Module for the MPU6050 IMU sensor. More...

Collaboration diagram for MPU6050:

Modules
	IMU Filter
	Digital filtering data structures and functions, for IMU data.

	Header

Functions
	IMUnamespace::MPU6050::MPU6050 (int SensorNum, I2C_HandleTypeDef *I2CHandle)
	The constructor for the MPU6050 class, which initializes non-I/O members. More...

void	IMUnamespace::MPU6050::init (uint8_t lpf)
	This function is used to initialize all aspects of the IMU which require I/O. More...

void	IMUnamespace::MPU6050::Read_Gyroscope_Withoffset ()
	Reads the gyroscope with offsets without interrupts. More...

void	IMUnamespace::MPU6050::Read_Gyroscope_Withoffset_IT ()
	Reads the gyroscope with interrupts and offsets. More...

void	IMUnamespace::MPU6050::Read_Accelerometer_Withoffset ()
	Reads the accelerometer with offsets without interrupts. More...

void	IMUnamespace::MPU6050::Read_Accelerometer_Withoffset_IT ()
	Reads the accelerometer with interrupts and offsets. More...

void	IMUnamespace::MPU6050::Fill_Struct (IMUStruct *myStruct)
	Fills an IMUStruct. More...

int	IMUnamespace::MPU6050::Write_Reg (uint8_t reg_addr, uint8_t data)
	Writes to a register from the MPU6050. More...

uint8_t	IMUnamespace::MPU6050::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	IMUnamespace::MPU6050::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	IMUnamespace::MPU6050::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	IMUnamespace::MPU6050::Set_LPF (uint8_t lpf)
	Sets the offsets of the sensor. More...

Detailed Description

Module for the MPU6050 IMU sensor.

Function Documentation

◆ Fill_Struct()

void MPU6050::Fill_Struct ( IMUStruct * myStruct )

Fills an IMUStruct.

Parameters

myStruct The pointer to the struct being filled

Returns: None

Definition at line 302 of file MPU6050.cpp.

Here is the caller graph for this function:

◆ init()

void MPU6050::init ( uint8_t lpf )

This function is used to initialize all aspects of the IMU which require I/O.

Parameters

lpf	The uint8_t lpf setting being used

Returns: None

Definition at line 209 of file MPU6050.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ MPU6050()

MPU6050::MPU6050	(	int	SensorNum,
		I2C_HandleTypeDef *	I2CHandle
	)

The constructor for the MPU6050 class, which initializes non-I/O members.

Parameters

SensorNum	The integer ID of the sensor being used
I2CHandle	A pointer to the I2C_HandleTypeDef being used

Returns: None

Definition at line 188 of file MPU6050.cpp.

Here is the call graph for this function:

◆ Read_Accelerometer_Withoffset()

void MPU6050::Read_Accelerometer_Withoffset ( )

Reads the accelerometer with offsets without interrupts.

Parameters

None

Returns: None

Definition at line 262 of file MPU6050.cpp.

Here is the call graph for this function:

◆ Read_Accelerometer_Withoffset_IT()

void MPU6050::Read_Accelerometer_Withoffset_IT ( )

Reads the accelerometer with interrupts and offsets.

Parameters

None

Returns: None

Definition at line 274 of file MPU6050.cpp.

Here is the caller graph for this function:

◆ Read_Data()

uint8_t MPU6050::Read_Data	(	uint8_t	Reg_addr,
		uint8_t *	sensor_buffer
	)

private

Reads 6 bytes from the sensor, and stores them in the sensor_buffer.

Parameters

reg_addr	uint8_t address of the register
sensor_buffer	uint8_t pointer to output buffer

Returns: Status

Definition at line 350 of file MPU6050.cpp.

Here is the caller graph for this function:

◆ Read_Data_IT()

BaseType_t MPU6050::Read_Data_IT	(	uint8_t	Reg_addr,
		uint8_t *	sensor_buffer
	)

private

Reads 6 bytes from the sensor with interrupts, and stores them in the sensor_buffer.

Parameters

reg_addr	uint8_t address of the register
sensor_buffer	uint8_t pointer to output buffer

Returns: Status

Definition at line 339 of file MPU6050.cpp.

◆ Read_Gyroscope_Withoffset()

void MPU6050::Read_Gyroscope_Withoffset ( )

Reads the gyroscope with offsets without interrupts.

Parameters

None

Returns: None

Definition at line 220 of file MPU6050.cpp.

Here is the call graph for this function:

◆ Read_Gyroscope_Withoffset_IT()

void MPU6050::Read_Gyroscope_Withoffset_IT ( )

Reads the gyroscope with interrupts and offsets.

Parameters

None

Returns: None

Definition at line 232 of file MPU6050.cpp.

Here is the caller graph for this function:

◆ Read_Reg()

uint8_t MPU6050::Read_Reg ( uint8_t reg_addr )

private

Reads a byte from a register on the sensor, and stores it in the member variable received_byte.

Parameters

reg_addr uint8_t address of the register

Returns: Status

Definition at line 326 of file MPU6050.cpp.

Here is the caller graph for this function:

◆ Set_LPF()

int MPU6050::Set_LPF ( uint8_t lpf )

private

Sets the offsets of the sensor.

Parameters

lpf	The uint8_t setting being used for the built-in LPF

Returns: None

Definition at line 363 of file MPU6050.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ Write_Reg()

int MPU6050::Write_Reg	(	uint8_t	reg_addr,
		uint8_t	data
	)

private

Writes to a register from the MPU6050.

Parameters

reg_addr	uint8_t address of the register
data	uint8_t data to be written

Returns: Status

Definition at line 314 of file MPU6050.cpp.

Here is the caller graph for this function:

Modules

Functions

Detailed Description

Function Documentation

◆ Fill_Struct()

◆ init()

◆ MPU6050()

◆ Read_Accelerometer_Withoffset()

◆ Read_Accelerometer_Withoffset_IT()

◆ Read_Data()

◆ Read_Data_IT()

◆ Read_Gyroscope_Withoffset()

◆ Read_Gyroscope_Withoffset_IT()

◆ Read_Reg()

◆ Set_LPF()

◆ Write_Reg()