAccel_DLPF_10_1KHZ or 1: 当信号小于或等于10Hz时，会出现明显衰减，衰减3-db，内部采样率为1KHz
* @n eAccel_DLPF_21_1KHZ or 2: 当信号小于或等于21Hz时，会出现明显衰减，衰减3-db，内部采样率为1KHz
* @n eAccel_DLPF_44_1KHZ or 3: 当信号小于或等于44Hz时，会出现明显衰减，衰减3-db，内部采样率为1KHz
* @n eAccel_DLPF_99_1KHZ or 4: 当信号小于或等于99Hz时，会出现明显衰减，衰减3-db，内部采样率为1KHz
* @n eAccel_DLPF_218_1KHZ or 5: 当信号小于或等于218Hz时，会出现明显衰减，衰减3-db，内部采样率为1KHz，支持低功耗模式
* @n eAccel_DLPF_420_1KHZ or 6: 当信号小于或等于420Hz时，会出现明显衰减，衰减3-db，内部采样率为1KHz，支持低功耗模式
* @n eAccel_DLPF_1046_4KHZ or 7: 当信号小于或等于1046Hz时，会出现明显衰减，衰减3-db，内部采样率为4KHz，支持低功耗模式
* @n eAccel_DLPF_55_1KHZ or 8: 当信号小于或等于55Hz时，会出现明显衰减，衰减3-db，内部采样率为1KHz，仅支持低功耗模式
* @n eAccel_DLPF_110_1KHZ or 9: 当信号小于或等于110Hz时，会出现明显衰减，衰减3-db，内部采样率为1KHz，仅支持低功耗模式
* @n 注意：当陀螺仪和加速度都使能的时候，如果通过FIFO读取传感器数据，必须保证陀螺仪和加速度的内部采样率一致
* @param odr: Sets the frequency of waking up the chip to take a sample of accel data – the low power accel Output Data Rate.
* @n eODR_125Hz or 9: The low power accel Output Data Rate: 125Hz
* @n eODR_250Hz or 10: The low power accel Output Data Rate: 250Hz
* @n eODR_500Hz or 11: The low power accel Output Data Rate: 500Hz
* @param lowPowerFlag: Whether to configure the Acceleration to low power mode.
* @n true: Enter low power mode.
* @n false: Not configure the Acceleration to low power mode.(default)
*/
icg.configAccel(/*scale=*/icg.eFSR_A_16G, /*bd=*/icg.eAccel_DLPF_218_1KHZ);
/**
* @brief Set sample rate divider.
* @param div Sample rate divider, the range is 0~255.
* @n 采样率 = 内部采样率/(div+1)
* @n Note: 如果加速度配置为低功耗模式，即configAccel函数的形参lowPowerFlag为true，则采样率必须和configAccel的形参odr输出率相匹配，如下表所示：
* @n ----------------------------------------------------------------------------
* @n | configAccel | setSampleDiv |
* @n ----------------------------------------------------------------------------|
* @n | bd | odr | lowPowerFlag | div |
* @n ----------------------------------------------------------------------------|
* @n | X | X | false | 0~255 |
* @n ----------------------------------------------------------------------------|
* @n | | eODR_125Hz | true | 7 |
* @n | |-----------------------------------------------|
* @n | 支持低功耗模式的bd | eODR_250Hz | true | 3 |
* @n | |-----------------------------------------------|
* @n | | eODR_500Hz | true | 1 |
* @n |---------------------------------------------------------------------------|
*/
icg.setSampleDiv(19);
}
#define printAxisData(sAxis, str) \
Serial.print(" x: "); \
Serial.print(sAxis.x); \
Serial.print(str); \
Serial.print(" \ty: "); \
Serial.print(sAxis.y); \
Serial.print(str); \
Serial.print(" \tz: "); \
Serial.print(sAxis.z);\
Serial.println(str);
void loop() {
sIcg20660SensorData_t gyro, accel;
float t;
/**
* @brief Get Sensor's accel, gyro and temperature data.
* @param accel: sIcg20660SensorData_t structure pointer which point to accel or NULL.
* @param gyro: sIcg20660SensorData_t structure pointer which point to gyro or NULL.
* @param t: A float pointer which point to temperature or NULL.
*/
icg.getSensorData(&accel, &gyro, &t);
Serial.print("Accel: ");printAxisData(accel, " g");
Serial.print("Gyro: ");printAxisData(gyro, "dps");
Serial.print("Temperature: ");Serial.print(t);Serial.println(" C");
Serial.println();
delay(1000);
}
Result
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