Embedded Planet, Inc.
Agora | Product User Manual
Document Version: 1.0.0 | 11 Feb 22
Embedded Planet, Inc. | 31225 Bainbridge Rd Suite N, Solon, OH 44139 | 216-245-4180 | www.embeddedplanet.com |
Page 17 of 47
8.3.
Sensors | 6-Axis IMU (U9)
The Agora design supports the InvenSense ICM-20602 6-axis IMU sensor. This sensor is comprised of an
accelerometer and a gyroscope. Features of this sensor include:
Integrated 16-bit ADC
3-axis gyroscope
Programmable ranges of ±250dps, ±500dps, ±1000dps and ±2000dps
Sensitivity error: ±1%
Noise:
±
4mdps/
√
Hz
3-axis accelerometer
Programmable ranges of ±2g, ±4g, ±8g, ±16g
Sensitivity error ±1%
Noise: 100µg/
√
Hz
This sensor communicates with the nRF52840 MCU over I
2
C using the address (
1101000b, 0x68).
For more information on the InvenSense ICM-20602, please see:
https://invensense.tdk.com/products/motion-tracking/6-axis/icm-20602/
8.4.
Sensors | 9-Axis IMU (U6)
The Agora design supports the ST LSM9DS1 9-axis IMU sensor. This sensor is comprised of an accelerometer,
a gyroscope, and a magnetometer. Features of this sensor include:
Integrated 16-bit ADC
3-axis gyroscope
Programmable ranges of ±245dps, ±500dps and ±2000dps
3-axis accelerometer
Programmable ranges of ±2g, ±4g, ±8g, ±16g
3-axis magnetometer
Programmable ranges of ±2gauss, ±4gauss, ±8gauss, ±16gauss
This sensor communicates with the nRF52840 MCU over I
2
C using the address (
1101010b, 0x6A)
for the
accelerometer/gyroscope, and
0011100b, 0x1C
for the magnetometer.
For more information on the ST LSM9DS1, please see:
https://www.st.com/en/mems-and-sensors/lsm9ds1.html
