MPU6050 FreeIMU library
Dependents: FreeIMU FreeIMU_external_magnetometer
Fork of MPU6050_tmp by
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.
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.cpp
- Revision:
- 5:bdb6ad020352
- Parent:
- 4:ba1cf80aeef0
- Parent:
- 3:8a6a7d6b6816
- Child:
- 6:40ac13ef7290
--- a/MPU6050.cpp Wed Feb 20 18:27:43 2013 +0000 +++ b/MPU6050.cpp Wed Feb 20 18:29:30 2013 +0000 @@ -42,7 +42,7 @@ #include "MPU6050.h" -#define useDebugSerial +//#define useDebugSerial //instead of using pgmspace.h typedef const unsigned char prog_uchar; @@ -80,9 +80,10 @@ debugSerial.baud(921600); //uses max serial speed #ifdef useDebugSerial + + debugSerial.baud(921600); debugSerial.printf("MPU6050::initialize start\n"); #endif - setClockSource(MPU6050_CLOCK_PLL_XGYRO); setFullScaleGyroRange(MPU6050_GYRO_FS_250); setFullScaleAccelRange(MPU6050_ACCEL_FS_2);