#include "mpu6050.h"
#include "mpu6050_regs.h"
#include <esp_log.h>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <math.h>

Include dependency graph for mpu6050.c:

Macros
#define	I2C_FREQ_HZ (1000000)
#define	CHECK(x)
#define	CHECK_ARG(VAL)

Functions
static float	get_accel_value (mpu6050_dev_t *dev, int16_t raw)
static float	get_gyro_value (mpu6050_dev_t *dev, int16_t raw)
static int16_t	shuffle (uint16_t word)
static uint16_t	ushuffle (uint16_t word)
static esp_err_t	read_reg_bits (mpu6050_dev_t dev, uint8_t reg_addr, uint8_t offset, uint8_t mask, uint8_t value)
static esp_err_t	write_reg_bits (mpu6050_dev_t *dev, uint8_t reg_addr, uint8_t offset, uint8_t mask, uint8_t value)
static esp_err_t	read_reg (mpu6050_dev_t dev, uint8_t reg_addr, uint8_t value)
static esp_err_t	write_reg (mpu6050_dev_t *dev, uint8_t reg_addr, uint8_t data)
static esp_err_t	read_reg_word (mpu6050_dev_t dev, uint8_t reg_addr, int16_t value)
static esp_err_t	write_reg_word (mpu6050_dev_t *dev, uint8_t reg_addr, int16_t value)
static esp_err_t	read_reg_bool (mpu6050_dev_t dev, uint8_t reg_addr, uint8_t offset, bool value)
static esp_err_t	write_reg_bool (mpu6050_dev_t *dev, uint8_t reg_addr, uint8_t offset, bool value)
esp_err_t	mpu6050_init_desc (mpu6050_dev_t *dev, uint8_t addr, i2c_port_t port, gpio_num_t sda_gpio, gpio_num_t scl_gpio)
	Initialize device descriptor.
esp_err_t	mpu6050_free_desc (mpu6050_dev_t *dev)
	Free device descriptor.
esp_err_t	mpu6050_init (mpu6050_dev_t *dev)
	Initialize device.
esp_err_t	mpu6050_get_aux_vddio_level (mpu6050_dev_t dev, mpu6050_vddio_level_t level)
	Get the auxiliary I2C supply voltage level.
esp_err_t	mpu6050_set_aux_vddio_level (mpu6050_dev_t *dev, mpu6050_vddio_level_t level)
	Set the auxiliary I2C supply voltage level.
esp_err_t	mpu6050_get_rate (mpu6050_dev_t dev, uint8_t rate)
	Get gyroscope output rate divider.
esp_err_t	mpu6050_set_rate (mpu6050_dev_t *dev, uint8_t rate)
	Set gyroscope output rate divider.
esp_err_t	mpu6050_get_external_frame_sync (mpu6050_dev_t dev, mpu6050_ext_sync_t sync)
	Get external FSYNC configuration.
esp_err_t	mpu6050_set_external_frame_sync (mpu6050_dev_t *dev, mpu6050_ext_sync_t sync)
	Set external FSYNC configuration.
esp_err_t	mpu6050_get_dlpf_mode (mpu6050_dev_t dev, mpu6050_dlpf_mode_t mode)
	Get digital low-pass filter configuration.
esp_err_t	mpu6050_set_dlpf_mode (mpu6050_dev_t *dev, mpu6050_dlpf_mode_t mode)
	Set digital low-pass filter configuration.
esp_err_t	mpu6050_get_full_scale_gyro_range (mpu6050_dev_t dev, mpu6050_gyro_range_t range)
	Get full-scale gyroscope range.
esp_err_t	mpu6050_set_full_scale_gyro_range (mpu6050_dev_t *dev, mpu6050_gyro_range_t range)
	Set full-scale gyroscope range.
esp_err_t	mpu6050_get_accel_self_test_factory_trim (mpu6050_dev_t dev, mpu6050_axis_t axis, uint8_t trim)
	Get self-test factory trim value for accelerometer axis.
esp_err_t	mpu6050_get_gyro_self_test_factory_trim (mpu6050_dev_t dev, mpu6050_axis_t axis, uint8_t trim)
	Get self-test factory trim value for gyroscope axis.
esp_err_t	mpu6050_get_accel_self_test (mpu6050_dev_t dev, mpu6050_axis_t axis, bool enabled)
	Get self-test enabled for accelerometer axis.
esp_err_t	mpu6050_set_accel_self_test (mpu6050_dev_t *dev, mpu6050_axis_t axis, bool enabled)
	Set self-test enabled for accelerometer axis.
