1.1 --- /dev/null Thu Jan 01 00:00:00 1970 +0000
1.2 +++ b/docs/Ben_Pololu_IMU Mon Oct 14 13:02:19 2013 +0000
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1.4 +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].
1.5 +
1.6 +== Goals ==
1.7 +
1.8 +* Experiment with I2C communication using the 8:10 port (see [[UBB]])
1.9 +* Evaluate the accuracy of digital gyroscope and accelerometer components
1.10 +* Consider applications of orientation and positioning data
1.11 +* Refresh mostly dormant vector mathematics knowledge
1.12 +
1.13 +== Progress ==
1.14 +
1.15 +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.
1.16 +
1.17 +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.
1.18 +
1.19 +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.
1.20 +
1.21 +<gallery widths=400px heights=300px>
1.22 +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)
1.23 +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)
1.24 +</gallery>
1.25 +
1.26 +[[Category:Ben NanoNote]]