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Merged
merged 7 commits into from
Mar 9, 2021
Merged

v1.2.3 #46

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743922c
Merge branch 'master' into release_candidate
PaulZC Mar 3, 2021
4d0dad8
vars decalarations moved from header to code
Mar 8, 2021
ffff72a
v1.2.3. Correcting Example9. Adding Example10_DMP_FastMultipleSensors
PaulZC Mar 9, 2021
aa33176
Merge pull request #43 from nikitos1550/issue-37
PaulZC Mar 9, 2021
052abd3
Correct the B2S mounting matrix
PaulZC Mar 9, 2021
19ab925
Correcting accelAVar - #44
PaulZC Mar 9, 2021
8da40f6
Correct the L suffix - #45
PaulZC Mar 9, 2021
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415 changes: 415 additions & 0 deletions examples/Arduino/Example10_DMP_FastMultipleSensors/Example10_DMP_FastMultipleSensors.ino
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26 changes: 13 additions & 13 deletions examples/Arduino/Example6_DMP_Quat9_Orientation/Example6_DMP_Quat9_Orientation.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@
* Distributed as-is; no warranty is given.
***************************************************************/

#define QUAT_ANIMATION // Uncomment this line to output data in the correct format for ZaneL's Node.js Quaternion animation tool: https://github.com/ZaneL/quaternion_sensor_3d_nodejs
//#define QUAT_ANIMATION // Uncomment this line to output data in the correct format for ZaneL's Node.js Quaternion animation tool: https://github.com/ZaneL/quaternion_sensor_3d_nodejs

#include "ICM_20948.h" // Click here to get the library: http://librarymanager/All#SparkFun_ICM_20948_IMU

Expand Down Expand Up @@ -223,19 +223,17 @@ void setup() {
// Configure the B2S Mounting Matrix
const unsigned char b2sMountMultiplierZero[4] = {0x00, 0x00, 0x00, 0x00};
const unsigned char b2sMountMultiplierPlus[4] = {0x40, 0x00, 0x00, 0x00}; // Value taken from InvenSense Nucleo example
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);

// Configure the DMP Gyro Scaling Factor
//const unsigned char gyroScalingFactor[4] = {0x26, 0xFA, 0xB4, 0xB1}; // Value taken from InvenSense Nucleo example
//success &= (myICM.writeDMPmems(GYRO_SF, 4, &gyroScalingFactor[0]) == ICM_20948_Stat_Ok);
// @param[in] gyro_div Value written to GYRO_SMPLRT_DIV register, where
// 0=1125Hz sample rate, 1=562.5Hz sample rate, ... 4=225Hz sample rate, ...
// 10=102.2727Hz sample rate, ... etc.
Expand Down Expand Up @@ -263,7 +261,7 @@ void setup() {
// Configure the Accel A Var: 47721859 (225Hz) 95869806 (112Hz) 191739611 (56Hz)
const unsigned char accelAVar[4] = {0x0B, 0x6D, 0xB6, 0xDB}; // 56Hz
//const unsigned char accelAVar[4] = {0x39, 0x99, 0x99, 0x9A}; // Value taken from InvenSense Nucleo example
success &= (myICM.writeDMPmems(ACCEL_A_VAR, 4, &accelAlphaVar[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(ACCEL_A_VAR, 4, &accelAVar[0]) == ICM_20948_Stat_Ok);

// Configure the Accel Cal Rate
const unsigned char accelCalRate[4] = {0x00, 0x00}; // Value taken from InvenSense Nucleo example
Expand Down Expand Up @@ -338,6 +336,8 @@ void setup() {
{
SERIAL_PORT.println(F("Enable DMP failed!"));
SERIAL_PORT.println(F("Please check that you have uncommented line 29 (#define ICM_20948_USE_DMP) in ICM_20948_C.h..."));
while (1)
; // Do nothing more
}
}

Expand Down
24 changes: 12 additions & 12 deletions examples/Arduino/Example7_DMP_Quat6_EulerAngles/Example7_DMP_Quat6_EulerAngles.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -223,19 +223,17 @@ void setup() {
// Configure the B2S Mounting Matrix
const unsigned char b2sMountMultiplierZero[4] = {0x00, 0x00, 0x00, 0x00};
const unsigned char b2sMountMultiplierPlus[4] = {0x40, 0x00, 0x00, 0x00}; // Value taken from InvenSense Nucleo example
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);

