Example Code for Arduino-Reading Data via UART and Interrupts

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. The main connections are as follows:

• Sensor pin “+” → ESP32-C5 3.3V
• Sensor pin “-” → ESP32-C5 GND
• Sensor pin “INT1” → ESP32-C5 GPIO27
• Sensor UART pin “RX” → ESP32-C5 D3 (GPIO26)
• Sensor UART pin “TX” → ESP32-C5 D2 (GPIO8)
• Sensor DIP switch configuration: Set the communication mode to UART, and set the address to 0x4A(A0=0,A1=0)

Sample Code

#include "DFRobot_Multi_DOF_IMU.h"

// Only keep UART communication mode
#define IMU_COMM_UART
const uint8_t ADDR = 0x4A;

// ESP32-C5 UART1 mapping: RX=GPIO8(D2), TX=GPIO26(D3)
DFRobot_Multi_DOF_IMU_UART imu(DFRobot_Multi_DOF_IMU::eSensorModel6DOF, &Serial1, 9600, ADDR, /*rx=*/8, /*tx=*/26);

volatile bool dataReady = false;

// Data ready interrupt service routine
void IRAM_ATTR int1ISR() {
  dataReady = true;
}

void setup() {
  // Initialize serial monitor (baud rate consistent with the example)
  Serial.begin(115200);
  while (!Serial) delay(10);

  // Print title
  Serial.println("\n6DOF IMU Data Ready Interrupt Example (UART, ESP32)");

  // 1. Initialize the sensor
  Serial.print("\n[1] Initializing sensor... ");
  while (!imu.begin()) {
    Serial.println("Failed, please check device address and connections!");
    delay(1000);
  }
  Serial.println("Success");
  delay(500);

  // 2. Set to normal mode
  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(500);

  // 3. Set accelerometer range to ±2G
  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(500);

  // 4. Set gyroscope range to ±250dps
  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(500);

  // 5. Configure INT1 data ready interrupt
  Serial.print("[5] Configuring INT1 data ready interrupt... ");
  while (!imu.setInt(DFRobot_Multi_DOF_IMU::eImuIntPin1, DFRobot_Multi_DOF_IMU::eInt1_2DataReady)) {
    Serial.println("Failed, please check pin and interrupt configuration!");
    delay(1000);
  }
  Serial.println("Success");
  delay(500);

  // 6. Configure ESP32-C5 external interrupt (INT1 → GPIO27)
  Serial.print("[6] Configuring Arduino interrupt pin... ");
  attachInterrupt(digitalPinToInterrupt(27), int1ISR, RISING);
  Serial.println("Success");
  Serial.println("Trigger mode: Rising edge");

  // Configuration completion prompt
  Serial.println("\nConfiguration complete, starting data reading");
  Serial.println("AccX(g), AccY(g), AccZ(g), GyrX(dps), GyrY(dps), GyrZ(dps)");
  delay(100);
}

void loop() {
  if (dataReady) {
    dataReady = false;

    DFRobot_Multi_DOF_IMU::sSensorData_t accel, gyro;
    if (imu.get6dofData(&accel, &gyro)) {
      // Strictly align with the example print format: Acc retains 3 decimal places, Gyro retains 2 decimal places
      Serial.print(accel.x, 3); Serial.print(", ");
      Serial.print(accel.y, 3); Serial.print(", ");
      Serial.print(accel.z, 3); Serial.print(", ");
      Serial.print(gyro.x, 2);  Serial.print(", ");
      Serial.print(gyro.y, 2);  Serial.print(", ");
      Serial.println(gyro.z, 2);
    } else {
      Serial.println("Failed to read data!");
    }
  }
  delay(200);
}

Result