A project to demonstrate 6-axis IMU sensor fusion with ICM42670-P sensor
The IMU sensor used in ICM42670-P and the microcontroller is an XMC1302 series MCU with 16KB flash and 16KB ram. The board is powered by an external benchtop power supply and an on-board voltage regulator is used to generate 3.3V
MCU and the IMU sensor communicate through I2C. The Mahony filter is implemented using fixed point arithmetic (no floating-point operations). The algorithm runs at 500 Hz that is triggered by the timer interrupt.