Mpu6500 Class

Definition

Namespace:

Iot.Device.Imu

Assembly:

Iot.Device.Bindings.dll

Package:

Iot.Device.Bindings v3.0.0

MPU6500 - gyroscope, accelerometer and temperature sensor

C#

[System.Device.Model.Interface("MPU6500 - gyroscope, accelerometer and temperature sensor")]
public class Mpu6500 : Iot.Device.Imu.Mpu6050

Inheritance

Object

Mpu6050

Mpu6500

Derived

Iot.Device.Imu.Mpu9250

Attributes

InterfaceAttribute

Constructors

Mpu6500(I2cDevice)

Initialize the MPU6500

Fields

DefaultI2cAddress	Default address for MPU9250 (Inherited from Mpu6050)
SecondI2cAddress	Second address for MPU9250 (Inherited from Mpu6050)

Properties

AccelerationScale	Get the real accelerometer bandwidth. This allows to calculate the real degree per second (Inherited from Mpu6050)
AccelerometerBandwidth	Get or set the accelerometer bandwidth (Inherited from Mpu6050)
AccelerometerBias	Accelerometer bias data (Inherited from Mpu6050)
AccelerometerLowPowerFrequency	Set or get the accelerometer low power mode (Inherited from Mpu6050)
AccelerometerRange	Get or set the accelerometer range (Inherited from Mpu6050)
DisableModes	Get or set the elements to disable. It can be any axes of the accelerometer and or the gyroscope (Inherited from Mpu6050)
FifoCount	Get the number of elements to read from the FIFO (First In First Out) buffer (Inherited from Mpu6050)
FifoModes	Get or set the FIFO (First In First Out) modes (Inherited from Mpu6050)
GyroscopeBandwidth	Get or set the gyroscope bandwidth (Inherited from Mpu6050)
GyroscopeBias	Gyroscope bias data (Inherited from Mpu6050)
GyroscopeRange	Get or set the gyroscope range (Inherited from Mpu6050)
GyroscopeScale	Get the real gyroscope bandwidth. This allows to calculate the real angular rate in degree per second (Inherited from Mpu6050)
SampleRateDivider	Get or set the sample diver mode (Inherited from Mpu6050)

Methods

CalibrateGyroscopeAccelerometer()	Perform full calibration the gyroscope and the accelerometer It will automatically adjust as well the offset stored in the device The result bias will be stored in the AcceloremeterBias and GyroscopeBias (Inherited from Mpu6050)
Dispose()	Cleanup everything (Inherited from Mpu6050)
GetAccelerometer()	Get the accelerometer in G (Inherited from Mpu6050)
GetGyroscopeReading()	Get the gyroscope in degrees per seconds (Inherited from Mpu6050)
GetTemperature()	Get the temperature (Inherited from Mpu6050)
ReadByteFromReplicaDevice(I2cChannel, Byte, Byte, Span<Byte>)	Read data from any of the I2C replica attached to the MPU9250 (Inherited from Mpu6050)
ReadFifo(Span<Byte>)	Read data in the FIFO (First In First Out) buffer, read as many data as the size of readData byte span You should read the number of data available in the FifoCount property then read them here. You will read only data you have selected in FifoModes. Data are in the order of the Register from 0x3B to 0x60. ACCEL_XOUT_H and ACCEL_XOUT_L ACCEL_YOUT_H and ACCEL_YOUT_L ACCEL_ZOUT_H and ACCEL_ZOUT_L TEMP_OUT_H and TEMP_OUT_L GYRO_XOUT_H and GYRO_XOUT_L GYRO_YOUT_H and GYRO_YOUT_L GYRO_ZOUT_H and GYRO_ZOUT_L EXT_SENS_DATA_00 to EXT_SENS_DATA_24 (Inherited from Mpu6050)
RunGyroscopeAccelerometerSelfTest()	Run a self test and returns the gyroscope and accelerometer vectores a. If factory Self-Test values ST_OTP≠0, compare the current Self-Test response (GXST, GYST, GZST, AXST, AYST and AZST) to the factory Self-Test values (ST_OTP) and report Self-Test is passing if all the following criteria are fulfilled: Axis | Pass criteria X-gyro | (GXST / GXST_OTP) > 0.5 Y-gyro | (GYST / GYST_OTP) > 0.5 Z-gyro | (GZST / GZST_OTP) > 0.5 X-Accel | 0.5 < (AXST / AXST_OTP) < 1.5 Y-Accel | 0.5 < (AYST / AYST_OTP) < 1.5 Z-Accel | 0.5 < (AZST / AZST_OTP) < 1.5 b. If factory Self-Test values ST_OTP=0, compare the current Self-Test response (GXST, GYST, GZST, AXST, AYST and AZST) to the ST absolute limits (ST_AL) and report Self-Test is passing if all the following criteria are fulfilled. Axis | Pass criteria X-gyro | |GXST| ≥ 60dps Y-gyro | |GYST| ≥ 60dps Z-gyro | |GZST| ≥ 60dps X-Accel| 225mgee ≤ |AXST| ≤ 675mgee Y-Accel| 225mgee ≤ |AXST| ≤ 675mgee Z-Accel| 225mgee ≤ |AXST| ≤ 675mgee c. If the Self-Test passes criteria (a) and (b), it’s necessary to check gyro offset values. Report passing Self-Test if the following criteria fulfilled. Axis | Pass criteria X-gyro | |GXOFFSET| ≤ 20dps Y-gyro | |GYOFFSET| ≤ 20dps Z-gyro | |GZOFFSET| ≤ 20dps
SetWakeOnMotion(UInt32, AccelerometerLowPowerFrequency)	Setup the Wake On Motion. This mode generate a rising signal on pin INT You can catch it with a normal GPIO and place an interruption on it if supported Reading the sensor won't give any value until it wakes up periodically Only Accelerator data is available in this mode (Inherited from Mpu6050)
WriteByteToReplicaDevice(I2cChannel, Byte, Byte, Byte)	Write data on any of the I2C replica attached to the MPU9250 (Inherited from Mpu6050)

Applies to