Driver / MPU-6050

Driver for the MPU-6050, a 6-axis IMU from Invensense. More...

Enumerations
enum	mpu_AccelRange { MPU_ACCEL_RANGE_2G = 0, MPU_ACCEL_RANGE_4G = 1, MPU_ACCEL_RANGE_8G = 2, MPU_ACCEL_RANGE_16G = 3 }
	Enumeration of the possible accelerometer ranges. More...
enum	mpu_GyroRange { MPU_GYRO_RANGE_250DPS = 0, MPU_GYRO_RANGE_500DPS = 1, MPU_GYRO_RANGE_1000DPS = 2, MPU_GYRO_RANGE_2000DPS = 3 }
	Enumeration of the possible gyrometer ranges. More...
enum	mpu_Bandwidth {   MPU_DLPF_BW_256HZ = 0, MPU_DLPF_BW_188HZ = 1, MPU_DLPF_BW_98HZ = 2, MPU_DLPF_BW_42HZ = 3,   MPU_DLPF_BW_20HZ = 4, MPU_DLPF_BW_10HZ = 5, MPU_DLPF_BW_5HZ = 6 }
	Enumeration of the possible bandwidths. More...
enum	mpu_Axis {   MPU_AXIS_ACCEL_X = 0x3b, MPU_AXIS_ACCEL_Y = 0x3d, MPU_AXIS_ACCEL_Z = 0x3f, MPU_AXIS_TEMPERATURE = 0x41,   MPU_AXIS_GYRO_X = 0x43, MPU_AXIS_GYRO_Y = 0x45, MPU_AXIS_GYRO_Z = 0x47 }
	Enumeration of all the measurement registers. More...

Functions
bool	mpu_Init (mpu_AccelRange accelRange, mpu_GyroRange gyroRange, mpu_Bandwidth bandwidth)
	Initializes the MPU-6050 device. More...
void	mpu_GetAxis (mpu_Axis axis, float32_t *value)
	Acquires the value of a single axis, from the IMU. More...
void	mpu_GetAcceleration (float32_t *ax, float32_t *ay, float32_t *az)
	Acquires the acceleration from the IMU. More...
void	mpu_GetAngularSpeed (float32_t *gx, float32_t *gy, float32_t *gz)
	Acquires the angular speed from the IMU. More...
float	mpu_GetTemperature (void)
	Acquires the temperature from the IMU. More...

Detailed Description

Driver for the MPU-6050, a 6-axis IMU from Invensense.

This driver uses the I2C bus of the digital extension connector.

Call mpu_Init() first in the initialization code. Then, call mpu_Get() to get the accelerations and angular speeds.

Note

This driver setup the MPU-6050 sampling rate to 1 kHz. Calling mpu_Get() more often will return the same values.

Enumeration Type Documentation

mpu_AccelRange

enum mpu_AccelRange

Enumeration of the possible accelerometer ranges.

Enumerator
MPU_ACCEL_RANGE_2G	+-2 G (+-19.62 m/s^2).
MPU_ACCEL_RANGE_4G	+-4 G (+-39.24 m/s^2).
MPU_ACCEL_RANGE_8G	+-8 G (+-78.48 m/s^2).
MPU_ACCEL_RANGE_16G	+-16 G (+-156.96 m/s^2).

mpu_Axis

enum mpu_Axis

Enumeration of all the measurement registers.

Enumerator
MPU_AXIS_ACCEL_X
MPU_AXIS_ACCEL_Y
MPU_AXIS_ACCEL_Z
MPU_AXIS_TEMPERATURE
MPU_AXIS_GYRO_X
MPU_AXIS_GYRO_Y
MPU_AXIS_GYRO_Z

mpu_Bandwidth

enum mpu_Bandwidth

Enumeration of the possible bandwidths.

Enumerator
MPU_DLPF_BW_256HZ	Cut-off freq: 256 Hz. IMU sampling freq: 8kHz.
MPU_DLPF_BW_188HZ	Cut-off freq: 188 Hz. IMU sampling freq: 1kHz.
MPU_DLPF_BW_98HZ	Cut-off freq: 98 Hz. IMU sampling freq: 1kHz.
MPU_DLPF_BW_42HZ	Cut-off freq: 42 Hz. IMU sampling freq: 1kHz.
MPU_DLPF_BW_20HZ	Cut-off freq: 20 Hz. IMU sampling freq: 1kHz.
MPU_DLPF_BW_10HZ	Cut-off freq: 10 Hz. IMU sampling freq: 1kHz.
MPU_DLPF_BW_5HZ	Cut-off freq: 5 Hz. IMU sampling freq: 1kHz.

mpu_GyroRange

enum mpu_GyroRange

Enumeration of the possible gyrometer ranges.

Enumerator
MPU_GYRO_RANGE_250DPS	+- 250 deg/s.
MPU_GYRO_RANGE_500DPS	+- 500 deg/s.
MPU_GYRO_RANGE_1000DPS	+- 1000 deg/s.
MPU_GYRO_RANGE_2000DPS	+- 2000 deg/s.

Function Documentation

mpu_GetAcceleration()

void mpu_GetAcceleration	(	float32_t *	ax,
		float32_t *	ay,
		float32_t *	az
	)

Acquires the acceleration from the IMU.

Parameters

ax	variable to write the X-axis acceleration on [m/s^2].
ay	variable to write the Y-axis acceleration on [m/s^2].
az	variable to write the Z-axis acceleration on [m/s^2].

Remarks

ax, ay, and az pointer must be valid (they can't be NULL).

if the MPU-6050 is not initialized (mpu_Init() was not called successfully), then this function does nothing.

If the operation failed, then *ax, *ay and *az are not modified.

mpu_GetAngularSpeed()

void mpu_GetAngularSpeed	(	float32_t *	gx,
		float32_t *	gy,
		float32_t *	gz
	)

Acquires the angular speed from the IMU.

Parameters

gx	variable to write the X-axis angular speed on [deg/s].
gy	variable to write the Y-axis angular speed on [deg/s].
gz	variable to write the Z-axis angular speed on [deg/s].

Remarks

gx, gy, and gz pointer must be valid (they can't be NULL).

if the MPU-6050 is not initialized (mpu_Init() was not called successfully), then this function does nothing.

If the operation failed, then *ax, *ay and *az are not modified.

mpu_GetAxis()

void mpu_GetAxis	(	mpu_Axis	axis,
		float32_t *	value
	)

Acquires the value of a single axis, from the IMU.

Parameters

axis	the IMU axis to get (see mpu_Axis).
value	variable to write the value on. The unit depends on the selected axis: [m/s^2] for an acceleration, [deg/s] for an angular speed, and [celsius] for the temperature.

Remarks

if the MPU-6050 is not initialized (mpu_Init() was not called successfully), then this function returns 0.0f.

If the operation failed, then *value is not modified.

mpu_GetTemperature()

float mpu_GetTemperature

(

void

)

Acquires the temperature from the IMU.

Returns

the measured temperature [celsius], or 0 if the operation failed.

Remarks

if the MPU-6050 is not initialized (mpu_Init() was not called successfully), then this function returns 0.0f.

mpu_Init()

bool mpu_Init	(	mpu_AccelRange	accelRange,
		mpu_GyroRange	gyroRange,
		mpu_Bandwidth	bandwidth
	)

Initializes the MPU-6050 device.

Parameters

accelRange	accelerometer range.
gyroRange	gyroscope range.
bandwidth	bandwith of the accelerometer and gyroscope.

Returns

true if the initialization was successful, false otherwise.