MPU6050 Class Reference

Class that manage the MPU6050 3-axes accelerometer/gyrometer. More...

#include <mpu6050.h>

Collaboration diagram for MPU6050:

Public Member Functions
	MPU6050 (HW_I2C_Master *master, struct_ConfigMPU6050 default_config)
	Construct a new MPU6050 object.
uint16_t	get_FIFO_count ()
	Get the FIFO count object.
float	get_MPU_temperature ()
	Get the MPU temperature object.
bool	is_data_ready ()
	the flag that indicates if sensors data are ready
struct_I2CXferResult	get_measures ()
	Get the raw data, fill the internal struct_RawData, converts raw data to real measures according to offset and coversion factor.
void	read_FIFO_all_raw_data ()
	read raw data from FIFO

Public Attributes
struct_MPUData	data
	the set of measures from sensors
struct_RawData	raw
	the set of raw data from sensors

Private Member Functions
void	init_mpu ()
	initialise the MPU configuration
struct_I2CXferResult	read_registers_all_raw_data ()
	fill the internal data with raw values from sensors
void	calibrate ()
	start the calibration of the MPU and compute gyro and accellero offset and conversion factor
void	convert_raw_to_measure ()
	fill the internal measures by converting the raw data
void	read_FIFO_g_accel_raw_data ()
	read raw acceleration and gyrometer data from FIFO
void	read_FIFO_accel_raw_data ()
	read raw acceleration data from FIFO

Private Attributes
HW_I2C_Master *	master
	the I2C master that control the MPU6050 device
struct_ConfigMPU6050	device_config
	the MPU6050 configuration
float	acceleration_factor {}
	the accelerator proportional factor computed according to the device configuration
float	gyro_factor {}
	the gyrometer proportional factor computed according to the device configuration
float	temperature_gain = 1.0 / 340.0
	the proportional factor for the temperature
float	temperature_offset = 36.53
	the temperature offset
float	accel_x_offset {}
	the x-acceleration offset
float	accel_y_offset {}
	the y-acceleration offset
float	accel_z_offset {}
	the z-acceleration offset
float	gyro_x_offset {}
	the x-gyrometer offset
float	gyro_y_offset {}
	the y-gyrometer offset
float	gyro_z_offset {}
	the z-gyrometer offset

Detailed Description

Class that manage the MPU6050 3-axes accelerometer/gyrometer.

Note

I2C signals are very sensitive. May not work properly when wiring is not clean

Constructor & Destructor Documentation

MPU6050()

MPU6050::MPU6050	(	HW_I2C_Master *	master,
		struct_ConfigMPU6050	default_config )

Construct a new MPU6050 object.

Parameters

master	The associated I2C bus master
default_config	the default config according to struct_ConfigMPU6050

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Member Function Documentation

get_FIFO_count()

uint16_t MPU6050::get_FIFO_count

(

)

Get the FIFO count object.

Returns

uint16_t

get_measures()

struct_I2CXferResult MPU6050::get_measures

(

)

Get the raw data, fill the internal struct_RawData, converts raw data to real measures according to offset and coversion factor.

Returns

struct_MPUData

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get_MPU_temperature()

float MPU6050::get_MPU_temperature

(

)

Get the MPU temperature object.

Returns

float

is_data_ready()

bool MPU6050::is_data_ready

(

)

the flag that indicates if sensors data are ready

Returns

true

false

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read_FIFO_all_raw_data()

void MPU6050::read_FIFO_all_raw_data

(

)

read raw data from FIFO

Bug

//FIXME : check FIFO data reading.... seems not working well

read_registers_all_raw_data()

struct_I2CXferResult MPU6050::read_registers_all_raw_data ( )

private

fill the internal data with raw values from sensors

Returns

struct_I2CXferResult The result of the i2c reading

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

• mpu6050.h
• mpu6050.cpp