mpu6050 - Driver for MPU6000/MPU6050 6-axis MotionTracking device

group mpu6050

ESP-IDF driver for MPU6050 MEMS Sensor.

6-axis motion tracking devices designed for the low power, low cost, and high performance requirements of smartphones, tablets and wearable sensors.

Copyright (c) 2012 Jeff Rowberg https://www.i2cdevlib.com/ Copyright (c) 2019 Angelo Elias Dalzotto 150633@upf.br Copyright (c) 2019 Gabriel Boni Vicari 133192@upf.br Copyright (c) 2019 GEPID - Grupo de Pesquisa em Cultura Digital http://gepid.upf.br/ Copyright (c) 2023 Raghav Jha https://github.com/horsemann07 Copyright (c) 2023 Ruslan V. Uss unclerus@gmail.com

Defines

MPU6050_I2C_ADDRESS_LOW
MPU6050_I2C_ADDRESS_HIGH

Enums

enum mpu6050_vddio_level_t

Auxiliary I2C supply voltage levels.

Values:

enumerator MPU6050_VDDIO_VLOGIC
enumerator MPU6050_VDDIO_VDD
enum mpu6050_axis_t

Axes.

Values:

enumerator MPU6050_X_AXIS
enumerator MPU6050_Y_AXIS
enumerator MPU6050_Z_AXIS
enum mpu6050_clock_source_t

Clock sources.

Values:

enumerator MPU6050_CLOCK_INTERNAL

Internal oscillator.

enumerator MPU6050_CLOCK_PLL_X

PLL with X Gyro reference.

enumerator MPU6050_CLOCK_PLL_Y

PLL with Y Gyro reference.

enumerator MPU6050_CLOCK_PLL_Z

PLL with Z Gyro reference.

enumerator MPU6050_CLOCK_EXT_32768HZ

PLL with external 32.768kHz reference.

enumerator MPU6050_CLOCK_EXT_19_2MHZ

PLL with external 19.2MHz reference.

enumerator MPU6050_CLOCK_RESERVED
enumerator MPU6050_CLOCK_STOP

Stops the clock and keeps the timing generator in reset.

enum mpu6050_int_source_t

Interrupt sources.

Values:

enumerator MPU6050_INT_DATA_READY

Data Ready interrupt which occurs each time a write operation to all of the sensor registers has been completed.

enumerator MPU6050_INT_DMP

Undocumented.

enumerator MPU6050_INT_PLL_READY

Undocumented.

enumerator MPU6050_INT_I2C_MASTER

Any of the I2C Master interrupt sources.

enumerator MPU6050_INT_FIFO_OFLOW

FIFO buffer overflow interrupt.

enumerator MPU6050_INT_ZERO_MOTION

Zero motion detection interrupt.

enumerator MPU6050_INT_MOTION

Motion detection interrupt.

enumerator MPU6050_INT_FREEFALL

Freefall detection interrupt.

enum mpu6050_int_drive_t

INT pin modes.

Values:

enumerator MPU6050_INT_PUSH_PULL

Push-pull.

enumerator MPU6050_INT_OPEN_DRAIN

Open drain.

enum mpu6050_ext_sync_t

Location of the frame synchronization sampled bit.

Values:

enumerator MPU6050_EXT_SYNC_DISABLED
enumerator MPU6050_EXT_SYNC_TEMP_OUT
enumerator MPU6050_EXT_SYNC_GYRO_XOUT
enumerator MPU6050_EXT_SYNC_GYRO_YOUT
enumerator MPU6050_EXT_SYNC_GYRO_ZOUT
enumerator MPU6050_EXT_SYNC_ACCEL_XOUT
enumerator MPU6050_EXT_SYNC_ACCEL_YOUT
enumerator MPU6050_EXT_SYNC_ACCEL_ZOUT
enum mpu6050_dlpf_mode_t

Gyroscope and accelerometer filter values.

Values:

enumerator MPU6050_DLPF_0

Accelerometer: BW = 260Hz, delay = 0, Gyroscope: BW = 256Hz, delay = 0.98ms, Fs = 8kHz.

enumerator MPU6050_DLPF_1

Accelerometer: BW = 184z, delay = 2ms, Gyroscope: BW = 188Hz, delay = 1.9ms, Fs = 1kHz.

enumerator MPU6050_DLPF_2

Accelerometer: BW = 94Hz, delay = 3ms, Gyroscope: BW = 98Hz, delay = 2.8ms, Fs = 1kHz.

enumerator MPU6050_DLPF_3

Accelerometer: BW = 44Hz, delay = 4.9ms, Gyroscope: BW = 42Hz, delay = 4.8ms, Fs = 1kHz.

enumerator MPU6050_DLPF_4

Accelerometer: BW = 21Hz, delay = 8.5ms, Gyroscope: BW = 20Hz, delay = 8.3ms, Fs = 1kHz.

enumerator MPU6050_DLPF_5

Accelerometer: BW = 10Hz, delay = 13.8ms, Gyroscope: BW = 10Hz, delay = 13.4ms, Fs = 1kHz.

enumerator MPU6050_DLPF_6

Accelerometer: BW = 5Hz, delay = 19.0ms, Gyroscope: BW = 5Hz, delay = 18.6ms, Fs = 1kHz.

enum mpu6050_gyro_range_t

Scale ranges for gyroscope.

Values:

enumerator MPU6050_GYRO_RANGE_250

± 250 °/s.

enumerator MPU6050_GYRO_RANGE_500

± 500 °/s.

enumerator MPU6050_GYRO_RANGE_1000

± 1000 °/s.

enumerator MPU6050_GYRO_RANGE_2000

± 2000 °/s.

enum mpu6050_accel_range_t

Scale ranges for accelerometer.

Values:

enumerator MPU6050_ACCEL_RANGE_2

± 2g.

enumerator MPU6050_ACCEL_RANGE_4

± 4g.

enumerator MPU6050_ACCEL_RANGE_8

± 8g.

enumerator MPU6050_ACCEL_RANGE_16

± 16g.

enum mpu6050_dhpf_mode_t

Digital high pass filter modes.

Values:

enumerator MPU6050_DHPF_RESET

Filter Mode = reset, Cut-off Frequency = None.

enumerator MPU6050_DHPF_5

Filter Mode = on, Cut-off Frequency = 5Hz.

enumerator MPU6050_DHPF_2_5

Filter Mode = on, Cut-off Frequency = 2.5Hz.

enumerator MPU6050_DHPF_1_25

Filter Mode = on, Cut-off Frequency = 1.25Hz.

enumerator MPU6050_DHPF_0_63

Filter Mode = on, Cut-off Frequency = 0.63Hz.

enumerator MPU6050_DHPF_HOLD

Filter Mode = hold, Cut-off Frequency = None.

enum mpu6050_slave_t

I2C slave numbers.

Values:

enumerator MPU6050_SLAVE_0
enumerator MPU6050_SLAVE_1
enumerator MPU6050_SLAVE_2
enumerator MPU6050_SLAVE_3
enumerator MPU6050_SLAVE_4
enum mpu6050_i2c_master_clock_t

I2C master clock.

Values:

enumerator MPU6050_I2C_MASTER_CLOCK_348

348kHz

enumerator MPU6050_I2C_MASTER_CLOCK_333

333kHz

enumerator MPU6050_I2C_MASTER_CLOCK_320

320kHz

enumerator MPU6050_I2C_MASTER_CLOCK_308

308kHz

enumerator MPU6050_I2C_MASTER_CLOCK_296

296kHz

enumerator MPU6050_I2C_MASTER_CLOCK_286

286kHz

enumerator MPU6050_I2C_MASTER_CLOCK_276

276kHz

enumerator MPU6050_I2C_MASTER_CLOCK_267

267kHz

enumerator MPU6050_I2C_MASTER_CLOCK_258

258kHz

enumerator MPU6050_I2C_MASTER_CLOCK_500

500kHz

enumerator MPU6050_I2C_MASTER_CLOCK_471

471kHz

enumerator MPU6050_I2C_MASTER_CLOCK_444

444kHz

enumerator MPU6050_I2C_MASTER_CLOCK_421

421kHz

enumerator MPU6050_I2C_MASTER_CLOCK_400

400kHz

enumerator MPU6050_I2C_MASTER_CLOCK_381

381kHz

enumerator MPU6050_I2C_MASTER_CLOCK_364

364kHz

enum mpu6050_int_level_t

Interrupt levels.

Values:

enumerator MPU6050_INT_LEVEL_HIGH

Active high.

enumerator MPU6050_INT_LEVEL_LOW

Active low.

enum mpu6050_int_latch_t

Interrupt latch modes.

Values:

enumerator MPU6050_INT_LATCH_PULSE

50 us pulse

enumerator MPU6050_INT_LATCH_CONTINUOUS

Latch until cleared.

enum mpu6050_wake_freq_t

The frequencies of wake-ups in Accelerometer Only Low Power Mode.

