mpu6050 basic driver function

mpu6050 basic driver modules More...

Data Structures
struct	mpu6050_handle_s
	mpu6050 handle structure definition More...
struct	mpu6050_info_s
	mpu6050 information structure definition More...

Typedefs
typedef struct mpu6050_handle_s	mpu6050_handle_t
	mpu6050 handle structure definition
typedef struct mpu6050_info_s	mpu6050_info_t
	mpu6050 information structure definition

Enumerations
enum	mpu6050_address_t { MPU6050_ADDRESS_AD0_LOW = 0xD0 , MPU6050_ADDRESS_AD0_HIGH = 0xD2 }
	mpu6050 address enumeration definition More...
enum	mpu6050_wake_up_frequency_t { MPU6050_WAKE_UP_FREQUENCY_1P25_HZ = 0x00 , MPU6050_WAKE_UP_FREQUENCY_5_HZ = 0x01 , MPU6050_WAKE_UP_FREQUENCY_20_HZ = 0x02 , MPU6050_WAKE_UP_FREQUENCY_40_HZ = 0x03 }
	mpu6050 wake up frequency enumeration definition More...
enum	mpu6050_bool_t { MPU6050_BOOL_FALSE = 0x00 , MPU6050_BOOL_TRUE = 0x01 }
	mpu6050 bool enumeration definition More...
enum	mpu6050_source_t {   MPU6050_SOURCE_ACC_X = 0x05 , MPU6050_SOURCE_ACC_Y = 0x04 , MPU6050_SOURCE_ACC_Z = 0x03 , MPU6050_SOURCE_GYRO_X = 0x02 ,   MPU6050_SOURCE_GYRO_Y = 0x01 , MPU6050_SOURCE_GYRO_Z = 0x00 }
	mpu6050 source enumeration definition More...
enum	mpu6050_clock_source_t {   MPU6050_CLOCK_SOURCE_INTERNAL_8MHZ = 0x00 , MPU6050_CLOCK_SOURCE_PLL_X_GYRO = 0x01 , MPU6050_CLOCK_SOURCE_PLL_Y_GYRO = 0x02 , MPU6050_CLOCK_SOURCE_PLL_Z_GYRO = 0x03 ,   MPU6050_CLOCK_SOURCE_PLL_EXT_32P768_KHZ = 0x04 , MPU6050_CLOCK_SOURCE_PLL_EXT_19P2_MHZ = 0x05 , MPU6050_CLOCK_SOURCE_STOP_CLOCK = 0x07 }
	mpu6050 clock source enumeration definition More...
enum	mpu6050_signal_path_reset_t { MPU6050_SIGNAL_PATH_RESET_TEMP = 0x00 , MPU6050_SIGNAL_PATH_RESET_ACCEL = 0x01 , MPU6050_SIGNAL_PATH_RESET_GYRO = 0x02 }
	mpu6050 signal path reset enumeration definition More...
enum	mpu6050_extern_sync_t {   MPU6050_EXTERN_SYNC_INPUT_DISABLED = 0x00 , MPU6050_EXTERN_SYNC_TEMP_OUT_L = 0x01 , MPU6050_EXTERN_SYNC_GYRO_XOUT_L = 0x02 , MPU6050_EXTERN_SYNC_GYRO_YOUT_L = 0x03 ,   MPU6050_EXTERN_SYNC_GYRO_ZOUT_L = 0x04 , MPU6050_EXTERN_SYNC_ACCEL_XOUT_L = 0x05 , MPU6050_EXTERN_SYNC_ACCEL_YOUT_L = 0x06 , MPU6050_EXTERN_SYNC_ACCEL_ZOUT_L = 0x07 }
	mpu6050 extern sync enumeration definition More...
enum	mpu6050_low_pass_filter_t {   MPU6050_LOW_PASS_FILTER_0 = 0x00 , MPU6050_LOW_PASS_FILTER_1 = 0x01 , MPU6050_LOW_PASS_FILTER_2 = 0x02 , MPU6050_LOW_PASS_FILTER_3 = 0x03 ,   MPU6050_LOW_PASS_FILTER_4 = 0x04 , MPU6050_LOW_PASS_FILTER_5 = 0x05 , MPU6050_LOW_PASS_FILTER_6 = 0x06 }
	mpu6050 low pass filter enumeration definition More...
enum	mpu6050_axis_t { MPU6050_AXIS_Z = 0x05 , MPU6050_AXIS_Y = 0x06 , MPU6050_AXIS_X = 0x07 }
	mpu6050 axis enumeration definition More...
enum	mpu6050_gyroscope_range_t { MPU6050_GYROSCOPE_RANGE_250DPS = 0x00 , MPU6050_GYROSCOPE_RANGE_500DPS = 0x01 , MPU6050_GYROSCOPE_RANGE_1000DPS = 0x02 , MPU6050_GYROSCOPE_RANGE_2000DPS = 0x03 }
	mpu6050 gyroscope range enumeration definition More...
enum	mpu6050_accelerometer_range_t { MPU6050_ACCELEROMETER_RANGE_2G = 0x00 , MPU6050_ACCELEROMETER_RANGE_4G = 0x01 , MPU6050_ACCELEROMETER_RANGE_8G = 0x02 , MPU6050_ACCELEROMETER_RANGE_16G = 0x03 }
	mpu6050 accelerometer range enumeration definition More...
enum	mpu6050_fifo_t {   MPU6050_FIFO_TEMP = 0x07 , MPU6050_FIFO_XG = 0x06 , MPU6050_FIFO_YG = 0x05 , MPU6050_FIFO_ZG = 0x04 ,   MPU6050_FIFO_ACCEL = 0x03 }
	mpu6050 fifo enumeration definition More...
enum	mpu6050_pin_level_t { MPU6050_PIN_LEVEL_HIGH = 0x00 , MPU6050_PIN_LEVEL_LOW = 0x01 }
	mpu6050 pin level enumeration definition More...
enum	mpu6050_pin_type_t { MPU6050_PIN_TYPE_PUSH_PULL = 0x00 , MPU6050_PIN_TYPE_OPEN_DRAIN = 0x01 }
	mpu6050 pin type enumeration definition More...
enum	mpu6050_interrupt_t {   MPU6050_INTERRUPT_MOTION = 6 , MPU6050_INTERRUPT_FIFO_OVERFLOW = 4 , MPU6050_INTERRUPT_I2C_MAST = 3 , MPU6050_INTERRUPT_DMP = 1 ,   MPU6050_INTERRUPT_DATA_READY = 0 }
	mpu6050 interrupt enumeration definition More...
enum	mpu6050_iic_slave_t {   MPU6050_IIC_SLAVE_0 = 0x00 , MPU6050_IIC_SLAVE_1 = 0x01 , MPU6050_IIC_SLAVE_2 = 0x02 , MPU6050_IIC_SLAVE_3 = 0x03 ,   MPU6050_IIC_SLAVE_4 = 0x04 }
	mpu6050 iic slave enumeration definition More...
enum	mpu6050_iic_clock_t {   MPU6050_IIC_CLOCK_348_KHZ = 0x00 , MPU6050_IIC_CLOCK_333_KHZ = 0x01 , MPU6050_IIC_CLOCK_320_KHZ = 0x02 , MPU6050_IIC_CLOCK_308_KHZ = 0x03 ,   MPU6050_IIC_CLOCK_296_KHZ = 0x04 , MPU6050_IIC_CLOCK_286_KHZ = 0x05 , MPU6050_IIC_CLOCK_276_KHZ = 0x06 , MPU6050_IIC_CLOCK_267_KHZ = 0x07 ,   MPU6050_IIC_CLOCK_258_KHZ = 0x08 , MPU6050_IIC_CLOCK_500_KHZ = 0x09 , MPU6050_IIC_CLOCK_471_KHZ = 0x0A , MPU6050_IIC_CLOCK_444_KHZ = 0x0B ,   MPU6050_IIC_CLOCK_421_KHZ = 0x0C , MPU6050_IIC_CLOCK_400_KHZ = 0x0D , MPU6050_IIC_CLOCK_381_KHZ = 0x0E , MPU6050_IIC_CLOCK_364_KHZ = 0x0F }
	mpu6050 iic clock enumeration definition More...
enum	mpu6050_iic_read_mode_t { MPU6050_IIC_READ_MODE_RESTART = 0x00 , MPU6050_IIC_READ_MODE_STOP_AND_START = 0x01 }
	mpu6050 iic read mode enumeration definition More...
enum	mpu6050_iic_mode_t { MPU6050_IIC_MODE_WRITE = 0x00 , MPU6050_IIC_MODE_READ = 0x01 }
	mpu6050 iic mode enumeration definition More...
enum	mpu6050_iic_transaction_mode_t { MPU6050_IIC_TRANSACTION_MODE_DATA = 0x00 , MPU6050_IIC_TRANSACTION_MODE_REG_DATA = 0x01 }
	mpu6050 iic transaction mode enumeration definition More...
enum	mpu6050_iic4_transaction_mode_t { MPU6050_IIC4_TRANSACTION_MODE_DATA = 0x00 , MPU6050_IIC4_TRANSACTION_MODE_REG = 0x01 }
	mpu6050 iic4 transaction mode enumeration definition More...
enum	mpu6050_iic_group_order_t { MPU6050_IIC_GROUP_ORDER_EVEN = 0x00 , MPU6050_IIC_GROUP_ORDER_ODD = 0x01 }
	mpu6050 iic group order enumeration definition More...
enum	mpu6050_iic_status_t {   MPU6050_IIC_STATUS_PASS_THROUGH = 0x80 , MPU6050_IIC_STATUS_IIC_SLV4_DONE = 0x40 , MPU6050_IIC_STATUS_IIC_LOST_ARB = 0x20 , MPU6050_IIC_STATUS_IIC_SLV4_NACK = 0x10 ,   MPU6050_IIC_STATUS_IIC_SLV3_NACK = 0x08 , MPU6050_IIC_STATUS_IIC_SLV2_NACK = 0x04 , MPU6050_IIC_STATUS_IIC_SLV1_NACK = 0x02 , MPU6050_IIC_STATUS_IIC_SLV0_NACK = 0x01 }
	mpu6050 iic status enumeration definition More...
enum	mpu6050_iic_delay_t {   MPU6050_IIC_DELAY_ES_SHADOW = 7 , MPU6050_IIC_DELAY_SLAVE_4 = 4 , MPU6050_IIC_DELAY_SLAVE_3 = 3 , MPU6050_IIC_DELAY_SLAVE_2 = 2 ,   MPU6050_IIC_DELAY_SLAVE_1 = 1 , MPU6050_IIC_DELAY_SLAVE_0 = 0 }
	mpu6050 iic delay enumeration definition More...

