Shared base for the TDK InvenSense MPU 6-axis family (accel + gyro + temp) More...

#include <unit_mpu6xxx.hpp>

Inheritance diagram for m5::unit::UnitMPU6xxx:

Classes
struct	config_t
	Settings for begin() More...

Public Member Functions
virtual bool	begin () override
	Begin the unit.

virtual void	update (const bool force=false) override
	Update the unit.

Settings
config_t	config () const
	Gets the configuration.

void	config (const config_t &cfg)
	Set the configuration.

Range setting (stop periodic measurement first)
bool	writeAccelRange (const mpu6886::AccelRange range)
	Write the accelerometer range.

bool	writeGyroRange (const mpu6886::GyroRange range)
	Write the gyroscope range.

bool	readAccelRange (mpu6886::AccelRange &range)
	Read the accelerometer range from the device (REG_ACCEL_CONFIG bits[4:3])

bool	readGyroRange (mpu6886::GyroRange &range)
	Read the gyroscope range from the device (REG_GYRO_CONFIG bits[4:3])

Sampling (stop periodic measurement first)
bool	writeSampleRateDiv (const uint8_t div)
	Write the sample rate divider.

bool	readSampleRateDiv (uint8_t &div)
	Read the sample rate divider from the device (REG_SMPLRT_DIV)

bool	writeDlpf (const mpu6886::Dlpf dlpf)
	Write the digital low-pass filter bandwidth.

bool	readDlpf (mpu6886::Dlpf &dlpf)
	Read the digital low-pass filter bandwidth from the device (REG_CONFIG bits[2:0])

Reset
bool	softReset ()
	Soft reset (REG_PWR_MGMT_1 DEVICE_RESET), leaving the chip initialized but unconfigured and stopped.

Periodic measurement
bool	startPeriodicMeasurement (const mpu6886::AccelRange accel_range, const mpu6886::GyroRange gyro_range, const mpu6886::Dlpf dlpf, const uint8_t sample_rate_div)
	Start periodic measurement.

bool	startPeriodicMeasurement ()
	Start periodic measurement in the current settings.

bool	stopPeriodicMeasurement ()
	Stop periodic measurement.

Power
bool	sleep () override
	Put the chip to sleep (REG_PWR_MGMT_1 SLEEP)

bool	wakeup () override
	Wake the chip from sleep()

IMUDataSource
virtual m5::imu::Capability	imuSpec () const override
	Capability of this unit.

virtual m5::imu::Capability	readImuRaw (m5::imu::imu_raw_data_t &out) override
	Read the latest raw IMU data.

virtual void	imuConvertParam (m5::imu::imu_convert_param_t &out) const override
	Gets the conversion parameters for raw IMU data.

Protected Member Functions
	UnitMPU6xxx (const uint8_t addr=DEFAULT_ADDRESS)
	Protected: UnitMPU6xxx is abstract, constructed only by concrete derived chips.

virtual bool	start_periodic_measurement (const mpu6886::AccelRange accel_range, const mpu6886::GyroRange gyro_range, const mpu6886::Dlpf dlpf, const uint8_t sample_rate_div)
	Virtual: UnitMPU9250 layers its aux-bypass re-open on top (the config write here includes INT_PIN_CFG=0xC0, which closes the bypass)

bool	start_periodic_measurement ()

bool	stop_periodic_measurement ()

bool	read_measurement (mpu6886::Data &d)

bool	write_register8_verified (const uint8_t reg, const uint8_t val)

	M5_UNIT_COMPONENT_PERIODIC_MEASUREMENT_ADAPTER_HPP_BUILDER (UnitMPU6xxx, mpu6886::Data)

Chip profile (overridden by each concrete derived chip)
virtual bool	accepts_whoami (const uint8_t id) const =0
	Accepted WHO_AM_I id(s) for this chip; begin() rejects the device unless this returns true.

virtual float	temperature_res () const =0
	Temperature conversion: degC per LSB (imu_convert_param_t::temp_res)

virtual float	temperature_offset () const =0
	Temperature conversion: degC offset (imu_convert_param_t::temp_offset)

Detailed Description

Shared base for the TDK InvenSense MPU 6-axis family (accel + gyro + temp)

The accel/gyro register map, init sequence, and periodic read are identical across MPU6886/6050/6500 (and the MPU9250 accel/gyro die), so they all live here. The only per-chip differences – the accepted WHO_AM_I id and the temperature scale – are exposed as virtual hooks (accepts_whoami / temperature_res / temperature_offset) that thin derived classes override. Not instantiated directly; use UnitMPU6886 / UnitMPU6050 / UnitMPU6500 / UnitMPU9250.