Values:

enumerator MPU6050_WAKE_FREQ_1_25

1.25Hz

enumerator MPU6050_WAKE_FREQ_5

5Hz

enumerator MPU6050_WAKE_FREQ_20

20Hz

enumerator MPU6050_WAKE_FREQ_40

40Hz

enum mpu6050_motion_det_flags_t

Motion detection status flags.

Values:

enumerator MPU6050_MOTION_ZERO
enumerator MPU6050_MOTION_Z_POS
enumerator MPU6050_MOTION_Z_NEG
enumerator MPU6050_MOTION_Y_POS
enumerator MPU6050_MOTION_Y_NEG
enumerator MPU6050_MOTION_X_POS
enumerator MPU6050_MOTION_X_NEG

Functions

esp_err_t mpu6050_init_desc(mpu6050_dev_t *dev, uint8_t addr, i2c_port_t port, gpio_num_t sda_gpio, gpio_num_t scl_gpio)

Initialize device descriptor.

Parameters

  • dev – Device descriptor

  • addr – Device I2C address

  • port – I2C port

  • sda_gpio – SDA GPIO

  • scl_gpio – SCL GPIO

Returns

ESP_OK on success

esp_err_t mpu6050_free_desc(mpu6050_dev_t *dev)

Free device descriptor.

Parameters

dev – Device descriptor

Returns

ESP_OK on success

esp_err_t mpu6050_init(mpu6050_dev_t *dev)

Initialize device.

Parameters

dev – Device descriptor

Returns

ESP_OK on success

esp_err_t mpu6050_get_aux_vddio_level(mpu6050_dev_t *dev, mpu6050_vddio_level_t *level)

Get the auxiliary I2C supply voltage level.

When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to the MPU-6000, which does not have a VLOGIC pin.

Parameters

  • dev – Device descriptor

  • level – [out] I2C supply voltage level

Returns

ESP_OK on success

esp_err_t mpu6050_set_aux_vddio_level(mpu6050_dev_t *dev, mpu6050_vddio_level_t level)

Set the auxiliary I2C supply voltage level.

When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to the MPU6000, which does not have a VLOGIC pin.

Parameters

  • dev – Device descriptor

  • level – I2C supply voltage level (0 = VLOGIC, 1 = VDD).

Returns

ESP_OK on success

esp_err_t mpu6050_get_rate(mpu6050_dev_t *dev, uint8_t *rate)

Get gyroscope output rate divider.

The sensor register output, FIFO output, DMP sampling, Motion Detection, Zero Motion Detection and Free Fall Detection are all based on the Sample Rate. The Sample Rate is generated by dividing the gyroscope output rate by SMPLRT_DIV:

Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)

Where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or 7), and 1kHz when the DLPF is enabled.

Note: The accelerometer output rate is 1kHz. This means that for a Sample Rate greater than 1kHz, the same accelerometer sample may be output to the FIFO, DMP, and sensor registers more than once.

Parameters

  • dev – Device descriptor

  • rate – [out] accelerometer sample rate

Returns

ESP_OK on success

esp_err_t mpu6050_set_rate(mpu6050_dev_t *dev, uint8_t rate)

Set gyroscope output rate divider.

Parameters

  • dev – Device descriptor

  • rate – New sample rate divider.

Returns

ESP_OK on success

esp_err_t mpu6050_get_external_frame_sync(mpu6050_dev_t *dev, mpu6050_ext_sync_t *sync)

Get external FSYNC configuration.

Configures the external Frame Synchronization (FSYNC) pin sampling. An external signal connected to the FSYNC pin can be sampled by configuring EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short strobes may be captured. The latched FSYNC signal will be sampled at the Sampling Rate, as defined in register 25. After sampling, the latch will reset to the current FSYNC signal state. The sampled value will be reported in place of the least significant bit in a sensor data register determined by the value of EXT_SYNC_SET.

Parameters

  • dev – Device descriptor

  • sync – [out] FSYNC configuration value.

Returns

ESP_OK on success

esp_err_t mpu6050_set_external_frame_sync(mpu6050_dev_t *dev, mpu6050_ext_sync_t sync)

Set external FSYNC configuration.

Parameters

  • dev – Device descriptor

  • sync – New FSYNC configuration value.

Returns

ESP_OK on success

esp_err_t mpu6050_get_dlpf_mode(mpu6050_dev_t *dev, mpu6050_dlpf_mode_t *mode)

Get digital low-pass filter configuration.

The DLPF_CFG parameter sets the digital low pass filter configuration. It also determines the internal sampling rate used by the device.

Note: The accelerometer output rate is 1kHz. This means that for a Sample Rate greater than 1kHz, the same accelerometer sample may be output to the FIFO, DMP, and sensor registers more than once.

Parameters

  • dev – Device descriptor

  • mode – [out] DLFP configuration.

Returns

ESP_OK on success

esp_err_t mpu6050_set_dlpf_mode(mpu6050_dev_t *dev, mpu6050_dlpf_mode_t mode)

Set digital low-pass filter configuration.

Parameters

  • dev – Device descriptor

  • mode – New DLFP configuration setting.

Returns

ESP_OK on success

esp_err_t mpu6050_get_full_scale_gyro_range(mpu6050_dev_t *dev, mpu6050_gyro_range_t *gyro_range)

Get full-scale gyroscope range.

The FS_SEL parameter allows setting the full-scale range of the gyro sensors.

Parameters

  • dev – Device descriptor

  • gyro_range – [out] full-scale gyroscope range setting.

Returns

ESP_OK on success

esp_err_t mpu6050_set_full_scale_gyro_range(mpu6050_dev_t *dev, mpu6050_gyro_range_t range)

Set full-scale gyroscope range.

Parameters

  • dev – Device descriptor

  • range – New full-scale gyroscope range value.

Returns

ESP_OK on success

esp_err_t mpu6050_get_accel_self_test_factory_trim(mpu6050_dev_t *dev, mpu6050_axis_t axis, uint8_t *trim)

Get self-test factory trim value for accelerometer axis.

Parameters

  • dev – Device descriptor

  • axis – Accelerometer axis

  • trim – [out] Factory trim value.

Returns

ESP_OK on success

esp_err_t mpu6050_get_gyro_self_test_factory_trim(mpu6050_dev_t *dev, mpu6050_axis_t axis, uint8_t *trim)

Get self-test factory trim value for gyroscope axis.

Parameters

  • dev – Device descriptor

  • axis – Gyroscope axis

  • trim – [out] Factory trim value.

Returns

ESP_OK on success

esp_err_t mpu6050_get_accel_self_test(mpu6050_dev_t *dev, mpu6050_axis_t axis, bool *enabled)

Get self-test enabled for accelerometer axis.

Parameters

  • dev – Device descriptor

  • axis – Accelerometer axis

  • enabled – [out] true if self-test enabled

Returns

ESP_OK on success

esp_err_t mpu6050_set_accel_self_test(mpu6050_dev_t *dev, mpu6050_axis_t axis, bool enabled)

Set self-test enabled for accelerometer axis.

Parameters

  • dev – Device descriptor

  • axis – Accelerometer axis

  • enabled – Self test enabled value

Returns

ESP_OK on success

esp_err_t mpu6050_get_full_scale_accel_range(mpu6050_dev_t *dev, mpu6050_accel_range_t *range)

Get full-scale accelerometer range.

The FS_SEL parameter allows dev the full-scale range of the accelerometer sensors.

Parameters

  • dev – Device descriptor

  • range – [out] Current full-scale accelerometer range setting

Returns

ESP_OK on success

esp_err_t mpu6050_set_full_scale_accel_range(mpu6050_dev_t *dev, mpu6050_accel_range_t range)

Set full-scale accelerometer range.

Parameters

  • dev – Device descriptor

  • range – New full-scale accelerometer range setting

Returns

ESP_OK on success

esp_err_t mpu6050_get_dhpf_mode(mpu6050_dev_t *dev, mpu6050_dhpf_mode_t *mode)

Get the high-pass filter configuration.

The DHPF is a filter module in the path leading to motion detectors (Free Fall, Motion threshold, and Zero Motion). The high pass filter output is not available to the data registers.

The high pass filter has three modes:

Reset: The filter output settles to zero within one sample. This effectively disables the high pass filter. This mode may be toggled to quickly settle the filter.

On: The high pass filter will pass signals above the cut off frequency.

Hold: When triggered, the filter holds the present sample. The filter output will be the difference between the input sample and the held sample.

Parameters

  • dev – Device descriptor

  • mode – [out] Current high-pass filter configuration

Returns

ESP_OK on success

esp_err_t mpu6050_set_dhpf_mode(mpu6050_dev_t *dev, mpu6050_dhpf_mode_t mode)

Set the high-pass filter configuration.

Parameters

  • dev – Device descriptor

  • mode – New high-pass filter configuration

Returns

ESP_OK on success

esp_err_t mpu6050_get_freefall_detection_threshold(mpu6050_dev_t *dev, uint8_t *threshold)

Get free-fall event acceleration threshold.

