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MPU-6500 and MPU-9250 Driver for TI-RTOS

License: MIT

A comprehensive, easy-to-use I2C driver for the MPU-6500 and the MPU-9250 IMU, specifically tailored for the TI-RTOS environment on the MSP-EXP432E401Y platform. This library offers multiple levels of abstraction to get you up and running quickly.

This library provides everything you need to go from raw sensor readings to a fully calibrated, high-performance orientation solution.

Features

-Multi-Level API: Choose the abstraction level that fits your needs:

  • A simple C library for direct register access and raw data.
  • A high-level C++ class that encapsulates the complex InvenSense DMP.
  • A C-compatible wrapper for using the DMP from any C project.

-Sensor Fusion Options: Includes a lightweight Complementary Filter and a full implementation of the onboard Digital Motion Processor (DMP) for 6-axis quaternion output.

-TI-RTOS Integration: Designed from the ground up for a real-time, task-based environment, using TI Drivers for I2C and TI-RTOS primitives for timing.

License

This project is licensed under the MIT License.

Acknowledgements

The core DMP driver is based on the work by InvenSense/TDK.

The C++ wrapper is an adaptation of the excellent SparkFun MPU-9250 DMP Arduino Library.