Skip to content

File ns_mpu6050_i2c_driver.c

FileList > neuralSPOT > neuralspot > ns-i2c > src > ns_mpu6050_i2c_driver.c

Go to the source code of this file

  • #include "ns_mpu6050_i2c_driver.h"
  • #include "am_bsp.h"
  • #include "am_mcu_apollo.h"
  • #include "am_util.h"
  • #include "ns_i2c_register_driver.h"
  • #include <limits.h>
  • #include <stdlib.h>

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_calibration (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_offset (ns_i2c_config_t * cfg, uint32_t devAddr, uint8_t axis, uint16_t * offset)
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_offset (ns_i2c_config_t * cfg, uint32_t devAddr, uint8_t axis, uint16_t * offset)
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.

Public Static Functions

Type Name
int8_t get_high_bits (int16_t regReading)
int8_t get_low_bits (int16_t regReading)
uint32_t read_word_register (ns_i2c_config_t * cfg, uint32_t devAddr, uint8_t reg, uint16_t * value)

Macros

Type Name
define ACCEL_CONFIG 0x1C
define ACCEL_XOUT_H 0x3B
define ACCEL_XOUT_L 0x3C
define ACCEL_YOUT_H 0x3D
define ACCEL_YOUT_L 0x3E
define ACCEL_ZOUT_H 0x3F
define ACCEL_ZOUT_L 0x40
define ACONFIG_FS_SEL_BIT 4
define ACONFIG_FS_SEL_LENGTH 2
define ACONFIG_HPF_BIT 2
define ACONFIG_HPF_LENGTH 3
define ACONFIG_XA_ST_BIT 7
define ACONFIG_YA_ST_BIT 6
define ACONFIG_ZA_ST_BIT 5
define BANKSEL_CFG_USER_BANK_BIT 5
define BANKSEL_MEM_SEL_BIT 4
define BANKSEL_MEM_SEL_LENGTH 5
define BANKSEL_PRFTCH_EN_BIT 6
define BANK_SEL 0x6D
define CONFIG 0x1A
define CONFIG_DLPF_CFG_BIT 2
define CONFIG_DLPF_CFG_LENGTH 3
define CONFIG_EXT_SYNC_SET_BIT 5
define CONFIG_EXT_SYNC_SET_LENGTH 3
define CONFIG_FIFO_MODE_BIT 6
define DMP_INT_STATUS 0x39
define DMP_INT_STATUS_0 0
define DMP_INT_STATUS_1 1
define DMP_INT_STATUS_2 2
define DMP_INT_STATUS_3 3
define DMP_INT_STATUS_4 4
define DMP_INT_STATUS_5 5
define EXT_SENS_DATA_00 0x49
define EXT_SENS_DATA_01 0x4A
define EXT_SENS_DATA_02 0x4B
define EXT_SENS_DATA_03 0x4C
define EXT_SENS_DATA_04 0x4D
define EXT_SENS_DATA_05 0x4E
define EXT_SENS_DATA_06 0x4F
define EXT_SENS_DATA_07 0x50
define EXT_SENS_DATA_08 0x51
define EXT_SENS_DATA_09 0x52
define EXT_SENS_DATA_10 0x53
define EXT_SENS_DATA_11 0x54
define EXT_SENS_DATA_12 0x55
define EXT_SENS_DATA_13 0x56
define EXT_SENS_DATA_14 0x57
define EXT_SENS_DATA_15 0x58
define EXT_SENS_DATA_17 0x5A
define EXT_SENS_DATA_18 0x5B
define EXT_SENS_DATA_19 0x5C
define EXT_SENS_DATA_20 0x5D
define EXT_SENS_DATA_21 0x5E
define EXT_SENS_DATA_22 0x5F