This register configures the detection threshold for Free Fall event detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the absolute value of the accelerometer measurements for the three axes are each less than the detection threshold. This condition increments the Free Fall duration counter (Register 30). The Free Fall interrupt is triggered when the Free Fall duration counter reaches the time specified in FF_DUR.

Parameters

  • dev – Device descriptor

  • threshold – [out] Current free-fall acceleration threshold value (LSB = 2mg)

Returns

ESP_OK on success

esp_err_t mpu6050_set_freefall_detection_threshold(mpu6050_dev_t *dev, uint8_t threshold)

Get free-fall event acceleration threshold.

Parameters

  • dev – Device descriptor

  • threshold – New free-fall acceleration threshold value (LSB = 2mg).

Returns

ESP_OK on success

esp_err_t mpu6050_get_freefall_detection_duration(mpu6050_dev_t *dev, uint8_t *duration_ms)

Get free-fall event duration threshold.

This register configures the duration_ms counter threshold for Free Fall event detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit of 1 LSB = 1 ms.

The Free Fall duration counter increments while the absolute value of the accelerometer measurements are each less than the detection threshold (Register 29). The Free Fall interrupt is triggered when the Free Fall duration_ms counter reaches the time specified in this register.

Parameters

  • dev – Device descriptor

  • duration_ms – [out] Current free-fall duration threshold value, ms

Returns

ESP_OK on success

esp_err_t mpu6050_set_freefall_detection_duration(mpu6050_dev_t *dev, uint8_t duration_ms)

Set free-fall event duration threshold.

Parameters

  • dev – Device descriptor

  • duration_ms – Free-fall duration threshold value, ms

Returns

ESP_OK on success

esp_err_t mpu6050_get_motion_detection_threshold(mpu6050_dev_t *dev, uint8_t *threshold)

Get motion detection event acceleration threshold.

This register configures the detection threshold for Motion interrupt generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the absolute value of any of the accelerometer measurements exceeds this Motion detection threshold. This condition increments the Motion detection duration counter (Register 32). The Motion detection interrupt is triggered when the Motion Detection counter reaches the time count specified in MOT_DUR (Register 32).

The Motion interrupt will indicate the axis and polarity of detected motion in MOT_DETECT_STATUS (Register 97).

Parameters

  • dev – Device descriptor

  • threshold – [out] Current motion detection acceleration threshold value (LSB = 2mg)

Returns

ESP_OK on success

esp_err_t mpu6050_set_motion_detection_threshold(mpu6050_dev_t *dev, uint8_t threshold)

Set motion detection event acceleration threshold.

Parameters

  • dev – Device descriptor

  • threshold – New motion detection acceleration threshold value (LSB = 2mg)

Returns

ESP_OK on success

esp_err_t mpu6050_get_motion_detection_duration(mpu6050_dev_t *dev, uint8_t *duration)

Get motion detection event duration threshold.

This register configures the duration counter threshold for Motion interrupt generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit of 1LSB = 1ms. The Motion detection duration counter increments when the absolute value of any of the accelerometer measurements exceeds the Motion detection threshold (Register 31). The Motion detection interrupt is triggered when the Motion detection counter reaches the time count specified in this register.

Parameters

  • dev – Device descriptor

  • duration – [out] Current motion detection duration threshold value, ms

Returns

ESP_OK on success

esp_err_t mpu6050_set_motion_detection_duration(mpu6050_dev_t *dev, uint8_t duration)

Set motion detection event duration threshold.

Parameters

  • dev – Device descriptor

  • duration – New motion detection duration threshold value, ms

Returns

ESP_OK on success

esp_err_t mpu6050_get_zero_motion_detection_threshold(mpu6050_dev_t *dev, uint8_t *threshold)

Get zero motion detection event acceleration threshold.

This register configures the detection threshold for Zero Motion interrupt generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when the absolute value of the accelerometer measurements for the 3 axes are each less than the detection threshold. This condition increments the Zero Motion duration counter (Register 34). The Zero Motion interrupt is triggered when the Zero Motion duration counter reaches the time count specified in ZRMOT_DUR (Register 34).

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.

When a zero motion event is detected, a Zero Motion Status will be indicated in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion condition is detected, the status bit is set to 1. When a zero-motion-to- motion condition is detected, the status bit is set to 0.

Parameters

  • dev – Device descriptor

  • threshold – [out] Current zero motion detection acceleration threshold value (LSB = 2mg)

Returns

ESP_OK on success

esp_err_t mpu6050_set_zero_motion_detection_threshold(mpu6050_dev_t *dev, uint8_t threshold)

Set zero motion detection event acceleration threshold.

Parameters

  • dev – Device descriptor

  • threshold – New zero motion detection acceleration threshold value (LSB = 2mg)

Returns

ESP_OK on success

esp_err_t mpu6050_get_zero_motion_detection_duration(mpu6050_dev_t *dev, uint8_t *duration)

Get zero motion detection event duration threshold.

This register configures the duration counter threshold for Zero Motion interrupt generation. The duration counter ticks at 16 Hz, therefore ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter increments while the absolute value of the accelerometer measurements are each less than the detection threshold (Register 33). The Zero Motion interrupt is triggered when the Zero Motion duration counter reaches the time count specified in this register.

Parameters

  • dev – Device descriptor

  • duration – [out] Current zero motion detection duration threshold value (LSB = 64ms)

Returns

ESP_OK on success

esp_err_t mpu6050_set_zero_motion_detection_duration(mpu6050_dev_t *dev, uint8_t duration)

Set zero motion detection event duration threshold.

Parameters

  • dev – Device descriptor

  • duration – New zero motion detection duration threshold value (LSB = 64ms)

Returns

ESP_OK on success

esp_err_t mpu6050_get_temp_fifo_enabled(mpu6050_dev_t *dev, bool *enabled)

Get temperature FIFO enabled value.

When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and 66) to be written into the FIFO buffer.

Parameters

  • dev – Device descriptor

  • enabled – [out] true if temperature FIFO is enabled

Returns

ESP_OK on success

esp_err_t mpu6050_set_temp_fifo_enabled(mpu6050_dev_t *dev, bool enabled)

Set temperature FIFO enabled value.

Parameters

  • dev – Device descriptor

  • enabled – New temperature FIFO enabled value.

Returns

ESP_OK on success

esp_err_t mpu6050_get_gyro_fifo_enabled(mpu6050_dev_t *dev, mpu6050_axis_t axis, bool *enabled)

Get gyroscope axis FIFO enabled value.

Parameters

  • dev – Device descriptor

  • axis – Gyroscope axis

  • enabled – [out] Gyroscope axis FIFO enabled value.

Returns

ESP_OK on success

esp_err_t mpu6050_set_gyro_fifo_enabled(mpu6050_dev_t *dev, mpu6050_axis_t axis, bool enabled)

Set gyroscope axis FIFO enabled value.

Parameters

  • dev – Device descriptor

  • axis – Gyroscope axis

  • enabled – New gyroscope axis FIFO enabled value.

Returns

ESP_OK on success

esp_err_t mpu6050_get_accel_fifo_enabled(mpu6050_dev_t *dev, bool *enabled)

Get accelerometer FIFO enabled value.

When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H, ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be written into the FIFO buffer.

Parameters

  • dev – Device descriptor

  • enabled – [out] Gyroscope axis FIFO enabled value.

Returns

ESP_OK on success

esp_err_t mpu6050_set_accel_fifo_enabled(mpu6050_dev_t *dev, bool enabled)

Set accelerometer FIFO enabled value.

Parameters

  • dev – Device descriptor

  • enabled – New accelerometer FIFO enabled value.

Returns

ESP_OK on success

esp_err_t mpu6050_get_slave_fifo_enabled(mpu6050_dev_t *dev, mpu6050_slave_t num, bool *enabled)

Get Slave FIFO enabled value.

When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) associated with Slave to be written into the FIFO buffer.

Parameters

  • dev – Device descriptor

  • num – Slave number (0-3)

  • enabled – [out] Slave FIFO enabled value.

Returns

ESP_OK on success

esp_err_t mpu6050_set_slave_fifo_enabled(mpu6050_dev_t *dev, mpu6050_slave_t num, bool enabled)

Set Slave FIFO enabled value.

Parameters

  • dev – Device descriptor

  • num – Slave number (0-3)

  • enabled – New Slave FIFO enabled value.

Returns

ESP_OK on success

esp_err_t mpu6050_get_multi_master_enabled(mpu6050_dev_t *dev, bool *enabled)

Get multi-master enabled value.

Multi-master capability allows multiple I2C masters to operate on the same bus. In circuits where multi-master capability is required, set MULT_MST_EN to 1. This will increase current drawn by approximately 30uA.

In circuits where multi-master capability is required, the state of the I2C bus must always be monitored by each separate I2C Master. Before an I2C Master can assume arbitration of the bus, it must first confirm that no other I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the MPU-60X0’s bus arbitration detection logic is turned on, enabling it to detect when the bus is available.

Parameters

  • dev – Device descriptor

  • enabled – [out] Multi-master enabled value.

