I designed a custom IMU daughter board using MPU6000 and followed the datasheet to design the circuit. I placed all the components mentioned on page 22 of the datasheet, with the only changes being in their rated voltages - all capacitors (C1, C2, C3) are rated at 50V. An OEM helped me assemble the board.
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Here is the code that I used:
// Distributed with a free-will license.
// Use it any way you want, profit or free, provided it fits in the licenses of its associated works.
// MPU-6000
// This code is designed to work with the MPU-6000_I2CS I2C Mini Module available from ControlEverything.com.
// https://www.controleverything.com/content/Accelorometer?sku=MPU-6000_I2CS#tabs-0-product_tabset-2
#include <Wire.h>
// MPU-6000 I2C address is 0x68(104)
#define Addr 0x68
void setup()
{
// Initialise I2C communication as Master
Wire.begin();
// Initialise serial communication, set baud rate = 9600
Serial.begin(9600);
// Start I2C transmission
Wire.beginTransmission(Addr);
// Select gyroscope configuration register
Wire.write(0x1B);
// Full scale range = 2000 dps
Wire.write(0x18);
// Stop I2C transmission
Wire.endTransmission();
// Start I2C transmission
Wire.beginTransmission(Addr);
// Select accelerometer configuration register
Wire.write(0x1C);
// Full scale range = +/-16g
Wire.write(0x18);
// Stop I2C transmission
Wire.endTransmission();
// Start I2C transmission
Wire.beginTransmission(Addr);
// Select power management register
Wire.write(0x6B);
// PLL with xGyro reference
Wire.write(0x01);
// Stop I2C transmission
Wire.endTransmission();
delay(300);
}
void loop()
{
unsigned int data[6];
// Start I2C transmission
Wire.beginTransmission(Addr);
// Select data register
Wire.write(0x3B);
// Stop I2C transmission
Wire.endTransmission();
// Request 6 bytes of data
Wire.requestFrom(Addr, 6);
// Read 6 byte of data
if(Wire.available() == 6)
{
data[0] = Wire.read();
data[1] = Wire.read();
data[2] = Wire.read();
data[3] = Wire.read();
data[4] = Wire.read();
data[5] = Wire.read();
}
// Convert the data
int xAccl = data[0] * 256 + data[1];
int yAccl = data[2] * 256 + data[3];
int zAccl = data[4] * 256 + data[5];
// Start I2C transmission
Wire.beginTransmission(Addr);
// Select data register
Wire.write(0x43);
// Stop I2C transmission
Wire.endTransmission();
// Request 6 bytes of data
Wire.requestFrom(Addr, 6);
// Read 6 byte of data
if(Wire.available() == 6)
{
data[0] = Wire.read();
data[1] = Wire.read();
data[2] = Wire.read();
data[3] = Wire.read();
data[4] = Wire.read();
data[5] = Wire.read();
}
// Convert the data
int xGyro = data[0] * 256 + data[1];
int yGyro = data[2] * 256 + data[3];
int zGyro = data[4] * 256 + data[5];
// Output data to serial monitor
Serial.print("Acceleration in X-Axis : ");
Serial.println(xAccl);
Serial.print("Acceleration in Y-Axis : ");
Serial.println(yAccl);
Serial.print("Acceleration in Z-Axis : ");
Serial.println(zAccl);
Serial.print("X-Axis of Rotation : ");
Serial.println(xGyro);
Serial.print("Y-Axis of Rotation : ");
Serial.println(yGyro);
Serial.print("Z-Axis of Rotation : ");
Serial.println(zGyro);
delay(500);
}
I'm testing the board using an Arduino Uno(I2C protocol to connect the daughter board to Arduino Uno). The output from the board shows in the Serial Monitor, but when I change the orientation of the daughter board, there's no change in X, Y or Z axes values. It always takes the initial value and gets stuck at that value only. I've shared a screenshot of it.
How can I troubleshoot this problem?
Picture 1 with one orientation of the daughter board.
Picture 2 with a different orientation of the same daughter board.
Update:
This is what I obtained while testing using the DSO. When I compared it with a readily available board(but that is MPU6050 breakout/daughter board), there was a significant difference in the signal.