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          Grove - IMU 9DOF(lcm20600+AK09918) The Grove - IMU 9DOF (lcm20600+AK09918) is a 9 Degrees of Freedom IMU (Inertial measurement unit) which combines gyroscope, accelerometer and electronic compass. We use two chips LCM20600+AK09918 to implement those 3 functions. The LCM20600 is a 6-axis MotionTracking device that combines a 3-axis gyroscope, 3axis accelerometer. Gyroscope is a device used for measuring or maintaining orientation and angular velocity, normally, we use it to measure spin and twist. Accelerometer is a device that measures proper acceleration. The AK09918 is a 3-axis electronic compass IC with high sensitive Hall sensor technology. We use an electronic compass to measure the magnetic force, which can provide us with the direction information.     As its name suggests just use this single small module and you can measure 9 Degrees of Freedom: angular rotation in x/y/z axis, acceleration in x/y/z axis, and magnetic force in x/y/z axis. What an amazing module! Just use this module to build your own motion and orientation system😄 Features  3-Axis Gyroscope with Programmable FSR of ±250 dps, ±500 dps, ±1000 dps, and ±2000 dps  3-Axis Accelerometer with Programmable FSR of ±2g, ±4g, ±8g, and ±16g  3-Axis Electronic Compass with 0.15 μT/LSB (typ.) sensitivity  User-programmable interrupts  16-bit ADC resolution and Programmable Filters for acceleration measurements  16-bit ADC resolution for magnetic measurements  1 KB FIFO buffer enables the applications processor to read the data in bursts(LCM20600)  Embedded temperature sensor  Magnetic sensor overflow monitor function  Built-in oscillator for internal clock source Specification Item Value  Operating voltage  3.3V / 5V  Operating temperature  ‐30°C to +85°C  Gyroscope Full‐Scale Range  ±250 dps, ±500 dps, ±1000 dps, ±2000 dps  Gyroscope Sensitivity Scale Factor  131 LSB/(dps)@±250 dps   65.5 LSB/(dps)@±500 dps   32.8 LSB/(dps)@±1000 dps   16.4 LSB/(dps)@±2000 dps  Accelerometer Full‐Scale Range  ±2g, ±4g, ±8g, ±16g  Accelerometer Sensitivity Scale Factor  16384 LSB/g@±2g   8192 LSB/g@±4g   4096 LSB/g@±8g   2048 LSB/g@±16g      Item Value  Magnetic sensor measurement range  ±4912μT (typical)  Magnetic sensor sensitivity  0.15μT (typical)  Interface  I2C  I2C Address  LCM20600   0x69(default)   0x68(optional)   AK09918   0x0C  Applications  Smartphones and Tablets  Wearable Sensors Hardware Overview Pin Out     Danger The default I2C address of LCM20600 is 0x69, you can change it to 0x68. The central pad is connected to the address wire, you can change the I2C address by cutting the wire and re-welding it. For the safety of you and others, please be careful with knife or welding gun you may use. Schemaitc Power     Since the operating voltage range of LCM20600 is 1.71V to 3.45V, and the operating voltage range of AK09918 is 1.65V to 1.95V, we use a power conversion chip XC6206P182MR to provide a stable 1.8V for both chips. Bi-directional level shifter circuit This is a typical Bi-directional level shifter circuit to connect two different voltage section of an I2C bus. The I2C bus of two chips use 1.8V, if the I2C bus of the Arduino use 5V or 3.3V, this circuit will be needed. In the schematic above, Q1 and Q2 are N-Channel MOSFET CJ2102, which act as a bidirectional switch. In order to better understand this part, you can refer to the AN10441 Platforms Supported Arduino Raspberry Pi  BeagleBone  Wio  LinkIt ONE            Caution The platforms mentioned above as supported is/are an indication of the module's hardware or theoritical compatibility. We only provide software library or code examples for Arduino platform in most cases. It is not possible to provide software library / demo code for all possible MCU platforms. Hence, users have to write their own software library.     Getting Started Play With Arduino Hardware Materials required Seeeduino V4.2 Base Shield    Grove ‐ IMU 9DOF    Note 1 Please plug the USB cable gently, otherwise you may damage the port. Please use the USB cable with 4 wires inside, the 2 wires cable can't transfer data. If you are not sure about the wire you have, you can click here to buy 2 Each Grove module comes with a Grove cable when you buy. In case you lose the Grove cable, you can click here to buy.    Step 1. Connect the Grove - IMU 9DOF (lcm20600+AK09918) to port I2C of GroveBase Shield.  Step 2. Plug Grove - Base Shield into Seeeduino.  Step 3. Connect Seeeduino to PC via a USB cable.     