mpu6050

Documentation

Overview

Package mpu6050 provides a driver for the MPU6050 accelerometer and gyroscope made by InvenSense.

Datasheets: https://store.invensense.com/datasheets/invensense/MPU-6050_DataSheet_V3%204.pdf https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf

Index

• Constants
• type Device
  • func New(bus drivers.I2C) Device
  • func (d Device) Configure() error
  • func (d Device) Connected() bool
  • func (d Device) ReadAcceleration() (x int32, y int32, z int32)
  • func (d Device) ReadRotation() (x int32, y int32, z int32)
  • func (d Device) SetClockSource(source uint8) error
  • func (d Device) SetFullScaleAccelRange(rng uint8) error
  • func (d Device) SetFullScaleGyroRange(rng uint8) error

Constants

const (
	// Self test registers
	SELF_TEST_X = 0x0D
	SELF_TEST_Y = 0x0E
	SELF_TEST_Z = 0x0F
	SELF_TEST_A = 0x10

	SMPLRT_DIV   = 0x19 // Sample rate divider
	CONFIG       = 0x1A // Configuration
	GYRO_CONFIG  = 0x1B // Gyroscope configuration
	ACCEL_CONFIG = 0x1C // Accelerometer configuration
	FIFO_EN      = 0x23 // FIFO enable

	// I2C pass-through configuration
	I2C_MST_CTRL   = 0x24
	I2C_SLV0_ADDR  = 0x25
	I2C_SLV0_REG   = 0x26
	I2C_SLV0_CTRL  = 0x27
	I2C_SLV1_ADDR  = 0x28
	I2C_SLV1_REG   = 0x29
	I2C_SLV1_CTRL  = 0x2A
	I2C_SLV2_ADDR  = 0x2B
	I2C_SLV2_REG   = 0x2C
	I2C_SLV2_CTRL  = 0x2D
	I2C_SLV3_ADDR  = 0x2E
	I2C_SLV3_REG   = 0x2F
	I2C_SLV3_CTRL  = 0x30
	I2C_SLV4_ADDR  = 0x31
	I2C_SLV4_REG   = 0x32
	I2C_SLV4_DO    = 0x33
	I2C_SLV4_CTRL  = 0x34
	I2C_SLV4_DI    = 0x35
	I2C_MST_STATUS = 0x36

	// Interrupt configuration
	INT_PIN_CFG = 0x37 // Interrupt pin/bypass enable configuration
	INT_ENABLE  = 0x38 // Interrupt enable
	INT_STATUS  = 0x3A // Interrupt status

	// Accelerometer measurements
	ACCEL_XOUT_H = 0x3B
	ACCEL_XOUT_L = 0x3C
	ACCEL_YOUT_H = 0x3D
	ACCEL_YOUT_L = 0x3E
	ACCEL_ZOUT_H = 0x3F
	ACCEL_ZOUT_L = 0x40

	// Temperature measurement
	TEMP_OUT_H = 0x41
	TEMP_OUT_L = 0x42

	// Gyroscope measurements
	GYRO_XOUT_H = 0x43
	GYRO_XOUT_L = 0x44
	GYRO_YOUT_H = 0x45
	GYRO_YOUT_L = 0x46
	GYRO_ZOUT_H = 0x47
	GYRO_ZOUT_L = 0x48

	// External sensor data
	EXT_SENS_DATA_00 = 0x49
	EXT_SENS_DATA_01 = 0x4A
	EXT_SENS_DATA_02 = 0x4B
	EXT_SENS_DATA_03 = 0x4C
	EXT_SENS_DATA_04 = 0x4D
	EXT_SENS_DATA_05 = 0x4E
	EXT_SENS_DATA_06 = 0x4F
	EXT_SENS_DATA_07 = 0x50
	EXT_SENS_DATA_08 = 0x51
	EXT_SENS_DATA_09 = 0x52
	EXT_SENS_DATA_10 = 0x53
	EXT_SENS_DATA_11 = 0x54
	EXT_SENS_DATA_12 = 0x55
	EXT_SENS_DATA_13 = 0x56
	EXT_SENS_DATA_14 = 0x57
	EXT_SENS_DATA_15 = 0x58
	EXT_SENS_DATA_16 = 0x59
	EXT_SENS_DATA_17 = 0x5A
	EXT_SENS_DATA_18 = 0x5B
	EXT_SENS_DATA_19 = 0x5C
	EXT_SENS_DATA_20 = 0x5D
	EXT_SENS_DATA_21 = 0x5E
	EXT_SENS_DATA_22 = 0x5F
	EXT_SENS_DATA_23 = 0x60