define EXT_SENS_DATA_23 0x60
define FF_DUR 0x1E
define FF_THR 0x1D
define FIFO_ACCEL_EN_BIT 3
define FIFO_COUNT_H 0x72
define FIFO_COUNT_L 0x73
define FIFO_EN 0x23
define FIFO_R_W 0x74
define FIFO_SLV_0_EN_BIT 0
define FIFO_SLV_1_EN_BIT 1
define FIFO_SLV_2_EN_BIT 2
define FIFO_TEMP_EN_BIT 7
define FIFO_XGYRO_EN_BIT 6
define FIFO_YGYRO_EN_BIT 5
define FIFO_ZGYRO_EN_BIT 4
define GCONFIG_FCHOICE_B 1
define GCONFIG_FCHOICE_B_LENGTH 2
define GCONFIG_FS_SEL_BIT 4
define GCONFIG_FS_SEL_LENGTH 2
define GCONFIG_XG_ST_BIT 7
define GCONFIG_YG_ST_BIT 6
define GCONFIG_ZG_ST_BIT 5
define GYRO_CONFIG 0x1B
define GYRO_XOUT_H 0x43
define GYRO_XOUT_L 0x44
define GYRO_YOUT_H 0x45
define GYRO_YOUT_L 0x46
define GYRO_ZOUT_H 0x47
define GYRO_ZOUT_L 0x48
define I2CMST_CTRL_CLOCK_BIT 3
define I2CMST_CTRL_CLOCK_LENGTH 4
define I2CMST_CTRL_MULT_EN_BIT 7
define I2CMST_CTRL_P_NSR_BIT 4
define I2CMST_CTRL_SLV_3_FIFO_EN_BIT 5
define I2CMST_CTRL_WAIT_FOR_ES_BIT 6
define I2CMST_DLY_ES_SHADOW_BIT 7
define I2CMST_DLY_SLV0_EN_BIT 0
define I2CMST_DLY_SLV1_EN_BIT 1
define I2CMST_DLY_SLV2_EN_BIT 2
define I2CMST_DLY_SLV3_EN_BIT 3
define I2CMST_DLY_SLV4_EN_BIT 4
define I2CMST_STAT_LOST_ARB_BIT 5
define I2CMST_STAT_PASS_THROUGH_BIT 7
define I2CMST_STAT_SLV0_NACK_BIT 0
define I2CMST_STAT_SLV1_NACK_BIT 1
define I2CMST_STAT_SLV2_NACK_BIT 2
define I2CMST_STAT_SLV3_NACK_BIT 3
define I2CMST_STAT_SLV4_DONE_BIT 6
define I2CMST_STAT_SLV4_NACK_BIT 4
define I2C_MST_CTRL 0x24
define I2C_MST_DELAY_CRTL 0x67
define I2C_MST_STATUS 0x36
define I2C_SLV0_ADDR 0x25
define I2C_SLV0_CTRL 0x27
define I2C_SLV0_DO 0x63
define I2C_SLV0_REG 0x26
define I2C_SLV1_ADDR 0x28
define I2C_SLV1_CTRL 0x2A
define I2C_SLV1_DO 0x64
define I2C_SLV1_REG 0x29
define I2C_SLV2_ADDR 0x2B
define I2C_SLV2_CTRL 0x2D
define I2C_SLV2_DO 0x65
define I2C_SLV2_REG 0x2C
define I2C_SLV3_ADDR 0x2E
define I2C_SLV3_CTRL 0x30
define I2C_SLV3_DO 0x66
define I2C_SLV3_REG 0x2F
define I2C_SLV4_ADDR 0x31
define I2C_SLV4_CTRL 0x34
define I2C_SLV4_DI 0x35
define I2C_SLV4_DO 0x33
define I2C_SLV4_DONE_INT_BIT 6
define I2C_SLV4_EN_BIT 7
define I2C_SLV4_MST_DELAY_BIT 4
define I2C_SLV4_MST_DELAY_LENGTH 5
define I2C_SLV4_REG 0x32
define I2C_SLV4_REG_DIS_BIT 5
define I2C_SLV_BYTE_SW_BIT 6
define I2C_SLV_EN_BIT 7
define I2C_SLV_GRP_BIT 4
define I2C_SLV_ID_BIT 6
define I2C_SLV_ID_LENGTH 7
define I2C_SLV_LEN_BIT 3
define I2C_SLV_LEN_LENGTH 4
define I2C_SLV_REG_DIS_BIT 5
define I2C_SLV_RNW_BIT 7
define INT_CFG_ANYRD_2CLEAR_BIT 4
define INT_CFG_CLOCKOUT_EN_BIT 0
