technoroad/TR_IMU_Platform

TR_IMU_Platform

“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

  • ADIS16470/PCB
  • ADSI16475-2/PCB
  • ADSI16477-2/PCB
  • ADSI16500/PCB
  • ADSI16505-2/PCB

• Higher grade MEMS IMU

  • ADIS16495-2

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.

SPI Mode

It can operate as an alternative to USB-IIS introduced in adi_driver.

Attitude angle mode

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.

ADIS16470/PCB and ADSI16475-2/PCB

ADIS1647X / PCB series can be installed by using optional parts.

ADIS16495-2

New Features (Introduced in v1.5.0)

• Starting from v1.5.0, we have merged the following two new features into the "main" branch:
  • Monitoring the accelerometer and gyro to update the gyro bias when the system is stationary.(excluding ADIS165XX series)
  • To prevent drift in the attitude angle along the vertical axis relative to gravity, monitoring the gyroscope and avoiding attitude angle calculations when the system is completely stationary.(excluding ADIS165XX series)
• These features have not yet been thoroughly tested on various robots, so any feedback or information you can provide would be greatly appreciated.
• The above features are OFF by default. To enable them, please issue the following command.
• The pose estimation library has been updated to remove the functionality for calculating and removing the gyro bias.

AUTO_UPDATE_ON
STATIONAL_OBSERVE_ON
SAVE_PARAM

• To view the command description, please enter "help" below.

help

Firmware update

There are two types of firmware updates.

• Write from USB(DFU)
  • When the 8th 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
  • 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].

Latest Release

You can access the latest release from here. For more details and changelog, please refer to the Release Notes.