eBot_Firmware_V1 - Initial Commit

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EdgeBotix / Mbed 2 deprecated eBot_Firmware_V1

Initial Commit

Dependencies: mbed HC05 QEI MODSERIAL SWSPI mbed-rtos

Drivers/MPU6050/MPU6050.cpp@6:5ab1735265a9, 2014-10-21 (annotated)

Committer:: harshb
Date:: Tue Oct 21 21:59:15 2014 +0000
Revision:: 6:5ab1735265a9
Parent:: 1:1da89c13dfa1

Initial Commit

Who changed what in which revision?

User	Revision	Line number	New contents of line
Throwbot	1:1da89c13dfa1	1	//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
Throwbot	1:1da89c13dfa1	2	//written by szymon gaertig (email: szymon@gaertig.com.pl)
Throwbot	1:1da89c13dfa1	3	//
Throwbot	1:1da89c13dfa1	4	//Changelog:
Throwbot	1:1da89c13dfa1	5	//2013-01-08 - first beta release
Throwbot	1:1da89c13dfa1	6
Throwbot	1:1da89c13dfa1	7	// I2Cdev library collection - MPU6050 I2C device class
Throwbot	1:1da89c13dfa1	8	// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
Throwbot	1:1da89c13dfa1	9	// 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
Throwbot	1:1da89c13dfa1	10	// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
Throwbot	1:1da89c13dfa1	11	//
Throwbot	1:1da89c13dfa1	12	// Changelog:
Throwbot	1:1da89c13dfa1	13	// ... - ongoing debug release
Throwbot	1:1da89c13dfa1	14
Throwbot	1:1da89c13dfa1	15	// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
Throwbot	1:1da89c13dfa1	16	// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
Throwbot	1:1da89c13dfa1	17	// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
Throwbot	1:1da89c13dfa1	18
Throwbot	1:1da89c13dfa1	19	/* ============================================
Throwbot	1:1da89c13dfa1	20	I2Cdev device library code is placed under the MIT license
Throwbot	1:1da89c13dfa1	21	Copyright (c) 2012 Jeff Rowberg
Throwbot	1:1da89c13dfa1	22
Throwbot	1:1da89c13dfa1	23	Permission is hereby granted, free of charge, to any person obtaining a copy
Throwbot	1:1da89c13dfa1	24	of this software and associated documentation files (the "Software"), to deal
Throwbot	1:1da89c13dfa1	25	in the Software without restriction, including without limitation the rights
Throwbot	1:1da89c13dfa1	26	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
Throwbot	1:1da89c13dfa1	27	copies of the Software, and to permit persons to whom the Software is
Throwbot	1:1da89c13dfa1	28	furnished to do so, subject to the following conditions:
Throwbot	1:1da89c13dfa1	29
Throwbot	1:1da89c13dfa1	30	The above copyright notice and this permission notice shall be included in
Throwbot	1:1da89c13dfa1	31	all copies or substantial portions of the Software.
Throwbot	1:1da89c13dfa1	32
Throwbot	1:1da89c13dfa1	33	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
Throwbot	1:1da89c13dfa1	34	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
Throwbot	1:1da89c13dfa1	35	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
Throwbot	1:1da89c13dfa1	36	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
Throwbot	1:1da89c13dfa1	37	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
Throwbot	1:1da89c13dfa1	38	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
Throwbot	1:1da89c13dfa1	39	THE SOFTWARE.
Throwbot	1:1da89c13dfa1	40	===============================================
Throwbot	1:1da89c13dfa1	41	*/
Throwbot	1:1da89c13dfa1	42
Throwbot	1:1da89c13dfa1	43	#include "MPU6050.h"
Throwbot	1:1da89c13dfa1	44
Throwbot	1:1da89c13dfa1	45	//#define useDebugSerial
Throwbot	1:1da89c13dfa1	46
Throwbot	1:1da89c13dfa1	47	//instead of using pgmspace.h
Throwbot	1:1da89c13dfa1	48	typedef const unsigned char prog_uchar;
Throwbot	1:1da89c13dfa1	49	#define pgm_read_byte_near(x) ((prog_uchar)x)
Throwbot	1:1da89c13dfa1	50	#define pgm_read_byte(x) ((prog_uchar)x)
Throwbot	1:1da89c13dfa1	51
Throwbot	1:1da89c13dfa1	52	/** Default constructor, uses default I2C address.
Throwbot	1:1da89c13dfa1	53	* @see MPU6050_DEFAULT_ADDRESS
Throwbot	1:1da89c13dfa1	54	*/
Throwbot	1:1da89c13dfa1	55	MPU6050::MPU6050()
Throwbot	1:1da89c13dfa1	56	{
Throwbot	1:1da89c13dfa1	57	devAddr = MPU6050_DEFAULT_ADDRESS;
Throwbot	1:1da89c13dfa1	58	}
Throwbot	1:1da89c13dfa1	59
Throwbot	1:1da89c13dfa1	60	/** Specific address constructor.
Throwbot	1:1da89c13dfa1	61	* @param address I2C address
Throwbot	1:1da89c13dfa1	62	* @see MPU6050_DEFAULT_ADDRESS
Throwbot	1:1da89c13dfa1	63	* @see MPU6050_ADDRESS_AD0_LOW
Throwbot	1:1da89c13dfa1	64	* @see MPU6050_ADDRESS_AD0_HIGH
Throwbot	1:1da89c13dfa1	65	*/
Throwbot	1:1da89c13dfa1	66	MPU6050::MPU6050(uint8_t address)
Throwbot	1:1da89c13dfa1	67	{
Throwbot	1:1da89c13dfa1	68	devAddr = address;
Throwbot	1:1da89c13dfa1	69	}
Throwbot	1:1da89c13dfa1	70
Throwbot	1:1da89c13dfa1	71	/** Power on and prepare for general usage.
Throwbot	1:1da89c13dfa1	72	* This will activate the device and take it out of sleep mode (which must be done
Throwbot	1:1da89c13dfa1	73	* after start-up). This function also sets both the accelerometer and the gyroscope
Throwbot	1:1da89c13dfa1	74	* to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
Throwbot	1:1da89c13dfa1	75	* the clock source to use the X Gyro for reference, which is slightly better than
Throwbot	1:1da89c13dfa1	76	* the default internal clock source.
Throwbot	1:1da89c13dfa1	77	*/
Throwbot	1:1da89c13dfa1	78	void MPU6050::initialize()
Throwbot	1:1da89c13dfa1	79	{
Throwbot	1:1da89c13dfa1	80
Throwbot	1:1da89c13dfa1	81	#ifdef useDebugSerial
Throwbot	1:1da89c13dfa1	82	debugSerial.printf("MPU6050::initialize start\n");
Throwbot	1:1da89c13dfa1	83	#endif
Throwbot	1:1da89c13dfa1	84
Throwbot	1:1da89c13dfa1	85	setClockSource(MPU6050_CLOCK_PLL_XGYRO);
Throwbot	1:1da89c13dfa1	86	setFullScaleGyroRange(MPU6050_GYRO_FS_250);
Throwbot	1:1da89c13dfa1	87	setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
Throwbot	1:1da89c13dfa1	88	setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
Throwbot	1:1da89c13dfa1	89
Throwbot	1:1da89c13dfa1	90	#ifdef useDebugSerial
Throwbot	1:1da89c13dfa1	91	debugSerial.printf("MPU6050::initialize end\n");
Throwbot	1:1da89c13dfa1	92	#endif
Throwbot	1:1da89c13dfa1	93	}
Throwbot	1:1da89c13dfa1	94
Throwbot	1:1da89c13dfa1	95	/** Verify the I2C connection.
Throwbot	1:1da89c13dfa1	96	* Make sure the device is connected and responds as expected.
Throwbot	1:1da89c13dfa1	97	* @return True if connection is valid, false otherwise
Throwbot	1:1da89c13dfa1	98	*/
Throwbot	1:1da89c13dfa1	99	bool MPU6050::testConnection()
Throwbot	1:1da89c13dfa1	100	{
Throwbot	1:1da89c13dfa1	101	#ifdef useDebugSerial
Throwbot	1:1da89c13dfa1	102	debugSerial.printf("MPU6050::testConnection start\n");
Throwbot	1:1da89c13dfa1	103	#endif
Throwbot	1:1da89c13dfa1	104	uint8_t deviceId = getDeviceID();
Throwbot	1:1da89c13dfa1	105	#ifdef useDebugSerial
Throwbot	1:1da89c13dfa1	106	debugSerial.printf("DeviceId = %d\n",deviceId);
Throwbot	1:1da89c13dfa1	107	#endif
Throwbot	1:1da89c13dfa1	108	return deviceId == 0x34;
Throwbot	1:1da89c13dfa1	109	}
Throwbot	1:1da89c13dfa1	110
Throwbot	1:1da89c13dfa1	111	// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
Throwbot	1:1da89c13dfa1	112
Throwbot	1:1da89c13dfa1	113	/** Get the auxiliary I2C supply voltage level.
Throwbot	1:1da89c13dfa1	114	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
Throwbot	1:1da89c13dfa1	115	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
Throwbot	1:1da89c13dfa1	116	* the MPU-6000, which does not have a VLOGIC pin.
Throwbot	1:1da89c13dfa1	117	* @return I2C supply voltage level (0=VLOGIC, 1=VDD)
Throwbot	1:1da89c13dfa1	118	*/
Throwbot	1:1da89c13dfa1	119	uint8_t MPU6050::getAuxVDDIOLevel()
Throwbot	1:1da89c13dfa1	120	{
Throwbot	1:1da89c13dfa1	121	i2Cdev.readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
Throwbot	1:1da89c13dfa1	122	return buffer[0];
Throwbot	1:1da89c13dfa1	123	}
Throwbot	1:1da89c13dfa1	124	/** Set the auxiliary I2C supply voltage level.
Throwbot	1:1da89c13dfa1	125	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
Throwbot	1:1da89c13dfa1	126	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
Throwbot	1:1da89c13dfa1	127	* the MPU-6000, which does not have a VLOGIC pin.
Throwbot	1:1da89c13dfa1	128	* @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
Throwbot	1:1da89c13dfa1	129	*/
Throwbot	1:1da89c13dfa1	130	void MPU6050::setAuxVDDIOLevel(uint8_t level)
Throwbot	1:1da89c13dfa1	131	{
Throwbot	1:1da89c13dfa1	132	i2Cdev.writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
Throwbot	1:1da89c13dfa1	133	}
Throwbot	1:1da89c13dfa1	134
Throwbot	1:1da89c13dfa1	135	// SMPLRT_DIV register
Throwbot	1:1da89c13dfa1	136
Throwbot	1:1da89c13dfa1	137	/** Get gyroscope output rate divider.
Throwbot	1:1da89c13dfa1	138	* The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
Throwbot	1:1da89c13dfa1	139	* Motion detection, and Free Fall detection are all based on the Sample Rate.
Throwbot	1:1da89c13dfa1	140	* The Sample Rate is generated by dividing the gyroscope output rate by
Throwbot	1:1da89c13dfa1	141	* SMPLRT_DIV:
Throwbot	1:1da89c13dfa1	142	*
Throwbot	1:1da89c13dfa1	143	* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
Throwbot	1:1da89c13dfa1	144	*
Throwbot	1:1da89c13dfa1	145	* where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
Throwbot	1:1da89c13dfa1	146	* 7), and 1kHz when the DLPF is enabled (see Register 26).
Throwbot	1:1da89c13dfa1	147	*
Throwbot	1:1da89c13dfa1	148	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
Throwbot	1:1da89c13dfa1	149	* Rate greater than 1kHz, the same accelerometer sample may be output to the
Throwbot	1:1da89c13dfa1	150	* FIFO, DMP, and sensor registers more than once.
Throwbot	1:1da89c13dfa1	151	*
Throwbot	1:1da89c13dfa1	152	* For a diagram of the gyroscope and accelerometer signal paths, see Section 8
Throwbot	1:1da89c13dfa1	153	* of the MPU-6000/MPU-6050 Product Specification document.
Throwbot	1:1da89c13dfa1	154	*
Throwbot	1:1da89c13dfa1	155	* @return Current sample rate
Throwbot	1:1da89c13dfa1	156	* @see MPU6050_RA_SMPLRT_DIV
Throwbot	1:1da89c13dfa1	157	*/
Throwbot	1:1da89c13dfa1	158	uint8_t MPU6050::getRate()
Throwbot	1:1da89c13dfa1	159	{
Throwbot	1:1da89c13dfa1	160	i2Cdev.readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
Throwbot	1:1da89c13dfa1	161	return buffer[0];
Throwbot	1:1da89c13dfa1	162	}
Throwbot	1:1da89c13dfa1	163	/** Set gyroscope sample rate divider.
Throwbot	1:1da89c13dfa1	164	* @param rate New sample rate divider
Throwbot	1:1da89c13dfa1	165	* @see getRate()
Throwbot	1:1da89c13dfa1	166	* @see MPU6050_RA_SMPLRT_DIV
Throwbot	1:1da89c13dfa1	167	*/
Throwbot	1:1da89c13dfa1	168	void MPU6050::setRate(uint8_t rate)
Throwbot	1:1da89c13dfa1	169	{
Throwbot	1:1da89c13dfa1	170	i2Cdev.writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
Throwbot	1:1da89c13dfa1	171	}
Throwbot	1:1da89c13dfa1	172
Throwbot	1:1da89c13dfa1	173	// CONFIG register
Throwbot	1:1da89c13dfa1	174
Throwbot	1:1da89c13dfa1	175	/** Get external FSYNC configuration.
Throwbot	1:1da89c13dfa1	176	* Configures the external Frame Synchronization (FSYNC) pin sampling. An
Throwbot	1:1da89c13dfa1	177	* external signal connected to the FSYNC pin can be sampled by configuring
Throwbot	1:1da89c13dfa1	178	* EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
Throwbot	1:1da89c13dfa1	179	* strobes may be captured. The latched FSYNC signal will be sampled at the
Throwbot	1:1da89c13dfa1	180	* Sampling Rate, as defined in register 25. After sampling, the latch will
Throwbot	1:1da89c13dfa1	181	* reset to the current FSYNC signal state.
Throwbot	1:1da89c13dfa1	182	*
Throwbot	1:1da89c13dfa1	183	* The sampled value will be reported in place of the least significant bit in
Throwbot	1:1da89c13dfa1	184	* a sensor data register determined by the value of EXT_SYNC_SET according to
Throwbot	1:1da89c13dfa1	185	* the following table.
Throwbot	1:1da89c13dfa1	186	*
Throwbot	1:1da89c13dfa1	187	* <pre>
Throwbot	1:1da89c13dfa1	188	* EXT_SYNC_SET \| FSYNC Bit Location
Throwbot	1:1da89c13dfa1	189	* -------------+-------------------
Throwbot	1:1da89c13dfa1	190	* 0 \| Input disabled
Throwbot	1:1da89c13dfa1	191	* 1 \| TEMP_OUT_L[0]
Throwbot	1:1da89c13dfa1	192	* 2 \| GYRO_XOUT_L[0]
Throwbot	1:1da89c13dfa1	193	* 3 \| GYRO_YOUT_L[0]
Throwbot	1:1da89c13dfa1	194	* 4 \| GYRO_ZOUT_L[0]
Throwbot	1:1da89c13dfa1	195	* 5 \| ACCEL_XOUT_L[0]
Throwbot	1:1da89c13dfa1	196	* 6 \| ACCEL_YOUT_L[0]
Throwbot	1:1da89c13dfa1	197	* 7 \| ACCEL_ZOUT_L[0]
Throwbot	1:1da89c13dfa1	198	* </pre>
Throwbot	1:1da89c13dfa1	199	*
Throwbot	1:1da89c13dfa1	200	* @return FSYNC configuration value
Throwbot	1:1da89c13dfa1	201	*/
Throwbot	1:1da89c13dfa1	202	uint8_t MPU6050::getExternalFrameSync()
Throwbot	1:1da89c13dfa1	203	{
Throwbot	1:1da89c13dfa1	204	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
Throwbot	1:1da89c13dfa1	205	return buffer[0];
Throwbot	1:1da89c13dfa1	206	}
Throwbot	1:1da89c13dfa1	207	/** Set external FSYNC configuration.
Throwbot	1:1da89c13dfa1	208	* @see getExternalFrameSync()
Throwbot	1:1da89c13dfa1	209	* @see MPU6050_RA_CONFIG
Throwbot	1:1da89c13dfa1	210	* @param sync New FSYNC configuration value
Throwbot	1:1da89c13dfa1	211	*/
Throwbot	1:1da89c13dfa1	212	void MPU6050::setExternalFrameSync(uint8_t sync)
Throwbot	1:1da89c13dfa1	213	{
Throwbot	1:1da89c13dfa1	214	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
Throwbot	1:1da89c13dfa1	215	}
Throwbot	1:1da89c13dfa1	216	/** Get digital low-pass filter configuration.
Throwbot	1:1da89c13dfa1	217	* The DLPF_CFG parameter sets the digital low pass filter configuration. It
Throwbot	1:1da89c13dfa1	218	* also determines the internal sampling rate used by the device as shown in
Throwbot	1:1da89c13dfa1	219	* the table below.
Throwbot	1:1da89c13dfa1	220	*
Throwbot	1:1da89c13dfa1	221	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
Throwbot	1:1da89c13dfa1	222	* Rate greater than 1kHz, the same accelerometer sample may be output to the
Throwbot	1:1da89c13dfa1	223	* FIFO, DMP, and sensor registers more than once.
Throwbot	1:1da89c13dfa1	224	*
Throwbot	1:1da89c13dfa1	225	* <pre>
Throwbot	1:1da89c13dfa1	226	* \| ACCELEROMETER \| GYROSCOPE
Throwbot	1:1da89c13dfa1	227	* DLPF_CFG \| Bandwidth \| Delay \| Bandwidth \| Delay \| Sample Rate
Throwbot	1:1da89c13dfa1	228	* ---------+-----------+--------+-----------+--------+-------------
Throwbot	1:1da89c13dfa1	229	* 0 \| 260Hz \| 0ms \| 256Hz \| 0.98ms \| 8kHz
Throwbot	1:1da89c13dfa1	230	* 1 \| 184Hz \| 2.0ms \| 188Hz \| 1.9ms \| 1kHz
Throwbot	1:1da89c13dfa1	231	* 2 \| 94Hz \| 3.0ms \| 98Hz \| 2.8ms \| 1kHz
Throwbot	1:1da89c13dfa1	232	* 3 \| 44Hz \| 4.9ms \| 42Hz \| 4.8ms \| 1kHz
Throwbot	1:1da89c13dfa1	233	* 4 \| 21Hz \| 8.5ms \| 20Hz \| 8.3ms \| 1kHz
Throwbot	1:1da89c13dfa1	234	* 5 \| 10Hz \| 13.8ms \| 10Hz \| 13.4ms \| 1kHz
Throwbot	1:1da89c13dfa1	235	* 6 \| 5Hz \| 19.0ms \| 5Hz \| 18.6ms \| 1kHz
Throwbot	1:1da89c13dfa1	236	* 7 \| -- Reserved -- \| -- Reserved -- \| Reserved
Throwbot	1:1da89c13dfa1	237	* </pre>
Throwbot	1:1da89c13dfa1	238	*
Throwbot	1:1da89c13dfa1	239	* @return DLFP configuration
Throwbot	1:1da89c13dfa1	240	* @see MPU6050_RA_CONFIG
Throwbot	1:1da89c13dfa1	241	* @see MPU6050_CFG_DLPF_CFG_BIT
Throwbot	1:1da89c13dfa1	242	* @see MPU6050_CFG_DLPF_CFG_LENGTH
Throwbot	1:1da89c13dfa1	243	*/
Throwbot	1:1da89c13dfa1	244	uint8_t MPU6050::getDLPFMode()
Throwbot	1:1da89c13dfa1	245	{
Throwbot	1:1da89c13dfa1	246	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
Throwbot	1:1da89c13dfa1	247	return buffer[0];
Throwbot	1:1da89c13dfa1	248	}
Throwbot	1:1da89c13dfa1	249	/** Set digital low-pass filter configuration.
Throwbot	1:1da89c13dfa1	250	* @param mode New DLFP configuration setting
Throwbot	1:1da89c13dfa1	251	* @see getDLPFBandwidth()
Throwbot	1:1da89c13dfa1	252	* @see MPU6050_DLPF_BW_256
Throwbot	1:1da89c13dfa1	253	* @see MPU6050_RA_CONFIG
Throwbot	1:1da89c13dfa1	254	* @see MPU6050_CFG_DLPF_CFG_BIT
Throwbot	1:1da89c13dfa1	255	* @see MPU6050_CFG_DLPF_CFG_LENGTH
Throwbot	1:1da89c13dfa1	256	*/
Throwbot	1:1da89c13dfa1	257	void MPU6050::setDLPFMode(uint8_t mode)
Throwbot	1:1da89c13dfa1	258	{
Throwbot	1:1da89c13dfa1	259	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
Throwbot	1:1da89c13dfa1	260	}
Throwbot	1:1da89c13dfa1	261
Throwbot	1:1da89c13dfa1	262	// GYRO_CONFIG register
Throwbot	1:1da89c13dfa1	263
Throwbot	1:1da89c13dfa1	264	/** Get full-scale gyroscope range.
Throwbot	1:1da89c13dfa1	265	* The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
Throwbot	1:1da89c13dfa1	266	* as described in the table below.
Throwbot	1:1da89c13dfa1	267	*
Throwbot	1:1da89c13dfa1	268	* <pre>
Throwbot	1:1da89c13dfa1	269	* 0 = +/- 250 degrees/sec
Throwbot	1:1da89c13dfa1	270	* 1 = +/- 500 degrees/sec
Throwbot	1:1da89c13dfa1	271	* 2 = +/- 1000 degrees/sec
Throwbot	1:1da89c13dfa1	272	* 3 = +/- 2000 degrees/sec
Throwbot	1:1da89c13dfa1	273	* </pre>
Throwbot	1:1da89c13dfa1	274	*
Throwbot	1:1da89c13dfa1	275	* @return Current full-scale gyroscope range setting
Throwbot	1:1da89c13dfa1	276	* @see MPU6050_GYRO_FS_250
Throwbot	1:1da89c13dfa1	277	* @see MPU6050_RA_GYRO_CONFIG
Throwbot	1:1da89c13dfa1	278	* @see MPU6050_GCONFIG_FS_SEL_BIT
Throwbot	1:1da89c13dfa1	279	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
Throwbot	1:1da89c13dfa1	280	*/
Throwbot	1:1da89c13dfa1	281	uint8_t MPU6050::getFullScaleGyroRange()
Throwbot	1:1da89c13dfa1	282	{
Throwbot	1:1da89c13dfa1	283	i2Cdev.readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
Throwbot	1:1da89c13dfa1	284	return buffer[0];
Throwbot	1:1da89c13dfa1	285	}
Throwbot	1:1da89c13dfa1	286	/** Set full-scale gyroscope range.
Throwbot	1:1da89c13dfa1	287	* @param range New full-scale gyroscope range value
Throwbot	1:1da89c13dfa1	288	* @see getFullScaleRange()
Throwbot	1:1da89c13dfa1	289	* @see MPU6050_GYRO_FS_250
Throwbot	1:1da89c13dfa1	290	* @see MPU6050_RA_GYRO_CONFIG
Throwbot	1:1da89c13dfa1	291	* @see MPU6050_GCONFIG_FS_SEL_BIT
Throwbot	1:1da89c13dfa1	292	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
Throwbot	1:1da89c13dfa1	293	*/
Throwbot	1:1da89c13dfa1	294	void MPU6050::setFullScaleGyroRange(uint8_t range)
Throwbot	1:1da89c13dfa1	295	{
Throwbot	1:1da89c13dfa1	296	i2Cdev.writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
Throwbot	1:1da89c13dfa1	297	}
Throwbot	1:1da89c13dfa1	298
Throwbot	1:1da89c13dfa1	299	// ACCEL_CONFIG register
Throwbot	1:1da89c13dfa1	300
Throwbot	1:1da89c13dfa1	301	/** Get self-test enabled setting for accelerometer X axis.
Throwbot	1:1da89c13dfa1	302	* @return Self-test enabled value
Throwbot	1:1da89c13dfa1	303	* @see MPU6050_RA_ACCEL_CONFIG
Throwbot	1:1da89c13dfa1	304	*/
Throwbot	1:1da89c13dfa1	305	bool MPU6050::getAccelXSelfTest()
Throwbot	1:1da89c13dfa1	306	{
Throwbot	1:1da89c13dfa1	307	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
Throwbot	1:1da89c13dfa1	308	return buffer[0];
Throwbot	1:1da89c13dfa1	309	}
Throwbot	1:1da89c13dfa1	310	/** Get self-test enabled setting for accelerometer X axis.
Throwbot	1:1da89c13dfa1	311	* @param enabled Self-test enabled value
Throwbot	1:1da89c13dfa1	312	* @see MPU6050_RA_ACCEL_CONFIG
Throwbot	1:1da89c13dfa1	313	*/
Throwbot	1:1da89c13dfa1	314	void MPU6050::setAccelXSelfTest(bool enabled)
Throwbot	1:1da89c13dfa1	315	{
Throwbot	1:1da89c13dfa1	316	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
Throwbot	1:1da89c13dfa1	317	}
Throwbot	1:1da89c13dfa1	318	/** Get self-test enabled value for accelerometer Y axis.
Throwbot	1:1da89c13dfa1	319	* @return Self-test enabled value
Throwbot	1:1da89c13dfa1	320	* @see MPU6050_RA_ACCEL_CONFIG
Throwbot	1:1da89c13dfa1	321	*/
Throwbot	1:1da89c13dfa1	322	bool MPU6050::getAccelYSelfTest()
Throwbot	1:1da89c13dfa1	323	{
Throwbot	1:1da89c13dfa1	324	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
Throwbot	1:1da89c13dfa1	325	return buffer[0];
Throwbot	1:1da89c13dfa1	326	}
Throwbot	1:1da89c13dfa1	327	/** Get self-test enabled value for accelerometer Y axis.
Throwbot	1:1da89c13dfa1	328	* @param enabled Self-test enabled value
Throwbot	1:1da89c13dfa1	329	* @see MPU6050_RA_ACCEL_CONFIG
Throwbot	1:1da89c13dfa1	330	*/
Throwbot	1:1da89c13dfa1	331	void MPU6050::setAccelYSelfTest(bool enabled)
Throwbot	1:1da89c13dfa1	332	{
Throwbot	1:1da89c13dfa1	333	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
Throwbot	1:1da89c13dfa1	334	}
Throwbot	1:1da89c13dfa1	335	/** Get self-test enabled value for accelerometer Z axis.
Throwbot	1:1da89c13dfa1	336	* @return Self-test enabled value
Throwbot	1:1da89c13dfa1	337	* @see MPU6050_RA_ACCEL_CONFIG
Throwbot	1:1da89c13dfa1	338	*/
Throwbot	1:1da89c13dfa1	339	bool MPU6050::getAccelZSelfTest()
Throwbot	1:1da89c13dfa1	340	{
Throwbot	1:1da89c13dfa1	341	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
Throwbot	1:1da89c13dfa1	342	return buffer[0];
Throwbot	1:1da89c13dfa1	343	}
Throwbot	1:1da89c13dfa1	344	/** Set self-test enabled value for accelerometer Z axis.
Throwbot	1:1da89c13dfa1	345	* @param enabled Self-test enabled value
Throwbot	1:1da89c13dfa1	346	* @see MPU6050_RA_ACCEL_CONFIG
Throwbot	1:1da89c13dfa1	347	*/
Throwbot	1:1da89c13dfa1	348	void MPU6050::setAccelZSelfTest(bool enabled)
Throwbot	1:1da89c13dfa1	349	{
Throwbot	1:1da89c13dfa1	350	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
Throwbot	1:1da89c13dfa1	351	}
Throwbot	1:1da89c13dfa1	352	/** Get full-scale accelerometer range.
Throwbot	1:1da89c13dfa1	353	* The FS_SEL parameter allows setting the full-scale range of the accelerometer
Throwbot	1:1da89c13dfa1	354	* sensors, as described in the table below.
Throwbot	1:1da89c13dfa1	355	*
Throwbot	1:1da89c13dfa1	356	* <pre>
Throwbot	1:1da89c13dfa1	357	* 0 = +/- 2g
Throwbot	1:1da89c13dfa1	358	* 1 = +/- 4g
Throwbot	1:1da89c13dfa1	359	* 2 = +/- 8g
Throwbot	1:1da89c13dfa1	360	* 3 = +/- 16g
Throwbot	1:1da89c13dfa1	361	* </pre>
Throwbot	1:1da89c13dfa1	362	*
Throwbot	1:1da89c13dfa1	363	* @return Current full-scale accelerometer range setting
Throwbot	1:1da89c13dfa1	364	* @see MPU6050_ACCEL_FS_2
Throwbot	1:1da89c13dfa1	365	* @see MPU6050_RA_ACCEL_CONFIG
Throwbot	1:1da89c13dfa1	366	* @see MPU6050_ACONFIG_AFS_SEL_BIT
Throwbot	1:1da89c13dfa1	367	* @see MPU6050_ACONFIG_AFS_SEL_LENGTH
Throwbot	1:1da89c13dfa1	368	*/
Throwbot	1:1da89c13dfa1	369	uint8_t MPU6050::getFullScaleAccelRange()
Throwbot	1:1da89c13dfa1	370	{
Throwbot	1:1da89c13dfa1	371	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
Throwbot	1:1da89c13dfa1	372	return buffer[0];
Throwbot	1:1da89c13dfa1	373	}
Throwbot	1:1da89c13dfa1	374	/** Set full-scale accelerometer range.
Throwbot	1:1da89c13dfa1	375	* @param range New full-scale accelerometer range setting
Throwbot	1:1da89c13dfa1	376	* @see getFullScaleAccelRange()
Throwbot	1:1da89c13dfa1	377	*/
Throwbot	1:1da89c13dfa1	378	void MPU6050::setFullScaleAccelRange(uint8_t range)
Throwbot	1:1da89c13dfa1	379	{
Throwbot	1:1da89c13dfa1	380	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
Throwbot	1:1da89c13dfa1	381	}
Throwbot	1:1da89c13dfa1	382	/** Get the high-pass filter configuration.
Throwbot	1:1da89c13dfa1	383	* The DHPF is a filter module in the path leading to motion detectors (Free
Throwbot	1:1da89c13dfa1	384	* Fall, Motion threshold, and Zero Motion). The high pass filter output is not
Throwbot	1:1da89c13dfa1	385	* available to the data registers (see Figure in Section 8 of the MPU-6000/
Throwbot	1:1da89c13dfa1	386	* MPU-6050 Product Specification document).
Throwbot	1:1da89c13dfa1	387	*
Throwbot	1:1da89c13dfa1	388	* The high pass filter has three modes:
Throwbot	1:1da89c13dfa1	389	*
Throwbot	1:1da89c13dfa1	390	* <pre>
Throwbot	1:1da89c13dfa1	391	* Reset: The filter output settles to zero within one sample. This
Throwbot	1:1da89c13dfa1	392	* effectively disables the high pass filter. This mode may be toggled
Throwbot	1:1da89c13dfa1	393	* to quickly settle the filter.
Throwbot	1:1da89c13dfa1	394	*
Throwbot	1:1da89c13dfa1	395	* On: The high pass filter will pass signals above the cut off frequency.
Throwbot	1:1da89c13dfa1	396	*
Throwbot	1:1da89c13dfa1	397	* Hold: When triggered, the filter holds the present sample. The filter
Throwbot	1:1da89c13dfa1	398	* output will be the difference between the input sample and the held
Throwbot	1:1da89c13dfa1	399	* sample.
Throwbot	1:1da89c13dfa1	400	* </pre>
Throwbot	1:1da89c13dfa1	401	*
Throwbot	1:1da89c13dfa1	402	* <pre>
Throwbot	1:1da89c13dfa1	403	* ACCEL_HPF \| Filter Mode \| Cut-off Frequency
Throwbot	1:1da89c13dfa1	404	* ----------+-------------+------------------
Throwbot	1:1da89c13dfa1	405	* 0 \| Reset \| None
Throwbot	1:1da89c13dfa1	406	* 1 \| On \| 5Hz
Throwbot	1:1da89c13dfa1	407	* 2 \| On \| 2.5Hz
Throwbot	1:1da89c13dfa1	408	* 3 \| On \| 1.25Hz
Throwbot	1:1da89c13dfa1	409	* 4 \| On \| 0.63Hz
Throwbot	1:1da89c13dfa1	410	* 7 \| Hold \| None
Throwbot	1:1da89c13dfa1	411	* </pre>
Throwbot	1:1da89c13dfa1	412	*
Throwbot	1:1da89c13dfa1	413	* @return Current high-pass filter configuration
Throwbot	1:1da89c13dfa1	414	* @see MPU6050_DHPF_RESET
Throwbot	1:1da89c13dfa1	415	* @see MPU6050_RA_ACCEL_CONFIG
Throwbot	1:1da89c13dfa1	416	*/
Throwbot	1:1da89c13dfa1	417	uint8_t MPU6050::getDHPFMode()
Throwbot	1:1da89c13dfa1	418	{
Throwbot	1:1da89c13dfa1	419	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
Throwbot	1:1da89c13dfa1	420	return buffer[0];
Throwbot	1:1da89c13dfa1	421	}
Throwbot	1:1da89c13dfa1	422	/** Set the high-pass filter configuration.