esp_err_t	mpu6050_get_full_scale_accel_range (mpu6050_dev_t dev, mpu6050_accel_range_t range)
	Get full-scale accelerometer range.
esp_err_t	mpu6050_set_full_scale_accel_range (mpu6050_dev_t *dev, mpu6050_accel_range_t range)
	Set full-scale accelerometer range.
esp_err_t	mpu6050_get_dhpf_mode (mpu6050_dev_t dev, mpu6050_dhpf_mode_t mode)
	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.
esp_err_t	mpu6050_set_dhpf_mode (mpu6050_dev_t *dev, mpu6050_dhpf_mode_t mode)
	Set the high-pass filter configuration.
esp_err_t	mpu6050_get_freefall_detection_threshold (mpu6050_dev_t dev, uint8_t threshold)
	Get free-fall event acceleration threshold.
esp_err_t	mpu6050_set_freefall_detection_threshold (mpu6050_dev_t *dev, uint8_t threshold)
	Get free-fall event acceleration threshold.
esp_err_t	mpu6050_get_freefall_detection_duration (mpu6050_dev_t dev, uint8_t duration_ms)
	Get free-fall event duration threshold.
esp_err_t	mpu6050_set_freefall_detection_duration (mpu6050_dev_t *dev, uint8_t duration_ms)
	Set free-fall event duration threshold.
esp_err_t	mpu6050_get_motion_detection_threshold (mpu6050_dev_t dev, uint8_t threshold)
	Get motion detection event acceleration threshold.
esp_err_t	mpu6050_set_motion_detection_threshold (mpu6050_dev_t *dev, uint8_t threshold)
	Set motion detection event acceleration threshold.
esp_err_t	mpu6050_get_motion_detection_duration (mpu6050_dev_t dev, uint8_t duration)
	Get motion detection event duration threshold.
esp_err_t	mpu6050_set_motion_detection_duration (mpu6050_dev_t *dev, uint8_t duration)
	Set motion detection event duration threshold.
esp_err_t	mpu6050_get_zero_motion_detection_threshold (mpu6050_dev_t dev, uint8_t threshold)
	Get zero motion detection event acceleration threshold.
esp_err_t	mpu6050_set_zero_motion_detection_threshold (mpu6050_dev_t *dev, uint8_t threshold)
	Set zero motion detection event acceleration threshold.
esp_err_t	mpu6050_get_zero_motion_detection_duration (mpu6050_dev_t dev, uint8_t duration)
	Get zero motion detection event duration threshold.
esp_err_t	mpu6050_set_zero_motion_detection_duration (mpu6050_dev_t *dev, uint8_t duration)
	Set zero motion detection event duration threshold.
esp_err_t	mpu6050_get_temp_fifo_enabled (mpu6050_dev_t dev, bool enabled)
	Get temperature FIFO enabled value.
esp_err_t	mpu6050_set_temp_fifo_enabled (mpu6050_dev_t *dev, bool enabled)
	Set temperature FIFO enabled value.
esp_err_t	mpu6050_get_gyro_fifo_enabled (mpu6050_dev_t dev, mpu6050_axis_t axis, bool enabled)
	Get gyroscope axis FIFO enabled value.
esp_err_t	mpu6050_set_gyro_fifo_enabled (mpu6050_dev_t *dev, mpu6050_axis_t axis, bool enabled)
	Set gyroscope axis FIFO enabled value.
esp_err_t	mpu6050_get_accel_fifo_enabled (mpu6050_dev_t dev, bool enabled)
	Get accelerometer FIFO enabled value.
esp_err_t	mpu6050_set_accel_fifo_enabled (mpu6050_dev_t *dev, bool enabled)
	Set accelerometer FIFO enabled value.
esp_err_t	mpu6050_get_slave_fifo_enabled (mpu6050_dev_t dev, mpu6050_slave_t num, bool enabled)
	Get Slave FIFO enabled value.
esp_err_t	mpu6050_set_slave_fifo_enabled (mpu6050_dev_t *dev, mpu6050_slave_t num, bool enabled)
	Set Slave FIFO enabled value.
esp_err_t	mpu6050_get_multi_master_enabled (mpu6050_dev_t dev, bool enabled)
	Get multi-master enabled value.
esp_err_t	mpu6050_set_multi_master_enabled (mpu6050_dev_t *dev, bool enabled)
	Set multi-master enabled value.
