This is a module that contains a 3-axis accelerometer, 3-axis magnetometer (LSM303DLHC) and a 3-axis gyroscope (L3GD20). In addition to the sensors on the Board are essential passive elements such as capacitors, resistors, transistors and regultory voltage. Thanks to this the user does not need to worry about the PCB project and the appropriate placement of elements. The system has five conclusions. Three of them służa to the power source, and the other two output I2C (SDA data line and SCL line with clock).
Interefjs consisting of a data line (SDA) and clock line (SCL) and mass. Output/input settings Open-Drain (Open-Collector), so you need resistors podciągające.
Figure: the structure of the I2C bus. (source: http://www.eetimes.com)
Transfer can be done in three modes:
Starting with version Fast Mode device can be solved in mode 10-bit and 7-bit (up to 128 devices, in practice a little less - 112 hi addresses are reserved). Accelerometer, magnetometer and gyroscope in a module MinImu-9, of 7 bits. Mounted respectively on:
Detailed information on the I2C bus can be found in the documentation from NXP: link.
To connect MinImu9 with the Arduino connect the power supply and output I2C/TWI:
|SCL||SCL||Line clock (processed) I2C/TWI|
|Traffic||Traffic||Data line I2C/TWI|
|GND||GND||Weight of both systems must be connected|
|VIN||3.3 V or 5V||The system power. MinImu9 has its own regulator with an output voltage of 3V. Doesn't matter if is connected, the voltage of 3.3 V or 5V. Connect a voltage of 3.3 V will give a loss of energy in the form of heat is generated on the stabilizer.|
|VDD||-||This output voltage from the stabilizer 3B, located on the Board MinImu9 in maximum load current 150mA max. From the output you can use when the supply voltage (specified on pin VIN) is higher than 3.3 V|
MinImu-9 has podciągające resistors (4.7 k Ohms), the two line I2C (accelerometer and gyroscope). Care should be taken resistors on the Arduino side.
The manufacturer also provides a sample program for Arduino project.
The film is a 3D model managed in real-time using: MinImu-9 Arduino and 3DSMax.