Throwbot	1:1da89c13dfa1	423	* @param bandwidth New high-pass filter configuration
Throwbot	1:1da89c13dfa1	424	* @see setDHPFMode()
Throwbot	1:1da89c13dfa1	425	* @see MPU6050_DHPF_RESET
Throwbot	1:1da89c13dfa1	426	* @see MPU6050_RA_ACCEL_CONFIG
Throwbot	1:1da89c13dfa1	427	*/
Throwbot	1:1da89c13dfa1	428	void MPU6050::setDHPFMode(uint8_t bandwidth)
Throwbot	1:1da89c13dfa1	429	{
Throwbot	1:1da89c13dfa1	430	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
Throwbot	1:1da89c13dfa1	431	}
Throwbot	1:1da89c13dfa1	432
Throwbot	1:1da89c13dfa1	433	// FF_THR register
Throwbot	1:1da89c13dfa1	434
Throwbot	1:1da89c13dfa1	435	/** Get free-fall event acceleration threshold.
Throwbot	1:1da89c13dfa1	436	* This register configures the detection threshold for Free Fall event
Throwbot	1:1da89c13dfa1	437	* detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
Throwbot	1:1da89c13dfa1	438	* absolute value of the accelerometer measurements for the three axes are each
Throwbot	1:1da89c13dfa1	439	* less than the detection threshold. This condition increments the Free Fall
Throwbot	1:1da89c13dfa1	440	* duration counter (Register 30). The Free Fall interrupt is triggered when the
Throwbot	1:1da89c13dfa1	441	* Free Fall duration counter reaches the time specified in FF_DUR.
Throwbot	1:1da89c13dfa1	442	*
Throwbot	1:1da89c13dfa1	443	* For more details on the Free Fall detection interrupt, see Section 8.2 of the
Throwbot	1:1da89c13dfa1	444	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
Throwbot	1:1da89c13dfa1	445	* 58 of this document.
Throwbot	1:1da89c13dfa1	446	*
Throwbot	1:1da89c13dfa1	447	* @return Current free-fall acceleration threshold value (LSB = 2mg)
Throwbot	1:1da89c13dfa1	448	* @see MPU6050_RA_FF_THR
Throwbot	1:1da89c13dfa1	449	*/
Throwbot	1:1da89c13dfa1	450	uint8_t MPU6050::getFreefallDetectionThreshold()
Throwbot	1:1da89c13dfa1	451	{
Throwbot	1:1da89c13dfa1	452	i2Cdev.readByte(devAddr, MPU6050_RA_FF_THR, buffer);
Throwbot	1:1da89c13dfa1	453	return buffer[0];
Throwbot	1:1da89c13dfa1	454	}
Throwbot	1:1da89c13dfa1	455	/** Get free-fall event acceleration threshold.
Throwbot	1:1da89c13dfa1	456	* @param threshold New free-fall acceleration threshold value (LSB = 2mg)
Throwbot	1:1da89c13dfa1	457	* @see getFreefallDetectionThreshold()
Throwbot	1:1da89c13dfa1	458	* @see MPU6050_RA_FF_THR
Throwbot	1:1da89c13dfa1	459	*/
Throwbot	1:1da89c13dfa1	460	void MPU6050::setFreefallDetectionThreshold(uint8_t threshold)
Throwbot	1:1da89c13dfa1	461	{
Throwbot	1:1da89c13dfa1	462	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
Throwbot	1:1da89c13dfa1	463	}
Throwbot	1:1da89c13dfa1	464
Throwbot	1:1da89c13dfa1	465	// FF_DUR register
Throwbot	1:1da89c13dfa1	466
Throwbot	1:1da89c13dfa1	467	/** Get free-fall event duration threshold.
Throwbot	1:1da89c13dfa1	468	* This register configures the duration counter threshold for Free Fall event
Throwbot	1:1da89c13dfa1	469	* detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
Throwbot	1:1da89c13dfa1	470	* of 1 LSB = 1 ms.
Throwbot	1:1da89c13dfa1	471	*
Throwbot	1:1da89c13dfa1	472	* The Free Fall duration counter increments while the absolute value of the
Throwbot	1:1da89c13dfa1	473	* accelerometer measurements are each less than the detection threshold
Throwbot	1:1da89c13dfa1	474	* (Register 29). The Free Fall interrupt is triggered when the Free Fall
Throwbot	1:1da89c13dfa1	475	* duration counter reaches the time specified in this register.
Throwbot	1:1da89c13dfa1	476	*
Throwbot	1:1da89c13dfa1	477	* For more details on the Free Fall detection interrupt, see Section 8.2 of
Throwbot	1:1da89c13dfa1	478	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
Throwbot	1:1da89c13dfa1	479	* and 58 of this document.
Throwbot	1:1da89c13dfa1	480	*
Throwbot	1:1da89c13dfa1	481	* @return Current free-fall duration threshold value (LSB = 1ms)
Throwbot	1:1da89c13dfa1	482	* @see MPU6050_RA_FF_DUR
Throwbot	1:1da89c13dfa1	483	*/
Throwbot	1:1da89c13dfa1	484	uint8_t MPU6050::getFreefallDetectionDuration()
Throwbot	1:1da89c13dfa1	485	{
Throwbot	1:1da89c13dfa1	486	i2Cdev.readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
Throwbot	1:1da89c13dfa1	487	return buffer[0];
Throwbot	1:1da89c13dfa1	488	}
Throwbot	1:1da89c13dfa1	489	/** Get free-fall event duration threshold.
Throwbot	1:1da89c13dfa1	490	* @param duration New free-fall duration threshold value (LSB = 1ms)
Throwbot	1:1da89c13dfa1	491	* @see getFreefallDetectionDuration()
Throwbot	1:1da89c13dfa1	492	* @see MPU6050_RA_FF_DUR
Throwbot	1:1da89c13dfa1	493	*/
Throwbot	1:1da89c13dfa1	494	void MPU6050::setFreefallDetectionDuration(uint8_t duration)
Throwbot	1:1da89c13dfa1	495	{
Throwbot	1:1da89c13dfa1	496	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
Throwbot	1:1da89c13dfa1	497	}
Throwbot	1:1da89c13dfa1	498
Throwbot	1:1da89c13dfa1	499	// MOT_THR register
Throwbot	1:1da89c13dfa1	500
Throwbot	1:1da89c13dfa1	501	/** Get motion detection event acceleration threshold.
Throwbot	1:1da89c13dfa1	502	* This register configures the detection threshold for Motion interrupt
Throwbot	1:1da89c13dfa1	503	* generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
Throwbot	1:1da89c13dfa1	504	* absolute value of any of the accelerometer measurements exceeds this Motion
Throwbot	1:1da89c13dfa1	505	* detection threshold. This condition increments the Motion detection duration
Throwbot	1:1da89c13dfa1	506	* counter (Register 32). The Motion detection interrupt is triggered when the
Throwbot	1:1da89c13dfa1	507	* Motion Detection counter reaches the time count specified in MOT_DUR
Throwbot	1:1da89c13dfa1	508	* (Register 32).
Throwbot	1:1da89c13dfa1	509	*
Throwbot	1:1da89c13dfa1	510	* The Motion interrupt will indicate the axis and polarity of detected motion
Throwbot	1:1da89c13dfa1	511	* in MOT_DETECT_STATUS (Register 97).
Throwbot	1:1da89c13dfa1	512	*
Throwbot	1:1da89c13dfa1	513	* For more details on the Motion detection interrupt, see Section 8.3 of the
Throwbot	1:1da89c13dfa1	514	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
Throwbot	1:1da89c13dfa1	515	* 58 of this document.
Throwbot	1:1da89c13dfa1	516	*
Throwbot	1:1da89c13dfa1	517	* @return Current motion detection acceleration threshold value (LSB = 2mg)
Throwbot	1:1da89c13dfa1	518	* @see MPU6050_RA_MOT_THR
Throwbot	1:1da89c13dfa1	519	*/
Throwbot	1:1da89c13dfa1	520	uint8_t MPU6050::getMotionDetectionThreshold()
Throwbot	1:1da89c13dfa1	521	{
Throwbot	1:1da89c13dfa1	522	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
Throwbot	1:1da89c13dfa1	523	return buffer[0];
Throwbot	1:1da89c13dfa1	524	}
Throwbot	1:1da89c13dfa1	525	/** Set free-fall event acceleration threshold.
Throwbot	1:1da89c13dfa1	526	* @param threshold New motion detection acceleration threshold value (LSB = 2mg)
Throwbot	1:1da89c13dfa1	527	* @see getMotionDetectionThreshold()
Throwbot	1:1da89c13dfa1	528	* @see MPU6050_RA_MOT_THR
Throwbot	1:1da89c13dfa1	529	*/
Throwbot	1:1da89c13dfa1	530	void MPU6050::setMotionDetectionThreshold(uint8_t threshold)
Throwbot	1:1da89c13dfa1	531	{
Throwbot	1:1da89c13dfa1	532	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
Throwbot	1:1da89c13dfa1	533	}
Throwbot	1:1da89c13dfa1	534
Throwbot	1:1da89c13dfa1	535	// MOT_DUR register
Throwbot	1:1da89c13dfa1	536
Throwbot	1:1da89c13dfa1	537	/** Get motion detection event duration threshold.
Throwbot	1:1da89c13dfa1	538	* This register configures the duration counter threshold for Motion interrupt
Throwbot	1:1da89c13dfa1	539	* generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
Throwbot	1:1da89c13dfa1	540	* of 1LSB = 1ms. The Motion detection duration counter increments when the
Throwbot	1:1da89c13dfa1	541	* absolute value of any of the accelerometer measurements exceeds the Motion
Throwbot	1:1da89c13dfa1	542	* detection threshold (Register 31). The Motion detection interrupt is
Throwbot	1:1da89c13dfa1	543	* triggered when the Motion detection counter reaches the time count specified
Throwbot	1:1da89c13dfa1	544	* in this register.
Throwbot	1:1da89c13dfa1	545	*
Throwbot	1:1da89c13dfa1	546	* For more details on the Motion detection interrupt, see Section 8.3 of the
Throwbot	1:1da89c13dfa1	547	* MPU-6000/MPU-6050 Product Specification document.
Throwbot	1:1da89c13dfa1	548	*
Throwbot	1:1da89c13dfa1	549	* @return Current motion detection duration threshold value (LSB = 1ms)
Throwbot	1:1da89c13dfa1	550	* @see MPU6050_RA_MOT_DUR
Throwbot	1:1da89c13dfa1	551	*/
Throwbot	1:1da89c13dfa1	552	uint8_t MPU6050::getMotionDetectionDuration()
Throwbot	1:1da89c13dfa1	553	{
Throwbot	1:1da89c13dfa1	554	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
Throwbot	1:1da89c13dfa1	555	return buffer[0];
Throwbot	1:1da89c13dfa1	556	}
Throwbot	1:1da89c13dfa1	557	/** Set motion detection event duration threshold.
Throwbot	1:1da89c13dfa1	558	* @param duration New motion detection duration threshold value (LSB = 1ms)
Throwbot	1:1da89c13dfa1	559	* @see getMotionDetectionDuration()
Throwbot	1:1da89c13dfa1	560	* @see MPU6050_RA_MOT_DUR
Throwbot	1:1da89c13dfa1	561	*/
Throwbot	1:1da89c13dfa1	562	void MPU6050::setMotionDetectionDuration(uint8_t duration)
Throwbot	1:1da89c13dfa1	563	{
Throwbot	1:1da89c13dfa1	564	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
Throwbot	1:1da89c13dfa1	565	}
Throwbot	1:1da89c13dfa1	566
Throwbot	1:1da89c13dfa1	567	// ZRMOT_THR register
Throwbot	1:1da89c13dfa1	568
Throwbot	1:1da89c13dfa1	569	/** Get zero motion detection event acceleration threshold.
Throwbot	1:1da89c13dfa1	570	* This register configures the detection threshold for Zero Motion interrupt
Throwbot	1:1da89c13dfa1	571	* generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
Throwbot	1:1da89c13dfa1	572	* the absolute value of the accelerometer measurements for the 3 axes are each
Throwbot	1:1da89c13dfa1	573	* less than the detection threshold. This condition increments the Zero Motion
Throwbot	1:1da89c13dfa1	574	* duration counter (Register 34). The Zero Motion interrupt is triggered when
Throwbot	1:1da89c13dfa1	575	* the Zero Motion duration counter reaches the time count specified in
Throwbot	1:1da89c13dfa1	576	* ZRMOT_DUR (Register 34).
Throwbot	1:1da89c13dfa1	577	*
Throwbot	1:1da89c13dfa1	578	* Unlike Free Fall or Motion detection, Zero Motion detection triggers an
Throwbot	1:1da89c13dfa1	579	* interrupt both when Zero Motion is first detected and when Zero Motion is no
Throwbot	1:1da89c13dfa1	580	* longer detected.
Throwbot	1:1da89c13dfa1	581	*
Throwbot	1:1da89c13dfa1	582	* When a zero motion event is detected, a Zero Motion Status will be indicated
Throwbot	1:1da89c13dfa1	583	* in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
Throwbot	1:1da89c13dfa1	584	* condition is detected, the status bit is set to 1. When a zero-motion-to-
Throwbot	1:1da89c13dfa1	585	* motion condition is detected, the status bit is set to 0.
Throwbot	1:1da89c13dfa1	586	*
Throwbot	1:1da89c13dfa1	587	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
Throwbot	1:1da89c13dfa1	588	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
Throwbot	1:1da89c13dfa1	589	* and 58 of this document.
Throwbot	1:1da89c13dfa1	590	*
Throwbot	1:1da89c13dfa1	591	* @return Current zero motion detection acceleration threshold value (LSB = 2mg)
Throwbot	1:1da89c13dfa1	592	* @see MPU6050_RA_ZRMOT_THR
Throwbot	1:1da89c13dfa1	593	*/
Throwbot	1:1da89c13dfa1	594	uint8_t MPU6050::getZeroMotionDetectionThreshold()
Throwbot	1:1da89c13dfa1	595	{
Throwbot	1:1da89c13dfa1	596	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
Throwbot	1:1da89c13dfa1	597	return buffer[0];
Throwbot	1:1da89c13dfa1	598	}
Throwbot	1:1da89c13dfa1	599	/** Set zero motion detection event acceleration threshold.
Throwbot	1:1da89c13dfa1	600	* @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
Throwbot	1:1da89c13dfa1	601	* @see getZeroMotionDetectionThreshold()
Throwbot	1:1da89c13dfa1	602	* @see MPU6050_RA_ZRMOT_THR
Throwbot	1:1da89c13dfa1	603	*/
Throwbot	1:1da89c13dfa1	604	void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold)
Throwbot	1:1da89c13dfa1	605	{
Throwbot	1:1da89c13dfa1	606	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
Throwbot	1:1da89c13dfa1	607	}
Throwbot	1:1da89c13dfa1	608
Throwbot	1:1da89c13dfa1	609	// ZRMOT_DUR register
Throwbot	1:1da89c13dfa1	610
Throwbot	1:1da89c13dfa1	611	/** Get zero motion detection event duration threshold.
Throwbot	1:1da89c13dfa1	612	* This register configures the duration counter threshold for Zero Motion
Throwbot	1:1da89c13dfa1	613	* interrupt generation. The duration counter ticks at 16 Hz, therefore
Throwbot	1:1da89c13dfa1	614	* ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
Throwbot	1:1da89c13dfa1	615	* increments while the absolute value of the accelerometer measurements are
Throwbot	1:1da89c13dfa1	616	* each less than the detection threshold (Register 33). The Zero Motion
Throwbot	1:1da89c13dfa1	617	* interrupt is triggered when the Zero Motion duration counter reaches the time
Throwbot	1:1da89c13dfa1	618	* count specified in this register.
Throwbot	1:1da89c13dfa1	619	*
Throwbot	1:1da89c13dfa1	620	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
Throwbot	1:1da89c13dfa1	621	* the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
Throwbot	1:1da89c13dfa1	622	* and 58 of this document.
Throwbot	1:1da89c13dfa1	623	*
Throwbot	1:1da89c13dfa1	624	* @return Current zero motion detection duration threshold value (LSB = 64ms)
Throwbot	1:1da89c13dfa1	625	* @see MPU6050_RA_ZRMOT_DUR
Throwbot	1:1da89c13dfa1	626	*/
Throwbot	1:1da89c13dfa1	627	uint8_t MPU6050::getZeroMotionDetectionDuration()
Throwbot	1:1da89c13dfa1	628	{
Throwbot	1:1da89c13dfa1	629	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
Throwbot	1:1da89c13dfa1	630	return buffer[0];
Throwbot	1:1da89c13dfa1	631	}
Throwbot	1:1da89c13dfa1	632	/** Set zero motion detection event duration threshold.
Throwbot	1:1da89c13dfa1	633	* @param duration New zero motion detection duration threshold value (LSB = 1ms)
Throwbot	1:1da89c13dfa1	634	* @see getZeroMotionDetectionDuration()
Throwbot	1:1da89c13dfa1	635	* @see MPU6050_RA_ZRMOT_DUR
Throwbot	1:1da89c13dfa1	636	*/
Throwbot	1:1da89c13dfa1	637	void MPU6050::setZeroMotionDetectionDuration(uint8_t duration)
Throwbot	1:1da89c13dfa1	638	{
Throwbot	1:1da89c13dfa1	639	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
Throwbot	1:1da89c13dfa1	640	}
Throwbot	1:1da89c13dfa1	641
Throwbot	1:1da89c13dfa1	642	// FIFO_EN register
Throwbot	1:1da89c13dfa1	643
Throwbot	1:1da89c13dfa1	644	/** Get temperature FIFO enabled value.
Throwbot	1:1da89c13dfa1	645	* When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
Throwbot	1:1da89c13dfa1	646	* 66) to be written into the FIFO buffer.
Throwbot	1:1da89c13dfa1	647	* @return Current temperature FIFO enabled value
Throwbot	1:1da89c13dfa1	648	* @see MPU6050_RA_FIFO_EN
Throwbot	1:1da89c13dfa1	649	*/
Throwbot	1:1da89c13dfa1	650	bool MPU6050::getTempFIFOEnabled()
Throwbot	1:1da89c13dfa1	651	{
Throwbot	1:1da89c13dfa1	652	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
Throwbot	1:1da89c13dfa1	653	return buffer[0];
Throwbot	1:1da89c13dfa1	654	}
Throwbot	1:1da89c13dfa1	655	/** Set temperature FIFO enabled value.
Throwbot	1:1da89c13dfa1	656	* @param enabled New temperature FIFO enabled value
Throwbot	1:1da89c13dfa1	657	* @see getTempFIFOEnabled()
Throwbot	1:1da89c13dfa1	658	* @see MPU6050_RA_FIFO_EN
Throwbot	1:1da89c13dfa1	659	*/
Throwbot	1:1da89c13dfa1	660	void MPU6050::setTempFIFOEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	661	{
Throwbot	1:1da89c13dfa1	662	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
Throwbot	1:1da89c13dfa1	663	}
Throwbot	1:1da89c13dfa1	664	/** Get gyroscope X-axis FIFO enabled value.
Throwbot	1:1da89c13dfa1	665	* When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
Throwbot	1:1da89c13dfa1	666	* 68) to be written into the FIFO buffer.
Throwbot	1:1da89c13dfa1	667	* @return Current gyroscope X-axis FIFO enabled value
Throwbot	1:1da89c13dfa1	668	* @see MPU6050_RA_FIFO_EN
Throwbot	1:1da89c13dfa1	669	*/
Throwbot	1:1da89c13dfa1	670	bool MPU6050::getXGyroFIFOEnabled()
Throwbot	1:1da89c13dfa1	671	{
Throwbot	1:1da89c13dfa1	672	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
Throwbot	1:1da89c13dfa1	673	return buffer[0];
Throwbot	1:1da89c13dfa1	674	}
Throwbot	1:1da89c13dfa1	675	/** Set gyroscope X-axis FIFO enabled value.
Throwbot	1:1da89c13dfa1	676	* @param enabled New gyroscope X-axis FIFO enabled value
Throwbot	1:1da89c13dfa1	677	* @see getXGyroFIFOEnabled()
Throwbot	1:1da89c13dfa1	678	* @see MPU6050_RA_FIFO_EN
Throwbot	1:1da89c13dfa1	679	*/
Throwbot	1:1da89c13dfa1	680	void MPU6050::setXGyroFIFOEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	681	{
Throwbot	1:1da89c13dfa1	682	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
Throwbot	1:1da89c13dfa1	683	}
Throwbot	1:1da89c13dfa1	684	/** Get gyroscope Y-axis FIFO enabled value.
Throwbot	1:1da89c13dfa1	685	* When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
Throwbot	1:1da89c13dfa1	686	* 70) to be written into the FIFO buffer.
Throwbot	1:1da89c13dfa1	687	* @return Current gyroscope Y-axis FIFO enabled value
Throwbot	1:1da89c13dfa1	688	* @see MPU6050_RA_FIFO_EN
Throwbot	1:1da89c13dfa1	689	*/
Throwbot	1:1da89c13dfa1	690	bool MPU6050::getYGyroFIFOEnabled()
Throwbot	1:1da89c13dfa1	691	{
Throwbot	1:1da89c13dfa1	692	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
Throwbot	1:1da89c13dfa1	693	return buffer[0];
Throwbot	1:1da89c13dfa1	694	}
Throwbot	1:1da89c13dfa1	695	/** Set gyroscope Y-axis FIFO enabled value.
Throwbot	1:1da89c13dfa1	696	* @param enabled New gyroscope Y-axis FIFO enabled value
Throwbot	1:1da89c13dfa1	697	* @see getYGyroFIFOEnabled()
Throwbot	1:1da89c13dfa1	698	* @see MPU6050_RA_FIFO_EN
Throwbot	1:1da89c13dfa1	699	*/
Throwbot	1:1da89c13dfa1	700	void MPU6050::setYGyroFIFOEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	701	{
Throwbot	1:1da89c13dfa1	702	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
Throwbot	1:1da89c13dfa1	703	}
Throwbot	1:1da89c13dfa1	704	/** Get gyroscope Z-axis FIFO enabled value.
Throwbot	1:1da89c13dfa1	705	* When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
Throwbot	1:1da89c13dfa1	706	* 72) to be written into the FIFO buffer.
Throwbot	1:1da89c13dfa1	707	* @return Current gyroscope Z-axis FIFO enabled value
Throwbot	1:1da89c13dfa1	708	* @see MPU6050_RA_FIFO_EN
Throwbot	1:1da89c13dfa1	709	*/
Throwbot	1:1da89c13dfa1	710	bool MPU6050::getZGyroFIFOEnabled()
Throwbot	1:1da89c13dfa1	711	{
Throwbot	1:1da89c13dfa1	712	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
Throwbot	1:1da89c13dfa1	713	return buffer[0];
Throwbot	1:1da89c13dfa1	714	}
Throwbot	1:1da89c13dfa1	715	/** Set gyroscope Z-axis FIFO enabled value.
Throwbot	1:1da89c13dfa1	716	* @param enabled New gyroscope Z-axis FIFO enabled value
Throwbot	1:1da89c13dfa1	717	* @see getZGyroFIFOEnabled()
Throwbot	1:1da89c13dfa1	718	* @see MPU6050_RA_FIFO_EN
Throwbot	1:1da89c13dfa1	719	*/
Throwbot	1:1da89c13dfa1	720	void MPU6050::setZGyroFIFOEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	721	{
Throwbot	1:1da89c13dfa1	722	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
Throwbot	1:1da89c13dfa1	723	}
Throwbot	1:1da89c13dfa1	724	/** Get accelerometer FIFO enabled value.
Throwbot	1:1da89c13dfa1	725	* When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
Throwbot	1:1da89c13dfa1	726	* ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
Throwbot	1:1da89c13dfa1	727	* written into the FIFO buffer.
Throwbot	1:1da89c13dfa1	728	* @return Current accelerometer FIFO enabled value
Throwbot	1:1da89c13dfa1	729	* @see MPU6050_RA_FIFO_EN
Throwbot	1:1da89c13dfa1	730	*/
Throwbot	1:1da89c13dfa1	731	bool MPU6050::getAccelFIFOEnabled()
Throwbot	1:1da89c13dfa1	732	{
Throwbot	1:1da89c13dfa1	733	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
Throwbot	1:1da89c13dfa1	734	return buffer[0];
Throwbot	1:1da89c13dfa1	735	}
Throwbot	1:1da89c13dfa1	736	/** Set accelerometer FIFO enabled value.
Throwbot	1:1da89c13dfa1	737	* @param enabled New accelerometer FIFO enabled value
Throwbot	1:1da89c13dfa1	738	* @see getAccelFIFOEnabled()
Throwbot	1:1da89c13dfa1	739	* @see MPU6050_RA_FIFO_EN
Throwbot	1:1da89c13dfa1	740	*/
Throwbot	1:1da89c13dfa1	741	void MPU6050::setAccelFIFOEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	742	{
Throwbot	1:1da89c13dfa1	743	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
Throwbot	1:1da89c13dfa1	744	}
Throwbot	1:1da89c13dfa1	745	/** Get Slave 2 FIFO enabled value.
Throwbot	1:1da89c13dfa1	746	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
Throwbot	1:1da89c13dfa1	747	* associated with Slave 2 to be written into the FIFO buffer.
Throwbot	1:1da89c13dfa1	748	* @return Current Slave 2 FIFO enabled value
Throwbot	1:1da89c13dfa1	749	* @see MPU6050_RA_FIFO_EN
Throwbot	1:1da89c13dfa1	750	*/
Throwbot	1:1da89c13dfa1	751	bool MPU6050::getSlave2FIFOEnabled()
Throwbot	1:1da89c13dfa1	752	{
Throwbot	1:1da89c13dfa1	753	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
Throwbot	1:1da89c13dfa1	754	return buffer[0];
Throwbot	1:1da89c13dfa1	755	}
Throwbot	1:1da89c13dfa1	756	/** Set Slave 2 FIFO enabled value.
Throwbot	1:1da89c13dfa1	757	* @param enabled New Slave 2 FIFO enabled value
Throwbot	1:1da89c13dfa1	758	* @see getSlave2FIFOEnabled()
Throwbot	1:1da89c13dfa1	759	* @see MPU6050_RA_FIFO_EN
Throwbot	1:1da89c13dfa1	760	*/
Throwbot	1:1da89c13dfa1	761	void MPU6050::setSlave2FIFOEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	762	{
Throwbot	1:1da89c13dfa1	763	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
Throwbot	1:1da89c13dfa1	764	}
Throwbot	1:1da89c13dfa1	765	/** Get Slave 1 FIFO enabled value.
Throwbot	1:1da89c13dfa1	766	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
Throwbot	1:1da89c13dfa1	767	* associated with Slave 1 to be written into the FIFO buffer.
Throwbot	1:1da89c13dfa1	768	* @return Current Slave 1 FIFO enabled value
Throwbot	1:1da89c13dfa1	769	* @see MPU6050_RA_FIFO_EN
Throwbot	1:1da89c13dfa1	770	*/
Throwbot	1:1da89c13dfa1	771	bool MPU6050::getSlave1FIFOEnabled()
Throwbot	1:1da89c13dfa1	772	{
Throwbot	1:1da89c13dfa1	773	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
Throwbot	1:1da89c13dfa1	774	return buffer[0];
Throwbot	1:1da89c13dfa1	775	}
Throwbot	1:1da89c13dfa1	776	/** Set Slave 1 FIFO enabled value.
Throwbot	1:1da89c13dfa1	777	* @param enabled New Slave 1 FIFO enabled value
Throwbot	1:1da89c13dfa1	778	* @see getSlave1FIFOEnabled()
Throwbot	1:1da89c13dfa1	779	* @see MPU6050_RA_FIFO_EN
Throwbot	1:1da89c13dfa1	780	*/
Throwbot	1:1da89c13dfa1	781	void MPU6050::setSlave1FIFOEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	782	{
Throwbot	1:1da89c13dfa1	783	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
Throwbot	1:1da89c13dfa1	784	}
Throwbot	1:1da89c13dfa1	785	/** Get Slave 0 FIFO enabled value.
Throwbot	1:1da89c13dfa1	786	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
Throwbot	1:1da89c13dfa1	787	* associated with Slave 0 to be written into the FIFO buffer.
Throwbot	1:1da89c13dfa1	788	* @return Current Slave 0 FIFO enabled value
Throwbot	1:1da89c13dfa1	789	* @see MPU6050_RA_FIFO_EN
Throwbot	1:1da89c13dfa1	790	*/
Throwbot	1:1da89c13dfa1	791	bool MPU6050::getSlave0FIFOEnabled()
Throwbot	1:1da89c13dfa1	792	{
Throwbot	1:1da89c13dfa1	793	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
Throwbot	1:1da89c13dfa1	794	return buffer[0];
Throwbot	1:1da89c13dfa1	795	}
Throwbot	1:1da89c13dfa1	796	/** Set Slave 0 FIFO enabled value.
Throwbot	1:1da89c13dfa1	797	* @param enabled New Slave 0 FIFO enabled value
Throwbot	1:1da89c13dfa1	798	* @see getSlave0FIFOEnabled()
Throwbot	1:1da89c13dfa1	799	* @see MPU6050_RA_FIFO_EN
Throwbot	1:1da89c13dfa1	800	*/
Throwbot	1:1da89c13dfa1	801	void MPU6050::setSlave0FIFOEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	802	{
Throwbot	1:1da89c13dfa1	803	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
Throwbot	1:1da89c13dfa1	804	}
Throwbot	1:1da89c13dfa1	805
Throwbot	1:1da89c13dfa1	806	// I2C_MST_CTRL register
Throwbot	1:1da89c13dfa1	807
Throwbot	1:1da89c13dfa1	808	/** Get multi-master enabled value.
Throwbot	1:1da89c13dfa1	809	* Multi-master capability allows multiple I2C masters to operate on the same
Throwbot	1:1da89c13dfa1	810	* bus. In circuits where multi-master capability is required, set MULT_MST_EN
Throwbot	1:1da89c13dfa1	811	* to 1. This will increase current drawn by approximately 30uA.
Throwbot	1:1da89c13dfa1	812	*
Throwbot	1:1da89c13dfa1	813	* In circuits where multi-master capability is required, the state of the I2C
Throwbot	1:1da89c13dfa1	814	* bus must always be monitored by each separate I2C Master. Before an I2C
Throwbot	1:1da89c13dfa1	815	* Master can assume arbitration of the bus, it must first confirm that no other
Throwbot	1:1da89c13dfa1	816	* I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
Throwbot	1:1da89c13dfa1	817	* MPU-60X0's bus arbitration detection logic is turned on, enabling it to
Throwbot	1:1da89c13dfa1	818	* detect when the bus is available.
Throwbot	1:1da89c13dfa1	819	*
Throwbot	1:1da89c13dfa1	820	* @return Current multi-master enabled value
Throwbot	1:1da89c13dfa1	821	* @see MPU6050_RA_I2C_MST_CTRL
Throwbot	1:1da89c13dfa1	822	*/
Throwbot	1:1da89c13dfa1	823	bool MPU6050::getMultiMasterEnabled()
Throwbot	1:1da89c13dfa1	824	{
Throwbot	1:1da89c13dfa1	825	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
Throwbot	1:1da89c13dfa1	826	return buffer[0];
Throwbot	1:1da89c13dfa1	827	}
Throwbot	1:1da89c13dfa1	828	/** Set multi-master enabled value.
Throwbot	1:1da89c13dfa1	829	* @param enabled New multi-master enabled value
Throwbot	1:1da89c13dfa1	830	* @see getMultiMasterEnabled()
Throwbot	1:1da89c13dfa1	831	* @see MPU6050_RA_I2C_MST_CTRL
Throwbot	1:1da89c13dfa1	832	*/
Throwbot	1:1da89c13dfa1	833	void MPU6050::setMultiMasterEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	834	{
Throwbot	1:1da89c13dfa1	835	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
Throwbot	1:1da89c13dfa1	836	}
Throwbot	1:1da89c13dfa1	837	/** Get wait-for-external-sensor-data enabled value.
Throwbot	1:1da89c13dfa1	838	* When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
Throwbot	1:1da89c13dfa1	839	* delayed until External Sensor data from the Slave Devices are loaded into the
Throwbot	1:1da89c13dfa1	840	* EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
Throwbot	1:1da89c13dfa1	841	* data (i.e. from gyro and accel) and external sensor data have been loaded to
Throwbot	1:1da89c13dfa1	842	* their respective data registers (i.e. the data is synced) when the Data Ready
Throwbot	1:1da89c13dfa1	843	* interrupt is triggered.
Throwbot	1:1da89c13dfa1	844	*
Throwbot	1:1da89c13dfa1	845	* @return Current wait-for-external-sensor-data enabled value
Throwbot	1:1da89c13dfa1	846	* @see MPU6050_RA_I2C_MST_CTRL
Throwbot	1:1da89c13dfa1	847	*/
Throwbot	1:1da89c13dfa1	848	bool MPU6050::getWaitForExternalSensorEnabled()
Throwbot	1:1da89c13dfa1	849	{
Throwbot	1:1da89c13dfa1	850	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
Throwbot	1:1da89c13dfa1	851	return buffer[0];
Throwbot	1:1da89c13dfa1	852	}
Throwbot	1:1da89c13dfa1	853	/** Set wait-for-external-sensor-data enabled value.
Throwbot	1:1da89c13dfa1	854	* @param enabled New wait-for-external-sensor-data enabled value
Throwbot	1:1da89c13dfa1	855	* @see getWaitForExternalSensorEnabled()
Throwbot	1:1da89c13dfa1	856	* @see MPU6050_RA_I2C_MST_CTRL
Throwbot	1:1da89c13dfa1	857	*/
Throwbot	1:1da89c13dfa1	858	void MPU6050::setWaitForExternalSensorEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	859	{
Throwbot	1:1da89c13dfa1	860	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
Throwbot	1:1da89c13dfa1	861	}
Throwbot	1:1da89c13dfa1	862	/** Get Slave 3 FIFO enabled value.
