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RAK12033-IIM42652 is written by RAK for TDK IIM42652. It provides 6-axis data and temperature data reading, measurement range setting, threshold trigger wake-up and other functions.
- Product Repository - Product repository for the RAKWireless RAK12033 6-Axis module.
- Documentation - Documentation and Quick Start Guide for the RAK12033 6-Axis module.
In Arduino IDE open Sketch->Include Library->Manage Libraries then search for RAK12033.
In PlatformIO open PlatformIO Home, switch to libraries and search for RAK12033. Or install the library project dependencies by adding
lib_deps =
RAKWireless/RAKWireless IIM42652 6-Axis library
into platformio.ini
For manual installation download the archive, unzip it and place the RAK12033-IIM42652 folder into the library directory. In Arduino IDE this is usually /libraries/ In PlatformIO this is usually <user/.platformio/lib>
The library provides IIM42652 class, which allows communication with IIM42652 via IIC. These examples show how to use RAK12033.
- RAK12033_6_Axis_BasicReadings_IIM_42652 Get IIM-42652 sensor data and output data on the serial port.
- RAK12033_6_Axis_Interrupt_IIM_42652 Trigger an interrupt when the acceleration on the axis exceeds the threshold.
- RAK12033_6_Axis_SetRange_IIM_42652 Setting the ACC and GYRO data output rate and measurement range.
- RAK12033_6_Axis_Calibration_IIM_42652 Perform zero offset calibration on the gyro output within 5 seconds after reset. Keep the gyro absolutely still during calibration. Only the zero offset of the gyroscope is calibrated. Using the arithmetic mean calibration method. Can be changed to a calibration method more suitable for your application.
bool begin(TwoWire &wirePort, uint8_t deviceAddress)
Initalizes the IIM42652 sensor.
| Direction | Name | Function |
|---|---|---|
| in | wirePort | IIC interface used. |
| in | deviceAddress | Device address should be 0x68. |
| return | If the device init successful return true else return false. |
**void bank_selection ( uint8_t bank_sel ) **
Register bank selection.
| Direction | Name | Function |
|---|---|---|
| in | bank_sel | Selected bank.The parameters can be the following values : IIM42652_SET_BANK_0 IIM42652_SET_BANK_1 IIM42652_SET_BANK_2 IIM42652_SET_BANK_3 IIM42652_SET_BANK_0 |
| return | none |
**void get_device_id ( uint8_t *device_id ) **
Get device ID.
| Direction | Name | Function |
|---|---|---|
| in | device_id | Device ID variable pointer. |
| return | none |
**void temperature_enable ( void ) **
Enable IIM42652 temperature measurement.
| Direction | Name | Function |
|---|---|---|
| return | none |
**void temperature_disable( void ) **
Disable IIM42652 temperature measurement.
| Direction | Name | Function |
|---|---|---|
| return | none |
void gyroscope_enable ( void )
Enable IIM42652 gyroscope measurement.
| Direction | Name | Function |
|---|---|---|
| return | none |
void gyroscope_disable( void )
Disable IIM42652 gyroscope measurement.
| Direction | Name | Function |
|---|---|---|
| return | none |
void accelerometer_enable ( void )
Enable IIM42652 acceleration measurement.
| Direction | Name | Function |
|---|---|---|
| return | none |
void accelerometer_disable( void )
Disable IIM42652 acceleration measurement.
| Direction | Name | Function |
|---|---|---|
| return | none |
void idle( void )
IDLE mode. When Accel and Gyro are powered off. The chip will go to OFF state, since the RC oscillator will also be powered off.
| Direction | Name | Function |
|---|---|---|
| return | none |
void ex_idle( void )
Exit IDLE mode. The RC oscillator is powered on even if Accel and Gyro are powered off.
| Direction | Name | Function |
|---|---|---|
| return | none |
void soft_reset( void )
Software reset IIM42652.
| Direction | Name | Function |
|---|---|---|
| return | none |
**void get_accel_data ( IIM42652_axis_t *accel_data ) **
Get IIM42652 acceleration data.
| Direction | Name | Function |
|---|---|---|
| in | accel_data | Pointer to data of type .@ IIM42652_axis_t. typedef struct { int16_t x; int16_t y; int16_t z; } IIM42652_axis_t; |
| return | none |
**void get_gyro_data( IIM42652_axis_t *gyro_data) **
Get IIM42652 gyroscope data.
| Direction | Name | Function |
|---|---|---|
| in | gyro_data | Pointer to data of type .@ IIM42652_axis_t. typedef struct { int16_t x; int16_t y; int16_t z; } IIM42652_axis_t; |
| return | none |
**void get_temperature ( float *temperature ) **
Get IIM42652 temperature data.
| Direction | Name | Function |
|---|---|---|
| in | temperature | Pointer to temperature variable. |
| return | none |
void set_accel_fsr(IIM42652_ACCEL_CONFIG0_FS_SEL_t accel_fsr_g)
Set IIM42652 ACC full scale range.
| Direction | Name | Function |
|---|---|---|
| in | accel_fsr_g | Full scal range value. Reference@ IIM42652_ACCEL_CONFIG0_FS_SEL_t. |
| return | none |
void set_accel_frequency(const IIM42652_ACCEL_CONFIG0_ODR_t frequency)
Set IIM42652 ACC output data rate.
| Direction | Name | Function |
|---|---|---|
| in | frequency | Output data rate value. Reference@ IIM42652_ACCEL_CONFIG0_ODR_t. |
| return | none |
void set_gyro_fsr(IIM42652_GYRO_CONFIG0_FS_SEL_t gyro_fsr_dps)
Set IIM42652 GYRO full scale range.
| Direction | Name | Function |
|---|---|---|
| in | gyro_fsr_dps | Full scal range value. Reference@ IIM42652_GYRO_CONFIG0_FS_SEL_t. |
| return | none |
void set_gyro_frequency(const IIM42652_GYRO_CONFIG0_ODR_t frequency)
Set IIM42652 GYRO output data rate.
| Direction | Name | Function |
|---|---|---|
| in | frequency | Output data rate value. Reference@ IIM42652_GYRO_CONFIG0_ODR_t. |
| return | none |
uint8_t get_WOM_INT(void)
Get WOM interrupt flag, clears on read.
| Direction | Name | Function |
|---|---|---|
| return | Return the value in register INT_STATUS2. For details, refer to the description of INT_STATUS2 in the date sheet. |
void wake_on_motion_configuration(const uint8_t x_th, const uint8_t y_th, const uint8_t z_th )
Wake on motion configuration.
| Direction | Name | Function |
|---|---|---|
| in | x_th | Threshold value for the Wake on Motion Interrupt for X-axis accelerometer WoM thresholds are expressed in fixed “mg” independent of the selected Range [0g : 1g]; Resolution 1g/256=~3.9mg |
| in | y_th | Threshold value for the Wake on Motion Interrupt for Y-axis accelerometer WoM thresholds are expressed in fixed “mg” independent of the selected Range [0g : 1g]; Resolution 1g/256=~3.9mg |
| in | z_th | Threshold value for the Wake on Motion Interrupt for Z-axis accelerometer WoM thresholds are expressed in fixed “mg” independent of the selected Range [0g : 1g]; Resolution 1g/256=~3.9mg |
| return | none |
void enable_accel_low_power_mode(void)
Set ACC to low power mode.
| Direction | Name | Function |
|---|---|---|
| return | none |