mpu6050: Driver for MPU6000/MPU6050 6-axis MotionTracking device

struct mpu6050_raw_acceleration_t

#include <mpu6050.h>

Raw acceleration data.

Public Members

int16_t x

raw acceleration axis x

int16_t y

raw acceleration axis y

int16_t z

raw acceleration axis z

struct mpu6050_raw_rotation_t

#include <mpu6050.h>

Raw rotation data.

Public Members

int16_t x

raw rotation axis x

int16_t y

raw rotation axis y

int16_t z

raw rotation axis z

struct mpu6050_acceleration_t

#include <mpu6050.h>

MPU6050 acceleration data, g.

Public Members

float x

acceleration axis x

float y

acceleration axis y

float z

acceleration axis z

struct mpu6050_rotation_t

#include <mpu6050.h>

MPU6050 rotation data, °/s.

Public Members

float x

rotation axis x

float y

rotation axis y

float z

rotation axis z

struct mpu6050_dev_t

#include <mpu6050.h>

Device descriptor.

Public Members

i2c_dev_t i2c_dev

mpu6050_gyro_range_t gyro

mpu6050_accel_range_t accel

struct mpu6050_dev_t ranges

Defines

MPU6050_REGISTER_XG_OFFS_TC

MPU6050_REGISTER_YG_OFFS_TC

MPU6050_REGISTER_ZG_OFFS_TC

MPU6050_REGISTER_X_FINE_GAIN

MPU6050_REGISTER_Y_FINE_GAIN

MPU6050_REGISTER_Z_FINE_GAIN

MPU6050_REGISTER_XA_OFFS_H

MPU6050_REGISTER_XA_OFFS_L_TC

MPU6050_REGISTER_YA_OFFS_H

MPU6050_REGISTER_YA_OFFS_L_TC

MPU6050_REGISTER_ZA_OFFS_H

MPU6050_REGISTER_ZA_OFFS_L_TC

MPU6050_REGISTER_SELF_TEST_X

MPU6050_REGISTER_SELF_TEST_Y

MPU6050_REGISTER_SELF_TEST_Z

MPU6050_REGISTER_SELF_TEST_A

MPU6050_REGISTER_XG_OFFS_USRH

MPU6050_REGISTER_XG_OFFS_USRL

MPU6050_REGISTER_YG_OFFS_USRH

MPU6050_REGISTER_YG_OFFS_USRL

MPU6050_REGISTER_ZG_OFFS_USRH

MPU6050_REGISTER_ZG_OFFS_USRL

MPU6050_REGISTER_SMPLRT_DIV

MPU6050_REGISTER_CONFIG

MPU6050_REGISTER_GYRO_CONFIG

MPU6050_REGISTER_ACCEL_CONFIG

MPU6050_REGISTER_FF_THR

MPU6050_REGISTER_FF_DUR

MPU6050_REGISTER_MOT_THR

MPU6050_REGISTER_MOT_DUR

MPU6050_REGISTER_ZRMOT_THR

MPU6050_REGISTER_ZRMOT_DUR

MPU6050_REGISTER_FIFO_EN

MPU6050_REGISTER_I2C_MST_CTRL

MPU6050_REGISTER_I2C_SLV0_ADDR

MPU6050_REGISTER_I2C_SLV0_REG

MPU6050_REGISTER_I2C_SLV0_CTRL

MPU6050_REGISTER_I2C_SLV1_ADDR

MPU6050_REGISTER_I2C_SLV1_REG

MPU6050_REGISTER_I2C_SLV1_CTRL

MPU6050_REGISTER_I2C_SLV2_ADDR

MPU6050_REGISTER_I2C_SLV2_REG

MPU6050_REGISTER_I2C_SLV2_CTRL

MPU6050_REGISTER_I2C_SLV3_ADDR

MPU6050_REGISTER_I2C_SLV3_REG

MPU6050_REGISTER_I2C_SLV3_CTRL

MPU6050_REGISTER_I2C_SLV4_ADDR