Returns

ESP_OK on success

esp_err_t mpu6050_set_multi_master_enabled(mpu6050_dev_t *dev, bool enabled)

Set multi-master enabled value.

Parameters

  • dev – Device descriptor

  • enabled – New multi-master enabled value.

Returns

ESP_OK on success

esp_err_t mpu6050_get_wait_for_external_sensor_enabled(mpu6050_dev_t *dev, bool *enabled)

Get wait-for-external-sensor-data enabled value.

When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be delayed until External Sensor data from the Slave Devices are loaded into the EXT_SENS_DATA registers. This is used to ensure that both the internal sensor data (i.e. from gyro and accel) and external sensor data have been loaded to their respective data registers (i.e. the data is synced) when the Data Ready interrupt is triggered.

Parameters

  • dev – Device descriptor

  • enabled – [out] Wait-for-external-sensor-data enabled value.

Returns

ESP_OK on success

esp_err_t mpu6050_set_wait_for_external_sensor_enabled(mpu6050_dev_t *dev, bool enabled)

Set wait-for-external-sensor-data enabled value.

Parameters

  • dev – Device descriptor

  • enabled – New wait-for-external-sensor-data enabled value.

Returns

ESP_OK on success

esp_err_t mpu6050_get_slave_read_write_transition_enabled(mpu6050_dev_t *dev, bool *enabled)

Get slave read/write transition enabled value.

The I2C_MST_P_NSR bit configures the I2C Master’s transition from one slave read to the next slave read. If the bit equals 0, there will be a restart between reads. If the bit equals 1, there will be a stop followed by a start of the following read. When a write transaction follows a read transaction, the stop followed by a start of the successive write will be always used.

Parameters

  • dev – Device descriptor

  • enabled – [out] Slave read/write transition enabled value

Returns

ESP_OK on success

esp_err_t mpu6050_set_slave_read_write_transition_enabled(mpu6050_dev_t *dev, bool enabled)

Set slave read/write transition enabled value.

Parameters

  • dev – Device descriptor

  • enabled – New slave read/write transition enabled value.

Returns

ESP_OK on success

esp_err_t mpu6050_get_master_clock_speed(mpu6050_dev_t *dev, mpu6050_i2c_master_clock_t *clk_spd)

Get I2C master clock speed.

I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the MPU-60X0 internal 8MHz clock.

Parameters

  • dev – Device descriptor

  • clk_spd – [out] Current I2C master clock speed.

Returns

ESP_OK on success

esp_err_t mpu6050_set_master_clock_speed(mpu6050_dev_t *dev, mpu6050_i2c_master_clock_t clk_spd)

Set I2C master clock speed.

Parameters

  • dev – Device descriptor

  • clk_spd – Current I2C master clock speed.

Returns

ESP_OK on success

esp_err_t mpu6050_get_slave_address(mpu6050_dev_t *dev, mpu6050_slave_t num, uint8_t *addr)

Get the I2C address of the specified slave.

Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it’s a read operation, and if it is cleared, then it’s a write operation. The remaining bits (6-0) are the 7-bit device address of the slave device.

In read mode, the result of the read is placed in the lowest available EXT_SENS_DATA register. For further information regarding the allocation of read results, please refer to the EXT_SENS_DATA register description (Registers 73 - 96).

The MPU-6050 supports a total of five slaves, but Slave 4 has unique characteristics, and so it has its own functions (getSlave4* and setSlave4*).

I2C data transactions are performed at the Sample Rate, as defined in Register 25. The user is responsible for ensuring that I2C data transactions to and from each enabled Slave can be completed within a single period of the Sample Rate.

The I2C slave access rate can be reduced relative to the Sample Rate. This reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a slave’s access rate is reduced relative to the Sample Rate is determined by I2C_MST_DELAY_CTRL (Register 103).

The processing order for the slaves is fixed. The sequence followed for processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a particular Slave is disabled it will be skipped.

Each slave can either be accessed at the sample rate or at a reduced sample rate. In a case where some slaves are accessed at the Sample Rate and some slaves are accessed at the reduced rate, the sequence of accessing the slaves (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will be skipped if their access rate dictates that they should not be accessed during that particular cycle. For further information regarding the reduced access rate, please refer to Register 52. Whether a slave is accessed at the Sample Rate or at the reduced rate is determined by the Delay Enable bits in Register 103.

Parameters

  • dev – Device descriptor

  • num – Slave number (0-4).

  • addr – [out] Current address for specified slave.

Returns

ESP_OK on success

esp_err_t mpu6050_set_slave_address(mpu6050_dev_t *dev, mpu6050_slave_t num, uint8_t address)

Set the I2C address of the specified slave.

Parameters

  • dev – Device descriptor

  • num – Slave number (0-4)

  • address – New address for specified slave.

Returns

ESP_OK on success

esp_err_t mpu6050_get_slave_register(mpu6050_dev_t *dev, mpu6050_slave_t num, uint8_t *reg)

Get the active internal register for the specified slave.

Read/write operations for this slave will be done to whatever internal register address is stored in this MPU register.

The MPU-6050 supports a total of five slaves, but Slave 4 has unique characteristics, and so it has its own functions.

Parameters

  • dev – Device descriptor

  • num – Slave number (0-4).

  • reg – [out] Current active register for specified slave.

Returns

ESP_OK on success

esp_err_t mpu6050_set_slave_register(mpu6050_dev_t *dev, mpu6050_slave_t num, uint8_t reg)

Set the active internal register for the specified slave.

Parameters

  • dev – Device descriptor

  • num – Slave number (0-4).

  • reg – New active register for specified slave.

Returns

ESP_OK on success

esp_err_t mpu6050_get_slave_enabled(mpu6050_dev_t *dev, mpu6050_slave_t num, bool *enabled)

Get the enabled value for the specified slave.

Parameters

  • dev – Device descriptor

  • num – Slave number (0-4).

  • enabled – [out] Enabled value for specified slave.

Returns

ESP_OK on success

esp_err_t mpu6050_set_slave_enabled(mpu6050_dev_t *dev, mpu6050_slave_t num, bool enabled)

Set the enabled value for the specified slave.

Parameters

  • dev – Device descriptor

  • num – Slave number (0-4).

  • enabled – New enabled value for specified slave.

Returns

ESP_OK on success

esp_err_t mpu6050_get_slave_word_byte_swap(mpu6050_dev_t *dev, mpu6050_slave_t num, bool *enabled)

Get word pair byte-swapping enabled for the specified slave.

When set to 1, this bit enables byte swapping. When byte swapping is enabled, the high and low bytes of a word pair are swapped. Please refer to I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0, bytes transferred to and from Slave will be written to EXT_SENS_DATA registers in the order they were transferred.

Parameters

  • dev – Device descriptor

  • num – Slave number (0-4).

  • enabled – [out] Word pair byte-swapping enabled value for specified slave.

Returns

ESP_OK on success

esp_err_t mpu6050_set_slave_word_byte_swap(mpu6050_dev_t *dev, mpu6050_slave_t num, bool enabled)

Set word pair byte-swapping enabled for the specified slave.

Parameters

  • dev – Device descriptor

  • num – Slave number (0-4).

  • enabled – New word pair byte-swapping enabled value for specified slave.

Returns

ESP_OK on success

esp_err_t mpu6050_get_slave_write_mode(mpu6050_dev_t *dev, mpu6050_slave_t num, bool *mode)

Get write mode for the specified slave.

When set to 1, the transaction will read or write data only. When cleared to 0, the transaction will write a register address prior to reading or writing data. This should equal 0 when specifying the register address within the Slave device to/from which the ensuing data transaction will take place.

Parameters

  • dev – Device descriptor

  • num – Slave number (0-4).

  • mode – [out] Write mode: false - register address + data, true - data only

Returns

ESP_OK on success

esp_err_t mpu6050_set_slave_write_mode(mpu6050_dev_t *dev, mpu6050_slave_t num, bool mode)

Set write mode for the specified slave.

Parameters

  • dev – Device descriptor

  • num – Slave number (0-4).

  • mode – Write mode: false - register address + data, true - data only

Returns

ESP_OK on success

esp_err_t mpu6050_get_slave_word_group_offset(mpu6050_dev_t *dev, mpu6050_slave_t num, bool *enabled)

Get word pair grouping order offset for the specified slave.

This sets specifies the grouping order of word pairs received from registers. When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even, then odd register addresses) are paired to form a word. When set to 1, bytes from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even register addresses) are paired to form a word.

Parameters

  • dev – Device descriptor

  • num – Slave number (0-4).

  • enabled – [out] Word pair grouping order offset for specified slave.

Returns

ESP_OK on success

esp_err_t mpu6050_set_slave_word_group_offset(mpu6050_dev_t *dev, mpu6050_slave_t num, bool enabled)

Set word pair grouping order offset for the specified slave.

Parameters

  • dev – Device descriptor

  • num – Slave number (0-4).

  • enabled – New word pair grouping order offset for specified slave.

Returns

ESP_OK on success

esp_err_t mpu6050_get_slave_data_length(mpu6050_dev_t *dev, mpu6050_slave_t num, uint8_t *length)

Get number of bytes to read for the specified slave.

