#include <MPU6050.hh>

Inheritance diagram for MPU6050:

Collaboration diagram for MPU6050:

Classes
union	accel_config_t

union	config_t

union	fifo_en_t

union	gyro_config_t

union	int_enable_t

union	int_pin_cfg_t

union	int_status_t

struct	motion_t

union	pwr_mgmt_1_t

union	pwr_mgmt_2_t

struct	sample_t

union	signal_path_reset_t

union	user_ctrl_t

Public Member Functions
	MPU6050 (uint8_t subaddr=0)

bool	begin (uint8_t clksel=CLKSEL_PLL_GYRO_X_REF)

bool	end ()

int16_t	read_temperature ()

void	read_motion (motion_t &m)

void	read_accelerometer (sample_t &s)

void	read_gyroscope (sample_t &s)

Protected Types
enum	Register { SELF_TEST_X = 0x0d, SELF_TEST_Y = 0x0e, SELF_TEST_Z = 0x0f, SELF_TEST_A = 0x10, SMPRT_DIV = 0x19, CONFIG = 0x1a, GYRO_CONFIG = 0x1b, ACCEL_CONFIG = 0x1c, FIFO_EN = 0x23, I2C_MST_CTRL = 0x24, I2C_SLV0_ADDR = 0x25, I2C_SLV0_REG = 0x26, I2C_SLV0_CTRL = 0x27, I2C_SLV1_ADDR = 0x28, I2C_SLV1_REG = 0x29, I2C_SLV1_CTRL = 0x2a, I2C_SLV2_ADDR = 0x2b, I2C_SLV2_REG = 0x2c, I2C_SLV2_CTRL = 0x2d, I2C_SLV3_ADDR = 0x2e, I2C_SLV3_REG = 0x2f, I2C_SLV3_CTRL = 0x30, I2C_SLV4_ADDR = 0x31, I2C_SLV4_REG = 0x32, I2C_SLV4_DO = 0x33, I2C_SLV4_CTRL = 0x34, I2C_SLV4_DI = 0x35, I2C_MST_STATUS = 0x36, INT_PIN_CFG = 0x37, INT_ENABLE = 0x38, INT_STATUS = 0x3a, ACCEL_OUT = 0x3b, ACCEL_XOUT = 0x3b, ACCEL_XOUT_H = 0x3b, ACCEL_XOUT_L = 0x3c, ACCEL_YOUT = 0x3d, ACCEL_YOUT_H = 0x3d, ACCEL_YOUT_L = 0x3e, ACCEL_ZOUT = 0x3f, ACCEL_ZOUT_H = 0x3f, ACCEL_ZOUT_L = 0x40, TEMP_OUT = 0x41, TEMP_OUT_H = 0x41, TEMP_OUT_L = 0x42, GYRO_OUT = 0x43, GYRO_XOUT = 0x43, GYRO_XOUT_H = 0x43, GYRO_XOUT_L = 0x44, GYRO_YOUT = 0x45, GYRO_YOUT_H = 0x45, GYRO_YOUT_L = 0x46, GYRO_ZOUT = 0x47, GYRO_ZOUT_H = 0x47, GYRO_ZOUT_L = 0x48, EXT_SENS_DATA = 0x49, I2C_SLV0_DO = 0x63, I2C_SLV1_DO = 0x64, I2C_SLV2_DO = 0x65, I2C_SLV3_DO = 0x66, I2C_MST_DELAY_CTRL = 0x67, SIGNAL_PATH_RESET = 0x68, USER_CTRL = 0x6a, PWR_MGMT_1 = 0x6b, PWR_MGMT_2 = 0x6c, FIFO_COUNT = 0x72, FIFO_COUNT_H = 0x72, FIFO_COUNT_L = 0x73, FIFO_R_W = 0x74, WHO_AM_I = 0x75 }

enum	{ FS_RANGE_250, FS_RANGE_500, FS_RANGE_1000, FS_RANGE_2000 }

enum	{ AFS_RANGE_2G, AFS_RANGE_4G, AFS_RANGE_8G, AFS_RANGE_16G }

enum	{ CLKSEL_INTERNAL_8MHZ, CLKSEL_PLL_GYRO_X_REF, CLKSEL_PLL_GYRO_Y_REF, CLKSEL_PLL_GYRO_Z_REF, CLKSEL_PLL_EXT_32KHZ_REF, CLKSEL_PLL_EXT_19MHZ_REF, CLKSEL_RESERVED, CLKSEL_STOP_CLOCKS }

enum	{ LP_WAKE_CTRL_1_25HZ, LP_WAKE_CTRL_5HZ, LP_WAKE_CTRL_20HZ, LP_WAKE_CTRL_40HZ }

Protected Member Functions
void	write (Register reg, uint8_t value)

void	write (Register reg, void *buffer, size_t count)

uint8_t	read (Register reg)

void	read (Register reg, void *buffer, size_t count)

Private Member Functions
bool	is_async () const

void	sync_request ()

void	async_request ()

virtual void	on_completion (uint8_t type, int count)

Private Attributes
uint8_t	m_addr

bool	m_async

Detailed Description

Cosa TWI driver for InvenSense, MPU6050, Motion Processing Unit, 6-axis motion processor solution with gyroscope, accelerator and extended I2C slave bus.

