This file contains all the functions to initalize and read data from the MPU-6000. More...

#include "board.h"

Functions
bool	mpu6000Init (void)
	MPU-6000 initialization sequence. More...

void	readMPU6000 (void)
	Reads MPU-6000 raw data and packs accel, gyro, temp data into variables. More...

void	computeMPU6000RTData (void)
	Computes IMU runtime data to find gyro bias. More...

void	computeMPU6000TCBias (void)
	Calculates the IMU temperature bias. More...

Variables
float	accelOneG = 9.8065

uint8_t	rawData [16]

int32_t	accelSum500Hz [3] = { 0, 0, 0 }

int32_t	accelSummedSamples500Hz [3]

float	accelTCBias [3] = { 0.0f, 0.0f, 0.0f }

int16andUint8_t	rawAccel [3]

float	nonRotatedAccelData [3]

float	gyroRTBias [3]

int32_t	gyroSum500Hz [3] = { 0, 0, 0 }

int32_t	gyroSummedSamples500Hz [3]

float	gyroTCBias [3]

int16andUint8_t	rawGyro [3]

float	nonRotatedGyroData [3]

uint8_t	accelCalibrating = false

uint8_t	mpu6000Calibrating = false

float	mpu6000Temperature

int16andUint8_t	rawMPU6000Temperature

uint8_t	whoami [3]

bool	mpu6000Initialized = false

Detailed Description

This file contains all the functions to initalize and read data from the MPU-6000.

Author: Jeremy Wolfe

Date: 06 MAR 2022

Function Documentation

◆ computeMPU6000RTData()

void computeMPU6000RTData ( void )

Computes IMU runtime data to find gyro bias.

Returns: Void.

◆ computeMPU6000TCBias()

void computeMPU6000TCBias ( void )

Calculates the IMU temperature bias.

Returns: Void.

◆ mpu6000Init()

bool mpu6000Init ( void )

MPU-6000 initialization sequence.

Returns: bool True if initialization was successful. False if unsuccessful.

◆ readMPU6000()

void readMPU6000 ( void )

Reads MPU-6000 raw data and packs accel, gyro, temp data into variables.

Returns: Void.

Variable Documentation

◆ accelCalibrating

uint8_t accelCalibrating = false

◆ accelOneG

float accelOneG = 9.8065

◆ accelSum500Hz

int32_t accelSum500Hz[3] = { 0, 0, 0 }

◆ accelSummedSamples500Hz

int32_t accelSummedSamples500Hz[3]

◆ accelTCBias

float accelTCBias[3] = { 0.0f, 0.0f, 0.0f }

◆ gyroRTBias

float gyroRTBias[3]

◆ gyroSum500Hz

int32_t gyroSum500Hz[3] = { 0, 0, 0 }

◆ gyroSummedSamples500Hz

int32_t gyroSummedSamples500Hz[3]

◆ gyroTCBias

float gyroTCBias[3]

◆ mpu6000Calibrating

uint8_t mpu6000Calibrating = false

◆ mpu6000Initialized

bool mpu6000Initialized = false

◆ mpu6000Temperature

float mpu6000Temperature

◆ nonRotatedAccelData

float nonRotatedAccelData[3]

◆ nonRotatedGyroData

float nonRotatedGyroData[3]

◆ rawAccel

int16andUint8_t rawAccel[3]

◆ rawData

uint8_t rawData[16]

◆ rawGyro

int16andUint8_t rawGyro[3]

◆ rawMPU6000Temperature

int16andUint8_t rawMPU6000Temperature

◆ whoami

uint8_t whoami[3]

Functions

Variables