esp_err_t	mpu6050_get_wait_for_external_sensor_enabled (mpu6050_dev_t dev, bool enabled)
	Get wait-for-external-sensor-data enabled value.
esp_err_t	mpu6050_set_wait_for_external_sensor_enabled (mpu6050_dev_t *dev, bool enabled)
	Set wait-for-external-sensor-data enabled value.
esp_err_t	mpu6050_get_slave_read_write_transition_enabled (mpu6050_dev_t dev, bool enabled)
	Get slave read/write transition enabled value.
esp_err_t	mpu6050_set_slave_read_write_transition_enabled (mpu6050_dev_t *dev, bool enabled)
	Set slave read/write transition enabled value.
esp_err_t	mpu6050_get_master_clock_speed (mpu6050_dev_t dev, mpu6050_i2c_master_clock_t clk_spd)
	Get I2C master clock speed.
esp_err_t	mpu6050_set_master_clock_speed (mpu6050_dev_t *dev, mpu6050_i2c_master_clock_t clk_spd)
	Set I2C master clock speed.
esp_err_t	mpu6050_get_slave_address (mpu6050_dev_t dev, mpu6050_slave_t num, uint8_t addr)
	Get the I2C address of the specified slave.
esp_err_t	mpu6050_set_slave_address (mpu6050_dev_t *dev, mpu6050_slave_t num, uint8_t address)
	Set the I2C address of the specified slave.
esp_err_t	mpu6050_get_slave_register (mpu6050_dev_t dev, mpu6050_slave_t num, uint8_t reg)
	Get the active internal register for the specified slave.
esp_err_t	mpu6050_set_slave_register (mpu6050_dev_t *dev, mpu6050_slave_t num, uint8_t reg)
	Set the active internal register for the specified slave.
esp_err_t	mpu6050_get_slave_enabled (mpu6050_dev_t dev, mpu6050_slave_t num, bool enabled)
	Get the enabled value for the specified slave.
esp_err_t	mpu6050_set_slave_enabled (mpu6050_dev_t *dev, mpu6050_slave_t num, bool enabled)
	Set the enabled value for the specified slave.
esp_err_t	mpu6050_get_slave_word_byte_swap (mpu6050_dev_t dev, mpu6050_slave_t num, bool enabled)
	Get word pair byte-swapping enabled for the specified slave.
esp_err_t	mpu6050_set_slave_word_byte_swap (mpu6050_dev_t *dev, mpu6050_slave_t num, bool enabled)
	Set word pair byte-swapping enabled for the specified slave.
esp_err_t	mpu6050_get_slave_write_mode (mpu6050_dev_t dev, mpu6050_slave_t num, bool mode)
	Get write mode for the specified slave.
esp_err_t	mpu6050_set_slave_write_mode (mpu6050_dev_t *dev, mpu6050_slave_t num, bool mode)
	Set write mode for the specified slave.
esp_err_t	mpu6050_get_slave_word_group_offset (mpu6050_dev_t dev, mpu6050_slave_t num, bool enabled)
	Get word pair grouping order offset for the specified slave.
esp_err_t	mpu6050_set_slave_word_group_offset (mpu6050_dev_t *dev, mpu6050_slave_t num, bool enabled)
	Set word pair grouping order offset for the specified slave.
esp_err_t	mpu6050_get_slave_data_length (mpu6050_dev_t dev, mpu6050_slave_t num, uint8_t length)
	Get number of bytes to read for the specified slave.
esp_err_t	mpu6050_set_slave_data_length (mpu6050_dev_t *dev, mpu6050_slave_t num, uint8_t length)
	Set number of bytes to read for the specified slave.
esp_err_t	mpu6050_set_slave_4_output_byte (mpu6050_dev_t *dev, 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.
esp_err_t	mpu6050_get_slave_4_interrupt_enabled (mpu6050_dev_t dev, bool enabled)
	Get the enabled value for Slave 4 transaction interrupts.
esp_err_t	mpu6050_set_slave_4_interrupt_enabled (mpu6050_dev_t *dev, bool enabled)
	Set the enabled value for Slave 4 transaction interrupts.
esp_err_t	mpu6050_get_slave_4_master_delay (mpu6050_dev_t dev, uint8_t delay)
