This software is a sample program for the RT-USB-9axisIMU3 device.
The file RT-9DOF-IMU-V3-Quat.ino is forked from the SparkFun_ICM-20948_ArduinoLibrary examples.
- Please refer to SparkFun_ICM-20948_ArduinoLibrary and install the library.
- Operation has been confirmed only with version 1.2.5.
- By default the DMP functionality is disabled in the library as the DMP firmware takes up 14301 Bytes of program memory.
- To use the DMP, you will need to:
- Edit ICM_20948_C.h
- Uncomment line 29: #define ICM_20948_USE_DMP
- Save changes
- If you are using Windows, you can find ICM_20948_C.h in:
- Documents\Arduino\libraries\SparkFun_ICM-20948_ArduinoLibrary\src\util
Please add the following URL to "File" → "Preferences" → "Additional Boards Manager URLs": https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json
Install "STM32 MCU based boards" from the Boards Manager. Please also install the STM32CubeProgrammer tool, which is required to flash firmware to the STM32 microcontroller.
Please configure the board settings as follows:
- Board: Generic STM32G4 boards
- Port: DFU 1-4
- Board part number: Generic G431KBUx
- Upload method: STM32CubeProgrammer (DFU)
- USB support (if available): CDC (generic 'Serial' supersedes U(S)ART)
If necessary, you may change the relevant lines in boards.txt, which can be found in a directory such as: C:\Users<UserName>\AppData\Local\Arduino15\packages\STMicroelectronics\hardware\stm32<version>
For the production version shipped by RT, the following VID and PID are used:
GenG4.vid.0=0x2b72
GenG4.pid.0=0x0014
Start the device in BOOT mode (please power it on while holding the switch). Power on the device in boot mode and proceed with flashing the firmware.
Please download the binary to be flashed from the releases page. Please flash it using STM32CubeProg.