Specifies the number of bytes transferred to and from Slave 0. Clearing this bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.

Parameters

  • dev – Device descriptor

  • num – Slave number (0-4).

  • length – [out] Number of bytes to read for specified slave.

Returns

ESP_OK on success

esp_err_t mpu6050_set_slave_data_length(mpu6050_dev_t *dev, mpu6050_slave_t num, uint8_t length)

Set number of bytes to read for the specified slave.

Parameters

  • dev – Device descriptor

  • num – Slave number (0-4).

  • length – Number of bytes to read for specified slave.

Returns

ESP_OK on success

esp_err_t mpu6050_set_slave_4_output_byte(mpu6050_dev_t *dev, uint8_t data)

Set new byte to write to Slave 4.

This register stores the data to be written into the Slave 4. If I2C_SLV4_RW is set 1 (set to read), this register has no effect.

Parameters

  • dev – Device descriptor

  • data – New byte to write to Slave 4.

Returns

ESP_OK on success

esp_err_t mpu6050_get_slave_4_interrupt_enabled(mpu6050_dev_t *dev, bool *enabled)

Get the enabled value for Slave 4 transaction interrupts.

When set to 1, this bit enables the generation of an interrupt signal upon completion of a Slave 4 transaction. When cleared to 0, this bit disables the generation of an interrupt signal upon completion of a Slave 4 transaction. The interrupt status can be observed in Register 54.

Parameters

  • dev – Device descriptor

  • enabled – [out] Enabled value for Slave 4 transaction interrupts.

Returns

ESP_OK on success

esp_err_t mpu6050_set_slave_4_interrupt_enabled(mpu6050_dev_t *dev, bool enabled)

Set the enabled value for Slave 4 transaction interrupts.

Parameters

  • dev – Device descriptor

  • enabled – New enabled value for Slave 4 transaction interrupts.

Returns

ESP_OK on success

esp_err_t mpu6050_get_slave_4_master_delay(mpu6050_dev_t *dev, uint8_t *delay)

Get Slave 4 master delay value.

This configures the reduced access rate of I2C slaves relative to the Sample Rate. When a slave’s access rate is decreased relative to the Sample Rate, the slave is accessed every:

1 / (1 + I2C_MST_DLY) samples

This base Sample Rate in turn is determined by SMPLRT_DIV (Register 25) and DLPF_CFG (Register 26). Whether a slave’s access rate is reduced relative to the Sample Rate is determined by I2C_MST_DELAY_CTRL (Register 103).

Parameters

  • dev – Device descriptor

  • delay – [out] Current Slave 4 master delay value.

Returns

ESP_OK on success

esp_err_t mpu6050_set_slave_4_master_delay(mpu6050_dev_t *dev, uint8_t delay)

Set Slave 4 master delay value.

Parameters

  • dev – Device descriptor

  • delay – New Slave 4 master delay value.

Returns

ESP_OK on success

esp_err_t mpu6050_get_slave_4_input_byte(mpu6050_dev_t *dev, uint8_t *byte)

Get last available byte read from Slave 4.

This register stores the data read from Slave 4. This field is populated after a read transaction.

Parameters

  • dev – Device descriptor

  • byte – [out] Last available byte read from to Slave 4.

Returns

ESP_OK on success

esp_err_t mpu6050_get_passthrough_status(mpu6050_dev_t *dev, bool *enabled)

Get FSYNC interrupt status.

This bit reflects the status of the FSYNC interrupt from an external device into the MPU-60X0. This is used as a way to pass an external interrupt through the MPU-60X0 to the host application processor. When set to 1, .

Parameters

  • dev – Device descriptor

  • enabled – [out] FSYNC interrupt status

Returns

ESP_OK on success

esp_err_t mpu6050_get_slave_4_is_done(mpu6050_dev_t *dev, bool *enabled)

Get Slave 4 transaction done status.

Automatically sets to 1 when a Slave 4 transaction has completed. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the I2C_SLV4_CTRL register (Register 52).

Parameters

  • dev – Device descriptor

  • enabled – [out] Slave 4 transaction done status

Returns

ESP_OK on success

esp_err_t mpu6050_get_lost_arbitration(mpu6050_dev_t *dev, bool *lost)

Get master arbitration lost status.

This bit automatically sets to 1 when the I2C Master has lost arbitration of the auxiliary I2C bus (an error condition). This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.

Parameters

  • dev – Device descriptor

  • lost – [out] Master arbitration lost status

Returns

ESP_OK on success

esp_err_t mpu6050_get_slave_nack(mpu6050_dev_t *dev, mpu6050_slave_t num, bool *nack)

Get Slave NACK status.

This bit automatically sets to 1 when the I2C Master receives a NACK in a transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.

Parameters

  • dev – Device descriptor

  • num – Slave number (0-4).

  • nack – [out] Slave NACK status.

Returns

ESP_OK on success

esp_err_t mpu6050_get_interrupt_mode(mpu6050_dev_t *dev, mpu6050_int_level_t *mode)

Get interrupt logic level mode.

Parameters

  • dev – Device descriptor

  • mode – [out] Interrupt logic level mode

Returns

ESP_OK on success

esp_err_t mpu6050_set_interrupt_mode(mpu6050_dev_t *dev, mpu6050_int_level_t mode)

Set interrupt logic level mode.

Parameters

  • dev – Device descriptor

  • mode – New interrupt mode.

Returns

ESP_OK on success

esp_err_t mpu6050_get_interrupt_drive(mpu6050_dev_t *dev, mpu6050_int_drive_t *drive)

Get interrupt drive mode.

Parameters

  • dev – Device descriptor

  • drive – [out] Current interrupt drive mode

Returns

ESP_OK on success

esp_err_t mpu6050_set_interrupt_drive(mpu6050_dev_t *dev, mpu6050_int_drive_t drive)

Set interrupt drive mode.

Parameters

  • dev – Device descriptor

  • drive – New interrupt drive mode

Returns

ESP_OK on success

esp_err_t mpu6050_get_interrupt_latch(mpu6050_dev_t *dev, mpu6050_int_latch_t *latch)

Get interrupt latch mode.

Parameters

  • dev – Device descriptor

  • latch – [out] Current latch mode

Returns

ESP_OK on success

esp_err_t mpu6050_set_interrupt_latch(mpu6050_dev_t *dev, mpu6050_int_latch_t latch)

Set interrupt latch mode.

Parameters

  • dev – Device descriptor

  • latch – New latch mode

Returns

ESP_OK on success

esp_err_t mpu6050_get_interrupt_latch_clear(mpu6050_dev_t *dev, bool *clear)

Get interrupt latch clear mode.

Parameters

  • dev – Device descriptor

  • clear – [out] Current latch clear mode (false = status-read-only, true = any-register-read).

Returns

ESP_OK on success

esp_err_t mpu6050_set_interrupt_latch_clear(mpu6050_dev_t *dev, bool clear)

Set interrupt latch clear mode.

Parameters

  • dev – Device descriptor

  • clear – New latch clear mode (false = status-read-only, true = any-register-read).

Returns

ESP_OK on success

esp_err_t mpu6050_get_fsync_interrupt_level(mpu6050_dev_t *dev, mpu6050_int_level_t *level)

Get FSYNC interrupt logic level.

Parameters

  • dev – Device descriptor

  • level – [out] Current FSYNC interrupt logic level.

Returns

ESP_OK on success

esp_err_t mpu6050_set_fsync_interrupt_level(mpu6050_dev_t *dev, mpu6050_int_level_t level)

Set FSYNC interrupt logic level.

Parameters

  • dev – Device descriptor

  • level – New FSYNC interrupt logic level.

Returns

ESP_OK on success

esp_err_t mpu6050_get_fsync_interrupt_enabled(mpu6050_dev_t *dev, bool *enabled)

Get FSYNC pin interrupt enabled setting.

Parameters

  • dev – Device descriptor

  • enabled – [out] FSYNC pin interrupt enabled setting

Returns

ESP_OK on success

esp_err_t mpu6050_set_fsync_interrupt_enabled(mpu6050_dev_t *dev, bool enabled)

Set FSYNC pin interrupt enabled setting.

Parameters

  • dev – Device descriptor

  • enabled – New FSYNC pin interrupt enabled setting.

Returns

ESP_OK on success

esp_err_t mpu6050_get_i2c_bypass_enabled(mpu6050_dev_t *dev, bool *enabled)

Get I2C bypass enabled status.

When this bit is equal to 1 and I2C master is disabled, the host application processor will be able to directly access the auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host application processor will not be able to directly access the auxiliary I2C bus of the MPU-60X0 regardless of the state of I2C master.

Parameters

  • dev – Device descriptor

  • enabled – [out] Current I2C bypass enabled status.

Returns

ESP_OK on success

esp_err_t mpu6050_set_i2c_bypass_enabled(mpu6050_dev_t *dev, bool enabled)

Set I2C bypass enabled status.