	Get Slave 4 master delay value.
esp_err_t	mpu6050_set_slave_4_master_delay (mpu6050_dev_t *dev, uint8_t delay)
	Set Slave 4 master delay value.
esp_err_t	mpu6050_get_slave_4_input_byte (mpu6050_dev_t dev, uint8_t byte)
	Get last available byte read from Slave 4.
esp_err_t	mpu6050_get_passthrough_status (mpu6050_dev_t dev, bool enabled)
	Get FSYNC interrupt status.
esp_err_t	mpu6050_get_slave_4_is_done (mpu6050_dev_t dev, bool enabled)
	Get Slave 4 transaction done status.
esp_err_t	mpu6050_get_lost_arbitration (mpu6050_dev_t dev, bool lost)
	Get master arbitration lost status.
esp_err_t	mpu6050_get_slave_nack (mpu6050_dev_t dev, mpu6050_slave_t num, bool nack)
	Get Slave NACK status.
esp_err_t	mpu6050_get_interrupt_mode (mpu6050_dev_t dev, mpu6050_int_level_t mode)
	Get interrupt logic level mode.
esp_err_t	mpu6050_set_interrupt_mode (mpu6050_dev_t *dev, mpu6050_int_level_t mode)
	Set interrupt logic level mode.
esp_err_t	mpu6050_get_interrupt_drive (mpu6050_dev_t dev, mpu6050_int_drive_t drive)
	Get interrupt drive mode.
esp_err_t	mpu6050_set_interrupt_drive (mpu6050_dev_t *dev, mpu6050_int_drive_t drive)
	Set interrupt drive mode.
esp_err_t	mpu6050_get_interrupt_latch (mpu6050_dev_t dev, mpu6050_int_latch_t latch)
	Get interrupt latch mode.
esp_err_t	mpu6050_set_interrupt_latch (mpu6050_dev_t *dev, mpu6050_int_latch_t latch)
	Set interrupt latch mode.
esp_err_t	mpu6050_get_interrupt_latch_clear (mpu6050_dev_t dev, bool clear)
	Get interrupt latch clear mode.
esp_err_t	mpu6050_set_interrupt_latch_clear (mpu6050_dev_t *dev, bool clear)
	Set interrupt latch clear mode.
esp_err_t	mpu6050_get_fsync_interrupt_level (mpu6050_dev_t dev, mpu6050_int_level_t level)
	Get FSYNC interrupt logic level.
esp_err_t	mpu6050_set_fsync_interrupt_level (mpu6050_dev_t *dev, mpu6050_int_level_t level)
	Set FSYNC interrupt logic level.
esp_err_t	mpu6050_get_fsync_interrupt_enabled (mpu6050_dev_t dev, bool enabled)
	Get FSYNC pin interrupt enabled setting.
esp_err_t	mpu6050_set_fsync_interrupt_enabled (mpu6050_dev_t *dev, bool enabled)
	Set FSYNC pin interrupt enabled setting.
esp_err_t	mpu6050_get_i2c_bypass_enabled (mpu6050_dev_t dev, bool enabled)
	Get I2C bypass enabled status.
esp_err_t	mpu6050_set_i2c_bypass_enabled (mpu6050_dev_t *dev, bool enabled)
	Set I2C bypass enabled status.
esp_err_t	mpu6050_get_clock_output_enabled (mpu6050_dev_t dev, bool enabled)
	Get reference clock output enabled status.
esp_err_t	mpu6050_set_clock_output_enabled (mpu6050_dev_t *dev, bool enabled)
	Set reference clock output enabled status.
esp_err_t	mpu6050_get_int_enabled (mpu6050_dev_t dev, uint8_t ints)
	Get full interrupt enabled status.
esp_err_t	mpu6050_set_int_enabled (mpu6050_dev_t *dev, uint8_t ints)
	Set full interrupt enabled status.
esp_err_t	mpu6050_get_int_status (mpu6050_dev_t dev, uint8_t ints)
	Get full set of interrupt status bits.
esp_err_t	mpu6050_get_accel_offset (mpu6050_dev_t dev, mpu6050_axis_t axis, int16_t offset)
	Get offset for accelerometer axis.
esp_err_t	mpu6050_set_accel_offset (mpu6050_dev_t *dev, mpu6050_axis_t axis, int16_t offset)
	Set offset for accelerometer axis.
esp_err_t	mpu6050_get_gyro_offset (mpu6050_dev_t dev, mpu6050_axis_t axis, int16_t offset)
	Get offset for gyroscope axis.
esp_err_t	mpu6050_set_gyro_offset (mpu6050_dev_t *dev, mpu6050_axis_t axis, int16_t offset)
	Get offset for gyroscope axis.
