16x IMU Sensor Board

This board based on use IMU sensor (ICM42688-P) and Multiplexer (TCA9548A)

IMU Array Sensor Block Diagram

IMU Array Sensor Structure

The PCB is designed with a 6-layer stackup:

This multi-layer design ensures proper signal integrity, power distribution, and electromagnetic compatibility for the IMU array sensor system.

PCB Design Overview

Complete PCB Layout:

PCB Layer Images

Layer 1:

Layer 3:

Layer 4:

Layer 6:

Note

Firmware Check

To verify the hardware connectivity of the IMU array sensor board, upload the provided firmware to your STM32 microcontroller:

• Binary file: fimware_check/STM32F401.bin
• Hex file: fimware_check/STM32F401.hex

Upload either the .bin or .hex file to your STM32F401 microcontroller to test and validate the hardware connectivity of all IMU sensors in the array. This firmware will help you verify that:

• All IMU sensors are properly connected
• The I2C multiplexer (TCA9548A) is functioning correctly
• Communication with each sensor channel is working as expected

Expected Output

The expected result shows channel 7 of both multiplexers working correctly with sensors at address 0x68, demonstrating proper hardware connectivity and communication with the IMU array.

References