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MinIMU-9 v5 Gyro, Accelerometer, and Compass (LSM6DS33 and LIS3MDL Carrier)
The Pololu MinIMU-9 v5 is an inertial measurement unit (IMU) that packs an LSM6DS33 3-axis gyro and 3-axis accelerometer and an LIS3MDL 3-axis magnetometer onto a tiny 0.8″ × 0.5″ board. An I²C interface accesses nine independent rotation, acceleration, and magnetic measurements that can be used to calculate the sensor’s absolute orientation. The MinIMU-9 v5 board includes a voltage regulator and a level-shifting circuit that allow operation from 2.5 to 5.5 V, and the 0.1″ pin spacing makes it easy to use with standard solderless breadboards and 0.1″ perfboards.
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|Description||Specs (10)||Pictures (7)||Resources (14)||FAQs (0)||On the blog (3)|
LSM6DS33 datasheet (1MB pdf)
Datasheet for the ST LSM6DS33 3D accelerometer and 3D gyroscope.
AN4682: LSM6DS33 application note (1MB pdf)
This application note from ST provides usage information and application hints for the LSM6DS33 accelerometer and gyro.
LIS3MDL datasheet (2MB pdf)
Datasheet for the ST LIS3MDL 3-axis magnetometer.
AN4602: LIS3MDL application note (598k pdf)
This application note from ST provides usage information and application hints for the LIS3MDL magnetometer.
UM10204 I²C-bus specification and user manual (1MB pdf)
The official specification for the I²C-bus, which is maintained by NXP.
MinIMU-9 v5 schematic diagram (106k pdf)
Printable schematic diagram of the MinIMU-9 v5 Gyro, Accelerometer, and Compass (LSM6DS33 and LIS3MDL Carrier).
Dimension diagram of the MinIMU-9 v5 Gyro, Accelerometer, and Compass (LSM6DS33 and LIS3MDL Carrier) (326k pdf)
Drill guide for the MinIMU-9 v5 Gyro, Accelerometer, and Compass (LSM6DS33 and LIS3MDL Carrier) (19k dxf)
This DXF drawing shows the locations of all of the board’s holes.
3D model of the MinIMU-9 v5 Gyro, Accelerometer, and Compass (LSM6DS33 and LIS3MDL Carrier) (3MB step)
LSM6 library for Arduino
An Arduino library for interfacing with the LSM6DSO and LSM6DS33 accelerometer and gyro ICs.
LIS3MDL library for Arduino
An Arduino library for interfacing with the LIS3MDL magnetometer.
MinIMU-9 + Arduino AHRS
This Arduino program (sketch) allows an Arduino connected to a MinIMU-9 v5 or AltIMU-10 v5 (or older versions of those boards) to function as an attitude and heading reference system, calculating estimated roll, pitch, and yaw angles from sensor readings that can be visualized with a 3D test program on a PC. It is based on the work of Jordi Munoz, William Premerlani, Jose Julio, and Doug Weibel.
Visualization of AHRS orientation calculated from MinIMU-9 readings.
minimu9-ahrs software for Raspberry Pi
This is a program for reading sensor data from Pololu IMU boards over I²C. It was written for and tested on the Raspberry Pi, but it will probably also work on similar embedded Linux boards that support I²C.
Quick and Dirty Compass Calibration in 3d
A blog post by Michael Shimniok about calibrating the magnetometer in the LSM303DLH and visualizing magnetic distortions. This information can generally be applied to other magnetometers as well.