Motion Processing Unit. More...

#include <MPU.hpp>

Inheritance diagram for mpud::MPU:

Public Member Functions
Constructors / Destructor
	MPU ()
	Default Constructor. More...

	MPU (mpu_bus_t &bus)
	Contruct a MPU in the given communication bus. More...

	MPU (mpu_bus_t &bus, mpu_addr_handle_t addr)
	Construct a MPU in the given communication bus and address. More...

	~MPU ()
	Default Destructor, does nothing. More...

Basic
MPU &	setBus (mpu_bus_t &bus)
	Set communication bus. More...

MPU &	setAddr (mpu_addr_handle_t addr)
	Set I2C address or SPI device handle. More...

mpu_bus_t &	getBus ()
	Return communication bus object. More...

mpu_addr_handle_t	getAddr ()
	Return I2C address or SPI device handle. More...

esp_err_t	lastError ()
	Return last error code. More...

Setup
esp_err_t	initialize ()
	Initialize MPU device and set basic configurations. More...

esp_err_t	reset ()
	Reset internal registers and restore to default start-up state. More...

esp_err_t	setSleep (bool enable)
	Enable / disable sleep mode. More...

esp_err_t	testConnection ()
	Test connection with MPU. More...

esp_err_t	selfTest (selftest_t *result)
	Trigger gyro and accel hardware self-test. More...

esp_err_t	resetSignalPath ()
	Reset sensors signal path. More...

uint8_t	whoAmI ()
	Returns the value from WHO_AM_I register. More...

bool	getSleep ()
	Get current sleep state. More...

Main configurations
esp_err_t	setSampleRate (uint16_t rate)
	Set sample rate of data output. More...

esp_err_t	setClockSource (clock_src_t clockSrc)
	Select clock source. More...

esp_err_t	setDigitalLowPassFilter (dlpf_t dlpf)
	Configures Digital Low Pass Filter (DLPF) setting for both the gyroscope and accelerometer. More...

uint16_t	getSampleRate ()
	Retrieve sample rate divider and calculate the actual rate. More...

clock_src_t	getClockSource ()
	Return clock source. More...

dlpf_t	getDigitalLowPassFilter ()
	Return Digital Low Pass Filter configuration. More...

Power management
esp_err_t	setLowPowerAccelMode (bool enable)
	Enter Low Power Accelerometer mode. More...

esp_err_t	setLowPowerAccelRate (lp_accel_rate_t rate)
	Set Low Power Accelerometer frequency of wake-up. More...

lp_accel_rate_t	getLowPowerAccelRate ()
	Get Low Power Accelerometer frequency of wake-up. More...

bool	getLowPowerAccelMode ()
	Return Low Power Accelerometer state. More...

esp_err_t	setStandbyMode (stby_en_t mask)
	Configure sensors' standby mode. More...

stby_en_t	getStandbyMode ()
	Return Standby configuration. More...

Full-Scale Range
esp_err_t	setGyroFullScale (gyro_fs_t fsr)
	Select Gyroscope Full-scale range. More...

esp_err_t	setAccelFullScale (accel_fs_t fsr)
	Select Accelerometer Full-scale range. More...

gyro_fs_t	getGyroFullScale ()
	Return Gyroscope Full-scale range. More...

accel_fs_t	getAccelFullScale ()
	Return Accelerometer Full-scale range. More...

Offset / Bias
esp_err_t	setGyroOffset (raw_axes_t bias)
	Push biases to the gyro offset registers. More...

esp_err_t	setAccelOffset (raw_axes_t bias)
	Push biases to the accel offset registers. More...

raw_axes_t	getGyroOffset ()
	Return biases from the gyro offset registers. More...

raw_axes_t	getAccelOffset ()
	Return biases from accel offset registers. More...

esp_err_t	computeOffsets (raw_axes_t accel, raw_axes_t gyro)
	Compute Accelerometer and Gyroscope offsets. More...

Interrupt
esp_err_t	setInterruptConfig (int_config_t config)
	Configure the Interrupt pin (INT). More...

esp_err_t	setInterruptEnabled (int_en_t mask)
	Enable features to generate signal at Interrupt pin. More...

int_stat_t	getInterruptStatus ()
	Return the Interrupt status from INT_STATUS register. More...

int_config_t	getInterruptConfig ()
	Return Interrupt pin (INT) configuration. More...

int_en_t	getInterruptEnabled ()
	Return enabled features configured to generate signal at Interrupt pin. More...

FIFO
esp_err_t	setFIFOMode (fifo_mode_t mode)
	Change FIFO mode. More...

esp_err_t	setFIFOConfig (fifo_config_t config)
	Configure the sensors that will be written to the FIFO. More...

esp_err_t	setFIFOEnabled (bool enable)
	Enabled / disable FIFO module. More...

esp_err_t	resetFIFO ()
	Reset FIFO module. More...

uint16_t	getFIFOCount ()
	Return number of written bytes in the FIFO. More...

esp_err_t	readFIFO (size_t length, uint8_t *data)
	Read data contained in FIFO buffer. More...

esp_err_t	writeFIFO (size_t length, const uint8_t *data)
	Write data to FIFO buffer. More...

fifo_mode_t	getFIFOMode ()
	Return FIFO mode. More...

fifo_config_t	getFIFOConfig ()
	Return FIFO configuration. More...

bool	getFIFOEnabled ()
	Return FIFO module state. More...

