Working with STM32 and sensors: MPU6050

Posted June 4, 2023 by Husamuldeen in Data Structures, Embedded Systems, Peripheral Drivers, STM32

In this guide, we shall see how to interface MPU6050 with STM32F4xx.

In this guide, we shall cover the following:

What is MPU6050.
Connection.
Developing the driver.
Code.
Results.

1. What is MPU6050:

The MPU-6050™ parts are the world’s first MotionTracking devices designed for the low power, low cost, and high-performance requirements of smartphones, tablets and wearable sensors.

The MPU-6050 incorporates InvenSense’s MotionFusion™ and run-time calibration firmware that enables manufacturers to eliminate the costly and complex selection, qualification, and system level integration of discrete devices in motion-enabled products, guaranteeing that sensor fusion algorithms and calibration procedures deliver optimal performance for consumers.

The MPU-6050 devices combine a 3-axis gyroscope and a 3-axis accelerometer on the same silicon die, together with an onboard Digital Motion Processor™ (DMP™), which processes complex 6-axis MotionFusion algorithms. The device can access external magnetometers or other sensors through an auxiliary master I²C bus, allowing the devices to gather a full set of sensor data without intervention from the system processor. The devices are offered in a 4 mm x 4 mm x 0.9 mm QFN package.

The InvenSense MotionApps™ Platform that comes with the MPU-6050 abstracts motion-based complexities, offloads sensor management from the operating system, and provides a structured set of APIs for application development.

For precision tracking of both fast and slow motions, the parts feature a user-programmable gyro full-scale range of ±250, ±500, ±1000, and ±2000 °/sec (dps), and a user-programmable accelerometer full-scale range of ±2g, ±4g, ±8g, and ±16g. Additional features include an embedded temperature sensor and an on-chip oscillator with ±1% variation over the operating temperature range.

Applications

BlurFree™ technology (for Video/Still Image Stabilization)
AirSign™ technology (for Security/Authentication)
TouchAnywhere™ technology (for “no touch” UI Application Control/Navigation)
MotionCommand™ technology (for Gesture Short-cuts)
Motion-enabled game and application framework
InstantGesture™ iG™ gesture recognition
Location based services, points of interest, and dead reckoning
Handset and portable gaming
Motion-based game controllers
3D remote controls for Internet connected DTVs and set top boxes, 3D mice
Wearable sensors for health, fitness and sports
Toys

Features:

Gyroscope Features:

The triple-axis MEMS gyroscope in the MPU-60X0 includes a wide range of features:

Digital-output X-, Y-, and Z-Axis angular rate sensors (gyroscopes) with a user-programmable full-scale range of ±250, ±500, ±1000, and ±2000°/sec
External sync signal connected to the FSYNC pin supports image, video and GPS synchronization
Integrated 16-bit ADCs enable simultaneous sampling of gyros
Enhanced bias and sensitivity temperature stability reduces the need for user calibration
Improved low-frequency noise performance
Digitally-programmable low-pass filter
Gyroscope operating current: 3.6mA
Standby current: 5µA
Factory calibrated sensitivity scale factor
User self-test

Accelerometer Features:

The triple-axis MEMS accelerometer in MPU-60X0 includes a wide range of features:

Digital-output triple-axis accelerometer with a programmable full scale range of ±2g, ±4g, ±8g and ±16g
Integrated 16-bit ADCs enable simultaneous sampling of accelerometers while requiring no external multiplexer
Accelerometer normal operating current: 500µA
Low power accelerometer mode current: 10µA at 1.25Hz, 20µA at 5Hz, 60µA at 20Hz, 110µA at 40Hz
Orientation detection and signaling
Tap detection
User-programmable interrupts
High-G interrupt
User self-test

2. Connection:

The connection as following:

MPU6050	STM32F411
Vcc	5V
GND	GND
SDA	PB9
SCL	PB8

3. Developing the driver:

Before we starting developing the driver, we need the following:

Writing single byte using i2c bus (here).
Multibyte read using i2c bus (here).
Time base (here).

Also, we need uart to transmit data over uart (uart , retargeting printf ).

We start of by creating new source and header file with name of mpu6050.c and mpu6050.h respectively.