MPU6050_REGISTER_I2C_SLV4_REG

MPU6050_REGISTER_I2C_SLV4_DO

MPU6050_REGISTER_I2C_SLV4_CTRL

MPU6050_REGISTER_I2C_SLV4_DI

MPU6050_REGISTER_I2C_MST_STATUS

MPU6050_REGISTER_INT_PIN_CFG

MPU6050_REGISTER_INT_ENABLE

MPU6050_REGISTER_DMP_INT_STATUS

MPU6050_REGISTER_INT_STATUS

MPU6050_REGISTER_ACCEL_XOUT_H

MPU6050_REGISTER_ACCEL_XOUT_L

MPU6050_REGISTER_ACCEL_YOUT_H

MPU6050_REGISTER_ACCEL_YOUT_L

MPU6050_REGISTER_ACCEL_ZOUT_H

MPU6050_REGISTER_ACCEL_ZOUT_L

MPU6050_REGISTER_TEMP_OUT_H

MPU6050_REGISTER_TEMP_OUT_L

MPU6050_REGISTER_GYRO_XOUT_H

MPU6050_REGISTER_GYRO_XOUT_L

MPU6050_REGISTER_GYRO_YOUT_H

MPU6050_REGISTER_GYRO_YOUT_L

MPU6050_REGISTER_GYRO_ZOUT_H

MPU6050_REGISTER_GYRO_ZOUT_L

MPU6050_REGISTER_EXT_SENS_DATA_00

MPU6050_REGISTER_EXT_SENS_DATA_01

MPU6050_REGISTER_EXT_SENS_DATA_02

MPU6050_REGISTER_EXT_SENS_DATA_03

MPU6050_REGISTER_EXT_SENS_DATA_04

MPU6050_REGISTER_EXT_SENS_DATA_05

MPU6050_REGISTER_EXT_SENS_DATA_06

MPU6050_REGISTER_EXT_SENS_DATA_07

MPU6050_REGISTER_EXT_SENS_DATA_08

MPU6050_REGISTER_EXT_SENS_DATA_09

MPU6050_REGISTER_EXT_SENS_DATA_10

MPU6050_REGISTER_EXT_SENS_DATA_11

MPU6050_REGISTER_EXT_SENS_DATA_12

MPU6050_REGISTER_EXT_SENS_DATA_13

MPU6050_REGISTER_EXT_SENS_DATA_14

MPU6050_REGISTER_EXT_SENS_DATA_15

MPU6050_REGISTER_EXT_SENS_DATA_16

MPU6050_REGISTER_EXT_SENS_DATA_17

MPU6050_REGISTER_EXT_SENS_DATA_18

MPU6050_REGISTER_EXT_SENS_DATA_19

MPU6050_REGISTER_EXT_SENS_DATA_20

MPU6050_REGISTER_EXT_SENS_DATA_21

MPU6050_REGISTER_EXT_SENS_DATA_22

MPU6050_REGISTER_EXT_SENS_DATA_23

MPU6050_REGISTER_MOT_DETECT_STATUS

MPU6050_REGISTER_I2C_SLV0_DO

MPU6050_REGISTER_I2C_SLV1_DO

MPU6050_REGISTER_I2C_SLV2_DO

MPU6050_REGISTER_I2C_SLV3_DO

MPU6050_REGISTER_I2C_MST_DELAY_CTRL

MPU6050_REGISTER_SIGNAL_PATH_RESET

MPU6050_REGISTER_MOT_DETECT_CTRL

MPU6050_REGISTER_USER_CTRL

MPU6050_REGISTER_PWR_MGMT_1

MPU6050_REGISTER_PWR_MGMT_2

MPU6050_REGISTER_BANK_SEL

MPU6050_REGISTER_MEM_START_ADDR

MPU6050_REGISTER_MEM_R_W

MPU6050_REGISTER_DMP_CFG_1

MPU6050_REGISTER_DMP_CFG_2

MPU6050_REGISTER_FIFO_COUNTH

MPU6050_REGISTER_FIFO_COUNTL

MPU6050_REGISTER_FIFO_R_W

MPU6050_REGISTER_WHO_AM_I

MPU6050_DLPF_BW_256

MPU6050_DLPF_BW_188

MPU6050_DLPF_BW_98

MPU6050_DLPF_BW_42

MPU6050_DLPF_BW_20

MPU6050_DLPF_BW_10

MPU6050_DLPF_BW_5

MPU6050_DHPF_RESET

MPU6050_DHPF_5

MPU6050_DHPF_2P5

MPU6050_DHPF_1P25

MPU6050_DHPF_0P63

MPU6050_DHPF_HOLD

MPU6050_DETECT_DECREMENT_RESET

