Code for 9 DoF to Unity guide

Adding code for the 9 DoF to Unity guide. Two sets of Arduino code (one for calibrated sensor, one for uncalibrated) and the C# code for Unity.

Author: BlitzCityDIY

Arduino_9DoF_to_Unity/.metro_m4.test.only

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+// SPDX-FileCopyrightText: 2022 Liz Clark for Adafruit Industries
+//
+// SPDX-License-Identifier: MIT
+
+#include <Adafruit_LSM6DS3TRC.h>
+#include <Adafruit_AHRS.h>
+#include <Adafruit_Sensor_Calibration.h>
+#include <Adafruit_LIS3MDL.h>
+
+Adafruit_Sensor *accelerometer, *gyroscope, *magnetometer;
+
+Adafruit_LIS3MDL lis3mdl;
+Adafruit_LSM6DS3TRC lsm6ds;
+
+//Adafruit_NXPSensorFusion filter; // slowest
+//Adafruit_Madgwick filter;  // faster than NXP
+Adafruit_Mahony filter;
+
+#if defined(ADAFRUIT_SENSOR_CALIBRATION_USE_EEPROM)
+  Adafruit_Sensor_Calibration_EEPROM cal;
+#else
+  Adafruit_Sensor_Calibration_SDFat cal;
+#endif
+
+#define FILTER_UPDATE_RATE_HZ 100
+#define PRINT_EVERY_N_UPDATES 10
+
+uint32_t timestamp;
+
+void setup() {
+  // put your setup code here, to run once:
+  Serial.begin(9600);
+
+  if (!lsm6ds.begin_I2C()) {
+    while (1) {
+      delay(10);
+    }
+  }
+
+  accelerometer = lsm6ds.getAccelerometerSensor();
+  gyroscope = lsm6ds.getGyroSensor();
+  magnetometer = &lis3mdl;
+
+  lsm6ds.setAccelRange(LSM6DS_ACCEL_RANGE_2_G);
+  lsm6ds.setGyroRange(LSM6DS_GYRO_RANGE_250_DPS);
+  lis3mdl.setRange(LIS3MDL_RANGE_4_GAUSS);
+
+  lsm6ds.setAccelDataRate(LSM6DS_RATE_104_HZ);
+  lsm6ds.setGyroDataRate(LSM6DS_RATE_104_HZ);
+  lis3mdl.setDataRate(LIS3MDL_DATARATE_1000_HZ);
+  lis3mdl.setPerformanceMode(LIS3MDL_MEDIUMMODE);
+  lis3mdl.setOperationMode(LIS3MDL_CONTINUOUSMODE);
+
+  filter.begin(FILTER_UPDATE_RATE_HZ);
+
+}
+
+void loop() {
+
+  float roll, pitch, heading;
+  float gx, gy, gz;
+  static uint8_t counter = 0;
+
+  sensors_event_t accel, gyro, mag;
+  accelerometer->getEvent(&accel);
+  gyroscope->getEvent(&gyro);
+  magnetometer->getEvent(&mag);
+
+  cal.calibrate(mag);
+  cal.calibrate(accel);
+  cal.calibrate(gyro);
+  gx = gyro.gyro.x * SENSORS_RADS_TO_DPS;
+  gy = gyro.gyro.y * SENSORS_RADS_TO_DPS;
+  gz = gyro.gyro.z * SENSORS_RADS_TO_DPS;
+
+  filter.update(gx, gy, gz, 
+                accel.acceleration.x, accel.acceleration.y, accel.acceleration.z, 
+                mag.magnetic.x, mag.magnetic.y, mag.magnetic.z);
+  if (counter++ <= PRINT_EVERY_N_UPDATES) {
+    return;
+  }
+  counter = 0;
+
+  roll = filter.getRoll();
+  pitch = filter.getPitch();
+  heading = filter.getYaw();
+  Serial.print("|");
+  Serial.print(heading);
+  Serial.print("|");
+  Serial.print(pitch);
+  Serial.print("|");
+  Serial.print(roll);
+  Serial.println();
+
+}