Within the header:

Include the following header files

//Header Files
#include "i2c.h"
#include <string.h>
#include <stdbool.h>	//Boolean
#include <math.h>			//Pow()

Define the registers:

//Define Registers
#define MPU_ADDR          0x68

#define WHO_AM_I_REG			0x75
#define PWR_MAGT_1_REG		0x6B
#define CONFIG_REG				0x1A
#define GYRO_CONFIG_REG		0x1B
#define ACCEL_CONFIG_REG	0x1C
#define SMPLRT_DIV_REG		0x19
#define INT_STATUS_REG		0x3A
#define ACCEL_XOUT_H_REG	0x3B
#define TEMP_OUT_H_REG		0x41
#define GYRO_XOUT_H_REG		0x43
#define FIFO_EN_REG 			0x23
#define INT_ENABLE_REG 		0x38
#define I2CMACO_REG 			0x23
#define USER_CNT_REG			0x6A
#define FIFO_COUNTH_REG 	0x72
#define FIFO_R_W_REG 			0x74

Define the struct for MPU configuration:

//1- MPU Configuration 
typedef struct
{
	uint8_t ClockSource;
	uint8_t Gyro_Full_Scale;
	uint8_t Accel_Full_Scale;
	uint8_t CONFIG_DLPF;
	bool 		Sleep_Mode_Bit; 
	
}MPU_ConfigTypeDef;

Enum for clock source:

//2- Clock Source ENUM
enum PM_CLKSEL_ENUM
{
	Internal_8MHz 	= 0x00,
	X_Axis_Ref			= 0x01,
	Y_Axis_Ref			= 0x02,
	Z_Axis_Ref			= 0x03,
	Ext_32_768KHz		= 0x04,
	Ext_19_2MHz			= 0x05,
	TIM_GENT_INREST	= 0x07
};

Gyro full scale:

//3- Gyro Full Scale Range ENUM (deg/sec)
enum gyro_FullScale_ENUM
{
	FS_SEL_250 	= 0x00,
	FS_SEL_500 	= 0x01,
	FS_SEL_1000 = 0x02,
	FS_SEL_2000	= 0x03
};

Accelerometer scale:

//4- Accelerometer Full Scale Range ENUM (1g = 9.81m/s2)
enum accel_FullScale_ENUM
{
	AFS_SEL_2g	= 0x00,
	AFS_SEL_4g,
	AFS_SEL_8g,
	AFS_SEL_16g
};

Digital low pass filter:

enum DLPF_CFG_ENUM
{
	DLPF_260A_256G_Hz = 0x00,
	DLPF_184A_188G_Hz = 0x01,
	DLPF_94A_98G_Hz 	= 0x02,
	DLPF_44A_42G_Hz 	= 0x03,
	DLPF_21A_20G_Hz 	= 0x04,
	DLPF_10_Hz 				= 0x05,
	DLPF_5_Hz 				= 0x06
};

External frame sync:

/6- e external Frame Synchronization ENUM
enum EXT_SYNC_SET_ENUM
{
	input_Disable = 0x00,
	TEMP_OUT_L		= 0x01,
	GYRO_XOUT_L		= 0x02,
	GYRO_YOUT_L		= 0x03,
	GYRO_ZOUT_L		= 0x04,
	ACCEL_XOUT_L	= 0x05,
	ACCEL_YOUT_L	= 0x06,
	ACCEL_ZOUT_L	= 0x07
};

Raw data struct:

//7. Raw data typedef
typedef struct
{
	int16_t x;
	int16_t y;
	int16_t z;
}RawData_Def;

Scaled data struct:

//8. Scaled data typedef
typedef struct
{
	float x;
	float y;
	float z;
}ScaledData_Def;

Function prototypes:

//Function Prototype

//2- i2c Read
void I2C_Read(uint8_t ADDR, uint8_t *i2cBuf, uint8_t NofData);
//3- i2c Write 8 Bit
void I2C_Write8(uint8_t ADDR, uint8_t data);
//4- MPU6050 Initialaztion Configuration 
void MPU6050_Config(MPU_ConfigTypeDef *config);
//5- Get Sample Rate Divider
uint8_t MPU6050_Get_SMPRT_DIV(void);
//6- Set Sample Rate Divider
void MPU6050_Set_SMPRT_DIV(uint8_t SMPRTvalue);
//7- External Frame Sync.
uint8_t MPU6050_Get_FSYNC(void);
//8- Set External Frame Sync.
void MPU6050_Set_FSYNC(enum EXT_SYNC_SET_ENUM ext_Sync);
//9- Get Accel Raw Data
void MPU6050_Get_Accel_RawData(RawData_Def *rawDef);//************
//10- Get Accel scaled data
void MPU6050_Get_Accel_Scale(ScaledData_Def *scaledDef);//***********
//11- Get Accel calibrated data
void MPU6050_Get_Accel_Cali(ScaledData_Def *CaliDef);
//12- Get Gyro Raw Data
void MPU6050_Get_Gyro_RawData(RawData_Def *rawDef);
//13- Get Gyro scaled data
void MPU6050_Get_Gyro_Scale(ScaledData_Def *scaledDef);
//14- Accel Calibration
void _Accel_Cali(float x_min, float x_max, float y_min, float y_max, float z_min, float z_max);

Hence, the entire header file:

//Header Files
#include "i2c.h"
#include <string.h>
#include <stdbool.h>	//Boolean
#include <math.h>			//Pow()

//Define Registers
#define MPU_ADDR          0x68

#define WHO_AM_I_REG			0x75
#define PWR_MAGT_1_REG		0x6B
#define CONFIG_REG				0x1A
#define GYRO_CONFIG_REG		0x1B
#define ACCEL_CONFIG_REG	0x1C
#define SMPLRT_DIV_REG		0x19
#define INT_STATUS_REG		0x3A
#define ACCEL_XOUT_H_REG	0x3B
#define TEMP_OUT_H_REG		0x41
#define GYRO_XOUT_H_REG		0x43
#define FIFO_EN_REG 			0x23
#define INT_ENABLE_REG 		0x38
#define I2CMACO_REG 			0x23
#define USER_CNT_REG			0x6A
#define FIFO_COUNTH_REG 	0x72
#define FIFO_R_W_REG 			0x74

//TypeDefs and Enums
//1- MPU Configuration 
typedef struct
{
	uint8_t ClockSource;
	uint8_t Gyro_Full_Scale;
	uint8_t Accel_Full_Scale;
	uint8_t CONFIG_DLPF;
	bool 		Sleep_Mode_Bit; 
	
}MPU_ConfigTypeDef;

//2- Clock Source ENUM
enum PM_CLKSEL_ENUM
{
	Internal_8MHz 	= 0x00,
	X_Axis_Ref			= 0x01,
	Y_Axis_Ref			= 0x02,
	Z_Axis_Ref			= 0x03,
	Ext_32_768KHz		= 0x04,
	Ext_19_2MHz			= 0x05,
	TIM_GENT_INREST	= 0x07
};

//3- Gyro Full Scale Range ENUM (deg/sec)
enum gyro_FullScale_ENUM
{
	FS_SEL_250 	= 0x00,
	FS_SEL_500 	= 0x01,
	FS_SEL_1000 = 0x02,
	FS_SEL_2000	= 0x03
};


//4- Accelerometer Full Scale Range ENUM (1g = 9.81m/s2)
enum accel_FullScale_ENUM
{
	AFS_SEL_2g	= 0x00,
	AFS_SEL_4g,
	AFS_SEL_8g,
	AFS_SEL_16g
};

//5- Digital Low Pass Filter ENUM
enum DLPF_CFG_ENUM
{
	DLPF_260A_256G_Hz = 0x00,
	DLPF_184A_188G_Hz = 0x01,
	DLPF_94A_98G_Hz 	= 0x02,
	DLPF_44A_42G_Hz 	= 0x03,
	DLPF_21A_20G_Hz 	= 0x04,
	DLPF_10_Hz 				= 0x05,
	DLPF_5_Hz 				= 0x06
};
//6- e external Frame Synchronization ENUM
enum EXT_SYNC_SET_ENUM
{
	input_Disable = 0x00,
	TEMP_OUT_L		= 0x01,
	GYRO_XOUT_L		= 0x02,
	GYRO_YOUT_L		= 0x03,
	GYRO_ZOUT_L		= 0x04,
	ACCEL_XOUT_L	= 0x05,
	ACCEL_YOUT_L	= 0x06,
	ACCEL_ZOUT_L	= 0x07
};