Functions
uint8_t	mpu6050_info (mpu6050_info_t *info)
	get the chip's information 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_irq_handler (mpu6050_handle_t *handle)
	irq handler 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_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...

Detailed Description

mpu6050 basic driver modules

Enumeration Type Documentation

mpu6050_accelerometer_range_t

enum mpu6050_accelerometer_range_t

mpu6050 accelerometer range enumeration definition

Enumerator
MPU6050_ACCELEROMETER_RANGE_2G	±2 g
MPU6050_ACCELEROMETER_RANGE_4G	±4 g
MPU6050_ACCELEROMETER_RANGE_8G	±8 g
MPU6050_ACCELEROMETER_RANGE_16G	±16 g

mpu6050_address_t

enum mpu6050_address_t

mpu6050 address enumeration definition

Enumerator
MPU6050_ADDRESS_AD0_LOW	AD0 pin set LOW
MPU6050_ADDRESS_AD0_HIGH	AD0 pin set HIGH

mpu6050_axis_t

enum mpu6050_axis_t

mpu6050 axis enumeration definition

Enumerator
MPU6050_AXIS_Z	z
MPU6050_AXIS_Y	y
MPU6050_AXIS_X	x

mpu6050_bool_t

enum mpu6050_bool_t

mpu6050 bool enumeration definition

Enumerator
MPU6050_BOOL_FALSE	disable function
MPU6050_BOOL_TRUE	enable function

mpu6050_clock_source_t

enum mpu6050_clock_source_t

mpu6050 clock source enumeration definition

Enumerator
MPU6050_CLOCK_SOURCE_INTERNAL_8MHZ	internal 8MHz
MPU6050_CLOCK_SOURCE_PLL_X_GYRO	pll with x axis gyroscope reference
MPU6050_CLOCK_SOURCE_PLL_Y_GYRO	pll with y axis gyroscope reference
MPU6050_CLOCK_SOURCE_PLL_Z_GYRO	pll with z axis gyroscope reference
MPU6050_CLOCK_SOURCE_PLL_EXT_32P768_KHZ	pll extern 32.768 KHz
MPU6050_CLOCK_SOURCE_PLL_EXT_19P2_MHZ	pll extern 19.2 MHz
MPU6050_CLOCK_SOURCE_STOP_CLOCK	stop the clock

mpu6050_extern_sync_t

enum mpu6050_extern_sync_t

mpu6050 extern sync enumeration definition

Enumerator
MPU6050_EXTERN_SYNC_INPUT_DISABLED	input disabled
MPU6050_EXTERN_SYNC_TEMP_OUT_L	temp out low
MPU6050_EXTERN_SYNC_GYRO_XOUT_L	gyro xout low
MPU6050_EXTERN_SYNC_GYRO_YOUT_L	gyro yout low
MPU6050_EXTERN_SYNC_GYRO_ZOUT_L	gyro zout low
MPU6050_EXTERN_SYNC_ACCEL_XOUT_L	accel xout low
MPU6050_EXTERN_SYNC_ACCEL_YOUT_L	accel yout low
MPU6050_EXTERN_SYNC_ACCEL_ZOUT_L	accel zout low

mpu6050_fifo_t

enum mpu6050_fifo_t

mpu6050 fifo enumeration definition

Enumerator
MPU6050_FIFO_TEMP	temperature
MPU6050_FIFO_XG	gyroscope x
MPU6050_FIFO_YG	gyroscope y
MPU6050_FIFO_ZG	gyroscope z
MPU6050_FIFO_ACCEL	accelerometer