Auxiliary I2C Master
esp_err_t	setAuxI2CConfig (const auxi2c_config_t &config)
	Configure the Auxiliary I2C Master. More...

esp_err_t	setAuxI2CEnabled (bool enable)
	Enable / disable Auxiliary I2C Master module. More...

esp_err_t	setAuxI2CSlaveConfig (const auxi2c_slv_config_t &config)
	Configure communication with a Slave connected to Auxiliary I2C bus. More...

esp_err_t	setAuxI2CSlaveEnabled (auxi2c_slv_t slave, bool enable)
	Enable the Auxiliary I2C module to transfer data with a slave at sample rate. More...

esp_err_t	setAuxI2CBypass (bool enable)
	Enable / disable Auxiliary I2C bypass mode. More...

esp_err_t	readAuxI2CRxData (size_t length, uint8_t *data, size_t skip=0)
	Read data from slaves connected to Auxiliar I2C bus. More...

esp_err_t	restartAuxI2C ()
	Restart Auxiliary I2C Master module, reset is asynchronous. More...

auxi2c_stat_t	getAuxI2CStatus ()
	Return Auxiliary I2C Master status from register I2C_MST_STATUS. More...

auxi2c_config_t	getAuxI2CConfig ()
	Get Auxiliary I2C Master configuration. More...

auxi2c_slv_config_t	getAuxI2CSlaveConfig (auxi2c_slv_t slave)
	Return configuration of a Aux I2C Slave. More...

bool	getAuxI2CEnabled ()
	Return Auxiliary I2C Master state. More...

bool	getAuxI2CSlaveEnabled (auxi2c_slv_t slave)
	Return enable state of a Aux I2C's Slave. More...

bool	getAuxI2CBypass ()
	Return Auxiliary I2C Master bypass mode state. More...

esp_err_t	auxI2CWriteByte (uint8_t devAddr, uint8_t regAddr, uint8_t data)
	Write to a slave a single byte just once (use for configuring a slave at initialization). More...

esp_err_t	auxI2CReadByte (uint8_t devAddr, uint8_t regAddr, uint8_t *data)
	Read a single byte frome slave just once (use for configuring a slave at initialization). More...

Motion Detection Interrupt
esp_err_t	setMotionDetectConfig (mot_config_t &config)
	Configure Motion-Detect or Wake-on-motion feature. More...

mot_config_t	getMotionDetectConfig ()
	Return Motion Detection Configuration. More...

esp_err_t	setMotionFeatureEnabled (bool enable)
	Enable/disable Motion modules (Motion detect, Zero-motion, Free-Fall). More...

bool	getMotionFeatureEnabled ()
	Return true if a Motion Dectection module is enabled. More...

esp_err_t	setZeroMotionConfig (zrmot_config_t &config)
	Configure Zero-Motion. More...

zrmot_config_t	getZeroMotionConfig ()
	Return Zero-Motion configuration. More...

esp_err_t	setFreeFallConfig (ff_config_t &config)
	Configure Free-Fall. More...

ff_config_t	getFreeFallConfig ()
	Return Free-Fall Configuration. More...

mot_stat_t	getMotionDetectStatus ()
	Return Motion Detection Status. More...

Compass \| Magnetometer
esp_err_t	compassInit ()
	Initialize Magnetometer sensor. More...

esp_err_t	compassTestConnection ()
	Test connection with Magnetometer by checking WHO_I_AM register. More...

esp_err_t	compassSetMode (mag_mode_t mode)
	Change magnetometer's measurement mode. More...

esp_err_t	compassGetAdjustment (uint8_t x, uint8_t y, uint8_t *z)
	Return Magnetometer's sensitivity adjustment data for each axis. More...

mag_mode_t	compassGetMode ()
	Return magnetometer's measurement mode. More...

uint8_t	compassWhoAmI ()
	Return value from WHO_I_AM register. More...

uint8_t	compassGetInfo ()
	Return value from magnetometer's INFO register. More...

esp_err_t	compassReadByte (uint8_t regAddr, uint8_t *data)
	Read a single byte from magnetometer. More...

esp_err_t	compassWriteByte (uint8_t regAddr, uint8_t data)
	Write a single byte to magnetometer. More...

bool	compassSelfTest (raw_axes_t *result=nullptr)
	Perform Compass self-test. More...

esp_err_t	compassReset ()
	Soft reset AK8963. More...

esp_err_t	compassSetSensitivity (mag_sensy_t sensy)
	Set magnetometer sensitivity. More...

mag_sensy_t	compassGetSensitivity ()
	Return magnetometer sensitivity. More...

Miscellaneous
esp_err_t	setFsyncConfig (int_lvl_t level)
	Configure the active level of FSYNC pin that will cause an interrupt. More...

esp_err_t	setFsyncEnabled (bool enable)
	Enable / disable FSYNC pin to cause an interrupt. More...

int_lvl_t	getFsyncConfig ()
	Return FSYNC pin active level configuration. More...

bool	getFsyncEnabled ()
	Return FSYNC enable state. More...

esp_err_t	setFchoice (fchoice_t fchoice)
	Select FCHOICE. More...

fchoice_t	getFchoice ()
	Return FCHOICE. More...

esp_err_t	setAuxVDDIOLevel (auxvddio_lvl_t level)
	The MPU-6050’s I/O logic levels are set to be either VDD or VLOGIC. More...

auxvddio_lvl_t	getAuxVDDIOLevel ()
	Return MPU-6050’s I/O logic levels. More...

