Routines for interaction with MPU6050 IMU. More...

Files
file	mpu6050.h
	Header file for Invensence IMU MPU6050.

Data Structures
struct	MPU6050
	Data structure containing variables specific to individual slave devices. More...

Macros
#define	MPU_DEVICE_ADDRESS 0x68
	Standard slave address for the module (ADD -> GND).

#define	MPU_DEVICE_ADDRESS_ALTERNATE 0x69
	Altenate slave address for the module (ADD -> VCC).

#define	MPU_DATA_RANGE 32767.0f
	The decimal rangle of the ADC (15-bit <=> 32767).

Enumerations

Functions
uint8_t	MPU6050_setup (MPU6050 *target, uint8_t i2c_number, uint8_t address)
	Initalizes the slave device and populates data structure variable. More...

void	MPU6050_writeByte (MPU6050 *target, uint8_t address, uint8_t data)
	Writes a single byte to a given address. More...

uint8_t	MPU6050_readByte (MPU6050 *target, uint8_t address)
	Read a single byte from a given address. More...

uint16_t	MPU6050_readHalf (MPU6050 *target, uint8_t address)
	Read a half word from a given address. More...

void	MPU6050_raw (MPU6050 target, mpu_data what, int16_t container)
	Get raw data values (16-bit each) More...

void	MPU6050_calc (MPU6050 target, mpu_data what, float container)
	Get calculated data values. More...

void	MPU6050_setAcc (MPU6050 *target, mpu_acc range)
	Set acceleration range. More...

void	MPU6050_setGyr (MPU6050 *target, mpu_gyr range)
	Set gyroscope range. More...

uint8_t	MPU6050_getAcc (MPU6050 *target)
	Get the acceleration range. More...

uint16_t	MPU6050_getGyr (MPU6050 *target)
	Get the gyroscope range. More...

Detailed Description

Routines for interaction with MPU6050 IMU.

The MPU6060 operates on the I2C bus. This module provides routines for

Note

This library requires external functions to be declared.

I2C_start()
I2C_address()
I2C_write()
I2C_read()
I2C_repeatRead()
I2C_stop()

Author: Stuart Ianna

Version: 1.0

Date: June 2018

Copyright: GNU GPLv3

Warning: None

Bug:: None

Todo:

Verified Compilers

arm-none-eabi-gcc (15:4.9.3+svn231177-1) 4.9.3 20150529 (prerelease)

Example - Typical usage.: #include <stm32f103cb_core.h>
#include <coms128.h>
#include <mpu6050.h>
//Create a data structure for the device
MPU6050 mpu;
int main(void)
{
//Serial communications
USART_setup(USART_1);
COMS(USART_1);
//Debug enable
MCU_debugEnable(USART_add_put(USART_1));
//Setup I2C
I2C_setup(I2C_2);
//Setup Sensor
MPU6050_setup(&mpu,I2C_2,MPU_DEVICE_ADDRESS);
//Set the accelerometer and gyroscope range
MPU6050_setAcc(&mpu,MPU_ACC_8G);
MPU6050_setGyr(&mpu,MPU_GYR_1000);
//Container to store the calculated values
float data[7];
//For delay
volatile int i;
while (1) {
//Get raw data
MPU6050_calc(&mpu,MPU_ALL,data);
//Acceleration
printt(data[0]);
printt(data[1]);
printt(data[2]);
//Temperature
printt(data[3]);
//Gyro
printt(data[4]);
printt(data[5]);
printl(data[6]);

//wait a bit
for(i = 0; i < 40000;i++);
}
return 0;
}

Data Structure Documentation

struct MPU6050

Data structure containing variables specific to individual slave devices.

Definition at line 63 of file mpu6050.h.

Data Fields
uint8_t	bus
	The port the device is connected to.

uint8_t	slaveAddress
	The address of the slave device.

uint8_t	accelSen
	The accelerometer sesitivity, set during MPU6050_setup() by reading slave data register.

uint16_t	gyroSen
	The gyroscope sesitivity, set during MPU6050_setup() by reading slave data register.

