Group ns-MPU6050

Classes

Type	Name
struct	mpu6050_config_t
struct	mpu6050_fifo_config_t
struct	mpu6050_int_config_t

Public Types

Type	Name
enum	mpu6050_accel_fs_t
enum	mpu6050_clock_src_t
enum	mpu6050_dlpf_cfg_t
enum	mpu6050_gyro_fs_t
enum	mpu6050_status_e

Public Functions

Type	Name
uint32_t	mpu6050_accel_fsr_value (mpu6050_accel_fs_t range) Acceleration scale in units of G.
float	mpu6050_accel_resolution (mpu6050_accel_fs_t range) Acceleration scale LSB resolution.
float	mpu6050_accel_to_gravity (int16_t val, mpu6050_accel_fs_t range) Convert acceleration value to G.
uint32_t	mpu6050_calibrate (ns_i2c_config_t * cfg, uint32_t devAddr) Calibrate device offsets. Device must be still on a flat surface.
uint32_t	mpu6050_configure_fifo (ns_i2c_config_t * cfg, uint32_t devAddr, mpu6050_fifo_config_t * fifoConfig) Configure FIFO.
uint32_t	mpu6050_configure_interrupt (ns_i2c_config_t * cfg, uint32_t devAddr, mpu6050_int_config_t * intConfig) Configure interrupts.
uint32_t	mpu6050_device_reset (ns_i2c_config_t * cfg, uint32_t devAddr) Hard reset device.
uint32_t	mpu6050_fifo_pop (ns_i2c_config_t * cfg, uint32_t devAddr, int16_t * value) Pop next value from FIFO.
uint32_t	mpu6050_get_accel_values (ns_i2c_config_t * cfg, uint32_t devAddr, int16_t * x, int16_t * y, int16_t * z) Get current acceleration values.
uint32_t	mpu6050_get_fifo_count (ns_i2c_config_t * cfg, uint32_t devAddr, uint16_t * count) Get FIFO count.
uint32_t	mpu6050_get_gyro_values (ns_i2c_config_t * cfg, uint32_t devAddr, int16_t * x, int16_t * y, int16_t * z) Get current gyro values.
uint32_t	mpu6050_get_interrupt_status (ns_i2c_config_t * cfg, uint32_t devAddr, uint8_t * status) Get interrupt status register.
uint32_t	mpu6050_get_temperature (ns_i2c_config_t * cfg, uint32_t devAddr, int16_t * t) Get current temperature value.
uint32_t	mpu6050_gyro_fsr_value (const mpu6050_gyro_fs_t range) Gyroscope scale in units dps.
float	mpu6050_gyro_resolution (const mpu6050_gyro_fs_t range) Gyroscope scale LSB resolution.
float	mpu6050_gyro_to_deg_per_sec (int val, mpu6050_gyro_fs_t range) Convert gyroscope value to degrees/second.
uint32_t	mpu6050_init (ns_i2c_config_t * cfg, mpu6050_config_t * c, uint32_t devAddr)
uint32_t	mpu6050_mean_sensors (ns_i2c_config_t * cfg, uint32_t devAddr, int * meanAX, int * meanAY, int * meanAZ, int * meanGX, int * meanGY, int * meanGZ) Get average sensor values.
uint32_t	mpu6050_read_sensors (ns_i2c_config_t * cfg, uint32_t devAddr, uint8_t * buffer) Reads MPU sensor values (3-axis accel, 1 temp, 3-axis gyro)
uint32_t	mpu6050_reset_fifo (ns_i2c_config_t * cfg, uint32_t devAddr) Reset FIFO.
uint32_t	mpu6050_reset_signal_conds (ns_i2c_config_t * cfg, uint32_t devAddr) Reset signal conditions.
uint32_t	mpu6050_reset_signal_paths (ns_i2c_config_t * cfg, uint32_t devAddr) Reset signal paths.
uint32_t	mpu6050_set_accel_full_scale (ns_i2c_config_t * cfg, uint32_t devAddr, mpu6050_accel_fs_t fsr) Set accel full scale range.
uint32_t	mpu6050_set_accel_offset (ns_i2c_config_t * cfg, uint32_t devAddr, uint8_t axis, int offset) Set acceleration offset for axis.
uint32_t	mpu6050_set_clock_source (ns_i2c_config_t * cfg, uint32_t devAddr, mpu6050_clock_src_t sel) Set clock source.
uint32_t	mpu6050_set_fifo_enable (ns_i2c_config_t * cfg, uint32_t devAddr, uint8_t enable) Enable FIFO.
uint32_t	mpu6050_set_gyro_full_scale (ns_i2c_config_t * cfg, uint32_t devAddr, mpu6050_gyro_fs_t fsr) Set gyro full scale range.
uint32_t	mpu6050_set_gyro_offset (ns_i2c_config_t * cfg, uint32_t devAddr, uint8_t axis, int offset) Set gyroscope offset for axis.
uint32_t	mpu6050_set_interrupt_enable (ns_i2c_config_t * cfg, uint32_t devAddr, uint8_t overflowEnable, uint8_t dataReadyEnable) Enable/disable interrupts.
uint32_t	mpu6050_set_lowpass_filter (ns_i2c_config_t * cfg, uint32_t devAddr, mpu6050_dlpf_cfg_t value) Set digital lowpass filter.
uint32_t	mpu6050_set_lowpower_accel_mode (ns_i2c_config_t * cfg, uint32_t devAddr, uint8_t wakeFreq) Put device into low-power acceleration-only mode.
uint32_t	mpu6050_set_sample_rate (ns_i2c_config_t * cfg, uint32_t devAddr, uint16_t rate) Set target sample rate.
uint32_t	mpu6050_set_sample_rate_divider (ns_i2c_config_t * cfg, uint32_t devAddr, uint8_t divider) Set sample rate divider.
uint32_t	mpu6050_set_sleep (ns_i2c_config_t * cfg, uint32_t devAddr, uint8_t sleep) Enable/disable sleep mode.
uint32_t	mpu6050_set_temperature_disable (ns_i2c_config_t * cfg, uint32_t devAddr, uint8_t disable) Disable temperature readings.
float	mpu6050_temperature_to_celsius (int16_t val) Convert temperature value to Celsius.
uint32_t	mpu6050_test_connection (ns_i2c_config_t * cfg, uint32_t devAddr) Verify device by reading WHO_AM_I register.