Read / Write
Functions to perform direct read or write operation(s) to registers.
esp_err_t	readBit (uint8_t regAddr, uint8_t bitNum, uint8_t *data)
	Read a single bit from a register. More...

esp_err_t	readBits (uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data)
	Read a range of bits from a register. More...

esp_err_t	readByte (uint8_t regAddr, uint8_t *data)
	Read a single register. More...

esp_err_t	readBytes (uint8_t regAddr, size_t length, uint8_t *data)
	Read data from sequence of registers. More...

esp_err_t	writeBit (uint8_t regAddr, uint8_t bitNum, uint8_t data)
	Write a single bit to a register. More...

esp_err_t	writeBits (uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data)
	Write a range of bits to a register. More...

esp_err_t	writeByte (uint8_t regAddr, uint8_t data)
	Write a value to a register. More...

esp_err_t	writeBytes (uint8_t regAddr, size_t length, const uint8_t *data)
	Write a sequence to data to a sequence of registers. More...

esp_err_t	registerDump (uint8_t start=0x0, uint8_t end=0x7F)
	Print out register values for debugging purposes. More...

Sensor readings
esp_err_t	acceleration (raw_axes_t *accel)
	Read accelerometer raw data. More...

esp_err_t	acceleration (int16_t x, int16_t y, int16_t *z)
	Read accelerometer raw data. More...

esp_err_t	rotation (raw_axes_t *gyro)
	Read gyroscope raw data. More...

esp_err_t	rotation (int16_t x, int16_t y, int16_t *z)
	Read gyroscope raw data. More...

esp_err_t	temperature (int16_t *temp)
	Read temperature raw data. More...

esp_err_t	motion (raw_axes_t accel, raw_axes_t gyro)
	Read accelerometer and gyroscope data at once. More...

esp_err_t	heading (raw_axes_t *mag)
	Read compass data. More...

esp_err_t	heading (int16_t x, int16_t y, int16_t *z)
	Read compass data. More...

esp_err_t	motion (raw_axes_t accel, raw_axes_t gyro, raw_axes_t *mag)
	Read accelerometer, gyroscope, compass raw data. More...

esp_err_t	sensors (raw_axes_t accel, raw_axes_t gyro, int16_t *temp)
	Read data from all internal sensors. More...

esp_err_t	sensors (sensors_t *sensors, size_t extsens_len=0)
	Read data from all sensors, including external sensors in Aux I2C. More...

Protected Member Functions
esp_err_t	accelSelfTest (raw_axes_t &regularBias, raw_axes_t &selfTestBias, uint8_t *result)
	Accel Self-test. More...

esp_err_t	gyroSelfTest (raw_axes_t &regularBias, raw_axes_t &selfTestBias, uint8_t *result)
	Gyro Self-test. More...

esp_err_t	getBiases (accel_fs_t accelFS, gyro_fs_t gyroFS, raw_axes_t accelBias, raw_axes_t gyroBias, bool selftest)
	Compute the Biases in regular mode and self-test mode. More...

Protected Attributes
mpu_bus_t *	bus
	Communication bus pointer, I2C / SPI. More...

mpu_addr_handle_t	addr
	I2C address / SPI device handle. More...

uint8_t	buffer [16]
	Commom buffer for temporary data. More...

esp_err_t	err
	Holds last error code. More...

Detailed Description

Motion Processing Unit.

Constructor & Destructor Documentation

mpud::MPU::MPU ( )

inline

Default Constructor.

mpud::MPU::MPU ( mpu_bus_t & bus )

inlineexplicit

Contruct a MPU in the given communication bus.

Parameters

bus	Bus protocol object of type `I2Cbus` or `SPIbus`.

mpud::MPU::MPU	(	mpu_bus_t &	bus,
		mpu_addr_handle_t	addr
	)

inline

Construct a MPU in the given communication bus and address.

Parameters

bus	Bus protocol object of type `I2Cbus` or `SPIbus`.
addr	I2C address (`mpu_i2caddr_t`) or SPI device handle (`spi_device_handle_t`).

mpud::MPU::~MPU ( )

inlinedefault

Default Destructor, does nothing.

Member Function Documentation

esp_err_t mpud::MPU::acceleration ( raw_axes_t * accel )

Read accelerometer raw data.

esp_err_t mpud::MPU::acceleration	(	int16_t *	x,
		int16_t *	y,
		int16_t *	z
	)

Read accelerometer raw data.

esp_err_t mpud::MPU::accelSelfTest	(	raw_axes_t &	regularBias,
		raw_axes_t &	selfTestBias,
		uint8_t *	result
	)

protected

Accel Self-test.

Parameters

result self-test error for each axis (X=bit0, Y=bit1, Z=bit2). Zero is a pass.

Note: Bias should be in 16G format for MPU6050 and 2G for MPU6500 based models.

esp_err_t mpud::MPU::auxI2CReadByte	(	uint8_t	devAddr,
		uint8_t	regAddr,
		uint8_t *	data
	)

Read a single byte frome slave just once (use for configuring a slave at initialization).

This function uses Slave 4 to perform single transfers to the slave device on Aux I2C.
The byte will be transfered at first sample take, so when sample rate is at minimum (4 Hz) it may take up to a quarter of a second to start the transfer.

Attention: Auxiliary I2C Master must have already been configured before calling this function.

Returns

ESP_ERR_INVALID_STATE Auxiliary I2C Master not enabled;
ESP_ERR_NOT_FOUND Slave doesn't ACK the transfer;
ESP_FAIL Auxiliary I2C Master lost arbitration of the bus;
or other standard I2C driver error codes.

esp_err_t mpud::MPU::auxI2CWriteByte	(	uint8_t	devAddr,
		uint8_t	regAddr,
		uint8_t	data
	)

Write to a slave a single byte just once (use for configuring a slave at initialization).

This function uses Slave 4 to perform single transfers to the slave device on Aux I2C.
The byte will be transfered at first sample take, so when sample rate is at minimum (4 Hz) it may take up to a quarter of a second to start the transfer.

