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LibDriver MPU6050
1.0.0
MPU6050 full-featured driver
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LibDriver MPU6050
1.0.0
MPU6050 full-featured driver
|
driver mpu6050 source file More...
Functions | |
| uint8_t | mpu6050_dmp_load_firmware (mpu6050_handle_t *handle) |
| load the dmp firmware More... | |
| uint8_t | mpu6050_dmp_set_pedometer_walk_time (mpu6050_handle_t *handle, uint32_t ms) |
| dmp set the pedometer walk time More... | |
| uint8_t | mpu6050_dmp_get_pedometer_walk_time (mpu6050_handle_t *handle, uint32_t *ms) |
| dmp get the pedometer walk time More... | |
| uint8_t | mpu6050_dmp_set_pedometer_step_count (mpu6050_handle_t *handle, uint32_t count) |
| dmp set the pedometer step count More... | |
| uint8_t | mpu6050_dmp_get_pedometer_step_count (mpu6050_handle_t *handle, uint32_t *count) |
| dmp get the pedometer step count More... | |
| uint8_t | mpu6050_dmp_set_shake_reject_timeout (mpu6050_handle_t *handle, uint16_t ms) |
| dmp set the shake reject timeout More... | |
| uint8_t | mpu6050_dmp_get_shake_reject_timeout (mpu6050_handle_t *handle, uint16_t *ms) |
| dmp get the shake reject timeout More... | |
| uint8_t | mpu6050_dmp_set_shake_reject_time (mpu6050_handle_t *handle, uint16_t ms) |
| dmp set the shake reject time More... | |
| uint8_t | mpu6050_dmp_get_shake_reject_time (mpu6050_handle_t *handle, uint16_t *ms) |
| dmp get the shake reject time More... | |
| uint8_t | mpu6050_dmp_set_shake_reject_thresh (mpu6050_handle_t *handle, uint16_t dps) |
| dmp set the shake reject thresh More... | |
| uint8_t | mpu6050_dmp_get_shake_reject_thresh (mpu6050_handle_t *handle, uint16_t *dps) |
| dmp get the shake reject thresh More... | |
| uint8_t | mpu6050_dmp_set_tap_time_multi (mpu6050_handle_t *handle, uint16_t ms) |
| dmp set max time between taps to register as a multi tap More... | |
| uint8_t | mpu6050_dmp_get_tap_time_multi (mpu6050_handle_t *handle, uint16_t *ms) |
| dmp get max time between taps to register as a multi tap More... | |
| uint8_t | mpu6050_dmp_set_tap_time (mpu6050_handle_t *handle, uint16_t ms) |
| dmp set the tap time More... | |
| uint8_t | mpu6050_dmp_get_tap_time (mpu6050_handle_t *handle, uint16_t *ms) |
| dmp get the tap time More... | |
| uint8_t | mpu6050_dmp_set_min_tap_count (mpu6050_handle_t *handle, uint8_t cnt) |
| dmp set the min tap count More... | |
| uint8_t | mpu6050_dmp_get_min_tap_count (mpu6050_handle_t *handle, uint8_t *cnt) |
| dmp get the min tap count More... | |
| uint8_t | mpu6050_dmp_set_gyro_calibrate (mpu6050_handle_t *handle, mpu6050_bool_t enable) |
| dmp enable or disable gyro calibrate More... | |
| uint8_t | mpu6050_dmp_set_3x_quaternion (mpu6050_handle_t *handle, mpu6050_bool_t enable) |
| dmp enable or disable generate 3 axis quaternions from dmp More... | |
| uint8_t | mpu6050_dmp_set_6x_quaternion (mpu6050_handle_t *handle, mpu6050_bool_t enable) |
| dmp enable or disable generate 6 axis quaternions from dmp More... | |
| uint8_t | mpu6050_dmp_set_interrupt_mode (mpu6050_handle_t *handle, mpu6050_dmp_interrupt_mode_t mode) |
| dmp set the interrupt mode More... | |
| uint8_t | mpu6050_dmp_set_gyro_bias (mpu6050_handle_t *handle, int32_t bias[3]) |
| dmp set the gyro bias More... | |
| uint8_t | mpu6050_dmp_set_accel_bias (mpu6050_handle_t *handle, int32_t bias[3]) |
| dmp set the accel bias More... | |
| uint8_t | mpu6050_dmp_set_orientation (mpu6050_handle_t *handle, int8_t mat[9]) |
| dmp set the orientation More... | |
| uint8_t | mpu6050_dmp_set_feature (mpu6050_handle_t *handle, uint16_t mask) |
| dmp enable or disable the dmp feature More... | |
| uint8_t | mpu6050_dmp_set_fifo_rate (mpu6050_handle_t *handle, uint16_t rate) |
| dmp set the fifo rate More... | |
| uint8_t | mpu6050_dmp_get_fifo_rate (mpu6050_handle_t *handle, uint16_t *rate) |
| dmp get the fifo rate More... | |
| uint8_t | mpu6050_dmp_set_tap_axes (mpu6050_handle_t *handle, mpu6050_axis_t axis, mpu6050_bool_t enable) |
| dmp enable or disable the tap axes More... | |