define INT_CFG_FSYNC_INT_MODE_EN_BIT 2
define INT_CFG_FSYNC_LEVEL_BIT 3
define INT_CFG_I2C_BYPASS_EN_BIT 1
define INT_CFG_LATCH_EN_BIT 5
define INT_CFG_LEVEL_BIT 7
define INT_CFG_OPEN_BIT 6
define INT_ENABLE 0x38
define INT_ENABLE_DMP_RDY_BIT 1
define INT_ENABLE_FIFO_OFLOW_BIT 4
define INT_ENABLE_FREEFALL_BIT 7
define INT_ENABLE_I2C_MST_FSYNC_BIT 3
define INT_ENABLE_MOTION_BIT 6
define INT_ENABLE_PLL_RDY_BIT 2
define INT_ENABLE_RAW_DATA_RDY_BIT 0
define INT_ENABLE_ZEROMOT_BIT 5
define INT_PIN_CONFIG 0x37
define INT_STATUS 0x3A
define INT_STATUS_DMP_RDY_BIT 1
define INT_STATUS_FIFO_OFLOW_BIT 4
define INT_STATUS_FREEFALL_BIT 7
define INT_STATUS_I2C_MST_BIT 3
define INT_STATUS_MOTION_BIT 6
define INT_STATUS_PLL_RDY_BIT 2
define INT_STATUS_RAW_DATA_RDY_BIT 0
define INT_STATUS_ZEROMOT_BIT 5
define MEM_R_W 0x6F
define MEM_START_ADDR 0x6E
define MOTION_DUR 0x20
define MOTION_THR 0x1F
define MPU6050_RA_XA_OFFS_H 0x06
define MPU6050_RA_XA_OFFS_L 0x07
define MPU6050_RA_YA_OFFS_H 0x08
define MPU6050_RA_YA_OFFS_L 0x09
define MPU6050_RA_ZA_OFFS_H 0x0A
define MPU6050_RA_ZA_OFFS_L 0x0B
define PRGM_START_H 0x70
define PRGM_START_L 0x71
define PWR1_CLKSEL_BIT 2
define PWR1_CLKSEL_LENGTH 3
define PWR1_CYCLE_BIT 5
define PWR1_DEVICE_RESET_BIT 7
define PWR1_GYRO_STANDBY_BIT 4
define PWR1_SLEEP_BIT 6
define PWR1_TEMP_DIS_BIT 3
define PWR2_LP_WAKE_CTRL_BIT 7
define PWR2_LP_WAKE_CTRL_LENGTH 2
define PWR2_STBY_XA_BIT 5
define PWR2_STBY_XG_BIT 2
define PWR2_STBY_XYZA_BITS 1 &lt;&lt; PWR2\_STBY\_XA\_BIT \| 1 &lt;&lt; PWR2\_STBY\_YA\_BIT \| 1 &lt;&lt; PWR2\_STBY\_ZA\_BIT
define PWR2_STBY_XYZG_BITS 1 &lt;&lt; PWR2\_STBY\_XG\_BIT \| 1 &lt;&lt; PWR2\_STBY\_YG\_BIT \| 1 &lt;&lt; PWR2\_STBY\_ZG\_BIT
define PWR2_STBY_YA_BIT 4
define PWR2_STBY_YG_BIT 1
define PWR2_STBY_ZA_BIT 3
define PWR2_STBY_ZG_BIT 0
define PWR_MGMT1 0x6B
define PWR_MGMT2 0x6C
define SIGNAL_PATH_RESET 0x68
define SMPLRT_DIV 0x19
define SPATH_ACCEL_RST_BIT 1
define SPATH_GYRO_RST_BIT 2
define SPATH_TEMP_RST_BIT 0
define TEMP_OUT_H 0x41
define TEMP_OUT_L 0x42
define USERCTRL_DMP_EN_BIT 7
define USERCTRL_DMP_RESET_BIT 3
define USERCTRL_FIFO_EN_BIT 6
define USERCTRL_FIFO_RESET_BIT 2
define USERCTRL_I2C_IF_DIS_BIT 4
define USERCTRL_I2C_MST_EN_BIT 5
define USERCTRL_I2C_MST_RESET_BIT 1
define USERCTRL_SIG_COND_RESET_BIT 0
define USER_CTRL 0x6A
define WHO_AM_I 0x75
define XG_OFFSET_H 0x13
define XG_OFFSET_L 0x14
define YG_OFFSET_H 0x15
define YG_OFFSET_L 0x16
define ZG_OFFSET_H 0x17
define ZG_OFFSET_L 0x18
define ZRMOTION_DUR 0x22
define ZRMOTION_THR 0x21

