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

#include <Adafruit_MPU6050.h>

Public Member Functions
	Adafruit_MPU6050 ()
	Instantiates a new MPU6050 class.

	~Adafruit_MPU6050 ()
	Cleans up the MPU6050 class.

bool	begin (uint8_t i2c_addr=MPU6050_I2CADDR_DEFAULT, TwoWire *wire=&Wire, int32_t sensorID=0)
	Sets up the hardware and initializes I2C. More...

bool	getEvent (sensors_event_t accel, sensors_event_t gyro, sensors_event_t *temp)
	Gets the most recent sensor event, Adafruit Unified Sensor format. More...

mpu6050_accel_range_t	getAccelerometerRange (void)
	Gets the acceleration measurement range. More...

void	setAccelerometerRange (mpu6050_accel_range_t)
	Sets the accelerometer measurement range. More...

mpu6050_gyro_range_t	getGyroRange (void)
	Gets the gyroscope measurement range. More...

void	setGyroRange (mpu6050_gyro_range_t)
	Sets the gyroscope measurement range. More...

void	setInterruptPinPolarity (bool active_low)
	Sets the polarity of the INT pin when active. More...

void	setInterruptPinLatch (bool held)
	Sets the latch behavior of the INT pin when active. More...

void	setFsyncSampleOutput (mpu6050_fsync_out_t fsync_output)
	Sets the location that the FSYNC pin sample is stored. More...

mpu6050_highpass_t	getHighPassFilter (void)
	Gets bandwidth of the Digital High Pass Filter. More...

void	setHighPassFilter (mpu6050_highpass_t bandwidth)
	Sets the bandwidth of the Digital High-Pass Filter. More...

void	setMotionInterrupt (bool active)
	Sets the motion interrupt. More...

void	setMotionDetectionThreshold (uint8_t thr)
	Sets the motion detection threshold. More...

void	setMotionDetectionDuration (uint8_t dur)
	Sets the motion detection duration. More...

bool	getMotionInterruptStatus (void)
	Gets motion interrupt status. More...

mpu6050_fsync_out_t	getFsyncSampleOutput (void)
	Sets the location that the FSYNC pin sample is stored. More...

void	setI2CBypass (bool bypass)
	Connects or disconects the I2C master pins to the main I2C pins. More...

void	setClock (mpu6050_clock_select_t)
	Sets clock source. More...

mpu6050_clock_select_t	getClock (void)
	Gets clock source. More...

void	setFilterBandwidth (mpu6050_bandwidth_t bandwidth)
	Sets the bandwidth of the Digital Low-Pass Filter. More...

mpu6050_bandwidth_t	getFilterBandwidth (void)
	Gets bandwidth of the Digital Low Pass Filter. More...

void	setSampleRateDivisor (uint8_t)
	Sets the divisor used to divide the base clock rate into a measurement rate. More...

uint8_t	getSampleRateDivisor (void)
	Gets the sample rate divisor. More...

bool	enableSleep (bool enable)
	Controls the sleep state of the sensor. More...

bool	enableCycle (bool enable)
	Controls sensor's 'Cycle' measurement mode. More...

void	setCycleRate (mpu6050_cycle_rate_t rate)
	Sets the frequency of measurement in 'Cycle' mode. More...

mpu6050_cycle_rate_t	getCycleRate (void)
	Gets the frequencey of measurements in 'Cycle' mode. More...

bool	setGyroStandby (bool xAxisStandby, bool yAxisStandby, bool zAxisStandby)
	Sets standbye mode for each of the gyroscope axes. More...

bool	setAccelerometerStandby (bool xAxisStandby, bool yAxisStandby, bool zAxisStandby)
	Sets standbye mode for each of the accelerometer axes. More...

bool	setTemperatureStandby (bool enable)
	Sets disable mode for thermometer sensor. More...

void	reset (void)
	Resets registers to their initial value and resets the sensors' analog and digital signal paths.

Adafruit_Sensor *	getTemperatureSensor (void)
	Gets an Adafruit Unified Sensor object for the temp sensor component. More...

Adafruit_Sensor *	getAccelerometerSensor (void)
	Gets an Adafruit Unified Sensor object for the accelerometer sensor component. More...

Adafruit_Sensor *	getGyroSensor (void)
	Gets an Adafruit Unified Sensor object for the gyro sensor component. More...

Protected Member Functions
void	_read (void)
	Updates the measurement data for all sensors simultaneously.

virtual bool	_init (int32_t sensor_id)
	Initilizes the sensor. More...