esp_err_t	mpu6050_get_raw_acceleration (mpu6050_dev_t dev, mpu6050_raw_acceleration_t raw_accel)
	Get raw 3-axis accelerometer readings.
esp_err_t	mpu6050_get_acceleration (mpu6050_dev_t dev, mpu6050_acceleration_t accel)
	Get 3-axis accelerometer readings.
esp_err_t	mpu6050_get_raw_acceleration_axis (mpu6050_dev_t dev, mpu6050_axis_t axis, int16_t raw_accel)
	Get raw accelerometer reading on a single axis.
esp_err_t	mpu6050_get_acceleration_axis (mpu6050_dev_t dev, mpu6050_axis_t axis, float accel)
	Get accelerometer reading on a single axis.
esp_err_t	mpu6050_get_raw_rotation (mpu6050_dev_t dev, mpu6050_raw_rotation_t raw_gyro)
	Get raw 3-axis gyroscope readings.
esp_err_t	mpu6050_get_rotation (mpu6050_dev_t dev, mpu6050_rotation_t gyro)
	Get 3-axis gyroscope readings.
esp_err_t	mpu6050_get_raw_rotation_axis (mpu6050_dev_t dev, mpu6050_axis_t axis, int16_t raw_gyro)
	Get raw gyroscope reading on a single axis.
esp_err_t	mpu6050_get_rotation_axis (mpu6050_dev_t dev, mpu6050_axis_t axis, float gyro)
	Get gyroscope reading on a single axis.
esp_err_t	mpu6050_get_motion (mpu6050_dev_t dev, mpu6050_acceleration_t accel, mpu6050_rotation_t *gyro)
	Get raw 6-axis motion sensor readings (accel/gyro).
esp_err_t	mpu6050_get_temperature (mpu6050_dev_t dev, float temp)
	Get current internal temperature.
esp_err_t	mpu6050_get_external_sensor_data (mpu6050_dev_t dev, int position, void buf, size_t length)
	Read bytes from external sensor data register.
esp_err_t	mpu6050_get_motion_status (mpu6050_dev_t dev, uint8_t status)
	Get full motion detection status register content (all bits).
esp_err_t	mpu6050_set_slave_output_byte (mpu6050_dev_t *dev, mpu6050_slave_t num, uint8_t data)
	Write byte to Data Output container for specified slave.
esp_err_t	mpu6050_get_external_shadow_delay_enabled (mpu6050_dev_t dev, bool enabled)
	Get external data shadow delay enabled status.
esp_err_t	mpu6050_set_external_shadow_delay_enabled (mpu6050_dev_t *dev, bool enabled)
	Set external data shadow delay enabled status.
esp_err_t	mpu6050_get_slave_delay_enabled (mpu6050_dev_t dev, mpu6050_slave_t num, bool enabled)
	Get slave delay enabled status.
esp_err_t	mpu6050_set_slave_delay_enabled (mpu6050_dev_t *dev, mpu6050_slave_t num, bool enabled)
	Set slave delay enabled status.
esp_err_t	mpu6050_reset_gyroscope_path (mpu6050_dev_t *dev)
	Reset gyroscope signal path.
esp_err_t	mpu6050_reset_accelerometer_path (mpu6050_dev_t *dev)
	Reset accelerometer signal path.
esp_err_t	mpu6050_reset_temperature_path (mpu6050_dev_t *dev)
	Reset temperature sensor signal path.
esp_err_t	mpu6050_get_accelerometer_power_on_delay (mpu6050_dev_t dev, uint8_t delay)
	Get accelerometer power-on delay.
esp_err_t	mpu6050_set_accelerometer_power_on_delay (mpu6050_dev_t *dev, uint8_t delay)
	Set accelerometer power-on delay.
esp_err_t	mpu6050_get_freefall_detection_counter_decrement (mpu6050_dev_t dev, uint8_t decrement)
	Get Free Fall detection counter decrement configuration.
esp_err_t	mpu6050_set_freefall_detection_counter_decrement (mpu6050_dev_t *dev, uint8_t decrement)
	Set Free Fall detection counter decrement configuration.
esp_err_t	mpu6050_get_motion_detection_counter_decrement (mpu6050_dev_t dev, uint8_t decrement)
	Get Motion detection counter decrement configuration.
esp_err_t	mpu6050_set_motion_detection_counter_decrement (mpu6050_dev_t *dev, uint8_t decrement)
