Hi Everyone, Here are some notes (raw) on my "show-and-tell" raspberry pi with the Sense Hat (B). I also included a link to my github fork of the stratux. My fork of the Stratux project https://github.com/brieweb/stratux Sense HAT (B) for Raspberry Pi, Multi Powerful Sensors https://www.waveshare.com/sense-hat-b.htm Wiki page for the SenseHat(B) https://www.waveshare.com/wiki/Sense_HAT_(B) C program demos for the Sense Hat (B) https://files.waveshare.com/upload/6/6c/Sense-HAT-B-Demo.7z Datasheet for 20948 chip https://invensense.tdk.com/download-pdf/icm-20948-datasheet/ MPU9250 – 9-Axis Sensor Module – Part 1 https://wolles-elektronikkiste.de/en/mpu9250-9-axis-sensor-module-part-1 MPU9250 – 9-Axis Sensor Module – Part 2 https://wolles-elektronikkiste.de/en/mpu9250-9-axis-sensor-module-part-2 Explains the registers for the chip https://youtu.be/Oen3HqUbctM BCM 2835 library for talking through the Broadcom controller that connects to the I2C bus. https://www.airspayce.com/mikem/bcm2835/ Eric Westphal Go AHRS code https://github.com/westphae/goflying/ Code snippet ``` unsigned short I2C_readU16(char reg) { char buf[] = { reg,0 }; bcm2835_i2c_read_register_rs(&reg, buf, 2); int value = buf[1] * 0x100 + buf[0]; return value; } ``` -- Brian Lavender http://www.brie.com/brian/ "There are two ways of constructing a software design. One way is to make it so simple that there are obviously no deficiencies. And the other way is to make it so complicated that there are no obvious deficiencies." Professor C. A. R. Hoare The 1980 Turing award lecture