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

Macros
#define	MPU6000_PRODUCT_ID 0x68

#define	MPU6000_SMPLRT_DIV 0x19

#define	MPU6000_GYRO_CONFIG 0x1B

#define	MPU6000_ACCEL_CONFIG 0x1C

#define	MPU6000_FIFO_EN 0x23

#define	MPU6000_INT_PIN_CFG 0x37

#define	MPU6000_INT_ENABLE 0x38

#define	MPU6000_INT_STATUS 0x3A

#define	MPU6000_ACCEL_XOUT_H 0x3B

#define	MPU6000_ACCEL_XOUT_L 0x3C

#define	MPU6000_ACCEL_YOUT_H 0x3D

#define	MPU6000_ACCEL_YOUT_L 0x3E

#define	MPU6000_ACCEL_ZOUT_H 0x3F

#define	MPU6000_ACCEL_ZOUT_L 0x40

#define	MPU6000_TEMP_OUT_H 0x41

#define	MPU6000_TEMP_OUT_L 0x42

#define	MPU6000_GYRO_XOUT_H 0x43

#define	MPU6000_GYRO_XOUT_L 0x44

#define	MPU6000_GYRO_YOUT_H 0x45

#define	MPU6000_GYRO_YOUT_L 0x46

#define	MPU6000_GYRO_ZOUT_H 0x47

#define	MPU6000_GYRO_ZOUT_L 0x48

#define	MPU6000_SIGNAL_PATH_RESET 0x68

#define	MPU6000_USER_CTRL 0x6A

#define	MPU6000_PWR_MGMT_1 0x6B

#define	MPU6000_PWR_MGMT_2 0x6C

#define	MPU6000_FIFO_COUNTH 0x72

#define	MPU6000_FIFO_COUNTL 0x73

#define	MPU6000_FIFO_R_W 0x74

#define	MPU6000_WHOAMI 0x75

#define	BIT_SLEEP 0x40

#define	BIT_H_RESET 0x80

#define	BITS_CLKSEL 0x07

#define	MPU_CLK_SEL_PLLGYROX 0x01

#define	MPU_CLK_SEL_PLLGYROZ 0x03

#define	MPU_EXT_SYNC_GYROX 0x02

#define	BITS_FS_250DPS 0x00

#define	BITS_FS_500DPS 0x08

#define	BITS_FS_1000DPS 0x10

#define	BITS_FS_2000DPS 0x18

#define	BITS_FS_2G 0x00

#define	BITS_FS_4G 0x08

#define	BITS_FS_8G 0x10

#define	BITS_FS_16G 0x18

#define	BITS_FS_MASK 0x18

#define	BITS_DLPF_CFG_20HZ 0x04

#define	BITS_DLPF_CFG_10HZ 0x05

#define	BITS_DLPF_CFG_5HZ 0x06

#define	BITS_DLPF_CFG_2100HZ_NOLPF 0x07

#define	BITS_DLPF_CFG_MASK 0x07

#define	BIT_INT_ANYRD_2CLEAR 0x10

#define	BIT_RAW_RDY_EN 0x01

#define	BIT_I2C_IF_DIS 0x10

#define	BIT_INT_STATUS_DATA 0x01

#define	MPU6000_CONFIG 0x1A

#define	BITS_DLPF_CFG_256HZ 0x00

#define	BITS_DLPF_CFG_188HZ 0x01

#define	BITS_DLPF_CFG_98HZ 0x02

#define	BITS_DLPF_CFG_42HZ 0x03

#define	DISABLE_MPU6000 GPIOA->BSRR \|= GPIO_BSRR_BS4

#define	ENABLE_MPU6000 GPIOA->BSRR \|= GPIO_BSRR_BR4

#define	GYRO_SCALE_FACTOR 0.000532632f

#define	ACCEL_SCALE_FACTOR 0.004788403f

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
uint8_t	rawData [16]

float	accelOneG

float	accelTCBias [3]

int32_t	accelSum100Hz [3]

int32_t	accelSum500Hz [3]

int32_t	accelSummedSamples100Hz [3]

