There are two ways to receive data from the IMU: SPI and ASCII.

The wiring for each method is shown in the figures below.

1) SPI Method

To place the IMU in SPI data transmission mode, pins 11, 12, and 13 of the Arduino must be used. In addition, any other free digital I/O line can be used for the slave (IMU) selection.

In this mode, roll, pitch, and yaw data, as well as their time-derivatives, and the acceleration of the IMU along each inertial axis (in g’s*10000) is transmitted to the Arduino.

Use this SPI transmission method with the Arduino (or any other SPI master) for fast feedback control loops.

The entire data transmission takes place in about 0.75 milliseconds.

2) ASCII Method

To place the IMU in ASCII serial data transmission mode, ground the SDO (slave data out) pin.

In this mode, the IMU transmits roll, pitch, and yaw data (in degrees) on the Tx pin.

The data is transmitted continuously at a baud rate of 115,200.

New data is transmitted at 50 Hz.