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_calibration

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

uint32_t mpu6050_calibration (
    ns_i2c_config_t * cfg,
    uint32_t devAddr
)

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_offset

uint32_t mpu6050_get_accel_offset (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    uint8_t axis,
    uint16_t * offset
)

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_offset

uint32_t mpu6050_get_gyro_offset (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    uint8_t axis,
    uint16_t * offset
)

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

Public Static Functions Documentation

function get_high_bits

static int8_t get_high_bits (
    int16_t regReading
)

function get_low_bits

static int8_t get_low_bits (
    int16_t regReading
)

function read_word_register

static uint32_t read_word_register (
    ns_i2c_config_t * cfg,
    uint32_t devAddr,
    uint8_t reg,
    uint16_t * value
)

Macro Definition Documentation

define ACCEL_CONFIG

#define ACCEL_CONFIG `0x1C`

define ACCEL_XOUT_H

#define ACCEL_XOUT_H `0x3B`

define ACCEL_XOUT_L

#define ACCEL_XOUT_L `0x3C`

define ACCEL_YOUT_H

#define ACCEL_YOUT_H `0x3D`

define ACCEL_YOUT_L

#define ACCEL_YOUT_L `0x3E`

define ACCEL_ZOUT_H

#define ACCEL_ZOUT_H `0x3F`

define ACCEL_ZOUT_L

#define ACCEL_ZOUT_L `0x40`

define ACONFIG_FS_SEL_BIT

#define ACONFIG_FS_SEL_BIT `4`

define ACONFIG_FS_SEL_LENGTH

#define ACONFIG_FS_SEL_LENGTH `2`

define ACONFIG_HPF_BIT

#define ACONFIG_HPF_BIT `2`

define ACONFIG_HPF_LENGTH

#define ACONFIG_HPF_LENGTH `3`

define ACONFIG_XA_ST_BIT

#define ACONFIG_XA_ST_BIT `7`

define ACONFIG_YA_ST_BIT

#define ACONFIG_YA_ST_BIT `6`

define ACONFIG_ZA_ST_BIT

#define ACONFIG_ZA_ST_BIT `5`

define BANKSEL_CFG_USER_BANK_BIT

#define BANKSEL_CFG_USER_BANK_BIT `5`

define BANKSEL_MEM_SEL_BIT

#define BANKSEL_MEM_SEL_BIT `4`

define BANKSEL_MEM_SEL_LENGTH

#define BANKSEL_MEM_SEL_LENGTH `5`

define BANKSEL_PRFTCH_EN_BIT

#define BANKSEL_PRFTCH_EN_BIT `6`

define BANK_SEL

#define BANK_SEL `0x6D`

define CONFIG

#define CONFIG `0x1A`

define CONFIG_DLPF_CFG_BIT

#define CONFIG_DLPF_CFG_BIT `2`

define CONFIG_DLPF_CFG_LENGTH

#define CONFIG_DLPF_CFG_LENGTH `3`

define CONFIG_EXT_SYNC_SET_BIT

#define CONFIG_EXT_SYNC_SET_BIT `5`

define CONFIG_EXT_SYNC_SET_LENGTH

#define CONFIG_EXT_SYNC_SET_LENGTH `3`

define CONFIG_FIFO_MODE_BIT

#define CONFIG_FIFO_MODE_BIT `6`

define DMP_INT_STATUS

#define DMP_INT_STATUS `0x39`

define DMP_INT_STATUS_0

#define DMP_INT_STATUS_0 `0`

define DMP_INT_STATUS_1

#define DMP_INT_STATUS_1 `1`

define DMP_INT_STATUS_2

#define DMP_INT_STATUS_2 `2`

define DMP_INT_STATUS_3

#define DMP_INT_STATUS_3 `3`

define DMP_INT_STATUS_4

#define DMP_INT_STATUS_4 `4`

define DMP_INT_STATUS_5

#define DMP_INT_STATUS_5 `5`

define EXT_SENS_DATA_00

