#include "mbed.h"
#include "math.h"

Classes
class	MPU6050

Macros
#define	M_PI 3.14159265358979323846

#define	XGOFFS_TC 0x00

#define	YGOFFS_TC 0x01

#define	ZGOFFS_TC 0x02

#define	X_FINE_GAIN 0x03

#define	Y_FINE_GAIN 0x04

#define	Z_FINE_GAIN 0x05

#define	XA_OFFSET_H 0x06

#define	XA_OFFSET_L_TC 0x07

#define	YA_OFFSET_H 0x08

#define	YA_OFFSET_L_TC 0x09

#define	ZA_OFFSET_H 0x0A

#define	ZA_OFFSET_L_TC 0x0B

#define	SELF_TEST_X 0x0D

#define	SELF_TEST_Y 0x0E

#define	SELF_TEST_Z 0x0F

#define	SELF_TEST_A 0x10

#define	XG_OFFS_USRH 0x13

#define	XG_OFFS_USRL 0x14

#define	YG_OFFS_USRH 0x15

#define	YG_OFFS_USRL 0x16

#define	ZG_OFFS_USRH 0x17

#define	ZG_OFFS_USRL 0x18

#define	SMPLRT_DIV 0x19

#define	CONFIG 0x1A

#define	GYRO_CONFIG 0x1B

#define	ACCEL_CONFIG 0x1C

#define	FF_THR 0x1D

#define	FF_DUR 0x1E

#define	MOT_THR 0x1F

#define	MOT_DUR 0x20

#define	ZMOT_THR 0x21

#define	ZRMOT_DUR 0x22

#define	FIFO_EN 0x23

#define	I2C_MST_CTRL 0x24

#define	I2C_SLV0_ADDR 0x25

#define	I2C_SLV0_REG 0x26

#define	I2C_SLV0_CTRL 0x27

#define	I2C_SLV1_ADDR 0x28

#define	I2C_SLV1_REG 0x29

#define	I2C_SLV1_CTRL 0x2A

#define	I2C_SLV2_ADDR 0x2B

#define	I2C_SLV2_REG 0x2C

#define	I2C_SLV2_CTRL 0x2D

#define	I2C_SLV3_ADDR 0x2E

#define	I2C_SLV3_REG 0x2F

#define	I2C_SLV3_CTRL 0x30

#define	I2C_SLV4_ADDR 0x31

#define	I2C_SLV4_REG 0x32

#define	I2C_SLV4_DO 0x33

#define	I2C_SLV4_CTRL 0x34

#define	I2C_SLV4_DI 0x35

#define	I2C_MST_STATUS 0x36

#define	INT_PIN_CFG 0x37

#define	INT_ENABLE 0x38

#define	DMP_INT_STATUS 0x39

#define	INT_STATUS 0x3A

#define	ACCEL_XOUT_H 0x3B

#define	ACCEL_XOUT_L 0x3C

#define	ACCEL_YOUT_H 0x3D

#define	ACCEL_YOUT_L 0x3E

#define	ACCEL_ZOUT_H 0x3F

#define	ACCEL_ZOUT_L 0x40

#define	TEMP_OUT_H 0x41

#define	TEMP_OUT_L 0x42

#define	GYRO_XOUT_H 0x43

#define	GYRO_XOUT_L 0x44

#define	GYRO_YOUT_H 0x45

#define	GYRO_YOUT_L 0x46

#define	GYRO_ZOUT_H 0x47

#define	GYRO_ZOUT_L 0x48

#define	EXT_SENS_DATA_00 0x49

#define	EXT_SENS_DATA_01 0x4A

#define	EXT_SENS_DATA_02 0x4B

#define	EXT_SENS_DATA_03 0x4C

#define	EXT_SENS_DATA_04 0x4D

#define	EXT_SENS_DATA_05 0x4E

#define	EXT_SENS_DATA_06 0x4F

#define	EXT_SENS_DATA_07 0x50

#define	EXT_SENS_DATA_08 0x51

#define	EXT_SENS_DATA_09 0x52

#define	EXT_SENS_DATA_10 0x53

#define	EXT_SENS_DATA_11 0x54

#define	EXT_SENS_DATA_12 0x55

#define	EXT_SENS_DATA_13 0x56

#define	EXT_SENS_DATA_14 0x57

#define	EXT_SENS_DATA_15 0x58

#define	EXT_SENS_DATA_16 0x59

#define	EXT_SENS_DATA_17 0x5A

#define	EXT_SENS_DATA_18 0x5B

#define	EXT_SENS_DATA_19 0x5C

#define	EXT_SENS_DATA_20 0x5D

#define	EXT_SENS_DATA_21 0x5E

#define	EXT_SENS_DATA_22 0x5F

#define	EXT_SENS_DATA_23 0x60

#define	MOT_DETECT_STATUS 0x61

#define	I2C_SLV0_DO 0x63

#define	I2C_SLV1_DO 0x64

#define	I2C_SLV2_DO 0x65

#define	I2C_SLV3_DO 0x66

#define	I2C_MST_DELAY_CTRL 0x67

#define	SIGNAL_PATH_RESET 0x68

#define	MOT_DETECT_CTRL 0x69

#define	USER_CTRL 0x6A

#define	PWR_MGMT_1 0x6B

#define	PWR_MGMT_2 0x6C

#define	DMP_BANK 0x6D

#define	DMP_RW_PNT 0x6E

#define	DMP_REG 0x6F

#define	DMP_REG_1 0x70

#define	DMP_REG_2 0x71

#define	FIFO_COUNTH 0x72

#define	FIFO_COUNTL 0x73

#define	FIFO_R_W 0x74

#define	WHO_AM_I_MPU6050 0x75

#define	DATA_RDY_INT 0

#define	I2C_MST_EN 5

Enumerations
enum	AccelScale { AFS_2G , AFS_4G , AFS_8G , AFS_16G }

enum	GyroScale { GFS_250DPS , GFS_500DPS , GFS_1000DPS , GFS_2000DPS }

Macro Definition Documentation

◆ ACCEL_CONFIG

#define ACCEL_CONFIG 0x1C

◆ ACCEL_XOUT_H

#define ACCEL_XOUT_H 0x3B

◆ ACCEL_XOUT_L

#define ACCEL_XOUT_L 0x3C

◆ ACCEL_YOUT_H

#define ACCEL_YOUT_H 0x3D

◆ ACCEL_YOUT_L

#define ACCEL_YOUT_L 0x3E

◆ ACCEL_ZOUT_H

#define ACCEL_ZOUT_H 0x3F

◆ ACCEL_ZOUT_L

#define ACCEL_ZOUT_L 0x40

◆ CONFIG

#define CONFIG 0x1A

◆ DATA_RDY_INT

#define DATA_RDY_INT 0

◆ DMP_BANK

#define DMP_BANK 0x6D

◆ DMP_INT_STATUS

#define DMP_INT_STATUS 0x39

◆ DMP_REG

#define DMP_REG 0x6F

◆ DMP_REG_1

#define DMP_REG_1 0x70

◆ DMP_REG_2

#define DMP_REG_2 0x71

◆ DMP_RW_PNT

#define DMP_RW_PNT 0x6E

◆ EXT_SENS_DATA_00

#define EXT_SENS_DATA_00 0x49

◆ EXT_SENS_DATA_01

#define EXT_SENS_DATA_01 0x4A

◆ EXT_SENS_DATA_02

#define EXT_SENS_DATA_02 0x4B

◆ EXT_SENS_DATA_03

#define EXT_SENS_DATA_03 0x4C

◆ EXT_SENS_DATA_04

#define EXT_SENS_DATA_04 0x4D

◆ EXT_SENS_DATA_05

#define EXT_SENS_DATA_05 0x4E

◆ EXT_SENS_DATA_06

