I2C device driver for the MPU6050 gyroscope/accelerometer chip. More...

#include <fastarduino/devices/mpu6050.h>

Inheritance diagram for devices::magneto::MPU6050< MANAGER >:

Collaboration diagram for devices::magneto::MPU6050< MANAGER >:

Classes
class	BeginFuture
	Create a future to be used by asynchronous method begin(BeginFuture&). More...

class	EndFuture
	Create a future to be used by asynchronous method end(EndFuture&). More...

class	FifoBeginFuture
	Create a future to be used by asynchronous method begin(FifoBeginFuture&). More...

class	ResetFuture
	Create a future to be used by asynchronous method reset(ResetFuture&). More...

Public Types
using	GyroFuture = Sensor3DFuture< GYRO_XOUT >
	Create a future to be used by asynchronous method gyro_measures(GyroFuture&). More...

using	TemperatureFuture = TReadRegisterFuture< TEMP_OUT, int16_t >
	Create a future to be used by asynchronous method temperature(TemperatureFuture&). More...

using	AccelFuture = Sensor3DFuture< ACCEL_XOUT >
	Create a future to be used by asynchronous method accel_measures(AccelFuture&). More...

using	AllMeasuresFuture = TReadRegisterFuture< ACCEL_XOUT, AllSensors, functor::ChangeEndianness< AllSensors, int16_t > >
	Create a future to be used by asynchronous method all_measures(AllMeasuresFuture&). More...

using	InterruptStatusFuture = TReadRegisterFuture< INT_STATUS, INTStatus >
	Create a future to be used by asynchronous method interrupt_status(InterruptStatusFuture&). More...

using	ResetFifoFuture = TWriteRegisterFuture< USER_CTRL, uint8_t, functor::Constant< uint8_t, FIFO_ENABLE\|FIFO_RESET > >
	Create a future to be used by asynchronous method reset_fifo(ResetFifoFuture&). More...

using	FifoCountFuture = TReadRegisterFuture< FIFO_COUNT, uint16_t >
	Create a future to be used by asynchronous method fifo_count(FifoCountFuture&). More...

template<typename T >
using	FifoPopFuture = TReadRegisterFuture< FIFO_R_W, T, functor::ChangeEndianness< T, int16_t > >
	Create a future to be used by asynchronous method fifo_pop(FifoPopFuture<T>&). More...

using	FifoPushFuture = TWriteRegisterFuture< FIFO_R_W >
	Create a future to be used by asynchronous method fifo_push(FifoPushFuture&). More...

Public Types inherited from i2c::I2CDevice< MANAGER >
using	MANAGER = MANAGER
	the type of I2C Manager that can handle this device. More...

Public Member Functions
	MPU6050 (MANAGER &manager, AD0 ad0=AD0::LOW)
	Create a new device driver for a MPU6050 chip. More...

int	begin (BeginFuture &future)
	Start operation of this gyroscope/accelerometer chip. More...

int	begin (FifoBeginFuture &future)
	Start operation of this gyroscope/accelerometer chip. More...

int	end (EndFuture &future) INLINE
	Put the chip to sleep mode (low-power mode); stops sampling operations if any. More...

int	reset (ResetFuture &future) INLINE
	Reset the chip (register map §4.28). More...

int	gyro_measures (GyroFuture &future)
	Get latest gyroscope measurements from the device (register map §4.19). More...

int	temperature (TemperatureFuture &future)
	Get latest chip temperature measurement (register map §4.18). More...

int	accel_measures (AccelFuture &future)
	Get latest accelerometer measurements from the device (register map §4.17). More...

int	all_measures (AllMeasuresFuture &future)
	Get latest measurements of all device sensors (gyroscope, accelerometer, temperature). More...

int	interrupt_status (InterruptStatusFuture &future)
	Get the interrupt status (register map §4.16) after an interrupt has occurred. More...

int	reset_fifo (ResetFifoFuture &future)
	Reset the FIFO buffer (parameter map §4.27). More...

int	fifo_count (FifoCountFuture &future)
	Get the number of bytes currently stored in the FIFO buffer (register map §4.30). More...

template<typename T >
int	fifo_pop (FifoPopFuture< T > &future)
	Get one sample out of the FIFO buffer (register map §4.31). More...

int	fifo_push (FifoPushFuture &future)
	Push one byte to the FIFO buffer (register map §4.31). More...

bool	begin (GyroRange gyro_range=GyroRange::RANGE_250, AccelRange accel_range=AccelRange::RANGE_2G, DLPF low_pass_filter=DLPF::ACCEL_BW_260HZ, ClockSelect clock_select=ClockSelect::INTERNAL_8MHZ)
	Start operation of this gyroscope/accelerometer chip. More...