int32_t	accelSummedSamples500Hz [3]

int16andUint8_t	rawAccel [3]

float	nonRotatedAccelData [3]

float	gyroRTBias [3]

float	gyroTCBias [3]

int32_t	gyroSum500Hz [3]

int32_t	gyroSummedSamples500Hz [3]

int16andUint8_t	rawGyro [3]

float	nonRotatedGyroData [3]

uint8_t	accelCalibrating

uint8_t	mpu6000Calibrating

float	mpu6000Temperature

int16andUint8_t	rawMPU6000Temperature

Detailed Description

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

Author: Jeremy Wolfe

Date: 06 MAR 2022

Macro Definition Documentation

◆ ACCEL_SCALE_FACTOR

#define ACCEL_SCALE_FACTOR 0.004788403f

◆ BIT_H_RESET

#define BIT_H_RESET 0x80

◆ BIT_I2C_IF_DIS

#define BIT_I2C_IF_DIS 0x10

◆ BIT_INT_ANYRD_2CLEAR

#define BIT_INT_ANYRD_2CLEAR 0x10

◆ BIT_INT_STATUS_DATA

#define BIT_INT_STATUS_DATA 0x01

◆ BIT_RAW_RDY_EN

#define BIT_RAW_RDY_EN 0x01

◆ BIT_SLEEP

#define BIT_SLEEP 0x40

◆ BITS_CLKSEL

#define BITS_CLKSEL 0x07

◆ BITS_DLPF_CFG_10HZ

#define BITS_DLPF_CFG_10HZ 0x05

◆ BITS_DLPF_CFG_188HZ

#define BITS_DLPF_CFG_188HZ 0x01

◆ BITS_DLPF_CFG_20HZ

#define BITS_DLPF_CFG_20HZ 0x04

◆ BITS_DLPF_CFG_2100HZ_NOLPF

#define BITS_DLPF_CFG_2100HZ_NOLPF 0x07

◆ BITS_DLPF_CFG_256HZ

#define BITS_DLPF_CFG_256HZ 0x00

◆ BITS_DLPF_CFG_42HZ

#define BITS_DLPF_CFG_42HZ 0x03

◆ BITS_DLPF_CFG_5HZ

#define BITS_DLPF_CFG_5HZ 0x06

◆ BITS_DLPF_CFG_98HZ

#define BITS_DLPF_CFG_98HZ 0x02

◆ BITS_DLPF_CFG_MASK

#define BITS_DLPF_CFG_MASK 0x07

◆ BITS_FS_1000DPS

#define BITS_FS_1000DPS 0x10

◆ BITS_FS_16G

#define BITS_FS_16G 0x18

◆ BITS_FS_2000DPS

#define BITS_FS_2000DPS 0x18

◆ BITS_FS_250DPS

#define BITS_FS_250DPS 0x00

◆ BITS_FS_2G

#define BITS_FS_2G 0x00

◆ BITS_FS_4G

#define BITS_FS_4G 0x08

◆ BITS_FS_500DPS

#define BITS_FS_500DPS 0x08

◆ BITS_FS_8G

#define BITS_FS_8G 0x10

◆ BITS_FS_MASK

#define BITS_FS_MASK 0x18

◆ DISABLE_MPU6000

#define DISABLE_MPU6000 GPIOA->BSRR |= GPIO_BSRR_BS4

◆ ENABLE_MPU6000

#define ENABLE_MPU6000 GPIOA->BSRR |= GPIO_BSRR_BR4

◆ GYRO_SCALE_FACTOR

#define GYRO_SCALE_FACTOR 0.000532632f

◆ MPU6000_ACCEL_CONFIG

#define MPU6000_ACCEL_CONFIG 0x1C

◆ MPU6000_ACCEL_XOUT_H

#define MPU6000_ACCEL_XOUT_H 0x3B

◆ MPU6000_ACCEL_XOUT_L

#define MPU6000_ACCEL_XOUT_L 0x3C

◆ MPU6000_ACCEL_YOUT_H