// Configure the DMP Gyro Scaling Factor
//const unsigned char gyroScalingFactor[4] = {0x26, 0xFA, 0xB4, 0xB1}; // Value taken from InvenSense Nucleo example
//success &= (myICM.writeDMPmems(GYRO_SF, 4, &gyroScalingFactor[0]) == ICM_20948_Stat_Ok);
// @param[in] gyro_div Value written to GYRO_SMPLRT_DIV register, where
// 0=1125Hz sample rate, 1=562.5Hz sample rate, ... 4=225Hz sample rate, ...
// 10=102.2727Hz sample rate, ... etc.
Expand Down Expand Up @@ -263,7 +261,7 @@ void setup() {
// Configure the Accel A Var: 47721859 (225Hz) 95869806 (112Hz) 191739611 (56Hz)
const unsigned char accelAVar[4] = {0x0B, 0x6D, 0xB6, 0xDB}; // 56Hz
//const unsigned char accelAVar[4] = {0x39, 0x99, 0x99, 0x9A}; // Value taken from InvenSense Nucleo example
success &= (myICM.writeDMPmems(ACCEL_A_VAR, 4, &accelAlphaVar[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(ACCEL_A_VAR, 4, &accelAVar[0]) == ICM_20948_Stat_Ok);

// Configure the Accel Cal Rate
const unsigned char accelCalRate[4] = {0x00, 0x00}; // Value taken from InvenSense Nucleo example
Expand Down Expand Up @@ -338,6 +336,8 @@ void setup() {
{
SERIAL_PORT.println(F("Enable DMP failed!"));
SERIAL_PORT.println(F("Please check that you have uncommented line 29 (#define ICM_20948_USE_DMP) in ICM_20948_C.h..."));
while (1)
; // Do nothing more
}
}

Expand Down
24 changes: 12 additions & 12 deletions examples/Arduino/Example8_DMP_RawAccel/Example8_DMP_RawAccel.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -209,19 +209,17 @@ void setup() {
// Configure the B2S Mounting Matrix
const unsigned char b2sMountMultiplierZero[4] = {0x00, 0x00, 0x00, 0x00};
const unsigned char b2sMountMultiplierPlus[4] = {0x40, 0x00, 0x00, 0x00}; // Value taken from InvenSense Nucleo example
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);

// Configure the DMP Gyro Scaling Factor
//const unsigned char gyroScalingFactor[4] = {0x26, 0xFA, 0xB4, 0xB1}; // Value taken from InvenSense Nucleo example
//success &= (myICM.writeDMPmems(GYRO_SF, 4, &gyroScalingFactor[0]) == ICM_20948_Stat_Ok);
// @param[in] gyro_div Value written to GYRO_SMPLRT_DIV register, where
// 0=1125Hz sample rate, 1=562.5Hz sample rate, ... 4=225Hz sample rate, ...
// 10=102.2727Hz sample rate, ... etc.
Expand Down Expand Up @@ -249,7 +247,7 @@ void setup() {
// Configure the Accel A Var: 47721859 (225Hz) 95869806 (112Hz) 191739611 (56Hz)
const unsigned char accelAVar[4] = {0x0B, 0x6D, 0xB6, 0xDB}; // 56Hz
//const unsigned char accelAVar[4] = {0x39, 0x99, 0x99, 0x9A}; // Value taken from InvenSense Nucleo example
success &= (myICM.writeDMPmems(ACCEL_A_VAR, 4, &accelAlphaVar[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(ACCEL_A_VAR, 4, &accelAVar[0]) == ICM_20948_Stat_Ok);

// Configure the Accel Cal Rate
const unsigned char accelCalRate[4] = {0x00, 0x00}; // Value taken from InvenSense Nucleo example
Expand Down Expand Up @@ -312,6 +310,8 @@ void setup() {
{
SERIAL_PORT.println(F("Enable DMP failed!"));
SERIAL_PORT.println(F("Please check that you have uncommented line 29 (#define ICM_20948_USE_DMP) in ICM_20948_C.h..."));
while (1)
; // Do nothing more
}
}

Expand Down
36 changes: 18 additions & 18 deletions examples/Arduino/Example9_DMP_MultipleSensors/Example9_DMP_MultipleSensors.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -209,19 +209,17 @@ void setup() {
// Configure the B2S Mounting Matrix
const unsigned char b2sMountMultiplierZero[4] = {0x00, 0x00, 0x00, 0x00};
const unsigned char b2sMountMultiplierPlus[4] = {0x40, 0x00, 0x00, 0x00}; // Value taken from InvenSense Nucleo example
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &mountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &mountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_00, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_01, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_02, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_10, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_11, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_12, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_20, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_21, 4, &b2sMountMultiplierZero[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(B2S_MTX_22, 4, &b2sMountMultiplierPlus[0]) == ICM_20948_Stat_Ok);

