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Attention! |
Specification
- Power supply voltage: 2.5 V - 5.5 V
- Power consumption: 6 mA
- Built-in voltage regulator
- Built-in voltage converter for I2C bus lines
(the system works with both 5V and 3.3V voltages) - Three axes: X, Y, Z
- Communication interface: I2C (TWI) Fast 400 kHz
- Resolution:
- Accelerometer: 16 bits
- Gyroscope: 16 bits
- Magnetometer: 16 bits
- Measurement ranges (configurable):
- Accelerometer: ± 2, ± 4, ± 6, ± 8, ± 16 g
- Gyroscope: ± 245, ± 500, ± 2000 °/s
- Magnetometer: ± 2, ± 4, ± 8, ± 12 gauss
- The set includes a goldpin strip for self-soldering
- Size: 20.5 x 12.7 x 2.5 mm
- Weight: 0.9 g (without connectors)
Description
The module allows the measurement of nine independent values: acceleration, magnetic field and angular velocity - each in three axes - through a 3-axis accelerometer, magnetometer and gyroscope. Knowledge of these values allows to locate an object in 3D space. The popular I2C bus (TWI) is used for communication with the central unit. The module has a voltage regulator and the necessary passive elements. The outputs are popular goldpin connectors, enabling the sensor to be connected bywires ordirectly connected to acontactboard.
The kit includes goldpin connectors for self-assembly.
MinImu-9 v3 vs. MinImu-9 v2
Compared to the previous version, MinImu-9 v3 has new 3-axis MEMS sensors from ST company - gyroscope L3GD20H and accelerometer with magnetometer LSM303D. The L3GD20H gyroscope has higher accuracy and provides higher measurement stability than its predecessor. The new magnetometer enables measurements in a wider range - up to 12 gauss. In order to be able to connect two MinImu-9 simultaneously, the manufacturer has also changed theI2C busaddress.The layout of the outputs is fully compatible with version v2.
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Product compatible with Arduino The manufacturer prepared a library(L3GD20, LSM303)and a sampleprogram forArduino module users. |
The excerpts .
The sensor has five leads for mounting goldpin-type connectors - 2.54 mm raster (self-soldering kit).
| PIN | Description |
| SCL | I2C bus clock line. The high state is equal to the VIN voltage. Low GND. |
| SDA | I2C bus data line. High state equals VIN voltage. Low GND. |
| GND | The mass potential of the system. |
| VIN | Supply voltage from 2.5 V to 5.5 V. |
| VDD | If the supply voltage is higher than 3.3V, the output can serve as a 3.3V output with a current capacity up to 150mA. When the supply voltage is in the range of 2.5V - 3.3V, it should be connected to the VDD output |
| SA0 |
Input to change the I2C address according to the table below. Pin works with 3.3 V,5 V connectionmay permanently damage the system. |
I2Caddress
The accelerometer, magnetometer and gyroscope, located in MinImu-9 module, have 7-bit addresses. They are set to the following addresses:
| Sensor |
The address default |
The address SA0 in low state |
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L3GD20H Gyroscope |
1101011b | 1101010b |
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LSM303D accelerometer and magnetometer |
0011101b | 0011110b |
Dimensions
The system is small in size, its outline fits into a rectangle of dimensions: 20.5 x 12.7 mm. It is mounted with a 2.1 mm internal diameter hole.
First start-up
All the information necessary for commissioning and operating the sensor can be found in thedocumentation. Below you will find some important information:
- The gyroscope, accelerometer and magnetometer are disabled by default, they should be started by setting appropriate bits in the configuration registers
- You can read or send multiple commands in one I2C command. To do this, set the oldest bit of the address to unlock auto increment.
- Compared to previous versions, the LSM303D accelerometer registers are more compatible with the magnetometer registers.
- The gyroscope, accelerometer and magnetometer send 16-bit data in two 8-bit words.
Usefullinks |
