MPU6050_2 - aaa

航空研究会 » Code » MPU6050_2

航空研究会 / MPU6050_2

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Dependencies: ArduinoSerial I2Cdev2

Dependents: AutoFlight2017_now2 AutoFlight2018_Control sbus_test_2018 Autoflight2018_sbusread ... more

MPU6050.cpp@2:ff025b9c6c7c, 2018-09-18 (annotated)

Committer:: taknokolat
Date:: Tue Sep 18 05:53:06 2018 +0000
Revision:: 2:ff025b9c6c7c
Parent:: 0:c3af3416e383

Who changed what in which revision?

User	Revision	Line number	New contents of line
TUATBM	0:c3af3416e383	1	#include "MPU6050.h"
TUATBM	0:c3af3416e383	2
TUATBM	0:c3af3416e383	3	/** Default constructor, uses default I2C address.
TUATBM	0:c3af3416e383	4	* @see MPU6050_DEFAULT_ADDRESS
TUATBM	0:c3af3416e383	5	*/
TUATBM	0:c3af3416e383	6	MPU6050::MPU6050() {
TUATBM	0:c3af3416e383	7	devAddr = MPU6050_DEFAULT_ADDRESS;
TUATBM	0:c3af3416e383	8	}
TUATBM	0:c3af3416e383	9
TUATBM	0:c3af3416e383	10	/** Specific address constructor.
TUATBM	0:c3af3416e383	11	* @param address I2C address
TUATBM	0:c3af3416e383	12	* @see MPU6050_DEFAULT_ADDRESS
TUATBM	0:c3af3416e383	13	* @see MPU6050_ADDRESS_AD0_LOW
TUATBM	0:c3af3416e383	14	* @see MPU6050_ADDRESS_AD0_HIGH
TUATBM	0:c3af3416e383	15	*/
TUATBM	0:c3af3416e383	16	MPU6050::MPU6050(uint8_t address) {
TUATBM	0:c3af3416e383	17	devAddr = address;
TUATBM	0:c3af3416e383	18	}
TUATBM	0:c3af3416e383	19
TUATBM	0:c3af3416e383	20	/** Power on and prepare for general usage.
TUATBM	0:c3af3416e383	21	* This will activate the device and take it out of sleep mode (which must be done
TUATBM	0:c3af3416e383	22	* after start-up). This function also sets both the accelerometer and the gyroscope
TUATBM	0:c3af3416e383	23	* to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
TUATBM	0:c3af3416e383	24	* the clock source to use the X Gyro for reference, which is slightly better than
TUATBM	0:c3af3416e383	25	* the default internal clock source.
TUATBM	0:c3af3416e383	26	*/
TUATBM	0:c3af3416e383	27	void MPU6050::initialize() {
TUATBM	0:c3af3416e383	28	setClockSource(MPU6050_CLOCK_PLL_XGYRO);
TUATBM	0:c3af3416e383	29	setFullScaleGyroRange(MPU6050_GYRO_FS_250);
TUATBM	0:c3af3416e383	30	setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
TUATBM	0:c3af3416e383	31	setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
TUATBM	0:c3af3416e383	32	}
TUATBM	0:c3af3416e383	33
TUATBM	0:c3af3416e383	34	/** Verify the I2C connection.
TUATBM	0:c3af3416e383	35	* Make sure the device is connected and responds as expected.
TUATBM	0:c3af3416e383	36	* @return True if connection is valid, false otherwise
TUATBM	0:c3af3416e383	37	*/
TUATBM	0:c3af3416e383	38	bool MPU6050::testConnection() {
TUATBM	0:c3af3416e383	39	return getDeviceID() == 0x34;
TUATBM	0:c3af3416e383	40	}
TUATBM	0:c3af3416e383	41
TUATBM	0:c3af3416e383	42	// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
TUATBM	0:c3af3416e383	43
TUATBM	0:c3af3416e383	44	/** Get the auxiliary I2C supply voltage level.
TUATBM	0:c3af3416e383	45	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
TUATBM	0:c3af3416e383	46	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
TUATBM	0:c3af3416e383	47	* the MPU-6000, which does not have a VLOGIC pin.
TUATBM	0:c3af3416e383	48	* @return I2C supply voltage level (0=VLOGIC, 1=VDD)
TUATBM	0:c3af3416e383	49	*/
TUATBM	0:c3af3416e383	50	uint8_t MPU6050::getAuxVDDIOLevel() {
TUATBM	0:c3af3416e383	51	I2Cdev::readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
TUATBM	0:c3af3416e383	52	return buffer[0];
TUATBM	0:c3af3416e383	53	}
TUATBM	0:c3af3416e383	54	/** Set the auxiliary I2C supply voltage level.
TUATBM	0:c3af3416e383	55	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
TUATBM	0:c3af3416e383	56	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
TUATBM	0:c3af3416e383	57	* the MPU-6000, which does not have a VLOGIC pin.
TUATBM	0:c3af3416e383	58	* @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
TUATBM	0:c3af3416e383	59	*/
TUATBM	0:c3af3416e383	60	void MPU6050::setAuxVDDIOLevel(uint8_t level) {
TUATBM	0:c3af3416e383	61	I2Cdev::writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
TUATBM	0:c3af3416e383	62	}
TUATBM	0:c3af3416e383	63
TUATBM	0:c3af3416e383	64	// SMPLRT_DIV register
TUATBM	0:c3af3416e383	65
TUATBM	0:c3af3416e383	66	/** Get gyroscope output rate divider.
TUATBM	0:c3af3416e383	67	* The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
TUATBM	0:c3af3416e383	68	* Motion detection, and Free Fall detection are all based on the Sample Rate.
TUATBM	0:c3af3416e383	69	* The Sample Rate is generated by dividing the gyroscope output rate by
TUATBM	0:c3af3416e383	70	* SMPLRT_DIV:
TUATBM	0:c3af3416e383	71	*
TUATBM	0:c3af3416e383	72	* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
TUATBM	0:c3af3416e383	73	*
TUATBM	0:c3af3416e383	74	* where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
TUATBM	0:c3af3416e383	75	* 7), and 1kHz when the DLPF is enabled (see Register 26).
TUATBM	0:c3af3416e383	76	*
TUATBM	0:c3af3416e383	77	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
TUATBM	0:c3af3416e383	78	* Rate greater than 1kHz, the same accelerometer sample may be output to the
TUATBM	0:c3af3416e383	79	* FIFO, DMP, and sensor registers more than once.
TUATBM	0:c3af3416e383	80	*
TUATBM	0:c3af3416e383	81	* For a diagram of the gyroscope and accelerometer signal paths, see Section 8
TUATBM	0:c3af3416e383	82	* of the MPU-6000/MPU-6050 Product Specification document.
TUATBM	0:c3af3416e383	83	*
TUATBM	0:c3af3416e383	84	* @return Current sample rate
TUATBM	0:c3af3416e383	85	* @see MPU6050_RA_SMPLRT_DIV
TUATBM	0:c3af3416e383	86	*/
TUATBM	0:c3af3416e383	87	uint8_t MPU6050::getRate() {
TUATBM	0:c3af3416e383	88	I2Cdev::readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
TUATBM	0:c3af3416e383	89	return buffer[0];
TUATBM	0:c3af3416e383	90	}
TUATBM	0:c3af3416e383	91	/** Set gyroscope sample rate divider.
TUATBM	0:c3af3416e383	92	* @param rate New sample rate divider
TUATBM	0:c3af3416e383	93	* @see getRate()
TUATBM	0:c3af3416e383	94	* @see MPU6050_RA_SMPLRT_DIV
TUATBM	0:c3af3416e383	95	*/
TUATBM	0:c3af3416e383	96	void MPU6050::setRate(uint8_t rate) {
TUATBM	0:c3af3416e383	97	I2Cdev::writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
TUATBM	0:c3af3416e383	98	}
TUATBM	0:c3af3416e383	99
TUATBM	0:c3af3416e383	100	// CONFIG register
TUATBM	0:c3af3416e383	101
TUATBM	0:c3af3416e383	102	/** Get external FSYNC configuration.
TUATBM	0:c3af3416e383	103	* Configures the external Frame Synchronization (FSYNC) pin sampling. An
TUATBM	0:c3af3416e383	104	* external signal connected to the FSYNC pin can be sampled by configuring
TUATBM	0:c3af3416e383	105	* EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
TUATBM	0:c3af3416e383	106	* strobes may be captured. The latched FSYNC signal will be sampled at the
TUATBM	0:c3af3416e383	107	* Sampling Rate, as defined in register 25. After sampling, the latch will
TUATBM	0:c3af3416e383	108	* reset to the current FSYNC signal state.
TUATBM	0:c3af3416e383	109	*
TUATBM	0:c3af3416e383	110	* The sampled value will be reported in place of the least significant bit in
TUATBM	0:c3af3416e383	111	* a sensor data register determined by the value of EXT_SYNC_SET according to
TUATBM	0:c3af3416e383	112	* the following table.
TUATBM	0:c3af3416e383	113	*
TUATBM	0:c3af3416e383	114	* <pre>
TUATBM	0:c3af3416e383	115	* EXT_SYNC_SET \| FSYNC Bit Location
TUATBM	0:c3af3416e383	116	* -------------+-------------------
TUATBM	0:c3af3416e383	117	* 0 \| Input disabled
TUATBM	0:c3af3416e383	118	* 1 \| TEMP_OUT_L[0]
TUATBM	0:c3af3416e383	119	* 2 \| GYRO_XOUT_L[0]
TUATBM	0:c3af3416e383	120	* 3 \| GYRO_YOUT_L[0]
TUATBM	0:c3af3416e383	121	* 4 \| GYRO_ZOUT_L[0]
TUATBM	0:c3af3416e383	122	* 5 \| ACCEL_XOUT_L[0]
TUATBM	0:c3af3416e383	123	* 6 \| ACCEL_YOUT_L[0]
TUATBM	0:c3af3416e383	124	* 7 \| ACCEL_ZOUT_L[0]
TUATBM	0:c3af3416e383	125	* </pre>
TUATBM	0:c3af3416e383	126	*
TUATBM	0:c3af3416e383	127	* @return FSYNC configuration value
TUATBM	0:c3af3416e383	128	*/
TUATBM	0:c3af3416e383	129	uint8_t MPU6050::getExternalFrameSync() {
TUATBM	0:c3af3416e383	130	I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
TUATBM	0:c3af3416e383	131	return buffer[0];
TUATBM	0:c3af3416e383	132	}
TUATBM	0:c3af3416e383	133	/** Set external FSYNC configuration.
TUATBM	0:c3af3416e383	134	* @see getExternalFrameSync()
TUATBM	0:c3af3416e383	135	* @see MPU6050_RA_CONFIG
TUATBM	0:c3af3416e383	136	* @param sync New FSYNC configuration value
TUATBM	0:c3af3416e383	137	*/
TUATBM	0:c3af3416e383	138	void MPU6050::setExternalFrameSync(uint8_t sync) {
TUATBM	0:c3af3416e383	139	I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
TUATBM	0:c3af3416e383	140	}
TUATBM	0:c3af3416e383	141	/** Get digital low-pass filter configuration.
TUATBM	0:c3af3416e383	142	* The DLPF_CFG parameter sets the digital low pass filter configuration. It
TUATBM	0:c3af3416e383	143	* also determines the internal sampling rate used by the device as shown in
TUATBM	0:c3af3416e383	144	* the table below.
TUATBM	0:c3af3416e383	145	*
TUATBM	0:c3af3416e383	146	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
TUATBM	0:c3af3416e383	147	* Rate greater than 1kHz, the same accelerometer sample may be output to the
TUATBM	0:c3af3416e383	148	* FIFO, DMP, and sensor registers more than once.
TUATBM	0:c3af3416e383	149	*
TUATBM	0:c3af3416e383	150	* <pre>
TUATBM	0:c3af3416e383	151	* \| ACCELEROMETER \| GYROSCOPE
TUATBM	0:c3af3416e383	152	* DLPF_CFG \| Bandwidth \| Delay \| Bandwidth \| Delay \| Sample Rate
TUATBM	0:c3af3416e383	153	* ---------+-----------+--------+-----------+--------+-------------
TUATBM	0:c3af3416e383	154	* 0 \| 260Hz \| 0ms \| 256Hz \| 0.98ms \| 8kHz
TUATBM	0:c3af3416e383	155	* 1 \| 184Hz \| 2.0ms \| 188Hz \| 1.9ms \| 1kHz
TUATBM	0:c3af3416e383	156	* 2 \| 94Hz \| 3.0ms \| 98Hz \| 2.8ms \| 1kHz
TUATBM	0:c3af3416e383	157	* 3 \| 44Hz \| 4.9ms \| 42Hz \| 4.8ms \| 1kHz
TUATBM	0:c3af3416e383	158	* 4 \| 21Hz \| 8.5ms \| 20Hz \| 8.3ms \| 1kHz
TUATBM	0:c3af3416e383	159	* 5 \| 10Hz \| 13.8ms \| 10Hz \| 13.4ms \| 1kHz
TUATBM	0:c3af3416e383	160	* 6 \| 5Hz \| 19.0ms \| 5Hz \| 18.6ms \| 1kHz
TUATBM	0:c3af3416e383	161	* 7 \| -- Reserved -- \| -- Reserved -- \| Reserved
TUATBM	0:c3af3416e383	162	* </pre>
TUATBM	0:c3af3416e383	163	*
TUATBM	0:c3af3416e383	164	* @return DLFP configuration
TUATBM	0:c3af3416e383	165	* @see MPU6050_RA_CONFIG
TUATBM	0:c3af3416e383	166	* @see MPU6050_CFG_DLPF_CFG_BIT
TUATBM	0:c3af3416e383	167	* @see MPU6050_CFG_DLPF_CFG_LENGTH
TUATBM	0:c3af3416e383	168	*/
TUATBM	0:c3af3416e383	169	uint8_t MPU6050::getDLPFMode() {
TUATBM	0:c3af3416e383	170	I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
TUATBM	0:c3af3416e383	171	return buffer[0];
TUATBM	0:c3af3416e383	172	}
TUATBM	0:c3af3416e383	173	/** Set digital low-pass filter configuration.
TUATBM	0:c3af3416e383	174	* @param mode New DLFP configuration setting
TUATBM	0:c3af3416e383	175	* @see getDLPFBandwidth()
TUATBM	0:c3af3416e383	176	* @see MPU6050_DLPF_BW_256
TUATBM	0:c3af3416e383	177	* @see MPU6050_RA_CONFIG
TUATBM	0:c3af3416e383	178	* @see MPU6050_CFG_DLPF_CFG_BIT
TUATBM	0:c3af3416e383	179	* @see MPU6050_CFG_DLPF_CFG_LENGTH
TUATBM	0:c3af3416e383	180	*/
TUATBM	0:c3af3416e383	181	void MPU6050::setDLPFMode(uint8_t mode) {
TUATBM	0:c3af3416e383	182	I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
TUATBM	0:c3af3416e383	183	}
TUATBM	0:c3af3416e383	184
TUATBM	0:c3af3416e383	185	// GYRO_CONFIG register
TUATBM	0:c3af3416e383	186
TUATBM	0:c3af3416e383	187	/** Get full-scale gyroscope range.
TUATBM	0:c3af3416e383	188	* The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
TUATBM	0:c3af3416e383	189	* as described in the table below.
TUATBM	0:c3af3416e383	190	*
TUATBM	0:c3af3416e383	191	* <pre>
TUATBM	0:c3af3416e383	192	* 0 = +/- 250 degrees/sec
TUATBM	0:c3af3416e383	193	* 1 = +/- 500 degrees/sec
TUATBM	0:c3af3416e383	194	* 2 = +/- 1000 degrees/sec
TUATBM	0:c3af3416e383	195	* 3 = +/- 2000 degrees/sec
TUATBM	0:c3af3416e383	196	* </pre>
TUATBM	0:c3af3416e383	197	*
TUATBM	0:c3af3416e383	198	* @return Current full-scale gyroscope range setting
TUATBM	0:c3af3416e383	199	* @see MPU6050_GYRO_FS_250
TUATBM	0:c3af3416e383	200	* @see MPU6050_RA_GYRO_CONFIG
TUATBM	0:c3af3416e383	201	* @see MPU6050_GCONFIG_FS_SEL_BIT
TUATBM	0:c3af3416e383	202	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
TUATBM	0:c3af3416e383	203	*/
TUATBM	0:c3af3416e383	204	uint8_t MPU6050::getFullScaleGyroRange() {
TUATBM	0:c3af3416e383	205	I2Cdev::readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
TUATBM	0:c3af3416e383	206	return buffer[0];
TUATBM	0:c3af3416e383	207	}
TUATBM	0:c3af3416e383	208	/** Set full-scale gyroscope range.
TUATBM	0:c3af3416e383	209	* @param range New full-scale gyroscope range value
TUATBM	0:c3af3416e383	210	* @see getFullScaleRange()
TUATBM	0:c3af3416e383	211	* @see MPU6050_GYRO_FS_250
TUATBM	0:c3af3416e383	212	* @see MPU6050_RA_GYRO_CONFIG
TUATBM	0:c3af3416e383	213	* @see MPU6050_GCONFIG_FS_SEL_BIT
TUATBM	0:c3af3416e383	214	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
TUATBM	0:c3af3416e383	215	*/
TUATBM	0:c3af3416e383	216	void MPU6050::setFullScaleGyroRange(uint8_t range) {
TUATBM	0:c3af3416e383	217	I2Cdev::writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
TUATBM	0:c3af3416e383	218	}
TUATBM	0:c3af3416e383	219
TUATBM	0:c3af3416e383	220	// SELF TEST FACTORY TRIM VALUES
TUATBM	0:c3af3416e383	221
TUATBM	0:c3af3416e383	222	/** Get self-test factory trim value for accelerometer X axis.
TUATBM	0:c3af3416e383	223	* @return factory trim value
TUATBM	0:c3af3416e383	224	* @see MPU6050_RA_SELF_TEST_X
TUATBM	0:c3af3416e383	225	*/
TUATBM	0:c3af3416e383	226	uint8_t MPU6050::getAccelXSelfTestFactoryTrim() {
TUATBM	0:c3af3416e383	227	I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_X, &buffer[0]);
TUATBM	0:c3af3416e383	228	I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_A, &buffer[1]);
TUATBM	0:c3af3416e383	229	return (buffer[0]>>3) \| ((buffer[1]>>4) & 0x03);
TUATBM	0:c3af3416e383	230	}
TUATBM	0:c3af3416e383	231
TUATBM	0:c3af3416e383	232	/** Get self-test factory trim value for accelerometer Y axis.
TUATBM	0:c3af3416e383	233	* @return factory trim value
TUATBM	0:c3af3416e383	234	* @see MPU6050_RA_SELF_TEST_Y
TUATBM	0:c3af3416e383	235	*/
TUATBM	0:c3af3416e383	236	uint8_t MPU6050::getAccelYSelfTestFactoryTrim() {
TUATBM	0:c3af3416e383	237	I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Y, &buffer[0]);
TUATBM	0:c3af3416e383	238	I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_A, &buffer[1]);
TUATBM	0:c3af3416e383	239	return (buffer[0]>>3) \| ((buffer[1]>>2) & 0x03);
TUATBM	0:c3af3416e383	240	}
TUATBM	0:c3af3416e383	241
TUATBM	0:c3af3416e383	242	/** Get self-test factory trim value for accelerometer Z axis.
TUATBM	0:c3af3416e383	243	* @return factory trim value
TUATBM	0:c3af3416e383	244	* @see MPU6050_RA_SELF_TEST_Z
TUATBM	0:c3af3416e383	245	*/
TUATBM	0:c3af3416e383	246	uint8_t MPU6050::getAccelZSelfTestFactoryTrim() {
TUATBM	0:c3af3416e383	247	I2Cdev::readBytes(devAddr, MPU6050_RA_SELF_TEST_Z, 2, buffer);
TUATBM	0:c3af3416e383	248	return (buffer[0]>>3) \| (buffer[1] & 0x03);
TUATBM	0:c3af3416e383	249	}
TUATBM	0:c3af3416e383	250
TUATBM	0:c3af3416e383	251	/** Get self-test factory trim value for gyro X axis.
TUATBM	0:c3af3416e383	252	* @return factory trim value
TUATBM	0:c3af3416e383	253	* @see MPU6050_RA_SELF_TEST_X
TUATBM	0:c3af3416e383	254	*/
TUATBM	0:c3af3416e383	255	uint8_t MPU6050::getGyroXSelfTestFactoryTrim() {
TUATBM	0:c3af3416e383	256	I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_X, buffer);
TUATBM	0:c3af3416e383	257	return (buffer[0] & 0x1F);
TUATBM	0:c3af3416e383	258	}
TUATBM	0:c3af3416e383	259
TUATBM	0:c3af3416e383	260	/** Get self-test factory trim value for gyro Y axis.
TUATBM	0:c3af3416e383	261	* @return factory trim value
TUATBM	0:c3af3416e383	262	* @see MPU6050_RA_SELF_TEST_Y
TUATBM	0:c3af3416e383	263	*/
TUATBM	0:c3af3416e383	264	uint8_t MPU6050::getGyroYSelfTestFactoryTrim() {
TUATBM	0:c3af3416e383	265	I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Y, buffer);
TUATBM	0:c3af3416e383	266	return (buffer[0] & 0x1F);
TUATBM	0:c3af3416e383	267	}
TUATBM	0:c3af3416e383	268
TUATBM	0:c3af3416e383	269	/** Get self-test factory trim value for gyro Z axis.
TUATBM	0:c3af3416e383	270	* @return factory trim value
TUATBM	0:c3af3416e383	271	* @see MPU6050_RA_SELF_TEST_Z
TUATBM	0:c3af3416e383	272	*/
TUATBM	0:c3af3416e383	273	uint8_t MPU6050::getGyroZSelfTestFactoryTrim() {
TUATBM	0:c3af3416e383	274	I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Z, buffer);
TUATBM	0:c3af3416e383	275	return (buffer[0] & 0x1F);
TUATBM	0:c3af3416e383	276	}
TUATBM	0:c3af3416e383	277
TUATBM	0:c3af3416e383	278	// ACCEL_CONFIG register
TUATBM	0:c3af3416e383	279
TUATBM	0:c3af3416e383	280	/** Get self-test enabled setting for accelerometer X axis.
TUATBM	0:c3af3416e383	281	* @return Self-test enabled value
TUATBM	0:c3af3416e383	282	* @see MPU6050_RA_ACCEL_CONFIG
TUATBM	0:c3af3416e383	283	*/
TUATBM	0:c3af3416e383	284	bool MPU6050::getAccelXSelfTest() {
TUATBM	0:c3af3416e383	285	I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
TUATBM	0:c3af3416e383	286	return buffer[0];
TUATBM	0:c3af3416e383	287	}
TUATBM	0:c3af3416e383	288	/** Get self-test enabled setting for accelerometer X axis.
TUATBM	0:c3af3416e383	289	* @param enabled Self-test enabled value
TUATBM	0:c3af3416e383	290	* @see MPU6050_RA_ACCEL_CONFIG
TUATBM	0:c3af3416e383	291	*/
TUATBM	0:c3af3416e383	292	void MPU6050::setAccelXSelfTest(bool enabled) {
TUATBM	0:c3af3416e383	293	I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
TUATBM	0:c3af3416e383	294	}
TUATBM	0:c3af3416e383	295	/** Get self-test enabled value for accelerometer Y axis.
TUATBM	0:c3af3416e383	296	* @return Self-test enabled value
TUATBM	0:c3af3416e383	297	* @see MPU6050_RA_ACCEL_CONFIG
TUATBM	0:c3af3416e383	298	*/
TUATBM	0:c3af3416e383	299	bool MPU6050::getAccelYSelfTest() {
TUATBM	0:c3af3416e383	300	I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
TUATBM	0:c3af3416e383	301	return buffer[0];
TUATBM	0:c3af3416e383	302	}
TUATBM	0:c3af3416e383	303	/** Get self-test enabled value for accelerometer Y axis.
TUATBM	0:c3af3416e383	304	* @param enabled Self-test enabled value
TUATBM	0:c3af3416e383	305	* @see MPU6050_RA_ACCEL_CONFIG
TUATBM	0:c3af3416e383	306	*/
TUATBM	0:c3af3416e383	307	void MPU6050::setAccelYSelfTest(bool enabled) {
TUATBM	0:c3af3416e383	308	I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
TUATBM	0:c3af3416e383	309	}
TUATBM	0:c3af3416e383	310	/** Get self-test enabled value for accelerometer Z axis.
TUATBM	0:c3af3416e383	311	* @return Self-test enabled value
TUATBM	0:c3af3416e383	312	* @see MPU6050_RA_ACCEL_CONFIG
TUATBM	0:c3af3416e383	313	*/
TUATBM	0:c3af3416e383	314	bool MPU6050::getAccelZSelfTest() {
TUATBM	0:c3af3416e383	315	I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
TUATBM	0:c3af3416e383	316	return buffer[0];
TUATBM	0:c3af3416e383	317	}
TUATBM	0:c3af3416e383	318	/** Set self-test enabled value for accelerometer Z axis.
TUATBM	0:c3af3416e383	319	* @param enabled Self-test enabled value
TUATBM	0:c3af3416e383	320	* @see MPU6050_RA_ACCEL_CONFIG
TUATBM	0:c3af3416e383	321	*/
TUATBM	0:c3af3416e383	322	void MPU6050::setAccelZSelfTest(bool enabled) {
TUATBM	0:c3af3416e383	323	I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
TUATBM	0:c3af3416e383	324	}
TUATBM	0:c3af3416e383	325	/** Get full-scale accelerometer range.
TUATBM	0:c3af3416e383	326	* The FS_SEL parameter allows setting the full-scale range of the accelerometer
TUATBM	0:c3af3416e383	327	* sensors, as described in the table below.
TUATBM	0:c3af3416e383	328	*
TUATBM	0:c3af3416e383	329	* <pre>
TUATBM	0:c3af3416e383	330	* 0 = +/- 2g
TUATBM	0:c3af3416e383	331	* 1 = +/- 4g
TUATBM	0:c3af3416e383	332	* 2 = +/- 8g
TUATBM	0:c3af3416e383	333	* 3 = +/- 16g
TUATBM	0:c3af3416e383	334	* </pre>
TUATBM	0:c3af3416e383	335	*
TUATBM	0:c3af3416e383	336	* @return Current full-scale accelerometer range setting
TUATBM	0:c3af3416e383	337	* @see MPU6050_ACCEL_FS_2
TUATBM	0:c3af3416e383	338	* @see MPU6050_RA_ACCEL_CONFIG
TUATBM	0:c3af3416e383	339	* @see MPU6050_ACONFIG_AFS_SEL_BIT
TUATBM	0:c3af3416e383	340	* @see MPU6050_ACONFIG_AFS_SEL_LENGTH
TUATBM	0:c3af3416e383	341	*/
TUATBM	0:c3af3416e383	342	uint8_t MPU6050::getFullScaleAccelRange() {
TUATBM	0:c3af3416e383	343	I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
TUATBM	0:c3af3416e383	344	return buffer[0];
TUATBM	0:c3af3416e383	345	}
TUATBM	0:c3af3416e383	346	/** Set full-scale accelerometer range.
TUATBM	0:c3af3416e383	347	* @param range New full-scale accelerometer range setting
TUATBM	0:c3af3416e383	348	* @see getFullScaleAccelRange()
TUATBM	0:c3af3416e383	349	*/
TUATBM	0:c3af3416e383	350	void MPU6050::setFullScaleAccelRange(uint8_t range) {
TUATBM	0:c3af3416e383	351	I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
TUATBM	0:c3af3416e383	352	}
TUATBM	0:c3af3416e383	353	/** Get the high-pass filter configuration.
TUATBM	0:c3af3416e383	354	* The DHPF is a filter module in the path leading to motion detectors (Free
TUATBM	0:c3af3416e383	355	* Fall, Motion threshold, and Zero Motion). The high pass filter output is not
TUATBM	0:c3af3416e383	356	* available to the data registers (see Figure in Section 8 of the MPU-6000/
TUATBM	0:c3af3416e383	357	* MPU-6050 Product Specification document).
TUATBM	0:c3af3416e383	358	*
TUATBM	0:c3af3416e383	359	* The high pass filter has three modes:
TUATBM	0:c3af3416e383	360	*
TUATBM	0:c3af3416e383	361	* <pre>
TUATBM	0:c3af3416e383	362	* Reset: The filter output settles to zero within one sample. This
TUATBM	0:c3af3416e383	363	* effectively disables the high pass filter. This mode may be toggled
TUATBM	0:c3af3416e383	364	* to quickly settle the filter.
TUATBM	0:c3af3416e383	365	*
TUATBM	0:c3af3416e383	366	* On: The high pass filter will pass signals above the cut off frequency.
TUATBM	0:c3af3416e383	367	*
TUATBM	0:c3af3416e383	368	* Hold: When triggered, the filter holds the present sample. The filter
TUATBM	0:c3af3416e383	369	* output will be the difference between the input sample and the held
TUATBM	0:c3af3416e383	370	* sample.
TUATBM	0:c3af3416e383	371	* </pre>
TUATBM	0:c3af3416e383	372	*
TUATBM	0:c3af3416e383	373	* <pre>
TUATBM	0:c3af3416e383	374	* ACCEL_HPF \| Filter Mode \| Cut-off Frequency
TUATBM	0:c3af3416e383	375	* ----------+-------------+------------------
TUATBM	0:c3af3416e383	376	* 0 \| Reset \| None
TUATBM	0:c3af3416e383	377	* 1 \| On \| 5Hz
TUATBM	0:c3af3416e383	378	* 2 \| On \| 2.5Hz
TUATBM	0:c3af3416e383	379	* 3 \| On \| 1.25Hz
TUATBM	0:c3af3416e383	380	* 4 \| On \| 0.63Hz
TUATBM	0:c3af3416e383	381	* 7 \| Hold \| None
TUATBM	0:c3af3416e383	382	* </pre>
TUATBM	0:c3af3416e383	383	*
TUATBM	0:c3af3416e383	384	* @return Current high-pass filter configuration
TUATBM	0:c3af3416e383	385	* @see MPU6050_DHPF_RESET
TUATBM	0:c3af3416e383	386	* @see MPU6050_RA_ACCEL_CONFIG
TUATBM	0:c3af3416e383	387	*/
TUATBM	0:c3af3416e383	388	uint8_t MPU6050::getDHPFMode() {
TUATBM	0:c3af3416e383	389	I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
TUATBM	0:c3af3416e383	390	return buffer[0];
TUATBM	0:c3af3416e383	391	}
TUATBM	0:c3af3416e383	392	/** Set the high-pass filter configuration.
TUATBM	0:c3af3416e383	393	* @param bandwidth New high-pass filter configuration
TUATBM	0:c3af3416e383	394	* @see setDHPFMode()
TUATBM	0:c3af3416e383	395	* @see MPU6050_DHPF_RESET
TUATBM	0:c3af3416e383	396	* @see MPU6050_RA_ACCEL_CONFIG
TUATBM	0:c3af3416e383	397	*/
TUATBM	0:c3af3416e383	398	void MPU6050::setDHPFMode(uint8_t bandwidth) {
TUATBM	0:c3af3416e383	399	I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
TUATBM	0:c3af3416e383	400	}
TUATBM	0:c3af3416e383	401
TUATBM	0:c3af3416e383	402	// FF_THR register
TUATBM	0:c3af3416e383	403
TUATBM	0:c3af3416e383	404	/** Get free-fall event acceleration threshold.
TUATBM	0:c3af3416e383	405	* This register configures the detection threshold for Free Fall event
TUATBM	0:c3af3416e383	406	* detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
TUATBM	0:c3af3416e383	407	* absolute value of the accelerometer measurements for the three axes are each
TUATBM	0:c3af3416e383	408	* less than the detection threshold. This condition increments the Free Fall
TUATBM	0:c3af3416e383	409	* duration counter (Register 30). The Free Fall interrupt is triggered when the
TUATBM	0:c3af3416e383	410	* Free Fall duration counter reaches the time specified in FF_DUR.
TUATBM	0:c3af3416e383	411	*
TUATBM	0:c3af3416e383	412	* For more details on the Free Fall detection interrupt, see Section 8.2 of the
TUATBM	0:c3af3416e383	413	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
TUATBM	0:c3af3416e383	414	* 58 of this document.
TUATBM	0:c3af3416e383	415	*
TUATBM	0:c3af3416e383	416	* @return Current free-fall acceleration threshold value (LSB = 2mg)
TUATBM	0:c3af3416e383	417	* @see MPU6050_RA_FF_THR
TUATBM	0:c3af3416e383	418	*/
TUATBM	0:c3af3416e383	419	uint8_t MPU6050::getFreefallDetectionThreshold() {
TUATBM	0:c3af3416e383	420	I2Cdev::readByte(devAddr, MPU6050_RA_FF_THR, buffer);
TUATBM	0:c3af3416e383	421	return buffer[0];
TUATBM	0:c3af3416e383	422	}
TUATBM	0:c3af3416e383	423	/** Get free-fall event acceleration threshold.
TUATBM	0:c3af3416e383	424	* @param threshold New free-fall acceleration threshold value (LSB = 2mg)
TUATBM	0:c3af3416e383	425	* @see getFreefallDetectionThreshold()
TUATBM	0:c3af3416e383	426	* @see MPU6050_RA_FF_THR
TUATBM	0:c3af3416e383	427	*/
TUATBM	0:c3af3416e383	428	void MPU6050::setFreefallDetectionThreshold(uint8_t threshold) {
TUATBM	0:c3af3416e383	429	I2Cdev::writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
TUATBM	0:c3af3416e383	430	}
TUATBM	0:c3af3416e383	431
TUATBM	0:c3af3416e383	432	// FF_DUR register
TUATBM	0:c3af3416e383	433
TUATBM	0:c3af3416e383	434	/** Get free-fall event duration threshold.
TUATBM	0:c3af3416e383	435	* This register configures the duration counter threshold for Free Fall event
TUATBM	0:c3af3416e383	436	* detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
TUATBM	0:c3af3416e383	437	* of 1 LSB = 1 ms.
TUATBM	0:c3af3416e383	438	*
TUATBM	0:c3af3416e383	439	* The Free Fall duration counter increments while the absolute value of the
TUATBM	0:c3af3416e383	440	* accelerometer measurements are each less than the detection threshold
TUATBM	0:c3af3416e383	441	* (Register 29). The Free Fall interrupt is triggered when the Free Fall
TUATBM	0:c3af3416e383	442	* duration counter reaches the time specified in this register.
TUATBM	0:c3af3416e383	443	*
TUATBM	0:c3af3416e383	444	* For more details on the Free Fall detection interrupt, see Section 8.2 of
TUATBM	0:c3af3416e383	445	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
TUATBM	0:c3af3416e383	446	* and 58 of this document.
TUATBM	0:c3af3416e383	447	*
TUATBM	0:c3af3416e383	448	* @return Current free-fall duration threshold value (LSB = 1ms)
TUATBM	0:c3af3416e383	449	* @see MPU6050_RA_FF_DUR
TUATBM	0:c3af3416e383	450	*/
TUATBM	0:c3af3416e383	451	uint8_t MPU6050::getFreefallDetectionDuration() {
TUATBM	0:c3af3416e383	452	I2Cdev::readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
TUATBM	0:c3af3416e383	453	return buffer[0];
TUATBM	0:c3af3416e383	454	}
TUATBM	0:c3af3416e383	455	/** Get free-fall event duration threshold.
TUATBM	0:c3af3416e383	456	* @param duration New free-fall duration threshold value (LSB = 1ms)
TUATBM	0:c3af3416e383	457	* @see getFreefallDetectionDuration()
TUATBM	0:c3af3416e383	458	* @see MPU6050_RA_FF_DUR
TUATBM	0:c3af3416e383	459	*/
TUATBM	0:c3af3416e383	460	void MPU6050::setFreefallDetectionDuration(uint8_t duration) {
TUATBM	0:c3af3416e383	461	I2Cdev::writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
TUATBM	0:c3af3416e383	462	}
TUATBM	0:c3af3416e383	463
TUATBM	0:c3af3416e383	464	// MOT_THR register
TUATBM	0:c3af3416e383	465
TUATBM	0:c3af3416e383	466	/** Get motion detection event acceleration threshold.
TUATBM	0:c3af3416e383	467	* This register configures the detection threshold for Motion interrupt
TUATBM	0:c3af3416e383	468	* generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
TUATBM	0:c3af3416e383	469	* absolute value of any of the accelerometer measurements exceeds this Motion
TUATBM	0:c3af3416e383	470	* detection threshold. This condition increments the Motion detection duration
TUATBM	0:c3af3416e383	471	* counter (Register 32). The Motion detection interrupt is triggered when the
TUATBM	0:c3af3416e383	472	* Motion Detection counter reaches the time count specified in MOT_DUR
TUATBM	0:c3af3416e383	473	* (Register 32).
TUATBM	0:c3af3416e383	474	*
TUATBM	0:c3af3416e383	475	* The Motion interrupt will indicate the axis and polarity of detected motion
TUATBM	0:c3af3416e383	476	* in MOT_DETECT_STATUS (Register 97).
TUATBM	0:c3af3416e383	477	*
TUATBM	0:c3af3416e383	478	* For more details on the Motion detection interrupt, see Section 8.3 of the
TUATBM	0:c3af3416e383	479	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
TUATBM	0:c3af3416e383	480	* 58 of this document.
TUATBM	0:c3af3416e383	481	*
TUATBM	0:c3af3416e383	482	* @return Current motion detection acceleration threshold value (LSB = 2mg)
TUATBM	0:c3af3416e383	483	* @see MPU6050_RA_MOT_THR
TUATBM	0:c3af3416e383	484	*/
TUATBM	0:c3af3416e383	485	uint8_t MPU6050::getMotionDetectionThreshold() {
TUATBM	0:c3af3416e383	486	I2Cdev::readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
TUATBM	0:c3af3416e383	487	return buffer[0];
TUATBM	0:c3af3416e383	488	}
TUATBM	0:c3af3416e383	489	/** Set motion detection event acceleration threshold.
