All-In-One Board

Hardware

The IMU Board is powered by the Espressif ESP32-WROOM-32E module, featuring two 32-bit LX6 Xtensa MCUs. This versatile module supports Wi-Fi (802.11 b/g/n), Bluetooth Classic, and Bluetooth Low Energy (BLE), enabling a wide range of applications, including:

• IoT devices
• AI/ML edge computing
• Low-power sensor networks
• Audio streaming
• General control systems

Key features include:

• Rich peripheral set: SPI, I2C, I2S, ADC, UART
• 4 MB flash memory for program storage
• Integrated 3-axis gyroscope and 3-axis accelerometer with temperature sensing
• Standard 0.1” header spacing for easy bread board prototyping

Capabilities

Motion Sensor

The board uses the TDK InvenSense ICM-42688, a high-precision 6-axis MEMS motion tracking device, combining:

• 3D digital accelerometer (±2, ±4, ±8, ±16 g)
• 3D digital gyroscope (±15.6 to ±2000 dps range)
• Digital interface via I2C to the ESP32

This sensor provides reliable motion tracking for robotics, navigation, VR/AR devices, and gesture-based controls.

Motor Control

At the heart of the board’s motion system is the DRV8210 integrated motor driver, featuring:

• Four N-channel power FETs with a built-in charge pump regulator
• 100% duty cycle operation capability
• Multiple control interface modes:
  • PWM (IN1/IN2)
  • Phase/Enable (PH/EN)
  • Independent half-bridge
  • Parallel half-bridge
• Up to 1.76 A peak output current
• Built-in protection: UVLO, OCP, TSD

GPIO Expander

The board integrates the TCA9539A 16-bit I/O expander, providing additional general-purpose digital I/O via the I2C bus (or SMBus protocol).
Highlights:

• 16-bit parallel I/O expansion
• Supports I2C Standard mode (100 kHz) and Fast mode (400 kHz)
• Interrupt (INT) pin triggers when input ports change state
• RESET pin for hardware reset to default state
• Suitable for switches, sensors, push-buttons, LEDs, fans, and more

Solenoid Control

• High-efficiency MOSFET-based driver
• Supports up to 1 A peak current (2 ohm limiting resistor on board)
• Flyback diode protection for inductive loads
• Wide supply voltage range: 5 V to 12 V

Wireless Connectivity

• Wi-Fi: 802.11 b/g/n, data rates up to 150 Mbps
• Bluetooth: Classic + BLE for low-energy applications

Software Compatibility

The IMU Board is designed for flexible development, supporting:

• Arduino framework – Arduino Store
• MicroPython (with Thonny IDE) – Thonny.org
• Example code available on GitHub: OBS-DEV-ENG