| uint8_t | mpu6050_dmp_get_tap_axes (mpu6050_handle_t *handle, mpu6050_axis_t axis, mpu6050_bool_t *enable) |
| dmp get the tap axes status More... | |
| uint8_t | mpu6050_dmp_set_tap_thresh (mpu6050_handle_t *handle, mpu6050_axis_t axis, uint16_t mg_ms) |
| dmp set the tap thresh More... | |
| uint8_t | mpu6050_dmp_get_tap_thresh (mpu6050_handle_t *handle, mpu6050_axis_t axis, uint16_t *mg_ms) |
| dmp get the tap thresh More... | |
| uint8_t | mpu6050_dmp_read (mpu6050_handle_t *handle, int16_t(*accel_raw)[3], float(*accel_g)[3], int16_t(*gyro_raw)[3], float(*gyro_dps)[3], int32_t(*quat)[4], float *pitch, float *roll, float *yaw, uint16_t *l) |
| dmp read the data More... | |
| uint8_t | mpu6050_dmp_set_tap_callback (mpu6050_handle_t *handle, void(*callback)(uint8_t count, uint8_t direction)) |
| dmp set the tap callback More... | |
| uint8_t | mpu6050_dmp_set_orient_callback (mpu6050_handle_t *handle, void(*callback)(uint8_t orientation)) |
| dmp set the orient callback More... | |
| uint8_t | mpu6050_dmp_set_enable (mpu6050_handle_t *handle, mpu6050_bool_t enable) |
| enable or disable the dmp More... | |
| uint8_t | mpu6050_dmp_gyro_accel_raw_offset_convert (mpu6050_handle_t *handle, int32_t gyro_offset_raw[3], int32_t accel_offset_raw[3], int32_t gyro_offset[3], int32_t accel_offset[3]) |
| dmp gyro accel raw offset convert More... | |
| uint8_t | mpu6050_set_addr_pin (mpu6050_handle_t *handle, mpu6050_address_t addr_pin) |
| set the chip address pin More... | |
| uint8_t | mpu6050_get_addr_pin (mpu6050_handle_t *handle, mpu6050_address_t *addr_pin) |
| get the chip address pin More... | |
| uint8_t | mpu6050_init (mpu6050_handle_t *handle) |
| initialize the chip More... | |
| uint8_t | mpu6050_deinit (mpu6050_handle_t *handle) |
| close the chip More... | |
| uint8_t | mpu6050_read (mpu6050_handle_t *handle, int16_t(*accel_raw)[3], float(*accel_g)[3], int16_t(*gyro_raw)[3], float(*gyro_dps)[3], uint16_t *len) |
| read the data More... | |
| uint8_t | mpu6050_read_temperature (mpu6050_handle_t *handle, int16_t(*raw), float *degrees) |
| read the temperature More... | |
| uint8_t | mpu6050_irq_handler (mpu6050_handle_t *handle) |
| irq handler More... | |
| uint8_t | mpu6050_set_fifo (mpu6050_handle_t *handle, mpu6050_bool_t enable) |
| enable or disable fifo More... | |
| uint8_t | mpu6050_get_fifo (mpu6050_handle_t *handle, mpu6050_bool_t *enable) |
| get the fifo status More... | |
| uint8_t | mpu6050_force_fifo_reset (mpu6050_handle_t *handle) |
| force reset the fifo More... | |
| uint8_t | mpu6050_set_iic_master (mpu6050_handle_t *handle, mpu6050_bool_t enable) |
| enable or disable the iic master mode More... | |
| uint8_t | mpu6050_get_iic_master (mpu6050_handle_t *handle, mpu6050_bool_t *enable) |
| get the iic master status More... | |
| uint8_t | mpu6050_fifo_reset (mpu6050_handle_t *handle) |
| reset the fifo More... | |
| uint8_t | mpu6050_get_fifo_reset (mpu6050_handle_t *handle, mpu6050_bool_t *enable) |
| get the fifo reset status More... | |
| uint8_t | mpu6050_iic_master_reset (mpu6050_handle_t *handle) |
| reset the iic master controller More... | |
| uint8_t | mpu6050_get_iic_master_reset (mpu6050_handle_t *handle, mpu6050_bool_t *enable) |
| get the iic master reset status More... | |
| uint8_t | mpu6050_sensor_reset (mpu6050_handle_t *handle) |
| reset all sensors More... | |
| uint8_t | mpu6050_get_sensor_reset (mpu6050_handle_t *handle, mpu6050_bool_t *enable) |
| get the sensor reset status More... | |
| uint8_t | mpu6050_device_reset (mpu6050_handle_t *handle) |
| reset the chip More... | |
| uint8_t | mpu6050_get_device_reset (mpu6050_handle_t *handle, mpu6050_bool_t *enable) |
| get the device reset status More... | |
| uint8_t | mpu6050_set_clock_source (mpu6050_handle_t *handle, mpu6050_clock_source_t clock_source) |
| set the chip clock source More... | |
| uint8_t | mpu6050_get_clock_source (mpu6050_handle_t *handle, mpu6050_clock_source_t *clock_source) |
| get the chip clock source More... | |
| uint8_t | mpu6050_set_temperature_sensor (mpu6050_handle_t *handle, mpu6050_bool_t enable) |