bool	begin (FIFOEnable fifo_enable, INTEnable int_enable, uint8_t sample_rate_divider, GyroRange gyro_range=GyroRange::RANGE_250, AccelRange accel_range=AccelRange::RANGE_2G, DLPF low_pass_filter=DLPF::ACCEL_BW_260HZ, ClockSelect clock_select=ClockSelect::INTERNAL_8MHZ)
	Start operation of this gyroscope/accelerometer chip. More...

bool	end () INLINE
	Put the chip to sleep mode (low-power mode); stops sampling operations if any. More...

bool	reset () INLINE
	Reset the chip (register map §4.28). More...

bool	gyro_measures (Sensor3D &gyro)
	Get latest gyroscope measurements from the device (register map §4.19). More...

int16_t	temperature ()
	Get latest chip temperature measurement (register map §4.18). More...

bool	accel_measures (Sensor3D &accel)
	Get latest accelerometer measurements from the device (register map §4.17). More...

bool	all_measures (AllSensors &sensors)
	Get latest measurements of all device sensors (gyroscope, accelerometer, temperature). More...

INTStatus	interrupt_status ()
	Get the interrupt status (register map §4.16) after an interrupt has occurred. More...

bool	reset_fifo ()
	Reset the FIFO buffer (parameter map §4.27). More...

uint16_t	fifo_count ()
	Get the number of bytes currently stored in the FIFO buffer (register map §4.30). More...

template<typename T >
bool	fifo_pop (T &output)
	Get one sample out of the FIFO buffer (register map §4.31). More...

bool	fifo_push (uint8_t data)
	Push one byte to the FIFO buffer (register map §4.31). More...

Static Public Member Functions
static constexpr int16_t	convert_temp_to_centi_degrees (int16_t temp)
	Convert the raw temperature obtained from `temperature()` to centi-degrees Celsius. More...

Additional Inherited Members
Protected Types inherited from i2c::I2CDevice< MANAGER >
using	ABSTRACT_FUTURE = typename MANAGER::ABSTRACT_FUTURE
	The abstract base class of all futures to be defined for a device. More...

using	FUTURE = typename MANAGER::template FUTURE< OUT, IN >
	The template base class of all futures to be defined for a device. More...

Protected Member Functions inherited from i2c::I2CDevice< MANAGER >
	I2CDevice (MANAGER &manager, uint8_t device, UNUSED Mode< MODE > mode, bool auto_stop)
	Create a new I2C device. More...

	I2CDevice (const I2CDevice &)=delete

I2CDevice &	operator= (const I2CDevice &)=delete

void	set_device (uint8_t device)
	Change the I2C address of this device. More...

int	launch_commands (ABSTRACT_FUTURE &future, utils::range< I2CLightCommand > commands)
	Launch execution (asynchronously or synchronously, depending on MANAGER) of a chain of I2CLightCommand items (constructed with `read()` and `write()` methods). More...

int	async_read (F &future, bool stop=true)
	Helper method that asynchronously launches I2C commands for a simple Future performing one write followed by one read (typically for device register reading). More...

bool	sync_read (T &result)
	Helper method that launches I2C commands for a simple Future performing one write followed by one read (typically for device register reading); the method blocks until the end of the I2C transaction. More...

int	async_write (F &future, bool stop=true)
	Helper method that asynchronously launches I2C commands for a simple Future performing only one write (typically for device register writing). More...

int	async_multi_write (F &future, bool stop=true)
	Helper method that asynchronously launches I2C commands for a simple Future performing several register writes. More...

bool	sync_write (const T &value)
	Helper method that launches I2C commands for a simple Future performing only one write (typically for device register writing); the method blocks until the end of the I2C transaction. More...

bool	sync_write ()
	Helper method that launches I2C commands for a simple Future performing only one write (typically for device register writing); the method blocks until the end of the I2C transaction. More...

Static Protected Member Functions inherited from i2c::I2CDevice< MANAGER >
static constexpr I2CLightCommand	read (uint8_t read_count=0, bool finish_future=false, bool stop=false)
	Build a read I2CLightCommand that can be later pushed to the I2C Manager for proper handling. More...

static constexpr I2CLightCommand	write (uint8_t write_count=0, bool finish_future=false, bool stop=false)
	Build a write I2CLightCommand that can be later pushed to the I2C Manager for proper handling. More...

Detailed Description

template<typename MANAGER>
class devices::magneto::MPU6050< MANAGER >

I2C device driver for the MPU6050 gyroscope/accelerometer chip.

Note that the I2C auxiliary mode of the chip is not supported by the driver.

