MPU6050 Gyro / Accelerometer
MPU6050 Six-Axis (Gyro + Accelerometer) Based on code from jrowberg/i2cdevlib @ 605a740. Most of the code is the same, except:
Removed MPU6050::ReadRegister function due to incompatibility. It is also not used anywhere in the original code.
MPU6050_6Axis_MotionApps20.h and MPU6050_9Axis_MotionApps41.h are not included due to deps to freeRTOS. helper_3dmath.h is also not included since it is only used in the above mentioned files.
Removed map function in favor of the Sming built-in one.
Adapted include path, coding style and applied clangformat
Deleted Calibration and Memory Block related code for code quality reason
API Documentation
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class MPU6050
Public Functions
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inline MPU6050()
Default constructor, uses default I2C address.
See also
MPU6050_DEFAULT_ADDRESS
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inline MPU6050(uint8_t address)
Specific address constructor.
See also
MPU6050_DEFAULT_ADDRESS
See also
MPU6050_ADDRESS_AD0_LOW
See also
MPU6050_ADDRESS_AD0_HIGH
- Parameters:
address – I2C address
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void initialize()
Power on and prepare for general usage. This will activate the device and take it out of sleep mode (which must be done after start-up). This function also sets both the accelerometer and the gyroscope to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets the clock source to use the X Gyro for reference, which is slightly better than the default internal clock source.
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inline bool testConnection()
Verify the I2C connection. Make sure the device is connected and responds as expected.
- Returns:
True if connection is valid, false otherwise
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inline uint8_t getAuxVDDIOLevel()
Get the auxiliary I2C supply voltage level. When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to the MPU-6000, which does not have a VLOGIC pin.
- Returns:
I2C supply voltage level (0=VLOGIC, 1=VDD)
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inline void setAuxVDDIOLevel(uint8_t level)
Set the auxiliary I2C supply voltage level. When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to the MPU-6000, which does not have a VLOGIC pin.
- Parameters:
level – I2C supply voltage level (0=VLOGIC, 1=VDD)
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inline uint8_t getRate()
Get gyroscope output rate divider. The sensor register output, FIFO output, DMP sampling, Motion detection, Zero Motion detection, and Free Fall detection are all based on the Sample Rate. The Sample Rate is generated by dividing the gyroscope output rate by SMPLRT_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 (see Register 26).
Note: The accelerometer output rate is 1kHz. This means that for a Sample Rate greater than 1kHz, the same accelerometer sample may be output to the FIFO, DMP, and sensor registers more than once.
For a diagram of the gyroscope and accelerometer signal paths, see Section 8 of the MPU-6000/MPU-6050 Product Specification document.
See also
MPU6050_RA_SMPLRT_DIV
- Returns:
Current sample rate
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inline void setRate(uint8_t rate)
Set gyroscope sample rate divider.
See also
See also
MPU6050_RA_SMPLRT_DIV
- Parameters:
rate – New sample rate divider
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inline uint8_t getExternalFrameSync()
Get external FSYNC configuration. Configures the external Frame Synchronization (FSYNC) pin sampling. An external signal connected to the FSYNC pin can be sampled by configuring EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short strobes may be captured. The latched FSYNC signal will be sampled at the Sampling Rate, as defined in register 25. After sampling, the latch will reset to the current FSYNC signal state.
The sampled value will be reported in place of the least significant bit in a sensor data register determined by the value of EXT_SYNC_SET according to the following table.
- Returns:
FSYNC configuration value
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inline void setExternalFrameSync(uint8_t sync)
Set external FSYNC configuration.
See also
See also
MPU6050_RA_CONFIG
- Parameters:
sync – New FSYNC configuration value
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inline uint8_t getDLPFMode()
Get digital low-pass filter configuration. The DLPF_CFG parameter sets the digital low pass filter configuration. It also determines the internal sampling rate used by the device as shown in the table below.
Note: The accelerometer output rate is 1kHz. This means that for a Sample Rate greater than 1kHz, the same accelerometer sample may be output to the FIFO, DMP, and sensor registers more than once.
See also
MPU6050_RA_CONFIG
See also
MPU6050_CFG_DLPF_CFG_BIT
See also
MPU6050_CFG_DLPF_CFG_LENGTH
- Returns:
DLFP configuration
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inline void setDLPFMode(uint8_t mode)
Set digital low-pass filter configuration.
See also
getDLPFBandwidth()
See also
MPU6050_DLPF_BW_256
See also
MPU6050_RA_CONFIG
See also
MPU6050_CFG_DLPF_CFG_BIT
See also
MPU6050_CFG_DLPF_CFG_LENGTH
- Parameters:
mode – New DLFP configuration setting
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inline uint8_t getFullScaleGyroRange()
Get full-scale gyroscope range. The FS_SEL parameter allows setting the full-scale range of the gyro sensors, as described in the table below.
See also
MPU6050_GYRO_FS_250
See also
MPU6050_RA_GYRO_CONFIG
See also
MPU6050_GCONFIG_FS_SEL_BIT
See also
MPU6050_GCONFIG_FS_SEL_LENGTH
- Returns:
Current full-scale gyroscope range setting
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inline void setFullScaleGyroRange(uint8_t range)
Set full-scale gyroscope range.
See also
getFullScaleRange()
See also
MPU6050_GYRO_FS_250
See also
MPU6050_RA_GYRO_CONFIG
See also
MPU6050_GCONFIG_FS_SEL_BIT
See also
MPU6050_GCONFIG_FS_SEL_LENGTH
- Parameters:
range – New full-scale gyroscope range value
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uint8_t getAccelXSelfTestFactoryTrim()
Get self-test factory trim value for accelerometer X axis.
See also
MPU6050_RA_SELF_TEST_X
- Returns:
factory trim value
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uint8_t getAccelYSelfTestFactoryTrim()
Get self-test factory trim value for accelerometer Y axis.
See also
MPU6050_RA_SELF_TEST_Y
- Returns:
factory trim value
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uint8_t getAccelZSelfTestFactoryTrim()
Get self-test factory trim value for accelerometer Z axis.
See also
MPU6050_RA_SELF_TEST_Z
- Returns:
factory trim value
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uint8_t getGyroXSelfTestFactoryTrim()
Get self-test factory trim value for gyro X axis.
See also
MPU6050_RA_SELF_TEST_X
- Returns:
factory trim value
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uint8_t getGyroYSelfTestFactoryTrim()
Get self-test factory trim value for gyro Y axis.
See also
MPU6050_RA_SELF_TEST_Y
- Returns:
factory trim value
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uint8_t getGyroZSelfTestFactoryTrim()
Get self-test factory trim value for gyro Z axis.
See also
MPU6050_RA_SELF_TEST_Z
- Returns:
factory trim value
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inline bool getAccelXSelfTest()
Get self-test enabled setting for accelerometer X axis.
See also
MPU6050_RA_ACCEL_CONFIG
- Returns:
Self-test enabled value
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inline void setAccelXSelfTest(bool enabled)
Get self-test enabled setting for accelerometer X axis.
See also
MPU6050_RA_ACCEL_CONFIG
- Parameters:
enabled – Self-test enabled value
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inline bool getAccelYSelfTest()
Get self-test enabled value for accelerometer Y axis.
See also
MPU6050_RA_ACCEL_CONFIG
- Returns:
Self-test enabled value
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inline void setAccelYSelfTest(bool enabled)
Get self-test enabled value for accelerometer Y axis.
See also
MPU6050_RA_ACCEL_CONFIG
- Parameters:
enabled – Self-test enabled value
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inline bool getAccelZSelfTest()
Get self-test enabled value for accelerometer Z axis.
See also
MPU6050_RA_ACCEL_CONFIG
- Returns:
Self-test enabled value
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inline void setAccelZSelfTest(bool enabled)
Set self-test enabled value for accelerometer Z axis.
See also
MPU6050_RA_ACCEL_CONFIG
- Parameters:
enabled – Self-test enabled value
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inline uint8_t getFullScaleAccelRange()
Get full-scale accelerometer range. The FS_SEL parameter allows setting the full-scale range of the accelerometer sensors, as described in the table below.
See also
MPU6050_ACCEL_FS_2
See also
MPU6050_RA_ACCEL_CONFIG
See also
MPU6050_ACONFIG_AFS_SEL_BIT
See also
MPU6050_ACONFIG_AFS_SEL_LENGTH
- Returns:
Current full-scale accelerometer range setting
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inline void setFullScaleAccelRange(uint8_t range)
Set full-scale accelerometer range.
See also
- Parameters:
range – New full-scale accelerometer range setting
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inline uint8_t getDHPFMode()
Get the high-pass filter configuration. The DHPF is a filter module in the path leading to motion detectors (Free Fall, Motion threshold, and Zero Motion). The high pass filter output is not available to the data registers (see Figure in Section 8 of the MPU-6000/ MPU-6050 Product Specification document).
The high pass filter has three modes:
See also
MPU6050_DHPF_RESET
See also
MPU6050_RA_ACCEL_CONFIG
- Returns:
Current high-pass filter configuration
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inline void setDHPFMode(uint8_t bandwidth)
Set the high-pass filter configuration.
