RaptorControl - An incomplete quadcopter control programme.

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Gurvan PRIEM / Mbed 2 deprecated RaptorControl

An incomplete quadcopter control programme.

MPU6050/MPU6050.cpp@0:9cb9445a11f0, 2013-07-17 (annotated)

Committer:: Gurvan
Date:: Wed Jul 17 15:58:25 2013 +0000
Revision:: 0:9cb9445a11f0

Pour Zobson, fi(r)st commit.

Who changed what in which revision?

User	Revision	Line number	New contents of line
Gurvan	0:9cb9445a11f0	1	//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
Gurvan	0:9cb9445a11f0	2	//written by szymon gaertig (email: szymon@gaertig.com.pl)
Gurvan	0:9cb9445a11f0	3	//
Gurvan	0:9cb9445a11f0	4	//Changelog:
Gurvan	0:9cb9445a11f0	5	//2013-01-08 - first beta release
Gurvan	0:9cb9445a11f0	6
Gurvan	0:9cb9445a11f0	7	// I2Cdev library collection - MPU6050 I2C device class
Gurvan	0:9cb9445a11f0	8	// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
Gurvan	0:9cb9445a11f0	9	// 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
Gurvan	0:9cb9445a11f0	10	// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
Gurvan	0:9cb9445a11f0	11	//
Gurvan	0:9cb9445a11f0	12	// Changelog:
Gurvan	0:9cb9445a11f0	13	// ... - ongoing debug release
Gurvan	0:9cb9445a11f0	14
Gurvan	0:9cb9445a11f0	15	// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
Gurvan	0:9cb9445a11f0	16	// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
Gurvan	0:9cb9445a11f0	17	// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
Gurvan	0:9cb9445a11f0	18
Gurvan	0:9cb9445a11f0	19	/* ============================================
Gurvan	0:9cb9445a11f0	20	I2Cdev device library code is placed under the MIT license
Gurvan	0:9cb9445a11f0	21	Copyright (c) 2012 Jeff Rowberg
Gurvan	0:9cb9445a11f0	22
Gurvan	0:9cb9445a11f0	23	Permission is hereby granted, free of charge, to any person obtaining a copy
Gurvan	0:9cb9445a11f0	24	of this software and associated documentation files (the "Software"), to deal
Gurvan	0:9cb9445a11f0	25	in the Software without restriction, including without limitation the rights
Gurvan	0:9cb9445a11f0	26	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
Gurvan	0:9cb9445a11f0	27	copies of the Software, and to permit persons to whom the Software is
Gurvan	0:9cb9445a11f0	28	furnished to do so, subject to the following conditions:
Gurvan	0:9cb9445a11f0	29
Gurvan	0:9cb9445a11f0	30	The above copyright notice and this permission notice shall be included in
Gurvan	0:9cb9445a11f0	31	all copies or substantial portions of the Software.
Gurvan	0:9cb9445a11f0	32
Gurvan	0:9cb9445a11f0	33	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
Gurvan	0:9cb9445a11f0	34	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
Gurvan	0:9cb9445a11f0	35	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
Gurvan	0:9cb9445a11f0	36	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
Gurvan	0:9cb9445a11f0	37	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
Gurvan	0:9cb9445a11f0	38	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
Gurvan	0:9cb9445a11f0	39	THE SOFTWARE.
Gurvan	0:9cb9445a11f0	40	===============================================
Gurvan	0:9cb9445a11f0	41	*/
Gurvan	0:9cb9445a11f0	42
Gurvan	0:9cb9445a11f0	43	#include "MPU6050.h"
Gurvan	0:9cb9445a11f0	44
Gurvan	0:9cb9445a11f0	45	//#define useDebugSerial
Gurvan	0:9cb9445a11f0	46
Gurvan	0:9cb9445a11f0	47	//instead of using pgmspace.h
Gurvan	0:9cb9445a11f0	48	typedef const unsigned char prog_uchar;
Gurvan	0:9cb9445a11f0	49	#define pgm_read_byte_near(x) ((prog_uchar)x)
Gurvan	0:9cb9445a11f0	50	#define pgm_read_byte(x) ((prog_uchar)x)
Gurvan	0:9cb9445a11f0	51
Gurvan	0:9cb9445a11f0	52	/** Default constructor, uses default I2C address.
Gurvan	0:9cb9445a11f0	53	* @see MPU6050_DEFAULT_ADDRESS
Gurvan	0:9cb9445a11f0	54	*/
Gurvan	0:9cb9445a11f0	55	MPU6050::MPU6050() : debugSerial(USBTX, USBRX)
Gurvan	0:9cb9445a11f0	56	{
Gurvan	0:9cb9445a11f0	57	devAddr = MPU6050_DEFAULT_ADDRESS;
Gurvan	0:9cb9445a11f0	58	}
Gurvan	0:9cb9445a11f0	59
Gurvan	0:9cb9445a11f0	60	/** Specific address constructor.
Gurvan	0:9cb9445a11f0	61	* @param address I2C address
Gurvan	0:9cb9445a11f0	62	* @see MPU6050_DEFAULT_ADDRESS
Gurvan	0:9cb9445a11f0	63	* @see MPU6050_ADDRESS_AD0_LOW
Gurvan	0:9cb9445a11f0	64	* @see MPU6050_ADDRESS_AD0_HIGH
Gurvan	0:9cb9445a11f0	65	*/
Gurvan	0:9cb9445a11f0	66	MPU6050::MPU6050(uint8_t address) : debugSerial(USBTX, USBRX)
Gurvan	0:9cb9445a11f0	67	{
Gurvan	0:9cb9445a11f0	68	devAddr = address;
Gurvan	0:9cb9445a11f0	69	}
Gurvan	0:9cb9445a11f0	70
Gurvan	0:9cb9445a11f0	71	/** Power on and prepare for general usage.
Gurvan	0:9cb9445a11f0	72	* This will activate the device and take it out of sleep mode (which must be done
Gurvan	0:9cb9445a11f0	73	* after start-up). This function also sets both the accelerometer and the gyroscope
Gurvan	0:9cb9445a11f0	74	* to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
Gurvan	0:9cb9445a11f0	75	* the clock source to use the X Gyro for reference, which is slightly better than
Gurvan	0:9cb9445a11f0	76	* the default internal clock source.
Gurvan	0:9cb9445a11f0	77	*/
Gurvan	0:9cb9445a11f0	78	void MPU6050::initialize()
Gurvan	0:9cb9445a11f0	79	{
Gurvan	0:9cb9445a11f0	80
Gurvan	0:9cb9445a11f0	81	debugSerial.baud(921600); //uses max serial speed
Gurvan	0:9cb9445a11f0	82	#ifdef useDebugSerial
Gurvan	0:9cb9445a11f0	83	debugSerial.printf("MPU6050::initialize start\n");
Gurvan	0:9cb9445a11f0	84	#endif
Gurvan	0:9cb9445a11f0	85	setClockSource(MPU6050_CLOCK_PLL_XGYRO);
Gurvan	0:9cb9445a11f0	86	setFullScaleGyroRange(MPU6050_GYRO_FS_250);
Gurvan	0:9cb9445a11f0	87	setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
Gurvan	0:9cb9445a11f0	88	setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
Gurvan	0:9cb9445a11f0	89
Gurvan	0:9cb9445a11f0	90	#ifdef useDebugSerial
Gurvan	0:9cb9445a11f0	91	debugSerial.printf("MPU6050::initialize end\n");
Gurvan	0:9cb9445a11f0	92	#endif
Gurvan	0:9cb9445a11f0	93	}
Gurvan	0:9cb9445a11f0	94
Gurvan	0:9cb9445a11f0	95	/** Verify the I2C connection.
Gurvan	0:9cb9445a11f0	96	* Make sure the device is connected and responds as expected.
Gurvan	0:9cb9445a11f0	97	* @return True if connection is valid, false otherwise
Gurvan	0:9cb9445a11f0	98	*/
Gurvan	0:9cb9445a11f0	99	bool MPU6050::testConnection()
Gurvan	0:9cb9445a11f0	100	{
Gurvan	0:9cb9445a11f0	101	#ifdef useDebugSerial
Gurvan	0:9cb9445a11f0	102	debugSerial.printf("MPU6050::testConnection start\n");
Gurvan	0:9cb9445a11f0	103	#endif
Gurvan	0:9cb9445a11f0	104	uint8_t deviceId = getDeviceID();
Gurvan	0:9cb9445a11f0	105	#ifdef useDebugSerial
Gurvan	0:9cb9445a11f0	106	debugSerial.printf("DeviceId = %d\n",deviceId);
Gurvan	0:9cb9445a11f0	107	#endif
Gurvan	0:9cb9445a11f0	108	return deviceId == 0x34;
Gurvan	0:9cb9445a11f0	109	}
Gurvan	0:9cb9445a11f0	110
Gurvan	0:9cb9445a11f0	111	// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
Gurvan	0:9cb9445a11f0	112
Gurvan	0:9cb9445a11f0	113	/** Get the auxiliary I2C supply voltage level.
Gurvan	0:9cb9445a11f0	114	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
Gurvan	0:9cb9445a11f0	115	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
Gurvan	0:9cb9445a11f0	116	* the MPU-6000, which does not have a VLOGIC pin.
Gurvan	0:9cb9445a11f0	117	* @return I2C supply voltage level (0=VLOGIC, 1=VDD)
Gurvan	0:9cb9445a11f0	118	*/
Gurvan	0:9cb9445a11f0	119	uint8_t MPU6050::getAuxVDDIOLevel()
Gurvan	0:9cb9445a11f0	120	{
Gurvan	0:9cb9445a11f0	121	i2Cdev.readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
Gurvan	0:9cb9445a11f0	122	return buffer[0];
Gurvan	0:9cb9445a11f0	123	}
Gurvan	0:9cb9445a11f0	124	/** Set the auxiliary I2C supply voltage level.
Gurvan	0:9cb9445a11f0	125	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
Gurvan	0:9cb9445a11f0	126	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
Gurvan	0:9cb9445a11f0	127	* the MPU-6000, which does not have a VLOGIC pin.
Gurvan	0:9cb9445a11f0	128	* @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
Gurvan	0:9cb9445a11f0	129	*/
Gurvan	0:9cb9445a11f0	130	void MPU6050::setAuxVDDIOLevel(uint8_t level)
Gurvan	0:9cb9445a11f0	131	{
Gurvan	0:9cb9445a11f0	132	i2Cdev.writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
Gurvan	0:9cb9445a11f0	133	}
Gurvan	0:9cb9445a11f0	134
Gurvan	0:9cb9445a11f0	135	// SMPLRT_DIV register
Gurvan	0:9cb9445a11f0	136
Gurvan	0:9cb9445a11f0	137	/** Get gyroscope output rate divider.
Gurvan	0:9cb9445a11f0	138	* The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
Gurvan	0:9cb9445a11f0	139	* Motion detection, and Free Fall detection are all based on the Sample Rate.
Gurvan	0:9cb9445a11f0	140	* The Sample Rate is generated by dividing the gyroscope output rate by
Gurvan	0:9cb9445a11f0	141	* SMPLRT_DIV:
Gurvan	0:9cb9445a11f0	142	*
Gurvan	0:9cb9445a11f0	143	* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
Gurvan	0:9cb9445a11f0	144	*
Gurvan	0:9cb9445a11f0	145	* where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
Gurvan	0:9cb9445a11f0	146	* 7), and 1kHz when the DLPF is enabled (see Register 26).
Gurvan	0:9cb9445a11f0	147	*
Gurvan	0:9cb9445a11f0	148	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
Gurvan	0:9cb9445a11f0	149	* Rate greater than 1kHz, the same accelerometer sample may be output to the
Gurvan	0:9cb9445a11f0	150	* FIFO, DMP, and sensor registers more than once.
Gurvan	0:9cb9445a11f0	151	*
Gurvan	0:9cb9445a11f0	152	* For a diagram of the gyroscope and accelerometer signal paths, see Section 8
Gurvan	0:9cb9445a11f0	153	* of the MPU-6000/MPU-6050 Product Specification document.
Gurvan	0:9cb9445a11f0	154	*
Gurvan	0:9cb9445a11f0	155	* @return Current sample rate
Gurvan	0:9cb9445a11f0	156	* @see MPU6050_RA_SMPLRT_DIV
Gurvan	0:9cb9445a11f0	157	*/
Gurvan	0:9cb9445a11f0	158	uint8_t MPU6050::getRate()
Gurvan	0:9cb9445a11f0	159	{
Gurvan	0:9cb9445a11f0	160	i2Cdev.readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
Gurvan	0:9cb9445a11f0	161	return buffer[0];
Gurvan	0:9cb9445a11f0	162	}
Gurvan	0:9cb9445a11f0	163	/** Set gyroscope sample rate divider.
Gurvan	0:9cb9445a11f0	164	* @param rate New sample rate divider
Gurvan	0:9cb9445a11f0	165	* @see getRate()
Gurvan	0:9cb9445a11f0	166	* @see MPU6050_RA_SMPLRT_DIV
Gurvan	0:9cb9445a11f0	167	*/
Gurvan	0:9cb9445a11f0	168	void MPU6050::setRate(uint8_t rate)
Gurvan	0:9cb9445a11f0	169	{
Gurvan	0:9cb9445a11f0	170	i2Cdev.writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
Gurvan	0:9cb9445a11f0	171	}
Gurvan	0:9cb9445a11f0	172
Gurvan	0:9cb9445a11f0	173
Gurvan	0:9cb9445a11f0	174	// CONFIG register
Gurvan	0:9cb9445a11f0	175
Gurvan	0:9cb9445a11f0	176	/** Get external FSYNC configuration.
Gurvan	0:9cb9445a11f0	177	* Configures the external Frame Synchronization (FSYNC) pin sampling. An
Gurvan	0:9cb9445a11f0	178	* external signal connected to the FSYNC pin can be sampled by configuring
Gurvan	0:9cb9445a11f0	179	* EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
Gurvan	0:9cb9445a11f0	180	* strobes may be captured. The latched FSYNC signal will be sampled at the
Gurvan	0:9cb9445a11f0	181	* Sampling Rate, as defined in register 25. After sampling, the latch will
Gurvan	0:9cb9445a11f0	182	* reset to the current FSYNC signal state.
Gurvan	0:9cb9445a11f0	183	*
Gurvan	0:9cb9445a11f0	184	* The sampled value will be reported in place of the least significant bit in
Gurvan	0:9cb9445a11f0	185	* a sensor data register determined by the value of EXT_SYNC_SET according to
Gurvan	0:9cb9445a11f0	186	* the following table.
Gurvan	0:9cb9445a11f0	187	*
Gurvan	0:9cb9445a11f0	188	* <pre>
Gurvan	0:9cb9445a11f0	189	* EXT_SYNC_SET \| FSYNC Bit Location
Gurvan	0:9cb9445a11f0	190	* -------------+-------------------
Gurvan	0:9cb9445a11f0	191	* 0 \| Input disabled
Gurvan	0:9cb9445a11f0	192	* 1 \| TEMP_OUT_L[0]
Gurvan	0:9cb9445a11f0	193	* 2 \| GYRO_XOUT_L[0]
Gurvan	0:9cb9445a11f0	194	* 3 \| GYRO_YOUT_L[0]
Gurvan	0:9cb9445a11f0	195	* 4 \| GYRO_ZOUT_L[0]
Gurvan	0:9cb9445a11f0	196	* 5 \| ACCEL_XOUT_L[0]
Gurvan	0:9cb9445a11f0	197	* 6 \| ACCEL_YOUT_L[0]
Gurvan	0:9cb9445a11f0	198	* 7 \| ACCEL_ZOUT_L[0]
Gurvan	0:9cb9445a11f0	199	* </pre>
Gurvan	0:9cb9445a11f0	200	*
Gurvan	0:9cb9445a11f0	201	* @return FSYNC configuration value
Gurvan	0:9cb9445a11f0	202	*/
Gurvan	0:9cb9445a11f0	203	uint8_t MPU6050::getExternalFrameSync()
Gurvan	0:9cb9445a11f0	204	{
Gurvan	0:9cb9445a11f0	205	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
Gurvan	0:9cb9445a11f0	206	return buffer[0];
Gurvan	0:9cb9445a11f0	207	}
Gurvan	0:9cb9445a11f0	208	/** Set external FSYNC configuration.
Gurvan	0:9cb9445a11f0	209	* @see getExternalFrameSync()
Gurvan	0:9cb9445a11f0	210	* @see MPU6050_RA_CONFIG
Gurvan	0:9cb9445a11f0	211	* @param sync New FSYNC configuration value
Gurvan	0:9cb9445a11f0	212	*/
Gurvan	0:9cb9445a11f0	213	void MPU6050::setExternalFrameSync(uint8_t sync)
Gurvan	0:9cb9445a11f0	214	{
Gurvan	0:9cb9445a11f0	215	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
Gurvan	0:9cb9445a11f0	216	}
Gurvan	0:9cb9445a11f0	217	/** Get digital low-pass filter configuration.
Gurvan	0:9cb9445a11f0	218	* The DLPF_CFG parameter sets the digital low pass filter configuration. It
Gurvan	0:9cb9445a11f0	219	* also determines the internal sampling rate used by the device as shown in
Gurvan	0:9cb9445a11f0	220	* the table below.
Gurvan	0:9cb9445a11f0	221	*
Gurvan	0:9cb9445a11f0	222	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
Gurvan	0:9cb9445a11f0	223	* Rate greater than 1kHz, the same accelerometer sample may be output to the
Gurvan	0:9cb9445a11f0	224	* FIFO, DMP, and sensor registers more than once.
Gurvan	0:9cb9445a11f0	225	*
Gurvan	0:9cb9445a11f0	226	* <pre>
Gurvan	0:9cb9445a11f0	227	* \| ACCELEROMETER \| GYROSCOPE
Gurvan	0:9cb9445a11f0	228	* DLPF_CFG \| Bandwidth \| Delay \| Bandwidth \| Delay \| Sample Rate
Gurvan	0:9cb9445a11f0	229	* ---------+-----------+--------+-----------+--------+-------------
Gurvan	0:9cb9445a11f0	230	* 0 \| 260Hz \| 0ms \| 256Hz \| 0.98ms \| 8kHz
Gurvan	0:9cb9445a11f0	231	* 1 \| 184Hz \| 2.0ms \| 188Hz \| 1.9ms \| 1kHz
Gurvan	0:9cb9445a11f0	232	* 2 \| 94Hz \| 3.0ms \| 98Hz \| 2.8ms \| 1kHz
Gurvan	0:9cb9445a11f0	233	* 3 \| 44Hz \| 4.9ms \| 42Hz \| 4.8ms \| 1kHz
Gurvan	0:9cb9445a11f0	234	* 4 \| 21Hz \| 8.5ms \| 20Hz \| 8.3ms \| 1kHz
Gurvan	0:9cb9445a11f0	235	* 5 \| 10Hz \| 13.8ms \| 10Hz \| 13.4ms \| 1kHz
Gurvan	0:9cb9445a11f0	236	* 6 \| 5Hz \| 19.0ms \| 5Hz \| 18.6ms \| 1kHz
Gurvan	0:9cb9445a11f0	237	* 7 \| -- Reserved -- \| -- Reserved -- \| Reserved
Gurvan	0:9cb9445a11f0	238	* </pre>
Gurvan	0:9cb9445a11f0	239	*
Gurvan	0:9cb9445a11f0	240	* @return DLFP configuration
Gurvan	0:9cb9445a11f0	241	* @see MPU6050_RA_CONFIG
Gurvan	0:9cb9445a11f0	242	* @see MPU6050_CFG_DLPF_CFG_BIT
Gurvan	0:9cb9445a11f0	243	* @see MPU6050_CFG_DLPF_CFG_LENGTH
Gurvan	0:9cb9445a11f0	244	*/
Gurvan	0:9cb9445a11f0	245	uint8_t MPU6050::getDLPFMode()
Gurvan	0:9cb9445a11f0	246	{
Gurvan	0:9cb9445a11f0	247	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
Gurvan	0:9cb9445a11f0	248	return buffer[0];
Gurvan	0:9cb9445a11f0	249	}
Gurvan	0:9cb9445a11f0	250	/** Set digital low-pass filter configuration.
