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

item	describe
values	ACC_ONLY: GYRO_ONLY: DUAL:

C++ defination code:

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

AccScale

imu acc scale

item	describe
values	ACC_SCALE_2G: ACC_SCALE_4G: ACC_SCALE_8G: ACC_SCALE_16G:

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

item

describe

values

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: 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.

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

item

describe

values

GYRO_SCALE_16DPS: 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.

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

item

describe

values

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.

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

get_imu_info

def get_imu_info() -> list[IMUInfo]

Get all IMU info on board(not include external IMU).

item	description
return	std::vectorimu::IMUInfo type, all IMU info.

C++ defination code:

std::vector<ext_dev::imu::IMUInfo> get_imu_info()

Class

IMUData

IMU data type.

C++ defination code:

class IMUData

acc

accelerometer data

item	description
type	var
static	False
readonly	False

C++ defination code:

maix::tensor::Vector3f acc

gyro

gyroscope data

item	description
type	var
static	False
readonly	False

C++ defination code:

maix::tensor::Vector3f gyro

mag

magnetometer data

item	description
type	var
static	False
readonly	False

C++ defination code:

maix::tensor::Vector3f mag

temp

temperature data

item	description
type	var
static	False
readonly	False

C++ defination code:

float temp

IMUInfo

IMU info

C++ defination code:

class IMUInfo

name

IMU name

item	description
type	var
static	False
readonly	False

C++ defination code:

std::string name

driver

IMU driver name

item	description
type	var
static	False
readonly	False

C++ defination code:

std::string driver

i2c_bus

IMU i2c bus number

item	description
type	var
static	False
readonly	False

C++ defination code:

int i2c_bus

addr

IMU i2c address

item	description
type	var
static	False
readonly	False

C++ defination code:

int addr

have_mag

IMU have magnetometer or not

item	description
type	var
static	False
readonly	False

C++ defination code:

bool have_mag

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

item	description
type	func
param	driver: driver name, "default" means use onboard IMU according to board id, other values: ["qmi8656"] i2c_bus: i2c bus number. Automatically selects the on-board imu when -1 is passed in. addr: IMU i2c addr. freq: IMU freq mode: IMU Mode: ACC_ONLY/GYRO_ONLY/DUAL acc_scale: acc scale, see @imu::AccScale acc_odr: acc output data rate, see @imu::AccOdr gyro_scale: gyro scale, see @imu::GyroScale gyro_odr: gyro output data rate, see @imu::GyroOdr block: block or non-block, defalut is true
throw	if arg error or not find valid IMU, will throw err::Exception
static	False

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_1000,
            maix::ext_dev::imu::GyroScale gyro_scale=maix::ext_dev::imu::GyroScale::GYRO_SCALE_256DPS,
            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 raw data from IMU, no calibration, recommend use read_all instead.

item	description
type	func
return	list type. If only one of the outputs is initialized, only [x,y,z] of that output will be returned. If all outputs are initialized, [acc_x, acc_y, acc_z, gyro_x, gyro_y, gyro_z] is returned. And the last one is temperature Unit acc: g/s Unit gyro: degree/s Unit temperate: degree
static	False

C++ defination code:

std::vector<float> read()

read_all

def read_all(self, calib_gryo: bool = True, radian: bool = False) -> IMUData

read imu data from IMU.

item	description
type	func
param	calib_gryo: calibrate gyro data based on calib_gyro_data, you should load_calib_gyro first to load calib_gyro_data. radian: gyro unit use rad/s instead of degree/s, default false(use degree/s).
return	maix.ext_dev.imu.IMUData type. Unit acc: g/s Unit gyro: degree/s Unit temperate: degree
static	False

C++ defination code:

ext_dev::imu::IMUData read_all(bool calib_gryo = true, bool radian = false)

calib_gyro

def calib_gyro(self, time_ms: int, interval_ms: int = -1, save_id: str = 'default') -> maix.tensor.Vector3f

Calibrate gryo for time_ms long, get gryo bias.

item	description
type	func
param	time_ms: total time to collect data, unit is ms. interval_ms: minimum read raw data interval, -1 means continues, 10ms mean >= 10ms. save_id: Save calibration data to file or not, you can load by load_calib_gyro. Empty string means not save. By default value is "default", means save calibration as id "default".
static	False

C++ defination code:

tensor::Vector3f calib_gyro(uint64_t time_ms, int interval_ms = -1, const std::string &save_id = "default")

calib_gyro_exists

def calib_gyro_exists(self, save_id: str = 'default') -> bool

Load Gyro calibration from file, if not found all value will be 0.

item	description
type	func
param	save_id: saved id from valib_gyro, default is "default".
return	If exist gyro calibration info return True else False.
static	False

C++ defination code:

bool calib_gyro_exists(const std::string &save_id = "default")

load_calib_gyro

def load_calib_gyro(self, save_id: str = 'default') -> maix.tensor.Vector3f

Load Gyro calibration from file, if not found all value will be 0.

item	description
type	func
param	save_id: saved id from valib_gyro, default is "default".
static	False

C++ defination code:

tensor::Vector3f load_calib_gyro(const std::string &save_id = "default")

save_calib_gyro

def save_calib_gyro(self, calib: maix.tensor.Vector3f, save_id: str = 'default') -> maix.err.Err

Save Gyro calibration to file.

item	description
type	func
param	calib: the calibration data you want to save. save_id: saved id from valib_gyro, default is "default".
static	False

C++ defination code:

err::Err save_calib_gyro(const tensor::Vector3f &calib, const std::string &save_id = "default")

calculate_calibration

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

!!!Depracated!!!\nCaculate calibration, save calibration data to /maixapp/share/misc/imu_calibration

item	description
type	func
param	time_ms: caculate max time, unit:ms
return	err::Err
static	False

C++ defination code:

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

get_calibration

def get_calibration(self) -> list[float]

!!!Depracated!!!\nGet calibration data

item	description
type	func
return	return an array, format is [acc_x_bias, acc_y_bias, acc_z_bias, gyro_x_bias, gyro_y_bias, gyro_z_bias] If the calibration file cannot be found, an empty array will be returned.
static	False

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

item	description
type	func
static	False

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

item	description
type	func
param	path: the path where data will be saved tscale: time scale, default is 0.001 gscale: gyroscope scale factor, default is 1, unit:g ascale: accelerometer scale factor, default is 1, unit:radians/second mscale: magnetometer scale factor, default is 1(unused) version: version number, default is "1.3" id: identifier for the IMU, default is "imu" orientation: sensor orientation, default is "YxZ"
return	error code
static	False

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

item	description
type	func
return	error code
static	False

C++ defination code:

err::Err close()

is_opened

def is_opened(self) -> bool

Check if the object is already open

item	description
type	func
return	true, opened; false, not opened
static	False

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

item	description
type	func
param	t: Timestamp of the current data. The actual value is equal to t * tscale. unit:s gyro: Gyroscope data must be an array consisting of x, y, and z-axis data. The actual value is equal to gyro * gscale. unit:g acc: Acceleration data must be an array consisting of x, y, and z-axis data. The actual value is equal to acc * ascale.unit:radians/second mag: Magnetic data must be an array consisting of x, y, and z-axis data. Currently not supported.
static	False

C++ defination code:

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

ext_dev

qmi8658