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Simple driver for Invensense MPU6050. More...

  • #include "am_bsp.h"
  • #include "am_mcu_apollo.h"
  • #include "ns_i2c.h"

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

Detailed Description

Author:

Adam Page

Version:

0.1

Date:

2022-09-02

Copyright:

Copyright (c) 2022

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

The documentation for this class was generated from the following file neuralSPOT/neuralspot/ns-i2c/includes-api/ns_mpu6050_i2c_driver.h