	Set Motion detection counter decrement configuration.
esp_err_t	mpu6050_get_fifo_enabled (mpu6050_dev_t dev, bool enabled)
	Get FIFO enabled status.
esp_err_t	mpu6050_set_fifo_enabled (mpu6050_dev_t *dev, bool enabled)
	Set FIFO enabled status.
esp_err_t	mpu6050_get_i2c_master_mode_enabled (mpu6050_dev_t dev, bool enabled)
	Get I2C Master Mode enabled status.
esp_err_t	mpu6050_set_i2c_master_mode_enabled (mpu6050_dev_t *dev, bool enabled)
	Set I2C Master Mode enabled status.
esp_err_t	mpu6050_switch_spie_enabled (mpu6050_dev_t *dev, bool enabled)
	Switch from I2C to SPI mode (MPU-6000 only).
esp_err_t	mpu6050_reset_fifo (mpu6050_dev_t *dev)
	Reset the FIFO.
esp_err_t	mpu6050_reset_sensors (mpu6050_dev_t *dev)
	Reset all sensor registers and signal paths.
esp_err_t	mpu6050_reset (mpu6050_dev_t *dev)
	Trigger a full device reset.
esp_err_t	mpu6050_get_sleep_enabled (mpu6050_dev_t dev, bool enabled)
	Get sleep mode status.
esp_err_t	mpu6050_set_sleep_enabled (mpu6050_dev_t *dev, bool enabled)
	Set sleep mode status.
esp_err_t	mpu6050_get_wake_cycle_enabled (mpu6050_dev_t dev, bool enabled)
	Get wake cycle enabled status.
esp_err_t	mpu6050_set_wake_cycle_enabled (mpu6050_dev_t *dev, bool enabled)
	Set wake cycle enabled status.
esp_err_t	mpu6050_get_temp_sensor_enabled (mpu6050_dev_t dev, bool enabled)
	Get temperature sensor enabled status.
esp_err_t	mpu6050_set_temp_sensor_enabled (mpu6050_dev_t *dev, bool enabled)
	Set temperature sensor enabled status.
esp_err_t	mpu6050_get_clock_source (mpu6050_dev_t dev, mpu6050_clock_source_t source)
	Get clock source setting.
esp_err_t	mpu6050_set_clock_source (mpu6050_dev_t *dev, mpu6050_clock_source_t source)
	Set clock source setting.
esp_err_t	mpu6050_get_wake_frequency (mpu6050_dev_t dev, mpu6050_wake_freq_t frequency)
	Get wake frequency in Accel-Only Low Power Mode.
esp_err_t	mpu6050_set_wake_frequency (mpu6050_dev_t *dev, mpu6050_wake_freq_t frequency)
	Set wake frequency in Accel-Only Low Power Mode.
esp_err_t	mpu6050_get_standby_accel_enabled (mpu6050_dev_t dev, mpu6050_axis_t axis, bool enabled)
	Get accelerometer axis standby enabled status.
esp_err_t	mpu6050_set_standby_accel_enabled (mpu6050_dev_t *dev, mpu6050_axis_t axis, bool enabled)
	Set accelerometer axis standby enabled status.
esp_err_t	mpu6050_get_standby_gyro_enabled (mpu6050_dev_t dev, mpu6050_axis_t axis, bool enabled)
	Get gyroscope axis standby enabled status.
esp_err_t	mpu6050_set_standby_gyro_enabled (mpu6050_dev_t *dev, mpu6050_axis_t axis, bool enabled)
	Set gyroscope axis standby enabled status.
esp_err_t	mpu6050_get_fifo_count (mpu6050_dev_t dev, uint16_t count)
	Get current FIFO buffer size.
esp_err_t	mpu6050_get_fifo_bytes (mpu6050_dev_t dev, uint8_t data, size_t length)
	Get bytes from FIFO buffer.
esp_err_t	mpu6050_get_fifo_byte (mpu6050_dev_t dev, uint8_t data)
	Get byte from FIFO buffer.
esp_err_t	mpu6050_set_fifo_byte (mpu6050_dev_t *dev, uint8_t data)
	Write byte to FIFO buffer.
esp_err_t	mpu6050_get_device_id (mpu6050_dev_t dev, uint8_t id)
	Get the ID of the device.
esp_err_t	mpu6050_calibrate (mpu6050_dev_t dev, float accel_bias_res, float *gyro_bias_res)
	Function which accumulates gyro and accelerometer data after device initialization.
esp_err_t	mpu6050_self_test (mpu6050_dev_t dev, float destination)
	Accelerometer and gyroscope self test.