Template Parameters

MANAGER one of FastArduino available I2C Manager

Definition at line 282 of file mpu6050.h.

Member Typedef Documentation

◆ GyroFuture

template<typename MANAGER >

using devices::magneto::MPU6050< MANAGER >::GyroFuture = Sensor3DFuture<GYRO_XOUT>

Create a future to be used by asynchronous method gyro_measures(GyroFuture&).

This is used by gyro_measures() to asynchronously launch the I2C transaction, and it shall be used by the caller to determine when the I2C transaction is finished.

See also: gyro_measures(GyroFuture&)

Definition at line 564 of file mpu6050.h.

◆ TemperatureFuture

template<typename MANAGER >

using devices::magneto::MPU6050< MANAGER >::TemperatureFuture = TReadRegisterFuture<TEMP_OUT, int16_t>

Create a future to be used by asynchronous method temperature(TemperatureFuture&).

This is used by temperature() to asynchronously launch the I2C transaction, and it shall be used by the caller to determine when the I2C transaction is finished.

The value returned by get() is internal raw value from the chip, it can be converted to human-readable temperature with convert_temp_to_centi_degrees().

See also: temperature(TemperatureFuture&)

Definition at line 598 of file mpu6050.h.

◆ AccelFuture

template<typename MANAGER >

using devices::magneto::MPU6050< MANAGER >::AccelFuture = Sensor3DFuture<ACCEL_XOUT>

Create a future to be used by asynchronous method accel_measures(AccelFuture&).

This is used by accel_measures() to asynchronously launch the I2C transaction, and it shall be used by the caller to determine when the I2C transaction is finished.

See also: accel_measures(AccelFuture&)

Definition at line 641 of file mpu6050.h.

◆ AllMeasuresFuture

template<typename MANAGER >

using devices::magneto::MPU6050< MANAGER >::AllMeasuresFuture = TReadRegisterFuture<ACCEL_XOUT, AllSensors, functor::ChangeEndianness<AllSensors, int16_t> >

Create a future to be used by asynchronous method all_measures(AllMeasuresFuture&).

This is used by all_measures() to asynchronously launch the I2C transaction, and it shall be used by the caller to determine when the I2C transaction is finished.

See also: all_measures(AllMeasuresFuture&)

Definition at line 672 of file mpu6050.h.

◆ InterruptStatusFuture

template<typename MANAGER >

using devices::magneto::MPU6050< MANAGER >::InterruptStatusFuture = TReadRegisterFuture<INT_STATUS, INTStatus>

Create a future to be used by asynchronous method interrupt_status(InterruptStatusFuture&).

This is used by interrupt_status() to asynchronously launch the I2C transaction, and it shall be used by the caller to determine when the I2C transaction is finished.

See also: interrupt_status(InterruptStatusFuture&)

Definition at line 705 of file mpu6050.h.

◆ ResetFifoFuture

template<typename MANAGER >

using devices::magneto::MPU6050< MANAGER >::ResetFifoFuture = TWriteRegisterFuture<USER_CTRL, uint8_t, functor::Constant<uint8_t, FIFO_ENABLE | FIFO_RESET> >

Create a future to be used by asynchronous method reset_fifo(ResetFifoFuture&).

This is used by reset_fifo() to asynchronously launch the I2C transaction, and it shall be used by the caller to determine when the I2C transaction is finished.

See also: reset_fifo(ResetFifoFuture&)

Definition at line 738 of file mpu6050.h.

◆ FifoCountFuture

template<typename MANAGER >

using devices::magneto::MPU6050< MANAGER >::FifoCountFuture = TReadRegisterFuture<FIFO_COUNT, uint16_t>

Create a future to be used by asynchronous method fifo_count(FifoCountFuture&).

This is used by fifo_count() to asynchronously launch the I2C transaction, and it shall be used by the caller to determine when the I2C transaction is finished.

See also: fifo_count(FifoCountFuture&)

Definition at line 770 of file mpu6050.h.

◆ FifoPopFuture

template<typename MANAGER >

template<typename T >

using devices::magneto::MPU6050< MANAGER >::FifoPopFuture = TReadRegisterFuture<FIFO_R_W, T, functor::ChangeEndianness<T, int16_t> >

Create a future to be used by asynchronous method fifo_pop(FifoPopFuture<T>&).

This is used by fifo_pop(FifoPopFuture<T>&) to asynchronously launch the I2C transaction, and it shall be used by the caller to determine when the I2C transaction is finished.

Template Parameters

T	the type of measurement to read from FIFO; shall be one of `Sensor3D` (gyroscope or accelerometer measure), `int16_t` (temperature), `AllSensors` (eveything), or a combination of these.