Attention: Auxiliary I2C Master must have already been configured before calling this function.

Returns

ESP_ERR_INVALID_STATE: Auxiliary I2C Master not enabled;
ESP_ERR_NOT_FOUND: Slave doesn't ACK the transfer;
ESP_FAIL: Auxiliary I2C Master lost arbitration of the bus;
or other standard I2C driver error codes.

esp_err_t mpud::MPU::compassGetAdjustment	(	uint8_t *	x,
		uint8_t *	y,
		uint8_t *	z
	)

Return Magnetometer's sensitivity adjustment data for each axis.

uint8_t mpud::MPU::compassGetInfo ( )

Return value from magnetometer's INFO register.

mag_mode_t mpud::MPU::compassGetMode ( )

Return magnetometer's measurement mode.

mag_sensy_t mpud::MPU::compassGetSensitivity ( )

Return magnetometer sensitivity.

esp_err_t mpud::MPU::compassInit ( )

Initialize Magnetometer sensor.

Initial configuration:

Mode: single measurement (permits variable sample rate).
Sensitivity: 0.15 uT/LSB = 16-bit output.

To disable the compass, call compassSetMode(MAG_MODE_POWER_DOWN).

esp_err_t mpud::MPU::compassReadByte	(	uint8_t	regAddr,
		uint8_t *	data
	)

Read a single byte from magnetometer.

How it's done:
It will check the communication protocol which the MPU is connected by.

I2C, Auxiliary I2C bus will set to bypass mode and the reading will be performed directly (faster).
SPI, the function will use Slave 4 of Auxiliary I2C bus to read the byte (slower).

esp_err_t mpud::MPU::compassReset ( )

Soft reset AK8963.

bool mpud::MPU::compassSelfTest ( raw_axes_t * result = nullptr )

Perform Compass self-test.

Bug:: Not fully functional yet.

Todo:: Elaborate comment. Add more tries.

esp_err_t mpud::MPU::compassSetMode ( mag_mode_t mode )

Change magnetometer's measurement mode.

Note

When user wants to change operation mode, transit to power-down mode first and then transit to other modes. After power-down mode is set, at least 100µs(Twat) is needed before setting another mode.
Setting to MAG_MODE_POWER_DOWN will disable readings from compass and disable (free) Aux I2C slaves 0 and 1. It will not disable Aux I2C Master I/F though! To enable back, use compassInit().

esp_err_t mpud::MPU::compassSetSensitivity ( mag_sensy_t sensy )

Set magnetometer sensitivity.

Options:

MAG_SENSITIVITY_0_6_uT: 0.6 uT/LSB = 14-bit output
MAG_SENSITIVITY_0_15_uT: 0.15 uT/LSB = 16-bit output

esp_err_t mpud::MPU::compassTestConnection ( )

Test connection with Magnetometer by checking WHO_I_AM register.

uint8_t mpud::MPU::compassWhoAmI ( )

Return value from WHO_I_AM register.

Should be 0x48 for AK8963 and AK8975.

esp_err_t mpud::MPU::compassWriteByte	(	uint8_t	regAddr,
		uint8_t	data
	)

Write a single byte to magnetometer.

How it's done:
It will check the communication protocol which the MPU is connected by.

I2C, Auxiliary I2C bus will set to bypass mode and the reading will be performed directly (faster).
SPI, the function will use Slave 4 of Auxiliary I2C bus to read the byte (slower).

esp_err_t mpud::MPU::computeOffsets	(	raw_axes_t *	accel,
		raw_axes_t *	gyro
	)

Compute Accelerometer and Gyroscope offsets.

This takes about ~400ms to compute offsets. When calculating the offsets the MPU must remain as horizontal as possible (0 degrees), facing up. It is better to call computeOffsets() before any configuration is done (better right after initialize()).

Note: Gyro offset output are LSB in 1000DPS format. Note: Accel offset output are LSB in 16G format.

accel_fs_t mpud::MPU::getAccelFullScale ( )

Return Accelerometer Full-scale range.

raw_axes_t mpud::MPU::getAccelOffset ( )

Return biases from accel offset registers.

This returns the biases with OTP values from factory trim added, so returned values will be different than that ones set with setAccelOffset().

Note: Bias output are LSB in +-16G format.

mpu_addr_handle_t mpud::MPU::getAddr ( )

inline

Return I2C address or SPI device handle.

bool mpud::MPU::getAuxI2CBypass ( )

Return Auxiliary I2C Master bypass mode state.

auxi2c_config_t mpud::MPU::getAuxI2CConfig ( )

Get Auxiliary I2C Master configuration.

bool mpud::MPU::getAuxI2CEnabled ( )

Return Auxiliary I2C Master state.

auxi2c_slv_config_t mpud::MPU::getAuxI2CSlaveConfig ( auxi2c_slv_t slave )

Return configuration of a Aux I2C Slave.

Parameters

slave slave number.

bool mpud::MPU::getAuxI2CSlaveEnabled ( auxi2c_slv_t slave )

Return enable state of a Aux I2C's Slave.

auxi2c_stat_t mpud::MPU::getAuxI2CStatus ( )

Return Auxiliary I2C Master status from register I2C_MST_STATUS.

Reading this register clear all its bits.

auxvddio_lvl_t mpud::MPU::getAuxVDDIOLevel ( )

Return MPU-6050’s I/O logic levels.

esp_err_t mpud::MPU::getBiases	(	accel_fs_t	accelFS,
		gyro_fs_t	gyroFS,
		raw_axes_t *	accelBias,
		raw_axes_t *	gyroBias,
		bool	selftest
	)

protected

Compute the Biases in regular mode and self-test mode.