mpu6050_gyroscope_range_t

enum mpu6050_gyroscope_range_t

mpu6050 gyroscope range enumeration definition

Enumerator
MPU6050_GYROSCOPE_RANGE_250DPS	±250 dps
MPU6050_GYROSCOPE_RANGE_500DPS	±500 dps
MPU6050_GYROSCOPE_RANGE_1000DPS	±1000 dps
MPU6050_GYROSCOPE_RANGE_2000DPS	±2000 dps

mpu6050_iic4_transaction_mode_t

enum mpu6050_iic4_transaction_mode_t

mpu6050 iic4 transaction mode enumeration definition

Enumerator
MPU6050_IIC4_TRANSACTION_MODE_DATA	data only
MPU6050_IIC4_TRANSACTION_MODE_REG	register only

mpu6050_iic_clock_t

enum mpu6050_iic_clock_t

mpu6050 iic clock enumeration definition

Enumerator
MPU6050_IIC_CLOCK_348_KHZ	348 kHz
MPU6050_IIC_CLOCK_333_KHZ	333 kHz
MPU6050_IIC_CLOCK_320_KHZ	320 kHz
MPU6050_IIC_CLOCK_308_KHZ	308 kHz
MPU6050_IIC_CLOCK_296_KHZ	296 kHz
MPU6050_IIC_CLOCK_286_KHZ	286 kHz
MPU6050_IIC_CLOCK_276_KHZ	276 kHz
MPU6050_IIC_CLOCK_267_KHZ	267 kHz
MPU6050_IIC_CLOCK_258_KHZ	258 kHz
MPU6050_IIC_CLOCK_500_KHZ	500 kHz
MPU6050_IIC_CLOCK_471_KHZ	471 kHz
MPU6050_IIC_CLOCK_444_KHZ	444 kHz
MPU6050_IIC_CLOCK_421_KHZ	421 kHz
MPU6050_IIC_CLOCK_400_KHZ	400 kHz
MPU6050_IIC_CLOCK_381_KHZ	381 kHz
MPU6050_IIC_CLOCK_364_KHZ	364 kHz

mpu6050_iic_delay_t

enum mpu6050_iic_delay_t

mpu6050 iic delay enumeration definition

Enumerator
MPU6050_IIC_DELAY_ES_SHADOW	delays shadowing of external sensor data until all data has been received
MPU6050_IIC_DELAY_SLAVE_4	slave 4
MPU6050_IIC_DELAY_SLAVE_3	slave 3
MPU6050_IIC_DELAY_SLAVE_2	slave 2
MPU6050_IIC_DELAY_SLAVE_1	slave 1
MPU6050_IIC_DELAY_SLAVE_0	slave 0

mpu6050_iic_group_order_t

enum mpu6050_iic_group_order_t

mpu6050 iic group order enumeration definition

Enumerator
MPU6050_IIC_GROUP_ORDER_EVEN	when cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even, then odd register addresses) are paired to form a word.
MPU6050_IIC_GROUP_ORDER_ODD	when set to 1, bytes from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even register addresses) are paired to form a word.

mpu6050_iic_mode_t

enum mpu6050_iic_mode_t

mpu6050 iic mode enumeration definition

Enumerator
MPU6050_IIC_MODE_WRITE	write
MPU6050_IIC_MODE_READ	read

mpu6050_iic_read_mode_t

enum mpu6050_iic_read_mode_t

mpu6050 iic read mode enumeration definition

Enumerator
MPU6050_IIC_READ_MODE_RESTART	restart
MPU6050_IIC_READ_MODE_STOP_AND_START	stop and start

mpu6050_iic_slave_t

enum mpu6050_iic_slave_t

mpu6050 iic slave enumeration definition

Enumerator
MPU6050_IIC_SLAVE_0	slave0
MPU6050_IIC_SLAVE_1	slave1
MPU6050_IIC_SLAVE_2	slave2
MPU6050_IIC_SLAVE_3	slave3
MPU6050_IIC_SLAVE_4	slave4

mpu6050_iic_status_t

enum mpu6050_iic_status_t

mpu6050 iic status enumeration definition

Enumerator
MPU6050_IIC_STATUS_PASS_THROUGH	pass through
MPU6050_IIC_STATUS_IIC_SLV4_DONE	slave4 done
MPU6050_IIC_STATUS_IIC_LOST_ARB	lost arbitration
MPU6050_IIC_STATUS_IIC_SLV4_NACK	slave4 nack
MPU6050_IIC_STATUS_IIC_SLV3_NACK	slave3 nack
MPU6050_IIC_STATUS_IIC_SLV2_NACK	slave2 nack
MPU6050_IIC_STATUS_IIC_SLV1_NACK	slave1 nack
MPU6050_IIC_STATUS_IIC_SLV0_NACK	slave0 nack

mpu6050_iic_transaction_mode_t

enum mpu6050_iic_transaction_mode_t

mpu6050 iic transaction mode enumeration definition

Enumerator
MPU6050_IIC_TRANSACTION_MODE_DATA	data only
MPU6050_IIC_TRANSACTION_MODE_REG_DATA	write a register address prior to reading or writing data

mpu6050_interrupt_t

enum mpu6050_interrupt_t

mpu6050 interrupt enumeration definition

Enumerator
MPU6050_INTERRUPT_MOTION	motion
MPU6050_INTERRUPT_FIFO_OVERFLOW	fifo overflow
MPU6050_INTERRUPT_I2C_MAST	i2c master
MPU6050_INTERRUPT_DMP	dmp
MPU6050_INTERRUPT_DATA_READY	data ready

mpu6050_low_pass_filter_t

enum mpu6050_low_pass_filter_t

mpu6050 low pass filter enumeration definition

Enumerator
MPU6050_LOW_PASS_FILTER_0	bandwidth(Hz) fs(KHz) delay(ms) bandwidth(Hz) fs(KHz) delay(ms) 260 1 0 256 8 0.98
MPU6050_LOW_PASS_FILTER_1	184 1 2.0 188 1 1.9
MPU6050_LOW_PASS_FILTER_2	94 1 3.0 98 1 2.8
MPU6050_LOW_PASS_FILTER_3	44 1 4.9 42 1 4.8
MPU6050_LOW_PASS_FILTER_4	21 1 8.5 20 1 8.3
MPU6050_LOW_PASS_FILTER_5	10 1 13.8 10 1 13.4
MPU6050_LOW_PASS_FILTER_6	5 1 19.0 5 1 18.6

mpu6050_pin_level_t

enum mpu6050_pin_level_t

mpu6050 pin level enumeration definition

Enumerator
MPU6050_PIN_LEVEL_HIGH	active low
MPU6050_PIN_LEVEL_LOW	active high

mpu6050_pin_type_t

enum mpu6050_pin_type_t

mpu6050 pin type enumeration definition

Enumerator
MPU6050_PIN_TYPE_PUSH_PULL	push pull
MPU6050_PIN_TYPE_OPEN_DRAIN	open drain