Member Function Documentation

◆ accepts_whoami()

virtual bool m5::unit::UnitMPU6xxx::accepts_whoami ( const uint8_t id ) const

protectedpure virtual

Accepted WHO_AM_I id(s) for this chip; begin() rejects the device unless this returns true.

Implemented in m5::unit::UnitMPU6050, m5::unit::UnitMPU6500, m5::unit::UnitMPU6886, and m5::unit::UnitMPU9250.

◆ begin()

bool m5::unit::UnitMPU6xxx::begin ( )

overridevirtual

Begin the unit.

Reimplemented in m5::unit::UnitMPU9250.

◆ config() [1/2]

config_t m5::unit::UnitMPU6xxx::config ( ) const

inline

Gets the configuration.

Returns: Current configuration

◆ config() [2/2]

void m5::unit::UnitMPU6xxx::config ( const config_t & cfg )

inline

Set the configuration.

Parameters

[in] cfg Configuration

◆ imuConvertParam()

void m5::unit::UnitMPU6xxx::imuConvertParam ( m5::imu::imu_convert_param_t & out ) const

overridevirtual

Gets the conversion parameters for raw IMU data.

Parameters

[out] out Conversion parameters

Implements m5::imu::IMUDataSource.

◆ imuSpec()

virtual m5::imu::Capability m5::unit::UnitMPU6xxx::imuSpec ( ) const

inlineoverridevirtual

Capability of this unit.

Returns: Accel | Gyro | Temp

Implements m5::imu::IMUDataSource.

◆ readAccelRange()

bool m5::unit::UnitMPU6xxx::readAccelRange ( mpu6886::AccelRange & range )

Read the accelerometer range from the device (REG_ACCEL_CONFIG bits[4:3])

Parameters

[out] range Accelerometer range

Returns: True if successful

◆ readDlpf()

bool m5::unit::UnitMPU6xxx::readDlpf ( mpu6886::Dlpf & dlpf )

Read the digital low-pass filter bandwidth from the device (REG_CONFIG bits[2:0])

Parameters

[out] dlpf Filter bandwidth

Returns: True if successful

◆ readGyroRange()

bool m5::unit::UnitMPU6xxx::readGyroRange ( mpu6886::GyroRange & range )

Read the gyroscope range from the device (REG_GYRO_CONFIG bits[4:3])

Parameters

[out] range Gyroscope range

Returns: True if successful

◆ readImuRaw()

Capability m5::unit::UnitMPU6xxx::readImuRaw ( m5::imu::imu_raw_data_t & out )

overridevirtual

Read the latest raw IMU data.

Parameters

[out] out Raw IMU data

Returns: Capability of the data actually stored in out (None if no data available)

Implements m5::imu::IMUDataSource.

◆ readSampleRateDiv()

bool m5::unit::UnitMPU6xxx::readSampleRateDiv ( uint8_t & div )

Read the sample rate divider from the device (REG_SMPLRT_DIV)

Parameters

[out] div Divider

Returns: True if successful

◆ sleep()

bool m5::unit::UnitMPU6xxx::sleep ( )

overridevirtual

Put the chip to sleep (REG_PWR_MGMT_1 SLEEP)

Returns: True if successful

Works while periodic measurement is running: it is stopped first, since a sleeping chip must not be polled. The SLEEP bit then halts sampling and drops the chip to its low-power state. Unlike softReset() the configuration is preserved.

Reimplemented from m5::imu::IMUDataSource.

◆ softReset()

bool m5::unit::UnitMPU6xxx::softReset ( )

Soft reset (REG_PWR_MGMT_1 DEVICE_RESET), leaving the chip initialized but unconfigured and stopped.

Returns: True if successful

Warning: During periodic measurements, an error is returned; call stopPeriodicMeasurement() first; All settings revert to the chip defaults; call startPeriodicMeasurement(...) to reconfigure and resume measurement

◆ start_periodic_measurement()

bool m5::unit::UnitMPU6xxx::start_periodic_measurement	(	const mpu6886::AccelRange	accel_range,
		const mpu6886::GyroRange	gyro_range,
		const mpu6886::Dlpf	dlpf,
		const uint8_t	sample_rate_div )

protectedvirtual

Virtual: UnitMPU9250 layers its aux-bypass re-open on top (the config write here includes INT_PIN_CFG=0xC0, which closes the bypass)

Reimplemented in m5::unit::UnitMPU9250.

