The IMU6410 is a sophisticated MEMs sensor
Inertial Measurement Unit platform with ten Degrees Of Freedom (DOF),
onboard AVR processor (ATmega1284P) , real time clock, external serial flash
(1Mx8 or 8Mx8) and USB interface. The IMU6410 combines a
3-Axis Accelerometer (ADXL345), 3-Axis Rate Gyro (L3G4200D), 3-Axis
Magnetometer (HMC5883) and a Barometer (BMP085) on a single PCB with
processor and USB interface. All four MEMs sensors are digital with
either an SPI or I2C interface.
The Accelerometer is capable of 4mG
resolution over a +-16G range. The Rate Gyro has three ranges -
250, 500 and 2000 deg/sec with a low range sensitivity of 17mdps. The
Magnetometer has eight ranges with a nominal resolution of 10mGauss.
The Barometer has an absolution accuracy of 8meters and a resolution of
80cm. Truly a unique combination of sensors.
The onboard ATmega1284P processor comes
with an Arduino bootloader and data logging application pre-installed.
Complete source code for the data logger and bootloader are provided.
The data logger can be configure to log all sensor data to the onboard 1Mx8
serial flash. The bootloader is stk500v2 compatible.
An optional daughter card with microSD
port and ANT wireless connector is in
the works and should be available shortly.
o 10 Sensors
integrated on one PCB
o 3-Axis Accelerometer
o 3-Axis Rate Gyro L3G4200D
o 3-Axis Magnetometer HMC5883
o Barometer BMP085 with 8m accuracy and 0.8m resolution
o All digital sensors
processor with Arduino bootloader - stk500v2
o USB 2.0
o Optional double AA battery holder
(switch selectable with USB interface)
o Example application included for rapid application development
o 1.8-3.6VDC power input
o Extremely Small form factor (1.34x2.34 in)
The DOF10W is an extremely compact embedded IMU sensor platform for mobile
data acquisition, instrumentation and remote monitoring applications.
The DOF10W is an all digital implements with no requirement for AD
3-Axis accelerometer is an Analog Devices ADXL345. The ADXL345 has
four programmable acceleration ranges- 2G, 4G, 8G and 16G set by the
ADXL345 operates from 2.2
to 3.6Vdrawing 140uA so the Wasp should not be powered higher than 3.6V when
the accelerometer is installed. The accelerometer has a sensitivity of
4mG over the full 16G range, a bandwidth of 3500Hz (XY) 150Hz (Z),
non-linearity less than 1% and a cross-axis sensitivity less than 1%.
The accelerometer is oriented
with the X+ on the long axis of the PCB toward Port A connector J1, Y+ on
the short axis of the PCB toward Port B connector J2 and Z+ pointing up out
of the board.
3-Axis Rate Gyro
3-Axis Rate Gyro is an STMicroelectronics L3G4200D. The
L3G4200D has three
programmable gyro ranges- 250, 500 and 200dps set by the ATmega644.
The L3G4200D operates from 2.2 to 3.6Vdrawing
6mA so the Wasp should not be powered higher than 3.6V when the
accelerometer is installed. The Gyro has a sensitivity of 17mdps
(250dps setting), a bandwidth of 350Hz (XY) 150Hz (Z),
non-linearity less than 1% and a cross-axis sensitivity less than 5%.
3-Axis Magnetometer is a Honeywell HMC5883. The
HMC5883 has eight
programmable gauss ranges- 0.88G, 1.3G, 4G and 8.1G set by the ATmega644.
The HMC5883 operates from 2.2 to 3.6Vdrawing
100uA so the Wasp should not be powered higher than 3.6V when the
accelerometer is installed. The
Magnetometer has a
sensitivity of 2mG (1.3g setting), a bandwidth of 350Hz (XY)
150Hz (Z), non-linearity less than 1% and a cross-axis sensitivity less than
An optional double AA battery holder,
attached to the bottom of the PCB, provides mobility for remote applications.
The battery holder allows inexpensive AA batteries to be used to power the
Source code examples to setup and
configure the three different MEMs sensors is provided as part of the
Data Logger Application V0.95. The application example is programmed in C using
a third party IDE - ICCAVR from ImageCraft. A version for AVR Studio
4.19 and an Arduino Sketch are under development. Check the SOC
Robotics web site for program examples and ICCAVR project files.
The IMU6410 ATmega1284P comes with an
Arduino bootloader that the Arduino Development Tools can communicate with
directly via the IMU6410's onboard USB port. The bootloader implements
a subset of the stk500v2 protocol and is compatible with AVRDude and AVR