See also
See also
MPU6050_DHPF_RESET
See also
MPU6050_RA_ACCEL_CONFIG
- Parameters:
bandwidth – New high-pass filter configuration
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inline uint8_t getFreefallDetectionThreshold()
Get free-fall event acceleration threshold. This register configures the detection threshold for Free Fall event detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the absolute value of the accelerometer measurements for the three axes are each less than the detection threshold. This condition increments the Free Fall duration counter (Register 30). The Free Fall interrupt is triggered when the Free Fall duration counter reaches the time specified in FF_DUR.
For more details on the Free Fall detection interrupt, see Section 8.2 of the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and 58 of this document.
See also
MPU6050_RA_FF_THR
- Returns:
Current free-fall acceleration threshold value (LSB = 2mg)
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inline void setFreefallDetectionThreshold(uint8_t threshold)
Get free-fall event acceleration threshold.
See also
See also
MPU6050_RA_FF_THR
- Parameters:
threshold – New free-fall acceleration threshold value (LSB = 2mg)
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inline uint8_t getFreefallDetectionDuration()
Get free-fall event duration threshold. This register configures the duration counter threshold for Free Fall event detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit of 1 LSB = 1 ms.
The Free Fall duration counter increments while the absolute value of the accelerometer measurements are each less than the detection threshold (Register 29). The Free Fall interrupt is triggered when the Free Fall duration counter reaches the time specified in this register.
For more details on the Free Fall detection interrupt, see Section 8.2 of the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and 58 of this document.
See also
MPU6050_RA_FF_DUR
- Returns:
Current free-fall duration threshold value (LSB = 1ms)
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inline void setFreefallDetectionDuration(uint8_t duration)
Get free-fall event duration threshold.
See also
See also
MPU6050_RA_FF_DUR
- Parameters:
duration – New free-fall duration threshold value (LSB = 1ms)
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inline uint8_t getMotionDetectionThreshold()
Get motion detection event acceleration threshold. This register configures the detection threshold for Motion interrupt generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the absolute value of any of the accelerometer measurements exceeds this Motion detection threshold. This condition increments the Motion detection duration counter (Register 32). The Motion detection interrupt is triggered when the Motion Detection counter reaches the time count specified in MOT_DUR (Register 32).
The Motion interrupt will indicate the axis and polarity of detected motion in MOT_DETECT_STATUS (Register 97).
For more details on the Motion detection interrupt, see Section 8.3 of the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and 58 of this document.
See also
MPU6050_RA_MOT_THR
- Returns:
Current motion detection acceleration threshold value (LSB = 2mg)
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inline void setMotionDetectionThreshold(uint8_t threshold)
Set motion detection event acceleration threshold.
See also
See also
MPU6050_RA_MOT_THR
- Parameters:
threshold – New motion detection acceleration threshold value (LSB = 2mg)
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inline uint8_t getMotionDetectionDuration()
Get motion detection event duration threshold. This register configures the duration counter threshold for Motion interrupt generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit of 1LSB = 1ms. The Motion detection duration counter increments when the absolute value of any of the accelerometer measurements exceeds the Motion detection threshold (Register 31). The Motion detection interrupt is triggered when the Motion detection counter reaches the time count specified in this register.
For more details on the Motion detection interrupt, see Section 8.3 of the MPU-6000/MPU-6050 Product Specification document.
See also
MPU6050_RA_MOT_DUR
- Returns:
Current motion detection duration threshold value (LSB = 1ms)
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inline void setMotionDetectionDuration(uint8_t duration)
Set motion detection event duration threshold.
See also
See also
MPU6050_RA_MOT_DUR
- Parameters:
duration – New motion detection duration threshold value (LSB = 1ms)
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inline uint8_t getZeroMotionDetectionThreshold()
Get zero motion detection event acceleration threshold. This register configures the detection threshold for Zero Motion interrupt generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when the absolute value of the accelerometer measurements for the 3 axes are each less than the detection threshold. This condition increments the Zero Motion duration counter (Register 34). The Zero Motion interrupt is triggered when the Zero Motion duration counter reaches the time count specified in ZRMOT_DUR (Register 34).
Unlike Free Fall or Motion detection, Zero Motion detection triggers an interrupt both when Zero Motion is first detected and when Zero Motion is no longer detected.
When a zero motion event is detected, a Zero Motion Status will be indicated in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion condition is detected, the status bit is set to 1. When a zero-motion-to- motion condition is detected, the status bit is set to 0.
For more details on the Zero Motion detection interrupt, see Section 8.4 of the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and 58 of this document.
See also
MPU6050_RA_ZRMOT_THR
- Returns:
Current zero motion detection acceleration threshold value (LSB = 2mg)
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inline void setZeroMotionDetectionThreshold(uint8_t threshold)
Set zero motion detection event acceleration threshold.
See also
See also
MPU6050_RA_ZRMOT_THR
- Parameters:
threshold – New zero motion detection acceleration threshold value (LSB = 2mg)
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inline uint8_t getZeroMotionDetectionDuration()
Get zero motion detection event duration threshold. This register configures the duration counter threshold for Zero Motion interrupt generation. The duration counter ticks at 16 Hz, therefore ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter increments while the absolute value of the accelerometer measurements are each less than the detection threshold (Register 33). The Zero Motion interrupt is triggered when the Zero Motion duration counter reaches the time count specified in this register.
For more details on the Zero Motion detection interrupt, see Section 8.4 of the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56 and 58 of this document.
See also
MPU6050_RA_ZRMOT_DUR
- Returns:
Current zero motion detection duration threshold value (LSB = 64ms)
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inline void setZeroMotionDetectionDuration(uint8_t duration)
Set zero motion detection event duration threshold.
See also
See also
MPU6050_RA_ZRMOT_DUR
- Parameters:
duration – New zero motion detection duration threshold value (LSB = 1ms)
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inline bool getTempFIFOEnabled()
Get temperature FIFO enabled value. When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and 66) to be written into the FIFO buffer.
See also
MPU6050_RA_FIFO_EN
- Returns:
Current temperature FIFO enabled value
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inline void setTempFIFOEnabled(bool enabled)
Set temperature FIFO enabled value.
See also
See also
MPU6050_RA_FIFO_EN
- Parameters:
enabled – New temperature FIFO enabled value
-
inline bool getXGyroFIFOEnabled()
Get gyroscope X-axis FIFO enabled value. When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and 68) to be written into the FIFO buffer.
See also
MPU6050_RA_FIFO_EN
- Returns:
Current gyroscope X-axis FIFO enabled value
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inline void setXGyroFIFOEnabled(bool enabled)
Set gyroscope X-axis FIFO enabled value.
See also
See also
MPU6050_RA_FIFO_EN
- Parameters:
enabled – New gyroscope X-axis FIFO enabled value
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inline bool getYGyroFIFOEnabled()
Get gyroscope Y-axis FIFO enabled value. When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and 70) to be written into the FIFO buffer.
See also
MPU6050_RA_FIFO_EN
- Returns:
Current gyroscope Y-axis FIFO enabled value
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inline void setYGyroFIFOEnabled(bool enabled)
Set gyroscope Y-axis FIFO enabled value.
See also
See also
MPU6050_RA_FIFO_EN
- Parameters:
enabled – New gyroscope Y-axis FIFO enabled value
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inline bool getZGyroFIFOEnabled()
Get gyroscope Z-axis FIFO enabled value. When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and 72) to be written into the FIFO buffer.
See also
MPU6050_RA_FIFO_EN
- Returns:
Current gyroscope Z-axis FIFO enabled value
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inline void setZGyroFIFOEnabled(bool enabled)
Set gyroscope Z-axis FIFO enabled value.
See also
See also
MPU6050_RA_FIFO_EN
- Parameters:
enabled – New gyroscope Z-axis FIFO enabled value
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inline bool getAccelFIFOEnabled()
Get accelerometer FIFO enabled value. When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H, ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be written into the FIFO buffer.
See also
MPU6050_RA_FIFO_EN
- Returns:
Current accelerometer FIFO enabled value
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inline void setAccelFIFOEnabled(bool enabled)
Set accelerometer FIFO enabled value.
See also
See also
MPU6050_RA_FIFO_EN
- Parameters:
enabled – New accelerometer FIFO enabled value
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inline bool getSlave2FIFOEnabled()
Get Slave 2 FIFO enabled value. When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) associated with Slave 2 to be written into the FIFO buffer.
See also
MPU6050_RA_FIFO_EN
- Returns:
Current Slave 2 FIFO enabled value
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inline void setSlave2FIFOEnabled(bool enabled)
Set Slave 2 FIFO enabled value.
See also
See also
MPU6050_RA_FIFO_EN
- Parameters:
enabled – New Slave 2 FIFO enabled value
-
inline bool getSlave1FIFOEnabled()
Get Slave 1 FIFO enabled value. When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) associated with Slave 1 to be written into the FIFO buffer.
See also
MPU6050_RA_FIFO_EN
- Returns:
Current Slave 1 FIFO enabled value
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inline void setSlave1FIFOEnabled(bool enabled)
Set Slave 1 FIFO enabled value.
See also
See also
MPU6050_RA_FIFO_EN
- Parameters:
enabled – New Slave 1 FIFO enabled value
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inline bool getSlave0FIFOEnabled()
Get Slave 0 FIFO enabled value. When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) associated with Slave 0 to be written into the FIFO buffer.
See also
MPU6050_RA_FIFO_EN
- Returns:
Current Slave 0 FIFO enabled value
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inline void setSlave0FIFOEnabled(bool enabled)
Set Slave 0 FIFO enabled value.
