MPU60X0 is an STM32 I2C Blocking, Master mode driver for invensense' MPU6050 and MPU6000 IMUs.

Features:

• Blocking mode API
• Takes advantage of burst read and write cycles where possible
• Utilizes bit field packing instead of conventional byte operations to ensure readability
• Ultra lightweight and compact abstractions
• Based on the STM32 HAL firmware. The API is designed to be conistent and easy to read by utilising struct packing instead of the conventional byte operations.

Examples

TBD

Dependencies

• STM32Fx HAL I2C driver
• STM32Fx HAL UART Driver (Debugging)

Installation

Copy the header files to your Inc directory

Known Issues

We utilize bit fields, Clang doesn't raise warnings about the bit field sizes being unable to fit with the byte data struct representations, gcc however raises the warning, This is not a problem at the compilation phase unless you use a flag such as -Werror that points it out as an error.

Contributing

We employ the Google C++ Style Guide and Nest's embedded c++ styles However in contrast to Nest's embedded c++ styles, We:

• utilize modern C++ STL abstractions such as std::pair
• utilize std::chrono::duration to represent discretized time intervals for timeouts

License

MIT License