//7. Raw data typedef
typedef struct
{
	int16_t x;
	int16_t y;
	int16_t z;
}RawData_Def;

//8. Scaled data typedef
typedef struct
{
	float x;
	float y;
	float z;
}ScaledData_Def;


//Function Prototype

//2- i2c Read
void I2C_Read(uint8_t ADDR, uint8_t *i2cBuf, uint8_t NofData);
//3- i2c Write 8 Bit
void I2C_Write8(uint8_t ADDR, uint8_t data);
//4- MPU6050 Initialaztion Configuration 
void MPU6050_Config(MPU_ConfigTypeDef *config);
//5- Get Sample Rate Divider
uint8_t MPU6050_Get_SMPRT_DIV(void);
//6- Set Sample Rate Divider
void MPU6050_Set_SMPRT_DIV(uint8_t SMPRTvalue);
//7- External Frame Sync.
uint8_t MPU6050_Get_FSYNC(void);
//8- Set External Frame Sync.
void MPU6050_Set_FSYNC(enum EXT_SYNC_SET_ENUM ext_Sync);
//9- Get Accel Raw Data
void MPU6050_Get_Accel_RawData(RawData_Def *rawDef);//************
//10- Get Accel scaled data
void MPU6050_Get_Accel_Scale(ScaledData_Def *scaledDef);//***********
//11- Get Accel calibrated data
void MPU6050_Get_Accel_Cali(ScaledData_Def *CaliDef);
//12- Get Gyro Raw Data
void MPU6050_Get_Gyro_RawData(RawData_Def *rawDef);
//13- Get Gyro scaled data
void MPU6050_Get_Gyro_Scale(ScaledData_Def *scaledDef);
//14- Accel Calibration
void _Accel_Cali(float x_min, float x_max, float y_min, float y_max, float z_min, float z_max);

Thats all for header file.

The source file:

Include the following:

#include "MPU6050.h"
#include "i2c.h"
#include "time_base.h"

Static variable for the library:

//2- Accel & Gyro Scaling Factor
static float accelScalingFactor, gyroScalingFactor;
//3- Bias variables
static float A_X_Bias = 0.0f;
static float A_Y_Bias = 0.0f;
static float A_Z_Bias = 0.0f;

static int16_t GyroRW[3];

MPU configuration:

void MPU6050_Config(MPU_ConfigTypeDef *config)
{
	uint8_t Buffer = 0;
	//Clock Source 
	//Reset Device

	i2c_writeByte(MPU_ADDR, PWR_MAGT_1_REG, 0x80);

	delay(100);

	Buffer = config ->ClockSource & 0x07; //change the 7th bits of register

	Buffer |= (config ->Sleep_Mode_Bit << 6) &0x40; // change only the 7th bit in the register
	
	i2c_writeByte(MPU_ADDR,PWR_MAGT_1_REG, Buffer);

	delay(100); // should wait 10ms after changeing the clock setting.

	//Set the Digital Low Pass Filter
	Buffer = 0;

	Buffer = config->CONFIG_DLPF & 0x07;
	
	i2c_writeByte(MPU_ADDR,CONFIG_REG, Buffer);

	//Select the Gyroscope Full Scale Range
	Buffer = 0;

	Buffer = (config->Gyro_Full_Scale << 3) & 0x18;
	
	i2c_writeByte(MPU_ADDR,GYRO_CONFIG_REG, Buffer);

	//Select the Accelerometer Full Scale Range 
	Buffer = 0; 

	Buffer = (config->Accel_Full_Scale << 3) & 0x18;

	i2c_writeByte(MPU_ADDR,ACCEL_CONFIG_REG, Buffer);

	//Set SRD To Default
	MPU6050_Set_SMPRT_DIV(0x04);
	
