#include "Arduino.h"
#include <Adafruit_BusIO_Register.h>
#include <Adafruit_I2CDevice.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>

Classes
class	Adafruit_MPU6050_Temp

class	Adafruit_MPU6050_Accelerometer

class	Adafruit_MPU6050_Gyro

class	Adafruit_MPU6050
	Class that stores state and functions for interacting with the MPU6050 I2C Digital Potentiometer. More...

Macros
#define	MPU6050_I2CADDR_DEFAULT 0x68
	MPU6050 default i2c address w/ AD0 high.

#define	MPU6050_DEVICE_ID 0x68
	The correct MPU6050_WHO_AM_I value.

#define	MPU6050_SELF_TEST_X 0x0D
	Self test factory calibrated values register.

#define	MPU6050_SELF_TEST_Y 0x0E
	Self test factory calibrated values register.

#define	MPU6050_SELF_TEST_Z 0x0F
	Self test factory calibrated values register.

#define	MPU6050_SELF_TEST_A 0x10
	Self test factory calibrated values register.

#define	MPU6050_SMPLRT_DIV 0x19
	sample rate divisor register

#define	MPU6050_CONFIG 0x1A
	General configuration register.

#define	MPU6050_GYRO_CONFIG 0x1B
	Gyro specfic configuration register.

#define	MPU6050_ACCEL_CONFIG 0x1C
	Accelerometer specific configration register.

#define	MPU6050_INT_PIN_CONFIG 0x37
	Interrupt pin configuration register.

#define	MPU6050_INT_ENABLE 0x38
	Interrupt enable configuration register.

#define	MPU6050_INT_STATUS 0x3A
	Interrupt status register.

#define	MPU6050_WHO_AM_I 0x75
	Divice ID register.

#define	MPU6050_SIGNAL_PATH_RESET 0x68
	Signal path reset register.

#define	MPU6050_USER_CTRL 0x6A
	FIFO and I2C Master control register.

#define	MPU6050_PWR_MGMT_1 0x6B
	Primary power/sleep control register.

#define	MPU6050_PWR_MGMT_2 0x6C
	Secondary power/sleep control register.

#define	MPU6050_TEMP_H 0x41
	Temperature data high byte register.

#define	MPU6050_TEMP_L 0x42
	Temperature data low byte register.

#define	MPU6050_ACCEL_OUT 0x3B
	base address for sensor data reads

#define	MPU6050_MOT_THR 0x1F
	Motion detection threshold bits [7:0].

#define	MPU6050_MOT_DUR 0x20
	Duration counter threshold for motion int. 1 kHz rate, LSB = 1 ms.

Typedefs
typedef enum fsync_out	mpu6050_fsync_out_t
	FSYNC output values. More...

typedef enum clock_select	mpu6050_clock_select_t
	Clock source options. More...

Enumerations
enum	fsync_out { MPU6050_FSYNC_OUT_DISABLED, MPU6050_FSYNC_OUT_TEMP, MPU6050_FSYNC_OUT_GYROX, MPU6050_FSYNC_OUT_GYROY, MPU6050_FSYNC_OUT_GYROZ, MPU6050_FSYNC_OUT_ACCELX, MPU6050_FSYNC_OUT_ACCELY, MPU6050_FSYNC_OUT_ACCEL_Z }
	FSYNC output values. More...

enum	clock_select { MPU6050_INTR_8MHz, MPU6050_PLL_GYROX, MPU6050_PLL_GYROY, MPU6050_PLL_GYROZ, MPU6050_PLL_EXT_32K, MPU6050_PLL_EXT_19MHz, MPU6050_STOP = 7 }
	Clock source options. More...

enum	mpu6050_accel_range_t { MPU6050_RANGE_2_G = 0b00, MPU6050_RANGE_4_G = 0b01, MPU6050_RANGE_8_G = 0b10, MPU6050_RANGE_16_G = 0b11 }
	Accelerometer range options. More...

enum	mpu6050_gyro_range_t { MPU6050_RANGE_250_DEG, MPU6050_RANGE_500_DEG, MPU6050_RANGE_1000_DEG, MPU6050_RANGE_2000_DEG }
	Gyroscope range options. More...