TUATBM	0:c3af3416e383	490	* @param threshold New motion detection acceleration threshold value (LSB = 2mg)
TUATBM	0:c3af3416e383	491	* @see getMotionDetectionThreshold()
TUATBM	0:c3af3416e383	492	* @see MPU6050_RA_MOT_THR
TUATBM	0:c3af3416e383	493	*/
TUATBM	0:c3af3416e383	494	void MPU6050::setMotionDetectionThreshold(uint8_t threshold) {
TUATBM	0:c3af3416e383	495	I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
TUATBM	0:c3af3416e383	496	}
TUATBM	0:c3af3416e383	497
TUATBM	0:c3af3416e383	498	// MOT_DUR register
TUATBM	0:c3af3416e383	499
TUATBM	0:c3af3416e383	500	/** Get motion detection event duration threshold.
TUATBM	0:c3af3416e383	501	* This register configures the duration counter threshold for Motion interrupt
TUATBM	0:c3af3416e383	502	* generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
TUATBM	0:c3af3416e383	503	* of 1LSB = 1ms. The Motion detection duration counter increments when the
TUATBM	0:c3af3416e383	504	* absolute value of any of the accelerometer measurements exceeds the Motion
TUATBM	0:c3af3416e383	505	* detection threshold (Register 31). The Motion detection interrupt is
TUATBM	0:c3af3416e383	506	* triggered when the Motion detection counter reaches the time count specified
TUATBM	0:c3af3416e383	507	* in this register.
TUATBM	0:c3af3416e383	508	*
TUATBM	0:c3af3416e383	509	* For more details on the Motion detection interrupt, see Section 8.3 of the
TUATBM	0:c3af3416e383	510	* MPU-6000/MPU-6050 Product Specification document.
TUATBM	0:c3af3416e383	511	*
TUATBM	0:c3af3416e383	512	* @return Current motion detection duration threshold value (LSB = 1ms)
TUATBM	0:c3af3416e383	513	* @see MPU6050_RA_MOT_DUR
TUATBM	0:c3af3416e383	514	*/
TUATBM	0:c3af3416e383	515	uint8_t MPU6050::getMotionDetectionDuration() {
TUATBM	0:c3af3416e383	516	I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
TUATBM	0:c3af3416e383	517	return buffer[0];
TUATBM	0:c3af3416e383	518	}
TUATBM	0:c3af3416e383	519	/** Set motion detection event duration threshold.
TUATBM	0:c3af3416e383	520	* @param duration New motion detection duration threshold value (LSB = 1ms)
TUATBM	0:c3af3416e383	521	* @see getMotionDetectionDuration()
TUATBM	0:c3af3416e383	522	* @see MPU6050_RA_MOT_DUR
TUATBM	0:c3af3416e383	523	*/
TUATBM	0:c3af3416e383	524	void MPU6050::setMotionDetectionDuration(uint8_t duration) {
TUATBM	0:c3af3416e383	525	I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
TUATBM	0:c3af3416e383	526	}
TUATBM	0:c3af3416e383	527
TUATBM	0:c3af3416e383	528	// ZRMOT_THR register
TUATBM	0:c3af3416e383	529
TUATBM	0:c3af3416e383	530	/** Get zero motion detection event acceleration threshold.
TUATBM	0:c3af3416e383	531	* This register configures the detection threshold for Zero Motion interrupt
TUATBM	0:c3af3416e383	532	* generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
TUATBM	0:c3af3416e383	533	* the absolute value of the accelerometer measurements for the 3 axes are each
TUATBM	0:c3af3416e383	534	* less than the detection threshold. This condition increments the Zero Motion
TUATBM	0:c3af3416e383	535	* duration counter (Register 34). The Zero Motion interrupt is triggered when
TUATBM	0:c3af3416e383	536	* the Zero Motion duration counter reaches the time count specified in
TUATBM	0:c3af3416e383	537	* ZRMOT_DUR (Register 34).
TUATBM	0:c3af3416e383	538	*
TUATBM	0:c3af3416e383	539	* Unlike Free Fall or Motion detection, Zero Motion detection triggers an
TUATBM	0:c3af3416e383	540	* interrupt both when Zero Motion is first detected and when Zero Motion is no
TUATBM	0:c3af3416e383	541	* longer detected.
TUATBM	0:c3af3416e383	542	*
TUATBM	0:c3af3416e383	543	* When a zero motion event is detected, a Zero Motion Status will be indicated
TUATBM	0:c3af3416e383	544	* in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
TUATBM	0:c3af3416e383	545	* condition is detected, the status bit is set to 1. When a zero-motion-to-
TUATBM	0:c3af3416e383	546	* motion condition is detected, the status bit is set to 0.
TUATBM	0:c3af3416e383	547	*
TUATBM	0:c3af3416e383	548	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
TUATBM	0:c3af3416e383	549	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
TUATBM	0:c3af3416e383	550	* and 58 of this document.
TUATBM	0:c3af3416e383	551	*
TUATBM	0:c3af3416e383	552	* @return Current zero motion detection acceleration threshold value (LSB = 2mg)
TUATBM	0:c3af3416e383	553	* @see MPU6050_RA_ZRMOT_THR
TUATBM	0:c3af3416e383	554	*/
TUATBM	0:c3af3416e383	555	uint8_t MPU6050::getZeroMotionDetectionThreshold() {
TUATBM	0:c3af3416e383	556	I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
TUATBM	0:c3af3416e383	557	return buffer[0];
TUATBM	0:c3af3416e383	558	}
TUATBM	0:c3af3416e383	559	/** Set zero motion detection event acceleration threshold.
TUATBM	0:c3af3416e383	560	* @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
TUATBM	0:c3af3416e383	561	* @see getZeroMotionDetectionThreshold()
TUATBM	0:c3af3416e383	562	* @see MPU6050_RA_ZRMOT_THR
TUATBM	0:c3af3416e383	563	*/
TUATBM	0:c3af3416e383	564	void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold) {
TUATBM	0:c3af3416e383	565	I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
TUATBM	0:c3af3416e383	566	}
TUATBM	0:c3af3416e383	567
TUATBM	0:c3af3416e383	568	// ZRMOT_DUR register
TUATBM	0:c3af3416e383	569
TUATBM	0:c3af3416e383	570	/** Get zero motion detection event duration threshold.
TUATBM	0:c3af3416e383	571	* This register configures the duration counter threshold for Zero Motion
TUATBM	0:c3af3416e383	572	* interrupt generation. The duration counter ticks at 16 Hz, therefore
TUATBM	0:c3af3416e383	573	* ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
TUATBM	0:c3af3416e383	574	* increments while the absolute value of the accelerometer measurements are
TUATBM	0:c3af3416e383	575	* each less than the detection threshold (Register 33). The Zero Motion
TUATBM	0:c3af3416e383	576	* interrupt is triggered when the Zero Motion duration counter reaches the time
TUATBM	0:c3af3416e383	577	* count specified in this register.
TUATBM	0:c3af3416e383	578	*
TUATBM	0:c3af3416e383	579	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
TUATBM	0:c3af3416e383	580	* the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
TUATBM	0:c3af3416e383	581	* and 58 of this document.
TUATBM	0:c3af3416e383	582	*
TUATBM	0:c3af3416e383	583	* @return Current zero motion detection duration threshold value (LSB = 64ms)
TUATBM	0:c3af3416e383	584	* @see MPU6050_RA_ZRMOT_DUR
TUATBM	0:c3af3416e383	585	*/
TUATBM	0:c3af3416e383	586	uint8_t MPU6050::getZeroMotionDetectionDuration() {
TUATBM	0:c3af3416e383	587	I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
TUATBM	0:c3af3416e383	588	return buffer[0];
TUATBM	0:c3af3416e383	589	}
TUATBM	0:c3af3416e383	590	/** Set zero motion detection event duration threshold.
TUATBM	0:c3af3416e383	591	* @param duration New zero motion detection duration threshold value (LSB = 1ms)
TUATBM	0:c3af3416e383	592	* @see getZeroMotionDetectionDuration()
TUATBM	0:c3af3416e383	593	* @see MPU6050_RA_ZRMOT_DUR
TUATBM	0:c3af3416e383	594	*/
TUATBM	0:c3af3416e383	595	void MPU6050::setZeroMotionDetectionDuration(uint8_t duration) {
TUATBM	0:c3af3416e383	596	I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
TUATBM	0:c3af3416e383	597	}
TUATBM	0:c3af3416e383	598
TUATBM	0:c3af3416e383	599	// FIFO_EN register
TUATBM	0:c3af3416e383	600
TUATBM	0:c3af3416e383	601	/** Get temperature FIFO enabled value.
TUATBM	0:c3af3416e383	602	* When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
TUATBM	0:c3af3416e383	603	* 66) to be written into the FIFO buffer.
TUATBM	0:c3af3416e383	604	* @return Current temperature FIFO enabled value
TUATBM	0:c3af3416e383	605	* @see MPU6050_RA_FIFO_EN
TUATBM	0:c3af3416e383	606	*/
TUATBM	0:c3af3416e383	607	bool MPU6050::getTempFIFOEnabled() {
TUATBM	0:c3af3416e383	608	I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
TUATBM	0:c3af3416e383	609	return buffer[0];
TUATBM	0:c3af3416e383	610	}
TUATBM	0:c3af3416e383	611	/** Set temperature FIFO enabled value.
TUATBM	0:c3af3416e383	612	* @param enabled New temperature FIFO enabled value
TUATBM	0:c3af3416e383	613	* @see getTempFIFOEnabled()
TUATBM	0:c3af3416e383	614	* @see MPU6050_RA_FIFO_EN
TUATBM	0:c3af3416e383	615	*/
TUATBM	0:c3af3416e383	616	void MPU6050::setTempFIFOEnabled(bool enabled) {
TUATBM	0:c3af3416e383	617	I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
TUATBM	0:c3af3416e383	618	}
TUATBM	0:c3af3416e383	619	/** Get gyroscope X-axis FIFO enabled value.
TUATBM	0:c3af3416e383	620	* When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
TUATBM	0:c3af3416e383	621	* 68) to be written into the FIFO buffer.
TUATBM	0:c3af3416e383	622	* @return Current gyroscope X-axis FIFO enabled value
TUATBM	0:c3af3416e383	623	* @see MPU6050_RA_FIFO_EN
TUATBM	0:c3af3416e383	624	*/
TUATBM	0:c3af3416e383	625	bool MPU6050::getXGyroFIFOEnabled() {
TUATBM	0:c3af3416e383	626	I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
TUATBM	0:c3af3416e383	627	return buffer[0];
TUATBM	0:c3af3416e383	628	}
TUATBM	0:c3af3416e383	629	/** Set gyroscope X-axis FIFO enabled value.
TUATBM	0:c3af3416e383	630	* @param enabled New gyroscope X-axis FIFO enabled value
TUATBM	0:c3af3416e383	631	* @see getXGyroFIFOEnabled()
TUATBM	0:c3af3416e383	632	* @see MPU6050_RA_FIFO_EN
TUATBM	0:c3af3416e383	633	*/
TUATBM	0:c3af3416e383	634	void MPU6050::setXGyroFIFOEnabled(bool enabled) {
TUATBM	0:c3af3416e383	635	I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
TUATBM	0:c3af3416e383	636	}
TUATBM	0:c3af3416e383	637	/** Get gyroscope Y-axis FIFO enabled value.
TUATBM	0:c3af3416e383	638	* When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
TUATBM	0:c3af3416e383	639	* 70) to be written into the FIFO buffer.
TUATBM	0:c3af3416e383	640	* @return Current gyroscope Y-axis FIFO enabled value
TUATBM	0:c3af3416e383	641	* @see MPU6050_RA_FIFO_EN
TUATBM	0:c3af3416e383	642	*/
TUATBM	0:c3af3416e383	643	bool MPU6050::getYGyroFIFOEnabled() {
TUATBM	0:c3af3416e383	644	I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
TUATBM	0:c3af3416e383	645	return buffer[0];
TUATBM	0:c3af3416e383	646	}
TUATBM	0:c3af3416e383	647	/** Set gyroscope Y-axis FIFO enabled value.
TUATBM	0:c3af3416e383	648	* @param enabled New gyroscope Y-axis FIFO enabled value
TUATBM	0:c3af3416e383	649	* @see getYGyroFIFOEnabled()
TUATBM	0:c3af3416e383	650	* @see MPU6050_RA_FIFO_EN
TUATBM	0:c3af3416e383	651	*/
TUATBM	0:c3af3416e383	652	void MPU6050::setYGyroFIFOEnabled(bool enabled) {
TUATBM	0:c3af3416e383	653	I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
TUATBM	0:c3af3416e383	654	}
TUATBM	0:c3af3416e383	655	/** Get gyroscope Z-axis FIFO enabled value.
TUATBM	0:c3af3416e383	656	* When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
TUATBM	0:c3af3416e383	657	* 72) to be written into the FIFO buffer.
TUATBM	0:c3af3416e383	658	* @return Current gyroscope Z-axis FIFO enabled value
TUATBM	0:c3af3416e383	659	* @see MPU6050_RA_FIFO_EN
TUATBM	0:c3af3416e383	660	*/
TUATBM	0:c3af3416e383	661	bool MPU6050::getZGyroFIFOEnabled() {
TUATBM	0:c3af3416e383	662	I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
TUATBM	0:c3af3416e383	663	return buffer[0];
TUATBM	0:c3af3416e383	664	}
TUATBM	0:c3af3416e383	665	/** Set gyroscope Z-axis FIFO enabled value.
TUATBM	0:c3af3416e383	666	* @param enabled New gyroscope Z-axis FIFO enabled value
TUATBM	0:c3af3416e383	667	* @see getZGyroFIFOEnabled()
TUATBM	0:c3af3416e383	668	* @see MPU6050_RA_FIFO_EN
TUATBM	0:c3af3416e383	669	*/
TUATBM	0:c3af3416e383	670	void MPU6050::setZGyroFIFOEnabled(bool enabled) {
TUATBM	0:c3af3416e383	671	I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
TUATBM	0:c3af3416e383	672	}
TUATBM	0:c3af3416e383	673	/** Get accelerometer FIFO enabled value.
TUATBM	0:c3af3416e383	674	* When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
TUATBM	0:c3af3416e383	675	* ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
TUATBM	0:c3af3416e383	676	* written into the FIFO buffer.
TUATBM	0:c3af3416e383	677	* @return Current accelerometer FIFO enabled value
TUATBM	0:c3af3416e383	678	* @see MPU6050_RA_FIFO_EN
TUATBM	0:c3af3416e383	679	*/
TUATBM	0:c3af3416e383	680	bool MPU6050::getAccelFIFOEnabled() {
TUATBM	0:c3af3416e383	681	I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
TUATBM	0:c3af3416e383	682	return buffer[0];
TUATBM	0:c3af3416e383	683	}
TUATBM	0:c3af3416e383	684	/** Set accelerometer FIFO enabled value.
TUATBM	0:c3af3416e383	685	* @param enabled New accelerometer FIFO enabled value
TUATBM	0:c3af3416e383	686	* @see getAccelFIFOEnabled()
TUATBM	0:c3af3416e383	687	* @see MPU6050_RA_FIFO_EN
TUATBM	0:c3af3416e383	688	*/
TUATBM	0:c3af3416e383	689	void MPU6050::setAccelFIFOEnabled(bool enabled) {
TUATBM	0:c3af3416e383	690	I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
TUATBM	0:c3af3416e383	691	}
TUATBM	0:c3af3416e383	692	/** Get Slave 2 FIFO enabled value.
TUATBM	0:c3af3416e383	693	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
TUATBM	0:c3af3416e383	694	* associated with Slave 2 to be written into the FIFO buffer.
TUATBM	0:c3af3416e383	695	* @return Current Slave 2 FIFO enabled value
TUATBM	0:c3af3416e383	696	* @see MPU6050_RA_FIFO_EN
TUATBM	0:c3af3416e383	697	*/
TUATBM	0:c3af3416e383	698	bool MPU6050::getSlave2FIFOEnabled() {
TUATBM	0:c3af3416e383	699	I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
TUATBM	0:c3af3416e383	700	return buffer[0];
TUATBM	0:c3af3416e383	701	}
TUATBM	0:c3af3416e383	702	/** Set Slave 2 FIFO enabled value.
TUATBM	0:c3af3416e383	703	* @param enabled New Slave 2 FIFO enabled value
TUATBM	0:c3af3416e383	704	* @see getSlave2FIFOEnabled()
TUATBM	0:c3af3416e383	705	* @see MPU6050_RA_FIFO_EN
TUATBM	0:c3af3416e383	706	*/
TUATBM	0:c3af3416e383	707	void MPU6050::setSlave2FIFOEnabled(bool enabled) {
TUATBM	0:c3af3416e383	708	I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
TUATBM	0:c3af3416e383	709	}
TUATBM	0:c3af3416e383	710	/** Get Slave 1 FIFO enabled value.
TUATBM	0:c3af3416e383	711	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
TUATBM	0:c3af3416e383	712	* associated with Slave 1 to be written into the FIFO buffer.
TUATBM	0:c3af3416e383	713	* @return Current Slave 1 FIFO enabled value
TUATBM	0:c3af3416e383	714	* @see MPU6050_RA_FIFO_EN
TUATBM	0:c3af3416e383	715	*/
TUATBM	0:c3af3416e383	716	bool MPU6050::getSlave1FIFOEnabled() {
TUATBM	0:c3af3416e383	717	I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
TUATBM	0:c3af3416e383	718	return buffer[0];
TUATBM	0:c3af3416e383	719	}
TUATBM	0:c3af3416e383	720	/** Set Slave 1 FIFO enabled value.
TUATBM	0:c3af3416e383	721	* @param enabled New Slave 1 FIFO enabled value
TUATBM	0:c3af3416e383	722	* @see getSlave1FIFOEnabled()
TUATBM	0:c3af3416e383	723	* @see MPU6050_RA_FIFO_EN
TUATBM	0:c3af3416e383	724	*/
TUATBM	0:c3af3416e383	725	void MPU6050::setSlave1FIFOEnabled(bool enabled) {
TUATBM	0:c3af3416e383	726	I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
TUATBM	0:c3af3416e383	727	}
TUATBM	0:c3af3416e383	728	/** Get Slave 0 FIFO enabled value.
TUATBM	0:c3af3416e383	729	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
TUATBM	0:c3af3416e383	730	* associated with Slave 0 to be written into the FIFO buffer.
TUATBM	0:c3af3416e383	731	* @return Current Slave 0 FIFO enabled value
TUATBM	0:c3af3416e383	732	* @see MPU6050_RA_FIFO_EN
TUATBM	0:c3af3416e383	733	*/
TUATBM	0:c3af3416e383	734	bool MPU6050::getSlave0FIFOEnabled() {
TUATBM	0:c3af3416e383	735	I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
TUATBM	0:c3af3416e383	736	return buffer[0];
TUATBM	0:c3af3416e383	737	}
TUATBM	0:c3af3416e383	738	/** Set Slave 0 FIFO enabled value.
TUATBM	0:c3af3416e383	739	* @param enabled New Slave 0 FIFO enabled value
TUATBM	0:c3af3416e383	740	* @see getSlave0FIFOEnabled()
TUATBM	0:c3af3416e383	741	* @see MPU6050_RA_FIFO_EN
TUATBM	0:c3af3416e383	742	*/
TUATBM	0:c3af3416e383	743	void MPU6050::setSlave0FIFOEnabled(bool enabled) {
TUATBM	0:c3af3416e383	744	I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
TUATBM	0:c3af3416e383	745	}
TUATBM	0:c3af3416e383	746
TUATBM	0:c3af3416e383	747	// I2C_MST_CTRL register
TUATBM	0:c3af3416e383	748
TUATBM	0:c3af3416e383	749	/** Get multi-master enabled value.
TUATBM	0:c3af3416e383	750	* Multi-master capability allows multiple I2C masters to operate on the same
TUATBM	0:c3af3416e383	751	* bus. In circuits where multi-master capability is required, set MULT_MST_EN
TUATBM	0:c3af3416e383	752	* to 1. This will increase current drawn by approximately 30uA.
TUATBM	0:c3af3416e383	753	*
TUATBM	0:c3af3416e383	754	* In circuits where multi-master capability is required, the state of the I2C
TUATBM	0:c3af3416e383	755	* bus must always be monitored by each separate I2C Master. Before an I2C
TUATBM	0:c3af3416e383	756	* Master can assume arbitration of the bus, it must first confirm that no other
TUATBM	0:c3af3416e383	757	* I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
TUATBM	0:c3af3416e383	758	* MPU-60X0's bus arbitration detection logic is turned on, enabling it to
TUATBM	0:c3af3416e383	759	* detect when the bus is available.
TUATBM	0:c3af3416e383	760	*
TUATBM	0:c3af3416e383	761	* @return Current multi-master enabled value
TUATBM	0:c3af3416e383	762	* @see MPU6050_RA_I2C_MST_CTRL
TUATBM	0:c3af3416e383	763	*/
TUATBM	0:c3af3416e383	764	bool MPU6050::getMultiMasterEnabled() {
TUATBM	0:c3af3416e383	765	I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
TUATBM	0:c3af3416e383	766	return buffer[0];
TUATBM	0:c3af3416e383	767	}
TUATBM	0:c3af3416e383	768	/** Set multi-master enabled value.
TUATBM	0:c3af3416e383	769	* @param enabled New multi-master enabled value
TUATBM	0:c3af3416e383	770	* @see getMultiMasterEnabled()
TUATBM	0:c3af3416e383	771	* @see MPU6050_RA_I2C_MST_CTRL
TUATBM	0:c3af3416e383	772	*/
TUATBM	0:c3af3416e383	773	void MPU6050::setMultiMasterEnabled(bool enabled) {
TUATBM	0:c3af3416e383	774	I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
TUATBM	0:c3af3416e383	775	}
TUATBM	0:c3af3416e383	776	/** Get wait-for-external-sensor-data enabled value.
TUATBM	0:c3af3416e383	777	* When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
TUATBM	0:c3af3416e383	778	* delayed until External Sensor data from the Slave Devices are loaded into the
TUATBM	0:c3af3416e383	779	* EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
TUATBM	0:c3af3416e383	780	* data (i.e. from gyro and accel) and external sensor data have been loaded to
TUATBM	0:c3af3416e383	781	* their respective data registers (i.e. the data is synced) when the Data Ready
TUATBM	0:c3af3416e383	782	* interrupt is triggered.
TUATBM	0:c3af3416e383	783	*
TUATBM	0:c3af3416e383	784	* @return Current wait-for-external-sensor-data enabled value
TUATBM	0:c3af3416e383	785	* @see MPU6050_RA_I2C_MST_CTRL
TUATBM	0:c3af3416e383	786	*/
TUATBM	0:c3af3416e383	787	bool MPU6050::getWaitForExternalSensorEnabled() {
TUATBM	0:c3af3416e383	788	I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
TUATBM	0:c3af3416e383	789	return buffer[0];
TUATBM	0:c3af3416e383	790	}
TUATBM	0:c3af3416e383	791	/** Set wait-for-external-sensor-data enabled value.
TUATBM	0:c3af3416e383	792	* @param enabled New wait-for-external-sensor-data enabled value
TUATBM	0:c3af3416e383	793	* @see getWaitForExternalSensorEnabled()
TUATBM	0:c3af3416e383	794	* @see MPU6050_RA_I2C_MST_CTRL
TUATBM	0:c3af3416e383	795	*/
TUATBM	0:c3af3416e383	796	void MPU6050::setWaitForExternalSensorEnabled(bool enabled) {
TUATBM	0:c3af3416e383	797	I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
TUATBM	0:c3af3416e383	798	}
TUATBM	0:c3af3416e383	799	/** Get Slave 3 FIFO enabled value.
TUATBM	0:c3af3416e383	800	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
TUATBM	0:c3af3416e383	801	* associated with Slave 3 to be written into the FIFO buffer.
TUATBM	0:c3af3416e383	802	* @return Current Slave 3 FIFO enabled value
TUATBM	0:c3af3416e383	803	* @see MPU6050_RA_MST_CTRL
TUATBM	0:c3af3416e383	804	*/
TUATBM	0:c3af3416e383	805	bool MPU6050::getSlave3FIFOEnabled() {
TUATBM	0:c3af3416e383	806	I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
TUATBM	0:c3af3416e383	807	return buffer[0];
TUATBM	0:c3af3416e383	808	}
TUATBM	0:c3af3416e383	809	/** Set Slave 3 FIFO enabled value.
TUATBM	0:c3af3416e383	810	* @param enabled New Slave 3 FIFO enabled value
TUATBM	0:c3af3416e383	811	* @see getSlave3FIFOEnabled()
TUATBM	0:c3af3416e383	812	* @see MPU6050_RA_MST_CTRL
TUATBM	0:c3af3416e383	813	*/
TUATBM	0:c3af3416e383	814	void MPU6050::setSlave3FIFOEnabled(bool enabled) {
TUATBM	0:c3af3416e383	815	I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
TUATBM	0:c3af3416e383	816	}
TUATBM	0:c3af3416e383	817	/** Get slave read/write transition enabled value.
TUATBM	0:c3af3416e383	818	* The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
TUATBM	0:c3af3416e383	819	* read to the next slave read. If the bit equals 0, there will be a restart
TUATBM	0:c3af3416e383	820	* between reads. If the bit equals 1, there will be a stop followed by a start
TUATBM	0:c3af3416e383	821	* of the following read. When a write transaction follows a read transaction,
TUATBM	0:c3af3416e383	822	* the stop followed by a start of the successive write will be always used.
TUATBM	0:c3af3416e383	823	*
TUATBM	0:c3af3416e383	824	* @return Current slave read/write transition enabled value
TUATBM	0:c3af3416e383	825	* @see MPU6050_RA_I2C_MST_CTRL
TUATBM	0:c3af3416e383	826	*/
TUATBM	0:c3af3416e383	827	bool MPU6050::getSlaveReadWriteTransitionEnabled() {
TUATBM	0:c3af3416e383	828	I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
TUATBM	0:c3af3416e383	829	return buffer[0];
TUATBM	0:c3af3416e383	830	}
TUATBM	0:c3af3416e383	831	/** Set slave read/write transition enabled value.
TUATBM	0:c3af3416e383	832	* @param enabled New slave read/write transition enabled value
TUATBM	0:c3af3416e383	833	* @see getSlaveReadWriteTransitionEnabled()
TUATBM	0:c3af3416e383	834	* @see MPU6050_RA_I2C_MST_CTRL
TUATBM	0:c3af3416e383	835	*/
TUATBM	0:c3af3416e383	836	void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled) {
TUATBM	0:c3af3416e383	837	I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
TUATBM	0:c3af3416e383	838	}
TUATBM	0:c3af3416e383	839	/** Get I2C master clock speed.
TUATBM	0:c3af3416e383	840	* I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
TUATBM	0:c3af3416e383	841	* MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
TUATBM	0:c3af3416e383	842	* the following table:
TUATBM	0:c3af3416e383	843	*
TUATBM	0:c3af3416e383	844	* <pre>
TUATBM	0:c3af3416e383	845	* I2C_MST_CLK \| I2C Master Clock Speed \| 8MHz Clock Divider
TUATBM	0:c3af3416e383	846	* ------------+------------------------+-------------------
TUATBM	0:c3af3416e383	847	* 0 \| 348kHz \| 23
TUATBM	0:c3af3416e383	848	* 1 \| 333kHz \| 24
TUATBM	0:c3af3416e383	849	* 2 \| 320kHz \| 25
TUATBM	0:c3af3416e383	850	* 3 \| 308kHz \| 26
TUATBM	0:c3af3416e383	851	* 4 \| 296kHz \| 27
TUATBM	0:c3af3416e383	852	* 5 \| 286kHz \| 28
TUATBM	0:c3af3416e383	853	* 6 \| 276kHz \| 29
TUATBM	0:c3af3416e383	854	* 7 \| 267kHz \| 30
TUATBM	0:c3af3416e383	855	* 8 \| 258kHz \| 31
TUATBM	0:c3af3416e383	856	* 9 \| 500kHz \| 16
TUATBM	0:c3af3416e383	857	* 10 \| 471kHz \| 17
TUATBM	0:c3af3416e383	858	* 11 \| 444kHz \| 18
TUATBM	0:c3af3416e383	859	* 12 \| 421kHz \| 19
TUATBM	0:c3af3416e383	860	* 13 \| 400kHz \| 20
TUATBM	0:c3af3416e383	861	* 14 \| 381kHz \| 21
TUATBM	0:c3af3416e383	862	* 15 \| 364kHz \| 22
TUATBM	0:c3af3416e383	863	* </pre>
TUATBM	0:c3af3416e383	864	*
TUATBM	0:c3af3416e383	865	* @return Current I2C master clock speed
TUATBM	0:c3af3416e383	866	* @see MPU6050_RA_I2C_MST_CTRL
TUATBM	0:c3af3416e383	867	*/
TUATBM	0:c3af3416e383	868	uint8_t MPU6050::getMasterClockSpeed() {
TUATBM	0:c3af3416e383	869	I2Cdev::readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
TUATBM	0:c3af3416e383	870	return buffer[0];
TUATBM	0:c3af3416e383	871	}
TUATBM	0:c3af3416e383	872	/** Set I2C master clock speed.
TUATBM	0:c3af3416e383	873	* @reparam speed Current I2C master clock speed
TUATBM	0:c3af3416e383	874	* @see MPU6050_RA_I2C_MST_CTRL
TUATBM	0:c3af3416e383	875	*/
TUATBM	0:c3af3416e383	876	void MPU6050::setMasterClockSpeed(uint8_t speed) {
TUATBM	0:c3af3416e383	877	I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
TUATBM	0:c3af3416e383	878	}
TUATBM	0:c3af3416e383	879
TUATBM	0:c3af3416e383	880	// I2C_SLV* registers (Slave 0-3)
TUATBM	0:c3af3416e383	881
TUATBM	0:c3af3416e383	882	/** Get the I2C address of the specified slave (0-3).
TUATBM	0:c3af3416e383	883	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
TUATBM	0:c3af3416e383	884	* operation, and if it is cleared, then it's a write operation. The remaining
TUATBM	0:c3af3416e383	885	* bits (6-0) are the 7-bit device address of the slave device.
TUATBM	0:c3af3416e383	886	*
TUATBM	0:c3af3416e383	887	* In read mode, the result of the read is placed in the lowest available
TUATBM	0:c3af3416e383	888	* EXT_SENS_DATA register. For further information regarding the allocation of
TUATBM	0:c3af3416e383	889	* read results, please refer to the EXT_SENS_DATA register description
TUATBM	0:c3af3416e383	890	* (Registers 73 - 96).
TUATBM	0:c3af3416e383	891	*
TUATBM	0:c3af3416e383	892	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
TUATBM	0:c3af3416e383	893	* characteristics, and so it has its own functions (getSlave4* and setSlave4*).
TUATBM	0:c3af3416e383	894	*
TUATBM	0:c3af3416e383	895	* I2C data transactions are performed at the Sample Rate, as defined in
TUATBM	0:c3af3416e383	896	* Register 25. The user is responsible for ensuring that I2C data transactions
TUATBM	0:c3af3416e383	897	* to and from each enabled Slave can be completed within a single period of the
TUATBM	0:c3af3416e383	898	* Sample Rate.
TUATBM	0:c3af3416e383	899	*
TUATBM	0:c3af3416e383	900	* The I2C slave access rate can be reduced relative to the Sample Rate. This
TUATBM	0:c3af3416e383	901	* reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
TUATBM	0:c3af3416e383	902	* slave's access rate is reduced relative to the Sample Rate is determined by
TUATBM	0:c3af3416e383	903	* I2C_MST_DELAY_CTRL (Register 103).
TUATBM	0:c3af3416e383	904	*
TUATBM	0:c3af3416e383	905	* The processing order for the slaves is fixed. The sequence followed for
TUATBM	0:c3af3416e383	906	* processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
TUATBM	0:c3af3416e383	907	* particular Slave is disabled it will be skipped.
TUATBM	0:c3af3416e383	908	*
TUATBM	0:c3af3416e383	909	* Each slave can either be accessed at the sample rate or at a reduced sample
TUATBM	0:c3af3416e383	910	* rate. In a case where some slaves are accessed at the Sample Rate and some
TUATBM	0:c3af3416e383	911	* slaves are accessed at the reduced rate, the sequence of accessing the slaves
TUATBM	0:c3af3416e383	912	* (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
TUATBM	0:c3af3416e383	913	* be skipped if their access rate dictates that they should not be accessed
TUATBM	0:c3af3416e383	914	* during that particular cycle. For further information regarding the reduced
TUATBM	0:c3af3416e383	915	* access rate, please refer to Register 52. Whether a slave is accessed at the
TUATBM	0:c3af3416e383	916	* Sample Rate or at the reduced rate is determined by the Delay Enable bits in
TUATBM	0:c3af3416e383	917	* Register 103.
TUATBM	0:c3af3416e383	918	*
TUATBM	0:c3af3416e383	919	* @param num Slave number (0-3)
TUATBM	0:c3af3416e383	920	* @return Current address for specified slave
TUATBM	0:c3af3416e383	921	* @see MPU6050_RA_I2C_SLV0_ADDR
TUATBM	0:c3af3416e383	922	*/
TUATBM	0:c3af3416e383	923	uint8_t MPU6050::getSlaveAddress(uint8_t num) {
TUATBM	0:c3af3416e383	924	if (num > 3) return 0;
TUATBM	0:c3af3416e383	925	I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
TUATBM	0:c3af3416e383	926	return buffer[0];
TUATBM	0:c3af3416e383	927	}
TUATBM	0:c3af3416e383	928	/** Set the I2C address of the specified slave (0-3).
TUATBM	0:c3af3416e383	929	* @param num Slave number (0-3)
TUATBM	0:c3af3416e383	930	* @param address New address for specified slave
TUATBM	0:c3af3416e383	931	* @see getSlaveAddress()
TUATBM	0:c3af3416e383	932	* @see MPU6050_RA_I2C_SLV0_ADDR
TUATBM	0:c3af3416e383	933	*/
TUATBM	0:c3af3416e383	934	void MPU6050::setSlaveAddress(uint8_t num, uint8_t address) {
TUATBM	0:c3af3416e383	935	if (num > 3) return;
TUATBM	0:c3af3416e383	936	I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
TUATBM	0:c3af3416e383	937	}
TUATBM	0:c3af3416e383	938	/** Get the active internal register for the specified slave (0-3).
TUATBM	0:c3af3416e383	939	* Read/write operations for this slave will be done to whatever internal
TUATBM	0:c3af3416e383	940	* register address is stored in this MPU register.
TUATBM	0:c3af3416e383	941	*
TUATBM	0:c3af3416e383	942	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
TUATBM	0:c3af3416e383	943	* characteristics, and so it has its own functions.
TUATBM	0:c3af3416e383	944	*
TUATBM	0:c3af3416e383	945	* @param num Slave number (0-3)
TUATBM	0:c3af3416e383	946	* @return Current active register for specified slave
TUATBM	0:c3af3416e383	947	* @see MPU6050_RA_I2C_SLV0_REG
TUATBM	0:c3af3416e383	948	*/
TUATBM	0:c3af3416e383	949	uint8_t MPU6050::getSlaveRegister(uint8_t num) {
TUATBM	0:c3af3416e383	950	if (num > 3) return 0;
TUATBM	0:c3af3416e383	951	I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
TUATBM	0:c3af3416e383	952	return buffer[0];
TUATBM	0:c3af3416e383	953	}
TUATBM	0:c3af3416e383	954	/** Set the active internal register for the specified slave (0-3).
TUATBM	0:c3af3416e383	955	* @param num Slave number (0-3)
TUATBM	0:c3af3416e383	956	* @param reg New active register for specified slave
TUATBM	0:c3af3416e383	957	* @see getSlaveRegister()
TUATBM	0:c3af3416e383	958	* @see MPU6050_RA_I2C_SLV0_REG
TUATBM	0:c3af3416e383	959	*/
TUATBM	0:c3af3416e383	960	void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg) {
TUATBM	0:c3af3416e383	961	if (num > 3) return;
TUATBM	0:c3af3416e383	962	I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
TUATBM	0:c3af3416e383	963	}
TUATBM	0:c3af3416e383	964	/** Get the enabled value for the specified slave (0-3).
TUATBM	0:c3af3416e383	965	* When set to 1, this bit enables Slave 0 for data transfer operations. When
TUATBM	0:c3af3416e383	966	* cleared to 0, this bit disables Slave 0 from data transfer operations.
TUATBM	0:c3af3416e383	967	* @param num Slave number (0-3)
TUATBM	0:c3af3416e383	968	* @return Current enabled value for specified slave
TUATBM	0:c3af3416e383	969	* @see MPU6050_RA_I2C_SLV0_CTRL
TUATBM	0:c3af3416e383	970	*/
TUATBM	0:c3af3416e383	971	bool MPU6050::getSlaveEnabled(uint8_t num) {
TUATBM	0:c3af3416e383	972	if (num > 3) return 0;
TUATBM	0:c3af3416e383	973	I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
TUATBM	0:c3af3416e383	974	return buffer[0];
TUATBM	0:c3af3416e383	975	}
TUATBM	0:c3af3416e383	976	/** Set the enabled value for the specified slave (0-3).
TUATBM	0:c3af3416e383	977	* @param num Slave number (0-3)
TUATBM	0:c3af3416e383	978	* @param enabled New enabled value for specified slave
TUATBM	0:c3af3416e383	979	* @see getSlaveEnabled()
TUATBM	0:c3af3416e383	980	* @see MPU6050_RA_I2C_SLV0_CTRL
TUATBM	0:c3af3416e383	981	*/
TUATBM	0:c3af3416e383	982	void MPU6050::setSlaveEnabled(uint8_t num, bool enabled) {
TUATBM	0:c3af3416e383	983	if (num > 3) return;
TUATBM	0:c3af3416e383	984	I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
TUATBM	0:c3af3416e383	985	}
TUATBM	0:c3af3416e383	986	/** Get word pair byte-swapping enabled for the specified slave (0-3).
TUATBM	0:c3af3416e383	987	* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
TUATBM	0:c3af3416e383	988	* the high and low bytes of a word pair are swapped. Please refer to
TUATBM	0:c3af3416e383	989	* I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
TUATBM	0:c3af3416e383	990	* bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
TUATBM	0:c3af3416e383	991	* registers in the order they were transferred.