See also
See also
MPU6050_RA_FIFO_EN
- Parameters:
enabled – New Slave 0 FIFO enabled value
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inline bool getMultiMasterEnabled()
Get multi-master enabled value. Multi-master capability allows multiple I2C masters to operate on the same bus. In circuits where multi-master capability is required, set MULT_MST_EN to 1. This will increase current drawn by approximately 30uA.
In circuits where multi-master capability is required, the state of the I2C bus must always be monitored by each separate I2C Master. Before an I2C Master can assume arbitration of the bus, it must first confirm that no other I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the MPU-60X0’s bus arbitration detection logic is turned on, enabling it to detect when the bus is available.
See also
MPU6050_RA_I2C_MST_CTRL
- Returns:
Current multi-master enabled value
-
inline void setMultiMasterEnabled(bool enabled)
Set multi-master enabled value.
See also
See also
MPU6050_RA_I2C_MST_CTRL
- Parameters:
enabled – New multi-master enabled value
-
inline bool getWaitForExternalSensorEnabled()
Get wait-for-external-sensor-data enabled value. When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be delayed until External Sensor data from the Slave Devices are loaded into the EXT_SENS_DATA registers. This is used to ensure that both the internal sensor data (i.e. from gyro and accel) and external sensor data have been loaded to their respective data registers (i.e. the data is synced) when the Data Ready interrupt is triggered.
See also
MPU6050_RA_I2C_MST_CTRL
- Returns:
Current wait-for-external-sensor-data enabled value
-
inline void setWaitForExternalSensorEnabled(bool enabled)
Set wait-for-external-sensor-data enabled value.
See also
See also
MPU6050_RA_I2C_MST_CTRL
- Parameters:
enabled – New wait-for-external-sensor-data enabled value
-
inline bool getSlave3FIFOEnabled()
Get Slave 3 FIFO enabled value. When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) associated with Slave 3 to be written into the FIFO buffer.
See also
MPU6050_RA_MST_CTRL
- Returns:
Current Slave 3 FIFO enabled value
-
inline void setSlave3FIFOEnabled(bool enabled)
Set Slave 3 FIFO enabled value.
See also
See also
MPU6050_RA_MST_CTRL
- Parameters:
enabled – New Slave 3 FIFO enabled value
-
inline bool getSlaveReadWriteTransitionEnabled()
Get slave read/write transition enabled value. The I2C_MST_P_NSR bit configures the I2C Master’s transition from one slave read to the next slave read. If the bit equals 0, there will be a restart between reads. If the bit equals 1, there will be a stop followed by a start of the following read. When a write transaction follows a read transaction, the stop followed by a start of the successive write will be always used.
See also
MPU6050_RA_I2C_MST_CTRL
- Returns:
Current slave read/write transition enabled value
-
inline void setSlaveReadWriteTransitionEnabled(bool enabled)
Set slave read/write transition enabled value.
See also
See also
MPU6050_RA_I2C_MST_CTRL
- Parameters:
enabled – New slave read/write transition enabled value
-
inline uint8_t getMasterClockSpeed()
Get I2C master clock speed. I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to the following table:
See also
MPU6050_RA_I2C_MST_CTRL
- Returns:
Current I2C master clock speed
-
inline void setMasterClockSpeed(uint8_t speed)
Set I2C master clock speed. @reparam speed Current I2C master clock speed
See also
MPU6050_RA_I2C_MST_CTRL
-
uint8_t getSlaveAddress(SlaveId slaveId)
Get the I2C address of the specified slave (0-3). Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it’s a read operation, and if it is cleared, then it’s a write operation. The remaining bits (6-0) are the 7-bit device address of the slave device.
In read mode, the result of the read is placed in the lowest available EXT_SENS_DATA register. For further information regarding the allocation of read results, please refer to the EXT_SENS_DATA register description (Registers 73 - 96).
The MPU-6050 supports a total of five slaves, but Slave 4 has unique characteristics, and so it has its own functions (getSlave4* and setSlave4*).
I2C data transactions are performed at the Sample Rate, as defined in Register 25. The user is responsible for ensuring that I2C data transactions to and from each enabled Slave can be completed within a single period of the Sample Rate.
The I2C slave access rate can be reduced relative to the Sample Rate. This reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a slave’s access rate is reduced relative to the Sample Rate is determined by I2C_MST_DELAY_CTRL (Register 103).
The processing order for the slaves is fixed. The sequence followed for processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a particular Slave is disabled it will be skipped.
Each slave can either be accessed at the sample rate or at a reduced sample rate. In a case where some slaves are accessed at the Sample Rate and some slaves are accessed at the reduced rate, the sequence of accessing the slaves (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will be skipped if their access rate dictates that they should not be accessed during that particular cycle. For further information regarding the reduced access rate, please refer to Register 52. Whether a slave is accessed at the Sample Rate or at the reduced rate is determined by the Delay Enable bits in Register 103.
See also
MPU6050_RA_I2C_SLV0_ADDR
- Parameters:
slaveId – Slave ID (0-3)
- Returns:
Current address for specified slave
-
void setSlaveAddress(SlaveId slaveId, uint8_t address)
Set the I2C address of the specified slave (0-3).
See also
See also
MPU6050_RA_I2C_SLV0_ADDR
- Parameters:
slaveId – Slave ID (0-3)
address – New address for specified slave
-
uint8_t getSlaveRegister(SlaveId slaveId)
Get the active internal register for the specified slave (0-3). Read/write operations for this slave will be done to whatever internal register address is stored in this MPU register.
The MPU-6050 supports a total of five slaves, but Slave 4 has unique characteristics, and so it has its own functions.
See also
MPU6050_RA_I2C_SLV0_REG
- Parameters:
slaveId – Slave ID (0-3)
- Returns:
Current active register for specified slave
-
void setSlaveRegister(SlaveId slaveId, uint8_t reg)
Set the active internal register for the specified slave (0-3).
See also
See also
MPU6050_RA_I2C_SLV0_REG
- Parameters:
slaveId – Slave ID (0-3)
reg – New active register for specified slave
-
bool getSlaveEnabled(SlaveId slaveId)
Get the enabled value for the specified slave (0-3). When set to 1, this bit enables Slave 0 for data transfer operations. When cleared to 0, this bit disables Slave 0 from data transfer operations.
See also
MPU6050_RA_I2C_SLV0_CTRL
- Parameters:
slaveId – Slave ID (0-3)
- Returns:
Current enabled value for specified slave
-
void setSlaveEnabled(SlaveId slaveId, bool enabled)
Set the enabled value for the specified slave (0-3).
See also
See also
MPU6050_RA_I2C_SLV0_CTRL
- Parameters:
slaveId – Slave ID (0-3)
enabled – New enabled value for specified slave
-
bool getSlaveWordByteSwap(SlaveId slaveId)
Get word pair byte-swapping enabled for the specified slave (0-3). When set to 1, this bit enables byte swapping. When byte swapping is enabled, the high and low bytes of a word pair are swapped. Please refer to I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0, bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA registers in the order they were transferred.
See also
MPU6050_RA_I2C_SLV0_CTRL
- Parameters:
slaveId – Slave ID (0-3)
- Returns:
Current word pair byte-swapping enabled value for specified slave
-
void setSlaveWordByteSwap(SlaveId slaveId, bool enabled)
Set word pair byte-swapping enabled for the specified slave (0-3).
See also
See also
MPU6050_RA_I2C_SLV0_CTRL
- Parameters:
slaveId – Slave ID (0-3)
enabled – New word pair byte-swapping enabled value for specified slave
-
bool getSlaveWriteMode(SlaveId slaveId)
Get write mode for the specified slave (0-3). When set to 1, the transaction will read or write data only. When cleared to 0, the transaction will write a register address prior to reading or writing data. This should equal 0 when specifying the register address within the Slave device to/from which the ensuing data transaction will take place.
See also
MPU6050_RA_I2C_SLV0_CTRL
- Parameters:
slaveId – Slave ID (0-3)
- Returns:
Current write mode for specified slave (0 = register address + data, 1 = data only)
-
void setSlaveWriteMode(SlaveId slaveId, bool mode)
Set write mode for the specified slave (0-3).
See also
See also
MPU6050_RA_I2C_SLV0_CTRL
- Parameters:
slaveId – Slave ID (0-3)
mode – New write mode for specified slave (0 = register address + data, 1 = data only)
-
bool getSlaveWordGroupOffset(SlaveId slaveId)
Get word pair grouping order offset for the specified slave (0-3). This sets specifies the grouping order of word pairs received from registers. When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even, then odd register addresses) are paired to form a word. When set to 1, bytes from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even register addresses) are paired to form a word.
See also
MPU6050_RA_I2C_SLV0_CTRL
- Parameters:
slaveId – Slave ID (0-3)
- Returns:
Current word pair grouping order offset for specified slave
-
void setSlaveWordGroupOffset(SlaveId slaveId, bool enabled)
Set word pair grouping order offset for the specified slave (0-3).
