MinIMU-9 Gyro, Accelerometer, and Compass (L3G4200D and LSM303DLH Carrier)

File downloads

• MinIMU-9 schematic diagram (36k pdf)

• L3G4200D datasheet (1MB pdf)

  Datasheet for the ST L3G4200D ultra-stable three-axis digital-output gyroscope.

• LSM303DLH datasheet (599k pdf)

  Datasheet for the ST LSM303DLH 3-axis accelerometer and 3-axis magnetometer.

• UM10204 I²C-bus specification and user manual (1MB pdf)

  The official specification for the I²C-bus, which is maintained by NXP.

Recommended links

• L3G Arduino library

  This is a library for the Arduino that interfaces with our L3GD20H and L3GD20 3-axis gyro carriers as well as the gyros on the MinIMU-9 v3 and AltIMU-10 v3 (it also works with older versions of those boards, some of which used the L3G4200D and the L3GD20). It makes it simple to configure the device and read the raw gyro data.

• LSM303 Arduino library

  This is a library for the Arduino that interfaces with our LSM303D, LSM303DLHC, and LSM303DLM 3D compass and accelerometer carriers as well as the compass and accelerometer ICs on the MinIMU-9 v3 and AltIMU-10 v3 (it also works with older versions of those boards, some of which used the LSM303DLH and LSM303DLHC). It makes it simple to configure the device and read the raw accelerometer and magnetometer data, and it has a function for computing the tilt-compensated heading for those looking to use the LSM303 as a tilt-compensated compass.

• MinIMU-9 + Arduino AHRS

  This Arduino program (sketch) allows an Arduino connected to a MinIMU-9 v5 or AltIMU-10 v5 (or older versions of those boards) to function as an attitude and heading reference system, calculating estimated roll, pitch, and yaw angles from sensor readings that can be visualized with a 3D test program on a PC. It is based on the work of Jordi Munoz, William Premerlani, Jose Julio, and Doug Weibel.

  Visualization of AHRS orientation calculated from MinIMU-9 readings.

• minimu9-ahrs software for Raspberry Pi

  This is a program for reading sensor data from Pololu IMU boards over I²C. It was written for and tested on the Raspberry Pi, but it will probably also work on similar embedded Linux boards that support I²C.