Example Code for Arduino-Reading Data via I2C

Hardware Preparation

• DFR1222 FireBeetle 2 ESP32-C5 ×1
• SEN0692 Gravity: 6 DOF IMU Sensor ×1

Software Preparation

• Download and install Arduino IDE: Download Arduino IDE
• Download and install the DFRobot_Multi_DOF_IMU library: Download DFRobot_Multi_DOF_IMU Library
• Download and install the DFRobot_RTU library: Download DFRobot_RTU Library
• Library Installation Guide: View Installation Guide

Wiring Diagram

Connect the 6 DOF IMU sensor to the ESP32-C5 as shown in the diagram, with the core pin correspondences as follows:

• Sensor pin "+" → ESP32-C5 3.3V
• Sensor pin "-" → ESP32-C5 GND
• Sensor I2C pin "SCL" → ESP32-C5 SCL (GPIO10)
• Sensor I2C pin "SDA" → ESP32-C5 SDA (GPIO9)
• Sensor DIP switch configuration: Set the communication mode switch to the I2C side, and set the I2C address switch to 0x4A (factory default address)

Sample Code

#include "DFRobot_Multi_DOF_IMU.h"

// Sensor I2C address
const uint8_t ADDR = 0x4A;

DFRobot_Multi_DOF_IMU_I2C imu(DFRobot_Multi_DOF_IMU::eSensorModel6DOF, &Wire, ADDR);


void setup() {
  Serial.begin(115200);
  while (!Serial) {
    delay(10);
  }

 Serial.println("\n6DOF IMU Polling Example");
 
  Serial.print("[1] Initializing sensor... ");
  while (!imu.begin()) {
    Serial.println("Failed, please check device address and connections!");
    delay(1000);
  }
  Serial.println("Success");
  delay(1000);

  Serial.print("[2] Setting sensor mode to normal... ");
  while (!imu.setSensorMode(DFRobot_Multi_DOF_IMU::eNormalMode)) {
    Serial.println("Failed, please check device communication!");
    delay(1000);
  }
  Serial.println("Success");
  delay(1000);

  Serial.print("[3] Setting accelerometer range to ±2G... ");
  while (!imu.setAccelRange(DFRobot_Multi_DOF_IMU::eAccelRange2G)) {
    Serial.println("Failed, please check device communication!");
    delay(1000);
  }
  Serial.println("Success");
  delay(1000);

  Serial.print("[4] Setting gyroscope range to ±250dps... ");
  while (!imu.setGyroRange(DFRobot_Multi_DOF_IMU::eGyroRange250DPS)) {
    Serial.println("Failed, please check device communication!");
    delay(1000);
  }
  Serial.println("Success");
  delay(100);
  
  Serial.println("\nConfiguration complete, starting data reading");
}

void loop() {
  DFRobot_Multi_DOF_IMU::sSensorData_t accel, gyro;

  // Read 6-axis data and output it
  if (imu.get6dofData(&accel, &gyro)) {
    // Accelerometer data
    Serial.println("--- Accelerometer Data (g) ---");
    Serial.print("X: "); Serial.println(accel.x, 3);
    Serial.print("Y: "); Serial.println(accel.y, 3);
    Serial.print("Z: "); Serial.println(accel.z, 3);  
    
    // // Gyroscope data
    Serial.println("--- Gyroscope Data (dps) ---");
    Serial.print("X: "); Serial.println(gyro.x, 2);
    Serial.print("Y: "); Serial.println(gyro.y, 2);
    Serial.print("Z: "); Serial.println(gyro.z, 2);
    Serial.println();
        
  } else {
    Serial.println("Failed to read data!");
  }

  delay(500);
}

Result