See also
See also
MPU6050_RA_I2C_SLV0_CTRL
- Parameters:
slaveId – Slave ID (0-3)
enabled – New word pair grouping order offset for specified slave
-
uint8_t getSlaveDataLength(SlaveId slaveId)
Get number of bytes to read for the specified slave (0-3). Specifies the number of bytes transferred to and from Slave 0. Clearing this bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
See also
MPU6050_RA_I2C_SLV0_CTRL
- Parameters:
slaveId – Slave ID (0-3)
- Returns:
Number of bytes to read for specified slave
-
void setSlaveDataLength(SlaveId slaveId, uint8_t length)
Set number of bytes to read for the specified slave (0-3).
See also
See also
MPU6050_RA_I2C_SLV0_CTRL
- Parameters:
slaveId – Slave ID (0-3)
length – Number of bytes to read for specified slave
-
inline uint8_t getSlave4Address()
Get the I2C address of Slave 4. Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it’s a read operation, and if it is cleared, then it’s a write operation. The remaining bits (6-0) are the 7-bit device address of the slave device.
See also
See also
MPU6050_RA_I2C_SLV4_ADDR
- Returns:
Current address for Slave 4
-
inline void setSlave4Address(uint8_t address)
Set the I2C address of Slave 4.
See also
See also
MPU6050_RA_I2C_SLV4_ADDR
- Parameters:
address – New address for Slave 4
-
inline uint8_t getSlave4Register()
Get the active internal register for the Slave 4. Read/write operations for this slave will be done to whatever internal register address is stored in this MPU register.
See also
MPU6050_RA_I2C_SLV4_REG
- Returns:
Current active register for Slave 4
-
inline void setSlave4Register(uint8_t reg)
Set the active internal register for Slave 4.
See also
See also
MPU6050_RA_I2C_SLV4_REG
- Parameters:
reg – New active register for Slave 4
-
inline void setSlave4OutputByte(uint8_t data)
Set new byte to write to Slave 4. This register stores the data to be written into the Slave 4. If I2C_SLV4_RW is set 1 (set to read), this register has no effect.
See also
MPU6050_RA_I2C_SLV4_DO
- Parameters:
data – New byte to write to Slave 4
-
inline bool getSlave4Enabled()
Get the enabled value for the Slave 4. When set to 1, this bit enables Slave 4 for data transfer operations. When cleared to 0, this bit disables Slave 4 from data transfer operations.
See also
MPU6050_RA_I2C_SLV4_CTRL
- Returns:
Current enabled value for Slave 4
-
inline void setSlave4Enabled(bool enabled)
Set the enabled value for Slave 4.
See also
See also
MPU6050_RA_I2C_SLV4_CTRL
- Parameters:
enabled – New enabled value for Slave 4
-
inline bool getSlave4InterruptEnabled()
Get the enabled value for Slave 4 transaction interrupts. When set to 1, this bit enables the generation of an interrupt signal upon completion of a Slave 4 transaction. When cleared to 0, this bit disables the generation of an interrupt signal upon completion of a Slave 4 transaction. The interrupt status can be observed in Register 54.
See also
MPU6050_RA_I2C_SLV4_CTRL
- Returns:
Current enabled value for Slave 4 transaction interrupts.
-
inline void setSlave4InterruptEnabled(bool enabled)
Set the enabled value for Slave 4 transaction interrupts.
See also
See also
MPU6050_RA_I2C_SLV4_CTRL
- Parameters:
enabled – New enabled value for Slave 4 transaction interrupts.
-
inline bool getSlave4WriteMode()
Get write mode for Slave 4. When set to 1, the transaction will read or write data only. When cleared to 0, the transaction will write a register address prior to reading or writing data. This should equal 0 when specifying the register address within the Slave device to/from which the ensuing data transaction will take place.
See also
MPU6050_RA_I2C_SLV4_CTRL
- Returns:
Current write mode for Slave 4 (0 = register address + data, 1 = data only)
-
inline void setSlave4WriteMode(bool mode)
Set write mode for the Slave 4.
See also
See also
MPU6050_RA_I2C_SLV4_CTRL
- Parameters:
mode – New write mode for Slave 4 (0 = register address + data, 1 = data only)
-
inline uint8_t getSlave4MasterDelay()
Get Slave 4 master delay value. This configures the reduced access rate of I2C slaves relative to the Sample Rate. When a slave’s access rate is decreased relative to the Sample Rate, the slave is accessed every:
This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and DLPF_CFG (register 26). Whether a slave’s access rate is reduced relative to the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For further information regarding the Sample Rate, please refer to register 25.1 / (1 + I2C_MST_DLY) samples
See also
MPU6050_RA_I2C_SLV4_CTRL
- Returns:
Current Slave 4 master delay value
-
inline void setSlave4MasterDelay(uint8_t delay)
Set Slave 4 master delay value.
See also
See also
MPU6050_RA_I2C_SLV4_CTRL
- Parameters:
delay – New Slave 4 master delay value
-
inline uint8_t getSlate4InputByte()
Get last available byte read from Slave 4. This register stores the data read from Slave 4. This field is populated after a read transaction.
See also
MPU6050_RA_I2C_SLV4_DI
- Returns:
Last available byte read from to Slave 4
-
inline bool getPassthroughStatus()
Get FSYNC interrupt status. This bit reflects the status of the FSYNC interrupt from an external device into the MPU-60X0. This is used as a way to pass an external interrupt through the MPU-60X0 to the host application processor. When set to 1, this bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG (Register 55).
See also
MPU6050_RA_I2C_MST_STATUS
- Returns:
FSYNC interrupt status
-
inline bool getSlave4IsDone()
Get Slave 4 transaction done status. Automatically sets to 1 when a Slave 4 transaction has completed. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the I2C_SLV4_CTRL register (Register 52).
See also
MPU6050_RA_I2C_MST_STATUS
- Returns:
Slave 4 transaction done status
-
inline bool getLostArbitration()
Get master arbitration lost status. This bit automatically sets to 1 when the I2C Master has lost arbitration of the auxiliary I2C bus (an error condition). This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
See also
MPU6050_RA_I2C_MST_STATUS
- Returns:
Master arbitration lost status
-
inline bool getSlave4Nack()
Get Slave 4 NACK status. This bit automatically sets to 1 when the I2C Master receives a NACK in a transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
See also
MPU6050_RA_I2C_MST_STATUS
- Returns:
Slave 4 NACK interrupt status
-
inline bool getSlave3Nack()
Get Slave 3 NACK status. This bit automatically sets to 1 when the I2C Master receives a NACK in a transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
See also
MPU6050_RA_I2C_MST_STATUS
- Returns:
Slave 3 NACK interrupt status
-
inline bool getSlave2Nack()
Get Slave 2 NACK status. This bit automatically sets to 1 when the I2C Master receives a NACK in a transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
See also
MPU6050_RA_I2C_MST_STATUS
- Returns:
Slave 2 NACK interrupt status
-
inline bool getSlave1Nack()
Get Slave 1 NACK status. This bit automatically sets to 1 when the I2C Master receives a NACK in a transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
See also
MPU6050_RA_I2C_MST_STATUS
- Returns:
Slave 1 NACK interrupt status
-
inline bool getSlave0Nack()
Get Slave 0 NACK status. This bit automatically sets to 1 when the I2C Master receives a NACK in a transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
See also
MPU6050_RA_I2C_MST_STATUS
- Returns:
Slave 0 NACK interrupt status
-
inline bool getInterruptMode()
Get interrupt logic level mode. Will be set 0 for active-high, 1 for active-low.
See also
MPU6050_RA_INT_PIN_CFG
See also
MPU6050_INTCFG_INT_LEVEL_BIT
- Returns:
Current interrupt mode (0=active-high, 1=active-low)
-
inline void setInterruptMode(bool mode)
Set interrupt logic level mode.
See also
See also
MPU6050_RA_INT_PIN_CFG
See also
MPU6050_INTCFG_INT_LEVEL_BIT
- Parameters:
mode – New interrupt mode (0=active-high, 1=active-low)
-
inline bool getInterruptDrive()
Get interrupt drive mode. Will be set 0 for push-pull, 1 for open-drain.
See also
MPU6050_RA_INT_PIN_CFG
See also
MPU6050_INTCFG_INT_OPEN_BIT
- Returns:
Current interrupt drive mode (0=push-pull, 1=open-drain)
-
inline void setInterruptDrive(bool drive)
Set interrupt drive mode.
See also
See also
MPU6050_RA_INT_PIN_CFG
See also
MPU6050_INTCFG_INT_OPEN_BIT
- Parameters:
drive – New interrupt drive mode (0=push-pull, 1=open-drain)
-
inline bool getInterruptLatch()
Get interrupt latch mode. Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
See also
MPU6050_RA_INT_PIN_CFG
See also
MPU6050_INTCFG_LATCH_INT_EN_BIT
- Returns:
Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
-
inline void setInterruptLatch(bool latch)
Set interrupt latch mode.
See also
See also
MPU6050_RA_INT_PIN_CFG
See also
MPU6050_INTCFG_LATCH_INT_EN_BIT
- Parameters:
latch – New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
-
inline bool getInterruptLatchClear()
Get interrupt latch clear mode. Will be set 0 for status-read-only, 1 for any-register-read.
See also
MPU6050_RA_INT_PIN_CFG
See also
MPU6050_INTCFG_INT_RD_CLEAR_BIT
- Returns:
Current latch clear mode (0=status-read-only, 1=any-register-read)
-
inline void setInterruptLatchClear(bool clear)
Set interrupt latch clear mode.