Throwbot	1:1da89c13dfa1	863	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
Throwbot	1:1da89c13dfa1	864	* associated with Slave 3 to be written into the FIFO buffer.
Throwbot	1:1da89c13dfa1	865	* @return Current Slave 3 FIFO enabled value
Throwbot	1:1da89c13dfa1	866	* @see MPU6050_RA_MST_CTRL
Throwbot	1:1da89c13dfa1	867	*/
Throwbot	1:1da89c13dfa1	868	bool MPU6050::getSlave3FIFOEnabled()
Throwbot	1:1da89c13dfa1	869	{
Throwbot	1:1da89c13dfa1	870	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
Throwbot	1:1da89c13dfa1	871	return buffer[0];
Throwbot	1:1da89c13dfa1	872	}
Throwbot	1:1da89c13dfa1	873	/** Set Slave 3 FIFO enabled value.
Throwbot	1:1da89c13dfa1	874	* @param enabled New Slave 3 FIFO enabled value
Throwbot	1:1da89c13dfa1	875	* @see getSlave3FIFOEnabled()
Throwbot	1:1da89c13dfa1	876	* @see MPU6050_RA_MST_CTRL
Throwbot	1:1da89c13dfa1	877	*/
Throwbot	1:1da89c13dfa1	878	void MPU6050::setSlave3FIFOEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	879	{
Throwbot	1:1da89c13dfa1	880	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
Throwbot	1:1da89c13dfa1	881	}
Throwbot	1:1da89c13dfa1	882	/** Get slave read/write transition enabled value.
Throwbot	1:1da89c13dfa1	883	* The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
Throwbot	1:1da89c13dfa1	884	* read to the next slave read. If the bit equals 0, there will be a restart
Throwbot	1:1da89c13dfa1	885	* between reads. If the bit equals 1, there will be a stop followed by a start
Throwbot	1:1da89c13dfa1	886	* of the following read. When a write transaction follows a read transaction,
Throwbot	1:1da89c13dfa1	887	* the stop followed by a start of the successive write will be always used.
Throwbot	1:1da89c13dfa1	888	*
Throwbot	1:1da89c13dfa1	889	* @return Current slave read/write transition enabled value
Throwbot	1:1da89c13dfa1	890	* @see MPU6050_RA_I2C_MST_CTRL
Throwbot	1:1da89c13dfa1	891	*/
Throwbot	1:1da89c13dfa1	892	bool MPU6050::getSlaveReadWriteTransitionEnabled()
Throwbot	1:1da89c13dfa1	893	{
Throwbot	1:1da89c13dfa1	894	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
Throwbot	1:1da89c13dfa1	895	return buffer[0];
Throwbot	1:1da89c13dfa1	896	}
Throwbot	1:1da89c13dfa1	897	/** Set slave read/write transition enabled value.
Throwbot	1:1da89c13dfa1	898	* @param enabled New slave read/write transition enabled value
Throwbot	1:1da89c13dfa1	899	* @see getSlaveReadWriteTransitionEnabled()
Throwbot	1:1da89c13dfa1	900	* @see MPU6050_RA_I2C_MST_CTRL
Throwbot	1:1da89c13dfa1	901	*/
Throwbot	1:1da89c13dfa1	902	void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	903	{
Throwbot	1:1da89c13dfa1	904	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
Throwbot	1:1da89c13dfa1	905	}
Throwbot	1:1da89c13dfa1	906	/** Get I2C master clock speed.
Throwbot	1:1da89c13dfa1	907	* I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
Throwbot	1:1da89c13dfa1	908	* MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
Throwbot	1:1da89c13dfa1	909	* the following table:
Throwbot	1:1da89c13dfa1	910	*
Throwbot	1:1da89c13dfa1	911	* <pre>
Throwbot	1:1da89c13dfa1	912	* I2C_MST_CLK \| I2C Master Clock Speed \| 8MHz Clock Divider
Throwbot	1:1da89c13dfa1	913	* ------------+------------------------+-------------------
Throwbot	1:1da89c13dfa1	914	* 0 \| 348kHz \| 23
Throwbot	1:1da89c13dfa1	915	* 1 \| 333kHz \| 24
Throwbot	1:1da89c13dfa1	916	* 2 \| 320kHz \| 25
Throwbot	1:1da89c13dfa1	917	* 3 \| 308kHz \| 26
Throwbot	1:1da89c13dfa1	918	* 4 \| 296kHz \| 27
Throwbot	1:1da89c13dfa1	919	* 5 \| 286kHz \| 28
Throwbot	1:1da89c13dfa1	920	* 6 \| 276kHz \| 29
Throwbot	1:1da89c13dfa1	921	* 7 \| 267kHz \| 30
Throwbot	1:1da89c13dfa1	922	* 8 \| 258kHz \| 31
Throwbot	1:1da89c13dfa1	923	* 9 \| 500kHz \| 16
Throwbot	1:1da89c13dfa1	924	* 10 \| 471kHz \| 17
Throwbot	1:1da89c13dfa1	925	* 11 \| 444kHz \| 18
Throwbot	1:1da89c13dfa1	926	* 12 \| 421kHz \| 19
Throwbot	1:1da89c13dfa1	927	* 13 \| 400kHz \| 20
Throwbot	1:1da89c13dfa1	928	* 14 \| 381kHz \| 21
Throwbot	1:1da89c13dfa1	929	* 15 \| 364kHz \| 22
Throwbot	1:1da89c13dfa1	930	* </pre>
Throwbot	1:1da89c13dfa1	931	*
Throwbot	1:1da89c13dfa1	932	* @return Current I2C master clock speed
Throwbot	1:1da89c13dfa1	933	* @see MPU6050_RA_I2C_MST_CTRL
Throwbot	1:1da89c13dfa1	934	*/
Throwbot	1:1da89c13dfa1	935	uint8_t MPU6050::getMasterClockSpeed()
Throwbot	1:1da89c13dfa1	936	{
Throwbot	1:1da89c13dfa1	937	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
Throwbot	1:1da89c13dfa1	938	return buffer[0];
Throwbot	1:1da89c13dfa1	939	}
Throwbot	1:1da89c13dfa1	940	/** Set I2C master clock speed.
Throwbot	1:1da89c13dfa1	941	* @reparam speed Current I2C master clock speed
Throwbot	1:1da89c13dfa1	942	* @see MPU6050_RA_I2C_MST_CTRL
Throwbot	1:1da89c13dfa1	943	*/
Throwbot	1:1da89c13dfa1	944	void MPU6050::setMasterClockSpeed(uint8_t speed)
Throwbot	1:1da89c13dfa1	945	{
Throwbot	1:1da89c13dfa1	946	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
Throwbot	1:1da89c13dfa1	947	}
Throwbot	1:1da89c13dfa1	948
Throwbot	1:1da89c13dfa1	949	// I2C_SLV* registers (Slave 0-3)
Throwbot	1:1da89c13dfa1	950
Throwbot	1:1da89c13dfa1	951	/** Get the I2C address of the specified slave (0-3).
Throwbot	1:1da89c13dfa1	952	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
Throwbot	1:1da89c13dfa1	953	* operation, and if it is cleared, then it's a write operation. The remaining
Throwbot	1:1da89c13dfa1	954	* bits (6-0) are the 7-bit device address of the slave device.
Throwbot	1:1da89c13dfa1	955	*
Throwbot	1:1da89c13dfa1	956	* In read mode, the result of the read is placed in the lowest available
Throwbot	1:1da89c13dfa1	957	* EXT_SENS_DATA register. For further information regarding the allocation of
Throwbot	1:1da89c13dfa1	958	* read results, please refer to the EXT_SENS_DATA register description
Throwbot	1:1da89c13dfa1	959	* (Registers 73 - 96).
Throwbot	1:1da89c13dfa1	960	*
Throwbot	1:1da89c13dfa1	961	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
Throwbot	1:1da89c13dfa1	962	* characteristics, and so it has its own functions (getSlave4* and setSlave4*).
Throwbot	1:1da89c13dfa1	963	*
Throwbot	1:1da89c13dfa1	964	* I2C data transactions are performed at the Sample Rate, as defined in
Throwbot	1:1da89c13dfa1	965	* Register 25. The user is responsible for ensuring that I2C data transactions
Throwbot	1:1da89c13dfa1	966	* to and from each enabled Slave can be completed within a single period of the
Throwbot	1:1da89c13dfa1	967	* Sample Rate.
Throwbot	1:1da89c13dfa1	968	*
Throwbot	1:1da89c13dfa1	969	* The I2C slave access rate can be reduced relative to the Sample Rate. This
Throwbot	1:1da89c13dfa1	970	* reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
Throwbot	1:1da89c13dfa1	971	* slave's access rate is reduced relative to the Sample Rate is determined by
Throwbot	1:1da89c13dfa1	972	* I2C_MST_DELAY_CTRL (Register 103).
Throwbot	1:1da89c13dfa1	973	*
Throwbot	1:1da89c13dfa1	974	* The processing order for the slaves is fixed. The sequence followed for
Throwbot	1:1da89c13dfa1	975	* processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
Throwbot	1:1da89c13dfa1	976	* particular Slave is disabled it will be skipped.
Throwbot	1:1da89c13dfa1	977	*
Throwbot	1:1da89c13dfa1	978	* Each slave can either be accessed at the sample rate or at a reduced sample
Throwbot	1:1da89c13dfa1	979	* rate. In a case where some slaves are accessed at the Sample Rate and some
Throwbot	1:1da89c13dfa1	980	* slaves are accessed at the reduced rate, the sequence of accessing the slaves
Throwbot	1:1da89c13dfa1	981	* (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
Throwbot	1:1da89c13dfa1	982	* be skipped if their access rate dictates that they should not be accessed
Throwbot	1:1da89c13dfa1	983	* during that particular cycle. For further information regarding the reduced
Throwbot	1:1da89c13dfa1	984	* access rate, please refer to Register 52. Whether a slave is accessed at the
Throwbot	1:1da89c13dfa1	985	* Sample Rate or at the reduced rate is determined by the Delay Enable bits in
Throwbot	1:1da89c13dfa1	986	* Register 103.
Throwbot	1:1da89c13dfa1	987	*
Throwbot	1:1da89c13dfa1	988	* @param num Slave number (0-3)
Throwbot	1:1da89c13dfa1	989	* @return Current address for specified slave
Throwbot	1:1da89c13dfa1	990	* @see MPU6050_RA_I2C_SLV0_ADDR
Throwbot	1:1da89c13dfa1	991	*/
Throwbot	1:1da89c13dfa1	992	uint8_t MPU6050::getSlaveAddress(uint8_t num)
Throwbot	1:1da89c13dfa1	993	{
Throwbot	1:1da89c13dfa1	994	if (num > 3) return 0;
Throwbot	1:1da89c13dfa1	995	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
Throwbot	1:1da89c13dfa1	996	return buffer[0];
Throwbot	1:1da89c13dfa1	997	}
Throwbot	1:1da89c13dfa1	998	/** Set the I2C address of the specified slave (0-3).
Throwbot	1:1da89c13dfa1	999	* @param num Slave number (0-3)
Throwbot	1:1da89c13dfa1	1000	* @param address New address for specified slave
Throwbot	1:1da89c13dfa1	1001	* @see getSlaveAddress()
Throwbot	1:1da89c13dfa1	1002	* @see MPU6050_RA_I2C_SLV0_ADDR
Throwbot	1:1da89c13dfa1	1003	*/
Throwbot	1:1da89c13dfa1	1004	void MPU6050::setSlaveAddress(uint8_t num, uint8_t address)
Throwbot	1:1da89c13dfa1	1005	{
Throwbot	1:1da89c13dfa1	1006	if (num > 3) return;
Throwbot	1:1da89c13dfa1	1007	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
Throwbot	1:1da89c13dfa1	1008	}
Throwbot	1:1da89c13dfa1	1009	/** Get the active internal register for the specified slave (0-3).
Throwbot	1:1da89c13dfa1	1010	* Read/write operations for this slave will be done to whatever internal
Throwbot	1:1da89c13dfa1	1011	* register address is stored in this MPU register.
Throwbot	1:1da89c13dfa1	1012	*
Throwbot	1:1da89c13dfa1	1013	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
Throwbot	1:1da89c13dfa1	1014	* characteristics, and so it has its own functions.
Throwbot	1:1da89c13dfa1	1015	*
Throwbot	1:1da89c13dfa1	1016	* @param num Slave number (0-3)
Throwbot	1:1da89c13dfa1	1017	* @return Current active register for specified slave
Throwbot	1:1da89c13dfa1	1018	* @see MPU6050_RA_I2C_SLV0_REG
Throwbot	1:1da89c13dfa1	1019	*/
Throwbot	1:1da89c13dfa1	1020	uint8_t MPU6050::getSlaveRegister(uint8_t num)
Throwbot	1:1da89c13dfa1	1021	{
Throwbot	1:1da89c13dfa1	1022	if (num > 3) return 0;
Throwbot	1:1da89c13dfa1	1023	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
Throwbot	1:1da89c13dfa1	1024	return buffer[0];
Throwbot	1:1da89c13dfa1	1025	}
Throwbot	1:1da89c13dfa1	1026	/** Set the active internal register for the specified slave (0-3).
Throwbot	1:1da89c13dfa1	1027	* @param num Slave number (0-3)
Throwbot	1:1da89c13dfa1	1028	* @param reg New active register for specified slave
Throwbot	1:1da89c13dfa1	1029	* @see getSlaveRegister()
Throwbot	1:1da89c13dfa1	1030	* @see MPU6050_RA_I2C_SLV0_REG
Throwbot	1:1da89c13dfa1	1031	*/
Throwbot	1:1da89c13dfa1	1032	void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg)
Throwbot	1:1da89c13dfa1	1033	{
Throwbot	1:1da89c13dfa1	1034	if (num > 3) return;
Throwbot	1:1da89c13dfa1	1035	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
Throwbot	1:1da89c13dfa1	1036	}
Throwbot	1:1da89c13dfa1	1037	/** Get the enabled value for the specified slave (0-3).
Throwbot	1:1da89c13dfa1	1038	* When set to 1, this bit enables Slave 0 for data transfer operations. When
Throwbot	1:1da89c13dfa1	1039	* cleared to 0, this bit disables Slave 0 from data transfer operations.
Throwbot	1:1da89c13dfa1	1040	* @param num Slave number (0-3)
Throwbot	1:1da89c13dfa1	1041	* @return Current enabled value for specified slave
Throwbot	1:1da89c13dfa1	1042	* @see MPU6050_RA_I2C_SLV0_CTRL
Throwbot	1:1da89c13dfa1	1043	*/
Throwbot	1:1da89c13dfa1	1044	bool MPU6050::getSlaveEnabled(uint8_t num)
Throwbot	1:1da89c13dfa1	1045	{
Throwbot	1:1da89c13dfa1	1046	if (num > 3) return 0;
Throwbot	1:1da89c13dfa1	1047	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
Throwbot	1:1da89c13dfa1	1048	return buffer[0];
Throwbot	1:1da89c13dfa1	1049	}
Throwbot	1:1da89c13dfa1	1050	/** Set the enabled value for the specified slave (0-3).
Throwbot	1:1da89c13dfa1	1051	* @param num Slave number (0-3)
Throwbot	1:1da89c13dfa1	1052	* @param enabled New enabled value for specified slave
Throwbot	1:1da89c13dfa1	1053	* @see getSlaveEnabled()
Throwbot	1:1da89c13dfa1	1054	* @see MPU6050_RA_I2C_SLV0_CTRL
Throwbot	1:1da89c13dfa1	1055	*/
Throwbot	1:1da89c13dfa1	1056	void MPU6050::setSlaveEnabled(uint8_t num, bool enabled)
Throwbot	1:1da89c13dfa1	1057	{
Throwbot	1:1da89c13dfa1	1058	if (num > 3) return;
Throwbot	1:1da89c13dfa1	1059	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
Throwbot	1:1da89c13dfa1	1060	}
Throwbot	1:1da89c13dfa1	1061	/** Get word pair byte-swapping enabled for the specified slave (0-3).
Throwbot	1:1da89c13dfa1	1062	* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
Throwbot	1:1da89c13dfa1	1063	* the high and low bytes of a word pair are swapped. Please refer to
Throwbot	1:1da89c13dfa1	1064	* I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
Throwbot	1:1da89c13dfa1	1065	* bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
Throwbot	1:1da89c13dfa1	1066	* registers in the order they were transferred.
Throwbot	1:1da89c13dfa1	1067	*
Throwbot	1:1da89c13dfa1	1068	* @param num Slave number (0-3)
Throwbot	1:1da89c13dfa1	1069	* @return Current word pair byte-swapping enabled value for specified slave
Throwbot	1:1da89c13dfa1	1070	* @see MPU6050_RA_I2C_SLV0_CTRL
Throwbot	1:1da89c13dfa1	1071	*/
Throwbot	1:1da89c13dfa1	1072	bool MPU6050::getSlaveWordByteSwap(uint8_t num)
Throwbot	1:1da89c13dfa1	1073	{
Throwbot	1:1da89c13dfa1	1074	if (num > 3) return 0;
Throwbot	1:1da89c13dfa1	1075	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
Throwbot	1:1da89c13dfa1	1076	return buffer[0];
Throwbot	1:1da89c13dfa1	1077	}
Throwbot	1:1da89c13dfa1	1078	/** Set word pair byte-swapping enabled for the specified slave (0-3).
Throwbot	1:1da89c13dfa1	1079	* @param num Slave number (0-3)
Throwbot	1:1da89c13dfa1	1080	* @param enabled New word pair byte-swapping enabled value for specified slave
Throwbot	1:1da89c13dfa1	1081	* @see getSlaveWordByteSwap()
Throwbot	1:1da89c13dfa1	1082	* @see MPU6050_RA_I2C_SLV0_CTRL
Throwbot	1:1da89c13dfa1	1083	*/
Throwbot	1:1da89c13dfa1	1084	void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled)
Throwbot	1:1da89c13dfa1	1085	{
Throwbot	1:1da89c13dfa1	1086	if (num > 3) return;
Throwbot	1:1da89c13dfa1	1087	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
Throwbot	1:1da89c13dfa1	1088	}
Throwbot	1:1da89c13dfa1	1089	/** Get write mode for the specified slave (0-3).
Throwbot	1:1da89c13dfa1	1090	* When set to 1, the transaction will read or write data only. When cleared to
Throwbot	1:1da89c13dfa1	1091	* 0, the transaction will write a register address prior to reading or writing
Throwbot	1:1da89c13dfa1	1092	* data. This should equal 0 when specifying the register address within the
Throwbot	1:1da89c13dfa1	1093	* Slave device to/from which the ensuing data transaction will take place.
Throwbot	1:1da89c13dfa1	1094	*
Throwbot	1:1da89c13dfa1	1095	* @param num Slave number (0-3)
Throwbot	1:1da89c13dfa1	1096	* @return Current write mode for specified slave (0 = register address + data, 1 = data only)
Throwbot	1:1da89c13dfa1	1097	* @see MPU6050_RA_I2C_SLV0_CTRL
Throwbot	1:1da89c13dfa1	1098	*/
Throwbot	1:1da89c13dfa1	1099	bool MPU6050::getSlaveWriteMode(uint8_t num)
Throwbot	1:1da89c13dfa1	1100	{
Throwbot	1:1da89c13dfa1	1101	if (num > 3) return 0;
Throwbot	1:1da89c13dfa1	1102	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
Throwbot	1:1da89c13dfa1	1103	return buffer[0];
Throwbot	1:1da89c13dfa1	1104	}
Throwbot	1:1da89c13dfa1	1105	/** Set write mode for the specified slave (0-3).
Throwbot	1:1da89c13dfa1	1106	* @param num Slave number (0-3)
Throwbot	1:1da89c13dfa1	1107	* @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
Throwbot	1:1da89c13dfa1	1108	* @see getSlaveWriteMode()
Throwbot	1:1da89c13dfa1	1109	* @see MPU6050_RA_I2C_SLV0_CTRL
Throwbot	1:1da89c13dfa1	1110	*/
Throwbot	1:1da89c13dfa1	1111	void MPU6050::setSlaveWriteMode(uint8_t num, bool mode)
Throwbot	1:1da89c13dfa1	1112	{
Throwbot	1:1da89c13dfa1	1113	if (num > 3) return;
Throwbot	1:1da89c13dfa1	1114	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
Throwbot	1:1da89c13dfa1	1115	}
Throwbot	1:1da89c13dfa1	1116	/** Get word pair grouping order offset for the specified slave (0-3).
Throwbot	1:1da89c13dfa1	1117	* This sets specifies the grouping order of word pairs received from registers.
Throwbot	1:1da89c13dfa1	1118	* When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
Throwbot	1:1da89c13dfa1	1119	* then odd register addresses) are paired to form a word. When set to 1, bytes
Throwbot	1:1da89c13dfa1	1120	* from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
Throwbot	1:1da89c13dfa1	1121	* register addresses) are paired to form a word.
Throwbot	1:1da89c13dfa1	1122	*
Throwbot	1:1da89c13dfa1	1123	* @param num Slave number (0-3)
Throwbot	1:1da89c13dfa1	1124	* @return Current word pair grouping order offset for specified slave
Throwbot	1:1da89c13dfa1	1125	* @see MPU6050_RA_I2C_SLV0_CTRL
Throwbot	1:1da89c13dfa1	1126	*/
Throwbot	1:1da89c13dfa1	1127	bool MPU6050::getSlaveWordGroupOffset(uint8_t num)
Throwbot	1:1da89c13dfa1	1128	{
Throwbot	1:1da89c13dfa1	1129	if (num > 3) return 0;
Throwbot	1:1da89c13dfa1	1130	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
Throwbot	1:1da89c13dfa1	1131	return buffer[0];
Throwbot	1:1da89c13dfa1	1132	}
Throwbot	1:1da89c13dfa1	1133	/** Set word pair grouping order offset for the specified slave (0-3).
Throwbot	1:1da89c13dfa1	1134	* @param num Slave number (0-3)
Throwbot	1:1da89c13dfa1	1135	* @param enabled New word pair grouping order offset for specified slave
Throwbot	1:1da89c13dfa1	1136	* @see getSlaveWordGroupOffset()
Throwbot	1:1da89c13dfa1	1137	* @see MPU6050_RA_I2C_SLV0_CTRL
Throwbot	1:1da89c13dfa1	1138	*/
Throwbot	1:1da89c13dfa1	1139	void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled)
Throwbot	1:1da89c13dfa1	1140	{
Throwbot	1:1da89c13dfa1	1141	if (num > 3) return;
Throwbot	1:1da89c13dfa1	1142	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
Throwbot	1:1da89c13dfa1	1143	}
Throwbot	1:1da89c13dfa1	1144	/** Get number of bytes to read for the specified slave (0-3).
Throwbot	1:1da89c13dfa1	1145	* Specifies the number of bytes transferred to and from Slave 0. Clearing this
Throwbot	1:1da89c13dfa1	1146	* bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
Throwbot	1:1da89c13dfa1	1147	* @param num Slave number (0-3)
Throwbot	1:1da89c13dfa1	1148	* @return Number of bytes to read for specified slave
Throwbot	1:1da89c13dfa1	1149	* @see MPU6050_RA_I2C_SLV0_CTRL
Throwbot	1:1da89c13dfa1	1150	*/
Throwbot	1:1da89c13dfa1	1151	uint8_t MPU6050::getSlaveDataLength(uint8_t num)
Throwbot	1:1da89c13dfa1	1152	{
Throwbot	1:1da89c13dfa1	1153	if (num > 3) return 0;
Throwbot	1:1da89c13dfa1	1154	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
Throwbot	1:1da89c13dfa1	1155	return buffer[0];
Throwbot	1:1da89c13dfa1	1156	}
Throwbot	1:1da89c13dfa1	1157	/** Set number of bytes to read for the specified slave (0-3).
Throwbot	1:1da89c13dfa1	1158	* @param num Slave number (0-3)
Throwbot	1:1da89c13dfa1	1159	* @param length Number of bytes to read for specified slave
Throwbot	1:1da89c13dfa1	1160	* @see getSlaveDataLength()
Throwbot	1:1da89c13dfa1	1161	* @see MPU6050_RA_I2C_SLV0_CTRL
Throwbot	1:1da89c13dfa1	1162	*/
Throwbot	1:1da89c13dfa1	1163	void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length)
Throwbot	1:1da89c13dfa1	1164	{
Throwbot	1:1da89c13dfa1	1165	if (num > 3) return;
Throwbot	1:1da89c13dfa1	1166	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
Throwbot	1:1da89c13dfa1	1167	}
Throwbot	1:1da89c13dfa1	1168
Throwbot	1:1da89c13dfa1	1169	// I2C_SLV* registers (Slave 4)
Throwbot	1:1da89c13dfa1	1170
Throwbot	1:1da89c13dfa1	1171	/** Get the I2C address of Slave 4.
Throwbot	1:1da89c13dfa1	1172	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
Throwbot	1:1da89c13dfa1	1173	* operation, and if it is cleared, then it's a write operation. The remaining
Throwbot	1:1da89c13dfa1	1174	* bits (6-0) are the 7-bit device address of the slave device.
Throwbot	1:1da89c13dfa1	1175	*
Throwbot	1:1da89c13dfa1	1176	* @return Current address for Slave 4
Throwbot	1:1da89c13dfa1	1177	* @see getSlaveAddress()
Throwbot	1:1da89c13dfa1	1178	* @see MPU6050_RA_I2C_SLV4_ADDR
Throwbot	1:1da89c13dfa1	1179	*/
Throwbot	1:1da89c13dfa1	1180	uint8_t MPU6050::getSlave4Address()
Throwbot	1:1da89c13dfa1	1181	{
Throwbot	1:1da89c13dfa1	1182	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
Throwbot	1:1da89c13dfa1	1183	return buffer[0];
Throwbot	1:1da89c13dfa1	1184	}
Throwbot	1:1da89c13dfa1	1185	/** Set the I2C address of Slave 4.
Throwbot	1:1da89c13dfa1	1186	* @param address New address for Slave 4
Throwbot	1:1da89c13dfa1	1187	* @see getSlave4Address()
Throwbot	1:1da89c13dfa1	1188	* @see MPU6050_RA_I2C_SLV4_ADDR
Throwbot	1:1da89c13dfa1	1189	*/
Throwbot	1:1da89c13dfa1	1190	void MPU6050::setSlave4Address(uint8_t address)
Throwbot	1:1da89c13dfa1	1191	{
Throwbot	1:1da89c13dfa1	1192	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
Throwbot	1:1da89c13dfa1	1193	}
Throwbot	1:1da89c13dfa1	1194	/** Get the active internal register for the Slave 4.
Throwbot	1:1da89c13dfa1	1195	* Read/write operations for this slave will be done to whatever internal
Throwbot	1:1da89c13dfa1	1196	* register address is stored in this MPU register.
Throwbot	1:1da89c13dfa1	1197	*
Throwbot	1:1da89c13dfa1	1198	* @return Current active register for Slave 4
Throwbot	1:1da89c13dfa1	1199	* @see MPU6050_RA_I2C_SLV4_REG
Throwbot	1:1da89c13dfa1	1200	*/
Throwbot	1:1da89c13dfa1	1201	uint8_t MPU6050::getSlave4Register()
Throwbot	1:1da89c13dfa1	1202	{
Throwbot	1:1da89c13dfa1	1203	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
Throwbot	1:1da89c13dfa1	1204	return buffer[0];
Throwbot	1:1da89c13dfa1	1205	}
Throwbot	1:1da89c13dfa1	1206	/** Set the active internal register for Slave 4.
Throwbot	1:1da89c13dfa1	1207	* @param reg New active register for Slave 4
Throwbot	1:1da89c13dfa1	1208	* @see getSlave4Register()
Throwbot	1:1da89c13dfa1	1209	* @see MPU6050_RA_I2C_SLV4_REG
Throwbot	1:1da89c13dfa1	1210	*/
Throwbot	1:1da89c13dfa1	1211	void MPU6050::setSlave4Register(uint8_t reg)
Throwbot	1:1da89c13dfa1	1212	{
Throwbot	1:1da89c13dfa1	1213	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
Throwbot	1:1da89c13dfa1	1214	}
Throwbot	1:1da89c13dfa1	1215	/** Set new byte to write to Slave 4.
Throwbot	1:1da89c13dfa1	1216	* This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
Throwbot	1:1da89c13dfa1	1217	* is set 1 (set to read), this register has no effect.
Throwbot	1:1da89c13dfa1	1218	* @param data New byte to write to Slave 4
Throwbot	1:1da89c13dfa1	1219	* @see MPU6050_RA_I2C_SLV4_DO
Throwbot	1:1da89c13dfa1	1220	*/
Throwbot	1:1da89c13dfa1	1221	void MPU6050::setSlave4OutputByte(uint8_t data)
Throwbot	1:1da89c13dfa1	1222	{
Throwbot	1:1da89c13dfa1	1223	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
Throwbot	1:1da89c13dfa1	1224	}
Throwbot	1:1da89c13dfa1	1225	/** Get the enabled value for the Slave 4.
Throwbot	1:1da89c13dfa1	1226	* When set to 1, this bit enables Slave 4 for data transfer operations. When
Throwbot	1:1da89c13dfa1	1227	* cleared to 0, this bit disables Slave 4 from data transfer operations.
Throwbot	1:1da89c13dfa1	1228	* @return Current enabled value for Slave 4
Throwbot	1:1da89c13dfa1	1229	* @see MPU6050_RA_I2C_SLV4_CTRL
Throwbot	1:1da89c13dfa1	1230	*/
Throwbot	1:1da89c13dfa1	1231	bool MPU6050::getSlave4Enabled()
Throwbot	1:1da89c13dfa1	1232	{
Throwbot	1:1da89c13dfa1	1233	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
Throwbot	1:1da89c13dfa1	1234	return buffer[0];
Throwbot	1:1da89c13dfa1	1235	}
Throwbot	1:1da89c13dfa1	1236	/** Set the enabled value for Slave 4.
Throwbot	1:1da89c13dfa1	1237	* @param enabled New enabled value for Slave 4
Throwbot	1:1da89c13dfa1	1238	* @see getSlave4Enabled()
Throwbot	1:1da89c13dfa1	1239	* @see MPU6050_RA_I2C_SLV4_CTRL
Throwbot	1:1da89c13dfa1	1240	*/
Throwbot	1:1da89c13dfa1	1241	void MPU6050::setSlave4Enabled(bool enabled)
Throwbot	1:1da89c13dfa1	1242	{
Throwbot	1:1da89c13dfa1	1243	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
Throwbot	1:1da89c13dfa1	1244	}
Throwbot	1:1da89c13dfa1	1245	/** Get the enabled value for Slave 4 transaction interrupts.
Throwbot	1:1da89c13dfa1	1246	* When set to 1, this bit enables the generation of an interrupt signal upon
Throwbot	1:1da89c13dfa1	1247	* completion of a Slave 4 transaction. When cleared to 0, this bit disables the
Throwbot	1:1da89c13dfa1	1248	* generation of an interrupt signal upon completion of a Slave 4 transaction.
Throwbot	1:1da89c13dfa1	1249	* The interrupt status can be observed in Register 54.
Throwbot	1:1da89c13dfa1	1250	*
Throwbot	1:1da89c13dfa1	1251	* @return Current enabled value for Slave 4 transaction interrupts.
Throwbot	1:1da89c13dfa1	1252	* @see MPU6050_RA_I2C_SLV4_CTRL
Throwbot	1:1da89c13dfa1	1253	*/
Throwbot	1:1da89c13dfa1	1254	bool MPU6050::getSlave4InterruptEnabled()
Throwbot	1:1da89c13dfa1	1255	{
Throwbot	1:1da89c13dfa1	1256	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
Throwbot	1:1da89c13dfa1	1257	return buffer[0];
Throwbot	1:1da89c13dfa1	1258	}
Throwbot	1:1da89c13dfa1	1259	/** Set the enabled value for Slave 4 transaction interrupts.
Throwbot	1:1da89c13dfa1	1260	* @param enabled New enabled value for Slave 4 transaction interrupts.
Throwbot	1:1da89c13dfa1	1261	* @see getSlave4InterruptEnabled()
Throwbot	1:1da89c13dfa1	1262	* @see MPU6050_RA_I2C_SLV4_CTRL
Throwbot	1:1da89c13dfa1	1263	*/
Throwbot	1:1da89c13dfa1	1264	void MPU6050::setSlave4InterruptEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	1265	{
Throwbot	1:1da89c13dfa1	1266	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
Throwbot	1:1da89c13dfa1	1267	}
Throwbot	1:1da89c13dfa1	1268	/** Get write mode for Slave 4.
Throwbot	1:1da89c13dfa1	1269	* When set to 1, the transaction will read or write data only. When cleared to
Throwbot	1:1da89c13dfa1	1270	* 0, the transaction will write a register address prior to reading or writing
Throwbot	1:1da89c13dfa1	1271	* data. This should equal 0 when specifying the register address within the
Throwbot	1:1da89c13dfa1	1272	* Slave device to/from which the ensuing data transaction will take place.
