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Attention! Product replaced by a new version: AltIMU-10v4 gyroscope, accelerometer, compass and altimeter. |
Specification
- Power supply voltage: 2.5 V - 5.5 V
- Power consumption: 6 mA
- Three axes: X, Y, Z
- Communication interface: I2C (TWI)
- Data format:
- Accelerometer: 16 bits per axis (aligned to the left)
- Gyroscope: 16-bit per axis
- Magnetometer: 16 bitsper axis (aligned to the left)
- Barometer: 24 bits(4096 LSb/mbar)
- Measurement ranges (configurable):
- Accelerometer: ±2, ±4, ±6, ±8, ±16 g
- Gyroscope: ±245, ±500, ±2000 °/s
- Barometer: 26 kPa - 126 kPa
- Magnetometer: ±2, ±4, ±8, ±12 gauss
- Size: 25.4 x 12.7 x 2.5 mm
- Weight: 0.8 g (without connectors)
Description
AltIMU-10 v3 module is a 3-axis accelerometer, 3-axis magnetometer LSM303D, 3-axisgyroscopeL3GD20H and barometer LPS331AP.With these sensors it is possible to create a complete AHRS (attitude and heading reference system), i.e. to determine the position of an object in three-dimensional space. Data from the barometer is easily converted to height, thanks to the gyroscope it is possible to track the rotation of the object and the accelerometer together with the magnetometer compensates the gyroscope drift and determines the absolute reference point.
The module has a voltage regulator and the necessary passive elements. The outputs are popular goldpin connectors, allowing the sensor to be connected bywires ordirectly connected to the contact plate.
Compared to the previous version, AltIMU-10 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 AltIMU-10 simultaneously, the manufacturer has also changed theI2Cbus addressing.The layout of the outputs is fully compatible with the previous version v2.
AltIMU-10 v3 is pin-compatible withMinIMU-9 v3module. It has the same functions with the addition of a digital barometer that can be used as an altitude sensor. Correctly written code for MinIMU-9 v3 will work with AltIMU-10 v3.
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Arduino compatible product The manufacturer has prepared libraries for theL3G gyroscope,LSM303accelerometerandLPS331barameter, which allowfor easy operation of sensors with Arduino. |
Sample programme
In order to show the capabilities of the IMU module, asample program for Arduinois available. It uses data from AltIMU-10 to determine coordinates in three axes X, Y, Z to visualize the object in 3D space, as shown in the figures below. The software is based on a project by Jordi Munoz, William Premerlani, Jose Julio and Doug Weibel.
Visualization of an object in 3D space.
Visualization of the object in 3D.
The sensor has five goldpin connectors - 2.54 mm raster (included).
| 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 | System mass potential |
| VIN | Supply voltage from 2.5 V to 5.5 V |
| VDD | If the supply voltage is higher than 3.3 V, the output can serve as a 3.3 V output with a current capacity of up to 150 mA. When the power supply voltage is between 2.5 V - 3.3 V, connect it 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. |
I2C address
The accelerometer, magnetometer, gyroscope and barometer, located in the module, have 7-bit addresses. They are set to the appropriate address:
| 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 |
|
LPS331AP barometer | 1011101b | 1011100b |
The bus works properly with a frequency up to 400 MHz (fast mode).
Directions for first use
All necessary information on communication and sensor handling of the AltIMU-10 can be found inthe documentation ofeach sensor. Below are some of the most important facts:
- The pressure sensor, accelerometer and gyroscope are disabled by default. They should be activated by setting the appropriate bits in the respective registers.
- It is possible to multi-read and multi-record the accelerometer, gyroscope and barometer by means of a single I2C command by setting the most significant address bit (starting self-increment).
- The pressure sensor (barometer) has data in 24-bit format. The accelerometer, magnetometer and gyroscope transmit 16-bit values.
- Compared to previous versions, the LSM303D accelerometer registers are more compatible with the magnetometer registers.
- The gyroscope, accelerometer and magnetometer transmit 16-bit data in two 8-bit words.
Visualization of orientation in space based on readings from the IMU module.
