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MPU6050 full function driver library for general MCU and Linux.
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libdriver/mpu6050
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The MPU6050 is the world’s first integrated 6-axis MotionTracking device that combines a 3-axis gyroscope, 3-axis accelerometer, and a Digital Motion Processor™ (DMP) all in a small 4x4x0.9mm package. With its dedicated I2C sensor bus, it directly accepts inputs from an external 3-axis compass to provide a complete 9-axis MotionFusion™ output. The MPU6050 MotionTracking device, with its 6-axis integration, on-board MotionFusion™, and run-time calibration firmware, enables manufacturers to eliminate the costly and complex selection, qualification, and system level integration of discrete devices, guaranteeing optimal motion performance for consumers. The MPU6050 is also designed to interface with multiple non-inertial digital sensors, such as pressure sensors, on its auxiliary I2C port. The MPU6050 is footprint compatible with the MPU30X0 family.The MPU6050 features three 16-bit analog-to-digital converters (ADCs) for digitizing the gyroscope outputs and three 16-bit ADCs for digitizing the accelerometer outputs. For precision tracking of both fast and slow motions, the parts feature a user-programmable gyroscope full-scale range of ±250, ±500, ±1000, and ±2000°/sec (dps) and a user-programmable accelerometer full-scale range of ±2g, ±4g, ±8g, and ±16g.
LibDriver MPU6050 is the full function driver of mpu6050 launched by LibDriver. It provides acceleration reading, angular velocity reading, attitude angle reading, dmp reading, tap detection and other functions. LibDriver is MISRA compliant.
/src includes LibDriver MPU6050 source files.
/interface includes LibDriver MPU6050 IIC platform independent template.
/test includes LibDriver MPU6050 driver test code and this code can test the chip necessary function simply.
/example includes LibDriver MPU6050 sample code.
/doc includes LibDriver MPU6050 offline document.
/datasheet includes MPU6050 datasheet.
/project includes the common Linux and MCU development board sample code. All projects use the shell script to debug the driver and the detail instruction can be found in each project's README.md.
/misra includes the LibDriver MISRA code scanning results.
Reference /interface IIC platform independent template and finish your platform IIC driver.
Add the /src directory, the interface driver for your platform, and your own drivers to your project, if you want to use the default example drivers, add the /example directory to your project.
You can refer to the examples in the /example directory to complete your own driver. If you want to use the default programming examples, here's how to use them.