Circuit

The MPU6050 module ITG/MPU with pull-up resistors (4K7) for TWI signals and 3V3 internal voltage converter.

                          ITG/MPU
                      +------------+
(VCC)---------------1-|VCC         |
(GND)---------------2-|GND         |
(A5/SCL)------------3-|SCL         |
(A4/SDA)------------4-|SDA         |
                    6-|XDA         |
                    7-|XCL         |
                    8-|AD0         |
                    9-|INT         |
                      +------------+

References

MPU-6000 and MPU-6050 Register Map and Description, Rev. 4.2. http://invensense.com/mems/gyro/documents/RM-MPU-6000A-00v4.2.pdf

Definition at line 53 of file MPU6050.hh.

Member Enumeration Documentation

anonymous enum

protected

Full scale range of the gyroscope (pp. 14).

Enumerator
FS_RANGE_250
FS_RANGE_500
FS_RANGE_1000
FS_RANGE_2000

Definition at line 242 of file MPU6050.hh.

anonymous enum

protected

Full scale range of the accelerometer (pp. 15).

Enumerator
AFS_RANGE_2G
AFS_RANGE_4G
AFS_RANGE_8G
AFS_RANGE_16G

Definition at line 274 of file MPU6050.hh.

anonymous enum

protected

Clock Source (pp. 40).

Enumerator
CLKSEL_INTERNAL_8MHZ
CLKSEL_PLL_GYRO_X_REF
CLKSEL_PLL_GYRO_Y_REF
CLKSEL_PLL_GYRO_Z_REF
CLKSEL_PLL_EXT_32KHZ_REF
CLKSEL_PLL_EXT_19MHZ_REF
CLKSEL_RESERVED
CLKSEL_STOP_CLOCKS

Definition at line 447 of file MPU6050.hh.

anonymous enum

protected

Wake-up Frequency (pp. 42).

Enumerator
LP_WAKE_CTRL_1_25HZ
LP_WAKE_CTRL_5HZ
LP_WAKE_CTRL_20HZ
LP_WAKE_CTRL_40HZ

Definition at line 485 of file MPU6050.hh.

enum MPU6050::Register

protected

Register address map (See chap. 3 Register Map, pp. 6-7).

Enumerator
SELF_TEST_X	Self Test Registers.
SELF_TEST_Y	Self Test Registers.
SELF_TEST_Z	Self Test Registers.
SELF_TEST_A	Self Test Registers.
SMPRT_DIV	Sample Rate Divider.
CONFIG	Configuration.
GYRO_CONFIG	Gyroscope Configuration.
ACCEL_CONFIG	Accelerometer Configuration.
FIFO_EN	FIFO Enable.
I2C_MST_CTRL	I2C Master Control.
I2C_SLV0_ADDR	I2C Slave 0 Address.
I2C_SLV0_REG	I2C Slave 0 Register.
I2C_SLV0_CTRL	I2C Slave 0 Control.
I2C_SLV1_ADDR	I2C Slave 1 Address.
I2C_SLV1_REG	I2C Slave 1 Register.
I2C_SLV1_CTRL	I2C Slave 1 Control.
I2C_SLV2_ADDR	I2C Slave 2 Address.
I2C_SLV2_REG	I2C Slave 2 Register.
I2C_SLV2_CTRL	I2C Slave 2 Control.
I2C_SLV3_ADDR	I2C Slave 3 Address.
I2C_SLV3_REG	I2C Slave 3 Register.
I2C_SLV3_CTRL	I2C Slave 3 Control.
I2C_SLV4_ADDR	I2C Slave 4 Address.
I2C_SLV4_REG	I2C Slave 4 Register.
I2C_SLV4_DO	I2C Slave 4 Data Out.
I2C_SLV4_CTRL	I2C Slave 4 Control.
I2C_SLV4_DI	I2C Slave 4 Data In.
I2C_MST_STATUS	I2C Master Status.
INT_PIN_CFG	INT Pin/Bypass Enable Configuration.
INT_ENABLE	Interrupt Enable.
INT_STATUS	Interrupt Status.
ACCEL_OUT	Accelerometer Measurements.
ACCEL_XOUT	X.
ACCEL_XOUT_H	X MSB.
ACCEL_XOUT_L	X LSB.
ACCEL_YOUT	Y.
ACCEL_YOUT_H	Y MSB.
ACCEL_YOUT_L	Y LSB.
ACCEL_ZOUT	Z.
ACCEL_ZOUT_H	Z MSB.
ACCEL_ZOUT_L	Z LSB.
TEMP_OUT	Temperature Measurement.
TEMP_OUT_H	Temp MSB.
TEMP_OUT_L	Temp LSB.
GYRO_OUT	Gyroscope Measurement.
GYRO_XOUT	X.
GYRO_XOUT_H	X MSB.
GYRO_XOUT_L	X LSB.
GYRO_YOUT	Y.
GYRO_YOUT_H	Y MSB.
GYRO_YOUT_L	Y LSB.
GYRO_ZOUT	Z.
GYRO_ZOUT_H	Z MSB.
GYRO_ZOUT_L	Z LSB.
EXT_SENS_DATA	External Sensor Data.
I2C_SLV0_DO	I2C Slave 0 Data Out.
I2C_SLV1_DO	I2C Slave 1 Data Out.
I2C_SLV2_DO	I2C Slave 2 Data Out.
I2C_SLV3_DO	I2C Slave 3 Data Out.
I2C_MST_DELAY_CTRL	I2C Master Delay Control.
SIGNAL_PATH_RESET	Signal Path Reset.
USER_CTRL	User Control.
PWR_MGMT_1	Power Management 1.
PWR_MGMT_2	Power Management 2.
FIFO_COUNT	FIFO Count Registers.
FIFO_COUNT_H	FIFO Count Registers MSB.
FIFO_COUNT_L	FIFO Count Registers LSB.
FIFO_R_W	FIFO Read Write.
WHO_AM_I	Who Am I.