Throwbot	1:1da89c13dfa1	1273	*
Throwbot	1:1da89c13dfa1	1274	* @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
Throwbot	1:1da89c13dfa1	1275	* @see MPU6050_RA_I2C_SLV4_CTRL
Throwbot	1:1da89c13dfa1	1276	*/
Throwbot	1:1da89c13dfa1	1277	bool MPU6050::getSlave4WriteMode()
Throwbot	1:1da89c13dfa1	1278	{
Throwbot	1:1da89c13dfa1	1279	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
Throwbot	1:1da89c13dfa1	1280	return buffer[0];
Throwbot	1:1da89c13dfa1	1281	}
Throwbot	1:1da89c13dfa1	1282	/** Set write mode for the Slave 4.
Throwbot	1:1da89c13dfa1	1283	* @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
Throwbot	1:1da89c13dfa1	1284	* @see getSlave4WriteMode()
Throwbot	1:1da89c13dfa1	1285	* @see MPU6050_RA_I2C_SLV4_CTRL
Throwbot	1:1da89c13dfa1	1286	*/
Throwbot	1:1da89c13dfa1	1287	void MPU6050::setSlave4WriteMode(bool mode)
Throwbot	1:1da89c13dfa1	1288	{
Throwbot	1:1da89c13dfa1	1289	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
Throwbot	1:1da89c13dfa1	1290	}
Throwbot	1:1da89c13dfa1	1291	/** Get Slave 4 master delay value.
Throwbot	1:1da89c13dfa1	1292	* This configures the reduced access rate of I2C slaves relative to the Sample
Throwbot	1:1da89c13dfa1	1293	* Rate. When a slave's access rate is decreased relative to the Sample Rate,
Throwbot	1:1da89c13dfa1	1294	* the slave is accessed every:
Throwbot	1:1da89c13dfa1	1295	*
Throwbot	1:1da89c13dfa1	1296	* 1 / (1 + I2C_MST_DLY) samples
Throwbot	1:1da89c13dfa1	1297	*
Throwbot	1:1da89c13dfa1	1298	* This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
Throwbot	1:1da89c13dfa1	1299	* DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
Throwbot	1:1da89c13dfa1	1300	* the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
Throwbot	1:1da89c13dfa1	1301	* further information regarding the Sample Rate, please refer to register 25.
Throwbot	1:1da89c13dfa1	1302	*
Throwbot	1:1da89c13dfa1	1303	* @return Current Slave 4 master delay value
Throwbot	1:1da89c13dfa1	1304	* @see MPU6050_RA_I2C_SLV4_CTRL
Throwbot	1:1da89c13dfa1	1305	*/
Throwbot	1:1da89c13dfa1	1306	uint8_t MPU6050::getSlave4MasterDelay()
Throwbot	1:1da89c13dfa1	1307	{
Throwbot	1:1da89c13dfa1	1308	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
Throwbot	1:1da89c13dfa1	1309	return buffer[0];
Throwbot	1:1da89c13dfa1	1310	}
Throwbot	1:1da89c13dfa1	1311	/** Set Slave 4 master delay value.
Throwbot	1:1da89c13dfa1	1312	* @param delay New Slave 4 master delay value
Throwbot	1:1da89c13dfa1	1313	* @see getSlave4MasterDelay()
Throwbot	1:1da89c13dfa1	1314	* @see MPU6050_RA_I2C_SLV4_CTRL
Throwbot	1:1da89c13dfa1	1315	*/
Throwbot	1:1da89c13dfa1	1316	void MPU6050::setSlave4MasterDelay(uint8_t delay)
Throwbot	1:1da89c13dfa1	1317	{
Throwbot	1:1da89c13dfa1	1318	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
Throwbot	1:1da89c13dfa1	1319	}
Throwbot	1:1da89c13dfa1	1320	/** Get last available byte read from Slave 4.
Throwbot	1:1da89c13dfa1	1321	* This register stores the data read from Slave 4. This field is populated
Throwbot	1:1da89c13dfa1	1322	* after a read transaction.
Throwbot	1:1da89c13dfa1	1323	* @return Last available byte read from to Slave 4
Throwbot	1:1da89c13dfa1	1324	* @see MPU6050_RA_I2C_SLV4_DI
Throwbot	1:1da89c13dfa1	1325	*/
Throwbot	1:1da89c13dfa1	1326	uint8_t MPU6050::getSlate4InputByte()
Throwbot	1:1da89c13dfa1	1327	{
Throwbot	1:1da89c13dfa1	1328	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
Throwbot	1:1da89c13dfa1	1329	return buffer[0];
Throwbot	1:1da89c13dfa1	1330	}
Throwbot	1:1da89c13dfa1	1331
Throwbot	1:1da89c13dfa1	1332	// I2C_MST_STATUS register
Throwbot	1:1da89c13dfa1	1333
Throwbot	1:1da89c13dfa1	1334	/** Get FSYNC interrupt status.
Throwbot	1:1da89c13dfa1	1335	* This bit reflects the status of the FSYNC interrupt from an external device
Throwbot	1:1da89c13dfa1	1336	* into the MPU-60X0. This is used as a way to pass an external interrupt
Throwbot	1:1da89c13dfa1	1337	* through the MPU-60X0 to the host application processor. When set to 1, this
Throwbot	1:1da89c13dfa1	1338	* bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
Throwbot	1:1da89c13dfa1	1339	* (Register 55).
Throwbot	1:1da89c13dfa1	1340	* @return FSYNC interrupt status
Throwbot	1:1da89c13dfa1	1341	* @see MPU6050_RA_I2C_MST_STATUS
Throwbot	1:1da89c13dfa1	1342	*/
Throwbot	1:1da89c13dfa1	1343	bool MPU6050::getPassthroughStatus()
Throwbot	1:1da89c13dfa1	1344	{
Throwbot	1:1da89c13dfa1	1345	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
Throwbot	1:1da89c13dfa1	1346	return buffer[0];
Throwbot	1:1da89c13dfa1	1347	}
Throwbot	1:1da89c13dfa1	1348	/** Get Slave 4 transaction done status.
Throwbot	1:1da89c13dfa1	1349	* Automatically sets to 1 when a Slave 4 transaction has completed. This
Throwbot	1:1da89c13dfa1	1350	* triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
Throwbot	1:1da89c13dfa1	1351	* (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
Throwbot	1:1da89c13dfa1	1352	* I2C_SLV4_CTRL register (Register 52).
Throwbot	1:1da89c13dfa1	1353	* @return Slave 4 transaction done status
Throwbot	1:1da89c13dfa1	1354	* @see MPU6050_RA_I2C_MST_STATUS
Throwbot	1:1da89c13dfa1	1355	*/
Throwbot	1:1da89c13dfa1	1356	bool MPU6050::getSlave4IsDone()
Throwbot	1:1da89c13dfa1	1357	{
Throwbot	1:1da89c13dfa1	1358	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
Throwbot	1:1da89c13dfa1	1359	return buffer[0];
Throwbot	1:1da89c13dfa1	1360	}
Throwbot	1:1da89c13dfa1	1361	/** Get master arbitration lost status.
Throwbot	1:1da89c13dfa1	1362	* This bit automatically sets to 1 when the I2C Master has lost arbitration of
Throwbot	1:1da89c13dfa1	1363	* the auxiliary I2C bus (an error condition). This triggers an interrupt if the
Throwbot	1:1da89c13dfa1	1364	* I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
Throwbot	1:1da89c13dfa1	1365	* @return Master arbitration lost status
Throwbot	1:1da89c13dfa1	1366	* @see MPU6050_RA_I2C_MST_STATUS
Throwbot	1:1da89c13dfa1	1367	*/
Throwbot	1:1da89c13dfa1	1368	bool MPU6050::getLostArbitration()
Throwbot	1:1da89c13dfa1	1369	{
Throwbot	1:1da89c13dfa1	1370	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
Throwbot	1:1da89c13dfa1	1371	return buffer[0];
Throwbot	1:1da89c13dfa1	1372	}
Throwbot	1:1da89c13dfa1	1373	/** Get Slave 4 NACK status.
Throwbot	1:1da89c13dfa1	1374	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
Throwbot	1:1da89c13dfa1	1375	* transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
Throwbot	1:1da89c13dfa1	1376	* bit in the INT_ENABLE register (Register 56) is asserted.
Throwbot	1:1da89c13dfa1	1377	* @return Slave 4 NACK interrupt status
Throwbot	1:1da89c13dfa1	1378	* @see MPU6050_RA_I2C_MST_STATUS
Throwbot	1:1da89c13dfa1	1379	*/
Throwbot	1:1da89c13dfa1	1380	bool MPU6050::getSlave4Nack()
Throwbot	1:1da89c13dfa1	1381	{
Throwbot	1:1da89c13dfa1	1382	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
Throwbot	1:1da89c13dfa1	1383	return buffer[0];
Throwbot	1:1da89c13dfa1	1384	}
Throwbot	1:1da89c13dfa1	1385	/** Get Slave 3 NACK status.
Throwbot	1:1da89c13dfa1	1386	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
Throwbot	1:1da89c13dfa1	1387	* transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
Throwbot	1:1da89c13dfa1	1388	* bit in the INT_ENABLE register (Register 56) is asserted.
Throwbot	1:1da89c13dfa1	1389	* @return Slave 3 NACK interrupt status
Throwbot	1:1da89c13dfa1	1390	* @see MPU6050_RA_I2C_MST_STATUS
Throwbot	1:1da89c13dfa1	1391	*/
Throwbot	1:1da89c13dfa1	1392	bool MPU6050::getSlave3Nack()
Throwbot	1:1da89c13dfa1	1393	{
Throwbot	1:1da89c13dfa1	1394	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
Throwbot	1:1da89c13dfa1	1395	return buffer[0];
Throwbot	1:1da89c13dfa1	1396	}
Throwbot	1:1da89c13dfa1	1397	/** Get Slave 2 NACK status.
Throwbot	1:1da89c13dfa1	1398	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
Throwbot	1:1da89c13dfa1	1399	* transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
Throwbot	1:1da89c13dfa1	1400	* bit in the INT_ENABLE register (Register 56) is asserted.
Throwbot	1:1da89c13dfa1	1401	* @return Slave 2 NACK interrupt status
Throwbot	1:1da89c13dfa1	1402	* @see MPU6050_RA_I2C_MST_STATUS
Throwbot	1:1da89c13dfa1	1403	*/
Throwbot	1:1da89c13dfa1	1404	bool MPU6050::getSlave2Nack()
Throwbot	1:1da89c13dfa1	1405	{
Throwbot	1:1da89c13dfa1	1406	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
Throwbot	1:1da89c13dfa1	1407	return buffer[0];
Throwbot	1:1da89c13dfa1	1408	}
Throwbot	1:1da89c13dfa1	1409	/** Get Slave 1 NACK status.
Throwbot	1:1da89c13dfa1	1410	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
Throwbot	1:1da89c13dfa1	1411	* transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
Throwbot	1:1da89c13dfa1	1412	* bit in the INT_ENABLE register (Register 56) is asserted.
Throwbot	1:1da89c13dfa1	1413	* @return Slave 1 NACK interrupt status
Throwbot	1:1da89c13dfa1	1414	* @see MPU6050_RA_I2C_MST_STATUS
Throwbot	1:1da89c13dfa1	1415	*/
Throwbot	1:1da89c13dfa1	1416	bool MPU6050::getSlave1Nack()
Throwbot	1:1da89c13dfa1	1417	{
Throwbot	1:1da89c13dfa1	1418	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
Throwbot	1:1da89c13dfa1	1419	return buffer[0];
Throwbot	1:1da89c13dfa1	1420	}
Throwbot	1:1da89c13dfa1	1421	/** Get Slave 0 NACK status.
Throwbot	1:1da89c13dfa1	1422	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
Throwbot	1:1da89c13dfa1	1423	* transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
Throwbot	1:1da89c13dfa1	1424	* bit in the INT_ENABLE register (Register 56) is asserted.
Throwbot	1:1da89c13dfa1	1425	* @return Slave 0 NACK interrupt status
Throwbot	1:1da89c13dfa1	1426	* @see MPU6050_RA_I2C_MST_STATUS
Throwbot	1:1da89c13dfa1	1427	*/
Throwbot	1:1da89c13dfa1	1428	bool MPU6050::getSlave0Nack()
Throwbot	1:1da89c13dfa1	1429	{
Throwbot	1:1da89c13dfa1	1430	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
Throwbot	1:1da89c13dfa1	1431	return buffer[0];
Throwbot	1:1da89c13dfa1	1432	}
Throwbot	1:1da89c13dfa1	1433
Throwbot	1:1da89c13dfa1	1434	// INT_PIN_CFG register
Throwbot	1:1da89c13dfa1	1435
Throwbot	1:1da89c13dfa1	1436	/** Get interrupt logic level mode.
Throwbot	1:1da89c13dfa1	1437	* Will be set 0 for active-high, 1 for active-low.
Throwbot	1:1da89c13dfa1	1438	* @return Current interrupt mode (0=active-high, 1=active-low)
Throwbot	1:1da89c13dfa1	1439	* @see MPU6050_RA_INT_PIN_CFG
Throwbot	1:1da89c13dfa1	1440	* @see MPU6050_INTCFG_INT_LEVEL_BIT
Throwbot	1:1da89c13dfa1	1441	*/
Throwbot	1:1da89c13dfa1	1442	bool MPU6050::getInterruptMode()
Throwbot	1:1da89c13dfa1	1443	{
Throwbot	1:1da89c13dfa1	1444	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
Throwbot	1:1da89c13dfa1	1445	return buffer[0];
Throwbot	1:1da89c13dfa1	1446	}
Throwbot	1:1da89c13dfa1	1447	/** Set interrupt logic level mode.
Throwbot	1:1da89c13dfa1	1448	* @param mode New interrupt mode (0=active-high, 1=active-low)
Throwbot	1:1da89c13dfa1	1449	* @see getInterruptMode()
Throwbot	1:1da89c13dfa1	1450	* @see MPU6050_RA_INT_PIN_CFG
Throwbot	1:1da89c13dfa1	1451	* @see MPU6050_INTCFG_INT_LEVEL_BIT
Throwbot	1:1da89c13dfa1	1452	*/
Throwbot	1:1da89c13dfa1	1453	void MPU6050::setInterruptMode(bool mode)
Throwbot	1:1da89c13dfa1	1454	{
Throwbot	1:1da89c13dfa1	1455	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
Throwbot	1:1da89c13dfa1	1456	}
Throwbot	1:1da89c13dfa1	1457	/** Get interrupt drive mode.
Throwbot	1:1da89c13dfa1	1458	* Will be set 0 for push-pull, 1 for open-drain.
Throwbot	1:1da89c13dfa1	1459	* @return Current interrupt drive mode (0=push-pull, 1=open-drain)
Throwbot	1:1da89c13dfa1	1460	* @see MPU6050_RA_INT_PIN_CFG
Throwbot	1:1da89c13dfa1	1461	* @see MPU6050_INTCFG_INT_OPEN_BIT
Throwbot	1:1da89c13dfa1	1462	*/
Throwbot	1:1da89c13dfa1	1463	bool MPU6050::getInterruptDrive()
Throwbot	1:1da89c13dfa1	1464	{
Throwbot	1:1da89c13dfa1	1465	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
Throwbot	1:1da89c13dfa1	1466	return buffer[0];
Throwbot	1:1da89c13dfa1	1467	}
Throwbot	1:1da89c13dfa1	1468	/** Set interrupt drive mode.
Throwbot	1:1da89c13dfa1	1469	* @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
Throwbot	1:1da89c13dfa1	1470	* @see getInterruptDrive()
Throwbot	1:1da89c13dfa1	1471	* @see MPU6050_RA_INT_PIN_CFG
Throwbot	1:1da89c13dfa1	1472	* @see MPU6050_INTCFG_INT_OPEN_BIT
Throwbot	1:1da89c13dfa1	1473	*/
Throwbot	1:1da89c13dfa1	1474	void MPU6050::setInterruptDrive(bool drive)
Throwbot	1:1da89c13dfa1	1475	{
Throwbot	1:1da89c13dfa1	1476	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
Throwbot	1:1da89c13dfa1	1477	}
Throwbot	1:1da89c13dfa1	1478	/** Get interrupt latch mode.
Throwbot	1:1da89c13dfa1	1479	* Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
Throwbot	1:1da89c13dfa1	1480	* @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
Throwbot	1:1da89c13dfa1	1481	* @see MPU6050_RA_INT_PIN_CFG
Throwbot	1:1da89c13dfa1	1482	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
Throwbot	1:1da89c13dfa1	1483	*/
Throwbot	1:1da89c13dfa1	1484	bool MPU6050::getInterruptLatch()
Throwbot	1:1da89c13dfa1	1485	{
Throwbot	1:1da89c13dfa1	1486	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
Throwbot	1:1da89c13dfa1	1487	return buffer[0];
Throwbot	1:1da89c13dfa1	1488	}
Throwbot	1:1da89c13dfa1	1489	/** Set interrupt latch mode.
Throwbot	1:1da89c13dfa1	1490	* @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
Throwbot	1:1da89c13dfa1	1491	* @see getInterruptLatch()
Throwbot	1:1da89c13dfa1	1492	* @see MPU6050_RA_INT_PIN_CFG
Throwbot	1:1da89c13dfa1	1493	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
Throwbot	1:1da89c13dfa1	1494	*/
Throwbot	1:1da89c13dfa1	1495	void MPU6050::setInterruptLatch(bool latch)
Throwbot	1:1da89c13dfa1	1496	{
Throwbot	1:1da89c13dfa1	1497	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
Throwbot	1:1da89c13dfa1	1498	}
Throwbot	1:1da89c13dfa1	1499	/** Get interrupt latch clear mode.
Throwbot	1:1da89c13dfa1	1500	* Will be set 0 for status-read-only, 1 for any-register-read.
Throwbot	1:1da89c13dfa1	1501	* @return Current latch clear mode (0=status-read-only, 1=any-register-read)
Throwbot	1:1da89c13dfa1	1502	* @see MPU6050_RA_INT_PIN_CFG
Throwbot	1:1da89c13dfa1	1503	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
Throwbot	1:1da89c13dfa1	1504	*/
Throwbot	1:1da89c13dfa1	1505	bool MPU6050::getInterruptLatchClear()
Throwbot	1:1da89c13dfa1	1506	{
Throwbot	1:1da89c13dfa1	1507	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
Throwbot	1:1da89c13dfa1	1508	return buffer[0];
Throwbot	1:1da89c13dfa1	1509	}
Throwbot	1:1da89c13dfa1	1510	/** Set interrupt latch clear mode.
Throwbot	1:1da89c13dfa1	1511	* @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
Throwbot	1:1da89c13dfa1	1512	* @see getInterruptLatchClear()
Throwbot	1:1da89c13dfa1	1513	* @see MPU6050_RA_INT_PIN_CFG
Throwbot	1:1da89c13dfa1	1514	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
Throwbot	1:1da89c13dfa1	1515	*/
Throwbot	1:1da89c13dfa1	1516	void MPU6050::setInterruptLatchClear(bool clear)
Throwbot	1:1da89c13dfa1	1517	{
Throwbot	1:1da89c13dfa1	1518	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
Throwbot	1:1da89c13dfa1	1519	}
Throwbot	1:1da89c13dfa1	1520	/** Get FSYNC interrupt logic level mode.
Throwbot	1:1da89c13dfa1	1521	* @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
Throwbot	1:1da89c13dfa1	1522	* @see getFSyncInterruptMode()
Throwbot	1:1da89c13dfa1	1523	* @see MPU6050_RA_INT_PIN_CFG
Throwbot	1:1da89c13dfa1	1524	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
Throwbot	1:1da89c13dfa1	1525	*/
Throwbot	1:1da89c13dfa1	1526	bool MPU6050::getFSyncInterruptLevel()
Throwbot	1:1da89c13dfa1	1527	{
Throwbot	1:1da89c13dfa1	1528	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
Throwbot	1:1da89c13dfa1	1529	return buffer[0];
Throwbot	1:1da89c13dfa1	1530	}
Throwbot	1:1da89c13dfa1	1531	/** Set FSYNC interrupt logic level mode.
Throwbot	1:1da89c13dfa1	1532	* @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
Throwbot	1:1da89c13dfa1	1533	* @see getFSyncInterruptMode()
Throwbot	1:1da89c13dfa1	1534	* @see MPU6050_RA_INT_PIN_CFG
Throwbot	1:1da89c13dfa1	1535	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
Throwbot	1:1da89c13dfa1	1536	*/
Throwbot	1:1da89c13dfa1	1537	void MPU6050::setFSyncInterruptLevel(bool level)
Throwbot	1:1da89c13dfa1	1538	{
Throwbot	1:1da89c13dfa1	1539	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
Throwbot	1:1da89c13dfa1	1540	}
Throwbot	1:1da89c13dfa1	1541	/** Get FSYNC pin interrupt enabled setting.
Throwbot	1:1da89c13dfa1	1542	* Will be set 0 for disabled, 1 for enabled.
Throwbot	1:1da89c13dfa1	1543	* @return Current interrupt enabled setting
Throwbot	1:1da89c13dfa1	1544	* @see MPU6050_RA_INT_PIN_CFG
Throwbot	1:1da89c13dfa1	1545	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
Throwbot	1:1da89c13dfa1	1546	*/
Throwbot	1:1da89c13dfa1	1547	bool MPU6050::getFSyncInterruptEnabled()
Throwbot	1:1da89c13dfa1	1548	{
Throwbot	1:1da89c13dfa1	1549	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
Throwbot	1:1da89c13dfa1	1550	return buffer[0];
Throwbot	1:1da89c13dfa1	1551	}
Throwbot	1:1da89c13dfa1	1552	/** Set FSYNC pin interrupt enabled setting.
Throwbot	1:1da89c13dfa1	1553	* @param enabled New FSYNC pin interrupt enabled setting
Throwbot	1:1da89c13dfa1	1554	* @see getFSyncInterruptEnabled()
Throwbot	1:1da89c13dfa1	1555	* @see MPU6050_RA_INT_PIN_CFG
Throwbot	1:1da89c13dfa1	1556	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
Throwbot	1:1da89c13dfa1	1557	*/
Throwbot	1:1da89c13dfa1	1558	void MPU6050::setFSyncInterruptEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	1559	{
Throwbot	1:1da89c13dfa1	1560	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
Throwbot	1:1da89c13dfa1	1561	}
Throwbot	1:1da89c13dfa1	1562	/** Get I2C bypass enabled status.
Throwbot	1:1da89c13dfa1	1563	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
Throwbot	1:1da89c13dfa1	1564	* 0, the host application processor will be able to directly access the
Throwbot	1:1da89c13dfa1	1565	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
Throwbot	1:1da89c13dfa1	1566	* application processor will not be able to directly access the auxiliary I2C
Throwbot	1:1da89c13dfa1	1567	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
Throwbot	1:1da89c13dfa1	1568	* bit[5]).
Throwbot	1:1da89c13dfa1	1569	* @return Current I2C bypass enabled status
Throwbot	1:1da89c13dfa1	1570	* @see MPU6050_RA_INT_PIN_CFG
Throwbot	1:1da89c13dfa1	1571	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
Throwbot	1:1da89c13dfa1	1572	*/
Throwbot	1:1da89c13dfa1	1573	bool MPU6050::getI2CBypassEnabled()
Throwbot	1:1da89c13dfa1	1574	{
Throwbot	1:1da89c13dfa1	1575	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
Throwbot	1:1da89c13dfa1	1576	return buffer[0];
Throwbot	1:1da89c13dfa1	1577	}
Throwbot	1:1da89c13dfa1	1578	/** Set I2C bypass enabled status.
Throwbot	1:1da89c13dfa1	1579	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
Throwbot	1:1da89c13dfa1	1580	* 0, the host application processor will be able to directly access the
Throwbot	1:1da89c13dfa1	1581	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
Throwbot	1:1da89c13dfa1	1582	* application processor will not be able to directly access the auxiliary I2C
Throwbot	1:1da89c13dfa1	1583	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
Throwbot	1:1da89c13dfa1	1584	* bit[5]).
Throwbot	1:1da89c13dfa1	1585	* @param enabled New I2C bypass enabled status
Throwbot	1:1da89c13dfa1	1586	* @see MPU6050_RA_INT_PIN_CFG
Throwbot	1:1da89c13dfa1	1587	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
Throwbot	1:1da89c13dfa1	1588	*/
Throwbot	1:1da89c13dfa1	1589	void MPU6050::setI2CBypassEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	1590	{
Throwbot	1:1da89c13dfa1	1591	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
Throwbot	1:1da89c13dfa1	1592	}
Throwbot	1:1da89c13dfa1	1593	/** Get reference clock output enabled status.
Throwbot	1:1da89c13dfa1	1594	* When this bit is equal to 1, a reference clock output is provided at the
Throwbot	1:1da89c13dfa1	1595	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
Throwbot	1:1da89c13dfa1	1596	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
Throwbot	1:1da89c13dfa1	1597	* Specification document.
Throwbot	1:1da89c13dfa1	1598	* @return Current reference clock output enabled status
Throwbot	1:1da89c13dfa1	1599	* @see MPU6050_RA_INT_PIN_CFG
Throwbot	1:1da89c13dfa1	1600	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
Throwbot	1:1da89c13dfa1	1601	*/
Throwbot	1:1da89c13dfa1	1602	bool MPU6050::getClockOutputEnabled()
Throwbot	1:1da89c13dfa1	1603	{
Throwbot	1:1da89c13dfa1	1604	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
Throwbot	1:1da89c13dfa1	1605	return buffer[0];
Throwbot	1:1da89c13dfa1	1606	}
Throwbot	1:1da89c13dfa1	1607	/** Set reference clock output enabled status.
Throwbot	1:1da89c13dfa1	1608	* When this bit is equal to 1, a reference clock output is provided at the
Throwbot	1:1da89c13dfa1	1609	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
Throwbot	1:1da89c13dfa1	1610	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
Throwbot	1:1da89c13dfa1	1611	* Specification document.
Throwbot	1:1da89c13dfa1	1612	* @param enabled New reference clock output enabled status
Throwbot	1:1da89c13dfa1	1613	* @see MPU6050_RA_INT_PIN_CFG
Throwbot	1:1da89c13dfa1	1614	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
Throwbot	1:1da89c13dfa1	1615	*/
Throwbot	1:1da89c13dfa1	1616	void MPU6050::setClockOutputEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	1617	{
Throwbot	1:1da89c13dfa1	1618	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
Throwbot	1:1da89c13dfa1	1619	}
Throwbot	1:1da89c13dfa1	1620
Throwbot	1:1da89c13dfa1	1621	// INT_ENABLE register
Throwbot	1:1da89c13dfa1	1622
Throwbot	1:1da89c13dfa1	1623	/** Get full interrupt enabled status.
Throwbot	1:1da89c13dfa1	1624	* Full register byte for all interrupts, for quick reading. Each bit will be
Throwbot	1:1da89c13dfa1	1625	* set 0 for disabled, 1 for enabled.
Throwbot	1:1da89c13dfa1	1626	* @return Current interrupt enabled status
Throwbot	1:1da89c13dfa1	1627	* @see MPU6050_RA_INT_ENABLE
Throwbot	1:1da89c13dfa1	1628	* @see MPU6050_INTERRUPT_FF_BIT
Throwbot	1:1da89c13dfa1	1629	**/
Throwbot	1:1da89c13dfa1	1630	uint8_t MPU6050::getIntEnabled()
Throwbot	1:1da89c13dfa1	1631	{
Throwbot	1:1da89c13dfa1	1632	i2Cdev.readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
Throwbot	1:1da89c13dfa1	1633	return buffer[0];
Throwbot	1:1da89c13dfa1	1634	}
Throwbot	1:1da89c13dfa1	1635	/** Set full interrupt enabled status.
Throwbot	1:1da89c13dfa1	1636	* Full register byte for all interrupts, for quick reading. Each bit should be
Throwbot	1:1da89c13dfa1	1637	* set 0 for disabled, 1 for enabled.
Throwbot	1:1da89c13dfa1	1638	* @param enabled New interrupt enabled status
Throwbot	1:1da89c13dfa1	1639	* @see getIntFreefallEnabled()
Throwbot	1:1da89c13dfa1	1640	* @see MPU6050_RA_INT_ENABLE
Throwbot	1:1da89c13dfa1	1641	* @see MPU6050_INTERRUPT_FF_BIT
Throwbot	1:1da89c13dfa1	1642	**/
Throwbot	1:1da89c13dfa1	1643	void MPU6050::setIntEnabled(uint8_t enabled)
Throwbot	1:1da89c13dfa1	1644	{
Throwbot	1:1da89c13dfa1	1645	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
Throwbot	1:1da89c13dfa1	1646	}
Throwbot	1:1da89c13dfa1	1647	/** Get Free Fall interrupt enabled status.
Throwbot	1:1da89c13dfa1	1648	* Will be set 0 for disabled, 1 for enabled.
Throwbot	1:1da89c13dfa1	1649	* @return Current interrupt enabled status
Throwbot	1:1da89c13dfa1	1650	* @see MPU6050_RA_INT_ENABLE
Throwbot	1:1da89c13dfa1	1651	* @see MPU6050_INTERRUPT_FF_BIT
Throwbot	1:1da89c13dfa1	1652	**/
Throwbot	1:1da89c13dfa1	1653	bool MPU6050::getIntFreefallEnabled()
Throwbot	1:1da89c13dfa1	1654	{
Throwbot	1:1da89c13dfa1	1655	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
Throwbot	1:1da89c13dfa1	1656	return buffer[0];
Throwbot	1:1da89c13dfa1	1657	}
Throwbot	1:1da89c13dfa1	1658	/** Set Free Fall interrupt enabled status.
Throwbot	1:1da89c13dfa1	1659	* @param enabled New interrupt enabled status
Throwbot	1:1da89c13dfa1	1660	* @see getIntFreefallEnabled()
Throwbot	1:1da89c13dfa1	1661	* @see MPU6050_RA_INT_ENABLE
Throwbot	1:1da89c13dfa1	1662	* @see MPU6050_INTERRUPT_FF_BIT
Throwbot	1:1da89c13dfa1	1663	**/
Throwbot	1:1da89c13dfa1	1664	void MPU6050::setIntFreefallEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	1665	{
Throwbot	1:1da89c13dfa1	1666	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
Throwbot	1:1da89c13dfa1	1667	}
Throwbot	1:1da89c13dfa1	1668	/** Get Motion Detection interrupt enabled status.
Throwbot	1:1da89c13dfa1	1669	* Will be set 0 for disabled, 1 for enabled.
Throwbot	1:1da89c13dfa1	1670	* @return Current interrupt enabled status
Throwbot	1:1da89c13dfa1	1671	* @see MPU6050_RA_INT_ENABLE
Throwbot	1:1da89c13dfa1	1672	* @see MPU6050_INTERRUPT_MOT_BIT
Throwbot	1:1da89c13dfa1	1673	**/
Throwbot	1:1da89c13dfa1	1674	bool MPU6050::getIntMotionEnabled()
Throwbot	1:1da89c13dfa1	1675	{
Throwbot	1:1da89c13dfa1	1676	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
Throwbot	1:1da89c13dfa1	1677	return buffer[0];
Throwbot	1:1da89c13dfa1	1678	}
Throwbot	1:1da89c13dfa1	1679	/** Set Motion Detection interrupt enabled status.
Throwbot	1:1da89c13dfa1	1680	* @param enabled New interrupt enabled status
Throwbot	1:1da89c13dfa1	1681	* @see getIntMotionEnabled()
Throwbot	1:1da89c13dfa1	1682	* @see MPU6050_RA_INT_ENABLE
Throwbot	1:1da89c13dfa1	1683	* @see MPU6050_INTERRUPT_MOT_BIT
Throwbot	1:1da89c13dfa1	1684	**/
Throwbot	1:1da89c13dfa1	1685	void MPU6050::setIntMotionEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	1686	{
Throwbot	1:1da89c13dfa1	1687	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
Throwbot	1:1da89c13dfa1	1688	}
Throwbot	1:1da89c13dfa1	1689	/** Get Zero Motion Detection interrupt enabled status.
Throwbot	1:1da89c13dfa1	1690	* Will be set 0 for disabled, 1 for enabled.
Throwbot	1:1da89c13dfa1	1691	* @return Current interrupt enabled status
Throwbot	1:1da89c13dfa1	1692	* @see MPU6050_RA_INT_ENABLE
Throwbot	1:1da89c13dfa1	1693	* @see MPU6050_INTERRUPT_ZMOT_BIT
Throwbot	1:1da89c13dfa1	1694	**/
Throwbot	1:1da89c13dfa1	1695	bool MPU6050::getIntZeroMotionEnabled()
Throwbot	1:1da89c13dfa1	1696	{
Throwbot	1:1da89c13dfa1	1697	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
Throwbot	1:1da89c13dfa1	1698	return buffer[0];
Throwbot	1:1da89c13dfa1	1699	}
Throwbot	1:1da89c13dfa1	1700	/** Set Zero Motion Detection interrupt enabled status.
Throwbot	1:1da89c13dfa1	1701	* @param enabled New interrupt enabled status
Throwbot	1:1da89c13dfa1	1702	* @see getIntZeroMotionEnabled()
Throwbot	1:1da89c13dfa1	1703	* @see MPU6050_RA_INT_ENABLE
Throwbot	1:1da89c13dfa1	1704	* @see MPU6050_INTERRUPT_ZMOT_BIT
Throwbot	1:1da89c13dfa1	1705	**/
Throwbot	1:1da89c13dfa1	1706	void MPU6050::setIntZeroMotionEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	1707	{
Throwbot	1:1da89c13dfa1	1708	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
Throwbot	1:1da89c13dfa1	1709	}
Throwbot	1:1da89c13dfa1	1710	/** Get FIFO Buffer Overflow interrupt enabled status.
