Yifei Teng / MPU6050

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: MPU6050.h

Revision:
9:d879deb55ae1
Parent:
7:95e74f827c08
Child:
11:9549be34fa7f
--- a/MPU6050.h	Tue Nov 05 11:28:54 2013 +0000
+++ b/MPU6050.h	Sat Nov 09 08:51:07 2013 +0000
@@ -408,8 +408,17 @@
         Serial debugSerial;
     public:
         MPU6050();
-        MPU6050(I2C i2c);
+        MPU6050(MODI2C i2c);
         MPU6050(uint8_t address);
+        
+        void mpu_sample_func();
+        volatile int16_t ax_cache, ay_cache, az_cache, gx_cache, gy_cache, gz_cache;
+        
+        Ticker mpu_sampling;
+        char mpu_cmd;
+        uint8_t mpu_buffer[14];
+        
+        void start_sampling();
 
         void initialize();
         bool testConnection();