Definition at line 125 of file MPU6050.hh.

Constructor & Destructor Documentation

MPU6050::MPU6050 ( uint8_t subaddr = 0 )

inline

Construct MPU6050 digital gyroscope driver with given sub-address. Default is zero(0).

Parameters

[in] subaddr sub-address (0..1, default 0)

Definition at line 60 of file MPU6050.hh.

Member Function Documentation

bool MPU6050::begin ( uint8_t clksel = CLKSEL_PLL_GYRO_X_REF )

Start interaction with device. Turn on measurements.

Parameters

[in] clksel clock source (default PLL with X axis gyroscope)

Returns: true(1) if successful otherwise false(0)

Definition at line 60 of file MPU6050.cpp.

bool MPU6050::end ( )

Stop sequence of interaction with device. Turn off measurements and power down.

Returns: true(1) if successful otherwise false(0)

Definition at line 84 of file MPU6050.cpp.

uint8_t MPU6050::read ( Register reg )

protected

Read contents of register.

Parameters

[in] reg register address.

Returns: register value.

Definition at line 40 of file MPU6050.cpp.

void MPU6050::read	(	Register	reg,
		void *	buffer,
		size_t	count
	)

protected

Read contents of registers, multiple values from give address.

Parameters

[in]	reg	register address.
[in]	buffer	storage.
[in]	count	number of bytes.

Definition at line 51 of file MPU6050.cpp.

void MPU6050::read_accelerometer ( sample_t & s )

Read accelerometer and return values in given sample data structure.

Parameters

[in,out] s sample storage.

Definition at line 106 of file MPU6050.cpp.

void MPU6050::read_gyroscope ( sample_t & s )

Read gyroscope and return values in given data structure

Parameters

[in,out] s sample storage.

Definition at line 113 of file MPU6050.cpp.

void MPU6050::read_motion ( motion_t & m )

Read accelerometer and return values in given sample data structure.

Parameters

[in,out] m samples storage.

Definition at line 98 of file MPU6050.cpp.

int16_t MPU6050::read_temperature ( )

Read temperature and return value in scale 0.1 Celcius.

Returns: temperature

Definition at line 90 of file MPU6050.cpp.

void MPU6050::write	(	Register	reg,
		uint8_t	value
	)

protected

Write given value to register.

Parameters

[in]	reg	register address.
[in]	value	register value.

Definition at line 24 of file MPU6050.cpp.

void MPU6050::write	(	Register	reg,
		void *	buffer,
		size_t	count
	)

protected

Write multiple registers with values from give address.

Parameters

[in]	reg	register address.
[in]	buffer	storage.
[in]	count	number of bytes.

Definition at line 32 of file MPU6050.cpp.

The documentation for this class was generated from the following files:

libraries/MPU6050/MPU6050.hh
libraries/MPU6050/MPU6050.cpp

Classes

Public Member Functions

Protected Types

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Circuit

References

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation