Platform-agnostic MPU6500 6-axis IMU driver. More...

#include <stdint.h>

Include dependency graph for mpu6500.h:

This graph shows which files directly or indirectly include this file:

Data Structures
struct	MPU6500_Gyro_Data
	Processed gyroscope output in degrees per second (dps). More...

struct	MPU6500_Accel_Data
	Processed accelerometer output in g-force (g). More...

struct	MPU6500_Config
	Driver configuration and platform abstraction. More...

Macros
#define	MPU6500_I2C_ADDR (0x68U << 1)
	MPU6500 I2C address (0x68), left-shifted for HAL compatibility.

#define	MPU6500_SLEEP_WAKE_MASK 0xBFU
	Bitmask to clear the SLEEP bit in PWR_MGMT_1 (bit 6).

#define	MPU6500_REG_WHO_AM_I 0x75U

#define	MPU6500_REG_PWR_MGMT_1 0x6BU

#define	MPU6500_REG_ACCEL_CONFIG 0x1CU

#define	MPU6500_REG_GYRO_CONFIG 0x1BU

#define	MPU6500_REG_ACCEL_MEASURE 0x3BU
	Registers 59 to 64 – Accelerometer Measurements.

#define	MPU6500_REG_GYRO_MEASURE 0x43U
	Registers 67 to 72 – Gyroscope Measurements.

Enumerations
enum	Accel_Range { MPU6500_ACC_SET_2G = 0x00 , MPU6500_ACC_SET_4G = 0x08 , MPU6500_ACC_SET_8G = 0x10 , MPU6500_ACC_SET_16G = 0x18 }
	Full-scale accelerometer range register values.

enum	Gyro_Range { MPU6500_Gyro_SET_250 = 0x00 , MPU6500_Gyro_SET_500 = 0x08 , MPU6500_Gyro_SET_1000 = 0x10 , MPU6500_Gyro_SET_2000 = 0x18 }
	Full-scale gyroscope range register values.

enum	Accel_Calculation { MPU6500_Accel_2G = 0 , MPU6500_Accel_4G , MPU6500_Accel_8G , MPU6500_Accel_16G }
	Internal index for accelerometer sensitivity lookup.

enum	Gyro_Calculation { MPU6500_Gyro_250 = 0 , MPU6500_Gyro_500 , MPU6500_Gyro_1000 , MPU6500_Gyro_2000 }
	Internal index for gyroscope sensitivity lookup.

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.

int8_t	MPU6500_Read_Gyro_DMA (MPU6500_Config *config, uint8_t raw_buf[6])
	Start a gyroscope I2C read into a caller-owned buffer.

int8_t	MPU6500_Read_Accel_DMA (MPU6500_Config *config, uint8_t raw_buf[6])
	Start an accelerometer I2C read into a caller-owned buffer.

void	MPU6500_Process_Gyro_DMA (MPU6500_Config config, const uint8_t raw_buf[6], MPU6500_Gyro_Data data)
	Process a completed gyroscope raw buffer into scaled output.

void	MPU6500_Process_Accel_DMA (MPU6500_Config config, const uint8_t raw_buf[6], MPU6500_Accel_Data data)
	Process a completed accelerometer raw buffer into scaled output.

Detailed Description

Platform-agnostic MPU6500 6-axis IMU driver.

Provides both a blocking API (for polling/blocking I2C) and a split-phase non-blocking API (for DMA or interrupt-driven I2C). The driver is decoupled from any specific HAL through user-supplied function pointers in MPU6500_Config.

Author: Anthony Hua ... Rather SleepyPandas

Data Structures

Macros

Enumerations

Functions

Detailed Description