This is revision A of the IMU1 module.
The IMU1 module can accept a number of the Inertial Measurement (Gyros and/or Accelerameters) boards sold by Spark Fun Electronics.
The table below summarizes the various boards and their pin outs:
The basic concept is that there are up to 10 pins on the Spark Fun Adaptor Board. Some of the pins can be jumpered between a pair of options. For example, pin 1 can be either 3.3V or 5V. As another example, pin 4 can be jumpered between ADC1 and 2.5V.
Module SKU# Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 Pin 6 Pin 7 Pin 8 Pin 9 Pin 10 ADXL202JE +/-2g SEN-00400 3.3V? GND XA YA XP YP ST IMU5 SEN-00741 3.3V GND X-Rate Y-Rate VRef ST Z Accel Y Accel X Accel IDG300 SEN-00698 3.3V GND Yout VRef Xout ADXRS401 SEN-00394 5V GND Rate 2.5V TEMP ST1 ST2 ADXRS300 SEN-00395 5V GND Rate 2.5V TEMP ST1 ST2 ADXRS150 SEN-00396 5V GND Rate 2.5V TEMP ST1 ST2 LIS3LV02DQ SEN-00758 VDD GND INT SDO SDI SCL CS CK ADXL203/ADXRS150 SEN-00838 5V GND Rate 2.5V TEMP ST2 ST1 ST3 Y Accel X Accel ADXL203/ADXRS300 SEN-00837 5V GND Rate 2.5V TEMP ST2 ST1 ST3 Y Accel X Accel ADXL203/ADXRS401 SEN-00836 5V GND Rate 2.5V TEMP ST2 ST1 ST3 Y Accel X Accel ADXL320/ADXRS401 SEN-00839 5V GND Rate 2.5V TEMP ST2 ST1 ST3 Y Accel X Accel ADXL320/ADXRS300 SEN-00841 5V GND Rate 2.5V TEMP ST2 ST1 ST3 Y Accel X Accel ADXL320/ADXRS150 SEN-00842 5V GND Rate 2.5V TEMP ST2 ST1 ST3 Y Accel X Accel ADXL213AE SEN-00843 VDD GND XA YA XP YP ST ADXL203CE +/-1.5g SEN-00844 VDD GND XA YA XP YP ST ADXL3111 +/-2g SEN-00845 VDD GND XA YA XP YP ST ADXL210AE +/-10g SEN-00846 VDD GND XA YA XP YP ST ADXL320 +/-5g SEN-00847 VDD GND X Y Z ST ADXL321 +/-18g SEN-00848 VDD GND X Y Z ST ADXL322 +/-2g SEN-00849 VDD GND X Y Z ST ADXL330 SEN-00692 VDD GND X Y Z ST ADXL311 SEN-0085 VDD GND XA YA XP YP ST And more ... Summary 3.3V/
5VGND ADC0 ADC1/
2.5VADC2/
VRefADC3/
ST1ADC4
ST2ADC3/
ST3ADC2 ADC1
{TBD}
As another twist, the processor can be either a Microchip PIC16F876A or an Atmel ATmega168. The table below shows the various pin binding differences between the two processors. The last two columns specify the signal usage that the IMU1 board uses the pins for:
Some jumpers will allow route the appropriate pins from the processor to the correct signal wires. There are 5 jumpers to select the correct source for ADC0-4. There are 2 jumpers to select between RXD and TXD. There is 1 jumper to deal with pin 7.
Pin PIC16F876A ATMegax168 PIC Signal AVR Signal Sharable 1 MCLR/VPPTHV PC6 (PCINT14/RESET) RESET Reset 2 RA0/AN0 PD0 (PCINT16/RXD) ADC0 RXD RA0=PD0 (RXD) 3 RA1/AN1 PD1 (PCINT17/TXD) ADC1 TXD RA1=PD1 (TXD) 4 RA2/AN2/VREF- PD2 (PCINT18/INT0) ADC2 RA2=PD2 5 RA3/AN3/VREF+ PD3 (PCINT19/OSC2B/INT1) ADC3 RA3=PD3 6 RA4/T0CKI PD4 (PCINT20/XCK/T0) RA4=PD4 7 RA5/AN4/SS VCC ADC4 +5V +5V 8 VSS GND GND 0V 9 OSC1/CLKIN PD6 (PCINT6/XTAL1/TOSC1) XTAL1 OSC1=XTAL1 10 OSC2/CLKOUT PD7 (PCINT7/XTAL2/TOSC2) XTAL2 OSC2=XTAL2 11 RC0/T1OSO/T1CKI PD5 (PCINT21/OC0B/T1) RC0=PD5 12 RC1/T1OSI/CPP2 PD6 (PCINT22/OC0A/AIN0) RC1=PD6 13 RC2/CCP1 PD7 (PCINT23/AIN1) RC2=PD7 14 RC3/SCK/SCL PB0 (PCINT0/CLKO/ICP1) ST1 RC3=PB0 15 RC4/SDI/SDA PB1 (OC1A/PCINT1) ST2 RC4=PB1 16 RC5/SDO PB2 (SS/OC1B/PCINT2) ST3 RC5=PB2 17 RC6/TX/CK PB3 (MOSI/OC2A/PCINT3) TXD RC6=PB3 (TXD) 18 RC7/RX/DT PB4 (MISO/PCINT4) RXD RC7=PB4 (RXD) 19 VSS PB5 (SCK/PCINT5) 0V 20 VDD AVCC +5V +5V 21 RB0/INT AREF +5V +5V 22 RB1 GND GND 0V 23 RB2 PC0 (ADC0/PCINI8) ADC0 RB2=PC0 24 RB3/PGM PC1 (ADC1/PCINT9) ADC1 RB3=PC1 25 RB4 PC2 (ADC2/PCINT10) ADC2 RB4=PC2 26 RB5 PC3 (ADC3/SDA/PCINT11) ADC3 RB5=PC3 27 RB6/PGC PC4 (ADC4/SDA/PCINT12) ADC4 RB6=PC4 28 RB7/PGD PC5 (ADC5/SCL/PCINT13) RB7=PC5
The hardware consists of a circuit schematic and a printed circuit board.
The schematic for the IMU1 module processor is shown below:
and the connector schematic is shown below:
The parts list kept in a separate file -- imu1.ptl.
The printed circuit board files are listed below:
The following files are available:
The following fabrication issues came up:
