MPU6050 Class Reference

#include <MPU6050.h>

Public Member Functions
	MPU6050 (uint8_t addr=0x68, AccelScale accelScale=AFS_2G, GyroScale gyroScale=GFS_250DPS, PinName sdaPin=I2C_SDA, PinName sclPin=I2C_SCL, PinName interruptInPin=NC)
	Creates an MPU6050 object.
virtual	~MPU6050 ()
void	rise (Callback< void(void)> func)
template<typename T >
void	rise (T *tptr, void(T::*mptr)(void))
void	fall (Callback< void(void)> func)
template<typename T >
void	fall (T *tptr, void(T::*mptr)(void))
bool	init ()
	Initializes the MPU6050.
bool	dataReady ()
	Indicates whether data is available after an interrupt.
float *	accel ()
	Computes acceleration.
float *	gyro ()
	Computes gyro.
float	temp ()
void	lowPowerAccelOnly ()
	Configures the motion detection control for low power accelerometer mode.
void	reset ()
	Resets the MPU6050.
void	calibrate ()
	Calibrates the MPU6050.
bool	selfTestOK ()
	Performs accelerometer and gyroscope self test.
void	setGain (float beta, float zeta)
	Adjusts filter gain after device is stabilized.
void	madgwickFilter (float deltaT)
	Madgwick filter.
float	yaw ()
	Calculates yaw in degree.
float	pitch ()
	Calculates pitch in degree.
float	roll ()
	Claculates roll in degree.

Public Attributes
float	accelData [3]
float &	accelX = accelData[0]
float &	accelY = accelData[1]
float &	accelZ = accelData[2]
float	gyroData [3]
float &	gyroX = gyroData[0]
float &	gyroY = gyroData[1]
float &	gyroZ = gyroData[2]

Constructor & Destructor Documentation

MPU6050()

MPU6050::MPU6050	(	uint8_t	addr = 0x68,
		AccelScale	accelScale = AFS_2G,
		GyroScale	gyroScale = GFS_250DPS,
		PinName	sdaPin = I2C_SDA,
		PinName	sclPin = I2C_SCL,
		PinName	interruptInPin = NC
	)

Creates an MPU6050 object.

Note

Default address is 0x68 Default acceleration range 2G Default gyroscope range is 250 dps (degrees per second) I2C_SDA and I2C_SCL pins are used for I2C connection by default Interrupt pin is not connected (NC) by default

Parameters

retval

~MPU6050()

virtual MPU6050::~MPU6050 ( )

inlinevirtual

Member Function Documentation

accel()

float * MPU6050::accel

(

)

Computes acceleration.

Note

Parameters

retval

calibrate()

void MPU6050::calibrate

(

)

Calibrates the MPU6050.

Note

Function which accumulates gyro and accelerometer data after device initialization. It calculates the average of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers.

Parameters

retval

dataReady()

bool MPU6050::dataReady

(

)

Indicates whether data is available after an interrupt.

Note

The DATA_RDY_INT bit clears to 0 after the INT_STATUS register has been read.

Parameters

retval

fall() [1/2]

void MPU6050::fall

(

Callback< void(void)>

func

)

Note

Parameters

retval

fall() [2/2]

template<typename T >

void MPU6050::fall	(	T *	tptr,
		void(T::*)(void)	mptr
	)

Note

Parameters

retval

gyro()

float * MPU6050::gyro

(

)

Computes gyro.

Note

Parameters

retval

init()

bool MPU6050::init

(

)

Initializes the MPU6050.

Note

Parameters

retval

lowPowerAccelOnly()

void MPU6050::lowPowerAccelOnly

(

)

Configures the motion detection control for low power accelerometer mode.

Note

The sensor has a high-pass filter necessary to invoke to allow the sensor motion detection algorithms work properly Motion detection occurs on free-fall (acceleration below a threshold for some time for all axes), motion (acceleration above a threshold for some time on at least one axis), and zero-motion toggle (acceleration on each axis less than a threshold for some time sets this flag, motion above the threshold turns it off). The high-pass filter takes gravity out consideration for these threshold evaluations; otherwise, the flags would be set all the time!

Parameters

retval

madgwickFilter()

void MPU6050::madgwickFilter

(

float

deltaT

)

Madgwick filter.

Note

Implementation of Sebastian Madgwick's "...efficient orientation filter for... inertial/magnetic sensor arrays" (see http://www.x-io.co.uk/category/open-source/ for examples and more details) which fuses acceleration and rotation rate to produce a quaternion-based estimate of relative device orientation – which can be converted to yaw, pitch, and roll. Useful for stabilizing quadcopters, etc. The performance of the orientation filter is almost as good as conventional Kalman-based filtering algorithms but is much less computationally intensive—it can be performed on a 3.3 V Pro Mini operating at 8 MHz!

Parameters

deltaT

Integration time in seconds.

Return values

pitch()

float MPU6050::pitch

(

)

Calculates pitch in degree.

Note

Parameters

retval

reset()

void MPU6050::reset

(

)

Resets the MPU6050.

Note

Parameters

retval

rise() [1/2]

void MPU6050::rise

(

Callback< void(void)>

func

)

Note

Parameters

retval

rise() [2/2]

template<typename T >

void MPU6050::rise	(	T *	tptr,
		void(T::*)(void)	mptr
	)

Note

Parameters

retval

roll()

float MPU6050::roll

(

)

Claculates roll in degree.

Note

Parameters

retval

selfTestOK()

bool MPU6050::selfTestOK

(

)

Performs accelerometer and gyroscope self test.

Note

Checks calibration wrt factory settings. Should return percent deviation from factory trim values +/- 14 or less deviation is a pass

Parameters

retval true if passed false otherwise

setGain()

void MPU6050::setGain	(	float	beta,
		float	zeta
	)

Adjusts filter gain after device is stabilized.

Note

Parameters

retval

temp()

float MPU6050::temp

(

)

Note

Parameters

retval

yaw()

float MPU6050::yaw

(

)

Calculates yaw in degree.

Note

Parameters

retval

Member Data Documentation

accelData

float MPU6050::accelData[3]

accelX

float& MPU6050::accelX = accelData[0]

accelY

float& MPU6050::accelY = accelData[1]

accelZ

float& MPU6050::accelZ = accelData[2]

gyroData

float MPU6050::gyroData[3]

gyroX

float& MPU6050::gyroX = gyroData[0]

gyroY

float& MPU6050::gyroY = gyroData[1]

gyroZ

float& MPU6050::gyroZ = gyroData[2]

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

• core/util/peripherals/imu/MPU6050.h
• core/util/peripherals/imu/MPU6050.cpp