-1 Raspberry Pi zero with wifi; 12€ +5Eur DHL

-2 Adafruit bno055, max 30€, google it

-3 ublox neo7 receiver or compatible (with uart connector), max 10€, ebay or amazon

-4 AZDelivery 3 x 0,96 Zoll OLED Display, 10€ @amazon

-5 Development environment: I prefer to use ubuntu, ssh+sshfs, cross-compile, but feel free. I sugest we setup some oneBox solution soon.

make sure to activate i2c a priori in the Rpi config g++ Example_Data_Raw.cpp RPi_BNO055.cpp -lpigpio

sudo cat /dev/ttyS0 9600

sudo apt-get install flex sudo apt-get install bison sudo apt-get install git rsync cmake libc6-i386 lib32z1 lib32stdc++6 sudo apt-get install libncurses-dev sudo apt-get install libssl-de sudo apt-get install git ncurses-dev make gcc-arm-linux-gnueabi

export KERNEL=kernel

git clone https://github.com/raspberrypi/linux.git mv ./patch-5.10.16-rt30.patch.xz ./rtKernel/ mv linux/ ./rtKernel/ mv tools/ ./rtKernel/ export ARCH=arm export CROSS_COMPILE=/rtKernel/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian/bin/arm-linux-gnueabihf- export INSTALL_DTBS_PATH=/rtKernel/linux/ export KERNEL=kernel cd linux make bcmrpi_defconfig

make menuconfig --> here select the RT path ... and maybe some optimization

make -j4 zImage

wget http://cdn.kernel.org/pub/linux/kernel/projects/rt/5.10/older/patch-5.10.16-rt30.patch.xz git checkout -b rpi-5.10.16-rt 3d48a0dbdcf562eb5bcddc9caf092627544b5d4f xzcat ../patch-5.10.16-rt30.patch.xz | patch -p git add -A git commit -m "apply PREEMPT_RT patches patch-5.10.16-rt30.patch.xz" git clone https://github.com/raspberrypi/tools.git cd /home/dragontas/rtKernel/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian/arm-linux-gnueabihf/bin/ make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- menuconfig make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- zImage modules dtbs sudo env PATH=$PATH make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- INSTALL_MOD_PATH=mnt/ext4 modules_instal sudo cp mnt/fat32/$KERNEL.img mnt/fat32/$KERNEL-backup.img sudo cp arch/arm/boot/zImage mnt/fat32/$KERNEL.img sudo cp arch/arm/boot/dts/.dtb mnt/fat32/ sudo cp arch/arm/boot/dts/overlays/.dtb* mnt/fat32/overlays/ unmount and start the raspberry

BNO055 IMU Library for Raspberry Pi based on the Adafruit libraries for Arduino.