#include <breezystm32.h>
#include <math.h>

Include dependency graph for drv_mpu6050.c:

Macros
#define	GYRO_INT_PIN (Pin_13)

#define	M_PI 3.14159

#define	MPU6050_BIT_DMP_RST 0x08

#define	MPU6050_BIT_FIFO_EN 0x40

#define	MPU6050_BIT_FIFO_RST 0x04

#define	MPU6050_INV_CLK_GYROZ 0x03

#define	MPU_ADDRESS (0x68)

#define	MPU_RA_ACCEL_CONFIG 0x1C

#define	MPU_RA_ACCEL_XOUT_H (0x3B)

#define	MPU_RA_CONFIG 0x1A

#define	MPU_RA_FIFO_COUNT_H 0x72

#define	MPU_RA_FIFO_EN 0x23

#define	MPU_RA_FIFO_R_W 0x74

#define	MPU_RA_GYRO_CONFIG 0x1B

#define	MPU_RA_GYRO_XOUT_H (0x43)

#define	MPU_RA_I2C_MST_CTRL 0x24

#define	MPU_RA_INT_ENABLE 0x38

#define	MPU_RA_INT_PIN_CFG 0x37

#define	MPU_RA_PRODUCT_ID (0x0C)

#define	MPU_RA_PWR_MGMT_1 0x6B

#define	MPU_RA_PWR_MGMT_2 0x6C

#define	MPU_RA_SIGNAL_PATH_RST 0x68

#define	MPU_RA_SMPLRT_DIV 0x19

#define	MPU_RA_TEMP_OUT_A (0x41)

#define	MPU_RA_USER_CTRL 0x6A

#define	MPU_RA_WHO_AM_I (0x75)

#define	MPU_RA_XA_OFFS_H (0x06)

#define	MPUx0x0_WHO_AM_I_CONST (0x68)

Enumerations
enum	accel_fsr_e { INV_FSR_2G = 0, INV_FSR_4G, INV_FSR_8G, INV_FSR_16G, NUM_ACCEL_FSR }

enum	clock_sel_e { INV_CLK_INTERNAL = 0, INV_CLK_PLL, NUM_CLK }

enum	gyro_fsr_e { INV_FSR_250DPS = 0, INV_FSR_500DPS, INV_FSR_1000DPS, INV_FSR_2000DPS, NUM_GYRO_FSR }

enum	lpf_e { INV_FILTER_256HZ_NOLPF2 = 0, INV_FILTER_188HZ, INV_FILTER_98HZ, INV_FILTER_42HZ, INV_FILTER_20HZ, INV_FILTER_10HZ, INV_FILTER_5HZ, INV_FILTER_2100HZ_NOLPF, NUM_FILTER }

Functions
void	EXTI15_10_IRQHandler (void)

void	mpu6050_async_read_all (volatile int16_t accData, volatile int16_t tempData, volatile int16_t gyroData, volatile uint64_t timeData)

void	mpu6050_exti_init (int boardVersion)

void	mpu6050_init (bool enableInterrupt, uint16_t acc1G, float gyroScale, int boardVersion)

bool	mpu6050_new_data ()

void	mpu6050_read_accel (int16_t *accData)

void	mpu6050_read_all (int16_t accData, int16_t gyroData, int16_t tempData, uint64_t time_us)

void	mpu6050_read_gyro (int16_t *gyroData)

void	mpu6050_read_temperature (int16_t *tempData)

void	mpu6050_request_async_update_all ()

static bool	mpuReadRegisterI2C (uint8_t reg, uint8_t *data, int length)

static bool	mpuWriteRegisterI2C (uint8_t reg, uint8_t data)

void	read_all_CB (uint8_t result)

Variables
static volatile int16_t	accel [3]

uint8_t	all_buffer [14]

static volatile int16_t	gyro [3]

static uint64_t	imu_time_us = 0

uint64_t	measurement_time = 0

static uint8_t	mpuLowPassFilter = INV_FILTER_20HZ

static volatile bool	need_to_queue_new_i2c_job = false

static bool	new_imu_data = false

static volatile int16_t	temp

Macro Definition Documentation

◆ GYRO_INT_PIN

#define GYRO_INT_PIN (Pin_13)

Definition at line 42 of file drv_mpu6050.c.

