| paul@0 | 1 | Ben Pololu IMU is an experiment with the Ben NanoNote and the [http://www.pololu.com/catalog/product/1265 MinIMU-9 Gyro, Accelerometer, and Compass (L3G4200D and LSM303DLM Carrier)] board from [http://www.pololu.com/ Pololu]. |
| paul@0 | 2 | |
| paul@0 | 3 | == Goals == |
| paul@0 | 4 | |
| paul@0 | 5 | * Experiment with I2C communication using the 8:10 port (see [[UBB]]) |
| paul@0 | 6 | * Evaluate the accuracy of digital gyroscope and accelerometer components |
| paul@0 | 7 | * Consider applications of orientation and positioning data |
| paul@0 | 8 | * Refresh mostly dormant vector mathematics knowledge |
| paul@0 | 9 | |
| paul@0 | 10 | == Progress == |
| paul@0 | 11 | |
| paul@0 | 12 | The MinIMU-9, with the supplied male headers attached, can be conveniently connected to female headers soldered to the Sparkfun microSD Sniffer: as is the case with the 8:10 pin ordering, the VIN and GND pins are adjacent on the MinIMU-9, and thus the connection can be built around them without the need for jumper wires. The board is quite able to function on power supplied by the Ben. |
| paul@0 | 13 | |
| paul@0 | 14 | Communication with the board is done using the I<sup>2</sup>C protocol which requires only two additional wires from the 8:10 port. Although Linux kernel support could probably be employed to conduct I<sup>2</sup>C communication using the GPIO lines associated with the 8:10 interface, a user space implementation is currently being used, with threading involved to reduce latency between measurements. |
| paul@0 | 15 | |
| paul@0 | 16 | A [http://hgweb.boddie.org.uk/ben-pololu-imu/ repository] is available containing code to allow the Ben to communicate with the IMU, and some results are shown below. |
| paul@0 | 17 | |
| paul@0 | 18 | <gallery widths=400px heights=300px> |
| paul@0 | 19 | File:Pololu-MinIMU-9-with-headers.jpg|The unlabelled underside of the MinIMU-9 with protruding header pins (with the soldering having been done on the labelled side of the board) |
| paul@0 | 20 | File:Sparkfun-microSD-Sniffer-with-Pololu-MinIMU-9.jpg|The MinIMU-9 connected to a Sparkfun microSD sniffer (in correct orientation for insertion into the 8:10 port) |
| paul@0 | 21 | </gallery> |
| paul@0 | 22 | |
| paul@0 | 23 | [[Category:Ben NanoNote]] |