Throwbot	1:1da89c13dfa1	1711	* Will be set 0 for disabled, 1 for enabled.
Throwbot	1:1da89c13dfa1	1712	* @return Current interrupt enabled status
Throwbot	1:1da89c13dfa1	1713	* @see MPU6050_RA_INT_ENABLE
Throwbot	1:1da89c13dfa1	1714	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
Throwbot	1:1da89c13dfa1	1715	**/
Throwbot	1:1da89c13dfa1	1716	bool MPU6050::getIntFIFOBufferOverflowEnabled()
Throwbot	1:1da89c13dfa1	1717	{
Throwbot	1:1da89c13dfa1	1718	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
Throwbot	1:1da89c13dfa1	1719	return buffer[0];
Throwbot	1:1da89c13dfa1	1720	}
Throwbot	1:1da89c13dfa1	1721	/** Set FIFO Buffer Overflow interrupt enabled status.
Throwbot	1:1da89c13dfa1	1722	* @param enabled New interrupt enabled status
Throwbot	1:1da89c13dfa1	1723	* @see getIntFIFOBufferOverflowEnabled()
Throwbot	1:1da89c13dfa1	1724	* @see MPU6050_RA_INT_ENABLE
Throwbot	1:1da89c13dfa1	1725	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
Throwbot	1:1da89c13dfa1	1726	**/
Throwbot	1:1da89c13dfa1	1727	void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	1728	{
Throwbot	1:1da89c13dfa1	1729	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
Throwbot	1:1da89c13dfa1	1730	}
Throwbot	1:1da89c13dfa1	1731	/** Get I2C Master interrupt enabled status.
Throwbot	1:1da89c13dfa1	1732	* This enables any of the I2C Master interrupt sources to generate an
Throwbot	1:1da89c13dfa1	1733	* interrupt. Will be set 0 for disabled, 1 for enabled.
Throwbot	1:1da89c13dfa1	1734	* @return Current interrupt enabled status
Throwbot	1:1da89c13dfa1	1735	* @see MPU6050_RA_INT_ENABLE
Throwbot	1:1da89c13dfa1	1736	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
Throwbot	1:1da89c13dfa1	1737	**/
Throwbot	1:1da89c13dfa1	1738	bool MPU6050::getIntI2CMasterEnabled()
Throwbot	1:1da89c13dfa1	1739	{
Throwbot	1:1da89c13dfa1	1740	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
Throwbot	1:1da89c13dfa1	1741	return buffer[0];
Throwbot	1:1da89c13dfa1	1742	}
Throwbot	1:1da89c13dfa1	1743	/** Set I2C Master interrupt enabled status.
Throwbot	1:1da89c13dfa1	1744	* @param enabled New interrupt enabled status
Throwbot	1:1da89c13dfa1	1745	* @see getIntI2CMasterEnabled()
Throwbot	1:1da89c13dfa1	1746	* @see MPU6050_RA_INT_ENABLE
Throwbot	1:1da89c13dfa1	1747	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
Throwbot	1:1da89c13dfa1	1748	**/
Throwbot	1:1da89c13dfa1	1749	void MPU6050::setIntI2CMasterEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	1750	{
Throwbot	1:1da89c13dfa1	1751	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
Throwbot	1:1da89c13dfa1	1752	}
Throwbot	1:1da89c13dfa1	1753	/** Get Data Ready interrupt enabled setting.
Throwbot	1:1da89c13dfa1	1754	* This event occurs each time a write operation to all of the sensor registers
Throwbot	1:1da89c13dfa1	1755	* has been completed. Will be set 0 for disabled, 1 for enabled.
Throwbot	1:1da89c13dfa1	1756	* @return Current interrupt enabled status
Throwbot	1:1da89c13dfa1	1757	* @see MPU6050_RA_INT_ENABLE
Throwbot	1:1da89c13dfa1	1758	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
Throwbot	1:1da89c13dfa1	1759	*/
Throwbot	1:1da89c13dfa1	1760	bool MPU6050::getIntDataReadyEnabled()
Throwbot	1:1da89c13dfa1	1761	{
Throwbot	1:1da89c13dfa1	1762	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
Throwbot	1:1da89c13dfa1	1763	return buffer[0];
Throwbot	1:1da89c13dfa1	1764	}
Throwbot	1:1da89c13dfa1	1765	/** Set Data Ready interrupt enabled status.
Throwbot	1:1da89c13dfa1	1766	* @param enabled New interrupt enabled status
Throwbot	1:1da89c13dfa1	1767	* @see getIntDataReadyEnabled()
Throwbot	1:1da89c13dfa1	1768	* @see MPU6050_RA_INT_CFG
Throwbot	1:1da89c13dfa1	1769	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
Throwbot	1:1da89c13dfa1	1770	*/
Throwbot	1:1da89c13dfa1	1771	void MPU6050::setIntDataReadyEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	1772	{
Throwbot	1:1da89c13dfa1	1773	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
Throwbot	1:1da89c13dfa1	1774	}
Throwbot	1:1da89c13dfa1	1775
Throwbot	1:1da89c13dfa1	1776	// INT_STATUS register
Throwbot	1:1da89c13dfa1	1777
Throwbot	1:1da89c13dfa1	1778	/** Get full set of interrupt status bits.
Throwbot	1:1da89c13dfa1	1779	* These bits clear to 0 after the register has been read. Very useful
Throwbot	1:1da89c13dfa1	1780	* for getting multiple INT statuses, since each single bit read clears
Throwbot	1:1da89c13dfa1	1781	* all of them because it has to read the whole byte.
Throwbot	1:1da89c13dfa1	1782	* @return Current interrupt status
Throwbot	1:1da89c13dfa1	1783	* @see MPU6050_RA_INT_STATUS
Throwbot	1:1da89c13dfa1	1784	*/
Throwbot	1:1da89c13dfa1	1785	uint8_t MPU6050::getIntStatus()
Throwbot	1:1da89c13dfa1	1786	{
Throwbot	1:1da89c13dfa1	1787	i2Cdev.readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
Throwbot	1:1da89c13dfa1	1788	return buffer[0];
Throwbot	1:1da89c13dfa1	1789	}
Throwbot	1:1da89c13dfa1	1790	/** Get Free Fall interrupt status.
Throwbot	1:1da89c13dfa1	1791	* This bit automatically sets to 1 when a Free Fall interrupt has been
Throwbot	1:1da89c13dfa1	1792	* generated. The bit clears to 0 after the register has been read.
Throwbot	1:1da89c13dfa1	1793	* @return Current interrupt status
Throwbot	1:1da89c13dfa1	1794	* @see MPU6050_RA_INT_STATUS
Throwbot	1:1da89c13dfa1	1795	* @see MPU6050_INTERRUPT_FF_BIT
Throwbot	1:1da89c13dfa1	1796	*/
Throwbot	1:1da89c13dfa1	1797	bool MPU6050::getIntFreefallStatus()
Throwbot	1:1da89c13dfa1	1798	{
Throwbot	1:1da89c13dfa1	1799	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
Throwbot	1:1da89c13dfa1	1800	return buffer[0];
Throwbot	1:1da89c13dfa1	1801	}
Throwbot	1:1da89c13dfa1	1802	/** Get Motion Detection interrupt status.
Throwbot	1:1da89c13dfa1	1803	* This bit automatically sets to 1 when a Motion Detection interrupt has been
Throwbot	1:1da89c13dfa1	1804	* generated. The bit clears to 0 after the register has been read.
Throwbot	1:1da89c13dfa1	1805	* @return Current interrupt status
Throwbot	1:1da89c13dfa1	1806	* @see MPU6050_RA_INT_STATUS
Throwbot	1:1da89c13dfa1	1807	* @see MPU6050_INTERRUPT_MOT_BIT
Throwbot	1:1da89c13dfa1	1808	*/
Throwbot	1:1da89c13dfa1	1809	bool MPU6050::getIntMotionStatus()
Throwbot	1:1da89c13dfa1	1810	{
Throwbot	1:1da89c13dfa1	1811	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
Throwbot	1:1da89c13dfa1	1812	return buffer[0];
Throwbot	1:1da89c13dfa1	1813	}
Throwbot	1:1da89c13dfa1	1814	/** Get Zero Motion Detection interrupt status.
Throwbot	1:1da89c13dfa1	1815	* This bit automatically sets to 1 when a Zero Motion Detection interrupt has
Throwbot	1:1da89c13dfa1	1816	* been generated. The bit clears to 0 after the register has been read.
Throwbot	1:1da89c13dfa1	1817	* @return Current interrupt status
Throwbot	1:1da89c13dfa1	1818	* @see MPU6050_RA_INT_STATUS
Throwbot	1:1da89c13dfa1	1819	* @see MPU6050_INTERRUPT_ZMOT_BIT
Throwbot	1:1da89c13dfa1	1820	*/
Throwbot	1:1da89c13dfa1	1821	bool MPU6050::getIntZeroMotionStatus()
Throwbot	1:1da89c13dfa1	1822	{
Throwbot	1:1da89c13dfa1	1823	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
Throwbot	1:1da89c13dfa1	1824	return buffer[0];
Throwbot	1:1da89c13dfa1	1825	}
Throwbot	1:1da89c13dfa1	1826	/** Get FIFO Buffer Overflow interrupt status.
Throwbot	1:1da89c13dfa1	1827	* This bit automatically sets to 1 when a Free Fall interrupt has been
Throwbot	1:1da89c13dfa1	1828	* generated. The bit clears to 0 after the register has been read.
Throwbot	1:1da89c13dfa1	1829	* @return Current interrupt status
Throwbot	1:1da89c13dfa1	1830	* @see MPU6050_RA_INT_STATUS
Throwbot	1:1da89c13dfa1	1831	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
Throwbot	1:1da89c13dfa1	1832	*/
Throwbot	1:1da89c13dfa1	1833	bool MPU6050::getIntFIFOBufferOverflowStatus()
Throwbot	1:1da89c13dfa1	1834	{
Throwbot	1:1da89c13dfa1	1835	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
Throwbot	1:1da89c13dfa1	1836	return buffer[0];
Throwbot	1:1da89c13dfa1	1837	}
Throwbot	1:1da89c13dfa1	1838	/** Get I2C Master interrupt status.
Throwbot	1:1da89c13dfa1	1839	* This bit automatically sets to 1 when an I2C Master interrupt has been
Throwbot	1:1da89c13dfa1	1840	* generated. For a list of I2C Master interrupts, please refer to Register 54.
Throwbot	1:1da89c13dfa1	1841	* The bit clears to 0 after the register has been read.
Throwbot	1:1da89c13dfa1	1842	* @return Current interrupt status
Throwbot	1:1da89c13dfa1	1843	* @see MPU6050_RA_INT_STATUS
Throwbot	1:1da89c13dfa1	1844	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
Throwbot	1:1da89c13dfa1	1845	*/
Throwbot	1:1da89c13dfa1	1846	bool MPU6050::getIntI2CMasterStatus()
Throwbot	1:1da89c13dfa1	1847	{
Throwbot	1:1da89c13dfa1	1848	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
Throwbot	1:1da89c13dfa1	1849	return buffer[0];
Throwbot	1:1da89c13dfa1	1850	}
Throwbot	1:1da89c13dfa1	1851	/** Get Data Ready interrupt status.
Throwbot	1:1da89c13dfa1	1852	* This bit automatically sets to 1 when a Data Ready interrupt has been
Throwbot	1:1da89c13dfa1	1853	* generated. The bit clears to 0 after the register has been read.
Throwbot	1:1da89c13dfa1	1854	* @return Current interrupt status
Throwbot	1:1da89c13dfa1	1855	* @see MPU6050_RA_INT_STATUS
Throwbot	1:1da89c13dfa1	1856	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
Throwbot	1:1da89c13dfa1	1857	*/
Throwbot	1:1da89c13dfa1	1858	bool MPU6050::getIntDataReadyStatus()
Throwbot	1:1da89c13dfa1	1859	{
Throwbot	1:1da89c13dfa1	1860	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
Throwbot	1:1da89c13dfa1	1861	return buffer[0];
Throwbot	1:1da89c13dfa1	1862	}
Throwbot	1:1da89c13dfa1	1863
Throwbot	1:1da89c13dfa1	1864	// ACCEL_OUT_ registers
Throwbot	1:1da89c13dfa1	1865
Throwbot	1:1da89c13dfa1	1866	/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
Throwbot	1:1da89c13dfa1	1867	* FUNCTION NOT FULLY IMPLEMENTED YET.
Throwbot	1:1da89c13dfa1	1868	* @param ax 16-bit signed integer container for accelerometer X-axis value
Throwbot	1:1da89c13dfa1	1869	* @param ay 16-bit signed integer container for accelerometer Y-axis value
Throwbot	1:1da89c13dfa1	1870	* @param az 16-bit signed integer container for accelerometer Z-axis value
Throwbot	1:1da89c13dfa1	1871	* @param gx 16-bit signed integer container for gyroscope X-axis value
Throwbot	1:1da89c13dfa1	1872	* @param gy 16-bit signed integer container for gyroscope Y-axis value
Throwbot	1:1da89c13dfa1	1873	* @param gz 16-bit signed integer container for gyroscope Z-axis value
Throwbot	1:1da89c13dfa1	1874	* @param mx 16-bit signed integer container for magnetometer X-axis value
Throwbot	1:1da89c13dfa1	1875	* @param my 16-bit signed integer container for magnetometer Y-axis value
Throwbot	1:1da89c13dfa1	1876	* @param mz 16-bit signed integer container for magnetometer Z-axis value
Throwbot	1:1da89c13dfa1	1877	* @see getMotion6()
Throwbot	1:1da89c13dfa1	1878	* @see getAcceleration()
Throwbot	1:1da89c13dfa1	1879	* @see getRotation()
Throwbot	1:1da89c13dfa1	1880	* @see MPU6050_RA_ACCEL_XOUT_H
Throwbot	1:1da89c13dfa1	1881	*/
Throwbot	1:1da89c13dfa1	1882	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)
Throwbot	1:1da89c13dfa1	1883	{
Throwbot	1:1da89c13dfa1	1884	getMotion6(ax, ay, az, gx, gy, gz);
Throwbot	1:1da89c13dfa1	1885	// TODO: magnetometer integration
Throwbot	1:1da89c13dfa1	1886	}
Throwbot	1:1da89c13dfa1	1887	/** Get raw 6-axis motion sensor readings (accel/gyro).
Throwbot	1:1da89c13dfa1	1888	* Retrieves all currently available motion sensor values.
Throwbot	1:1da89c13dfa1	1889	* @param ax 16-bit signed integer container for accelerometer X-axis value
Throwbot	1:1da89c13dfa1	1890	* @param ay 16-bit signed integer container for accelerometer Y-axis value
Throwbot	1:1da89c13dfa1	1891	* @param az 16-bit signed integer container for accelerometer Z-axis value
Throwbot	1:1da89c13dfa1	1892	* @param gx 16-bit signed integer container for gyroscope X-axis value
Throwbot	1:1da89c13dfa1	1893	* @param gy 16-bit signed integer container for gyroscope Y-axis value
Throwbot	1:1da89c13dfa1	1894	* @param gz 16-bit signed integer container for gyroscope Z-axis value
Throwbot	1:1da89c13dfa1	1895	* @see getAcceleration()
Throwbot	1:1da89c13dfa1	1896	* @see getRotation()
Throwbot	1:1da89c13dfa1	1897	* @see MPU6050_RA_ACCEL_XOUT_H
Throwbot	1:1da89c13dfa1	1898	*/
Throwbot	1:1da89c13dfa1	1899	void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
Throwbot	1:1da89c13dfa1	1900	{
Throwbot	1:1da89c13dfa1	1901	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
Throwbot	1:1da89c13dfa1	1902	*ax = (((int16_t)buffer[0]) << 8) \| buffer[1];
Throwbot	1:1da89c13dfa1	1903	*ay = (((int16_t)buffer[2]) << 8) \| buffer[3];
Throwbot	1:1da89c13dfa1	1904	*az = (((int16_t)buffer[4]) << 8) \| buffer[5];
Throwbot	1:1da89c13dfa1	1905	*gx = (((int16_t)buffer[8]) << 8) \| buffer[9];
Throwbot	1:1da89c13dfa1	1906	*gy = (((int16_t)buffer[10]) << 8) \| buffer[11];
Throwbot	1:1da89c13dfa1	1907	*gz = (((int16_t)buffer[12]) << 8) \| buffer[13];
Throwbot	1:1da89c13dfa1	1908	}
Throwbot	1:1da89c13dfa1	1909	/** Get 3-axis accelerometer readings.
Throwbot	1:1da89c13dfa1	1910	* These registers store the most recent accelerometer measurements.
Throwbot	1:1da89c13dfa1	1911	* Accelerometer measurements are written to these registers at the Sample Rate
Throwbot	1:1da89c13dfa1	1912	* as defined in Register 25.
Throwbot	1:1da89c13dfa1	1913	*
Throwbot	1:1da89c13dfa1	1914	* The accelerometer measurement registers, along with the temperature
Throwbot	1:1da89c13dfa1	1915	* measurement registers, gyroscope measurement registers, and external sensor
Throwbot	1:1da89c13dfa1	1916	* data registers, are composed of two sets of registers: an internal register
Throwbot	1:1da89c13dfa1	1917	* set and a user-facing read register set.
Throwbot	1:1da89c13dfa1	1918	*
Throwbot	1:1da89c13dfa1	1919	* The data within the accelerometer sensors' internal register set is always
Throwbot	1:1da89c13dfa1	1920	* updated at the Sample Rate. Meanwhile, the user-facing read register set
Throwbot	1:1da89c13dfa1	1921	* duplicates the internal register set's data values whenever the serial
Throwbot	1:1da89c13dfa1	1922	* interface is idle. This guarantees that a burst read of sensor registers will
Throwbot	1:1da89c13dfa1	1923	* read measurements from the same sampling instant. Note that if burst reads
Throwbot	1:1da89c13dfa1	1924	* are not used, the user is responsible for ensuring a set of single byte reads
Throwbot	1:1da89c13dfa1	1925	* correspond to a single sampling instant by checking the Data Ready interrupt.
Throwbot	1:1da89c13dfa1	1926	*
Throwbot	1:1da89c13dfa1	1927	* Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
Throwbot	1:1da89c13dfa1	1928	* (Register 28). For each full scale setting, the accelerometers' sensitivity
Throwbot	1:1da89c13dfa1	1929	* per LSB in ACCEL_xOUT is shown in the table below:
Throwbot	1:1da89c13dfa1	1930	*
Throwbot	1:1da89c13dfa1	1931	* <pre>
Throwbot	1:1da89c13dfa1	1932	* AFS_SEL \| Full Scale Range \| LSB Sensitivity
Throwbot	1:1da89c13dfa1	1933	* --------+------------------+----------------
Throwbot	1:1da89c13dfa1	1934	* 0 \| +/- 2g \| 8192 LSB/mg
Throwbot	1:1da89c13dfa1	1935	* 1 \| +/- 4g \| 4096 LSB/mg
Throwbot	1:1da89c13dfa1	1936	* 2 \| +/- 8g \| 2048 LSB/mg
Throwbot	1:1da89c13dfa1	1937	* 3 \| +/- 16g \| 1024 LSB/mg
Throwbot	1:1da89c13dfa1	1938	* </pre>
Throwbot	1:1da89c13dfa1	1939	*
Throwbot	1:1da89c13dfa1	1940	* @param x 16-bit signed integer container for X-axis acceleration
Throwbot	1:1da89c13dfa1	1941	* @param y 16-bit signed integer container for Y-axis acceleration
Throwbot	1:1da89c13dfa1	1942	* @param z 16-bit signed integer container for Z-axis acceleration
Throwbot	1:1da89c13dfa1	1943	* @see MPU6050_RA_GYRO_XOUT_H
Throwbot	1:1da89c13dfa1	1944	*/
Throwbot	1:1da89c13dfa1	1945	void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z)
Throwbot	1:1da89c13dfa1	1946	{
Throwbot	1:1da89c13dfa1	1947	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
Throwbot	1:1da89c13dfa1	1948	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
Throwbot	1:1da89c13dfa1	1949	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
Throwbot	1:1da89c13dfa1	1950	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
Throwbot	1:1da89c13dfa1	1951	}
Throwbot	1:1da89c13dfa1	1952	/** Get X-axis accelerometer reading.
Throwbot	1:1da89c13dfa1	1953	* @return X-axis acceleration measurement in 16-bit 2's complement format
Throwbot	1:1da89c13dfa1	1954	* @see getMotion6()
Throwbot	1:1da89c13dfa1	1955	* @see MPU6050_RA_ACCEL_XOUT_H
Throwbot	1:1da89c13dfa1	1956	*/
Throwbot	1:1da89c13dfa1	1957	int16_t MPU6050::getAccelerationX()
Throwbot	1:1da89c13dfa1	1958	{
Throwbot	1:1da89c13dfa1	1959	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
Throwbot	1:1da89c13dfa1	1960	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Throwbot	1:1da89c13dfa1	1961	}
Throwbot	1:1da89c13dfa1	1962	/** Get Y-axis accelerometer reading.
Throwbot	1:1da89c13dfa1	1963	* @return Y-axis acceleration measurement in 16-bit 2's complement format
Throwbot	1:1da89c13dfa1	1964	* @see getMotion6()
Throwbot	1:1da89c13dfa1	1965	* @see MPU6050_RA_ACCEL_YOUT_H
Throwbot	1:1da89c13dfa1	1966	*/
Throwbot	1:1da89c13dfa1	1967	int16_t MPU6050::getAccelerationY()
Throwbot	1:1da89c13dfa1	1968	{
Throwbot	1:1da89c13dfa1	1969	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
Throwbot	1:1da89c13dfa1	1970	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Throwbot	1:1da89c13dfa1	1971	}
Throwbot	1:1da89c13dfa1	1972	/** Get Z-axis accelerometer reading.
Throwbot	1:1da89c13dfa1	1973	* @return Z-axis acceleration measurement in 16-bit 2's complement format
Throwbot	1:1da89c13dfa1	1974	* @see getMotion6()
Throwbot	1:1da89c13dfa1	1975	* @see MPU6050_RA_ACCEL_ZOUT_H
Throwbot	1:1da89c13dfa1	1976	*/
Throwbot	1:1da89c13dfa1	1977	int16_t MPU6050::getAccelerationZ()
Throwbot	1:1da89c13dfa1	1978	{
Throwbot	1:1da89c13dfa1	1979	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
Throwbot	1:1da89c13dfa1	1980	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Throwbot	1:1da89c13dfa1	1981	}
Throwbot	1:1da89c13dfa1	1982
Throwbot	1:1da89c13dfa1	1983	// TEMP_OUT_* registers
Throwbot	1:1da89c13dfa1	1984
Throwbot	1:1da89c13dfa1	1985	/** Get current internal temperature.
Throwbot	1:1da89c13dfa1	1986	* @return Temperature reading in 16-bit 2's complement format
Throwbot	1:1da89c13dfa1	1987	* @see MPU6050_RA_TEMP_OUT_H
Throwbot	1:1da89c13dfa1	1988	*/
Throwbot	1:1da89c13dfa1	1989	int16_t MPU6050::getTemperature()
Throwbot	1:1da89c13dfa1	1990	{
Throwbot	1:1da89c13dfa1	1991	i2Cdev.readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
Throwbot	1:1da89c13dfa1	1992	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Throwbot	1:1da89c13dfa1	1993	}
Throwbot	1:1da89c13dfa1	1994
Throwbot	1:1da89c13dfa1	1995	// GYRO_OUT_ registers
Throwbot	1:1da89c13dfa1	1996
Throwbot	1:1da89c13dfa1	1997	/** Get 3-axis gyroscope readings.
Throwbot	1:1da89c13dfa1	1998	* These gyroscope measurement registers, along with the accelerometer
Throwbot	1:1da89c13dfa1	1999	* measurement registers, temperature measurement registers, and external sensor
Throwbot	1:1da89c13dfa1	2000	* data registers, are composed of two sets of registers: an internal register
Throwbot	1:1da89c13dfa1	2001	* set and a user-facing read register set.
Throwbot	1:1da89c13dfa1	2002	* The data within the gyroscope sensors' internal register set is always
Throwbot	1:1da89c13dfa1	2003	* updated at the Sample Rate. Meanwhile, the user-facing read register set
Throwbot	1:1da89c13dfa1	2004	* duplicates the internal register set's data values whenever the serial
Throwbot	1:1da89c13dfa1	2005	* interface is idle. This guarantees that a burst read of sensor registers will
Throwbot	1:1da89c13dfa1	2006	* read measurements from the same sampling instant. Note that if burst reads
Throwbot	1:1da89c13dfa1	2007	* are not used, the user is responsible for ensuring a set of single byte reads
Throwbot	1:1da89c13dfa1	2008	* correspond to a single sampling instant by checking the Data Ready interrupt.
Throwbot	1:1da89c13dfa1	2009	*
Throwbot	1:1da89c13dfa1	2010	* Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
Throwbot	1:1da89c13dfa1	2011	* (Register 27). For each full scale setting, the gyroscopes' sensitivity per
Throwbot	1:1da89c13dfa1	2012	* LSB in GYRO_xOUT is shown in the table below:
Throwbot	1:1da89c13dfa1	2013	*
Throwbot	1:1da89c13dfa1	2014	* <pre>
Throwbot	1:1da89c13dfa1	2015	* FS_SEL \| Full Scale Range \| LSB Sensitivity
Throwbot	1:1da89c13dfa1	2016	* -------+--------------------+----------------
Throwbot	1:1da89c13dfa1	2017	* 0 \| +/- 250 degrees/s \| 131 LSB/deg/s
Throwbot	1:1da89c13dfa1	2018	* 1 \| +/- 500 degrees/s \| 65.5 LSB/deg/s
Throwbot	1:1da89c13dfa1	2019	* 2 \| +/- 1000 degrees/s \| 32.8 LSB/deg/s
Throwbot	1:1da89c13dfa1	2020	* 3 \| +/- 2000 degrees/s \| 16.4 LSB/deg/s
Throwbot	1:1da89c13dfa1	2021	* </pre>
Throwbot	1:1da89c13dfa1	2022	*
Throwbot	1:1da89c13dfa1	2023	* @param x 16-bit signed integer container for X-axis rotation
Throwbot	1:1da89c13dfa1	2024	* @param y 16-bit signed integer container for Y-axis rotation
Throwbot	1:1da89c13dfa1	2025	* @param z 16-bit signed integer container for Z-axis rotation
Throwbot	1:1da89c13dfa1	2026	* @see getMotion6()
Throwbot	1:1da89c13dfa1	2027	* @see MPU6050_RA_GYRO_XOUT_H
Throwbot	1:1da89c13dfa1	2028	*/
Throwbot	1:1da89c13dfa1	2029	void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z)
Throwbot	1:1da89c13dfa1	2030	{
Throwbot	1:1da89c13dfa1	2031	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
Throwbot	1:1da89c13dfa1	2032	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
Throwbot	1:1da89c13dfa1	2033	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
Throwbot	1:1da89c13dfa1	2034	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
Throwbot	1:1da89c13dfa1	2035	}
Throwbot	1:1da89c13dfa1	2036	/** Get X-axis gyroscope reading.
Throwbot	1:1da89c13dfa1	2037	* @return X-axis rotation measurement in 16-bit 2's complement format
Throwbot	1:1da89c13dfa1	2038	* @see getMotion6()
Throwbot	1:1da89c13dfa1	2039	* @see MPU6050_RA_GYRO_XOUT_H
Throwbot	1:1da89c13dfa1	2040	*/
Throwbot	1:1da89c13dfa1	2041	int16_t MPU6050::getRotationX()
Throwbot	1:1da89c13dfa1	2042	{
Throwbot	1:1da89c13dfa1	2043	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
Throwbot	1:1da89c13dfa1	2044	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Throwbot	1:1da89c13dfa1	2045	}
Throwbot	1:1da89c13dfa1	2046	/** Get Y-axis gyroscope reading.
Throwbot	1:1da89c13dfa1	2047	* @return Y-axis rotation measurement in 16-bit 2's complement format
Throwbot	1:1da89c13dfa1	2048	* @see getMotion6()
Throwbot	1:1da89c13dfa1	2049	* @see MPU6050_RA_GYRO_YOUT_H
Throwbot	1:1da89c13dfa1	2050	*/
Throwbot	1:1da89c13dfa1	2051	int16_t MPU6050::getRotationY()
Throwbot	1:1da89c13dfa1	2052	{
Throwbot	1:1da89c13dfa1	2053	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
Throwbot	1:1da89c13dfa1	2054	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Throwbot	1:1da89c13dfa1	2055	}
Throwbot	1:1da89c13dfa1	2056	/** Get Z-axis gyroscope reading.
Throwbot	1:1da89c13dfa1	2057	* @return Z-axis rotation measurement in 16-bit 2's complement format
Throwbot	1:1da89c13dfa1	2058	* @see getMotion6()
Throwbot	1:1da89c13dfa1	2059	* @see MPU6050_RA_GYRO_ZOUT_H
Throwbot	1:1da89c13dfa1	2060	*/
Throwbot	1:1da89c13dfa1	2061	int16_t MPU6050::getRotationZ()
Throwbot	1:1da89c13dfa1	2062	{
Throwbot	1:1da89c13dfa1	2063	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
Throwbot	1:1da89c13dfa1	2064	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Throwbot	1:1da89c13dfa1	2065	}
Throwbot	1:1da89c13dfa1	2066
Throwbot	1:1da89c13dfa1	2067	// EXT_SENS_DATA_* registers
Throwbot	1:1da89c13dfa1	2068
Throwbot	1:1da89c13dfa1	2069	/** Read single byte from external sensor data register.
Throwbot	1:1da89c13dfa1	2070	* These registers store data read from external sensors by the Slave 0, 1, 2,
Throwbot	1:1da89c13dfa1	2071	* and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
Throwbot	1:1da89c13dfa1	2072	* I2C_SLV4_DI (Register 53).
Throwbot	1:1da89c13dfa1	2073	*
Throwbot	1:1da89c13dfa1	2074	* External sensor data is written to these registers at the Sample Rate as
Throwbot	1:1da89c13dfa1	2075	* defined in Register 25. This access rate can be reduced by using the Slave
Throwbot	1:1da89c13dfa1	2076	* Delay Enable registers (Register 103).
Throwbot	1:1da89c13dfa1	2077	*
Throwbot	1:1da89c13dfa1	2078	* External sensor data registers, along with the gyroscope measurement
Throwbot	1:1da89c13dfa1	2079	* registers, accelerometer measurement registers, and temperature measurement
Throwbot	1:1da89c13dfa1	2080	* registers, are composed of two sets of registers: an internal register set
Throwbot	1:1da89c13dfa1	2081	* and a user-facing read register set.
Throwbot	1:1da89c13dfa1	2082	*
Throwbot	1:1da89c13dfa1	2083	* The data within the external sensors' internal register set is always updated
Throwbot	1:1da89c13dfa1	2084	* at the Sample Rate (or the reduced access rate) whenever the serial interface
Throwbot	1:1da89c13dfa1	2085	* is idle. This guarantees that a burst read of sensor registers will read
Throwbot	1:1da89c13dfa1	2086	* measurements from the same sampling instant. Note that if burst reads are not
Throwbot	1:1da89c13dfa1	2087	* used, the user is responsible for ensuring a set of single byte reads
Throwbot	1:1da89c13dfa1	2088	* correspond to a single sampling instant by checking the Data Ready interrupt.
Throwbot	1:1da89c13dfa1	2089	*
Throwbot	1:1da89c13dfa1	2090	* Data is placed in these external sensor data registers according to
Throwbot	1:1da89c13dfa1	2091	* I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
Throwbot	1:1da89c13dfa1	2092	* 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
Throwbot	1:1da89c13dfa1	2093	* an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
Throwbot	1:1da89c13dfa1	2094	* defined in Register 25) or delayed rate (if specified in Register 52 and
Throwbot	1:1da89c13dfa1	2095	* 103). During each Sample cycle, slave reads are performed in order of Slave
Throwbot	1:1da89c13dfa1	2096	* number. If all slaves are enabled with more than zero bytes to be read, the
Throwbot	1:1da89c13dfa1	2097	* order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
Throwbot	1:1da89c13dfa1	2098	*
Throwbot	1:1da89c13dfa1	2099	* Each enabled slave will have EXT_SENS_DATA registers associated with it by
Throwbot	1:1da89c13dfa1	2100	* number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
Throwbot	1:1da89c13dfa1	2101	* EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
Throwbot	1:1da89c13dfa1	2102	* change the higher numbered slaves' associated registers. Furthermore, if
Throwbot	1:1da89c13dfa1	2103	* fewer total bytes are being read from the external sensors as a result of
Throwbot	1:1da89c13dfa1	2104	* such a change, then the data remaining in the registers which no longer have
Throwbot	1:1da89c13dfa1	2105	* an associated slave device (i.e. high numbered registers) will remain in
Throwbot	1:1da89c13dfa1	2106	* these previously allocated registers unless reset.
Throwbot	1:1da89c13dfa1	2107	*
Throwbot	1:1da89c13dfa1	2108	* If the sum of the read lengths of all SLVx transactions exceed the number of
Throwbot	1:1da89c13dfa1	2109	* available EXT_SENS_DATA registers, the excess bytes will be dropped. There
Throwbot	1:1da89c13dfa1	2110	* are 24 EXT_SENS_DATA registers and hence the total read lengths between all
Throwbot	1:1da89c13dfa1	2111	* the slaves cannot be greater than 24 or some bytes will be lost.