Parameters

  • dev – Device descriptor

  • enabled – New I2C bypass enabled status.

Returns

ESP_OK on success

esp_err_t mpu6050_get_clock_output_enabled(mpu6050_dev_t *dev, bool *enabled)

Get reference clock output enabled status.

When this bit is equal to 1, a reference clock output is provided at the CLKOUT pin. When this bit is equal to 0, the clock output is disabled.

Parameters

  • dev – Device descriptor

  • enabled – [out] Current reference clock output enabled status.

Returns

ESP_OK on success

esp_err_t mpu6050_set_clock_output_enabled(mpu6050_dev_t *dev, bool enabled)

Set reference clock output enabled status.

Parameters

  • dev – Device descriptor

  • enabled – New reference clock output enabled status.

Returns

ESP_OK on success

esp_err_t mpu6050_get_int_enabled(mpu6050_dev_t *dev, uint8_t *ints)

Get full interrupt enabled status.

Full register byte for all interrupts, for quick reading. Each bit will be set 0 for disabled, 1 for enabled.

Parameters

  • dev – Device descriptor

  • ints – [out] Combination of mpu6050_int_source_t flags

Returns

ESP_OK on success

esp_err_t mpu6050_set_int_enabled(mpu6050_dev_t *dev, uint8_t ints)

Set full interrupt enabled status.

Full register byte for all interrupts, for quick writing. Each bit will be set 0 for disabled, 1 for enabled.

Parameters

  • dev – Device descriptor

  • ints – Combination of mpu6050_int_source_t flags

Returns

ESP_OK on success

esp_err_t mpu6050_get_int_status(mpu6050_dev_t *dev, uint8_t *ints)

Get full set of interrupt status bits.

These bits clear to 0 after the register has been read. Very useful for getting multiple INT statuses, since each single bit read clears all of them because it has to read the whole byte.

Parameters

  • dev – Device descriptor

  • ints – [out] Combination of mpu6050_int_source_t flags

Returns

ESP_OK on success

esp_err_t mpu6050_get_accel_offset(mpu6050_dev_t *dev, mpu6050_axis_t axis, int16_t *offset)

Get offset for accelerometer axis.

Undocumented register/feature

Parameters

  • dev – Device descriptor

  • axis – Accelerometer axis

  • offset – [out] Offset

Returns

ESP_OK on success

esp_err_t mpu6050_set_accel_offset(mpu6050_dev_t *dev, mpu6050_axis_t axis, int16_t offset)

Set offset for accelerometer axis.

Undocumented register/feature

Parameters

  • dev – Device descriptor

  • axis – Accelerometer axis

  • offset – Offset

Returns

ESP_OK on success

esp_err_t mpu6050_get_gyro_offset(mpu6050_dev_t *dev, mpu6050_axis_t axis, int16_t *offset)

Get offset for gyroscope axis.

Undocumented register/feature

Parameters

  • dev – Device descriptor

  • axis – Gyroscope axis

  • offset – [out] Offset

Returns

ESP_OK on success

esp_err_t mpu6050_set_gyro_offset(mpu6050_dev_t *dev, mpu6050_axis_t axis, int16_t offset)

Get offset for gyroscope axis.

Undocumented register/feature

Parameters

  • dev – Device descriptor

  • axis – Gyroscope axis

  • offset – Offset

Returns

ESP_OK on success

esp_err_t mpu6050_get_acceleration(mpu6050_dev_t *dev, mpu6050_acceleration_t *accel)

Get 3-axis accelerometer readings.

These registers store the most recent accelerometer measurements. Accelerometer measurements are written to these registers at the Sample Rate as defined in Register 25.

The accelerometer measurement registers, along with the temperature measurement registers, gyroscope measurement registers, and external sensor data registers, are composed of two sets of registers: an internal register set and a user-facing read register set.

The data within the accelerometer sensors’ internal register set is always updated at the Sample Rate. Meanwhile, the user-facing read register set duplicates the internal register set’s data values whenever the serial interface is idle. This guarantees that a burst read of sensor registers will read measurements from the same sampling instant. Note that if burst reads are not used, the user is responsible for ensuring a set of single byte reads correspond to a single sampling instant by checking the Data Ready interrupt.

Parameters

  • dev – Device descriptor

  • accel – [out] Three-axis acceleration data, g.

Returns

ESP_OK on success

esp_err_t mpu6050_get_raw_acceleration(mpu6050_dev_t *dev, mpu6050_raw_acceleration_t *raw_accel)

Get raw 3-axis accelerometer readings.

Parameters

  • dev – Device descriptor

  • raw_accel – [out] Raw acceleration data.

Returns

ESP_OK on success

esp_err_t mpu6050_get_acceleration_axis(mpu6050_dev_t *dev, mpu6050_axis_t axis, float *accel)

Get accelerometer reading on a single axis.

Parameters

  • dev – Device descriptor

  • axis – Accelerometer axis

  • accel – [out] Axis acceleration measurement, g

Returns

ESP_OK on success

esp_err_t mpu6050_get_raw_acceleration_axis(mpu6050_dev_t *dev, mpu6050_axis_t axis, int16_t *raw_accel)

Get raw accelerometer reading on a single axis.

Parameters

  • dev – Device descriptor

  • axis – Accelerometer axis

  • raw_accel – [out] Raw axis acceleration measurement

Returns

ESP_OK on success

esp_err_t mpu6050_get_temperature(mpu6050_dev_t *dev, float *temp)

Get current internal temperature.

Parameters

  • dev – Device descriptor

  • temp – [out] Internal temperature, °C

Returns

ESP_OK on success

esp_err_t mpu6050_get_rotation(mpu6050_dev_t *dev, mpu6050_rotation_t *gyro)

Get 3-axis gyroscope readings.

These gyroscope measurement registers, along with the accelerometer measurement registers, temperature measurement registers, and external sensor data registers, are composed of two sets of registers: an internal register set and a user-facing read register set. The data within the gyroscope sensors’ internal register set is always updated at the Sample Rate. Meanwhile, the user-facing read register set duplicates the internal register set’s data values whenever the serial interface is idle. This guarantees that a burst read of sensor registers will read measurements from the same sampling instant. Note that if burst reads are not used, the user is responsible for ensuring a set of single byte reads correspond to a single sampling instant by checking the Data Ready interrupt.

Parameters

  • dev – Device descriptor

  • gyro – [out] Rotation data, °/s

Returns

ESP_OK on success

esp_err_t mpu6050_get_raw_rotation(mpu6050_dev_t *dev, mpu6050_raw_rotation_t *raw_gyro)

Get raw 3-axis gyroscope readings.

Parameters

  • dev – Device descriptor

  • raw_gyro – [out] Raw rotation data.

Returns

ESP_OK on success

esp_err_t mpu6050_get_rotation_axis(mpu6050_dev_t *dev, mpu6050_axis_t axis, float *gyro)

Get gyroscope reading on a single axis.

Parameters

  • dev – Device descriptor

  • axis – Gyroscope axis

  • gyro – [out] Axis rotation measurement, °/s

Returns

ESP_OK on success

esp_err_t mpu6050_get_raw_rotation_axis(mpu6050_dev_t *dev, mpu6050_axis_t axis, int16_t *raw_gyro)

Get raw gyroscope reading on a single axis.

Parameters

  • dev – Device descriptor

  • axis – Gyroscope axis

  • raw_gyro – [out] Raw axis rotation measurement

Returns

ESP_OK on success

esp_err_t mpu6050_get_motion(mpu6050_dev_t *dev, mpu6050_acceleration_t *data_accel, mpu6050_rotation_t *data_gyro)

Get raw 6-axis motion sensor readings (accel/gyro).

Retrieves all currently available motion sensor values.

Parameters

  • dev – Device descriptor

  • data_accel – [out] acceleration struct.

  • data_gyro – [out] rotation struct.

Returns

ESP_OK on success

esp_err_t mpu6050_get_external_sensor_data(mpu6050_dev_t *dev, int position, void *buf, size_t length)
esp_err_t mpu6050_get_motion_status(mpu6050_dev_t *dev, uint8_t *status)

Get full motion detection status register content (all bits).

Parameters
Returns

ESP_OK on success

esp_err_t mpu6050_set_slave_output_byte(mpu6050_dev_t *dev, mpu6050_slave_t num, uint8_t data)

Write byte to Data Output container for specified slave.

This register holds the output data written into Slave when Slave is set to write mode. For further information regarding Slave control, please refer to Registers 37 to 39 and immediately following.

Parameters

  • dev – Device descriptor

  • num – Slave number (0-3).

  • data – Byte to write.

Returns

ESP_OK on success

esp_err_t mpu6050_get_external_shadow_delay_enabled(mpu6050_dev_t *dev, bool *enabled)

Get external data shadow delay enabled status.

This register is used to specify the timing of external sensor data shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external sensor data is delayed until all data has been received.

Parameters

  • dev – Device descriptor

  • enabled – [out] External data shadow delay enabled status.