TUATBM	0:c3af3416e383	992	*
TUATBM	0:c3af3416e383	993	* @param num Slave number (0-3)
TUATBM	0:c3af3416e383	994	* @return Current word pair byte-swapping enabled value for specified slave
TUATBM	0:c3af3416e383	995	* @see MPU6050_RA_I2C_SLV0_CTRL
TUATBM	0:c3af3416e383	996	*/
TUATBM	0:c3af3416e383	997	bool MPU6050::getSlaveWordByteSwap(uint8_t num) {
TUATBM	0:c3af3416e383	998	if (num > 3) return 0;
TUATBM	0:c3af3416e383	999	I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
TUATBM	0:c3af3416e383	1000	return buffer[0];
TUATBM	0:c3af3416e383	1001	}
TUATBM	0:c3af3416e383	1002	/** Set word pair byte-swapping enabled for the specified slave (0-3).
TUATBM	0:c3af3416e383	1003	* @param num Slave number (0-3)
TUATBM	0:c3af3416e383	1004	* @param enabled New word pair byte-swapping enabled value for specified slave
TUATBM	0:c3af3416e383	1005	* @see getSlaveWordByteSwap()
TUATBM	0:c3af3416e383	1006	* @see MPU6050_RA_I2C_SLV0_CTRL
TUATBM	0:c3af3416e383	1007	*/
TUATBM	0:c3af3416e383	1008	void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled) {
TUATBM	0:c3af3416e383	1009	if (num > 3) return;
TUATBM	0:c3af3416e383	1010	I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
TUATBM	0:c3af3416e383	1011	}
TUATBM	0:c3af3416e383	1012	/** Get write mode for the specified slave (0-3).
TUATBM	0:c3af3416e383	1013	* When set to 1, the transaction will read or write data only. When cleared to
TUATBM	0:c3af3416e383	1014	* 0, the transaction will write a register address prior to reading or writing
TUATBM	0:c3af3416e383	1015	* data. This should equal 0 when specifying the register address within the
TUATBM	0:c3af3416e383	1016	* Slave device to/from which the ensuing data transaction will take place.
TUATBM	0:c3af3416e383	1017	*
TUATBM	0:c3af3416e383	1018	* @param num Slave number (0-3)
TUATBM	0:c3af3416e383	1019	* @return Current write mode for specified slave (0 = register address + data, 1 = data only)
TUATBM	0:c3af3416e383	1020	* @see MPU6050_RA_I2C_SLV0_CTRL
TUATBM	0:c3af3416e383	1021	*/
TUATBM	0:c3af3416e383	1022	bool MPU6050::getSlaveWriteMode(uint8_t num) {
TUATBM	0:c3af3416e383	1023	if (num > 3) return 0;
TUATBM	0:c3af3416e383	1024	I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
TUATBM	0:c3af3416e383	1025	return buffer[0];
TUATBM	0:c3af3416e383	1026	}
TUATBM	0:c3af3416e383	1027	/** Set write mode for the specified slave (0-3).
TUATBM	0:c3af3416e383	1028	* @param num Slave number (0-3)
TUATBM	0:c3af3416e383	1029	* @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
TUATBM	0:c3af3416e383	1030	* @see getSlaveWriteMode()
TUATBM	0:c3af3416e383	1031	* @see MPU6050_RA_I2C_SLV0_CTRL
TUATBM	0:c3af3416e383	1032	*/
TUATBM	0:c3af3416e383	1033	void MPU6050::setSlaveWriteMode(uint8_t num, bool mode) {
TUATBM	0:c3af3416e383	1034	if (num > 3) return;
TUATBM	0:c3af3416e383	1035	I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
TUATBM	0:c3af3416e383	1036	}
TUATBM	0:c3af3416e383	1037	/** Get word pair grouping order offset for the specified slave (0-3).
TUATBM	0:c3af3416e383	1038	* This sets specifies the grouping order of word pairs received from registers.
TUATBM	0:c3af3416e383	1039	* When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
TUATBM	0:c3af3416e383	1040	* then odd register addresses) are paired to form a word. When set to 1, bytes
TUATBM	0:c3af3416e383	1041	* from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
TUATBM	0:c3af3416e383	1042	* register addresses) are paired to form a word.
TUATBM	0:c3af3416e383	1043	*
TUATBM	0:c3af3416e383	1044	* @param num Slave number (0-3)
TUATBM	0:c3af3416e383	1045	* @return Current word pair grouping order offset for specified slave
TUATBM	0:c3af3416e383	1046	* @see MPU6050_RA_I2C_SLV0_CTRL
TUATBM	0:c3af3416e383	1047	*/
TUATBM	0:c3af3416e383	1048	bool MPU6050::getSlaveWordGroupOffset(uint8_t num) {
TUATBM	0:c3af3416e383	1049	if (num > 3) return 0;
TUATBM	0:c3af3416e383	1050	I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
TUATBM	0:c3af3416e383	1051	return buffer[0];
TUATBM	0:c3af3416e383	1052	}
TUATBM	0:c3af3416e383	1053	/** Set word pair grouping order offset for the specified slave (0-3).
TUATBM	0:c3af3416e383	1054	* @param num Slave number (0-3)
TUATBM	0:c3af3416e383	1055	* @param enabled New word pair grouping order offset for specified slave
TUATBM	0:c3af3416e383	1056	* @see getSlaveWordGroupOffset()
TUATBM	0:c3af3416e383	1057	* @see MPU6050_RA_I2C_SLV0_CTRL
TUATBM	0:c3af3416e383	1058	*/
TUATBM	0:c3af3416e383	1059	void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled) {
TUATBM	0:c3af3416e383	1060	if (num > 3) return;
TUATBM	0:c3af3416e383	1061	I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
TUATBM	0:c3af3416e383	1062	}
TUATBM	0:c3af3416e383	1063	/** Get number of bytes to read for the specified slave (0-3).
TUATBM	0:c3af3416e383	1064	* Specifies the number of bytes transferred to and from Slave 0. Clearing this
TUATBM	0:c3af3416e383	1065	* bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
TUATBM	0:c3af3416e383	1066	* @param num Slave number (0-3)
TUATBM	0:c3af3416e383	1067	* @return Number of bytes to read for specified slave
TUATBM	0:c3af3416e383	1068	* @see MPU6050_RA_I2C_SLV0_CTRL
TUATBM	0:c3af3416e383	1069	*/
TUATBM	0:c3af3416e383	1070	uint8_t MPU6050::getSlaveDataLength(uint8_t num) {
TUATBM	0:c3af3416e383	1071	if (num > 3) return 0;
TUATBM	0:c3af3416e383	1072	I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
TUATBM	0:c3af3416e383	1073	return buffer[0];
TUATBM	0:c3af3416e383	1074	}
TUATBM	0:c3af3416e383	1075	/** Set number of bytes to read for the specified slave (0-3).
TUATBM	0:c3af3416e383	1076	* @param num Slave number (0-3)
TUATBM	0:c3af3416e383	1077	* @param length Number of bytes to read for specified slave
TUATBM	0:c3af3416e383	1078	* @see getSlaveDataLength()
TUATBM	0:c3af3416e383	1079	* @see MPU6050_RA_I2C_SLV0_CTRL
TUATBM	0:c3af3416e383	1080	*/
TUATBM	0:c3af3416e383	1081	void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length) {
TUATBM	0:c3af3416e383	1082	if (num > 3) return;
TUATBM	0:c3af3416e383	1083	I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
TUATBM	0:c3af3416e383	1084	}
TUATBM	0:c3af3416e383	1085
TUATBM	0:c3af3416e383	1086	// I2C_SLV* registers (Slave 4)
TUATBM	0:c3af3416e383	1087
TUATBM	0:c3af3416e383	1088	/** Get the I2C address of Slave 4.
TUATBM	0:c3af3416e383	1089	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
TUATBM	0:c3af3416e383	1090	* operation, and if it is cleared, then it's a write operation. The remaining
TUATBM	0:c3af3416e383	1091	* bits (6-0) are the 7-bit device address of the slave device.
TUATBM	0:c3af3416e383	1092	*
TUATBM	0:c3af3416e383	1093	* @return Current address for Slave 4
TUATBM	0:c3af3416e383	1094	* @see getSlaveAddress()
TUATBM	0:c3af3416e383	1095	* @see MPU6050_RA_I2C_SLV4_ADDR
TUATBM	0:c3af3416e383	1096	*/
TUATBM	0:c3af3416e383	1097	uint8_t MPU6050::getSlave4Address() {
TUATBM	0:c3af3416e383	1098	I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
TUATBM	0:c3af3416e383	1099	return buffer[0];
TUATBM	0:c3af3416e383	1100	}
TUATBM	0:c3af3416e383	1101	/** Set the I2C address of Slave 4.
TUATBM	0:c3af3416e383	1102	* @param address New address for Slave 4
TUATBM	0:c3af3416e383	1103	* @see getSlave4Address()
TUATBM	0:c3af3416e383	1104	* @see MPU6050_RA_I2C_SLV4_ADDR
TUATBM	0:c3af3416e383	1105	*/
TUATBM	0:c3af3416e383	1106	void MPU6050::setSlave4Address(uint8_t address) {
TUATBM	0:c3af3416e383	1107	I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
TUATBM	0:c3af3416e383	1108	}
TUATBM	0:c3af3416e383	1109	/** Get the active internal register for the Slave 4.
TUATBM	0:c3af3416e383	1110	* Read/write operations for this slave will be done to whatever internal
TUATBM	0:c3af3416e383	1111	* register address is stored in this MPU register.
TUATBM	0:c3af3416e383	1112	*
TUATBM	0:c3af3416e383	1113	* @return Current active register for Slave 4
TUATBM	0:c3af3416e383	1114	* @see MPU6050_RA_I2C_SLV4_REG
TUATBM	0:c3af3416e383	1115	*/
TUATBM	0:c3af3416e383	1116	uint8_t MPU6050::getSlave4Register() {
TUATBM	0:c3af3416e383	1117	I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
TUATBM	0:c3af3416e383	1118	return buffer[0];
TUATBM	0:c3af3416e383	1119	}
TUATBM	0:c3af3416e383	1120	/** Set the active internal register for Slave 4.
TUATBM	0:c3af3416e383	1121	* @param reg New active register for Slave 4
TUATBM	0:c3af3416e383	1122	* @see getSlave4Register()
TUATBM	0:c3af3416e383	1123	* @see MPU6050_RA_I2C_SLV4_REG
TUATBM	0:c3af3416e383	1124	*/
TUATBM	0:c3af3416e383	1125	void MPU6050::setSlave4Register(uint8_t reg) {
TUATBM	0:c3af3416e383	1126	I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
TUATBM	0:c3af3416e383	1127	}
TUATBM	0:c3af3416e383	1128	/** Set new byte to write to Slave 4.
TUATBM	0:c3af3416e383	1129	* This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
TUATBM	0:c3af3416e383	1130	* is set 1 (set to read), this register has no effect.
TUATBM	0:c3af3416e383	1131	* @param data New byte to write to Slave 4
TUATBM	0:c3af3416e383	1132	* @see MPU6050_RA_I2C_SLV4_DO
TUATBM	0:c3af3416e383	1133	*/
TUATBM	0:c3af3416e383	1134	void MPU6050::setSlave4OutputByte(uint8_t data) {
TUATBM	0:c3af3416e383	1135	I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
TUATBM	0:c3af3416e383	1136	}
TUATBM	0:c3af3416e383	1137	/** Get the enabled value for the Slave 4.
TUATBM	0:c3af3416e383	1138	* When set to 1, this bit enables Slave 4 for data transfer operations. When
TUATBM	0:c3af3416e383	1139	* cleared to 0, this bit disables Slave 4 from data transfer operations.
TUATBM	0:c3af3416e383	1140	* @return Current enabled value for Slave 4
TUATBM	0:c3af3416e383	1141	* @see MPU6050_RA_I2C_SLV4_CTRL
TUATBM	0:c3af3416e383	1142	*/
TUATBM	0:c3af3416e383	1143	bool MPU6050::getSlave4Enabled() {
TUATBM	0:c3af3416e383	1144	I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
TUATBM	0:c3af3416e383	1145	return buffer[0];
TUATBM	0:c3af3416e383	1146	}
TUATBM	0:c3af3416e383	1147	/** Set the enabled value for Slave 4.
TUATBM	0:c3af3416e383	1148	* @param enabled New enabled value for Slave 4
TUATBM	0:c3af3416e383	1149	* @see getSlave4Enabled()
TUATBM	0:c3af3416e383	1150	* @see MPU6050_RA_I2C_SLV4_CTRL
TUATBM	0:c3af3416e383	1151	*/
TUATBM	0:c3af3416e383	1152	void MPU6050::setSlave4Enabled(bool enabled) {
TUATBM	0:c3af3416e383	1153	I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
TUATBM	0:c3af3416e383	1154	}
TUATBM	0:c3af3416e383	1155	/** Get the enabled value for Slave 4 transaction interrupts.
TUATBM	0:c3af3416e383	1156	* When set to 1, this bit enables the generation of an interrupt signal upon
TUATBM	0:c3af3416e383	1157	* completion of a Slave 4 transaction. When cleared to 0, this bit disables the
TUATBM	0:c3af3416e383	1158	* generation of an interrupt signal upon completion of a Slave 4 transaction.
TUATBM	0:c3af3416e383	1159	* The interrupt status can be observed in Register 54.
TUATBM	0:c3af3416e383	1160	*
TUATBM	0:c3af3416e383	1161	* @return Current enabled value for Slave 4 transaction interrupts.
TUATBM	0:c3af3416e383	1162	* @see MPU6050_RA_I2C_SLV4_CTRL
TUATBM	0:c3af3416e383	1163	*/
TUATBM	0:c3af3416e383	1164	bool MPU6050::getSlave4InterruptEnabled() {
TUATBM	0:c3af3416e383	1165	I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
TUATBM	0:c3af3416e383	1166	return buffer[0];
TUATBM	0:c3af3416e383	1167	}
TUATBM	0:c3af3416e383	1168	/** Set the enabled value for Slave 4 transaction interrupts.
TUATBM	0:c3af3416e383	1169	* @param enabled New enabled value for Slave 4 transaction interrupts.
TUATBM	0:c3af3416e383	1170	* @see getSlave4InterruptEnabled()
TUATBM	0:c3af3416e383	1171	* @see MPU6050_RA_I2C_SLV4_CTRL
TUATBM	0:c3af3416e383	1172	*/
TUATBM	0:c3af3416e383	1173	void MPU6050::setSlave4InterruptEnabled(bool enabled) {
TUATBM	0:c3af3416e383	1174	I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
TUATBM	0:c3af3416e383	1175	}
TUATBM	0:c3af3416e383	1176	/** Get write mode for Slave 4.
TUATBM	0:c3af3416e383	1177	* When set to 1, the transaction will read or write data only. When cleared to
TUATBM	0:c3af3416e383	1178	* 0, the transaction will write a register address prior to reading or writing
TUATBM	0:c3af3416e383	1179	* data. This should equal 0 when specifying the register address within the
TUATBM	0:c3af3416e383	1180	* Slave device to/from which the ensuing data transaction will take place.
TUATBM	0:c3af3416e383	1181	*
TUATBM	0:c3af3416e383	1182	* @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
TUATBM	0:c3af3416e383	1183	* @see MPU6050_RA_I2C_SLV4_CTRL
TUATBM	0:c3af3416e383	1184	*/
TUATBM	0:c3af3416e383	1185	bool MPU6050::getSlave4WriteMode() {
TUATBM	0:c3af3416e383	1186	I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
TUATBM	0:c3af3416e383	1187	return buffer[0];
TUATBM	0:c3af3416e383	1188	}
TUATBM	0:c3af3416e383	1189	/** Set write mode for the Slave 4.
TUATBM	0:c3af3416e383	1190	* @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
TUATBM	0:c3af3416e383	1191	* @see getSlave4WriteMode()
TUATBM	0:c3af3416e383	1192	* @see MPU6050_RA_I2C_SLV4_CTRL
TUATBM	0:c3af3416e383	1193	*/
TUATBM	0:c3af3416e383	1194	void MPU6050::setSlave4WriteMode(bool mode) {
TUATBM	0:c3af3416e383	1195	I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
TUATBM	0:c3af3416e383	1196	}
TUATBM	0:c3af3416e383	1197	/** Get Slave 4 master delay value.
TUATBM	0:c3af3416e383	1198	* This configures the reduced access rate of I2C slaves relative to the Sample
TUATBM	0:c3af3416e383	1199	* Rate. When a slave's access rate is decreased relative to the Sample Rate,
TUATBM	0:c3af3416e383	1200	* the slave is accessed every:
TUATBM	0:c3af3416e383	1201	*
TUATBM	0:c3af3416e383	1202	* 1 / (1 + I2C_MST_DLY) samples
TUATBM	0:c3af3416e383	1203	*
TUATBM	0:c3af3416e383	1204	* This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
TUATBM	0:c3af3416e383	1205	* DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
TUATBM	0:c3af3416e383	1206	* the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
TUATBM	0:c3af3416e383	1207	* further information regarding the Sample Rate, please refer to register 25.
TUATBM	0:c3af3416e383	1208	*
TUATBM	0:c3af3416e383	1209	* @return Current Slave 4 master delay value
TUATBM	0:c3af3416e383	1210	* @see MPU6050_RA_I2C_SLV4_CTRL
TUATBM	0:c3af3416e383	1211	*/
TUATBM	0:c3af3416e383	1212	uint8_t MPU6050::getSlave4MasterDelay() {
TUATBM	0:c3af3416e383	1213	I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
TUATBM	0:c3af3416e383	1214	return buffer[0];
TUATBM	0:c3af3416e383	1215	}
TUATBM	0:c3af3416e383	1216	/** Set Slave 4 master delay value.
TUATBM	0:c3af3416e383	1217	* @param delay New Slave 4 master delay value
TUATBM	0:c3af3416e383	1218	* @see getSlave4MasterDelay()
TUATBM	0:c3af3416e383	1219	* @see MPU6050_RA_I2C_SLV4_CTRL
TUATBM	0:c3af3416e383	1220	*/
TUATBM	0:c3af3416e383	1221	void MPU6050::setSlave4MasterDelay(uint8_t delay) {
TUATBM	0:c3af3416e383	1222	I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
TUATBM	0:c3af3416e383	1223	}
TUATBM	0:c3af3416e383	1224	/** Get last available byte read from Slave 4.
TUATBM	0:c3af3416e383	1225	* This register stores the data read from Slave 4. This field is populated
TUATBM	0:c3af3416e383	1226	* after a read transaction.
TUATBM	0:c3af3416e383	1227	* @return Last available byte read from to Slave 4
TUATBM	0:c3af3416e383	1228	* @see MPU6050_RA_I2C_SLV4_DI
TUATBM	0:c3af3416e383	1229	*/
TUATBM	0:c3af3416e383	1230	uint8_t MPU6050::getSlate4InputByte() {
TUATBM	0:c3af3416e383	1231	I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
TUATBM	0:c3af3416e383	1232	return buffer[0];
TUATBM	0:c3af3416e383	1233	}
TUATBM	0:c3af3416e383	1234
TUATBM	0:c3af3416e383	1235	// I2C_MST_STATUS register
TUATBM	0:c3af3416e383	1236
TUATBM	0:c3af3416e383	1237	/** Get FSYNC interrupt status.
TUATBM	0:c3af3416e383	1238	* This bit reflects the status of the FSYNC interrupt from an external device
TUATBM	0:c3af3416e383	1239	* into the MPU-60X0. This is used as a way to pass an external interrupt
TUATBM	0:c3af3416e383	1240	* through the MPU-60X0 to the host application processor. When set to 1, this
TUATBM	0:c3af3416e383	1241	* bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
TUATBM	0:c3af3416e383	1242	* (Register 55).
TUATBM	0:c3af3416e383	1243	* @return FSYNC interrupt status
TUATBM	0:c3af3416e383	1244	* @see MPU6050_RA_I2C_MST_STATUS
TUATBM	0:c3af3416e383	1245	*/
TUATBM	0:c3af3416e383	1246	bool MPU6050::getPassthroughStatus() {
TUATBM	0:c3af3416e383	1247	I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
TUATBM	0:c3af3416e383	1248	return buffer[0];
TUATBM	0:c3af3416e383	1249	}
TUATBM	0:c3af3416e383	1250	/** Get Slave 4 transaction done status.
TUATBM	0:c3af3416e383	1251	* Automatically sets to 1 when a Slave 4 transaction has completed. This
TUATBM	0:c3af3416e383	1252	* triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
TUATBM	0:c3af3416e383	1253	* (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
TUATBM	0:c3af3416e383	1254	* I2C_SLV4_CTRL register (Register 52).
TUATBM	0:c3af3416e383	1255	* @return Slave 4 transaction done status
TUATBM	0:c3af3416e383	1256	* @see MPU6050_RA_I2C_MST_STATUS
TUATBM	0:c3af3416e383	1257	*/
TUATBM	0:c3af3416e383	1258	bool MPU6050::getSlave4IsDone() {
TUATBM	0:c3af3416e383	1259	I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
TUATBM	0:c3af3416e383	1260	return buffer[0];
TUATBM	0:c3af3416e383	1261	}
TUATBM	0:c3af3416e383	1262	/** Get master arbitration lost status.
TUATBM	0:c3af3416e383	1263	* This bit automatically sets to 1 when the I2C Master has lost arbitration of
TUATBM	0:c3af3416e383	1264	* the auxiliary I2C bus (an error condition). This triggers an interrupt if the
TUATBM	0:c3af3416e383	1265	* I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
TUATBM	0:c3af3416e383	1266	* @return Master arbitration lost status
TUATBM	0:c3af3416e383	1267	* @see MPU6050_RA_I2C_MST_STATUS
TUATBM	0:c3af3416e383	1268	*/
TUATBM	0:c3af3416e383	1269	bool MPU6050::getLostArbitration() {
TUATBM	0:c3af3416e383	1270	I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
TUATBM	0:c3af3416e383	1271	return buffer[0];
TUATBM	0:c3af3416e383	1272	}
TUATBM	0:c3af3416e383	1273	/** Get Slave 4 NACK status.
TUATBM	0:c3af3416e383	1274	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
TUATBM	0:c3af3416e383	1275	* transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
TUATBM	0:c3af3416e383	1276	* bit in the INT_ENABLE register (Register 56) is asserted.
TUATBM	0:c3af3416e383	1277	* @return Slave 4 NACK interrupt status
TUATBM	0:c3af3416e383	1278	* @see MPU6050_RA_I2C_MST_STATUS
TUATBM	0:c3af3416e383	1279	*/
TUATBM	0:c3af3416e383	1280	bool MPU6050::getSlave4Nack() {
TUATBM	0:c3af3416e383	1281	I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
TUATBM	0:c3af3416e383	1282	return buffer[0];
TUATBM	0:c3af3416e383	1283	}
TUATBM	0:c3af3416e383	1284	/** Get Slave 3 NACK status.
TUATBM	0:c3af3416e383	1285	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
TUATBM	0:c3af3416e383	1286	* transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
TUATBM	0:c3af3416e383	1287	* bit in the INT_ENABLE register (Register 56) is asserted.
TUATBM	0:c3af3416e383	1288	* @return Slave 3 NACK interrupt status
TUATBM	0:c3af3416e383	1289	* @see MPU6050_RA_I2C_MST_STATUS
TUATBM	0:c3af3416e383	1290	*/
TUATBM	0:c3af3416e383	1291	bool MPU6050::getSlave3Nack() {
TUATBM	0:c3af3416e383	1292	I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
TUATBM	0:c3af3416e383	1293	return buffer[0];
TUATBM	0:c3af3416e383	1294	}
TUATBM	0:c3af3416e383	1295	/** Get Slave 2 NACK status.
TUATBM	0:c3af3416e383	1296	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
TUATBM	0:c3af3416e383	1297	* transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
TUATBM	0:c3af3416e383	1298	* bit in the INT_ENABLE register (Register 56) is asserted.
TUATBM	0:c3af3416e383	1299	* @return Slave 2 NACK interrupt status
TUATBM	0:c3af3416e383	1300	* @see MPU6050_RA_I2C_MST_STATUS
TUATBM	0:c3af3416e383	1301	*/
TUATBM	0:c3af3416e383	1302	bool MPU6050::getSlave2Nack() {
TUATBM	0:c3af3416e383	1303	I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
TUATBM	0:c3af3416e383	1304	return buffer[0];
TUATBM	0:c3af3416e383	1305	}
TUATBM	0:c3af3416e383	1306	/** Get Slave 1 NACK status.
TUATBM	0:c3af3416e383	1307	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
TUATBM	0:c3af3416e383	1308	* transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
TUATBM	0:c3af3416e383	1309	* bit in the INT_ENABLE register (Register 56) is asserted.
TUATBM	0:c3af3416e383	1310	* @return Slave 1 NACK interrupt status
TUATBM	0:c3af3416e383	1311	* @see MPU6050_RA_I2C_MST_STATUS
TUATBM	0:c3af3416e383	1312	*/
TUATBM	0:c3af3416e383	1313	bool MPU6050::getSlave1Nack() {
TUATBM	0:c3af3416e383	1314	I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
TUATBM	0:c3af3416e383	1315	return buffer[0];
TUATBM	0:c3af3416e383	1316	}
TUATBM	0:c3af3416e383	1317	/** Get Slave 0 NACK status.
TUATBM	0:c3af3416e383	1318	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
TUATBM	0:c3af3416e383	1319	* transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
TUATBM	0:c3af3416e383	1320	* bit in the INT_ENABLE register (Register 56) is asserted.
TUATBM	0:c3af3416e383	1321	* @return Slave 0 NACK interrupt status
TUATBM	0:c3af3416e383	1322	* @see MPU6050_RA_I2C_MST_STATUS
TUATBM	0:c3af3416e383	1323	*/
TUATBM	0:c3af3416e383	1324	bool MPU6050::getSlave0Nack() {
TUATBM	0:c3af3416e383	1325	I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
TUATBM	0:c3af3416e383	1326	return buffer[0];
TUATBM	0:c3af3416e383	1327	}
TUATBM	0:c3af3416e383	1328
TUATBM	0:c3af3416e383	1329	// INT_PIN_CFG register
TUATBM	0:c3af3416e383	1330
TUATBM	0:c3af3416e383	1331	/** Get interrupt logic level mode.
TUATBM	0:c3af3416e383	1332	* Will be set 0 for active-high, 1 for active-low.
TUATBM	0:c3af3416e383	1333	* @return Current interrupt mode (0=active-high, 1=active-low)
TUATBM	0:c3af3416e383	1334	* @see MPU6050_RA_INT_PIN_CFG
TUATBM	0:c3af3416e383	1335	* @see MPU6050_INTCFG_INT_LEVEL_BIT
TUATBM	0:c3af3416e383	1336	*/
TUATBM	0:c3af3416e383	1337	bool MPU6050::getInterruptMode() {
TUATBM	0:c3af3416e383	1338	I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
TUATBM	0:c3af3416e383	1339	return buffer[0];
TUATBM	0:c3af3416e383	1340	}
TUATBM	0:c3af3416e383	1341	/** Set interrupt logic level mode.
TUATBM	0:c3af3416e383	1342	* @param mode New interrupt mode (0=active-high, 1=active-low)
TUATBM	0:c3af3416e383	1343	* @see getInterruptMode()
TUATBM	0:c3af3416e383	1344	* @see MPU6050_RA_INT_PIN_CFG
TUATBM	0:c3af3416e383	1345	* @see MPU6050_INTCFG_INT_LEVEL_BIT
TUATBM	0:c3af3416e383	1346	*/
TUATBM	0:c3af3416e383	1347	void MPU6050::setInterruptMode(bool mode) {
TUATBM	0:c3af3416e383	1348	I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
TUATBM	0:c3af3416e383	1349	}
TUATBM	0:c3af3416e383	1350	/** Get interrupt drive mode.
TUATBM	0:c3af3416e383	1351	* Will be set 0 for push-pull, 1 for open-drain.
TUATBM	0:c3af3416e383	1352	* @return Current interrupt drive mode (0=push-pull, 1=open-drain)
TUATBM	0:c3af3416e383	1353	* @see MPU6050_RA_INT_PIN_CFG
TUATBM	0:c3af3416e383	1354	* @see MPU6050_INTCFG_INT_OPEN_BIT
TUATBM	0:c3af3416e383	1355	*/
TUATBM	0:c3af3416e383	1356	bool MPU6050::getInterruptDrive() {
TUATBM	0:c3af3416e383	1357	I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
TUATBM	0:c3af3416e383	1358	return buffer[0];
TUATBM	0:c3af3416e383	1359	}
TUATBM	0:c3af3416e383	1360	/** Set interrupt drive mode.
TUATBM	0:c3af3416e383	1361	* @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
TUATBM	0:c3af3416e383	1362	* @see getInterruptDrive()
TUATBM	0:c3af3416e383	1363	* @see MPU6050_RA_INT_PIN_CFG
TUATBM	0:c3af3416e383	1364	* @see MPU6050_INTCFG_INT_OPEN_BIT
TUATBM	0:c3af3416e383	1365	*/
TUATBM	0:c3af3416e383	1366	void MPU6050::setInterruptDrive(bool drive) {
TUATBM	0:c3af3416e383	1367	I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
TUATBM	0:c3af3416e383	1368	}
TUATBM	0:c3af3416e383	1369	/** Get interrupt latch mode.
TUATBM	0:c3af3416e383	1370	* Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
TUATBM	0:c3af3416e383	1371	* @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
TUATBM	0:c3af3416e383	1372	* @see MPU6050_RA_INT_PIN_CFG
TUATBM	0:c3af3416e383	1373	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
TUATBM	0:c3af3416e383	1374	*/
TUATBM	0:c3af3416e383	1375	bool MPU6050::getInterruptLatch() {
TUATBM	0:c3af3416e383	1376	I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
TUATBM	0:c3af3416e383	1377	return buffer[0];
TUATBM	0:c3af3416e383	1378	}
TUATBM	0:c3af3416e383	1379	/** Set interrupt latch mode.
TUATBM	0:c3af3416e383	1380	* @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
TUATBM	0:c3af3416e383	1381	* @see getInterruptLatch()
TUATBM	0:c3af3416e383	1382	* @see MPU6050_RA_INT_PIN_CFG
TUATBM	0:c3af3416e383	1383	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
TUATBM	0:c3af3416e383	1384	*/
TUATBM	0:c3af3416e383	1385	void MPU6050::setInterruptLatch(bool latch) {
TUATBM	0:c3af3416e383	1386	I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
TUATBM	0:c3af3416e383	1387	}
TUATBM	0:c3af3416e383	1388	/** Get interrupt latch clear mode.
TUATBM	0:c3af3416e383	1389	* Will be set 0 for status-read-only, 1 for any-register-read.
TUATBM	0:c3af3416e383	1390	* @return Current latch clear mode (0=status-read-only, 1=any-register-read)
TUATBM	0:c3af3416e383	1391	* @see MPU6050_RA_INT_PIN_CFG
TUATBM	0:c3af3416e383	1392	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
TUATBM	0:c3af3416e383	1393	*/
TUATBM	0:c3af3416e383	1394	bool MPU6050::getInterruptLatchClear() {
TUATBM	0:c3af3416e383	1395	I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
TUATBM	0:c3af3416e383	1396	return buffer[0];
TUATBM	0:c3af3416e383	1397	}
TUATBM	0:c3af3416e383	1398	/** Set interrupt latch clear mode.
TUATBM	0:c3af3416e383	1399	* @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
TUATBM	0:c3af3416e383	1400	* @see getInterruptLatchClear()
TUATBM	0:c3af3416e383	1401	* @see MPU6050_RA_INT_PIN_CFG
TUATBM	0:c3af3416e383	1402	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
TUATBM	0:c3af3416e383	1403	*/
TUATBM	0:c3af3416e383	1404	void MPU6050::setInterruptLatchClear(bool clear) {
TUATBM	0:c3af3416e383	1405	I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
TUATBM	0:c3af3416e383	1406	}
TUATBM	0:c3af3416e383	1407	/** Get FSYNC interrupt logic level mode.
TUATBM	0:c3af3416e383	1408	* @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
TUATBM	0:c3af3416e383	1409	* @see getFSyncInterruptMode()
TUATBM	0:c3af3416e383	1410	* @see MPU6050_RA_INT_PIN_CFG
TUATBM	0:c3af3416e383	1411	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
TUATBM	0:c3af3416e383	1412	*/
TUATBM	0:c3af3416e383	1413	bool MPU6050::getFSyncInterruptLevel() {
TUATBM	0:c3af3416e383	1414	I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
TUATBM	0:c3af3416e383	1415	return buffer[0];
TUATBM	0:c3af3416e383	1416	}
TUATBM	0:c3af3416e383	1417	/** Set FSYNC interrupt logic level mode.
TUATBM	0:c3af3416e383	1418	* @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
TUATBM	0:c3af3416e383	1419	* @see getFSyncInterruptMode()
TUATBM	0:c3af3416e383	1420	* @see MPU6050_RA_INT_PIN_CFG
TUATBM	0:c3af3416e383	1421	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
TUATBM	0:c3af3416e383	1422	*/
TUATBM	0:c3af3416e383	1423	void MPU6050::setFSyncInterruptLevel(bool level) {
TUATBM	0:c3af3416e383	1424	I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
TUATBM	0:c3af3416e383	1425	}
TUATBM	0:c3af3416e383	1426	/** Get FSYNC pin interrupt enabled setting.
TUATBM	0:c3af3416e383	1427	* Will be set 0 for disabled, 1 for enabled.
TUATBM	0:c3af3416e383	1428	* @return Current interrupt enabled setting
TUATBM	0:c3af3416e383	1429	* @see MPU6050_RA_INT_PIN_CFG
TUATBM	0:c3af3416e383	1430	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
TUATBM	0:c3af3416e383	1431	*/
TUATBM	0:c3af3416e383	1432	bool MPU6050::getFSyncInterruptEnabled() {
TUATBM	0:c3af3416e383	1433	I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
TUATBM	0:c3af3416e383	1434	return buffer[0];
TUATBM	0:c3af3416e383	1435	}
TUATBM	0:c3af3416e383	1436	/** Set FSYNC pin interrupt enabled setting.
TUATBM	0:c3af3416e383	1437	* @param enabled New FSYNC pin interrupt enabled setting
TUATBM	0:c3af3416e383	1438	* @see getFSyncInterruptEnabled()
TUATBM	0:c3af3416e383	1439	* @see MPU6050_RA_INT_PIN_CFG
TUATBM	0:c3af3416e383	1440	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
TUATBM	0:c3af3416e383	1441	*/
TUATBM	0:c3af3416e383	1442	void MPU6050::setFSyncInterruptEnabled(bool enabled) {
TUATBM	0:c3af3416e383	1443	I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
TUATBM	0:c3af3416e383	1444	}
TUATBM	0:c3af3416e383	1445	/** Get I2C bypass enabled status.
TUATBM	0:c3af3416e383	1446	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
TUATBM	0:c3af3416e383	1447	* 0, the host application processor will be able to directly access the
TUATBM	0:c3af3416e383	1448	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
TUATBM	0:c3af3416e383	1449	* application processor will not be able to directly access the auxiliary I2C
TUATBM	0:c3af3416e383	1450	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
TUATBM	0:c3af3416e383	1451	* bit[5]).
TUATBM	0:c3af3416e383	1452	* @return Current I2C bypass enabled status
TUATBM	0:c3af3416e383	1453	* @see MPU6050_RA_INT_PIN_CFG
TUATBM	0:c3af3416e383	1454	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
TUATBM	0:c3af3416e383	1455	*/
TUATBM	0:c3af3416e383	1456	bool MPU6050::getI2CBypassEnabled() {
TUATBM	0:c3af3416e383	1457	I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
TUATBM	0:c3af3416e383	1458	return buffer[0];
TUATBM	0:c3af3416e383	1459	}
TUATBM	0:c3af3416e383	1460	/** Set I2C bypass enabled status.
TUATBM	0:c3af3416e383	1461	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
TUATBM	0:c3af3416e383	1462	* 0, the host application processor will be able to directly access the
TUATBM	0:c3af3416e383	1463	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
TUATBM	0:c3af3416e383	1464	* application processor will not be able to directly access the auxiliary I2C
TUATBM	0:c3af3416e383	1465	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
TUATBM	0:c3af3416e383	1466	* bit[5]).
TUATBM	0:c3af3416e383	1467	* @param enabled New I2C bypass enabled status
TUATBM	0:c3af3416e383	1468	* @see MPU6050_RA_INT_PIN_CFG
TUATBM	0:c3af3416e383	1469	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
TUATBM	0:c3af3416e383	1470	*/
TUATBM	0:c3af3416e383	1471	void MPU6050::setI2CBypassEnabled(bool enabled) {
TUATBM	0:c3af3416e383	1472	I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
TUATBM	0:c3af3416e383	1473	}
TUATBM	0:c3af3416e383	1474	/** Get reference clock output enabled status.
TUATBM	0:c3af3416e383	1475	* When this bit is equal to 1, a reference clock output is provided at the
TUATBM	0:c3af3416e383	1476	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
TUATBM	0:c3af3416e383	1477	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
TUATBM	0:c3af3416e383	1478	* Specification document.
TUATBM	0:c3af3416e383	1479	* @return Current reference clock output enabled status
TUATBM	0:c3af3416e383	1480	* @see MPU6050_RA_INT_PIN_CFG
TUATBM	0:c3af3416e383	1481	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
TUATBM	0:c3af3416e383	1482	*/
TUATBM	0:c3af3416e383	1483	bool MPU6050::getClockOutputEnabled() {
TUATBM	0:c3af3416e383	1484	I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
TUATBM	0:c3af3416e383	1485	return buffer[0];
TUATBM	0:c3af3416e383	1486	}
TUATBM	0:c3af3416e383	1487	/** Set reference clock output enabled status.
TUATBM	0:c3af3416e383	1488	* When this bit is equal to 1, a reference clock output is provided at the
TUATBM	0:c3af3416e383	1489	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
TUATBM	0:c3af3416e383	1490	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
TUATBM	0:c3af3416e383	1491	* Specification document.