| enable or disable the temperature sensor More... | |
| uint8_t | mpu6050_get_temperature_sensor (mpu6050_handle_t *handle, mpu6050_bool_t *enable) |
| get the temperature sensor status More... | |
| uint8_t | mpu6050_set_cycle_wake_up (mpu6050_handle_t *handle, mpu6050_bool_t enable) |
| enable or disable the cycle wake up mode More... | |
| uint8_t | mpu6050_get_cycle_wake_up (mpu6050_handle_t *handle, mpu6050_bool_t *enable) |
| get the cycle wake up mode status More... | |
| uint8_t | mpu6050_set_sleep (mpu6050_handle_t *handle, mpu6050_bool_t enable) |
| enable or disable the sleep mode More... | |
| uint8_t | mpu6050_get_sleep (mpu6050_handle_t *handle, mpu6050_bool_t *enable) |
| get the sleep status More... | |
| uint8_t | mpu6050_set_standby_mode (mpu6050_handle_t *handle, mpu6050_source_t source, mpu6050_bool_t enable) |
| set source into standby mode More... | |
| uint8_t | mpu6050_get_standby_mode (mpu6050_handle_t *handle, mpu6050_source_t source, mpu6050_bool_t *enable) |
| get the source mode More... | |
| uint8_t | mpu6050_set_wake_up_frequency (mpu6050_handle_t *handle, mpu6050_wake_up_frequency_t frequency) |
| set the wake up frequency More... | |
| uint8_t | mpu6050_get_wake_up_frequency (mpu6050_handle_t *handle, mpu6050_wake_up_frequency_t *frequency) |
| get the wake up frequency More... | |
| uint8_t | mpu6050_get_fifo_count (mpu6050_handle_t *handle, uint16_t *count) |
| get the fifo counter value More... | |
| uint8_t | mpu6050_fifo_get (mpu6050_handle_t *handle, uint8_t *buf, uint16_t len) |
| fifo read bytes More... | |
| uint8_t | mpu6050_fifo_set (mpu6050_handle_t *handle, uint8_t *buf, uint16_t len) |
| fifo write bytes More... | |
| uint8_t | mpu6050_set_signal_path_reset (mpu6050_handle_t *handle, mpu6050_signal_path_reset_t path) |
| set the signal path reset More... | |
| uint8_t | mpu6050_set_sample_rate_divider (mpu6050_handle_t *handle, uint8_t d) |
| set the sample rate divider More... | |
| uint8_t | mpu6050_get_sample_rate_divider (mpu6050_handle_t *handle, uint8_t *d) |
| get the sample rate divider More... | |
| uint8_t | mpu6050_set_extern_sync (mpu6050_handle_t *handle, mpu6050_extern_sync_t sync) |
| set the extern sync type More... | |
| uint8_t | mpu6050_get_extern_sync (mpu6050_handle_t *handle, mpu6050_extern_sync_t *sync) |
| get the extern sync type More... | |
| uint8_t | mpu6050_set_low_pass_filter (mpu6050_handle_t *handle, mpu6050_low_pass_filter_t filter) |
| set the low pass filter More... | |
| uint8_t | mpu6050_get_low_pass_filter (mpu6050_handle_t *handle, mpu6050_low_pass_filter_t *filter) |
| get the low pass filter More... | |
| uint8_t | mpu6050_set_gyroscope_test (mpu6050_handle_t *handle, mpu6050_axis_t axis, mpu6050_bool_t enable) |
| set the gyroscope test More... | |
| uint8_t | mpu6050_get_gyroscope_test (mpu6050_handle_t *handle, mpu6050_axis_t axis, mpu6050_bool_t *enable) |
| get the gyroscope test More... | |
| uint8_t | mpu6050_set_gyroscope_range (mpu6050_handle_t *handle, mpu6050_gyroscope_range_t range) |
| set the gyroscope range More... | |
| uint8_t | mpu6050_get_gyroscope_range (mpu6050_handle_t *handle, mpu6050_gyroscope_range_t *range) |
| get the gyroscope range More... | |
| uint8_t | mpu6050_set_accelerometer_test (mpu6050_handle_t *handle, mpu6050_axis_t axis, mpu6050_bool_t enable) |
| set the accelerometer test More... | |
| uint8_t | mpu6050_get_accelerometer_test (mpu6050_handle_t *handle, mpu6050_axis_t axis, mpu6050_bool_t *enable) |
| get the accelerometer test More... | |
| uint8_t | mpu6050_set_accelerometer_range (mpu6050_handle_t *handle, mpu6050_accelerometer_range_t range) |
| set the accelerometer range More... | |
| uint8_t | mpu6050_get_accelerometer_range (mpu6050_handle_t *handle, mpu6050_accelerometer_range_t *range) |
| get the accelerometer range More... | |
| uint8_t | mpu6050_set_fifo_enable (mpu6050_handle_t *handle, mpu6050_fifo_t fifo, mpu6050_bool_t enable) |
| enable or disable the fifo function More... | |
| uint8_t | mpu6050_get_fifo_enable (mpu6050_handle_t *handle, mpu6050_fifo_t fifo, mpu6050_bool_t *enable) |
