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FreeIMU is an ongoing research project which aims to design Open Hardware 9/10 DOM/DOF Inertial Measurement Units as well as easy to use Orientation and Motion Sensing libraries, built on top of the Arduino platform.
The goal of the FreeIMU Framework is to simplify the development of projects based upon the most powerful and new consumer grade inertial, magnetic and pressure sensors.
The goal of the FreeIMU Framework is to simplify the development of projects based upon the most powerful and new consumer grade inertial, magnetic and pressure sensors.
The main application of FreeIMU is orientation sensing: by reading the data from the various sensors is possible to compute precisely the orientation of FreeIMU in the space. Recent boards also feature an high resolution barometer allowing to precisely track the device altitude. This can be useful in many applications: human-computer interaction device prototyping, flying machines, robots, human movement tracking and everywhere orientation sensing is a key aspect.
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As FreeIMU breakout the sensors interrupt pins, it's also possible to detect per axis single and double taps, free fall as well as activity or inactivity. This makes FreeIMU a very good choice for Human-Computer devices prototyping. Interrupts pins are also very useful if you are into interrupt based reading of the sensors, useful to develop high frequency interrupt based sensor reading.
Video presentation of FreeIMU
Older video presentations: FreeIMU v0.3, FreeIMU v0.1 and 0.2.
A true Open Hardware project
FreeIMU is a true Open hardware, released under the CC-BY-SA. You are free, actually encouraged, to use it for any purpose, to study and modify its designs, to make your own copies of FreeIMU and even sell your own FreeIMU based hardware. But, you will have to share your designs based on FreeIMU keeping attribution and sharing them using the same libre license.
On FreeIMU repository (see development section below) and from the downloads on this page, you have access to everything you need to build your own FreeIMU board. You have access to the schematics, the PCB designs and even the bill of material so that you can build your own FreeIMU.
Moreover, FreeIMU has been designed using KiCAD, an excellent libre PCB design software, so you don't have to rely on proprietary software to study or modify FreeIMU.
Getting FreeIMU
An assembled, tested and ready to use FreeIMU board can be bought from:
- Viacopter.eu
- FreeIMU v0.4(available!)
- SDModel.it
- FreeIMU v0.4(available!)
- Flyduino.net
- FreeIMU v0.4 (sold out)
The FreeIMUs boards bought from the above shops financially support the project. The boards have been produced and assembled in Italy by reasonably paid workers in a safe environment in respect with European and Italian laws.
Build your own FreeIMU
If you have SMD soldering experience (or if you are up for experimentation) you can build your own FreeIMU. From the downloads below you have access to all the designs needed to have your FreeIMU PCB manufactured.
You can get cheap PCB with awesome quality from Dorkbot PDX and order the various components needed from you favorite electronic distributor: the Bill of Materials (BOM) files will tell you exactly which components you'll need for your FreeIMU.
The are various ways of soldering the board. If you only need a couple of boards done, tack flux, solder wire and hot air reflow station are enough to build your boards (Remember not to use hot air over the pressure sensor). See this video for good instructions. In case you are building more units, an SMD stencil with solder paste is the suggested method.
In case you need help, just post a comment below.
FreeIMU versions
FreeIMU version 0.1
WARNING: Discontinued due to the phasing out of the HMC5843.
FreeIMU v0.1 is the simplest FreeIMU available. It contains the ADXL345 accelerometer, the ITG3200 gyroscope and the HMC5843 magnetometer, their respective capacitors and an additional 10uF capacitor to help keeping the power to the sensors stable. It doesn't have any voltage regulator nor any level translator so it needs to be connected to a 3.3V power source and the I2C level signals have to be 3.3V. When used on a 5V microcontroller, an I2C level converter and a voltage regulator are needed.
FreeIMU version 0.2
WARNING: Discontinued due to the phasing out of the HMC5843.
FreeIMU v0.2 has the same sensors (ADXL345, ITG3200 and HMC5843) and size of v0.1 but I added an integrated voltage regulator (MIC5205) and a logic level converter (PCA9306). With these components it's extremely simple to use FreeIMU v0.2 on 5V boards like 16MHz Arduinos, just connect FreeIMU to the 5V, GND, SDA and SCL on Arduino and you are ready to go!
IMPORTANT: in version 0.2 sent to production there is a bug in the drill size of the connectors. The drill hole should have been 0.04' while it is actually 0.032'. Consequence of this is that only rounded pins will fit inside the drill and standard squared pins won't fit. This is not really a problem as the big oval pad makes actually possible to use 90 deg squared pin arrays using the pad as a smd connector. The Kicad sources above and the gerbers marked with 'Fixed' have this issue fixed. However they haven't been tested on production so double check them before send them to fabrication.
