Yifei Teng
MPU6050 FreeIMU library
Dependents: FreeIMU FreeIMU_external_magnetometer
Fork of
MPU6050_tmp
by 
Aloïs Wolff
Async MPU6050 library
My port of the MPU6050 library samples the chip at 500Hz using Timer. Async I2C is achieved using a custom I2C library, which supports I2C calls from interrupts. Link given below:
Import libraryMODI2C
Improvements to Olieman's MODI2C library. Supports calls from IRQ.
Last commit 28 Mar 2018 by 
Yifei Teng
Difference between this port and the Arduino MPU6050 library
The getMotion6 function only returns a copy of the last obtained readings, which is sampled at a frequency of 500Hz (adjustable). Hence it can be called at any frequency without taxing the I2C.
Diff: I2Cdev.h
- Revision:
- 0:662207e34fba
- Child:
- 2:3cf70c42a784
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/I2Cdev.h Fri Jan 11 00:54:28 2013 +0000
@@ -0,0 +1,44 @@
+//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
+//written by szymon gaertig (email: szymon@gaertig.com.pl)
+//
+//Changelog:
+//2013-01-08 - first beta release
+
+#ifndef I2Cdev_h
+#define I2Cdev_h
+
+#include "mbed.h"
+
+#define I2C_SDA p28
+#define I2C_SCL p27
+
+class I2Cdev {
+ private:
+ I2C i2c;
+ Serial debugSerial;
+ public:
+ I2Cdev();
+ I2Cdev(PinName i2cSda, PinName i2cScl);
+
+ int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
+ int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
+ int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
+ int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
+ int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
+ int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
+ int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
+ int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
+
+ bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
+ bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
+ bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
+ bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
+ bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
+ bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
+ bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
+ bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
+
+ static uint16_t readTimeout(void);
+};
+
+#endif
\ No newline at end of file