| get the fifo function status More... | |
| uint8_t | mpu6050_set_interrupt_level (mpu6050_handle_t *handle, mpu6050_pin_level_t level) |
| set the interrupt level More... | |
| uint8_t | mpu6050_get_interrupt_level (mpu6050_handle_t *handle, mpu6050_pin_level_t *level) |
| get the interrupt level More... | |
| uint8_t | mpu6050_set_interrupt_pin_type (mpu6050_handle_t *handle, mpu6050_pin_type_t type) |
| set the interrupt pin type More... | |
| uint8_t | mpu6050_get_interrupt_pin_type (mpu6050_handle_t *handle, mpu6050_pin_type_t *type) |
| get the interrupt pin type More... | |
| uint8_t | mpu6050_set_interrupt_latch (mpu6050_handle_t *handle, mpu6050_bool_t enable) |
| enable or disable the interrupt latch More... | |
| uint8_t | mpu6050_get_interrupt_latch (mpu6050_handle_t *handle, mpu6050_bool_t *enable) |
| get the interrupt latch status More... | |
| uint8_t | mpu6050_set_interrupt_read_clear (mpu6050_handle_t *handle, mpu6050_bool_t enable) |
| enable or disable the interrupt reading clear More... | |
| uint8_t | mpu6050_get_interrupt_read_clear (mpu6050_handle_t *handle, mpu6050_bool_t *enable) |
| get the interrupt reading clear status More... | |
| uint8_t | mpu6050_set_fsync_interrupt_level (mpu6050_handle_t *handle, mpu6050_pin_level_t level) |
| set the fsync interrupt level More... | |
| uint8_t | mpu6050_get_fsync_interrupt_level (mpu6050_handle_t *handle, mpu6050_pin_level_t *level) |
| get the fsync interrupt level More... | |
| uint8_t | mpu6050_set_fsync_interrupt (mpu6050_handle_t *handle, mpu6050_bool_t enable) |
| enable or disable the fsync interrupt More... | |
| uint8_t | mpu6050_get_fsync_interrupt (mpu6050_handle_t *handle, mpu6050_bool_t *enable) |
| get the fsync interrupt status More... | |
| uint8_t | mpu6050_set_iic_bypass (mpu6050_handle_t *handle, mpu6050_bool_t enable) |
| enable or disable the iic bypass More... | |
| uint8_t | mpu6050_get_iic_bypass (mpu6050_handle_t *handle, mpu6050_bool_t *enable) |
| get the iic bypass status More... | |
| uint8_t | mpu6050_set_interrupt (mpu6050_handle_t *handle, mpu6050_interrupt_t type, mpu6050_bool_t enable) |
| enable or disable the interrupt More... | |
| uint8_t | mpu6050_get_interrupt (mpu6050_handle_t *handle, mpu6050_interrupt_t type, mpu6050_bool_t *enable) |
| get the interrupt status More... | |
| uint8_t | mpu6050_get_interrupt_status (mpu6050_handle_t *handle, uint8_t *status) |
| get the interrupt status More... | |
| uint8_t | mpu6050_set_gyroscope_x_test (mpu6050_handle_t *handle, uint8_t data) |
| set the gyroscope x test More... | |
| uint8_t | mpu6050_get_gyroscope_x_test (mpu6050_handle_t *handle, uint8_t *data) |
| get the gyroscope x test More... | |
| uint8_t | mpu6050_set_gyroscope_y_test (mpu6050_handle_t *handle, uint8_t data) |
| set the gyroscope y test More... | |
| uint8_t | mpu6050_get_gyroscope_y_test (mpu6050_handle_t *handle, uint8_t *data) |
| get the gyroscope y test More... | |
| uint8_t | mpu6050_set_gyroscope_z_test (mpu6050_handle_t *handle, uint8_t data) |
| set the gyroscope z test More... | |
| uint8_t | mpu6050_get_gyroscope_z_test (mpu6050_handle_t *handle, uint8_t *data) |
| get the gyroscope z test More... | |
| uint8_t | mpu6050_set_accelerometer_x_test (mpu6050_handle_t *handle, uint8_t data) |
| set the accelerometer x test More... | |
| uint8_t | mpu6050_get_accelerometer_x_test (mpu6050_handle_t *handle, uint8_t *data) |
| get the accelerometer x test More... | |
| uint8_t | mpu6050_set_accelerometer_y_test (mpu6050_handle_t *handle, uint8_t data) |
| set the accelerometer y test More... | |
| uint8_t | mpu6050_get_accelerometer_y_test (mpu6050_handle_t *handle, uint8_t *data) |
| get the accelerometer y test More... | |
| uint8_t | mpu6050_set_accelerometer_z_test (mpu6050_handle_t *handle, uint8_t data) |
| set the accelerometer z test More... | |
| uint8_t | mpu6050_get_accelerometer_z_test (mpu6050_handle_t *handle, uint8_t *data) |
| get the accelerometer z test More... | |
| uint8_t | mpu6050_set_motion_threshold (mpu6050_handle_t *handle, uint8_t threshold) |
