MPU6000 Class Reference

#include <mpu6000.h>

Public Member Functions
void	data_transfer_callback ()
void	exti_cb ()
void	init (SPI *spi_drv)
bool	is_initialized ()
bool	new_data ()
void	read (float *accel_data, float *gyro_data, float *temp_data, uint64_t *time_us)

Private Member Functions
void	write (uint8_t reg, uint8_t data)

Private Attributes
float	acc_ [3]
float	accel_scale_
GPIO	cs_
GPIO	exti_
float	gyro_ [3]
float	gyro_scale_
uint64_t	imu_timestamp_ = 0
bool	new_data_ = false
SPI *	spi {nullptr}
float	temp_

Detailed Description

Definition at line 160 of file mpu6000.h.

Member Function Documentation

data_transfer_callback()

void MPU6000::data_transfer_callback

(

)

Definition at line 104 of file mpu6000.cpp.

exti_cb()

void MPU6000::exti_cb

(

)

Definition at line 130 of file mpu6000.cpp.

init()

void MPU6000::init

(

SPI *

spi_drv

)

Definition at line 52 of file mpu6000.cpp.

is_initialized()

bool MPU6000::is_initialized ( )

inline

Definition at line 169 of file mpu6000.h.

new_data()

bool MPU6000::new_data

(

)

Definition at line 137 of file mpu6000.cpp.

read()

void MPU6000::read	(	float *	accel_data,
		float *	gyro_data,
		float *	temp_data,
		uint64_t *	time_us
	)

Definition at line 118 of file mpu6000.cpp.

write()

void MPU6000::write ( uint8_t  reg, uint8_t  data  )

private

Definition at line 43 of file mpu6000.cpp.

Member Data Documentation

acc_

float MPU6000::acc_[3]

private

Definition at line 180 of file mpu6000.h.

accel_scale_

float MPU6000::accel_scale_

private

Definition at line 178 of file mpu6000.h.

cs_

GPIO MPU6000::cs_

private

Definition at line 177 of file mpu6000.h.

exti_

GPIO MPU6000::exti_

private

Definition at line 176 of file mpu6000.h.

gyro_

float MPU6000::gyro_[3]

private

Definition at line 181 of file mpu6000.h.

gyro_scale_

float MPU6000::gyro_scale_

private

Definition at line 179 of file mpu6000.h.

imu_timestamp_

uint64_t MPU6000::imu_timestamp_ = 0

private

Definition at line 174 of file mpu6000.h.

new_data_

bool MPU6000::new_data_ = false

private

Definition at line 173 of file mpu6000.h.

spi

SPI* MPU6000::spi {nullptr}

private

Definition at line 175 of file mpu6000.h.

temp_

float MPU6000::temp_

private

Definition at line 182 of file mpu6000.h.

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

• mpu6000.h
• mpu6000.cpp