Attention: When calculating the biases the MPU must remain as horizontal as possible (0 degrees), facing up. This algorithm takes about ~400ms to compute offsets.

mpu_bus_t & mpud::MPU::getBus ( )

inline

Return communication bus object.

clock_src_t mpud::MPU::getClockSource ( )

Return clock source.

dlpf_t mpud::MPU::getDigitalLowPassFilter ( )

Return Digital Low Pass Filter configuration.

fchoice_t mpud::MPU::getFchoice ( )

Return FCHOICE.

fifo_config_t mpud::MPU::getFIFOConfig ( )

Return FIFO configuration.

uint16_t mpud::MPU::getFIFOCount ( )

Return number of written bytes in the FIFO.

Note: FIFO overflow generates an interrupt which can be check with getInterruptStatus().

bool mpud::MPU::getFIFOEnabled ( )

Return FIFO module state.

fifo_mode_t mpud::MPU::getFIFOMode ( )

Return FIFO mode.

ff_config_t mpud::MPU::getFreeFallConfig ( )

Return Free-Fall Configuration.

int_lvl_t mpud::MPU::getFsyncConfig ( )

Return FSYNC pin active level configuration.

bool mpud::MPU::getFsyncEnabled ( )

Return FSYNC enable state.

gyro_fs_t mpud::MPU::getGyroFullScale ( )

Return Gyroscope Full-scale range.

raw_axes_t mpud::MPU::getGyroOffset ( )

Return biases from the gyro offset registers.

Note: Bias output are LSB in +-1000dps format.

int_config_t mpud::MPU::getInterruptConfig ( )

Return Interrupt pin (INT) configuration.

int_en_t mpud::MPU::getInterruptEnabled ( )

Return enabled features configured to generate signal at Interrupt pin.

int_stat_t mpud::MPU::getInterruptStatus ( )

Return the Interrupt status from INT_STATUS register.

Note: Reading this register, clear all bits.

bool mpud::MPU::getLowPowerAccelMode ( )

Return Low Power Accelerometer state.

Condition to return true:

CYCLE bit is 1
SLEEP bit is 0
TEMP_DIS bit is 1
STBY_XG, STBY_YG, STBY_ZG bits are 1
STBY_XA, STBY_YA, STBY_ZA bits are 0
FCHOICE is 0 (ACCEL_FCHOICE_B bit is 1) [MPU6500 / MPU9250 only]

lp_accel_rate_t mpud::MPU::getLowPowerAccelRate ( )

Get Low Power Accelerometer frequency of wake-up.

mot_config_t mpud::MPU::getMotionDetectConfig ( )

Return Motion Detection Configuration.

mot_stat_t mpud::MPU::getMotionDetectStatus ( )

Return Motion Detection Status.

Note: Reading this register clears all motion detection status bits.

bool mpud::MPU::getMotionFeatureEnabled ( )

Return true if a Motion Dectection module is enabled.

uint16_t mpud::MPU::getSampleRate ( )

Retrieve sample rate divider and calculate the actual rate.

bool mpud::MPU::getSleep ( )

Get current sleep state.

Returns

true: sleep enabled.
false: sleep disabled.

stby_en_t mpud::MPU::getStandbyMode ( )

Return Standby configuration.

zrmot_config_t mpud::MPU::getZeroMotionConfig ( )

Return Zero-Motion configuration.

esp_err_t mpud::MPU::gyroSelfTest	(	raw_axes_t &	regularBias,
		raw_axes_t &	selfTestBias,
		uint8_t *	result
	)

protected

Gyro Self-test.

Parameters

result Self-test error for each axis (X=bit0, Y=bit1, Z=bit2). Zero is a pass.

Note: Bias should be in 250DPS format for both MPU6050 and MPU6500 based models.

esp_err_t mpud::MPU::heading ( raw_axes_t * mag )

Read compass data.

esp_err_t mpud::MPU::heading	(	int16_t *	x,
		int16_t *	y,
		int16_t *	z
	)

Read compass data.

esp_err_t mpud::MPU::initialize ( )

Initialize MPU device and set basic configurations.

Init configuration:

Accel FSR: 4G
Gyro FSR: 500DPS
Sample rate: 100Hz
DLPF: 42Hz
INT pin: disabled
FIFO: disabled
Clock source: gyro PLL
For MPU9150 and MPU9250:
Aux I2C Master: enabled, clock: 400KHz
Compass: enabled on Aux I2C's Slave 0 and Slave 1

Note

A soft reset is performed first, which takes 100-200ms.
When using SPI, the primary I2C Slave module is disabled right away.

esp_err_t mpud::MPU::lastError ( )

inline

Return last error code.

esp_err_t mpud::MPU::motion	(	raw_axes_t *	accel,
		raw_axes_t *	gyro
	)

Read accelerometer and gyroscope data at once.

esp_err_t mpud::MPU::motion	(	raw_axes_t *	accel,
		raw_axes_t *	gyro,
		raw_axes_t *	mag
	)

Read accelerometer, gyroscope, compass raw data.

esp_err_t mpud::MPU::readAuxI2CRxData	(	size_t	length,
		uint8_t *	data,
		size_t	skip = `0`
	)

Read data from slaves connected to Auxiliar I2C bus.

Data is placed in these external sensor data registers according to I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39, 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as defined in Register 25) or delayed rate (if specified in Register 52 and 103). During each sample cycle, slave reads are performed in order of Slave number. If all slaves are enabled with more than zero bytes to be read, the order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.

If the sum of the read lengths of all SLVx transactions exceed the number of available EXT_SENS_DATA registers, the excess bytes will be dropped. There are 24 EXT_SENS_DATA registers and hence the total read lengths between all the slaves cannot be greater than 24 or some bytes will be lost.