Throwbot	1:1da89c13dfa1	2112	*
Throwbot	1:1da89c13dfa1	2113	* Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
Throwbot	1:1da89c13dfa1	2114	* information regarding the characteristics of Slave 4, please refer to
Throwbot	1:1da89c13dfa1	2115	* Registers 49 to 53.
Throwbot	1:1da89c13dfa1	2116	*
Throwbot	1:1da89c13dfa1	2117	* EXAMPLE:
Throwbot	1:1da89c13dfa1	2118	* Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
Throwbot	1:1da89c13dfa1	2119	* I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
Throwbot	1:1da89c13dfa1	2120	* I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
Throwbot	1:1da89c13dfa1	2121	* through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
Throwbot	1:1da89c13dfa1	2122	* will be associated with Slave 1. If Slave 2 is enabled as well, registers
Throwbot	1:1da89c13dfa1	2123	* starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
Throwbot	1:1da89c13dfa1	2124	*
Throwbot	1:1da89c13dfa1	2125	* If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
Throwbot	1:1da89c13dfa1	2126	* registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
Throwbot	1:1da89c13dfa1	2127	* instead.
Throwbot	1:1da89c13dfa1	2128	*
Throwbot	1:1da89c13dfa1	2129	* REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
Throwbot	1:1da89c13dfa1	2130	* If a slave is disabled at any time, the space initially allocated to the
Throwbot	1:1da89c13dfa1	2131	* slave in the EXT_SENS_DATA register, will remain associated with that slave.
Throwbot	1:1da89c13dfa1	2132	* This is to avoid dynamic adjustment of the register allocation.
Throwbot	1:1da89c13dfa1	2133	*
Throwbot	1:1da89c13dfa1	2134	* The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
Throwbot	1:1da89c13dfa1	2135	* slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
Throwbot	1:1da89c13dfa1	2136	*
Throwbot	1:1da89c13dfa1	2137	* This above is also true if one of the slaves gets NACKed and stops
Throwbot	1:1da89c13dfa1	2138	* functioning.
Throwbot	1:1da89c13dfa1	2139	*
Throwbot	1:1da89c13dfa1	2140	* @param position Starting position (0-23)
Throwbot	1:1da89c13dfa1	2141	* @return Byte read from register
Throwbot	1:1da89c13dfa1	2142	*/
Throwbot	1:1da89c13dfa1	2143	uint8_t MPU6050::getExternalSensorByte(int position)
Throwbot	1:1da89c13dfa1	2144	{
Throwbot	1:1da89c13dfa1	2145	i2Cdev.readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
Throwbot	1:1da89c13dfa1	2146	return buffer[0];
Throwbot	1:1da89c13dfa1	2147	}
Throwbot	1:1da89c13dfa1	2148	/** Read word (2 bytes) from external sensor data registers.
Throwbot	1:1da89c13dfa1	2149	* @param position Starting position (0-21)
Throwbot	1:1da89c13dfa1	2150	* @return Word read from register
Throwbot	1:1da89c13dfa1	2151	* @see getExternalSensorByte()
Throwbot	1:1da89c13dfa1	2152	*/
Throwbot	1:1da89c13dfa1	2153	uint16_t MPU6050::getExternalSensorWord(int position)
Throwbot	1:1da89c13dfa1	2154	{
Throwbot	1:1da89c13dfa1	2155	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
Throwbot	1:1da89c13dfa1	2156	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
Throwbot	1:1da89c13dfa1	2157	}
Throwbot	1:1da89c13dfa1	2158	/** Read double word (4 bytes) from external sensor data registers.
Throwbot	1:1da89c13dfa1	2159	* @param position Starting position (0-20)
Throwbot	1:1da89c13dfa1	2160	* @return Double word read from registers
Throwbot	1:1da89c13dfa1	2161	* @see getExternalSensorByte()
Throwbot	1:1da89c13dfa1	2162	*/
Throwbot	1:1da89c13dfa1	2163	uint32_t MPU6050::getExternalSensorDWord(int position)
Throwbot	1:1da89c13dfa1	2164	{
Throwbot	1:1da89c13dfa1	2165	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
Throwbot	1:1da89c13dfa1	2166	return (((uint32_t)buffer[0]) << 24) \| (((uint32_t)buffer[1]) << 16) \| (((uint16_t)buffer[2]) << 8) \| buffer[3];
Throwbot	1:1da89c13dfa1	2167	}
Throwbot	1:1da89c13dfa1	2168
Throwbot	1:1da89c13dfa1	2169	// MOT_DETECT_STATUS register
Throwbot	1:1da89c13dfa1	2170
Throwbot	1:1da89c13dfa1	2171	/** Get X-axis negative motion detection interrupt status.
Throwbot	1:1da89c13dfa1	2172	* @return Motion detection status
Throwbot	1:1da89c13dfa1	2173	* @see MPU6050_RA_MOT_DETECT_STATUS
Throwbot	1:1da89c13dfa1	2174	* @see MPU6050_MOTION_MOT_XNEG_BIT
Throwbot	1:1da89c13dfa1	2175	*/
Throwbot	1:1da89c13dfa1	2176	bool MPU6050::getXNegMotionDetected()
Throwbot	1:1da89c13dfa1	2177	{
Throwbot	1:1da89c13dfa1	2178	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
Throwbot	1:1da89c13dfa1	2179	return buffer[0];
Throwbot	1:1da89c13dfa1	2180	}
Throwbot	1:1da89c13dfa1	2181	/** Get X-axis positive motion detection interrupt status.
Throwbot	1:1da89c13dfa1	2182	* @return Motion detection status
Throwbot	1:1da89c13dfa1	2183	* @see MPU6050_RA_MOT_DETECT_STATUS
Throwbot	1:1da89c13dfa1	2184	* @see MPU6050_MOTION_MOT_XPOS_BIT
Throwbot	1:1da89c13dfa1	2185	*/
Throwbot	1:1da89c13dfa1	2186	bool MPU6050::getXPosMotionDetected()
Throwbot	1:1da89c13dfa1	2187	{
Throwbot	1:1da89c13dfa1	2188	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
Throwbot	1:1da89c13dfa1	2189	return buffer[0];
Throwbot	1:1da89c13dfa1	2190	}
Throwbot	1:1da89c13dfa1	2191	/** Get Y-axis negative motion detection interrupt status.
Throwbot	1:1da89c13dfa1	2192	* @return Motion detection status
Throwbot	1:1da89c13dfa1	2193	* @see MPU6050_RA_MOT_DETECT_STATUS
Throwbot	1:1da89c13dfa1	2194	* @see MPU6050_MOTION_MOT_YNEG_BIT
Throwbot	1:1da89c13dfa1	2195	*/
Throwbot	1:1da89c13dfa1	2196	bool MPU6050::getYNegMotionDetected()
Throwbot	1:1da89c13dfa1	2197	{
Throwbot	1:1da89c13dfa1	2198	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
Throwbot	1:1da89c13dfa1	2199	return buffer[0];
Throwbot	1:1da89c13dfa1	2200	}
Throwbot	1:1da89c13dfa1	2201	/** Get Y-axis positive motion detection interrupt status.
Throwbot	1:1da89c13dfa1	2202	* @return Motion detection status
Throwbot	1:1da89c13dfa1	2203	* @see MPU6050_RA_MOT_DETECT_STATUS
Throwbot	1:1da89c13dfa1	2204	* @see MPU6050_MOTION_MOT_YPOS_BIT
Throwbot	1:1da89c13dfa1	2205	*/
Throwbot	1:1da89c13dfa1	2206	bool MPU6050::getYPosMotionDetected()
Throwbot	1:1da89c13dfa1	2207	{
Throwbot	1:1da89c13dfa1	2208	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
Throwbot	1:1da89c13dfa1	2209	return buffer[0];
Throwbot	1:1da89c13dfa1	2210	}
Throwbot	1:1da89c13dfa1	2211	/** Get Z-axis negative motion detection interrupt status.
Throwbot	1:1da89c13dfa1	2212	* @return Motion detection status
Throwbot	1:1da89c13dfa1	2213	* @see MPU6050_RA_MOT_DETECT_STATUS
Throwbot	1:1da89c13dfa1	2214	* @see MPU6050_MOTION_MOT_ZNEG_BIT
Throwbot	1:1da89c13dfa1	2215	*/
Throwbot	1:1da89c13dfa1	2216	bool MPU6050::getZNegMotionDetected()
Throwbot	1:1da89c13dfa1	2217	{
Throwbot	1:1da89c13dfa1	2218	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
Throwbot	1:1da89c13dfa1	2219	return buffer[0];
Throwbot	1:1da89c13dfa1	2220	}
Throwbot	1:1da89c13dfa1	2221	/** Get Z-axis positive motion detection interrupt status.
Throwbot	1:1da89c13dfa1	2222	* @return Motion detection status
Throwbot	1:1da89c13dfa1	2223	* @see MPU6050_RA_MOT_DETECT_STATUS
Throwbot	1:1da89c13dfa1	2224	* @see MPU6050_MOTION_MOT_ZPOS_BIT
Throwbot	1:1da89c13dfa1	2225	*/
Throwbot	1:1da89c13dfa1	2226	bool MPU6050::getZPosMotionDetected()
Throwbot	1:1da89c13dfa1	2227	{
Throwbot	1:1da89c13dfa1	2228	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
Throwbot	1:1da89c13dfa1	2229	return buffer[0];
Throwbot	1:1da89c13dfa1	2230	}
Throwbot	1:1da89c13dfa1	2231	/** Get zero motion detection interrupt status.
Throwbot	1:1da89c13dfa1	2232	* @return Motion detection status
Throwbot	1:1da89c13dfa1	2233	* @see MPU6050_RA_MOT_DETECT_STATUS
Throwbot	1:1da89c13dfa1	2234	* @see MPU6050_MOTION_MOT_ZRMOT_BIT
Throwbot	1:1da89c13dfa1	2235	*/
Throwbot	1:1da89c13dfa1	2236	bool MPU6050::getZeroMotionDetected()
Throwbot	1:1da89c13dfa1	2237	{
Throwbot	1:1da89c13dfa1	2238	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
Throwbot	1:1da89c13dfa1	2239	return buffer[0];
Throwbot	1:1da89c13dfa1	2240	}
Throwbot	1:1da89c13dfa1	2241
Throwbot	1:1da89c13dfa1	2242	// I2C_SLV*_DO register
Throwbot	1:1da89c13dfa1	2243
Throwbot	1:1da89c13dfa1	2244	/** Write byte to Data Output container for specified slave.
Throwbot	1:1da89c13dfa1	2245	* This register holds the output data written into Slave when Slave is set to
Throwbot	1:1da89c13dfa1	2246	* write mode. For further information regarding Slave control, please
Throwbot	1:1da89c13dfa1	2247	* refer to Registers 37 to 39 and immediately following.
Throwbot	1:1da89c13dfa1	2248	* @param num Slave number (0-3)
Throwbot	1:1da89c13dfa1	2249	* @param data Byte to write
Throwbot	1:1da89c13dfa1	2250	* @see MPU6050_RA_I2C_SLV0_DO
Throwbot	1:1da89c13dfa1	2251	*/
Throwbot	1:1da89c13dfa1	2252	void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data)
Throwbot	1:1da89c13dfa1	2253	{
Throwbot	1:1da89c13dfa1	2254	if (num > 3) return;
Throwbot	1:1da89c13dfa1	2255	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
Throwbot	1:1da89c13dfa1	2256	}
Throwbot	1:1da89c13dfa1	2257
Throwbot	1:1da89c13dfa1	2258	// I2C_MST_DELAY_CTRL register
Throwbot	1:1da89c13dfa1	2259
Throwbot	1:1da89c13dfa1	2260	/** Get external data shadow delay enabled status.
Throwbot	1:1da89c13dfa1	2261	* This register is used to specify the timing of external sensor data
Throwbot	1:1da89c13dfa1	2262	* shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
Throwbot	1:1da89c13dfa1	2263	* sensor data is delayed until all data has been received.
Throwbot	1:1da89c13dfa1	2264	* @return Current external data shadow delay enabled status.
Throwbot	1:1da89c13dfa1	2265	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
Throwbot	1:1da89c13dfa1	2266	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
Throwbot	1:1da89c13dfa1	2267	*/
Throwbot	1:1da89c13dfa1	2268	bool MPU6050::getExternalShadowDelayEnabled()
Throwbot	1:1da89c13dfa1	2269	{
Throwbot	1:1da89c13dfa1	2270	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
Throwbot	1:1da89c13dfa1	2271	return buffer[0];
Throwbot	1:1da89c13dfa1	2272	}
Throwbot	1:1da89c13dfa1	2273	/** Set external data shadow delay enabled status.
Throwbot	1:1da89c13dfa1	2274	* @param enabled New external data shadow delay enabled status.
Throwbot	1:1da89c13dfa1	2275	* @see getExternalShadowDelayEnabled()
Throwbot	1:1da89c13dfa1	2276	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
Throwbot	1:1da89c13dfa1	2277	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
Throwbot	1:1da89c13dfa1	2278	*/
Throwbot	1:1da89c13dfa1	2279	void MPU6050::setExternalShadowDelayEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	2280	{
Throwbot	1:1da89c13dfa1	2281	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
Throwbot	1:1da89c13dfa1	2282	}
Throwbot	1:1da89c13dfa1	2283	/** Get slave delay enabled status.
Throwbot	1:1da89c13dfa1	2284	* When a particular slave delay is enabled, the rate of access for the that
Throwbot	1:1da89c13dfa1	2285	* slave device is reduced. When a slave's access rate is decreased relative to
Throwbot	1:1da89c13dfa1	2286	* the Sample Rate, the slave is accessed every:
Throwbot	1:1da89c13dfa1	2287	*
Throwbot	1:1da89c13dfa1	2288	* 1 / (1 + I2C_MST_DLY) Samples
Throwbot	1:1da89c13dfa1	2289	*
Throwbot	1:1da89c13dfa1	2290	* This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25)
Throwbot	1:1da89c13dfa1	2291	* and DLPF_CFG (register 26).
Throwbot	1:1da89c13dfa1	2292	*
Throwbot	1:1da89c13dfa1	2293	* For further information regarding I2C_MST_DLY, please refer to register 52.
Throwbot	1:1da89c13dfa1	2294	* For further information regarding the Sample Rate, please refer to register 25.
Throwbot	1:1da89c13dfa1	2295	*
Throwbot	1:1da89c13dfa1	2296	* @param num Slave number (0-4)
Throwbot	1:1da89c13dfa1	2297	* @return Current slave delay enabled status.
Throwbot	1:1da89c13dfa1	2298	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
Throwbot	1:1da89c13dfa1	2299	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
Throwbot	1:1da89c13dfa1	2300	*/
Throwbot	1:1da89c13dfa1	2301	bool MPU6050::getSlaveDelayEnabled(uint8_t num)
Throwbot	1:1da89c13dfa1	2302	{
Throwbot	1:1da89c13dfa1	2303	// MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
Throwbot	1:1da89c13dfa1	2304	if (num > 4) return 0;
Throwbot	1:1da89c13dfa1	2305	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
Throwbot	1:1da89c13dfa1	2306	return buffer[0];
Throwbot	1:1da89c13dfa1	2307	}
Throwbot	1:1da89c13dfa1	2308	/** Set slave delay enabled status.
Throwbot	1:1da89c13dfa1	2309	* @param num Slave number (0-4)
Throwbot	1:1da89c13dfa1	2310	* @param enabled New slave delay enabled status.
Throwbot	1:1da89c13dfa1	2311	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
Throwbot	1:1da89c13dfa1	2312	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
Throwbot	1:1da89c13dfa1	2313	*/
Throwbot	1:1da89c13dfa1	2314	void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled)
Throwbot	1:1da89c13dfa1	2315	{
Throwbot	1:1da89c13dfa1	2316	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
Throwbot	1:1da89c13dfa1	2317	}
Throwbot	1:1da89c13dfa1	2318
Throwbot	1:1da89c13dfa1	2319	// SIGNAL_PATH_RESET register
Throwbot	1:1da89c13dfa1	2320
Throwbot	1:1da89c13dfa1	2321	/** Reset gyroscope signal path.
Throwbot	1:1da89c13dfa1	2322	* The reset will revert the signal path analog to digital converters and
Throwbot	1:1da89c13dfa1	2323	* filters to their power up configurations.
Throwbot	1:1da89c13dfa1	2324	* @see MPU6050_RA_SIGNAL_PATH_RESET
Throwbot	1:1da89c13dfa1	2325	* @see MPU6050_PATHRESET_GYRO_RESET_BIT
Throwbot	1:1da89c13dfa1	2326	*/
Throwbot	1:1da89c13dfa1	2327	void MPU6050::resetGyroscopePath()
Throwbot	1:1da89c13dfa1	2328	{
Throwbot	1:1da89c13dfa1	2329	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
Throwbot	1:1da89c13dfa1	2330	}
Throwbot	1:1da89c13dfa1	2331	/** Reset accelerometer signal path.
Throwbot	1:1da89c13dfa1	2332	* The reset will revert the signal path analog to digital converters and
Throwbot	1:1da89c13dfa1	2333	* filters to their power up configurations.
Throwbot	1:1da89c13dfa1	2334	* @see MPU6050_RA_SIGNAL_PATH_RESET
Throwbot	1:1da89c13dfa1	2335	* @see MPU6050_PATHRESET_ACCEL_RESET_BIT
Throwbot	1:1da89c13dfa1	2336	*/
Throwbot	1:1da89c13dfa1	2337	void MPU6050::resetAccelerometerPath()
Throwbot	1:1da89c13dfa1	2338	{
Throwbot	1:1da89c13dfa1	2339	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
Throwbot	1:1da89c13dfa1	2340	}
Throwbot	1:1da89c13dfa1	2341	/** Reset temperature sensor signal path.
Throwbot	1:1da89c13dfa1	2342	* The reset will revert the signal path analog to digital converters and
Throwbot	1:1da89c13dfa1	2343	* filters to their power up configurations.
Throwbot	1:1da89c13dfa1	2344	* @see MPU6050_RA_SIGNAL_PATH_RESET
Throwbot	1:1da89c13dfa1	2345	* @see MPU6050_PATHRESET_TEMP_RESET_BIT
Throwbot	1:1da89c13dfa1	2346	*/
Throwbot	1:1da89c13dfa1	2347	void MPU6050::resetTemperaturePath()
Throwbot	1:1da89c13dfa1	2348	{
Throwbot	1:1da89c13dfa1	2349	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
Throwbot	1:1da89c13dfa1	2350	}
Throwbot	1:1da89c13dfa1	2351
Throwbot	1:1da89c13dfa1	2352	// MOT_DETECT_CTRL register
Throwbot	1:1da89c13dfa1	2353
Throwbot	1:1da89c13dfa1	2354	/** Get accelerometer power-on delay.
Throwbot	1:1da89c13dfa1	2355	* The accelerometer data path provides samples to the sensor registers, Motion
Throwbot	1:1da89c13dfa1	2356	* detection, Zero Motion detection, and Free Fall detection modules. The
Throwbot	1:1da89c13dfa1	2357	* signal path contains filters which must be flushed on wake-up with new
Throwbot	1:1da89c13dfa1	2358	* samples before the detection modules begin operations. The default wake-up
Throwbot	1:1da89c13dfa1	2359	* delay, of 4ms can be lengthened by up to 3ms. This additional delay is
Throwbot	1:1da89c13dfa1	2360	* specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
Throwbot	1:1da89c13dfa1	2361	* any value above zero unless instructed otherwise by InvenSense. Please refer
Throwbot	1:1da89c13dfa1	2362	* to Section 8 of the MPU-6000/MPU-6050 Product Specification document for
Throwbot	1:1da89c13dfa1	2363	* further information regarding the detection modules.
Throwbot	1:1da89c13dfa1	2364	* @return Current accelerometer power-on delay
Throwbot	1:1da89c13dfa1	2365	* @see MPU6050_RA_MOT_DETECT_CTRL
Throwbot	1:1da89c13dfa1	2366	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
Throwbot	1:1da89c13dfa1	2367	*/
Throwbot	1:1da89c13dfa1	2368	uint8_t MPU6050::getAccelerometerPowerOnDelay()
Throwbot	1:1da89c13dfa1	2369	{
Throwbot	1:1da89c13dfa1	2370	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
Throwbot	1:1da89c13dfa1	2371	return buffer[0];
Throwbot	1:1da89c13dfa1	2372	}
Throwbot	1:1da89c13dfa1	2373	/** Set accelerometer power-on delay.
Throwbot	1:1da89c13dfa1	2374	* @param delay New accelerometer power-on delay (0-3)
Throwbot	1:1da89c13dfa1	2375	* @see getAccelerometerPowerOnDelay()
Throwbot	1:1da89c13dfa1	2376	* @see MPU6050_RA_MOT_DETECT_CTRL
Throwbot	1:1da89c13dfa1	2377	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
Throwbot	1:1da89c13dfa1	2378	*/
Throwbot	1:1da89c13dfa1	2379	void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay)
Throwbot	1:1da89c13dfa1	2380	{
Throwbot	1:1da89c13dfa1	2381	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
Throwbot	1:1da89c13dfa1	2382	}
Throwbot	1:1da89c13dfa1	2383	/** Get Free Fall detection counter decrement configuration.
Throwbot	1:1da89c13dfa1	2384	* Detection is registered by the Free Fall detection module after accelerometer
Throwbot	1:1da89c13dfa1	2385	* measurements meet their respective threshold conditions over a specified
Throwbot	1:1da89c13dfa1	2386	* number of samples. When the threshold conditions are met, the corresponding
Throwbot	1:1da89c13dfa1	2387	* detection counter increments by 1. The user may control the rate at which the
Throwbot	1:1da89c13dfa1	2388	* detection counter decrements when the threshold condition is not met by
Throwbot	1:1da89c13dfa1	2389	* configuring FF_COUNT. The decrement rate can be set according to the
Throwbot	1:1da89c13dfa1	2390	* following table:
Throwbot	1:1da89c13dfa1	2391	*
Throwbot	1:1da89c13dfa1	2392	* <pre>
Throwbot	1:1da89c13dfa1	2393	* FF_COUNT \| Counter Decrement
Throwbot	1:1da89c13dfa1	2394	* ---------+------------------
Throwbot	1:1da89c13dfa1	2395	* 0 \| Reset
Throwbot	1:1da89c13dfa1	2396	* 1 \| 1
Throwbot	1:1da89c13dfa1	2397	* 2 \| 2
Throwbot	1:1da89c13dfa1	2398	* 3 \| 4
Throwbot	1:1da89c13dfa1	2399	* </pre>
Throwbot	1:1da89c13dfa1	2400	*
Throwbot	1:1da89c13dfa1	2401	* When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
Throwbot	1:1da89c13dfa1	2402	* reset the counter to 0. For further information on Free Fall detection,
Throwbot	1:1da89c13dfa1	2403	* please refer to Registers 29 to 32.
Throwbot	1:1da89c13dfa1	2404	*
Throwbot	1:1da89c13dfa1	2405	* @return Current decrement configuration
Throwbot	1:1da89c13dfa1	2406	* @see MPU6050_RA_MOT_DETECT_CTRL
Throwbot	1:1da89c13dfa1	2407	* @see MPU6050_DETECT_FF_COUNT_BIT
Throwbot	1:1da89c13dfa1	2408	*/
Throwbot	1:1da89c13dfa1	2409	uint8_t MPU6050::getFreefallDetectionCounterDecrement()
Throwbot	1:1da89c13dfa1	2410	{
Throwbot	1:1da89c13dfa1	2411	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
Throwbot	1:1da89c13dfa1	2412	return buffer[0];
Throwbot	1:1da89c13dfa1	2413	}
Throwbot	1:1da89c13dfa1	2414	/** Set Free Fall detection counter decrement configuration.
Throwbot	1:1da89c13dfa1	2415	* @param decrement New decrement configuration value
Throwbot	1:1da89c13dfa1	2416	* @see getFreefallDetectionCounterDecrement()
Throwbot	1:1da89c13dfa1	2417	* @see MPU6050_RA_MOT_DETECT_CTRL
Throwbot	1:1da89c13dfa1	2418	* @see MPU6050_DETECT_FF_COUNT_BIT
Throwbot	1:1da89c13dfa1	2419	*/
Throwbot	1:1da89c13dfa1	2420	void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement)
Throwbot	1:1da89c13dfa1	2421	{
Throwbot	1:1da89c13dfa1	2422	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
Throwbot	1:1da89c13dfa1	2423	}
Throwbot	1:1da89c13dfa1	2424	/** Get Motion detection counter decrement configuration.
Throwbot	1:1da89c13dfa1	2425	* Detection is registered by the Motion detection module after accelerometer
Throwbot	1:1da89c13dfa1	2426	* measurements meet their respective threshold conditions over a specified
Throwbot	1:1da89c13dfa1	2427	* number of samples. When the threshold conditions are met, the corresponding
Throwbot	1:1da89c13dfa1	2428	* detection counter increments by 1. The user may control the rate at which the
Throwbot	1:1da89c13dfa1	2429	* detection counter decrements when the threshold condition is not met by
Throwbot	1:1da89c13dfa1	2430	* configuring MOT_COUNT. The decrement rate can be set according to the
Throwbot	1:1da89c13dfa1	2431	* following table:
Throwbot	1:1da89c13dfa1	2432	*
Throwbot	1:1da89c13dfa1	2433	* <pre>
Throwbot	1:1da89c13dfa1	2434	* MOT_COUNT \| Counter Decrement
Throwbot	1:1da89c13dfa1	2435	* ----------+------------------
Throwbot	1:1da89c13dfa1	2436	* 0 \| Reset
Throwbot	1:1da89c13dfa1	2437	* 1 \| 1
Throwbot	1:1da89c13dfa1	2438	* 2 \| 2
Throwbot	1:1da89c13dfa1	2439	* 3 \| 4
Throwbot	1:1da89c13dfa1	2440	* </pre>
Throwbot	1:1da89c13dfa1	2441	*
Throwbot	1:1da89c13dfa1	2442	* When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
Throwbot	1:1da89c13dfa1	2443	* reset the counter to 0. For further information on Motion detection,
Throwbot	1:1da89c13dfa1	2444	* please refer to Registers 29 to 32.
Throwbot	1:1da89c13dfa1	2445	*
Throwbot	1:1da89c13dfa1	2446	*/
Throwbot	1:1da89c13dfa1	2447	uint8_t MPU6050::getMotionDetectionCounterDecrement()
Throwbot	1:1da89c13dfa1	2448	{
Throwbot	1:1da89c13dfa1	2449	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
Throwbot	1:1da89c13dfa1	2450	return buffer[0];
Throwbot	1:1da89c13dfa1	2451	}
Throwbot	1:1da89c13dfa1	2452	/** Set Motion detection counter decrement configuration.
Throwbot	1:1da89c13dfa1	2453	* @param decrement New decrement configuration value
Throwbot	1:1da89c13dfa1	2454	* @see getMotionDetectionCounterDecrement()
Throwbot	1:1da89c13dfa1	2455	* @see MPU6050_RA_MOT_DETECT_CTRL
Throwbot	1:1da89c13dfa1	2456	* @see MPU6050_DETECT_MOT_COUNT_BIT
Throwbot	1:1da89c13dfa1	2457	*/
Throwbot	1:1da89c13dfa1	2458	void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement)
Throwbot	1:1da89c13dfa1	2459	{
Throwbot	1:1da89c13dfa1	2460	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
Throwbot	1:1da89c13dfa1	2461	}
Throwbot	1:1da89c13dfa1	2462
Throwbot	1:1da89c13dfa1	2463	// USER_CTRL register
Throwbot	1:1da89c13dfa1	2464
Throwbot	1:1da89c13dfa1	2465	/** Get FIFO enabled status.
Throwbot	1:1da89c13dfa1	2466	* When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
Throwbot	1:1da89c13dfa1	2467	* cannot be written to or read from while disabled. The FIFO buffer's state
Throwbot	1:1da89c13dfa1	2468	* does not change unless the MPU-60X0 is power cycled.
Throwbot	1:1da89c13dfa1	2469	* @return Current FIFO enabled status
Throwbot	1:1da89c13dfa1	2470	* @see MPU6050_RA_USER_CTRL
Throwbot	1:1da89c13dfa1	2471	* @see MPU6050_USERCTRL_FIFO_EN_BIT
Throwbot	1:1da89c13dfa1	2472	*/
Throwbot	1:1da89c13dfa1	2473	bool MPU6050::getFIFOEnabled()
Throwbot	1:1da89c13dfa1	2474	{
Throwbot	1:1da89c13dfa1	2475	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
Throwbot	1:1da89c13dfa1	2476	return buffer[0];
Throwbot	1:1da89c13dfa1	2477	}
Throwbot	1:1da89c13dfa1	2478	/** Set FIFO enabled status.
Throwbot	1:1da89c13dfa1	2479	* @param enabled New FIFO enabled status
Throwbot	1:1da89c13dfa1	2480	* @see getFIFOEnabled()
Throwbot	1:1da89c13dfa1	2481	* @see MPU6050_RA_USER_CTRL
Throwbot	1:1da89c13dfa1	2482	* @see MPU6050_USERCTRL_FIFO_EN_BIT
Throwbot	1:1da89c13dfa1	2483	*/
Throwbot	1:1da89c13dfa1	2484	void MPU6050::setFIFOEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	2485	{
Throwbot	1:1da89c13dfa1	2486	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
Throwbot	1:1da89c13dfa1	2487	}
Throwbot	1:1da89c13dfa1	2488	/** Get I2C Master Mode enabled status.
Throwbot	1:1da89c13dfa1	2489	* When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
Throwbot	1:1da89c13dfa1	2490	* external sensor slave devices on the auxiliary I2C bus. When this bit is
Throwbot	1:1da89c13dfa1	2491	* cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
Throwbot	1:1da89c13dfa1	2492	* driven by the primary I2C bus (SDA and SCL). This is a precondition to
Throwbot	1:1da89c13dfa1	2493	* enabling Bypass Mode. For further information regarding Bypass Mode, please
Throwbot	1:1da89c13dfa1	2494	* refer to Register 55.
Throwbot	1:1da89c13dfa1	2495	* @return Current I2C Master Mode enabled status
Throwbot	1:1da89c13dfa1	2496	* @see MPU6050_RA_USER_CTRL
Throwbot	1:1da89c13dfa1	2497	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
Throwbot	1:1da89c13dfa1	2498	*/
Throwbot	1:1da89c13dfa1	2499	bool MPU6050::getI2CMasterModeEnabled()
Throwbot	1:1da89c13dfa1	2500	{
Throwbot	1:1da89c13dfa1	2501	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
Throwbot	1:1da89c13dfa1	2502	return buffer[0];
Throwbot	1:1da89c13dfa1	2503	}
Throwbot	1:1da89c13dfa1	2504	/** Set I2C Master Mode enabled status.
Throwbot	1:1da89c13dfa1	2505	* @param enabled New I2C Master Mode enabled status
Throwbot	1:1da89c13dfa1	2506	* @see getI2CMasterModeEnabled()
Throwbot	1:1da89c13dfa1	2507	* @see MPU6050_RA_USER_CTRL
Throwbot	1:1da89c13dfa1	2508	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
Throwbot	1:1da89c13dfa1	2509	*/
Throwbot	1:1da89c13dfa1	2510	void MPU6050::setI2CMasterModeEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	2511	{
Throwbot	1:1da89c13dfa1	2512	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
Throwbot	1:1da89c13dfa1	2513	}
Throwbot	1:1da89c13dfa1	2514	/** Switch from I2C to SPI mode (MPU-6000 only)
Throwbot	1:1da89c13dfa1	2515	* If this is set, the primary SPI interface will be enabled in place of the
Throwbot	1:1da89c13dfa1	2516	* disabled primary I2C interface.
Throwbot	1:1da89c13dfa1	2517	*/
Throwbot	1:1da89c13dfa1	2518	void MPU6050::switchSPIEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	2519	{
Throwbot	1:1da89c13dfa1	2520	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
Throwbot	1:1da89c13dfa1	2521	}
Throwbot	1:1da89c13dfa1	2522	/** Reset the FIFO.
Throwbot	1:1da89c13dfa1	2523	* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
Throwbot	1:1da89c13dfa1	2524	* bit automatically clears to 0 after the reset has been triggered.
Throwbot	1:1da89c13dfa1	2525	* @see MPU6050_RA_USER_CTRL
Throwbot	1:1da89c13dfa1	2526	* @see MPU6050_USERCTRL_FIFO_RESET_BIT
Throwbot	1:1da89c13dfa1	2527	*/
Throwbot	1:1da89c13dfa1	2528	void MPU6050::resetFIFO()
Throwbot	1:1da89c13dfa1	2529	{
Throwbot	1:1da89c13dfa1	2530	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
Throwbot	1:1da89c13dfa1	2531	}
Throwbot	1:1da89c13dfa1	2532	/** Reset the I2C Master.
Throwbot	1:1da89c13dfa1	2533	* This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
Throwbot	1:1da89c13dfa1	2534	* This bit automatically clears to 0 after the reset has been triggered.
Throwbot	1:1da89c13dfa1	2535	* @see MPU6050_RA_USER_CTRL
Throwbot	1:1da89c13dfa1	2536	* @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
Throwbot	1:1da89c13dfa1	2537	*/
Throwbot	1:1da89c13dfa1	2538	void MPU6050::resetI2CMaster()
Throwbot	1:1da89c13dfa1	2539	{
Throwbot	1:1da89c13dfa1	2540	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
Throwbot	1:1da89c13dfa1	2541	}
Throwbot	1:1da89c13dfa1	2542	/** Reset all sensor registers and signal paths.
