#include "mpu6050.h"

Functions
uint16_t	swap (uint16_t num)

void	MPU6050_Write (uint8_t addr, uint8_t dat)

uint8_t	MPU6050_Read (uint8_t addr)

uint16_t	MPU6050_ReadInt (uint8_t addr)

void	MPU6050_ReadAll (uint16_t *buf)

void	MPU6050_Init (void)

void	MPU6050_Reset (void)

void	MPU6050_EnterSleepMode (void)

void	MPU6050_DisableTemperature (HAL_State_t state)

void	MPU6050_EnableLowPowerMode (MPU6050_Wakeup_Freq_t freq)

void	MPU6050_DisableLowPowerMode (void)

void	MPU6050_SetSampleRateDiv (uint8_t div)

void	MPU6050_SetDLPF (MPU6050_DLPF_t filter)

void	MPU6050_SetGyroFullScaleRange (MPU6050_Gyro_FullScaleRange_t range)

void	MPU6050_SetAccFullScaleRange (MPU6050_Acc_FullScaleRange_t range)

Function Documentation

◆ MPU6050_DisableLowPowerMode()

void MPU6050_DisableLowPowerMode ( void )

Definition at line 78 of file mpu6050.c.

                                       {
    MPU6050_Write(MPU6050_REG_PWR_MGMT_1, 0x00);
    MPU6050_Write(MPU6050_REG_PWR_MGMT_2, 0x00);
}

◆ MPU6050_DisableTemperature()

void MPU6050_DisableTemperature ( HAL_State_t state )

Definition at line 68 of file mpu6050.c.

                                                   {
    uint8_t reg = MPU6050_Read(MPU6050_REG_PWR_MGMT_1);
    MPU6050_Write(MPU6050_REG_PWR_MGMT_1, reg & ~0x08 | (state << 3));
}

◆ MPU6050_EnableLowPowerMode()

void MPU6050_EnableLowPowerMode ( MPU6050_Wakeup_Freq_t freq )

Definition at line 73 of file mpu6050.c.

                                                            {
    MPU6050_Write(MPU6050_REG_PWR_MGMT_1, 0x28); // 0010,1000 sleep:0, cycle:1, dis_temp:1
    MPU6050_Write(MPU6050_REG_PWR_MGMT_2, freq << 6 | 0x03); // STBY_XG, STBY_YG, STBY_ZG -> 1
}

◆ MPU6050_EnterSleepMode()

void MPU6050_EnterSleepMode ( void )

Definition at line 64 of file mpu6050.c.

                                  {
    MPU6050_Write(MPU6050_REG_PWR_MGMT_1, 0x40);
}

◆ MPU6050_Init()

void MPU6050_Init ( void )

Definition at line 52 of file mpu6050.c.

                        {
    MPU6050_DisableLowPowerMode();
    MPU6050_SetSampleRateDiv(0x07);
    MPU6050_SetDLPF(MPU6050_DLPF_Delay2ms);
    MPU6050_SetGyroFullScaleRange(MPU6050_Gyro_FullScaleRange_500dps);
    MPU6050_SetAccFullScaleRange(MPU6050_Acc_FullScaleRange_4g);
}

◆ MPU6050_Read()

uint8_t MPU6050_Read ( uint8_t addr )

Definition at line 28 of file mpu6050.c.

{
    uint8_t ret;
    I2C_Read(MPU6050_ADDR, addr, &ret, 1);
    return ret;
}

◆ MPU6050_ReadAll()

void MPU6050_ReadAll ( uint16_t * buf )

Definition at line 42 of file mpu6050.c.

{
    uint8_t i;
    I2C_Read(MPU6050_ADDR, MPU6050_REG_ACCEL_XOUT_H, (uint8_t *)buf, 14);
    for (i = 0; i < 7; i++)
    {
        *(buf + i) = swap(*(buf + i));
    }
}

◆ MPU6050_ReadInt()

uint16_t MPU6050_ReadInt ( uint8_t addr )

Definition at line 35 of file mpu6050.c.

{
    uint16_t ret;
    I2C_Read(MPU6050_ADDR, addr, (uint8_t *)&ret, 2);
    return swap(ret); // swap high/low bits for correct order
}

◆ MPU6050_Reset()

void MPU6050_Reset ( void )

Definition at line 60 of file mpu6050.c.

                         {
    MPU6050_Write(MPU6050_REG_PWR_MGMT_1, 0x80);
}

◆ MPU6050_SetAccFullScaleRange()

void MPU6050_SetAccFullScaleRange ( MPU6050_Acc_FullScaleRange_t range )

Definition at line 103 of file mpu6050.c.

{
    MPU6050_Write(MPU6050_REG_ACCEL_CONFIG, range << 3);
}

◆ MPU6050_SetDLPF()

void MPU6050_SetDLPF ( MPU6050_DLPF_t filter )

Definition at line 93 of file mpu6050.c.

{
    MPU6050_Write(MPU6050_REG_CONFIG, filter);
}

◆ MPU6050_SetGyroFullScaleRange()

void MPU6050_SetGyroFullScaleRange ( MPU6050_Gyro_FullScaleRange_t range )

Definition at line 98 of file mpu6050.c.

{
    MPU6050_Write(MPU6050_REG_GYRO_CONFIG, range << 3);
}

◆ MPU6050_SetSampleRateDiv()

void MPU6050_SetSampleRateDiv ( uint8_t div )

Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV) where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or 7), and 1kHz when the DLPF is enabled

Definition at line 88 of file mpu6050.c.

{
    MPU6050_Write(MPU6050_REG_SMPLRT_DIV, div);
}

◆ MPU6050_Write()

void MPU6050_Write	(	uint8_t	addr,
		uint8_t	dat
	)

Definition at line 23 of file mpu6050.c.

{
    I2C_Write(MPU6050_ADDR, addr, &dat, 1);
}

◆ swap()

uint16_t swap ( uint16_t num )

Definition at line 18 of file mpu6050.c.

{
    return (num >> 8) | (num << 8);
}

Functions