#define EXT_SENS_DATA_00 `0x49`

define EXT_SENS_DATA_01

#define EXT_SENS_DATA_01 `0x4A`

define EXT_SENS_DATA_02

#define EXT_SENS_DATA_02 `0x4B`

define EXT_SENS_DATA_03

#define EXT_SENS_DATA_03 `0x4C`

define EXT_SENS_DATA_04

#define EXT_SENS_DATA_04 `0x4D`

define EXT_SENS_DATA_05

#define EXT_SENS_DATA_05 `0x4E`

define EXT_SENS_DATA_06

#define EXT_SENS_DATA_06 `0x4F`

define EXT_SENS_DATA_07

#define EXT_SENS_DATA_07 `0x50`

define EXT_SENS_DATA_08

#define EXT_SENS_DATA_08 `0x51`

define EXT_SENS_DATA_09

#define EXT_SENS_DATA_09 `0x52`

define EXT_SENS_DATA_10

#define EXT_SENS_DATA_10 `0x53`

define EXT_SENS_DATA_11

#define EXT_SENS_DATA_11 `0x54`

define EXT_SENS_DATA_12

#define EXT_SENS_DATA_12 `0x55`

define EXT_SENS_DATA_13

#define EXT_SENS_DATA_13 `0x56`

define EXT_SENS_DATA_14

#define EXT_SENS_DATA_14 `0x57`

define EXT_SENS_DATA_15

#define EXT_SENS_DATA_15 `0x58`

define EXT_SENS_DATA_17

#define EXT_SENS_DATA_17 `0x5A`

define EXT_SENS_DATA_18

#define EXT_SENS_DATA_18 `0x5B`

define EXT_SENS_DATA_19

#define EXT_SENS_DATA_19 `0x5C`

define EXT_SENS_DATA_20

#define EXT_SENS_DATA_20 `0x5D`

define EXT_SENS_DATA_21

#define EXT_SENS_DATA_21 `0x5E`

define EXT_SENS_DATA_22

#define EXT_SENS_DATA_22 `0x5F`

define EXT_SENS_DATA_23

#define EXT_SENS_DATA_23 `0x60`

define FF_DUR

#define FF_DUR `0x1E`

define FF_THR

#define FF_THR `0x1D`

define FIFO_ACCEL_EN_BIT

#define FIFO_ACCEL_EN_BIT `3`

define FIFO_COUNT_H

#define FIFO_COUNT_H `0x72`

define FIFO_COUNT_L

#define FIFO_COUNT_L `0x73`

define FIFO_EN

#define FIFO_EN `0x23`

define FIFO_R_W

#define FIFO_R_W `0x74`

define FIFO_SLV_0_EN_BIT

#define FIFO_SLV_0_EN_BIT `0`

define FIFO_SLV_1_EN_BIT

#define FIFO_SLV_1_EN_BIT `1`

define FIFO_SLV_2_EN_BIT

#define FIFO_SLV_2_EN_BIT `2`

define FIFO_TEMP_EN_BIT

#define FIFO_TEMP_EN_BIT `7`

define FIFO_XGYRO_EN_BIT

#define FIFO_XGYRO_EN_BIT `6`

define FIFO_YGYRO_EN_BIT

#define FIFO_YGYRO_EN_BIT `5`

define FIFO_ZGYRO_EN_BIT

#define FIFO_ZGYRO_EN_BIT `4`

define GCONFIG_FCHOICE_B

#define GCONFIG_FCHOICE_B `1`

define GCONFIG_FCHOICE_B_LENGTH

#define GCONFIG_FCHOICE_B_LENGTH `2`

define GCONFIG_FS_SEL_BIT

#define GCONFIG_FS_SEL_BIT `4`

define GCONFIG_FS_SEL_LENGTH

#define GCONFIG_FS_SEL_LENGTH `2`

define GCONFIG_XG_ST_BIT

#define GCONFIG_XG_ST_BIT `7`

define GCONFIG_YG_ST_BIT

#define GCONFIG_YG_ST_BIT `6`

define GCONFIG_ZG_ST_BIT

#define GCONFIG_ZG_ST_BIT `5`

define GYRO_CONFIG

#define GYRO_CONFIG `0x1B`

define GYRO_XOUT_H

#define GYRO_XOUT_H `0x43`

define GYRO_XOUT_L

#define GYRO_XOUT_L `0x44`

define GYRO_YOUT_H

#define GYRO_YOUT_H `0x45`

define GYRO_YOUT_L

#define GYRO_YOUT_L `0x46`

define GYRO_ZOUT_H

#define GYRO_ZOUT_H `0x47`

define GYRO_ZOUT_L

#define GYRO_ZOUT_L `0x48`

define I2CMST_CTRL_CLOCK_BIT

#define I2CMST_CTRL_CLOCK_BIT `3`

define I2CMST_CTRL_CLOCK_LENGTH