Throwbot	1:1da89c13dfa1	2543	* When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
Throwbot	1:1da89c13dfa1	2544	* accelerometers, and temperature sensor). This operation will also clear the
Throwbot	1:1da89c13dfa1	2545	* sensor registers. This bit automatically clears to 0 after the reset has been
Throwbot	1:1da89c13dfa1	2546	* triggered.
Throwbot	1:1da89c13dfa1	2547	*
Throwbot	1:1da89c13dfa1	2548	* When resetting only the signal path (and not the sensor registers), please
Throwbot	1:1da89c13dfa1	2549	* use Register 104, SIGNAL_PATH_RESET.
Throwbot	1:1da89c13dfa1	2550	*
Throwbot	1:1da89c13dfa1	2551	* @see MPU6050_RA_USER_CTRL
Throwbot	1:1da89c13dfa1	2552	* @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
Throwbot	1:1da89c13dfa1	2553	*/
Throwbot	1:1da89c13dfa1	2554	void MPU6050::resetSensors()
Throwbot	1:1da89c13dfa1	2555	{
Throwbot	1:1da89c13dfa1	2556	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
Throwbot	1:1da89c13dfa1	2557	}
Throwbot	1:1da89c13dfa1	2558
Throwbot	1:1da89c13dfa1	2559	// PWR_MGMT_1 register
Throwbot	1:1da89c13dfa1	2560
Throwbot	1:1da89c13dfa1	2561	/** Trigger a full device reset.
Throwbot	1:1da89c13dfa1	2562	* A small delay of ~50ms may be desirable after triggering a reset.
Throwbot	1:1da89c13dfa1	2563	* @see MPU6050_RA_PWR_MGMT_1
Throwbot	1:1da89c13dfa1	2564	* @see MPU6050_PWR1_DEVICE_RESET_BIT
Throwbot	1:1da89c13dfa1	2565	*/
Throwbot	1:1da89c13dfa1	2566	void MPU6050::reset()
Throwbot	1:1da89c13dfa1	2567	{
Throwbot	1:1da89c13dfa1	2568	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
Throwbot	1:1da89c13dfa1	2569	}
Throwbot	1:1da89c13dfa1	2570	/** Get sleep mode status.
Throwbot	1:1da89c13dfa1	2571	* Setting the SLEEP bit in the register puts the device into very low power
Throwbot	1:1da89c13dfa1	2572	* sleep mode. In this mode, only the serial interface and internal registers
Throwbot	1:1da89c13dfa1	2573	* remain active, allowing for a very low standby current. Clearing this bit
Throwbot	1:1da89c13dfa1	2574	* puts the device back into normal mode. To save power, the individual standby
Throwbot	1:1da89c13dfa1	2575	* selections for each of the gyros should be used if any gyro axis is not used
Throwbot	1:1da89c13dfa1	2576	* by the application.
Throwbot	1:1da89c13dfa1	2577	* @return Current sleep mode enabled status
Throwbot	1:1da89c13dfa1	2578	* @see MPU6050_RA_PWR_MGMT_1
Throwbot	1:1da89c13dfa1	2579	* @see MPU6050_PWR1_SLEEP_BIT
Throwbot	1:1da89c13dfa1	2580	*/
Throwbot	1:1da89c13dfa1	2581	bool MPU6050::getSleepEnabled()
Throwbot	1:1da89c13dfa1	2582	{
Throwbot	1:1da89c13dfa1	2583	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
Throwbot	1:1da89c13dfa1	2584	return buffer[0];
Throwbot	1:1da89c13dfa1	2585	}
Throwbot	1:1da89c13dfa1	2586	/** Set sleep mode status.
Throwbot	1:1da89c13dfa1	2587	* @param enabled New sleep mode enabled status
Throwbot	1:1da89c13dfa1	2588	* @see getSleepEnabled()
Throwbot	1:1da89c13dfa1	2589	* @see MPU6050_RA_PWR_MGMT_1
Throwbot	1:1da89c13dfa1	2590	* @see MPU6050_PWR1_SLEEP_BIT
Throwbot	1:1da89c13dfa1	2591	*/
Throwbot	1:1da89c13dfa1	2592	void MPU6050::setSleepEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	2593	{
Throwbot	1:1da89c13dfa1	2594	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
Throwbot	1:1da89c13dfa1	2595	}
Throwbot	1:1da89c13dfa1	2596	/** Get wake cycle enabled status.
Throwbot	1:1da89c13dfa1	2597	* When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
Throwbot	1:1da89c13dfa1	2598	* between sleep mode and waking up to take a single sample of data from active
Throwbot	1:1da89c13dfa1	2599	* sensors at a rate determined by LP_WAKE_CTRL (register 108).
Throwbot	1:1da89c13dfa1	2600	* @return Current sleep mode enabled status
Throwbot	1:1da89c13dfa1	2601	* @see MPU6050_RA_PWR_MGMT_1
Throwbot	1:1da89c13dfa1	2602	* @see MPU6050_PWR1_CYCLE_BIT
Throwbot	1:1da89c13dfa1	2603	*/
Throwbot	1:1da89c13dfa1	2604	bool MPU6050::getWakeCycleEnabled()
Throwbot	1:1da89c13dfa1	2605	{
Throwbot	1:1da89c13dfa1	2606	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
Throwbot	1:1da89c13dfa1	2607	return buffer[0];
Throwbot	1:1da89c13dfa1	2608	}
Throwbot	1:1da89c13dfa1	2609	/** Set wake cycle enabled status.
Throwbot	1:1da89c13dfa1	2610	* @param enabled New sleep mode enabled status
Throwbot	1:1da89c13dfa1	2611	* @see getWakeCycleEnabled()
Throwbot	1:1da89c13dfa1	2612	* @see MPU6050_RA_PWR_MGMT_1
Throwbot	1:1da89c13dfa1	2613	* @see MPU6050_PWR1_CYCLE_BIT
Throwbot	1:1da89c13dfa1	2614	*/
Throwbot	1:1da89c13dfa1	2615	void MPU6050::setWakeCycleEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	2616	{
Throwbot	1:1da89c13dfa1	2617	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
Throwbot	1:1da89c13dfa1	2618	}
Throwbot	1:1da89c13dfa1	2619	/** Get temperature sensor enabled status.
Throwbot	1:1da89c13dfa1	2620	* Control the usage of the internal temperature sensor.
Throwbot	1:1da89c13dfa1	2621	*
Throwbot	1:1da89c13dfa1	2622	* Note: this register stores the disabled value, but for consistency with the
Throwbot	1:1da89c13dfa1	2623	* rest of the code, the function is named and used with standard true/false
Throwbot	1:1da89c13dfa1	2624	* values to indicate whether the sensor is enabled or disabled, respectively.
Throwbot	1:1da89c13dfa1	2625	*
Throwbot	1:1da89c13dfa1	2626	* @return Current temperature sensor enabled status
Throwbot	1:1da89c13dfa1	2627	* @see MPU6050_RA_PWR_MGMT_1
Throwbot	1:1da89c13dfa1	2628	* @see MPU6050_PWR1_TEMP_DIS_BIT
Throwbot	1:1da89c13dfa1	2629	*/
Throwbot	1:1da89c13dfa1	2630	bool MPU6050::getTempSensorEnabled()
Throwbot	1:1da89c13dfa1	2631	{
Throwbot	1:1da89c13dfa1	2632	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
Throwbot	1:1da89c13dfa1	2633	return buffer[0] == 0; // 1 is actually disabled here
Throwbot	1:1da89c13dfa1	2634	}
Throwbot	1:1da89c13dfa1	2635	/** Set temperature sensor enabled status.
Throwbot	1:1da89c13dfa1	2636	* Note: this register stores the disabled value, but for consistency with the
Throwbot	1:1da89c13dfa1	2637	* rest of the code, the function is named and used with standard true/false
Throwbot	1:1da89c13dfa1	2638	* values to indicate whether the sensor is enabled or disabled, respectively.
Throwbot	1:1da89c13dfa1	2639	*
Throwbot	1:1da89c13dfa1	2640	* @param enabled New temperature sensor enabled status
Throwbot	1:1da89c13dfa1	2641	* @see getTempSensorEnabled()
Throwbot	1:1da89c13dfa1	2642	* @see MPU6050_RA_PWR_MGMT_1
Throwbot	1:1da89c13dfa1	2643	* @see MPU6050_PWR1_TEMP_DIS_BIT
Throwbot	1:1da89c13dfa1	2644	*/
Throwbot	1:1da89c13dfa1	2645	void MPU6050::setTempSensorEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	2646	{
Throwbot	1:1da89c13dfa1	2647	// 1 is actually disabled here
Throwbot	1:1da89c13dfa1	2648	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
Throwbot	1:1da89c13dfa1	2649	}
Throwbot	1:1da89c13dfa1	2650	/** Get clock source setting.
Throwbot	1:1da89c13dfa1	2651	* @return Current clock source setting
Throwbot	1:1da89c13dfa1	2652	* @see MPU6050_RA_PWR_MGMT_1
Throwbot	1:1da89c13dfa1	2653	* @see MPU6050_PWR1_CLKSEL_BIT
Throwbot	1:1da89c13dfa1	2654	* @see MPU6050_PWR1_CLKSEL_LENGTH
Throwbot	1:1da89c13dfa1	2655	*/
Throwbot	1:1da89c13dfa1	2656	uint8_t MPU6050::getClockSource()
Throwbot	1:1da89c13dfa1	2657	{
Throwbot	1:1da89c13dfa1	2658	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
Throwbot	1:1da89c13dfa1	2659	return buffer[0];
Throwbot	1:1da89c13dfa1	2660	}
Throwbot	1:1da89c13dfa1	2661	/** Set clock source setting.
Throwbot	1:1da89c13dfa1	2662	* An internal 8MHz oscillator, gyroscope based clock, or external sources can
Throwbot	1:1da89c13dfa1	2663	* be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
Throwbot	1:1da89c13dfa1	2664	* or an external source is chosen as the clock source, the MPU-60X0 can operate
Throwbot	1:1da89c13dfa1	2665	* in low power modes with the gyroscopes disabled.
Throwbot	1:1da89c13dfa1	2666	*
Throwbot	1:1da89c13dfa1	2667	* Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
Throwbot	1:1da89c13dfa1	2668	* However, it is highly recommended that the device be configured to use one of
Throwbot	1:1da89c13dfa1	2669	* the gyroscopes (or an external clock source) as the clock reference for
Throwbot	1:1da89c13dfa1	2670	* improved stability. The clock source can be selected according to the following table:
Throwbot	1:1da89c13dfa1	2671	*
Throwbot	1:1da89c13dfa1	2672	* <pre>
Throwbot	1:1da89c13dfa1	2673	* CLK_SEL \| Clock Source
Throwbot	1:1da89c13dfa1	2674	* --------+--------------------------------------
Throwbot	1:1da89c13dfa1	2675	* 0 \| Internal oscillator
Throwbot	1:1da89c13dfa1	2676	* 1 \| PLL with X Gyro reference
Throwbot	1:1da89c13dfa1	2677	* 2 \| PLL with Y Gyro reference
Throwbot	1:1da89c13dfa1	2678	* 3 \| PLL with Z Gyro reference
Throwbot	1:1da89c13dfa1	2679	* 4 \| PLL with external 32.768kHz reference
Throwbot	1:1da89c13dfa1	2680	* 5 \| PLL with external 19.2MHz reference
Throwbot	1:1da89c13dfa1	2681	* 6 \| Reserved
Throwbot	1:1da89c13dfa1	2682	* 7 \| Stops the clock and keeps the timing generator in reset
Throwbot	1:1da89c13dfa1	2683	* </pre>
Throwbot	1:1da89c13dfa1	2684	*
Throwbot	1:1da89c13dfa1	2685	* @param source New clock source setting
Throwbot	1:1da89c13dfa1	2686	* @see getClockSource()
Throwbot	1:1da89c13dfa1	2687	* @see MPU6050_RA_PWR_MGMT_1
Throwbot	1:1da89c13dfa1	2688	* @see MPU6050_PWR1_CLKSEL_BIT
Throwbot	1:1da89c13dfa1	2689	* @see MPU6050_PWR1_CLKSEL_LENGTH
Throwbot	1:1da89c13dfa1	2690	*/
Throwbot	1:1da89c13dfa1	2691	void MPU6050::setClockSource(uint8_t source)
Throwbot	1:1da89c13dfa1	2692	{
Throwbot	1:1da89c13dfa1	2693	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
Throwbot	1:1da89c13dfa1	2694	}
Throwbot	1:1da89c13dfa1	2695
Throwbot	1:1da89c13dfa1	2696	// PWR_MGMT_2 register
Throwbot	1:1da89c13dfa1	2697
Throwbot	1:1da89c13dfa1	2698	/** Get wake frequency in Accel-Only Low Power Mode.
Throwbot	1:1da89c13dfa1	2699	* The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
Throwbot	1:1da89c13dfa1	2700	* PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
Throwbot	1:1da89c13dfa1	2701	* the device will power off all devices except for the primary I2C interface,
Throwbot	1:1da89c13dfa1	2702	* waking only the accelerometer at fixed intervals to take a single
Throwbot	1:1da89c13dfa1	2703	* measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
Throwbot	1:1da89c13dfa1	2704	* as shown below:
Throwbot	1:1da89c13dfa1	2705	*
Throwbot	1:1da89c13dfa1	2706	* <pre>
Throwbot	1:1da89c13dfa1	2707	* LP_WAKE_CTRL \| Wake-up Frequency
Throwbot	1:1da89c13dfa1	2708	* -------------+------------------
Throwbot	1:1da89c13dfa1	2709	* 0 \| 1.25 Hz
Throwbot	1:1da89c13dfa1	2710	* 1 \| 2.5 Hz
Throwbot	1:1da89c13dfa1	2711	* 2 \| 5 Hz
Throwbot	1:1da89c13dfa1	2712	* 3 \| 10 Hz
Throwbot	1:1da89c13dfa1	2713	* <pre>
Throwbot	1:1da89c13dfa1	2714	*
Throwbot	1:1da89c13dfa1	2715	* For further information regarding the MPU-60X0's power modes, please refer to
Throwbot	1:1da89c13dfa1	2716	* Register 107.
Throwbot	1:1da89c13dfa1	2717	*
Throwbot	1:1da89c13dfa1	2718	* @return Current wake frequency
Throwbot	1:1da89c13dfa1	2719	* @see MPU6050_RA_PWR_MGMT_2
Throwbot	1:1da89c13dfa1	2720	*/
Throwbot	1:1da89c13dfa1	2721	uint8_t MPU6050::getWakeFrequency()
Throwbot	1:1da89c13dfa1	2722	{
Throwbot	1:1da89c13dfa1	2723	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
Throwbot	1:1da89c13dfa1	2724	return buffer[0];
Throwbot	1:1da89c13dfa1	2725	}
Throwbot	1:1da89c13dfa1	2726	/** Set wake frequency in Accel-Only Low Power Mode.
Throwbot	1:1da89c13dfa1	2727	* @param frequency New wake frequency
Throwbot	1:1da89c13dfa1	2728	* @see MPU6050_RA_PWR_MGMT_2
Throwbot	1:1da89c13dfa1	2729	*/
Throwbot	1:1da89c13dfa1	2730	void MPU6050::setWakeFrequency(uint8_t frequency)
Throwbot	1:1da89c13dfa1	2731	{
Throwbot	1:1da89c13dfa1	2732	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
Throwbot	1:1da89c13dfa1	2733	}
Throwbot	1:1da89c13dfa1	2734
Throwbot	1:1da89c13dfa1	2735	/** Get X-axis accelerometer standby enabled status.
Throwbot	1:1da89c13dfa1	2736	* If enabled, the X-axis will not gather or report data (or use power).
Throwbot	1:1da89c13dfa1	2737	* @return Current X-axis standby enabled status
Throwbot	1:1da89c13dfa1	2738	* @see MPU6050_RA_PWR_MGMT_2
Throwbot	1:1da89c13dfa1	2739	* @see MPU6050_PWR2_STBY_XA_BIT
Throwbot	1:1da89c13dfa1	2740	*/
Throwbot	1:1da89c13dfa1	2741	bool MPU6050::getStandbyXAccelEnabled()
Throwbot	1:1da89c13dfa1	2742	{
Throwbot	1:1da89c13dfa1	2743	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
Throwbot	1:1da89c13dfa1	2744	return buffer[0];
Throwbot	1:1da89c13dfa1	2745	}
Throwbot	1:1da89c13dfa1	2746	/** Set X-axis accelerometer standby enabled status.
Throwbot	1:1da89c13dfa1	2747	* @param New X-axis standby enabled status
Throwbot	1:1da89c13dfa1	2748	* @see getStandbyXAccelEnabled()
Throwbot	1:1da89c13dfa1	2749	* @see MPU6050_RA_PWR_MGMT_2
Throwbot	1:1da89c13dfa1	2750	* @see MPU6050_PWR2_STBY_XA_BIT
Throwbot	1:1da89c13dfa1	2751	*/
Throwbot	1:1da89c13dfa1	2752	void MPU6050::setStandbyXAccelEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	2753	{
Throwbot	1:1da89c13dfa1	2754	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
Throwbot	1:1da89c13dfa1	2755	}
Throwbot	1:1da89c13dfa1	2756	/** Get Y-axis accelerometer standby enabled status.
Throwbot	1:1da89c13dfa1	2757	* If enabled, the Y-axis will not gather or report data (or use power).
Throwbot	1:1da89c13dfa1	2758	* @return Current Y-axis standby enabled status
Throwbot	1:1da89c13dfa1	2759	* @see MPU6050_RA_PWR_MGMT_2
Throwbot	1:1da89c13dfa1	2760	* @see MPU6050_PWR2_STBY_YA_BIT
Throwbot	1:1da89c13dfa1	2761	*/
Throwbot	1:1da89c13dfa1	2762	bool MPU6050::getStandbyYAccelEnabled()
Throwbot	1:1da89c13dfa1	2763	{
Throwbot	1:1da89c13dfa1	2764	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
Throwbot	1:1da89c13dfa1	2765	return buffer[0];
Throwbot	1:1da89c13dfa1	2766	}
Throwbot	1:1da89c13dfa1	2767	/** Set Y-axis accelerometer standby enabled status.
Throwbot	1:1da89c13dfa1	2768	* @param New Y-axis standby enabled status
Throwbot	1:1da89c13dfa1	2769	* @see getStandbyYAccelEnabled()
Throwbot	1:1da89c13dfa1	2770	* @see MPU6050_RA_PWR_MGMT_2
Throwbot	1:1da89c13dfa1	2771	* @see MPU6050_PWR2_STBY_YA_BIT
Throwbot	1:1da89c13dfa1	2772	*/
Throwbot	1:1da89c13dfa1	2773	void MPU6050::setStandbyYAccelEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	2774	{
Throwbot	1:1da89c13dfa1	2775	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
Throwbot	1:1da89c13dfa1	2776	}
Throwbot	1:1da89c13dfa1	2777	/** Get Z-axis accelerometer standby enabled status.
Throwbot	1:1da89c13dfa1	2778	* If enabled, the Z-axis will not gather or report data (or use power).
Throwbot	1:1da89c13dfa1	2779	* @return Current Z-axis standby enabled status
Throwbot	1:1da89c13dfa1	2780	* @see MPU6050_RA_PWR_MGMT_2
Throwbot	1:1da89c13dfa1	2781	* @see MPU6050_PWR2_STBY_ZA_BIT
Throwbot	1:1da89c13dfa1	2782	*/
Throwbot	1:1da89c13dfa1	2783	bool MPU6050::getStandbyZAccelEnabled()
Throwbot	1:1da89c13dfa1	2784	{
Throwbot	1:1da89c13dfa1	2785	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
Throwbot	1:1da89c13dfa1	2786	return buffer[0];
Throwbot	1:1da89c13dfa1	2787	}
Throwbot	1:1da89c13dfa1	2788	/** Set Z-axis accelerometer standby enabled status.
Throwbot	1:1da89c13dfa1	2789	* @param New Z-axis standby enabled status
Throwbot	1:1da89c13dfa1	2790	* @see getStandbyZAccelEnabled()
Throwbot	1:1da89c13dfa1	2791	* @see MPU6050_RA_PWR_MGMT_2
Throwbot	1:1da89c13dfa1	2792	* @see MPU6050_PWR2_STBY_ZA_BIT
Throwbot	1:1da89c13dfa1	2793	*/
Throwbot	1:1da89c13dfa1	2794	void MPU6050::setStandbyZAccelEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	2795	{
Throwbot	1:1da89c13dfa1	2796	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
Throwbot	1:1da89c13dfa1	2797	}
Throwbot	1:1da89c13dfa1	2798	/** Get X-axis gyroscope standby enabled status.
Throwbot	1:1da89c13dfa1	2799	* If enabled, the X-axis will not gather or report data (or use power).
Throwbot	1:1da89c13dfa1	2800	* @return Current X-axis standby enabled status
Throwbot	1:1da89c13dfa1	2801	* @see MPU6050_RA_PWR_MGMT_2
Throwbot	1:1da89c13dfa1	2802	* @see MPU6050_PWR2_STBY_XG_BIT
Throwbot	1:1da89c13dfa1	2803	*/
Throwbot	1:1da89c13dfa1	2804	bool MPU6050::getStandbyXGyroEnabled()
Throwbot	1:1da89c13dfa1	2805	{
Throwbot	1:1da89c13dfa1	2806	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
Throwbot	1:1da89c13dfa1	2807	return buffer[0];
Throwbot	1:1da89c13dfa1	2808	}
Throwbot	1:1da89c13dfa1	2809	/** Set X-axis gyroscope standby enabled status.
Throwbot	1:1da89c13dfa1	2810	* @param New X-axis standby enabled status
Throwbot	1:1da89c13dfa1	2811	* @see getStandbyXGyroEnabled()
Throwbot	1:1da89c13dfa1	2812	* @see MPU6050_RA_PWR_MGMT_2
Throwbot	1:1da89c13dfa1	2813	* @see MPU6050_PWR2_STBY_XG_BIT
Throwbot	1:1da89c13dfa1	2814	*/
Throwbot	1:1da89c13dfa1	2815	void MPU6050::setStandbyXGyroEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	2816	{
Throwbot	1:1da89c13dfa1	2817	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
Throwbot	1:1da89c13dfa1	2818	}
Throwbot	1:1da89c13dfa1	2819	/** Get Y-axis gyroscope standby enabled status.
Throwbot	1:1da89c13dfa1	2820	* If enabled, the Y-axis will not gather or report data (or use power).
Throwbot	1:1da89c13dfa1	2821	* @return Current Y-axis standby enabled status
Throwbot	1:1da89c13dfa1	2822	* @see MPU6050_RA_PWR_MGMT_2
Throwbot	1:1da89c13dfa1	2823	* @see MPU6050_PWR2_STBY_YG_BIT
Throwbot	1:1da89c13dfa1	2824	*/
Throwbot	1:1da89c13dfa1	2825	bool MPU6050::getStandbyYGyroEnabled()
Throwbot	1:1da89c13dfa1	2826	{
Throwbot	1:1da89c13dfa1	2827	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
Throwbot	1:1da89c13dfa1	2828	return buffer[0];
Throwbot	1:1da89c13dfa1	2829	}
Throwbot	1:1da89c13dfa1	2830	/** Set Y-axis gyroscope standby enabled status.
Throwbot	1:1da89c13dfa1	2831	* @param New Y-axis standby enabled status
Throwbot	1:1da89c13dfa1	2832	* @see getStandbyYGyroEnabled()
Throwbot	1:1da89c13dfa1	2833	* @see MPU6050_RA_PWR_MGMT_2
Throwbot	1:1da89c13dfa1	2834	* @see MPU6050_PWR2_STBY_YG_BIT
Throwbot	1:1da89c13dfa1	2835	*/
Throwbot	1:1da89c13dfa1	2836	void MPU6050::setStandbyYGyroEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	2837	{
Throwbot	1:1da89c13dfa1	2838	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
Throwbot	1:1da89c13dfa1	2839	}
Throwbot	1:1da89c13dfa1	2840	/** Get Z-axis gyroscope standby enabled status.
Throwbot	1:1da89c13dfa1	2841	* If enabled, the Z-axis will not gather or report data (or use power).
Throwbot	1:1da89c13dfa1	2842	* @return Current Z-axis standby enabled status
Throwbot	1:1da89c13dfa1	2843	* @see MPU6050_RA_PWR_MGMT_2
Throwbot	1:1da89c13dfa1	2844	* @see MPU6050_PWR2_STBY_ZG_BIT
Throwbot	1:1da89c13dfa1	2845	*/
Throwbot	1:1da89c13dfa1	2846	bool MPU6050::getStandbyZGyroEnabled()
Throwbot	1:1da89c13dfa1	2847	{
Throwbot	1:1da89c13dfa1	2848	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
Throwbot	1:1da89c13dfa1	2849	return buffer[0];
Throwbot	1:1da89c13dfa1	2850	}
Throwbot	1:1da89c13dfa1	2851	/** Set Z-axis gyroscope standby enabled status.
Throwbot	1:1da89c13dfa1	2852	* @param New Z-axis standby enabled status
Throwbot	1:1da89c13dfa1	2853	* @see getStandbyZGyroEnabled()
Throwbot	1:1da89c13dfa1	2854	* @see MPU6050_RA_PWR_MGMT_2
Throwbot	1:1da89c13dfa1	2855	* @see MPU6050_PWR2_STBY_ZG_BIT
Throwbot	1:1da89c13dfa1	2856	*/
Throwbot	1:1da89c13dfa1	2857	void MPU6050::setStandbyZGyroEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	2858	{
Throwbot	1:1da89c13dfa1	2859	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
Throwbot	1:1da89c13dfa1	2860	}
Throwbot	1:1da89c13dfa1	2861
Throwbot	1:1da89c13dfa1	2862	// FIFO_COUNT* registers
Throwbot	1:1da89c13dfa1	2863
Throwbot	1:1da89c13dfa1	2864	/** Get current FIFO buffer size.
Throwbot	1:1da89c13dfa1	2865	* This value indicates the number of bytes stored in the FIFO buffer. This
Throwbot	1:1da89c13dfa1	2866	* number is in turn the number of bytes that can be read from the FIFO buffer
Throwbot	1:1da89c13dfa1	2867	* and it is directly proportional to the number of samples available given the
Throwbot	1:1da89c13dfa1	2868	* set of sensor data bound to be stored in the FIFO (register 35 and 36).
Throwbot	1:1da89c13dfa1	2869	* @return Current FIFO buffer size
Throwbot	1:1da89c13dfa1	2870	*/
Throwbot	1:1da89c13dfa1	2871	uint16_t MPU6050::getFIFOCount()
Throwbot	1:1da89c13dfa1	2872	{
Throwbot	1:1da89c13dfa1	2873	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
Throwbot	1:1da89c13dfa1	2874	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
Throwbot	1:1da89c13dfa1	2875	}
Throwbot	1:1da89c13dfa1	2876
Throwbot	1:1da89c13dfa1	2877	// FIFO_R_W register
Throwbot	1:1da89c13dfa1	2878
Throwbot	1:1da89c13dfa1	2879	/** Get byte from FIFO buffer.
Throwbot	1:1da89c13dfa1	2880	* This register is used to read and write data from the FIFO buffer. Data is
Throwbot	1:1da89c13dfa1	2881	* written to the FIFO in order of register number (from lowest to highest). If
Throwbot	1:1da89c13dfa1	2882	* all the FIFO enable flags (see below) are enabled and all External Sensor
Throwbot	1:1da89c13dfa1	2883	* Data registers (Registers 73 to 96) are associated with a Slave device, the
Throwbot	1:1da89c13dfa1	2884	* contents of registers 59 through 96 will be written in order at the Sample
Throwbot	1:1da89c13dfa1	2885	* Rate.
Throwbot	1:1da89c13dfa1	2886	*
Throwbot	1:1da89c13dfa1	2887	* The contents of the sensor data registers (Registers 59 to 96) are written
Throwbot	1:1da89c13dfa1	2888	* into the FIFO buffer when their corresponding FIFO enable flags are set to 1
Throwbot	1:1da89c13dfa1	2889	* in FIFO_EN (Register 35). An additional flag for the sensor data registers
Throwbot	1:1da89c13dfa1	2890	* associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
Throwbot	1:1da89c13dfa1	2891	*
Throwbot	1:1da89c13dfa1	2892	* If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
Throwbot	1:1da89c13dfa1	2893	* automatically set to 1. This bit is located in INT_STATUS (Register 58).
Throwbot	1:1da89c13dfa1	2894	* When the FIFO buffer has overflowed, the oldest data will be lost and new
Throwbot	1:1da89c13dfa1	2895	* data will be written to the FIFO.
Throwbot	1:1da89c13dfa1	2896	*
Throwbot	1:1da89c13dfa1	2897	* If the FIFO buffer is empty, reading this register will return the last byte
Throwbot	1:1da89c13dfa1	2898	* that was previously read from the FIFO until new data is available. The user
Throwbot	1:1da89c13dfa1	2899	* should check FIFO_COUNT to ensure that the FIFO buffer is not read when
Throwbot	1:1da89c13dfa1	2900	* empty.
Throwbot	1:1da89c13dfa1	2901	*
Throwbot	1:1da89c13dfa1	2902	* @return Byte from FIFO buffer
Throwbot	1:1da89c13dfa1	2903	*/
Throwbot	1:1da89c13dfa1	2904	uint8_t MPU6050::getFIFOByte()
Throwbot	1:1da89c13dfa1	2905	{
Throwbot	1:1da89c13dfa1	2906	i2Cdev.readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
Throwbot	1:1da89c13dfa1	2907	return buffer[0];
Throwbot	1:1da89c13dfa1	2908	}
Throwbot	1:1da89c13dfa1	2909	void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length)
Throwbot	1:1da89c13dfa1	2910	{
Throwbot	1:1da89c13dfa1	2911	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
Throwbot	1:1da89c13dfa1	2912	}
Throwbot	1:1da89c13dfa1	2913	/** Write byte to FIFO buffer.
Throwbot	1:1da89c13dfa1	2914	* @see getFIFOByte()
Throwbot	1:1da89c13dfa1	2915	* @see MPU6050_RA_FIFO_R_W
Throwbot	1:1da89c13dfa1	2916	*/
Throwbot	1:1da89c13dfa1	2917	void MPU6050::setFIFOByte(uint8_t data)
Throwbot	1:1da89c13dfa1	2918	{
Throwbot	1:1da89c13dfa1	2919	i2Cdev.writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
Throwbot	1:1da89c13dfa1	2920	}
Throwbot	1:1da89c13dfa1	2921
Throwbot	1:1da89c13dfa1	2922	// WHO_AM_I register
Throwbot	1:1da89c13dfa1	2923
Throwbot	1:1da89c13dfa1	2924	/** Get Device ID.
Throwbot	1:1da89c13dfa1	2925	* This register is used to verify the identity of the device (0b110100, 0x34).
Throwbot	1:1da89c13dfa1	2926	* @return Device ID (6 bits only! should be 0x34)
Throwbot	1:1da89c13dfa1	2927	* @see MPU6050_RA_WHO_AM_I
Throwbot	1:1da89c13dfa1	2928	* @see MPU6050_WHO_AM_I_BIT
Throwbot	1:1da89c13dfa1	2929	* @see MPU6050_WHO_AM_I_LENGTH
Throwbot	1:1da89c13dfa1	2930	*/
Throwbot	1:1da89c13dfa1	2931	uint8_t MPU6050::getDeviceID()
Throwbot	1:1da89c13dfa1	2932	{
Throwbot	1:1da89c13dfa1	2933	i2Cdev.readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
Throwbot	1:1da89c13dfa1	2934	return buffer[0];
Throwbot	1:1da89c13dfa1	2935	}
Throwbot	1:1da89c13dfa1	2936	/** Set Device ID.
Throwbot	1:1da89c13dfa1	2937	* Write a new ID into the WHO_AM_I register (no idea why this should ever be
Throwbot	1:1da89c13dfa1	2938	* necessary though).
Throwbot	1:1da89c13dfa1	2939	* @param id New device ID to set.