TUATBM	0:c3af3416e383	1492	* @param enabled New reference clock output enabled status
TUATBM	0:c3af3416e383	1493	* @see MPU6050_RA_INT_PIN_CFG
TUATBM	0:c3af3416e383	1494	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
TUATBM	0:c3af3416e383	1495	*/
TUATBM	0:c3af3416e383	1496	void MPU6050::setClockOutputEnabled(bool enabled) {
TUATBM	0:c3af3416e383	1497	I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
TUATBM	0:c3af3416e383	1498	}
TUATBM	0:c3af3416e383	1499
TUATBM	0:c3af3416e383	1500	// INT_ENABLE register
TUATBM	0:c3af3416e383	1501
TUATBM	0:c3af3416e383	1502	/** Get full interrupt enabled status.
TUATBM	0:c3af3416e383	1503	* Full register byte for all interrupts, for quick reading. Each bit will be
TUATBM	0:c3af3416e383	1504	* set 0 for disabled, 1 for enabled.
TUATBM	0:c3af3416e383	1505	* @return Current interrupt enabled status
TUATBM	0:c3af3416e383	1506	* @see MPU6050_RA_INT_ENABLE
TUATBM	0:c3af3416e383	1507	* @see MPU6050_INTERRUPT_FF_BIT
TUATBM	0:c3af3416e383	1508	**/
TUATBM	0:c3af3416e383	1509	uint8_t MPU6050::getIntEnabled() {
TUATBM	0:c3af3416e383	1510	I2Cdev::readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
TUATBM	0:c3af3416e383	1511	return buffer[0];
TUATBM	0:c3af3416e383	1512	}
TUATBM	0:c3af3416e383	1513	/** Set full interrupt enabled status.
TUATBM	0:c3af3416e383	1514	* Full register byte for all interrupts, for quick reading. Each bit should be
TUATBM	0:c3af3416e383	1515	* set 0 for disabled, 1 for enabled.
TUATBM	0:c3af3416e383	1516	* @param enabled New interrupt enabled status
TUATBM	0:c3af3416e383	1517	* @see getIntFreefallEnabled()
TUATBM	0:c3af3416e383	1518	* @see MPU6050_RA_INT_ENABLE
TUATBM	0:c3af3416e383	1519	* @see MPU6050_INTERRUPT_FF_BIT
TUATBM	0:c3af3416e383	1520	**/
TUATBM	0:c3af3416e383	1521	void MPU6050::setIntEnabled(uint8_t enabled) {
TUATBM	0:c3af3416e383	1522	I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
TUATBM	0:c3af3416e383	1523	}
TUATBM	0:c3af3416e383	1524	/** Get Free Fall interrupt enabled status.
TUATBM	0:c3af3416e383	1525	* Will be set 0 for disabled, 1 for enabled.
TUATBM	0:c3af3416e383	1526	* @return Current interrupt enabled status
TUATBM	0:c3af3416e383	1527	* @see MPU6050_RA_INT_ENABLE
TUATBM	0:c3af3416e383	1528	* @see MPU6050_INTERRUPT_FF_BIT
TUATBM	0:c3af3416e383	1529	**/
TUATBM	0:c3af3416e383	1530	bool MPU6050::getIntFreefallEnabled() {
TUATBM	0:c3af3416e383	1531	I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
TUATBM	0:c3af3416e383	1532	return buffer[0];
TUATBM	0:c3af3416e383	1533	}
TUATBM	0:c3af3416e383	1534	/** Set Free Fall interrupt enabled status.
TUATBM	0:c3af3416e383	1535	* @param enabled New interrupt enabled status
TUATBM	0:c3af3416e383	1536	* @see getIntFreefallEnabled()
TUATBM	0:c3af3416e383	1537	* @see MPU6050_RA_INT_ENABLE
TUATBM	0:c3af3416e383	1538	* @see MPU6050_INTERRUPT_FF_BIT
TUATBM	0:c3af3416e383	1539	**/
TUATBM	0:c3af3416e383	1540	void MPU6050::setIntFreefallEnabled(bool enabled) {
TUATBM	0:c3af3416e383	1541	I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
TUATBM	0:c3af3416e383	1542	}
TUATBM	0:c3af3416e383	1543	/** Get Motion Detection interrupt enabled status.
TUATBM	0:c3af3416e383	1544	* Will be set 0 for disabled, 1 for enabled.
TUATBM	0:c3af3416e383	1545	* @return Current interrupt enabled status
TUATBM	0:c3af3416e383	1546	* @see MPU6050_RA_INT_ENABLE
TUATBM	0:c3af3416e383	1547	* @see MPU6050_INTERRUPT_MOT_BIT
TUATBM	0:c3af3416e383	1548	**/
TUATBM	0:c3af3416e383	1549	bool MPU6050::getIntMotionEnabled() {
TUATBM	0:c3af3416e383	1550	I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
TUATBM	0:c3af3416e383	1551	return buffer[0];
TUATBM	0:c3af3416e383	1552	}
TUATBM	0:c3af3416e383	1553	/** Set Motion Detection interrupt enabled status.
TUATBM	0:c3af3416e383	1554	* @param enabled New interrupt enabled status
TUATBM	0:c3af3416e383	1555	* @see getIntMotionEnabled()
TUATBM	0:c3af3416e383	1556	* @see MPU6050_RA_INT_ENABLE
TUATBM	0:c3af3416e383	1557	* @see MPU6050_INTERRUPT_MOT_BIT
TUATBM	0:c3af3416e383	1558	**/
TUATBM	0:c3af3416e383	1559	void MPU6050::setIntMotionEnabled(bool enabled) {
TUATBM	0:c3af3416e383	1560	I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
TUATBM	0:c3af3416e383	1561	}
TUATBM	0:c3af3416e383	1562	/** Get Zero Motion Detection interrupt enabled status.
TUATBM	0:c3af3416e383	1563	* Will be set 0 for disabled, 1 for enabled.
TUATBM	0:c3af3416e383	1564	* @return Current interrupt enabled status
TUATBM	0:c3af3416e383	1565	* @see MPU6050_RA_INT_ENABLE
TUATBM	0:c3af3416e383	1566	* @see MPU6050_INTERRUPT_ZMOT_BIT
TUATBM	0:c3af3416e383	1567	**/
TUATBM	0:c3af3416e383	1568	bool MPU6050::getIntZeroMotionEnabled() {
TUATBM	0:c3af3416e383	1569	I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
TUATBM	0:c3af3416e383	1570	return buffer[0];
TUATBM	0:c3af3416e383	1571	}
TUATBM	0:c3af3416e383	1572	/** Set Zero Motion Detection interrupt enabled status.
TUATBM	0:c3af3416e383	1573	* @param enabled New interrupt enabled status
TUATBM	0:c3af3416e383	1574	* @see getIntZeroMotionEnabled()
TUATBM	0:c3af3416e383	1575	* @see MPU6050_RA_INT_ENABLE
TUATBM	0:c3af3416e383	1576	* @see MPU6050_INTERRUPT_ZMOT_BIT
TUATBM	0:c3af3416e383	1577	**/
TUATBM	0:c3af3416e383	1578	void MPU6050::setIntZeroMotionEnabled(bool enabled) {
TUATBM	0:c3af3416e383	1579	I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
TUATBM	0:c3af3416e383	1580	}
TUATBM	0:c3af3416e383	1581	/** Get FIFO Buffer Overflow interrupt enabled status.
TUATBM	0:c3af3416e383	1582	* Will be set 0 for disabled, 1 for enabled.
TUATBM	0:c3af3416e383	1583	* @return Current interrupt enabled status
TUATBM	0:c3af3416e383	1584	* @see MPU6050_RA_INT_ENABLE
TUATBM	0:c3af3416e383	1585	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
TUATBM	0:c3af3416e383	1586	**/
TUATBM	0:c3af3416e383	1587	bool MPU6050::getIntFIFOBufferOverflowEnabled() {
TUATBM	0:c3af3416e383	1588	I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
TUATBM	0:c3af3416e383	1589	return buffer[0];
TUATBM	0:c3af3416e383	1590	}
TUATBM	0:c3af3416e383	1591	/** Set FIFO Buffer Overflow interrupt enabled status.
TUATBM	0:c3af3416e383	1592	* @param enabled New interrupt enabled status
TUATBM	0:c3af3416e383	1593	* @see getIntFIFOBufferOverflowEnabled()
TUATBM	0:c3af3416e383	1594	* @see MPU6050_RA_INT_ENABLE
TUATBM	0:c3af3416e383	1595	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
TUATBM	0:c3af3416e383	1596	**/
TUATBM	0:c3af3416e383	1597	void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled) {
TUATBM	0:c3af3416e383	1598	I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
TUATBM	0:c3af3416e383	1599	}
TUATBM	0:c3af3416e383	1600	/** Get I2C Master interrupt enabled status.
TUATBM	0:c3af3416e383	1601	* This enables any of the I2C Master interrupt sources to generate an
TUATBM	0:c3af3416e383	1602	* interrupt. Will be set 0 for disabled, 1 for enabled.
TUATBM	0:c3af3416e383	1603	* @return Current interrupt enabled status
TUATBM	0:c3af3416e383	1604	* @see MPU6050_RA_INT_ENABLE
TUATBM	0:c3af3416e383	1605	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
TUATBM	0:c3af3416e383	1606	**/
TUATBM	0:c3af3416e383	1607	bool MPU6050::getIntI2CMasterEnabled() {
TUATBM	0:c3af3416e383	1608	I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
TUATBM	0:c3af3416e383	1609	return buffer[0];
TUATBM	0:c3af3416e383	1610	}
TUATBM	0:c3af3416e383	1611	/** Set I2C Master interrupt enabled status.
TUATBM	0:c3af3416e383	1612	* @param enabled New interrupt enabled status
TUATBM	0:c3af3416e383	1613	* @see getIntI2CMasterEnabled()
TUATBM	0:c3af3416e383	1614	* @see MPU6050_RA_INT_ENABLE
TUATBM	0:c3af3416e383	1615	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
TUATBM	0:c3af3416e383	1616	**/
TUATBM	0:c3af3416e383	1617	void MPU6050::setIntI2CMasterEnabled(bool enabled) {
TUATBM	0:c3af3416e383	1618	I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
TUATBM	0:c3af3416e383	1619	}
TUATBM	0:c3af3416e383	1620	/** Get Data Ready interrupt enabled setting.
TUATBM	0:c3af3416e383	1621	* This event occurs each time a write operation to all of the sensor registers
TUATBM	0:c3af3416e383	1622	* has been completed. Will be set 0 for disabled, 1 for enabled.
TUATBM	0:c3af3416e383	1623	* @return Current interrupt enabled status
TUATBM	0:c3af3416e383	1624	* @see MPU6050_RA_INT_ENABLE
TUATBM	0:c3af3416e383	1625	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
TUATBM	0:c3af3416e383	1626	*/
TUATBM	0:c3af3416e383	1627	bool MPU6050::getIntDataReadyEnabled() {
TUATBM	0:c3af3416e383	1628	I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
TUATBM	0:c3af3416e383	1629	return buffer[0];
TUATBM	0:c3af3416e383	1630	}
TUATBM	0:c3af3416e383	1631	/** Set Data Ready interrupt enabled status.
TUATBM	0:c3af3416e383	1632	* @param enabled New interrupt enabled status
TUATBM	0:c3af3416e383	1633	* @see getIntDataReadyEnabled()
TUATBM	0:c3af3416e383	1634	* @see MPU6050_RA_INT_CFG
TUATBM	0:c3af3416e383	1635	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
TUATBM	0:c3af3416e383	1636	*/
TUATBM	0:c3af3416e383	1637	void MPU6050::setIntDataReadyEnabled(bool enabled) {
TUATBM	0:c3af3416e383	1638	I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
TUATBM	0:c3af3416e383	1639	}
TUATBM	0:c3af3416e383	1640
TUATBM	0:c3af3416e383	1641	// INT_STATUS register
TUATBM	0:c3af3416e383	1642
TUATBM	0:c3af3416e383	1643	/** Get full set of interrupt status bits.
TUATBM	0:c3af3416e383	1644	* These bits clear to 0 after the register has been read. Very useful
TUATBM	0:c3af3416e383	1645	* for getting multiple INT statuses, since each single bit read clears
TUATBM	0:c3af3416e383	1646	* all of them because it has to read the whole byte.
TUATBM	0:c3af3416e383	1647	* @return Current interrupt status
TUATBM	0:c3af3416e383	1648	* @see MPU6050_RA_INT_STATUS
TUATBM	0:c3af3416e383	1649	*/
TUATBM	0:c3af3416e383	1650	uint8_t MPU6050::getIntStatus() {
TUATBM	0:c3af3416e383	1651	I2Cdev::readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
TUATBM	0:c3af3416e383	1652	return buffer[0];
TUATBM	0:c3af3416e383	1653	}
TUATBM	0:c3af3416e383	1654	/** Get Free Fall interrupt status.
TUATBM	0:c3af3416e383	1655	* This bit automatically sets to 1 when a Free Fall interrupt has been
TUATBM	0:c3af3416e383	1656	* generated. The bit clears to 0 after the register has been read.
TUATBM	0:c3af3416e383	1657	* @return Current interrupt status
TUATBM	0:c3af3416e383	1658	* @see MPU6050_RA_INT_STATUS
TUATBM	0:c3af3416e383	1659	* @see MPU6050_INTERRUPT_FF_BIT
TUATBM	0:c3af3416e383	1660	*/
TUATBM	0:c3af3416e383	1661	bool MPU6050::getIntFreefallStatus() {
TUATBM	0:c3af3416e383	1662	I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
TUATBM	0:c3af3416e383	1663	return buffer[0];
TUATBM	0:c3af3416e383	1664	}
TUATBM	0:c3af3416e383	1665	/** Get Motion Detection interrupt status.
TUATBM	0:c3af3416e383	1666	* This bit automatically sets to 1 when a Motion Detection interrupt has been
TUATBM	0:c3af3416e383	1667	* generated. The bit clears to 0 after the register has been read.
TUATBM	0:c3af3416e383	1668	* @return Current interrupt status
TUATBM	0:c3af3416e383	1669	* @see MPU6050_RA_INT_STATUS
TUATBM	0:c3af3416e383	1670	* @see MPU6050_INTERRUPT_MOT_BIT
TUATBM	0:c3af3416e383	1671	*/
TUATBM	0:c3af3416e383	1672	bool MPU6050::getIntMotionStatus() {
TUATBM	0:c3af3416e383	1673	I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
TUATBM	0:c3af3416e383	1674	return buffer[0];
TUATBM	0:c3af3416e383	1675	}
TUATBM	0:c3af3416e383	1676	/** Get Zero Motion Detection interrupt status.
TUATBM	0:c3af3416e383	1677	* This bit automatically sets to 1 when a Zero Motion Detection interrupt has
TUATBM	0:c3af3416e383	1678	* been generated. The bit clears to 0 after the register has been read.
TUATBM	0:c3af3416e383	1679	* @return Current interrupt status
TUATBM	0:c3af3416e383	1680	* @see MPU6050_RA_INT_STATUS
TUATBM	0:c3af3416e383	1681	* @see MPU6050_INTERRUPT_ZMOT_BIT
TUATBM	0:c3af3416e383	1682	*/
TUATBM	0:c3af3416e383	1683	bool MPU6050::getIntZeroMotionStatus() {
TUATBM	0:c3af3416e383	1684	I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
TUATBM	0:c3af3416e383	1685	return buffer[0];
TUATBM	0:c3af3416e383	1686	}
TUATBM	0:c3af3416e383	1687	/** Get FIFO Buffer Overflow interrupt status.
TUATBM	0:c3af3416e383	1688	* This bit automatically sets to 1 when a Free Fall interrupt has been
TUATBM	0:c3af3416e383	1689	* generated. The bit clears to 0 after the register has been read.
TUATBM	0:c3af3416e383	1690	* @return Current interrupt status
TUATBM	0:c3af3416e383	1691	* @see MPU6050_RA_INT_STATUS
TUATBM	0:c3af3416e383	1692	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
TUATBM	0:c3af3416e383	1693	*/
TUATBM	0:c3af3416e383	1694	bool MPU6050::getIntFIFOBufferOverflowStatus() {
TUATBM	0:c3af3416e383	1695	I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
TUATBM	0:c3af3416e383	1696	return buffer[0];
TUATBM	0:c3af3416e383	1697	}
TUATBM	0:c3af3416e383	1698	/** Get I2C Master interrupt status.
TUATBM	0:c3af3416e383	1699	* This bit automatically sets to 1 when an I2C Master interrupt has been
TUATBM	0:c3af3416e383	1700	* generated. For a list of I2C Master interrupts, please refer to Register 54.
TUATBM	0:c3af3416e383	1701	* The bit clears to 0 after the register has been read.
TUATBM	0:c3af3416e383	1702	* @return Current interrupt status
TUATBM	0:c3af3416e383	1703	* @see MPU6050_RA_INT_STATUS
TUATBM	0:c3af3416e383	1704	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
TUATBM	0:c3af3416e383	1705	*/
TUATBM	0:c3af3416e383	1706	bool MPU6050::getIntI2CMasterStatus() {
TUATBM	0:c3af3416e383	1707	I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
TUATBM	0:c3af3416e383	1708	return buffer[0];
TUATBM	0:c3af3416e383	1709	}
TUATBM	0:c3af3416e383	1710	/** Get Data Ready interrupt status.
TUATBM	0:c3af3416e383	1711	* This bit automatically sets to 1 when a Data Ready interrupt has been
TUATBM	0:c3af3416e383	1712	* generated. The bit clears to 0 after the register has been read.
TUATBM	0:c3af3416e383	1713	* @return Current interrupt status
TUATBM	0:c3af3416e383	1714	* @see MPU6050_RA_INT_STATUS
TUATBM	0:c3af3416e383	1715	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
TUATBM	0:c3af3416e383	1716	*/
TUATBM	0:c3af3416e383	1717	bool MPU6050::getIntDataReadyStatus() {
TUATBM	0:c3af3416e383	1718	I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
TUATBM	0:c3af3416e383	1719	return buffer[0];
TUATBM	0:c3af3416e383	1720	}
TUATBM	0:c3af3416e383	1721
TUATBM	0:c3af3416e383	1722	// ACCEL_OUT_ registers
TUATBM	0:c3af3416e383	1723
TUATBM	0:c3af3416e383	1724	/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
TUATBM	0:c3af3416e383	1725	* FUNCTION NOT FULLY IMPLEMENTED YET.
TUATBM	0:c3af3416e383	1726	* @param ax 16-bit signed integer container for accelerometer X-axis value
TUATBM	0:c3af3416e383	1727	* @param ay 16-bit signed integer container for accelerometer Y-axis value
TUATBM	0:c3af3416e383	1728	* @param az 16-bit signed integer container for accelerometer Z-axis value
TUATBM	0:c3af3416e383	1729	* @param gx 16-bit signed integer container for gyroscope X-axis value
TUATBM	0:c3af3416e383	1730	* @param gy 16-bit signed integer container for gyroscope Y-axis value
TUATBM	0:c3af3416e383	1731	* @param gz 16-bit signed integer container for gyroscope Z-axis value
TUATBM	0:c3af3416e383	1732	* @param mx 16-bit signed integer container for magnetometer X-axis value
TUATBM	0:c3af3416e383	1733	* @param my 16-bit signed integer container for magnetometer Y-axis value
TUATBM	0:c3af3416e383	1734	* @param mz 16-bit signed integer container for magnetometer Z-axis value
TUATBM	0:c3af3416e383	1735	* @see getMotion6()
TUATBM	0:c3af3416e383	1736	* @see getAcceleration()
TUATBM	0:c3af3416e383	1737	* @see getRotation()
TUATBM	0:c3af3416e383	1738	* @see MPU6050_RA_ACCEL_XOUT_H
TUATBM	0:c3af3416e383	1739	*/
TUATBM	0:c3af3416e383	1740	void MPU6050::getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz) {
TUATBM	0:c3af3416e383	1741	getMotion6(ax, ay, az, gx, gy, gz);
TUATBM	0:c3af3416e383	1742	// TODO: magnetometer integration
TUATBM	0:c3af3416e383	1743	}
TUATBM	0:c3af3416e383	1744	/** Get raw 6-axis motion sensor readings (accel/gyro).
TUATBM	0:c3af3416e383	1745	* Retrieves all currently available motion sensor values.
TUATBM	0:c3af3416e383	1746	* @param ax 16-bit signed integer container for accelerometer X-axis value
TUATBM	0:c3af3416e383	1747	* @param ay 16-bit signed integer container for accelerometer Y-axis value
TUATBM	0:c3af3416e383	1748	* @param az 16-bit signed integer container for accelerometer Z-axis value
TUATBM	0:c3af3416e383	1749	* @param gx 16-bit signed integer container for gyroscope X-axis value
TUATBM	0:c3af3416e383	1750	* @param gy 16-bit signed integer container for gyroscope Y-axis value
TUATBM	0:c3af3416e383	1751	* @param gz 16-bit signed integer container for gyroscope Z-axis value
TUATBM	0:c3af3416e383	1752	* @see getAcceleration()
TUATBM	0:c3af3416e383	1753	* @see getRotation()
TUATBM	0:c3af3416e383	1754	* @see MPU6050_RA_ACCEL_XOUT_H
TUATBM	0:c3af3416e383	1755	*/
TUATBM	0:c3af3416e383	1756	void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz) {
TUATBM	0:c3af3416e383	1757	I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
TUATBM	0:c3af3416e383	1758	*ax = (((int16_t)buffer[0]) << 8) \| buffer[1];
TUATBM	0:c3af3416e383	1759	*ay = (((int16_t)buffer[2]) << 8) \| buffer[3];
TUATBM	0:c3af3416e383	1760	*az = (((int16_t)buffer[4]) << 8) \| buffer[5];
TUATBM	0:c3af3416e383	1761	*gx = (((int16_t)buffer[8]) << 8) \| buffer[9];
TUATBM	0:c3af3416e383	1762	*gy = (((int16_t)buffer[10]) << 8) \| buffer[11];
TUATBM	0:c3af3416e383	1763	*gz = (((int16_t)buffer[12]) << 8) \| buffer[13];
TUATBM	0:c3af3416e383	1764	}
TUATBM	0:c3af3416e383	1765	/** Get 3-axis accelerometer readings.
TUATBM	0:c3af3416e383	1766	* These registers store the most recent accelerometer measurements.
TUATBM	0:c3af3416e383	1767	* Accelerometer measurements are written to these registers at the Sample Rate
TUATBM	0:c3af3416e383	1768	* as defined in Register 25.
TUATBM	0:c3af3416e383	1769	*
TUATBM	0:c3af3416e383	1770	* The accelerometer measurement registers, along with the temperature
TUATBM	0:c3af3416e383	1771	* measurement registers, gyroscope measurement registers, and external sensor
TUATBM	0:c3af3416e383	1772	* data registers, are composed of two sets of registers: an internal register
TUATBM	0:c3af3416e383	1773	* set and a user-facing read register set.
TUATBM	0:c3af3416e383	1774	*
TUATBM	0:c3af3416e383	1775	* The data within the accelerometer sensors' internal register set is always
TUATBM	0:c3af3416e383	1776	* updated at the Sample Rate. Meanwhile, the user-facing read register set
TUATBM	0:c3af3416e383	1777	* duplicates the internal register set's data values whenever the serial
TUATBM	0:c3af3416e383	1778	* interface is idle. This guarantees that a burst read of sensor registers will
TUATBM	0:c3af3416e383	1779	* read measurements from the same sampling instant. Note that if burst reads
TUATBM	0:c3af3416e383	1780	* are not used, the user is responsible for ensuring a set of single byte reads
TUATBM	0:c3af3416e383	1781	* correspond to a single sampling instant by checking the Data Ready interrupt.
TUATBM	0:c3af3416e383	1782	*
TUATBM	0:c3af3416e383	1783	* Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
TUATBM	0:c3af3416e383	1784	* (Register 28). For each full scale setting, the accelerometers' sensitivity
TUATBM	0:c3af3416e383	1785	* per LSB in ACCEL_xOUT is shown in the table below:
TUATBM	0:c3af3416e383	1786	*
TUATBM	0:c3af3416e383	1787	* <pre>
TUATBM	0:c3af3416e383	1788	* AFS_SEL \| Full Scale Range \| LSB Sensitivity
TUATBM	0:c3af3416e383	1789	* --------+------------------+----------------
TUATBM	0:c3af3416e383	1790	* 0 \| +/- 2g \| 8192 LSB/mg
TUATBM	0:c3af3416e383	1791	* 1 \| +/- 4g \| 4096 LSB/mg
TUATBM	0:c3af3416e383	1792	* 2 \| +/- 8g \| 2048 LSB/mg
TUATBM	0:c3af3416e383	1793	* 3 \| +/- 16g \| 1024 LSB/mg
TUATBM	0:c3af3416e383	1794	* </pre>
TUATBM	0:c3af3416e383	1795	*
TUATBM	0:c3af3416e383	1796	* @param x 16-bit signed integer container for X-axis acceleration
TUATBM	0:c3af3416e383	1797	* @param y 16-bit signed integer container for Y-axis acceleration
TUATBM	0:c3af3416e383	1798	* @param z 16-bit signed integer container for Z-axis acceleration
TUATBM	0:c3af3416e383	1799	* @see MPU6050_RA_GYRO_XOUT_H
TUATBM	0:c3af3416e383	1800	*/
TUATBM	0:c3af3416e383	1801	void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z) {
TUATBM	0:c3af3416e383	1802	I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
TUATBM	0:c3af3416e383	1803	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
TUATBM	0:c3af3416e383	1804	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
TUATBM	0:c3af3416e383	1805	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
TUATBM	0:c3af3416e383	1806	}
TUATBM	0:c3af3416e383	1807	/** Get X-axis accelerometer reading.
TUATBM	0:c3af3416e383	1808	* @return X-axis acceleration measurement in 16-bit 2's complement format
TUATBM	0:c3af3416e383	1809	* @see getMotion6()
TUATBM	0:c3af3416e383	1810	* @see MPU6050_RA_ACCEL_XOUT_H
TUATBM	0:c3af3416e383	1811	*/
TUATBM	0:c3af3416e383	1812	int16_t MPU6050::getAccelerationX() {
TUATBM	0:c3af3416e383	1813	I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
TUATBM	0:c3af3416e383	1814	return (((int16_t)buffer[0]) << 8) \| buffer[1];
TUATBM	0:c3af3416e383	1815	}
TUATBM	0:c3af3416e383	1816	/** Get Y-axis accelerometer reading.
TUATBM	0:c3af3416e383	1817	* @return Y-axis acceleration measurement in 16-bit 2's complement format
TUATBM	0:c3af3416e383	1818	* @see getMotion6()
TUATBM	0:c3af3416e383	1819	* @see MPU6050_RA_ACCEL_YOUT_H
TUATBM	0:c3af3416e383	1820	*/
TUATBM	0:c3af3416e383	1821	int16_t MPU6050::getAccelerationY() {
TUATBM	0:c3af3416e383	1822	I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
TUATBM	0:c3af3416e383	1823	return (((int16_t)buffer[0]) << 8) \| buffer[1];
TUATBM	0:c3af3416e383	1824	}
TUATBM	0:c3af3416e383	1825	/** Get Z-axis accelerometer reading.
TUATBM	0:c3af3416e383	1826	* @return Z-axis acceleration measurement in 16-bit 2's complement format
TUATBM	0:c3af3416e383	1827	* @see getMotion6()
TUATBM	0:c3af3416e383	1828	* @see MPU6050_RA_ACCEL_ZOUT_H
TUATBM	0:c3af3416e383	1829	*/
TUATBM	0:c3af3416e383	1830	int16_t MPU6050::getAccelerationZ() {
TUATBM	0:c3af3416e383	1831	I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
TUATBM	0:c3af3416e383	1832	return (((int16_t)buffer[0]) << 8) \| buffer[1];
TUATBM	0:c3af3416e383	1833	}
TUATBM	0:c3af3416e383	1834
TUATBM	0:c3af3416e383	1835	// TEMP_OUT_* registers
TUATBM	0:c3af3416e383	1836
TUATBM	0:c3af3416e383	1837	/** Get current internal temperature.
TUATBM	0:c3af3416e383	1838	* @return Temperature reading in 16-bit 2's complement format
TUATBM	0:c3af3416e383	1839	* @see MPU6050_RA_TEMP_OUT_H
TUATBM	0:c3af3416e383	1840	*/
TUATBM	0:c3af3416e383	1841	int16_t MPU6050::getTemperature() {
TUATBM	0:c3af3416e383	1842	I2Cdev::readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
TUATBM	0:c3af3416e383	1843	return (((int16_t)buffer[0]) << 8) \| buffer[1];
TUATBM	0:c3af3416e383	1844	}
TUATBM	0:c3af3416e383	1845
TUATBM	0:c3af3416e383	1846	// GYRO_OUT_ registers
TUATBM	0:c3af3416e383	1847
TUATBM	0:c3af3416e383	1848	/** Get 3-axis gyroscope readings.
TUATBM	0:c3af3416e383	1849	* These gyroscope measurement registers, along with the accelerometer
TUATBM	0:c3af3416e383	1850	* measurement registers, temperature measurement registers, and external sensor
TUATBM	0:c3af3416e383	1851	* data registers, are composed of two sets of registers: an internal register
TUATBM	0:c3af3416e383	1852	* set and a user-facing read register set.
TUATBM	0:c3af3416e383	1853	* The data within the gyroscope sensors' internal register set is always
TUATBM	0:c3af3416e383	1854	* updated at the Sample Rate. Meanwhile, the user-facing read register set
TUATBM	0:c3af3416e383	1855	* duplicates the internal register set's data values whenever the serial
TUATBM	0:c3af3416e383	1856	* interface is idle. This guarantees that a burst read of sensor registers will
TUATBM	0:c3af3416e383	1857	* read measurements from the same sampling instant. Note that if burst reads
TUATBM	0:c3af3416e383	1858	* are not used, the user is responsible for ensuring a set of single byte reads
TUATBM	0:c3af3416e383	1859	* correspond to a single sampling instant by checking the Data Ready interrupt.
TUATBM	0:c3af3416e383	1860	*
TUATBM	0:c3af3416e383	1861	* Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
TUATBM	0:c3af3416e383	1862	* (Register 27). For each full scale setting, the gyroscopes' sensitivity per
TUATBM	0:c3af3416e383	1863	* LSB in GYRO_xOUT is shown in the table below:
TUATBM	0:c3af3416e383	1864	*
TUATBM	0:c3af3416e383	1865	* <pre>
TUATBM	0:c3af3416e383	1866	* FS_SEL \| Full Scale Range \| LSB Sensitivity
TUATBM	0:c3af3416e383	1867	* -------+--------------------+----------------
TUATBM	0:c3af3416e383	1868	* 0 \| +/- 250 degrees/s \| 131 LSB/deg/s
TUATBM	0:c3af3416e383	1869	* 1 \| +/- 500 degrees/s \| 65.5 LSB/deg/s
TUATBM	0:c3af3416e383	1870	* 2 \| +/- 1000 degrees/s \| 32.8 LSB/deg/s
TUATBM	0:c3af3416e383	1871	* 3 \| +/- 2000 degrees/s \| 16.4 LSB/deg/s
TUATBM	0:c3af3416e383	1872	* </pre>
TUATBM	0:c3af3416e383	1873	*
TUATBM	0:c3af3416e383	1874	* @param x 16-bit signed integer container for X-axis rotation
TUATBM	0:c3af3416e383	1875	* @param y 16-bit signed integer container for Y-axis rotation
TUATBM	0:c3af3416e383	1876	* @param z 16-bit signed integer container for Z-axis rotation
TUATBM	0:c3af3416e383	1877	* @see getMotion6()
TUATBM	0:c3af3416e383	1878	* @see MPU6050_RA_GYRO_XOUT_H
TUATBM	0:c3af3416e383	1879	*/
TUATBM	0:c3af3416e383	1880	void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z) {
TUATBM	0:c3af3416e383	1881	I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
TUATBM	0:c3af3416e383	1882	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
TUATBM	0:c3af3416e383	1883	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
TUATBM	0:c3af3416e383	1884	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
TUATBM	0:c3af3416e383	1885	}
TUATBM	0:c3af3416e383	1886	/** Get X-axis gyroscope reading.
TUATBM	0:c3af3416e383	1887	* @return X-axis rotation measurement in 16-bit 2's complement format
TUATBM	0:c3af3416e383	1888	* @see getMotion6()
TUATBM	0:c3af3416e383	1889	* @see MPU6050_RA_GYRO_XOUT_H
TUATBM	0:c3af3416e383	1890	*/
TUATBM	0:c3af3416e383	1891	int16_t MPU6050::getRotationX() {
TUATBM	0:c3af3416e383	1892	I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
TUATBM	0:c3af3416e383	1893	return (((int16_t)buffer[0]) << 8) \| buffer[1];
TUATBM	0:c3af3416e383	1894	}
TUATBM	0:c3af3416e383	1895	/** Get Y-axis gyroscope reading.
TUATBM	0:c3af3416e383	1896	* @return Y-axis rotation measurement in 16-bit 2's complement format
TUATBM	0:c3af3416e383	1897	* @see getMotion6()
TUATBM	0:c3af3416e383	1898	* @see MPU6050_RA_GYRO_YOUT_H
TUATBM	0:c3af3416e383	1899	*/
TUATBM	0:c3af3416e383	1900	int16_t MPU6050::getRotationY() {
TUATBM	0:c3af3416e383	1901	I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
TUATBM	0:c3af3416e383	1902	return (((int16_t)buffer[0]) << 8) \| buffer[1];
TUATBM	0:c3af3416e383	1903	}
TUATBM	0:c3af3416e383	1904	/** Get Z-axis gyroscope reading.
TUATBM	0:c3af3416e383	1905	* @return Z-axis rotation measurement in 16-bit 2's complement format
TUATBM	0:c3af3416e383	1906	* @see getMotion6()
TUATBM	0:c3af3416e383	1907	* @see MPU6050_RA_GYRO_ZOUT_H
TUATBM	0:c3af3416e383	1908	*/
TUATBM	0:c3af3416e383	1909	int16_t MPU6050::getRotationZ() {
TUATBM	0:c3af3416e383	1910	I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
TUATBM	0:c3af3416e383	1911	return (((int16_t)buffer[0]) << 8) \| buffer[1];
TUATBM	0:c3af3416e383	1912	}
TUATBM	0:c3af3416e383	1913
TUATBM	0:c3af3416e383	1914	// EXT_SENS_DATA_* registers
TUATBM	0:c3af3416e383	1915
TUATBM	0:c3af3416e383	1916	/** Read single byte from external sensor data register.
TUATBM	0:c3af3416e383	1917	* These registers store data read from external sensors by the Slave 0, 1, 2,
TUATBM	0:c3af3416e383	1918	* and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
TUATBM	0:c3af3416e383	1919	* I2C_SLV4_DI (Register 53).
TUATBM	0:c3af3416e383	1920	*
TUATBM	0:c3af3416e383	1921	* External sensor data is written to these registers at the Sample Rate as
TUATBM	0:c3af3416e383	1922	* defined in Register 25. This access rate can be reduced by using the Slave
TUATBM	0:c3af3416e383	1923	* Delay Enable registers (Register 103).
TUATBM	0:c3af3416e383	1924	*
TUATBM	0:c3af3416e383	1925	* External sensor data registers, along with the gyroscope measurement
TUATBM	0:c3af3416e383	1926	* registers, accelerometer measurement registers, and temperature measurement
TUATBM	0:c3af3416e383	1927	* registers, are composed of two sets of registers: an internal register set
TUATBM	0:c3af3416e383	1928	* and a user-facing read register set.
TUATBM	0:c3af3416e383	1929	*
TUATBM	0:c3af3416e383	1930	* The data within the external sensors' internal register set is always updated
TUATBM	0:c3af3416e383	1931	* at the Sample Rate (or the reduced access rate) whenever the serial interface
TUATBM	0:c3af3416e383	1932	* is idle. This guarantees that a burst read of sensor registers will read
TUATBM	0:c3af3416e383	1933	* measurements from the same sampling instant. Note that if burst reads are not
TUATBM	0:c3af3416e383	1934	* used, the user is responsible for ensuring a set of single byte reads
TUATBM	0:c3af3416e383	1935	* correspond to a single sampling instant by checking the Data Ready interrupt.
TUATBM	0:c3af3416e383	1936	*
TUATBM	0:c3af3416e383	1937	* Data is placed in these external sensor data registers according to
TUATBM	0:c3af3416e383	1938	* I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
TUATBM	0:c3af3416e383	1939	* 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
TUATBM	0:c3af3416e383	1940	* an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
TUATBM	0:c3af3416e383	1941	* defined in Register 25) or delayed rate (if specified in Register 52 and
TUATBM	0:c3af3416e383	1942	* 103). During each Sample cycle, slave reads are performed in order of Slave
TUATBM	0:c3af3416e383	1943	* number. If all slaves are enabled with more than zero bytes to be read, the
TUATBM	0:c3af3416e383	1944	* order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
TUATBM	0:c3af3416e383	1945	*
TUATBM	0:c3af3416e383	1946	* Each enabled slave will have EXT_SENS_DATA registers associated with it by
TUATBM	0:c3af3416e383	1947	* number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
TUATBM	0:c3af3416e383	1948	* EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
TUATBM	0:c3af3416e383	1949	* change the higher numbered slaves' associated registers. Furthermore, if
TUATBM	0:c3af3416e383	1950	* fewer total bytes are being read from the external sensors as a result of
TUATBM	0:c3af3416e383	1951	* such a change, then the data remaining in the registers which no longer have
TUATBM	0:c3af3416e383	1952	* an associated slave device (i.e. high numbered registers) will remain in
TUATBM	0:c3af3416e383	1953	* these previously allocated registers unless reset.