| set the motion_threshold More... | |
| uint8_t | mpu6050_get_motion_threshold (mpu6050_handle_t *handle, uint8_t *threshold) |
| get the motion_threshold More... | |
| uint8_t | mpu6050_motion_threshold_convert_to_register (mpu6050_handle_t *handle, float mg, uint8_t *reg) |
| convert the motion threshold to the register raw data More... | |
| uint8_t | mpu6050_motion_threshold_convert_to_data (mpu6050_handle_t *handle, uint8_t reg, float *mg) |
| convert the register raw data to the motion threshold More... | |
| uint8_t | mpu6050_set_motion_duration (mpu6050_handle_t *handle, uint8_t duration) |
| set the motion duration More... | |
| uint8_t | mpu6050_get_motion_duration (mpu6050_handle_t *handle, uint8_t *duration) |
| get the motion duration More... | |
| uint8_t | mpu6050_motion_duration_convert_to_register (mpu6050_handle_t *handle, uint8_t ms, uint8_t *reg) |
| convert the motion duration to the register raw data More... | |
| uint8_t | mpu6050_motion_duration_convert_to_data (mpu6050_handle_t *handle, uint8_t reg, uint8_t *ms) |
| convert the register raw data to the motion duration More... | |
| uint8_t | mpu6050_set_force_accel_sample (mpu6050_handle_t *handle, mpu6050_bool_t enable) |
| enable or disable force accel sample More... | |
| uint8_t | mpu6050_self_test (mpu6050_handle_t *handle, int32_t gyro_offset_raw[3], int32_t accel_offset_raw[3]) |
| run the self test More... | |
| uint8_t | mpu6050_set_iic_clock (mpu6050_handle_t *handle, mpu6050_iic_clock_t clk) |
| set the iic clock More... | |
| uint8_t | mpu6050_get_iic_clock (mpu6050_handle_t *handle, mpu6050_iic_clock_t *clk) |
| get the iic clock More... | |
| uint8_t | mpu6050_set_iic_multi_master (mpu6050_handle_t *handle, mpu6050_bool_t enable) |
| enable or disable iic multi master More... | |
| uint8_t | mpu6050_get_iic_multi_master (mpu6050_handle_t *handle, mpu6050_bool_t *enable) |
| get the iic multi master status More... | |
| uint8_t | mpu6050_set_iic_wait_for_external_sensor (mpu6050_handle_t *handle, mpu6050_bool_t enable) |
| enable or disable iic wait for external sensor More... | |
| uint8_t | mpu6050_get_iic_wait_for_external_sensor (mpu6050_handle_t *handle, mpu6050_bool_t *enable) |
| get the iic wait for external sensor status More... | |
| uint8_t | mpu6050_set_iic_read_mode (mpu6050_handle_t *handle, mpu6050_iic_read_mode_t mode) |
| set the iic read mode More... | |
| uint8_t | mpu6050_get_iic_read_mode (mpu6050_handle_t *handle, mpu6050_iic_read_mode_t *mode) |
| get the iic read mode More... | |
| uint8_t | mpu6050_set_iic_fifo_enable (mpu6050_handle_t *handle, mpu6050_iic_slave_t slave, mpu6050_bool_t enable) |
| enable or disable the iic fifo More... | |
| uint8_t | mpu6050_get_iic_fifo_enable (mpu6050_handle_t *handle, mpu6050_iic_slave_t slave, mpu6050_bool_t *enable) |
| get the iic fifo status More... | |
| uint8_t | mpu6050_set_iic_mode (mpu6050_handle_t *handle, mpu6050_iic_slave_t slave, mpu6050_iic_mode_t mode) |
| set the iic mode More... | |
| uint8_t | mpu6050_get_iic_mode (mpu6050_handle_t *handle, mpu6050_iic_slave_t slave, mpu6050_iic_mode_t *mode) |
| get the iic mode More... | |
| uint8_t | mpu6050_set_iic_address (mpu6050_handle_t *handle, mpu6050_iic_slave_t slave, uint8_t addr_7bit) |
| set the iic address More... | |
| uint8_t | mpu6050_get_iic_address (mpu6050_handle_t *handle, mpu6050_iic_slave_t slave, uint8_t *addr_7bit) |
| get the iic address More... | |
| uint8_t | mpu6050_set_iic_register (mpu6050_handle_t *handle, mpu6050_iic_slave_t slave, uint8_t reg) |
| set the iic register More... | |
| uint8_t | mpu6050_get_iic_register (mpu6050_handle_t *handle, mpu6050_iic_slave_t slave, uint8_t *reg) |
| get the iic register More... | |
| uint8_t | mpu6050_set_iic_data_out (mpu6050_handle_t *handle, mpu6050_iic_slave_t slave, uint8_t data) |
| set the iic data out More... | |
| uint8_t | mpu6050_get_iic_data_out (mpu6050_handle_t *handle, mpu6050_iic_slave_t slave, uint8_t *data) |
| get the iic data out More... | |