Macros

Type	Name
define	MPU_I2CADDRESS_AD0_HIGH 0x69
define	MPU_I2CADDRESS_AD0_LOW 0x68

Public Types Documentation

enum mpu6050_accel_fs_t

enum mpu6050_accel_fs_t {
    ACCEL_FS_2G = 0,
    ACCEL_FS_4G = 1,
    ACCEL_FS_8G = 2,
    ACCEL_FS_16G = 3
};

Accel full-scale range

enum mpu6050_clock_src_t

enum mpu6050_clock_src_t {
    CLOCK_INTERNAL = 0,
    CLOCK_GX_PLL = 1,
    CLOCK_GY_PLL = 2,
    CLOCK_GZ_PLL = 3,
    CLOCK_32_REF = 4,
    CLOCK_19_REF = 5,
    CLOCK_KEEP_RESET = 7
};

Clock selection

enum mpu6050_dlpf_cfg_t

enum mpu6050_dlpf_cfg_t {
    DLPF_260HZ = 0,
    DLPF_184HZ = 1,
    DLPF_094HZ = 2,
    DLPF_044HZ = 3,
    DLPF_021HZ = 4,
    DLPF_010HZ = 5,
    DLPF_005HZ = 6
};

enum mpu6050_gyro_fs_t

enum mpu6050_gyro_fs_t {
    GYRO_FS_250DPS = 0,
    GYRO_FS_500DPS = 1,
    GYRO_FS_1000DPS = 2,
    GYRO_FS_2000DPS = 3
};