FreeIMU version 0.3
- Using FreeIMU v0.3 with MultiWii (updated for dev20110516) Changes to the MultiWii software to use FreeIMU as sensor board. Lines marked with '-' are the original code which has to be replaced by the lines with '+'. This can be done automatically using the patch program
FreeIMU version 0.3 replaces the accelerometer and magnetometers used in v0.1 and v0.2 with the ADXL346 as accelerometer and the HMC5883L as magnetometer. The gyroscope is still the ITG3200. FreeIMU v0.3 integrates a voltage regulator (MIC5205) and a logic level translator (PCA9306) as well as all the pullups resistors needed.
FreeIMU version 0.3.1
FreeIMU v0.3.1 is a minor revision of FreeIMU v0.3. There have been some corrections in the silkscreen and the footprint of the HMC5883L have been made slightly bigger to make assembly easy. Everything else is just as in FreeIMU v0.3.
FreeIMU version 0.3.5
FreeIMU 0.3.5 is a small (22x20 mm) 9 degrees of measurement IMU MARG sensor featuring the BMA180 accelerometer, the ITG3200 gyroscope and the HMC5883L magnetometer.
FreeIMU 0.3.5 also has two additional subversions, FreeIMU 0.3.5_MS which features the MS5611-01BA high resolution pressure sensor and the FreeIMU 0.3.5_BMP which features the BMP085 pressure sensor.
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FreeIMU v0.3.5 has an integrated voltage regulator (MIC5203) allowing you to plug it from 3V3 to 16V providing you 80mA of current which you can use to chain it to other 3V3 sensors or devices. By using the MIC5203, no tantalum caps are used in the whole design. Tantalum is not a good idea socially and environmentally.
The board has integrated 2K2 pullups resistors (which can be enabled or disabled by means of a solder switch) but doesn't have an integrated logic level converter. We decided to not include the LLC (which is present in my FreeIMU v0.2 and v0.3) as it adds considerable complexity in the design and schematics without being strictly necessary. In fact, given a properly configured software, it's a redundant part. Moreover the upcoming development of many 3V3 based control boards (eg: Multipilot 32) makes adding an LLC not a very far-seeing choice.
The IMU board is however compatible with my LLC board which can be stacked above the IMU, so that you can easily add the LLC protection keeping the amount of additional wires at the minimum.
The IMU board is however compatible with my LLC board which can be stacked above the IMU, so that you can easily add the LLC protection keeping the amount of additional wires at the minimum.
The board, a part from the usual power and I2C connectors, breaks out the interrupt pins for all the three sensors. This should empower software developers to design interrupt based sensor reading and sensor fusion algorithms (opposed to the currently common polling based approach) which should provide possibility to shorten the cycle path of our algorithms.
FreeIMU version 0.3.5_MS
FreeIMU v0.3.5_MS is a variation of FreeIMU v0.3.5 which features the BMA180 accelerometer, the ITG3200 gyroscope, the HMC5883L magnetometer and the MS5611-01BA high resolution pressure sensor.
The board comes with a voltage regulator (MIC5203) and 2K2 pullups optionally disabled by using of a solder switch.
FreeIMU version 0.3.5_BMP
- BOM just as v0.3.5_MS just replace the MS5611-01BA with the BMP085 (Digikey 828-1005-1-ND)
FreeIMU v0.3.5_BMP is a variation of FreeIMU v0.3.5 which features the BMA180 accelerometer, the ITG3200 gyroscope, the HMC5883L magnetometer and the BMP085 pressure sensor.
The board comes with a voltage regulator (MIC5203) and 2K2 pullups optionally disabled by using of a solder switch.
FreeIMU version 0.4
FreeIMU v0.4 features the MPU6050 gyroscope+accelerometer, the HMC5883L magnetometer and the MS5611-01BA high resolution altimeter.
The magnetometer is attached to the AUX I2C bus of the MPU6050 thus allowing it to be read directly by the MPU6050. Eagle 1 9 23.
FreeIMU library
FreeIMU can be easily used on Arduino compatible boards using the Arduino FreeIMU library which implements sensor fusion MARG orientation filter enabling you to do easy and straightforward orientation sensing.
Install the libraries as explained in the Arduino Libraries Reference section Contributed Libraries.
The FreeIMU library now supports all the versions up to v0.4. Comic life 3 0 – create web ready comic strips. By default it's configured to be used on v0.4. In order to use on different boards, open the file FreeIMU.h and uncomment the correct version of your board.
