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Welcome to the imu-module wiki! This wiki documents the imu sensor module for a walk-assisting exosuit.

Note for switching between github users (repo specific) on Jetson:

Run the script that changes the user for the repo:

~/lower_exosuit/bin/git-profile

then type in the first name of the user (all lowercase) and press Enter. If it shows your username and email, you're all set!

Hardware Specifications

• BNO055 product document

• LSM6DSOX+LIS3MDL product document

• Shared port hub product

• QT to QT cable product

• QT to male headers product (blue SDA, yellow SCL)

Calibration

Installation & Wiring

• reference: https://learn.adafruit.com/adafruit-bno055-absolute-orientation-sensor/python-circuitpython
• Protocol: I2C
• Connections:
• • Jetson 3.3V (pin 1) <--> sensor VIN
• • Board GND (pin 9) <--> sensor GND
• • Board SCL (pin 5) <--> sensor SCL
• • Board SDA (Pin 3) <--> sensor SDA

Pin 17, 25, 28, 27 respectively for the second sensor

Testing & Validation