TUATBM	0:c3af3416e383	1954	*
TUATBM	0:c3af3416e383	1955	* If the sum of the read lengths of all SLVx transactions exceed the number of
TUATBM	0:c3af3416e383	1956	* available EXT_SENS_DATA registers, the excess bytes will be dropped. There
TUATBM	0:c3af3416e383	1957	* are 24 EXT_SENS_DATA registers and hence the total read lengths between all
TUATBM	0:c3af3416e383	1958	* the slaves cannot be greater than 24 or some bytes will be lost.
TUATBM	0:c3af3416e383	1959	*
TUATBM	0:c3af3416e383	1960	* Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
TUATBM	0:c3af3416e383	1961	* information regarding the characteristics of Slave 4, please refer to
TUATBM	0:c3af3416e383	1962	* Registers 49 to 53.
TUATBM	0:c3af3416e383	1963	*
TUATBM	0:c3af3416e383	1964	* EXAMPLE:
TUATBM	0:c3af3416e383	1965	* Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
TUATBM	0:c3af3416e383	1966	* I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
TUATBM	0:c3af3416e383	1967	* I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
TUATBM	0:c3af3416e383	1968	* through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
TUATBM	0:c3af3416e383	1969	* will be associated with Slave 1. If Slave 2 is enabled as well, registers
TUATBM	0:c3af3416e383	1970	* starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
TUATBM	0:c3af3416e383	1971	*
TUATBM	0:c3af3416e383	1972	* If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
TUATBM	0:c3af3416e383	1973	* registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
TUATBM	0:c3af3416e383	1974	* instead.
TUATBM	0:c3af3416e383	1975	*
TUATBM	0:c3af3416e383	1976	* REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
TUATBM	0:c3af3416e383	1977	* If a slave is disabled at any time, the space initially allocated to the
TUATBM	0:c3af3416e383	1978	* slave in the EXT_SENS_DATA register, will remain associated with that slave.
TUATBM	0:c3af3416e383	1979	* This is to avoid dynamic adjustment of the register allocation.
TUATBM	0:c3af3416e383	1980	*
TUATBM	0:c3af3416e383	1981	* The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
TUATBM	0:c3af3416e383	1982	* slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
TUATBM	0:c3af3416e383	1983	*
TUATBM	0:c3af3416e383	1984	* This above is also true if one of the slaves gets NACKed and stops
TUATBM	0:c3af3416e383	1985	* functioning.
TUATBM	0:c3af3416e383	1986	*
TUATBM	0:c3af3416e383	1987	* @param position Starting position (0-23)
TUATBM	0:c3af3416e383	1988	* @return Byte read from register
TUATBM	0:c3af3416e383	1989	*/
TUATBM	0:c3af3416e383	1990	uint8_t MPU6050::getExternalSensorByte(int position) {
TUATBM	0:c3af3416e383	1991	I2Cdev::readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
TUATBM	0:c3af3416e383	1992	return buffer[0];
TUATBM	0:c3af3416e383	1993	}
TUATBM	0:c3af3416e383	1994	/** Read word (2 bytes) from external sensor data registers.
TUATBM	0:c3af3416e383	1995	* @param position Starting position (0-21)
TUATBM	0:c3af3416e383	1996	* @return Word read from register
TUATBM	0:c3af3416e383	1997	* @see getExternalSensorByte()
TUATBM	0:c3af3416e383	1998	*/
TUATBM	0:c3af3416e383	1999	uint16_t MPU6050::getExternalSensorWord(int position) {
TUATBM	0:c3af3416e383	2000	I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
TUATBM	0:c3af3416e383	2001	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
TUATBM	0:c3af3416e383	2002	}
TUATBM	0:c3af3416e383	2003	/** Read double word (4 bytes) from external sensor data registers.
TUATBM	0:c3af3416e383	2004	* @param position Starting position (0-20)
TUATBM	0:c3af3416e383	2005	* @return Double word read from registers
TUATBM	0:c3af3416e383	2006	* @see getExternalSensorByte()
TUATBM	0:c3af3416e383	2007	*/
TUATBM	0:c3af3416e383	2008	uint32_t MPU6050::getExternalSensorDWord(int position) {
TUATBM	0:c3af3416e383	2009	I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
TUATBM	0:c3af3416e383	2010	return (((uint32_t)buffer[0]) << 24) \| (((uint32_t)buffer[1]) << 16) \| (((uint16_t)buffer[2]) << 8) \| buffer[3];
TUATBM	0:c3af3416e383	2011	}
TUATBM	0:c3af3416e383	2012
TUATBM	0:c3af3416e383	2013	// MOT_DETECT_STATUS register
TUATBM	0:c3af3416e383	2014
TUATBM	0:c3af3416e383	2015	/** Get full motion detection status register content (all bits).
TUATBM	0:c3af3416e383	2016	* @return Motion detection status byte
TUATBM	0:c3af3416e383	2017	* @see MPU6050_RA_MOT_DETECT_STATUS
TUATBM	0:c3af3416e383	2018	*/
TUATBM	0:c3af3416e383	2019	uint8_t MPU6050::getMotionStatus() {
TUATBM	0:c3af3416e383	2020	I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DETECT_STATUS, buffer);
TUATBM	0:c3af3416e383	2021	return buffer[0];
TUATBM	0:c3af3416e383	2022	}
TUATBM	0:c3af3416e383	2023	/** Get X-axis negative motion detection interrupt status.
TUATBM	0:c3af3416e383	2024	* @return Motion detection status
TUATBM	0:c3af3416e383	2025	* @see MPU6050_RA_MOT_DETECT_STATUS
TUATBM	0:c3af3416e383	2026	* @see MPU6050_MOTION_MOT_XNEG_BIT
TUATBM	0:c3af3416e383	2027	*/
TUATBM	0:c3af3416e383	2028	bool MPU6050::getXNegMotionDetected() {
TUATBM	0:c3af3416e383	2029	I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
TUATBM	0:c3af3416e383	2030	return buffer[0];
TUATBM	0:c3af3416e383	2031	}
TUATBM	0:c3af3416e383	2032	/** Get X-axis positive motion detection interrupt status.
TUATBM	0:c3af3416e383	2033	* @return Motion detection status
TUATBM	0:c3af3416e383	2034	* @see MPU6050_RA_MOT_DETECT_STATUS
TUATBM	0:c3af3416e383	2035	* @see MPU6050_MOTION_MOT_XPOS_BIT
TUATBM	0:c3af3416e383	2036	*/
TUATBM	0:c3af3416e383	2037	bool MPU6050::getXPosMotionDetected() {
TUATBM	0:c3af3416e383	2038	I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
TUATBM	0:c3af3416e383	2039	return buffer[0];
TUATBM	0:c3af3416e383	2040	}
TUATBM	0:c3af3416e383	2041	/** Get Y-axis negative motion detection interrupt status.
TUATBM	0:c3af3416e383	2042	* @return Motion detection status
TUATBM	0:c3af3416e383	2043	* @see MPU6050_RA_MOT_DETECT_STATUS
TUATBM	0:c3af3416e383	2044	* @see MPU6050_MOTION_MOT_YNEG_BIT
TUATBM	0:c3af3416e383	2045	*/
TUATBM	0:c3af3416e383	2046	bool MPU6050::getYNegMotionDetected() {
TUATBM	0:c3af3416e383	2047	I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
TUATBM	0:c3af3416e383	2048	return buffer[0];
TUATBM	0:c3af3416e383	2049	}
TUATBM	0:c3af3416e383	2050	/** Get Y-axis positive motion detection interrupt status.
TUATBM	0:c3af3416e383	2051	* @return Motion detection status
TUATBM	0:c3af3416e383	2052	* @see MPU6050_RA_MOT_DETECT_STATUS
TUATBM	0:c3af3416e383	2053	* @see MPU6050_MOTION_MOT_YPOS_BIT
TUATBM	0:c3af3416e383	2054	*/
TUATBM	0:c3af3416e383	2055	bool MPU6050::getYPosMotionDetected() {
TUATBM	0:c3af3416e383	2056	I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
TUATBM	0:c3af3416e383	2057	return buffer[0];
TUATBM	0:c3af3416e383	2058	}
TUATBM	0:c3af3416e383	2059	/** Get Z-axis negative motion detection interrupt status.
TUATBM	0:c3af3416e383	2060	* @return Motion detection status
TUATBM	0:c3af3416e383	2061	* @see MPU6050_RA_MOT_DETECT_STATUS
TUATBM	0:c3af3416e383	2062	* @see MPU6050_MOTION_MOT_ZNEG_BIT
TUATBM	0:c3af3416e383	2063	*/
TUATBM	0:c3af3416e383	2064	bool MPU6050::getZNegMotionDetected() {
TUATBM	0:c3af3416e383	2065	I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
TUATBM	0:c3af3416e383	2066	return buffer[0];
TUATBM	0:c3af3416e383	2067	}
TUATBM	0:c3af3416e383	2068	/** Get Z-axis positive motion detection interrupt status.
TUATBM	0:c3af3416e383	2069	* @return Motion detection status
TUATBM	0:c3af3416e383	2070	* @see MPU6050_RA_MOT_DETECT_STATUS
TUATBM	0:c3af3416e383	2071	* @see MPU6050_MOTION_MOT_ZPOS_BIT
TUATBM	0:c3af3416e383	2072	*/
TUATBM	0:c3af3416e383	2073	bool MPU6050::getZPosMotionDetected() {
TUATBM	0:c3af3416e383	2074	I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
TUATBM	0:c3af3416e383	2075	return buffer[0];
TUATBM	0:c3af3416e383	2076	}
TUATBM	0:c3af3416e383	2077	/** Get zero motion detection interrupt status.
TUATBM	0:c3af3416e383	2078	* @return Motion detection status
TUATBM	0:c3af3416e383	2079	* @see MPU6050_RA_MOT_DETECT_STATUS
TUATBM	0:c3af3416e383	2080	* @see MPU6050_MOTION_MOT_ZRMOT_BIT
TUATBM	0:c3af3416e383	2081	*/
TUATBM	0:c3af3416e383	2082	bool MPU6050::getZeroMotionDetected() {
TUATBM	0:c3af3416e383	2083	I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
TUATBM	0:c3af3416e383	2084	return buffer[0];
TUATBM	0:c3af3416e383	2085	}
TUATBM	0:c3af3416e383	2086
TUATBM	0:c3af3416e383	2087	// I2C_SLV*_DO register
TUATBM	0:c3af3416e383	2088
TUATBM	0:c3af3416e383	2089	/** Write byte to Data Output container for specified slave.
TUATBM	0:c3af3416e383	2090	* This register holds the output data written into Slave when Slave is set to
TUATBM	0:c3af3416e383	2091	* write mode. For further information regarding Slave control, please
TUATBM	0:c3af3416e383	2092	* refer to Registers 37 to 39 and immediately following.
TUATBM	0:c3af3416e383	2093	* @param num Slave number (0-3)
TUATBM	0:c3af3416e383	2094	* @param data Byte to write
TUATBM	0:c3af3416e383	2095	* @see MPU6050_RA_I2C_SLV0_DO
TUATBM	0:c3af3416e383	2096	*/
TUATBM	0:c3af3416e383	2097	void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data) {
TUATBM	0:c3af3416e383	2098	if (num > 3) return;
TUATBM	0:c3af3416e383	2099	I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
TUATBM	0:c3af3416e383	2100	}
TUATBM	0:c3af3416e383	2101
TUATBM	0:c3af3416e383	2102	// I2C_MST_DELAY_CTRL register
TUATBM	0:c3af3416e383	2103
TUATBM	0:c3af3416e383	2104	/** Get external data shadow delay enabled status.
TUATBM	0:c3af3416e383	2105	* This register is used to specify the timing of external sensor data
TUATBM	0:c3af3416e383	2106	* shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
TUATBM	0:c3af3416e383	2107	* sensor data is delayed until all data has been received.
TUATBM	0:c3af3416e383	2108	* @return Current external data shadow delay enabled status.
TUATBM	0:c3af3416e383	2109	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
TUATBM	0:c3af3416e383	2110	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
TUATBM	0:c3af3416e383	2111	*/
TUATBM	0:c3af3416e383	2112	bool MPU6050::getExternalShadowDelayEnabled() {
TUATBM	0:c3af3416e383	2113	I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
TUATBM	0:c3af3416e383	2114	return buffer[0];
TUATBM	0:c3af3416e383	2115	}
TUATBM	0:c3af3416e383	2116	/** Set external data shadow delay enabled status.
TUATBM	0:c3af3416e383	2117	* @param enabled New external data shadow delay enabled status.
TUATBM	0:c3af3416e383	2118	* @see getExternalShadowDelayEnabled()
TUATBM	0:c3af3416e383	2119	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
TUATBM	0:c3af3416e383	2120	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
TUATBM	0:c3af3416e383	2121	*/
TUATBM	0:c3af3416e383	2122	void MPU6050::setExternalShadowDelayEnabled(bool enabled) {
TUATBM	0:c3af3416e383	2123	I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
TUATBM	0:c3af3416e383	2124	}
TUATBM	0:c3af3416e383	2125	/** Get slave delay enabled status.
TUATBM	0:c3af3416e383	2126	* When a particular slave delay is enabled, the rate of access for the that
TUATBM	0:c3af3416e383	2127	* slave device is reduced. When a slave's access rate is decreased relative to
TUATBM	0:c3af3416e383	2128	* the Sample Rate, the slave is accessed every:
TUATBM	0:c3af3416e383	2129	*
TUATBM	0:c3af3416e383	2130	* 1 / (1 + I2C_MST_DLY) Samples
TUATBM	0:c3af3416e383	2131	*
TUATBM	0:c3af3416e383	2132	* This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25)
TUATBM	0:c3af3416e383	2133	* and DLPF_CFG (register 26).
TUATBM	0:c3af3416e383	2134	*
TUATBM	0:c3af3416e383	2135	* For further information regarding I2C_MST_DLY, please refer to register 52.
TUATBM	0:c3af3416e383	2136	* For further information regarding the Sample Rate, please refer to register 25.
TUATBM	0:c3af3416e383	2137	*
TUATBM	0:c3af3416e383	2138	* @param num Slave number (0-4)
TUATBM	0:c3af3416e383	2139	* @return Current slave delay enabled status.
TUATBM	0:c3af3416e383	2140	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
TUATBM	0:c3af3416e383	2141	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
TUATBM	0:c3af3416e383	2142	*/
TUATBM	0:c3af3416e383	2143	bool MPU6050::getSlaveDelayEnabled(uint8_t num) {
TUATBM	0:c3af3416e383	2144	// MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
TUATBM	0:c3af3416e383	2145	if (num > 4) return 0;
TUATBM	0:c3af3416e383	2146	I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
TUATBM	0:c3af3416e383	2147	return buffer[0];
TUATBM	0:c3af3416e383	2148	}
TUATBM	0:c3af3416e383	2149	/** Set slave delay enabled status.
TUATBM	0:c3af3416e383	2150	* @param num Slave number (0-4)
TUATBM	0:c3af3416e383	2151	* @param enabled New slave delay enabled status.
TUATBM	0:c3af3416e383	2152	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
TUATBM	0:c3af3416e383	2153	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
TUATBM	0:c3af3416e383	2154	*/
TUATBM	0:c3af3416e383	2155	void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled) {
TUATBM	0:c3af3416e383	2156	I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
TUATBM	0:c3af3416e383	2157	}
TUATBM	0:c3af3416e383	2158
TUATBM	0:c3af3416e383	2159	// SIGNAL_PATH_RESET register
TUATBM	0:c3af3416e383	2160
TUATBM	0:c3af3416e383	2161	/** Reset gyroscope signal path.
TUATBM	0:c3af3416e383	2162	* The reset will revert the signal path analog to digital converters and
TUATBM	0:c3af3416e383	2163	* filters to their power up configurations.
TUATBM	0:c3af3416e383	2164	* @see MPU6050_RA_SIGNAL_PATH_RESET
TUATBM	0:c3af3416e383	2165	* @see MPU6050_PATHRESET_GYRO_RESET_BIT
TUATBM	0:c3af3416e383	2166	*/
TUATBM	0:c3af3416e383	2167	void MPU6050::resetGyroscopePath() {
TUATBM	0:c3af3416e383	2168	I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
TUATBM	0:c3af3416e383	2169	}
TUATBM	0:c3af3416e383	2170	/** Reset accelerometer signal path.
TUATBM	0:c3af3416e383	2171	* The reset will revert the signal path analog to digital converters and
TUATBM	0:c3af3416e383	2172	* filters to their power up configurations.
TUATBM	0:c3af3416e383	2173	* @see MPU6050_RA_SIGNAL_PATH_RESET
TUATBM	0:c3af3416e383	2174	* @see MPU6050_PATHRESET_ACCEL_RESET_BIT
TUATBM	0:c3af3416e383	2175	*/
TUATBM	0:c3af3416e383	2176	void MPU6050::resetAccelerometerPath() {
TUATBM	0:c3af3416e383	2177	I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
TUATBM	0:c3af3416e383	2178	}
TUATBM	0:c3af3416e383	2179	/** Reset temperature sensor signal path.
TUATBM	0:c3af3416e383	2180	* The reset will revert the signal path analog to digital converters and
TUATBM	0:c3af3416e383	2181	* filters to their power up configurations.
TUATBM	0:c3af3416e383	2182	* @see MPU6050_RA_SIGNAL_PATH_RESET
TUATBM	0:c3af3416e383	2183	* @see MPU6050_PATHRESET_TEMP_RESET_BIT
TUATBM	0:c3af3416e383	2184	*/
TUATBM	0:c3af3416e383	2185	void MPU6050::resetTemperaturePath() {
TUATBM	0:c3af3416e383	2186	I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
TUATBM	0:c3af3416e383	2187	}
TUATBM	0:c3af3416e383	2188
TUATBM	0:c3af3416e383	2189	// MOT_DETECT_CTRL register
TUATBM	0:c3af3416e383	2190
TUATBM	0:c3af3416e383	2191	/** Get accelerometer power-on delay.
TUATBM	0:c3af3416e383	2192	* The accelerometer data path provides samples to the sensor registers, Motion
TUATBM	0:c3af3416e383	2193	* detection, Zero Motion detection, and Free Fall detection modules. The
TUATBM	0:c3af3416e383	2194	* signal path contains filters which must be flushed on wake-up with new
TUATBM	0:c3af3416e383	2195	* samples before the detection modules begin operations. The default wake-up
TUATBM	0:c3af3416e383	2196	* delay, of 4ms can be lengthened by up to 3ms. This additional delay is
TUATBM	0:c3af3416e383	2197	* specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
TUATBM	0:c3af3416e383	2198	* any value above zero unless instructed otherwise by InvenSense. Please refer
TUATBM	0:c3af3416e383	2199	* to Section 8 of the MPU-6000/MPU-6050 Product Specification document for
TUATBM	0:c3af3416e383	2200	* further information regarding the detection modules.
TUATBM	0:c3af3416e383	2201	* @return Current accelerometer power-on delay
TUATBM	0:c3af3416e383	2202	* @see MPU6050_RA_MOT_DETECT_CTRL
TUATBM	0:c3af3416e383	2203	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
TUATBM	0:c3af3416e383	2204	*/
TUATBM	0:c3af3416e383	2205	uint8_t MPU6050::getAccelerometerPowerOnDelay() {
TUATBM	0:c3af3416e383	2206	I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
TUATBM	0:c3af3416e383	2207	return buffer[0];
TUATBM	0:c3af3416e383	2208	}
TUATBM	0:c3af3416e383	2209	/** Set accelerometer power-on delay.
TUATBM	0:c3af3416e383	2210	* @param delay New accelerometer power-on delay (0-3)
TUATBM	0:c3af3416e383	2211	* @see getAccelerometerPowerOnDelay()
TUATBM	0:c3af3416e383	2212	* @see MPU6050_RA_MOT_DETECT_CTRL
TUATBM	0:c3af3416e383	2213	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
TUATBM	0:c3af3416e383	2214	*/
TUATBM	0:c3af3416e383	2215	void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay) {
TUATBM	0:c3af3416e383	2216	I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
TUATBM	0:c3af3416e383	2217	}
TUATBM	0:c3af3416e383	2218	/** Get Free Fall detection counter decrement configuration.
TUATBM	0:c3af3416e383	2219	* Detection is registered by the Free Fall detection module after accelerometer
TUATBM	0:c3af3416e383	2220	* measurements meet their respective threshold conditions over a specified
TUATBM	0:c3af3416e383	2221	* number of samples. When the threshold conditions are met, the corresponding
TUATBM	0:c3af3416e383	2222	* detection counter increments by 1. The user may control the rate at which the
TUATBM	0:c3af3416e383	2223	* detection counter decrements when the threshold condition is not met by
TUATBM	0:c3af3416e383	2224	* configuring FF_COUNT. The decrement rate can be set according to the
TUATBM	0:c3af3416e383	2225	* following table:
TUATBM	0:c3af3416e383	2226	*
TUATBM	0:c3af3416e383	2227	* <pre>
TUATBM	0:c3af3416e383	2228	* FF_COUNT \| Counter Decrement
TUATBM	0:c3af3416e383	2229	* ---------+------------------
TUATBM	0:c3af3416e383	2230	* 0 \| Reset
TUATBM	0:c3af3416e383	2231	* 1 \| 1
TUATBM	0:c3af3416e383	2232	* 2 \| 2
TUATBM	0:c3af3416e383	2233	* 3 \| 4
TUATBM	0:c3af3416e383	2234	* </pre>
TUATBM	0:c3af3416e383	2235	*
TUATBM	0:c3af3416e383	2236	* When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
TUATBM	0:c3af3416e383	2237	* reset the counter to 0. For further information on Free Fall detection,
TUATBM	0:c3af3416e383	2238	* please refer to Registers 29 to 32.
TUATBM	0:c3af3416e383	2239	*
TUATBM	0:c3af3416e383	2240	* @return Current decrement configuration
TUATBM	0:c3af3416e383	2241	* @see MPU6050_RA_MOT_DETECT_CTRL
TUATBM	0:c3af3416e383	2242	* @see MPU6050_DETECT_FF_COUNT_BIT
TUATBM	0:c3af3416e383	2243	*/
TUATBM	0:c3af3416e383	2244	uint8_t MPU6050::getFreefallDetectionCounterDecrement() {
TUATBM	0:c3af3416e383	2245	I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
TUATBM	0:c3af3416e383	2246	return buffer[0];
TUATBM	0:c3af3416e383	2247	}
TUATBM	0:c3af3416e383	2248	/** Set Free Fall detection counter decrement configuration.
TUATBM	0:c3af3416e383	2249	* @param decrement New decrement configuration value
TUATBM	0:c3af3416e383	2250	* @see getFreefallDetectionCounterDecrement()
TUATBM	0:c3af3416e383	2251	* @see MPU6050_RA_MOT_DETECT_CTRL
TUATBM	0:c3af3416e383	2252	* @see MPU6050_DETECT_FF_COUNT_BIT
TUATBM	0:c3af3416e383	2253	*/
TUATBM	0:c3af3416e383	2254	void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement) {
TUATBM	0:c3af3416e383	2255	I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
TUATBM	0:c3af3416e383	2256	}
TUATBM	0:c3af3416e383	2257	/** Get Motion detection counter decrement configuration.
TUATBM	0:c3af3416e383	2258	* Detection is registered by the Motion detection module after accelerometer
TUATBM	0:c3af3416e383	2259	* measurements meet their respective threshold conditions over a specified
TUATBM	0:c3af3416e383	2260	* number of samples. When the threshold conditions are met, the corresponding
TUATBM	0:c3af3416e383	2261	* detection counter increments by 1. The user may control the rate at which the
TUATBM	0:c3af3416e383	2262	* detection counter decrements when the threshold condition is not met by
TUATBM	0:c3af3416e383	2263	* configuring MOT_COUNT. The decrement rate can be set according to the
TUATBM	0:c3af3416e383	2264	* following table:
TUATBM	0:c3af3416e383	2265	*
TUATBM	0:c3af3416e383	2266	* <pre>
TUATBM	0:c3af3416e383	2267	* MOT_COUNT \| Counter Decrement
TUATBM	0:c3af3416e383	2268	* ----------+------------------
TUATBM	0:c3af3416e383	2269	* 0 \| Reset
TUATBM	0:c3af3416e383	2270	* 1 \| 1
TUATBM	0:c3af3416e383	2271	* 2 \| 2
TUATBM	0:c3af3416e383	2272	* 3 \| 4
TUATBM	0:c3af3416e383	2273	* </pre>
TUATBM	0:c3af3416e383	2274	*
TUATBM	0:c3af3416e383	2275	* When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
TUATBM	0:c3af3416e383	2276	* reset the counter to 0. For further information on Motion detection,
TUATBM	0:c3af3416e383	2277	* please refer to Registers 29 to 32.
TUATBM	0:c3af3416e383	2278	*
TUATBM	0:c3af3416e383	2279	*/
TUATBM	0:c3af3416e383	2280	uint8_t MPU6050::getMotionDetectionCounterDecrement() {
TUATBM	0:c3af3416e383	2281	I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
TUATBM	0:c3af3416e383	2282	return buffer[0];
TUATBM	0:c3af3416e383	2283	}
TUATBM	0:c3af3416e383	2284	/** Set Motion detection counter decrement configuration.
TUATBM	0:c3af3416e383	2285	* @param decrement New decrement configuration value
TUATBM	0:c3af3416e383	2286	* @see getMotionDetectionCounterDecrement()
TUATBM	0:c3af3416e383	2287	* @see MPU6050_RA_MOT_DETECT_CTRL
TUATBM	0:c3af3416e383	2288	* @see MPU6050_DETECT_MOT_COUNT_BIT
TUATBM	0:c3af3416e383	2289	*/
TUATBM	0:c3af3416e383	2290	void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement) {
TUATBM	0:c3af3416e383	2291	I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
TUATBM	0:c3af3416e383	2292	}
TUATBM	0:c3af3416e383	2293
TUATBM	0:c3af3416e383	2294	// USER_CTRL register
TUATBM	0:c3af3416e383	2295
TUATBM	0:c3af3416e383	2296	/** Get FIFO enabled status.
TUATBM	0:c3af3416e383	2297	* When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
TUATBM	0:c3af3416e383	2298	* cannot be written to or read from while disabled. The FIFO buffer's state
TUATBM	0:c3af3416e383	2299	* does not change unless the MPU-60X0 is power cycled.
TUATBM	0:c3af3416e383	2300	* @return Current FIFO enabled status
TUATBM	0:c3af3416e383	2301	* @see MPU6050_RA_USER_CTRL
TUATBM	0:c3af3416e383	2302	* @see MPU6050_USERCTRL_FIFO_EN_BIT
TUATBM	0:c3af3416e383	2303	*/
TUATBM	0:c3af3416e383	2304	bool MPU6050::getFIFOEnabled() {
TUATBM	0:c3af3416e383	2305	I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
TUATBM	0:c3af3416e383	2306	return buffer[0];
TUATBM	0:c3af3416e383	2307	}
TUATBM	0:c3af3416e383	2308	/** Set FIFO enabled status.
TUATBM	0:c3af3416e383	2309	* @param enabled New FIFO enabled status
TUATBM	0:c3af3416e383	2310	* @see getFIFOEnabled()
TUATBM	0:c3af3416e383	2311	* @see MPU6050_RA_USER_CTRL
TUATBM	0:c3af3416e383	2312	* @see MPU6050_USERCTRL_FIFO_EN_BIT
TUATBM	0:c3af3416e383	2313	*/
TUATBM	0:c3af3416e383	2314	void MPU6050::setFIFOEnabled(bool enabled) {
TUATBM	0:c3af3416e383	2315	I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
TUATBM	0:c3af3416e383	2316	}
TUATBM	0:c3af3416e383	2317	/** Get I2C Master Mode enabled status.
TUATBM	0:c3af3416e383	2318	* When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
TUATBM	0:c3af3416e383	2319	* external sensor slave devices on the auxiliary I2C bus. When this bit is
TUATBM	0:c3af3416e383	2320	* cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
TUATBM	0:c3af3416e383	2321	* driven by the primary I2C bus (SDA and SCL). This is a precondition to
TUATBM	0:c3af3416e383	2322	* enabling Bypass Mode. For further information regarding Bypass Mode, please
TUATBM	0:c3af3416e383	2323	* refer to Register 55.
TUATBM	0:c3af3416e383	2324	* @return Current I2C Master Mode enabled status
TUATBM	0:c3af3416e383	2325	* @see MPU6050_RA_USER_CTRL
TUATBM	0:c3af3416e383	2326	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
TUATBM	0:c3af3416e383	2327	*/
TUATBM	0:c3af3416e383	2328	bool MPU6050::getI2CMasterModeEnabled() {
TUATBM	0:c3af3416e383	2329	I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
TUATBM	0:c3af3416e383	2330	return buffer[0];
TUATBM	0:c3af3416e383	2331	}
TUATBM	0:c3af3416e383	2332	/** Set I2C Master Mode enabled status.
TUATBM	0:c3af3416e383	2333	* @param enabled New I2C Master Mode enabled status
TUATBM	0:c3af3416e383	2334	* @see getI2CMasterModeEnabled()
TUATBM	0:c3af3416e383	2335	* @see MPU6050_RA_USER_CTRL
TUATBM	0:c3af3416e383	2336	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
TUATBM	0:c3af3416e383	2337	*/
TUATBM	0:c3af3416e383	2338	void MPU6050::setI2CMasterModeEnabled(bool enabled) {
TUATBM	0:c3af3416e383	2339	I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
TUATBM	0:c3af3416e383	2340	}
TUATBM	0:c3af3416e383	2341	/** Switch from I2C to SPI mode (MPU-6000 only)
TUATBM	0:c3af3416e383	2342	* If this is set, the primary SPI interface will be enabled in place of the
TUATBM	0:c3af3416e383	2343	* disabled primary I2C interface.
TUATBM	0:c3af3416e383	2344	*/
TUATBM	0:c3af3416e383	2345	void MPU6050::switchSPIEnabled(bool enabled) {
TUATBM	0:c3af3416e383	2346	I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
TUATBM	0:c3af3416e383	2347	}
TUATBM	0:c3af3416e383	2348	/** Reset the FIFO.
TUATBM	0:c3af3416e383	2349	* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
TUATBM	0:c3af3416e383	2350	* bit automatically clears to 0 after the reset has been triggered.
TUATBM	0:c3af3416e383	2351	* @see MPU6050_RA_USER_CTRL
TUATBM	0:c3af3416e383	2352	* @see MPU6050_USERCTRL_FIFO_RESET_BIT
TUATBM	0:c3af3416e383	2353	*/
TUATBM	0:c3af3416e383	2354	void MPU6050::resetFIFO() {
TUATBM	0:c3af3416e383	2355	I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
TUATBM	0:c3af3416e383	2356	}
TUATBM	0:c3af3416e383	2357	/** Reset the I2C Master.
TUATBM	0:c3af3416e383	2358	* This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
TUATBM	0:c3af3416e383	2359	* This bit automatically clears to 0 after the reset has been triggered.
TUATBM	0:c3af3416e383	2360	* @see MPU6050_RA_USER_CTRL
TUATBM	0:c3af3416e383	2361	* @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
TUATBM	0:c3af3416e383	2362	*/
TUATBM	0:c3af3416e383	2363	void MPU6050::resetI2CMaster() {
TUATBM	0:c3af3416e383	2364	I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
TUATBM	0:c3af3416e383	2365	}
TUATBM	0:c3af3416e383	2366	/** Reset all sensor registers and signal paths.
TUATBM	0:c3af3416e383	2367	* When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
TUATBM	0:c3af3416e383	2368	* accelerometers, and temperature sensor). This operation will also clear the
TUATBM	0:c3af3416e383	2369	* sensor registers. This bit automatically clears to 0 after the reset has been
TUATBM	0:c3af3416e383	2370	* triggered.
TUATBM	0:c3af3416e383	2371	*
TUATBM	0:c3af3416e383	2372	* When resetting only the signal path (and not the sensor registers), please
TUATBM	0:c3af3416e383	2373	* use Register 104, SIGNAL_PATH_RESET.
TUATBM	0:c3af3416e383	2374	*
TUATBM	0:c3af3416e383	2375	* @see MPU6050_RA_USER_CTRL
TUATBM	0:c3af3416e383	2376	* @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
TUATBM	0:c3af3416e383	2377	*/
TUATBM	0:c3af3416e383	2378	void MPU6050::resetSensors() {
TUATBM	0:c3af3416e383	2379	I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
TUATBM	0:c3af3416e383	2380	}
TUATBM	0:c3af3416e383	2381
TUATBM	0:c3af3416e383	2382	// PWR_MGMT_1 register
TUATBM	0:c3af3416e383	2383
TUATBM	0:c3af3416e383	2384	/** Trigger a full device reset.
TUATBM	0:c3af3416e383	2385	* A small delay of ~50ms may be desirable after triggering a reset.
TUATBM	0:c3af3416e383	2386	* @see MPU6050_RA_PWR_MGMT_1
TUATBM	0:c3af3416e383	2387	* @see MPU6050_PWR1_DEVICE_RESET_BIT
TUATBM	0:c3af3416e383	2388	*/
TUATBM	0:c3af3416e383	2389	void MPU6050::reset() {
TUATBM	0:c3af3416e383	2390	I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
TUATBM	0:c3af3416e383	2391	}
TUATBM	0:c3af3416e383	2392	/** Get sleep mode status.
TUATBM	0:c3af3416e383	2393	* Setting the SLEEP bit in the register puts the device into very low power
TUATBM	0:c3af3416e383	2394	* sleep mode. In this mode, only the serial interface and internal registers
TUATBM	0:c3af3416e383	2395	* remain active, allowing for a very low standby current. Clearing this bit
TUATBM	0:c3af3416e383	2396	* puts the device back into normal mode. To save power, the individual standby
TUATBM	0:c3af3416e383	2397	* selections for each of the gyros should be used if any gyro axis is not used
TUATBM	0:c3af3416e383	2398	* by the application.
TUATBM	0:c3af3416e383	2399	* @return Current sleep mode enabled status
TUATBM	0:c3af3416e383	2400	* @see MPU6050_RA_PWR_MGMT_1
TUATBM	0:c3af3416e383	2401	* @see MPU6050_PWR1_SLEEP_BIT
TUATBM	0:c3af3416e383	2402	*/
TUATBM	0:c3af3416e383	2403	bool MPU6050::getSleepEnabled() {
TUATBM	0:c3af3416e383	2404	I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
TUATBM	0:c3af3416e383	2405	return buffer[0];
TUATBM	0:c3af3416e383	2406	}
TUATBM	0:c3af3416e383	2407	/** Set sleep mode status.
TUATBM	0:c3af3416e383	2408	* @param enabled New sleep mode enabled status
TUATBM	0:c3af3416e383	2409	* @see getSleepEnabled()
TUATBM	0:c3af3416e383	2410	* @see MPU6050_RA_PWR_MGMT_1
TUATBM	0:c3af3416e383	2411	* @see MPU6050_PWR1_SLEEP_BIT
TUATBM	0:c3af3416e383	2412	*/
TUATBM	0:c3af3416e383	2413	void MPU6050::setSleepEnabled(bool enabled) {
TUATBM	0:c3af3416e383	2414	I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
TUATBM	0:c3af3416e383	2415	}
TUATBM	0:c3af3416e383	2416	/** Get wake cycle enabled status.
TUATBM	0:c3af3416e383	2417	* When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
TUATBM	0:c3af3416e383	2418	* between sleep mode and waking up to take a single sample of data from active
TUATBM	0:c3af3416e383	2419	* sensors at a rate determined by LP_WAKE_CTRL (register 108).
TUATBM	0:c3af3416e383	2420	* @return Current sleep mode enabled status
TUATBM	0:c3af3416e383	2421	* @see MPU6050_RA_PWR_MGMT_1
TUATBM	0:c3af3416e383	2422	* @see MPU6050_PWR1_CYCLE_BIT
TUATBM	0:c3af3416e383	2423	*/
TUATBM	0:c3af3416e383	2424	bool MPU6050::getWakeCycleEnabled() {
TUATBM	0:c3af3416e383	2425	I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
TUATBM	0:c3af3416e383	2426	return buffer[0];
TUATBM	0:c3af3416e383	2427	}
TUATBM	0:c3af3416e383	2428	/** Set wake cycle enabled status.
TUATBM	0:c3af3416e383	2429	* @param enabled New sleep mode enabled status
TUATBM	0:c3af3416e383	2430	* @see getWakeCycleEnabled()
TUATBM	0:c3af3416e383	2431	* @see MPU6050_RA_PWR_MGMT_1
TUATBM	0:c3af3416e383	2432	* @see MPU6050_PWR1_CYCLE_BIT
TUATBM	0:c3af3416e383	2433	*/
TUATBM	0:c3af3416e383	2434	void MPU6050::setWakeCycleEnabled(bool enabled) {
TUATBM	0:c3af3416e383	2435	I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
TUATBM	0:c3af3416e383	2436	}
TUATBM	0:c3af3416e383	2437	/** Get temperature sensor enabled status.
TUATBM	0:c3af3416e383	2438	* Control the usage of the internal temperature sensor.
TUATBM	0:c3af3416e383	2439	*
TUATBM	0:c3af3416e383	2440	* Note: this register stores the disabled value, but for consistency with the
TUATBM	0:c3af3416e383	2441	* rest of the code, the function is named and used with standard true/false
TUATBM	0:c3af3416e383	2442	* values to indicate whether the sensor is enabled or disabled, respectively.
TUATBM	0:c3af3416e383	2443	*
TUATBM	0:c3af3416e383	2444	* @return Current temperature sensor enabled status
TUATBM	0:c3af3416e383	2445	* @see MPU6050_RA_PWR_MGMT_1
TUATBM	0:c3af3416e383	2446	* @see MPU6050_PWR1_TEMP_DIS_BIT
TUATBM	0:c3af3416e383	2447	*/
TUATBM	0:c3af3416e383	2448	bool MPU6050::getTempSensorEnabled() {
TUATBM	0:c3af3416e383	2449	I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
TUATBM	0:c3af3416e383	2450	return buffer[0] == 0; // 1 is actually disabled here
TUATBM	0:c3af3416e383	2451	}
TUATBM	0:c3af3416e383	2452	/** Set temperature sensor enabled status.
