IMU Selection
The accelerometer components in this project is key for determining what way the cube is facing and how fast it is moving.
Key requirements
- High resolution for velocity and angular sensitivity
- High I2C bandwidth
- Potential SPI bus instead (for speed requirements)
- 6 DoF (accelerometer and gyroscope)
- Interrupts
- Programmable event triggers (tapping, motion, stationary)
Optional requirements
- 9 DoF (add magnetometer functionality)
- Preferably add in mag sensor in one package, limit number of parallel data streams
IC options
- LSM6DSOX
- ±2/±4/±8/±16 g at 1.6 Hz to 6.7KHz
- ±125/±250/±500/±1000/±2000 dps at 12.5 Hz to 6.7 kHz
- free-fall, wake-up, 6D/4D orientation, click and double-click
- 2.5 mm x 3 mm x 0.83 mm
- ML feature (?)
- LSM6DSO32
- ±4/±8/±16/±32 g
- ±125/±250/±500/±1000/±2000 dps
- Significant Motion Detection, Tilt detection
- Standard interrupts: free-fall, wakeup, 6D/4D orientation, click and double-click
- 2.5 mm x 3 mm x 0.83 mm
- LSM6DSO
- ±2/±4/±8/±16 g
- ±125/±250/±500/±1000/±2000 dps
- Significant Motion Detection, Tilt detection
- Standard interrupts: free-fall, wakeup, 6D/4D orientation, click and double-click
- 2.5 mm x 3 mm x 0.83 mm
- MPU-6000
- ±2/±4/±8/±16 g
- ±250/±500/±1000/±2000 dps
- Orientation detection and signaling, Tap detection, User-programmable interrupts
- 4 mm x 4 mm x 0.9 mm
- ICM-20948
- ±2/±4/±8/±16 g
- ±250/±500/±1000/±2000 dps
- ±4900uT
- 3 mm x 3 mm x 1 mm
- BNO055
- ±2/±4/±8/±16 g
- ±125/±250/±500/±1000/±2000 dps
- ±1300uT
- 3.8 mm x 5.2 mm x 1.13 mm