Gurvan	0:9cb9445a11f0	251	* @param mode New DLFP configuration setting
Gurvan	0:9cb9445a11f0	252	* @see getDLPFBandwidth()
Gurvan	0:9cb9445a11f0	253	* @see MPU6050_DLPF_BW_256
Gurvan	0:9cb9445a11f0	254	* @see MPU6050_RA_CONFIG
Gurvan	0:9cb9445a11f0	255	* @see MPU6050_CFG_DLPF_CFG_BIT
Gurvan	0:9cb9445a11f0	256	* @see MPU6050_CFG_DLPF_CFG_LENGTH
Gurvan	0:9cb9445a11f0	257	*/
Gurvan	0:9cb9445a11f0	258	void MPU6050::setDLPFMode(uint8_t mode)
Gurvan	0:9cb9445a11f0	259	{
Gurvan	0:9cb9445a11f0	260	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
Gurvan	0:9cb9445a11f0	261	}
Gurvan	0:9cb9445a11f0	262
Gurvan	0:9cb9445a11f0	263	// GYRO_CONFIG register
Gurvan	0:9cb9445a11f0	264
Gurvan	0:9cb9445a11f0	265	/** Get full-scale gyroscope range.
Gurvan	0:9cb9445a11f0	266	* The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
Gurvan	0:9cb9445a11f0	267	* as described in the table below.
Gurvan	0:9cb9445a11f0	268	*
Gurvan	0:9cb9445a11f0	269	* <pre>
Gurvan	0:9cb9445a11f0	270	* 0 = +/- 250 degrees/sec
Gurvan	0:9cb9445a11f0	271	* 1 = +/- 500 degrees/sec
Gurvan	0:9cb9445a11f0	272	* 2 = +/- 1000 degrees/sec
Gurvan	0:9cb9445a11f0	273	* 3 = +/- 2000 degrees/sec
Gurvan	0:9cb9445a11f0	274	* </pre>
Gurvan	0:9cb9445a11f0	275	*
Gurvan	0:9cb9445a11f0	276	* @return Current full-scale gyroscope range setting
Gurvan	0:9cb9445a11f0	277	* @see MPU6050_GYRO_FS_250
Gurvan	0:9cb9445a11f0	278	* @see MPU6050_RA_GYRO_CONFIG
Gurvan	0:9cb9445a11f0	279	* @see MPU6050_GCONFIG_FS_SEL_BIT
Gurvan	0:9cb9445a11f0	280	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
Gurvan	0:9cb9445a11f0	281	*/
Gurvan	0:9cb9445a11f0	282	uint8_t MPU6050::getFullScaleGyroRange()
Gurvan	0:9cb9445a11f0	283	{
Gurvan	0:9cb9445a11f0	284	i2Cdev.readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
Gurvan	0:9cb9445a11f0	285	return buffer[0];
Gurvan	0:9cb9445a11f0	286	}
Gurvan	0:9cb9445a11f0	287	/** Set full-scale gyroscope range.
Gurvan	0:9cb9445a11f0	288	* @param range New full-scale gyroscope range value
Gurvan	0:9cb9445a11f0	289	* @see getFullScaleRange()
Gurvan	0:9cb9445a11f0	290	* @see MPU6050_GYRO_FS_250
Gurvan	0:9cb9445a11f0	291	* @see MPU6050_RA_GYRO_CONFIG
Gurvan	0:9cb9445a11f0	292	* @see MPU6050_GCONFIG_FS_SEL_BIT
Gurvan	0:9cb9445a11f0	293	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
Gurvan	0:9cb9445a11f0	294	*/
Gurvan	0:9cb9445a11f0	295	void MPU6050::setFullScaleGyroRange(uint8_t range)
Gurvan	0:9cb9445a11f0	296	{
Gurvan	0:9cb9445a11f0	297	i2Cdev.writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
Gurvan	0:9cb9445a11f0	298	}
Gurvan	0:9cb9445a11f0	299
Gurvan	0:9cb9445a11f0	300	// ACCEL_CONFIG register
Gurvan	0:9cb9445a11f0	301
Gurvan	0:9cb9445a11f0	302	/** Get self-test enabled setting for accelerometer X axis.
Gurvan	0:9cb9445a11f0	303	* @return Self-test enabled value
Gurvan	0:9cb9445a11f0	304	* @see MPU6050_RA_ACCEL_CONFIG
Gurvan	0:9cb9445a11f0	305	*/
Gurvan	0:9cb9445a11f0	306	bool MPU6050::getAccelXSelfTest()
Gurvan	0:9cb9445a11f0	307	{
Gurvan	0:9cb9445a11f0	308	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
Gurvan	0:9cb9445a11f0	309	return buffer[0];
Gurvan	0:9cb9445a11f0	310	}
Gurvan	0:9cb9445a11f0	311	/** Get self-test enabled setting for accelerometer X axis.
Gurvan	0:9cb9445a11f0	312	* @param enabled Self-test enabled value
Gurvan	0:9cb9445a11f0	313	* @see MPU6050_RA_ACCEL_CONFIG
Gurvan	0:9cb9445a11f0	314	*/
Gurvan	0:9cb9445a11f0	315	void MPU6050::setAccelXSelfTest(bool enabled)
Gurvan	0:9cb9445a11f0	316	{
Gurvan	0:9cb9445a11f0	317	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
Gurvan	0:9cb9445a11f0	318	}
Gurvan	0:9cb9445a11f0	319	/** Get self-test enabled value for accelerometer Y axis.
Gurvan	0:9cb9445a11f0	320	* @return Self-test enabled value
Gurvan	0:9cb9445a11f0	321	* @see MPU6050_RA_ACCEL_CONFIG
Gurvan	0:9cb9445a11f0	322	*/
Gurvan	0:9cb9445a11f0	323	bool MPU6050::getAccelYSelfTest()
Gurvan	0:9cb9445a11f0	324	{
Gurvan	0:9cb9445a11f0	325	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
Gurvan	0:9cb9445a11f0	326	return buffer[0];
Gurvan	0:9cb9445a11f0	327	}
Gurvan	0:9cb9445a11f0	328	/** Get self-test enabled value for accelerometer Y axis.
Gurvan	0:9cb9445a11f0	329	* @param enabled Self-test enabled value
Gurvan	0:9cb9445a11f0	330	* @see MPU6050_RA_ACCEL_CONFIG
Gurvan	0:9cb9445a11f0	331	*/
Gurvan	0:9cb9445a11f0	332	void MPU6050::setAccelYSelfTest(bool enabled)
Gurvan	0:9cb9445a11f0	333	{
Gurvan	0:9cb9445a11f0	334	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
Gurvan	0:9cb9445a11f0	335	}
Gurvan	0:9cb9445a11f0	336	/** Get self-test enabled value for accelerometer Z axis.
Gurvan	0:9cb9445a11f0	337	* @return Self-test enabled value
Gurvan	0:9cb9445a11f0	338	* @see MPU6050_RA_ACCEL_CONFIG
Gurvan	0:9cb9445a11f0	339	*/
Gurvan	0:9cb9445a11f0	340	bool MPU6050::getAccelZSelfTest()
Gurvan	0:9cb9445a11f0	341	{
Gurvan	0:9cb9445a11f0	342	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
Gurvan	0:9cb9445a11f0	343	return buffer[0];
Gurvan	0:9cb9445a11f0	344	}
Gurvan	0:9cb9445a11f0	345	/** Set self-test enabled value for accelerometer Z axis.
Gurvan	0:9cb9445a11f0	346	* @param enabled Self-test enabled value
Gurvan	0:9cb9445a11f0	347	* @see MPU6050_RA_ACCEL_CONFIG
Gurvan	0:9cb9445a11f0	348	*/
Gurvan	0:9cb9445a11f0	349	void MPU6050::setAccelZSelfTest(bool enabled)
Gurvan	0:9cb9445a11f0	350	{
Gurvan	0:9cb9445a11f0	351	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
Gurvan	0:9cb9445a11f0	352	}
Gurvan	0:9cb9445a11f0	353	/** Get full-scale accelerometer range.
Gurvan	0:9cb9445a11f0	354	* The FS_SEL parameter allows setting the full-scale range of the accelerometer
Gurvan	0:9cb9445a11f0	355	* sensors, as described in the table below.
Gurvan	0:9cb9445a11f0	356	*
Gurvan	0:9cb9445a11f0	357	* <pre>
Gurvan	0:9cb9445a11f0	358	* 0 = +/- 2g
Gurvan	0:9cb9445a11f0	359	* 1 = +/- 4g
Gurvan	0:9cb9445a11f0	360	* 2 = +/- 8g
Gurvan	0:9cb9445a11f0	361	* 3 = +/- 16g
Gurvan	0:9cb9445a11f0	362	* </pre>
Gurvan	0:9cb9445a11f0	363	*
Gurvan	0:9cb9445a11f0	364	* @return Current full-scale accelerometer range setting
Gurvan	0:9cb9445a11f0	365	* @see MPU6050_ACCEL_FS_2
Gurvan	0:9cb9445a11f0	366	* @see MPU6050_RA_ACCEL_CONFIG
Gurvan	0:9cb9445a11f0	367	* @see MPU6050_ACONFIG_AFS_SEL_BIT
Gurvan	0:9cb9445a11f0	368	* @see MPU6050_ACONFIG_AFS_SEL_LENGTH
Gurvan	0:9cb9445a11f0	369	*/
Gurvan	0:9cb9445a11f0	370	uint8_t MPU6050::getFullScaleAccelRange()
Gurvan	0:9cb9445a11f0	371	{
Gurvan	0:9cb9445a11f0	372	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
Gurvan	0:9cb9445a11f0	373	return buffer[0];
Gurvan	0:9cb9445a11f0	374	}
Gurvan	0:9cb9445a11f0	375	/** Set full-scale accelerometer range.
Gurvan	0:9cb9445a11f0	376	* @param range New full-scale accelerometer range setting
Gurvan	0:9cb9445a11f0	377	* @see getFullScaleAccelRange()
Gurvan	0:9cb9445a11f0	378	*/
Gurvan	0:9cb9445a11f0	379	void MPU6050::setFullScaleAccelRange(uint8_t range)
Gurvan	0:9cb9445a11f0	380	{
Gurvan	0:9cb9445a11f0	381	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
Gurvan	0:9cb9445a11f0	382	}
Gurvan	0:9cb9445a11f0	383	/** Get the high-pass filter configuration.
Gurvan	0:9cb9445a11f0	384	* The DHPF is a filter module in the path leading to motion detectors (Free
Gurvan	0:9cb9445a11f0	385	* Fall, Motion threshold, and Zero Motion). The high pass filter output is not
Gurvan	0:9cb9445a11f0	386	* available to the data registers (see Figure in Section 8 of the MPU-6000/
Gurvan	0:9cb9445a11f0	387	* MPU-6050 Product Specification document).
Gurvan	0:9cb9445a11f0	388	*
Gurvan	0:9cb9445a11f0	389	* The high pass filter has three modes:
Gurvan	0:9cb9445a11f0	390	*
Gurvan	0:9cb9445a11f0	391	* <pre>
Gurvan	0:9cb9445a11f0	392	* Reset: The filter output settles to zero within one sample. This
Gurvan	0:9cb9445a11f0	393	* effectively disables the high pass filter. This mode may be toggled
Gurvan	0:9cb9445a11f0	394	* to quickly settle the filter.
Gurvan	0:9cb9445a11f0	395	*
Gurvan	0:9cb9445a11f0	396	* On: The high pass filter will pass signals above the cut off frequency.
Gurvan	0:9cb9445a11f0	397	*
Gurvan	0:9cb9445a11f0	398	* Hold: When triggered, the filter holds the present sample. The filter
Gurvan	0:9cb9445a11f0	399	* output will be the difference between the input sample and the held
Gurvan	0:9cb9445a11f0	400	* sample.
Gurvan	0:9cb9445a11f0	401	* </pre>
Gurvan	0:9cb9445a11f0	402	*
Gurvan	0:9cb9445a11f0	403	* <pre>
Gurvan	0:9cb9445a11f0	404	* ACCEL_HPF \| Filter Mode \| Cut-off Frequency
Gurvan	0:9cb9445a11f0	405	* ----------+-------------+------------------
Gurvan	0:9cb9445a11f0	406	* 0 \| Reset \| None
Gurvan	0:9cb9445a11f0	407	* 1 \| On \| 5Hz
Gurvan	0:9cb9445a11f0	408	* 2 \| On \| 2.5Hz
Gurvan	0:9cb9445a11f0	409	* 3 \| On \| 1.25Hz
Gurvan	0:9cb9445a11f0	410	* 4 \| On \| 0.63Hz
Gurvan	0:9cb9445a11f0	411	* 7 \| Hold \| None
Gurvan	0:9cb9445a11f0	412	* </pre>
Gurvan	0:9cb9445a11f0	413	*
Gurvan	0:9cb9445a11f0	414	* @return Current high-pass filter configuration
Gurvan	0:9cb9445a11f0	415	* @see MPU6050_DHPF_RESET
Gurvan	0:9cb9445a11f0	416	* @see MPU6050_RA_ACCEL_CONFIG
Gurvan	0:9cb9445a11f0	417	*/
Gurvan	0:9cb9445a11f0	418	uint8_t MPU6050::getDHPFMode()
Gurvan	0:9cb9445a11f0	419	{
Gurvan	0:9cb9445a11f0	420	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
Gurvan	0:9cb9445a11f0	421	return buffer[0];
Gurvan	0:9cb9445a11f0	422	}
Gurvan	0:9cb9445a11f0	423	/** Set the high-pass filter configuration.
Gurvan	0:9cb9445a11f0	424	* @param bandwidth New high-pass filter configuration
Gurvan	0:9cb9445a11f0	425	* @see setDHPFMode()
Gurvan	0:9cb9445a11f0	426	* @see MPU6050_DHPF_RESET
Gurvan	0:9cb9445a11f0	427	* @see MPU6050_RA_ACCEL_CONFIG
Gurvan	0:9cb9445a11f0	428	*/
Gurvan	0:9cb9445a11f0	429	void MPU6050::setDHPFMode(uint8_t bandwidth)
Gurvan	0:9cb9445a11f0	430	{
Gurvan	0:9cb9445a11f0	431	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
Gurvan	0:9cb9445a11f0	432	}
Gurvan	0:9cb9445a11f0	433
Gurvan	0:9cb9445a11f0	434	// FF_THR register
Gurvan	0:9cb9445a11f0	435
Gurvan	0:9cb9445a11f0	436	/** Get free-fall event acceleration threshold.
Gurvan	0:9cb9445a11f0	437	* This register configures the detection threshold for Free Fall event
Gurvan	0:9cb9445a11f0	438	* detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
Gurvan	0:9cb9445a11f0	439	* absolute value of the accelerometer measurements for the three axes are each
Gurvan	0:9cb9445a11f0	440	* less than the detection threshold. This condition increments the Free Fall
Gurvan	0:9cb9445a11f0	441	* duration counter (Register 30). The Free Fall interrupt is triggered when the
Gurvan	0:9cb9445a11f0	442	* Free Fall duration counter reaches the time specified in FF_DUR.
Gurvan	0:9cb9445a11f0	443	*
Gurvan	0:9cb9445a11f0	444	* For more details on the Free Fall detection interrupt, see Section 8.2 of the
Gurvan	0:9cb9445a11f0	445	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
Gurvan	0:9cb9445a11f0	446	* 58 of this document.
Gurvan	0:9cb9445a11f0	447	*
Gurvan	0:9cb9445a11f0	448	* @return Current free-fall acceleration threshold value (LSB = 2mg)
Gurvan	0:9cb9445a11f0	449	* @see MPU6050_RA_FF_THR
Gurvan	0:9cb9445a11f0	450	*/
Gurvan	0:9cb9445a11f0	451	uint8_t MPU6050::getFreefallDetectionThreshold()
Gurvan	0:9cb9445a11f0	452	{
Gurvan	0:9cb9445a11f0	453	i2Cdev.readByte(devAddr, MPU6050_RA_FF_THR, buffer);
Gurvan	0:9cb9445a11f0	454	return buffer[0];
Gurvan	0:9cb9445a11f0	455	}
Gurvan	0:9cb9445a11f0	456	/** Get free-fall event acceleration threshold.
Gurvan	0:9cb9445a11f0	457	* @param threshold New free-fall acceleration threshold value (LSB = 2mg)
Gurvan	0:9cb9445a11f0	458	* @see getFreefallDetectionThreshold()
Gurvan	0:9cb9445a11f0	459	* @see MPU6050_RA_FF_THR
Gurvan	0:9cb9445a11f0	460	*/
Gurvan	0:9cb9445a11f0	461	void MPU6050::setFreefallDetectionThreshold(uint8_t threshold)
Gurvan	0:9cb9445a11f0	462	{
Gurvan	0:9cb9445a11f0	463	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
Gurvan	0:9cb9445a11f0	464	}
Gurvan	0:9cb9445a11f0	465
Gurvan	0:9cb9445a11f0	466	// FF_DUR register
Gurvan	0:9cb9445a11f0	467
Gurvan	0:9cb9445a11f0	468	/** Get free-fall event duration threshold.
Gurvan	0:9cb9445a11f0	469	* This register configures the duration counter threshold for Free Fall event
Gurvan	0:9cb9445a11f0	470	* detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
Gurvan	0:9cb9445a11f0	471	* of 1 LSB = 1 ms.
Gurvan	0:9cb9445a11f0	472	*
Gurvan	0:9cb9445a11f0	473	* The Free Fall duration counter increments while the absolute value of the
Gurvan	0:9cb9445a11f0	474	* accelerometer measurements are each less than the detection threshold
Gurvan	0:9cb9445a11f0	475	* (Register 29). The Free Fall interrupt is triggered when the Free Fall
Gurvan	0:9cb9445a11f0	476	* duration counter reaches the time specified in this register.
Gurvan	0:9cb9445a11f0	477	*
Gurvan	0:9cb9445a11f0	478	* For more details on the Free Fall detection interrupt, see Section 8.2 of
Gurvan	0:9cb9445a11f0	479	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
Gurvan	0:9cb9445a11f0	480	* and 58 of this document.
Gurvan	0:9cb9445a11f0	481	*
Gurvan	0:9cb9445a11f0	482	* @return Current free-fall duration threshold value (LSB = 1ms)
Gurvan	0:9cb9445a11f0	483	* @see MPU6050_RA_FF_DUR
Gurvan	0:9cb9445a11f0	484	*/
Gurvan	0:9cb9445a11f0	485	uint8_t MPU6050::getFreefallDetectionDuration()
Gurvan	0:9cb9445a11f0	486	{
Gurvan	0:9cb9445a11f0	487	i2Cdev.readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
Gurvan	0:9cb9445a11f0	488	return buffer[0];
Gurvan	0:9cb9445a11f0	489	}
Gurvan	0:9cb9445a11f0	490	/** Get free-fall event duration threshold.
