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Kiran Kumar Lekkala edited this page Jun 25, 2016 · 5 revisions

Invensense MPU-920 Wiki

Testing MPU-9150 Sensor on the Strawson Cape:

To test the Invesense sensor on the Cape connected to the Beaglebone Black:

  1. Compile the BBBMPU6050 Devie Tree Overlay and put it in /lib/firmware. sudo ./compile_overlay.sh would do the job for you.

  2. Go to /sys/devices/platform/bone_capemgr and echo BBBMPU6050 as root.

  3. Check dmesg to see if your kernel has registered and detected the Chip at address 0x68.

  4. Upon successful installation, the chip gets registered.

Sysfs interfaces

####in_accel_scale (Read/write) Scale for the accelerometer channels. ####in_accel_matrix (Read-only) Gets the orientation matrix for the accelerometer channel. ####in_accel_x_calibbias (Read/write) Calibration offset for the X-axis accelerometer channel. #####in_accel_x_raw (Read/write) Raw X-axis accelerometer channel value. #####in_accel_y_calibbias(Read/write) Calibration offset for the Y-axis accelerometer channel. #####in_accel_y_raw(Read/write) Raw Y-axis accelerometer channel value. #####in_accel_z_calibbias(Read/write) Calibration offset for the Z-axis accelerometer channel. #####in_accel_z_raw(Read/write) Raw Z-axis accelerometer channel value.

#####in_anglvel_scale(Read/write) Scale for the gyroscope channels. #####in_anglvel_x_calibbias(Read/write) Calibration offset for the X-axis gyroscope channel. #####in_anglvel_x_raw(Read/write) Raw X-axis gyroscope channel value. #####in_anglvel_y_calibbias(Read/write) Calibration offset for the Y-axis gyroscope channel. #####in_anglvel_y_raw(Read/write) Raw Y-axis gyroscope channel value. #####in_anglvel_z_calibbias(Read/write) Calibration offset for the Z-axis gyroscope channel. #####in_anglvel_z_raw(Read/write) Raw Z-axis gyroscope channel value. ####in_accel_matrix (Read-only) Gets the orientation matrix for the gyroscope channel.

#####in_magn_scale(Read/write) Scale for the magnetometer channels. #####in_magn_x_raw(Read/write) Raw X-axis magnetometer channel value. #####in_magn_y_raw(Read/write) Raw Y-axis magnetometer channel value. #####in_magn_z_raw(Read/write) Raw Z-axis magnetometer channel value. #####in_magn_matrix Orientation matrix for the magnetometer channels.

#####in_temp0_offset(Read/write) Offset for temperature sensor channel. #####in_temp0_raw(Read/write) Raw temperature channel value. #####in_temp0_scale(Read/write) Scale for the temperature sensor channel.

#####sampling_frequency(Read/write) Currently selected sample rate.

###Note: There are mounting matrix for motion sensors. Mounting matrix is a 3x3 unitary matrix. A typical mounting matrix would look like [0, 1, 0; 1, 0, 0; 0, 0, -1]. Using this information, it would be easy to tell the relative positions among sensors as well as their positions relative to the board that holds these sensors. Identity matrix [1, 0, 0; 0, 1, 0; 0, 0, 1] means sensor chip and device are perfectly aligned with each other. All axes are exactly the same.

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