See also: fifo_pop(FifoPopFuture<T>&); Sensor3D; AllSensors

Definition at line 812 of file mpu6050.h.

◆ FifoPushFuture

template<typename MANAGER >

using devices::magneto::MPU6050< MANAGER >::FifoPushFuture = TWriteRegisterFuture<FIFO_R_W>

Create a future to be used by asynchronous method fifo_push(FifoPushFuture&).

This is used by fifo_push(FifoPushFuture&) to asynchronously launch the I2C transaction, and it shall be used by the caller to determine when the I2C transaction is finished.

Parameters

data	the byte value to be pushed

See also: fifo_push(FifoPushFuture&)

Definition at line 853 of file mpu6050.h.

Constructor & Destructor Documentation

◆ MPU6050()

template<typename MANAGER >

devices::magneto::MPU6050< MANAGER >::MPU6050	(	MANAGER &	manager,
		AD0	ad0 = `AD0::LOW`
	)

inlineexplicit

Create a new device driver for a MPU6050 chip.

Parameters

manager	reference to a suitable MANAGER for this device
ad0	the level of the AD0 pin, which fixes the chip address on the I2C bus

See also: AD0

Definition at line 336 of file mpu6050.h.

Member Function Documentation

◆ begin() [1/4]

template<typename MANAGER >

int devices::magneto::MPU6050< MANAGER >::begin ( BeginFuture & future )

inline

Start operation of this gyroscope/accelerometer chip.

Once this method has been called, and future is ready, you may use other methods such as gyro_measures() to get sensors measurements from the device.

Warning: Asynchronous API!

Parameters

future a BeginFuture passed by the caller, that will be updated once the current I2C action is finished.

Return values

0	if no problem occurred during the preparation of I2C transaction

Returns: an error code if something bad happened; for an asynchronous I2C Manager, this typically happens when its queue of I2CCommand is full; for a synchronous I2C Manager, any error on the I2C bus or on the target device will trigger an error here. the list of possible errors is in namespace errors.

See also: BeginFuture; end(); begin(GyroRange, AccelRange, DLPF, ClockSelect); begin(FifoBeginFuture&); errors

Definition at line 390 of file mpu6050.h.

◆ begin() [2/4]

template<typename MANAGER >

int devices::magneto::MPU6050< MANAGER >::begin ( FifoBeginFuture & future )

inline

Start operation of this gyroscope/accelerometer chip.

Once this method has been called, and future is ready, you may use other methods such as gyro_measures() to get sensors measurements from the device. This shall be used when you want continuous measurements performed by the device.

Warning: Asynchronous API!

Parameters

future a FifoBeginFuture passed by the caller, that will be updated once the current I2C action is finished.

Return values

0	if no problem occurred during the preparation of I2C transaction

Returns: an error code if something bad happened; for an asynchronous I2C Manager, this typically happens when its queue of I2CCommand is full; for a synchronous I2C Manager, any error on the I2C bus or on the target device will trigger an error here. the list of possible errors is in namespace errors.

See also: FifoBeginFuture; end(); begin(FIFOEnable, INTEnable, uint8_t, GyroRange, AccelRange, DLPF, ClockSelect); begin(BeginFuture&); errors

Definition at line 460 of file mpu6050.h.

◆ end() [1/2]

template<typename MANAGER >

int devices::magneto::MPU6050< MANAGER >::end ( EndFuture & future )

inline

Put the chip to sleep mode (low-power mode); stops sampling operations if any.

Warning: Asynchronous API!

Parameters

future an EndFuture passed by the caller, that will be updated once the current I2C action is finished.

Return values

0	if no problem occurred during the preparation of I2C transaction

Returns: an error code if something bad happened; for an asynchronous I2C Manager, this typically happens when its queue of I2CCommand is full; for a synchronous I2C Manager, any error on the I2C bus or on the target device will trigger an error here. the list of possible errors is in namespace errors.

See also: begin(BeginFutre&); begin(FifoBeginFuture&); end(); errors

Definition at line 513 of file mpu6050.h.

◆ reset() [1/2]

template<typename MANAGER >

int devices::magneto::MPU6050< MANAGER >::reset ( ResetFuture & future )

inline

Reset the chip (register map §4.28).

Warning: Asynchronous API!

Parameters

future a ResetFuture passed by the caller, that will be updated once the current I2C action is finished.

Return values

0	if no problem occurred during the preparation of I2C transaction

Returns: an error code if something bad happened; for an asynchronous I2C Manager, this typically happens when its queue of I2CCommand is full; for a synchronous I2C Manager, any error on the I2C bus or on the target device will trigger an error here. the list of possible errors is in namespace errors.

See also: reset(); errors

Definition at line 551 of file mpu6050.h.