Gurvan	0:9cb9445a11f0	491	* @param duration New free-fall duration threshold value (LSB = 1ms)
Gurvan	0:9cb9445a11f0	492	* @see getFreefallDetectionDuration()
Gurvan	0:9cb9445a11f0	493	* @see MPU6050_RA_FF_DUR
Gurvan	0:9cb9445a11f0	494	*/
Gurvan	0:9cb9445a11f0	495	void MPU6050::setFreefallDetectionDuration(uint8_t duration)
Gurvan	0:9cb9445a11f0	496	{
Gurvan	0:9cb9445a11f0	497	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
Gurvan	0:9cb9445a11f0	498	}
Gurvan	0:9cb9445a11f0	499
Gurvan	0:9cb9445a11f0	500	// MOT_THR register
Gurvan	0:9cb9445a11f0	501
Gurvan	0:9cb9445a11f0	502	/** Get motion detection event acceleration threshold.
Gurvan	0:9cb9445a11f0	503	* This register configures the detection threshold for Motion interrupt
Gurvan	0:9cb9445a11f0	504	* generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
Gurvan	0:9cb9445a11f0	505	* absolute value of any of the accelerometer measurements exceeds this Motion
Gurvan	0:9cb9445a11f0	506	* detection threshold. This condition increments the Motion detection duration
Gurvan	0:9cb9445a11f0	507	* counter (Register 32). The Motion detection interrupt is triggered when the
Gurvan	0:9cb9445a11f0	508	* Motion Detection counter reaches the time count specified in MOT_DUR
Gurvan	0:9cb9445a11f0	509	* (Register 32).
Gurvan	0:9cb9445a11f0	510	*
Gurvan	0:9cb9445a11f0	511	* The Motion interrupt will indicate the axis and polarity of detected motion
Gurvan	0:9cb9445a11f0	512	* in MOT_DETECT_STATUS (Register 97).
Gurvan	0:9cb9445a11f0	513	*
Gurvan	0:9cb9445a11f0	514	* For more details on the Motion detection interrupt, see Section 8.3 of the
Gurvan	0:9cb9445a11f0	515	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
Gurvan	0:9cb9445a11f0	516	* 58 of this document.
Gurvan	0:9cb9445a11f0	517	*
Gurvan	0:9cb9445a11f0	518	* @return Current motion detection acceleration threshold value (LSB = 2mg)
Gurvan	0:9cb9445a11f0	519	* @see MPU6050_RA_MOT_THR
Gurvan	0:9cb9445a11f0	520	*/
Gurvan	0:9cb9445a11f0	521	uint8_t MPU6050::getMotionDetectionThreshold()
Gurvan	0:9cb9445a11f0	522	{
Gurvan	0:9cb9445a11f0	523	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
Gurvan	0:9cb9445a11f0	524	return buffer[0];
Gurvan	0:9cb9445a11f0	525	}
Gurvan	0:9cb9445a11f0	526	/** Set free-fall event acceleration threshold.
Gurvan	0:9cb9445a11f0	527	* @param threshold New motion detection acceleration threshold value (LSB = 2mg)
Gurvan	0:9cb9445a11f0	528	* @see getMotionDetectionThreshold()
Gurvan	0:9cb9445a11f0	529	* @see MPU6050_RA_MOT_THR
Gurvan	0:9cb9445a11f0	530	*/
Gurvan	0:9cb9445a11f0	531	void MPU6050::setMotionDetectionThreshold(uint8_t threshold)
Gurvan	0:9cb9445a11f0	532	{
Gurvan	0:9cb9445a11f0	533	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
Gurvan	0:9cb9445a11f0	534	}
Gurvan	0:9cb9445a11f0	535
Gurvan	0:9cb9445a11f0	536	// MOT_DUR register
Gurvan	0:9cb9445a11f0	537
Gurvan	0:9cb9445a11f0	538	/** Get motion detection event duration threshold.
Gurvan	0:9cb9445a11f0	539	* This register configures the duration counter threshold for Motion interrupt
Gurvan	0:9cb9445a11f0	540	* generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
Gurvan	0:9cb9445a11f0	541	* of 1LSB = 1ms. The Motion detection duration counter increments when the
Gurvan	0:9cb9445a11f0	542	* absolute value of any of the accelerometer measurements exceeds the Motion
Gurvan	0:9cb9445a11f0	543	* detection threshold (Register 31). The Motion detection interrupt is
Gurvan	0:9cb9445a11f0	544	* triggered when the Motion detection counter reaches the time count specified
Gurvan	0:9cb9445a11f0	545	* in this register.
Gurvan	0:9cb9445a11f0	546	*
Gurvan	0:9cb9445a11f0	547	* For more details on the Motion detection interrupt, see Section 8.3 of the
Gurvan	0:9cb9445a11f0	548	* MPU-6000/MPU-6050 Product Specification document.
Gurvan	0:9cb9445a11f0	549	*
Gurvan	0:9cb9445a11f0	550	* @return Current motion detection duration threshold value (LSB = 1ms)
Gurvan	0:9cb9445a11f0	551	* @see MPU6050_RA_MOT_DUR
Gurvan	0:9cb9445a11f0	552	*/
Gurvan	0:9cb9445a11f0	553	uint8_t MPU6050::getMotionDetectionDuration()
Gurvan	0:9cb9445a11f0	554	{
Gurvan	0:9cb9445a11f0	555	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
Gurvan	0:9cb9445a11f0	556	return buffer[0];
Gurvan	0:9cb9445a11f0	557	}
Gurvan	0:9cb9445a11f0	558	/** Set motion detection event duration threshold.
Gurvan	0:9cb9445a11f0	559	* @param duration New motion detection duration threshold value (LSB = 1ms)
Gurvan	0:9cb9445a11f0	560	* @see getMotionDetectionDuration()
Gurvan	0:9cb9445a11f0	561	* @see MPU6050_RA_MOT_DUR
Gurvan	0:9cb9445a11f0	562	*/
Gurvan	0:9cb9445a11f0	563	void MPU6050::setMotionDetectionDuration(uint8_t duration)
Gurvan	0:9cb9445a11f0	564	{
Gurvan	0:9cb9445a11f0	565	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
Gurvan	0:9cb9445a11f0	566	}
Gurvan	0:9cb9445a11f0	567
Gurvan	0:9cb9445a11f0	568	// ZRMOT_THR register
Gurvan	0:9cb9445a11f0	569
Gurvan	0:9cb9445a11f0	570	/** Get zero motion detection event acceleration threshold.
Gurvan	0:9cb9445a11f0	571	* This register configures the detection threshold for Zero Motion interrupt
Gurvan	0:9cb9445a11f0	572	* generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
Gurvan	0:9cb9445a11f0	573	* the absolute value of the accelerometer measurements for the 3 axes are each
Gurvan	0:9cb9445a11f0	574	* less than the detection threshold. This condition increments the Zero Motion
Gurvan	0:9cb9445a11f0	575	* duration counter (Register 34). The Zero Motion interrupt is triggered when
Gurvan	0:9cb9445a11f0	576	* the Zero Motion duration counter reaches the time count specified in
Gurvan	0:9cb9445a11f0	577	* ZRMOT_DUR (Register 34).
Gurvan	0:9cb9445a11f0	578	*
Gurvan	0:9cb9445a11f0	579	* Unlike Free Fall or Motion detection, Zero Motion detection triggers an
Gurvan	0:9cb9445a11f0	580	* interrupt both when Zero Motion is first detected and when Zero Motion is no
Gurvan	0:9cb9445a11f0	581	* longer detected.
Gurvan	0:9cb9445a11f0	582	*
Gurvan	0:9cb9445a11f0	583	* When a zero motion event is detected, a Zero Motion Status will be indicated
Gurvan	0:9cb9445a11f0	584	* in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
Gurvan	0:9cb9445a11f0	585	* condition is detected, the status bit is set to 1. When a zero-motion-to-
Gurvan	0:9cb9445a11f0	586	* motion condition is detected, the status bit is set to 0.
Gurvan	0:9cb9445a11f0	587	*
Gurvan	0:9cb9445a11f0	588	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
Gurvan	0:9cb9445a11f0	589	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
Gurvan	0:9cb9445a11f0	590	* and 58 of this document.
Gurvan	0:9cb9445a11f0	591	*
Gurvan	0:9cb9445a11f0	592	* @return Current zero motion detection acceleration threshold value (LSB = 2mg)
Gurvan	0:9cb9445a11f0	593	* @see MPU6050_RA_ZRMOT_THR
Gurvan	0:9cb9445a11f0	594	*/
Gurvan	0:9cb9445a11f0	595	uint8_t MPU6050::getZeroMotionDetectionThreshold()
Gurvan	0:9cb9445a11f0	596	{
Gurvan	0:9cb9445a11f0	597	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
Gurvan	0:9cb9445a11f0	598	return buffer[0];
Gurvan	0:9cb9445a11f0	599	}
Gurvan	0:9cb9445a11f0	600	/** Set zero motion detection event acceleration threshold.
Gurvan	0:9cb9445a11f0	601	* @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
Gurvan	0:9cb9445a11f0	602	* @see getZeroMotionDetectionThreshold()
Gurvan	0:9cb9445a11f0	603	* @see MPU6050_RA_ZRMOT_THR
Gurvan	0:9cb9445a11f0	604	*/
Gurvan	0:9cb9445a11f0	605	void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold)
Gurvan	0:9cb9445a11f0	606	{
Gurvan	0:9cb9445a11f0	607	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
Gurvan	0:9cb9445a11f0	608	}
Gurvan	0:9cb9445a11f0	609
Gurvan	0:9cb9445a11f0	610	// ZRMOT_DUR register
Gurvan	0:9cb9445a11f0	611
Gurvan	0:9cb9445a11f0	612	/** Get zero motion detection event duration threshold.
Gurvan	0:9cb9445a11f0	613	* This register configures the duration counter threshold for Zero Motion
Gurvan	0:9cb9445a11f0	614	* interrupt generation. The duration counter ticks at 16 Hz, therefore
Gurvan	0:9cb9445a11f0	615	* ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
Gurvan	0:9cb9445a11f0	616	* increments while the absolute value of the accelerometer measurements are
Gurvan	0:9cb9445a11f0	617	* each less than the detection threshold (Register 33). The Zero Motion
Gurvan	0:9cb9445a11f0	618	* interrupt is triggered when the Zero Motion duration counter reaches the time
Gurvan	0:9cb9445a11f0	619	* count specified in this register.
Gurvan	0:9cb9445a11f0	620	*
Gurvan	0:9cb9445a11f0	621	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
Gurvan	0:9cb9445a11f0	622	* the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
Gurvan	0:9cb9445a11f0	623	* and 58 of this document.
Gurvan	0:9cb9445a11f0	624	*
Gurvan	0:9cb9445a11f0	625	* @return Current zero motion detection duration threshold value (LSB = 64ms)
Gurvan	0:9cb9445a11f0	626	* @see MPU6050_RA_ZRMOT_DUR
Gurvan	0:9cb9445a11f0	627	*/
Gurvan	0:9cb9445a11f0	628	uint8_t MPU6050::getZeroMotionDetectionDuration()
Gurvan	0:9cb9445a11f0	629	{
Gurvan	0:9cb9445a11f0	630	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
Gurvan	0:9cb9445a11f0	631	return buffer[0];
Gurvan	0:9cb9445a11f0	632	}
Gurvan	0:9cb9445a11f0	633	/** Set zero motion detection event duration threshold.
Gurvan	0:9cb9445a11f0	634	* @param duration New zero motion detection duration threshold value (LSB = 1ms)
Gurvan	0:9cb9445a11f0	635	* @see getZeroMotionDetectionDuration()
Gurvan	0:9cb9445a11f0	636	* @see MPU6050_RA_ZRMOT_DUR
Gurvan	0:9cb9445a11f0	637	*/
Gurvan	0:9cb9445a11f0	638	void MPU6050::setZeroMotionDetectionDuration(uint8_t duration)
Gurvan	0:9cb9445a11f0	639	{
Gurvan	0:9cb9445a11f0	640	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
Gurvan	0:9cb9445a11f0	641	}
Gurvan	0:9cb9445a11f0	642
Gurvan	0:9cb9445a11f0	643	// FIFO_EN register
Gurvan	0:9cb9445a11f0	644
Gurvan	0:9cb9445a11f0	645	/** Get temperature FIFO enabled value.
Gurvan	0:9cb9445a11f0	646	* When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
Gurvan	0:9cb9445a11f0	647	* 66) to be written into the FIFO buffer.
Gurvan	0:9cb9445a11f0	648	* @return Current temperature FIFO enabled value
Gurvan	0:9cb9445a11f0	649	* @see MPU6050_RA_FIFO_EN
Gurvan	0:9cb9445a11f0	650	*/
Gurvan	0:9cb9445a11f0	651	bool MPU6050::getTempFIFOEnabled()
Gurvan	0:9cb9445a11f0	652	{
Gurvan	0:9cb9445a11f0	653	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
Gurvan	0:9cb9445a11f0	654	return buffer[0];
Gurvan	0:9cb9445a11f0	655	}
Gurvan	0:9cb9445a11f0	656	/** Set temperature FIFO enabled value.
Gurvan	0:9cb9445a11f0	657	* @param enabled New temperature FIFO enabled value
Gurvan	0:9cb9445a11f0	658	* @see getTempFIFOEnabled()
Gurvan	0:9cb9445a11f0	659	* @see MPU6050_RA_FIFO_EN
Gurvan	0:9cb9445a11f0	660	*/
Gurvan	0:9cb9445a11f0	661	void MPU6050::setTempFIFOEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	662	{
Gurvan	0:9cb9445a11f0	663	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
Gurvan	0:9cb9445a11f0	664	}
Gurvan	0:9cb9445a11f0	665	/** Get gyroscope X-axis FIFO enabled value.
Gurvan	0:9cb9445a11f0	666	* When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
Gurvan	0:9cb9445a11f0	667	* 68) to be written into the FIFO buffer.
Gurvan	0:9cb9445a11f0	668	* @return Current gyroscope X-axis FIFO enabled value
Gurvan	0:9cb9445a11f0	669	* @see MPU6050_RA_FIFO_EN
Gurvan	0:9cb9445a11f0	670	*/
Gurvan	0:9cb9445a11f0	671	bool MPU6050::getXGyroFIFOEnabled()
Gurvan	0:9cb9445a11f0	672	{
Gurvan	0:9cb9445a11f0	673	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
Gurvan	0:9cb9445a11f0	674	return buffer[0];
Gurvan	0:9cb9445a11f0	675	}
Gurvan	0:9cb9445a11f0	676	/** Set gyroscope X-axis FIFO enabled value.
Gurvan	0:9cb9445a11f0	677	* @param enabled New gyroscope X-axis FIFO enabled value
Gurvan	0:9cb9445a11f0	678	* @see getXGyroFIFOEnabled()
Gurvan	0:9cb9445a11f0	679	* @see MPU6050_RA_FIFO_EN
Gurvan	0:9cb9445a11f0	680	*/
Gurvan	0:9cb9445a11f0	681	void MPU6050::setXGyroFIFOEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	682	{
Gurvan	0:9cb9445a11f0	683	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
Gurvan	0:9cb9445a11f0	684	}
Gurvan	0:9cb9445a11f0	685	/** Get gyroscope Y-axis FIFO enabled value.
Gurvan	0:9cb9445a11f0	686	* When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
Gurvan	0:9cb9445a11f0	687	* 70) to be written into the FIFO buffer.
Gurvan	0:9cb9445a11f0	688	* @return Current gyroscope Y-axis FIFO enabled value
Gurvan	0:9cb9445a11f0	689	* @see MPU6050_RA_FIFO_EN
Gurvan	0:9cb9445a11f0	690	*/
Gurvan	0:9cb9445a11f0	691	bool MPU6050::getYGyroFIFOEnabled()
Gurvan	0:9cb9445a11f0	692	{
Gurvan	0:9cb9445a11f0	693	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
Gurvan	0:9cb9445a11f0	694	return buffer[0];
Gurvan	0:9cb9445a11f0	695	}
Gurvan	0:9cb9445a11f0	696	/** Set gyroscope Y-axis FIFO enabled value.
Gurvan	0:9cb9445a11f0	697	* @param enabled New gyroscope Y-axis FIFO enabled value
Gurvan	0:9cb9445a11f0	698	* @see getYGyroFIFOEnabled()
Gurvan	0:9cb9445a11f0	699	* @see MPU6050_RA_FIFO_EN
Gurvan	0:9cb9445a11f0	700	*/
Gurvan	0:9cb9445a11f0	701	void MPU6050::setYGyroFIFOEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	702	{
Gurvan	0:9cb9445a11f0	703	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
Gurvan	0:9cb9445a11f0	704	}
Gurvan	0:9cb9445a11f0	705	/** Get gyroscope Z-axis FIFO enabled value.
Gurvan	0:9cb9445a11f0	706	* When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
Gurvan	0:9cb9445a11f0	707	* 72) to be written into the FIFO buffer.
Gurvan	0:9cb9445a11f0	708	* @return Current gyroscope Z-axis FIFO enabled value
Gurvan	0:9cb9445a11f0	709	* @see MPU6050_RA_FIFO_EN
Gurvan	0:9cb9445a11f0	710	*/
Gurvan	0:9cb9445a11f0	711	bool MPU6050::getZGyroFIFOEnabled()
Gurvan	0:9cb9445a11f0	712	{
Gurvan	0:9cb9445a11f0	713	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
Gurvan	0:9cb9445a11f0	714	return buffer[0];
Gurvan	0:9cb9445a11f0	715	}
Gurvan	0:9cb9445a11f0	716	/** Set gyroscope Z-axis FIFO enabled value.
Gurvan	0:9cb9445a11f0	717	* @param enabled New gyroscope Z-axis FIFO enabled value
Gurvan	0:9cb9445a11f0	718	* @see getZGyroFIFOEnabled()
Gurvan	0:9cb9445a11f0	719	* @see MPU6050_RA_FIFO_EN
Gurvan	0:9cb9445a11f0	720	*/
Gurvan	0:9cb9445a11f0	721	void MPU6050::setZGyroFIFOEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	722	{
Gurvan	0:9cb9445a11f0	723	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
Gurvan	0:9cb9445a11f0	724	}
Gurvan	0:9cb9445a11f0	725	/** Get accelerometer FIFO enabled value.
Gurvan	0:9cb9445a11f0	726	* When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
Gurvan	0:9cb9445a11f0	727	* ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
Gurvan	0:9cb9445a11f0	728	* written into the FIFO buffer.
Gurvan	0:9cb9445a11f0	729	* @return Current accelerometer FIFO enabled value
Gurvan	0:9cb9445a11f0	730	* @see MPU6050_RA_FIFO_EN
Gurvan	0:9cb9445a11f0	731	*/
Gurvan	0:9cb9445a11f0	732	bool MPU6050::getAccelFIFOEnabled()
Gurvan	0:9cb9445a11f0	733	{
Gurvan	0:9cb9445a11f0	734	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
Gurvan	0:9cb9445a11f0	735	return buffer[0];
Gurvan	0:9cb9445a11f0	736	}
Gurvan	0:9cb9445a11f0	737	/** Set accelerometer FIFO enabled value.