#include"driver_mpu6050_basic.h"uint8_tres;uint32_ti;uint32_ttimes;floatg[3];floatdps[3];floatdegrees;mpu6050_address_taddr;/* init */addr=MPU6050_ADDRESS_AD0_LOW;res=mpu6050_basic_init(addr);if (res!=0){return1;}.../* read all */times=3;for (i=0;i<times;i++){/* read */if (mpu6050_basic_read(g,dps)!=0) { (void)mpu6050_basic_deinit();return1; } ...if (mpu6050_basic_read_temperature(°rees)!=0) { (void)mpu6050_basic_deinit();return1; } .../* output */mpu6050_interface_debug_print("mpu6050: %d/%d.\n",i+1,times);mpu6050_interface_debug_print("mpu6050: acc x is %0.2fg.\n",g[0]);mpu6050_interface_debug_print("mpu6050: acc y is %0.2fg.\n",g[1]);mpu6050_interface_debug_print("mpu6050: acc z is %0.2fg.\n",g[2]);mpu6050_interface_debug_print("mpu6050: gyro x is %0.2fdps.\n",dps[0]);mpu6050_interface_debug_print("mpu6050: gyro y is %0.2fdps.\n",dps[1]);mpu6050_interface_debug_print("mpu6050: gyro z is %0.2fdps.\n",dps[2]);mpu6050_interface_debug_print("mpu6050: temperature %0.2fC.\n",degrees); .../* delay 1000 ms */mpu6050_interface_delay_ms(1000); ...}.../* deinit */(void)mpu6050_basic_deinit();return0;
#include"driver_mpu6050_fifo.h"uint32_ti;uint32_ttimes;uint16_tlen;uint8_t (*g_gpio_irq)(void)=NULL;staticint16_tgs_accel_raw[128][3];staticfloatgs_accel_g[128][3];staticint16_tgs_gyro_raw[128][3];staticfloatgs_gyro_dps[128][3];mpu6050_address_taddr;/* gpio init */if (gpio_interrupt_init()!=0){return1;}g_gpio_irq=mpu6050_fifo_irq_handler;/* init */addr=MPU6050_ADDRESS_AD0_LOW;if (mpu6050_fifo_init(addr)!=0){g_gpio_irq=NULL; (void)gpio_interrupt_deinit();return1;}/* delay 100 ms */mpu6050_interface_delay_ms(100);...times=3;for (i=0;i<times;i++){len=128;/* read */if (mpu6050_fifo_read(gs_accel_raw,gs_accel_g,gs_gyro_raw,gs_gyro_dps,&len)!=0) { (void)mpu6050_fifo_deinit();g_gpio_irq=NULL; (void)gpio_interrupt_deinit();return1; } .../* output */mpu6050_interface_debug_print("mpu6050: %d/%d.\n",i+1,times);mpu6050_interface_debug_print("mpu6050: fifo %d.\n",len);mpu6050_interface_debug_print("mpu6050: acc x[0] is %0.2fg.\n",gs_accel_g[0][0]);mpu6050_interface_debug_print("mpu6050: acc y[0] is %0.2fg.\n",gs_accel_g[0][1]);mpu6050_interface_debug_print("mpu6050: acc z[0] is %0.2fg.\n",gs_accel_g[0][2]);mpu6050_interface_debug_print("mpu6050: gyro x[0] is %0.2fdps.\n",gs_gyro_dps[0][0]);mpu6050_interface_debug_print("mpu6050: gyro y[0] is %0.2fdps.\n",gs_gyro_dps[0][1]);mpu6050_interface_debug_print("mpu6050: gyro z[0] is %0.2fdps.\n",gs_gyro_dps[0][2]); .../* delay 100 ms */mpu6050_interface_delay_ms(100); ...}.../* deinit */(void)mpu6050_fifo_deinit();g_gpio_irq=NULL;(void)gpio_interrupt_deinit();return0;
#include"driver_mpu6050_dmp.h"uint32_ti;uint32_ttimes;uint32_tcnt;uint16_tlen;uint8_t (*g_gpio_irq)(void)=NULL;staticint16_tgs_accel_raw[128][3];staticfloatgs_accel_g[128][3];staticint16_tgs_gyro_raw[128][3];staticfloatgs_gyro_dps[128][3];staticint32_tgs_quat[128][4];staticfloatgs_pitch[128];staticfloatgs_roll[128];staticfloatgs_yaw[128];mpu6050_address_taddr;staticvoida_receive_callback(uint8_ttype){switch (type) {caseMPU6050_INTERRUPT_MOTION : {mpu6050_interface_debug_print("mpu6050: irq motion.\n");break; }caseMPU6050_INTERRUPT_FIFO_OVERFLOW : {mpu6050_interface_debug_print("mpu6050: irq fifo overflow.\n");break; }caseMPU6050_INTERRUPT_I2C_MAST : {mpu6050_interface_debug_print("mpu6050: irq i2c master.\n");break; }caseMPU6050_INTERRUPT_DMP : {mpu6050_interface_debug_print("mpu6050: irq dmp\n");break; }caseMPU6050_INTERRUPT_DATA_READY : {mpu6050_interface_debug_print("mpu6050: irq data ready\n");break; }default : {mpu6050_interface_debug_print("mpu6050: irq unknown code.\n");break; } }}staticvoida_dmp_tap_callback(uint8_tcount,uint8_tdirection){switch (direction) {caseMPU6050_DMP_TAP_X_UP : {mpu6050_interface_debug_print("mpu6050: tap irq x up with %d.