Mpu6050 Class Reference

InvenSense MPU6050 6-DoF IMU More...

Inheritance diagram for Mpu6050:

Classes
class	Mpu6050Registers

Public Types
enum	ExtSyncSets {   Disabled = 0, TempOutL = 1, GyroXoutL = 2, GyroYoutL = 3,   GyroZoutL = 4, AccelXoutL = 5, AccelYoutL = 6, AccelZoutL = 7 }
enum	GyroScales { Dps_250 = 0, Dps_500 = 1, Dps_1000 = 2, Dps_2000 = 3 }
enum	AccelScales { Fs_2g = 0, Fs_4g = 1, Fs_8g = 2, Fs_16g = 3 }
enum	ClockSels { InternalOscillator = 0, AutoSelect = 1, Reset = 7 }

Public Member Functions
	Mpu6050 (I2C i2c, bool addressPin=false, int ratekHz=400)
	Construct an MPU9150 9-Dof IMU More...
override async Task	UpdateAsync ()
	Requests a reading from the sensor and updates its data properties with the gathered values. More...
virtual async Task	Calibrate ()
	Calibrate IMU relative to gravity More...

Static Public Member Functions
static async Task< IList< Mpu6050 > >	ProbeAsync (I2C i2c, bool includeMpu9250=false, int rate=100)
	Discover any MPU6050 IMUs (or optionally MPU9250s) attached to the specified bus. More...

Protected Attributes
Mpu6050Registers	_registers

Properties
AccelScales	AccelerometerScale [get, set]
	Gets or sets the accelerometer scale More...
GyroScales	GyroscopeScale [get, set]
	Gets or sets the gyroscope scale More...
Vector3	Accelerometer [get]
	Gets the accelerometer data More...
Vector3	Gyroscope [get]
	Gets the gyroscope data More...
bool	AutoUpdateWhenPropertyRead [get, set]
	Gets or sets whether reading from the sensor's properties should request updates from the sensor automatically (defaults to true). More...

Detailed Description

InvenSense MPU6050 6-DoF IMU

Member Enumeration Documentation

ExtSyncSets

enum ExtSyncSets

strong

Enumerator
Disabled
TempOutL
GyroXoutL
GyroYoutL
GyroZoutL
AccelXoutL
AccelYoutL
AccelZoutL

GyroScales

enum GyroScales

strong

Enumerator
Dps_250
Dps_500
Dps_1000
Dps_2000

AccelScales

enum AccelScales

strong

Enumerator
Fs_2g
Fs_4g
Fs_8g
Fs_16g

ClockSels

enum ClockSels

strong

Enumerator
InternalOscillator
AutoSelect
Reset

Constructor & Destructor Documentation

Mpu6050()

Mpu6050	(	I2C	i2c,
		bool	addressPin = false,
		int	ratekHz = 400
	)

Construct an MPU9150 9-Dof IMU

Parameters

i2c	The I2c module this module is connected to.
addressPin	The address of the module
ratekHz	The rate, in kHz, to use with this IC

Member Function Documentation

ProbeAsync()

static async Task<IList<Mpu6050> > ProbeAsync ( I2C  i2c, bool  includeMpu9250 = false, int  rate = 100  )

static

Discover any MPU6050 IMUs (or optionally MPU9250s) attached to the specified bus.

Parameters

i2c	The bus to probe.
includeMpu9250	Whether to include MPU-9250 IMUs.
rate	The rate, in kHz, to use.

Returns

An awaitable task that completes with a list of of discovered sensors

UpdateAsync()

override async Task UpdateAsync

(

)

Requests a reading from the sensor and updates its data properties with the gathered values.

Returns

An awaitable Task

Note that when AutoUpdateWhenPropertyRead is true (which it is, by default), this method is implicitly called when any sensor data property is read from — there's no need to call this method unless you set AutoUpdateWhenPropertyRead to false.

Unless otherwise noted, this method updates all sensor data simultaneously, which can often lead to more efficient bus usage (as well as reducing USB chattiness).

Implements IPollable.

Calibrate()

virtual async Task Calibrate ( )

virtual

Calibrate IMU relative to gravity

Returns

Member Data Documentation

_registers

Mpu6050Registers _registers

protected

Property Documentation

AccelerometerScale

AccelScales AccelerometerScale

getset

Gets or sets the accelerometer scale

GyroscopeScale

GyroScales GyroscopeScale

getset

Gets or sets the gyroscope scale

Accelerometer

Vector3 Accelerometer

get

Gets the accelerometer data

Gyroscope

Vector3 Gyroscope

get

Gets the gyroscope data

AutoUpdateWhenPropertyRead

bool AutoUpdateWhenPropertyRead

getsetinherited

Gets or sets whether reading from the sensor's properties should request updates from the sensor automatically (defaults to true).

By default, whenever you access one of the properties of this sensor, a new reading will be fetched. If this property is set to false, you must manually call the UpdateAsync() method to retrieve a new sensor reading.

This functionality enables more efficient sensor updates, since it allows you to intelligently control when data is gathered.

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The documentation for this class was generated from the following file:

• F:/Git/treehopper-sdk/NET/API/Treehopper.Libraries/Sensors/Inertial/Mpu6050.cs