mpu6886.c File Reference

#include "freertos/FreeRTOS.h"
#include "i2c_device.h"
#include "mpu6886.h"

Functions
int	MPU6886_Init (void)
	Initializes the MPU6886 over I2C. More...
void	MPU6886_GetAccelAdc (int16_t *ax, int16_t *ay, int16_t *az)
	Retrieves the accelerometer measurements from the 16-bit ADC on the MPU6886. More...
void	MPU6886_GetGyroAdc (int16_t *gx, int16_t *gy, int16_t *gz)
	Retrieves the gyroscope measurements from the 16-bit ADC on the MPU6886. More...
void	MPU6886_GetTempAdc (int16_t *t)
	Retrieves the internal temperature measurement from the 16-bit ADC on the MPU6886. More...
float	MPU6886_GetGyroRes (gyro_scale_t scale)
	Retrieves the resolution of the gyroscope measurements on the MPU6886. More...
float	MPU6886_GetAccRes (acc_scale_t scale)
	Retrieves the resolution of the accelerometer measurements on the MPU6886. More...
void	MPU6886_SetGyroFSR (gyro_scale_t scale)
	Sets the full-scale range of the gyroscope on the MPU6886. More...
void	MPU6886_SetAccelFSR (acc_scale_t scale)
	Sets the full-scale range of the accelerometer on the MPU6886. More...
void	MPU6886_GetAccelData (float *ax, float *ay, float *az)
	Retrieves the accelerometer measurements from the MPU6886. More...
void	MPU6886_GetGyroData (float *gx, float *gy, float *gz)
	Retrieves the gyroscope measurements from the MPU6886. More...
void	MPU6886_GetTempData (float *t)
	Retrieves the internal temperature measurement from the MPU6886. More...

Function Documentation

MPU6886_Init()

int MPU6886_Init

(

void

)

Initializes the MPU6886 over I2C.

Note

The Core2ForAWS_Init() calls this function when the hardware feature is enabled.

Returns

0 if successful, -1 otherwise.

MPU6886_GetAccelAdc()

void MPU6886_GetAccelAdc	(	int16_t *	ax,
		int16_t *	ay,
		int16_t *	az
	)

Retrieves the accelerometer measurements from the 16-bit ADC on the MPU6886.

Parameters

[out]	ax	The 16-bit accelerometer measurement in the X direction.
[out]	ay	The 16-bit accelerometer measurement in the Y direction.
[out]	az	The 16-bit accelerometer measurement in the Z direction.

MPU6886_GetGyroAdc()

void MPU6886_GetGyroAdc	(	int16_t *	gx,
		int16_t *	gy,
		int16_t *	gz
	)

Retrieves the gyroscope measurements from the 16-bit ADC on the MPU6886.

Parameters

[out]	gx	The 16-bit accelerometer measurement in the X direction.
[out]	gy	The 16-bit accelerometer measurement in the Y direction.
[out]	gz	The 16-bit accelerometer measurement in the Z direction.

MPU6886_GetTempAdc()

void MPU6886_GetTempAdc

(

int16_t *

t

)

Retrieves the internal temperature measurement from the 16-bit ADC on the MPU6886.

Parameters

[out]

t

Temperature of the MPU6886 passed through the 16-bit ADC.

MPU6886_GetGyroRes()

float MPU6886_GetGyroRes

(

gyro_scale_t

scale

)

Retrieves the resolution of the gyroscope measurements on the MPU6886.

Parameters

[in]

scale

The degrees per second scale of measurement.

Returns

The gyroscope resolution.

MPU6886_GetAccRes()

float MPU6886_GetAccRes

(

acc_scale_t

scale

)

Retrieves the resolution of the accelerometer measurements on the MPU6886.

Parameters

[in]

scale

The G's per second scale of measurement.

Returns

The accelerometer resolution.

MPU6886_SetGyroFSR()

void MPU6886_SetGyroFSR

(

gyro_scale_t

scale

)

Sets the full-scale range of the gyroscope on the MPU6886.

Parameters

[in]

scale

The degrees per second scale of measurement.

MPU6886_SetAccelFSR()

void MPU6886_SetAccelFSR

(

acc_scale_t

scale

)

Sets the full-scale range of the accelerometer on the MPU6886.

Parameters

[in]

scale

The G's per second scale of measurement.

MPU6886_GetAccelData()

void MPU6886_GetAccelData	(	float *	ax,
		float *	ay,
		float *	az
	)

Retrieves the accelerometer measurements from the MPU6886.

Example:

Get the accelerometer values for the X, Y, and Z direction.

float accel_x = 0.00;
float accel_y = 0.00;
float accel_z = 0.00;
MPU6886_GetAccelData(&accel_x, &accel_y, &accel_z);

Parameters

[out]	ax	The 16-bit accelerometer measurement in the X direction.
[out]	ay	The 16-bit accelerometer measurement in the Y direction.
[out]	az	The 16-bit accelerometer measurement in the Z direction.

MPU6886_GetGyroData()

void MPU6886_GetGyroData	(	float *	roll,
		float *	yaw,
		float *	pitch
	)

Retrieves the gyroscope measurements from the MPU6886.

Example:

Get the gyroscope values for the Roll, Yaw, and Pitch direction.

float g_roll = 0.00;
float g_yaw = 0.00;
float g_pitch = 0.00;
MPU6886_GetGyroData(&g_roll, &g_yaw, &g_pitch);

Parameters

[out]	roll	The 16-bit gyroscope roll measurement.
[out]	yaw	The 16-bit gyroscope yaw measurement.
[out]	pitch	The 16-bit gyroscope pitch measurement.

MPU6886_GetTempData()

void MPU6886_GetTempData

(

float *

t

)

Retrieves the internal temperature measurement from the MPU6886.

Example:

Get the temperature reading of the MPU6886 temperature sensor.

float temperature;
MPU6886_GetTempData(&temperature);

Parameters

[out]

t

Temperature of the MPU6886.