Protected Attributes
float	temperature
	Last reading's temperature (C)

float	accX
	Last reading's accelerometer X axis m/s^2.

float	accY
	Last reading's accelerometer Y axis m/s^2.

float	accZ
	Last reading's accelerometer Z axis m/s^2.

float	gyroX
	Last reading's gyro X axis in rad/s.

float	gyroY
	Last reading's gyro Y axis in rad/s.

float	gyroZ
	Last reading's gyro Z axis in rad/s.

Adafruit_I2CDevice *	i2c_dev = NULL
	Pointer to I2C bus interface.

Adafruit_MPU6050_Temp *	temp_sensor = NULL
	Temp sensor data object.

Adafruit_MPU6050_Accelerometer *	accel_sensor
	Accelerometer data object. More...

Adafruit_MPU6050_Gyro *	gyro_sensor = NULL
	Gyro data object.

uint16_t	_sensorid_accel
	ID number for accelerometer.

uint16_t	_sensorid_gyro
	ID number for gyro.

uint16_t	_sensorid_temp
	ID number for temperature.

Friends
class	Adafruit_MPU6050_Temp

class	Adafruit_MPU6050_Accelerometer

class	Adafruit_MPU6050_Gyro

Detailed Description

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

Member Function Documentation

◆ begin()

bool Adafruit_MPU6050::begin	(	uint8_t	i2c_address = `MPU6050_I2CADDR_DEFAULT`,
		TwoWire *	wire = `&Wire`,
		int32_t	sensor_id = `0`
	)

Sets up the hardware and initializes I2C.

Parameters

i2c_address	The I2C address to be used.
wire	The Wire object to be used for I2C connections.
sensor_id	The user-defined ID to differentiate different sensors

Returns: True if initialization was successful, otherwise false.

◆ getEvent()

bool Adafruit_MPU6050::getEvent	(	sensors_event_t *	accel,
		sensors_event_t *	gyro,
		sensors_event_t *	temp
	)

Gets the most recent sensor event, Adafruit Unified Sensor format.

Parameters

accel	Pointer to an Adafruit Unified sensor_event_t object to be filled with acceleration event data.
gyro	Pointer to an Adafruit Unified sensor_event_t object to be filled with gyroscope event data.
temp	Pointer to an Adafruit Unified sensor_event_t object to be filled with temperature event data.

Returns: True on successful read

◆ getAccelerometerRange()

mpu6050_accel_range_t Adafruit_MPU6050::getAccelerometerRange ( void )

Gets the acceleration measurement range.

Returns: The acceleration measurement range

◆ setAccelerometerRange()

void Adafruit_MPU6050::setAccelerometerRange ( mpu6050_accel_range_t new_range )

Sets the accelerometer measurement range.

Parameters

new_range The new range to set. Must be a mpu6050_accel_range_t

◆ getGyroRange()

mpu6050_gyro_range_t Adafruit_MPU6050::getGyroRange ( void )

Gets the gyroscope measurement range.

Returns: The mpu6050_gyro_range_t gyroscope measurement range

◆ setGyroRange()

void Adafruit_MPU6050::setGyroRange ( mpu6050_gyro_range_t new_range )

Sets the gyroscope measurement range.

Parameters

new_range The new range to set. Must be a mpu6050_gyro_range_t

◆ setInterruptPinPolarity()

void Adafruit_MPU6050::setInterruptPinPolarity ( bool active_low )

Sets the polarity of the INT pin when active.

Parameters

active_low If true the pin will be low when an interrupt is active If false the pin will be high when an interrupt is active

◆ setInterruptPinLatch()

void Adafruit_MPU6050::setInterruptPinLatch ( bool held )

Sets the latch behavior of the INT pin when active.

Parameters

held	If `true` the pin will remain held until cleared If `false` the pin will reset after a 50us pulse

◆ setFsyncSampleOutput()

void Adafruit_MPU6050::setFsyncSampleOutput ( mpu6050_fsync_out_t fsync_output )

Sets the location that the FSYNC pin sample is stored.

Parameters

fsync_output a mpu6050_fsync_out_t to specify the LSB of which data register should be used to store the state of the FSYNC pin

◆ getHighPassFilter()

mpu6050_highpass_t Adafruit_MPU6050::getHighPassFilter ( void )

Gets bandwidth of the Digital High Pass Filter.

