Program for reading data from the Pololu MinIMU-9 over I²C. Works on the Raspberry Pi and probably other embedded ARM Linux boards.
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I2CBus.cpp Better error messages for POSIX errors such as failing to open the I2… Jul 27, 2016
I2CBus.h Added support for the MinIMU-9 v3 and bumped the version to 2.0.0. Jul 8, 2014
IMU.h Got rid of this redundant imu.checkConnection stuff. Some of that is … Sep 29, 2012
L3G.cpp Added support for the MinIMU-9 v3 and bumped the version to 2.0.0. Jul 8, 2014
L3G.h Added support for the MinIMU-9 v3 and bumped the version to 2.0.0. Jul 8, 2014
LICENSE.txt LICENSE.txt: Updated copyright. Jul 9, 2014
LSM303.cpp LSM303: Fixed a problem in readMag introduced in a recent commit. Jul 9, 2014
LSM303.h Added support for the MinIMU-9 v3 and bumped the version to 2.0.0. Jul 8, 2014
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MinIMU9.cpp Better error messages for POSIX errors such as failing to open the I2… Jul 27, 2016
MinIMU9.h Got rid of this redundant imu.checkConnection stuff. Some of that is … Sep 29, 2012
README.textile Add support for compiling against the Eigen3 library installed on the… Jul 27, 2016
exceptions.h Better error messages for POSIX errors such as failing to open the I2… Jul 27, 2016
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minimu9-ahrs-calibrate.1 minimu9-ahrs-calibrate man page: Document the fact that it passes its Jul 10, 2014
minimu9-ahrs-calibrator More improvements for minimu9-ahrs-calibrator: Jul 9, 2014
minimu9-ahrs-calibrator.1 minimu9-ahrs-calibrator man page: Fixed a typo. Jul 10, 2014
minimu9-ahrs.1 minimu9-ahrs.1: Fix a typo where I wrote 'magnetometer' instead of 'g… Jul 30, 2014
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vector.h Started using quaternions. The gyro-only mode is sort of working, in … Sep 1, 2012
version.h Added support for the MinIMU-9 v3 and bumped the version to 2.0.0. Jul 8, 2014

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 libeigen3-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)