#define MPU6000_ACCEL_YOUT_H 0x3D

◆ MPU6000_ACCEL_YOUT_L

#define MPU6000_ACCEL_YOUT_L 0x3E

◆ MPU6000_ACCEL_ZOUT_H

#define MPU6000_ACCEL_ZOUT_H 0x3F

◆ MPU6000_ACCEL_ZOUT_L

#define MPU6000_ACCEL_ZOUT_L 0x40

◆ MPU6000_CONFIG

#define MPU6000_CONFIG 0x1A

◆ MPU6000_FIFO_COUNTH

#define MPU6000_FIFO_COUNTH 0x72

◆ MPU6000_FIFO_COUNTL

#define MPU6000_FIFO_COUNTL 0x73

◆ MPU6000_FIFO_EN

#define MPU6000_FIFO_EN 0x23

◆ MPU6000_FIFO_R_W

#define MPU6000_FIFO_R_W 0x74

◆ MPU6000_GYRO_CONFIG

#define MPU6000_GYRO_CONFIG 0x1B

◆ MPU6000_GYRO_XOUT_H

#define MPU6000_GYRO_XOUT_H 0x43

◆ MPU6000_GYRO_XOUT_L

#define MPU6000_GYRO_XOUT_L 0x44

◆ MPU6000_GYRO_YOUT_H

#define MPU6000_GYRO_YOUT_H 0x45

◆ MPU6000_GYRO_YOUT_L

#define MPU6000_GYRO_YOUT_L 0x46

◆ MPU6000_GYRO_ZOUT_H

#define MPU6000_GYRO_ZOUT_H 0x47

◆ MPU6000_GYRO_ZOUT_L

#define MPU6000_GYRO_ZOUT_L 0x48

◆ MPU6000_INT_ENABLE

#define MPU6000_INT_ENABLE 0x38

◆ MPU6000_INT_PIN_CFG

#define MPU6000_INT_PIN_CFG 0x37

◆ MPU6000_INT_STATUS

#define MPU6000_INT_STATUS 0x3A

◆ MPU6000_PRODUCT_ID

#define MPU6000_PRODUCT_ID 0x68

◆ MPU6000_PWR_MGMT_1

#define MPU6000_PWR_MGMT_1 0x6B

◆ MPU6000_PWR_MGMT_2

#define MPU6000_PWR_MGMT_2 0x6C

◆ MPU6000_SIGNAL_PATH_RESET

#define MPU6000_SIGNAL_PATH_RESET 0x68

◆ MPU6000_SMPLRT_DIV

#define MPU6000_SMPLRT_DIV 0x19

◆ MPU6000_TEMP_OUT_H

#define MPU6000_TEMP_OUT_H 0x41

◆ MPU6000_TEMP_OUT_L

#define MPU6000_TEMP_OUT_L 0x42

◆ MPU6000_USER_CTRL

#define MPU6000_USER_CTRL 0x6A

◆ MPU6000_WHOAMI

#define MPU6000_WHOAMI 0x75

◆ MPU_CLK_SEL_PLLGYROX

#define MPU_CLK_SEL_PLLGYROX 0x01

◆ MPU_CLK_SEL_PLLGYROZ

#define MPU_CLK_SEL_PLLGYROZ 0x03

◆ MPU_EXT_SYNC_GYROX

#define MPU_EXT_SYNC_GYROX 0x02

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

extern

◆ accelOneG

float accelOneG

extern

◆ accelSum100Hz

int32_t accelSum100Hz[3]

extern

◆ accelSum500Hz

int32_t accelSum500Hz[3]

extern

◆ accelSummedSamples100Hz

int32_t accelSummedSamples100Hz[3]

extern

◆ accelSummedSamples500Hz

int32_t accelSummedSamples500Hz[3]

extern

◆ accelTCBias

float accelTCBias[3]

extern

◆ gyroRTBias

float gyroRTBias[3]

extern

◆ gyroSum500Hz

int32_t gyroSum500Hz[3]

extern

◆ gyroSummedSamples500Hz

int32_t gyroSummedSamples500Hz[3]