Returns

ESP_OK on success

esp_err_t mpu6050_set_external_shadow_delay_enabled(mpu6050_dev_t *dev, bool enabled)

Set external data shadow delay enabled status.

Parameters

  • dev – Device descriptor

  • enabled – New external data shadow delay enabled status.

Returns

ESP_OK on success

esp_err_t mpu6050_get_slave_delay_enabled(mpu6050_dev_t *dev, mpu6050_slave_t num, bool *enabled)

Get slave delay enabled status.

When a particular slave delay is enabled, the rate of access for the that slave device is reduced. When a slave’s access rate is decreased relative to the Sample Rate, the slave is accessed every:

1 / (1 + I2C_MST_DLY) Samples

This base Sample Rate in turn is determined by SMPLRT_DIV (Register * 25) and DLPF_CFG (Register 26).

For further information regarding I2C_MST_DLY, please refer to register 52. For further information regarding the Sample Rate, please refer to register 25.

Parameters

  • dev – Device descriptor

  • num – Slave number (0-4).

  • enabled – [out] Slave delay enabled status.

Returns

ESP_OK on success

esp_err_t mpu6050_set_slave_delay_enabled(mpu6050_dev_t *dev, mpu6050_slave_t num, bool enabled)

Set slave delay enabled status.

Parameters

  • dev – Device descriptor

  • num – Slave number (0-4).

  • enabled – New slave delay enabled status.

Returns

ESP_OK on success

esp_err_t mpu6050_reset_gyroscope_path(mpu6050_dev_t *dev)

Reset gyroscope signal path.

The reset will revert the signal path analog to digital converters and filters to their power up configurations.

Parameters

dev – Device descriptor

Returns

ESP_OK on success

esp_err_t mpu6050_reset_accelerometer_path(mpu6050_dev_t *dev)

Reset accelerometer signal path.

The reset will revert the signal path analog to digital converters and filters to their power up configurations.

Parameters

dev – Device descriptor

Returns

ESP_OK on success

esp_err_t mpu6050_reset_temperature_path(mpu6050_dev_t *dev)

Reset temperature sensor signal path.

The reset will revert the signal path analog to digital converters and filters to their power up configurations.

Parameters

dev – Device descriptor

Returns

ESP_OK on success

esp_err_t mpu6050_get_accelerometer_power_on_delay(mpu6050_dev_t *dev, uint8_t *delay)

Get accelerometer power-on delay.

The accelerometer data path provides samples to the sensor registers, Motion detection, Zero Motion detection, and Free Fall detection modules. The signal path contains filters which must be flushed on wake-up with new samples before the detection modules begin operations. The default wake-up delay, of 4ms can be lengthened by up to 3ms. This additional delay is specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select any value above zero unless instructed otherwise by InvenSense. Please refer to Section 8 of the MPU-6000/MPU-6050 Product Specification document for further information regarding the detection modules.

Parameters

  • dev – Device descriptor

  • delay – [out] Current accelerometer power-on delay.

Returns

ESP_OK on success

esp_err_t mpu6050_set_accelerometer_power_on_delay(mpu6050_dev_t *dev, uint8_t delay)

Set accelerometer power-on delay.

Parameters

  • dev – Device descriptor

  • delay – New accelerometer power-on delay (0-3).

Returns

ESP_OK on success

esp_err_t mpu6050_get_freefall_detection_counter_decrement(mpu6050_dev_t *dev, uint8_t *decrement)

Get Free Fall detection counter decrement configuration.

Detection is registered by the Free Fall detection module after accelerometer measurements meet their respective threshold conditions over a specified number of samples. When the threshold conditions are met, the corresponding detection counter increments by 1. The user may control the rate at which the detection counter decrements when the threshold condition is not met by configuring FF_COUNT. The decrement rate can be set according to the following table:

FF_COUNT

Counter Decrement

0

Reset

1

1

2

2

3

4

When FF_COUNT is configured to 0 (reset), any non-qualifying sample will reset the counter to 0. For further information on Free Fall detection, please refer to Registers 29 to 32.

Parameters

  • dev – Device descriptor

  • decrement – [out] Current decrement configuration.

Returns

ESP_OK on success

esp_err_t mpu6050_set_freefall_detection_counter_decrement(mpu6050_dev_t *dev, uint8_t decrement)

Set Free Fall detection counter decrement configuration.

Parameters

  • dev – Device descriptor

  • decrement – New decrement configuration value.

Returns

ESP_OK on success

esp_err_t mpu6050_get_motion_detection_counter_decrement(mpu6050_dev_t *dev, uint8_t *decrement)

Get Motion detection counter decrement configuration.

Detection is registered by the Motion detection module after accelerometer measurements meet their respective threshold conditions over a specified number of samples. When the threshold conditions are met, the corresponding detection counter increments by 1. The user may control the rate at which the detection counter decrements when the threshold condition is not met by configuring MOT_COUNT. The decrement rate can be set according to the following table:

MOT_COUNT

Counter Decrement

0

Reset

1

1

2

2

3

4

When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will reset the counter to 0.

Parameters

  • dev – Device descriptor

  • decrement – [out] New decrement configuration value.

Returns

ESP_OK on success

esp_err_t mpu6050_set_motion_detection_counter_decrement(mpu6050_dev_t *dev, uint8_t decrement)

Set Motion detection counter decrement configuration.

Parameters

  • dev – Device descriptor

  • decrement – New decrement configuration value.

Returns

ESP_OK on success

esp_err_t mpu6050_get_fifo_enabled(mpu6050_dev_t *dev, bool *enabled)

Get FIFO enabled status.

When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer cannot be written to or read from while disabled. The FIFO buffer’s state does not change unless the MPU-60X0 is power cycled.

Parameters

  • dev – Device descriptor

  • enabled – [out] FIFO enabled status.

Returns

ESP_OK on success

esp_err_t mpu6050_set_fifo_enabled(mpu6050_dev_t *dev, bool enabled)

Set FIFO enabled status.

Parameters

  • dev – Device descriptor

  • enabled – New FIFO enabled status.

Returns

ESP_OK on success

esp_err_t mpu6050_get_i2c_master_mode_enabled(mpu6050_dev_t *dev, bool *enabled)

Get I2C Master Mode enabled status.

When this mode is enabled, the MPU-60X0 acts as the I2C Master to the external sensor slave devices on the auxiliary I2C bus. When this bit is cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically driven by the primary I2C bus (SDA and SCL). This is a precondition to enabling Bypass Mode.

Parameters

  • dev – Device descriptor

  • enabled – [out] I2C Master Mode enabled status.

Returns

ESP_OK on success

esp_err_t mpu6050_set_i2c_master_mode_enabled(mpu6050_dev_t *dev, bool enabled)

Set I2C Master Mode enabled status.

Parameters

  • dev – Device descriptor

  • enabled – New I2C Master Mode enabled status.

Returns

ESP_OK on success

esp_err_t mpu6050_switch_spie_enabled(mpu6050_dev_t *dev, bool enabled)

Switch from I2C to SPI mode (MPU-6000 only).

If this is set, the primary SPI interface will be enabled in place of the disabled primary I2C interface.

Note: This driver does not support SPI mode!

Parameters

  • dev – Device descriptor

  • enabled – New switch SPIE Mode enabled status.

Returns

ESP_OK on success

esp_err_t mpu6050_reset_fifo(mpu6050_dev_t *dev)

Reset the FIFO.

This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This bit automatically clears to 0 after the reset has been triggered.

Parameters

dev – Device descriptor

Returns

ESP_OK on success

esp_err_t mpu6050_reset_sensors(mpu6050_dev_t *dev)

Reset all sensor registers and signal paths.

When set to 1, this bit resets the signal paths for all sensors (gyroscopes, accelerometers, and temperature sensor). This operation will also clear the sensor registers. This bit automatically clears to 0 after the reset has been triggered.

When resetting only the signal path (and not the sensor registers), please use Register 104, SIGNAL_PATH_RESET.

Parameters

dev – Device descriptor

Returns

ESP_OK on success

esp_err_t mpu6050_reset(mpu6050_dev_t *dev)

Trigger a full device reset.

A small delay of ~50ms may be desirable after triggering a reset.

Parameters

dev – Device descriptor

Returns

ESP_OK on success

esp_err_t mpu6050_get_sleep_enabled(mpu6050_dev_t *dev, bool *enabled)

Get sleep mode status.

The SLEEP bit in the register puts the device into very low power sleep mode. In this mode, only the serial interface and internal registers remain active, allowing for a very low standby current. Clearing this bit puts the device back into normal mode. To save power, the individual standby selections for each of the gyros should be used if any gyro axis is not used by the application.

Parameters

  • dev – Device descriptor

  • enabled – [out] Sleep mode enabled status.

Returns

ESP_OK on success

esp_err_t mpu6050_set_sleep_enabled(mpu6050_dev_t *dev, bool enabled)

Set sleep mode status.

Parameters

  • dev – Device descriptor

  • enabled – New sleep mode enabled status.

Returns

ESP_OK on success

esp_err_t mpu6050_get_wake_cycle_enabled(mpu6050_dev_t *dev, bool *enabled)

Get wake cycle enabled status.