#define I2CMST_CTRL_CLOCK_LENGTH `4`

define I2CMST_CTRL_MULT_EN_BIT

#define I2CMST_CTRL_MULT_EN_BIT `7`

define I2CMST_CTRL_P_NSR_BIT

#define I2CMST_CTRL_P_NSR_BIT `4`

define I2CMST_CTRL_SLV_3_FIFO_EN_BIT

#define I2CMST_CTRL_SLV_3_FIFO_EN_BIT `5`

define I2CMST_CTRL_WAIT_FOR_ES_BIT

#define I2CMST_CTRL_WAIT_FOR_ES_BIT `6`

define I2CMST_DLY_ES_SHADOW_BIT

#define I2CMST_DLY_ES_SHADOW_BIT `7`

define I2CMST_DLY_SLV0_EN_BIT

#define I2CMST_DLY_SLV0_EN_BIT `0`

define I2CMST_DLY_SLV1_EN_BIT

#define I2CMST_DLY_SLV1_EN_BIT `1`

define I2CMST_DLY_SLV2_EN_BIT

#define I2CMST_DLY_SLV2_EN_BIT `2`

define I2CMST_DLY_SLV3_EN_BIT

#define I2CMST_DLY_SLV3_EN_BIT `3`

define I2CMST_DLY_SLV4_EN_BIT

#define I2CMST_DLY_SLV4_EN_BIT `4`

define I2CMST_STAT_LOST_ARB_BIT

#define I2CMST_STAT_LOST_ARB_BIT `5`

define I2CMST_STAT_PASS_THROUGH_BIT

#define I2CMST_STAT_PASS_THROUGH_BIT `7`

define I2CMST_STAT_SLV0_NACK_BIT

#define I2CMST_STAT_SLV0_NACK_BIT `0`

define I2CMST_STAT_SLV1_NACK_BIT

#define I2CMST_STAT_SLV1_NACK_BIT `1`

define I2CMST_STAT_SLV2_NACK_BIT

#define I2CMST_STAT_SLV2_NACK_BIT `2`

define I2CMST_STAT_SLV3_NACK_BIT

#define I2CMST_STAT_SLV3_NACK_BIT `3`

define I2CMST_STAT_SLV4_DONE_BIT

#define I2CMST_STAT_SLV4_DONE_BIT `6`

define I2CMST_STAT_SLV4_NACK_BIT

#define I2CMST_STAT_SLV4_NACK_BIT `4`

define I2C_MST_CTRL

#define I2C_MST_CTRL `0x24`

define I2C_MST_DELAY_CRTL

#define I2C_MST_DELAY_CRTL `0x67`

define I2C_MST_STATUS

#define I2C_MST_STATUS `0x36`

define I2C_SLV0_ADDR

#define I2C_SLV0_ADDR `0x25`

define I2C_SLV0_CTRL

#define I2C_SLV0_CTRL `0x27`

define I2C_SLV0_DO

#define I2C_SLV0_DO `0x63`

define I2C_SLV0_REG

#define I2C_SLV0_REG `0x26`

define I2C_SLV1_ADDR

#define I2C_SLV1_ADDR `0x28`

define I2C_SLV1_CTRL

#define I2C_SLV1_CTRL `0x2A`

define I2C_SLV1_DO

#define I2C_SLV1_DO `0x64`

define I2C_SLV1_REG

#define I2C_SLV1_REG `0x29`

define I2C_SLV2_ADDR

#define I2C_SLV2_ADDR `0x2B`

define I2C_SLV2_CTRL

#define I2C_SLV2_CTRL `0x2D`

define I2C_SLV2_DO

#define I2C_SLV2_DO `0x65`

define I2C_SLV2_REG

#define I2C_SLV2_REG `0x2C`

define I2C_SLV3_ADDR

#define I2C_SLV3_ADDR `0x2E`

define I2C_SLV3_CTRL

#define I2C_SLV3_CTRL `0x30`

define I2C_SLV3_DO

#define I2C_SLV3_DO `0x66`

define I2C_SLV3_REG

#define I2C_SLV3_REG `0x2F`

define I2C_SLV4_ADDR

#define I2C_SLV4_ADDR `0x31`

define I2C_SLV4_CTRL

#define I2C_SLV4_CTRL `0x34`

define I2C_SLV4_DI

#define I2C_SLV4_DI `0x35`

define I2C_SLV4_DO

#define I2C_SLV4_DO `0x33`

define I2C_SLV4_DONE_INT_BIT

#define I2C_SLV4_DONE_INT_BIT `6`

define I2C_SLV4_EN_BIT

#define I2C_SLV4_EN_BIT `7`

define I2C_SLV4_MST_DELAY_BIT

#define I2C_SLV4_MST_DELAY_BIT `4`

define I2C_SLV4_MST_DELAY_LENGTH

#define I2C_SLV4_MST_DELAY_LENGTH `5`

define I2C_SLV4_REG

#define I2C_SLV4_REG `0x32`

define I2C_SLV4_REG_DIS_BIT

#define I2C_SLV4_REG_DIS_BIT `5`