	// I2C peripheral data out
	I2C_PER0_DO      = 0x63
	I2C_PER1_DO      = 0x64
	I2C_PER2_DO      = 0x65
	I2C_PER3_DO      = 0x66
	I2C_MST_DELAY_CT = 0x67

	// Clock settings
	CLOCK_INTERNAL               = 0x00
	CLOCK_PLL_XGYRO              = 0x01
	CLOCK_PLL_YGYRO              = 0x02
	CLOCK_PLL_ZGYRO              = 0x03
	CLOCK_PLL_EXTERNAL_32_768_KZ = 0x04
	CLOCK_PLL_EXTERNAL_19_2_MHZ  = 0x05
	CLOCK_RESERVED               = 0x06
	CLOCK_STOP                   = 0x07

	// Accelerometer settings
	AFS_RANGE_2G  = 0x00
	AFS_RANGE_4G  = 0x01
	AFS_RANGE_8G  = 0x02
	AFS_RANGE_16G = 0x03

	// Gyroscope settings
	FS_RANGE_250  = 0x00
	FS_RANGE_500  = 0x01
	FS_RANGE_1000 = 0x02
	FS_RANGE_2000 = 0x03

	// other registers
	SIGNAL_PATH_RES = 0x68 // Signal path reset
	USER_CTRL       = 0x6A // User control
	PWR_MGMT_1      = 0x6B // Power Management 1
	PWR_MGMT_2      = 0x6C // Power Management 2
	FIFO_COUNTH     = 0x72 // FIFO count registers (high bits)
	FIFO_COUNTL     = 0x73 // FIFO count registers (low bits)
	FIFO_R_W        = 0x74 // FIFO read/write
	WHO_AM_I        = 0x75 // Who am I
)

Registers. Names, addresses and comments copied from the datasheet.

const Address = 0x68

The I2C address which this device listens to.

Types

type Device

type Device struct {
	Address uint16
	// contains filtered or unexported fields
}

Device wraps an I2C connection to a MPU6050 device.

func New

func New(bus drivers.I2C) Device

New creates a new MPU6050 connection. The I2C bus must already be configured.

This function only creates the Device object, it does not touch the device.

func (Device) Configure

func (d Device) Configure() error

Configure sets up the device for communication.

func (Device) Connected

func (d Device) Connected() bool

Connected returns whether a MPU6050 has been found. It does a "who am I" request and checks the response.

func (Device) ReadAcceleration

func (d Device) ReadAcceleration() (x int32, y int32, z int32)

ReadAcceleration reads the current acceleration from the device and returns it in µg (micro-gravity). When one of the axes is pointing straight to Earth and the sensor is not moving the returned value will be around 1000000 or -1000000.

func (Device) ReadRotation

func (d Device) ReadRotation() (x int32, y int32, z int32)

ReadRotation reads the current rotation from the device and returns it in µ°/s (micro-degrees/sec). This means that if you were to do a complete rotation along one axis and while doing so integrate all values over time, you would get a value close to 360000000.

func (Device) SetClockSource

func (d Device) SetClockSource(source uint8) error

SetClockSource allows the user to configure the clock source.

func (Device) SetFullScaleAccelRange

func (d Device) SetFullScaleAccelRange(rng uint8) error

SetFullScaleAccelRange allows the user to configure the scale range for the accelerometer.

func (Device) SetFullScaleGyroRange

func (d Device) SetFullScaleGyroRange(rng uint8) error

SetFullScaleGyroRange allows the user to configure the scale range for the gyroscope.