Easy IMU Cpp Library

This library helps communicate with the already setup Easy IMU Module (MPU9250 EIMU Module) in your PC or microcomputer-based cpp projects, after successful setup with the eimu_setup_application.

you can use it in your microcomputer robotics project running on linux (e.g Raspberry Pi, PC, etc.)

A simple way to get started is simply to try out and follow the example code in the src folder

Dependencies

• you'll need to install the libserial library

    sudo apt-get update
    sudo apt install libserial-dev

How to Use the Library

-- Download (by clicking on the green Code button above) or clone the repo into your PC using git clone

Note

you can use this command if you want to clone the repo:

git clone https://github.com/samuko-things-company/eimu_cpp.git

• Ensure you have the Easy IMU Module is already calibrated.

• Connect the Easy IMU Module to your PC or microcomputer

• A simple way to get started is simply to try out and follow the example read_rpy.cpp code in the src folder.

• make, build and run the example code.

  cd into the root directory

  mkdir build (i.e create a folder named build)

  enter the following command in the terminal in the root folder:

  cmake -B ./build/
  

  cmake --build ./build/
  

  ./build/read_rpy
  

• You can follow the pattern used in the example read_rpy.cpp in your own code and use the cpp library as fit.

Basic Library functions and usage

• connect to sic_driver shield module

  .connect("port_name or port_path")

• get filtered Roll, Ptich and Yaw

  getRPY(&roll, &pitch, &yaw)

• get quaternions

  getQuat(&qw, &qx, &qy, &qz)

• get Roll(gx), Pitch(gy) and Yaw(gz) rates value

  getGyro(&gx, &gy, &gz)

• get linear acceleration values ax, ay, az

  getAcc(&ax, &ay, &az)

• get rpy variances

  getRPYvariance(&r_var, &p_var, &y_var)

• get rpy rate variances

  getGyroVariance(&gx_var, &gy_var, &gz_var)

• get acceleration variances

  getAccVariance(&ax_var, &ay_, &az_var)

• get gain

  getAccVariance(&gain)

• get ref frame

  getRefFrame(&ref_frame)