Attention: Set skip to 8 when using compass, because compass data takes up the first 8 bytes.

esp_err_t mpud::MPU::readBit	(	uint8_t	regAddr,
		uint8_t	bitNum,
		uint8_t *	data
	)

inline

Read a single bit from a register.

esp_err_t mpud::MPU::readBits	(	uint8_t	regAddr,
		uint8_t	bitStart,
		uint8_t	length,
		uint8_t *	data
	)

inline

Read a range of bits from a register.

esp_err_t mpud::MPU::readByte	(	uint8_t	regAddr,
		uint8_t *	data
	)

inline

Read a single register.

esp_err_t mpud::MPU::readBytes	(	uint8_t	regAddr,
		size_t	length,
		uint8_t *	data
	)

inline

Read data from sequence of registers.

esp_err_t mpud::MPU::readFIFO	(	size_t	length,
		uint8_t *	data
	)

Read data contained in FIFO buffer.

esp_err_t mpud::MPU::registerDump	(	uint8_t	start = `0x0`,
		uint8_t	end = `0x7F`
	)

Print out register values for debugging purposes.

Parameters

start	first register number.
end	last register number.

esp_err_t mpud::MPU::reset ( )

Reset internal registers and restore to default start-up state.

Note

This function delays 100ms when using I2C and 200ms when using SPI.
It does not initialize the MPU again, just call initialize() instead.

esp_err_t mpud::MPU::resetFIFO ( )

Reset FIFO module.

Zero FIFO count, reset is asynchronous.
The bit auto clears after one clock cycle.

esp_err_t mpud::MPU::resetSignalPath ( )

Reset sensors signal path.

Reset all gyro digital signal path, accel digital signal path, and temp digital signal path. This also clears all the sensor registers.

Note: This function delays 100 ms, needed for reset to complete.

esp_err_t mpud::MPU::restartAuxI2C ( )

Restart Auxiliary I2C Master module, reset is asynchronous.

This bit (I2C_MST_RST) should only be set when the I2C master has hung. If this bit is set during an active I2C master transaction, the I2C slave will hang, which will require the host to reset the slave.

esp_err_t mpud::MPU::rotation ( raw_axes_t * gyro )

Read gyroscope raw data.

esp_err_t mpud::MPU::rotation	(	int16_t *	x,
		int16_t *	y,
		int16_t *	z
	)

Read gyroscope raw data.

esp_err_t mpud::MPU::selfTest ( selftest_t * result )

Trigger gyro and accel hardware self-test.

Attention: when calling this function, the MPU must remain as horizontal as possible (0 degrees), facing up.

Parameters

result Should be ZERO if gyro and accel passed.

Todo:: Elaborate doc.

esp_err_t mpud::MPU::sensors	(	raw_axes_t *	accel,
		raw_axes_t *	gyro,
		int16_t *	temp
	)

Read data from all internal sensors.

esp_err_t mpud::MPU::sensors	(	sensors_t *	sensors,
		size_t	extsens_len = `0`
	)

Read data from all sensors, including external sensors in Aux I2C.

esp_err_t mpud::MPU::setAccelFullScale ( accel_fs_t fsr )

Select Accelerometer Full-scale range.

esp_err_t mpud::MPU::setAccelOffset ( raw_axes_t bias )

Push biases to the accel offset registers.

This function expects biases relative to the current sensor output, and these biases will be added to the factory-supplied values.

Note: Bias inputs are LSB in +-16G format.

MPU & mpud::MPU::setAddr ( mpu_addr_handle_t addr )

inline

Set I2C address or SPI device handle.

Parameters

addr	I2C address (`mpu_i2caddr_t`) or SPI device handle (`spi_device_handle_t`).

esp_err_t mpud::MPU::setAuxI2CBypass ( bool enable )

Enable / disable Auxiliary I2C bypass mode.

Parameters

enable

true: Auxiliar I2C Master I/F is disabled, and Bypass enabled.
false: Bypass is disabled, but the Auxiliar I2C Master I/F is not enabled back, if needed, enabled it again with setAuxI2CmasterEnabled().

esp_err_t mpud::MPU::setAuxI2CConfig ( const auxi2c_config_t & config )

Configure the Auxiliary I2C Master.

Note: For [MPU9150, MPU9250]: The Auxiliary I2C is configured in the initialization stage to connect with the compass in Slave 0 and Slave 1.

esp_err_t mpud::MPU::setAuxI2CEnabled ( bool enable )

Enable / disable Auxiliary I2C Master module.

esp_err_t mpud::MPU::setAuxI2CSlaveConfig ( const auxi2c_slv_config_t & config )

Configure communication with a Slave connected to Auxiliary I2C bus.

esp_err_t mpud::MPU::setAuxI2CSlaveEnabled	(	auxi2c_slv_t	slave,
		bool	enable
	)

Enable the Auxiliary I2C module to transfer data with a slave at sample rate.

esp_err_t mpud::MPU::setAuxVDDIOLevel ( auxvddio_lvl_t level )

The MPU-6050’s I/O logic levels are set to be either VDD or VLOGIC.

VLOGIC may be set to be equal to VDD or to another voltage. However, VLOGIC must be ≤ VDD at all times. When AUX_VDDIO is set to 0 (its power-on-reset value), VLOGIC is the power supply voltage for both the microprocessor system bus and the auxiliary I C bus. When AUX_VDDIO is set to 1, VLOGIC is the power supply voltage for the microprocessor system bus and VDD is the supply for the auxiliary I2C bus

MPU & mpud::MPU::setBus ( mpu_bus_t & bus )

inline

Set communication bus.