#define EXT_SENS_DATA_06 0x4F

◆ EXT_SENS_DATA_07

#define EXT_SENS_DATA_07 0x50

◆ EXT_SENS_DATA_08

#define EXT_SENS_DATA_08 0x51

◆ EXT_SENS_DATA_09

#define EXT_SENS_DATA_09 0x52

◆ EXT_SENS_DATA_10

#define EXT_SENS_DATA_10 0x53

◆ EXT_SENS_DATA_11

#define EXT_SENS_DATA_11 0x54

◆ EXT_SENS_DATA_12

#define EXT_SENS_DATA_12 0x55

◆ EXT_SENS_DATA_13

#define EXT_SENS_DATA_13 0x56

◆ EXT_SENS_DATA_14

#define EXT_SENS_DATA_14 0x57

◆ EXT_SENS_DATA_15

#define EXT_SENS_DATA_15 0x58

◆ EXT_SENS_DATA_16

#define EXT_SENS_DATA_16 0x59

◆ EXT_SENS_DATA_17

#define EXT_SENS_DATA_17 0x5A

◆ EXT_SENS_DATA_18

#define EXT_SENS_DATA_18 0x5B

◆ EXT_SENS_DATA_19

#define EXT_SENS_DATA_19 0x5C

◆ EXT_SENS_DATA_20

#define EXT_SENS_DATA_20 0x5D

◆ EXT_SENS_DATA_21

#define EXT_SENS_DATA_21 0x5E

◆ EXT_SENS_DATA_22

#define EXT_SENS_DATA_22 0x5F

◆ EXT_SENS_DATA_23

#define EXT_SENS_DATA_23 0x60

◆ FF_DUR

#define FF_DUR 0x1E

◆ FF_THR

#define FF_THR 0x1D

◆ FIFO_COUNTH

#define FIFO_COUNTH 0x72

◆ FIFO_COUNTL

#define FIFO_COUNTL 0x73

◆ FIFO_EN

#define FIFO_EN 0x23

◆ FIFO_R_W

#define FIFO_R_W 0x74

◆ GYRO_CONFIG

#define GYRO_CONFIG 0x1B

◆ GYRO_XOUT_H

#define GYRO_XOUT_H 0x43

◆ GYRO_XOUT_L

#define GYRO_XOUT_L 0x44

◆ GYRO_YOUT_H

#define GYRO_YOUT_H 0x45

◆ GYRO_YOUT_L

#define GYRO_YOUT_L 0x46

◆ GYRO_ZOUT_H

#define GYRO_ZOUT_H 0x47

◆ GYRO_ZOUT_L

#define GYRO_ZOUT_L 0x48

◆ I2C_MST_CTRL

#define I2C_MST_CTRL 0x24

◆ I2C_MST_DELAY_CTRL

#define I2C_MST_DELAY_CTRL 0x67

◆ I2C_MST_EN

#define I2C_MST_EN 5

◆ I2C_MST_STATUS

#define I2C_MST_STATUS 0x36

◆ I2C_SLV0_ADDR

#define I2C_SLV0_ADDR 0x25

◆ I2C_SLV0_CTRL

#define I2C_SLV0_CTRL 0x27

◆ I2C_SLV0_DO

#define I2C_SLV0_DO 0x63

◆ I2C_SLV0_REG

#define I2C_SLV0_REG 0x26

◆ I2C_SLV1_ADDR

#define I2C_SLV1_ADDR 0x28

◆ I2C_SLV1_CTRL

#define I2C_SLV1_CTRL 0x2A

◆ I2C_SLV1_DO

#define I2C_SLV1_DO 0x64

◆ I2C_SLV1_REG

#define I2C_SLV1_REG 0x29

◆ I2C_SLV2_ADDR

#define I2C_SLV2_ADDR 0x2B

◆ I2C_SLV2_CTRL

#define I2C_SLV2_CTRL 0x2D

◆ I2C_SLV2_DO

#define I2C_SLV2_DO 0x65

◆ I2C_SLV2_REG

#define I2C_SLV2_REG 0x2C

◆ I2C_SLV3_ADDR

#define I2C_SLV3_ADDR 0x2E

◆ I2C_SLV3_CTRL

#define I2C_SLV3_CTRL 0x30