TUATBM	0:c3af3416e383	2453	* Note: this register stores the disabled value, but for consistency with the
TUATBM	0:c3af3416e383	2454	* rest of the code, the function is named and used with standard true/false
TUATBM	0:c3af3416e383	2455	* values to indicate whether the sensor is enabled or disabled, respectively.
TUATBM	0:c3af3416e383	2456	*
TUATBM	0:c3af3416e383	2457	* @param enabled New temperature sensor enabled status
TUATBM	0:c3af3416e383	2458	* @see getTempSensorEnabled()
TUATBM	0:c3af3416e383	2459	* @see MPU6050_RA_PWR_MGMT_1
TUATBM	0:c3af3416e383	2460	* @see MPU6050_PWR1_TEMP_DIS_BIT
TUATBM	0:c3af3416e383	2461	*/
TUATBM	0:c3af3416e383	2462	void MPU6050::setTempSensorEnabled(bool enabled) {
TUATBM	0:c3af3416e383	2463	// 1 is actually disabled here
TUATBM	0:c3af3416e383	2464	I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
TUATBM	0:c3af3416e383	2465	}
TUATBM	0:c3af3416e383	2466	/** Get clock source setting.
TUATBM	0:c3af3416e383	2467	* @return Current clock source setting
TUATBM	0:c3af3416e383	2468	* @see MPU6050_RA_PWR_MGMT_1
TUATBM	0:c3af3416e383	2469	* @see MPU6050_PWR1_CLKSEL_BIT
TUATBM	0:c3af3416e383	2470	* @see MPU6050_PWR1_CLKSEL_LENGTH
TUATBM	0:c3af3416e383	2471	*/
TUATBM	0:c3af3416e383	2472	uint8_t MPU6050::getClockSource() {
TUATBM	0:c3af3416e383	2473	I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
TUATBM	0:c3af3416e383	2474	return buffer[0];
TUATBM	0:c3af3416e383	2475	}
TUATBM	0:c3af3416e383	2476	/** Set clock source setting.
TUATBM	0:c3af3416e383	2477	* An internal 8MHz oscillator, gyroscope based clock, or external sources can
TUATBM	0:c3af3416e383	2478	* be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
TUATBM	0:c3af3416e383	2479	* or an external source is chosen as the clock source, the MPU-60X0 can operate
TUATBM	0:c3af3416e383	2480	* in low power modes with the gyroscopes disabled.
TUATBM	0:c3af3416e383	2481	*
TUATBM	0:c3af3416e383	2482	* Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
TUATBM	0:c3af3416e383	2483	* However, it is highly recommended that the device be configured to use one of
TUATBM	0:c3af3416e383	2484	* the gyroscopes (or an external clock source) as the clock reference for
TUATBM	0:c3af3416e383	2485	* improved stability. The clock source can be selected according to the following table:
TUATBM	0:c3af3416e383	2486	*
TUATBM	0:c3af3416e383	2487	* <pre>
TUATBM	0:c3af3416e383	2488	* CLK_SEL \| Clock Source
TUATBM	0:c3af3416e383	2489	* --------+--------------------------------------
TUATBM	0:c3af3416e383	2490	* 0 \| Internal oscillator
TUATBM	0:c3af3416e383	2491	* 1 \| PLL with X Gyro reference
TUATBM	0:c3af3416e383	2492	* 2 \| PLL with Y Gyro reference
TUATBM	0:c3af3416e383	2493	* 3 \| PLL with Z Gyro reference
TUATBM	0:c3af3416e383	2494	* 4 \| PLL with external 32.768kHz reference
TUATBM	0:c3af3416e383	2495	* 5 \| PLL with external 19.2MHz reference
TUATBM	0:c3af3416e383	2496	* 6 \| Reserved
TUATBM	0:c3af3416e383	2497	* 7 \| Stops the clock and keeps the timing generator in reset
TUATBM	0:c3af3416e383	2498	* </pre>
TUATBM	0:c3af3416e383	2499	*
TUATBM	0:c3af3416e383	2500	* @param source New clock source setting
TUATBM	0:c3af3416e383	2501	* @see getClockSource()
TUATBM	0:c3af3416e383	2502	* @see MPU6050_RA_PWR_MGMT_1
TUATBM	0:c3af3416e383	2503	* @see MPU6050_PWR1_CLKSEL_BIT
TUATBM	0:c3af3416e383	2504	* @see MPU6050_PWR1_CLKSEL_LENGTH
TUATBM	0:c3af3416e383	2505	*/
TUATBM	0:c3af3416e383	2506	void MPU6050::setClockSource(uint8_t source) {
TUATBM	0:c3af3416e383	2507	I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
TUATBM	0:c3af3416e383	2508	}
TUATBM	0:c3af3416e383	2509
TUATBM	0:c3af3416e383	2510	// PWR_MGMT_2 register
TUATBM	0:c3af3416e383	2511
TUATBM	0:c3af3416e383	2512	/** Get wake frequency in Accel-Only Low Power Mode.
TUATBM	0:c3af3416e383	2513	* The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
TUATBM	0:c3af3416e383	2514	* PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
TUATBM	0:c3af3416e383	2515	* the device will power off all devices except for the primary I2C interface,
TUATBM	0:c3af3416e383	2516	* waking only the accelerometer at fixed intervals to take a single
TUATBM	0:c3af3416e383	2517	* measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
TUATBM	0:c3af3416e383	2518	* as shown below:
TUATBM	0:c3af3416e383	2519	*
TUATBM	0:c3af3416e383	2520	* <pre>
TUATBM	0:c3af3416e383	2521	* LP_WAKE_CTRL \| Wake-up Frequency
TUATBM	0:c3af3416e383	2522	* -------------+------------------
TUATBM	0:c3af3416e383	2523	* 0 \| 1.25 Hz
TUATBM	0:c3af3416e383	2524	* 1 \| 2.5 Hz
TUATBM	0:c3af3416e383	2525	* 2 \| 5 Hz
TUATBM	0:c3af3416e383	2526	* 3 \| 10 Hz
TUATBM	0:c3af3416e383	2527	* </pre>
TUATBM	0:c3af3416e383	2528	*
TUATBM	0:c3af3416e383	2529	* For further information regarding the MPU-60X0's power modes, please refer to
TUATBM	0:c3af3416e383	2530	* Register 107.
TUATBM	0:c3af3416e383	2531	*
TUATBM	0:c3af3416e383	2532	* @return Current wake frequency
TUATBM	0:c3af3416e383	2533	* @see MPU6050_RA_PWR_MGMT_2
TUATBM	0:c3af3416e383	2534	*/
TUATBM	0:c3af3416e383	2535	uint8_t MPU6050::getWakeFrequency() {
TUATBM	0:c3af3416e383	2536	I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
TUATBM	0:c3af3416e383	2537	return buffer[0];
TUATBM	0:c3af3416e383	2538	}
TUATBM	0:c3af3416e383	2539	/** Set wake frequency in Accel-Only Low Power Mode.
TUATBM	0:c3af3416e383	2540	* @param frequency New wake frequency
TUATBM	0:c3af3416e383	2541	* @see MPU6050_RA_PWR_MGMT_2
TUATBM	0:c3af3416e383	2542	*/
TUATBM	0:c3af3416e383	2543	void MPU6050::setWakeFrequency(uint8_t frequency) {
TUATBM	0:c3af3416e383	2544	I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
TUATBM	0:c3af3416e383	2545	}
TUATBM	0:c3af3416e383	2546
TUATBM	0:c3af3416e383	2547	/** Get X-axis accelerometer standby enabled status.
TUATBM	0:c3af3416e383	2548	* If enabled, the X-axis will not gather or report data (or use power).
TUATBM	0:c3af3416e383	2549	* @return Current X-axis standby enabled status
TUATBM	0:c3af3416e383	2550	* @see MPU6050_RA_PWR_MGMT_2
TUATBM	0:c3af3416e383	2551	* @see MPU6050_PWR2_STBY_XA_BIT
TUATBM	0:c3af3416e383	2552	*/
TUATBM	0:c3af3416e383	2553	bool MPU6050::getStandbyXAccelEnabled() {
TUATBM	0:c3af3416e383	2554	I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
TUATBM	0:c3af3416e383	2555	return buffer[0];
TUATBM	0:c3af3416e383	2556	}
TUATBM	0:c3af3416e383	2557	/** Set X-axis accelerometer standby enabled status.
TUATBM	0:c3af3416e383	2558	* @param New X-axis standby enabled status
TUATBM	0:c3af3416e383	2559	* @see getStandbyXAccelEnabled()
TUATBM	0:c3af3416e383	2560	* @see MPU6050_RA_PWR_MGMT_2
TUATBM	0:c3af3416e383	2561	* @see MPU6050_PWR2_STBY_XA_BIT
TUATBM	0:c3af3416e383	2562	*/
TUATBM	0:c3af3416e383	2563	void MPU6050::setStandbyXAccelEnabled(bool enabled) {
TUATBM	0:c3af3416e383	2564	I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
TUATBM	0:c3af3416e383	2565	}
TUATBM	0:c3af3416e383	2566	/** Get Y-axis accelerometer standby enabled status.
TUATBM	0:c3af3416e383	2567	* If enabled, the Y-axis will not gather or report data (or use power).
TUATBM	0:c3af3416e383	2568	* @return Current Y-axis standby enabled status
TUATBM	0:c3af3416e383	2569	* @see MPU6050_RA_PWR_MGMT_2
TUATBM	0:c3af3416e383	2570	* @see MPU6050_PWR2_STBY_YA_BIT
TUATBM	0:c3af3416e383	2571	*/
TUATBM	0:c3af3416e383	2572	bool MPU6050::getStandbyYAccelEnabled() {
TUATBM	0:c3af3416e383	2573	I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
TUATBM	0:c3af3416e383	2574	return buffer[0];
TUATBM	0:c3af3416e383	2575	}
TUATBM	0:c3af3416e383	2576	/** Set Y-axis accelerometer standby enabled status.
TUATBM	0:c3af3416e383	2577	* @param New Y-axis standby enabled status
TUATBM	0:c3af3416e383	2578	* @see getStandbyYAccelEnabled()
TUATBM	0:c3af3416e383	2579	* @see MPU6050_RA_PWR_MGMT_2
TUATBM	0:c3af3416e383	2580	* @see MPU6050_PWR2_STBY_YA_BIT
TUATBM	0:c3af3416e383	2581	*/
TUATBM	0:c3af3416e383	2582	void MPU6050::setStandbyYAccelEnabled(bool enabled) {
TUATBM	0:c3af3416e383	2583	I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
TUATBM	0:c3af3416e383	2584	}
TUATBM	0:c3af3416e383	2585	/** Get Z-axis accelerometer standby enabled status.
TUATBM	0:c3af3416e383	2586	* If enabled, the Z-axis will not gather or report data (or use power).
TUATBM	0:c3af3416e383	2587	* @return Current Z-axis standby enabled status
TUATBM	0:c3af3416e383	2588	* @see MPU6050_RA_PWR_MGMT_2
TUATBM	0:c3af3416e383	2589	* @see MPU6050_PWR2_STBY_ZA_BIT
TUATBM	0:c3af3416e383	2590	*/
TUATBM	0:c3af3416e383	2591	bool MPU6050::getStandbyZAccelEnabled() {
TUATBM	0:c3af3416e383	2592	I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
TUATBM	0:c3af3416e383	2593	return buffer[0];
TUATBM	0:c3af3416e383	2594	}
TUATBM	0:c3af3416e383	2595	/** Set Z-axis accelerometer standby enabled status.
TUATBM	0:c3af3416e383	2596	* @param New Z-axis standby enabled status
TUATBM	0:c3af3416e383	2597	* @see getStandbyZAccelEnabled()
TUATBM	0:c3af3416e383	2598	* @see MPU6050_RA_PWR_MGMT_2
TUATBM	0:c3af3416e383	2599	* @see MPU6050_PWR2_STBY_ZA_BIT
TUATBM	0:c3af3416e383	2600	*/
TUATBM	0:c3af3416e383	2601	void MPU6050::setStandbyZAccelEnabled(bool enabled) {
TUATBM	0:c3af3416e383	2602	I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
TUATBM	0:c3af3416e383	2603	}
TUATBM	0:c3af3416e383	2604	/** Get X-axis gyroscope standby enabled status.
TUATBM	0:c3af3416e383	2605	* If enabled, the X-axis will not gather or report data (or use power).
TUATBM	0:c3af3416e383	2606	* @return Current X-axis standby enabled status
TUATBM	0:c3af3416e383	2607	* @see MPU6050_RA_PWR_MGMT_2
TUATBM	0:c3af3416e383	2608	* @see MPU6050_PWR2_STBY_XG_BIT
TUATBM	0:c3af3416e383	2609	*/
TUATBM	0:c3af3416e383	2610	bool MPU6050::getStandbyXGyroEnabled() {
TUATBM	0:c3af3416e383	2611	I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
TUATBM	0:c3af3416e383	2612	return buffer[0];
TUATBM	0:c3af3416e383	2613	}
TUATBM	0:c3af3416e383	2614	/** Set X-axis gyroscope standby enabled status.
TUATBM	0:c3af3416e383	2615	* @param New X-axis standby enabled status
TUATBM	0:c3af3416e383	2616	* @see getStandbyXGyroEnabled()
TUATBM	0:c3af3416e383	2617	* @see MPU6050_RA_PWR_MGMT_2
TUATBM	0:c3af3416e383	2618	* @see MPU6050_PWR2_STBY_XG_BIT
TUATBM	0:c3af3416e383	2619	*/
TUATBM	0:c3af3416e383	2620	void MPU6050::setStandbyXGyroEnabled(bool enabled) {
TUATBM	0:c3af3416e383	2621	I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
TUATBM	0:c3af3416e383	2622	}
TUATBM	0:c3af3416e383	2623	/** Get Y-axis gyroscope standby enabled status.
TUATBM	0:c3af3416e383	2624	* If enabled, the Y-axis will not gather or report data (or use power).
TUATBM	0:c3af3416e383	2625	* @return Current Y-axis standby enabled status
TUATBM	0:c3af3416e383	2626	* @see MPU6050_RA_PWR_MGMT_2
TUATBM	0:c3af3416e383	2627	* @see MPU6050_PWR2_STBY_YG_BIT
TUATBM	0:c3af3416e383	2628	*/
TUATBM	0:c3af3416e383	2629	bool MPU6050::getStandbyYGyroEnabled() {
TUATBM	0:c3af3416e383	2630	I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
TUATBM	0:c3af3416e383	2631	return buffer[0];
TUATBM	0:c3af3416e383	2632	}
TUATBM	0:c3af3416e383	2633	/** Set Y-axis gyroscope standby enabled status.
TUATBM	0:c3af3416e383	2634	* @param New Y-axis standby enabled status
TUATBM	0:c3af3416e383	2635	* @see getStandbyYGyroEnabled()
TUATBM	0:c3af3416e383	2636	* @see MPU6050_RA_PWR_MGMT_2
TUATBM	0:c3af3416e383	2637	* @see MPU6050_PWR2_STBY_YG_BIT
TUATBM	0:c3af3416e383	2638	*/
TUATBM	0:c3af3416e383	2639	void MPU6050::setStandbyYGyroEnabled(bool enabled) {
TUATBM	0:c3af3416e383	2640	I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
TUATBM	0:c3af3416e383	2641	}
TUATBM	0:c3af3416e383	2642	/** Get Z-axis gyroscope standby enabled status.
TUATBM	0:c3af3416e383	2643	* If enabled, the Z-axis will not gather or report data (or use power).
TUATBM	0:c3af3416e383	2644	* @return Current Z-axis standby enabled status
TUATBM	0:c3af3416e383	2645	* @see MPU6050_RA_PWR_MGMT_2
TUATBM	0:c3af3416e383	2646	* @see MPU6050_PWR2_STBY_ZG_BIT
TUATBM	0:c3af3416e383	2647	*/
TUATBM	0:c3af3416e383	2648	bool MPU6050::getStandbyZGyroEnabled() {
TUATBM	0:c3af3416e383	2649	I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
TUATBM	0:c3af3416e383	2650	return buffer[0];
TUATBM	0:c3af3416e383	2651	}
TUATBM	0:c3af3416e383	2652	/** Set Z-axis gyroscope standby enabled status.
TUATBM	0:c3af3416e383	2653	* @param New Z-axis standby enabled status
TUATBM	0:c3af3416e383	2654	* @see getStandbyZGyroEnabled()
TUATBM	0:c3af3416e383	2655	* @see MPU6050_RA_PWR_MGMT_2
TUATBM	0:c3af3416e383	2656	* @see MPU6050_PWR2_STBY_ZG_BIT
TUATBM	0:c3af3416e383	2657	*/
TUATBM	0:c3af3416e383	2658	void MPU6050::setStandbyZGyroEnabled(bool enabled) {
TUATBM	0:c3af3416e383	2659	I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
TUATBM	0:c3af3416e383	2660	}
TUATBM	0:c3af3416e383	2661
TUATBM	0:c3af3416e383	2662	// FIFO_COUNT* registers
TUATBM	0:c3af3416e383	2663
TUATBM	0:c3af3416e383	2664	/** Get current FIFO buffer size.
TUATBM	0:c3af3416e383	2665	* This value indicates the number of bytes stored in the FIFO buffer. This
TUATBM	0:c3af3416e383	2666	* number is in turn the number of bytes that can be read from the FIFO buffer
TUATBM	0:c3af3416e383	2667	* and it is directly proportional to the number of samples available given the
TUATBM	0:c3af3416e383	2668	* set of sensor data bound to be stored in the FIFO (register 35 and 36).
TUATBM	0:c3af3416e383	2669	* @return Current FIFO buffer size
TUATBM	0:c3af3416e383	2670	*/
TUATBM	0:c3af3416e383	2671	uint16_t MPU6050::getFIFOCount() {
TUATBM	0:c3af3416e383	2672	I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
TUATBM	0:c3af3416e383	2673	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
TUATBM	0:c3af3416e383	2674	}
TUATBM	0:c3af3416e383	2675
TUATBM	0:c3af3416e383	2676	// FIFO_R_W register
TUATBM	0:c3af3416e383	2677
TUATBM	0:c3af3416e383	2678	/** Get byte from FIFO buffer.
TUATBM	0:c3af3416e383	2679	* This register is used to read and write data from the FIFO buffer. Data is
TUATBM	0:c3af3416e383	2680	* written to the FIFO in order of register number (from lowest to highest). If
TUATBM	0:c3af3416e383	2681	* all the FIFO enable flags (see below) are enabled and all External Sensor
TUATBM	0:c3af3416e383	2682	* Data registers (Registers 73 to 96) are associated with a Slave device, the
TUATBM	0:c3af3416e383	2683	* contents of registers 59 through 96 will be written in order at the Sample
TUATBM	0:c3af3416e383	2684	* Rate.
TUATBM	0:c3af3416e383	2685	*
TUATBM	0:c3af3416e383	2686	* The contents of the sensor data registers (Registers 59 to 96) are written
TUATBM	0:c3af3416e383	2687	* into the FIFO buffer when their corresponding FIFO enable flags are set to 1
TUATBM	0:c3af3416e383	2688	* in FIFO_EN (Register 35). An additional flag for the sensor data registers
TUATBM	0:c3af3416e383	2689	* associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
TUATBM	0:c3af3416e383	2690	*
TUATBM	0:c3af3416e383	2691	* If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
TUATBM	0:c3af3416e383	2692	* automatically set to 1. This bit is located in INT_STATUS (Register 58).
TUATBM	0:c3af3416e383	2693	* When the FIFO buffer has overflowed, the oldest data will be lost and new
TUATBM	0:c3af3416e383	2694	* data will be written to the FIFO.
TUATBM	0:c3af3416e383	2695	*
TUATBM	0:c3af3416e383	2696	* If the FIFO buffer is empty, reading this register will return the last byte
TUATBM	0:c3af3416e383	2697	* that was previously read from the FIFO until new data is available. The user
TUATBM	0:c3af3416e383	2698	* should check FIFO_COUNT to ensure that the FIFO buffer is not read when
TUATBM	0:c3af3416e383	2699	* empty.
TUATBM	0:c3af3416e383	2700	*
TUATBM	0:c3af3416e383	2701	* @return Byte from FIFO buffer
TUATBM	0:c3af3416e383	2702	*/
TUATBM	0:c3af3416e383	2703	uint8_t MPU6050::getFIFOByte() {
TUATBM	0:c3af3416e383	2704	I2Cdev::readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
TUATBM	0:c3af3416e383	2705	return buffer[0];
TUATBM	0:c3af3416e383	2706	}
TUATBM	0:c3af3416e383	2707	void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) {
TUATBM	0:c3af3416e383	2708	if(length > 0){
TUATBM	0:c3af3416e383	2709	I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
TUATBM	0:c3af3416e383	2710	} else {
TUATBM	0:c3af3416e383	2711	*data = 0;
TUATBM	0:c3af3416e383	2712	}
TUATBM	0:c3af3416e383	2713	}
TUATBM	0:c3af3416e383	2714	/** Write byte to FIFO buffer.
TUATBM	0:c3af3416e383	2715	* @see getFIFOByte()
TUATBM	0:c3af3416e383	2716	* @see MPU6050_RA_FIFO_R_W
TUATBM	0:c3af3416e383	2717	*/
TUATBM	0:c3af3416e383	2718	void MPU6050::setFIFOByte(uint8_t data) {
TUATBM	0:c3af3416e383	2719	I2Cdev::writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
TUATBM	0:c3af3416e383	2720	}
TUATBM	0:c3af3416e383	2721
TUATBM	0:c3af3416e383	2722	// WHO_AM_I register
TUATBM	0:c3af3416e383	2723
TUATBM	0:c3af3416e383	2724	/** Get Device ID.
TUATBM	0:c3af3416e383	2725	* This register is used to verify the identity of the device (0b110100, 0x34).
TUATBM	0:c3af3416e383	2726	* @return Device ID (6 bits only! should be 0x34)
TUATBM	0:c3af3416e383	2727	* @see MPU6050_RA_WHO_AM_I
TUATBM	0:c3af3416e383	2728	* @see MPU6050_WHO_AM_I_BIT
TUATBM	0:c3af3416e383	2729	* @see MPU6050_WHO_AM_I_LENGTH
TUATBM	0:c3af3416e383	2730	*/
TUATBM	0:c3af3416e383	2731	uint8_t MPU6050::getDeviceID() {
TUATBM	0:c3af3416e383	2732	I2Cdev::readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
TUATBM	0:c3af3416e383	2733	return buffer[0];
TUATBM	0:c3af3416e383	2734	}
TUATBM	0:c3af3416e383	2735	/** Set Device ID.
TUATBM	0:c3af3416e383	2736	* Write a new ID into the WHO_AM_I register (no idea why this should ever be
TUATBM	0:c3af3416e383	2737	* necessary though).
TUATBM	0:c3af3416e383	2738	* @param id New device ID to set.
TUATBM	0:c3af3416e383	2739	* @see getDeviceID()
TUATBM	0:c3af3416e383	2740	* @see MPU6050_RA_WHO_AM_I
TUATBM	0:c3af3416e383	2741	* @see MPU6050_WHO_AM_I_BIT
TUATBM	0:c3af3416e383	2742	* @see MPU6050_WHO_AM_I_LENGTH
TUATBM	0:c3af3416e383	2743	*/
TUATBM	0:c3af3416e383	2744	void MPU6050::setDeviceID(uint8_t id) {
TUATBM	0:c3af3416e383	2745	I2Cdev::writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
TUATBM	0:c3af3416e383	2746	}
TUATBM	0:c3af3416e383	2747
TUATBM	0:c3af3416e383	2748	// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
TUATBM	0:c3af3416e383	2749
TUATBM	0:c3af3416e383	2750	// XG_OFFS_TC register
TUATBM	0:c3af3416e383	2751
TUATBM	0:c3af3416e383	2752	uint8_t MPU6050::getOTPBankValid() {
TUATBM	0:c3af3416e383	2753	I2Cdev::readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
TUATBM	0:c3af3416e383	2754	return buffer[0];
TUATBM	0:c3af3416e383	2755	}
TUATBM	0:c3af3416e383	2756	void MPU6050::setOTPBankValid(bool enabled) {
TUATBM	0:c3af3416e383	2757	I2Cdev::writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
TUATBM	0:c3af3416e383	2758	}
TUATBM	0:c3af3416e383	2759	int8_t MPU6050::getXGyroOffsetTC() {
TUATBM	0:c3af3416e383	2760	I2Cdev::readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
TUATBM	0:c3af3416e383	2761	return buffer[0];
TUATBM	0:c3af3416e383	2762	}
TUATBM	0:c3af3416e383	2763	void MPU6050::setXGyroOffsetTC(int8_t offset) {
TUATBM	0:c3af3416e383	2764	I2Cdev::writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
TUATBM	0:c3af3416e383	2765	}
TUATBM	0:c3af3416e383	2766
TUATBM	0:c3af3416e383	2767	// YG_OFFS_TC register
TUATBM	0:c3af3416e383	2768
TUATBM	0:c3af3416e383	2769	int8_t MPU6050::getYGyroOffsetTC() {
TUATBM	0:c3af3416e383	2770	I2Cdev::readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
TUATBM	0:c3af3416e383	2771	return buffer[0];
TUATBM	0:c3af3416e383	2772	}
TUATBM	0:c3af3416e383	2773	void MPU6050::setYGyroOffsetTC(int8_t offset) {
TUATBM	0:c3af3416e383	2774	I2Cdev::writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
TUATBM	0:c3af3416e383	2775	}
TUATBM	0:c3af3416e383	2776
TUATBM	0:c3af3416e383	2777	// ZG_OFFS_TC register
TUATBM	0:c3af3416e383	2778
TUATBM	0:c3af3416e383	2779	int8_t MPU6050::getZGyroOffsetTC() {
TUATBM	0:c3af3416e383	2780	I2Cdev::readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
TUATBM	0:c3af3416e383	2781	return buffer[0];
TUATBM	0:c3af3416e383	2782	}
TUATBM	0:c3af3416e383	2783	void MPU6050::setZGyroOffsetTC(int8_t offset) {
TUATBM	0:c3af3416e383	2784	I2Cdev::writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
TUATBM	0:c3af3416e383	2785	}
TUATBM	0:c3af3416e383	2786
TUATBM	0:c3af3416e383	2787	// X_FINE_GAIN register
TUATBM	0:c3af3416e383	2788
TUATBM	0:c3af3416e383	2789	int8_t MPU6050::getXFineGain() {
TUATBM	0:c3af3416e383	2790	I2Cdev::readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
TUATBM	0:c3af3416e383	2791	return buffer[0];
TUATBM	0:c3af3416e383	2792	}
TUATBM	0:c3af3416e383	2793	void MPU6050::setXFineGain(int8_t gain) {
TUATBM	0:c3af3416e383	2794	I2Cdev::writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
TUATBM	0:c3af3416e383	2795	}
TUATBM	0:c3af3416e383	2796
TUATBM	0:c3af3416e383	2797	// Y_FINE_GAIN register
TUATBM	0:c3af3416e383	2798
TUATBM	0:c3af3416e383	2799	int8_t MPU6050::getYFineGain() {
TUATBM	0:c3af3416e383	2800	I2Cdev::readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
TUATBM	0:c3af3416e383	2801	return buffer[0];
TUATBM	0:c3af3416e383	2802	}
TUATBM	0:c3af3416e383	2803	void MPU6050::setYFineGain(int8_t gain) {
TUATBM	0:c3af3416e383	2804	I2Cdev::writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
TUATBM	0:c3af3416e383	2805	}
TUATBM	0:c3af3416e383	2806
TUATBM	0:c3af3416e383	2807	// Z_FINE_GAIN register
TUATBM	0:c3af3416e383	2808
TUATBM	0:c3af3416e383	2809	int8_t MPU6050::getZFineGain() {
TUATBM	0:c3af3416e383	2810	I2Cdev::readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
TUATBM	0:c3af3416e383	2811	return buffer[0];
TUATBM	0:c3af3416e383	2812	}
TUATBM	0:c3af3416e383	2813	void MPU6050::setZFineGain(int8_t gain) {
TUATBM	0:c3af3416e383	2814	I2Cdev::writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
TUATBM	0:c3af3416e383	2815	}
TUATBM	0:c3af3416e383	2816
TUATBM	0:c3af3416e383	2817	// XA_OFFS_* registers
TUATBM	0:c3af3416e383	2818
TUATBM	0:c3af3416e383	2819	int16_t MPU6050::getXAccelOffset() {
TUATBM	0:c3af3416e383	2820	I2Cdev::readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
TUATBM	0:c3af3416e383	2821	return (((int16_t)buffer[0]) << 8) \| buffer[1];
TUATBM	0:c3af3416e383	2822	}
TUATBM	0:c3af3416e383	2823	void MPU6050::setXAccelOffset(int16_t offset) {
TUATBM	0:c3af3416e383	2824	I2Cdev::writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
TUATBM	0:c3af3416e383	2825	}
TUATBM	0:c3af3416e383	2826
TUATBM	0:c3af3416e383	2827	// YA_OFFS_* register
TUATBM	0:c3af3416e383	2828
TUATBM	0:c3af3416e383	2829	int16_t MPU6050::getYAccelOffset() {
TUATBM	0:c3af3416e383	2830	I2Cdev::readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
TUATBM	0:c3af3416e383	2831	return (((int16_t)buffer[0]) << 8) \| buffer[1];
TUATBM	0:c3af3416e383	2832	}
TUATBM	0:c3af3416e383	2833	void MPU6050::setYAccelOffset(int16_t offset) {
TUATBM	0:c3af3416e383	2834	I2Cdev::writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
TUATBM	0:c3af3416e383	2835	}
TUATBM	0:c3af3416e383	2836
TUATBM	0:c3af3416e383	2837	// ZA_OFFS_* register
TUATBM	0:c3af3416e383	2838
TUATBM	0:c3af3416e383	2839	int16_t MPU6050::getZAccelOffset() {
TUATBM	0:c3af3416e383	2840	I2Cdev::readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
TUATBM	0:c3af3416e383	2841	return (((int16_t)buffer[0]) << 8) \| buffer[1];
TUATBM	0:c3af3416e383	2842	}
TUATBM	0:c3af3416e383	2843	void MPU6050::setZAccelOffset(int16_t offset) {
TUATBM	0:c3af3416e383	2844	I2Cdev::writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
TUATBM	0:c3af3416e383	2845	}
TUATBM	0:c3af3416e383	2846
TUATBM	0:c3af3416e383	2847	// XG_OFFS_USR* registers
TUATBM	0:c3af3416e383	2848
TUATBM	0:c3af3416e383	2849	int16_t MPU6050::getXGyroOffset() {
TUATBM	0:c3af3416e383	2850	I2Cdev::readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
TUATBM	0:c3af3416e383	2851	return (((int16_t)buffer[0]) << 8) \| buffer[1];
TUATBM	0:c3af3416e383	2852	}
TUATBM	0:c3af3416e383	2853	void MPU6050::setXGyroOffset(int16_t offset) {
TUATBM	0:c3af3416e383	2854	I2Cdev::writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
TUATBM	0:c3af3416e383	2855	}
TUATBM	0:c3af3416e383	2856
TUATBM	0:c3af3416e383	2857	// YG_OFFS_USR* register
TUATBM	0:c3af3416e383	2858
TUATBM	0:c3af3416e383	2859	int16_t MPU6050::getYGyroOffset() {
TUATBM	0:c3af3416e383	2860	I2Cdev::readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
TUATBM	0:c3af3416e383	2861	return (((int16_t)buffer[0]) << 8) \| buffer[1];
TUATBM	0:c3af3416e383	2862	}
TUATBM	0:c3af3416e383	2863	void MPU6050::setYGyroOffset(int16_t offset) {
TUATBM	0:c3af3416e383	2864	I2Cdev::writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
TUATBM	0:c3af3416e383	2865	}
TUATBM	0:c3af3416e383	2866
TUATBM	0:c3af3416e383	2867	// ZG_OFFS_USR* register
TUATBM	0:c3af3416e383	2868
TUATBM	0:c3af3416e383	2869	int16_t MPU6050::getZGyroOffset() {
TUATBM	0:c3af3416e383	2870	I2Cdev::readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
TUATBM	0:c3af3416e383	2871	return (((int16_t)buffer[0]) << 8) \| buffer[1];
TUATBM	0:c3af3416e383	2872	}
TUATBM	0:c3af3416e383	2873	void MPU6050::setZGyroOffset(int16_t offset) {
TUATBM	0:c3af3416e383	2874	I2Cdev::writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
TUATBM	0:c3af3416e383	2875	}
TUATBM	0:c3af3416e383	2876
TUATBM	0:c3af3416e383	2877	// INT_ENABLE register (DMP functions)
TUATBM	0:c3af3416e383	2878
TUATBM	0:c3af3416e383	2879	bool MPU6050::getIntPLLReadyEnabled() {
TUATBM	0:c3af3416e383	2880	I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
TUATBM	0:c3af3416e383	2881	return buffer[0];
TUATBM	0:c3af3416e383	2882	}
TUATBM	0:c3af3416e383	2883	void MPU6050::setIntPLLReadyEnabled(bool enabled) {
TUATBM	0:c3af3416e383	2884	I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
TUATBM	0:c3af3416e383	2885	}
TUATBM	0:c3af3416e383	2886	bool MPU6050::getIntDMPEnabled() {
TUATBM	0:c3af3416e383	2887	I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
TUATBM	0:c3af3416e383	2888	return buffer[0];
TUATBM	0:c3af3416e383	2889	}
TUATBM	0:c3af3416e383	2890	void MPU6050::setIntDMPEnabled(bool enabled) {
TUATBM	0:c3af3416e383	2891	I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
TUATBM	0:c3af3416e383	2892	}
TUATBM	0:c3af3416e383	2893
TUATBM	0:c3af3416e383	2894	// DMP_INT_STATUS
TUATBM	0:c3af3416e383	2895
TUATBM	0:c3af3416e383	2896	bool MPU6050::getDMPInt5Status() {
TUATBM	0:c3af3416e383	2897	I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
TUATBM	0:c3af3416e383	2898	return buffer[0];
TUATBM	0:c3af3416e383	2899	}
TUATBM	0:c3af3416e383	2900	bool MPU6050::getDMPInt4Status() {
TUATBM	0:c3af3416e383	2901	I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
TUATBM	0:c3af3416e383	2902	return buffer[0];
TUATBM	0:c3af3416e383	2903	}
TUATBM	0:c3af3416e383	2904	bool MPU6050::getDMPInt3Status() {
TUATBM	0:c3af3416e383	2905	I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
TUATBM	0:c3af3416e383	2906	return buffer[0];
TUATBM	0:c3af3416e383	2907	}
TUATBM	0:c3af3416e383	2908	bool MPU6050::getDMPInt2Status() {
TUATBM	0:c3af3416e383	2909	I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
TUATBM	0:c3af3416e383	2910	return buffer[0];
TUATBM	0:c3af3416e383	2911	}
TUATBM	0:c3af3416e383	2912	bool MPU6050::getDMPInt1Status() {
TUATBM	0:c3af3416e383	2913	I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
TUATBM	0:c3af3416e383	2914	return buffer[0];
TUATBM	0:c3af3416e383	2915	}
TUATBM	0:c3af3416e383	2916	bool MPU6050::getDMPInt0Status() {
TUATBM	0:c3af3416e383	2917	I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
TUATBM	0:c3af3416e383	2918	return buffer[0];
TUATBM	0:c3af3416e383	2919	}
TUATBM	0:c3af3416e383	2920
TUATBM	0:c3af3416e383	2921	// INT_STATUS register (DMP functions)
TUATBM	0:c3af3416e383	2922
TUATBM	0:c3af3416e383	2923	bool MPU6050::getIntPLLReadyStatus() {
TUATBM	0:c3af3416e383	2924	I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
TUATBM	0:c3af3416e383	2925	return buffer[0];
TUATBM	0:c3af3416e383	2926	}
TUATBM	0:c3af3416e383	2927	bool MPU6050::getIntDMPStatus() {
TUATBM	0:c3af3416e383	2928	I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
TUATBM	0:c3af3416e383	2929	return buffer[0];
TUATBM	0:c3af3416e383	2930	}
TUATBM	0:c3af3416e383	2931
TUATBM	0:c3af3416e383	2932	// USER_CTRL register (DMP functions)
TUATBM	0:c3af3416e383	2933
TUATBM	0:c3af3416e383	2934	bool MPU6050::getDMPEnabled() {
TUATBM	0:c3af3416e383	2935	I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
TUATBM	0:c3af3416e383	2936	return buffer[0];
TUATBM	0:c3af3416e383	2937	}
TUATBM	0:c3af3416e383	2938	void MPU6050::setDMPEnabled(bool enabled) {
TUATBM	0:c3af3416e383	2939	I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
TUATBM	0:c3af3416e383	2940	}
TUATBM	0:c3af3416e383	2941	void MPU6050::resetDMP() {
TUATBM	0:c3af3416e383	2942	I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
TUATBM	0:c3af3416e383	2943	}
TUATBM	0:c3af3416e383	2944
TUATBM	0:c3af3416e383	2945	// BANK_SEL register
TUATBM	0:c3af3416e383	2946
TUATBM	0:c3af3416e383	2947	void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank) {
TUATBM	0:c3af3416e383	2948	bank &= 0x1F;
TUATBM	0:c3af3416e383	2949	if (userBank) bank \|= 0x20;
TUATBM	0:c3af3416e383	2950	if (prefetchEnabled) bank \|= 0x40;
TUATBM	0:c3af3416e383	2951	I2Cdev::writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
TUATBM	0:c3af3416e383	2952	}
TUATBM	0:c3af3416e383	2953
TUATBM	0:c3af3416e383	2954	// MEM_START_ADDR register
TUATBM	0:c3af3416e383	2955
TUATBM	0:c3af3416e383	2956	void MPU6050::setMemoryStartAddress(uint8_t address) {
TUATBM	0:c3af3416e383	2957	I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
TUATBM	0:c3af3416e383	2958	}
TUATBM	0:c3af3416e383	2959
TUATBM	0:c3af3416e383	2960	// MEM_R_W register
TUATBM	0:c3af3416e383	2961
TUATBM	0:c3af3416e383	2962	uint8_t MPU6050::readMemoryByte() {
TUATBM	0:c3af3416e383	2963	I2Cdev::readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
TUATBM	0:c3af3416e383	2964	return buffer[0];
TUATBM	0:c3af3416e383	2965	}
TUATBM	0:c3af3416e383	2966	void MPU6050::writeMemoryByte(uint8_t data) {
TUATBM	0:c3af3416e383	2967	I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
TUATBM	0:c3af3416e383	2968	}
TUATBM	0:c3af3416e383	2969	void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address) {
TUATBM	0:c3af3416e383	2970	setMemoryBank(bank);
TUATBM	0:c3af3416e383	2971	setMemoryStartAddress(address);
TUATBM	0:c3af3416e383	2972	uint8_t chunkSize;
TUATBM	0:c3af3416e383	2973	for (uint16_t i = 0; i < dataSize;) {
TUATBM	0:c3af3416e383	2974	// determine correct chunk size according to bank position and data size
TUATBM	0:c3af3416e383	2975	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
TUATBM	0:c3af3416e383	2976
TUATBM	0:c3af3416e383	2977	// make sure we don't go past the data size
TUATBM	0:c3af3416e383	2978	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
TUATBM	0:c3af3416e383	2979
TUATBM	0:c3af3416e383	2980	// make sure this chunk doesn't go past the bank boundary (256 bytes)
TUATBM	0:c3af3416e383	2981	if (chunkSize > 256 - address) chunkSize = 256 - address;
TUATBM	0:c3af3416e383	2982
TUATBM	0:c3af3416e383	2983	// read the chunk of data as specified
TUATBM	0:c3af3416e383	2984	I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
TUATBM	0:c3af3416e383	2985
TUATBM	0:c3af3416e383	2986	// increase byte index by [chunkSize]
TUATBM	0:c3af3416e383	2987	i += chunkSize;
TUATBM	0:c3af3416e383	2988
TUATBM	0:c3af3416e383	2989	// uint8_t automatically wraps to 0 at 256
TUATBM	0:c3af3416e383	2990	address += chunkSize;
TUATBM	0:c3af3416e383	2991
TUATBM	0:c3af3416e383	2992	// if we aren't done, update bank (if necessary) and address
TUATBM	0:c3af3416e383	2993	if (i < dataSize) {
TUATBM	0:c3af3416e383	2994	if (address == 0) bank++;
TUATBM	0:c3af3416e383	2995	setMemoryBank(bank);
TUATBM	0:c3af3416e383	2996	setMemoryStartAddress(address);
TUATBM	0:c3af3416e383	2997	}
TUATBM	0:c3af3416e383	2998	}
TUATBM	0:c3af3416e383	2999	}
TUATBM	0:c3af3416e383	3000	bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem) {
TUATBM	0:c3af3416e383	3001	setMemoryBank(bank);
TUATBM	0:c3af3416e383	3002	setMemoryStartAddress(address);
TUATBM	0:c3af3416e383	3003	uint8_t chunkSize;
TUATBM	0:c3af3416e383	3004	uint8_t *verifyBuffer;
TUATBM	0:c3af3416e383	3005	uint8_t *progBuffer=0;
TUATBM	0:c3af3416e383	3006	uint16_t i;
TUATBM	0:c3af3416e383	3007	uint8_t j;
TUATBM	0:c3af3416e383	3008	if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
TUATBM	0:c3af3416e383	3009	if (useProgMem) progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
TUATBM	0:c3af3416e383	3010	for (i = 0; i < dataSize;) {
TUATBM	0:c3af3416e383	3011	// determine correct chunk size according to bank position and data size
TUATBM	0:c3af3416e383	3012	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
TUATBM	0:c3af3416e383	3013
TUATBM	0:c3af3416e383	3014	// make sure we don't go past the data size
TUATBM	0:c3af3416e383	3015	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
TUATBM	0:c3af3416e383	3016
TUATBM	0:c3af3416e383	3017	// make sure this chunk doesn't go past the bank boundary (256 bytes)
TUATBM	0:c3af3416e383	3018	if (chunkSize > 256 - address) chunkSize = 256 - address;
TUATBM	0:c3af3416e383	3019
TUATBM	0:c3af3416e383	3020	if (useProgMem) {
TUATBM	0:c3af3416e383	3021	// write the chunk of data as specified
TUATBM	0:c3af3416e383	3022	for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
TUATBM	0:c3af3416e383	3023	} else {
TUATBM	0:c3af3416e383	3024	// write the chunk of data as specified
TUATBM	0:c3af3416e383	3025	progBuffer = (uint8_t *)data + i;
TUATBM	0:c3af3416e383	3026	}
TUATBM	0:c3af3416e383	3027
TUATBM	0:c3af3416e383	3028	I2Cdev::writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
TUATBM	0:c3af3416e383	3029
TUATBM	0:c3af3416e383	3030	// verify data if needed
TUATBM	0:c3af3416e383	3031	if (verify && verifyBuffer) {
TUATBM	0:c3af3416e383	3032	setMemoryBank(bank);
TUATBM	0:c3af3416e383	3033	setMemoryStartAddress(address);
TUATBM	0:c3af3416e383	3034	I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
TUATBM	0:c3af3416e383	3035	if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
TUATBM	0:c3af3416e383	3036	/*Serial.print("Block write verification error, bank ");
TUATBM	0:c3af3416e383	3037	Serial.print(bank, DEC);
TUATBM	0:c3af3416e383	3038	Serial.print(", address ");
TUATBM	0:c3af3416e383	3039	Serial.print(address, DEC);
TUATBM	0:c3af3416e383	3040	Serial.print("!\nExpected:");
TUATBM	0:c3af3416e383	3041	for (j = 0; j < chunkSize; j++) {
TUATBM	0:c3af3416e383	3042	Serial.print(" 0x");
TUATBM	0:c3af3416e383	3043	if (progBuffer[j] < 16) Serial.print("0");
TUATBM	0:c3af3416e383	3044	Serial.print(progBuffer[j], HEX);
TUATBM	0:c3af3416e383	3045	}
TUATBM	0:c3af3416e383	3046	Serial.print("\nReceived:");
TUATBM	0:c3af3416e383	3047	for (uint8_t j = 0; j < chunkSize; j++) {
TUATBM	0:c3af3416e383	3048	Serial.print(" 0x");
TUATBM	0:c3af3416e383	3049	if (verifyBuffer[i + j] < 16) Serial.print("0");
TUATBM	0:c3af3416e383	3050	Serial.print(verifyBuffer[i + j], HEX);
TUATBM	0:c3af3416e383	3051	}
TUATBM	0:c3af3416e383	3052	Serial.print("\n");*/
TUATBM	0:c3af3416e383	3053	free(verifyBuffer);
TUATBM	0:c3af3416e383	3054	if (useProgMem) free(progBuffer);
TUATBM	0:c3af3416e383	3055	return false; // uh oh.