mpu6050_signal_path_reset_t

enum mpu6050_signal_path_reset_t

mpu6050 signal path reset enumeration definition

Enumerator
MPU6050_SIGNAL_PATH_RESET_TEMP	temperature sensor analog and digital signal paths
MPU6050_SIGNAL_PATH_RESET_ACCEL	accelerometer analog and digital signal paths
MPU6050_SIGNAL_PATH_RESET_GYRO	gyroscope analog and digital signal paths

mpu6050_source_t

enum mpu6050_source_t

mpu6050 source enumeration definition

Enumerator
MPU6050_SOURCE_ACC_X	accelerometer x
MPU6050_SOURCE_ACC_Y	accelerometer y
MPU6050_SOURCE_ACC_Z	accelerometer z
MPU6050_SOURCE_GYRO_X	gyroscope x
MPU6050_SOURCE_GYRO_Y	gyroscope y
MPU6050_SOURCE_GYRO_Z	gyroscope z

mpu6050_wake_up_frequency_t

enum mpu6050_wake_up_frequency_t

mpu6050 wake up frequency enumeration definition

Enumerator
MPU6050_WAKE_UP_FREQUENCY_1P25_HZ	1.25Hz
MPU6050_WAKE_UP_FREQUENCY_5_HZ	5Hz
MPU6050_WAKE_UP_FREQUENCY_20_HZ	20Hz
MPU6050_WAKE_UP_FREQUENCY_40_HZ	40Hz

Function Documentation

mpu6050_deinit()

uint8_t mpu6050_deinit

(

mpu6050_handle_t *

handle

)

close the chip

Parameters

[in]

*handle

pointer to an mpu6050 handle structure

Returns

status code

• 0 success
• 1 iic deinit failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 enter sleep mode failed

Note

none

mpu6050_device_reset()

uint8_t mpu6050_device_reset

(

mpu6050_handle_t *

handle

)

reset the chip

Parameters

[in]

*handle

pointer to an mpu6050 handle structure

Returns

status code

• 0 success
• 1 device reset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_fifo_get()

uint8_t mpu6050_fifo_get	(	mpu6050_handle_t *	handle,
		uint8_t *	buf,
		uint16_t	len
	)

fifo read bytes

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*buf	pointer to a data buffer
[in]	len	buffer length

Returns

status code

• 0 success
• 1 fifo read failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_fifo_reset()

uint8_t mpu6050_fifo_reset

(

mpu6050_handle_t *

handle

)

reset the fifo

Parameters

[in]

*handle

pointer to an mpu6050 handle structure

Returns

status code

• 0 success
• 1 fifo reset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_fifo_set()

uint8_t mpu6050_fifo_set	(	mpu6050_handle_t *	handle,
		uint8_t *	buf,
		uint16_t	len
	)

fifo write bytes

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	*buf	pointer to a data buffer
[in]	len	buffer length

Returns

status code

• 0 success
• 1 fifo write failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_force_fifo_reset()

uint8_t mpu6050_force_fifo_reset

(

mpu6050_handle_t *

handle

)

force reset the fifo

Parameters

[in]

*handle

pointer to an mpu6050 handle structure

Returns

status code

• 0 success
• 1 force fifo reset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_accelerometer_range()

uint8_t mpu6050_get_accelerometer_range	(	mpu6050_handle_t *	handle,
		mpu6050_accelerometer_range_t *	range
	)

get the accelerometer range

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*range	pointer to an accelerometer range buffer

Returns

status code

• 0 success
• 1 get accelerometer range failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_accelerometer_test()

uint8_t mpu6050_get_accelerometer_test	(	mpu6050_handle_t *	handle,
		mpu6050_axis_t	axis,
		mpu6050_bool_t *	enable
	)

get the accelerometer test

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	axis	tested axis
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get accelerometer test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_accelerometer_x_test()

uint8_t mpu6050_get_accelerometer_x_test	(	mpu6050_handle_t *	handle,
		uint8_t *	data
	)

get the accelerometer x test

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*data	pointer to a set data buffer

Returns

status code

• 0 success
• 1 get accelerometer x test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_accelerometer_y_test()

uint8_t mpu6050_get_accelerometer_y_test	(	mpu6050_handle_t *	handle,
		uint8_t *	data
	)

get the accelerometer y test

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*data	pointer to a set data buffer

Returns

status code

• 0 success
• 1 get accelerometer y test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_accelerometer_z_test()

uint8_t mpu6050_get_accelerometer_z_test	(	mpu6050_handle_t *	handle,
		uint8_t *	data
	)

get the accelerometer z test

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*data	pointer to a set data buffer

Returns

status code

• 0 success
• 1 get accelerometer z test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_addr_pin()

uint8_t mpu6050_get_addr_pin	(	mpu6050_handle_t *	handle,
		mpu6050_address_t *	addr_pin
	)

get the chip address pin

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*addr_pin	pointer to a chip address pin buffer

Returns

status code

• 0 success
• 2 handle is NULL

Note

none

mpu6050_get_clock_source()

uint8_t mpu6050_get_clock_source	(	mpu6050_handle_t *	handle,
		mpu6050_clock_source_t *	clock_source
	)

get the chip clock source

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*clock_source	pointer to a clock source buffer

Returns

status code

• 0 success
• 1 get clock source failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_cycle_wake_up()

uint8_t mpu6050_get_cycle_wake_up	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t *	enable
	)

get the cycle wake up mode status

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get cycle wake up failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_device_reset()

uint8_t mpu6050_get_device_reset	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t *	enable
	)

get the device reset status

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get device reset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_extern_sync()

uint8_t mpu6050_get_extern_sync	(	mpu6050_handle_t *	handle,
		mpu6050_extern_sync_t *	sync
	)

get the extern sync type

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*sync	pointer to an extern sync type buffer

Returns

status code

• 0 success
• 1 get extern sync failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_fifo()

uint8_t mpu6050_get_fifo	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t *	enable
	)

get the fifo status

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get fifo failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_fifo_count()

uint8_t mpu6050_get_fifo_count	(	mpu6050_handle_t *	handle,
		uint16_t *	count
	)

get the fifo counter value

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*count	pointer to a fifo count buffer

Returns

status code

• 0 success
• 1 get fifo count failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_fifo_enable()

uint8_t mpu6050_get_fifo_enable	(	mpu6050_handle_t *	handle,
		mpu6050_fifo_t	fifo,
		mpu6050_bool_t *	enable
	)

get the fifo function status

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	fifo	fifo type
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get fifo enable failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_fifo_reset()

uint8_t mpu6050_get_fifo_reset	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t *	enable
	)

get the fifo reset status

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get fifo reset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_fsync_interrupt()

uint8_t mpu6050_get_fsync_interrupt	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t *	enable
	)

get the fsync interrupt status

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get fsync interrupt failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_fsync_interrupt_level()

uint8_t mpu6050_get_fsync_interrupt_level	(	mpu6050_handle_t *	handle,
		mpu6050_pin_level_t *	level
	)

get the fsync interrupt level

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*level	pointer to a set level buffer