Parameters

bus	Bus protocol object of type `I2Cbus` or `SPIbus`.

esp_err_t mpud::MPU::setClockSource ( clock_src_t clockSrc )

Select clock source.

Note: The gyro PLL is better than internal clock.

Parameters

clockSrc clock source

esp_err_t mpud::MPU::setDigitalLowPassFilter ( dlpf_t dlpf )

Configures Digital Low Pass Filter (DLPF) setting for both the gyroscope and accelerometer.

Parameters

dlpf	digital low-pass filter value

esp_err_t mpud::MPU::setFchoice ( fchoice_t fchoice )

Select FCHOICE.

Dev note: FCHOICE is the inverted value of FCHOICE_B (e.g. FCHOICE=2b’00 is same as FCHOICE_B=2b’11). Reset value is FCHOICE_3

esp_err_t mpud::MPU::setFIFOConfig ( fifo_config_t config )

Configure the sensors that will be written to the FIFO.

esp_err_t mpud::MPU::setFIFOEnabled ( bool enable )

Enabled / disable FIFO module.

esp_err_t mpud::MPU::setFIFOMode ( fifo_mode_t mode )

Change FIFO mode.

Options: FIFO_MODE_OVERWRITE: When the fifo is full, additional writes will be written to the fifo,replacing the oldest data. FIFO_MODE_STOP_FULL: When the fifo is full, additional writes will not be written to fifo.

esp_err_t mpud::MPU::setFreeFallConfig ( ff_config_t & config )

Configure Free-Fall.

Free fall is detected by checking if the accelerometer measurements from all 3 axes have an absolute value below a user-programmable threshold (acceleration threshold). For each sample where this condition is true (a qualifying sample), a counter is incremented. For each sample where this condition is false (a non- qualifying sample), the counter is decremented. Once the counter reaches a user-programmable threshold (the counter threshold), the Free Fall interrupt is triggered and a flag is set. The flag is cleared once the counter has decremented to zero. The counter does not increment above the counter threshold or decrement below zero.

Note: Enable by calling setMotionFeatureEnabled().

esp_err_t mpud::MPU::setFsyncConfig ( int_lvl_t level )

Configure the active level of FSYNC pin that will cause an interrupt.

Use setFsyncEnabled() to enable / disable this interrupt.

esp_err_t mpud::MPU::setFsyncEnabled ( bool enable )

Enable / disable FSYNC pin to cause an interrupt.

Note

The interrupt status is located in I2C_MST_STATUS register, so use the method getAuxI2CStatus() which reads this register to get FSYNC status. Keep in mind that a read from I2C_MST_STATUS register clears all its status bits, so take care to miss status bits when using Auxiliary I2C bus too.
It is possible to enable the FSYNC interrupt propagate to INT pin with setInterruptEnabled(), then the status can also be read with getInterruptStatus().

See Also: setFsyncConfig().

esp_err_t mpud::MPU::setGyroFullScale ( gyro_fs_t fsr )

Select Gyroscope Full-scale range.

esp_err_t mpud::MPU::setGyroOffset ( raw_axes_t bias )

Push biases to the gyro offset registers.

This function expects biases relative to the current sensor output, and these biases will be added to the factory-supplied values.

Note: Bias inputs are LSB in +-1000dps format.

esp_err_t mpud::MPU::setInterruptConfig ( int_config_t config )

Configure the Interrupt pin (INT).

Parameters

config configuration desired.

esp_err_t mpud::MPU::setInterruptEnabled ( int_en_t mask )

Enable features to generate signal at Interrupt pin.

Parameters

mask	ORed features.

esp_err_t mpud::MPU::setLowPowerAccelMode ( bool enable )

Enter Low Power Accelerometer mode.

In low-power accel mode, the chip goes to sleep and only wakes up to sample the accelerometer at a certain frequency. See setLowPowerAccelRate() to set the frequency.

Parameters

enable

value

This function does the following to enable:
- Set CYCLE bit to 1
- Set SLEEP bit to 0
- Set TEMP_DIS bit to 1
- Set STBY_XG, STBY_YG, STBY_ZG bits to 1
- Set STBY_XA, STBY_YA, STBY_ZA bits to 0
- Set FCHOICE to 0 (ACCEL_FCHOICE_B bit to 1) [MPU6500 / MPU9250 only]
- Disable Auxiliary I2C Master I/F
This function does the following to disable:
- Set CYCLE bit to 0
- Set TEMP_DIS bit to 0
- Set STBY_XG, STBY_YG, STBY_ZG bits to 0
- Set STBY_XA, STBY_YA, STBY_ZA bits to 0
- Set FCHOICE to 3 (ACCEL_FCHOICE_B bit to 0) [MPU6500 / MPU9250 only]
- Enable Auxiliary I2C Master I/F

esp_err_t mpud::MPU::setLowPowerAccelRate ( lp_accel_rate_t rate )

Set Low Power Accelerometer frequency of wake-up.

esp_err_t mpud::MPU::setMotionDetectConfig ( mot_config_t & config )

Configure Motion-Detect or Wake-on-motion feature.

The behaviour of this feature is very different between the MPU6050 (MPU9150) and the MPU6500 (MPU9250). Each chip's version of this feature is explained below.

[MPU6050, MPU6000, MPU9150]: Accelerometer measurements are passed through a configurable digital high pass filter (DHPF) in order to eliminate bias due to gravity. A qualifying motion sample is one where the high passed sample from any axis has an absolute value exceeding a user-programmable threshold. A counter increments for each qualifying sample, and decrements for each non-qualifying sample. Once the counter reaches a user-programmable counter threshold, a motion interrupt is triggered. The axis and polarity which caused the interrupt to be triggered is flagged in the MOT_DETECT_STATUS register.

