Real-Time Communication Driver for MPU Accelerometer Using Predictable Non-Blocking I2C Communication

Along with process control, perception represents the main function performed by the Edge Layer of an Internet of Things (IoT) network. Many of these networks implement various applications where the response time does not represent an important parameter. However, in critical applications, this parameter represents a crucial aspect. One important sensing device used in IoT designs is the accelerometer. In most applications, the response time of the embedded driver software handling this device is generally not analysed and not taken into account. In this paper, we present the design and implementation of a predictable real-time driver stack for a popular accelerometer and gyroscope device family. We provide clear justifications for why this response time is extremely important for critical applications in the acquisition process of such data. We present extensive measurements and experimental results that demonstrate the predictability of our solution, making it suitable for critical real-time systems.