Project #28 – Sensors – Pololu MinIMU-9 v5 – Mk04

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Pololu MinIMU-9 v5 Gyro, Accelerometer, and Compass (LSM6DS33 and LIS3MDL Carrier)

The Pololu MinIMU-9 v5 is an inertial measurement unit (IMU) that packs an LSM6DS33 3-axis gyro and 3-axis accelerometer and an LIS3MDL 3-axis magnetometer onto a tiny 0.8″ × 0.5″ board. An I²C interface accesses nine independent rotation, acceleration, and magnetic measurements that can be used to calculate the sensor’s absolute orientation. The MinIMU-9 v5 board includes a voltage regulator and a level-shifting circuit that allow operation from 2.5 to 5.5 Volt.

DL2308Mk05

1 x Adafruit METRO M0 Express
1 x DS3231 Precision RTC FeatherWing
1 x Pololu MinIMU-9 v5 Gyro, Accelerometer, and Compass
1 x ProtoScrewShield
1 x Rocker Switch – SPST
1 x Resistor 10K Ohm
1 x CR1220 3V Lithium Coin Cell Battery
1 x SparkFun Cerberus USB Cable

Adafruit METRO M0 Express

LED – LED_BUILTIN
SDA – Digital 20
SCL – Digital 21
SW1 – Digital 2
VIN – +3.3V
GND – GND

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DL2308Mk05p.ino

/****** Don Luc Electronics © ******
Software Version Information
Project #28 - Sensors - Pololu MinIMU-9 v5 - Mk04
28-04
DL2308Mk05p.ino
1 x Adafruit METRO M0 Express
1 x DS3231 Precision RTC FeatherWing
1 x Pololu MinIMU-9 v5 Gyro, Accelerometer, and Compass
1 x ProtoScrewShield
1 x Rocker Switch - SPST
1 x Resistor 10K Ohm
1 x CR1220 3V Lithium Coin Cell Battery
1 x SparkFun Cerberus USB Cable
*/

// Include the Library Code
// DS3231 Precision RTC 
#include <RTClib.h>
// Two Wire Interface (TWI/I2C)
#include <Wire.h>
// Keyboard
#include <Keyboard.h>
// Includes and variables for IMU integration
// STMicroelectronics LSM6DS33 Gyroscope and Accelerometer
#include <LSM6.h>
// STMicroelectronics LIS3MDL Magnetometer
#include <LIS3MDL.h>

// Keyboard
String sKeyboard = "";

// DS3231 Precision RTC 
RTC_DS3231 rtc;
String dateRTC = "";
String timeRTC = "";

// Pololu 9DoF IMU
// STMicroelectronics LSM6DS33 Gyroscope and Accelerometer
LSM6 imu;
// Accelerometer and Gyroscopes
// Accelerometer
int imuAX;
int imuAY;
int imuAZ;
// Gyroscopes 
int imuGX;
int imuGY;
int imuGZ;
// STMicroelectronics LIS3MDL Magnetometer
LIS3MDL mag;
// Magnetometer
int magX;
int magY;
int magZ;

// The number of the pushbutton pin
int iButton = 2;
// Variable for reading the button status
int buttonState = 0;

// Software Version Information
String sver = "28-04";

void loop() {

  // Date and Time RTC
  isRTC ();

  // Pololu Accelerometer and Gyroscopes
  isIMU();

  // Pololu Magnetometer
  isMag();

  // Read the state of the button value:
  buttonState = digitalRead(iButton);

  // Check if the button is pressed. If it is, the buttonState is HIGH:
  if (buttonState == HIGH) {

     Keyboard.println(sKeyboard);
    
  }

  // Delay 1 Second
  delay(1000);

}

getAccelGyro.ino

// Accelerometer and Gyroscopes
// Setup IMU
void setupIMU() {

  // Setup IMU
  imu.init();
  // Default
  imu.enableDefault();
  
}
// Accelerometer and Gyroscopes
void isIMU() {

  // Accelerometer and Gyroscopes
  imu.read();
  // Accelerometer x, y, z
  imuAX = imu.a.x;
  imuAY = imu.a.y;
  imuAZ = imu.a.z;
  // Gyroscopes x, y, z
  imuGX = imu.g.x;
  imuGY = imu.g.y;
  imuGZ = imu.g.z;

  sKeyboard = sKeyboard + String(imuAX) + "|" + String(imuAY) + "|" + String(imuAZ) + "|";
  sKeyboard = sKeyboard + String(imuGX) + "|" + String(imuGY) + "|" + String(imuGZ) + "|";
  
}

getIMUMagnetometer.ino

// IMU Magnetometer
// Setup Magnetometer
void setupMag() {

  // Setup Magnetometer
  mag.init();
  // Default
  mag.enableDefault();
  
}
// Magnetometer
void isMag() {

  // Magnetometer
  mag.read();
  // Magnetometer x, y, z
  magX = mag.m.x;
  magY = mag.m.y;
  magZ = mag.m.z;

  sKeyboard = sKeyboard + String(magX) + "|" + String(magY) + "|" + String(magZ) + "|*";
  
}

getRTC.ino

// Date & Time
// DS3231 Precision RTC
void setupRTC() {

  // DS3231 Precision RTC
  if (! rtc.begin()) {
    //Serial.println("Couldn't find RTC");
    //Serial.flush();
    while (1) delay(10);
  }

  if (rtc.lostPower()) {
    //Serial.println("RTC lost power, let's set the time!");
    // When time needs to be set on a new device, or after a power loss, the
    // following line sets the RTC to the date & time this sketch was compiled
    rtc.adjust(DateTime(F(__DATE__), F(__TIME__)));
    // This line sets the RTC with an explicit date & time, for example to set
    // January 21, 2014 at 3am you would call:
    //rtc.adjust(DateTime(2023, 8, 10, 11, 0, 0));
  }
  
}
// Date and Time RTC
void isRTC () {

  // Date and Time
  dateRTC = "";
  timeRTC = "";
  DateTime now = rtc.now();
  
  // Date
  dateRTC = now.year(), DEC; 
  dateRTC = dateRTC + "/";
  dateRTC = dateRTC + now.month(), DEC;
  dateRTC = dateRTC + "/";
  dateRTC = dateRTC + now.day(), DEC;

  // Time
  timeRTC = now.hour(), DEC;
  timeRTC = timeRTC + ":";
  timeRTC = timeRTC + now.minute(), DEC;
  timeRTC = timeRTC + ":";
  timeRTC = timeRTC + now.second(), DEC;

  sKeyboard = "SEN|" + sver + "|" + String(dateRTC) + "|" + 
  String(timeRTC) + "|";
  
}

setup.ino

// Setup
void setup()
{
  
  // Give display time to power on
  delay(100);
  
  // Wire - Inialize I2C Hardware
  Wire.begin();

  // Give display time to power on
  delay(100);

  // Date & Time RTC
  // DS3231 Precision RTC 
  setupRTC();
  
  // Initialize control over the keyboard:
  Keyboard.begin();

  // Pololu Setup IMU
  setupIMU();

  // Pololu Setup Magnetometer
  setupMag();

  // Initialize the button pin as an input
  pinMode(iButton, INPUT);

  // Initialize digital pin LED_BUILTIN as an output
  pinMode(LED_BUILTIN, OUTPUT);
  // Turn the LED on HIGH
  digitalWrite(LED_BUILTIN, HIGH);

  // Delay 5 Second
  delay( 5000 );

}

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