Returns: The current mpu6050_highpass_t filter bandwidth

◆ setHighPassFilter()

void Adafruit_MPU6050::setHighPassFilter ( mpu6050_highpass_t bandwidth )

Sets the bandwidth of the Digital High-Pass Filter.

Parameters

bandwidth the new mpu6050_highpass_t bandwidth

◆ setMotionInterrupt()

void Adafruit_MPU6050::setMotionInterrupt ( bool active )

Sets the motion interrupt.

Parameters

active If true motion interrupt will activate based on thr and dur If false motion interrupt will be disabled

◆ setMotionDetectionThreshold()

void Adafruit_MPU6050::setMotionDetectionThreshold ( uint8_t thr )

Sets the motion detection threshold.

Parameters

thr

◆ setMotionDetectionDuration()

void Adafruit_MPU6050::setMotionDetectionDuration ( uint8_t dur )

Sets the motion detection duration.

Parameters

dur

◆ getMotionInterruptStatus()

bool Adafruit_MPU6050::getMotionInterruptStatus ( void )

Gets motion interrupt status.

Returns: motion_interrupt

◆ getFsyncSampleOutput()

mpu6050_fsync_out_t Adafruit_MPU6050::getFsyncSampleOutput ( void )

Sets the location that the FSYNC pin sample is stored.

Returns: fsync_output

◆ setI2CBypass()

void Adafruit_MPU6050::setI2CBypass ( bool bypass )

Connects or disconects the I2C master pins to the main I2C pins.

Parameters

bypass If true the I2C Master pins are connected to the main I2C pins, bypassing the I2C Master functions of the sensor If false the I2C Master pins are controlled by the I2C master functions of the sensor

◆ setClock()

void Adafruit_MPU6050::setClock ( mpu6050_clock_select_t new_clock )

Sets clock source.

Parameters

new_clock The clock source to set. Must be a mpu6050_clock_select_t

◆ getClock()

mpu6050_clock_select_t Adafruit_MPU6050::getClock ( void )

Gets clock source.

Returns: The current mpu6050_clock_select_t clock source

◆ setFilterBandwidth()

void Adafruit_MPU6050::setFilterBandwidth ( mpu6050_bandwidth_t bandwidth )

Sets the bandwidth of the Digital Low-Pass Filter.

Parameters

bandwidth the new mpu6050_bandwidth_t bandwidth

◆ getFilterBandwidth()

mpu6050_bandwidth_t Adafruit_MPU6050::getFilterBandwidth ( void )

Gets bandwidth of the Digital Low Pass Filter.

Returns: The current mpu6050_bandwidth_t filter bandwidth

◆ setSampleRateDivisor()

void Adafruit_MPU6050::setSampleRateDivisor ( uint8_t divisor )

Sets the divisor used to divide the base clock rate into a measurement rate.

Parameters

divisor The new clock divisor

◆ getSampleRateDivisor()

uint8_t Adafruit_MPU6050::getSampleRateDivisor ( void )

Gets the sample rate divisor.

Returns: The sample rate divisor

◆ enableSleep()

bool Adafruit_MPU6050::enableSleep ( bool enable )

Controls the sleep state of the sensor.

Parameters

enable If true the sensor is put into a low power state and measurements are halted until sleep mode is deactivated Setting false wakes up the sensor from sleep mode, resuming measurements.

Returns: True or false on successful write

◆ enableCycle()

bool Adafruit_MPU6050::enableCycle ( bool enable )

Controls sensor's 'Cycle' measurement mode.

Parameters

enable If true the sensor will take measurements at the rate set by calling setCycleRate, sleeping between measurements. Setting the sensor into 'Cycle' mode will have no effect if the sensor has been put into a sleep state with enableSleep Setting false returns the sensor to the normal measurement mode.

Returns: True or false on successful write

◆ setCycleRate()

void Adafruit_MPU6050::setCycleRate ( mpu6050_cycle_rate_t rate )

Sets the frequency of measurement in 'Cycle' mode.

Parameters

rate	The `mpu6050_cycle_rate_t` specifying the desired measurement rate

◆ getCycleRate()

mpu6050_cycle_rate_t Adafruit_MPU6050::getCycleRate ( void )

Gets the frequencey of measurements in 'Cycle' mode.

Returns: The current 'Cycle' measurement frequency

◆ setGyroStandby()

bool Adafruit_MPU6050::setGyroStandby	(	bool	xAxisStandby,
		bool	yAxisStandby,
		bool	zAxisStandby
	)

Sets standbye mode for each of the gyroscope axes.