MPU6050_DETECT_DECREMENT_1

MPU6050_DETECT_DECREMENT_2

MPU6050_DETECT_DECREMENT_4

MPU6050_EXT_SYNC_DISABLED

MPU6050_EXT_SYNC_TEMP_OUT_L

MPU6050_EXT_SYNC_GYRO_XOUT_L

MPU6050_EXT_SYNC_GYRO_YOUT_L

MPU6050_EXT_SYNC_GYRO_ZOUT_L

MPU6050_EXT_SYNC_ACCEL_XOUT_L

MPU6050_EXT_SYNC_ACCEL_YOUT_L

MPU6050_EXT_SYNC_ACCEL_ZOUT_L

MPU6050_CLOCK_DIV_348

MPU6050_CLOCK_DIV_333

MPU6050_CLOCK_DIV_320

MPU6050_CLOCK_DIV_308

MPU6050_CLOCK_DIV_296

MPU6050_CLOCK_DIV_286

MPU6050_CLOCK_DIV_276

MPU6050_CLOCK_DIV_267

MPU6050_CLOCK_DIV_258

MPU6050_CLOCK_DIV_500

MPU6050_CLOCK_DIV_471

MPU6050_CLOCK_DIV_444

MPU6050_CLOCK_DIV_421

MPU6050_CLOCK_DIV_400

MPU6050_CLOCK_DIV_381

MPU6050_CLOCK_DIV_364

MPU6050_SELF_TEST_XA_1_BIT

MPU6050_SELF_TEST_XA_1_LENGTH

MPU6050_SELF_TEST_XA_2_BIT

MPU6050_SELF_TEST_XA_2_LENGTH

MPU6050_SELF_TEST_YA_1_BIT

MPU6050_SELF_TEST_YA_1_LENGTH

MPU6050_SELF_TEST_YA_2_BIT

MPU6050_SELF_TEST_YA_2_LENGTH

MPU6050_SELF_TEST_ZA_1_BIT

MPU6050_SELF_TEST_ZA_1_LENGTH

MPU6050_SELF_TEST_ZA_2_BIT

MPU6050_SELF_TEST_ZA_2_LENGTH

MPU6050_SELF_TEST_XG_1_BIT

MPU6050_SELF_TEST_XG_1_LENGTH

MPU6050_SELF_TEST_YG_1_BIT

MPU6050_SELF_TEST_YG_1_LENGTH

MPU6050_SELF_TEST_ZG_1_BIT

MPU6050_SELF_TEST_ZG_1_LENGTH

MPU6050_CFG_EXT_SYNC_SET_BIT

MPU6050_CFG_EXT_SYNC_SET_MASK

MPU6050_CFG_DLPF_CFG_BIT

MPU6050_CFG_DLPF_CFG_MASK

MPU6050_GCONFIG_FS_SEL_BIT

MPU6050_GCONFIG_FS_SEL_MASK

MPU6050_ACONFIG_XA_ST_BIT

MPU6050_ACONFIG_YA_ST_BIT

MPU6050_ACONFIG_ZA_ST_BIT

MPU6050_ACONFIG_AFS_SEL_BIT

MPU6050_ACONFIG_AFS_SEL_MASK

MPU6050_ACONFIG_ACCEL_HPF_BIT

MPU6050_ACONFIG_ACCEL_HPF_MASK

MPU6050_TEMP_FIFO_EN_BIT

MPU6050_XG_FIFO_EN_BIT

MPU6050_YG_FIFO_EN_BIT

MPU6050_ZG_FIFO_EN_BIT

MPU6050_ACCEL_FIFO_EN_BIT

MPU6050_SLV2_FIFO_EN_BIT

MPU6050_SLV1_FIFO_EN_BIT

MPU6050_SLV0_FIFO_EN_BIT

MPU6050_MULT_MST_EN_BIT

MPU6050_WAIT_FOR_ES_BIT

MPU6050_SLV_3_FIFO_EN_BIT

MPU6050_I2C_MST_P_NSR_BIT

MPU6050_I2C_MST_CLK_BIT

MPU6050_I2C_MST_CLK_MASK

MPU6050_I2C_SLV_RW_BIT

MPU6050_I2C_SLV_ADDR_BIT

MPU6050_I2C_SLV_ADDR_LENGTH

MPU6050_I2C_SLV_EN_BIT

MPU6050_I2C_SLV_BYTE_SW_BIT

MPU6050_I2C_SLV_REG_DIS_BIT

MPU6050_I2C_SLV_GRP_BIT

MPU6050_I2C_SLV_LEN_BIT

MPU6050_I2C_SLV_LEN_MASK

MPU6050_I2C_SLV4_RW_BIT

MPU6050_I2C_SLV4_ADDR_BIT

MPU6050_I2C_SLV4_ADDR_LENGTH

MPU6050_I2C_SLV4_EN_BIT

MPU6050_I2C_SLV4_INT_EN_BIT

MPU6050_I2C_SLV4_REG_DIS_BIT

MPU6050_I2C_SLV4_MST_DLY_BIT

MPU6050_I2C_SLV4_MST_DLY_LENGTH

