# HAL MPU6050
MPU6050 driver based on STM32 HAL.
## Usage
- Define a global handler variable.
```c
MPU_HandleTypeDef hmpu;
MPU_DataTypeDef mpu_data;
```
- Define a init function in which set the parameters.
*assume you have already init a i2c instance elsewhere, and all the GPIO pins used are init elsewhere*
```c
void MPU_Init()
{
hmpu.hi2c = &hi2c2;
hmpu.AD0_GPIO = GPIOB;
hmpu.AD0_Pin = GPIO_PIN_0;
hmpu.AD0_State = 0;
hmpu.INT_GPIO = GPIOB;
hmpu.INT_Pin = GPIO_PIN_1;
hmpu.GyroFullScale = MPU_GYRO_FS_1000;
hmpu.AcceFullScale = MPU_ACCE_FS_16G;
hmpu.SamplingRate = 1000;
HAL_MPU6050_Init(&hmpu);
}
```
- Call init function when you need it.
```c
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_TIM4_Init();
MX_USART1_UART_Init();
MX_I2C2_Init();
/* USER CODE BEGIN 2 */
MPU_Init();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
```
- To read gyroscope and accelermeter(is this word spelled correctly?)
```c
HAL_MPU6050_ReadGyro_Raw(&hmpu, &mpu_data);
HAL_MPU6050_ReadAcce_Raw(&hmpu, &mpu_data);
```
- To convert raw data to actual physical quantity
```c
HAL_MPU6050_Convert_Gyro(&hmpu, &mpu_data);
HAL_MPU6050_Convert_Acce(&hmpu, &mpu_data);
```
Note: some MCUs don't have a FPU(float process unit), the convertion may take **way too much** time.
