MPU6500 Platform Independent C Driver

This project provides a platform-independent C driver for the TDK InvenSense MPU6500 6-axis accelerometer and gyroscope sensor. The driver supports SPI and I2C communication interfaces, along with functions for sensor calibration, data transformation, and configuration management.

Features

• Platform-Independent: Works with any platform that supports C, allowing flexible integration.
• Communication Interfaces: Supports both SPI and I2C protocols.
• Calibration: Includes functionality for accelerometer and gyroscope calibration.
• Raw and Processed Data Access: Provides access to both raw sensor data and processed data (in Gs and degrees/second).
• Configurable Settings: Offers customizable settings for accelerometer and gyroscope ranges, DLPF (Digital Low-Pass Filter) bandwidth, and sample rate.

Usage

Device Initialization

To initialize the MPU6500, you need to create a device object using the MPU6500_NewDevice() function and then call MPU6500_Init() to configure and calibrate the sensor.

#include "mpu6500.h"

// Example for initializing the MPU6500 device:
MPU6500_Device_t mpu6500_dev = MPU6500_NewDevice(spi_handle, MPU6500_INTF_SPI, read_func, write_func, delay_func);
int8_t init_status = MPU6500_Init(&mpu6500_dev);

Setting Configuration

You can configure the device by setting the desired accelerometer and gyroscope ranges, DLPF bandwidth, and sample rate using MPU6500_ApplySettings().

MPU6500_Settings settings = {
    .acc_range = MPU6500_ACCEL_RANGE_4G,
    .gyr_range = MPU6500_GYRO_RANGE_500DPS,
    .dlpf = MPU6500_DLPF_BAND_WIDTH_41HZ,
    .srd = MPU6500_SAMPLE_RATE_DIVIDER_1000HZ,
    .clock_source = MPU6500_CLOCK_PLL_XGYRO
};

MPU6500_ApplySettings(&mpu6500_dev, settings);

Reading Sensor Data

Once the device is configured, you can read accelerometer and gyroscope data with either raw values or processed values in Gs and degrees/second.

int16_t acc[3], gyr[3];  // For raw data
float acc_g[3], gyr_dps[3];  // For processed data

// Raw data
MPU6500_GetDataRaw(&mpu6500_dev, acc, gyr);

// Processed data
MPU6500_GetData(&mpu6500_dev, acc_g, gyr_dps);

Calibration

To calibrate the accelerometer or gyroscope, use the respective functions:

MPU6500_AccCalibration(&mpu6500_dev, 5000);  // Calibrate for 5 seconds
MPU6500_GyrCalibration(&mpu6500_dev, 5000);  // Calibrate for 5 seconds

API Reference

Detailed information about each function can be found in the mpu6500.h file. Key functions include:

• MPU6500_NewDevice(): Create a new device object.
• MPU6500_Init(): Initialize and calibrate the device.
• MPU6500_ApplySettings(): Apply configuration settings.
• MPU6500_GetData(): Retrieve processed sensor data.
• MPU6500_GetDataRaw(): Retrieve raw sensor data.
• MPU6500_AccCalibration(): Calibrate the accelerometer.
• MPU6500_GyrCalibration(): Calibrate the gyroscope.

Contributions

Bug reports and contributions are welcome. Please visit the GitHub repository to submit issues or pull requests.

References

1. MPU6500 Datasheet: PS-MPU-6500A-01-v1.3
2. Register Map: MPU-6500-Register-Map2