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IMU Bar |
This is a Zephyr RTOS based project to read out and process data from a number of IMU breakout board that have all been glued to a single piece of wood. The goal is to fuse the data of all the sensors together and compare the respective qualities of the signals. An STM32 BlackPill is used to read out the data through two I2C ports:
Address: Board - Chip: Type
Port 0:
19: ADAFRUIT 10DOF - LSM303DLHC: accel
1c: SPARKFUN SEN13944 - LSM9DS1: magn
1e: ADAFRUIT 10DOF - LSM303DLHC: magn
1f: ADAFRUIT 9DOF - FXOS8700CQ: accel/magn
21: ADAFRUIT 9DOF - FXAS21002C: gyro
28: ADAFRUIT IMU - BNO055: accel/gyro/mag - fusion
68: SPARKFUN SEN13762 - MPU9250: accel/gyro/magn
6a: SPARKFUN SEN13944 - LSM9DS1: accel/gyro
6b: ADAFRUIT 10DOF - L3GD20H: gyro
77: ADAFRUIT 10DOF - BMP180: press/temp
Port 1:
19: SPARKFUN SEN14480 - H3LIS331DL: accel
1e: NAMELESS 10DOF - HMC5883: magn
40: NAMELESS 10DOF - BMA180: accel
68: NAMELESS 10DOF - ITG3205: gyro
69: PRIMORONI IMC20948 - ICM20948: accel/gyro/magn
77: NAMELESS 10DOF - BMP085: pressure
Boot the BlackPill with BOOT0 button down and use dfu-util -a 0 to download or upload firmware