Returns

status code

• 0 success
• 1 get fsync interrupt level failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_gyroscope_range()

uint8_t mpu6050_get_gyroscope_range	(	mpu6050_handle_t *	handle,
		mpu6050_gyroscope_range_t *	range
	)

get the gyroscope range

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*range	pointer to a gyroscope range buffer

Returns

status code

• 0 success
• 1 get gyroscope range failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_gyroscope_test()

uint8_t mpu6050_get_gyroscope_test	(	mpu6050_handle_t *	handle,
		mpu6050_axis_t	axis,
		mpu6050_bool_t *	enable
	)

get the gyroscope test

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	axis	tested axis
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get gyroscope test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_gyroscope_x_test()

uint8_t mpu6050_get_gyroscope_x_test	(	mpu6050_handle_t *	handle,
		uint8_t *	data
	)

get the gyroscope x test

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*data	pointer to a set data buffer

Returns

status code

• 0 success
• 1 get gyroscope x test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_gyroscope_y_test()

uint8_t mpu6050_get_gyroscope_y_test	(	mpu6050_handle_t *	handle,
		uint8_t *	data
	)

get the gyroscope y test

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*data	pointer to a set data buffer

Returns

status code

• 0 success
• 1 get gyroscope y test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_gyroscope_z_test()

uint8_t mpu6050_get_gyroscope_z_test	(	mpu6050_handle_t *	handle,
		uint8_t *	data
	)

get the gyroscope z test

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*data	pointer to a set data buffer

Returns

status code

• 0 success
• 1 get gyroscope z test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_iic4_data_in()

uint8_t mpu6050_get_iic4_data_in	(	mpu6050_handle_t *	handle,
		uint8_t *	data
	)

get the iic4 data in

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*data	pointer to a set data buffer

Returns

status code

• 0 success
• 1 get iic4 data in failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_iic4_data_out()

uint8_t mpu6050_get_iic4_data_out	(	mpu6050_handle_t *	handle,
		uint8_t *	data
	)

get the iic4 data out

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*data	pointer to a set data buffer

Returns

status code

• 0 success
• 1 get iic4 data out failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_iic4_enable()

uint8_t mpu6050_get_iic4_enable	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t *	enable
	)

get the iic4 status

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get iic4 enable failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_iic4_interrupt()

uint8_t mpu6050_get_iic4_interrupt	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t *	enable
	)

get the iic4 interrupt status

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get iic4 interrupt failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_iic4_transaction_mode()

uint8_t mpu6050_get_iic4_transaction_mode	(	mpu6050_handle_t *	handle,
		mpu6050_iic4_transaction_mode_t *	mode
	)

get the iic4 transaction mode

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*mode	pointer to a transaction mode buffer

Returns

status code

• 0 success
• 1 get iic4 transaction mode failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_iic_address()

uint8_t mpu6050_get_iic_address	(	mpu6050_handle_t *	handle,
		mpu6050_iic_slave_t	slave,
		uint8_t *	addr_7bit
	)

get the iic address

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	slave	iic slave number
[out]	*addr_7bit	pointer to an iic address buffer

Returns

status code

• 0 success
• 1 get iic address failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

mpu6050_get_iic_bypass()

uint8_t mpu6050_get_iic_bypass	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t *	enable
	)

get the iic bypass status

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get iic bypass failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_iic_byte_swap()

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

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	slave	iic slave number
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get iic byte swap failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

mpu6050_get_iic_clock()

uint8_t mpu6050_get_iic_clock	(	mpu6050_handle_t *	handle,
		mpu6050_iic_clock_t *	clk
	)

get the iic clock

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*clk	pointer to an iic clock buffer

Returns

status code

• 0 success
• 1 get iic clock failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_iic_data_out()

uint8_t mpu6050_get_iic_data_out	(	mpu6050_handle_t *	handle,
		mpu6050_iic_slave_t	slave,
		uint8_t *	data
	)

get the iic data out

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	slave	iic slave number
[out]	*data	pointer to a set data buffer

Returns

status code

• 0 success
• 1 get iic data out failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

mpu6050_get_iic_delay()

uint8_t mpu6050_get_iic_delay	(	mpu6050_handle_t *	handle,
		uint8_t *	delay
	)

get the iic delay

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*delay	pointer to an iic delay buffer

Returns

status code

• 0 success
• 1 get iic delay failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_iic_delay_enable()

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

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	delay	iic delay
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get iic delay enable failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_iic_enable()

uint8_t mpu6050_get_iic_enable	(	mpu6050_handle_t *	handle,
		mpu6050_iic_slave_t	slave,
		mpu6050_bool_t *	enable
	)

get the iic status

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	slave	iic slave number
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get iic enable failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

mpu6050_get_iic_fifo_enable()

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

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	slave	iic slave number
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get iic fifo enable failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

mpu6050_get_iic_group_order()

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

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	slave	iic slave number
[out]	*order	pointer to a group order buffer

Returns

status code

• 0 success
• 1 get iic group order failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

mpu6050_get_iic_master()

uint8_t mpu6050_get_iic_master	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t *	enable
	)

get the iic master status

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get iic master failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_iic_master_reset()

uint8_t mpu6050_get_iic_master_reset	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t *	enable
	)

get the iic master reset status

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get iic master reset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_iic_mode()

uint8_t mpu6050_get_iic_mode	(	mpu6050_handle_t *	handle,
		mpu6050_iic_slave_t	slave,
		mpu6050_iic_mode_t *	mode
	)

get the iic mode

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	slave	iic slave number
[out]	*mode	pointer to an iic mode buffer

Returns

status code

• 0 success
• 1 get iic mode failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

mpu6050_get_iic_multi_master()

uint8_t mpu6050_get_iic_multi_master	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t *	enable
	)

get the iic multi master status

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get iic multi master failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_iic_read_mode()

uint8_t mpu6050_get_iic_read_mode	(	mpu6050_handle_t *	handle,
		mpu6050_iic_read_mode_t *	mode
	)

get the iic read mode

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*mode	pointer to a read mode buffer

Returns

status code

• 0 success
• 1 get iic read mode failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_iic_register()

uint8_t mpu6050_get_iic_register	(	mpu6050_handle_t *	handle,
		mpu6050_iic_slave_t	slave,
		uint8_t *	reg
	)

get the iic register

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	slave	iic slave number
[out]	*reg	pointer to an iic register buffer

Returns

status code

• 0 success
• 1 get iic register failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

mpu6050_get_iic_status()

uint8_t mpu6050_get_iic_status	(	mpu6050_handle_t *	handle,
		uint8_t *	status
	)

get the iic status

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*status	pointer to a status buffer

Returns

status code

• 0 success
• 1 get iic status failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_iic_transaction_mode()

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

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	slave	iic slave number
[out]	*mode	pointer to an iic transaction mode buffer

Returns

status code

• 0 success
• 1 get iic transaction mode failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

mpu6050_get_iic_transferred_len()

uint8_t mpu6050_get_iic_transferred_len	(	mpu6050_handle_t *	handle,
		mpu6050_iic_slave_t	slave,
		uint8_t *	len
	)

get the iic transferred length

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	slave	iic slave number
[out]	*len	pointer to an iic transferred length buffer