◆ I2C_SLV3_DO

#define I2C_SLV3_DO 0x66

◆ I2C_SLV3_REG

#define I2C_SLV3_REG 0x2F

◆ I2C_SLV4_ADDR

#define I2C_SLV4_ADDR 0x31

◆ I2C_SLV4_CTRL

#define I2C_SLV4_CTRL 0x34

◆ I2C_SLV4_DI

#define I2C_SLV4_DI 0x35

◆ I2C_SLV4_DO

#define I2C_SLV4_DO 0x33

◆ I2C_SLV4_REG

#define I2C_SLV4_REG 0x32

◆ INT_ENABLE

#define INT_ENABLE 0x38

◆ INT_PIN_CFG

#define INT_PIN_CFG 0x37

◆ INT_STATUS

#define INT_STATUS 0x3A

◆ M_PI

#define M_PI 3.14159265358979323846

◆ MOT_DETECT_CTRL

#define MOT_DETECT_CTRL 0x69

◆ MOT_DETECT_STATUS

#define MOT_DETECT_STATUS 0x61

◆ MOT_DUR

#define MOT_DUR 0x20

◆ MOT_THR

#define MOT_THR 0x1F

◆ PWR_MGMT_1

#define PWR_MGMT_1 0x6B

◆ PWR_MGMT_2

#define PWR_MGMT_2 0x6C

◆ SELF_TEST_A

#define SELF_TEST_A 0x10

◆ SELF_TEST_X

#define SELF_TEST_X 0x0D

◆ SELF_TEST_Y

#define SELF_TEST_Y 0x0E

◆ SELF_TEST_Z

#define SELF_TEST_Z 0x0F

◆ SIGNAL_PATH_RESET

#define SIGNAL_PATH_RESET 0x68

◆ SMPLRT_DIV

#define SMPLRT_DIV 0x19

◆ TEMP_OUT_H

#define TEMP_OUT_H 0x41

◆ TEMP_OUT_L

#define TEMP_OUT_L 0x42

◆ USER_CTRL

#define USER_CTRL 0x6A

◆ WHO_AM_I_MPU6050

#define WHO_AM_I_MPU6050 0x75

◆ X_FINE_GAIN

#define X_FINE_GAIN 0x03

◆ XA_OFFSET_H

#define XA_OFFSET_H 0x06

◆ XA_OFFSET_L_TC

#define XA_OFFSET_L_TC 0x07

◆ XG_OFFS_USRH

#define XG_OFFS_USRH 0x13

◆ XG_OFFS_USRL

#define XG_OFFS_USRL 0x14

◆ XGOFFS_TC

#define XGOFFS_TC 0x00

◆ Y_FINE_GAIN

#define Y_FINE_GAIN 0x04

◆ YA_OFFSET_H

#define YA_OFFSET_H 0x08

◆ YA_OFFSET_L_TC

#define YA_OFFSET_L_TC 0x09

◆ YG_OFFS_USRH

#define YG_OFFS_USRH 0x15

◆ YG_OFFS_USRL

#define YG_OFFS_USRL 0x16

◆ YGOFFS_TC

#define YGOFFS_TC 0x01

◆ Z_FINE_GAIN

#define Z_FINE_GAIN 0x05

◆ ZA_OFFSET_H

#define ZA_OFFSET_H 0x0A

◆ ZA_OFFSET_L_TC

#define ZA_OFFSET_L_TC 0x0B

◆ ZG_OFFS_USRH

#define ZG_OFFS_USRH 0x17

◆ ZG_OFFS_USRL

#define ZG_OFFS_USRL 0x18

◆ ZGOFFS_TC

#define ZGOFFS_TC 0x02

◆ ZMOT_THR

#define ZMOT_THR 0x21

◆ ZRMOT_DUR

#define ZRMOT_DUR 0x22

Enumeration Type Documentation

◆ AccelScale

enum AccelScale

Enumerator
AFS_2G
AFS_4G
AFS_8G
AFS_16G

◆ GyroScale

enum GyroScale

Enumerator
GFS_250DPS
GFS_500DPS
GFS_1000DPS
GFS_2000DPS

Classes

Macros

Enumerations