Waveshare 10 DOF IMU Sensor (D) User manual

10 DOF IMU Sensor (D) User Manual
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10 DOF IMU Sensor (D)
User Manual
OVERVIEW
10 DOF IMU Sensor (D) features the low power ICM20948 onboard, it is good at
motion monitoring, as well as detecting/measuring the position, height, and
temperature.
This tiny module would be helpful for making your own copter or balancing
robot, provides great man-machine interaction.
SPECIFICATIONS
⚫Power: 3.3V~5V (internal voltage regulation with low dropout)
⚫Accelerometer
◼Resolution: 16 bit
◼Measurement range (configurable): ±2, ±4, ±8, ±16g
◼Operating current: 68.9uA
⚫Gyroscope
◼Resolution: 16 bit
◼Measurement range (configurable): ±250, ±500, ±1000, ±2000°/sec
◼Operating current: 1.23mA
⚫Compass/Magnetometer
◼Resolution: 16 bit
◼Measurement range: ±4900µT

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◼Operating current: 90uA
⚫Barometric pressure sensor
◼Barometric resolution: 0.0016hPa
◼Temperature resolution: 0.01°C
◼Measurement range: 300~1100hPa (altitude: +9000m ~ -500m)
◼Barometric relative accuracy (700hPa~900hPa, 25°C~40°C): ±0.12hPa (±1m)
◼Operating current (1Hz update rate, ultra-low power mode): 2.8uA
INTERFACES
PIN
SYMBOL
DESCRIPTION
1
VCC
3.3V/5V
2
GND
Ground
3
SDA
I2C data pin
4
SCL
I2C clock pin
5
INT
ICM20948 interrupt
6
FSYNC
ICM20948 frame sync
signal

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DEMO CODES
We provide three demo code for this module, which used for STM32, Raspberry Pi
and Arduino UNO separately.
STM32
The development board used herein is Waveshare Open103V.
1. Download demo code to Open103V （keil project）
2. Connect UART module to Open103V and connect to PC, connect 10 DOF IMU
Sensor (D) to I2C-2 interface of Open103V(Note that Vcc to 3.3V, GND to GNDm
SCL to PB10, SDA to PA11 and FSYNC to NC).
3. Serial port setting:
波特率
115200
数据位
8
停止位
1
奇偶校
验
无
After running the codes, data are printed to serial as below:
Unit of paratemeters:

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Roll, Pitch, Yaw, Magnetic, Angle : degree (°).
Acceleration: LSB
Gyroscope: LSB
Pressure : hPa
Altitude: m
Temperature: °C
ARDUINO
The development board used herein is UNO PLUS
Connection:
Sensor
UNO PLUS
VCC
3V3/5V
GND
GND
SDA
SDA
SCL
SCL
Connect sensor to UNO PLUS, download the demo code to the board. Open serial
monitor of Arduino, then you can see that data of sensor are printed
RASPBERRY PI
Libraries install:
Before you using the code, you need to install wiringpi libraries. Please power on your
Raspberry Pi and open the Terminal. Network is required:
git clone git://git.drogon.net/wiringPi

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cd wiringpi
sudo ./build
Connection:
Sensor
Raspberry Pi
VCC
3V3/5V
GND
GND
SDA
SDA
SCL
SCL
Expected Result:
Copy the raspberrypi demo code to /home/pi/ of Raspberry Pi, enter the folder and
execute commands below to compile and run the code:
make
sudo ./ 10Dof-D_Demo
The data of sensor are printed to terminal.