◆ M_PI

#define M_PI 3.14159

Definition at line 28 of file drv_mpu6050.c.

◆ MPU6050_BIT_DMP_RST

#define MPU6050_BIT_DMP_RST 0x08

Definition at line 116 of file drv_mpu6050.c.

◆ MPU6050_BIT_FIFO_EN

#define MPU6050_BIT_FIFO_EN 0x40

Definition at line 117 of file drv_mpu6050.c.

◆ MPU6050_BIT_FIFO_RST

#define MPU6050_BIT_FIFO_RST 0x04

Definition at line 115 of file drv_mpu6050.c.

◆ MPU6050_INV_CLK_GYROZ

#define MPU6050_INV_CLK_GYROZ 0x03

Definition at line 114 of file drv_mpu6050.c.

◆ MPU_ADDRESS

#define MPU_ADDRESS (0x68)

Definition at line 40 of file drv_mpu6050.c.

◆ MPU_RA_ACCEL_CONFIG

#define MPU_RA_ACCEL_CONFIG 0x1C

Definition at line 101 of file drv_mpu6050.c.

◆ MPU_RA_ACCEL_XOUT_H

#define MPU_RA_ACCEL_XOUT_H (0x3B)

Definition at line 46 of file drv_mpu6050.c.

◆ MPU_RA_CONFIG

#define MPU_RA_CONFIG 0x1A

Definition at line 99 of file drv_mpu6050.c.

◆ MPU_RA_FIFO_COUNT_H

#define MPU_RA_FIFO_COUNT_H 0x72

Definition at line 110 of file drv_mpu6050.c.

◆ MPU_RA_FIFO_EN

#define MPU_RA_FIFO_EN 0x23

Definition at line 102 of file drv_mpu6050.c.

◆ MPU_RA_FIFO_R_W

#define MPU_RA_FIFO_R_W 0x74

Definition at line 111 of file drv_mpu6050.c.

◆ MPU_RA_GYRO_CONFIG

#define MPU_RA_GYRO_CONFIG 0x1B

Definition at line 100 of file drv_mpu6050.c.

◆ MPU_RA_GYRO_XOUT_H

#define MPU_RA_GYRO_XOUT_H (0x43)

Definition at line 45 of file drv_mpu6050.c.

◆ MPU_RA_I2C_MST_CTRL

#define MPU_RA_I2C_MST_CTRL 0x24

Definition at line 103 of file drv_mpu6050.c.

◆ MPU_RA_INT_ENABLE

#define MPU_RA_INT_ENABLE 0x38

Definition at line 105 of file drv_mpu6050.c.

◆ MPU_RA_INT_PIN_CFG

#define MPU_RA_INT_PIN_CFG 0x37

Definition at line 104 of file drv_mpu6050.c.

◆ MPU_RA_PRODUCT_ID

#define MPU_RA_PRODUCT_ID (0x0C)

Definition at line 50 of file drv_mpu6050.c.

◆ MPU_RA_PWR_MGMT_1

#define MPU_RA_PWR_MGMT_1 0x6B

Definition at line 108 of file drv_mpu6050.c.

◆ MPU_RA_PWR_MGMT_2

#define MPU_RA_PWR_MGMT_2 0x6C

Definition at line 109 of file drv_mpu6050.c.

◆ MPU_RA_SIGNAL_PATH_RST

#define MPU_RA_SIGNAL_PATH_RST 0x68

Definition at line 106 of file drv_mpu6050.c.

◆ MPU_RA_SMPLRT_DIV

#define MPU_RA_SMPLRT_DIV 0x19

Definition at line 98 of file drv_mpu6050.c.