Returns

status code

• 0 success
• 1 get iic transferred len failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

mpu6050_get_iic_wait_for_external_sensor()

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

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get iic wait for external sensor failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_interrupt()

uint8_t mpu6050_get_interrupt	(	mpu6050_handle_t *	handle,
		mpu6050_interrupt_t	type,
		mpu6050_bool_t *	enable
	)

get the interrupt status

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	type	set interrupt type
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get interrupt failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_interrupt_latch()

uint8_t mpu6050_get_interrupt_latch	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t *	enable
	)

get the interrupt latch status

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get interrupt latch failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_interrupt_level()

uint8_t mpu6050_get_interrupt_level	(	mpu6050_handle_t *	handle,
		mpu6050_pin_level_t *	level
	)

get the interrupt level

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*level	pointer to an interrupt level buffer

Returns

status code

• 0 success
• 1 get interrupt level failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_interrupt_pin_type()

uint8_t mpu6050_get_interrupt_pin_type	(	mpu6050_handle_t *	handle,
		mpu6050_pin_type_t *	type
	)

get the interrupt pin type

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*type	pointer to a pin type buffer

Returns

status code

• 0 success
• 1 get interrupt pin type failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_interrupt_read_clear()

uint8_t mpu6050_get_interrupt_read_clear	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t *	enable
	)

get the interrupt reading clear status

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get interrupt read clear failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_interrupt_status()

uint8_t mpu6050_get_interrupt_status	(	mpu6050_handle_t *	handle,
		uint8_t *	status
	)

get the interrupt status

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*status	pointer to a status buffer

Returns

status code

• 0 success
• 1 get interrupt status failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_low_pass_filter()

uint8_t mpu6050_get_low_pass_filter	(	mpu6050_handle_t *	handle,
		mpu6050_low_pass_filter_t *	filter
	)

get the low pass filter

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*filter	pointer to a low pass filter buffer

Returns

status code

• 0 success
• 1 get low pass filter failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_motion_duration()

uint8_t mpu6050_get_motion_duration	(	mpu6050_handle_t *	handle,
		uint8_t *	duration
	)

get the motion duration

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*duration	pointer to a duration buffer

Returns

status code

• 0 success
• 1 get motion duration failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_motion_threshold()

uint8_t mpu6050_get_motion_threshold	(	mpu6050_handle_t *	handle,
		uint8_t *	threshold
	)

get the motion_threshold

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*threshold	pointer to a threshold buffer

Returns

status code

• 0 success
• 1 get motion threshold failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_sample_rate_divider()

uint8_t mpu6050_get_sample_rate_divider	(	mpu6050_handle_t *	handle,
		uint8_t *	d
	)

get the sample rate divider

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*d	pointer to a sample rate divider buffer

Returns

status code

• 0 success
• 1 get sample rate divider failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_sensor_reset()

uint8_t mpu6050_get_sensor_reset	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t *	enable
	)

get the sensor reset status

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get sensor reset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_sleep()

uint8_t mpu6050_get_sleep	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t *	enable
	)

get the sleep status

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get sleep failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_standby_mode()

uint8_t mpu6050_get_standby_mode	(	mpu6050_handle_t *	handle,
		mpu6050_source_t	source,
		mpu6050_bool_t *	enable
	)

get the source mode

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	source	input source
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get standby mode failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_temperature_sensor()

uint8_t mpu6050_get_temperature_sensor	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t *	enable
	)

get the temperature sensor status

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get temperature sensor failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_get_wake_up_frequency()

uint8_t mpu6050_get_wake_up_frequency	(	mpu6050_handle_t *	handle,
		mpu6050_wake_up_frequency_t *	frequency
	)

get the wake up frequency

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*frequency	pointer to a wake up frequency buffer

Returns

status code

• 0 success
• 1 get wake up frequency failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_iic_master_reset()

uint8_t mpu6050_iic_master_reset

(

mpu6050_handle_t *

handle

)

reset the iic master controller

Parameters

[in]

*handle

pointer to an mpu6050 handle structure

Returns

status code

• 0 success
• 1 iic master reset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_info()

uint8_t mpu6050_info

(

mpu6050_info_t *

info

)

get the chip's information

Parameters

[out]

*info

pointer to an mpu6050 info structure

Returns

status code

• 0 success
• 2 handle is NULL

Note

none

mpu6050_init()

uint8_t mpu6050_init

(

mpu6050_handle_t *

handle

)

initialize the chip

Parameters

[in]

*handle

pointer to an mpu6050 handle structure

Returns

status code

• 0 success
• 1 iic initialization failed
• 2 handle is NULL
• 3 linked functions is NULL
• 4 reset failed
• 5 id is invalid

Note

none

mpu6050_irq_handler()

uint8_t mpu6050_irq_handler

(

mpu6050_handle_t *

handle

)

irq handler

Parameters

[in]

*handle

pointer to an mpu6050 handle structure

Returns

status code

• 0 success
• 1 run failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_motion_duration_convert_to_data()

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

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	reg	register raw data
[out]	*ms	pointer to a motion duration buffer

Returns

status code

• 0 success
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_motion_duration_convert_to_register()

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

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	ms	motion duration
[out]	*reg	pointer to a register raw buffer

Returns

status code

• 0 success
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_motion_threshold_convert_to_data()

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

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	reg	register raw data
[out]	*mg	pointer to a motion threshold buffer

Returns

status code

• 0 success
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_motion_threshold_convert_to_register()

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

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	mg	motion threshold
[out]	*reg	pointer to a register raw buffer

Returns

status code

• 0 success
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_read()

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

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	**accel_raw	pointer to an accel raw data buffer
[out]	**accel_g	pointer to a converted accel data buffer
[out]	**gyro_raw	pointer to a gyro raw data buffer
[out]	**gyro_dps	pointer to a converted gyro data buffer
[in,out]	*len	pointer to a length buffer

Returns

status code

• 0 success
• 1 read failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 length is zero
• 5 dmp is running
• 6 fifo conf is error

Note

none

mpu6050_read_extern_sensor_data()

uint8_t mpu6050_read_extern_sensor_data	(	mpu6050_handle_t *	handle,
		uint8_t *	data,
		uint8_t	len
	)

read the extern sensor data

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*data	pointer to a data buffer
[in]	len	data length

Returns

status code

• 0 success
• 1 read extern sensor data failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 len > 24

Note

none

mpu6050_read_temperature()

uint8_t mpu6050_read_temperature	(	mpu6050_handle_t *	handle,
		int16_t *	raw,
		float *	degrees
	)

read the temperature

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*raw	pointer to raw data buffer
[out]	*degrees	pointer to a converted degrees data buffer

Returns

status code

• 0 success
• 1 read failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_self_test()

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

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[out]	*gyro_offset_raw	pointer to a gyro offset raw buffer
[out]	*accel_offset_raw	pointer to an accel offset raw buffer

Returns

status code

• 0 success
• 1 self test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_sensor_reset()

uint8_t mpu6050_sensor_reset

(

mpu6050_handle_t *

handle

)

reset all sensors

Parameters

[in]