TUATBM	0:c3af3416e383	3056	}
TUATBM	0:c3af3416e383	3057	}
TUATBM	0:c3af3416e383	3058
TUATBM	0:c3af3416e383	3059	// increase byte index by [chunkSize]
TUATBM	0:c3af3416e383	3060	i += chunkSize;
TUATBM	0:c3af3416e383	3061
TUATBM	0:c3af3416e383	3062	// uint8_t automatically wraps to 0 at 256
TUATBM	0:c3af3416e383	3063	address += chunkSize;
TUATBM	0:c3af3416e383	3064
TUATBM	0:c3af3416e383	3065	// if we aren't done, update bank (if necessary) and address
TUATBM	0:c3af3416e383	3066	if (i < dataSize) {
TUATBM	0:c3af3416e383	3067	if (address == 0) bank++;
TUATBM	0:c3af3416e383	3068	setMemoryBank(bank);
TUATBM	0:c3af3416e383	3069	setMemoryStartAddress(address);
TUATBM	0:c3af3416e383	3070	}
TUATBM	0:c3af3416e383	3071	}
TUATBM	0:c3af3416e383	3072	if (verify) free(verifyBuffer);
TUATBM	0:c3af3416e383	3073	if (useProgMem) free(progBuffer);
TUATBM	0:c3af3416e383	3074	return true;
TUATBM	0:c3af3416e383	3075	}
TUATBM	0:c3af3416e383	3076	bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify) {
TUATBM	0:c3af3416e383	3077	return writeMemoryBlock(data, dataSize, bank, address, verify, true);
TUATBM	0:c3af3416e383	3078	}
TUATBM	0:c3af3416e383	3079	bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem) {
TUATBM	0:c3af3416e383	3080	uint8_t *progBuffer = 0;
TUATBM	0:c3af3416e383	3081	uint8_t success, special;
TUATBM	0:c3af3416e383	3082	uint16_t i, j;
TUATBM	0:c3af3416e383	3083	if (useProgMem) {
TUATBM	0:c3af3416e383	3084	progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
TUATBM	0:c3af3416e383	3085	}
TUATBM	0:c3af3416e383	3086
TUATBM	0:c3af3416e383	3087	// config set data is a long string of blocks with the following structure:
TUATBM	0:c3af3416e383	3088	// [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
TUATBM	0:c3af3416e383	3089	uint8_t bank, offset, length;
TUATBM	0:c3af3416e383	3090	for (i = 0; i < dataSize;) {
TUATBM	0:c3af3416e383	3091	if (useProgMem) {
TUATBM	0:c3af3416e383	3092	bank = pgm_read_byte(data + i++);
TUATBM	0:c3af3416e383	3093	offset = pgm_read_byte(data + i++);
TUATBM	0:c3af3416e383	3094	length = pgm_read_byte(data + i++);
TUATBM	0:c3af3416e383	3095	} else {
TUATBM	0:c3af3416e383	3096	bank = data[i++];
TUATBM	0:c3af3416e383	3097	offset = data[i++];
TUATBM	0:c3af3416e383	3098	length = data[i++];
TUATBM	0:c3af3416e383	3099	}
TUATBM	0:c3af3416e383	3100
TUATBM	0:c3af3416e383	3101	// write data or perform special action
TUATBM	0:c3af3416e383	3102	if (length > 0) {
TUATBM	0:c3af3416e383	3103	// regular block of data to write
TUATBM	0:c3af3416e383	3104	/*Serial.print("Writing config block to bank ");
TUATBM	0:c3af3416e383	3105	Serial.print(bank);
TUATBM	0:c3af3416e383	3106	Serial.print(", offset ");
TUATBM	0:c3af3416e383	3107	Serial.print(offset);
TUATBM	0:c3af3416e383	3108	Serial.print(", length=");
TUATBM	0:c3af3416e383	3109	Serial.println(length);*/
TUATBM	0:c3af3416e383	3110	if (useProgMem) {
TUATBM	0:c3af3416e383	3111	if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length);
TUATBM	0:c3af3416e383	3112	for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j);
TUATBM	0:c3af3416e383	3113	} else {
TUATBM	0:c3af3416e383	3114	progBuffer = (uint8_t *)data + i;
TUATBM	0:c3af3416e383	3115	}
TUATBM	0:c3af3416e383	3116	success = writeMemoryBlock(progBuffer, length, bank, offset, true);
TUATBM	0:c3af3416e383	3117	i += length;
TUATBM	0:c3af3416e383	3118	} else {
TUATBM	0:c3af3416e383	3119	// special instruction
TUATBM	0:c3af3416e383	3120	// NOTE: this kind of behavior (what and when to do certain things)
TUATBM	0:c3af3416e383	3121	// is totally undocumented. This code is in here based on observed
TUATBM	0:c3af3416e383	3122	// behavior only, and exactly why (or even whether) it has to be here
TUATBM	0:c3af3416e383	3123	// is anybody's guess for now.
TUATBM	0:c3af3416e383	3124	if (useProgMem) {
TUATBM	0:c3af3416e383	3125	special = pgm_read_byte(data + i++);
TUATBM	0:c3af3416e383	3126	} else {
TUATBM	0:c3af3416e383	3127	special = data[i++];
TUATBM	0:c3af3416e383	3128	}
TUATBM	0:c3af3416e383	3129	/*Serial.print("Special command code ");
TUATBM	0:c3af3416e383	3130	Serial.print(special, HEX);
TUATBM	0:c3af3416e383	3131	Serial.println(" found...");*/
TUATBM	0:c3af3416e383	3132	if (special == 0x01) {
TUATBM	0:c3af3416e383	3133	// enable DMP-related interrupts
TUATBM	0:c3af3416e383	3134
TUATBM	0:c3af3416e383	3135	//setIntZeroMotionEnabled(true);
TUATBM	0:c3af3416e383	3136	//setIntFIFOBufferOverflowEnabled(true);
TUATBM	0:c3af3416e383	3137	//setIntDMPEnabled(true);
TUATBM	0:c3af3416e383	3138	I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
TUATBM	0:c3af3416e383	3139
TUATBM	0:c3af3416e383	3140	success = true;
TUATBM	0:c3af3416e383	3141	} else {
TUATBM	0:c3af3416e383	3142	// unknown special command
TUATBM	0:c3af3416e383	3143	success = false;
TUATBM	0:c3af3416e383	3144	}
TUATBM	0:c3af3416e383	3145	}
TUATBM	0:c3af3416e383	3146
TUATBM	0:c3af3416e383	3147	if (!success) {
TUATBM	0:c3af3416e383	3148	if (useProgMem) free(progBuffer);
TUATBM	0:c3af3416e383	3149	return false; // uh oh
TUATBM	0:c3af3416e383	3150	}
TUATBM	0:c3af3416e383	3151	}
TUATBM	0:c3af3416e383	3152	if (useProgMem) free(progBuffer);
TUATBM	0:c3af3416e383	3153	return true;
TUATBM	0:c3af3416e383	3154	}
TUATBM	0:c3af3416e383	3155	bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize) {
TUATBM	0:c3af3416e383	3156	return writeDMPConfigurationSet(data, dataSize, true);
TUATBM	0:c3af3416e383	3157	}
TUATBM	0:c3af3416e383	3158
TUATBM	0:c3af3416e383	3159	// DMP_CFG_1 register
TUATBM	0:c3af3416e383	3160
TUATBM	0:c3af3416e383	3161	uint8_t MPU6050::getDMPConfig1() {
TUATBM	0:c3af3416e383	3162	I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
TUATBM	0:c3af3416e383	3163	return buffer[0];
TUATBM	0:c3af3416e383	3164	}
TUATBM	0:c3af3416e383	3165	void MPU6050::setDMPConfig1(uint8_t config) {
TUATBM	0:c3af3416e383	3166	I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
TUATBM	0:c3af3416e383	3167	}
TUATBM	0:c3af3416e383	3168
TUATBM	0:c3af3416e383	3169	// DMP_CFG_2 register
TUATBM	0:c3af3416e383	3170
TUATBM	0:c3af3416e383	3171	uint8_t MPU6050::getDMPConfig2() {
TUATBM	0:c3af3416e383	3172	I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
TUATBM	0:c3af3416e383	3173	return buffer[0];
TUATBM	0:c3af3416e383	3174	}
TUATBM	0:c3af3416e383	3175	void MPU6050::setDMPConfig2(uint8_t config) {
TUATBM	0:c3af3416e383	3176	I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
TUATBM	0:c3af3416e383	3177	}
TUATBM	0:c3af3416e383	3178
TUATBM	0:c3af3416e383	3179
TUATBM	0:c3af3416e383	3180
TUATBM	0:c3af3416e383	3181
TUATBM	0:c3af3416e383	3182
TUATBM	0:c3af3416e383	3183	/--------------MPU6050_6Axisより移転--------------/
TUATBM	0:c3af3416e383	3184
TUATBM	0:c3af3416e383	3185	#ifdef __AVR__
TUATBM	0:c3af3416e383	3186	#include <avr/pgmspace.h>
TUATBM	0:c3af3416e383	3187	#else
TUATBM	0:c3af3416e383	3188	// Teensy 3.0 library conditional PROGMEM code from Paul Stoffregen
TUATBM	0:c3af3416e383	3189	#ifndef __PGMSPACE_H_
TUATBM	0:c3af3416e383	3190	#define __PGMSPACE_H_ 1
TUATBM	0:c3af3416e383	3191	#include <inttypes.h>
TUATBM	0:c3af3416e383	3192
TUATBM	0:c3af3416e383	3193	#define PROGMEM
TUATBM	0:c3af3416e383	3194	#define PGM_P const char *
TUATBM	0:c3af3416e383	3195	#define PSTR(str) (str)
TUATBM	0:c3af3416e383	3196	#define F(x) x
TUATBM	0:c3af3416e383	3197
TUATBM	0:c3af3416e383	3198	typedef void prog_void;
TUATBM	0:c3af3416e383	3199	typedef char prog_char;
TUATBM	0:c3af3416e383	3200	typedef unsigned char prog_uchar;
TUATBM	0:c3af3416e383	3201	typedef int8_t prog_int8_t;
TUATBM	0:c3af3416e383	3202	typedef uint8_t prog_uint8_t;
TUATBM	0:c3af3416e383	3203	typedef int16_t prog_int16_t;
TUATBM	0:c3af3416e383	3204	typedef uint16_t prog_uint16_t;
TUATBM	0:c3af3416e383	3205	typedef int32_t prog_int32_t;
TUATBM	0:c3af3416e383	3206	typedef uint32_t prog_uint32_t;
TUATBM	0:c3af3416e383	3207
TUATBM	0:c3af3416e383	3208	#define strcpy_P(dest, src) strcpy((dest), (src))
TUATBM	0:c3af3416e383	3209	#define strcat_P(dest, src) strcat((dest), (src))
TUATBM	0:c3af3416e383	3210	#define strcmp_P(a, b) strcmp((a), (b))
TUATBM	0:c3af3416e383	3211
TUATBM	0:c3af3416e383	3212	#define pgm_read_byte(addr) ((const unsigned char )(addr))
TUATBM	0:c3af3416e383	3213	#define pgm_read_word(addr) ((const unsigned short )(addr))
TUATBM	0:c3af3416e383	3214	#define pgm_read_dword(addr) ((const unsigned long )(addr))
TUATBM	0:c3af3416e383	3215	#define pgm_read_float(addr) ((const float )(addr))
TUATBM	0:c3af3416e383	3216
TUATBM	0:c3af3416e383	3217	#define pgm_read_byte_near(addr) pgm_read_byte(addr)
TUATBM	0:c3af3416e383	3218	#define pgm_read_word_near(addr) pgm_read_word(addr)
TUATBM	0:c3af3416e383	3219	#define pgm_read_dword_near(addr) pgm_read_dword(addr)
TUATBM	0:c3af3416e383	3220	#define pgm_read_float_near(addr) pgm_read_float(addr)
TUATBM	0:c3af3416e383	3221	#define pgm_read_byte_far(addr) pgm_read_byte(addr)
TUATBM	0:c3af3416e383	3222	#define pgm_read_word_far(addr) pgm_read_word(addr)
TUATBM	0:c3af3416e383	3223	#define pgm_read_dword_far(addr) pgm_read_dword(addr)
TUATBM	0:c3af3416e383	3224	#define pgm_read_float_far(addr) pgm_read_float(addr)
TUATBM	0:c3af3416e383	3225	#endif
TUATBM	0:c3af3416e383	3226	#endif
TUATBM	0:c3af3416e383	3227
TUATBM	0:c3af3416e383	3228	/* Source is from the InvenSense MotionApps v2 demo code. Original source is
TUATBM	0:c3af3416e383	3229	* unavailable, unless you happen to be amazing as decompiling binary by
TUATBM	0:c3af3416e383	3230	* hand (in which case, please contact me, and I'm totally serious).
TUATBM	0:c3af3416e383	3231	*
TUATBM	0:c3af3416e383	3232	* Also, I'd like to offer many, many thanks to Noah Zerkin for all of the
TUATBM	0:c3af3416e383	3233	* DMP reverse-engineering he did to help make this bit of wizardry
TUATBM	0:c3af3416e383	3234	* possible.
TUATBM	0:c3af3416e383	3235	*/
TUATBM	0:c3af3416e383	3236
TUATBM	0:c3af3416e383	3237	// NOTE! Enabling DEBUG adds about 3.3kB to the flash program size.
TUATBM	0:c3af3416e383	3238	// Debug output is now working even on ATMega328P MCUs (e.g. Arduino Uno)
TUATBM	0:c3af3416e383	3239	// after moving string constants to flash memory storage using the F()
TUATBM	0:c3af3416e383	3240	// compiler macro (Arduino IDE 1.0+ required).
TUATBM	0:c3af3416e383	3241
TUATBM	0:c3af3416e383	3242	// #define DEBUG
TUATBM	0:c3af3416e383	3243	#ifdef DEBUG
TUATBM	0:c3af3416e383	3244	#include "ArduinoSerial.h"
TUATBM	0:c3af3416e383	3245	ArduinoSerial arduinoSerial;
TUATBM	0:c3af3416e383	3246	#define DEBUG_PRINT(x) arduinoSerial.print(x)
TUATBM	0:c3af3416e383	3247	#define DEBUG_PRINTF(x, y) arduinoSerial.print(x, y)
TUATBM	0:c3af3416e383	3248	#define DEBUG_PRINTLN(x) arduinoSerial.println(x)
TUATBM	0:c3af3416e383	3249	#define DEBUG_PRINTLNF(x, y) arduinoSerial.println(x, y)
TUATBM	0:c3af3416e383	3250	#else
TUATBM	0:c3af3416e383	3251	#define DEBUG_PRINT(x)
TUATBM	0:c3af3416e383	3252	#define DEBUG_PRINTF(x, y)
TUATBM	0:c3af3416e383	3253	#define DEBUG_PRINTLN(x)
TUATBM	0:c3af3416e383	3254	#define DEBUG_PRINTLNF(x, y)
TUATBM	0:c3af3416e383	3255	#endif
TUATBM	0:c3af3416e383	3256
TUATBM	0:c3af3416e383	3257	#define MPU6050_DMP_CODE_SIZE 1929 // dmpMemory[]
TUATBM	0:c3af3416e383	3258	#define MPU6050_DMP_CONFIG_SIZE 192 // dmpConfig[]
TUATBM	0:c3af3416e383	3259	#define MPU6050_DMP_UPDATES_SIZE 47 // dmpUpdates[]
TUATBM	0:c3af3416e383	3260
TUATBM	0:c3af3416e383	3261	/* ================================================================================================ *
TUATBM	0:c3af3416e383	3262	\| Default MotionApps v2.0 42-byte FIFO packet structure: \|
TUATBM	0:c3af3416e383	3263	\| \|
TUATBM	0:c3af3416e383	3264	\| [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][GYRO X][ ][GYRO Y][ ] \|
TUATBM	0:c3af3416e383	3265	\| 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 \|
TUATBM	0:c3af3416e383	3266	\| \|
TUATBM	0:c3af3416e383	3267	\| [GYRO Z][ ][ACC X ][ ][ACC Y ][ ][ACC Z ][ ][ ] \|
TUATBM	0:c3af3416e383	3268	\| 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 \|
TUATBM	0:c3af3416e383	3269	* ================================================================================================ */
TUATBM	0:c3af3416e383	3270
TUATBM	0:c3af3416e383	3271	// this block of memory gets written to the MPU on start-up, and it seems
TUATBM	0:c3af3416e383	3272	// to be volatile memory, so it has to be done each time (it only takes ~1
TUATBM	0:c3af3416e383	3273	// second though)
TUATBM	0:c3af3416e383	3274	const unsigned char dmpMemory[MPU6050_DMP_CODE_SIZE] PROGMEM = {
TUATBM	0:c3af3416e383	3275	// bank 0, 256 bytes
TUATBM	0:c3af3416e383	3276	0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
TUATBM	0:c3af3416e383	3277	0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01,
TUATBM	0:c3af3416e383	3278	0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3279	0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3280	0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01,
TUATBM	0:c3af3416e383	3281	0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3282	0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00,
TUATBM	0:c3af3416e383	3283	0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3284	0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82,
TUATBM	0:c3af3416e383	3285	0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00,
TUATBM	0:c3af3416e383	3286	0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00,
TUATBM	0:c3af3416e383	3287	0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0,
TUATBM	0:c3af3416e383	3288	0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3289	0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC,
TUATBM	0:c3af3416e383	3290	0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4,
TUATBM	0:c3af3416e383	3291	0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10,
TUATBM	0:c3af3416e383	3292
TUATBM	0:c3af3416e383	3293	// bank 1, 256 bytes
TUATBM	0:c3af3416e383	3294	0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3295	0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3296	0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8,
TUATBM	0:c3af3416e383	3297	0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7,
TUATBM	0:c3af3416e383	3298	0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C,
TUATBM	0:c3af3416e383	3299	0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3300	0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
TUATBM	0:c3af3416e383	3301	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3302	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3303	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3304	0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C,
TUATBM	0:c3af3416e383	3305	0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3306	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30,
TUATBM	0:c3af3416e383	3307	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3308	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3309	0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0,
TUATBM	0:c3af3416e383	3310
TUATBM	0:c3af3416e383	3311	// bank 2, 256 bytes
TUATBM	0:c3af3416e383	3312	0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3313	0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00,
TUATBM	0:c3af3416e383	3314	0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00,
TUATBM	0:c3af3416e383	3315	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3316	0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3317	0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3318	0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3319	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3320	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3321	0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3322	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3323	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3324	0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3325	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3326	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3327	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3328
TUATBM	0:c3af3416e383	3329	// bank 3, 256 bytes
TUATBM	0:c3af3416e383	3330	0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F,
TUATBM	0:c3af3416e383	3331	0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2,
TUATBM	0:c3af3416e383	3332	0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF,
TUATBM	0:c3af3416e383	3333	0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C,
TUATBM	0:c3af3416e383	3334	0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1,
TUATBM	0:c3af3416e383	3335	0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01,
TUATBM	0:c3af3416e383	3336	0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80,
TUATBM	0:c3af3416e383	3337	0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C,
TUATBM	0:c3af3416e383	3338	0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80,
TUATBM	0:c3af3416e383	3339	0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E,
TUATBM	0:c3af3416e383	3340	0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9,
TUATBM	0:c3af3416e383	3341	0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24,
TUATBM	0:c3af3416e383	3342	0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0,
TUATBM	0:c3af3416e383	3343	0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86,
TUATBM	0:c3af3416e383	3344	0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1,
TUATBM	0:c3af3416e383	3345	0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86,
TUATBM	0:c3af3416e383	3346
TUATBM	0:c3af3416e383	3347	// bank 4, 256 bytes
TUATBM	0:c3af3416e383	3348	0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA,
TUATBM	0:c3af3416e383	3349	0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C,
TUATBM	0:c3af3416e383	3350	0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8,
TUATBM	0:c3af3416e383	3351	0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3,
TUATBM	0:c3af3416e383	3352	0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84,
TUATBM	0:c3af3416e383	3353	0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5,
TUATBM	0:c3af3416e383	3354	0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3,
TUATBM	0:c3af3416e383	3355	0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1,
TUATBM	0:c3af3416e383	3356	0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5,
TUATBM	0:c3af3416e383	3357	0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D,
TUATBM	0:c3af3416e383	3358	0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
TUATBM	0:c3af3416e383	3359	0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D,
TUATBM	0:c3af3416e383	3360	0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
TUATBM	0:c3af3416e383	3361	0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A,
TUATBM	0:c3af3416e383	3362	0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8,
TUATBM	0:c3af3416e383	3363	0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87,
TUATBM	0:c3af3416e383	3364
TUATBM	0:c3af3416e383	3365	// bank 5, 256 bytes
TUATBM	0:c3af3416e383	3366	0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8,
TUATBM	0:c3af3416e383	3367	0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68,
TUATBM	0:c3af3416e383	3368	0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D,
TUATBM	0:c3af3416e383	3369	0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94,
TUATBM	0:c3af3416e383	3370	0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA,
TUATBM	0:c3af3416e383	3371	0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56,
TUATBM	0:c3af3416e383	3372	0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9,
TUATBM	0:c3af3416e383	3373	0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA,
TUATBM	0:c3af3416e383	3374	0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A,
TUATBM	0:c3af3416e383	3375	0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60,
TUATBM	0:c3af3416e383	3376	0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97,
TUATBM	0:c3af3416e383	3377	0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04,
TUATBM	0:c3af3416e383	3378	0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78,
TUATBM	0:c3af3416e383	3379	0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79,
TUATBM	0:c3af3416e383	3380	0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68,
TUATBM	0:c3af3416e383	3381	0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68,
TUATBM	0:c3af3416e383	3382
TUATBM	0:c3af3416e383	3383	// bank 6, 256 bytes
TUATBM	0:c3af3416e383	3384	0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04,
TUATBM	0:c3af3416e383	3385	0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66,
TUATBM	0:c3af3416e383	3386	0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31,
TUATBM	0:c3af3416e383	3387	0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60,
TUATBM	0:c3af3416e383	3388	0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76,
TUATBM	0:c3af3416e383	3389	0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56,
TUATBM	0:c3af3416e383	3390	0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD,
TUATBM	0:c3af3416e383	3391	0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91,
TUATBM	0:c3af3416e383	3392	0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8,
TUATBM	0:c3af3416e383	3393	0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE,
TUATBM	0:c3af3416e383	3394	0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9,
TUATBM	0:c3af3416e383	3395	0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD,
TUATBM	0:c3af3416e383	3396	0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E,
TUATBM	0:c3af3416e383	3397	0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8,
TUATBM	0:c3af3416e383	3398	0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89,
TUATBM	0:c3af3416e383	3399	0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79,
TUATBM	0:c3af3416e383	3400
TUATBM	0:c3af3416e383	3401	// bank 7, 138 bytes (remainder)
TUATBM	0:c3af3416e383	3402	0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8,
TUATBM	0:c3af3416e383	3403	0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA,
TUATBM	0:c3af3416e383	3404	0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB,
TUATBM	0:c3af3416e383	3405	0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3,
TUATBM	0:c3af3416e383	3406	0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3,
TUATBM	0:c3af3416e383	3407	0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3,
TUATBM	0:c3af3416e383	3408	0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3,
TUATBM	0:c3af3416e383	3409	0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC,
TUATBM	0:c3af3416e383	3410	0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF
TUATBM	0:c3af3416e383	3411	};
TUATBM	0:c3af3416e383	3412
TUATBM	0:c3af3416e383	3413	// thanks to Noah Zerkin for piecing this stuff together!
TUATBM	0:c3af3416e383	3414	const unsigned char dmpConfig[MPU6050_DMP_CONFIG_SIZE] PROGMEM = {
TUATBM	0:c3af3416e383	3415	// BANK OFFSET LENGTH [DATA]
TUATBM	0:c3af3416e383	3416	0x03, 0x7B, 0x03, 0x4C, 0xCD, 0x6C, // FCFG_1 inv_set_gyro_calibration
TUATBM	0:c3af3416e383	3417	0x03, 0xAB, 0x03, 0x36, 0x56, 0x76, // FCFG_3 inv_set_gyro_calibration
TUATBM	0:c3af3416e383	3418	0x00, 0x68, 0x04, 0x02, 0xCB, 0x47, 0xA2, // D_0_104 inv_set_gyro_calibration
TUATBM	0:c3af3416e383	3419	0x02, 0x18, 0x04, 0x00, 0x05, 0x8B, 0xC1, // D_0_24 inv_set_gyro_calibration
TUATBM	0:c3af3416e383	3420	0x01, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00, // D_1_152 inv_set_accel_calibration
TUATBM	0:c3af3416e383	3421	0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_accel_calibration
TUATBM	0:c3af3416e383	3422	0x03, 0x89, 0x03, 0x26, 0x46, 0x66, // FCFG_7 inv_set_accel_calibration
TUATBM	0:c3af3416e383	3423	0x00, 0x6C, 0x02, 0x20, 0x00, // D_0_108 inv_set_accel_calibration
TUATBM	0:c3af3416e383	3424	0x02, 0x40, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_00 inv_set_compass_calibration
TUATBM	0:c3af3416e383	3425	0x02, 0x44, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_01
TUATBM	0:c3af3416e383	3426	0x02, 0x48, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_02
TUATBM	0:c3af3416e383	3427	0x02, 0x4C, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_10
TUATBM	0:c3af3416e383	3428	0x02, 0x50, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_11
TUATBM	0:c3af3416e383	3429	0x02, 0x54, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_12
TUATBM	0:c3af3416e383	3430	0x02, 0x58, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_20
TUATBM	0:c3af3416e383	3431	0x02, 0x5C, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_21
TUATBM	0:c3af3416e383	3432	0x02, 0xBC, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_22
TUATBM	0:c3af3416e383	3433	0x01, 0xEC, 0x04, 0x00, 0x00, 0x40, 0x00, // D_1_236 inv_apply_endian_accel
TUATBM	0:c3af3416e383	3434	0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_mpu_sensors
TUATBM	0:c3af3416e383	3435	0x04, 0x02, 0x03, 0x0D, 0x35, 0x5D, // CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
TUATBM	0:c3af3416e383	3436	0x04, 0x09, 0x04, 0x87, 0x2D, 0x35, 0x3D, // FCFG_5 inv_set_bias_update
TUATBM	0:c3af3416e383	3437	0x00, 0xA3, 0x01, 0x00, // D_0_163 inv_set_dead_zone
TUATBM	0:c3af3416e383	3438	// SPECIAL 0x01 = enable interrupts
TUATBM	0:c3af3416e383	3439	0x00, 0x00, 0x00, 0x01, // SET INT_ENABLE at i=22, SPECIAL INSTRUCTION
TUATBM	0:c3af3416e383	3440	0x07, 0x86, 0x01, 0xFE, // CFG_6 inv_set_fifo_interupt
TUATBM	0:c3af3416e383	3441	0x07, 0x41, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38, // CFG_8 inv_send_quaternion
TUATBM	0:c3af3416e383	3442	0x07, 0x7E, 0x01, 0x30, // CFG_16 inv_set_footer
TUATBM	0:c3af3416e383	3443	0x07, 0x46, 0x01, 0x9A, // CFG_GYRO_SOURCE inv_send_gyro
TUATBM	0:c3af3416e383	3444	0x07, 0x47, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_9 inv_send_gyro -> inv_construct3_fifo
TUATBM	0:c3af3416e383	3445	0x07, 0x6C, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_12 inv_send_accel -> inv_construct3_fifo
TUATBM	0:c3af3416e383	3446	0x02, 0x16, 0x02, 0x00, 0x01 // D_0_22 inv_set_fifo_rate
TUATBM	0:c3af3416e383	3447
TUATBM	0:c3af3416e383	3448	// This very last 0x01 WAS a 0x09, which drops the FIFO rate down to 20 Hz. 0x07 is 25 Hz,
TUATBM	0:c3af3416e383	3449	// 0x01 is 100Hz. Going faster than 100Hz (0x00=200Hz) tends to result in very noisy data.
TUATBM	0:c3af3416e383	3450	// DMP output frequency is calculated easily using this equation: (200Hz / (1 + value))
TUATBM	0:c3af3416e383	3451
TUATBM	0:c3af3416e383	3452	// It is important to make sure the host processor can keep up with reading and processing
TUATBM	0:c3af3416e383	3453	// the FIFO output at the desired rate. Handling FIFO overflow cleanly is also a good idea.
TUATBM	0:c3af3416e383	3454	};
TUATBM	0:c3af3416e383	3455
TUATBM	0:c3af3416e383	3456	const unsigned char dmpUpdates[MPU6050_DMP_UPDATES_SIZE] PROGMEM = {
TUATBM	0:c3af3416e383	3457	0x01, 0xB2, 0x02, 0xFF, 0xFF,
TUATBM	0:c3af3416e383	3458	0x01, 0x90, 0x04, 0x09, 0x23, 0xA1, 0x35,
TUATBM	0:c3af3416e383	3459	0x01, 0x6A, 0x02, 0x06, 0x00,
TUATBM	0:c3af3416e383	3460	0x01, 0x60, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3461	0x00, 0x60, 0x04, 0x40, 0x00, 0x00, 0x00,
TUATBM	0:c3af3416e383	3462	0x01, 0x62, 0x02, 0x00, 0x00,
TUATBM	0:c3af3416e383	3463	0x00, 0x60, 0x04, 0x00, 0x40, 0x00, 0x00
TUATBM	0:c3af3416e383	3464	};
TUATBM	0:c3af3416e383	3465
TUATBM	0:c3af3416e383	3466	uint8_t MPU6050::dmpInitialize() {
TUATBM	0:c3af3416e383	3467	// reset device
TUATBM	0:c3af3416e383	3468	DEBUG_PRINTLN(F("\n\nResetting MPU6050..."));
TUATBM	0:c3af3416e383	3469	reset();
TUATBM	0:c3af3416e383	3470	wait_ms(30); // wait after reset
TUATBM	0:c3af3416e383	3471
TUATBM	0:c3af3416e383	3472	// enable sleep mode and wake cycle
TUATBM	0:c3af3416e383	3473	/*Serial.println(F("Enabling sleep mode..."));
TUATBM	0:c3af3416e383	3474	setSleepEnabled(true);
TUATBM	0:c3af3416e383	3475	Serial.println(F("Enabling wake cycle..."));
TUATBM	0:c3af3416e383	3476	setWakeCycleEnabled(true);*/
TUATBM	0:c3af3416e383	3477
TUATBM	0:c3af3416e383	3478	// disable sleep mode
TUATBM	0:c3af3416e383	3479	DEBUG_PRINTLN(F("Disabling sleep mode..."));
TUATBM	0:c3af3416e383	3480	setSleepEnabled(false);
TUATBM	0:c3af3416e383	3481
TUATBM	0:c3af3416e383	3482	// get MPU hardware revision
TUATBM	0:c3af3416e383	3483	DEBUG_PRINTLN(F("Selecting user bank 16..."));
TUATBM	0:c3af3416e383	3484	setMemoryBank(0x10, true, true);
TUATBM	0:c3af3416e383	3485	DEBUG_PRINTLN(F("Selecting memory byte 6..."));
TUATBM	0:c3af3416e383	3486	setMemoryStartAddress(0x06);
TUATBM	0:c3af3416e383	3487	DEBUG_PRINTLN(F("Checking hardware revision..."));
TUATBM	0:c3af3416e383	3488	DEBUG_PRINT(F("Revision @ user[16][6] = "));
TUATBM	0:c3af3416e383	3489	DEBUG_PRINTLNF(readMemoryByte(), HEX);
TUATBM	0:c3af3416e383	3490	DEBUG_PRINTLN(F("Resetting memory bank selection to 0..."));
TUATBM	0:c3af3416e383	3491	setMemoryBank(0, false, false);
TUATBM	0:c3af3416e383	3492
TUATBM	0:c3af3416e383	3493	// check OTP bank valid
TUATBM	0:c3af3416e383	3494	DEBUG_PRINTLN(F("Reading OTP bank valid flag..."));
TUATBM	0:c3af3416e383	3495	DEBUG_PRINT(F("OTP bank is "));
TUATBM	0:c3af3416e383	3496	DEBUG_PRINTLN(getOTPBankValid() ? F("valid!") : F("invalid!"));
TUATBM	0:c3af3416e383	3497
TUATBM	0:c3af3416e383	3498	// get X/Y/Z gyro offsets
TUATBM	0:c3af3416e383	3499	DEBUG_PRINTLN(F("Reading gyro offset TC values..."));
TUATBM	0:c3af3416e383	3500	int8_t xgOffsetTC = getXGyroOffsetTC();
TUATBM	0:c3af3416e383	3501	int8_t ygOffsetTC = getYGyroOffsetTC();
TUATBM	0:c3af3416e383	3502	int8_t zgOffsetTC = getZGyroOffsetTC();
TUATBM	0:c3af3416e383	3503	DEBUG_PRINT(F("X gyro offset = "));
TUATBM	0:c3af3416e383	3504	DEBUG_PRINTLN(xgOffsetTC);
TUATBM	0:c3af3416e383	3505	DEBUG_PRINT(F("Y gyro offset = "));
TUATBM	0:c3af3416e383	3506	DEBUG_PRINTLN(ygOffsetTC);
TUATBM	0:c3af3416e383	3507	DEBUG_PRINT(F("Z gyro offset = "));
TUATBM	0:c3af3416e383	3508	DEBUG_PRINTLN(zgOffsetTC);
TUATBM	0:c3af3416e383	3509
TUATBM	0:c3af3416e383	3510	// setup weird slave stuff (?)