◆ MPU_RA_TEMP_OUT_A

#define MPU_RA_TEMP_OUT_A (0x41)

Definition at line 47 of file drv_mpu6050.c.

◆ MPU_RA_USER_CTRL

#define MPU_RA_USER_CTRL 0x6A

Definition at line 107 of file drv_mpu6050.c.

◆ MPU_RA_WHO_AM_I

#define MPU_RA_WHO_AM_I (0x75)

Definition at line 44 of file drv_mpu6050.c.

◆ MPU_RA_XA_OFFS_H

#define MPU_RA_XA_OFFS_H (0x06)

Definition at line 49 of file drv_mpu6050.c.

◆ MPUx0x0_WHO_AM_I_CONST

#define MPUx0x0_WHO_AM_I_CONST (0x68)

Definition at line 53 of file drv_mpu6050.c.

Enumeration Type Documentation

◆ accel_fsr_e

enum accel_fsr_e

Enumerator
INV_FSR_2G
INV_FSR_4G
INV_FSR_8G
INV_FSR_16G
NUM_ACCEL_FSR

Definition at line 81 of file drv_mpu6050.c.

◆ clock_sel_e

enum clock_sel_e

Enumerator
INV_CLK_INTERNAL
INV_CLK_PLL
NUM_CLK

Definition at line 75 of file drv_mpu6050.c.

◆ gyro_fsr_e

enum gyro_fsr_e

Enumerator
INV_FSR_250DPS
INV_FSR_500DPS
INV_FSR_1000DPS
INV_FSR_2000DPS
NUM_GYRO_FSR

Definition at line 67 of file drv_mpu6050.c.

◆ lpf_e

enum lpf_e

Enumerator
INV_FILTER_256HZ_NOLPF2
INV_FILTER_188HZ
INV_FILTER_98HZ
INV_FILTER_42HZ
INV_FILTER_20HZ
INV_FILTER_10HZ
INV_FILTER_5HZ
INV_FILTER_2100HZ_NOLPF
NUM_FILTER

Definition at line 55 of file drv_mpu6050.c.

Function Documentation

◆ EXTI15_10_IRQHandler()

void EXTI15_10_IRQHandler ( void )

Definition at line 346 of file drv_mpu6050.c.

◆ mpu6050_async_read_all()

void mpu6050_async_read_all	(	volatile int16_t *	accData,
		volatile int16_t *	tempData,
		volatile int16_t *	gyroData,
		volatile uint64_t *	timeData
	)

Definition at line 316 of file drv_mpu6050.c.

◆ mpu6050_exti_init()

void mpu6050_exti_init ( int boardVersion )

Definition at line 129 of file drv_mpu6050.c.

◆ mpu6050_init()

void mpu6050_init	(	bool	enableInterrupt,
		uint16_t *	acc1G,
		float *	gyroScale,
		int	boardVersion
	)

Definition at line 175 of file drv_mpu6050.c.

◆ mpu6050_new_data()

bool mpu6050_new_data ( )

Definition at line 328 of file drv_mpu6050.c.

◆ mpu6050_read_accel()

void mpu6050_read_accel ( int16_t * accData )

Definition at line 236 of file drv_mpu6050.c.

◆ mpu6050_read_all()

void mpu6050_read_all	(	int16_t *	accData,
		int16_t *	gyroData,
		int16_t *	tempData,
		uint64_t *	time_us
	)

Definition at line 216 of file drv_mpu6050.c.

◆ mpu6050_read_gyro()

void mpu6050_read_gyro ( int16_t * gyroData )

Definition at line 250 of file drv_mpu6050.c.

◆ mpu6050_read_temperature()

void mpu6050_read_temperature ( int16_t * tempData )

Definition at line 261 of file drv_mpu6050.c.

◆ mpu6050_request_async_update_all()

void mpu6050_request_async_update_all ( )

Definition at line 300 of file drv_mpu6050.c.