| uint8_t | mpu6050_set_iic_enable (mpu6050_handle_t *handle, mpu6050_iic_slave_t slave, mpu6050_bool_t enable) |
| enable or disable the iic More... | |
| uint8_t | mpu6050_get_iic_enable (mpu6050_handle_t *handle, mpu6050_iic_slave_t slave, mpu6050_bool_t *enable) |
| get the iic status More... | |
| uint8_t | mpu6050_set_iic_byte_swap (mpu6050_handle_t *handle, mpu6050_iic_slave_t slave, mpu6050_bool_t enable) |
| enable or disable the iic byte swap More... | |
| uint8_t | mpu6050_get_iic_byte_swap (mpu6050_handle_t *handle, mpu6050_iic_slave_t slave, mpu6050_bool_t *enable) |
| get the iic byte swap status More... | |
| uint8_t | mpu6050_set_iic_transaction_mode (mpu6050_handle_t *handle, mpu6050_iic_slave_t slave, mpu6050_iic_transaction_mode_t mode) |
| set the iic transaction mode More... | |
| uint8_t | mpu6050_get_iic_transaction_mode (mpu6050_handle_t *handle, mpu6050_iic_slave_t slave, mpu6050_iic_transaction_mode_t *mode) |
| get the iic transaction mode More... | |
| uint8_t | mpu6050_set_iic_group_order (mpu6050_handle_t *handle, mpu6050_iic_slave_t slave, mpu6050_iic_group_order_t order) |
| set the iic group order More... | |
| uint8_t | mpu6050_get_iic_group_order (mpu6050_handle_t *handle, mpu6050_iic_slave_t slave, mpu6050_iic_group_order_t *order) |
| get the iic group order More... | |
| uint8_t | mpu6050_set_iic_transferred_len (mpu6050_handle_t *handle, mpu6050_iic_slave_t slave, uint8_t len) |
| set the iic transferred length More... | |
| uint8_t | mpu6050_get_iic_transferred_len (mpu6050_handle_t *handle, mpu6050_iic_slave_t slave, uint8_t *len) |
| get the iic transferred length More... | |
| uint8_t | mpu6050_get_iic_status (mpu6050_handle_t *handle, uint8_t *status) |
| get the iic status More... | |
| uint8_t | mpu6050_set_iic_delay_enable (mpu6050_handle_t *handle, mpu6050_iic_delay_t delay, mpu6050_bool_t enable) |
| enable or disable the iic delay More... | |
| uint8_t | mpu6050_get_iic_delay_enable (mpu6050_handle_t *handle, mpu6050_iic_delay_t delay, mpu6050_bool_t *enable) |
| get the iic delay status More... | |
| uint8_t | mpu6050_set_iic4_enable (mpu6050_handle_t *handle, mpu6050_bool_t enable) |
| enable or disable the iic4 More... | |
| uint8_t | mpu6050_get_iic4_enable (mpu6050_handle_t *handle, mpu6050_bool_t *enable) |
| get the iic4 status More... | |
| uint8_t | mpu6050_set_iic4_interrupt (mpu6050_handle_t *handle, mpu6050_bool_t enable) |
| enable or disable the iic4 interrupt More... | |
| uint8_t | mpu6050_get_iic4_interrupt (mpu6050_handle_t *handle, mpu6050_bool_t *enable) |
| get the iic4 interrupt status More... | |
| uint8_t | mpu6050_set_iic4_transaction_mode (mpu6050_handle_t *handle, mpu6050_iic4_transaction_mode_t mode) |
| set the iic4 transaction mode More... | |
| uint8_t | mpu6050_get_iic4_transaction_mode (mpu6050_handle_t *handle, mpu6050_iic4_transaction_mode_t *mode) |
| get the iic4 transaction mode More... | |
| uint8_t | mpu6050_set_iic_delay (mpu6050_handle_t *handle, uint8_t delay) |
| set the iic delay More... | |
| uint8_t | mpu6050_get_iic_delay (mpu6050_handle_t *handle, uint8_t *delay) |
| get the iic delay More... | |
| uint8_t | mpu6050_set_iic4_data_out (mpu6050_handle_t *handle, uint8_t data) |
| set the iic4 data out More... | |
| uint8_t | mpu6050_get_iic4_data_out (mpu6050_handle_t *handle, uint8_t *data) |
| get the iic4 data out More... | |
| uint8_t | mpu6050_set_iic4_data_in (mpu6050_handle_t *handle, uint8_t data) |
| set the iic4 data in More... | |
| uint8_t | mpu6050_get_iic4_data_in (mpu6050_handle_t *handle, uint8_t *data) |
| get the iic4 data in More... | |
| uint8_t | mpu6050_read_extern_sensor_data (mpu6050_handle_t *handle, uint8_t *data, uint8_t len) |
| read the extern sensor data More... | |
| uint8_t | mpu6050_set_reg (mpu6050_handle_t *handle, uint8_t reg, uint8_t *buf, uint16_t len) |
| set the chip register More... | |
| uint8_t | mpu6050_get_reg (mpu6050_handle_t *handle, uint8_t reg, uint8_t *buf, uint16_t len) |
| get the chip register More... | |
| uint8_t | mpu6050_info (mpu6050_info_t *info) |
| get the chip's information More... | |