	
	//Accelerometer Scaling Factor, Set the Accelerometer and Gyroscope Scaling Factor
	switch (config->Accel_Full_Scale)
	{
		case AFS_SEL_2g:
			accelScalingFactor = (2000.0f/32768.0f);
			break;
		
		case AFS_SEL_4g:
			accelScalingFactor = (4000.0f/32768.0f);
				break;
		
		case AFS_SEL_8g:
			accelScalingFactor = (8000.0f/32768.0f);
			break;
		
		case AFS_SEL_16g:
			accelScalingFactor = (16000.0f/32768.0f);
			break;
		
		default:
			break;
	}
	//Gyroscope Scaling Factor 
	switch (config->Gyro_Full_Scale)
	{
		case FS_SEL_250:
			gyroScalingFactor = 250.0f/32768.0f;
			break;
		
		case FS_SEL_500:
				gyroScalingFactor = 500.0f/32768.0f;
				break;
		
		case FS_SEL_1000:
			gyroScalingFactor = 1000.0f/32768.0f;
			break;
		
		case FS_SEL_2000:
			gyroScalingFactor = 2000.0f/32768.0f;
			break;
		
		default:
			break;
	}
	
}

Get the sample rate:

//5- Get Sample Rate Divider
uint8_t MPU6050_Get_SMPRT_DIV(void)
{
	uint8_t Buffer = 0;
	
	i2c_readByte(MPU_ADDR,SMPLRT_DIV_REG,&Buffer);

	return Buffer;
}

Set the sample rate:

//6- Set Sample Rate Divider
void MPU6050_Set_SMPRT_DIV(uint8_t SMPRTvalue)
{
	i2c_writeByte(MPU_ADDR,SMPLRT_DIV_REG, SMPRTvalue);
}

Get eh external FYSNC:

uint8_t MPU6050_Get_FSYNC(void)
{
	uint8_t Buffer = 0;
	
	i2c_readByte(MPU_ADDR,CONFIG_REG, &Buffer);
	Buffer &= 0x38; 
	return (Buffer>>3);
}

Set the FYSNC:

//8- Set External Frame Sync. 
void MPU6050_Set_FSYNC(enum EXT_SYNC_SET_ENUM ext_Sync)
{
	uint8_t Buffer = 0;
	i2c_readByte(MPU_ADDR,CONFIG_REG, &Buffer);
	Buffer &= ~0x38;
	
	Buffer |= (ext_Sync <<3); 
	i2c_writeByte(MPU_ADDR,CONFIG_REG, Buffer);
	
}

Get the raw acceleration data:

//9- Get Accel Raw Data
void MPU6050_Get_Accel_RawData(RawData_Def *rawDef)
{
	uint8_t state;
	uint8_t AcceArr[6], GyroArr[6];
	
	i2c_readByte(MPU_ADDR,INT_STATUS_REG, &state);


	if((state&&0x01))
	{
		i2c_ReadMulti(MPU_ADDR,ACCEL_XOUT_H_REG, 6,AcceArr);
		
		//Accel Raw Data
		rawDef->x = ((AcceArr[0]<<8) + AcceArr[1]); // x-Axis
		rawDef->y = ((AcceArr[2]<<8) + AcceArr[3]); // y-Axis
		rawDef->z = ((AcceArr[4]<<8) + AcceArr[5]); // z-Axis
		//Gyro Raw Data
		i2c_ReadMulti(MPU_ADDR,GYRO_XOUT_H_REG, 6,GyroArr);
		GyroRW[0] = ((GyroArr[0]<<8) + GyroArr[1]);
		GyroRW[1] = (GyroArr[2]<<8) + GyroArr[3];
		GyroRW[2] = ((GyroArr[4]<<8) + GyroArr[5]);
	}
}

Get the acceleration data:

//10- Get Accel scaled data (g unit of gravity, 1g = 9.81m/s2)
void MPU6050_Get_Accel_Scale(ScaledData_Def *scaledDef)
{

	RawData_Def AccelRData;
	MPU6050_Get_Accel_RawData(&AccelRData);
	
	//Accel Scale data 
	scaledDef->x = ((AccelRData.x+0.0f)*accelScalingFactor)/1000;
	scaledDef->y = ((AccelRData.y+0.0f)*accelScalingFactor)/1000;
	scaledDef->z = ((AccelRData.z+0.0f)*accelScalingFactor)/1000;
}