◆ mpuReadRegisterI2C()

static bool mpuReadRegisterI2C	(	uint8_t	reg,
		uint8_t *	data,
		int	length
	)

static

Definition at line 119 of file drv_mpu6050.c.

◆ mpuWriteRegisterI2C()

static bool mpuWriteRegisterI2C	(	uint8_t	reg,
		uint8_t	data
	)

static

Definition at line 124 of file drv_mpu6050.c.

◆ read_all_CB()

void read_all_CB ( uint8_t result )

Definition at line 283 of file drv_mpu6050.c.

Variable Documentation

◆ accel

volatile int16_t accel[3]

static

Definition at line 276 of file drv_mpu6050.c.

◆ all_buffer

uint8_t all_buffer[14]

Definition at line 280 of file drv_mpu6050.c.

◆ gyro

volatile int16_t gyro[3]

static

Definition at line 277 of file drv_mpu6050.c.

◆ imu_time_us

uint64_t imu_time_us = 0

static

Definition at line 94 of file drv_mpu6050.c.

◆ measurement_time

uint64_t measurement_time = 0

Definition at line 281 of file drv_mpu6050.c.

◆ mpuLowPassFilter

uint8_t mpuLowPassFilter = INV_FILTER_20HZ

static

Definition at line 91 of file drv_mpu6050.c.

◆ need_to_queue_new_i2c_job

volatile bool need_to_queue_new_i2c_job = false

static

Definition at line 279 of file drv_mpu6050.c.

◆ new_imu_data

bool new_imu_data = false

static

Definition at line 95 of file drv_mpu6050.c.

◆ temp

volatile int16_t temp

static

Definition at line 278 of file drv_mpu6050.c.

Macros

Enumerations

Functions

Variables

Macro Definition Documentation

◆ GYRO_INT_PIN

◆ M_PI

◆ MPU6050_BIT_DMP_RST

◆ MPU6050_BIT_FIFO_EN

◆ MPU6050_BIT_FIFO_RST

◆ MPU6050_INV_CLK_GYROZ

◆ MPU_ADDRESS

◆ MPU_RA_ACCEL_CONFIG

◆ MPU_RA_ACCEL_XOUT_H

◆ MPU_RA_CONFIG

◆ MPU_RA_FIFO_COUNT_H

◆ MPU_RA_FIFO_EN

◆ MPU_RA_FIFO_R_W

◆ MPU_RA_GYRO_CONFIG

◆ MPU_RA_GYRO_XOUT_H

◆ MPU_RA_I2C_MST_CTRL

◆ MPU_RA_INT_ENABLE

◆ MPU_RA_INT_PIN_CFG

◆ MPU_RA_PRODUCT_ID

◆ MPU_RA_PWR_MGMT_1

◆ MPU_RA_PWR_MGMT_2

◆ MPU_RA_SIGNAL_PATH_RST

◆ MPU_RA_SMPLRT_DIV

◆ MPU_RA_TEMP_OUT_A

◆ MPU_RA_USER_CTRL

◆ MPU_RA_WHO_AM_I

◆ MPU_RA_XA_OFFS_H

◆ MPUx0x0_WHO_AM_I_CONST

Enumeration Type Documentation

◆ accel_fsr_e

◆ clock_sel_e

◆ gyro_fsr_e

◆ lpf_e

Function Documentation

◆ EXTI15_10_IRQHandler()

◆ mpu6050_async_read_all()

◆ mpu6050_exti_init()

◆ mpu6050_init()

◆ mpu6050_new_data()

◆ mpu6050_read_accel()

◆ mpu6050_read_all()

◆ mpu6050_read_gyro()

◆ mpu6050_read_temperature()

◆ mpu6050_request_async_update_all()

◆ mpuReadRegisterI2C()

◆ mpuWriteRegisterI2C()

◆ read_all_CB()

Variable Documentation

◆ accel

◆ all_buffer

◆ gyro

◆ imu_time_us

◆ measurement_time

◆ mpuLowPassFilter

◆ need_to_queue_new_i2c_job

◆ new_imu_data

◆ temp