driver mpu6050 source file
Copyright (c) 2015 - present LibDriver All rights reserved
The MIT License (MIT)
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
| Date | Version | Author | Description |
|---|---|---|---|
| 2022/06/30 | 1.0 | Shifeng Li | first upload |
| #define CHIP_NAME "TDK MPU6050" |
chip information definition
chip name
| #define DRIVER_VERSION 1000 |
driver version
| #define MANUFACTURER_NAME "TDK" |
manufacturer name
| #define MAX_CURRENT 3.9f |
chip max current
| #define MIN | ( | a, | |
| b | |||
| ) | (((a) < (b)) ? (a) : (b)) |
inner function definition
min function
| #define MPU6050_DMP_CFG_15 2727 |
cfg 15 register
| #define MPU6050_DMP_CFG_20 2224 |
cfg 20 register
| #define MPU6050_DMP_CFG_27 2742 |
cfg 27 register
| #define MPU6050_DMP_CFG_6 2753 |
cfg 6 register
| #define MPU6050_DMP_CFG_8 2718 |
cfg 8 register
| #define MPU6050_DMP_CFG_FIFO_ON_EVENT 2690 |
fifo on event register
| #define MPU6050_DMP_CFG_GYRO_RAW_DATA 2722 |
cfg gyro raw data register
| #define MPU6050_DMP_CFG_LP_QUAT 2712 |
lp quat register
| #define MPU6050_DMP_CFG_MOTION_BIAS 1208 |
motion bias register
| #define MPU6050_DMP_CFG_ORIENT_INT 1853 |
cfg orient int register
| #define MPU6050_DMP_D_0_104 104 |
104 register
| #define MPU6050_DMP_D_0_22 (512 + 22) |
22 register
| #define MPU6050_DMP_D_1_218 (256 + 218) |
218 register
| #define MPU6050_DMP_D_1_36 (256 + 36) |
36 register
| #define MPU6050_DMP_D_1_40 (256 + 40) |
40 register
| #define MPU6050_DMP_D_1_44 (256 + 44) |
44 register
| #define MPU6050_DMP_D_1_72 (256 + 72) |
72 register
| #define MPU6050_DMP_D_1_79 (256 + 79) |
79 register
| #define MPU6050_DMP_D_1_88 (256 + 88) |
88 register
| #define MPU6050_DMP_D_1_90 (256 + 90) |
90 register
| #define MPU6050_DMP_D_1_92 (256 + 92) |
92 register
| #define MPU6050_DMP_D_ACCEL_BIAS 660 |
accel bias register
| #define MPU6050_DMP_D_EXT_GYRO_BIAS_X (61 * 16) |
gyro bias x register
| #define MPU6050_DMP_D_EXT_GYRO_BIAS_Y (61 * 16 + 4) |
gyro bias y register
| #define MPU6050_DMP_D_EXT_GYRO_BIAS_Z (61 * 16 + 8) |
gyro bias z register
| #define MPU6050_DMP_D_PEDSTD_STEPCTR (768 + 0x60) |
step counter mem register
| #define MPU6050_DMP_D_PEDSTD_TIMECTR 964 |
walk time mem register
| #define MPU6050_DMP_FCFG_1 1062 |
fcfg 1 register
| #define MPU6050_DMP_FCFG_2 1066 |
fcfg 2 register
| #define MPU6050_DMP_FCFG_3 1088 |
fcfg 3 register
| #define MPU6050_DMP_FCFG_7 1073 |
fcfg 7 register
| #define MPU6050_DMP_FEATURE_SEND_ANY_GYRO |
send any gyro register
| #define MPU6050_DMP_GYRO_SF (46850825LL * 200 / MPU6050_DMP_SAMPLE_RATE) |
gyro sf
| #define MPU6050_DMP_INT_SRC_ORIENT 0x08 |
int src orient
| #define MPU6050_DMP_INT_SRC_TAP 0x01 |
int src tap
| #define MPU6050_DMP_QUAT_ERROR_THRESH (1L << 24) |
quat error thresh
| #define MPU6050_DMP_QUAT_MAG_SQ_MAX |
quat mag sq max
| #define MPU6050_DMP_QUAT_MAG_SQ_MIN |
quat mag sq min
| #define MPU6050_DMP_QUAT_MAG_SQ_NORMALIZED (1L << 28) |
quat mag sq normalized
| #define MPU6050_DMP_SAMPLE_RATE 200 |
mpu6050 dmp code definition
sample rate
| #define MPU6050_DMP_SHAKE_REJECT_THRESH 200 |
200 ms
| #define MPU6050_DMP_SHAKE_REJECT_TIME 40 |
40 ms
| #define MPU6050_DMP_SHAKE_REJECT_TIMEOUT 10 |
10 ms
| #define MPU6050_DMP_TAP_MIN_TAP_COUNT 1 |
1
| #define MPU6050_DMP_TAP_THRESH 250 |
250 mg/ms
| #define MPU6050_DMP_TAP_THX 468 |
tap threshold x register
| #define MPU6050_DMP_TAP_THY 472 |
tap threshold y register
| #define MPU6050_DMP_TAP_THZ 476 |
tap threshold z register
| #define MPU6050_DMP_TAP_TIME 100 |
100 ms
| #define MPU6050_DMP_TAP_TIME_MULTI 200 |
200 ms
| #define MPU6050_DMP_TAPW_MIN 478 |
tap time min register
| #define MPU6050_REG_ACCEL_CONFIG 0x1C |
accel configure register
| #define MPU6050_REG_ACCEL_XOUT_H 0x3B |
accel xout high register
| #define MPU6050_REG_ACCEL_XOUT_L 0x3C |
accel xout low register
| #define MPU6050_REG_ACCEL_YOUT_H 0x3D |
accel yout high register
| #define MPU6050_REG_ACCEL_YOUT_L 0x3E |
accel yout low register
| #define MPU6050_REG_ACCEL_ZOUT_H 0x3F |
accel zout high register
| #define MPU6050_REG_ACCEL_ZOUT_L 0x40 |