When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle between sleep mode and waking up to take a single sample of data from active sensors at a rate determined by LP_WAKE_CTRL (Register 108).

Parameters

  • dev – Device descriptor

  • enabled – [out] Wake cycle enabled status.

Returns

ESP_OK on success

esp_err_t mpu6050_set_wake_cycle_enabled(mpu6050_dev_t *dev, bool enabled)

Set wake cycle enabled status.

Parameters

  • dev – Device descriptor

  • enabled – Wake cycle enabled status.

Returns

ESP_OK on success

esp_err_t mpu6050_get_temp_sensor_enabled(mpu6050_dev_t *dev, bool *enabled)

Get temperature sensor enabled status.

Control the usage of the internal temperature sensor.

Note: this register stores the disabled value, but for consistency with the rest of the code, the function is named and used with standard true/false values to indicate whether the sensor is enabled or disabled, respectively.

Parameters

  • dev – Device descriptor

  • enabled – [out] Temperature sensor enabled status.

Returns

ESP_OK on success

esp_err_t mpu6050_set_temp_sensor_enabled(mpu6050_dev_t *dev, bool enabled)

Set temperature sensor enabled status.

Note: this register stores the disabled value, but for consistency with the rest of the code, the function is named and used with standard true/false values to indicate whether the sensor is enabled or disabled, respectively.

Parameters

  • dev – Device descriptor

  • enabled – New temperature sensor enabled status.

Returns

ESP_OK on success

esp_err_t mpu6050_get_clock_source(mpu6050_dev_t *dev, mpu6050_clock_source_t *source)

Get clock source setting.

An internal 8MHz oscillator, gyroscope based clock, or external sources can be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator or an external source is chosen as the clock source, the MPU-60X0 can operate in low power modes with the gyroscopes disabled.

Upon power up, the MPU-60X0 clock source defaults to the internal oscillator. However, it is highly recommended that the device be configured to use one of the gyroscopes (or an external clock source) as the clock reference for improved stability.

Parameters

  • dev – Device descriptor

  • source – [out] Current clock source setting.

Returns

ESP_OK on success

esp_err_t mpu6050_set_clock_source(mpu6050_dev_t *dev, mpu6050_clock_source_t source)

Set clock source setting.

Parameters

  • dev – Device descriptor

  • source – New clock source setting.

Returns

ESP_OK on success

esp_err_t mpu6050_get_wake_frequency(mpu6050_dev_t *dev, mpu6050_wake_freq_t *frequency)

Get wake frequency in Accel-Only Low Power Mode.

The MPU-60X0 can be put into Accelerometer Only Low Power Mode by setting PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode, the device will power off all devices except for the primary I2C interface, waking only the accelerometer at fixed intervals to take a single measurement.

For further information regarding the MPU-60X0’s power modes, please refer to Register 107.

Parameters

  • dev – Device descriptor

  • frequency – [out] Current wake frequency.

Returns

ESP_OK on success

esp_err_t mpu6050_set_wake_frequency(mpu6050_dev_t *dev, mpu6050_wake_freq_t frequency)

Set wake frequency in Accel-Only Low Power Mode.

Parameters

  • dev – Device descriptor

  • frequency – New wake frequency.

Returns

ESP_OK on success

esp_err_t mpu6050_get_standby_accel_enabled(mpu6050_dev_t *dev, mpu6050_axis_t axis, bool *enabled)

Get accelerometer axis standby enabled status.

If enabled, the axis will not gather or report data (or use power).

Parameters

  • dev – Device descriptor

  • axis – Accelerometer axis.

  • enabled – [out] Accelerometer axis standby enabled status.

Returns

ESP_OK on success

esp_err_t mpu6050_set_standby_accel_enabled(mpu6050_dev_t *dev, mpu6050_axis_t axis, bool enabled)

Set accelerometer axis standby enabled status.

Parameters

  • dev – Device descriptor

  • axis – Accelerometer axis.

  • enabled – Accelerometer axis standby enabled status.

Returns

ESP_OK on success

esp_err_t mpu6050_get_standby_gyro_enabled(mpu6050_dev_t *dev, mpu6050_axis_t axis, bool *enabled)

Get gyroscope axis standby enabled status.

If enabled, the axis will not gather or report data (or use power).

Parameters

  • dev – Device descriptor

  • axis – Gyroscope axis.

  • enabled – [out] Gyroscope axis standby enabled status.

Returns

ESP_OK on success

esp_err_t mpu6050_set_standby_gyro_enabled(mpu6050_dev_t *dev, mpu6050_axis_t axis, bool enabled)

Set gyroscope axis standby enabled status.

If enabled, the axis will not gather or report data (or use power).

Parameters

  • dev – Device descriptor

  • axis – Gyroscope axis.

  • enabled – Gyroscope axis standby enabled status.

Returns

ESP_OK on success

esp_err_t mpu6050_get_fifo_count(mpu6050_dev_t *dev, uint16_t *count)

Get current FIFO buffer size.

This value indicates the number of bytes stored in the FIFO buffer. This number is in turn the number of bytes that can be read from the FIFO buffer and it is directly proportional to the number of samples available given the set of sensor data bound to be stored in the FIFO (Register 35 and 36).

Parameters

  • dev – Device descriptor

  • count – [out] Current FIFO buffer size.

Returns

ESP_OK on success

esp_err_t mpu6050_get_fifo_byte(mpu6050_dev_t *dev, uint8_t *data)

Get byte from FIFO buffer.

This register is used to read and write data from the FIFO buffer. Data is written to the FIFO in order of register number (from lowest to highest). If all the FIFO enable flags (see below) are enabled and all External Sensor Data registers (Registers 73 to 96) are associated with a Slave device, the contents of registers 59 through 96 will be written in order at the Sample Rate.

The contents of the sensor data registers (Registers 59 to 96) are written into the FIFO buffer when their corresponding FIFO enable flags are set to 1 in FIFO_EN (Register 35). An additional flag for the sensor data registers associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).

If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is automatically set to 1. This bit is located in INT_STATUS (Register 58). When the FIFO buffer has overflowed, the oldest data will be lost and new data will be written to the FIFO.

If the FIFO buffer is empty, reading this register will return the last byte that was previously read from the FIFO until new data is available. The user should check FIFO_COUNT to ensure that the FIFO buffer is not read when empty.

Parameters

  • dev – Device descriptor

  • data – [out] Byte from FIFO buffer.

Returns

ESP_OK on success

esp_err_t mpu6050_get_fifo_bytes(mpu6050_dev_t *dev, uint8_t *data, size_t length)

Get bytes from FIFO buffer.

Parameters

  • dev – Device descriptor

  • data – [out] Buffer to store read bytes

  • length – How many bytes to read

Returns

ESP_OK on success

esp_err_t mpu6050_set_fifo_byte(mpu6050_dev_t *dev, uint8_t data)

Write byte to FIFO buffer.

Parameters

  • dev – Device descriptor

  • data – New FIFO byte of data.

Returns

ESP_OK on success

esp_err_t mpu6050_get_device_id(mpu6050_dev_t *dev, uint8_t *id)

Get the ID of the device.

Device identity is stored in the WHO_AM_I register. The device ID is 6 bits (Should be 0x34).

Parameters

  • dev – Device descriptor

  • id – [out] Device ID.

Returns

ESP_OK on success

esp_err_t mpu6050_calibrate(mpu6050_dev_t *dev, float *accel_bias_res, float *gyro_bias_res)

Function which accumulates gyro and accelerometer data after device initialization.

It calculates the average of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers.

Parameters

  • dev – Device descriptor

  • accel_bias_res – [out] Acceleration bias resolution.

  • gyro_bias_res – [out] Rotation bias resolution.

Returns

ESP_OK on success

esp_err_t mpu6050_self_test(mpu6050_dev_t *dev, float *destination)

Accelerometer and gyroscope self test.

Check calibration WRT factory settings.

Parameters

  • dev – Device descriptor

  • destination – [out] Where the result of the self test will be stored.

Returns

ESP_OK on success

struct mpu6050_raw_acceleration_t
#include <mpu6050.h>

Raw acceleration data.

Public Members

int16_t x

raw acceleration axis x

int16_t y

raw acceleration axis y

int16_t z

raw acceleration axis z

struct mpu6050_raw_rotation_t
#include <mpu6050.h>

Raw rotation data.

Public Members

int16_t x

raw rotation axis x

int16_t y

raw rotation axis y

int16_t z

raw rotation axis z

struct mpu6050_acceleration_t
#include <mpu6050.h>

MPU6050 acceleration data, g.

Public Members

float x

acceleration axis x

float y

acceleration axis y

float z

acceleration axis z

struct mpu6050_rotation_t
#include <mpu6050.h>

MPU6050 rotation data, °/s.

Public Members

float x

rotation axis x

float y

rotation axis y

float z

rotation axis z

struct mpu6050_dev_t
#include <mpu6050.h>

Device descriptor.