Adafruit 9DOF IMU Interrupt pins.

[avatardelta]

I'm making a robotic arm and wanted to use the 9DOF (https://www.adafruit.com/product/1714) to find relative positions of various components. I want to use two to three of these to find the position of different parts of the robot.

The only issue is that the i2c addresses on the 9dof's are all identical. I'm considering using software i2c to communicate, using multiple devices and communicating over serial, then the thought of the interrupt pins came to me. However I'm not quite sure how to use these pins in conjunction with my arduino (or more likely beaglebone black) to use multiple sensors simultaneously...

[adafruit_support_bill]

Interrupts can be configured for a number of types of events such as position, high acceleration in one or more axis, free-fall etc. The data sheets below explain all the possible combinations. These can be used to alert the processor so that it can read the current state of the sensor.

Not sure about the Beagle Bone, but the RasPi has 2 i2c busses, so you could have 2 of these connected without resorting to software i2c. Software i2c is a workable solution also, but it will be slower than hardware i2c.

http://www.adafruit.com/datasheets/LSM303DLHC.PDF
http://www.adafruit.com/datasheets/L3GD20.pdf