◆ gyro_measures() [1/2]

template<typename MANAGER >

int devices::magneto::MPU6050< MANAGER >::gyro_measures ( GyroFuture & future )

inline

Get latest gyroscope measurements from the device (register map §4.19).

Warning: Asynchronous API!

Parameters

future a GyroFuture passed by the caller, that will be updated once the current I2C action is finished.

Return values

0	if no problem occurred during the preparation of I2C transaction

Returns: an error code if something bad happened; for an asynchronous I2C Manager, this typically happens when its queue of I2CCommand is full; for a synchronous I2C Manager, any error on the I2C bus or on the target device will trigger an error here. the list of possible errors is in namespace errors.

See also: gyro_measures(Sensor3D&); errors

Definition at line 582 of file mpu6050.h.

◆ temperature() [1/2]

template<typename MANAGER >

int devices::magneto::MPU6050< MANAGER >::temperature ( TemperatureFuture & future )

inline

Get latest chip temperature measurement (register map §4.18).

Warning: Asynchronous API!

Parameters

future a TemperatureFuture passed by the caller, that will be updated once the current I2C action is finished.

Return values

0	if no problem occurred during the preparation of I2C transaction

Returns: an error code if something bad happened; for an asynchronous I2C Manager, this typically happens when its queue of I2CCommand is full; for a synchronous I2C Manager, any error on the I2C bus or on the target device will trigger an error here. the list of possible errors is in namespace errors.

See also: TemperatureFuture; temperature(); convert_temp_to_centi_degrees(); errors

Definition at line 618 of file mpu6050.h.

◆ convert_temp_to_centi_degrees()

template<typename MANAGER >

static constexpr int16_t devices::magneto::MPU6050< MANAGER >::convert_temp_to_centi_degrees ( int16_t temp )

inlinestaticconstexpr

Convert the raw temperature obtained from temperature() to centi-degrees Celsius.

Definition at line 627 of file mpu6050.h.

◆ accel_measures() [1/2]

template<typename MANAGER >

int devices::magneto::MPU6050< MANAGER >::accel_measures ( AccelFuture & future )

inline

Get latest accelerometer measurements from the device (register map §4.17).

Warning: Asynchronous API!

Parameters

future an AccelFuture passed by the caller, that will be updated once the current I2C action is finished.

Return values

0	if no problem occurred during the preparation of I2C transaction

Returns: an error code if something bad happened; for an asynchronous I2C Manager, this typically happens when its queue of I2CCommand is full; for a synchronous I2C Manager, any error on the I2C bus or on the target device will trigger an error here. the list of possible errors is in namespace errors.

See also: accel_measures(Sensor3D&); errors

Definition at line 659 of file mpu6050.h.

◆ all_measures() [1/2]

template<typename MANAGER >

int devices::magneto::MPU6050< MANAGER >::all_measures ( AllMeasuresFuture & future )

inline

Get latest measurements of all device sensors (gyroscope, accelerometer, temperature).

Warning: Asynchronous API!

Parameters

future an AllMeasuresFuture passed by the caller, that will be updated once the current I2C action is finished.

Return values

0	if no problem occurred during the preparation of I2C transaction

Returns: an error code if something bad happened; for an asynchronous I2C Manager, this typically happens when its queue of I2CCommand is full; for a synchronous I2C Manager, any error on the I2C bus or on the target device will trigger an error here. the list of possible errors is in namespace errors.

See also: all_measures(AllSensors&); errors

Definition at line 692 of file mpu6050.h.

◆ interrupt_status() [1/2]

template<typename MANAGER >

int devices::magneto::MPU6050< MANAGER >::interrupt_status ( InterruptStatusFuture & future )

inline

Get the interrupt status (register map §4.16) after an interrupt has occurred.

After this method is called, the Interrupt Status register is cleared.

Warning: Asynchronous API!

Parameters

future an InterruptStatusFuture passed by the caller, that will be updated once the current I2C action is finished.

Return values

0	if no problem occurred during the preparation of I2C transaction

Returns: an error code if something bad happened; for an asynchronous I2C Manager, this typically happens when its queue of I2CCommand is full; for a synchronous I2C Manager, any error on the I2C bus or on the target device will trigger an error here. the list of possible errors is in namespace errors.

See also: interrupt_status(); errors

Definition at line 725 of file mpu6050.h.

◆ reset_fifo() [1/2]

template<typename MANAGER >

int devices::magneto::MPU6050< MANAGER >::reset_fifo ( ResetFifoFuture & future )

inline

Reset the FIFO buffer (parameter map §4.27).

Warning: Asynchronous API!

