Left top, Arduino Mega 9DOF Bluetooth with Class 2 BTM-112 bluetooth module. Left bottom, one with a Class 1 BTM-222 bluetooth, and at the right a complete board with BTM-112. We still have to make a standalone with SMD Atmega328p. Parts are on their way…. The antennas, 31 mm. These are all the same boards, on the top a BTM-112 or on the bottom a BTM-222. 30 meters or 100 meters.
More details at http://members.home.nl/bzijlstra
Bluetooth working on the Arduino Mega 9DOF Bluetooth Shield. Had to put the BTM-112 in slave mode, and had it communicate on 57600 baud. Here a small program to put it as slave (ATR1), and with a ATL4 you put it on 57600 baud. And while I was busy with an ATN= I have changed it’s name. After that you have to cycle the Arduino Mega power and the new settings are working. On your PC or Laptop do a discovery of Bluetooth devices and you will find your Arduino Mega 9DOF Bluetooth. If you have not changed the PIN-code, with a 1234 your will get a connection. An invisable wire… We bought the module at http://www.tme.eu , before they had only a class 1 and a class 2 module, but after a check today we have seen there are a lot of new modules. In the 9DOF AHRS Arduino software change all Serial.print into Serial1.print, make the bluetooth connection to your PC or Laptop, change the Python (IMU_Razor9DOF.py) line to get the right COM-port on 57600 baud and of you go… Will make a new movie tomorrow…
Arduino Mega 9DOF Bluetooth connecting to a Bluetooth GPS-mouse. C is not my native language but it works. On the Arduino Mega 9DOF Bluetooth Shield, the green LED is always on, the yellow LED is on when there is a connection, and the red LED is blinking while searching for the GPS Mouse (GlobalTop), but stays on when connected. On the Arduino Mega LCD you can follow the initialization of the Bluetooth connection. 
Movie of a working Arduino Mega 9DOF Bluetooth Shield. Direct connected to the PC, with the Arduino software in it.
http://members.home.nl/hobbycorner/movies/9DOF_Arduino.wmv
Some action pictures of assembling the Arduino Mega 9DOF Bluetooth shield…. The big trick, to get the sensors on the board, is to make a mix of solder paste and flux. Get the solder as flat as possible on the sensors. After that flatten the pads on the PCB. While using a lot of flux, put some pressure on the sensors and let them sink into the solder. If you are not a experienced SMD technician “Don’t try this at home”. On the other hand, why not give it a try. For the ADXL345 and HMC5843 use the I2c-scanner to check if they are seen on the Arduino Mega. On address &H3C and &HA6 you should see both sensors. The I2c-scanner can be found on my homepage, adapt it for the Atmega1280. And about the LY530 and LPR530, when you fixed them measure the filters. You should see some 2 volts. There was a suggestion on the internet to increase the capacitor of the HMC5843, we have seen a big improvement after changing the 10 uF to 20 uF. We have added a 220 nF to the AREF of the Atmega1280. We still have to test the board as a standalone board with an SMD Atmega328p, with an Arduino bootloader.
Arduino Mega 9DOF Bluetooth shield. Well all working. Used pins on the Arduino Mega: SCL and SCK for I2c (ADXL345 and HMC5843). Analog 0, 1 and 2 (LY530 and LPR530). TXD1/RXD1 for Bluetooth (BTM-112). HP, PD and ST are connected (Arduino 32, 33, 34) resp. Portc.5, Portc.4 and Portc.3 but not used in the KixRazor software. KixRazor Bascom-AVR is running, some minor changes. Thanks Natalius Kiedro. You did a great job. Thanks to the guys at www.sparkfun.com, checking their site every day….
It is working, the Arduino Mega 9DOF shield. And after adapting the KixRazor Bascom-AVR software a bit, we could run it with the Python program to display Pitch, Roll, Yaw.
The last step is to put a BTM-220 or BTM-112 bluetooth module on this board to have it communicate wireless. We know that is working from our previous board.
Getting the sensors on the board is a bit difficult but with the last sensor, the LY530 we knew how we could fix it. We did a test with solder paste and that went very well. More details later on.
http://www.youtube.com/watch?v=WuHRCnpcsDQ
Arduino Mega combined with bluetooth and LCD shields. With a program that connects to a bluetooth GPS mouse and gets the time from the $GPGGA string.
Arduino Mega shield with BTM-112 working. Have made contact with a wireless Bluetooth GPS mouse. Working like it should. On the top of the shield room for a BTM-112 class 2, on the bottom room for a BTM-220.
This is a shield for the Arduino Mega. And on it we have to put these components: ADXL345 3-axis accelerometer, LY530ALH low power, single axis yaw gyro, LPR530AL dual axis gyro (pitch and roll), HMC5843 3 axis electronic compass, BTM220 bluetooth module class 1 or BTM112 bluetooth module class 2. To have it work without the Arduino Mega it is also possible to fit Atmega328 and FT232RL USB to UART bridge. As display we have choosen the 132 x 132 color Nokia display.
