Overview
The DOF9W is a sophisticated sensor platform with nine Degrees Of Freedom (DOF).  The DOF9W combines a 3-Axis Accelerometer (ADXL345), 3-Axis Rate Gyro (L3G4200D) and 3-Axis Magnetometer (HMC5883)  on a single PCB that can attach to a Wasp Data Logger.  All three MEMs sensors are digital with either an SPI or I2C interface.

The Accelerometer is capable of 4mG resolution over a +-16G range.   The Rate Gyro has three ranges - 250, 500 and 2000 deg/sec with a low range sensitivity of 17mdps.  The Magnetometer has eight ranges with a nominal resolution of 10mGauss. 

Truly a unique combination of sensors.  Source code is provided that configures all the sensors and allows the creation of a 9 DOF data logger when combined with either a Wasp, WaspARM or WaspX embedded processor.

Features
    o  9 Sensors integrated on one PCB
    o  3-Axis Accelerometer ADXL345
    o  3-Axis Rate Gyro L3G4200D
    o  3-Axis Magnetometer HMC5883
    o  All digital sensors
    o  0R resistors connect INT outputs to control processor
    o  Example application included for rapid application development
    o  1.8-3.6VDC power input 
    o  Extremely Small form factor (1.50x1.15 in)
 

Description
The DOF9W is an extremely compact embedded IMU sensor platform for mobile data acquisition, instrumentation and remote monitoring applications.  The DOF10W is an all digital implements with no requirement for AD interfacing.   

3-Axis Accelerometer
The 3-Axis accelerometer is an Analog Devices ADXL345.  The ADXL345 has four programmable acceleration ranges- 2G, 4G, 8G and 16G set by the ATmega644.   The ADXL345 operates from 2.2 to 3.6Vdrawing 140uA so the Wasp should not be powered higher than 3.6V when the accelerometer is installed.  The accelerometer has a sensitivity of 4mG over the full 16G range, a bandwidth of 3500Hz (XY)  150Hz (Z), non-linearity less than 1% and a cross-axis sensitivity less than 1%.

The accelerometer is oriented with the X+ on the long axis of the PCB toward Port A connector J1, Y+ on the short axis of the PCB toward Port B connector J2 and Z+ pointing up out of the board.

3-Axis Rate Gyro
The 3-Axis Rate Gyro is an STMicroelectronics L3G4200D.  The L3G4200D has three programmable gyro ranges- 250, 500 and 200dps set by the ATmega644.   The L3G4200D operates from 2.2 to 3.6Vdrawing 6mA so the Wasp should not be powered higher than 3.6V when the accelerometer is installed.  The Gyro has a sensitivity of 17mdps (250dps setting),  a bandwidth of 350Hz (XY)  150Hz (Z), non-linearity less than 1% and a cross-axis sensitivity less than 5%.

3-Axis Magnetometer
The 3-Axis Magnetometer is a Honeywell HMC5883.  The HMC5883 has eight programmable gauss ranges- 0.88G, 1.3G, 4G and 8.1G set by the ATmega644.   The HMC5883 operates from 2.2 to 3.6Vdrawing 100uA so the Wasp should not be powered higher than 3.6V when the accelerometer is installed.  The Magnetometer has a sensitivity of 2mG (1.3g setting),  a bandwidth of 350Hz (XY)  150Hz (Z), non-linearity less than 1% and a cross-axis sensitivity less than 5%.

Software Tools
Source code examples to setup and configure the three different MEMs sensors is provided as part of the Wasp Data Logger Application V0.94.  The application examples is programmed in C using either a GNU C Compiler or third party IDE such as ICCAVR from ImageCraft.  Atmels AVR Studio now supports the GNU C compiler.  Check the SOC Robotics web site www.soc-robotics.com for program examples and ICCAVR project files.

Related Products
The following products can be used with the DOF9W:

    Wasp              AVR Embedded Processor Data Logger
    WaspARM    ARM7 version of the Wasp
    USB10            USB 2.0 Peripheral based on the AT90USB162
    SmartLCD     4x12 Monochrome LCD with onboard ATmega168 and optional 3-axis Accelerometer


Downloads/Revisions
The following technical datasheets, hardware and software downloads are available:

      DOF10W Technical Manual                 DOF10 Technical Manual.pdf
      Wasp Processor                                         ATmega644 Processor Datasheet.pdf
      Wasp Data Logger App Note                Wasp Data Logger Application.pdf
      Wasp Data Logger Code V0.94             Wasp Data Logger V0.94.zip
      IMU6410 Data Logger Code V0.96      IMU6410 Data Logger V0.96.zip
      ADXL345 Datasheet                                ADXL345 Datasheet.pdf
      L3G4200D Datasheet                              L3G4200D Datasheet.pdf
      HMC5883L Datasheet                             HMC5883L Datasheet.pdf