Raspberry Pi 5

1. Connect the device

This tutorial takes the Raspberry Pi 5 motherboard and the official 64-bit version of the mirroring as an example.

Connect the IMU attitude sensor to the USB port of the main controller via a Type-C cable.

2. Check device status

View device ID

lsusb

View Device Number

ls -l /dev/ttyU*

Set Port Mapping

# 防止插拔后端口变更，请设置端口映射
sudo gedit /etc/udev/rules.d/99-serial-imu.rules

# 如出现没有gedit命令相关内容，先下载安装
sudo apt install gedit

# 填写映射内容
KERNEL=="ttyUSB*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="7523", MODE:="0777", SYMLINK+="imu-serial"

# 参数说明：
`--mode`: 通信模式，可选值为`serial`(串口)或`i2c`
`--port`: 串口名(如`/dev/ttyUSB0`)或I2C端口号(如`7`)
`--rate`: 数据打印频率(Hz)，默认10Hz
`--debug`: 启用调试模式，显示详细信息

# 保存退出，运行命令使规则生效
sudo udevadm trigger
sudo service udev reload
sudo service udev restart

# 验证
ll /dev/imu-serial

# 输出示例：
lrwxrwxrwx 1 root root 7 1月 22 10:00 /dev/imu-serial -> ttyUSB0

3. Install the driver library

3.1 Install the Python libraries required for the code

sudo apt update
sudo apt install -y python3-serial
sudo apt install -y python3-smbus2

3.2 Transfer Files

[IMU_ROS2.zip]

Friends who are not yet familiar with using MobaXterm to transfer files, please refer to the following webpage for detailed installation and operation methods of MobaXterm:文件远程传输

Drag the decompressed files onto Raspberry Pi 5 via MobaXterm software.

4. View IMU data

**Enter the ~/IMU_Library directory and run the IMU_Serial_Library.py file **

cd ~/IMU_ROS2/IMU_Library

# 运行 IMU 数据打印文件
python3 -m IMU_Library.IMU_Serial_Library

Note: The above is the data reading for a 10-axis IMU. The 6-axis has no Magnetometer and Barometer data, and the 9-axis has no Barometer data.

5. IMU Calibration

**Enter the ~/IMU_Library directory and run the imu_calibration_tool.py file **

cd ~/IMU_Library

# 运行 IMU 校准代码文件 --串口通讯校准
# 执行所有校准（整体、磁力计、温度）
python3 -m IMU_Library.imu_calibration_tool --mode serial --port /dev/imu-serial

# 仅整体校准
python3 -m IMU_Library.imu_calibration_tool --mode serial --port /dev/imu-serial --calibrate imu

# 仅磁力计校准
python3 -m IMU_Library.imu_calibration_tool --mode serial --port /dev/imu-serial --calibrate mag

# 仅温度校准
python3 -m IMU_Library.imu_calibration_tool --mode serial --port /dev/imu-serial --calibrate temp

6. Precautions

If the device ID can be found but the device number cannot, you can refer to the following command to install the ch34x driver

sudo apt remove brltty
git clone https://github.com/clhchan/CH341SER.git
cd CH341SER
make -j6
sudo make install
sudo modprobe ch34x