See also
See also
MPU6050_RA_INT_PIN_CFG
See also
MPU6050_INTCFG_INT_RD_CLEAR_BIT
- Parameters:
clear – New latch clear mode (0=status-read-only, 1=any-register-read)
-
inline bool getFSyncInterruptLevel()
Get FSYNC interrupt logic level mode.
See also
getFSyncInterruptMode()
See also
MPU6050_RA_INT_PIN_CFG
See also
MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
- Returns:
Current FSYNC interrupt mode (0=active-high, 1=active-low)
-
inline void setFSyncInterruptLevel(bool level)
Set FSYNC interrupt logic level mode.
See also
getFSyncInterruptMode()
See also
MPU6050_RA_INT_PIN_CFG
See also
MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
- Parameters:
mode – New FSYNC interrupt mode (0=active-high, 1=active-low)
-
inline bool getFSyncInterruptEnabled()
Get FSYNC pin interrupt enabled setting. Will be set 0 for disabled, 1 for enabled.
See also
MPU6050_RA_INT_PIN_CFG
See also
MPU6050_INTCFG_FSYNC_INT_EN_BIT
- Returns:
Current interrupt enabled setting
-
inline void setFSyncInterruptEnabled(bool enabled)
Set FSYNC pin interrupt enabled setting.
See also
See also
MPU6050_RA_INT_PIN_CFG
See also
MPU6050_INTCFG_FSYNC_INT_EN_BIT
- Parameters:
enabled – New FSYNC pin interrupt enabled setting
-
inline bool getI2CBypassEnabled()
Get I2C bypass enabled status. When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to 0, the host application processor will be able to directly access the auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host application processor will not be able to directly access the auxiliary I2C bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106 bit[5]).
See also
MPU6050_RA_INT_PIN_CFG
See also
MPU6050_INTCFG_I2C_BYPASS_EN_BIT
- Returns:
Current I2C bypass enabled status
-
inline void setI2CBypassEnabled(bool enabled)
Set I2C bypass enabled status. When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to 0, the host application processor will be able to directly access the auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host application processor will not be able to directly access the auxiliary I2C bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106 bit[5]).
See also
MPU6050_RA_INT_PIN_CFG
See also
MPU6050_INTCFG_I2C_BYPASS_EN_BIT
- Parameters:
enabled – New I2C bypass enabled status
-
inline bool getClockOutputEnabled()
Get reference clock output enabled status. When this bit is equal to 1, a reference clock output is provided at the CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For further information regarding CLKOUT, please refer to the MPU-60X0 Product Specification document.
See also
MPU6050_RA_INT_PIN_CFG
See also
MPU6050_INTCFG_CLKOUT_EN_BIT
- Returns:
Current reference clock output enabled status
-
inline void setClockOutputEnabled(bool enabled)
Set reference clock output enabled status. When this bit is equal to 1, a reference clock output is provided at the CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For further information regarding CLKOUT, please refer to the MPU-60X0 Product Specification document.
See also
MPU6050_RA_INT_PIN_CFG
See also
MPU6050_INTCFG_CLKOUT_EN_BIT
- Parameters:
enabled – New reference clock output enabled status
-
inline uint8_t getIntEnabled()
Get full interrupt enabled status. Full register byte for all interrupts, for quick reading. Each bit will be set 0 for disabled, 1 for enabled.
See also
MPU6050_RA_INT_ENABLE
See also
MPU6050_INTERRUPT_FF_BIT
- Returns:
Current interrupt enabled status
-
inline void setIntEnabled(uint8_t enabled)
Set full interrupt enabled status. Full register byte for all interrupts, for quick reading. Each bit should be set 0 for disabled, 1 for enabled.
See also
See also
MPU6050_RA_INT_ENABLE
See also
MPU6050_INTERRUPT_FF_BIT
- Parameters:
enabled – New interrupt enabled status
-
inline bool getIntFreefallEnabled()
Get Free Fall interrupt enabled status. Will be set 0 for disabled, 1 for enabled.
See also
MPU6050_RA_INT_ENABLE
See also
MPU6050_INTERRUPT_FF_BIT
- Returns:
Current interrupt enabled status
-
inline void setIntFreefallEnabled(bool enabled)
Set Free Fall interrupt enabled status.
See also
See also
MPU6050_RA_INT_ENABLE
See also
MPU6050_INTERRUPT_FF_BIT
- Parameters:
enabled – New interrupt enabled status
-
inline bool getIntMotionEnabled()
Get Motion Detection interrupt enabled status. Will be set 0 for disabled, 1 for enabled.
See also
MPU6050_RA_INT_ENABLE
See also
MPU6050_INTERRUPT_MOT_BIT
- Returns:
Current interrupt enabled status
-
inline void setIntMotionEnabled(bool enabled)
Set Motion Detection interrupt enabled status.
See also
See also
MPU6050_RA_INT_ENABLE
See also
MPU6050_INTERRUPT_MOT_BIT
- Parameters:
enabled – New interrupt enabled status
-
inline bool getIntZeroMotionEnabled()
Get Zero Motion Detection interrupt enabled status. Will be set 0 for disabled, 1 for enabled.
See also
MPU6050_RA_INT_ENABLE
See also
MPU6050_INTERRUPT_ZMOT_BIT
- Returns:
Current interrupt enabled status
-
inline void setIntZeroMotionEnabled(bool enabled)
Set Zero Motion Detection interrupt enabled status.
See also
See also
MPU6050_RA_INT_ENABLE
See also
MPU6050_INTERRUPT_ZMOT_BIT
- Parameters:
enabled – New interrupt enabled status
-
inline bool getIntFIFOBufferOverflowEnabled()
Get FIFO Buffer Overflow interrupt enabled status. Will be set 0 for disabled, 1 for enabled.
See also
MPU6050_RA_INT_ENABLE
See also
MPU6050_INTERRUPT_FIFO_OFLOW_BIT
- Returns:
Current interrupt enabled status
-
inline void setIntFIFOBufferOverflowEnabled(bool enabled)
Set FIFO Buffer Overflow interrupt enabled status.
See also
See also
MPU6050_RA_INT_ENABLE
See also
MPU6050_INTERRUPT_FIFO_OFLOW_BIT
- Parameters:
enabled – New interrupt enabled status
-
inline bool getIntI2CMasterEnabled()
Get I2C Master interrupt enabled status. This enables any of the I2C Master interrupt sources to generate an interrupt. Will be set 0 for disabled, 1 for enabled.
See also
MPU6050_RA_INT_ENABLE
See also
MPU6050_INTERRUPT_I2C_MST_INT_BIT
- Returns:
Current interrupt enabled status
-
inline void setIntI2CMasterEnabled(bool enabled)
Set I2C Master interrupt enabled status.
See also
See also
MPU6050_RA_INT_ENABLE
See also
MPU6050_INTERRUPT_I2C_MST_INT_BIT
- Parameters:
enabled – New interrupt enabled status
-
inline bool getIntDataReadyEnabled()
Get Data Ready interrupt enabled setting. This event occurs each time a write operation to all of the sensor registers has been completed. Will be set 0 for disabled, 1 for enabled.
See also
MPU6050_RA_INT_ENABLE
See also
MPU6050_INTERRUPT_DATA_RDY_BIT
- Returns:
Current interrupt enabled status
-
inline void setIntDataReadyEnabled(bool enabled)
Set Data Ready interrupt enabled status.
See also
See also
MPU6050_RA_INT_CFG
See also
MPU6050_INTERRUPT_DATA_RDY_BIT
- Parameters:
enabled – New interrupt enabled status
-
inline uint8_t getIntStatus()
Get full set of interrupt status bits. These bits clear to 0 after the register has been read. Very useful for getting multiple INT statuses, since each single bit read clears all of them because it has to read the whole byte.
See also
MPU6050_RA_INT_STATUS
- Returns:
Current interrupt status
-
inline bool getIntFreefallStatus()
Get Free Fall interrupt status. This bit automatically sets to 1 when a Free Fall interrupt has been generated. The bit clears to 0 after the register has been read.
See also
MPU6050_RA_INT_STATUS
See also
MPU6050_INTERRUPT_FF_BIT
- Returns:
Current interrupt status
-
inline bool getIntMotionStatus()
Get Motion Detection interrupt status. This bit automatically sets to 1 when a Motion Detection interrupt has been generated. The bit clears to 0 after the register has been read.
See also
MPU6050_RA_INT_STATUS
See also
MPU6050_INTERRUPT_MOT_BIT
- Returns:
Current interrupt status
-
inline bool getIntZeroMotionStatus()
Get Zero Motion Detection interrupt status. This bit automatically sets to 1 when a Zero Motion Detection interrupt has been generated. The bit clears to 0 after the register has been read.
See also
MPU6050_RA_INT_STATUS
See also
MPU6050_INTERRUPT_ZMOT_BIT
- Returns:
Current interrupt status
-
inline bool getIntFIFOBufferOverflowStatus()
Get FIFO Buffer Overflow interrupt status. This bit automatically sets to 1 when a Free Fall interrupt has been generated. The bit clears to 0 after the register has been read.
See also
MPU6050_RA_INT_STATUS
See also
MPU6050_INTERRUPT_FIFO_OFLOW_BIT
- Returns:
Current interrupt status
-
inline bool getIntI2CMasterStatus()
Get I2C Master interrupt status. This bit automatically sets to 1 when an I2C Master interrupt has been generated. For a list of I2C Master interrupts, please refer to Register 54. The bit clears to 0 after the register has been read.
