sense hat

docs

• https://www.raspberrypi.org/documentation/hardware/sense-hat/
• https://github.com/raspberrypi/documentation/tree/master/hardware/sense-hat

schematics

• https://www.raspberrypi.org/documentation/hardware/sense-hat/images/Sense-HAT-V1_0.pdf

RTIMUlib

• https://github.com/RPi-Distro/RTIMULib ?
• https://github.com/RTIMULib/RTIMULib2 ?

pose estimation using IMU sensors:

• https://github.com/kriswiner/MPU6050/wiki/Affordable-9-DoF-Sensor-Fusion

i2c devices

Both i2c buses should be enabled in config.txt.

dtoverlay=rpi-sense
dtparam=i2c_arm=on
dtparam=i2c_vc=on

Bus speed could be set to 400 kHz to increase sensor sample rates, but this prevented rpisense-core module from loading, so there is no framebuffer and no input device.

pi@raspberrypi:~/sense_hat_examples/snake $ i2cdetect -y 1
     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:          -- -- -- -- -- -- -- -- -- -- -- -- -- 
10: -- -- -- -- -- -- -- -- -- -- -- -- 1c -- -- -- 
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
40: -- -- -- -- -- -- UU -- -- -- -- -- -- -- -- -- 
50: -- -- -- -- -- -- -- -- -- -- -- -- 5c -- -- 5f 
60: -- -- -- -- -- -- -- -- -- -- 6a -- -- -- -- -- 
70: -- -- -- -- -- -- -- --                         

function	type	I2C bus	(7-bit) I2C address
rpisense_core, rpisense_js, rpisense_fb	kernel module	1	0x46
9-dof linear acceleration + angular rate + magnetic sensor	LSM9DS1	1	0x6a
		1	0x1c (magnet)
MEMS pressure sensor: 260-1260 hPa absolute digital output barometer	LPS25H	1	0x5c
Capacitive digital sensor for relative humidity and temperature	HTS221	1	0x5f
32-Kb I2C CMOS Serial EEPROM	CAT24C32	0	0x50

other sensor fusion libs

• (untested, may need mods): https://github.com/DavidEGrayson/minimu9-ahrs