Parameters

future an ResetFifoFuture passed by the caller, that will be updated once the current I2C action is finished.

Return values

0	if no problem occurred during the preparation of I2C transaction

Returns: an error code if something bad happened; for an asynchronous I2C Manager, this typically happens when its queue of I2CCommand is full; for a synchronous I2C Manager, any error on the I2C bus or on the target device will trigger an error here. the list of possible errors is in namespace errors.

See also: reset_fifo(); errors

Definition at line 757 of file mpu6050.h.

◆ fifo_count() [1/2]

template<typename MANAGER >

int devices::magneto::MPU6050< MANAGER >::fifo_count ( FifoCountFuture & future )

inline

Get the number of bytes currently stored in the FIFO buffer (register map §4.30).

This number is a multiple of the size of sensor samples as selected by FIFOEnable in begin(FIFOEnable, INTEnable, uint8_t, GyroRange, AccelRange, DLPF, ClockSelect).

Warning: Asynchronous API!

Parameters

future an FifoCountFuture passed by the caller, that will be updated once the current I2C action is finished.

Return values

0	if no problem occurred during the preparation of I2C transaction

Returns: an error code if something bad happened; for an asynchronous I2C Manager, this typically happens when its queue of I2CCommand is full; for a synchronous I2C Manager, any error on the I2C bus or on the target device will trigger an error here. the list of possible errors is in namespace errors.

See also: fifo_pop(); fifo_count(); errors

Definition at line 792 of file mpu6050.h.

◆ fifo_pop() [1/2]

template<typename MANAGER >

template<typename T >

int devices::magneto::MPU6050< MANAGER >::fifo_pop ( FifoPopFuture< T > & future )

inline

Get one sample out of the FIFO buffer (register map §4.31).

Warning: You should first call fifo_count() to ensure the MPU6050 FIFO queue contains a sample of the right size! Otherwise this method will not return any error but set arbitrary values to output !; Asynchronous API!

Template Parameters

T	the type of sample to get from the FIFO buffer; must be one of `Sensor3D`, `int16_t` or `AllSensors`, based on the sensor samples selected by `FIFOEnable` in `begin(FIFOEnable, INTEnable, uint8_t, GyroRange, AccelRange, DLPF, ClockSelect)`.

Parameters

future an FifoPopFuture passed by the caller, that will be updated once the current I2C action is finished.

Return values

0	if no problem occurred during the preparation of I2C transaction

Returns: an error code if something bad happened; for an asynchronous I2C Manager, this typically happens when its queue of I2CCommand is full; for a synchronous I2C Manager, any error on the I2C bus or on the target device will trigger an error here. the list of possible errors is in namespace errors.

See also: fifo_count(); fifo_pop(T&); errors

Definition at line 838 of file mpu6050.h.

◆ fifo_push() [1/2]

template<typename MANAGER >

int devices::magneto::MPU6050< MANAGER >::fifo_push ( FifoPushFuture & future )

inline

Push one byte to the FIFO buffer (register map §4.31).

Warning: You should first call fifo_count() to ensure the MPU6050 FIFO queue contains a sample of the right size! Otherwise this method will not return any error but set arbitrary values to output !; Asynchronous API!

Parameters

future an FifoPushFuture passed by the caller, that will be updated once the current I2C action is finished.

Return values

0	if no problem occurred during the preparation of I2C transaction

Returns: an error code if something bad happened; for an asynchronous I2C Manager, this typically happens when its queue of I2CCommand is full; for a synchronous I2C Manager, any error on the I2C bus or on the target device will trigger an error here. the list of possible errors is in namespace errors.

See also: fifo_count(); fifo_push(uint8_t); errors

Definition at line 875 of file mpu6050.h.

◆ begin() [3/4]

template<typename MANAGER >

bool devices::magneto::MPU6050< MANAGER >::begin	(	GyroRange	gyro_range = `GyroRange::RANGE_250`,
		AccelRange	accel_range = `AccelRange::RANGE_2G`,
		DLPF	low_pass_filter = `DLPF::ACCEL_BW_260HZ`,
		ClockSelect	clock_select = `ClockSelect::INTERNAL_8MHZ`
	)

inline

Start operation of this gyroscope/accelerometer chip.

Once this method has been called, you may use other methods such as gyro_measures() to get sensors measurements from the device.

Warning: Blocking API!

Parameters

gyro_range	the `GyroRange` to use for the gyroscope measurements
accel_range	the `AccelRange` to use for the accelerometer measurements
low_pass_filter	the `DLPF` bandwidth to use for operations
clock_select	the `ClockSelect` to use as the device clock source

Return values

true	if the operation succeeded
false	if the operation failed

See also: end(); begin(FIFOEnable, INTEnable, uint8_t, GyroRange, AccelRange, DLPF, ClockSelect); begin(BeginFuture&)

Definition at line 899 of file mpu6050.h.