See also
MPU6050_RA_INT_STATUS
See also
MPU6050_INTERRUPT_I2C_MST_INT_BIT
- Returns:
Current interrupt status
-
inline bool getIntDataReadyStatus()
Get Data Ready interrupt status. This bit automatically sets to 1 when a Data Ready interrupt has been generated. The bit clears to 0 after the register has been read.
See also
MPU6050_RA_INT_STATUS
See also
MPU6050_INTERRUPT_DATA_RDY_BIT
- Returns:
Current interrupt status
-
Motion6 getMotion6()
Get raw 6-axis motion sensor readings (accel/gyro). Retrieves all currently available motion sensor values.
See also
See also
See also
MPU6050_RA_ACCEL_XOUT_H
- Returns:
container for 3-axis accelerometer and 3-axis gyroscope values
-
Motion3 getAcceleration()
Get 3-axis accelerometer readings. These registers store the most recent accelerometer measurements. Accelerometer measurements are written to these registers at the Sample Rate as defined in Register 25.
The accelerometer measurement registers, along with the temperature measurement registers, gyroscope measurement registers, and external sensor data registers, are composed of two sets of registers: an internal register set and a user-facing read register set.
The data within the accelerometer sensors’ internal register set is always updated at the Sample Rate. Meanwhile, the user-facing read register set duplicates the internal register set’s data values whenever the serial interface is idle. This guarantees that a burst read of sensor registers will read measurements from the same sampling instant. Note that if burst reads are not used, the user is responsible for ensuring a set of single byte reads correspond to a single sampling instant by checking the Data Ready interrupt.
Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS (Register 28). For each full scale setting, the accelerometers’ sensitivity per LSB in ACCEL_xOUT is shown in the table below:
See also
MPU6050_RA_GYRO_XOUT_H
- Parameters:
x – 16-bit signed integer container for X-axis acceleration
y – 16-bit signed integer container for Y-axis acceleration
z – 16-bit signed integer container for Z-axis acceleration
-
inline int16_t getAccelerationX()
Get X-axis accelerometer reading.
See also
See also
MPU6050_RA_ACCEL_XOUT_H
- Returns:
X-axis acceleration measurement in 16-bit 2’s complement format
-
inline int16_t getAccelerationY()
Get Y-axis accelerometer reading.
See also
See also
MPU6050_RA_ACCEL_YOUT_H
- Returns:
Y-axis acceleration measurement in 16-bit 2’s complement format
-
inline int16_t getAccelerationZ()
Get Z-axis accelerometer reading.
See also
See also
MPU6050_RA_ACCEL_ZOUT_H
- Returns:
Z-axis acceleration measurement in 16-bit 2’s complement format
-
inline int16_t getTemperature()
Get current internal temperature.
See also
MPU6050_RA_TEMP_OUT_H
- Returns:
Temperature reading in 16-bit 2’s complement format
-
Motion3 getAngularRate()
Get 3-axis gyroscope readings. These gyroscope measurement registers, along with the accelerometer measurement registers, temperature measurement registers, and external sensor data registers, are composed of two sets of registers: an internal register set and a user-facing read register set. The data within the gyroscope sensors’ internal register set is always updated at the Sample Rate. Meanwhile, the user-facing read register set duplicates the internal register set’s data values whenever the serial interface is idle. This guarantees that a burst read of sensor registers will read measurements from the same sampling instant. Note that if burst reads are not used, the user is responsible for ensuring a set of single byte reads correspond to a single sampling instant by checking the Data Ready interrupt.
Each 16-bit gyroscope measurement has a full scale defined in FS_SEL (Register 27). For each full scale setting, the gyroscopes’ sensitivity per LSB in GYRO_xOUT is shown in the table below:
See also
See also
MPU6050_RA_GYRO_XOUT_H
- Returns:
container for 3-axis gyro values
-
inline int16_t getAngularRateX()
Get X-axis gyroscope reading.
See also
See also
MPU6050_RA_GYRO_XOUT_H
- Returns:
X-axis rotation measurement in 16-bit 2’s complement format
-
inline int16_t getAngularRateY()
Get Y-axis gyroscope reading.
See also
See also
MPU6050_RA_GYRO_YOUT_H
- Returns:
Y-axis rotation measurement in 16-bit 2’s complement format
-
inline int16_t getAngularRateZ()
Get Z-axis gyroscope reading.
See also
See also
MPU6050_RA_GYRO_ZOUT_H
- Returns:
Z-axis rotation measurement in 16-bit 2’s complement format
-
inline uint8_t getExternalSensorByte(int position)
Read single byte from external sensor data register. These registers store data read from external sensors by the Slave 0, 1, 2, and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in I2C_SLV4_DI (Register 53).
External sensor data is written to these registers at the Sample Rate as defined in Register 25. This access rate can be reduced by using the Slave Delay Enable registers (Register 103).
External sensor data registers, along with the gyroscope measurement registers, accelerometer measurement registers, and temperature measurement registers, are composed of two sets of registers: an internal register set and a user-facing read register set.
The data within the external sensors’ internal register set is always updated at the Sample Rate (or the reduced access rate) whenever the serial interface is idle. This guarantees that a burst read of sensor registers will read measurements from the same sampling instant. Note that if burst reads are not used, the user is responsible for ensuring a set of single byte reads correspond to a single sampling instant by checking the Data Ready interrupt.
Data is placed in these external sensor data registers according to I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39, 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as defined in Register 25) or delayed rate (if specified in Register 52 and 103). During each Sample cycle, slave reads are performed in order of Slave number. If all slaves are enabled with more than zero bytes to be read, the order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
Each enabled slave will have EXT_SENS_DATA registers associated with it by number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may change the higher numbered slaves’ associated registers. Furthermore, if fewer total bytes are being read from the external sensors as a result of such a change, then the data remaining in the registers which no longer have an associated slave device (i.e. high numbered registers) will remain in these previously allocated registers unless reset.
If the sum of the read lengths of all SLVx transactions exceed the number of available EXT_SENS_DATA registers, the excess bytes will be dropped. There are 24 EXT_SENS_DATA registers and hence the total read lengths between all the slaves cannot be greater than 24 or some bytes will be lost.
Note: Slave 4’s behavior is distinct from that of Slaves 0-3. For further information regarding the characteristics of Slave 4, please refer to Registers 49 to 53.
EXAMPLE: Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00 through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05 will be associated with Slave 1. If Slave 2 is enabled as well, registers starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
If Slave 2 is disabled while Slave 3 is enabled in this same situation, then registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3 instead.
REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE: If a slave is disabled at any time, the space initially allocated to the slave in the EXT_SENS_DATA register, will remain associated with that slave. This is to avoid dynamic adjustment of the register allocation.
The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
This above is also true if one of the slaves gets NACKed and stops functioning.
- Parameters:
position – Starting position (0-23)
- Returns:
Byte read from register
-
inline uint16_t getExternalSensorWord(int position)
Read word (2 bytes) from external sensor data registers.
See also
- Parameters:
position – Starting position (0-21)
- Returns:
Word read from register
-
inline uint32_t getExternalSensorDWord(int position)
Read double word (4 bytes) from external sensor data registers.
See also
- Parameters:
position – Starting position (0-20)
- Returns:
Double word read from registers
-
inline uint8_t getMotionStatus()
Get full motion detection status register content (all bits).
See also
MPU6050_RA_MOT_DETECT_STATUS
- Returns:
Motion detection status byte
-
inline bool getXNegMotionDetected()
Get X-axis negative motion detection interrupt status.
See also
MPU6050_RA_MOT_DETECT_STATUS
See also
MPU6050_MOTION_MOT_XNEG_BIT
- Returns:
Motion detection status
-
inline bool getXPosMotionDetected()
Get X-axis positive motion detection interrupt status.
See also
MPU6050_RA_MOT_DETECT_STATUS
See also
MPU6050_MOTION_MOT_XPOS_BIT
- Returns:
Motion detection status
-
inline bool getYNegMotionDetected()
Get Y-axis negative motion detection interrupt status.
See also
MPU6050_RA_MOT_DETECT_STATUS
See also
MPU6050_MOTION_MOT_YNEG_BIT
- Returns:
Motion detection status
-
inline bool getYPosMotionDetected()
Get Y-axis positive motion detection interrupt status.
See also
MPU6050_RA_MOT_DETECT_STATUS
See also
MPU6050_MOTION_MOT_YPOS_BIT
- Returns:
Motion detection status
-
inline bool getZNegMotionDetected()
Get Z-axis negative motion detection interrupt status.
See also
MPU6050_RA_MOT_DETECT_STATUS
See also
MPU6050_MOTION_MOT_ZNEG_BIT
- Returns:
Motion detection status
-
inline bool getZPosMotionDetected()
Get Z-axis positive motion detection interrupt status.
See also
MPU6050_RA_MOT_DETECT_STATUS
See also
MPU6050_MOTION_MOT_ZPOS_BIT
- Returns:
Motion detection status
-
inline bool getZeroMotionDetected()
Get zero motion detection interrupt status.