define I2C_SLV_BYTE_SW_BIT

#define I2C_SLV_BYTE_SW_BIT `6`

define I2C_SLV_EN_BIT

#define I2C_SLV_EN_BIT `7`

define I2C_SLV_GRP_BIT

#define I2C_SLV_GRP_BIT `4`

define I2C_SLV_ID_BIT

#define I2C_SLV_ID_BIT `6`

define I2C_SLV_ID_LENGTH

#define I2C_SLV_ID_LENGTH `7`

define I2C_SLV_LEN_BIT

#define I2C_SLV_LEN_BIT `3`

define I2C_SLV_LEN_LENGTH

#define I2C_SLV_LEN_LENGTH `4`

define I2C_SLV_REG_DIS_BIT

#define I2C_SLV_REG_DIS_BIT `5`

define I2C_SLV_RNW_BIT

#define I2C_SLV_RNW_BIT `7`

define INT_CFG_ANYRD_2CLEAR_BIT

#define INT_CFG_ANYRD_2CLEAR_BIT `4`

define INT_CFG_CLOCKOUT_EN_BIT

#define INT_CFG_CLOCKOUT_EN_BIT `0`

define INT_CFG_FSYNC_INT_MODE_EN_BIT

#define INT_CFG_FSYNC_INT_MODE_EN_BIT `2`

define INT_CFG_FSYNC_LEVEL_BIT

#define INT_CFG_FSYNC_LEVEL_BIT `3`

define INT_CFG_I2C_BYPASS_EN_BIT

#define INT_CFG_I2C_BYPASS_EN_BIT `1`

define INT_CFG_LATCH_EN_BIT

#define INT_CFG_LATCH_EN_BIT `5`

define INT_CFG_LEVEL_BIT

#define INT_CFG_LEVEL_BIT `7`

define INT_CFG_OPEN_BIT

#define INT_CFG_OPEN_BIT `6`

define INT_ENABLE

#define INT_ENABLE `0x38`

define INT_ENABLE_DMP_RDY_BIT

#define INT_ENABLE_DMP_RDY_BIT `1`

define INT_ENABLE_FIFO_OFLOW_BIT

#define INT_ENABLE_FIFO_OFLOW_BIT `4`

define INT_ENABLE_FREEFALL_BIT

#define INT_ENABLE_FREEFALL_BIT `7`

define INT_ENABLE_I2C_MST_FSYNC_BIT

#define INT_ENABLE_I2C_MST_FSYNC_BIT `3`

define INT_ENABLE_MOTION_BIT

#define INT_ENABLE_MOTION_BIT `6`

define INT_ENABLE_PLL_RDY_BIT

#define INT_ENABLE_PLL_RDY_BIT `2`

define INT_ENABLE_RAW_DATA_RDY_BIT

#define INT_ENABLE_RAW_DATA_RDY_BIT `0`

define INT_ENABLE_ZEROMOT_BIT

#define INT_ENABLE_ZEROMOT_BIT `5`

define INT_PIN_CONFIG

#define INT_PIN_CONFIG `0x37`

define INT_STATUS

#define INT_STATUS `0x3A`

define INT_STATUS_DMP_RDY_BIT

#define INT_STATUS_DMP_RDY_BIT `1`

define INT_STATUS_FIFO_OFLOW_BIT

#define INT_STATUS_FIFO_OFLOW_BIT `4`

define INT_STATUS_FREEFALL_BIT

#define INT_STATUS_FREEFALL_BIT `7`

define INT_STATUS_I2C_MST_BIT

#define INT_STATUS_I2C_MST_BIT `3`

define INT_STATUS_MOTION_BIT

#define INT_STATUS_MOTION_BIT `6`

define INT_STATUS_PLL_RDY_BIT

#define INT_STATUS_PLL_RDY_BIT `2`

define INT_STATUS_RAW_DATA_RDY_BIT

#define INT_STATUS_RAW_DATA_RDY_BIT `0`

define INT_STATUS_ZEROMOT_BIT

#define INT_STATUS_ZEROMOT_BIT `5`

define MEM_R_W

#define MEM_R_W `0x6F`

define MEM_START_ADDR

#define MEM_START_ADDR `0x6E`

define MOTION_DUR

#define MOTION_DUR `0x20`

define MOTION_THR

#define MOTION_THR `0x1F`

define MPU6050_RA_XA_OFFS_H

#define MPU6050_RA_XA_OFFS_H `0x06`

define MPU6050_RA_XA_OFFS_L

#define MPU6050_RA_XA_OFFS_L `0x07`

define MPU6050_RA_YA_OFFS_H

#define MPU6050_RA_YA_OFFS_H `0x08`

define MPU6050_RA_YA_OFFS_L

#define MPU6050_RA_YA_OFFS_L `0x09`

define MPU6050_RA_ZA_OFFS_H

#define MPU6050_RA_ZA_OFFS_H `0x0A`

define MPU6050_RA_ZA_OFFS_L

