Minimu

Pololu Minimu-9 v5 gyroscope, accelerometer and magnetometer combo reader over I2C bus for Linux devices. Tested on RaspberryPi, should work on all I2C enabled Linux devices. Available as a C++ library and a simple CLI demo.

Build

This depends on the Linux kernel I2C driver via userspace access library. On Debian that is the libi2c-dev package.

You can run build in Docker. For example to map the project directory as a Docker volume run: docker run -v `pwd`:/proj -it agvpolsl/minimu-i2c-builder.

Build follows standard CMake procedure; in the project directory run:

mkdir build && cd build
cmake ..
cmake --build .

Usage

CLI

The CLI app takes one argument of an active I2C adapter. It assumes sa0 pin to be high (which is also the default hardware state). To find adapter number and examine your devices use i2cdetect tool.

C++ library

The library is available via CMake build. It doesn't feature a system wide installation, instead it is best to place the source code inside your project and use it with add_subdirectory(lib/minimu) and target_link_libraries(target minimu::minimu-lib).

Init your devices with:

minimu::Lsm6_imu imu{adapter_num, minimu::sa0_state::sa0_high};
minimu::Lis3mdl_magmeter mag{adapter_num, minimu::sa0_state::sa0_high};

Data can be read with: read_gyro(), read_acc() for IMU and read() for the magnetometer.

If you need direct communication with I2C devices, you can use the underlying I2C_device class. You can read and write bytes from registers that can be found in the lsm6_regs_addr.h and lis3mdl_regs_addr.h headers. For example it is possible to write to the fifo_ctrl1 register with:

imu.write(minimu::lsm6_regs_addr::fifo_ctrl1, std::byte{0b11001100});

The Linux C errno system is mapped to C++ exceptions inside the library. For more information relate to the datasheets.

License

agv-polsl/minimu

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