Gyroscope full-scale range

enum mpu6050_status_e

enum mpu6050_status_e {
    MPU6050_STATUS_SUCCESS = 0,
    MPU6050_STATUS_ERROR = 1
};

Public Functions Documentation

function mpu6050_accel_fsr_value

Acceleration scale in units of G.

uint32_t mpu6050_accel_fsr_value (
    mpu6050_accel_fs_t range
)

Parameters:

range Full scale range selection

Returns:

uint32_t Scale in G

function mpu6050_accel_resolution

Acceleration scale LSB resolution.

float mpu6050_accel_resolution (
    mpu6050_accel_fs_t range
)

Parameters:

range Full scale range selection

Returns:

float Resolution (G)

function mpu6050_accel_to_gravity

Convert acceleration value to G.

float mpu6050_accel_to_gravity (
    int16_t val,
    mpu6050_accel_fs_t range
)

Parameters:

val Accel register value
range Full-scale range used

Returns:

Acceleration (G)

function mpu6050_calibrate

Calibrate device offsets. Device must be still on a flat surface.

uint32_t mpu6050_calibrate (
    ns_i2c_config_t * cfg,
    uint32_t devAddr
)

Parameters:

cfg I2C configuration
devAddr Device I2C address

Returns:

uint32_t status

Calibrate device offsets. Device must be still on a flat surface.

Parameters:

cfg I2C configuration
devAddr Device I2C address

Returns:

uint32_t status

function mpu6050_configure_fifo

Configure FIFO.

uint32_t mpu6050_configure_fifo (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    mpu6050_fifo_config_t * fifoConfig
)

Parameters:

cfg I2C configuration
devAddr Device I2C address
fifoConfig FIFO configuration

Returns:

uint32_t status

function mpu6050_configure_interrupt

Configure interrupts.

uint32_t mpu6050_configure_interrupt (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    mpu6050_int_config_t * intConfig
)

Parameters:

cfg I2C configuration
devAddr Device I2C address
intConfig Interrupt configuration

Returns:

uint32_t status

function mpu6050_device_reset

Hard reset device.

uint32_t mpu6050_device_reset (
    ns_i2c_config_t * cfg,
    uint32_t devAddr
)

Parameters:

cfg I2C configuration
devAddr Device I2C address

Returns:

uint32_t status

function mpu6050_fifo_pop

Pop next value from FIFO.

uint32_t mpu6050_fifo_pop (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    int16_t * value
)

Parameters:

cfg I2C configuration
devAddr Device I2C address
value Pointer to FIFO value

Returns:

uint32_t status

function mpu6050_get_accel_values

Get current acceleration values.

uint32_t mpu6050_get_accel_values (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    int16_t * x,
    int16_t * y,
    int16_t * z
)

Parameters:

cfg I2C configuration
devAddr Device I2C address
x Pointer to store x axis
y Pointer to store y axis
z Pointer to store z axis

Returns:

uint32_t status

function mpu6050_get_fifo_count

Get FIFO count.

uint32_t mpu6050_get_fifo_count (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    uint16_t * count
)

Parameters:

cfg I2C configuration
devAddr Device I2C address
count Pointer to store count

Returns:

uint32_t status

function mpu6050_get_gyro_values

Get current gyro values.

uint32_t mpu6050_get_gyro_values (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    int16_t * x,
    int16_t * y,
    int16_t * z
)

Parameters:

cfg I2C configuration
devAddr Device I2C address
x Pointer to store x axis
y Pointer to store y axis
z Pointer to store z axis

Returns:

uint32_t status

function mpu6050_get_interrupt_status

Get interrupt status register.

uint32_t mpu6050_get_interrupt_status (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    uint8_t * status
)

Parameters:

cfg I2C configuration
devAddr Device I2C address
status Pointer to store status register

