AspirinIMU

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== Aspirin IMU ==
The next generation flat multi degree of freedom inertial measurement unit. It uses digital 3-axis sensors which allow for a very small size and price. Other features include onboard voltage regulators, EEPROM for storing calibration data and extra sensors such as a barometer.
== Hardware Revision History ==
Version # 	Release Date	Release Notes
v2.2(current)	09/2012 	2nd Gen Revision
v2.1r1 	08/2012 	2nd Gen Minor Revision
v2.1 	03/2012 	2nd Gen Production Release
v2.0 	11/2011 	2nd Gen Prototype
v1.5 	04/2011 	Updated Production Release
v1.4 	03/2011 	Prototype Update
v1.3 	08/2010 	Initial Production Release
v1.2 	07/2010 	Prototype Update
v1.1 	07/2010 	Prototype Update
v1.0 	07/2010 	Initial Prototype
== Features ==
* 3-axis accelerometer
* 3-axis gyroscope
* 3-axis magnetometer
* Onboard voltage regulation
* Onboard I2C EEPROM
* Onboard barometer (v2.1)
* Standard footprint across versions
* Single PCB flat form-factor
* Fits directly onto Lisa/M, carriers for Booz and Lisa/L, or for LPC21xx integration
Aspirin Feature Matrix
Version	Accelerometer	Gyroscope	Magnetometer	Barometer	Regulators 	EEPROM	Comments
v2.2 	MPU-6000 	MPU-6000 	HMC5883 	MS5611 	1x 3.3V (LP2992)	yes 	MS5611 is connected directly to the SPI bus
v2.1 	MPU-6000 	MPU-6000 	HMC5883 	MS5611 	1x 3.3V (LP2992)	yes 	MS5611 is connected to the aux I2C of the MPU6000
v2.0 	MPU-6000 	MPU-6000 	HMC5883 	none 	1x 3.3V (LP2992)	yes 	
v1.5 	ADXL345 	IMU-3000 	HMC5883 	none 	2x 3.3V (LP2992)	yes 	
v1.4 	ADXL345 	IMU-3000 	HMC5883 	none 	2x 3.3V (LP2992)	yes 	
v1.3 	ADXL345 	ITG-3200 	HMC5843 	none 	2x 3.3V (LP2992)	yes 	
v1.2 	ADXL345 	ITG-3200 	HMC5843 	none 	2x 3.3V (LP2992)	yes 	
v1.1 	ADXL345 	ITG-3200 	HMC5843 	none 	2x 3.3V (LP2992)	yes 	
v1.0 	ADXL345 	ITG-3200 	HMC5843 	none 	2x 3.3V (LP2992)	yes 	Also has SC18IS600 SPI-I2C interface
Note: Aspirin 2.1 comes in several population versions. The current version available at http://transition-robotics.com has the MPU-6000, HMC5843, and MS5611-01BA03 mounted. You can find the list of fitted sensors on Aspirin 2.1 in the eeprom block 4.
Image:Aspirin imu front.jpg|Aspirin V1.3 IMU front
Image:Aspirin imu back.jpg|Aspirin V1.3 IMU back
Image:Aspirin imu on carrier.JPG|Aspirin V1.3 IMU on Lisa/L compatible carrier board
Image:LisaL_Aspirin_Flat_Carrier.jpg|Aspirin flat carrier board for Lisa/L (without IMU mounted)
Image:Aspirin_2.1_bottom.jpg|Aspirin IMU 2.1 bottom side
Image:Aspirin_2.1_top.jpg|Aspirin IMU 2.1 top side
Image:Aspirin_2.1_nobaro_top.jpg|Aspirin IMU 2.1 top side no barometer mounted
Image:Aspirin_2.1_nomag_nobaro_top.jpg|Aspirin IMU 2.1 top side no barometer and no magnetometer mounted
== Pinout ==
Note that Aspirin uses a standard footprint and pinout across all versions, with certain exceptions. The chip select (CS) and interrupt (Int) pins are not always assigned to the same devices. A good example is with the introduction of the MPU-6000 device. Check the schematics for details.