// Configure the DMP Gyro Scaling Factor
//const unsigned char gyroScalingFactor[4] = {0x26, 0xFA, 0xB4, 0xB1}; // Value taken from InvenSense Nucleo example
//success &= (myICM.writeDMPmems(GYRO_SF, 4, &gyroScalingFactor[0]) == ICM_20948_Stat_Ok);
// @param[in] gyro_div Value written to GYRO_SMPLRT_DIV register, where
// 0=1125Hz sample rate, 1=562.5Hz sample rate, ... 4=225Hz sample rate, ...
// 10=102.2727Hz sample rate, ... etc.
Expand Down Expand Up @@ -249,7 +247,7 @@ void setup() {
// Configure the Accel A Var: 47721859 (225Hz) 95869806 (112Hz) 191739611 (56Hz)
const unsigned char accelAVar[4] = {0x0B, 0x6D, 0xB6, 0xDB}; // 56Hz
//const unsigned char accelAVar[4] = {0x39, 0x99, 0x99, 0x9A}; // Value taken from InvenSense Nucleo example
success &= (myICM.writeDMPmems(ACCEL_A_VAR, 4, &accelAlphaVar[0]) == ICM_20948_Stat_Ok);
success &= (myICM.writeDMPmems(ACCEL_A_VAR, 4, &accelAVar[0]) == ICM_20948_Stat_Ok);

// Configure the Accel Cal Rate
const unsigned char accelCalRate[4] = {0x00, 0x00}; // Value taken from InvenSense Nucleo example
Expand Down Expand Up @@ -281,7 +279,7 @@ void setup() {
// INV_ICM20948_SENSOR_LINEAR_ACCELERATION (16-bit accel + 32-bit 6-axis quaternion)
// INV_ICM20948_SENSOR_ORIENTATION (32-bit 9-axis quaternion + heading accuracy)

// Enable the DMP Game Rotation Vector sensor
// Enable the DMP Game Rotation Vector sensor (Quat6)
success &= (myICM.enableDMPSensor(INV_ICM20948_SENSOR_GAME_ROTATION_VECTOR) == ICM_20948_Stat_Ok);

// Enable additional sensors / features
Expand Down Expand Up @@ -322,6 +320,8 @@ void setup() {
{
SERIAL_PORT.println(F("Enable DMP failed!"));
SERIAL_PORT.println(F("Please check that you have uncommented line 29 (#define ICM_20948_USE_DMP) in ICM_20948_C.h..."));
while (1)
; // Do nothing more
}
}

Expand All @@ -345,18 +345,18 @@ void loop()
//if ( data.header < 0x10) SERIAL_PORT.print( "0" );
//SERIAL_PORT.println( data.header, HEX );

if ( (data.header & DMP_header_bitmap_Quat9) > 0 ) // Check for orientation data (Quat9)
if ( (data.header & DMP_header_bitmap_Quat6) > 0 ) // Check for orientation data (Quat9)
{
// Q0 value is computed from this equation: Q0^2 + Q1^2 + Q2^2 + Q3^2 = 1.
// In case of drift, the sum will not add to 1, therefore, quaternion data need to be corrected with right bias values.
// The quaternion data is scaled by 2^30.

//SERIAL_PORT.printf("Quat9 data is: Q1:%ld Q2:%ld Q3:%ld Accuracy:%d\r\n", data.Quat9.Data.Q1, data.Quat9.Data.Q2, data.Quat9.Data.Q3, data.Quat9.Data.Accuracy);
//SERIAL_PORT.printf("Quat9 data is: Q1:%ld Q2:%ld Q3:%ld Accuracy:%d\r\n", data.Quat6.Data.Q1, data.Quat6.Data.Q2, data.Quat9.Data.Q3, data.Quat6.Data.Accuracy);

// Scale to +/- 1
double q1 = ((double)data.Quat9.Data.Q1) / 1073741824.0; // Convert to double. Divide by 2^30
double q2 = ((double)data.Quat9.Data.Q2) / 1073741824.0; // Convert to double. Divide by 2^30
double q3 = ((double)data.Quat9.Data.Q3) / 1073741824.0; // Convert to double. Divide by 2^30
double q1 = ((double)data.Quat6.Data.Q1) / 1073741824.0; // Convert to double. Divide by 2^30
double q2 = ((double)data.Quat6.Data.Q2) / 1073741824.0; // Convert to double. Divide by 2^30
double q3 = ((double)data.Quat6.Data.Q3) / 1073741824.0; // Convert to double. Divide by 2^30

SERIAL_PORT.print(F("Q1:"));
SERIAL_PORT.print(q1, 3);
Expand Down
2 changes: 1 addition & 1 deletion library.properties
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
name=SparkFun 9DoF IMU Breakout - ICM 20948 - Arduino Library
version=1.2.2
version=1.2.3
author=SparkFun Electronics <techsupport@sparkfun.com>
maintainer=SparkFun Electronics <sparkfun.com>
sentence=Use the low-power high-resolution ICM 20948 9 DoF IMU from Invensense with I2C or SPI. Version 1.2 of the library includes support for the InvenSense Digital Motion Processor (DMP™).
Expand Down
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