Basic Driver

Blocking API functions. More...

Collaboration diagram for Basic Driver:

Functions
int8_t	MPU6500_Init (MPU6500_Config *config)
	Initialize the MPU6500 sensor.
int8_t	MPU6500_SetAccelRange (MPU6500_Config *config, Accel_Range range)
	Set the accelerometer full-scale range.
int8_t	MPU6500_SetRotationRange (MPU6500_Config *config, Gyro_Range range)
	Set the gyroscope full-scale range.
int8_t	MPU6500_Read_Gyro_Data (MPU6500_Config *config, MPU6500_Gyro_Data *Gyro_Data)
	Read and process gyroscope data in a single blocking call.
int8_t	MPU6500_Read_Accel_Data (MPU6500_Config *config, MPU6500_Accel_Data *Accel_Data)
	Read and process accelerometer data in a single blocking call.
int8_t	MPU6500_Gyro_Calibration (MPU6500_Config *config, int8_t return_offset[3])
	Calibrate gyroscope zero-rate offsets.

Detailed Description

Blocking API functions.

Function Documentation

MPU6500_Gyro_Calibration()

int8_t MPU6500_Gyro_Calibration	(	MPU6500_Config *	config,
		int8_t	return_offset[3]
	)

Calibrate gyroscope zero-rate offsets.

Collects 512 samples while the device is stationary and averages them to compute per-axis offsets. Stores the result in the internal driver config. Uses the split-phase DMA functions with delay_ms() between each sample.

Parameters

config	Driver configuration.
return_offset	Optional output array [X,Y,Z] for the offsets. Can be NULL.

Returns

0 on success, -1 on failure.

References MPU6500_Config::delay_ms, MPU6500_Config::Gyro_Offset_Calibration, MPU6500_Process_Gyro_DMA(), and MPU6500_Read_Gyro_DMA().

MPU6500_Init()

int8_t MPU6500_Init

(

MPU6500_Config *

config

)

Initialize the MPU6500 sensor.

Reads WHO_AM_I, clears the SLEEP bit, and verifies the device is awake. Uses delay_ms() between I2C operations for non-blocking compatibility.

Parameters

config

Pointer to a fully populated MPU6500_Config.

Returns

0 on success, -1 on failure.

References MPU6500_Config::delay_ms, MPU6500_I2C_ADDR, MPU6500_SLEEP_WAKE_MASK, MPU6500_Config::read, and MPU6500_Config::write.

MPU6500_Read_Accel_Data()

int8_t MPU6500_Read_Accel_Data	(	MPU6500_Config *	config,
		MPU6500_Accel_Data *	Accel_Data
	)

Read and process accelerometer data in a single blocking call.

Reads 6 raw bytes and applies sensitivity scaling.

Note

Assumes config->read() is blocking (data is in the buffer on return).

Parameters

config	Driver configuration.
Accel_Data	Output struct for processed accel values (g).

Returns

0 on success, -1 on failure.

References MPU6500_Config::Accel_Setting, MPU6500_I2C_ADDR, MPU6500_REG_ACCEL_MEASURE, and MPU6500_Config::read.

MPU6500_Read_Gyro_Data()

int8_t MPU6500_Read_Gyro_Data	(	MPU6500_Config *	config,
		MPU6500_Gyro_Data *	Gyro_Data
	)

Read and process gyroscope data in a single blocking call.

Reads 6 raw bytes, applies sensitivity scaling and calibration offsets.

Note

Assumes config->read() is blocking (data is in the buffer on return).

Parameters

config	Driver configuration.
Gyro_Data	Output struct for processed gyro values (dps).

Returns

0 on success, -1 on failure.

References MPU6500_Config::Gyro_Offset_Calibration, MPU6500_Config::Gyro_Setting, MPU6500_I2C_ADDR, MPU6500_REG_GYRO_MEASURE, and MPU6500_Config::read.

MPU6500_SetAccelRange()

int8_t MPU6500_SetAccelRange	(	MPU6500_Config *	config,
		Accel_Range	range
	)

Set the accelerometer full-scale range.

Parameters

config	Driver configuration.
range	Desired range (2G, 4G, 8G, or 16G).

Returns

0 on success, -1 on failure.

References MPU6500_Config::Accel_Setting, MPU6500_Config::delay_ms, MPU6500_I2C_ADDR, MPU6500_Config::read, and MPU6500_Config::write.

MPU6500_SetRotationRange()

int8_t MPU6500_SetRotationRange	(	MPU6500_Config *	config,
		Gyro_Range	range
	)

Set the gyroscope full-scale range.

Parameters

config	Driver configuration.
range	Desired range (250, 500, 1000, or 2000 dps).

Returns

0 on success, -1 on failure.

References MPU6500_Config::delay_ms, MPU6500_Config::Gyro_Setting, MPU6500_I2C_ADDR, MPU6500_Config::read, and MPU6500_Config::write.