惯性传感器 (IMU)
惯性传感器包含陀螺仪传感器、加速度传感器和兼具多种功能的传感器等。主要用于测量物体的加速度、角速度等，进而解算出物体的运动姿态。
已适配列表
名称 |
功能 |
总线 |
供应商 |
规格书 |
硬件抽象层 |
|---|---|---|---|---|---|
LIS2DH12 |
3-axis acceler |
I2C |
ST |
√ |
|
MPU6050 |
3-axis acceler + 3-axis gyro |
I2C |
InvenSense |
√ |
API 参考
以下 API 实现了对惯性传感器的硬件抽象，用户可直接调用该层代码编写传感器应用程序，也可以使用 sensor_hub 中的传感器接口实现更简单的调用。
Header File
Functions
-
sensor_imu_handle_t imu_create(bus_handle_t bus, int imu_id)
Create a Inertial Measurement Unit sensor instance. Same series’ sensor or sensor with same address can only be created once.
- 参数
bus – i2c bus handle the sensor attached to
imu_id – id declared in imu_id_t
- 返回
sensor_imu_handle_t return imu sensor handle if succeed, NULL is failed.
-
esp_err_t imu_delete(sensor_imu_handle_t *sensor)
Delete and release the sensor resource.
- 参数
sensor – point to imu sensor handle, will set to NULL if delete succeed.
- 返回
esp_err_t
ESP_OK Success
ESP_FAIL Fail
-
esp_err_t imu_test(sensor_imu_handle_t sensor)
Test if sensor is active.
- 参数
sensor – imu sensor handle to operate
- 返回
esp_err_t
ESP_OK Success
ESP_FAIL Fail
-
esp_err_t imu_acquire_acce(sensor_imu_handle_t sensor, axis3_t *acce)
Acquire imu sensor accelerometer result one time.
- 参数
sensor – imu sensor handle to operate
acce – result data (unit:g)
- 返回
esp_err_t
ESP_OK Success
ESP_FAIL Fail
ESP_ERR_NOT_SUPPORTED Function not supported on this sensor
-
esp_err_t imu_acquire_gyro(sensor_imu_handle_t sensor, axis3_t *gyro)
Acquire imu sensor gyroscope result one time.
- 参数
sensor – imu sensor handle to operate
gyro – result data (unit:dps)
- 返回
esp_err_t
ESP_OK Success
ESP_FAIL Fail
ESP_ERR_NOT_SUPPORTED Function not supported on this sensor
-
esp_err_t imu_sleep(sensor_imu_handle_t sensor)
Set sensor to sleep mode.
- 参数
sensor – imu sensor handle to operate
- 返回
esp_err_t
ESP_OK Success
ESP_FAIL Fail
ESP_ERR_NOT_SUPPORTED Function not supported on this sensor
-
esp_err_t imu_wakeup(sensor_imu_handle_t sensor)
Wakeup sensor from sleep mode.
- 参数
sensor – imu sensor handle to operate
- 返回
esp_err_t
ESP_OK Success
ESP_FAIL Fail
ESP_ERR_NOT_SUPPORTED Function not supported on this sensor
-
esp_err_t imu_acquire(sensor_imu_handle_t sensor, sensor_data_group_t *data_group)
acquire a group of sensor data
- 参数
sensor – imu sensor handle to operate
data_group – acquired data
- 返回
esp_err_t
ESP_OK Success
ESP_FAIL Fail
-
esp_err_t imu_control(sensor_imu_handle_t sensor, sensor_command_t cmd, void *args)
control sensor mode with control commands and args
- 参数
sensor – imu sensor handle to operate
cmd – control commands detailed in sensor_command_t
args – control commands args
ESP_OK Success
ESP_FAIL Fail
ESP_ERR_NOT_SUPPORTED Function not supported on this sensor
Type Definitions
-
typedef void *sensor_imu_handle_t
imu sensor handle