Gurvan	0:9cb9445a11f0	738	* @param enabled New accelerometer FIFO enabled value
Gurvan	0:9cb9445a11f0	739	* @see getAccelFIFOEnabled()
Gurvan	0:9cb9445a11f0	740	* @see MPU6050_RA_FIFO_EN
Gurvan	0:9cb9445a11f0	741	*/
Gurvan	0:9cb9445a11f0	742	void MPU6050::setAccelFIFOEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	743	{
Gurvan	0:9cb9445a11f0	744	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
Gurvan	0:9cb9445a11f0	745	}
Gurvan	0:9cb9445a11f0	746	/** Get Slave 2 FIFO enabled value.
Gurvan	0:9cb9445a11f0	747	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
Gurvan	0:9cb9445a11f0	748	* associated with Slave 2 to be written into the FIFO buffer.
Gurvan	0:9cb9445a11f0	749	* @return Current Slave 2 FIFO enabled value
Gurvan	0:9cb9445a11f0	750	* @see MPU6050_RA_FIFO_EN
Gurvan	0:9cb9445a11f0	751	*/
Gurvan	0:9cb9445a11f0	752	bool MPU6050::getSlave2FIFOEnabled()
Gurvan	0:9cb9445a11f0	753	{
Gurvan	0:9cb9445a11f0	754	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
Gurvan	0:9cb9445a11f0	755	return buffer[0];
Gurvan	0:9cb9445a11f0	756	}
Gurvan	0:9cb9445a11f0	757	/** Set Slave 2 FIFO enabled value.
Gurvan	0:9cb9445a11f0	758	* @param enabled New Slave 2 FIFO enabled value
Gurvan	0:9cb9445a11f0	759	* @see getSlave2FIFOEnabled()
Gurvan	0:9cb9445a11f0	760	* @see MPU6050_RA_FIFO_EN
Gurvan	0:9cb9445a11f0	761	*/
Gurvan	0:9cb9445a11f0	762	void MPU6050::setSlave2FIFOEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	763	{
Gurvan	0:9cb9445a11f0	764	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
Gurvan	0:9cb9445a11f0	765	}
Gurvan	0:9cb9445a11f0	766	/** Get Slave 1 FIFO enabled value.
Gurvan	0:9cb9445a11f0	767	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
Gurvan	0:9cb9445a11f0	768	* associated with Slave 1 to be written into the FIFO buffer.
Gurvan	0:9cb9445a11f0	769	* @return Current Slave 1 FIFO enabled value
Gurvan	0:9cb9445a11f0	770	* @see MPU6050_RA_FIFO_EN
Gurvan	0:9cb9445a11f0	771	*/
Gurvan	0:9cb9445a11f0	772	bool MPU6050::getSlave1FIFOEnabled()
Gurvan	0:9cb9445a11f0	773	{
Gurvan	0:9cb9445a11f0	774	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
Gurvan	0:9cb9445a11f0	775	return buffer[0];
Gurvan	0:9cb9445a11f0	776	}
Gurvan	0:9cb9445a11f0	777	/** Set Slave 1 FIFO enabled value.
Gurvan	0:9cb9445a11f0	778	* @param enabled New Slave 1 FIFO enabled value
Gurvan	0:9cb9445a11f0	779	* @see getSlave1FIFOEnabled()
Gurvan	0:9cb9445a11f0	780	* @see MPU6050_RA_FIFO_EN
Gurvan	0:9cb9445a11f0	781	*/
Gurvan	0:9cb9445a11f0	782	void MPU6050::setSlave1FIFOEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	783	{
Gurvan	0:9cb9445a11f0	784	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
Gurvan	0:9cb9445a11f0	785	}
Gurvan	0:9cb9445a11f0	786	/** Get Slave 0 FIFO enabled value.
Gurvan	0:9cb9445a11f0	787	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
Gurvan	0:9cb9445a11f0	788	* associated with Slave 0 to be written into the FIFO buffer.
Gurvan	0:9cb9445a11f0	789	* @return Current Slave 0 FIFO enabled value
Gurvan	0:9cb9445a11f0	790	* @see MPU6050_RA_FIFO_EN
Gurvan	0:9cb9445a11f0	791	*/
Gurvan	0:9cb9445a11f0	792	bool MPU6050::getSlave0FIFOEnabled()
Gurvan	0:9cb9445a11f0	793	{
Gurvan	0:9cb9445a11f0	794	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
Gurvan	0:9cb9445a11f0	795	return buffer[0];
Gurvan	0:9cb9445a11f0	796	}
Gurvan	0:9cb9445a11f0	797	/** Set Slave 0 FIFO enabled value.
Gurvan	0:9cb9445a11f0	798	* @param enabled New Slave 0 FIFO enabled value
Gurvan	0:9cb9445a11f0	799	* @see getSlave0FIFOEnabled()
Gurvan	0:9cb9445a11f0	800	* @see MPU6050_RA_FIFO_EN
Gurvan	0:9cb9445a11f0	801	*/
Gurvan	0:9cb9445a11f0	802	void MPU6050::setSlave0FIFOEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	803	{
Gurvan	0:9cb9445a11f0	804	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
Gurvan	0:9cb9445a11f0	805	}
Gurvan	0:9cb9445a11f0	806
Gurvan	0:9cb9445a11f0	807	// I2C_MST_CTRL register
Gurvan	0:9cb9445a11f0	808
Gurvan	0:9cb9445a11f0	809	/** Get multi-master enabled value.
Gurvan	0:9cb9445a11f0	810	* Multi-master capability allows multiple I2C masters to operate on the same
Gurvan	0:9cb9445a11f0	811	* bus. In circuits where multi-master capability is required, set MULT_MST_EN
Gurvan	0:9cb9445a11f0	812	* to 1. This will increase current drawn by approximately 30uA.
Gurvan	0:9cb9445a11f0	813	*
Gurvan	0:9cb9445a11f0	814	* In circuits where multi-master capability is required, the state of the I2C
Gurvan	0:9cb9445a11f0	815	* bus must always be monitored by each separate I2C Master. Before an I2C
Gurvan	0:9cb9445a11f0	816	* Master can assume arbitration of the bus, it must first confirm that no other
Gurvan	0:9cb9445a11f0	817	* I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
Gurvan	0:9cb9445a11f0	818	* MPU-60X0's bus arbitration detection logic is turned on, enabling it to
Gurvan	0:9cb9445a11f0	819	* detect when the bus is available.
Gurvan	0:9cb9445a11f0	820	*
Gurvan	0:9cb9445a11f0	821	* @return Current multi-master enabled value
Gurvan	0:9cb9445a11f0	822	* @see MPU6050_RA_I2C_MST_CTRL
Gurvan	0:9cb9445a11f0	823	*/
Gurvan	0:9cb9445a11f0	824	bool MPU6050::getMultiMasterEnabled()
Gurvan	0:9cb9445a11f0	825	{
Gurvan	0:9cb9445a11f0	826	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
Gurvan	0:9cb9445a11f0	827	return buffer[0];
Gurvan	0:9cb9445a11f0	828	}
Gurvan	0:9cb9445a11f0	829	/** Set multi-master enabled value.
Gurvan	0:9cb9445a11f0	830	* @param enabled New multi-master enabled value
Gurvan	0:9cb9445a11f0	831	* @see getMultiMasterEnabled()
Gurvan	0:9cb9445a11f0	832	* @see MPU6050_RA_I2C_MST_CTRL
Gurvan	0:9cb9445a11f0	833	*/
Gurvan	0:9cb9445a11f0	834	void MPU6050::setMultiMasterEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	835	{
Gurvan	0:9cb9445a11f0	836	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
Gurvan	0:9cb9445a11f0	837	}
Gurvan	0:9cb9445a11f0	838	/** Get wait-for-external-sensor-data enabled value.
Gurvan	0:9cb9445a11f0	839	* When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
Gurvan	0:9cb9445a11f0	840	* delayed until External Sensor data from the Slave Devices are loaded into the
Gurvan	0:9cb9445a11f0	841	* EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
Gurvan	0:9cb9445a11f0	842	* data (i.e. from gyro and accel) and external sensor data have been loaded to
Gurvan	0:9cb9445a11f0	843	* their respective data registers (i.e. the data is synced) when the Data Ready
Gurvan	0:9cb9445a11f0	844	* interrupt is triggered.
Gurvan	0:9cb9445a11f0	845	*
Gurvan	0:9cb9445a11f0	846	* @return Current wait-for-external-sensor-data enabled value
Gurvan	0:9cb9445a11f0	847	* @see MPU6050_RA_I2C_MST_CTRL
Gurvan	0:9cb9445a11f0	848	*/
Gurvan	0:9cb9445a11f0	849	bool MPU6050::getWaitForExternalSensorEnabled()
Gurvan	0:9cb9445a11f0	850	{
Gurvan	0:9cb9445a11f0	851	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
Gurvan	0:9cb9445a11f0	852	return buffer[0];
Gurvan	0:9cb9445a11f0	853	}
Gurvan	0:9cb9445a11f0	854	/** Set wait-for-external-sensor-data enabled value.
Gurvan	0:9cb9445a11f0	855	* @param enabled New wait-for-external-sensor-data enabled value
Gurvan	0:9cb9445a11f0	856	* @see getWaitForExternalSensorEnabled()
Gurvan	0:9cb9445a11f0	857	* @see MPU6050_RA_I2C_MST_CTRL
Gurvan	0:9cb9445a11f0	858	*/
Gurvan	0:9cb9445a11f0	859	void MPU6050::setWaitForExternalSensorEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	860	{
Gurvan	0:9cb9445a11f0	861	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
Gurvan	0:9cb9445a11f0	862	}
Gurvan	0:9cb9445a11f0	863	/** Get Slave 3 FIFO enabled value.
Gurvan	0:9cb9445a11f0	864	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
Gurvan	0:9cb9445a11f0	865	* associated with Slave 3 to be written into the FIFO buffer.
Gurvan	0:9cb9445a11f0	866	* @return Current Slave 3 FIFO enabled value
Gurvan	0:9cb9445a11f0	867	* @see MPU6050_RA_MST_CTRL
Gurvan	0:9cb9445a11f0	868	*/
Gurvan	0:9cb9445a11f0	869	bool MPU6050::getSlave3FIFOEnabled()
Gurvan	0:9cb9445a11f0	870	{
Gurvan	0:9cb9445a11f0	871	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
Gurvan	0:9cb9445a11f0	872	return buffer[0];
Gurvan	0:9cb9445a11f0	873	}
Gurvan	0:9cb9445a11f0	874	/** Set Slave 3 FIFO enabled value.
Gurvan	0:9cb9445a11f0	875	* @param enabled New Slave 3 FIFO enabled value
Gurvan	0:9cb9445a11f0	876	* @see getSlave3FIFOEnabled()
Gurvan	0:9cb9445a11f0	877	* @see MPU6050_RA_MST_CTRL
Gurvan	0:9cb9445a11f0	878	*/
Gurvan	0:9cb9445a11f0	879	void MPU6050::setSlave3FIFOEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	880	{
Gurvan	0:9cb9445a11f0	881	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
Gurvan	0:9cb9445a11f0	882	}
Gurvan	0:9cb9445a11f0	883	/** Get slave read/write transition enabled value.
Gurvan	0:9cb9445a11f0	884	* The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
Gurvan	0:9cb9445a11f0	885	* read to the next slave read. If the bit equals 0, there will be a restart
Gurvan	0:9cb9445a11f0	886	* between reads. If the bit equals 1, there will be a stop followed by a start
Gurvan	0:9cb9445a11f0	887	* of the following read. When a write transaction follows a read transaction,
Gurvan	0:9cb9445a11f0	888	* the stop followed by a start of the successive write will be always used.
Gurvan	0:9cb9445a11f0	889	*
Gurvan	0:9cb9445a11f0	890	* @return Current slave read/write transition enabled value
Gurvan	0:9cb9445a11f0	891	* @see MPU6050_RA_I2C_MST_CTRL
Gurvan	0:9cb9445a11f0	892	*/
Gurvan	0:9cb9445a11f0	893	bool MPU6050::getSlaveReadWriteTransitionEnabled()
Gurvan	0:9cb9445a11f0	894	{
Gurvan	0:9cb9445a11f0	895	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
Gurvan	0:9cb9445a11f0	896	return buffer[0];
Gurvan	0:9cb9445a11f0	897	}
Gurvan	0:9cb9445a11f0	898	/** Set slave read/write transition enabled value.
Gurvan	0:9cb9445a11f0	899	* @param enabled New slave read/write transition enabled value
Gurvan	0:9cb9445a11f0	900	* @see getSlaveReadWriteTransitionEnabled()
Gurvan	0:9cb9445a11f0	901	* @see MPU6050_RA_I2C_MST_CTRL
Gurvan	0:9cb9445a11f0	902	*/
Gurvan	0:9cb9445a11f0	903	void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	904	{
Gurvan	0:9cb9445a11f0	905	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
Gurvan	0:9cb9445a11f0	906	}
Gurvan	0:9cb9445a11f0	907	/** Get I2C master clock speed.
Gurvan	0:9cb9445a11f0	908	* I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
Gurvan	0:9cb9445a11f0	909	* MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
Gurvan	0:9cb9445a11f0	910	* the following table:
Gurvan	0:9cb9445a11f0	911	*
Gurvan	0:9cb9445a11f0	912	* <pre>
Gurvan	0:9cb9445a11f0	913	* I2C_MST_CLK \| I2C Master Clock Speed \| 8MHz Clock Divider
Gurvan	0:9cb9445a11f0	914	* ------------+------------------------+-------------------
Gurvan	0:9cb9445a11f0	915	* 0 \| 348kHz \| 23
Gurvan	0:9cb9445a11f0	916	* 1 \| 333kHz \| 24
Gurvan	0:9cb9445a11f0	917	* 2 \| 320kHz \| 25
Gurvan	0:9cb9445a11f0	918	* 3 \| 308kHz \| 26
Gurvan	0:9cb9445a11f0	919	* 4 \| 296kHz \| 27
Gurvan	0:9cb9445a11f0	920	* 5 \| 286kHz \| 28
Gurvan	0:9cb9445a11f0	921	* 6 \| 276kHz \| 29
Gurvan	0:9cb9445a11f0	922	* 7 \| 267kHz \| 30
Gurvan	0:9cb9445a11f0	923	* 8 \| 258kHz \| 31
Gurvan	0:9cb9445a11f0	924	* 9 \| 500kHz \| 16
Gurvan	0:9cb9445a11f0	925	* 10 \| 471kHz \| 17
Gurvan	0:9cb9445a11f0	926	* 11 \| 444kHz \| 18
Gurvan	0:9cb9445a11f0	927	* 12 \| 421kHz \| 19
Gurvan	0:9cb9445a11f0	928	* 13 \| 400kHz \| 20
Gurvan	0:9cb9445a11f0	929	* 14 \| 381kHz \| 21
Gurvan	0:9cb9445a11f0	930	* 15 \| 364kHz \| 22
Gurvan	0:9cb9445a11f0	931	* </pre>
Gurvan	0:9cb9445a11f0	932	*
Gurvan	0:9cb9445a11f0	933	* @return Current I2C master clock speed
Gurvan	0:9cb9445a11f0	934	* @see MPU6050_RA_I2C_MST_CTRL
Gurvan	0:9cb9445a11f0	935	*/
Gurvan	0:9cb9445a11f0	936	uint8_t MPU6050::getMasterClockSpeed()
Gurvan	0:9cb9445a11f0	937	{
Gurvan	0:9cb9445a11f0	938	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
Gurvan	0:9cb9445a11f0	939	return buffer[0];
Gurvan	0:9cb9445a11f0	940	}
Gurvan	0:9cb9445a11f0	941	/** Set I2C master clock speed.
Gurvan	0:9cb9445a11f0	942	* @reparam speed Current I2C master clock speed
Gurvan	0:9cb9445a11f0	943	* @see MPU6050_RA_I2C_MST_CTRL
Gurvan	0:9cb9445a11f0	944	*/
Gurvan	0:9cb9445a11f0	945	void MPU6050::setMasterClockSpeed(uint8_t speed)
Gurvan	0:9cb9445a11f0	946	{
Gurvan	0:9cb9445a11f0	947	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
Gurvan	0:9cb9445a11f0	948	}
Gurvan	0:9cb9445a11f0	949
Gurvan	0:9cb9445a11f0	950	// I2C_SLV* registers (Slave 0-3)
Gurvan	0:9cb9445a11f0	951
Gurvan	0:9cb9445a11f0	952	/** Get the I2C address of the specified slave (0-3).
Gurvan	0:9cb9445a11f0	953	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
Gurvan	0:9cb9445a11f0	954	* operation, and if it is cleared, then it's a write operation. The remaining
Gurvan	0:9cb9445a11f0	955	* bits (6-0) are the 7-bit device address of the slave device.
Gurvan	0:9cb9445a11f0	956	*
Gurvan	0:9cb9445a11f0	957	* In read mode, the result of the read is placed in the lowest available
Gurvan	0:9cb9445a11f0	958	* EXT_SENS_DATA register. For further information regarding the allocation of
Gurvan	0:9cb9445a11f0	959	* read results, please refer to the EXT_SENS_DATA register description
Gurvan	0:9cb9445a11f0	960	* (Registers 73 - 96).
Gurvan	0:9cb9445a11f0	961	*
Gurvan	0:9cb9445a11f0	962	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
Gurvan	0:9cb9445a11f0	963	* characteristics, and so it has its own functions (getSlave4* and setSlave4*).
Gurvan	0:9cb9445a11f0	964	*
Gurvan	0:9cb9445a11f0	965	* I2C data transactions are performed at the Sample Rate, as defined in
Gurvan	0:9cb9445a11f0	966	* Register 25. The user is responsible for ensuring that I2C data transactions
Gurvan	0:9cb9445a11f0	967	* to and from each enabled Slave can be completed within a single period of the
Gurvan	0:9cb9445a11f0	968	* Sample Rate.
Gurvan	0:9cb9445a11f0	969	*
Gurvan	0:9cb9445a11f0	970	* The I2C slave access rate can be reduced relative to the Sample Rate. This
Gurvan	0:9cb9445a11f0	971	* reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
Gurvan	0:9cb9445a11f0	972	* slave's access rate is reduced relative to the Sample Rate is determined by
Gurvan	0:9cb9445a11f0	973	* I2C_MST_DELAY_CTRL (Register 103).
Gurvan	0:9cb9445a11f0	974	*
Gurvan	0:9cb9445a11f0	975	* The processing order for the slaves is fixed. The sequence followed for
Gurvan	0:9cb9445a11f0	976	* processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
Gurvan	0:9cb9445a11f0	977	* particular Slave is disabled it will be skipped.
Gurvan	0:9cb9445a11f0	978	*
Gurvan	0:9cb9445a11f0	979	* Each slave can either be accessed at the sample rate or at a reduced sample
Gurvan	0:9cb9445a11f0	980	* rate. In a case where some slaves are accessed at the Sample Rate and some
Gurvan	0:9cb9445a11f0	981	* slaves are accessed at the reduced rate, the sequence of accessing the slaves
Gurvan	0:9cb9445a11f0	982	* (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
Gurvan	0:9cb9445a11f0	983	* be skipped if their access rate dictates that they should not be accessed
Gurvan	0:9cb9445a11f0	984	* during that particular cycle. For further information regarding the reduced
Gurvan	0:9cb9445a11f0	985	* access rate, please refer to Register 52. Whether a slave is accessed at the
Gurvan	0:9cb9445a11f0	986	* Sample Rate or at the reduced rate is determined by the Delay Enable bits in
Gurvan	0:9cb9445a11f0	987	* Register 103.