[MPU6500, MPU9250]: Unlike the MPU6050 version, the hardware does not "lock in" a reference sample. The hardware monitors the accel data and detects any large change over a short period of time. A qualifying motion sample is one where the high passed sample from any axis has an absolute value exceeding the threshold. The hardware motion threshold can be between 4mg and 1020mg in 4mg increments.

Note

It is possible to enable wake-on-motion mode by doing the following:

Enter Low Power Accelerometer mode with setLowPowerAccelMode();
Select the wake-up rate with setLowPowerAccelRate();
Configure motion-detect interrupt with setMotionDetectConfig();
Enable the motion detection module with setMotionFeatureEnabled();

esp_err_t mpud::MPU::setMotionFeatureEnabled ( bool enable )

Enable/disable Motion modules (Motion detect, Zero-motion, Free-Fall).

Attention: The configurations must've already been set with setMotionDetectConfig() before enabling the module!

Note

Call getMotionDetectStatus() to find out which axis generated motion interrupt. [MPU6000, MPU6050, MPU9150].
It is recommended to set the Motion Interrupt to propagate to the INT pin. To do that, use setInterruptEnabled().

Parameters

enable

On true, this function modifies the DLPF, put gyro and temperature in standby, and disable Auxiliary I2C Master I/F.
On false, this function sets DLPF to 42Hz and enables Auxiliary I2C master I/F.

esp_err_t mpud::MPU::setSampleRate ( uint16_t rate )

Set sample rate of data output.

Sample rate controls sensor data output rate and FIFO sample rate. This is the update rate of sensor register.
Formula: Sample Rate = Internal Output Rate / (1 + SMPLRT_DIV)

Parameters

rate	4Hz ~ 1KHz For sample rate 8KHz: set digital low pass filter to DLPF_256HZ_NOLPF. For sample rate 32KHZ [MPU6500 / MPU9250]: set fchoice to FCHOICE_0, see setFchoice().

Note

For MPU9150 & MPU9250:

When using compass, this function alters Aux I2C Master sample_delay property to adjust the compass sample rate. (also, wait_for_es property to adjust interrupt).
If sample rate lesser than 100 Hz, data-ready interrupt will wait for compass data.
If sample rate greater than 100 Hz, data-ready interrupt will not be delayed by the compass.

esp_err_t mpud::MPU::setSleep ( bool enable )

Enable / disable sleep mode.

Parameters

enable enable value

esp_err_t mpud::MPU::setStandbyMode ( stby_en_t mask )

Configure sensors' standby mode.

esp_err_t mpud::MPU::setZeroMotionConfig ( zrmot_config_t & config )

Configure Zero-Motion.

The Zero Motion detection capability uses the digital high pass filter (DHPF) and a similar threshold scheme to that of Free Fall detection. Each axis of the high passed accelerometer measurement must have an absolute value less than a threshold specified in the ZRMOT_THR register, which can be increased in 1 mg increments. Each time a motion sample meets this condition, a counter increments. When this counter reaches a threshold specified in ZRMOT_DUR, an interrupt is generated.

Unlike Free Fall or Motion detection, Zero Motion detection triggers an interrupt both when Zero Motion is first detected and when Zero Motion is no longer detected. While Free Fall and Motion are indicated with a flag which clears after being read, reading the state of the Zero Motion detected from the MOT_DETECT_STATUS register does not clear its status.

Note: Enable by calling setMotionFeatureEnabled();

esp_err_t mpud::MPU::temperature ( int16_t * temp )

Read temperature raw data.

esp_err_t mpud::MPU::testConnection ( )

Test connection with MPU.

It reads the WHO_AM_IM register and check its value against the correct chip model.

Returns

ESP_OK: The MPU is connected and matchs the model.
ESP_ERR_NOT_FOUND: A device is connect, but does not match the chip selected in menuconfig.
May return other communication bus errors. e.g: ESP_FAIL, ESP_ERR_TIMEOUT.

uint8_t mpud::MPU::whoAmI ( )

Returns the value from WHO_AM_I register.

esp_err_t mpud::MPU::writeBit	(	uint8_t	regAddr,
		uint8_t	bitNum,
		uint8_t	data
	)

inline

Write a single bit to a register.

esp_err_t mpud::MPU::writeBits	(	uint8_t	regAddr,
		uint8_t	bitStart,
		uint8_t	length,
		uint8_t	data
	)

inline

Write a range of bits to a register.

esp_err_t mpud::MPU::writeByte	(	uint8_t	regAddr,
		uint8_t	data
	)

inline

Write a value to a register.

esp_err_t mpud::MPU::writeBytes	(	uint8_t	regAddr,
		size_t	length,
		const uint8_t *	data
	)

inline

Write a sequence to data to a sequence of registers.

esp_err_t mpud::MPU::writeFIFO	(	size_t	length,
		const uint8_t *	data
	)

Write data to FIFO buffer.

Member Data Documentation

mpu_addr_handle_t mpud::MPU::addr

protected

I2C address / SPI device handle.

uint8_t mpud::MPU::buffer[16]

protected

Commom buffer for temporary data.

mpu_bus_t* mpud::MPU::bus

protected

Communication bus pointer, I2C / SPI.

esp_err_t mpud::MPU::err

protected

Holds last error code.

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

/home/travis/build/natanaeljr/esp32-MPU-driver/include/MPU.hpp
/home/travis/build/natanaeljr/esp32-MPU-driver/src/MPU.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation