Wiring IMU Breadboard to Beaglebone

Data control

SCL (clock), SDA and AD0 for all IMUs connected in a bus so only have to be connected to Beaglebone from a single IMU.

Connect one IMU to Beaglebone as follows:

• SPIO_SLCK of BeagleBone connects to SCL of IMU
• SPIO_D0 of BeagleBone connects to AD0 of IMU
• SPIO_D1 of BeagleBone connects to SDA of IMU

Chip select

All IMUs must be assigned an individual address. GPIO_XY corresponds to address XY, so when creating IMU object in script use MPU9250(log, **XY**, 0x08, 0x00), e.g. if connected to GPIO_66, create IMU object as MPU9250(log, **66**, 0x08, 0x00).

Connect all IMUs to Beaglebone as follows:

• GPIO_XY of Beaglebone connects to (N)CS of IMUs

Power

Connect 5V DC power supply as follows:

• 5V to red rail
• GND to black rail (black wire, blue line)
• DGND Beaglebone to black rail

Do not connect Beaglebone to 5V rail, power separately!

For entire visualisation of BeagleBone ports, see BeagleBone Pinout.