maix.ext_dev.imu

maix.ext_dev.imu module

You can use maix.ext_dev.imu to access this module with MaixPy
This module is generated from MaixPy and MaixCDK

Module

No module

Enum

Mode

imu mode

C++ defination code:

enum class Mode {
    ACC_ONLY = 0,
    GYRO_ONLY,
    DUAL
}

AccScale

imu acc scale

C++ defination code:

enum class AccScale {
    ACC_SCALE_2G = 0,
    ACC_SCALE_4G,
    ACC_SCALE_8G,
    ACC_SCALE_16G
}

AccOdr

imu acc output data rate

C++ defination code:

enum class AccOdr {
    ACC_ODR_8000,      // Accelerometer ODR set to 8000 Hz.
    ACC_ODR_4000,      // Accelerometer ODR set to 4000 Hz.
    ACC_ODR_2000,      // Accelerometer ODR set to 2000 Hz.
    ACC_ODR_1000,      // Accelerometer ODR set to 1000 Hz.
    ACC_ODR_500,       // Accelerometer ODR set to 500 Hz.
    ACC_ODR_250,       // Accelerometer ODR set to 250 Hz.
    ACC_ODR_125,       // Accelerometer ODR set to 125 Hz.
    ACC_ODR_62_5,      // Accelerometer ODR set to 62.5 Hz.
    ACC_ODR_31_25,     // Accelerometer ODR set to 31.25 Hz.
    ACC_ODR_128 = 12,  // Accelerometer ODR set to 128 Hz.
    ACC_ODR_21,        // Accelerometer ODR set to 21 Hz.
    ACC_ODR_11,        // Accelerometer ODR set to 11 Hz.
    ACC_ODR_3,         // Accelerometer ODR set to 3 Hz.
}

GyroScale

imu gyro scale

C++ defination code:

enum class GyroScale {
    GYRO_SCALE_16DPS = 0,       // Gyroscope scale set to ±16 degrees per second.
    GYRO_SCALE_32DPS,            // Gyroscope scale set to ±32 degrees per second.
    GYRO_SCALE_64DPS,            // Gyroscope scale set to ±64 degrees per second.
    GYRO_SCALE_128DPS,           // Gyroscope scale set to ±128 degrees per second.
    GYRO_SCALE_256DPS,           // Gyroscope scale set to ±256 degrees per second.
    GYRO_SCALE_512DPS,           // Gyroscope scale set to ±512 degrees per second.
    GYRO_SCALE_1024DPS,          // Gyroscope scale set to ±1024 degrees per second.
    GYRO_SCALE_2048DPS,          // Gyroscope scale set to ±2048 degrees per second.
}

GyroOdr

imu gyro output data rate

C++ defination code:

enum class GyroOdr {
    GYRO_ODR_8000,     // Gyroscope ODR set to 8000 Hz.
    GYRO_ODR_4000,     // Gyroscope ODR set to 4000 Hz.
    GYRO_ODR_2000,     // Gyroscope ODR set to 2000 Hz.
    GYRO_ODR_1000,     // Gyroscope ODR set to 1000 Hz.
    GYRO_ODR_500,      // Gyroscope ODR set to 500 Hz.
    GYRO_ODR_250,      // Gyroscope ODR set to 250 Hz.
    GYRO_ODR_125,      // Gyroscope ODR set to 125 Hz.
    GYRO_ODR_62_5,     // Gyroscope ODR set to 62.5 Hz.
    GYRO_ODR_31_25,    // Gyroscope ODR set to 31.25 Hz.
}

Variable

Function

Class

IMU

QMI8656 driver class

C++ defination code:

class IMU

__init__

def __init__(self, driver: str, i2c_bus: int = -1, addr: int = 107, freq: int = 400000, mode: Mode = ..., acc_scale: AccScale = ..., acc_odr: AccOdr = ..., gyro_scale: GyroScale = ..., gyro_odr: GyroOdr = ..., block: bool = True) -> None

Construct a new IMU object, will open IMU

C++ defination code:

IMU(std::string driver, int i2c_bus=-1, int addr=0x6B, int freq=400000,
            maix::ext_dev::imu::Mode mode=maix::ext_dev::imu::Mode::DUAL,
            maix::ext_dev::imu::AccScale acc_scale=maix::ext_dev::imu::AccScale::ACC_SCALE_2G,
            maix::ext_dev::imu::AccOdr acc_odr=maix::ext_dev::imu::AccOdr::ACC_ODR_8000,
            maix::ext_dev::imu::GyroScale gyro_scale=maix::ext_dev::imu::GyroScale::GYRO_SCALE_16DPS,
            maix::ext_dev::imu::GyroOdr gyro_odr=maix::ext_dev::imu::GyroOdr::GYRO_ODR_8000,
            bool block=true)

read

def read(self) -> list[float]

Read data from IMU.

C++ defination code:

std::vector<float> read()

calculate_calibration

def calculate_calibration(self, time_ms: int = 30000) -> maix.err.Err

Caculate calibration, save calibration data to /maixapp/shart/imu_calibration

C++ defination code:

err::Err calculate_calibration(uint64_t time_ms = 30 * 1000)

get_calibration

def get_calibration(self) -> list[float]

Get calibration data

C++ defination code:

std::vector<double> get_calibration()

Gcsv

Gcsv class

C++ defination code:

class Gcsv

__init__

def __init__(self) -> None

Construct a new IMU object

C++ defination code:

Gcsv()

open

def open(self, path: str, tscale: float = 0.001, gscale: float = 1, ascale: float = 1, mscale: float = 1, version: str = '1.3', id: str = 'imu', orientation: str = 'YxZ') -> maix.err.Err

Open a file

C++ defination code:

err::Err open(std::string path, double tscale = 0.001, double gscale = 1, double ascale = 1, double mscale = 1, std::string version = "1.3", std::string id = "imu", std::string orientation = "YxZ")

close

def close(self) -> maix.err.Err

Close file

C++ defination code:

err::Err close()

is_opened

def is_opened(self) -> bool

Check if the object is already open

C++ defination code:

bool is_opened()

write

def write(self, timestamp: float, gyro: list[float], acc: list[float], mag: list[float] = []) -> maix.err.Err

Write imu data to gcsv file

C++ defination code:

err::Err write(double timestamp, std::vector<double> gyro, std::vector<double> acc, std::vector<double> mag = std::vector<double>())