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Program for reading data from the Pololu MinIMU-9 over I²C. Works on the Raspberry Pi and probably other embedded ARM Linux boards.
C++ C Other
branch: master

minimu9-ahrs.1: Fix a typo where I wrote 'magnetometer' instead of 'g…

…yro'.

This fixes issue #15.
Thanks TilmanGriesel.
latest commit b94a664edf
@DavidEGrayson authored
Failed to load latest commit information.
Eigen Updated to Eigen 3.1.1 stable release.
.dir-locals.el Fixed emacs indetation style.
.gitignore Changed the executable name to minimu9-rpi-ahrs to match everything e…
Doxyfile Random change to Doxyfile.
I2CBus.cpp I2CBus.cpp: Provide strings for all exceptions.
I2CBus.h Added support for the MinIMU-9 v3 and bumped the version to 2.0.0.
IMU.h Got rid of this redundant imu.checkConnection stuff. Some of that is …
L3G.cpp Added support for the MinIMU-9 v3 and bumped the version to 2.0.0.
L3G.h Added support for the MinIMU-9 v3 and bumped the version to 2.0.0.
LICENSE.txt LICENSE.txt: Updated copyright.
LSM303.cpp LSM303: Fixed a problem in readMag introduced in a recent commit.
LSM303.h Added support for the MinIMU-9 v3 and bumped the version to 2.0.0.
Makefile Makefile: Fixed the destination directory for minimu9-ahrs-calibrator.1
MinIMU9.cpp Added support for the MinIMU-9 v3 and bumped the version to 2.0.0.
MinIMU9.h Got rid of this redundant imu.checkConnection stuff. Some of that is …
README.textile README.textile: Removed this 'faster and more reliable' claim because…
exceptions.h Starting standardizing the exceptions being thrown.
minimu9-ahrs-calibrate Fixed the Makefile to install all 3 man pages. Added to the shell scr…
minimu9-ahrs-calibrate.1 minimu9-ahrs-calibrate man page: Document the fact that it passes its
minimu9-ahrs-calibrator More improvements for minimu9-ahrs-calibrator:
minimu9-ahrs-calibrator.1 minimu9-ahrs-calibrator man page: Fixed a typo.
minimu9-ahrs.1 minimu9-ahrs.1: Fix a typo where I wrote 'magnetometer' instead of 'g…
minimu9-ahrs.cpp Added a reference to the man page on the help screen.
vector.h Started using quaternions. The gyro-only mode is sort of working, in …
version.h Added support for the MinIMU-9 v3 and bumped the version to 2.0.0.

README.textile

minimu9-ahrs is a program for reading data from the Pololu MinIMU-9 over I²C. It supports MinIMU-9 versions v0, v1, v2, and v3. The program can output the raw sensor data from the magnetometor, accelerometer, and gyro or it can use that raw data to compute the orientation of the IMU. This program was designed and tested on the Raspberry Pi, but it will probably work on any embedded Linux board that supports I²C. A Debian package is available for easy installation and the minimu9-ahrs source code is on github.

For help getting started, please see: https://github.com/DavidEGrayson/minimu9-ahrs/wiki.

Building From Source

Navigate to the top-level directory of the source code and then run the following two commands:

sudo apt-get install libi2c-dev libboost-program-options-dev python-scipy
make

Then, to install minimu9-ahrs onto your system, run:

sudo make install

Version History

  • 2.0.0 (2014-07-08):
    • Added support for the MinIMU-9 v3 (LSM303D and L3GD20H)
    • Removed the right-shifting of raw accelerometer outputs; the raw readings are now signed 16-bit numbers that can range from -32768 to 32767. Previously the readings were signed 12-bit numbers, so this new version effectively gives readings that are greater by a factor of 16.
    • Changed the minimu9-ahrs-calibrator Python script to use SciPy instead of the old optimization algorithm.
    • Changed the minimu9-ahrs-calibrator script to print a warning if there are fewer than 300 input vectors instead of exiting.
    • Changed the minimu9-ahrs-calibrator script to print a warning if the calibration looks wrong.
  • 1.1.1 (2012-10-17)
  • 1.1.0 (2012-10-15)
  • 1.0.0 (2012-10-06)
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