The FreeIMU library now supports all the versions up to v0.4. Comic life 3 0 – create web ready comic strips. By default it's configured to be used on v0.4. In order to use on different boards, open the file FreeIMU.h and uncomment the correct version of your board.
The FreeIMU library also supports the following 3rd parties boards:
- Sparkfun IMU Digital Combo Board - 6 Degrees of Freedom ITG3200/ADXL345 SEN-10121
- Sparkfun 9 Degrees of Freedom - Razor IMU SEN-10736
- Sparkfun 9 Degrees of Freedom - Sensor Stick SEN-10724
- Sparkfun 9 Degrees of Freedom - Sensor Stick SEN-10183
- DIYDrones ArduIMU+ V3
- Generic MPU6050 Breakout boards (eg: GY-521, SEN-11028 and other MPU6050 wich have the MPU6050 AD0 pin connected to GND.)
Note for FreeIMU v0.1 and 0.2 users: from April 2011 the default magnetometer configuration is for HMC5883L. In order to use the library with HMC5843 (v0.1 and v0.2) edit the file HMC58X3.h and uncomment the line #define ISHMC5843.
Ports to Other platforms
FreeIMU library on PIC 24 microcontroller by Hari Nairhair [dot] nair [at] gmail [dot] com. Author notes: 1. assumes a 6MHz crystal is attached and x4PLL internally, so Fosc = (6x4)/2 = 12 Mhz 2. trivial to use the internal FRC oscillator, instead of FNOSC_PRIPLL in the configuration words, use FNOSC_FRCPLL. This will give you Fosc = (8x4)/2 = 16MHz, but of course with less precision. 3. transmits ascii quaternion data at 38400baud. This does slow down the sampling rate. Without the quaternion print, the code completes in less than 10mS, so the sampling rate is exactly 100Hz as set by the timer.
FreeIMU library on NXP LPC1343 Cortex m3 processor by Hari Nairhair [dot] nair [at] gmail [dot] com. More details and possibility to contact the author on the FreeIMU community development forum.
Have you ported the FreeIMU library to other platforms? Please let me know and I'll list your work here!
Calibration
A calibration GUI application is available. The software is currently in alpha state, however many people are already using it.
The calibration, when properly executed, drastically improve the orientation sensing performance of the FreeIMU framework. If you are experiencing drifting or inconsistent results, your sensors may need to be calibrated using the Calibration GUI.
Community
There is now a FreeIMU Community website, which has been set up to become the central point of interaction between users of the FreeIMU framework. This is the place where you can get help, join others in developing new features, discuss IMUs applications and much more.
Previously we used FreeIMU answers on Launchpad as well as comments on Fabio's website for supporting users, however we decided to create an ad-hoc website to facilitate information gathering and collaboration between people.
Development, Bug Reports and Suggestions
Development of FreeIMU boards and libraries can be followed on FreeIMU project page on Launchpad which also hosts our software and hardware repository.
Suggestions or bug reports can be made on the FreeIMU Community, in the development forum.Previously bug reports were posted on the Launchpad bug reporting interface but that's not used anymore.
FreeIMU repository holds all the various library sources as well as design files and schematics. Everything is revisioned meaning that all the changes are logged and annotated.
The contents of the repository are available using Bazaar (bzr) with the command:
bzr co lp:freeimu
Never used bzr before? Not a big deal, it's very similar to git, svn or others. You may wanna have a look at the cheatsheet to have an overview of the commands available or read more documentation on bzr.
Alternatively, in case you have problems setting up bzr on your system, you can simply get the latest repository contents from here. The resulting file is a .tar.gz archive which can be opened with the excellent 7zip under Windows. Mac and Linux users shouldn't have problems opening such files.
The files on the repository can also browsed from a browser here. A list of recent changes is available here.
FreeIMU users videos
Here some videos made by FreeIMU users on their projects using FreeIMU.
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rtsdrums flies like crazy with FreeIMU on his quadcopter. check out the triple flip!
Warthox testing indoor FreeIMU v0.4r3 on one of his quadcopters.
Warthox stress test FreeIMU v0.3.5_MS on one of his quadcopters.
Chris uses FreeIMU on his VTOL EDF Tricopter powered by the MultiWii software.
Danilo Del Console uses FreeIMU in a 2 wheels self balancing robot.
Francesco Ferrara uses FreeIMU for a camera stabilization system.
Francesco Ferrara with his super fast implementation of the AHRS algorithm capable of displaying the rotating cube at 333Hz with FreeIMU! Great work!
Marchino65 with his first test with FreeIMU and the FreeIMU library on Arduino. The cube is spinning pretty good!
Francesco Ferrara in his first flight with FreeIMU on his very young quadcopter project called Simplo.
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