Welcome to my Master of Science final project blog

Submitted by fabio on Mon, 2010-07-12 08:21.

Hi there! This blog pages contains my diary of all the work done for my Master of Science final project and thesis at the Department of Computer Science of the Università di Torino, Italy.

My work, supervised by Prof. Luca Console, aims to study, experience and evaluate tangible interface and interactions. We are interested in adding computer aided interactions to everyday objects. Given the background of my supervisor, who has a strong experience in improving how we interact with food using computers, we are also interested in experiencing adding tangible interactions related in food.

If you are interested in my work and the progress I made, you are very welcome in checking this pages regularly. I also have an RSS feed which you can use to subscribe so you'll get all the updates directly on your feed reader.

FreeIMU v0.4.3 availability

Submitted by freeimu on Tue, 2013-06-25 17:48.

We are happy to inform you that a new production batch of FreeIMU v0.4r3, featuring the MPU6050 accelerometer and gyroscope, the HMC5883L magnetometer and the MS5611-01BA03 pressure meter altimeter module (now in metal shielding case!), is available for sale online.

The shops selling FreeIMU v0.4r3 are:
Jussi's ViaCopter:
Stefano's SDModel:
Paul's Flyduino:

For more informations about FreeIMU v0.4r3, please visit

For any question contact us at freeimu [at] varesano [dot] net.

Thank you!

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FreeIMU Restart

Submitted by freeimu on Thu, 2013-04-04 17:41.

Dear friends, it's been three months since the death of Fabio, and until now we had to make sure on the way in which we want to keep his work alive.

We're his friends at FabLab Torino and Officine Arduino, with us are his girlfriend, his family, and the guys who flew with FreeIMU.

Before setting out the news about Fabio’s website and the continuation of his work, the family would like you to know that most of the organs donated by Fabio at the time of death have given a second chance to many people. And this is already good news.

As for the rest, here's the news:

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Ciao, Fabio

Last updated on Mon, 2013-01-28 10:37. Originally submitted by fabio on 2013-01-18 16:25.

Avremmo voluto che fosse sempre e solo Fabio a scrivere su questo sito e a rispondere alle vostre mail.
Ma Fabio non c'è più. È morto il 23 dicembre, all'improvviso, senza che nessuno potesse farci nulla.
Per questo, nelle ultime settimane, non avete ricevuto risposte alle vostre domande, né nuove notizie sul sito o sul forum.
Io, Arianna, la sua ragazza, con i suoi genitori e il fratello Marco leggiamo impotenti alle mail che arrivano ogni giorno da ogni parte del mondo, Fabio avrebbe risposto a tutti, con calma, alla sera, dopo una giornata di lavoro. Lo faceva sempre e ne era felice.

FreeIMU GUI now making nice 3D Spheres

Submitted by fabio on Mon, 2012-12-17 17:35.

I'm happy to finally publish the code for drawing nice 3D scatter plots of the incoming accelerometer and magnetometer data for the Ellipsoid into Sphere calibration available in the FreeIMU GUI. This will be soon released in upcoming v0.3 of the FreeIMU GUI but for now is available only on the repository.

This will allow users to have a direct realtime feedback on the performed motions and how good/wrong their sensors are calibrated.

Below a couple of screenshots. Note how screwed up was this magnetometer on it's Z axis, compared to the calibrated sphere output.

FreeIMU GUI Uncalibrated 3D graphs

FreeIMU GUI Calibrated 3D graphs

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Sharp Memory LCD with Arduino

Submitted by fabio on Sat, 2012-12-15 17:49.

Simple tests on the LS013B4DN04 (3.3v version of the 96x96 Sharp Memory LCD with Flat Cable connection) using a custom made breakout board I designed etched by my friend Franco Magni.

This uses this Arduino Library:

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Arduino: Creation is Child’s Play - I'm in Wired Arduino documentary!

Submitted by fabio on Thu, 2012-12-06 16:36.

This is Wired Italia documentary Arduino: Creation is Child’s Play. I'm interviewed around minute 9:50 and I talk about my FreeIMU project and I fly my quadcopter.

Thanks to Wired Italia, Arduino and Opificio Ciclope for the opportunity.

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FreeIMU Presentation Video: Autumn 2012

Last updated on Thu, 2012-11-29 16:02. Originally submitted by fabio on 2012-11-22 16:58.

This is a presentation video I recorded some time ago which presents the FreeIMU project as of Autumn 2012. Hope you like it!

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Digital Input/Output on custom CC430 board

Submitted by fabio on Thu, 2012-11-22 15:23.

Just a dumb video testing digital input/output on buttons in my CC430 based project.. nothing fancy but needed testing.

See the SPI LCD connector and the MPU6050 over I2C.. these will be fun!

Here is the code:

#include  <cc430x613x.h>
#include <inttypes.h>

int main(void) {
   unsigned int count;
   uint8_t but0, but1;
   WDTCTL = WDTPW + WDTHOLD; //Stop watchdog timer

   P2OUT = 0; //Configure P1 to output on P1.0
   P2DIR |= BIT7;
   P5DIR = 0; // configure P5 as input
   P5OUT |= BIT7; // turn on pulldown
   P5OUT |= BIT6;
   P5REN |= BIT6; // enable pullups
   P5REN |= BIT7;

      but0 = P5IN & BIT7;
      but1 = P5IN & BIT6;
      if((!but0 || !but1)) {
        P2OUT |= BIT7;
      else {
        P2OUT &= ~BIT7;
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MS5611-01BA03: a picture

Submitted by fabio on Thu, 2012-11-22 15:15.

Here it is, the new MS5611-01BA03, finally on my table for testing. :-)


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