IMUNano33 is a data processor library for the sensors on an Arduino Nano 33 BLE Sense, namely the:
- HTS221 for temperature and humidity
- LPS22HB for air pressure
- LSM9DS1 IMU, whose accelerometer and gyroscope are used
The HTS221 and LPS22HB are used for climate data, and the LSM9DS1 is used to determine the orientation of the Arduino Nano. It uses the gyroscope to integrate the angular rates and then corrects it with the direction of gravity given by the accelerometer. The magnetometer is not used to correct yaw because of high magnetic interference and noise in various applications, and because it is difficult to calibrate properly.
This library only processes the data and does not read in any data. It expects temperature (in °C), relative humidity, and air pressure (in kPa) from the climate sensors, and angular velocities about all three axes, accelerations in all three dimensions, and the time between the current and last measurement from the IMU. This data can be a combined input, or read from the climate sensors and the IMU separately. This library can be used on a device such as a Raspberry Pi, which supports the C++ standard library, or it can be used on the Arduino with the macro IMUNANO33_EMBED defined before the include statement.
This library can also be used with an Arduino connected to an MPU-9250 or MPU-6050 IMU along with a DHT22 temperature/humidity sensor and a BMP390 pressure sensor. However, the axes mentioned in the documentation will not match. Additionally, as mentioned above, this library can be used as a standalone orientation calculator or a standalone climate data processor, so it can be used with just a MPU-9250/MPU-6050 or just a DHT22 + BMP390.
- Source Code: https://github.com/jonathanhliu21/imunano33
- Documentation: https://jonathanhliu21.github.io/imunano33/index.html
MIT License (© 2023 Jonathan Liu)