\n",count);break; }caseMPU6050_DMP_TAP_X_DOWN : {mpu6050_interface_debug_print("mpu6050: tap irq x down with %d.\n",count);break; }caseMPU6050_DMP_TAP_Y_UP : {mpu6050_interface_debug_print("mpu6050: tap irq y up with %d.\n",count);break; }caseMPU6050_DMP_TAP_Y_DOWN : {mpu6050_interface_debug_print("mpu6050: tap irq y down with %d.\n",count);break; }caseMPU6050_DMP_TAP_Z_UP : {mpu6050_interface_debug_print("mpu6050: tap irq z up with %d.\n",count);break; }caseMPU6050_DMP_TAP_Z_DOWN : {mpu6050_interface_debug_print("mpu6050: tap irq z down with %d.\n",count);break; }default : {mpu6050_interface_debug_print("mpu6050: tap irq unknown code.\n");break; } }}staticvoida_dmp_orient_callback(uint8_torientation){switch (orientation) {caseMPU6050_DMP_ORIENT_PORTRAIT : {mpu6050_interface_debug_print("mpu6050: orient irq portrait.\n");break; }caseMPU6050_DMP_ORIENT_LANDSCAPE : {mpu6050_interface_debug_print("mpu6050: orient irq landscape.\n");break; }caseMPU6050_DMP_ORIENT_REVERSE_PORTRAIT : {mpu6050_interface_debug_print("mpu6050: orient irq reverse portrait.\n");break; }caseMPU6050_DMP_ORIENT_REVERSE_LANDSCAPE : {mpu6050_interface_debug_print("mpu6050: orient irq reverse landscape.\n");break; }default : {mpu6050_interface_debug_print("mpu6050: orient irq unknown code.\n");break; } }}/* init */if (gpio_interrupt_init()!=0){return1;}g_gpio_irq=mpu6050_dmp_irq_handler;/* run dmp function */addr=MPU6050_ADDRESS_AD0_LOW;if (mpu6050_dmp_init(addr,a_receive_callback,a_dmp_tap_callback,a_dmp_orient_callback)!=0){g_gpio_irq=NULL; (void)gpio_interrupt_deinit();return1;}/* delay 500 ms */mpu6050_interface_delay_ms(500);...times=3;for (i=0;i<times;i++){len=128;/* read */if (mpu6050_dmp_read_all(gs_accel_raw,gs_accel_g,gs_gyro_raw,gs_gyro_dps,gs_quat,gs_pitch,gs_roll,gs_yaw,&len)!=0) { (void)mpu6050_dmp_deinit();g_gpio_irq=NULL; (void)gpio_interrupt_deinit();return1; }/* output */mpu6050_interface_debug_print("mpu6050: %d/%d.\n",i+1,times);mpu6050_interface_debug_print("mpu6050: fifo %d.\n",len);mpu6050_interface_debug_print("mpu6050: pitch[0] is %0.2fdeg.\n",gs_pitch[0]);mpu6050_interface_debug_print("mpu6050: roll[0] is %0.2fdeg.\n",gs_roll[0]);mpu6050_interface_debug_print("mpu6050: yaw[0] is %0.2fdeg.\n",gs_yaw[0]);mpu6050_interface_debug_print("mpu6050: acc x[0] is %0.2fg.\n",gs_accel_g[0][0]);mpu6050_interface_debug_print("mpu6050: acc y[0] is %0.2fg.\n",gs_accel_g[0][1]);mpu6050_interface_debug_print("mpu6050: acc z[0] is %0.2fg.\n",gs_accel_g[0][2]);mpu6050_interface_debug_print("mpu6050: gyro x[0] is %0.2fdps.\n",gs_gyro_dps[0][0]);mpu6050_interface_debug_print("mpu6050: gyro y[0] is %0.2fdps.\n",gs_gyro_dps[0][1]);mpu6050_interface_debug_print("mpu6050: gyro z[0] is %0.2fdps.\n",gs_gyro_dps[0][2]);/* delay 500 ms */mpu6050_interface_delay_ms(500); ..../* get the pedometer step count */res=mpu6050_dmp_get_pedometer_counter(&cnt);if (res!=0) { (void)mpu6050_dmp_deinit();g_gpio_irq=NULL; (void)gpio_interrupt_deinit();return1; } ...}.../* deinit */(void)mpu6050_dmp_deinit();g_gpio_irq=NULL;(void)gpio_interrupt_deinit();return0;
Online documents:https://www.libdriver.com/docs/mpu6050/index.html.
Offline documents: /doc/html/index.html.
Please refer to CONTRIBUTING.md.
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MPU6050 full function driver library for general MCU and Linux.