Welcome to IMU’s documentation!

Introduction

The Inertial Measurement Unit measures inertial values for the bike using the BNO055 chip. This chip uses its sensors (accelerometers, magnetometers, and gyroscopes) to calculate a number of metrics, including gravity vector, linear acceleration, angular velocity, Euler angles, and the surrounding magnetic field. The IMU reports these measurements over CAN, providing general information to the bike on its orientation and allowing other boards to act accordingly for optimal performance. The system is based around the built-in BNO055 chip. The firmware is written for the STM32F334K8U6 microcontroller designed into the DEV1 IMU.

The DEV1 IMU will have the following responsibilities:

1. Measure linear and angular acceleration of the bike in 3D space (X,Y,Z)

2. Report measurements over the DEV1 CAN network

For more information on the BNO055 chip and its features, refer to its datasheet.

Contents:

• API
  • DEV
• Software Requirements Specification for DEV1 Inertial Measurement Unit
  • Introduction
  • Overall Description
  • Specific Requirements
  • Appendix
• State of the IMU Software
  • Introduction
  • High Level Features
  • Code Breakdown
  • Current State of Features

Docs

EVT-core is the RIT-EVT-produced library for interfacing with the STM32f3xx family of microcontrollers used on the DEV1 IMU and other PCBs made by the team. For more information on that library, visit RTD for EVT-core.

Indices and tables

• Index

• Module Index

• Search Page