#include "mpu_6050.h"
#include <limits.h>
#include "i2c.h"
#include "../lib/utils.h"

Macros
#define	GRAVITY_INTENSITY 9.81f

#define	SINT16_MAX_F ((float32_t)SHRT_MAX)

#define	SLAVE_ADDRESS 0x68
	0x68 if the AD0 pin is low, 0x69 otherwise. More...

#define	REG_CONFIG 0x1A
	Configuration register. More...

#define	REG_GYRO_CONFIG 0x1B
	Gyroscope configuration register. More...

#define	REG_ACCEL_CONFIG 0x1C
	Accelerometer configuration register. More...

#define	REG_SMPLRT_DIV 0x19
	Sample rate divider register. More...

#define	REG_ACCEL_VALUES 0x3b
	Accelerometer measurements register. More...

#define	REG_TEMP_VALUES 0x41
	Temperature measurements register. More...

#define	REG_GYRO_VALUES 0x43
	Gyroscope measurements register. More...

#define	REG_SIG_PATH_RST 0x68
	Signal path reset register. More...

#define	REG_USER_CTRL 0x6A
	User control register. More...

#define	REG_POWER_MGMT_1 0x6B
	Power management 1 register. More...

#define	REG_WHO_AM_I 0x75
	Who am I register. More...

#define	WHO_AM_I_VAL 0x68
	Expected value of the REG_WHO_AM_I register. 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...

float32_t	mpu_GetTemperature (void)
	Acquires the temperature from the IMU. More...

Variables
const float32_t	MPU_ACCEL_RANGE_REG_TO_CONV_FACTOR []
	Gets the actual range value from a mpu_AccelRange enum value. More...

const float32_t	MPU_GYRO_RANGE_REG_TO_CONV_FACTOR []
	Gets the actual range value from a mpu_GyroRange enum value. More...

bool	mpu_initialized = false
	True if the MPU-6050 is initialized, false otherwise. More...

float32_t	accelFactor
	Converts a raw 16-bit integer value to an acceleration [m/s^2]. More...

float32_t	gyroFactor
	Converts a raw 16-bit integer value to an angular speed [deg/s]. More...

Macro Definition Documentation

◆ GRAVITY_INTENSITY

#define GRAVITY_INTENSITY 9.81f

◆ REG_ACCEL_CONFIG

#define REG_ACCEL_CONFIG 0x1C

Accelerometer configuration register.

◆ REG_ACCEL_VALUES

#define REG_ACCEL_VALUES 0x3b

Accelerometer measurements register.

◆ REG_CONFIG

#define REG_CONFIG 0x1A

Configuration register.

◆ REG_GYRO_CONFIG

#define REG_GYRO_CONFIG 0x1B

Gyroscope configuration register.

◆ REG_GYRO_VALUES

#define REG_GYRO_VALUES 0x43

Gyroscope measurements register.

◆ REG_POWER_MGMT_1

#define REG_POWER_MGMT_1 0x6B

Power management 1 register.

◆ REG_SIG_PATH_RST

#define REG_SIG_PATH_RST 0x68

Signal path reset register.

◆ REG_SMPLRT_DIV

#define REG_SMPLRT_DIV 0x19

Sample rate divider register.

◆ REG_TEMP_VALUES

#define REG_TEMP_VALUES 0x41

Temperature measurements register.

◆ REG_USER_CTRL

#define REG_USER_CTRL 0x6A

User control register.

◆ REG_WHO_AM_I

#define REG_WHO_AM_I 0x75

Who am I register.

◆ SINT16_MAX_F

#define SINT16_MAX_F ((float32_t)SHRT_MAX)

◆ SLAVE_ADDRESS

#define SLAVE_ADDRESS 0x68

0x68 if the AD0 pin is low, 0x69 otherwise.

◆ WHO_AM_I_VAL

#define WHO_AM_I_VAL 0x68

Expected value of the REG_WHO_AM_I register.

Variable Documentation

◆ accelFactor

float32_t accelFactor

Converts a raw 16-bit integer value to an acceleration [m/s^2].

◆ gyroFactor

float32_t gyroFactor

Converts a raw 16-bit integer value to an angular speed [deg/s].

◆ MPU_ACCEL_RANGE_REG_TO_CONV_FACTOR

const float32_t MPU_ACCEL_RANGE_REG_TO_CONV_FACTOR[]

Initial value:

=
{
     2.0f / SINT16_MAX_F * GRAVITY_INTENSITY,
     4.0f / SINT16_MAX_F * GRAVITY_INTENSITY,
     8.0f / SINT16_MAX_F * GRAVITY_INTENSITY,
    16.0f / SINT16_MAX_F * GRAVITY_INTENSITY
}

Gets the actual range value from a mpu_AccelRange enum value.

◆ MPU_GYRO_RANGE_REG_TO_CONV_FACTOR

const float32_t MPU_GYRO_RANGE_REG_TO_CONV_FACTOR[]