Gurvan	0:9cb9445a11f0	988	*
Gurvan	0:9cb9445a11f0	989	* @param num Slave number (0-3)
Gurvan	0:9cb9445a11f0	990	* @return Current address for specified slave
Gurvan	0:9cb9445a11f0	991	* @see MPU6050_RA_I2C_SLV0_ADDR
Gurvan	0:9cb9445a11f0	992	*/
Gurvan	0:9cb9445a11f0	993	uint8_t MPU6050::getSlaveAddress(uint8_t num)
Gurvan	0:9cb9445a11f0	994	{
Gurvan	0:9cb9445a11f0	995	if (num > 3) return 0;
Gurvan	0:9cb9445a11f0	996	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
Gurvan	0:9cb9445a11f0	997	return buffer[0];
Gurvan	0:9cb9445a11f0	998	}
Gurvan	0:9cb9445a11f0	999	/** Set the I2C address of the specified slave (0-3).
Gurvan	0:9cb9445a11f0	1000	* @param num Slave number (0-3)
Gurvan	0:9cb9445a11f0	1001	* @param address New address for specified slave
Gurvan	0:9cb9445a11f0	1002	* @see getSlaveAddress()
Gurvan	0:9cb9445a11f0	1003	* @see MPU6050_RA_I2C_SLV0_ADDR
Gurvan	0:9cb9445a11f0	1004	*/
Gurvan	0:9cb9445a11f0	1005	void MPU6050::setSlaveAddress(uint8_t num, uint8_t address)
Gurvan	0:9cb9445a11f0	1006	{
Gurvan	0:9cb9445a11f0	1007	if (num > 3) return;
Gurvan	0:9cb9445a11f0	1008	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
Gurvan	0:9cb9445a11f0	1009	}
Gurvan	0:9cb9445a11f0	1010	/** Get the active internal register for the specified slave (0-3).
Gurvan	0:9cb9445a11f0	1011	* Read/write operations for this slave will be done to whatever internal
Gurvan	0:9cb9445a11f0	1012	* register address is stored in this MPU register.
Gurvan	0:9cb9445a11f0	1013	*
Gurvan	0:9cb9445a11f0	1014	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
Gurvan	0:9cb9445a11f0	1015	* characteristics, and so it has its own functions.
Gurvan	0:9cb9445a11f0	1016	*
Gurvan	0:9cb9445a11f0	1017	* @param num Slave number (0-3)
Gurvan	0:9cb9445a11f0	1018	* @return Current active register for specified slave
Gurvan	0:9cb9445a11f0	1019	* @see MPU6050_RA_I2C_SLV0_REG
Gurvan	0:9cb9445a11f0	1020	*/
Gurvan	0:9cb9445a11f0	1021	uint8_t MPU6050::getSlaveRegister(uint8_t num)
Gurvan	0:9cb9445a11f0	1022	{
Gurvan	0:9cb9445a11f0	1023	if (num > 3) return 0;
Gurvan	0:9cb9445a11f0	1024	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
Gurvan	0:9cb9445a11f0	1025	return buffer[0];
Gurvan	0:9cb9445a11f0	1026	}
Gurvan	0:9cb9445a11f0	1027	/** Set the active internal register for the specified slave (0-3).
Gurvan	0:9cb9445a11f0	1028	* @param num Slave number (0-3)
Gurvan	0:9cb9445a11f0	1029	* @param reg New active register for specified slave
Gurvan	0:9cb9445a11f0	1030	* @see getSlaveRegister()
Gurvan	0:9cb9445a11f0	1031	* @see MPU6050_RA_I2C_SLV0_REG
Gurvan	0:9cb9445a11f0	1032	*/
Gurvan	0:9cb9445a11f0	1033	void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg)
Gurvan	0:9cb9445a11f0	1034	{
Gurvan	0:9cb9445a11f0	1035	if (num > 3) return;
Gurvan	0:9cb9445a11f0	1036	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
Gurvan	0:9cb9445a11f0	1037	}
Gurvan	0:9cb9445a11f0	1038	/** Get the enabled value for the specified slave (0-3).
Gurvan	0:9cb9445a11f0	1039	* When set to 1, this bit enables Slave 0 for data transfer operations. When
Gurvan	0:9cb9445a11f0	1040	* cleared to 0, this bit disables Slave 0 from data transfer operations.
Gurvan	0:9cb9445a11f0	1041	* @param num Slave number (0-3)
Gurvan	0:9cb9445a11f0	1042	* @return Current enabled value for specified slave
Gurvan	0:9cb9445a11f0	1043	* @see MPU6050_RA_I2C_SLV0_CTRL
Gurvan	0:9cb9445a11f0	1044	*/
Gurvan	0:9cb9445a11f0	1045	bool MPU6050::getSlaveEnabled(uint8_t num)
Gurvan	0:9cb9445a11f0	1046	{
Gurvan	0:9cb9445a11f0	1047	if (num > 3) return 0;
Gurvan	0:9cb9445a11f0	1048	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
Gurvan	0:9cb9445a11f0	1049	return buffer[0];
Gurvan	0:9cb9445a11f0	1050	}
Gurvan	0:9cb9445a11f0	1051	/** Set the enabled value for the specified slave (0-3).
Gurvan	0:9cb9445a11f0	1052	* @param num Slave number (0-3)
Gurvan	0:9cb9445a11f0	1053	* @param enabled New enabled value for specified slave
Gurvan	0:9cb9445a11f0	1054	* @see getSlaveEnabled()
Gurvan	0:9cb9445a11f0	1055	* @see MPU6050_RA_I2C_SLV0_CTRL
Gurvan	0:9cb9445a11f0	1056	*/
Gurvan	0:9cb9445a11f0	1057	void MPU6050::setSlaveEnabled(uint8_t num, bool enabled)
Gurvan	0:9cb9445a11f0	1058	{
Gurvan	0:9cb9445a11f0	1059	if (num > 3) return;
Gurvan	0:9cb9445a11f0	1060	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
Gurvan	0:9cb9445a11f0	1061	}
Gurvan	0:9cb9445a11f0	1062	/** Get word pair byte-swapping enabled for the specified slave (0-3).
Gurvan	0:9cb9445a11f0	1063	* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
Gurvan	0:9cb9445a11f0	1064	* the high and low bytes of a word pair are swapped. Please refer to
Gurvan	0:9cb9445a11f0	1065	* I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
Gurvan	0:9cb9445a11f0	1066	* bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
Gurvan	0:9cb9445a11f0	1067	* registers in the order they were transferred.
Gurvan	0:9cb9445a11f0	1068	*
Gurvan	0:9cb9445a11f0	1069	* @param num Slave number (0-3)
Gurvan	0:9cb9445a11f0	1070	* @return Current word pair byte-swapping enabled value for specified slave
Gurvan	0:9cb9445a11f0	1071	* @see MPU6050_RA_I2C_SLV0_CTRL
Gurvan	0:9cb9445a11f0	1072	*/
Gurvan	0:9cb9445a11f0	1073	bool MPU6050::getSlaveWordByteSwap(uint8_t num)
Gurvan	0:9cb9445a11f0	1074	{
Gurvan	0:9cb9445a11f0	1075	if (num > 3) return 0;
Gurvan	0:9cb9445a11f0	1076	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
Gurvan	0:9cb9445a11f0	1077	return buffer[0];
Gurvan	0:9cb9445a11f0	1078	}
Gurvan	0:9cb9445a11f0	1079	/** Set word pair byte-swapping enabled for the specified slave (0-3).
Gurvan	0:9cb9445a11f0	1080	* @param num Slave number (0-3)
Gurvan	0:9cb9445a11f0	1081	* @param enabled New word pair byte-swapping enabled value for specified slave
Gurvan	0:9cb9445a11f0	1082	* @see getSlaveWordByteSwap()
Gurvan	0:9cb9445a11f0	1083	* @see MPU6050_RA_I2C_SLV0_CTRL
Gurvan	0:9cb9445a11f0	1084	*/
Gurvan	0:9cb9445a11f0	1085	void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled)
Gurvan	0:9cb9445a11f0	1086	{
Gurvan	0:9cb9445a11f0	1087	if (num > 3) return;
Gurvan	0:9cb9445a11f0	1088	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
Gurvan	0:9cb9445a11f0	1089	}
Gurvan	0:9cb9445a11f0	1090	/** Get write mode for the specified slave (0-3).
Gurvan	0:9cb9445a11f0	1091	* When set to 1, the transaction will read or write data only. When cleared to
Gurvan	0:9cb9445a11f0	1092	* 0, the transaction will write a register address prior to reading or writing
Gurvan	0:9cb9445a11f0	1093	* data. This should equal 0 when specifying the register address within the
Gurvan	0:9cb9445a11f0	1094	* Slave device to/from which the ensuing data transaction will take place.
Gurvan	0:9cb9445a11f0	1095	*
Gurvan	0:9cb9445a11f0	1096	* @param num Slave number (0-3)
Gurvan	0:9cb9445a11f0	1097	* @return Current write mode for specified slave (0 = register address + data, 1 = data only)
Gurvan	0:9cb9445a11f0	1098	* @see MPU6050_RA_I2C_SLV0_CTRL
Gurvan	0:9cb9445a11f0	1099	*/
Gurvan	0:9cb9445a11f0	1100	bool MPU6050::getSlaveWriteMode(uint8_t num)
Gurvan	0:9cb9445a11f0	1101	{
Gurvan	0:9cb9445a11f0	1102	if (num > 3) return 0;
Gurvan	0:9cb9445a11f0	1103	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
Gurvan	0:9cb9445a11f0	1104	return buffer[0];
Gurvan	0:9cb9445a11f0	1105	}
Gurvan	0:9cb9445a11f0	1106	/** Set write mode for the specified slave (0-3).
Gurvan	0:9cb9445a11f0	1107	* @param num Slave number (0-3)
Gurvan	0:9cb9445a11f0	1108	* @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
Gurvan	0:9cb9445a11f0	1109	* @see getSlaveWriteMode()
Gurvan	0:9cb9445a11f0	1110	* @see MPU6050_RA_I2C_SLV0_CTRL
Gurvan	0:9cb9445a11f0	1111	*/
Gurvan	0:9cb9445a11f0	1112	void MPU6050::setSlaveWriteMode(uint8_t num, bool mode)
Gurvan	0:9cb9445a11f0	1113	{
Gurvan	0:9cb9445a11f0	1114	if (num > 3) return;
Gurvan	0:9cb9445a11f0	1115	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
Gurvan	0:9cb9445a11f0	1116	}
Gurvan	0:9cb9445a11f0	1117	/** Get word pair grouping order offset for the specified slave (0-3).
Gurvan	0:9cb9445a11f0	1118	* This sets specifies the grouping order of word pairs received from registers.
Gurvan	0:9cb9445a11f0	1119	* When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
Gurvan	0:9cb9445a11f0	1120	* then odd register addresses) are paired to form a word. When set to 1, bytes
Gurvan	0:9cb9445a11f0	1121	* from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
Gurvan	0:9cb9445a11f0	1122	* register addresses) are paired to form a word.
Gurvan	0:9cb9445a11f0	1123	*
Gurvan	0:9cb9445a11f0	1124	* @param num Slave number (0-3)
Gurvan	0:9cb9445a11f0	1125	* @return Current word pair grouping order offset for specified slave
Gurvan	0:9cb9445a11f0	1126	* @see MPU6050_RA_I2C_SLV0_CTRL
Gurvan	0:9cb9445a11f0	1127	*/
Gurvan	0:9cb9445a11f0	1128	bool MPU6050::getSlaveWordGroupOffset(uint8_t num)
Gurvan	0:9cb9445a11f0	1129	{
Gurvan	0:9cb9445a11f0	1130	if (num > 3) return 0;
Gurvan	0:9cb9445a11f0	1131	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
Gurvan	0:9cb9445a11f0	1132	return buffer[0];
Gurvan	0:9cb9445a11f0	1133	}
Gurvan	0:9cb9445a11f0	1134	/** Set word pair grouping order offset for the specified slave (0-3).
Gurvan	0:9cb9445a11f0	1135	* @param num Slave number (0-3)
Gurvan	0:9cb9445a11f0	1136	* @param enabled New word pair grouping order offset for specified slave
Gurvan	0:9cb9445a11f0	1137	* @see getSlaveWordGroupOffset()
Gurvan	0:9cb9445a11f0	1138	* @see MPU6050_RA_I2C_SLV0_CTRL
Gurvan	0:9cb9445a11f0	1139	*/
Gurvan	0:9cb9445a11f0	1140	void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled)
Gurvan	0:9cb9445a11f0	1141	{
Gurvan	0:9cb9445a11f0	1142	if (num > 3) return;
Gurvan	0:9cb9445a11f0	1143	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
Gurvan	0:9cb9445a11f0	1144	}
Gurvan	0:9cb9445a11f0	1145	/** Get number of bytes to read for the specified slave (0-3).
Gurvan	0:9cb9445a11f0	1146	* Specifies the number of bytes transferred to and from Slave 0. Clearing this
Gurvan	0:9cb9445a11f0	1147	* bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
Gurvan	0:9cb9445a11f0	1148	* @param num Slave number (0-3)
Gurvan	0:9cb9445a11f0	1149	* @return Number of bytes to read for specified slave
Gurvan	0:9cb9445a11f0	1150	* @see MPU6050_RA_I2C_SLV0_CTRL
Gurvan	0:9cb9445a11f0	1151	*/
Gurvan	0:9cb9445a11f0	1152	uint8_t MPU6050::getSlaveDataLength(uint8_t num)
Gurvan	0:9cb9445a11f0	1153	{
Gurvan	0:9cb9445a11f0	1154	if (num > 3) return 0;
Gurvan	0:9cb9445a11f0	1155	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
Gurvan	0:9cb9445a11f0	1156	return buffer[0];
Gurvan	0:9cb9445a11f0	1157	}
Gurvan	0:9cb9445a11f0	1158	/** Set number of bytes to read for the specified slave (0-3).
Gurvan	0:9cb9445a11f0	1159	* @param num Slave number (0-3)
Gurvan	0:9cb9445a11f0	1160	* @param length Number of bytes to read for specified slave
Gurvan	0:9cb9445a11f0	1161	* @see getSlaveDataLength()
Gurvan	0:9cb9445a11f0	1162	* @see MPU6050_RA_I2C_SLV0_CTRL
Gurvan	0:9cb9445a11f0	1163	*/
Gurvan	0:9cb9445a11f0	1164	void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length)
Gurvan	0:9cb9445a11f0	1165	{
Gurvan	0:9cb9445a11f0	1166	if (num > 3) return;
Gurvan	0:9cb9445a11f0	1167	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
Gurvan	0:9cb9445a11f0	1168	}
Gurvan	0:9cb9445a11f0	1169
Gurvan	0:9cb9445a11f0	1170	// I2C_SLV* registers (Slave 4)
Gurvan	0:9cb9445a11f0	1171
Gurvan	0:9cb9445a11f0	1172	/** Get the I2C address of Slave 4.
Gurvan	0:9cb9445a11f0	1173	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
Gurvan	0:9cb9445a11f0	1174	* operation, and if it is cleared, then it's a write operation. The remaining
Gurvan	0:9cb9445a11f0	1175	* bits (6-0) are the 7-bit device address of the slave device.
Gurvan	0:9cb9445a11f0	1176	*
Gurvan	0:9cb9445a11f0	1177	* @return Current address for Slave 4
Gurvan	0:9cb9445a11f0	1178	* @see getSlaveAddress()
Gurvan	0:9cb9445a11f0	1179	* @see MPU6050_RA_I2C_SLV4_ADDR
Gurvan	0:9cb9445a11f0	1180	*/
Gurvan	0:9cb9445a11f0	1181	uint8_t MPU6050::getSlave4Address()
Gurvan	0:9cb9445a11f0	1182	{
Gurvan	0:9cb9445a11f0	1183	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
Gurvan	0:9cb9445a11f0	1184	return buffer[0];
Gurvan	0:9cb9445a11f0	1185	}
Gurvan	0:9cb9445a11f0	1186	/** Set the I2C address of Slave 4.
Gurvan	0:9cb9445a11f0	1187	* @param address New address for Slave 4
Gurvan	0:9cb9445a11f0	1188	* @see getSlave4Address()
Gurvan	0:9cb9445a11f0	1189	* @see MPU6050_RA_I2C_SLV4_ADDR
Gurvan	0:9cb9445a11f0	1190	*/
Gurvan	0:9cb9445a11f0	1191	void MPU6050::setSlave4Address(uint8_t address)
Gurvan	0:9cb9445a11f0	1192	{
Gurvan	0:9cb9445a11f0	1193	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
Gurvan	0:9cb9445a11f0	1194	}
Gurvan	0:9cb9445a11f0	1195	/** Get the active internal register for the Slave 4.
Gurvan	0:9cb9445a11f0	1196	* Read/write operations for this slave will be done to whatever internal
Gurvan	0:9cb9445a11f0	1197	* register address is stored in this MPU register.
Gurvan	0:9cb9445a11f0	1198	*
Gurvan	0:9cb9445a11f0	1199	* @return Current active register for Slave 4
Gurvan	0:9cb9445a11f0	1200	* @see MPU6050_RA_I2C_SLV4_REG
Gurvan	0:9cb9445a11f0	1201	*/
Gurvan	0:9cb9445a11f0	1202	uint8_t MPU6050::getSlave4Register()
Gurvan	0:9cb9445a11f0	1203	{
Gurvan	0:9cb9445a11f0	1204	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
Gurvan	0:9cb9445a11f0	1205	return buffer[0];
Gurvan	0:9cb9445a11f0	1206	}
Gurvan	0:9cb9445a11f0	1207	/** Set the active internal register for Slave 4.
Gurvan	0:9cb9445a11f0	1208	* @param reg New active register for Slave 4
Gurvan	0:9cb9445a11f0	1209	* @see getSlave4Register()
Gurvan	0:9cb9445a11f0	1210	* @see MPU6050_RA_I2C_SLV4_REG
Gurvan	0:9cb9445a11f0	1211	*/
Gurvan	0:9cb9445a11f0	1212	void MPU6050::setSlave4Register(uint8_t reg)
Gurvan	0:9cb9445a11f0	1213	{
Gurvan	0:9cb9445a11f0	1214	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
Gurvan	0:9cb9445a11f0	1215	}
Gurvan	0:9cb9445a11f0	1216	/** Set new byte to write to Slave 4.
Gurvan	0:9cb9445a11f0	1217	* This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
Gurvan	0:9cb9445a11f0	1218	* is set 1 (set to read), this register has no effect.
Gurvan	0:9cb9445a11f0	1219	* @param data New byte to write to Slave 4
Gurvan	0:9cb9445a11f0	1220	* @see MPU6050_RA_I2C_SLV4_DO
Gurvan	0:9cb9445a11f0	1221	*/
Gurvan	0:9cb9445a11f0	1222	void MPU6050::setSlave4OutputByte(uint8_t data)
Gurvan	0:9cb9445a11f0	1223	{
Gurvan	0:9cb9445a11f0	1224	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
Gurvan	0:9cb9445a11f0	1225	}
Gurvan	0:9cb9445a11f0	1226	/** Get the enabled value for the Slave 4.
Gurvan	0:9cb9445a11f0	1227	* When set to 1, this bit enables Slave 4 for data transfer operations. When
Gurvan	0:9cb9445a11f0	1228	* cleared to 0, this bit disables Slave 4 from data transfer operations.