◆ startPeriodicMeasurement() [1/2]

bool m5::unit::UnitMPU6xxx::startPeriodicMeasurement ( )

Start periodic measurement in the current settings.

Returns: True if successful

◆ startPeriodicMeasurement() [2/2]

bool m5::unit::UnitMPU6xxx::startPeriodicMeasurement	(	const mpu6886::AccelRange	accel_range,
		const mpu6886::GyroRange	gyro_range,
		const mpu6886::Dlpf	dlpf,
		const uint8_t	sample_rate_div )

Start periodic measurement.

Parameters

accel_range	Accelerometer range
gyro_range	Gyroscope range
dlpf	Gyro/temp low pass filter
sample_rate_div	Sample rate divider (ODR = 1000/(1+div) Hz)

Returns: True if successful

◆ stopPeriodicMeasurement()

bool m5::unit::UnitMPU6xxx::stopPeriodicMeasurement ( )

Stop periodic measurement.

Returns: True if successful

◆ temperature_offset()

virtual float m5::unit::UnitMPU6xxx::temperature_offset ( ) const

protectedpure virtual

Temperature conversion: degC offset (imu_convert_param_t::temp_offset)

Implemented in m5::unit::UnitMPU6050, m5::unit::UnitMPU6500, and m5::unit::UnitMPU6886.

◆ temperature_res()

virtual float m5::unit::UnitMPU6xxx::temperature_res ( ) const

protectedpure virtual

Temperature conversion: degC per LSB (imu_convert_param_t::temp_res)

Implemented in m5::unit::UnitMPU6050, m5::unit::UnitMPU6500, and m5::unit::UnitMPU6886.

◆ update()

void m5::unit::UnitMPU6xxx::update ( const bool force = false )

overridevirtual

Update the unit.

Parameters

[in] force Forces an update if true, even if not time for periodic measurement

◆ wakeup()

bool m5::unit::UnitMPU6xxx::wakeup ( )

overridevirtual

Wake the chip from sleep()

Returns: True if successful

Only clears SLEEP (by selecting the PLL clock) and waits for the sensors to start up – measurement stays stopped. Call startPeriodicMeasurement() to resume sampling. Harmless without a preceding sleep().

Reimplemented from m5::imu::IMUDataSource.

◆ writeAccelRange()

bool m5::unit::UnitMPU6xxx::writeAccelRange ( const mpu6886::AccelRange range )

Write the accelerometer range.

Parameters

[in] range Accelerometer range

Returns: True if successful

Warning: During periodic measurement runs, an error is returned

◆ writeDlpf()

bool m5::unit::UnitMPU6xxx::writeDlpf ( const mpu6886::Dlpf dlpf )

Write the digital low-pass filter bandwidth.

Parameters

[in] dlpf Filter bandwidth

Returns: True if successful

Warning: During periodic measurement runs, an error is returned

◆ writeGyroRange()

bool m5::unit::UnitMPU6xxx::writeGyroRange ( const mpu6886::GyroRange range )

Write the gyroscope range.

Parameters

[in] range Gyroscope range

Returns: True if successful

Warning: During periodic measurement runs, an error is returned

◆ writeSampleRateDiv()

bool m5::unit::UnitMPU6xxx::writeSampleRateDiv ( const uint8_t div )

Write the sample rate divider.

Parameters

[in] div Divider; the sample rate becomes 1kHz / (1 + div) with the DLPF enabled

Returns: True if successful

Note: The periodic measurement interval is derived from this, so it is updated too

Warning: During periodic measurement runs, an error is returned

Classes

Public Member Functions

Protected Member Functions

Detailed Description

Member Function Documentation

◆ accepts_whoami()

◆ begin()

◆ config() [1/2]

◆ config() [2/2]

◆ imuConvertParam()

◆ imuSpec()

◆ readAccelRange()

◆ readDlpf()

◆ readGyroRange()

◆ readImuRaw()

◆ readSampleRateDiv()

◆ sleep()

◆ softReset()

◆ start_periodic_measurement()

◆ startPeriodicMeasurement() [1/2]

◆ startPeriodicMeasurement() [2/2]

◆ stopPeriodicMeasurement()

◆ temperature_offset()

◆ temperature_res()

◆ update()

◆ wakeup()

◆ writeAccelRange()

◆ writeDlpf()

◆ writeGyroRange()

◆ writeSampleRateDiv()