An open-source C/C++ driver for the MPU-9250 IMU, tailored for the TI-RTOS ecosystem. This library provides multiple levels of abstraction, from raw sensor data to a full-featured DMP wrapper
Developed to support the "Seesaw Balancing Robot" project, this library was created to address the lack of a high-quality, easy-to-use MPU-9250 driver for the TI-RTOS platform. The goal was to create a robust, well-documented, and easy-to-integrate driver to help future students and embedded developers get started quickly with this powerful 9-axis sensor.
The library is built on a multi-layered architecture, allowing users to choose the level of abstraction that best suits their needs. It includes a foundational C library for direct register access, a modern C++ class that encapsulates the complexity of the sensor's proprietary Digital Motion Processor (DMP), and a C-compatible wrapper to safely use the C++ class from any standard C project. This structure provides both low-level control for experts and a simple, high-level API for rapid prototyping.