Enumeration Type Documentation

enum mpu_acc

Enumerator
MPU_ACC_2G	2G range for accelerometer
MPU_ACC_4G	4G range for accelerometer
MPU_ACC_8G	8G range for accelerometer
MPU_ACC_16G	16G range for accelerometer

Definition at line 102 of file mpu6050.h.

enum mpu_data

Different options for getting data with MPU6050_raw() and MPU6050_calc()

Enumerator
MPU_ACCX	Acceleration data x-axis.
MPU_ACCY	Acceleration data y-axis.
MPU_ACCZ	Acceleration data z-axis.
MPU_TEMP	Temperature data.
MPU_GYRX	Gyrometer data x-axis.
MPU_GYRY	Gyrometer data y-axis.
MPU_GYRZ	Gyrometer data z-axis.
MPU_ACC	All raw accelerometer data.
MPU_GYR	All raw gyro data.
MPU_IMU	All gyro and all accelermeter.
MPU_ALL	All raw data.

Definition at line 86 of file mpu6050.h.

enum mpu_gyr

Enumerator
MPU_GYR_250	250 degree range for gyroscope
MPU_GYR_500	500 degree range for gyroscope
MPU_GYR_1000	1000 degree range for gyroscope
MPU_GYR_2000	2000 degree range for gyroscope

Definition at line 111 of file mpu6050.h.

Function Documentation

void MPU6050_calc	(	MPU6050 *	target,
		mpu_data	what,
		float *	container
	)

Get calculated data values.

This function calculates G-force and degrees per second using the sensitivity values defined in data structure MPU6050.

Parameters

target	The target slave device
what	The type of data to get
container

Returns: none

Definition at line 52 of file mpu6050.c.

uint8_t MPU6050_getAcc ( MPU6050 * target )

Get the acceleration range.

Parameters

target The target slave device

Returns: The range for the accelerometer

Definition at line 455 of file mpu6050.c.

uint16_t MPU6050_getGyr ( MPU6050 * target )

Get the gyroscope range.

Parameters

target The target slave device

Returns: The range for the gyroscope

Definition at line 485 of file mpu6050.c.

void MPU6050_raw	(	MPU6050 *	target,
		mpu_data	what,
		int16_t *	container
	)

Get raw data values (16-bit each)

Parameters

target	The target slave device
what	The type of data to get
container

Returns: none

Definition at line 238 of file mpu6050.c.

uint8_t MPU6050_readByte	(	MPU6050 *	target,
		uint8_t	address
	)

Read a single byte from a given address.

This function can be used to read individual values of the device registers

Parameters

target	The target slave device
address	The target register address of the slave

Returns: The data at that address.

Definition at line 368 of file mpu6050.c.

uint16_t MPU6050_readHalf	(	MPU6050 *	target,
		uint8_t	address
	)

Read a half word from a given address.

Parameters

target	The target slave device
address	The target register address for the first register target

Returns: The data at that address.

Definition at line 380 of file mpu6050.c.

void MPU6050_setAcc	(	MPU6050 *	target,
		mpu_acc	range
	)

Set acceleration range.

Parameters

target	The target slave device
range	The range to set

Returns: none

Definition at line 394 of file mpu6050.c.

void MPU6050_setGyr	(	MPU6050 *	target,
		mpu_gyr	range
	)

Set gyroscope range.

Parameters

target	The target slave device
range	The range to set

Returns: none

Definition at line 425 of file mpu6050.c.

uint8_t MPU6050_setup	(	MPU6050 *	target,
		uint8_t	i2c_number,
		uint8_t	address
	)

Initalizes the slave device and populates data structure variable.

Note: The relavent I2C port must be setup before this is called

Parameters

target	Pointer to the MPU6050 data structure
i2c_number	The number of the peripheral port connected, typically I2C_1 or I2C_2
address	The slave address of the device MPU_DEVICE_ADDRESS or MPU_DEVICE_ADDRESS_ALTERNATE

Returns: 0 if setup was ok, 1 if error occured.

Definition at line 31 of file mpu6050.c.

void MPU6050_writeByte	(	MPU6050 *	target,
		uint8_t	address,
		uint8_t	data
	)

Writes a single byte to a given address.

This function can be used to modify individual registers of the device.

Parameters

target	the target slave device
address	The target register address of the slave
data	The byte of data to write

Returns: none

Definition at line 358 of file mpu6050.c.

Files

Data Structures

Macros

Enumerations

Functions

Detailed Description

Data Structure Documentation

Data Fields

Enumeration Type Documentation

Function Documentation