Returns:

uint32_t

function mpu6050_get_temperature

Get current temperature value.

uint32_t mpu6050_get_temperature (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    int16_t * t
)

Parameters:

cfg I2C configuration
devAddr Device I2C address
t Pointer to store Temperature

Returns:

uint32_t status

function mpu6050_gyro_fsr_value

Gyroscope scale in units dps.

uint32_t mpu6050_gyro_fsr_value (
    const mpu6050_gyro_fs_t range
)

Parameters:

range Full scale range selection

Returns:

uint32_t Scale (°/s)

function mpu6050_gyro_resolution

Gyroscope scale LSB resolution.

float mpu6050_gyro_resolution (
    const mpu6050_gyro_fs_t range
)

Parameters:

range Full scale range selection

Returns:

float Resolution (°/s)

function mpu6050_gyro_to_deg_per_sec

Convert gyroscope value to degrees/second.

float mpu6050_gyro_to_deg_per_sec (
    int val,
    mpu6050_gyro_fs_t range
)

Parameters:

val Gyroscope register value
range Full-scale range used

Returns:

float Gyroscope (°/s)

function mpu6050_init

uint32_t mpu6050_init (
    ns_i2c_config_t * cfg,
    mpu6050_config_t * c,
    uint32_t devAddr
)

function mpu6050_mean_sensors

Get average sensor values.

uint32_t mpu6050_mean_sensors (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    int * meanAX,
    int * meanAY,
    int * meanAZ,
    int * meanGX,
    int * meanGY,
    int * meanGZ
)

Parameters:

cfg I2C configuration
devAddr Device I2C address
meanAX Pointer to store mean X accel
meanAY Pointer to store mean Y accel
meanAZ Pointer to store mean Z accel
meanGX Pointer to store mean X gyro
meanGY Pointer to store mean Y gyro
meanGZ Pointer to store mean Z gyro

Returns:

uint32_t status

function mpu6050_read_sensors

Reads MPU sensor values (3-axis accel, 1 temp, 3-axis gyro)

uint32_t mpu6050_read_sensors (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    uint8_t * buffer
)

Parameters:

cfg I2C configuration
devAddr Device I2C address
buffer 14-byte buffer to store values

Returns:

uint32_t status

function mpu6050_reset_fifo

Reset FIFO.

uint32_t mpu6050_reset_fifo (
    ns_i2c_config_t * cfg,
    uint32_t devAddr
)

Parameters:

cfg I2C configuration
devAddr Device I2C address

Returns:

uint32_t

function mpu6050_reset_signal_conds

Reset signal conditions.

uint32_t mpu6050_reset_signal_conds (
    ns_i2c_config_t * cfg,
    uint32_t devAddr
)

Parameters:

cfg I2C configuration
devAddr Device I2C address

Returns:

uint32_t status

function mpu6050_reset_signal_paths

Reset signal paths.

uint32_t mpu6050_reset_signal_paths (
    ns_i2c_config_t * cfg,
    uint32_t devAddr
)

Parameters:

cfg I2C configuration
devAddr Device I2C address

Returns:

uint32_t status

function mpu6050_set_accel_full_scale

Set accel full scale range.

uint32_t mpu6050_set_accel_full_scale (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    mpu6050_accel_fs_t fsr
)

Parameters:

cfg I2C configuration
devAddr Device I2C address
fsr Full scale range selection

Returns:

uint32_t

function mpu6050_set_accel_offset

Set acceleration offset for axis.

uint32_t mpu6050_set_accel_offset (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    uint8_t axis,
    int offset
)

Parameters:

cfg I2C configuration
devAddr Device I2C address
axis x=0, y=1, z=2
offset Offset value

Returns:

uint32_t status

function mpu6050_set_clock_source

Set clock source.

uint32_t mpu6050_set_clock_source (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    mpu6050_clock_src_t sel
)