#define MPU6050_RA_ZA_OFFS_L `0x0B`

define PRGM_START_H

#define PRGM_START_H `0x70`

define PRGM_START_L

#define PRGM_START_L `0x71`

define PWR1_CLKSEL_BIT

#define PWR1_CLKSEL_BIT `2`

define PWR1_CLKSEL_LENGTH

#define PWR1_CLKSEL_LENGTH `3`

define PWR1_CYCLE_BIT

#define PWR1_CYCLE_BIT `5`

define PWR1_DEVICE_RESET_BIT

#define PWR1_DEVICE_RESET_BIT `7`

define PWR1_GYRO_STANDBY_BIT

#define PWR1_GYRO_STANDBY_BIT `4`

define PWR1_SLEEP_BIT

#define PWR1_SLEEP_BIT `6`

define PWR1_TEMP_DIS_BIT

#define PWR1_TEMP_DIS_BIT `3`

define PWR2_LP_WAKE_CTRL_BIT

#define PWR2_LP_WAKE_CTRL_BIT `7`

define PWR2_LP_WAKE_CTRL_LENGTH

#define PWR2_LP_WAKE_CTRL_LENGTH `2`

define PWR2_STBY_XA_BIT

#define PWR2_STBY_XA_BIT `5`

define PWR2_STBY_XG_BIT

#define PWR2_STBY_XG_BIT `2`

define PWR2_STBY_XYZA_BITS

#define PWR2_STBY_XYZA_BITS `1 << PWR2_STBY_XA_BIT | 1 << PWR2_STBY_YA_BIT | 1 << PWR2_STBY_ZA_BIT`

define PWR2_STBY_XYZG_BITS

#define PWR2_STBY_XYZG_BITS `1 << PWR2_STBY_XG_BIT | 1 << PWR2_STBY_YG_BIT | 1 << PWR2_STBY_ZG_BIT`

define PWR2_STBY_YA_BIT

#define PWR2_STBY_YA_BIT `4`

define PWR2_STBY_YG_BIT

#define PWR2_STBY_YG_BIT `1`

define PWR2_STBY_ZA_BIT

#define PWR2_STBY_ZA_BIT `3`

define PWR2_STBY_ZG_BIT

#define PWR2_STBY_ZG_BIT `0`

define PWR_MGMT1

#define PWR_MGMT1 `0x6B`

define PWR_MGMT2

#define PWR_MGMT2 `0x6C`

define SIGNAL_PATH_RESET

#define SIGNAL_PATH_RESET `0x68`

define SMPLRT_DIV

#define SMPLRT_DIV `0x19`

define SPATH_ACCEL_RST_BIT

#define SPATH_ACCEL_RST_BIT `1`

define SPATH_GYRO_RST_BIT

#define SPATH_GYRO_RST_BIT `2`

define SPATH_TEMP_RST_BIT

#define SPATH_TEMP_RST_BIT `0`

define TEMP_OUT_H

#define TEMP_OUT_H `0x41`

define TEMP_OUT_L

#define TEMP_OUT_L `0x42`

define USERCTRL_DMP_EN_BIT

#define USERCTRL_DMP_EN_BIT `7`

define USERCTRL_DMP_RESET_BIT

#define USERCTRL_DMP_RESET_BIT `3`

define USERCTRL_FIFO_EN_BIT

#define USERCTRL_FIFO_EN_BIT `6`

define USERCTRL_FIFO_RESET_BIT

#define USERCTRL_FIFO_RESET_BIT `2`

define USERCTRL_I2C_IF_DIS_BIT

#define USERCTRL_I2C_IF_DIS_BIT `4`

define USERCTRL_I2C_MST_EN_BIT

#define USERCTRL_I2C_MST_EN_BIT `5`

define USERCTRL_I2C_MST_RESET_BIT

#define USERCTRL_I2C_MST_RESET_BIT `1`

define USERCTRL_SIG_COND_RESET_BIT

#define USERCTRL_SIG_COND_RESET_BIT `0`

define USER_CTRL

#define USER_CTRL `0x6A`

define WHO_AM_I

#define WHO_AM_I `0x75`

define XG_OFFSET_H

#define XG_OFFSET_H `0x13`

define XG_OFFSET_L

#define XG_OFFSET_L `0x14`

define YG_OFFSET_H

#define YG_OFFSET_H `0x15`

define YG_OFFSET_L

#define YG_OFFSET_L `0x16`

define ZG_OFFSET_H

#define ZG_OFFSET_H `0x17`

define ZG_OFFSET_L

#define ZG_OFFSET_L `0x18`

define ZRMOTION_DUR

#define ZRMOTION_DUR `0x22`

define ZRMOTION_THR

#define ZRMOTION_THR `0x21`

The documentation for this class was generated from the following file neuralSPOT/neuralspot/ns-i2c/src/ns_mpu6050_i2c_driver.c