TUATBM	0:c3af3416e383	3511	DEBUG_PRINTLN(F("Setting slave 0 address to 0x7F..."));
TUATBM	0:c3af3416e383	3512	setSlaveAddress(0, 0x7F);
TUATBM	0:c3af3416e383	3513	DEBUG_PRINTLN(F("Disabling I2C Master mode..."));
TUATBM	0:c3af3416e383	3514	setI2CMasterModeEnabled(false);
TUATBM	0:c3af3416e383	3515	DEBUG_PRINTLN(F("Setting slave 0 address to 0x68 (self)..."));
TUATBM	0:c3af3416e383	3516	setSlaveAddress(0, 0x68);
TUATBM	0:c3af3416e383	3517	DEBUG_PRINTLN(F("Resetting I2C Master control..."));
TUATBM	0:c3af3416e383	3518	resetI2CMaster();
TUATBM	0:c3af3416e383	3519	wait_ms(20);
TUATBM	0:c3af3416e383	3520
TUATBM	0:c3af3416e383	3521	// load DMP code into memory banks
TUATBM	0:c3af3416e383	3522	DEBUG_PRINT(F("Writing DMP code to MPU memory banks ("));
TUATBM	0:c3af3416e383	3523	DEBUG_PRINT(MPU6050_DMP_CODE_SIZE);
TUATBM	0:c3af3416e383	3524	DEBUG_PRINTLN(F(" bytes)"));
TUATBM	0:c3af3416e383	3525	if (writeProgMemoryBlock(dmpMemory, MPU6050_DMP_CODE_SIZE)) {
TUATBM	0:c3af3416e383	3526	DEBUG_PRINTLN(F("Success! DMP code written and verified."));
TUATBM	0:c3af3416e383	3527
TUATBM	0:c3af3416e383	3528	// write DMP configuration
TUATBM	0:c3af3416e383	3529	DEBUG_PRINT(F("Writing DMP configuration to MPU memory banks ("));
TUATBM	0:c3af3416e383	3530	DEBUG_PRINT(MPU6050_DMP_CONFIG_SIZE);
TUATBM	0:c3af3416e383	3531	DEBUG_PRINTLN(F(" bytes in config def)"));
TUATBM	0:c3af3416e383	3532	if (writeProgDMPConfigurationSet(dmpConfig, MPU6050_DMP_CONFIG_SIZE)) {
TUATBM	0:c3af3416e383	3533	DEBUG_PRINTLN(F("Success! DMP configuration written and verified."));
TUATBM	0:c3af3416e383	3534
TUATBM	0:c3af3416e383	3535	DEBUG_PRINTLN(F("Setting clock source to Z Gyro..."));
TUATBM	0:c3af3416e383	3536	setClockSource(MPU6050_CLOCK_PLL_ZGYRO);
TUATBM	0:c3af3416e383	3537
TUATBM	0:c3af3416e383	3538	DEBUG_PRINTLN(F("Setting DMP and FIFO_OFLOW interrupts enabled..."));
TUATBM	0:c3af3416e383	3539	setIntEnabled(0x12);
TUATBM	0:c3af3416e383	3540
TUATBM	0:c3af3416e383	3541	DEBUG_PRINTLN(F("Setting sample rate to 200Hz..."));
TUATBM	0:c3af3416e383	3542	setRate(4); // 1khz / (1 + 4) = 200 Hz
TUATBM	0:c3af3416e383	3543
TUATBM	0:c3af3416e383	3544	DEBUG_PRINTLN(F("Setting external frame sync to TEMP_OUT_L[0]..."));
TUATBM	0:c3af3416e383	3545	setExternalFrameSync(MPU6050_EXT_SYNC_TEMP_OUT_L);
TUATBM	0:c3af3416e383	3546
TUATBM	0:c3af3416e383	3547	DEBUG_PRINTLN(F("Setting DLPF bandwidth to 42Hz..."));
TUATBM	0:c3af3416e383	3548	setDLPFMode(MPU6050_DLPF_BW_42);
TUATBM	0:c3af3416e383	3549
TUATBM	0:c3af3416e383	3550	DEBUG_PRINTLN(F("Setting gyro sensitivity to +/- 2000 deg/sec..."));
TUATBM	0:c3af3416e383	3551	setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
TUATBM	0:c3af3416e383	3552
TUATBM	0:c3af3416e383	3553	DEBUG_PRINTLN(F("Setting DMP configuration bytes (function unknown)..."));
TUATBM	0:c3af3416e383	3554	setDMPConfig1(0x03);
TUATBM	0:c3af3416e383	3555	setDMPConfig2(0x00);
TUATBM	0:c3af3416e383	3556
TUATBM	0:c3af3416e383	3557	DEBUG_PRINTLN(F("Clearing OTP Bank flag..."));
TUATBM	0:c3af3416e383	3558	setOTPBankValid(false);
TUATBM	0:c3af3416e383	3559
TUATBM	0:c3af3416e383	3560	DEBUG_PRINTLN(F("Setting X/Y/Z gyro offset TCs to previous values..."));
TUATBM	0:c3af3416e383	3561	setXGyroOffsetTC(xgOffsetTC);
TUATBM	0:c3af3416e383	3562	setYGyroOffsetTC(ygOffsetTC);
TUATBM	0:c3af3416e383	3563	setZGyroOffsetTC(zgOffsetTC);
TUATBM	0:c3af3416e383	3564
TUATBM	0:c3af3416e383	3565	//DEBUG_PRINTLN(F("Setting X/Y/Z gyro user offsets to zero..."));
TUATBM	0:c3af3416e383	3566	//setXGyroOffset(0);
TUATBM	0:c3af3416e383	3567	//setYGyroOffset(0);
TUATBM	0:c3af3416e383	3568	//setZGyroOffset(0);
TUATBM	0:c3af3416e383	3569
TUATBM	0:c3af3416e383	3570	DEBUG_PRINTLN(F("Writing final memory update 1/7 (function unknown)..."));
TUATBM	0:c3af3416e383	3571	uint8_t dmpUpdate[16], j;
TUATBM	0:c3af3416e383	3572	uint16_t pos = 0;
TUATBM	0:c3af3416e383	3573	for (j = 0; j < 4 \|\| j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
TUATBM	0:c3af3416e383	3574	writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
TUATBM	0:c3af3416e383	3575
TUATBM	0:c3af3416e383	3576	DEBUG_PRINTLN(F("Writing final memory update 2/7 (function unknown)..."));
TUATBM	0:c3af3416e383	3577	for (j = 0; j < 4 \|\| j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
TUATBM	0:c3af3416e383	3578	writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
TUATBM	0:c3af3416e383	3579
TUATBM	0:c3af3416e383	3580	DEBUG_PRINTLN(F("Resetting FIFO..."));
TUATBM	0:c3af3416e383	3581	resetFIFO();
TUATBM	0:c3af3416e383	3582
TUATBM	0:c3af3416e383	3583	DEBUG_PRINTLN(F("Reading FIFO count..."));
TUATBM	0:c3af3416e383	3584	uint16_t fifoCount = getFIFOCount();
TUATBM	0:c3af3416e383	3585	uint8_t fifoBuffer[128];
TUATBM	0:c3af3416e383	3586
TUATBM	0:c3af3416e383	3587	DEBUG_PRINT(F("Current FIFO count="));
TUATBM	0:c3af3416e383	3588	DEBUG_PRINTLN(fifoCount);
TUATBM	0:c3af3416e383	3589	getFIFOBytes(fifoBuffer, fifoCount);
TUATBM	0:c3af3416e383	3590
TUATBM	0:c3af3416e383	3591	DEBUG_PRINTLN(F("Setting motion detection threshold to 2..."));
TUATBM	0:c3af3416e383	3592	setMotionDetectionThreshold(2);
TUATBM	0:c3af3416e383	3593
TUATBM	0:c3af3416e383	3594	DEBUG_PRINTLN(F("Setting zero-motion detection threshold to 156..."));
TUATBM	0:c3af3416e383	3595	setZeroMotionDetectionThreshold(156);
TUATBM	0:c3af3416e383	3596
TUATBM	0:c3af3416e383	3597	DEBUG_PRINTLN(F("Setting motion detection duration to 80..."));
TUATBM	0:c3af3416e383	3598	setMotionDetectionDuration(80);
TUATBM	0:c3af3416e383	3599
TUATBM	0:c3af3416e383	3600	DEBUG_PRINTLN(F("Setting zero-motion detection duration to 0..."));
TUATBM	0:c3af3416e383	3601	setZeroMotionDetectionDuration(0);
TUATBM	0:c3af3416e383	3602
TUATBM	0:c3af3416e383	3603	DEBUG_PRINTLN(F("Resetting FIFO..."));
TUATBM	0:c3af3416e383	3604	resetFIFO();
TUATBM	0:c3af3416e383	3605
TUATBM	0:c3af3416e383	3606	DEBUG_PRINTLN(F("Enabling FIFO..."));
TUATBM	0:c3af3416e383	3607	setFIFOEnabled(true);
TUATBM	0:c3af3416e383	3608
TUATBM	0:c3af3416e383	3609	DEBUG_PRINTLN(F("Enabling DMP..."));
TUATBM	0:c3af3416e383	3610	setDMPEnabled(true);
TUATBM	0:c3af3416e383	3611
TUATBM	0:c3af3416e383	3612	DEBUG_PRINTLN(F("Resetting DMP..."));
TUATBM	0:c3af3416e383	3613	resetDMP();
TUATBM	0:c3af3416e383	3614
TUATBM	0:c3af3416e383	3615	DEBUG_PRINTLN(F("Writing final memory update 3/7 (function unknown)..."));
TUATBM	0:c3af3416e383	3616	for (j = 0; j < 4 \|\| j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
TUATBM	0:c3af3416e383	3617	writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
TUATBM	0:c3af3416e383	3618
TUATBM	0:c3af3416e383	3619	DEBUG_PRINTLN(F("Writing final memory update 4/7 (function unknown)..."));
TUATBM	0:c3af3416e383	3620	for (j = 0; j < 4 \|\| j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
TUATBM	0:c3af3416e383	3621	writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
TUATBM	0:c3af3416e383	3622
TUATBM	0:c3af3416e383	3623	DEBUG_PRINTLN(F("Writing final memory update 5/7 (function unknown)..."));
TUATBM	0:c3af3416e383	3624	for (j = 0; j < 4 \|\| j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
TUATBM	0:c3af3416e383	3625	writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
TUATBM	0:c3af3416e383	3626
TUATBM	0:c3af3416e383	3627	DEBUG_PRINTLN(F("Waiting for FIFO count > 2..."));
TUATBM	0:c3af3416e383	3628	while ((fifoCount = getFIFOCount()) < 3);
TUATBM	0:c3af3416e383	3629
TUATBM	0:c3af3416e383	3630	DEBUG_PRINT(F("Current FIFO count="));
TUATBM	0:c3af3416e383	3631	DEBUG_PRINTLN(fifoCount);
TUATBM	0:c3af3416e383	3632	DEBUG_PRINTLN(F("Reading FIFO data..."));
TUATBM	0:c3af3416e383	3633	getFIFOBytes(fifoBuffer, fifoCount);
TUATBM	0:c3af3416e383	3634
TUATBM	0:c3af3416e383	3635	DEBUG_PRINTLN(F("Reading interrupt status..."));
TUATBM	0:c3af3416e383	3636
TUATBM	0:c3af3416e383	3637	DEBUG_PRINT(F("Current interrupt status="));
TUATBM	0:c3af3416e383	3638	DEBUG_PRINTLNF(getIntStatus(), HEX);
TUATBM	0:c3af3416e383	3639
TUATBM	0:c3af3416e383	3640	DEBUG_PRINTLN(F("Reading final memory update 6/7 (function unknown)..."));
TUATBM	0:c3af3416e383	3641	for (j = 0; j < 4 \|\| j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
TUATBM	0:c3af3416e383	3642	readMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
TUATBM	0:c3af3416e383	3643
TUATBM	0:c3af3416e383	3644	DEBUG_PRINTLN(F("Waiting for FIFO count > 2..."));
TUATBM	0:c3af3416e383	3645	while ((fifoCount = getFIFOCount()) < 3);
TUATBM	0:c3af3416e383	3646
TUATBM	0:c3af3416e383	3647	DEBUG_PRINT(F("Current FIFO count="));
TUATBM	0:c3af3416e383	3648	DEBUG_PRINTLN(fifoCount);
TUATBM	0:c3af3416e383	3649
TUATBM	0:c3af3416e383	3650	DEBUG_PRINTLN(F("Reading FIFO data..."));
TUATBM	0:c3af3416e383	3651	getFIFOBytes(fifoBuffer, fifoCount);
TUATBM	0:c3af3416e383	3652
TUATBM	0:c3af3416e383	3653	DEBUG_PRINTLN(F("Reading interrupt status..."));
TUATBM	0:c3af3416e383	3654
TUATBM	0:c3af3416e383	3655	DEBUG_PRINT(F("Current interrupt status="));
TUATBM	0:c3af3416e383	3656	DEBUG_PRINTLNF(getIntStatus(), HEX);
TUATBM	0:c3af3416e383	3657
TUATBM	0:c3af3416e383	3658	DEBUG_PRINTLN(F("Writing final memory update 7/7 (function unknown)..."));
TUATBM	0:c3af3416e383	3659	for (j = 0; j < 4 \|\| j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
TUATBM	0:c3af3416e383	3660	writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
TUATBM	0:c3af3416e383	3661
TUATBM	0:c3af3416e383	3662	DEBUG_PRINTLN(F("DMP is good to go! Finally."));
TUATBM	0:c3af3416e383	3663
TUATBM	0:c3af3416e383	3664	DEBUG_PRINTLN(F("Disabling DMP (you turn it on later)..."));
TUATBM	0:c3af3416e383	3665	setDMPEnabled(false);
TUATBM	0:c3af3416e383	3666
TUATBM	0:c3af3416e383	3667	DEBUG_PRINTLN(F("Setting up internal 42-byte (default) DMP packet buffer..."));
TUATBM	0:c3af3416e383	3668	dmpPacketSize = 42;
TUATBM	0:c3af3416e383	3669	/if ((dmpPacketBuffer = (uint8_t )malloc(42)) == 0) {
TUATBM	0:c3af3416e383	3670	return 3; // TODO: proper error code for no memory
TUATBM	0:c3af3416e383	3671	}*/
TUATBM	0:c3af3416e383	3672
TUATBM	0:c3af3416e383	3673	DEBUG_PRINTLN(F("Resetting FIFO and clearing INT status one last time..."));
TUATBM	0:c3af3416e383	3674	resetFIFO();
TUATBM	0:c3af3416e383	3675	getIntStatus();
TUATBM	0:c3af3416e383	3676	} else {
TUATBM	0:c3af3416e383	3677	DEBUG_PRINTLN(F("ERROR! DMP configuration verification failed."));
TUATBM	0:c3af3416e383	3678	return 2; // configuration block loading failed
TUATBM	0:c3af3416e383	3679	}
TUATBM	0:c3af3416e383	3680	} else {
TUATBM	0:c3af3416e383	3681	DEBUG_PRINTLN(F("ERROR! DMP code verification failed."));
TUATBM	0:c3af3416e383	3682	return 1; // main binary block loading failed
TUATBM	0:c3af3416e383	3683	}
TUATBM	0:c3af3416e383	3684	return 0; // success
TUATBM	0:c3af3416e383	3685	}
TUATBM	0:c3af3416e383	3686
TUATBM	0:c3af3416e383	3687	bool MPU6050::dmpPacketAvailable() {
TUATBM	0:c3af3416e383	3688	return getFIFOCount() >= dmpGetFIFOPacketSize();
TUATBM	0:c3af3416e383	3689	}
TUATBM	0:c3af3416e383	3690
TUATBM	0:c3af3416e383	3691	// uint8_t MPU6050::dmpSetFIFORate(uint8_t fifoRate);
TUATBM	0:c3af3416e383	3692	// uint8_t MPU6050::dmpGetFIFORate();
TUATBM	0:c3af3416e383	3693	// uint8_t MPU6050::dmpGetSampleStepSizeMS();
TUATBM	0:c3af3416e383	3694	// uint8_t MPU6050::dmpGetSampleFrequency();
TUATBM	0:c3af3416e383	3695	// int32_t MPU6050::dmpDecodeTemperature(int8_t tempReg);
TUATBM	0:c3af3416e383	3696
TUATBM	0:c3af3416e383	3697	//uint8_t MPU6050::dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
TUATBM	0:c3af3416e383	3698	//uint8_t MPU6050::dmpUnregisterFIFORateProcess(inv_obj_func func);
TUATBM	0:c3af3416e383	3699	//uint8_t MPU6050::dmpRunFIFORateProcesses();
TUATBM	0:c3af3416e383	3700
TUATBM	0:c3af3416e383	3701	// uint8_t MPU6050::dmpSendQuaternion(uint_fast16_t accuracy);
TUATBM	0:c3af3416e383	3702	// uint8_t MPU6050::dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
TUATBM	0:c3af3416e383	3703	// uint8_t MPU6050::dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
TUATBM	0:c3af3416e383	3704	// uint8_t MPU6050::dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
TUATBM	0:c3af3416e383	3705	// uint8_t MPU6050::dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
TUATBM	0:c3af3416e383	3706	// uint8_t MPU6050::dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
TUATBM	0:c3af3416e383	3707	// uint8_t MPU6050::dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
TUATBM	0:c3af3416e383	3708	// uint8_t MPU6050::dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
TUATBM	0:c3af3416e383	3709	// uint8_t MPU6050::dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
TUATBM	0:c3af3416e383	3710	// uint8_t MPU6050::dmpSendPacketNumber(uint_fast16_t accuracy);
TUATBM	0:c3af3416e383	3711	// uint8_t MPU6050::dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
TUATBM	0:c3af3416e383	3712	// uint8_t MPU6050::dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
TUATBM	0:c3af3416e383	3713
TUATBM	0:c3af3416e383	3714	uint8_t MPU6050::dmpGetAccel(int32_t data, const uint8_t packet) {
TUATBM	0:c3af3416e383	3715	// TODO: accommodate different arrangements of sent data (ONLY default supported now)
TUATBM	0:c3af3416e383	3716	if (packet == 0) packet = dmpPacketBuffer;
TUATBM	0:c3af3416e383	3717	data[0] = (((uint32_t)packet[28] << 24) \| ((uint32_t)packet[29] << 16) \| ((uint32_t)packet[30] << 8) \| packet[31]);
TUATBM	0:c3af3416e383	3718	data[1] = (((uint32_t)packet[32] << 24) \| ((uint32_t)packet[33] << 16) \| ((uint32_t)packet[34] << 8) \| packet[35]);
TUATBM	0:c3af3416e383	3719	data[2] = (((uint32_t)packet[36] << 24) \| ((uint32_t)packet[37] << 16) \| ((uint32_t)packet[38] << 8) \| packet[39]);
TUATBM	0:c3af3416e383	3720	return 0;
TUATBM	0:c3af3416e383	3721	}
TUATBM	0:c3af3416e383	3722	uint8_t MPU6050::dmpGetAccel(int16_t data, const uint8_t packet) {
TUATBM	0:c3af3416e383	3723	// TODO: accommodate different arrangements of sent data (ONLY default supported now)
TUATBM	0:c3af3416e383	3724	if (packet == 0) packet = dmpPacketBuffer;
TUATBM	0:c3af3416e383	3725	data[0] = (packet[28] << 8) \| packet[29];
TUATBM	0:c3af3416e383	3726	data[1] = (packet[32] << 8) \| packet[33];
TUATBM	0:c3af3416e383	3727	data[2] = (packet[36] << 8) \| packet[37];
TUATBM	0:c3af3416e383	3728	return 0;
TUATBM	0:c3af3416e383	3729	}
TUATBM	0:c3af3416e383	3730	uint8_t MPU6050::dmpGetAccel(VectorInt16 v, const uint8_t packet) {
TUATBM	0:c3af3416e383	3731	// TODO: accommodate different arrangements of sent data (ONLY default supported now)
TUATBM	0:c3af3416e383	3732	if (packet == 0) packet = dmpPacketBuffer;
TUATBM	0:c3af3416e383	3733	v -> x = (packet[28] << 8) \| packet[29];
TUATBM	0:c3af3416e383	3734	v -> y = (packet[32] << 8) \| packet[33];
TUATBM	0:c3af3416e383	3735	v -> z = (packet[36] << 8) \| packet[37];
TUATBM	0:c3af3416e383	3736	return 0;
TUATBM	0:c3af3416e383	3737	}
TUATBM	0:c3af3416e383	3738	uint8_t MPU6050::dmpGetQuaternion(int32_t data, const uint8_t packet) {
TUATBM	0:c3af3416e383	3739	// TODO: accommodate different arrangements of sent data (ONLY default supported now)
TUATBM	0:c3af3416e383	3740	if (packet == 0) packet = dmpPacketBuffer;
TUATBM	0:c3af3416e383	3741	data[0] = (((uint32_t)packet[0] << 24) \| ((uint32_t)packet[1] << 16) \| ((uint32_t)packet[2] << 8) \| packet[3]);
TUATBM	0:c3af3416e383	3742	data[1] = (((uint32_t)packet[4] << 24) \| ((uint32_t)packet[5] << 16) \| ((uint32_t)packet[6] << 8) \| packet[7]);
TUATBM	0:c3af3416e383	3743	data[2] = (((uint32_t)packet[8] << 24) \| ((uint32_t)packet[9] << 16) \| ((uint32_t)packet[10] << 8) \| packet[11]);
TUATBM	0:c3af3416e383	3744	data[3] = (((uint32_t)packet[12] << 24) \| ((uint32_t)packet[13] << 16) \| ((uint32_t)packet[14] << 8) \| packet[15]);
TUATBM	0:c3af3416e383	3745	return 0;
TUATBM	0:c3af3416e383	3746	}
TUATBM	0:c3af3416e383	3747	uint8_t MPU6050::dmpGetQuaternion(int16_t data, const uint8_t packet) {
TUATBM	0:c3af3416e383	3748	// TODO: accommodate different arrangements of sent data (ONLY default supported now)
TUATBM	0:c3af3416e383	3749	if (packet == 0) packet = dmpPacketBuffer;
TUATBM	0:c3af3416e383	3750	data[0] = ((packet[0] << 8) \| packet[1]);
TUATBM	0:c3af3416e383	3751	data[1] = ((packet[4] << 8) \| packet[5]);
TUATBM	0:c3af3416e383	3752	data[2] = ((packet[8] << 8) \| packet[9]);
TUATBM	0:c3af3416e383	3753	data[3] = ((packet[12] << 8) \| packet[13]);
TUATBM	0:c3af3416e383	3754	return 0;
TUATBM	0:c3af3416e383	3755	}
TUATBM	0:c3af3416e383	3756	uint8_t MPU6050::dmpGetQuaternion(Quaternion q, const uint8_t packet) {
TUATBM	0:c3af3416e383	3757	// TODO: accommodate different arrangements of sent data (ONLY default supported now)
TUATBM	0:c3af3416e383	3758	int16_t qI[4];
TUATBM	0:c3af3416e383	3759	uint8_t status = dmpGetQuaternion(qI, packet);
TUATBM	0:c3af3416e383	3760	if (status == 0) {
TUATBM	0:c3af3416e383	3761	q -> w = (float)qI[0] / 16384.0f;
TUATBM	0:c3af3416e383	3762	q -> x = (float)qI[1] / 16384.0f;
TUATBM	0:c3af3416e383	3763	q -> y = (float)qI[2] / 16384.0f;
TUATBM	0:c3af3416e383	3764	q -> z = (float)qI[3] / 16384.0f;
TUATBM	0:c3af3416e383	3765	return 0;
TUATBM	0:c3af3416e383	3766	}
TUATBM	0:c3af3416e383	3767	return status; // int16 return value, indicates error if this line is reached
TUATBM	0:c3af3416e383	3768	}
TUATBM	0:c3af3416e383	3769	// uint8_t MPU6050::dmpGet6AxisQuaternion(long data, const uint8_t packet);
TUATBM	0:c3af3416e383	3770	// uint8_t MPU6050::dmpGetRelativeQuaternion(long data, const uint8_t packet);
TUATBM	0:c3af3416e383	3771	uint8_t MPU6050::dmpGetGyro(int32_t data, const uint8_t packet) {
TUATBM	0:c3af3416e383	3772	// TODO: accommodate different arrangements of sent data (ONLY default supported now)
TUATBM	0:c3af3416e383	3773	if (packet == 0) packet = dmpPacketBuffer;
TUATBM	0:c3af3416e383	3774	data[0] = (((uint32_t)packet[16] << 24) \| ((uint32_t)packet[17] << 16) \| ((uint32_t)packet[18] << 8) \| packet[19]);
TUATBM	0:c3af3416e383	3775	data[1] = (((uint32_t)packet[20] << 24) \| ((uint32_t)packet[21] << 16) \| ((uint32_t)packet[22] << 8) \| packet[23]);
TUATBM	0:c3af3416e383	3776	data[2] = (((uint32_t)packet[24] << 24) \| ((uint32_t)packet[25] << 16) \| ((uint32_t)packet[26] << 8) \| packet[27]);
TUATBM	0:c3af3416e383	3777	return 0;
TUATBM	0:c3af3416e383	3778	}
TUATBM	0:c3af3416e383	3779	uint8_t MPU6050::dmpGetGyro(int16_t data, const uint8_t packet) {
TUATBM	0:c3af3416e383	3780	// TODO: accommodate different arrangements of sent data (ONLY default supported now)
TUATBM	0:c3af3416e383	3781	if (packet == 0) packet = dmpPacketBuffer;
TUATBM	0:c3af3416e383	3782	data[0] = (packet[16] << 8) \| packet[17];
TUATBM	0:c3af3416e383	3783	data[1] = (packet[20] << 8) \| packet[21];
TUATBM	0:c3af3416e383	3784	data[2] = (packet[24] << 8) \| packet[25];
TUATBM	0:c3af3416e383	3785	return 0;
TUATBM	0:c3af3416e383	3786	}
TUATBM	0:c3af3416e383	3787	uint8_t MPU6050::dmpGetGyro(VectorInt16 v, const uint8_t packet) {
TUATBM	0:c3af3416e383	3788	// TODO: accommodate different arrangements of sent data (ONLY default supported now)
TUATBM	0:c3af3416e383	3789	if (packet == 0) packet = dmpPacketBuffer;
TUATBM	0:c3af3416e383	3790	v -> x = (packet[16] << 8) \| packet[17];
TUATBM	0:c3af3416e383	3791	v -> y = (packet[20] << 8) \| packet[21];
TUATBM	0:c3af3416e383	3792	v -> z = (packet[24] << 8) \| packet[25];
TUATBM	0:c3af3416e383	3793	return 0;
TUATBM	0:c3af3416e383	3794	}
TUATBM	0:c3af3416e383	3795	// uint8_t MPU6050::dmpSetLinearAccelFilterCoefficient(float coef);
TUATBM	0:c3af3416e383	3796	// uint8_t MPU6050::dmpGetLinearAccel(long data, const uint8_t packet);
TUATBM	0:c3af3416e383	3797	uint8_t MPU6050::dmpGetLinearAccel(VectorInt16 v, VectorInt16 vRaw, VectorFloat *gravity) {
TUATBM	0:c3af3416e383	3798	// get rid of the gravity component (+1g = +8192 in standard DMP FIFO packet, sensitivity is 2g)
TUATBM	0:c3af3416e383	3799	v -> x = vRaw -> x - gravity -> x*8192;
TUATBM	0:c3af3416e383	3800	v -> y = vRaw -> y - gravity -> y*8192;
TUATBM	0:c3af3416e383	3801	v -> z = vRaw -> z - gravity -> z*8192;
TUATBM	0:c3af3416e383	3802	return 0;
TUATBM	0:c3af3416e383	3803	}
TUATBM	0:c3af3416e383	3804	// uint8_t MPU6050::dmpGetLinearAccelInWorld(long data, const uint8_t packet);
TUATBM	0:c3af3416e383	3805	uint8_t MPU6050::dmpGetLinearAccelInWorld(VectorInt16 v, VectorInt16 vReal, Quaternion *q) {
TUATBM	0:c3af3416e383	3806	// rotate measured 3D acceleration vector into original state
TUATBM	0:c3af3416e383	3807	// frame of reference based on orientation quaternion
TUATBM	0:c3af3416e383	3808	memcpy(v, vReal, sizeof(VectorInt16));
TUATBM	0:c3af3416e383	3809	v -> rotate(q);
TUATBM	0:c3af3416e383	3810	return 0;
TUATBM	0:c3af3416e383	3811	}
TUATBM	0:c3af3416e383	3812	// uint8_t MPU6050::dmpGetGyroAndAccelSensor(long data, const uint8_t packet);
TUATBM	0:c3af3416e383	3813	// uint8_t MPU6050::dmpGetGyroSensor(long data, const uint8_t packet);
TUATBM	0:c3af3416e383	3814	// uint8_t MPU6050::dmpGetControlData(long data, const uint8_t packet);
TUATBM	0:c3af3416e383	3815	// uint8_t MPU6050::dmpGetTemperature(long data, const uint8_t packet);
TUATBM	0:c3af3416e383	3816	// uint8_t MPU6050::dmpGetGravity(long data, const uint8_t packet);
TUATBM	0:c3af3416e383	3817	uint8_t MPU6050::dmpGetGravity(VectorFloat v, Quaternion q) {
TUATBM	0:c3af3416e383	3818	v -> x = 2 * (q -> xq -> z - q -> wq -> y);
TUATBM	0:c3af3416e383	3819	v -> y = 2 * (q -> wq -> x + q -> yq -> z);
TUATBM	0:c3af3416e383	3820	v -> z = q -> wq -> w - q -> xq -> x - q -> yq -> y + q -> zq -> z;
TUATBM	0:c3af3416e383	3821	return 0;
TUATBM	0:c3af3416e383	3822	}
TUATBM	0:c3af3416e383	3823	// uint8_t MPU6050::dmpGetUnquantizedAccel(long data, const uint8_t packet);
TUATBM	0:c3af3416e383	3824	// uint8_t MPU6050::dmpGetQuantizedAccel(long data, const uint8_t packet);
TUATBM	0:c3af3416e383	3825	// uint8_t MPU6050::dmpGetExternalSensorData(long data, int size, const uint8_t packet);
TUATBM	0:c3af3416e383	3826	// uint8_t MPU6050::dmpGetEIS(long data, const uint8_t packet);
TUATBM	0:c3af3416e383	3827
TUATBM	0:c3af3416e383	3828	uint8_t MPU6050::dmpGetEuler(float data, Quaternion q) {
TUATBM	0:c3af3416e383	3829	data[0] = atan2(2q -> xq -> y - 2q -> wq -> z, 2q -> wq -> w + 2q -> xq -> x - 1); // psi
TUATBM	0:c3af3416e383	3830	data[1] = -asin(2q -> xq -> z + 2q -> wq -> y); // theta
TUATBM	0:c3af3416e383	3831	data[2] = atan2(2q -> yq -> z - 2q -> wq -> x, 2q -> wq -> w + 2q -> zq -> z - 1); // phi
TUATBM	0:c3af3416e383	3832	return 0;
TUATBM	0:c3af3416e383	3833	}
TUATBM	0:c3af3416e383	3834	uint8_t MPU6050::dmpGetYawPitchRoll(float data, Quaternion q, VectorFloat *gravity) {
TUATBM	0:c3af3416e383	3835	// yaw: (about Z axis)
TUATBM	0:c3af3416e383	3836	data[0] = atan2(2q -> xq -> y - 2q -> wq -> z, 2q -> wq -> w + 2q -> xq -> x - 1);
TUATBM	0:c3af3416e383	3837	// pitch: (nose up/down, about Y axis)
TUATBM	0:c3af3416e383	3838	data[1] = atan(gravity -> x / sqrt(gravity -> ygravity -> y + gravity -> zgravity -> z));
TUATBM	0:c3af3416e383	3839	// roll: (tilt left/right, about X axis)
TUATBM	0:c3af3416e383	3840	data[2] = atan(gravity -> y / sqrt(gravity -> xgravity -> x + gravity -> zgravity -> z));
TUATBM	0:c3af3416e383	3841	return 0;
TUATBM	0:c3af3416e383	3842	}
TUATBM	0:c3af3416e383	3843
TUATBM	0:c3af3416e383	3844	// uint8_t MPU6050::dmpGetAccelFloat(float data, const uint8_t packet);
TUATBM	0:c3af3416e383	3845	// uint8_t MPU6050::dmpGetQuaternionFloat(float data, const uint8_t packet);
TUATBM	0:c3af3416e383	3846
TUATBM	0:c3af3416e383	3847	uint8_t MPU6050::dmpProcessFIFOPacket(const unsigned char *dmpData) {
TUATBM	0:c3af3416e383	3848	/*for (uint8_t k = 0; k < dmpPacketSize; k++) {
TUATBM	0:c3af3416e383	3849	if (dmpData[k] < 0x10) Serial.print("0");
TUATBM	0:c3af3416e383	3850	Serial.print(dmpData[k], HEX);
TUATBM	0:c3af3416e383	3851	Serial.print(" ");
TUATBM	0:c3af3416e383	3852	}
TUATBM	0:c3af3416e383	3853	Serial.print("\n");*/
TUATBM	0:c3af3416e383	3854	//Serial.println((uint16_t)dmpPacketBuffer);
TUATBM	0:c3af3416e383	3855	return 0;
TUATBM	0:c3af3416e383	3856	}
TUATBM	0:c3af3416e383	3857	uint8_t MPU6050::dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed) {
TUATBM	0:c3af3416e383	3858	uint8_t status;
TUATBM	0:c3af3416e383	3859	uint8_t buf[dmpPacketSize];
TUATBM	0:c3af3416e383	3860	for (uint8_t i = 0; i < numPackets; i++) {
TUATBM	0:c3af3416e383	3861	// read packet from FIFO
TUATBM	0:c3af3416e383	3862	getFIFOBytes(buf, dmpPacketSize);
TUATBM	0:c3af3416e383	3863
TUATBM	0:c3af3416e383	3864	// process packet
TUATBM	0:c3af3416e383	3865	if ((status = dmpProcessFIFOPacket(buf)) > 0) return status;
TUATBM	0:c3af3416e383	3866
TUATBM	0:c3af3416e383	3867	// increment external process count variable, if supplied
TUATBM	0:c3af3416e383	3868	if (processed != 0) (*processed)++;
TUATBM	0:c3af3416e383	3869	}
TUATBM	0:c3af3416e383	3870	return 0;
TUATBM	0:c3af3416e383	3871	}
TUATBM	0:c3af3416e383	3872
TUATBM	0:c3af3416e383	3873	// uint8_t MPU6050::dmpSetFIFOProcessedCallback(void (*func) (void));
TUATBM	0:c3af3416e383	3874
TUATBM	0:c3af3416e383	3875	// uint8_t MPU6050::dmpInitFIFOParam();
TUATBM	0:c3af3416e383	3876	// uint8_t MPU6050::dmpCloseFIFO();
TUATBM	0:c3af3416e383	3877	// uint8_t MPU6050::dmpSetGyroDataSource(uint_fast8_t source);
TUATBM	0:c3af3416e383	3878	// uint8_t MPU6050::dmpDecodeQuantizedAccel();
TUATBM	0:c3af3416e383	3879	// uint32_t MPU6050::dmpGetGyroSumOfSquare();
TUATBM	0:c3af3416e383	3880	// uint32_t MPU6050::dmpGetAccelSumOfSquare();
TUATBM	0:c3af3416e383	3881	// void MPU6050::dmpOverrideQuaternion(long *q);
TUATBM	0:c3af3416e383	3882	uint16_t MPU6050::dmpGetFIFOPacketSize() {
TUATBM	0:c3af3416e383	3883	return dmpPacketSize;
TUATBM	0:c3af3416e383	3884	}

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Type:	Library
Created:	28 Aug 2018
Imports:	0
Forks:	0
Commits:	3
Dependents:	33
Dependencies:	2
Followers:	23

MPU6050.cpp@2:ff025b9c6c7c, 2018-09-18 (annotated)

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