imu.cpp

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// Copyright (c) 2023 Samuli Nyman
// SPDX-License-Identifier: MIT
 
#include "imu.h"
#include "Arduino.h"
#include "LSM6.h"
 
LSM6 imu;
 
uint8_t initIMU()
{
    if (!imu.init(LSM6::device_DS33,LSM6::sa0_low))
    {
        Serial.println("Failed to detect and initialize IMU!");
        return 1;
    } 
    imu.enableDefault();
    return 0;
}
 
uint8_t readAcceleration(float &x, float &y, float &z){
  imu.read();
  x = imu.a.x * 0.061 * 0.001;
  y = imu.a.y * 0.061 * 0.001;
  z = imu.a.z * 0.061 * 0.001;
  return 0;
}
 
uint8_t readGyro(float &x, float &y, float &z){
  imu.read();
  x = imu.g.x * 8.75 * 0.001;
  y = imu.g.y * 8.75 * 0.001;
  z = imu.g.z * 8.75 * 0.001;
  return 0;
}
 
float readAccelX() {
  imu.read();
  return imu.a.x * 0.061 * 0.001;
}
 
float readAccelY() {
  imu.read();
  return imu.a.y * 0.061 * 0.001;
}
 
float readAccelZ() {
  imu.read();
  return imu.a.z * 0.061 * 0.001;
}
 
float readGyroX() {
  imu.read();
  return imu.g.x * 8.75 * 0.001;
}
 
float readGyroY() {
  imu.read();
  return imu.g.y * 8.75 * 0.001;
}
 
float readGyroZ() {
  imu.read();
  return imu.g.z * 8.75 * 0.001;
}