MPU6050_MST_PASS_THROUGH_BIT

MPU6050_MST_I2C_SLV4_DONE_BIT

MPU6050_MST_I2C_LOST_ARB_BIT

MPU6050_MST_I2C_SLV4_NACK_BIT

MPU6050_MST_I2C_SLV3_NACK_BIT

MPU6050_MST_I2C_SLV2_NACK_BIT

MPU6050_MST_I2C_SLV1_NACK_BIT

MPU6050_MST_I2C_SLV0_NACK_BIT

MPU6050_INTCFG_INT_LEVEL_BIT

MPU6050_INTCFG_INT_OPEN_BIT

MPU6050_INTCFG_LATCH_INT_EN_BIT

MPU6050_INTCFG_INT_RD_CLEAR_BIT

MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT

MPU6050_INTCFG_FSYNC_INT_EN_BIT

MPU6050_INTCFG_I2C_BYPASS_EN_BIT

MPU6050_INTCFG_CLKOUT_EN_BIT

MPU6050_INTERRUPT_FF_BIT

MPU6050_INTERRUPT_MOT_BIT

MPU6050_INTERRUPT_ZMOT_BIT

MPU6050_INTERRUPT_FIFO_OFLOW_BIT

MPU6050_INTERRUPT_I2C_MST_INT_BIT

MPU6050_INTERRUPT_PLL_RDY_INT_BIT

MPU6050_INTERRUPT_DMP_INT_BIT

MPU6050_INTERRUPT_DATA_RDY_BIT

MPU6050_MOTION_MOT_XNEG_BIT

MPU6050_MOTION_MOT_XPOS_BIT

MPU6050_MOTION_MOT_YNEG_BIT

MPU6050_MOTION_MOT_YPOS_BIT

MPU6050_MOTION_MOT_ZNEG_BIT

MPU6050_MOTION_MOT_ZPOS_BIT

MPU6050_MOTION_MOT_ZRMOT_BIT

MPU6050_DLYCTRL_DELAY_ES_SHADOW_BIT

MPU6050_DLYCTRL_I2C_SLV4_DLY_EN_BIT

MPU6050_DLYCTRL_I2C_SLV3_DLY_EN_BIT

MPU6050_DLYCTRL_I2C_SLV2_DLY_EN_BIT

MPU6050_DLYCTRL_I2C_SLV1_DLY_EN_BIT

MPU6050_DLYCTRL_I2C_SLV0_DLY_EN_BIT

MPU6050_PATHRESET_GYRO_RESET_BIT

MPU6050_PATHRESET_ACCEL_RESET_BIT

MPU6050_PATHRESET_TEMP_RESET_BIT

MPU6050_DETECT_ACCEL_DELAY_BIT

MPU6050_DETECT_ACCEL_DELAY_MASK

MPU6050_DETECT_FF_COUNT_BIT

MPU6050_DETECT_FF_COUNT_MASK

MPU6050_DETECT_MOT_COUNT_BIT

MPU6050_DETECT_MOT_COUNT_MASK

MPU6050_USERCTRL_DMP_EN_BIT

MPU6050_USERCTRL_FIFO_EN_BIT

MPU6050_USERCTRL_I2C_MST_EN_BIT

MPU6050_USERCTRL_I2C_IF_DIS_BIT

MPU6050_USERCTRL_DMP_RESET_BIT

MPU6050_USERCTRL_FIFO_RESET_BIT

MPU6050_USERCTRL_I2C_MST_RESET_BIT

MPU6050_USERCTRL_SIG_COND_RESET_BIT

MPU6050_PWR1_DEVICE_RESET_BIT

MPU6050_PWR1_SLEEP_BIT

MPU6050_PWR1_CYCLE_BIT

MPU6050_PWR1_TEMP_DIS_BIT

MPU6050_PWR1_CLKSEL_BIT

MPU6050_PWR1_CLKSEL_MASK

MPU6050_PWR2_LP_WAKE_CTRL_BIT

MPU6050_PWR2_LP_WAKE_CTRL_MASK

MPU6050_PWR2_STBY_XA_BIT

MPU6050_PWR2_STBY_YA_BIT

MPU6050_PWR2_STBY_ZA_BIT

MPU6050_PWR2_STBY_XG_BIT

MPU6050_PWR2_STBY_YG_BIT

MPU6050_PWR2_STBY_ZG_BIT

MPU6050_WHO_AM_I_BIT

MPU6050_WHO_AM_I_MASK

MPU6050_TC_PWR_MODE_BIT

MPU6050_TC_OFFSET_BIT

MPU6050_TC_OFFSET_LENGTH

MPU6050_TC_OTP_BNK_VLD_BIT

MPU6050_DMPINT_5_BIT

MPU6050_DMPINT_4_BIT

MPU6050_DMPINT_3_BIT

MPU6050_DMPINT_2_BIT

MPU6050_DMPINT_1_BIT

MPU6050_DMPINT_0_BIT