enum	mpu6050_bandwidth_t { MPU6050_BAND_260_HZ, MPU6050_BAND_184_HZ, MPU6050_BAND_94_HZ, MPU6050_BAND_44_HZ, MPU6050_BAND_21_HZ, MPU6050_BAND_10_HZ, MPU6050_BAND_5_HZ }
	Digital low pass filter bandthwidth options. More...

enum	mpu6050_highpass_t { MPU6050_HIGHPASS_DISABLE, MPU6050_HIGHPASS_5_HZ, MPU6050_HIGHPASS_2_5_HZ, MPU6050_HIGHPASS_1_25_HZ, MPU6050_HIGHPASS_0_63_HZ, MPU6050_HIGHPASS_UNUSED, MPU6050_HIGHPASS_HOLD }
	Accelerometer high pass filter options. More...

enum	mpu6050_cycle_rate_t { MPU6050_CYCLE_1_25_HZ, MPU6050_CYCLE_5_HZ, MPU6050_CYCLE_20_HZ, MPU6050_CYCLE_40_HZ }
	Periodic measurement options. More...

Detailed Description

I2C Driver for MPU6050 6-DoF Accelerometer and Gyro

This is a library for the Adafruit MPU6050 breakout: https://www.adafruit.com/products/3886

Adafruit invests time and resources providing this open source code, please support Adafruit and open-source hardware by purchasing products from Adafruit!

BSD license (see license.txt)

Typedef Documentation

◆ mpu6050_fsync_out_t

typedef enum fsync_out mpu6050_fsync_out_t

FSYNC output values.

Allowed values for setFsyncSampleOutput.

◆ mpu6050_clock_select_t

typedef enum clock_select mpu6050_clock_select_t

Clock source options.

Allowed values for setClock.

Enumeration Type Documentation

◆ fsync_out

enum fsync_out

FSYNC output values.

Allowed values for setFsyncSampleOutput.

◆ clock_select

enum clock_select

Clock source options.

Allowed values for setClock.

◆ mpu6050_accel_range_t

enum mpu6050_accel_range_t

Accelerometer range options.

Allowed values for setAccelerometerRange.

Enumerator
MPU6050_RANGE_2_G	+/- 2g (default value)
MPU6050_RANGE_4_G	+/- 4g
MPU6050_RANGE_8_G	+/- 8g
MPU6050_RANGE_16_G	+/- 16g

◆ mpu6050_gyro_range_t

enum mpu6050_gyro_range_t

Gyroscope range options.

Allowed values for setGyroRange.

Enumerator
MPU6050_RANGE_250_DEG	+/- 250 deg/s (default value)
MPU6050_RANGE_500_DEG	+/- 500 deg/s
MPU6050_RANGE_1000_DEG	+/- 1000 deg/s
MPU6050_RANGE_2000_DEG	+/- 2000 deg/s

◆ mpu6050_bandwidth_t

enum mpu6050_bandwidth_t

Digital low pass filter bandthwidth options.

Allowed values for setFilterBandwidth.

Enumerator
MPU6050_BAND_260_HZ	Docs imply this disables the filter.
MPU6050_BAND_184_HZ	184 Hz
MPU6050_BAND_94_HZ	94 Hz
MPU6050_BAND_44_HZ	44 Hz
MPU6050_BAND_21_HZ	21 Hz
MPU6050_BAND_10_HZ	10 Hz
MPU6050_BAND_5_HZ	5 Hz

◆ mpu6050_highpass_t

enum mpu6050_highpass_t

Accelerometer high pass filter options.

Allowed values for setHighPassFilter.

◆ mpu6050_cycle_rate_t

enum mpu6050_cycle_rate_t

Periodic measurement options.

Allowed values for setCycleRate.

Enumerator
MPU6050_CYCLE_1_25_HZ	1.25 Hz
MPU6050_CYCLE_5_HZ	5 Hz
MPU6050_CYCLE_20_HZ	20 Hz
MPU6050_CYCLE_40_HZ	40 Hz

Classes

Macros

Typedefs

Enumerations