Note If we don't have Grove Base Shield, We also can directly connect this module to Seeeduino as below. Seeeduino Grove ‐ IMU 9DOF  5V  Red  GND  Black  SDA  White  SCL  Yellow  Software Note If this is the first time you work with Arduino, we strongly recommend you to see Getting Started with Arduinobefore the start.  Step 1. Download the Grove - IMU 9DOF (lcm20600+AK09918) Library from Github.  Step 2. Refer to How to install library to install library for Arduino.  Step 3. Restart the Arduino IDE. Open the example, you can open it in the following three ways： a. Open it directly in the Arduino IDE via the path: File → Examples → Grove IMU 9DOF ICM20600 AK09918 → compass.     b. Open it in your computer by click the compass.ino which you can find in the folder XXXX\Arduino\libraries\Seeed_ICM20600_AK09918master\examples\compass, XXXX is the location you installed the Arduino IDE. c. Or, you can just click the icon in upper right corner of the code block to copy the following code into a new sketch in the Arduino IDE. 1#include "AK09918.h" 2#include "ICM20600.h" 3#include 4 5AK09918_err_type_t err; 6int32_t x, y, z; 7AK09918 ak09918; 8ICM20600 icm20600(true); 9int16_t acc_x, acc_y, acc_z; 10int32_t offset_x, offset_y, offset_z; 11double roll, pitch; 12// Find the magnetic declination at your location 13// http://www.magnetic-declination.com/ 14double declination_shenzhen = -2.2; 15 16void setup() 17{ 18 // join I2C bus (I2Cdev library doesn't do this automatically) 19 Wire.begin(); 20 21 err = ak09918.initialize(); 22 icm20600.initialize(); 23 ak09918.switchMode(AK09918_POWER_DOWN); 24 ak09918.switchMode(AK09918_CONTINUOUS_100HZ); 25 Serial.begin(9600); 26 27 err = ak09918.isDataReady(); 28 while (err != AK09918_ERR_OK) 29 { Serial.println("Waiting Sensor"); 30 delay(100); 31 err = ak09918.isDataReady(); 32 33 } 34 35 Serial.println("Start figure-8 calibration after 2 seconds."); 36 delay(2000); 37 calibrate(10000, &offset_x, &offset_y, &offset_z); 38 Serial.println(""); 39} 40 41void loop() 42{     43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97} 98   // get acceleration acc_x = icm20600.getAccelerationX(); acc_y = icm20600.getAccelerationY(); acc_z = icm20600.getAccelerationZ(); Serial.print("A: "); Serial.print(acc_x); Serial.print(", "); Serial.print(acc_y); Serial.print(", "); Serial.print(acc_z); Serial.println(" mg"); Serial.print("G: "); Serial.print(icm20600.getGyroscopeX()); Serial.print(", "); Serial.print(icm20600.getGyroscopeY()); Serial.print(", "); Serial.print(icm20600.getGyroscopeZ()); Serial.println(" dps"); ak09918.getData(&x, &y, &z); x = x - offset_x; y = y - offset_y; z = z - offset_z; Serial.print("M: "); Serial.print(x); Serial.print(", "); Serial.print(y); Serial.print(", "); Serial.print(z); Serial.println(" uT"); // roll/pitch in radian roll = atan2((float)acc_y, (float)acc_z); pitch = atan2(-(float)acc_x, sqrt((float)acc_y*acc_y+(float)acc_z*acc_z)); Serial.print("Roll: "); Serial.println(roll*57.3); Serial.print("Pitch: "); Serial.println(pitch*57.3); double Xheading = x * cos(pitch) + y * sin(roll) * sin(pitch) + z * cos(roll) * sin(pitch); double Yheading = y * cos(roll) - z * sin(pitch); double heading = 180 + 57.3*atan2(Yheading, Xheading) + declination_shenzhen; Serial.print("Heading: "); Serial.println(heading); Serial.println("--------------------------------"); delay(500);   99void calibrate(uint32_t timeout, int32_t *offsetx, int32_t *offsety, int32_t*offsetz) 100{ 101 int32_t value_x_min = 0; 102 int32_t value_x_max = 0; 103 int32_t value_y_min = 0; 104 int32_t value_y_max = 0; 105 int32_t value_z_min = 0; 106 int32_t value_z_max = 0; 107 uint32_t timeStart = 0; 108 109 ak09918.getData(&x, &y, &z); 110 111 value_x_min = x; 112 value_x_max = x; 113 value_y_min = y; 114 value_y_max = y; 115 value_z_min = z; 116 value_z_max = z; 117 delay(100); 118 119 timeStart = millis(); 120 121 while((millis() - timeStart) < timeout) 122 { 123 ak09918.getData(&x, &y, &z); 124 125 /* Update x-Axis max/min value */ 126 if(value_x_min > x) 127 { value_x_min = x; 128 // Serial.print("Update value_x_min: "); 129 // Serial.println(value_x_min); 130 131 132 } 133 else if(value_x_max < x) 134 { value_x_max = x; 135 // Serial.print("update value_x_max: "); 136 // Serial.println(value_x_max); 137 138 } 139 140 /* Update y-Axis max/min value */ 141 if(value_y_min > y) 142 { value_y_min = y; 143 // Serial.print("Update value_y_min: "); 144 // Serial.println(value_y_min); 145 146 147 } 148 else if(value_y_max < y) 149 { value_y_max = y; 150 // Serial.print("update value_y_max: "); 151 // Serial.println(value_y_max); 152 153 } 154     155 /* Update z-Axis max/min value */ 156 if(value_z_min > z) 157 { value_z_min = z; 158 // Serial.print("Update