This example project demonstrates how to measure accelerometer and gyroscope values from Invensense MPU-6050 IMU using CASP. MPU-9250 (additionally with magnetometer) can also be used in similar way.
Target
Aries v2.0 development board is used in this project. However, any supported micro-controller board can be used.
Pre-Requisites
- CASP software is installed on the host PC
- Vega Aries BSP is installed.
- The project files are located at CASP installed directory ‘CASP/support/examples/vega_aries_examples/hw_interface/05_imu_invensense’. These are also available for download at this link.
Connection Diagram
IMU MPU-6050 is connected to the target board as shown in the circuit diagram. A model is developed to communicate with the IMU and read the accelerometer and gyroscope values along x, y, z axes. The measured values are then sent to the serial port for remote access from the host PC. A logic is developed such that if the IMU is kept vertical (i.e. Z value of the accelerometer is less than 100) the on-board LED is ON continuously else it blinks at 1Hz frequency.
User can see the measured data (6 integer values) from the ‘Configure Simulation Hardware’ interface window by clicking on Simulation->Configure Simulation IO menu item from the CASP main tool bar. Please go through the individual block parameters used in the model along with respective documentation for better understanding.
Model
Procedure
- Connect the peripherals as shown in above connection diagram and connect the target board to the host PC.
- Launch CASP and open the downloaded project.
- Click ‘Setup Simulation’ to open a dialog box.
- Select ‘Target Programmer’ to ‘Programmer0’ to upload the program to RAM or ‘Programmer1’ to upload the program to flash memory of the target board.
- Set the ‘Target Programmer Port’ to which the board is connected.
- Save and Close the dialog box.
- Click Run button to build and program the board.
- The measured data is also send to the serial port. User can see the measured data from the ‘Configure Simulation Hardware’ interface window by clicking on Simulation->Configure Simulation IO menu item from the CASP main tool bar as shown in below figure.