Throwbot	1:1da89c13dfa1	2940	* @see getDeviceID()
Throwbot	1:1da89c13dfa1	2941	* @see MPU6050_RA_WHO_AM_I
Throwbot	1:1da89c13dfa1	2942	* @see MPU6050_WHO_AM_I_BIT
Throwbot	1:1da89c13dfa1	2943	* @see MPU6050_WHO_AM_I_LENGTH
Throwbot	1:1da89c13dfa1	2944	*/
Throwbot	1:1da89c13dfa1	2945	void MPU6050::setDeviceID(uint8_t id)
Throwbot	1:1da89c13dfa1	2946	{
Throwbot	1:1da89c13dfa1	2947	i2Cdev.writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
Throwbot	1:1da89c13dfa1	2948	}
Throwbot	1:1da89c13dfa1	2949
Throwbot	1:1da89c13dfa1	2950	// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
Throwbot	1:1da89c13dfa1	2951
Throwbot	1:1da89c13dfa1	2952	// XG_OFFS_TC register
Throwbot	1:1da89c13dfa1	2953
Throwbot	1:1da89c13dfa1	2954	uint8_t MPU6050::getOTPBankValid()
Throwbot	1:1da89c13dfa1	2955	{
Throwbot	1:1da89c13dfa1	2956	i2Cdev.readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
Throwbot	1:1da89c13dfa1	2957	return buffer[0];
Throwbot	1:1da89c13dfa1	2958	}
Throwbot	1:1da89c13dfa1	2959	void MPU6050::setOTPBankValid(bool enabled)
Throwbot	1:1da89c13dfa1	2960	{
Throwbot	1:1da89c13dfa1	2961	i2Cdev.writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
Throwbot	1:1da89c13dfa1	2962	}
Throwbot	1:1da89c13dfa1	2963	int8_t MPU6050::getXGyroOffset()
Throwbot	1:1da89c13dfa1	2964	{
Throwbot	1:1da89c13dfa1	2965	i2Cdev.readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
Throwbot	1:1da89c13dfa1	2966	return buffer[0];
Throwbot	1:1da89c13dfa1	2967	}
Throwbot	1:1da89c13dfa1	2968	void MPU6050::setXGyroOffset(int8_t offset)
Throwbot	1:1da89c13dfa1	2969	{
Throwbot	1:1da89c13dfa1	2970	i2Cdev.writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
Throwbot	1:1da89c13dfa1	2971	}
Throwbot	1:1da89c13dfa1	2972
Throwbot	1:1da89c13dfa1	2973	// YG_OFFS_TC register
Throwbot	1:1da89c13dfa1	2974
Throwbot	1:1da89c13dfa1	2975	int8_t MPU6050::getYGyroOffset()
Throwbot	1:1da89c13dfa1	2976	{
Throwbot	1:1da89c13dfa1	2977	i2Cdev.readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
Throwbot	1:1da89c13dfa1	2978	return buffer[0];
Throwbot	1:1da89c13dfa1	2979	}
Throwbot	1:1da89c13dfa1	2980	void MPU6050::setYGyroOffset(int8_t offset)
Throwbot	1:1da89c13dfa1	2981	{
Throwbot	1:1da89c13dfa1	2982	i2Cdev.writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
Throwbot	1:1da89c13dfa1	2983	}
Throwbot	1:1da89c13dfa1	2984
Throwbot	1:1da89c13dfa1	2985	// ZG_OFFS_TC register
Throwbot	1:1da89c13dfa1	2986
Throwbot	1:1da89c13dfa1	2987	int8_t MPU6050::getZGyroOffset()
Throwbot	1:1da89c13dfa1	2988	{
Throwbot	1:1da89c13dfa1	2989	i2Cdev.readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
Throwbot	1:1da89c13dfa1	2990	return buffer[0];
Throwbot	1:1da89c13dfa1	2991	}
Throwbot	1:1da89c13dfa1	2992	void MPU6050::setZGyroOffset(int8_t offset)
Throwbot	1:1da89c13dfa1	2993	{
Throwbot	1:1da89c13dfa1	2994	i2Cdev.writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
Throwbot	1:1da89c13dfa1	2995	}
Throwbot	1:1da89c13dfa1	2996
Throwbot	1:1da89c13dfa1	2997	// X_FINE_GAIN register
Throwbot	1:1da89c13dfa1	2998
Throwbot	1:1da89c13dfa1	2999	int8_t MPU6050::getXFineGain()
Throwbot	1:1da89c13dfa1	3000	{
Throwbot	1:1da89c13dfa1	3001	i2Cdev.readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
Throwbot	1:1da89c13dfa1	3002	return buffer[0];
Throwbot	1:1da89c13dfa1	3003	}
Throwbot	1:1da89c13dfa1	3004	void MPU6050::setXFineGain(int8_t gain)
Throwbot	1:1da89c13dfa1	3005	{
Throwbot	1:1da89c13dfa1	3006	i2Cdev.writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
Throwbot	1:1da89c13dfa1	3007	}
Throwbot	1:1da89c13dfa1	3008
Throwbot	1:1da89c13dfa1	3009	// Y_FINE_GAIN register
Throwbot	1:1da89c13dfa1	3010
Throwbot	1:1da89c13dfa1	3011	int8_t MPU6050::getYFineGain()
Throwbot	1:1da89c13dfa1	3012	{
Throwbot	1:1da89c13dfa1	3013	i2Cdev.readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
Throwbot	1:1da89c13dfa1	3014	return buffer[0];
Throwbot	1:1da89c13dfa1	3015	}
Throwbot	1:1da89c13dfa1	3016	void MPU6050::setYFineGain(int8_t gain)
Throwbot	1:1da89c13dfa1	3017	{
Throwbot	1:1da89c13dfa1	3018	i2Cdev.writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
Throwbot	1:1da89c13dfa1	3019	}
Throwbot	1:1da89c13dfa1	3020
Throwbot	1:1da89c13dfa1	3021	// Z_FINE_GAIN register
Throwbot	1:1da89c13dfa1	3022
Throwbot	1:1da89c13dfa1	3023	int8_t MPU6050::getZFineGain()
Throwbot	1:1da89c13dfa1	3024	{
Throwbot	1:1da89c13dfa1	3025	i2Cdev.readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
Throwbot	1:1da89c13dfa1	3026	return buffer[0];
Throwbot	1:1da89c13dfa1	3027	}
Throwbot	1:1da89c13dfa1	3028	void MPU6050::setZFineGain(int8_t gain)
Throwbot	1:1da89c13dfa1	3029	{
Throwbot	1:1da89c13dfa1	3030	i2Cdev.writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
Throwbot	1:1da89c13dfa1	3031	}
Throwbot	1:1da89c13dfa1	3032
Throwbot	1:1da89c13dfa1	3033	// XA_OFFS_* registers
Throwbot	1:1da89c13dfa1	3034
Throwbot	1:1da89c13dfa1	3035	int16_t MPU6050::getXAccelOffset()
Throwbot	1:1da89c13dfa1	3036	{
Throwbot	1:1da89c13dfa1	3037	i2Cdev.readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
Throwbot	1:1da89c13dfa1	3038	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Throwbot	1:1da89c13dfa1	3039	}
Throwbot	1:1da89c13dfa1	3040	void MPU6050::setXAccelOffset(int16_t offset)
Throwbot	1:1da89c13dfa1	3041	{
Throwbot	1:1da89c13dfa1	3042	i2Cdev.writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
Throwbot	1:1da89c13dfa1	3043	}
Throwbot	1:1da89c13dfa1	3044
Throwbot	1:1da89c13dfa1	3045	// YA_OFFS_* register
Throwbot	1:1da89c13dfa1	3046
Throwbot	1:1da89c13dfa1	3047	int16_t MPU6050::getYAccelOffset()
Throwbot	1:1da89c13dfa1	3048	{
Throwbot	1:1da89c13dfa1	3049	i2Cdev.readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
Throwbot	1:1da89c13dfa1	3050	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Throwbot	1:1da89c13dfa1	3051	}
Throwbot	1:1da89c13dfa1	3052	void MPU6050::setYAccelOffset(int16_t offset)
Throwbot	1:1da89c13dfa1	3053	{
Throwbot	1:1da89c13dfa1	3054	i2Cdev.writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
Throwbot	1:1da89c13dfa1	3055	}
Throwbot	1:1da89c13dfa1	3056
Throwbot	1:1da89c13dfa1	3057	// ZA_OFFS_* register
Throwbot	1:1da89c13dfa1	3058
Throwbot	1:1da89c13dfa1	3059	int16_t MPU6050::getZAccelOffset()
Throwbot	1:1da89c13dfa1	3060	{
Throwbot	1:1da89c13dfa1	3061	i2Cdev.readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
Throwbot	1:1da89c13dfa1	3062	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Throwbot	1:1da89c13dfa1	3063	}
Throwbot	1:1da89c13dfa1	3064	void MPU6050::setZAccelOffset(int16_t offset)
Throwbot	1:1da89c13dfa1	3065	{
Throwbot	1:1da89c13dfa1	3066	i2Cdev.writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
Throwbot	1:1da89c13dfa1	3067	}
Throwbot	1:1da89c13dfa1	3068
Throwbot	1:1da89c13dfa1	3069	// XG_OFFS_USR* registers
Throwbot	1:1da89c13dfa1	3070
Throwbot	1:1da89c13dfa1	3071	int16_t MPU6050::getXGyroOffsetUser()
Throwbot	1:1da89c13dfa1	3072	{
Throwbot	1:1da89c13dfa1	3073	i2Cdev.readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
Throwbot	1:1da89c13dfa1	3074	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Throwbot	1:1da89c13dfa1	3075	}
Throwbot	1:1da89c13dfa1	3076	void MPU6050::setXGyroOffsetUser(int16_t offset)
Throwbot	1:1da89c13dfa1	3077	{
Throwbot	1:1da89c13dfa1	3078	i2Cdev.writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
Throwbot	1:1da89c13dfa1	3079	}
Throwbot	1:1da89c13dfa1	3080
Throwbot	1:1da89c13dfa1	3081	// YG_OFFS_USR* register
Throwbot	1:1da89c13dfa1	3082
Throwbot	1:1da89c13dfa1	3083	int16_t MPU6050::getYGyroOffsetUser()
Throwbot	1:1da89c13dfa1	3084	{
Throwbot	1:1da89c13dfa1	3085	i2Cdev.readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
Throwbot	1:1da89c13dfa1	3086	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Throwbot	1:1da89c13dfa1	3087	}
Throwbot	1:1da89c13dfa1	3088	void MPU6050::setYGyroOffsetUser(int16_t offset)
Throwbot	1:1da89c13dfa1	3089	{
Throwbot	1:1da89c13dfa1	3090	i2Cdev.writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
Throwbot	1:1da89c13dfa1	3091	}
Throwbot	1:1da89c13dfa1	3092
Throwbot	1:1da89c13dfa1	3093	// ZG_OFFS_USR* register
Throwbot	1:1da89c13dfa1	3094
Throwbot	1:1da89c13dfa1	3095	int16_t MPU6050::getZGyroOffsetUser()
Throwbot	1:1da89c13dfa1	3096	{
Throwbot	1:1da89c13dfa1	3097	i2Cdev.readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
Throwbot	1:1da89c13dfa1	3098	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Throwbot	1:1da89c13dfa1	3099	}
Throwbot	1:1da89c13dfa1	3100	void MPU6050::setZGyroOffsetUser(int16_t offset)
Throwbot	1:1da89c13dfa1	3101	{
Throwbot	1:1da89c13dfa1	3102	i2Cdev.writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
Throwbot	1:1da89c13dfa1	3103	}
Throwbot	1:1da89c13dfa1	3104
Throwbot	1:1da89c13dfa1	3105	// INT_ENABLE register (DMP functions)
Throwbot	1:1da89c13dfa1	3106
Throwbot	1:1da89c13dfa1	3107	bool MPU6050::getIntPLLReadyEnabled()
Throwbot	1:1da89c13dfa1	3108	{
Throwbot	1:1da89c13dfa1	3109	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
Throwbot	1:1da89c13dfa1	3110	return buffer[0];
Throwbot	1:1da89c13dfa1	3111	}
Throwbot	1:1da89c13dfa1	3112	void MPU6050::setIntPLLReadyEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	3113	{
Throwbot	1:1da89c13dfa1	3114	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
Throwbot	1:1da89c13dfa1	3115	}
Throwbot	1:1da89c13dfa1	3116	bool MPU6050::getIntDMPEnabled()
Throwbot	1:1da89c13dfa1	3117	{
Throwbot	1:1da89c13dfa1	3118	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
Throwbot	1:1da89c13dfa1	3119	return buffer[0];
Throwbot	1:1da89c13dfa1	3120	}
Throwbot	1:1da89c13dfa1	3121	void MPU6050::setIntDMPEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	3122	{
Throwbot	1:1da89c13dfa1	3123	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
Throwbot	1:1da89c13dfa1	3124	}
Throwbot	1:1da89c13dfa1	3125
Throwbot	1:1da89c13dfa1	3126	// DMP_INT_STATUS
Throwbot	1:1da89c13dfa1	3127
Throwbot	1:1da89c13dfa1	3128	bool MPU6050::getDMPInt5Status()
Throwbot	1:1da89c13dfa1	3129	{
Throwbot	1:1da89c13dfa1	3130	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
Throwbot	1:1da89c13dfa1	3131	return buffer[0];
Throwbot	1:1da89c13dfa1	3132	}
Throwbot	1:1da89c13dfa1	3133	bool MPU6050::getDMPInt4Status()
Throwbot	1:1da89c13dfa1	3134	{
Throwbot	1:1da89c13dfa1	3135	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
Throwbot	1:1da89c13dfa1	3136	return buffer[0];
Throwbot	1:1da89c13dfa1	3137	}
Throwbot	1:1da89c13dfa1	3138	bool MPU6050::getDMPInt3Status()
Throwbot	1:1da89c13dfa1	3139	{
Throwbot	1:1da89c13dfa1	3140	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
Throwbot	1:1da89c13dfa1	3141	return buffer[0];
Throwbot	1:1da89c13dfa1	3142	}
Throwbot	1:1da89c13dfa1	3143	bool MPU6050::getDMPInt2Status()
Throwbot	1:1da89c13dfa1	3144	{
Throwbot	1:1da89c13dfa1	3145	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
Throwbot	1:1da89c13dfa1	3146	return buffer[0];
Throwbot	1:1da89c13dfa1	3147	}
Throwbot	1:1da89c13dfa1	3148	bool MPU6050::getDMPInt1Status()
Throwbot	1:1da89c13dfa1	3149	{
Throwbot	1:1da89c13dfa1	3150	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
Throwbot	1:1da89c13dfa1	3151	return buffer[0];
Throwbot	1:1da89c13dfa1	3152	}
Throwbot	1:1da89c13dfa1	3153	bool MPU6050::getDMPInt0Status()
Throwbot	1:1da89c13dfa1	3154	{
Throwbot	1:1da89c13dfa1	3155	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
Throwbot	1:1da89c13dfa1	3156	return buffer[0];
Throwbot	1:1da89c13dfa1	3157	}
Throwbot	1:1da89c13dfa1	3158
Throwbot	1:1da89c13dfa1	3159	// INT_STATUS register (DMP functions)
Throwbot	1:1da89c13dfa1	3160
Throwbot	1:1da89c13dfa1	3161	bool MPU6050::getIntPLLReadyStatus()
Throwbot	1:1da89c13dfa1	3162	{
Throwbot	1:1da89c13dfa1	3163	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
Throwbot	1:1da89c13dfa1	3164	return buffer[0];
Throwbot	1:1da89c13dfa1	3165	}
Throwbot	1:1da89c13dfa1	3166	bool MPU6050::getIntDMPStatus()
Throwbot	1:1da89c13dfa1	3167	{
Throwbot	1:1da89c13dfa1	3168	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
Throwbot	1:1da89c13dfa1	3169	return buffer[0];
Throwbot	1:1da89c13dfa1	3170	}
Throwbot	1:1da89c13dfa1	3171
Throwbot	1:1da89c13dfa1	3172	// USER_CTRL register (DMP functions)
Throwbot	1:1da89c13dfa1	3173
Throwbot	1:1da89c13dfa1	3174	bool MPU6050::getDMPEnabled()
Throwbot	1:1da89c13dfa1	3175	{
Throwbot	1:1da89c13dfa1	3176	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
Throwbot	1:1da89c13dfa1	3177	return buffer[0];
Throwbot	1:1da89c13dfa1	3178	}
Throwbot	1:1da89c13dfa1	3179	void MPU6050::setDMPEnabled(bool enabled)
Throwbot	1:1da89c13dfa1	3180	{
Throwbot	1:1da89c13dfa1	3181	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
Throwbot	1:1da89c13dfa1	3182	}
Throwbot	1:1da89c13dfa1	3183	void MPU6050::resetDMP()
Throwbot	1:1da89c13dfa1	3184	{
Throwbot	1:1da89c13dfa1	3185	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
Throwbot	1:1da89c13dfa1	3186	}
Throwbot	1:1da89c13dfa1	3187
Throwbot	1:1da89c13dfa1	3188	// BANK_SEL register
Throwbot	1:1da89c13dfa1	3189
Throwbot	1:1da89c13dfa1	3190	void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank)
Throwbot	1:1da89c13dfa1	3191	{
Throwbot	1:1da89c13dfa1	3192	bank &= 0x1F;
Throwbot	1:1da89c13dfa1	3193	if (userBank) bank \|= 0x20;
Throwbot	1:1da89c13dfa1	3194	if (prefetchEnabled) bank \|= 0x40;
Throwbot	1:1da89c13dfa1	3195	i2Cdev.writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
Throwbot	1:1da89c13dfa1	3196	}
Throwbot	1:1da89c13dfa1	3197
Throwbot	1:1da89c13dfa1	3198	// MEM_START_ADDR register
Throwbot	1:1da89c13dfa1	3199
Throwbot	1:1da89c13dfa1	3200	void MPU6050::setMemoryStartAddress(uint8_t address)
Throwbot	1:1da89c13dfa1	3201	{
Throwbot	1:1da89c13dfa1	3202	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
Throwbot	1:1da89c13dfa1	3203	}
Throwbot	1:1da89c13dfa1	3204
Throwbot	1:1da89c13dfa1	3205	// MEM_R_W register
Throwbot	1:1da89c13dfa1	3206
Throwbot	1:1da89c13dfa1	3207	uint8_t MPU6050::readMemoryByte()
Throwbot	1:1da89c13dfa1	3208	{
Throwbot	1:1da89c13dfa1	3209	i2Cdev.readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
Throwbot	1:1da89c13dfa1	3210	return buffer[0];
Throwbot	1:1da89c13dfa1	3211	}
Throwbot	1:1da89c13dfa1	3212	void MPU6050::writeMemoryByte(uint8_t data)
Throwbot	1:1da89c13dfa1	3213	{
Throwbot	1:1da89c13dfa1	3214	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
Throwbot	1:1da89c13dfa1	3215	}
Throwbot	1:1da89c13dfa1	3216	void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address)
Throwbot	1:1da89c13dfa1	3217	{
Throwbot	1:1da89c13dfa1	3218	setMemoryBank(bank);
Throwbot	1:1da89c13dfa1	3219	setMemoryStartAddress(address);
Throwbot	1:1da89c13dfa1	3220	uint8_t chunkSize;
Throwbot	1:1da89c13dfa1	3221	for (uint16_t i = 0; i < dataSize;) {
Throwbot	1:1da89c13dfa1	3222	// determine correct chunk size according to bank position and data size
Throwbot	1:1da89c13dfa1	3223	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
Throwbot	1:1da89c13dfa1	3224
Throwbot	1:1da89c13dfa1	3225	// make sure we don't go past the data size
Throwbot	1:1da89c13dfa1	3226	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
Throwbot	1:1da89c13dfa1	3227
Throwbot	1:1da89c13dfa1	3228	// make sure this chunk doesn't go past the bank boundary (256 bytes)
Throwbot	1:1da89c13dfa1	3229	if (chunkSize > 256 - address) chunkSize = 256 - address;
Throwbot	1:1da89c13dfa1	3230
Throwbot	1:1da89c13dfa1	3231	// read the chunk of data as specified
Throwbot	1:1da89c13dfa1	3232	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
Throwbot	1:1da89c13dfa1	3233
Throwbot	1:1da89c13dfa1	3234	// increase byte index by [chunkSize]
Throwbot	1:1da89c13dfa1	3235	i += chunkSize;
Throwbot	1:1da89c13dfa1	3236
Throwbot	1:1da89c13dfa1	3237	// uint8_t automatically wraps to 0 at 256
Throwbot	1:1da89c13dfa1	3238	address += chunkSize;
Throwbot	1:1da89c13dfa1	3239
Throwbot	1:1da89c13dfa1	3240	// if we aren't done, update bank (if necessary) and address
Throwbot	1:1da89c13dfa1	3241	if (i < dataSize) {
Throwbot	1:1da89c13dfa1	3242	if (address == 0) bank++;
Throwbot	1:1da89c13dfa1	3243	setMemoryBank(bank);
Throwbot	1:1da89c13dfa1	3244	setMemoryStartAddress(address);
Throwbot	1:1da89c13dfa1	3245	}
Throwbot	1:1da89c13dfa1	3246	}
Throwbot	1:1da89c13dfa1	3247	}
Throwbot	1:1da89c13dfa1	3248	bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem)
Throwbot	1:1da89c13dfa1	3249	{
Throwbot	1:1da89c13dfa1	3250	setMemoryBank(bank);
Throwbot	1:1da89c13dfa1	3251	setMemoryStartAddress(address);
Throwbot	1:1da89c13dfa1	3252	uint8_t chunkSize;
Throwbot	1:1da89c13dfa1	3253	uint8_t *verifyBuffer;
Throwbot	1:1da89c13dfa1	3254	uint8_t *progBuffer;
Throwbot	1:1da89c13dfa1	3255	uint16_t i;
Throwbot	1:1da89c13dfa1	3256	uint8_t j;
Throwbot	1:1da89c13dfa1	3257	if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
Throwbot	1:1da89c13dfa1	3258	if (useProgMem) progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
Throwbot	1:1da89c13dfa1	3259	for (i = 0; i < dataSize;) {
Throwbot	1:1da89c13dfa1	3260	// determine correct chunk size according to bank position and data size
Throwbot	1:1da89c13dfa1	3261	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
Throwbot	1:1da89c13dfa1	3262
Throwbot	1:1da89c13dfa1	3263	// make sure we don't go past the data size
Throwbot	1:1da89c13dfa1	3264	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
Throwbot	1:1da89c13dfa1	3265
Throwbot	1:1da89c13dfa1	3266	// make sure this chunk doesn't go past the bank boundary (256 bytes)
Throwbot	1:1da89c13dfa1	3267	if (chunkSize > 256 - address) chunkSize = 256 - address;
Throwbot	1:1da89c13dfa1	3268
Throwbot	1:1da89c13dfa1	3269	if (useProgMem) {
Throwbot	1:1da89c13dfa1	3270	// write the chunk of data as specified
Throwbot	1:1da89c13dfa1	3271	for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
Throwbot	1:1da89c13dfa1	3272	} else {
Throwbot	1:1da89c13dfa1	3273	// write the chunk of data as specified
Throwbot	1:1da89c13dfa1	3274	progBuffer = (uint8_t *)data + i;
Throwbot	1:1da89c13dfa1	3275	}
Throwbot	1:1da89c13dfa1	3276
Throwbot	1:1da89c13dfa1	3277	i2Cdev.writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
Throwbot	1:1da89c13dfa1	3278
Throwbot	1:1da89c13dfa1	3279	// verify data if needed
Throwbot	1:1da89c13dfa1	3280	if (verify && verifyBuffer) {
Throwbot	1:1da89c13dfa1	3281	setMemoryBank(bank);
Throwbot	1:1da89c13dfa1	3282	setMemoryStartAddress(address);
Throwbot	1:1da89c13dfa1	3283	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
Throwbot	1:1da89c13dfa1	3284	if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
Throwbot	1:1da89c13dfa1	3285	/*Serial.print("Block write verification error, bank ");
Throwbot	1:1da89c13dfa1	3286	Serial.print(bank, DEC);
Throwbot	1:1da89c13dfa1	3287	Serial.print(", address ");
Throwbot	1:1da89c13dfa1	3288	Serial.print(address, DEC);
Throwbot	1:1da89c13dfa1	3289	Serial.print("!\nExpected:");
Throwbot	1:1da89c13dfa1	3290	for (j = 0; j < chunkSize; j++) {
Throwbot	1:1da89c13dfa1	3291	Serial.print(" 0x");
Throwbot	1:1da89c13dfa1	3292	if (progBuffer[j] < 16) Serial.print("0");
Throwbot	1:1da89c13dfa1	3293	Serial.print(progBuffer[j], HEX);
Throwbot	1:1da89c13dfa1	3294	}
Throwbot	1:1da89c13dfa1	3295	Serial.print("\nReceived:");
Throwbot	1:1da89c13dfa1	3296	for (uint8_t j = 0; j < chunkSize; j++) {
Throwbot	1:1da89c13dfa1	3297	Serial.print(" 0x");
Throwbot	1:1da89c13dfa1	3298	if (verifyBuffer[i + j] < 16) Serial.print("0");
Throwbot	1:1da89c13dfa1	3299	Serial.print(verifyBuffer[i + j], HEX);
Throwbot	1:1da89c13dfa1	3300	}
Throwbot	1:1da89c13dfa1	3301	Serial.print("\n");*/
Throwbot	1:1da89c13dfa1	3302	free(verifyBuffer);
Throwbot	1:1da89c13dfa1	3303	if (useProgMem) free(progBuffer);
Throwbot	1:1da89c13dfa1	3304	return false; // uh oh.
Throwbot	1:1da89c13dfa1	3305	}
Throwbot	1:1da89c13dfa1	3306	}
Throwbot	1:1da89c13dfa1	3307
Throwbot	1:1da89c13dfa1	3308	// increase byte index by [chunkSize]
Throwbot	1:1da89c13dfa1	3309	i += chunkSize;
Throwbot	1:1da89c13dfa1	3310
Throwbot	1:1da89c13dfa1	3311	// uint8_t automatically wraps to 0 at 256
Throwbot	1:1da89c13dfa1	3312	address += chunkSize;
Throwbot	1:1da89c13dfa1	3313
Throwbot	1:1da89c13dfa1	3314	// if we aren't done, update bank (if necessary) and address
Throwbot	1:1da89c13dfa1	3315	if (i < dataSize) {
Throwbot	1:1da89c13dfa1	3316	if (address == 0) bank++;
Throwbot	1:1da89c13dfa1	3317	setMemoryBank(bank);
Throwbot	1:1da89c13dfa1	3318	setMemoryStartAddress(address);
Throwbot	1:1da89c13dfa1	3319	}
Throwbot	1:1da89c13dfa1	3320	}
Throwbot	1:1da89c13dfa1	3321	if (verify) free(verifyBuffer);
Throwbot	1:1da89c13dfa1	3322	if (useProgMem) free(progBuffer);
Throwbot	1:1da89c13dfa1	3323	return true;
Throwbot	1:1da89c13dfa1	3324	}
Throwbot	1:1da89c13dfa1	3325	bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify)
Throwbot	1:1da89c13dfa1	3326	{
Throwbot	1:1da89c13dfa1	3327	return writeMemoryBlock(data, dataSize, bank, address, verify, true);
Throwbot	1:1da89c13dfa1	3328	}
Throwbot	1:1da89c13dfa1	3329	bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem)
Throwbot	1:1da89c13dfa1	3330	{
Throwbot	1:1da89c13dfa1	3331	uint8_t *progBuffer, success, special;
Throwbot	1:1da89c13dfa1	3332	uint16_t i, j;
Throwbot	1:1da89c13dfa1	3333	if (useProgMem) {
Throwbot	1:1da89c13dfa1	3334	progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
Throwbot	1:1da89c13dfa1	3335	}
Throwbot	1:1da89c13dfa1	3336
Throwbot	1:1da89c13dfa1	3337	// config set data is a long string of blocks with the following structure:
Throwbot	1:1da89c13dfa1	3338	// [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
Throwbot	1:1da89c13dfa1	3339	uint8_t bank, offset, length;
Throwbot	1:1da89c13dfa1	3340	for (i = 0; i < dataSize;) {
Throwbot	1:1da89c13dfa1	3341	if (useProgMem) {
Throwbot	1:1da89c13dfa1	3342	bank = pgm_read_byte(data + i++);
Throwbot	1:1da89c13dfa1	3343	offset = pgm_read_byte(data + i++);
Throwbot	1:1da89c13dfa1	3344	length = pgm_read_byte(data + i++);
Throwbot	1:1da89c13dfa1	3345	} else {
Throwbot	1:1da89c13dfa1	3346	bank = data[i++];
Throwbot	1:1da89c13dfa1	3347	offset = data[i++];
Throwbot	1:1da89c13dfa1	3348	length = data[i++];
Throwbot	1:1da89c13dfa1	3349	}
Throwbot	1:1da89c13dfa1	3350
Throwbot	1:1da89c13dfa1	3351	// write data or perform special action
Throwbot	1:1da89c13dfa1	3352	if (length > 0) {
Throwbot	1:1da89c13dfa1	3353	// regular block of data to write
Throwbot	1:1da89c13dfa1	3354	/*Serial.print("Writing config block to bank ");
Throwbot	1:1da89c13dfa1	3355	Serial.print(bank);
Throwbot	1:1da89c13dfa1	3356	Serial.print(", offset ");
Throwbot	1:1da89c13dfa1	3357	Serial.print(offset);
Throwbot	1:1da89c13dfa1	3358	Serial.print(", length=");
Throwbot	1:1da89c13dfa1	3359	Serial.println(length);*/
Throwbot	1:1da89c13dfa1	3360	if (useProgMem) {
Throwbot	1:1da89c13dfa1	3361	if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length);
Throwbot	1:1da89c13dfa1	3362	for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j);
Throwbot	1:1da89c13dfa1	3363	} else {
Throwbot	1:1da89c13dfa1	3364	progBuffer = (uint8_t *)data + i;
Throwbot	1:1da89c13dfa1	3365	}
Throwbot	1:1da89c13dfa1	3366	success = writeMemoryBlock(progBuffer, length, bank, offset, true);
Throwbot	1:1da89c13dfa1	3367	i += length;
Throwbot	1:1da89c13dfa1	3368	} else {
Throwbot	1:1da89c13dfa1	3369	// special instruction
Throwbot	1:1da89c13dfa1	3370	// NOTE: this kind of behavior (what and when to do certain things)
Throwbot	1:1da89c13dfa1	3371	// is totally undocumented. This code is in here based on observed
Throwbot	1:1da89c13dfa1	3372	// behavior only, and exactly why (or even whether) it has to be here
Throwbot	1:1da89c13dfa1	3373	// is anybody's guess for now.
Throwbot	1:1da89c13dfa1	3374	if (useProgMem) {
Throwbot	1:1da89c13dfa1	3375	special = pgm_read_byte(data + i++);
Throwbot	1:1da89c13dfa1	3376	} else {
Throwbot	1:1da89c13dfa1	3377	special = data[i++];
Throwbot	1:1da89c13dfa1	3378	}
Throwbot	1:1da89c13dfa1	3379	/*Serial.print("Special command code ");
Throwbot	1:1da89c13dfa1	3380	Serial.print(special, HEX);
Throwbot	1:1da89c13dfa1	3381	Serial.println(" found...");*/
Throwbot	1:1da89c13dfa1	3382	if (special == 0x01) {
Throwbot	1:1da89c13dfa1	3383	// enable DMP-related interrupts
Throwbot	1:1da89c13dfa1	3384
Throwbot	1:1da89c13dfa1	3385	//setIntZeroMotionEnabled(true);
Throwbot	1:1da89c13dfa1	3386	//setIntFIFOBufferOverflowEnabled(true);
Throwbot	1:1da89c13dfa1	3387	//setIntDMPEnabled(true);
Throwbot	1:1da89c13dfa1	3388	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
Throwbot	1:1da89c13dfa1	3389
Throwbot	1:1da89c13dfa1	3390	success = true;
Throwbot	1:1da89c13dfa1	3391	} else {
Throwbot	1:1da89c13dfa1	3392	// unknown special command
Throwbot	1:1da89c13dfa1	3393	success = false;
Throwbot	1:1da89c13dfa1	3394	}
Throwbot	1:1da89c13dfa1	3395	}
Throwbot	1:1da89c13dfa1	3396
Throwbot	1:1da89c13dfa1	3397	if (!success) {
Throwbot	1:1da89c13dfa1	3398	if (useProgMem) free(progBuffer);
Throwbot	1:1da89c13dfa1	3399	return false; // uh oh
Throwbot	1:1da89c13dfa1	3400	}
Throwbot	1:1da89c13dfa1	3401	}
Throwbot	1:1da89c13dfa1	3402	if (useProgMem) free(progBuffer);
Throwbot	1:1da89c13dfa1	3403	return true;
Throwbot	1:1da89c13dfa1	3404	}
Throwbot	1:1da89c13dfa1	3405	bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
Throwbot	1:1da89c13dfa1	3406	{
Throwbot	1:1da89c13dfa1	3407	return writeDMPConfigurationSet(data, dataSize, false);
Throwbot	1:1da89c13dfa1	3408	}
Throwbot	1:1da89c13dfa1	3409
Throwbot	1:1da89c13dfa1	3410	// DMP_CFG_1 register
Throwbot	1:1da89c13dfa1	3411
Throwbot	1:1da89c13dfa1	3412	uint8_t MPU6050::getDMPConfig1()
Throwbot	1:1da89c13dfa1	3413	{
Throwbot	1:1da89c13dfa1	3414	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
Throwbot	1:1da89c13dfa1	3415	return buffer[0];
Throwbot	1:1da89c13dfa1	3416	}
Throwbot	1:1da89c13dfa1	3417	void MPU6050::setDMPConfig1(uint8_t config)
Throwbot	1:1da89c13dfa1	3418	{
Throwbot	1:1da89c13dfa1	3419	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
Throwbot	1:1da89c13dfa1	3420	}
Throwbot	1:1da89c13dfa1	3421
Throwbot	1:1da89c13dfa1	3422	// DMP_CFG_2 register
Throwbot	1:1da89c13dfa1	3423
Throwbot	1:1da89c13dfa1	3424	uint8_t MPU6050::getDMPConfig2()
Throwbot	1:1da89c13dfa1	3425	{
Throwbot	1:1da89c13dfa1	3426	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
Throwbot	1:1da89c13dfa1	3427	return buffer[0];
Throwbot	1:1da89c13dfa1	3428	}
Throwbot	1:1da89c13dfa1	3429	void MPU6050::setDMPConfig2(uint8_t config)
Throwbot	1:1da89c13dfa1	3430	{
Throwbot	1:1da89c13dfa1	3431	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
Throwbot	1:1da89c13dfa1	3432	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	21 Oct 2014
Imports:	12
Forks:	0
Commits:	7
Dependents:	0
Dependencies:	6
Followers:	6

Drivers/MPU6050/MPU6050.cpp@6:5ab1735265a9, 2014-10-21 (annotated)

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