查看“Microduino-10DOF”的源代码

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[[file:Microduino-10dof-rect.jpg|400px|thumb|right|Microduino-10DOF]]
'''[[Microduino-10DOF]]''' module integrates 4 kinds of sensors, they are MPU6050 for 3-axis gyroscope and 3-axis accelerometer; HMC5883L for 3-axis compass; and BMP085 for temperature and pressure sensor.
the module use IIC interface.

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==Features==
*Three kinds of sensors communicate through I2c is useing, saving IO interface, wide range of uses;
*Small, cheap, stackable, open source;
*Open source hardware circuit design, compatible with the Arduino IDE development environment for programming process;
*Microduino unified interface specification(UPin-27), and rich peripheral modules can be easily and flexibly with other eligible Microduino interface specification modules, sensors for quick connection and expansion;
*2.54 pitch row female connector for easy integration into breadboard.

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==Specification==

'''Magnetic field intensity sensor：HMC5883L'''

*HMC5883L including the most advanced high-resolution HMC118X series magnetoresistive sensor;
*Honeywell patents with integrated amplifier, a drive automatic degaussing, offset calibration, the accuracy of the compass can be controlled analog to digital 12 bit converter in the 1 ° ~ 2 °;
*Simple I2C serial bus interface.



'''Digital Pressure Sensors：BMP180'''

*BMP180 comprising resistive pressure sensor, AD converter, and a control unit;
*Wherein the control unit includes E2PROM and I2C interfaces. BMP180 transmission uncompensated temperature and pressure values. E2PROM stores 176bit individual standard data, the standard data for compensation of temperature dependence and the other sensor parameters.
*Available range: 300hPa to 1100hPa (above sea level corresponding -500m to +9000 m)
*Lowest absolute accuracy can be achieved 0.03hPa
*UP = pressure data (16 to 19bit)
*UT = temperature data (0 to 15bit)

'''Triaxial accelerometer + three-axis gyro sensor：MPU6050'''

*It integrates a 3-axis MEMS gyroscope, three-axis MEMS accelerometer, and a scalable digital motion processor DMP (Digital Motion Processor);

*Digital output 6 or 9 axis rotation matrix, quaternion, Euler angles format (EulerAngleforma) data fusion algorithms;
*With 131LSBs / ° / sec sensitivity and whole cell sensing range is ± 250, ± 500, ± 1000 and ± 2000 ° / sec of 3-axis angular velocity sensor (gyroscope);
*Programmable control and program control range of ± 2g, ± 4g, ± 8g and ± 16g 3-axis accelerometer;
*Remove the shaft between the accelerator and the gyro sensitivity, reducing the impact of setting given and sensor drift;
*the complexity of data fusion algorithms, sensors synchronization, load position sensors can be reduce by useing Digital motion processing (DMP: DigitalMotionProcessing) engine
*A digital output temperature sensor;
*Gyro operational current: 5mA, gyroscope standby current: 5uA; accelerator operation current: 500uA, accelerator power saving mode current: 40uA @ 10Hz up to 400kHz fast mode of I2C.

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==Documents==
* Snapshot of '''[[Microduino-10DOF]]''' schematic
:[[file:Microduino-10DOF-SCH.png|600px|thumb|left|Microduino-10DOF Schematic]]
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:[[file:Microduino-10DOF-PCB.png|600px|thumb|left|Microduino-10DOFPCB]]
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* '''[[Microduino-10DOF]]''' Eagle source file 【'''[[media:Microduino-10DOF.zip|download]]'''】
* '''[[Microduino-10DOF]]''' main chips and devices
** 3-axis gyroscope + 3-axis accelerometer: 【'''[[media:MPU6000andMPU6050.pdf|MPU6050]]'''】
** 3-axis compass: 【'''[[media:HMC5883L.pdf|HMC5883L]]'''】
** temperature + pressure sensor: 【'''[[media:BMP085.pdf|BMP085]]'''】

:[[file:Micromodule-10DOF-1.png|800px|thumb|left|Microduino-10DOF-Pinout]]
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== Development ==

'''Arduino Libraries and support packages'''

*【BMP180 Library [[Media:github download]]， [[Media:github download]] 】
*【HMC5883 LLibrary [[Media:github download]] 】
*【MPU6050 Library [[Media:github download]] 】
*【I2Cdev Library [[Media:github download]] 】
*【U8glib Library [[Media:google download]] 】

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== Applications ==

'''程序下载'''

*MultiWii上位机及程序：File:MultiWii 2 2.zip
*OLED测试10dof程序：：File:Program Test 10DOF.zip

'''用MWC的开源程序测试10dof模块'''

*所需要准备的硬件有：Microduino FT232R、Microduino Core、Microduino 10dof；
*所需要准备的软件有：MultiWii上位机（Linux/Mac/Windows）、MultiWii程序（Arduino端）、Arduino IDE（1.0版本以上）；
*先用IED打开MultiWii目录中的MultiWii.ino，即可载入工程，提供的程序已对Microduino 10dof做了配置，板卡选择Microduino Core (Atmega328P@16M,5V)，直接下载即可；
*接着打开上位机，以Windows为例，执行MultiWiiConf\application.windows32目录中的MultiWiiConf.exe，选对相应串口，点击Start即可测试模块。

'''OLED测试10dof模块'''

*所需要准备的硬件有：Microduino FT232R、Microduino Core、Microduino 10dof、Microduino OLED；
*所需要准备的软件有：Arduino IDE（1.0版本以上）、Microduino提供的测试程序（Arduino端）、BMP180库、HMC5883L库、MPU6050库、I2Cdev库、U8glib库；
*将下载好的库文件夹放入Arduino IDE安装文件夹内的libraries中；
*启动Arduino IED，打开Microduino提供的测试程序，板卡选择Microduino Core (Atmega328P@16M,5V)，直接下载即可；

*下载完毕后可观察OLED：
*最上一行是测试HM5883L所用，将模块置于水平，转动模块可观察到指针始终指向一个角度；
*中间一行是测试BMP180所用，可观察到气压、温度数据；
*最后一行是测试MPU6050所用，倾斜模块，可观察小球朝相应方向滚动。


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==History==
*2013年4月8日 @老潘orz发现HMC5883L S1管脚未连接VDD。
*2013年2月28日，测试版出炉，无大问题。
*2013年2月18日，初版打样。
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==Pictures==
:[[file:Microduino-10DOF-T.jpg|thumb|600px|center|Microduino 10DOF Front]]
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:[[file:Microduino-10DOF-B.jpg|thumb|600px|center|Microduino 10DOF Back]]
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* Testing video: [http://v.youku.com/v_show/id_XNTIzMTY3MTU2.html Microduino-10DOF MPU6050 Testing]

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