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 ¶
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 slave data out I2C_SLV0_DO = 0x63 I2C_SLV1_DO = 0x64 I2C_SLV2_DO = 0x65 I2C_SLV3_DO = 0x66 I2C_MST_DELAY_CT = 0x67 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.
Variables ¶
This section is empty.
Functions ¶
This section is empty.
Types ¶
type Device ¶
type Device struct {
Address uint16
// contains filtered or unexported fields
}
Device wraps an I2C connection to a MPU6050 device.
func New ¶
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()
Configure sets up the device for communication.
func (Device) Connected ¶
Connected returns whether a MPU6050 has been found. It does a "who am I" request and checks the response.
func (Device) ReadAcceleration ¶
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 ¶
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.
Source Files