◆ begin() [4/4]

template<typename MANAGER >

bool devices::magneto::MPU6050< MANAGER >::begin	(	FIFOEnable	fifo_enable,
		INTEnable	int_enable,
		uint8_t	sample_rate_divider,
		GyroRange	gyro_range = `GyroRange::RANGE_250`,
		AccelRange	accel_range = `AccelRange::RANGE_2G`,
		DLPF	low_pass_filter = `DLPF::ACCEL_BW_260HZ`,
		ClockSelect	clock_select = `ClockSelect::INTERNAL_8MHZ`
	)

inline

Start operation of this gyroscope/accelerometer chip.

Once this method has been called, you may use other methods such as gyro_measures() to get sensors measurements from the device. This shall be used when you want continuous measurements performed by the device.

Warning: Blocking API!

Parameters

fifo_enable	the `FIFOEnable` settings for continuous measurements
int_enable	the `INTEnable` settings for interrupt generation; note that the device driver does not handle interrupts (ISR) itself, you need to use other FastArduino API for that.
sample_rate_divider	the divider from the gyroscope output rate to generate the Sample Rate of the chip (register map §4.2)
gyro_range	the `GyroRange` to use for the gyroscope measurements
accel_range	the `AccelRange` to use for the accelerometer measurements
low_pass_filter	the `DLPF` bandwidth to use for operations
clock_select	the `ClockSelect` to use as the device clock source

Return values

true	if the operation succeeded
false	if the operation failed

See also: end(); begin(GyroRange, AccelRange, DLPF, ClockSelect); begin(FifoBeginFuture&); interrupts::INTSignal; interrupts::PCISignal

Definition at line 936 of file mpu6050.h.

◆ end() [2/2]

template<typename MANAGER >

bool devices::magneto::MPU6050< MANAGER >::end ( )

inline

Put the chip to sleep mode (low-power mode); stops sampling operations if any.

Warning: Blocking API!

Return values

true	if the operation succeeded
false	if the operation failed

See also: begin(); end(EndFuture&)

Definition at line 961 of file mpu6050.h.

◆ reset() [2/2]

template<typename MANAGER >

bool devices::magneto::MPU6050< MANAGER >::reset ( )

inline

Reset the chip (register map §4.28).

Warning: Blocking API!

Return values

true	if the operation succeeded
false	if the operation failed

See also: reset(ResetFuture&)

Definition at line 975 of file mpu6050.h.

◆ gyro_measures() [2/2]

template<typename MANAGER >

bool devices::magneto::MPU6050< MANAGER >::gyro_measures ( Sensor3D & gyro )

inline

Get latest gyroscope measurements from the device (register map §4.19).

Warning: Blocking API!

Parameters

gyro	a reference to a `Sensor3D` variable that will be filled with latest gyroscope measurements on 3 axis.

Return values

true	if the operation succeeded
false	if the operation failed

See also: gyro_measures(GyroFuture&)

Definition at line 991 of file mpu6050.h.

◆ temperature() [2/2]

template<typename MANAGER >

int16_t devices::magneto::MPU6050< MANAGER >::temperature ( )

inline

Get latest chip temperature measurement (register map §4.18).

The returned value is nternal raw value from the chip, it can be converted to human-readable temperature with convert_temp_to_centi_degrees().

Warning: Blocking API!

Returns: the latest raw temperature in degrees if no error occurred

Return values

-32768 if the operation failed

See also: temperature(TemperatureFuture&); convert_temp_to_centi_degrees()

Definition at line 1008 of file mpu6050.h.

◆ accel_measures() [2/2]

template<typename MANAGER >

bool devices::magneto::MPU6050< MANAGER >::accel_measures ( Sensor3D & accel )

inline

Get latest accelerometer measurements from the device (register map §4.17).

Warning: Blocking API!

Parameters

accel a reference to a Sensor3D variable that will be filled with latest accelerometer measurements on 3 axis.

Return values

true	if the operation succeeded
false	if the operation failed

See also: accel_measures(AccelFuture&)

Definition at line 1026 of file mpu6050.h.

◆ all_measures() [2/2]

template<typename MANAGER >

bool devices::magneto::MPU6050< MANAGER >::all_measures ( AllSensors & sensors )

inline

Get latest measurements of all device sensors (gyroscope, accelerometer, temperature).

Warning: Blocking API!

Parameters

sensors a reference to an AllSensors variable that will be filled with all latest measurements.