accel zout low register
| #define MPU6050_REG_BANK_SEL 0x6D |
bank sel register
| #define MPU6050_REG_CONFIG 0x1A |
configure register
| #define MPU6050_REG_EXT_SENS_DATA_00 0x49 |
extern sensor data 00 register
| #define MPU6050_REG_FIFO_COUNTH 0x72 |
fifo count high threshold register
| #define MPU6050_REG_FIFO_COUNTL 0x73 |
fifo count low threshold register
| #define MPU6050_REG_FIFO_EN 0x23 |
fifo enable register
| #define MPU6050_REG_GYRO_CONFIG 0x1B |
gyro configure register
| #define MPU6050_REG_GYRO_XOUT_H 0x43 |
gyro xout high register
| #define MPU6050_REG_GYRO_XOUT_L 0x44 |
gyro xout low register
| #define MPU6050_REG_GYRO_YOUT_H 0x45 |
gyro yout high register
| #define MPU6050_REG_GYRO_YOUT_L 0x46 |
gyro yout low register
| #define MPU6050_REG_GYRO_ZOUT_H 0x47 |
gyro zout high register
| #define MPU6050_REG_GYRO_ZOUT_L 0x48 |
gyro zout low register
| #define MPU6050_REG_I2C_MST_CTRL 0x24 |
i2c master ctrl register
| #define MPU6050_REG_I2C_MST_DELAY_CTRL 0x67 |
i2c master delay ctrl register
| #define MPU6050_REG_I2C_MST_STATUS 0x36 |
i2c master status register
| #define MPU6050_REG_I2C_SLV0_ADDR 0x25 |
iic slave0 address register
| #define MPU6050_REG_I2C_SLV0_CTRL 0x27 |
iic slave0 ctrl register
| #define MPU6050_REG_I2C_SLV0_DO 0x63 |
iic slave0 do register
| #define MPU6050_REG_I2C_SLV0_REG 0x26 |
iic slave0 reg register
| #define MPU6050_REG_I2C_SLV1_ADDR 0x28 |
iic slave1 address register
| #define MPU6050_REG_I2C_SLV1_CTRL 0x2A |
iic slave1 ctrl register
| #define MPU6050_REG_I2C_SLV1_DO 0x64 |
iic slave1 do register
| #define MPU6050_REG_I2C_SLV1_REG 0x29 |
iic slave1 reg register
| #define MPU6050_REG_I2C_SLV2_ADDR 0x2B |
iic slave2 address register
| #define MPU6050_REG_I2C_SLV2_CTRL 0x2D |
iic slave2 ctrl register
| #define MPU6050_REG_I2C_SLV2_DO 0x65 |
iic slave2 do register
| #define MPU6050_REG_I2C_SLV2_REG 0x2C |
iic slave2 reg register
| #define MPU6050_REG_I2C_SLV3_ADDR 0x2E |
iic slave3 address register
| #define MPU6050_REG_I2C_SLV3_CTRL 0x30 |
iic slave3 ctrl register
| #define MPU6050_REG_I2C_SLV3_DO 0x66 |
iic slave3 do register
| #define MPU6050_REG_I2C_SLV3_REG 0x2F |
iic slave3 reg register
| #define MPU6050_REG_I2C_SLV4_ADDR 0x31 |
iic slave4 address register
| #define MPU6050_REG_I2C_SLV4_CTRL 0x34 |
iic slave4 ctrl register
| #define MPU6050_REG_I2C_SLV4_DI 0x35 |
iic slave4 di register
| #define MPU6050_REG_I2C_SLV4_DO 0x33 |
iic slave4 do register
| #define MPU6050_REG_I2C_SLV4_REG 0x32 |
iic slave4 reg register
| #define MPU6050_REG_INT_ENABLE 0x38 |
interrupt enable register
| #define MPU6050_REG_INT_PIN_CFG 0x37 |
interrupt pin configure register
| #define MPU6050_REG_INT_STATUS 0x3A |
interrupt status register
| #define MPU6050_REG_MEM 0x6F |
memory register
| #define MPU6050_REG_MOTION_DURATION 0x20 |
motion duration register
| #define MPU6050_REG_MOTION_THRESHOLD 0x1F |
motion threshold register
| #define MPU6050_REG_PROGRAM_START 0x70 |
program start register
| #define MPU6050_REG_PWR_MGMT_1 0x6B |
power management 1 register
| #define MPU6050_REG_PWR_MGMT_2 0x6C |
power management 2 register
| #define MPU6050_REG_R_W 0x74 |
fifo read write data register
| #define MPU6050_REG_SELF_TEST_A 0x10 |
self test a register
| #define MPU6050_REG_SELF_TEST_X 0x0D |
chip register definition
self test x register
| #define MPU6050_REG_SELF_TEST_Y 0x0E |
self test y register
| #define MPU6050_REG_SELF_TEST_Z 0x0F |
self test z register
| #define MPU6050_REG_SIGNAL_PATH_RESET 0x68 |
signal path reset register
| #define MPU6050_REG_SMPRT_DIV 0x19 |
smprt div register
| #define MPU6050_REG_TEMP_OUT_H 0x41 |
temp high register
| #define MPU6050_REG_TEMP_OUT_L 0x42 |
temp low register
| #define MPU6050_REG_USER_CTRL 0x6A |
user ctrl register
| #define MPU6050_REG_WHO_AM_I 0x75 |
who am I register
| #define SUPPLY_VOLTAGE_MAX 3.46f |
chip max supply voltage
| #define SUPPLY_VOLTAGE_MIN 2.375f |
chip min supply voltage
| #define TEMPERATURE_MAX 85.0f |
chip max operating temperature
| #define TEMPERATURE_MIN -40.0f |
chip min operating temperature
1.9.1