Parameters:

cfg I2C configuration
devAddr Device I2C address
sel Clock selection

Returns:

uint32_t status

function mpu6050_set_fifo_enable

Enable FIFO.

uint32_t mpu6050_set_fifo_enable (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    uint8_t enable
)

Parameters:

cfg I2C configuration
devAddr Device I2C address
enable Enable FIFO flag

Returns:

uint32_t status

function mpu6050_set_gyro_full_scale

Set gyro full scale range.

uint32_t mpu6050_set_gyro_full_scale (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    mpu6050_gyro_fs_t fsr
)

Parameters:

cfg I2C configuration
devAddr Device I2C address
fsr Full scale range selection

Returns:

uint32_t status

function mpu6050_set_gyro_offset

Set gyroscope offset for axis.

uint32_t mpu6050_set_gyro_offset (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    uint8_t axis,
    int offset
)

Parameters:

cfg I2C configuration
devAddr Device I2C address
axis x=0, y=1, z=2
offset Offset value

Returns:

uint32_t status

function mpu6050_set_interrupt_enable

Enable/disable interrupts.

uint32_t mpu6050_set_interrupt_enable (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    uint8_t overflowEnable,
    uint8_t dataReadyEnable
)

Parameters:

cfg I2C configuration
devAddr Device I2C address
overflowEnable Overflow triggers interrupt
dataReadyEnable Data ready triggers interrupt

Returns:

uint32_t status

function mpu6050_set_lowpass_filter

Set digital lowpass filter.

uint32_t mpu6050_set_lowpass_filter (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    mpu6050_dlpf_cfg_t value
)

Parameters:

cfg I2C configuration
devAddr Device I2C address
value Filter selection

Returns:

uint32_t status

function mpu6050_set_lowpower_accel_mode

Put device into low-power acceleration-only mode.

uint32_t mpu6050_set_lowpower_accel_mode (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    uint8_t wakeFreq
)

Parameters:

cfg I2C configuration
devAddr Device I2C address
wakeFreq Wake-up frequency 0=1.25Hz, 1=5Hz 2=20Hz 3=40Hz

Returns:

uint32_t status

function mpu6050_set_sample_rate

Set target sample rate.

uint32_t mpu6050_set_sample_rate (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    uint16_t rate
)

Parameters:

cfg I2C configuration
devAddr Device I2C address
rate Target rate in Hz

Returns:

uint32_t status

function mpu6050_set_sample_rate_divider

Set sample rate divider.

uint32_t mpu6050_set_sample_rate_divider (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    uint8_t divider
)

Parameters:

cfg I2C configuration
devAddr Device I2C address
divider Sample rate divider

Returns:

uint32_t status

function mpu6050_set_sleep

Enable/disable sleep mode.

uint32_t mpu6050_set_sleep (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    uint8_t sleep
)

Parameters:

cfg I2C configuration
devAddr Device I2C address
sleep Sleep flag

Returns:

uint32_t status

function mpu6050_set_temperature_disable

Disable temperature readings.

uint32_t mpu6050_set_temperature_disable (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    uint8_t disable
)

Parameters:

cfg I2C configuration
devAddr Device I2C address
disable Disable temperature flag

Returns:

uint32_t status

function mpu6050_temperature_to_celsius

Convert temperature value to Celsius.

float mpu6050_temperature_to_celsius (
    int16_t val
)

Parameters:

val Temperature register

Returns:

float Temperature (°C)

function mpu6050_test_connection

Verify device by reading WHO_AM_I register.

uint32_t mpu6050_test_connection (
    ns_i2c_config_t * cfg,
    uint32_t devAddr
)

Parameters:

cfg I2C configuration
devAddr Device I2C address

Returns:

uint32_t status

Macro Definition Documentation

define MPU_I2CADDRESS_AD0_HIGH

#define MPU_I2CADDRESS_AD0_HIGH 0x69

define MPU_I2CADDRESS_AD0_LOW

#define MPU_I2CADDRESS_AD0_LOW 0x68