Arduino_9DoF_to_Unity/9dof_to_unity_calibrated/9dof_to_unity_calibrated.ino

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+// SPDX-FileCopyrightText: 2022 Liz Clark for Adafruit Industries
+//
+// SPDX-License-Identifier: MIT
+
+#include <Adafruit_LSM6DS3TRC.h>
+
+int x;
+int y;
+int z;
+
+Adafruit_LSM6DS3TRC lsm6ds3trc;
+
+void setup() {
+  // put your setup code here, to run once:
+  Serial.begin(9600);
+
+  if (!lsm6ds.begin_I2C()) {
+    while (1) {
+      delay(10);
+    }
+  }
+  lsm6ds.setAccelRange(LSM6DS_ACCEL_RANGE_2_G);
+  lsm6ds.setGyroRange(LSM6DS_GYRO_RANGE_250_DPS);
+  lis3mdl.setRange(LIS3MDL_RANGE_4_GAUSS);
+
+  lsm6ds.setAccelDataRate(LSM6DS_RATE_104_HZ);
+  lsm6ds.setGyroDataRate(LSM6DS_RATE_104_HZ);
+  lis3mdl.setDataRate(LIS3MDL_DATARATE_1000_HZ);
+  lis3mdl.setPerformanceMode(LIS3MDL_MEDIUMMODE);
+  lis3mdl.setOperationMode(LIS3MDL_CONTINUOUSMODE);
+
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+  sensors_event_t accel;
+  sensors_event_t gyro;
+  sensors_event_t temp;
+  lsm6ds3trc.getEvent(&accel, &gyro, &temp);
+
+  x = map(accel.acceleration.x, -12, 11, 180, -180); 
+  y = map(accel.acceleration.y, -19, 20, -180, 180); 
+  z = map(accel.acceleration.z, -17, 15, 180, -180); 
+
+  Serial.print("|");
+  Serial.print(x);
+  Serial.print("|");
+  Serial.print(y);
+  Serial.print("|");
+  Serial.print(z);
+  Serial.println();
+  delay(50);
+}

Arduino_9DoF_to_Unity/9dof_to_unity_uncalibrated/9dof_to_unity_uncalibrated.ino

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+// SPDX-FileCopyrightText: 2022 Liz Clark for Adafruit Industries
+//
+// SPDX-License-Identifier: MIT
+
+using System.Collections;
+using System.Collections.Generic;
+using System.IO.Ports;
+using UnityEngine;
+using UnityEngine.UI;
+
+public class arduinoCtrl : MonoBehaviour
+{
+    SerialPort stream = new SerialPort("COM52", 9600);
+    //public float sensitivity;
+
+    public Transform t;
+
+    private float posX;
+    private float posY;
+    private float posZ;
+
+    private float sensX;
+    private float sensY;
+    private float sensZ;
+
+    public float Xcal;
+    public float Ycal;
+    public float Zcal;
+
+    void Start()
+    {
+        stream.Open();
+        //stream.ReadTimeout = 20;
+    }
+
+    void Update()
+    {
+        Vector3 lastData = Vector3.zero;
+
+        string UnSplitData = stream.ReadLine();
+        print(UnSplitData);
+        string[] SplitData = UnSplitData.Split('|');
+
+        float AccX = float.Parse(SplitData[1]);
+        float AccY = float.Parse(SplitData[2]);
+        float AccZ = float.Parse(SplitData[3]);
+
+        lastData = new Vector3(AccX, AccY, AccZ);
+
+        //Vector3 ParseAccelerometerData(string stream);
+        /*string Temp = SplitData[4];
+        string GyroX = (float.Parse(SplitData[5]) / 10000).ToString();
+        string GyroY = (float.Parse(SplitData[6]) / 10000).ToString();
+        string GyroZ = (float.Parse(SplitData[7]) / 10000).ToString();*/
+
+        /*Acceleration.text = "X: " + AccX + "\nY: " + AccY + "\nZ: " + AccZ;
+        Gyroscope.text = "X: " + GyroX + "\nY: " + GyroY + "\nZ: " + GyroZ;
+        Magnetometer.text = "X: " + MagX + "\nY: " + MagY + "\nZ: " + MagZ;
+        Temperature.text = Temp + "`C";
+
+        posX += float.Parse(GyroX);
+        posY += float.Parse(GyroY);
+        posZ += float.Parse(GyroZ);
+
+        sensX += float.Parse(AccX);
+        sensY += float.Parse(AccY);
+        sensZ += float.Parse(AccZ);*/
+
+        //Vector3 accl = ParseAccelerometerData(stream);
+        //Smoothly rotate to the new rotation position.
+        t.transform.rotation = Quaternion.Slerp(t.transform.rotation, Quaternion.Euler(lastData), Time.deltaTime * 2f);
+
+    }
+}