Warning: When mounting Aspirin on Lisa/M note that the pin labeled GND on Aspirin (in the right upper corner on the following picture) is connected on Lisa/M to GYRO_SS. To prevent a software error induced shorting of the Lisa/M GYRO_SS pin to ground, remove the castellation or remove the connection on that pad.
In the v2.1r1 versions of Aspirin ("R1" silkscreened onto PCB) the right upper GND pad was changed to Not Connected, (marked RESV in the below image), resolving the issue.
Note that the 12-pin connector pinout of the Booz/breakout carrier (center) is reversed with respect to the Lisa/L flat carrier (right). This is because the Booz carrier mounts to Lisa/L with the Aspirin underneath the carrier (e.g., Z axis pointing toward Lisa/L), and the flat carrier mounts to Lisa/L with the Aspirin on top (e.g., Z axis pointing away from Lisa/L).
=== Breakout board ===
In case you have some Aspirin lying around and you want to use the on a non Lisa Board, like the TWOG, here pictures of how to patch the breakoutboard. Then connect to TWOG and add the correct defines to your airframe configuration document.
Image:Aspirin_v1.5_via_AsCa_v1.0_to_TWOG_03.jpg |Aspirin v1.5 via AsCa v1.0 to TWOG
Image:Aspirin_v1.5_via_confboard_to_TWOG_01.jpg |Aspirin v1.5 via confboard to TWOG
Image:Aspirin_v1.5_via_confboard_to_TWOG_02.jpg |Aspirin v1.5 via confboard to TWOG bottom
Image:Aspirin_v1.5_via_Patching_the_Breakout_Board.jpg |Aspirin v1.5 via Patching the Breakout Board
Image:Aspirin_v1.5_Connector_To_TWOG_Board.jpg |Aspirin v1.5 Connector To TWOG Board
== Block Diagrams ==
Image:Aspirin-1_x-stm32-block_diagram.png|Aspirin 1.x to STM32 protocol connections
Image:Aspirin-2_x-stm32-slave_i2c-block_diagram.png|Aspirin 2.x to STM32 default protocol connections (MPU-6000 slave I2C)
Image:Aspirin-2_x-stm32-direct_i2c-block_diagram.png|Aspirin 2.x to STM32 alternative protocol connections (STM32 direct I2C)
== Schematics ==
Schematics are available under license. For additional intermediate schematics see Downloads.
Image:Aspirin_imu_schematic_V1_3.png|Aspirin IMU V1.3 schematic
Image:Aspirin_imu_schematic_V1_5.png|Aspirin IMU V1.5 schematic
Image:Aspirin_imu_schematic_V2_1.png|Aspirin IMU V2.1 schematic
Image:Aspirin_imu_schematic_V2_2.png|Aspirin IMU V2.2 schematic
== Drivers and Support ==
Please see the IMU subsystem page for details on configuring Paparazzi for using an Aspirin IMU.
The drivers for this IMU are available in the Paparazzi GitHub repository.
== PCB and assembled boards suppliers ==
Aspirin IMU is available in the Transition Robotics/Quadshot Online Shop.
There are three options of Aspirin IMU:
* Without a carrier board
* With Booz carrier board
* With next generation flat carrier board
** The flat carrier board can be purchased separately as well
== Mechanical Dimensions ==
The overall height of the board is about 3mm.
== Downloads ==
Source files
:*download available on GitHub: Aspirin IMU and Carrier Board Cadsoft Eagle 6 Design
Gerber & Drill files
:*download NOT YET AVAILABLE Need generated gerbers and drill files
Assembly files
:*download NOT YET AVAILABLE Need Aspirin Components layouts (pdf)
:*download NOT YET AVAILABLE Need Aspirin Bill Of Material
Category:Hardware Category:User_Documentation