Get the acceleration calibrated data:

//11- Get Accel calibrated data
void MPU6050_Get_Accel_Cali(ScaledData_Def *CaliDef)
{
	ScaledData_Def AccelScaled;
	MPU6050_Get_Accel_Scale(&AccelScaled);
	
	//Accel Scale data 
	CaliDef->x = (AccelScaled.x) - A_X_Bias; // x-Axis
	CaliDef->y = (AccelScaled.y) - A_Y_Bias;// y-Axis
	CaliDef->z = (AccelScaled.z) - A_Z_Bias;// z-Axis
}

Get the Gyro data:

//12- Get Gyro Raw Data
void MPU6050_Get_Gyro_RawData(RawData_Def *rawDef)
{
	
	//Accel Raw Data
	rawDef->x = GyroRW[0];
	rawDef->y = GyroRW[1];
	rawDef->z = GyroRW[2];
	
}

//13- Get Gyro scaled data
void MPU6050_Get_Gyro_Scale(ScaledData_Def *scaledDef)
{
	RawData_Def myGyroRaw;
	MPU6050_Get_Gyro_RawData(&myGyroRaw);
	
	//Gyro Scale data 
	scaledDef->x = (myGyroRaw.x)*gyroScalingFactor; // x-Axis
	scaledDef->y = (myGyroRaw.y)*gyroScalingFactor; // y-Axis
	scaledDef->z = (myGyroRaw.z)*gyroScalingFactor; // z-Axis
}

Calibrate the acceleration:

//14- Accel Calibration
void _Accel_Cali(float x_min, float x_max, float y_min, float y_max, float z_min, float z_max)
{
	//1* X-Axis calibrate
	A_X_Bias		= (x_max + x_min)/2.0f;
	
	//2* Y-Axis calibrate
	A_Y_Bias		= (y_max + y_min)/2.0f;
	
	//3* Z-Axis calibrate
	A_Z_Bias		= (z_max + z_min)/2.0f;
}

In main.c:

#include "i2c.h"
#include "time_base.h"
#include "uart.h"
#include "stdio.h"
#include "MPU6050.h"

#define rate 300
uint32_t previous;


int main(void)
{
	Ticks_Init(16000000);

	uart2_rxtx_init();

	i2c_init();

	MPU_ConfigTypeDef myConfig;

	myConfig.Accel_Full_Scale = AFS_SEL_4g;
	myConfig.ClockSource = Internal_8MHz;
	myConfig.CONFIG_DLPF = DLPF_184A_188G_Hz;
	myConfig.Sleep_Mode_Bit = 0;
	myConfig.Gyro_Full_Scale = FS_SEL_500;

	MPU6050_Config(&myConfig);

	ScaledData_Def meAccel;

	while(1)
	{
		MPU6050_Get_Accel_Scale(&meAccel);
		if(get_Ticks()-previous >rate)
		{
		    printf("Accel: X = %.2f Y = %.2f Z = %.2f\r\n", meAccel.x, meAccel.y, meAccel.z);
		    printf("==============================\r\n");
			previous=get_Ticks();
		}
	}

}

For the configuration:

First, Set thee acceleration scale for 4G:

myConfig.Accel_Full_Scale = AFS_SEL_4g;

Set the clock to be internal 8MHz:

myConfig.ClockSource = Internal_8MHz;

Configure the filter:

myConfig.CONFIG_DLPF = DLPF_184A_188G_Hz;

Exit from sleep mode:

myConfig.Sleep_Mode_Bit = 0;

Set the gyro scale:

myConfig.Gyro_Full_Scale = FS_SEL_500;

Pass the data structure to MPU configuration function as following:

MPU6050_Config(&myConfig);

4. Code:

You may download the code from here:

MPU6050 Download

5. Results:

Upload the code to your F411RE Nucleo and open serial monitor and set the buadrare to 115200:

Happy coding 🙂

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About Husamuldeen

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2 Comments

Kwesi N/A Kyei-Fordjour Posted February 18, 2025 2:50 am

How do you get the gyro values? this code only allows the accel values. Thank you.

- Husamuldeen Posted March 9, 2025 1:40 pm
  
  There are functions to read the gyroscope.
  You can use them.