Variables
static const char *	TAG = "mpu6050"
static const float	accel_res []
static const float	gyro_res []
static const uint8_t	accel_sta_bits []
static const uint8_t	gyro_fifo_bits []
struct {
uint8_t r
uint8_t b
}	slave_fifo_bits []
static const uint8_t	accel_offs_regs []
static const uint8_t	gyro_offs_regs []
static const uint8_t	standby_accel_bits []
static const uint8_t	standby_gyro_bits []

Detailed Description

ESP-IDF driver for MPU6050 MEMS Sensor.

6-axis motion tracking devices designed for the low power, low cost, and high performance requirements of smartphones, tablets and wearable sensors.

Copyright (c) 2012 Jeff Rowberg https://www.i2cdevlib.com/ Copyright (c) 2019 Angelo Elias Dalzotto 15063.nosp@m.3@up.nosp@m.f.br Copyright (c) 2019 Gabriel Boni Vicari 13319.nosp@m.2@up.nosp@m.f.br Copyright (c) 2019 GEPID - Grupo de Pesquisa em Cultura Digital http://gepid.upf.br/ Copyright (c) 2023 Raghav Jha https://github.com/horsemann07 Copyright (c) 2023 Ruslan V. Uss uncle.nosp@m.rus@.nosp@m.gmail.nosp@m..com

Macro Definition Documentation

◆ CHECK

#define CHECK ( x )

Value:

  do {                                                                         \
    esp_err_t __;                                                              \
    if ((__ = x) != ESP_OK)                                                    \
      return __;                                                               \
  } while (0)

◆ CHECK_ARG

#define CHECK_ARG ( VAL )

Value:

  do {                                                                         \
    if (!(VAL))                                                                \
      return ESP_ERR_INVALID_ARG;                                              \
  } while (0)

◆ I2C_FREQ_HZ

#define I2C_FREQ_HZ (1000000)

Function Documentation

◆ get_accel_value()

float get_accel_value	(	mpu6050_dev_t *	dev,
		int16_t	raw )

inlinestatic

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◆ get_gyro_value()

float get_gyro_value	(	mpu6050_dev_t *	dev,
		int16_t	raw )

inlinestatic

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◆ read_reg()

esp_err_t read_reg	(	mpu6050_dev_t *	dev,
		uint8_t	reg_addr,
		uint8_t *	value )

static

< Invalid argument

< esp_err_t value indicating success (no error)

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◆ read_reg_bits()

esp_err_t read_reg_bits	(	mpu6050_dev_t *	dev,
		uint8_t	reg_addr,
		uint8_t	offset,
		uint8_t	mask,
		uint8_t *	value )

static

< Invalid argument

< esp_err_t value indicating success (no error)

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◆ read_reg_bool()

esp_err_t read_reg_bool	(	mpu6050_dev_t *	dev,
		uint8_t	reg_addr,
		uint8_t	offset,
		bool *	value )

static

< Invalid argument

< esp_err_t value indicating success (no error)

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◆ read_reg_word()

esp_err_t read_reg_word	(	mpu6050_dev_t *	dev,
		uint8_t	reg_addr,
		int16_t *	value )

static

< Invalid argument

< esp_err_t value indicating success (no error)

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◆ shuffle()

int16_t shuffle ( uint16_t word )

inlinestatic

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◆ ushuffle()

uint16_t ushuffle ( uint16_t word )

inlinestatic

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◆ write_reg()

esp_err_t write_reg	(	mpu6050_dev_t *	dev,
		uint8_t	reg_addr,
		uint8_t	data )

static

< Invalid argument

< esp_err_t value indicating success (no error)

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◆ write_reg_bits()

esp_err_t write_reg_bits	(	mpu6050_dev_t *	dev,
		uint8_t	reg_addr,
		uint8_t	offset,
		uint8_t	mask,
		uint8_t	value )

static

< Invalid argument

< esp_err_t value indicating success (no error)