Parameters

xAxisStandby	If `true` the gyroscope stops sensing in the X-axis. Setting `false` resumes X-axis sensing.
yAxisStandby	If `true` the gyroscope stops sensing in the Y-axis. Setting `false` resumes Y-axis sensing.
zAxisStandby	If `true` the gyroscope stops sensing in the Z-axis. Setting `false` resumes Z-axis sensing.

Returns: True if setting was successful, otherwise false.

◆ setAccelerometerStandby()

bool Adafruit_MPU6050::setAccelerometerStandby	(	bool	xAxisStandby,
		bool	yAxisStandby,
		bool	zAxisStandby
	)

Sets standbye mode for each of the accelerometer axes.

Parameters

xAxisStandby	If `true` the accelerometer stops sensing in the X-axis. Setting `false` resumes X-axis sensing.
yAxisStandby	If `true` the accelerometer stops sensing in the Y-axis. Setting `false` resumes Y-axis sensing.
zAxisStandby	If `true` the accelerometer stops sensing in the Z-axis. Setting `false` resumes Z-axis sensing.

Returns: True if setting was successful, otherwise false.

◆ setTemperatureStandby()

bool Adafruit_MPU6050::setTemperatureStandby ( bool enable )

Sets disable mode for thermometer sensor.

Parameters

enable If true the temperature sensor will stop taking measurements. Setting false returns the temperature sensor to the normal measurement mode.

Returns: True if setting was successful, otherwise false.

◆ getTemperatureSensor()

Adafruit_Sensor * Adafruit_MPU6050::getTemperatureSensor ( void )

Gets an Adafruit Unified Sensor object for the temp sensor component.

Returns: Adafruit_Sensor pointer to temperature sensor

◆ getAccelerometerSensor()

Adafruit_Sensor * Adafruit_MPU6050::getAccelerometerSensor ( void )

Gets an Adafruit Unified Sensor object for the accelerometer sensor component.

Returns: Adafruit_Sensor pointer to accelerometer sensor

◆ getGyroSensor()

Adafruit_Sensor * Adafruit_MPU6050::getGyroSensor ( void )

Gets an Adafruit Unified Sensor object for the gyro sensor component.

Returns: Adafruit_Sensor pointer to gyro sensor

◆ _init()

bool Adafruit_MPU6050::_init ( int32_t sensor_id )

protectedvirtual

Initilizes the sensor.

Parameters

sensor_id Optional unique ID for the sensor set

Returns: True if chip identified and initialized

Friends And Related Function Documentation

◆ Adafruit_MPU6050_Temp

friend class Adafruit_MPU6050_Temp

friend

Gives access to private members to Temp data object

◆ Adafruit_MPU6050_Accelerometer

friend class Adafruit_MPU6050_Accelerometer

friend

Gives access to private members to Accelerometer data object

◆ Adafruit_MPU6050_Gyro

friend class Adafruit_MPU6050_Gyro

friend

Gives access to private members to Gyro data object

Member Data Documentation

◆ accel_sensor

Adafruit_MPU6050_Accelerometer* Adafruit_MPU6050::accel_sensor

protected

Initial value:

=

NULL

Accelerometer data object.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Function Documentation

◆ begin()

◆ getEvent()

◆ getAccelerometerRange()

◆ setAccelerometerRange()

◆ getGyroRange()

◆ setGyroRange()

◆ setInterruptPinPolarity()

◆ setInterruptPinLatch()

◆ setFsyncSampleOutput()

◆ getHighPassFilter()

◆ setHighPassFilter()

◆ setMotionInterrupt()

◆ setMotionDetectionThreshold()

◆ setMotionDetectionDuration()

◆ getMotionInterruptStatus()

◆ getFsyncSampleOutput()

◆ setI2CBypass()

◆ setClock()

◆ getClock()

◆ setFilterBandwidth()

◆ getFilterBandwidth()

◆ setSampleRateDivisor()

◆ getSampleRateDivisor()

◆ enableSleep()

◆ enableCycle()

◆ setCycleRate()

◆ getCycleRate()

◆ setGyroStandby()

◆ setAccelerometerStandby()

◆ setTemperatureStandby()

◆ getTemperatureSensor()

◆ getAccelerometerSensor()

◆ getGyroSensor()

◆ _init()

Friends And Related Function Documentation

◆ Adafruit_MPU6050_Temp

◆ Adafruit_MPU6050_Accelerometer

◆ Adafruit_MPU6050_Gyro

Member Data Documentation

◆ accel_sensor