*handle

pointer to an mpu6050 handle structure

Returns

status code

• 0 success
• 1 sensor reset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_accelerometer_range()

uint8_t mpu6050_set_accelerometer_range	(	mpu6050_handle_t *	handle,
		mpu6050_accelerometer_range_t	range
	)

set the accelerometer range

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	range	accelerometer range

Returns

status code

• 0 success
• 1 set accelerometer range failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_accelerometer_test()

uint8_t mpu6050_set_accelerometer_test	(	mpu6050_handle_t *	handle,
		mpu6050_axis_t	axis,
		mpu6050_bool_t	enable
	)

set the accelerometer test

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	axis	tested axis
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set accelerometer test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_accelerometer_x_test()

uint8_t mpu6050_set_accelerometer_x_test	(	mpu6050_handle_t *	handle,
		uint8_t	data
	)

set the accelerometer x test

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	data	set data

Returns

status code

• 0 success
• 1 set accelerometer x test failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 data is over 0x1F

Note

none

mpu6050_set_accelerometer_y_test()

uint8_t mpu6050_set_accelerometer_y_test	(	mpu6050_handle_t *	handle,
		uint8_t	data
	)

set the accelerometer y test

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	data	set data

Returns

status code

• 0 success
• 1 set accelerometer y test failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 data is over 0x1F

Note

none

mpu6050_set_accelerometer_z_test()

uint8_t mpu6050_set_accelerometer_z_test	(	mpu6050_handle_t *	handle,
		uint8_t	data
	)

set the accelerometer z test

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	data	set data

Returns

status code

• 0 success
• 1 set accelerometer z test failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 data is over 0x1F

Note

none

mpu6050_set_addr_pin()

uint8_t mpu6050_set_addr_pin	(	mpu6050_handle_t *	handle,
		mpu6050_address_t	addr_pin
	)

set the chip address pin

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	addr_pin	chip address pin

Returns

status code

• 0 success
• 2 handle is NULL

Note

none

mpu6050_set_clock_source()

uint8_t mpu6050_set_clock_source	(	mpu6050_handle_t *	handle,
		mpu6050_clock_source_t	clock_source
	)

set the chip clock source

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	clock_source	chip main clock source

Returns

status code

• 0 success
• 1 set clock source failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_cycle_wake_up()

uint8_t mpu6050_set_cycle_wake_up	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t	enable
	)

enable or disable the cycle wake up mode

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set cycle wake up failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_extern_sync()

uint8_t mpu6050_set_extern_sync	(	mpu6050_handle_t *	handle,
		mpu6050_extern_sync_t	sync
	)

set the extern sync type

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	sync	extern sync type

Returns

status code

• 0 success
• 1 set extern sync failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_fifo()

uint8_t mpu6050_set_fifo	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t	enable
	)

enable or disable fifo

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set fifo failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_fifo_enable()

uint8_t mpu6050_set_fifo_enable	(	mpu6050_handle_t *	handle,
		mpu6050_fifo_t	fifo,
		mpu6050_bool_t	enable
	)

enable or disable the fifo function

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	fifo	fifo type
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set fifo enable failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_force_accel_sample()

uint8_t mpu6050_set_force_accel_sample	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t	enable
	)

enable or disable force accel sample

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set force accel sample failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_fsync_interrupt()

uint8_t mpu6050_set_fsync_interrupt	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t	enable
	)

enable or disable the fsync interrupt

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set fsync interrupt failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_fsync_interrupt_level()

uint8_t mpu6050_set_fsync_interrupt_level	(	mpu6050_handle_t *	handle,
		mpu6050_pin_level_t	level
	)

set the fsync interrupt level

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	level	set level

Returns

status code

• 0 success
• 1 set fsync interrupt level failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_gyroscope_range()

uint8_t mpu6050_set_gyroscope_range	(	mpu6050_handle_t *	handle,
		mpu6050_gyroscope_range_t	range
	)

set the gyroscope range

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	range	gyroscope range

Returns

status code

• 0 success
• 1 set gyroscope range failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_gyroscope_test()

uint8_t mpu6050_set_gyroscope_test	(	mpu6050_handle_t *	handle,
		mpu6050_axis_t	axis,
		mpu6050_bool_t	enable
	)

set the gyroscope test

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	axis	tested axis
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set gyroscope test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_gyroscope_x_test()

uint8_t mpu6050_set_gyroscope_x_test	(	mpu6050_handle_t *	handle,
		uint8_t	data
	)

set the gyroscope x test

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	data	set data

Returns

status code

• 0 success
• 1 set gyroscope x test failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 data is over 0x1F

Note

none

mpu6050_set_gyroscope_y_test()

uint8_t mpu6050_set_gyroscope_y_test	(	mpu6050_handle_t *	handle,
		uint8_t	data
	)

set the gyroscope y test

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	data	set data

Returns

status code

• 0 success
• 1 set gyroscope y test failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 data is over 0x1F

Note

none

mpu6050_set_gyroscope_z_test()

uint8_t mpu6050_set_gyroscope_z_test	(	mpu6050_handle_t *	handle,
		uint8_t	data
	)

set the gyroscope z test

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	data	set data

Returns

status code

• 0 success
• 1 set gyroscope z test failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 data is over 0x1F

Note

none

mpu6050_set_iic4_data_in()

uint8_t mpu6050_set_iic4_data_in	(	mpu6050_handle_t *	handle,
		uint8_t	data
	)

set the iic4 data in

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	data	set data

Returns

status code

• 0 success
• 1 set iic4 data in failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_iic4_data_out()

uint8_t mpu6050_set_iic4_data_out	(	mpu6050_handle_t *	handle,
		uint8_t	data
	)

set the iic4 data out

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	data	set data

Returns

status code

• 0 success
• 1 set iic4 data out failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_iic4_enable()

uint8_t mpu6050_set_iic4_enable	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t	enable
	)

enable or disable the iic4

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set iic4 enable failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_iic4_interrupt()

uint8_t mpu6050_set_iic4_interrupt	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t	enable
	)

enable or disable the iic4 interrupt

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set iic4 interrupt failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_iic4_transaction_mode()

uint8_t mpu6050_set_iic4_transaction_mode	(	mpu6050_handle_t *	handle,
		mpu6050_iic4_transaction_mode_t	mode
	)

set the iic4 transaction mode

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	mode	transaction mode

Returns

status code

• 0 success
• 1 set iic4 transaction mode failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_iic_address()

uint8_t mpu6050_set_iic_address	(	mpu6050_handle_t *	handle,
		mpu6050_iic_slave_t	slave,
		uint8_t	addr_7bit
	)

set the iic address

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	slave	iic slave number
[in]	addr_7bit	iic address

Returns

status code

• 0 success
• 1 set iic address failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

mpu6050_set_iic_bypass()

uint8_t mpu6050_set_iic_bypass	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t	enable
	)

enable or disable the iic bypass

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set iic bypass failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_iic_byte_swap()