Gurvan	0:9cb9445a11f0	1229	* @return Current enabled value for Slave 4
Gurvan	0:9cb9445a11f0	1230	* @see MPU6050_RA_I2C_SLV4_CTRL
Gurvan	0:9cb9445a11f0	1231	*/
Gurvan	0:9cb9445a11f0	1232	bool MPU6050::getSlave4Enabled()
Gurvan	0:9cb9445a11f0	1233	{
Gurvan	0:9cb9445a11f0	1234	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
Gurvan	0:9cb9445a11f0	1235	return buffer[0];
Gurvan	0:9cb9445a11f0	1236	}
Gurvan	0:9cb9445a11f0	1237	/** Set the enabled value for Slave 4.
Gurvan	0:9cb9445a11f0	1238	* @param enabled New enabled value for Slave 4
Gurvan	0:9cb9445a11f0	1239	* @see getSlave4Enabled()
Gurvan	0:9cb9445a11f0	1240	* @see MPU6050_RA_I2C_SLV4_CTRL
Gurvan	0:9cb9445a11f0	1241	*/
Gurvan	0:9cb9445a11f0	1242	void MPU6050::setSlave4Enabled(bool enabled)
Gurvan	0:9cb9445a11f0	1243	{
Gurvan	0:9cb9445a11f0	1244	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
Gurvan	0:9cb9445a11f0	1245	}
Gurvan	0:9cb9445a11f0	1246	/** Get the enabled value for Slave 4 transaction interrupts.
Gurvan	0:9cb9445a11f0	1247	* When set to 1, this bit enables the generation of an interrupt signal upon
Gurvan	0:9cb9445a11f0	1248	* completion of a Slave 4 transaction. When cleared to 0, this bit disables the
Gurvan	0:9cb9445a11f0	1249	* generation of an interrupt signal upon completion of a Slave 4 transaction.
Gurvan	0:9cb9445a11f0	1250	* The interrupt status can be observed in Register 54.
Gurvan	0:9cb9445a11f0	1251	*
Gurvan	0:9cb9445a11f0	1252	* @return Current enabled value for Slave 4 transaction interrupts.
Gurvan	0:9cb9445a11f0	1253	* @see MPU6050_RA_I2C_SLV4_CTRL
Gurvan	0:9cb9445a11f0	1254	*/
Gurvan	0:9cb9445a11f0	1255	bool MPU6050::getSlave4InterruptEnabled()
Gurvan	0:9cb9445a11f0	1256	{
Gurvan	0:9cb9445a11f0	1257	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
Gurvan	0:9cb9445a11f0	1258	return buffer[0];
Gurvan	0:9cb9445a11f0	1259	}
Gurvan	0:9cb9445a11f0	1260	/** Set the enabled value for Slave 4 transaction interrupts.
Gurvan	0:9cb9445a11f0	1261	* @param enabled New enabled value for Slave 4 transaction interrupts.
Gurvan	0:9cb9445a11f0	1262	* @see getSlave4InterruptEnabled()
Gurvan	0:9cb9445a11f0	1263	* @see MPU6050_RA_I2C_SLV4_CTRL
Gurvan	0:9cb9445a11f0	1264	*/
Gurvan	0:9cb9445a11f0	1265	void MPU6050::setSlave4InterruptEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	1266	{
Gurvan	0:9cb9445a11f0	1267	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
Gurvan	0:9cb9445a11f0	1268	}
Gurvan	0:9cb9445a11f0	1269	/** Get write mode for Slave 4.
Gurvan	0:9cb9445a11f0	1270	* When set to 1, the transaction will read or write data only. When cleared to
Gurvan	0:9cb9445a11f0	1271	* 0, the transaction will write a register address prior to reading or writing
Gurvan	0:9cb9445a11f0	1272	* data. This should equal 0 when specifying the register address within the
Gurvan	0:9cb9445a11f0	1273	* Slave device to/from which the ensuing data transaction will take place.
Gurvan	0:9cb9445a11f0	1274	*
Gurvan	0:9cb9445a11f0	1275	* @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
Gurvan	0:9cb9445a11f0	1276	* @see MPU6050_RA_I2C_SLV4_CTRL
Gurvan	0:9cb9445a11f0	1277	*/
Gurvan	0:9cb9445a11f0	1278	bool MPU6050::getSlave4WriteMode()
Gurvan	0:9cb9445a11f0	1279	{
Gurvan	0:9cb9445a11f0	1280	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
Gurvan	0:9cb9445a11f0	1281	return buffer[0];
Gurvan	0:9cb9445a11f0	1282	}
Gurvan	0:9cb9445a11f0	1283	/** Set write mode for the Slave 4.
Gurvan	0:9cb9445a11f0	1284	* @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
Gurvan	0:9cb9445a11f0	1285	* @see getSlave4WriteMode()
Gurvan	0:9cb9445a11f0	1286	* @see MPU6050_RA_I2C_SLV4_CTRL
Gurvan	0:9cb9445a11f0	1287	*/
Gurvan	0:9cb9445a11f0	1288	void MPU6050::setSlave4WriteMode(bool mode)
Gurvan	0:9cb9445a11f0	1289	{
Gurvan	0:9cb9445a11f0	1290	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
Gurvan	0:9cb9445a11f0	1291	}
Gurvan	0:9cb9445a11f0	1292	/** Get Slave 4 master delay value.
Gurvan	0:9cb9445a11f0	1293	* This configures the reduced access rate of I2C slaves relative to the Sample
Gurvan	0:9cb9445a11f0	1294	* Rate. When a slave's access rate is decreased relative to the Sample Rate,
Gurvan	0:9cb9445a11f0	1295	* the slave is accessed every:
Gurvan	0:9cb9445a11f0	1296	*
Gurvan	0:9cb9445a11f0	1297	* 1 / (1 + I2C_MST_DLY) samples
Gurvan	0:9cb9445a11f0	1298	*
Gurvan	0:9cb9445a11f0	1299	* This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
Gurvan	0:9cb9445a11f0	1300	* DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
Gurvan	0:9cb9445a11f0	1301	* the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
Gurvan	0:9cb9445a11f0	1302	* further information regarding the Sample Rate, please refer to register 25.
Gurvan	0:9cb9445a11f0	1303	*
Gurvan	0:9cb9445a11f0	1304	* @return Current Slave 4 master delay value
Gurvan	0:9cb9445a11f0	1305	* @see MPU6050_RA_I2C_SLV4_CTRL
Gurvan	0:9cb9445a11f0	1306	*/
Gurvan	0:9cb9445a11f0	1307	uint8_t MPU6050::getSlave4MasterDelay()
Gurvan	0:9cb9445a11f0	1308	{
Gurvan	0:9cb9445a11f0	1309	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
Gurvan	0:9cb9445a11f0	1310	return buffer[0];
Gurvan	0:9cb9445a11f0	1311	}
Gurvan	0:9cb9445a11f0	1312	/** Set Slave 4 master delay value.
Gurvan	0:9cb9445a11f0	1313	* @param delay New Slave 4 master delay value
Gurvan	0:9cb9445a11f0	1314	* @see getSlave4MasterDelay()
Gurvan	0:9cb9445a11f0	1315	* @see MPU6050_RA_I2C_SLV4_CTRL
Gurvan	0:9cb9445a11f0	1316	*/
Gurvan	0:9cb9445a11f0	1317	void MPU6050::setSlave4MasterDelay(uint8_t delay)
Gurvan	0:9cb9445a11f0	1318	{
Gurvan	0:9cb9445a11f0	1319	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
Gurvan	0:9cb9445a11f0	1320	}
Gurvan	0:9cb9445a11f0	1321	/** Get last available byte read from Slave 4.
Gurvan	0:9cb9445a11f0	1322	* This register stores the data read from Slave 4. This field is populated
Gurvan	0:9cb9445a11f0	1323	* after a read transaction.
Gurvan	0:9cb9445a11f0	1324	* @return Last available byte read from to Slave 4
Gurvan	0:9cb9445a11f0	1325	* @see MPU6050_RA_I2C_SLV4_DI
Gurvan	0:9cb9445a11f0	1326	*/
Gurvan	0:9cb9445a11f0	1327	uint8_t MPU6050::getSlate4InputByte()
Gurvan	0:9cb9445a11f0	1328	{
Gurvan	0:9cb9445a11f0	1329	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
Gurvan	0:9cb9445a11f0	1330	return buffer[0];
Gurvan	0:9cb9445a11f0	1331	}
Gurvan	0:9cb9445a11f0	1332
Gurvan	0:9cb9445a11f0	1333	// I2C_MST_STATUS register
Gurvan	0:9cb9445a11f0	1334
Gurvan	0:9cb9445a11f0	1335	/** Get FSYNC interrupt status.
Gurvan	0:9cb9445a11f0	1336	* This bit reflects the status of the FSYNC interrupt from an external device
Gurvan	0:9cb9445a11f0	1337	* into the MPU-60X0. This is used as a way to pass an external interrupt
Gurvan	0:9cb9445a11f0	1338	* through the MPU-60X0 to the host application processor. When set to 1, this
Gurvan	0:9cb9445a11f0	1339	* bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
Gurvan	0:9cb9445a11f0	1340	* (Register 55).
Gurvan	0:9cb9445a11f0	1341	* @return FSYNC interrupt status
Gurvan	0:9cb9445a11f0	1342	* @see MPU6050_RA_I2C_MST_STATUS
Gurvan	0:9cb9445a11f0	1343	*/
Gurvan	0:9cb9445a11f0	1344	bool MPU6050::getPassthroughStatus()
Gurvan	0:9cb9445a11f0	1345	{
Gurvan	0:9cb9445a11f0	1346	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
Gurvan	0:9cb9445a11f0	1347	return buffer[0];
Gurvan	0:9cb9445a11f0	1348	}
Gurvan	0:9cb9445a11f0	1349	/** Get Slave 4 transaction done status.
Gurvan	0:9cb9445a11f0	1350	* Automatically sets to 1 when a Slave 4 transaction has completed. This
Gurvan	0:9cb9445a11f0	1351	* triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
Gurvan	0:9cb9445a11f0	1352	* (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
Gurvan	0:9cb9445a11f0	1353	* I2C_SLV4_CTRL register (Register 52).
Gurvan	0:9cb9445a11f0	1354	* @return Slave 4 transaction done status
Gurvan	0:9cb9445a11f0	1355	* @see MPU6050_RA_I2C_MST_STATUS
Gurvan	0:9cb9445a11f0	1356	*/
Gurvan	0:9cb9445a11f0	1357	bool MPU6050::getSlave4IsDone()
Gurvan	0:9cb9445a11f0	1358	{
Gurvan	0:9cb9445a11f0	1359	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
Gurvan	0:9cb9445a11f0	1360	return buffer[0];
Gurvan	0:9cb9445a11f0	1361	}
Gurvan	0:9cb9445a11f0	1362	/** Get master arbitration lost status.
Gurvan	0:9cb9445a11f0	1363	* This bit automatically sets to 1 when the I2C Master has lost arbitration of
Gurvan	0:9cb9445a11f0	1364	* the auxiliary I2C bus (an error condition). This triggers an interrupt if the
Gurvan	0:9cb9445a11f0	1365	* I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
Gurvan	0:9cb9445a11f0	1366	* @return Master arbitration lost status
Gurvan	0:9cb9445a11f0	1367	* @see MPU6050_RA_I2C_MST_STATUS
Gurvan	0:9cb9445a11f0	1368	*/
Gurvan	0:9cb9445a11f0	1369	bool MPU6050::getLostArbitration()
Gurvan	0:9cb9445a11f0	1370	{
Gurvan	0:9cb9445a11f0	1371	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
Gurvan	0:9cb9445a11f0	1372	return buffer[0];
Gurvan	0:9cb9445a11f0	1373	}
Gurvan	0:9cb9445a11f0	1374	/** Get Slave 4 NACK status.
Gurvan	0:9cb9445a11f0	1375	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
Gurvan	0:9cb9445a11f0	1376	* transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
Gurvan	0:9cb9445a11f0	1377	* bit in the INT_ENABLE register (Register 56) is asserted.
Gurvan	0:9cb9445a11f0	1378	* @return Slave 4 NACK interrupt status
Gurvan	0:9cb9445a11f0	1379	* @see MPU6050_RA_I2C_MST_STATUS
Gurvan	0:9cb9445a11f0	1380	*/
Gurvan	0:9cb9445a11f0	1381	bool MPU6050::getSlave4Nack()
Gurvan	0:9cb9445a11f0	1382	{
Gurvan	0:9cb9445a11f0	1383	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
Gurvan	0:9cb9445a11f0	1384	return buffer[0];
Gurvan	0:9cb9445a11f0	1385	}
Gurvan	0:9cb9445a11f0	1386	/** Get Slave 3 NACK status.
Gurvan	0:9cb9445a11f0	1387	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
Gurvan	0:9cb9445a11f0	1388	* transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
Gurvan	0:9cb9445a11f0	1389	* bit in the INT_ENABLE register (Register 56) is asserted.
Gurvan	0:9cb9445a11f0	1390	* @return Slave 3 NACK interrupt status
Gurvan	0:9cb9445a11f0	1391	* @see MPU6050_RA_I2C_MST_STATUS
Gurvan	0:9cb9445a11f0	1392	*/
Gurvan	0:9cb9445a11f0	1393	bool MPU6050::getSlave3Nack()
Gurvan	0:9cb9445a11f0	1394	{
Gurvan	0:9cb9445a11f0	1395	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
Gurvan	0:9cb9445a11f0	1396	return buffer[0];
Gurvan	0:9cb9445a11f0	1397	}
Gurvan	0:9cb9445a11f0	1398	/** Get Slave 2 NACK status.
Gurvan	0:9cb9445a11f0	1399	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
Gurvan	0:9cb9445a11f0	1400	* transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
Gurvan	0:9cb9445a11f0	1401	* bit in the INT_ENABLE register (Register 56) is asserted.
Gurvan	0:9cb9445a11f0	1402	* @return Slave 2 NACK interrupt status
Gurvan	0:9cb9445a11f0	1403	* @see MPU6050_RA_I2C_MST_STATUS
Gurvan	0:9cb9445a11f0	1404	*/
Gurvan	0:9cb9445a11f0	1405	bool MPU6050::getSlave2Nack()
Gurvan	0:9cb9445a11f0	1406	{
Gurvan	0:9cb9445a11f0	1407	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
Gurvan	0:9cb9445a11f0	1408	return buffer[0];
Gurvan	0:9cb9445a11f0	1409	}
Gurvan	0:9cb9445a11f0	1410	/** Get Slave 1 NACK status.
Gurvan	0:9cb9445a11f0	1411	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
Gurvan	0:9cb9445a11f0	1412	* transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
Gurvan	0:9cb9445a11f0	1413	* bit in the INT_ENABLE register (Register 56) is asserted.
Gurvan	0:9cb9445a11f0	1414	* @return Slave 1 NACK interrupt status
Gurvan	0:9cb9445a11f0	1415	* @see MPU6050_RA_I2C_MST_STATUS
Gurvan	0:9cb9445a11f0	1416	*/
Gurvan	0:9cb9445a11f0	1417	bool MPU6050::getSlave1Nack()
Gurvan	0:9cb9445a11f0	1418	{
Gurvan	0:9cb9445a11f0	1419	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
Gurvan	0:9cb9445a11f0	1420	return buffer[0];
Gurvan	0:9cb9445a11f0	1421	}
Gurvan	0:9cb9445a11f0	1422	/** Get Slave 0 NACK status.
Gurvan	0:9cb9445a11f0	1423	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
Gurvan	0:9cb9445a11f0	1424	* transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
Gurvan	0:9cb9445a11f0	1425	* bit in the INT_ENABLE register (Register 56) is asserted.
Gurvan	0:9cb9445a11f0	1426	* @return Slave 0 NACK interrupt status
Gurvan	0:9cb9445a11f0	1427	* @see MPU6050_RA_I2C_MST_STATUS
Gurvan	0:9cb9445a11f0	1428	*/
Gurvan	0:9cb9445a11f0	1429	bool MPU6050::getSlave0Nack()
Gurvan	0:9cb9445a11f0	1430	{
Gurvan	0:9cb9445a11f0	1431	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
Gurvan	0:9cb9445a11f0	1432	return buffer[0];
Gurvan	0:9cb9445a11f0	1433	}
Gurvan	0:9cb9445a11f0	1434
Gurvan	0:9cb9445a11f0	1435	// INT_PIN_CFG register
Gurvan	0:9cb9445a11f0	1436
Gurvan	0:9cb9445a11f0	1437	/** Get interrupt logic level mode.
Gurvan	0:9cb9445a11f0	1438	* Will be set 0 for active-high, 1 for active-low.
Gurvan	0:9cb9445a11f0	1439	* @return Current interrupt mode (0=active-high, 1=active-low)
Gurvan	0:9cb9445a11f0	1440	* @see MPU6050_RA_INT_PIN_CFG
Gurvan	0:9cb9445a11f0	1441	* @see MPU6050_INTCFG_INT_LEVEL_BIT
Gurvan	0:9cb9445a11f0	1442	*/
Gurvan	0:9cb9445a11f0	1443	bool MPU6050::getInterruptMode()
Gurvan	0:9cb9445a11f0	1444	{
Gurvan	0:9cb9445a11f0	1445	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
Gurvan	0:9cb9445a11f0	1446	return buffer[0];
Gurvan	0:9cb9445a11f0	1447	}
Gurvan	0:9cb9445a11f0	1448	/** Set interrupt logic level mode.
Gurvan	0:9cb9445a11f0	1449	* @param mode New interrupt mode (0=active-high, 1=active-low)
Gurvan	0:9cb9445a11f0	1450	* @see getInterruptMode()
Gurvan	0:9cb9445a11f0	1451	* @see MPU6050_RA_INT_PIN_CFG
Gurvan	0:9cb9445a11f0	1452	* @see MPU6050_INTCFG_INT_LEVEL_BIT
Gurvan	0:9cb9445a11f0	1453	*/
Gurvan	0:9cb9445a11f0	1454	void MPU6050::setInterruptMode(bool mode)
Gurvan	0:9cb9445a11f0	1455	{
Gurvan	0:9cb9445a11f0	1456	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
Gurvan	0:9cb9445a11f0	1457	}
Gurvan	0:9cb9445a11f0	1458	/** Get interrupt drive mode.
Gurvan	0:9cb9445a11f0	1459	* Will be set 0 for push-pull, 1 for open-drain.
Gurvan	0:9cb9445a11f0	1460	* @return Current interrupt drive mode (0=push-pull, 1=open-drain)
Gurvan	0:9cb9445a11f0	1461	* @see MPU6050_RA_INT_PIN_CFG
Gurvan	0:9cb9445a11f0	1462	* @see MPU6050_INTCFG_INT_OPEN_BIT
Gurvan	0:9cb9445a11f0	1463	*/
Gurvan	0:9cb9445a11f0	1464	bool MPU6050::getInterruptDrive()
Gurvan	0:9cb9445a11f0	1465	{
Gurvan	0:9cb9445a11f0	1466	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
Gurvan	0:9cb9445a11f0	1467	return buffer[0];
Gurvan	0:9cb9445a11f0	1468	}
Gurvan	0:9cb9445a11f0	1469	/** Set interrupt drive mode.