extern

◆ gyroTCBias

float gyroTCBias[3]

extern

◆ mpu6000Calibrating

uint8_t mpu6000Calibrating

extern

◆ mpu6000Temperature

float mpu6000Temperature

extern

◆ nonRotatedAccelData

float nonRotatedAccelData[3]

extern

◆ nonRotatedGyroData

float nonRotatedGyroData[3]

extern

◆ rawAccel

int16andUint8_t rawAccel[3]

extern

◆ rawData

uint8_t rawData[16]

extern

◆ rawGyro

int16andUint8_t rawGyro[3]

extern

◆ rawMPU6000Temperature

int16andUint8_t rawMPU6000Temperature

extern

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ ACCEL_SCALE_FACTOR

◆ BIT_H_RESET

◆ BIT_I2C_IF_DIS

◆ BIT_INT_ANYRD_2CLEAR

◆ BIT_INT_STATUS_DATA

◆ BIT_RAW_RDY_EN

◆ BIT_SLEEP

◆ BITS_CLKSEL

◆ BITS_DLPF_CFG_10HZ

◆ BITS_DLPF_CFG_188HZ

◆ BITS_DLPF_CFG_20HZ

◆ BITS_DLPF_CFG_2100HZ_NOLPF

◆ BITS_DLPF_CFG_256HZ

◆ BITS_DLPF_CFG_42HZ

◆ BITS_DLPF_CFG_5HZ

◆ BITS_DLPF_CFG_98HZ

◆ BITS_DLPF_CFG_MASK

◆ BITS_FS_1000DPS

◆ BITS_FS_16G

◆ BITS_FS_2000DPS

◆ BITS_FS_250DPS

◆ BITS_FS_2G

◆ BITS_FS_4G

◆ BITS_FS_500DPS

◆ BITS_FS_8G

◆ BITS_FS_MASK

◆ DISABLE_MPU6000

◆ ENABLE_MPU6000

◆ GYRO_SCALE_FACTOR

◆ MPU6000_ACCEL_CONFIG

◆ MPU6000_ACCEL_XOUT_H

◆ MPU6000_ACCEL_XOUT_L

◆ MPU6000_ACCEL_YOUT_H

◆ MPU6000_ACCEL_YOUT_L

◆ MPU6000_ACCEL_ZOUT_H

◆ MPU6000_ACCEL_ZOUT_L

◆ MPU6000_CONFIG

◆ MPU6000_FIFO_COUNTH

◆ MPU6000_FIFO_COUNTL

◆ MPU6000_FIFO_EN

◆ MPU6000_FIFO_R_W

◆ MPU6000_GYRO_CONFIG

◆ MPU6000_GYRO_XOUT_H

◆ MPU6000_GYRO_XOUT_L

◆ MPU6000_GYRO_YOUT_H

◆ MPU6000_GYRO_YOUT_L

◆ MPU6000_GYRO_ZOUT_H

◆ MPU6000_GYRO_ZOUT_L

◆ MPU6000_INT_ENABLE

◆ MPU6000_INT_PIN_CFG

◆ MPU6000_INT_STATUS

◆ MPU6000_PRODUCT_ID

◆ MPU6000_PWR_MGMT_1

◆ MPU6000_PWR_MGMT_2

◆ MPU6000_SIGNAL_PATH_RESET

◆ MPU6000_SMPLRT_DIV

◆ MPU6000_TEMP_OUT_H

◆ MPU6000_TEMP_OUT_L

◆ MPU6000_USER_CTRL

◆ MPU6000_WHOAMI

◆ MPU_CLK_SEL_PLLGYROX

◆ MPU_CLK_SEL_PLLGYROZ

◆ MPU_EXT_SYNC_GYROX

Function Documentation

◆ computeMPU6000RTData()

◆ computeMPU6000TCBias()

◆ mpu6000Init()

◆ readMPU6000()

Variable Documentation

◆ accelCalibrating

◆ accelOneG

◆ accelSum100Hz

◆ accelSum500Hz

◆ accelSummedSamples100Hz

◆ accelSummedSamples500Hz