See also
MPU6050_RA_MOT_DETECT_STATUS
See also
MPU6050_MOTION_MOT_ZRMOT_BIT
- Returns:
Motion detection status
-
void setSlaveOutputByte(SlaveId slaveId, uint8_t data)
Write byte to Data Output container for specified slave. This register holds the output data written into Slave when Slave is set to write mode. For further information regarding Slave control, please refer to Registers 37 to 39 and immediately following.
See also
MPU6050_RA_I2C_SLV0_DO
- Parameters:
slaveId – Slave ID (0-3)
data – Byte to write
-
inline bool getExternalShadowDelayEnabled()
Get external data shadow delay enabled status. This register is used to specify the timing of external sensor data shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external sensor data is delayed until all data has been received.
See also
MPU6050_RA_I2C_MST_DELAY_CTRL
See also
MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
- Returns:
Current external data shadow delay enabled status.
-
inline void setExternalShadowDelayEnabled(bool enabled)
Set external data shadow delay enabled status.
See also
See also
MPU6050_RA_I2C_MST_DELAY_CTRL
See also
MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
- Parameters:
enabled – New external data shadow delay enabled status.
-
bool getSlaveDelayEnabled(SlaveId slaveId)
Get slave delay enabled status. When a particular slave delay is enabled, the rate of access for the that slave device is reduced. When a slave’s access rate is decreased relative to the Sample Rate, the slave is accessed every:
This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25) and DLPF_CFG (register 26).1 / (1 + I2C_MST_DLY) Samples
For further information regarding I2C_MST_DLY, please refer to register 52. For further information regarding the Sample Rate, please refer to register 25.
See also
MPU6050_RA_I2C_MST_DELAY_CTRL
See also
MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
- Parameters:
slaveId – Slave ID (0-4)
- Returns:
Current slave delay enabled status.
-
inline void setSlaveDelayEnabled(SlaveId slaveId, bool enabled)
Set slave delay enabled status.
See also
MPU6050_RA_I2C_MST_DELAY_CTRL
See also
MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
- Parameters:
slaveId – Slave ID (0-4)
enabled – New slave delay enabled status.
-
inline void resetGyroscopePath()
Reset gyroscope signal path. The reset will revert the signal path analog to digital converters and filters to their power up configurations.
See also
MPU6050_RA_SIGNAL_PATH_RESET
See also
MPU6050_PATHRESET_GYRO_RESET_BIT
-
inline void resetAccelerometerPath()
Reset accelerometer signal path. The reset will revert the signal path analog to digital converters and filters to their power up configurations.
See also
MPU6050_RA_SIGNAL_PATH_RESET
See also
MPU6050_PATHRESET_ACCEL_RESET_BIT
-
inline void resetTemperaturePath()
Reset temperature sensor signal path. The reset will revert the signal path analog to digital converters and filters to their power up configurations.
See also
MPU6050_RA_SIGNAL_PATH_RESET
See also
MPU6050_PATHRESET_TEMP_RESET_BIT
-
inline uint8_t getAccelerometerPowerOnDelay()
Get accelerometer power-on delay. The accelerometer data path provides samples to the sensor registers, Motion detection, Zero Motion detection, and Free Fall detection modules. The signal path contains filters which must be flushed on wake-up with new samples before the detection modules begin operations. The default wake-up delay, of 4ms can be lengthened by up to 3ms. This additional delay is specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select any value above zero unless instructed otherwise by InvenSense. Please refer to Section 8 of the MPU-6000/MPU-6050 Product Specification document for further information regarding the detection modules.
See also
MPU6050_RA_MOT_DETECT_CTRL
See also
MPU6050_DETECT_ACCEL_ON_DELAY_BIT
- Returns:
Current accelerometer power-on delay
-
inline void setAccelerometerPowerOnDelay(uint8_t delay)
Set accelerometer power-on delay.
See also
See also
MPU6050_RA_MOT_DETECT_CTRL
See also
MPU6050_DETECT_ACCEL_ON_DELAY_BIT
- Parameters:
delay – New accelerometer power-on delay (0-3)
-
inline uint8_t getFreefallDetectionCounterDecrement()
Get Free Fall detection counter decrement configuration. Detection is registered by the Free Fall detection module after accelerometer measurements meet their respective threshold conditions over a specified number of samples. When the threshold conditions are met, the corresponding detection counter increments by 1. The user may control the rate at which the detection counter decrements when the threshold condition is not met by configuring FF_COUNT. The decrement rate can be set according to the following table:
When FF_COUNT is configured to 0 (reset), any non-qualifying sample will reset the counter to 0. For further information on Free Fall detection, please refer to Registers 29 to 32.
See also
MPU6050_RA_MOT_DETECT_CTRL
See also
MPU6050_DETECT_FF_COUNT_BIT
- Returns:
Current decrement configuration
-
inline void setFreefallDetectionCounterDecrement(uint8_t decrement)
Set Free Fall detection counter decrement configuration.
See also
MPU6050_RA_MOT_DETECT_CTRL
See also
MPU6050_DETECT_FF_COUNT_BIT
- Parameters:
decrement – New decrement configuration value
-
inline uint8_t getMotionDetectionCounterDecrement()
Get Motion detection counter decrement configuration. Detection is registered by the Motion detection module after accelerometer measurements meet their respective threshold conditions over a specified number of samples. When the threshold conditions are met, the corresponding detection counter increments by 1. The user may control the rate at which the detection counter decrements when the threshold condition is not met by configuring MOT_COUNT. The decrement rate can be set according to the following table:
When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will reset the counter to 0. For further information on Motion detection, please refer to Registers 29 to 32.
-
inline void setMotionDetectionCounterDecrement(uint8_t decrement)
Set Motion detection counter decrement configuration.
See also
See also
MPU6050_RA_MOT_DETECT_CTRL
See also
MPU6050_DETECT_MOT_COUNT_BIT
- Parameters:
decrement – New decrement configuration value
-
inline bool getFIFOEnabled()
Get FIFO enabled status. When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer cannot be written to or read from while disabled. The FIFO buffer’s state does not change unless the MPU-60X0 is power cycled.
See also
MPU6050_RA_USER_CTRL
See also
MPU6050_USERCTRL_FIFO_EN_BIT
- Returns:
Current FIFO enabled status
-
inline void setFIFOEnabled(bool enabled)
Set FIFO enabled status.
See also
See also
MPU6050_RA_USER_CTRL
See also
MPU6050_USERCTRL_FIFO_EN_BIT
- Parameters:
enabled – New FIFO enabled status
-
inline bool getI2CMasterModeEnabled()
Get I2C Master Mode enabled status. When this mode is enabled, the MPU-60X0 acts as the I2C Master to the external sensor slave devices on the auxiliary I2C bus. When this bit is cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically driven by the primary I2C bus (SDA and SCL). This is a precondition to enabling Bypass Mode. For further information regarding Bypass Mode, please refer to Register 55.
See also
MPU6050_RA_USER_CTRL
See also
MPU6050_USERCTRL_I2C_MST_EN_BIT
- Returns:
Current I2C Master Mode enabled status
-
inline void setI2CMasterModeEnabled(bool enabled)
Set I2C Master Mode enabled status.
See also
See also
MPU6050_RA_USER_CTRL
See also
MPU6050_USERCTRL_I2C_MST_EN_BIT
- Parameters:
enabled – New I2C Master Mode enabled status
-
inline void switchSPIEnabled(bool enabled)
Switch from I2C to SPI mode (MPU-6000 only) If this is set, the primary SPI interface will be enabled in place of the disabled primary I2C interface.
-
inline void resetFIFO()
Reset the FIFO. This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This bit automatically clears to 0 after the reset has been triggered.
See also
MPU6050_RA_USER_CTRL
See also
MPU6050_USERCTRL_FIFO_RESET_BIT
-
inline void resetI2CMaster()
Reset the I2C Master. This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0. This bit automatically clears to 0 after the reset has been triggered.
See also
MPU6050_RA_USER_CTRL
See also
MPU6050_USERCTRL_I2C_MST_RESET_BIT
-
inline void resetSensors()
Reset all sensor registers and signal paths. When set to 1, this bit resets the signal paths for all sensors (gyroscopes, accelerometers, and temperature sensor). This operation will also clear the sensor registers. This bit automatically clears to 0 after the reset has been triggered.
When resetting only the signal path (and not the sensor registers), please use Register 104, SIGNAL_PATH_RESET.
See also
MPU6050_RA_USER_CTRL
See also
MPU6050_USERCTRL_SIG_COND_RESET_BIT
-
inline void reset()
Trigger a full device reset. A small delay of ~50ms may be desirable after triggering a reset.
See also
MPU6050_RA_PWR_MGMT_1
See also
MPU6050_PWR1_DEVICE_RESET_BIT
-
inline bool getSleepEnabled()
Get sleep mode status. Setting the SLEEP bit in the register puts the device into very low power sleep mode. In this mode, only the serial interface and internal registers remain active, allowing for a very low standby current. Clearing this bit puts the device back into normal mode. To save power, the individual standby selections for each of the gyros should be used if any gyro axis is not used by the application.
See also
MPU6050_RA_PWR_MGMT_1
See also
MPU6050_PWR1_SLEEP_BIT
- Returns:
Current sleep mode enabled status
-
inline void setSleepEnabled(bool enabled)
Set sleep mode status.