Gurvan	0:9cb9445a11f0	1470	* @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
Gurvan	0:9cb9445a11f0	1471	* @see getInterruptDrive()
Gurvan	0:9cb9445a11f0	1472	* @see MPU6050_RA_INT_PIN_CFG
Gurvan	0:9cb9445a11f0	1473	* @see MPU6050_INTCFG_INT_OPEN_BIT
Gurvan	0:9cb9445a11f0	1474	*/
Gurvan	0:9cb9445a11f0	1475	void MPU6050::setInterruptDrive(bool drive)
Gurvan	0:9cb9445a11f0	1476	{
Gurvan	0:9cb9445a11f0	1477	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
Gurvan	0:9cb9445a11f0	1478	}
Gurvan	0:9cb9445a11f0	1479	/** Get interrupt latch mode.
Gurvan	0:9cb9445a11f0	1480	* Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
Gurvan	0:9cb9445a11f0	1481	* @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
Gurvan	0:9cb9445a11f0	1482	* @see MPU6050_RA_INT_PIN_CFG
Gurvan	0:9cb9445a11f0	1483	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
Gurvan	0:9cb9445a11f0	1484	*/
Gurvan	0:9cb9445a11f0	1485	bool MPU6050::getInterruptLatch()
Gurvan	0:9cb9445a11f0	1486	{
Gurvan	0:9cb9445a11f0	1487	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
Gurvan	0:9cb9445a11f0	1488	return buffer[0];
Gurvan	0:9cb9445a11f0	1489	}
Gurvan	0:9cb9445a11f0	1490	/** Set interrupt latch mode.
Gurvan	0:9cb9445a11f0	1491	* @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
Gurvan	0:9cb9445a11f0	1492	* @see getInterruptLatch()
Gurvan	0:9cb9445a11f0	1493	* @see MPU6050_RA_INT_PIN_CFG
Gurvan	0:9cb9445a11f0	1494	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
Gurvan	0:9cb9445a11f0	1495	*/
Gurvan	0:9cb9445a11f0	1496	void MPU6050::setInterruptLatch(bool latch)
Gurvan	0:9cb9445a11f0	1497	{
Gurvan	0:9cb9445a11f0	1498	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
Gurvan	0:9cb9445a11f0	1499	}
Gurvan	0:9cb9445a11f0	1500	/** Get interrupt latch clear mode.
Gurvan	0:9cb9445a11f0	1501	* Will be set 0 for status-read-only, 1 for any-register-read.
Gurvan	0:9cb9445a11f0	1502	* @return Current latch clear mode (0=status-read-only, 1=any-register-read)
Gurvan	0:9cb9445a11f0	1503	* @see MPU6050_RA_INT_PIN_CFG
Gurvan	0:9cb9445a11f0	1504	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
Gurvan	0:9cb9445a11f0	1505	*/
Gurvan	0:9cb9445a11f0	1506	bool MPU6050::getInterruptLatchClear()
Gurvan	0:9cb9445a11f0	1507	{
Gurvan	0:9cb9445a11f0	1508	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
Gurvan	0:9cb9445a11f0	1509	return buffer[0];
Gurvan	0:9cb9445a11f0	1510	}
Gurvan	0:9cb9445a11f0	1511	/** Set interrupt latch clear mode.
Gurvan	0:9cb9445a11f0	1512	* @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
Gurvan	0:9cb9445a11f0	1513	* @see getInterruptLatchClear()
Gurvan	0:9cb9445a11f0	1514	* @see MPU6050_RA_INT_PIN_CFG
Gurvan	0:9cb9445a11f0	1515	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
Gurvan	0:9cb9445a11f0	1516	*/
Gurvan	0:9cb9445a11f0	1517	void MPU6050::setInterruptLatchClear(bool clear)
Gurvan	0:9cb9445a11f0	1518	{
Gurvan	0:9cb9445a11f0	1519	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
Gurvan	0:9cb9445a11f0	1520	}
Gurvan	0:9cb9445a11f0	1521	/** Get FSYNC interrupt logic level mode.
Gurvan	0:9cb9445a11f0	1522	* @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
Gurvan	0:9cb9445a11f0	1523	* @see getFSyncInterruptMode()
Gurvan	0:9cb9445a11f0	1524	* @see MPU6050_RA_INT_PIN_CFG
Gurvan	0:9cb9445a11f0	1525	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
Gurvan	0:9cb9445a11f0	1526	*/
Gurvan	0:9cb9445a11f0	1527	bool MPU6050::getFSyncInterruptLevel()
Gurvan	0:9cb9445a11f0	1528	{
Gurvan	0:9cb9445a11f0	1529	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
Gurvan	0:9cb9445a11f0	1530	return buffer[0];
Gurvan	0:9cb9445a11f0	1531	}
Gurvan	0:9cb9445a11f0	1532	/** Set FSYNC interrupt logic level mode.
Gurvan	0:9cb9445a11f0	1533	* @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
Gurvan	0:9cb9445a11f0	1534	* @see getFSyncInterruptMode()
Gurvan	0:9cb9445a11f0	1535	* @see MPU6050_RA_INT_PIN_CFG
Gurvan	0:9cb9445a11f0	1536	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
Gurvan	0:9cb9445a11f0	1537	*/
Gurvan	0:9cb9445a11f0	1538	void MPU6050::setFSyncInterruptLevel(bool level)
Gurvan	0:9cb9445a11f0	1539	{
Gurvan	0:9cb9445a11f0	1540	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
Gurvan	0:9cb9445a11f0	1541	}
Gurvan	0:9cb9445a11f0	1542	/** Get FSYNC pin interrupt enabled setting.
Gurvan	0:9cb9445a11f0	1543	* Will be set 0 for disabled, 1 for enabled.
Gurvan	0:9cb9445a11f0	1544	* @return Current interrupt enabled setting
Gurvan	0:9cb9445a11f0	1545	* @see MPU6050_RA_INT_PIN_CFG
Gurvan	0:9cb9445a11f0	1546	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
Gurvan	0:9cb9445a11f0	1547	*/
Gurvan	0:9cb9445a11f0	1548	bool MPU6050::getFSyncInterruptEnabled()
Gurvan	0:9cb9445a11f0	1549	{
Gurvan	0:9cb9445a11f0	1550	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
Gurvan	0:9cb9445a11f0	1551	return buffer[0];
Gurvan	0:9cb9445a11f0	1552	}
Gurvan	0:9cb9445a11f0	1553	/** Set FSYNC pin interrupt enabled setting.
Gurvan	0:9cb9445a11f0	1554	* @param enabled New FSYNC pin interrupt enabled setting
Gurvan	0:9cb9445a11f0	1555	* @see getFSyncInterruptEnabled()
Gurvan	0:9cb9445a11f0	1556	* @see MPU6050_RA_INT_PIN_CFG
Gurvan	0:9cb9445a11f0	1557	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
Gurvan	0:9cb9445a11f0	1558	*/
Gurvan	0:9cb9445a11f0	1559	void MPU6050::setFSyncInterruptEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	1560	{
Gurvan	0:9cb9445a11f0	1561	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
Gurvan	0:9cb9445a11f0	1562	}
Gurvan	0:9cb9445a11f0	1563	/** Get I2C bypass enabled status.
Gurvan	0:9cb9445a11f0	1564	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
Gurvan	0:9cb9445a11f0	1565	* 0, the host application processor will be able to directly access the
Gurvan	0:9cb9445a11f0	1566	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
Gurvan	0:9cb9445a11f0	1567	* application processor will not be able to directly access the auxiliary I2C
Gurvan	0:9cb9445a11f0	1568	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
Gurvan	0:9cb9445a11f0	1569	* bit[5]).
Gurvan	0:9cb9445a11f0	1570	* @return Current I2C bypass enabled status
Gurvan	0:9cb9445a11f0	1571	* @see MPU6050_RA_INT_PIN_CFG
Gurvan	0:9cb9445a11f0	1572	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
Gurvan	0:9cb9445a11f0	1573	*/
Gurvan	0:9cb9445a11f0	1574	bool MPU6050::getI2CBypassEnabled()
Gurvan	0:9cb9445a11f0	1575	{
Gurvan	0:9cb9445a11f0	1576	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
Gurvan	0:9cb9445a11f0	1577	return buffer[0];
Gurvan	0:9cb9445a11f0	1578	}
Gurvan	0:9cb9445a11f0	1579	/** Set I2C bypass enabled status.
Gurvan	0:9cb9445a11f0	1580	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
Gurvan	0:9cb9445a11f0	1581	* 0, the host application processor will be able to directly access the
Gurvan	0:9cb9445a11f0	1582	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
Gurvan	0:9cb9445a11f0	1583	* application processor will not be able to directly access the auxiliary I2C
Gurvan	0:9cb9445a11f0	1584	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
Gurvan	0:9cb9445a11f0	1585	* bit[5]).
Gurvan	0:9cb9445a11f0	1586	* @param enabled New I2C bypass enabled status
Gurvan	0:9cb9445a11f0	1587	* @see MPU6050_RA_INT_PIN_CFG
Gurvan	0:9cb9445a11f0	1588	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
Gurvan	0:9cb9445a11f0	1589	*/
Gurvan	0:9cb9445a11f0	1590	void MPU6050::setI2CBypassEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	1591	{
Gurvan	0:9cb9445a11f0	1592	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
Gurvan	0:9cb9445a11f0	1593	}
Gurvan	0:9cb9445a11f0	1594	/** Get reference clock output enabled status.
Gurvan	0:9cb9445a11f0	1595	* When this bit is equal to 1, a reference clock output is provided at the
Gurvan	0:9cb9445a11f0	1596	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
Gurvan	0:9cb9445a11f0	1597	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
Gurvan	0:9cb9445a11f0	1598	* Specification document.
Gurvan	0:9cb9445a11f0	1599	* @return Current reference clock output enabled status
Gurvan	0:9cb9445a11f0	1600	* @see MPU6050_RA_INT_PIN_CFG
Gurvan	0:9cb9445a11f0	1601	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
Gurvan	0:9cb9445a11f0	1602	*/
Gurvan	0:9cb9445a11f0	1603	bool MPU6050::getClockOutputEnabled()
Gurvan	0:9cb9445a11f0	1604	{
Gurvan	0:9cb9445a11f0	1605	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
Gurvan	0:9cb9445a11f0	1606	return buffer[0];
Gurvan	0:9cb9445a11f0	1607	}
Gurvan	0:9cb9445a11f0	1608	/** Set reference clock output enabled status.
Gurvan	0:9cb9445a11f0	1609	* When this bit is equal to 1, a reference clock output is provided at the
Gurvan	0:9cb9445a11f0	1610	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
Gurvan	0:9cb9445a11f0	1611	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
Gurvan	0:9cb9445a11f0	1612	* Specification document.
Gurvan	0:9cb9445a11f0	1613	* @param enabled New reference clock output enabled status
Gurvan	0:9cb9445a11f0	1614	* @see MPU6050_RA_INT_PIN_CFG
Gurvan	0:9cb9445a11f0	1615	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
Gurvan	0:9cb9445a11f0	1616	*/
Gurvan	0:9cb9445a11f0	1617	void MPU6050::setClockOutputEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	1618	{
Gurvan	0:9cb9445a11f0	1619	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
Gurvan	0:9cb9445a11f0	1620	}
Gurvan	0:9cb9445a11f0	1621
Gurvan	0:9cb9445a11f0	1622	// INT_ENABLE register
Gurvan	0:9cb9445a11f0	1623
Gurvan	0:9cb9445a11f0	1624	/** Get full interrupt enabled status.
Gurvan	0:9cb9445a11f0	1625	* Full register byte for all interrupts, for quick reading. Each bit will be
Gurvan	0:9cb9445a11f0	1626	* set 0 for disabled, 1 for enabled.
Gurvan	0:9cb9445a11f0	1627	* @return Current interrupt enabled status
Gurvan	0:9cb9445a11f0	1628	* @see MPU6050_RA_INT_ENABLE
Gurvan	0:9cb9445a11f0	1629	* @see MPU6050_INTERRUPT_FF_BIT
Gurvan	0:9cb9445a11f0	1630	**/
Gurvan	0:9cb9445a11f0	1631	uint8_t MPU6050::getIntEnabled()
Gurvan	0:9cb9445a11f0	1632	{
Gurvan	0:9cb9445a11f0	1633	i2Cdev.readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
Gurvan	0:9cb9445a11f0	1634	return buffer[0];
Gurvan	0:9cb9445a11f0	1635	}
Gurvan	0:9cb9445a11f0	1636	/** Set full interrupt enabled status.
Gurvan	0:9cb9445a11f0	1637	* Full register byte for all interrupts, for quick reading. Each bit should be
Gurvan	0:9cb9445a11f0	1638	* set 0 for disabled, 1 for enabled.
Gurvan	0:9cb9445a11f0	1639	* @param enabled New interrupt enabled status
Gurvan	0:9cb9445a11f0	1640	* @see getIntFreefallEnabled()
Gurvan	0:9cb9445a11f0	1641	* @see MPU6050_RA_INT_ENABLE
Gurvan	0:9cb9445a11f0	1642	* @see MPU6050_INTERRUPT_FF_BIT
Gurvan	0:9cb9445a11f0	1643	**/
Gurvan	0:9cb9445a11f0	1644	void MPU6050::setIntEnabled(uint8_t enabled)
Gurvan	0:9cb9445a11f0	1645	{
Gurvan	0:9cb9445a11f0	1646	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
Gurvan	0:9cb9445a11f0	1647	}
Gurvan	0:9cb9445a11f0	1648	/** Get Free Fall interrupt enabled status.
Gurvan	0:9cb9445a11f0	1649	* Will be set 0 for disabled, 1 for enabled.
Gurvan	0:9cb9445a11f0	1650	* @return Current interrupt enabled status
Gurvan	0:9cb9445a11f0	1651	* @see MPU6050_RA_INT_ENABLE
Gurvan	0:9cb9445a11f0	1652	* @see MPU6050_INTERRUPT_FF_BIT
Gurvan	0:9cb9445a11f0	1653	**/
Gurvan	0:9cb9445a11f0	1654	bool MPU6050::getIntFreefallEnabled()
Gurvan	0:9cb9445a11f0	1655	{
Gurvan	0:9cb9445a11f0	1656	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
Gurvan	0:9cb9445a11f0	1657	return buffer[0];
Gurvan	0:9cb9445a11f0	1658	}
Gurvan	0:9cb9445a11f0	1659	/** Set Free Fall interrupt enabled status.
Gurvan	0:9cb9445a11f0	1660	* @param enabled New interrupt enabled status
Gurvan	0:9cb9445a11f0	1661	* @see getIntFreefallEnabled()
Gurvan	0:9cb9445a11f0	1662	* @see MPU6050_RA_INT_ENABLE
Gurvan	0:9cb9445a11f0	1663	* @see MPU6050_INTERRUPT_FF_BIT
Gurvan	0:9cb9445a11f0	1664	**/
Gurvan	0:9cb9445a11f0	1665	void MPU6050::setIntFreefallEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	1666	{
Gurvan	0:9cb9445a11f0	1667	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
Gurvan	0:9cb9445a11f0	1668	}
Gurvan	0:9cb9445a11f0	1669	/** Get Motion Detection interrupt enabled status.
Gurvan	0:9cb9445a11f0	1670	* Will be set 0 for disabled, 1 for enabled.
Gurvan	0:9cb9445a11f0	1671	* @return Current interrupt enabled status
Gurvan	0:9cb9445a11f0	1672	* @see MPU6050_RA_INT_ENABLE
Gurvan	0:9cb9445a11f0	1673	* @see MPU6050_INTERRUPT_MOT_BIT
Gurvan	0:9cb9445a11f0	1674	**/
Gurvan	0:9cb9445a11f0	1675	bool MPU6050::getIntMotionEnabled()
Gurvan	0:9cb9445a11f0	1676	{
Gurvan	0:9cb9445a11f0	1677	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
Gurvan	0:9cb9445a11f0	1678	return buffer[0];
Gurvan	0:9cb9445a11f0	1679	}
Gurvan	0:9cb9445a11f0	1680	/** Set Motion Detection interrupt enabled status.
Gurvan	0:9cb9445a11f0	1681	* @param enabled New interrupt enabled status
Gurvan	0:9cb9445a11f0	1682	* @see getIntMotionEnabled()
Gurvan	0:9cb9445a11f0	1683	* @see MPU6050_RA_INT_ENABLE
Gurvan	0:9cb9445a11f0	1684	* @see MPU6050_INTERRUPT_MOT_BIT
Gurvan	0:9cb9445a11f0	1685	**/
Gurvan	0:9cb9445a11f0	1686	void MPU6050::setIntMotionEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	1687	{
Gurvan	0:9cb9445a11f0	1688	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
Gurvan	0:9cb9445a11f0	1689	}
Gurvan	0:9cb9445a11f0	1690	/** Get Zero Motion Detection interrupt enabled status.
Gurvan	0:9cb9445a11f0	1691	* Will be set 0 for disabled, 1 for enabled.
Gurvan	0:9cb9445a11f0	1692	* @return Current interrupt enabled status
Gurvan	0:9cb9445a11f0	1693	* @see MPU6050_RA_INT_ENABLE
Gurvan	0:9cb9445a11f0	1694	* @see MPU6050_INTERRUPT_ZMOT_BIT
Gurvan	0:9cb9445a11f0	1695	**/
Gurvan	0:9cb9445a11f0	1696	bool MPU6050::getIntZeroMotionEnabled()
Gurvan	0:9cb9445a11f0	1697	{
Gurvan	0:9cb9445a11f0	1698	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
Gurvan	0:9cb9445a11f0	1699	return buffer[0];
Gurvan	0:9cb9445a11f0	1700	}
Gurvan	0:9cb9445a11f0	1701	/** Set Zero Motion Detection interrupt enabled status.
Gurvan	0:9cb9445a11f0	1702	* @param enabled New interrupt enabled status
Gurvan	0:9cb9445a11f0	1703	* @see getIntZeroMotionEnabled()
Gurvan	0:9cb9445a11f0	1704	* @see MPU6050_RA_INT_ENABLE
Gurvan	0:9cb9445a11f0	1705	* @see MPU6050_INTERRUPT_ZMOT_BIT
Gurvan	0:9cb9445a11f0	1706	**/
Gurvan	0:9cb9445a11f0	1707	void MPU6050::setIntZeroMotionEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	1708	{
Gurvan	0:9cb9445a11f0	1709	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
Gurvan	0:9cb9445a11f0	1710	}
Gurvan	0:9cb9445a11f0	1711	/** Get FIFO Buffer Overflow interrupt enabled status.
Gurvan	0:9cb9445a11f0	1712	* Will be set 0 for disabled, 1 for enabled.
Gurvan	0:9cb9445a11f0	1713	* @return Current interrupt enabled status
Gurvan	0:9cb9445a11f0	1714	* @see MPU6050_RA_INT_ENABLE
Gurvan	0:9cb9445a11f0	1715	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
Gurvan	0:9cb9445a11f0	1716	**/
Gurvan	0:9cb9445a11f0	1717	bool MPU6050::getIntFIFOBufferOverflowEnabled()
Gurvan	0:9cb9445a11f0	1718	{
Gurvan	0:9cb9445a11f0	1719	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
Gurvan	0:9cb9445a11f0	1720	return buffer[0];
Gurvan	0:9cb9445a11f0	1721	}
Gurvan	0:9cb9445a11f0	1722	/** Set FIFO Buffer Overflow interrupt enabled status.