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

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	slave	iic slave number
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set iic byte swap failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

mpu6050_set_iic_clock()

uint8_t mpu6050_set_iic_clock	(	mpu6050_handle_t *	handle,
		mpu6050_iic_clock_t	clk
	)

set the iic clock

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	clk	iic clock

Returns

status code

• 0 success
• 1 set iic clock failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_iic_data_out()

uint8_t mpu6050_set_iic_data_out	(	mpu6050_handle_t *	handle,
		mpu6050_iic_slave_t	slave,
		uint8_t	data
	)

set the iic data out

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	slave	iic slave number
[in]	data	set data

Returns

status code

• 0 success
• 1 set iic data out failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

mpu6050_set_iic_delay()

uint8_t mpu6050_set_iic_delay	(	mpu6050_handle_t *	handle,
		uint8_t	delay
	)

set the iic delay

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	delay	iic delay

Returns

status code

• 0 success
• 1 set iic delay failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 delay > 0x1F

Note

none

mpu6050_set_iic_delay_enable()

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

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	delay	iic delay
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set iic delay enable failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_iic_enable()

uint8_t mpu6050_set_iic_enable	(	mpu6050_handle_t *	handle,
		mpu6050_iic_slave_t	slave,
		mpu6050_bool_t	enable
	)

enable or disable the iic

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	slave	iic slave number
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set iic enable failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

mpu6050_set_iic_fifo_enable()

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

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	slave	iic slave number
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set iic fifo enable failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

mpu6050_set_iic_group_order()

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

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	slave	iic slave number
[in]	order	group order

Returns

status code

• 0 success
• 1 set iic group order failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

mpu6050_set_iic_master()

uint8_t mpu6050_set_iic_master	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t	enable
	)

enable or disable the iic master mode

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set iic master failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_iic_mode()

uint8_t mpu6050_set_iic_mode	(	mpu6050_handle_t *	handle,
		mpu6050_iic_slave_t	slave,
		mpu6050_iic_mode_t	mode
	)

set the iic mode

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	slave	iic slave number
[in]	mode	iic mode

Returns

status code

• 0 success
• 1 set iic mode failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

mpu6050_set_iic_multi_master()

uint8_t mpu6050_set_iic_multi_master	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t	enable
	)

enable or disable iic multi master

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set iic multi master failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_iic_read_mode()

uint8_t mpu6050_set_iic_read_mode	(	mpu6050_handle_t *	handle,
		mpu6050_iic_read_mode_t	mode
	)

set the iic read mode

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	mode	read mode

Returns

status code

• 0 success
• 1 set iic read mode failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_iic_register()

uint8_t mpu6050_set_iic_register	(	mpu6050_handle_t *	handle,
		mpu6050_iic_slave_t	slave,
		uint8_t	reg
	)

set the iic register

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	slave	iic slave number
[in]	reg	iic register

Returns

status code

• 0 success
• 1 set iic register failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

mpu6050_set_iic_transaction_mode()

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

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	slave	iic slave number
[in]	mode	iic transaction mode

Returns

status code

• 0 success
• 1 set iic transaction mode failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

mpu6050_set_iic_transferred_len()

uint8_t mpu6050_set_iic_transferred_len	(	mpu6050_handle_t *	handle,
		mpu6050_iic_slave_t	slave,
		uint8_t	len
	)

set the iic transferred length

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	slave	iic slave number
[in]	len	iic transferred length

Returns

status code

• 0 success
• 1 set iic transferred len failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave
• 5 len > 0xF

Note

none

mpu6050_set_iic_wait_for_external_sensor()

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

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set iic wait for external sensor failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_interrupt()

uint8_t mpu6050_set_interrupt	(	mpu6050_handle_t *	handle,
		mpu6050_interrupt_t	type,
		mpu6050_bool_t	enable
	)

enable or disable the interrupt

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	type	set interrupt type
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set interrupt failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_interrupt_latch()

uint8_t mpu6050_set_interrupt_latch	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t	enable
	)

enable or disable the interrupt latch

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set interrupt latch failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_interrupt_level()

uint8_t mpu6050_set_interrupt_level	(	mpu6050_handle_t *	handle,
		mpu6050_pin_level_t	level
	)

set the interrupt level

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	level	interrupt level

Returns

status code

• 0 success
• 1 set interrupt level failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_interrupt_pin_type()

uint8_t mpu6050_set_interrupt_pin_type	(	mpu6050_handle_t *	handle,
		mpu6050_pin_type_t	type
	)

set the interrupt pin type

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	type	interrupt pin type

Returns

status code

• 0 success
• 1 set interrupt pin type failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_interrupt_read_clear()

uint8_t mpu6050_set_interrupt_read_clear	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t	enable
	)

enable or disable the interrupt reading clear

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set interrupt read clear failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_low_pass_filter()

uint8_t mpu6050_set_low_pass_filter	(	mpu6050_handle_t *	handle,
		mpu6050_low_pass_filter_t	filter
	)

set the low pass filter

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	filter	low pass filter

Returns

status code

• 0 success
• 1 set low pass filter failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_motion_duration()

uint8_t mpu6050_set_motion_duration	(	mpu6050_handle_t *	handle,
		uint8_t	duration
	)

set the motion duration

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	duration	set duration

Returns

status code

• 0 success
• 1 set motion duration failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_motion_threshold()

uint8_t mpu6050_set_motion_threshold	(	mpu6050_handle_t *	handle,
		uint8_t	threshold
	)

set the motion_threshold

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	threshold	set threshold

Returns

status code

• 0 success
• 1 set motion threshold failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_sample_rate_divider()

uint8_t mpu6050_set_sample_rate_divider	(	mpu6050_handle_t *	handle,
		uint8_t	d
	)

set the sample rate divider

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	d	sample rate divider

Returns

status code

• 0 success
• 1 set sample rate divider failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_signal_path_reset()

uint8_t mpu6050_set_signal_path_reset	(	mpu6050_handle_t *	handle,
		mpu6050_signal_path_reset_t	path
	)

set the signal path reset

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	path	signal path

Returns

status code

• 0 success
• 1 set signal path reset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_sleep()

uint8_t mpu6050_set_sleep	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t	enable
	)

enable or disable the sleep mode

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set sleep failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_standby_mode()

uint8_t mpu6050_set_standby_mode	(	mpu6050_handle_t *	handle,
		mpu6050_source_t	source,
		mpu6050_bool_t	enable
	)

set source into standby mode

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	source	input source
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set standby mode failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_temperature_sensor()

uint8_t mpu6050_set_temperature_sensor	(	mpu6050_handle_t *	handle,
		mpu6050_bool_t	enable
	)

enable or disable the temperature sensor

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set temperature sensor failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

mpu6050_set_wake_up_frequency()

uint8_t mpu6050_set_wake_up_frequency	(	mpu6050_handle_t *	handle,
		mpu6050_wake_up_frequency_t	frequency
	)

set the wake up frequency

Parameters

[in]	*handle	pointer to an mpu6050 handle structure
[in]	frequency	wake up frequency

Returns

status code

• 0 success
• 1 set wake up frequency failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none