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Generic 6DOF Motion Dataready

Browse source code on GitHub

Overview

This sample application periodically (100 Hz) measures the 6-axis IMU sensor with temperature, acceleration, and angular velocity, displaying the values on the console along with a timestamp since startup. Trigger options could be configured through KConfig.

Wiring

This sample uses an external breakout for the sensor. A devicetree overlay must be provided to identify the 6-axis motion sensor, the SPI or I2C bus interface and the interrupt sensor GPIO.

Building and Running

This sample supports up to 6-Axis IMU devices. Each device needs to be aliased as 6dof-motion-drdyN where N goes from 0 to 9. For example:

/ {
       aliases {
                       6dof-motion-drdy0 = &icm42670p;
               };
       };

Make sure the aliases are in devicetree, then build and run with:

# From the root of the zephyr repository
west build -b nrf52dk/nrf52832 samples/sensor/6dof_motion_drdy
west flash

Sample Output

Found device “icm42670p@68”, getting sensor data [0:00:01.716]: temp 23.00 Cel accel 0.150839 -0.140065 9.994899 m/s/s gyro -0.001597 0.005859 0.001597 rad/s [0:00:01.726]: temp 23.00 Cel accel 0.140065 -0.146050 9.988914 m/s/s gyro -0.002663 0.005859 0.003195 rad/s [0:00:01.736]: temp 23.50 Cel accel 0.146050 -0.130487 9.988914 m/s/s gyro -0.001597 0.006391 0.003195 rad/s [0:00:01.746]: temp 23.00 Cel accel 0.149642 -0.136473 9.990111 m/s/s gyro -0.002663 0.004261 0.002663 rad/s [0:00:01.756]: temp 23.00 Cel accel 0.146050 -0.136473 9.979337 m/s/s gyro -0.002130 0.005326 0.001597 rad/s [0:00:01.766]: temp 23.00 Cel accel 0.136473 -0.147247 9.986519 m/s/s gyro -0.001065 0.005859 0.002663 rad/s

<repeats endlessly>

See also

Sensor Interface