See also
See also
MPU6050_RA_PWR_MGMT_1
See also
MPU6050_PWR1_SLEEP_BIT
- Parameters:
enabled – New sleep mode enabled status
-
inline bool getWakeCycleEnabled()
Get wake cycle enabled status. When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle between sleep mode and waking up to take a single sample of data from active sensors at a rate determined by LP_WAKE_CTRL (register 108).
See also
MPU6050_RA_PWR_MGMT_1
See also
MPU6050_PWR1_CYCLE_BIT
- Returns:
Current sleep mode enabled status
-
inline void setWakeCycleEnabled(bool enabled)
Set wake cycle enabled status.
See also
See also
MPU6050_RA_PWR_MGMT_1
See also
MPU6050_PWR1_CYCLE_BIT
- Parameters:
enabled – New sleep mode enabled status
-
inline bool getTempSensorEnabled()
Get temperature sensor enabled status. Control the usage of the internal temperature sensor.
Note: this register stores the disabled value, but for consistency with the rest of the code, the function is named and used with standard true/false values to indicate whether the sensor is enabled or disabled, respectively.
See also
MPU6050_RA_PWR_MGMT_1
See also
MPU6050_PWR1_TEMP_DIS_BIT
- Returns:
Current temperature sensor enabled status
-
inline void setTempSensorEnabled(bool enabled)
Set temperature sensor enabled status. Note: this register stores the disabled value, but for consistency with the rest of the code, the function is named and used with standard true/false values to indicate whether the sensor is enabled or disabled, respectively.
See also
See also
MPU6050_RA_PWR_MGMT_1
See also
MPU6050_PWR1_TEMP_DIS_BIT
- Parameters:
enabled – New temperature sensor enabled status
-
inline uint8_t getClockSource()
Get clock source setting.
See also
MPU6050_RA_PWR_MGMT_1
See also
MPU6050_PWR1_CLKSEL_BIT
See also
MPU6050_PWR1_CLKSEL_LENGTH
- Returns:
Current clock source setting
-
inline void setClockSource(uint8_t source)
Set clock source setting. An internal 8MHz oscillator, gyroscope based clock, or external sources can be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator or an external source is chosen as the clock source, the MPU-60X0 can operate in low power modes with the gyroscopes disabled.
Upon power up, the MPU-60X0 clock source defaults to the internal oscillator. However, it is highly recommended that the device be configured to use one of the gyroscopes (or an external clock source) as the clock reference for improved stability. The clock source can be selected according to the following table:
See also
See also
MPU6050_RA_PWR_MGMT_1
See also
MPU6050_PWR1_CLKSEL_BIT
See also
MPU6050_PWR1_CLKSEL_LENGTH
- Parameters:
source – New clock source setting
-
inline uint8_t getWakeFrequency()
Get wake frequency in Accel-Only Low Power Mode. The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode, the device will power off all devices except for the primary I2C interface, waking only the accelerometer at fixed intervals to take a single measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL as shown below:
For further information regarding the MPU-60X0’s power modes, please refer to Register 107.
See also
MPU6050_RA_PWR_MGMT_2
- Returns:
Current wake frequency
-
inline void setWakeFrequency(uint8_t frequency)
Set wake frequency in Accel-Only Low Power Mode.
See also
MPU6050_RA_PWR_MGMT_2
- Parameters:
frequency – New wake frequency
-
inline bool getStandbyXAccelEnabled()
Get X-axis accelerometer standby enabled status. If enabled, the X-axis will not gather or report data (or use power).
See also
MPU6050_RA_PWR_MGMT_2
See also
MPU6050_PWR2_STBY_XA_BIT
- Returns:
Current X-axis standby enabled status
-
inline void setStandbyXAccelEnabled(bool enabled)
Set X-axis accelerometer standby enabled status.
See also
See also
MPU6050_RA_PWR_MGMT_2
See also
MPU6050_PWR2_STBY_XA_BIT
- Parameters:
New – X-axis standby enabled status
-
inline bool getStandbyYAccelEnabled()
Get Y-axis accelerometer standby enabled status. If enabled, the Y-axis will not gather or report data (or use power).
See also
MPU6050_RA_PWR_MGMT_2
See also
MPU6050_PWR2_STBY_YA_BIT
- Returns:
Current Y-axis standby enabled status
-
inline void setStandbyYAccelEnabled(bool enabled)
Set Y-axis accelerometer standby enabled status.
See also
See also
MPU6050_RA_PWR_MGMT_2
See also
MPU6050_PWR2_STBY_YA_BIT
- Parameters:
New – Y-axis standby enabled status
-
inline bool getStandbyZAccelEnabled()
Get Z-axis accelerometer standby enabled status. If enabled, the Z-axis will not gather or report data (or use power).
See also
MPU6050_RA_PWR_MGMT_2
See also
MPU6050_PWR2_STBY_ZA_BIT
- Returns:
Current Z-axis standby enabled status
-
inline void setStandbyZAccelEnabled(bool enabled)
Set Z-axis accelerometer standby enabled status.
See also
See also
MPU6050_RA_PWR_MGMT_2
See also
MPU6050_PWR2_STBY_ZA_BIT
- Parameters:
New – Z-axis standby enabled status
-
inline bool getStandbyXGyroEnabled()
Get X-axis gyroscope standby enabled status. If enabled, the X-axis will not gather or report data (or use power).
See also
MPU6050_RA_PWR_MGMT_2
See also
MPU6050_PWR2_STBY_XG_BIT
- Returns:
Current X-axis standby enabled status
-
inline void setStandbyXGyroEnabled(bool enabled)
Set X-axis gyroscope standby enabled status.
See also
See also
MPU6050_RA_PWR_MGMT_2
See also
MPU6050_PWR2_STBY_XG_BIT
- Parameters:
New – X-axis standby enabled status
-
inline bool getStandbyYGyroEnabled()
Get Y-axis gyroscope standby enabled status. If enabled, the Y-axis will not gather or report data (or use power).
See also
MPU6050_RA_PWR_MGMT_2
See also
MPU6050_PWR2_STBY_YG_BIT
- Returns:
Current Y-axis standby enabled status
-
inline void setStandbyYGyroEnabled(bool enabled)
Set Y-axis gyroscope standby enabled status.
See also
See also
MPU6050_RA_PWR_MGMT_2
See also
MPU6050_PWR2_STBY_YG_BIT
- Parameters:
New – Y-axis standby enabled status
-
inline bool getStandbyZGyroEnabled()
Get Z-axis gyroscope standby enabled status. If enabled, the Z-axis will not gather or report data (or use power).
See also
MPU6050_RA_PWR_MGMT_2
See also
MPU6050_PWR2_STBY_ZG_BIT
- Returns:
Current Z-axis standby enabled status
-
inline void setStandbyZGyroEnabled(bool enabled)
Set Z-axis gyroscope standby enabled status.
See also
See also
MPU6050_RA_PWR_MGMT_2
See also
MPU6050_PWR2_STBY_ZG_BIT
- Parameters:
New – Z-axis standby enabled status
-
inline uint16_t getFIFOCount()
Get current FIFO buffer size. This value indicates the number of bytes stored in the FIFO buffer. This number is in turn the number of bytes that can be read from the FIFO buffer and it is directly proportional to the number of samples available given the set of sensor data bound to be stored in the FIFO (register 35 and 36).
- Returns:
Current FIFO buffer size
-
inline uint8_t getFIFOByte()
Get byte from FIFO buffer. This register is used to read and write data from the FIFO buffer. Data is written to the FIFO in order of register number (from lowest to highest). If all the FIFO enable flags (see below) are enabled and all External Sensor Data registers (Registers 73 to 96) are associated with a Slave device, the contents of registers 59 through 96 will be written in order at the Sample Rate.
The contents of the sensor data registers (Registers 59 to 96) are written into the FIFO buffer when their corresponding FIFO enable flags are set to 1 in FIFO_EN (Register 35). An additional flag for the sensor data registers associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is automatically set to 1. This bit is located in INT_STATUS (Register 58). When the FIFO buffer has overflowed, the oldest data will be lost and new data will be written to the FIFO.
If the FIFO buffer is empty, reading this register will return the last byte that was previously read from the FIFO until new data is available. The user should check FIFO_COUNT to ensure that the FIFO buffer is not read when empty.
- Returns:
Byte from FIFO buffer
-
inline void setFIFOByte(uint8_t data)
Write byte to FIFO buffer.
See also
See also
MPU6050_RA_FIFO_R_W
-
inline uint8_t getDeviceID()
Get Device ID. This register is used to verify the identity of the device (0b110100, 0x34).
See also
MPU6050_RA_WHO_AM_I
See also
MPU6050_WHO_AM_I_BIT
See also
MPU6050_WHO_AM_I_LENGTH
- Returns:
Device ID (6 bits only! should be 0x34)
-
inline void setDeviceID(uint8_t id)
Set Device ID. Write a new ID into the WHO_AM_I register (no idea why this should ever be necessary though).
See also
See also
MPU6050_RA_WHO_AM_I
See also
MPU6050_WHO_AM_I_BIT
See also
MPU6050_WHO_AM_I_LENGTH
- Parameters:
id – New device ID to set.
-
struct Motion3
-
struct Motion6
-
inline MPU6050()
References
Used by
SoC support
esp32
esp32c2
esp32c3
esp32s2
esp32s3
esp8266
host
rp2040