raspberry-imu-viewer

Deprecation notice

This project makes use of some EGL functions that were unfortunately removed from the Raspberry Pi OS, starting from Bullseye.

Using this on recent Raspberry Pi OS versions requires some manual refactoring.

Info

This tool allows to view in 3D the output of various orientation estimation algorithms, fed by a IMU sensor, connected to a Raspberry Pi. Supported sensors are:

• MPU6000 (I2C mode)
• MPU6050 (I2C mode)
• MPU6500 (I2C mode)
• ICM20600 (I2C mode)
• ICM20601 (I2C mode)
• ICM20602 (I2C mode)

This tool is intended to:

• provide a zero-dependencies, ready-to-use tool to test IMUs
• provide a starting point to anyone wishing to explore the field of orientation estimation

Build & launch

1. On the Raspberry Pi, enable I2C in fast-speed mode: edit /boot/config.txt and add:

   dtparam=i2c_arm=on
   dtparam=i2c_arm_baudrate=400000
   

   then edit /etc/modules and add

   i2c-dev
   

   then reboot the system.

2. Install the dependencies:

   sudo apt install -y git make gcc libc6-dev libi2c-dev libraspberrypi-dev
   

3. Clone this repository:

   git clone https://github.com/aler9/raspberry-imu-viewer
   cd raspberry-imu-viewer
   

4. Build:

   make
   

5. Launch:

   ./raspberry-imu-viewer
   

Links

• sensor-imu (IMU library used by this project)