Return values

true	if the operation succeeded
false	if the operation failed

See also: all_measures(AllMeasuresFuture&)

Definition at line 1043 of file mpu6050.h.

◆ interrupt_status() [2/2]

template<typename MANAGER >

INTStatus devices::magneto::MPU6050< MANAGER >::interrupt_status ( )

inline

Get the interrupt status (register map §4.16) after an interrupt has occurred.

After this method is called, the Interrupt Status register is cleared.

Warning: Blocking API!

Returns: the latest interrupt status as an INTStatus structure where each field maps to the interrupt that occurred; in case of an error, the returned status is fully cleared.

See also: interrupt_status(InterruptStatusFuture&)

Definition at line 1060 of file mpu6050.h.

◆ reset_fifo() [2/2]

template<typename MANAGER >

bool devices::magneto::MPU6050< MANAGER >::reset_fifo ( )

inline

Reset the FIFO buffer (parameter map §4.27).

Warning: Blocking API!

Return values

true	if the operation succeeded
false	if the operation failed

See also: reset_fifo(ResetFifoFuture&)

Definition at line 1076 of file mpu6050.h.

◆ fifo_count() [2/2]

template<typename MANAGER >

uint16_t devices::magneto::MPU6050< MANAGER >::fifo_count ( )

inline

Get the number of bytes currently stored in the FIFO buffer (register map §4.30).

This number is a multiple of the size of sensor samples as selected by FIFOEnable in begin(FIFOEnable, INTEnable, uint8_t, GyroRange, AccelRange, DLPF, ClockSelect).

Warning: Blocking API!

Returns: the number of bytes currently present in the FIFO buffer; when not 0, you should read the samples with fifo_pop().

Return values

0	if the FIFO buffer is empty or if the operation failed

See also: fifo_pop(); fifo_count(FifoCountFuture&)

Definition at line 1095 of file mpu6050.h.

◆ fifo_pop() [2/2]

template<typename MANAGER >

template<typename T >

bool devices::magneto::MPU6050< MANAGER >::fifo_pop ( T & output )

inline

Get one sample out of the FIFO buffer (register map §4.31).

Warning: You should first call fifo_count() to ensure the MPU6050 FIFO queue contains a sample of the right size! Otherwise this method will not return any error but set arbitrary values to output !; Blocking API!

Template Parameters

T	the type of sample to get from the FIFO buffer; must be one of `Sensor3D`, `int16_t` or `AllSensors`, based on the sensor samples selected by `FIFOEnable` in `begin(FIFOEnable, INTEnable, uint8_t, GyroRange, AccelRange, DLPF, ClockSelect)`.

Parameters

output a reference to a T-type variable that will be filled with the required sample.

Return values

true	if a sample has been read into `output`
false	if no sample was ready or if the operation failed

See also: fifo_count(); fifo_pop(FifoPopFuture<T>&)

Definition at line 1121 of file mpu6050.h.

◆ fifo_push() [2/2]

template<typename MANAGER >

bool devices::magneto::MPU6050< MANAGER >::fifo_push ( uint8_t data )

inline

Push one byte to the FIFO buffer (register map §4.31).

Warning: Blocking API!

Parameters

data	the byte value to be pushed

Return values

true	if `data` has been correctly pushed to the FIFO
false	if the operation failed

See also: fifo_push(FifoPushFuture&)

Definition at line 1136 of file mpu6050.h.

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

fastarduino/devices/mpu6050.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ GyroFuture

◆ TemperatureFuture

◆ AccelFuture

◆ AllMeasuresFuture

◆ InterruptStatusFuture

◆ ResetFifoFuture

◆ FifoCountFuture

◆ FifoPopFuture

◆ FifoPushFuture

Constructor & Destructor Documentation

◆ MPU6050()

Member Function Documentation

◆ begin() [1/4]

◆ begin() [2/4]

◆ end() [1/2]

◆ reset() [1/2]

◆ gyro_measures() [1/2]

◆ temperature() [1/2]

◆ convert_temp_to_centi_degrees()

◆ accel_measures() [1/2]

◆ all_measures() [1/2]

◆ interrupt_status() [1/2]

◆ reset_fifo() [1/2]

◆ fifo_count() [1/2]

◆ fifo_pop() [1/2]

◆ fifo_push() [1/2]

◆ begin() [3/4]

◆ begin() [4/4]

◆ end() [2/2]

◆ reset() [2/2]

◆ gyro_measures() [2/2]

◆ temperature() [2/2]

◆ accel_measures() [2/2]

◆ all_measures() [2/2]

◆ interrupt_status() [2/2]

◆ reset_fifo() [2/2]

◆ fifo_count() [2/2]

◆ fifo_pop() [2/2]

◆ fifo_push() [2/2]