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◆ write_reg_bool()

esp_err_t write_reg_bool	(	mpu6050_dev_t *	dev,
		uint8_t	reg_addr,
		uint8_t	offset,
		bool	value )

inlinestatic

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◆ write_reg_word()

esp_err_t write_reg_word	(	mpu6050_dev_t *	dev,
		uint8_t	reg_addr,
		int16_t	value )

static

< Invalid argument

< esp_err_t value indicating success (no error)

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Variable Documentation

◆ accel_offs_regs

const uint8_t accel_offs_regs[]

static

Initial value:

= {
    [MPU6050_X_AXIS] = (0x06) ,
    [MPU6050_Y_AXIS] = (0x08) ,
    [MPU6050_Z_AXIS] = (0x0A) ,
}

◆ accel_res

const float accel_res[]

static

Initial value:

= {
    [MPU6050_ACCEL_RANGE_2] = 2.0f / 32768.0f,
    [MPU6050_ACCEL_RANGE_4] = 4.0f / 32768.0f,
    [MPU6050_ACCEL_RANGE_8] = 8.0f / 32768.0f,
    [MPU6050_ACCEL_RANGE_16] = 16.0f / 32768.0f,
}

◆ accel_sta_bits

const uint8_t accel_sta_bits[]

static

Initial value:

= {
    [MPU6050_X_AXIS] = (7) ,
    [MPU6050_Y_AXIS] = (6) ,
    [MPU6050_Z_AXIS] = (5) ,
}

◆ b

uint8_t b

◆ gyro_fifo_bits

const uint8_t gyro_fifo_bits[]

static

Initial value:

= {
    [MPU6050_X_AXIS] = (6) ,
    [MPU6050_Y_AXIS] = (5) ,
    [MPU6050_Z_AXIS] = (4) ,
}

◆ gyro_offs_regs

const uint8_t gyro_offs_regs[]

static

Initial value:

= {
    [MPU6050_X_AXIS] = (0x13) ,
    [MPU6050_Y_AXIS] = (0x15) ,
    [MPU6050_Z_AXIS] = (0x17) ,
}

◆ gyro_res

const float gyro_res[]

static

Initial value:

= {
    [MPU6050_GYRO_RANGE_250] = 250.0f / 32768.0f,
    [MPU6050_GYRO_RANGE_500] = 500.0f / 32768.0f,
    [MPU6050_GYRO_RANGE_1000] = 1000.0f / 32768.0f,
    [MPU6050_GYRO_RANGE_2000] = 2000.0f / 32768.0f,
}

◆ r

uint8_t r

◆ [struct]

const struct { ... } slave_fifo_bits[]

Initial value:

= {
    [MPU6050_SLAVE_0] = {.r = (0x23) ,
                         .b = (2) },
    [MPU6050_SLAVE_1] = {.r = (0x23) ,
                         .b = (1) },
    [MPU6050_SLAVE_2] = {.r = (0x23) ,
                         .b = (0) },
    [MPU6050_SLAVE_3] = {.r = (0x24) ,
                         .b = (5) },
}

◆ standby_accel_bits

const uint8_t standby_accel_bits[]

static

Initial value:

= {
    [MPU6050_X_AXIS] = (5) ,
    [MPU6050_Y_AXIS] = (4) ,
    [MPU6050_Z_AXIS] = (3) ,
}

◆ standby_gyro_bits

const uint8_t standby_gyro_bits[]

static

Initial value:

= {
    [MPU6050_X_AXIS] = (2) ,
    [MPU6050_Y_AXIS] = (1) ,
    [MPU6050_Z_AXIS] = (0) ,
}

◆ TAG

const char* TAG = "mpu6050"

static

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ CHECK

◆ CHECK_ARG

◆ I2C_FREQ_HZ

Function Documentation

◆ get_accel_value()

◆ get_gyro_value()

◆ read_reg()

◆ read_reg_bits()

◆ read_reg_bool()

◆ read_reg_word()

◆ shuffle()

◆ ushuffle()

◆ write_reg()

◆ write_reg_bits()

◆ write_reg_bool()

◆ write_reg_word()

Variable Documentation

◆ accel_offs_regs

◆ accel_res

◆ accel_sta_bits

◆ b

◆ gyro_fifo_bits

◆ gyro_offs_regs

◆ gyro_res

◆ r

◆ [struct]

◆ standby_accel_bits

◆ standby_gyro_bits

◆ TAG