IMUnamespace::MPU6050 Class Reference

Public Member Functions
	MPU6050 (int SensorNum, I2C_HandleTypeDef *I2CHandle)
	The constructor for the MPU6050 class, which initializes non-I/O members. More...
void	init (uint8_t lpf)
	This function is used to initialize all aspects of the IMU which require I/O. More...
void	Read_Gyroscope_Withoffset ()
	Reads the gyroscope with offsets without interrupts. More...
void	Read_Gyroscope_Withoffset_IT ()
	Reads the gyroscope with interrupts and offsets. More...
void	Read_Accelerometer_Withoffset ()
	Reads the accelerometer with offsets without interrupts. More...
void	Read_Accelerometer_Withoffset_IT ()
	Reads the accelerometer with interrupts and offsets. More...
void	Fill_Struct (IMUStruct *myStruct)
	Fills an IMUStruct. More...
	~MPU6050 ()
	The MPU6050 desctructor. More...

Private Member Functions
int	Write_Reg (uint8_t reg_addr, uint8_t data)
	Writes to a register from the MPU6050. More...
uint8_t	Read_Reg (uint8_t reg_addr)
	Reads a byte from a register on the sensor, and stores it in the member variable received_byte. More...
BaseType_t	Read_Data_IT (uint8_t Reg_addr, uint8_t *sensor_buffer)
	Reads 6 bytes from the sensor with interrupts, and stores them in the sensor_buffer. More...
uint8_t	Read_Data (uint8_t Reg_addr, uint8_t *sensor_buffer)
	Reads 6 bytes from the sensor, and stores them in the sensor_buffer. More...
int	Set_LPF (uint8_t lpf)
	Sets the offsets of the sensor. More...
void	Manually_Set_Offsets (int SensorNum)
	Sets the offsets of the sensor. More...

Private Attributes
uint16_t	_Sample_Rate
I2C_HandleTypeDef *	_I2C_Handle
float	_x_Gyro
float	_y_Gyro
float	_z_Gyro
float	_x_Accel
float	_y_Accel
float	_z_Accel
float	_x_GyroOffset
float	_y_GyroOffset
float	_z_GyroOffset
float	_x_AccelOffset
float	_y_AccelOffset
float	_z_AccelOffset
uint8_t	received_byte

Detailed Description

Definition at line 45 of file MPU6050.h.

Constructor & Destructor Documentation

~MPU6050()

IMUnamespace::MPU6050::~MPU6050 ( )

inline

The MPU6050 desctructor.

Parameters

None

Returns

None

Definition at line 103 of file MPU6050.h.

Member Function Documentation

Manually_Set_Offsets()

void IMUnamespace::MPU6050::Manually_Set_Offsets ( int  SensorNum )

inlineprivate

Sets the offsets of the sensor.

Parameters

SensorNum

The integer ID of the sensor being used

Returns

None

Definition at line 152 of file MPU6050.h.

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Member Data Documentation

_x_Accel

float IMUnamespace::MPU6050::_x_Accel

private

x-axis acceleration read from sensor

Definition at line 169 of file MPU6050.h.

_x_Gyro

float IMUnamespace::MPU6050::_x_Gyro

private

x-axis angular velocity read from sensor

Definition at line 166 of file MPU6050.h.

_y_Accel

float IMUnamespace::MPU6050::_y_Accel

private

y-axis acceleration read from sensor

Definition at line 170 of file MPU6050.h.

_y_Gyro

float IMUnamespace::MPU6050::_y_Gyro

private

y-axis angular velocity read from sensor

Definition at line 167 of file MPU6050.h.

_z_Accel

float IMUnamespace::MPU6050::_z_Accel

private

z-axis acceleration read from sensor

Definition at line 171 of file MPU6050.h.

_z_Gyro

float IMUnamespace::MPU6050::_z_Gyro

private

z-axis angular velocity read from sensor

Definition at line 168 of file MPU6050.h.

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

• soccer-embedded/Common/include/MPU6050.h
• soccer-embedded/Common/component/MPU6050/MPU6050.cpp