value_z_min: "); 159 // Serial.println(value_z_min); 160 161 162 } 163 else if(value_z_max < z) 164 { value_z_max = z; 165 // Serial.print("update value_z_max: "); 166 // Serial.println(value_z_max); 167 168 } 169 170 Serial.print("."); 171 delay(100); 172 173 } 174 175 *offsetx = value_x_min + (value_x_max - value_x_min)/2; 176 *offsety = value_y_min + (value_y_max - value_y_min)/2; 177 *offsetz = value_z_min + (value_z_max - value_z_min)/2; 178} Note There are 3 demos in the library: test_6axis This example shows how to get gyroscope and acceleration data from ICM20600. test_magnet This example shows how to get magnetic data from AK09918. compass This example gets magnetic data and acceleration data, to count pitch and roll, and make a compass application.    Step 4. Upload the demo. If you do not know how to upload the code, please check How to upload code.  Step 5. Open the Serial Monitor of Arduino IDE by click Tool-> Serial Monitor. Or tap the Ctrl + Shift + M key at the same time. Set the baud rate to 9600.   Success If every thing goes well, when you open the Serial Monitor, the notice will pop up--Start figure-8 calibration after 2 seconds. Which means in order to calibrate this module, you should move it and draw the number 8 trajectory in the air. When the "......." appears, you can start your calibration. 1Start figure-8 calibration after 2 seconds. 2....................................................................... 3A: -362, -205, 738 mg 4G: -45, 12, -1 dps 5M: -6, -23, -33 uT 6Roll: -15.53 7Pitch: 25.30 8Heading: 23.99 9-------------------------------10A: -269, 583, 61 mg 11G: 102, 377, -2 dps 12M: 18, -21, -18 uT 13Roll: 84.03 14Pitch: 24.65 15Heading: 215.58 16-------------------------------17A: -495, 229, 37 mg 18G: -43, -231, 201 dps 19M: 7, -30, 6 uT 20Roll: 80.83 21Pitch: 64.90 22Heading: 21.76 23-------------------------------- Note As you can see, the result of compass example includes three parameter: roll, pitch and Heading. There are the terminology of Euler angles(click to check more information). Fuction table Function Description  ICM20600  initialize()  Initialize the chip LCM20600, by default:   the measurement range of gyroscope is ±2000 dps   the measurement range of accelerometer is ±16g  setGyroScaleRange(gyro_scale_type_t  range)  After the initialization, you can set the gyroscope range to meet your  own needs, the parameter gyro_scale_type_t range list:  RANGE_250_DPS   RANGE_500_DPS   RANGE_1K_DPS       Function Description  RANGE_2K_DPS   e.g.   icm20600.setGyroScaleRange(RANGE_1K_DPS);   this code line will change the gyroscope measurement range to  ±1000dps  setAccScaleRange(acc_scale_type_t range) After the initialization, you can set the accelerometer range to meet  your own needs, the parameter acc_scale_type_t range list:  RANGE_2G   RANGE_4G   RANGE_8G   RANGE_16G   e.g.   icm20600.setAccScaleRange(RANGE_8G);   this code line will change the accelerometer measurement range to  ±8g  getGyroscope(int16_t* x, int16_t* y,  int16_t* z))  You can use this function to get the gyroscope X/Y/Z 3‐axis data at the  same time, and the unit of the data is dps  getGyroscopeX(void)  getGyroscopeY(void)   getGyroscopeZ(void)  Or, you can get the gyroscope X/Y/Z 3‐axis data separately by using  those three functions, and the unit of the data is dps  getRawGyroscopeX(void)   getRawGyroscopeX(void)   getRawGyroscopeX(void)  Those three functions get the raw data directly from the register of  ICM20600 without convert the data unit to dps  getAcceleration(int16_t* x, int16_t* y,  int16_t* z)  You can use this function to get the X/Y/Z 3‐axis acceleration at the  same time, and the unit of the data is mg  getAccelerationX(void)  getAccelerationY(void)   getAccelerationZ(void)  Or, you can get the X/Y/Z 3‐axis acceleration separately by using those  three functions, and the unit of the data is mg  getRawAccelerationX(void)   getRawAccelerationY(void)   getRawAccelerationZ(void)  Those three functions get the raw data directly from the register of  ICM20600 without convert the data unit to mg  getTemperature(void)  You ca use this function to get the temperature      Function Description  AK09918  getData(int32_t *axis_x, int32_t *axis_y,  int32_t *axis_z)  You can use this function to get the magnetic force of 3‐axis.  Project This is the introduction Video of this product, simple demos, you can have a try. Tech Support Please do not hesitate to submit the issue into our forum.                                                                                                http://wiki.seeedstudio.com/Grove‐I2C_UV_Sensor‐VEML6070/ 11‐5‐18