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Tara IMU SampleApp User Manual
IMU Application
This section describes the IMU Application in detail.
IMU Configuration
The LSM6DS0 is a 6dof IMU unit featured with triaxial accelerometer and triaxial
gyroscope and supports different modes of configuration. These configurations are
handled using Human Interface Device (HID) commands. To know more about the
HID commands, please refer to the
Tara_Linux_Extension_Unit_API
document
provided in the release package. To get the IMU values, based on the application
requirement, you need to configure the following:
•
Configure the IMU modes
•
Output data rate
•
Sensitivity
•
IMU value update mode
Application Illustration
The IMU sample application included in Tara SDK is a basic example demonstrating
the rotations of camera around x, y and z axis. The output rotation angles calculated
from the IMU values are limited to the range from -90 to +90 degrees for
illustration.
Getting the IMU Values
The steps to get the IMU values are as follows:
1.
You must configure IMU mode, Axis control, Output data rate and Sensitivity
.
For REVISION A(LSM6DS0)
:
▪
IMU_MODE = IMU_ACC_GYRO_ENABLE
▪
ACC_AXIS_CONFIG = IMU_ACC_X_Y_Z_ENABLE
▪
IMU_ODR_CONFIG = IMU_ODR_119HZ
▪
ACC_SENSITIVITY_CONFIG = IMU_ACC_SENS_2G
▪
GYRO_AXIS_CONFIG = IMU_GYRO_X_Y_Z_ENABLE
▪
GYRO_SENSITIVITY_CONFIG = IMU_GYRO_SENS_245DPS
For REVISION B(LSM6DS33):
▪
IMU_MODE = IMU_ACC_GYRO_ENABLE
▪
ACC_AXIS_CONFIG = IMU_ACC_X_Y_Z_ENABLE
▪
IMU_ODR_CONFIG = IMU_ODR_104HZ
▪
ACC_SENSITIVITY_CONFIG = IMU_ACC_SENS_2G
▪
GYRO_AXIS_CONFIG = IMU_GYRO_X_Y_Z_ENABLE
