“TR_IMU_Platform” is an Analog Devices IMU sensor that can be easily connected to ROS and output high-precision attitude angles.
(Sensor is sold separately)
Currently supported devices are:
-
Precision, Miniature MEMs IMU
-
Higher grade MEMS IMU
The default is dedicated to ADIS16495-2, so the firmware needs to be updated if another sensor is used.
Support for other sensors is possible by adding a library of sensors.
It can operate as an alternative to USB-IIS introduced in adi_driver.
Since the attitude angle is calculated by the MCU, it is not necessary for the host to calculate it. In addition, a nonlinear complementary filter can be used to obtain more accurate angles than those calculated by other systems.
When using this mode, it is recommended to operate with IMU_PlatformTool.
ADIS1647X / PCB series can be installed by using optional parts.
There are two types of firmware updates.
- Write from USB(DFU)
- When the 6th CONF switch is turned on and the power is turned on, the DFU mode is entered.
- DFU can write firmware from STM32CubeProg.
- Download the sensor firmware here.
- Write or debug with ST-LINK
- Writing and debugging are possible by connecting the MIPI-10 connector and ST-LINK.The following two are required.
- STLINK-V3SET
- V3SET can be directly connected to TR-IMU1647X or TR_IMU_Platform.
- ST-LINK/V2
- Requires ARM-JTAG-20-10 for V2
- STLINK-V3SET
- STM32CubeProg or ST-LINK Utility can be used for writing.
- When debugging, you need to import and build the source code after installing STM32CubeIDE
[TrueSTUDIO].
- Writing and debugging are possible by connecting the MIPI-10 connector and ST-LINK.The following two are required.
You can access the latest release from here. For more details and changelog, please refer to the Release Notes.