Gurvan	0:9cb9445a11f0	1723	* @param enabled New interrupt enabled status
Gurvan	0:9cb9445a11f0	1724	* @see getIntFIFOBufferOverflowEnabled()
Gurvan	0:9cb9445a11f0	1725	* @see MPU6050_RA_INT_ENABLE
Gurvan	0:9cb9445a11f0	1726	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
Gurvan	0:9cb9445a11f0	1727	**/
Gurvan	0:9cb9445a11f0	1728	void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	1729	{
Gurvan	0:9cb9445a11f0	1730	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
Gurvan	0:9cb9445a11f0	1731	}
Gurvan	0:9cb9445a11f0	1732	/** Get I2C Master interrupt enabled status.
Gurvan	0:9cb9445a11f0	1733	* This enables any of the I2C Master interrupt sources to generate an
Gurvan	0:9cb9445a11f0	1734	* interrupt. Will be set 0 for disabled, 1 for enabled.
Gurvan	0:9cb9445a11f0	1735	* @return Current interrupt enabled status
Gurvan	0:9cb9445a11f0	1736	* @see MPU6050_RA_INT_ENABLE
Gurvan	0:9cb9445a11f0	1737	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
Gurvan	0:9cb9445a11f0	1738	**/
Gurvan	0:9cb9445a11f0	1739	bool MPU6050::getIntI2CMasterEnabled()
Gurvan	0:9cb9445a11f0	1740	{
Gurvan	0:9cb9445a11f0	1741	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
Gurvan	0:9cb9445a11f0	1742	return buffer[0];
Gurvan	0:9cb9445a11f0	1743	}
Gurvan	0:9cb9445a11f0	1744	/** Set I2C Master interrupt enabled status.
Gurvan	0:9cb9445a11f0	1745	* @param enabled New interrupt enabled status
Gurvan	0:9cb9445a11f0	1746	* @see getIntI2CMasterEnabled()
Gurvan	0:9cb9445a11f0	1747	* @see MPU6050_RA_INT_ENABLE
Gurvan	0:9cb9445a11f0	1748	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
Gurvan	0:9cb9445a11f0	1749	**/
Gurvan	0:9cb9445a11f0	1750	void MPU6050::setIntI2CMasterEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	1751	{
Gurvan	0:9cb9445a11f0	1752	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
Gurvan	0:9cb9445a11f0	1753	}
Gurvan	0:9cb9445a11f0	1754	/** Get Data Ready interrupt enabled setting.
Gurvan	0:9cb9445a11f0	1755	* This event occurs each time a write operation to all of the sensor registers
Gurvan	0:9cb9445a11f0	1756	* has been completed. Will be set 0 for disabled, 1 for enabled.
Gurvan	0:9cb9445a11f0	1757	* @return Current interrupt enabled status
Gurvan	0:9cb9445a11f0	1758	* @see MPU6050_RA_INT_ENABLE
Gurvan	0:9cb9445a11f0	1759	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
Gurvan	0:9cb9445a11f0	1760	*/
Gurvan	0:9cb9445a11f0	1761	bool MPU6050::getIntDataReadyEnabled()
Gurvan	0:9cb9445a11f0	1762	{
Gurvan	0:9cb9445a11f0	1763	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
Gurvan	0:9cb9445a11f0	1764	return buffer[0];
Gurvan	0:9cb9445a11f0	1765	}
Gurvan	0:9cb9445a11f0	1766	/** Set Data Ready interrupt enabled status.
Gurvan	0:9cb9445a11f0	1767	* @param enabled New interrupt enabled status
Gurvan	0:9cb9445a11f0	1768	* @see getIntDataReadyEnabled()
Gurvan	0:9cb9445a11f0	1769	* @see MPU6050_RA_INT_CFG
Gurvan	0:9cb9445a11f0	1770	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
Gurvan	0:9cb9445a11f0	1771	*/
Gurvan	0:9cb9445a11f0	1772	void MPU6050::setIntDataReadyEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	1773	{
Gurvan	0:9cb9445a11f0	1774	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
Gurvan	0:9cb9445a11f0	1775	}
Gurvan	0:9cb9445a11f0	1776
Gurvan	0:9cb9445a11f0	1777	// INT_STATUS register
Gurvan	0:9cb9445a11f0	1778
Gurvan	0:9cb9445a11f0	1779	/** Get full set of interrupt status bits.
Gurvan	0:9cb9445a11f0	1780	* These bits clear to 0 after the register has been read. Very useful
Gurvan	0:9cb9445a11f0	1781	* for getting multiple INT statuses, since each single bit read clears
Gurvan	0:9cb9445a11f0	1782	* all of them because it has to read the whole byte.
Gurvan	0:9cb9445a11f0	1783	* @return Current interrupt status
Gurvan	0:9cb9445a11f0	1784	* @see MPU6050_RA_INT_STATUS
Gurvan	0:9cb9445a11f0	1785	*/
Gurvan	0:9cb9445a11f0	1786	uint8_t MPU6050::getIntStatus()
Gurvan	0:9cb9445a11f0	1787	{
Gurvan	0:9cb9445a11f0	1788	i2Cdev.readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
Gurvan	0:9cb9445a11f0	1789	return buffer[0];
Gurvan	0:9cb9445a11f0	1790	}
Gurvan	0:9cb9445a11f0	1791	/** Get Free Fall interrupt status.
Gurvan	0:9cb9445a11f0	1792	* This bit automatically sets to 1 when a Free Fall interrupt has been
Gurvan	0:9cb9445a11f0	1793	* generated. The bit clears to 0 after the register has been read.
Gurvan	0:9cb9445a11f0	1794	* @return Current interrupt status
Gurvan	0:9cb9445a11f0	1795	* @see MPU6050_RA_INT_STATUS
Gurvan	0:9cb9445a11f0	1796	* @see MPU6050_INTERRUPT_FF_BIT
Gurvan	0:9cb9445a11f0	1797	*/
Gurvan	0:9cb9445a11f0	1798	bool MPU6050::getIntFreefallStatus()
Gurvan	0:9cb9445a11f0	1799	{
Gurvan	0:9cb9445a11f0	1800	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
Gurvan	0:9cb9445a11f0	1801	return buffer[0];
Gurvan	0:9cb9445a11f0	1802	}
Gurvan	0:9cb9445a11f0	1803	/** Get Motion Detection interrupt status.
Gurvan	0:9cb9445a11f0	1804	* This bit automatically sets to 1 when a Motion Detection interrupt has been
Gurvan	0:9cb9445a11f0	1805	* generated. The bit clears to 0 after the register has been read.
Gurvan	0:9cb9445a11f0	1806	* @return Current interrupt status
Gurvan	0:9cb9445a11f0	1807	* @see MPU6050_RA_INT_STATUS
Gurvan	0:9cb9445a11f0	1808	* @see MPU6050_INTERRUPT_MOT_BIT
Gurvan	0:9cb9445a11f0	1809	*/
Gurvan	0:9cb9445a11f0	1810	bool MPU6050::getIntMotionStatus()
Gurvan	0:9cb9445a11f0	1811	{
Gurvan	0:9cb9445a11f0	1812	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
Gurvan	0:9cb9445a11f0	1813	return buffer[0];
Gurvan	0:9cb9445a11f0	1814	}
Gurvan	0:9cb9445a11f0	1815	/** Get Zero Motion Detection interrupt status.
Gurvan	0:9cb9445a11f0	1816	* This bit automatically sets to 1 when a Zero Motion Detection interrupt has
Gurvan	0:9cb9445a11f0	1817	* been generated. The bit clears to 0 after the register has been read.
Gurvan	0:9cb9445a11f0	1818	* @return Current interrupt status
Gurvan	0:9cb9445a11f0	1819	* @see MPU6050_RA_INT_STATUS
Gurvan	0:9cb9445a11f0	1820	* @see MPU6050_INTERRUPT_ZMOT_BIT
Gurvan	0:9cb9445a11f0	1821	*/
Gurvan	0:9cb9445a11f0	1822	bool MPU6050::getIntZeroMotionStatus()
Gurvan	0:9cb9445a11f0	1823	{
Gurvan	0:9cb9445a11f0	1824	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
Gurvan	0:9cb9445a11f0	1825	return buffer[0];
Gurvan	0:9cb9445a11f0	1826	}
Gurvan	0:9cb9445a11f0	1827	/** Get FIFO Buffer Overflow interrupt status.
Gurvan	0:9cb9445a11f0	1828	* This bit automatically sets to 1 when a Free Fall interrupt has been
Gurvan	0:9cb9445a11f0	1829	* generated. The bit clears to 0 after the register has been read.
Gurvan	0:9cb9445a11f0	1830	* @return Current interrupt status
Gurvan	0:9cb9445a11f0	1831	* @see MPU6050_RA_INT_STATUS
Gurvan	0:9cb9445a11f0	1832	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
Gurvan	0:9cb9445a11f0	1833	*/
Gurvan	0:9cb9445a11f0	1834	bool MPU6050::getIntFIFOBufferOverflowStatus()
Gurvan	0:9cb9445a11f0	1835	{
Gurvan	0:9cb9445a11f0	1836	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
Gurvan	0:9cb9445a11f0	1837	return buffer[0];
Gurvan	0:9cb9445a11f0	1838	}
Gurvan	0:9cb9445a11f0	1839	/** Get I2C Master interrupt status.
Gurvan	0:9cb9445a11f0	1840	* This bit automatically sets to 1 when an I2C Master interrupt has been
Gurvan	0:9cb9445a11f0	1841	* generated. For a list of I2C Master interrupts, please refer to Register 54.
Gurvan	0:9cb9445a11f0	1842	* The bit clears to 0 after the register has been read.
Gurvan	0:9cb9445a11f0	1843	* @return Current interrupt status
Gurvan	0:9cb9445a11f0	1844	* @see MPU6050_RA_INT_STATUS
Gurvan	0:9cb9445a11f0	1845	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
Gurvan	0:9cb9445a11f0	1846	*/
Gurvan	0:9cb9445a11f0	1847	bool MPU6050::getIntI2CMasterStatus()
Gurvan	0:9cb9445a11f0	1848	{
Gurvan	0:9cb9445a11f0	1849	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
Gurvan	0:9cb9445a11f0	1850	return buffer[0];
Gurvan	0:9cb9445a11f0	1851	}
Gurvan	0:9cb9445a11f0	1852	/** Get Data Ready interrupt status.
Gurvan	0:9cb9445a11f0	1853	* This bit automatically sets to 1 when a Data Ready interrupt has been
Gurvan	0:9cb9445a11f0	1854	* generated. The bit clears to 0 after the register has been read.
Gurvan	0:9cb9445a11f0	1855	* @return Current interrupt status
Gurvan	0:9cb9445a11f0	1856	* @see MPU6050_RA_INT_STATUS
Gurvan	0:9cb9445a11f0	1857	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
Gurvan	0:9cb9445a11f0	1858	*/
Gurvan	0:9cb9445a11f0	1859	bool MPU6050::getIntDataReadyStatus()
Gurvan	0:9cb9445a11f0	1860	{
Gurvan	0:9cb9445a11f0	1861	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
Gurvan	0:9cb9445a11f0	1862	return buffer[0];
Gurvan	0:9cb9445a11f0	1863	}
Gurvan	0:9cb9445a11f0	1864
Gurvan	0:9cb9445a11f0	1865	// ACCEL_OUT_ registers
Gurvan	0:9cb9445a11f0	1866
Gurvan	0:9cb9445a11f0	1867	/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
Gurvan	0:9cb9445a11f0	1868	* FUNCTION NOT FULLY IMPLEMENTED YET.
Gurvan	0:9cb9445a11f0	1869	* @param ax 16-bit signed integer container for accelerometer X-axis value
Gurvan	0:9cb9445a11f0	1870	* @param ay 16-bit signed integer container for accelerometer Y-axis value
Gurvan	0:9cb9445a11f0	1871	* @param az 16-bit signed integer container for accelerometer Z-axis value
Gurvan	0:9cb9445a11f0	1872	* @param gx 16-bit signed integer container for gyroscope X-axis value
Gurvan	0:9cb9445a11f0	1873	* @param gy 16-bit signed integer container for gyroscope Y-axis value
Gurvan	0:9cb9445a11f0	1874	* @param gz 16-bit signed integer container for gyroscope Z-axis value
Gurvan	0:9cb9445a11f0	1875	* @param mx 16-bit signed integer container for magnetometer X-axis value
Gurvan	0:9cb9445a11f0	1876	* @param my 16-bit signed integer container for magnetometer Y-axis value
Gurvan	0:9cb9445a11f0	1877	* @param mz 16-bit signed integer container for magnetometer Z-axis value
Gurvan	0:9cb9445a11f0	1878	* @see getMotion6()
Gurvan	0:9cb9445a11f0	1879	* @see getAcceleration()
Gurvan	0:9cb9445a11f0	1880	* @see getRotation()
Gurvan	0:9cb9445a11f0	1881	* @see MPU6050_RA_ACCEL_XOUT_H
Gurvan	0:9cb9445a11f0	1882	*/
Gurvan	0:9cb9445a11f0	1883	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)
Gurvan	0:9cb9445a11f0	1884	{
Gurvan	0:9cb9445a11f0	1885	getMotion6(ax, ay, az, gx, gy, gz);
Gurvan	0:9cb9445a11f0	1886	// TODO: magnetometer integration
Gurvan	0:9cb9445a11f0	1887	}
Gurvan	0:9cb9445a11f0	1888	/** Get raw 6-axis motion sensor readings (accel/gyro).
Gurvan	0:9cb9445a11f0	1889	* Retrieves all currently available motion sensor values.
Gurvan	0:9cb9445a11f0	1890	* @param ax 16-bit signed integer container for accelerometer X-axis value
Gurvan	0:9cb9445a11f0	1891	* @param ay 16-bit signed integer container for accelerometer Y-axis value
Gurvan	0:9cb9445a11f0	1892	* @param az 16-bit signed integer container for accelerometer Z-axis value
Gurvan	0:9cb9445a11f0	1893	* @param gx 16-bit signed integer container for gyroscope X-axis value
Gurvan	0:9cb9445a11f0	1894	* @param gy 16-bit signed integer container for gyroscope Y-axis value
Gurvan	0:9cb9445a11f0	1895	* @param gz 16-bit signed integer container for gyroscope Z-axis value
Gurvan	0:9cb9445a11f0	1896	* @see getAcceleration()
Gurvan	0:9cb9445a11f0	1897	* @see getRotation()
Gurvan	0:9cb9445a11f0	1898	* @see MPU6050_RA_ACCEL_XOUT_H
Gurvan	0:9cb9445a11f0	1899	*/
Gurvan	0:9cb9445a11f0	1900	void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
Gurvan	0:9cb9445a11f0	1901	{
Gurvan	0:9cb9445a11f0	1902	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
Gurvan	0:9cb9445a11f0	1903	*ax = (((int16_t)buffer[0]) << 8) \| buffer[1];
Gurvan	0:9cb9445a11f0	1904	*ay = (((int16_t)buffer[2]) << 8) \| buffer[3];
Gurvan	0:9cb9445a11f0	1905	*az = (((int16_t)buffer[4]) << 8) \| buffer[5];
Gurvan	0:9cb9445a11f0	1906	*gx = (((int16_t)buffer[8]) << 8) \| buffer[9];
Gurvan	0:9cb9445a11f0	1907	*gy = (((int16_t)buffer[10]) << 8) \| buffer[11];
Gurvan	0:9cb9445a11f0	1908	*gz = (((int16_t)buffer[12]) << 8) \| buffer[13];
Gurvan	0:9cb9445a11f0	1909	}
Gurvan	0:9cb9445a11f0	1910	/** Get 3-axis accelerometer readings.
Gurvan	0:9cb9445a11f0	1911	* These registers store the most recent accelerometer measurements.
Gurvan	0:9cb9445a11f0	1912	* Accelerometer measurements are written to these registers at the Sample Rate
Gurvan	0:9cb9445a11f0	1913	* as defined in Register 25.
Gurvan	0:9cb9445a11f0	1914	*
Gurvan	0:9cb9445a11f0	1915	* The accelerometer measurement registers, along with the temperature
Gurvan	0:9cb9445a11f0	1916	* measurement registers, gyroscope measurement registers, and external sensor
Gurvan	0:9cb9445a11f0	1917	* data registers, are composed of two sets of registers: an internal register
Gurvan	0:9cb9445a11f0	1918	* set and a user-facing read register set.
Gurvan	0:9cb9445a11f0	1919	*
Gurvan	0:9cb9445a11f0	1920	* The data within the accelerometer sensors' internal register set is always
Gurvan	0:9cb9445a11f0	1921	* updated at the Sample Rate. Meanwhile, the user-facing read register set
Gurvan	0:9cb9445a11f0	1922	* duplicates the internal register set's data values whenever the serial
Gurvan	0:9cb9445a11f0	1923	* interface is idle. This guarantees that a burst read of sensor registers will
Gurvan	0:9cb9445a11f0	1924	* read measurements from the same sampling instant. Note that if burst reads
Gurvan	0:9cb9445a11f0	1925	* are not used, the user is responsible for ensuring a set of single byte reads
Gurvan	0:9cb9445a11f0	1926	* correspond to a single sampling instant by checking the Data Ready interrupt.
Gurvan	0:9cb9445a11f0	1927	*
Gurvan	0:9cb9445a11f0	1928	* Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
Gurvan	0:9cb9445a11f0	1929	* (Register 28). For each full scale setting, the accelerometers' sensitivity
Gurvan	0:9cb9445a11f0	1930	* per LSB in ACCEL_xOUT is shown in the table below:
Gurvan	0:9cb9445a11f0	1931	*
Gurvan	0:9cb9445a11f0	1932	* <pre>
Gurvan	0:9cb9445a11f0	1933	* AFS_SEL \| Full Scale Range \| LSB Sensitivity
Gurvan	0:9cb9445a11f0	1934	* --------+------------------+----------------
Gurvan	0:9cb9445a11f0	1935	* 0 \| +/- 2g \| 8192 LSB/mg
Gurvan	0:9cb9445a11f0	1936	* 1 \| +/- 4g \| 4096 LSB/mg
Gurvan	0:9cb9445a11f0	1937	* 2 \| +/- 8g \| 2048 LSB/mg
Gurvan	0:9cb9445a11f0	1938	* 3 \| +/- 16g \| 1024 LSB/mg
Gurvan	0:9cb9445a11f0	1939	* </pre>
Gurvan	0:9cb9445a11f0	1940	*
Gurvan	0:9cb9445a11f0	1941	* @param x 16-bit signed integer container for X-axis acceleration
Gurvan	0:9cb9445a11f0	1942	* @param y 16-bit signed integer container for Y-axis acceleration
Gurvan	0:9cb9445a11f0	1943	* @param z 16-bit signed integer container for Z-axis acceleration
Gurvan	0:9cb9445a11f0	1944	* @see MPU6050_RA_GYRO_XOUT_H
Gurvan	0:9cb9445a11f0	1945	*/
Gurvan	0:9cb9445a11f0	1946	void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z)
Gurvan	0:9cb9445a11f0	1947	{
Gurvan	0:9cb9445a11f0	1948	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
Gurvan	0:9cb9445a11f0	1949	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
Gurvan	0:9cb9445a11f0	1950	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
Gurvan	0:9cb9445a11f0	1951	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
Gurvan	0:9cb9445a11f0	1952	}
Gurvan	0:9cb9445a11f0	1953	/** Get X-axis accelerometer reading.
Gurvan	0:9cb9445a11f0	1954	* @return X-axis acceleration measurement in 16-bit 2's complement format
Gurvan	0:9cb9445a11f0	1955	* @see getMotion6()
Gurvan	0:9cb9445a11f0	1956	* @see MPU6050_RA_ACCEL_XOUT_H
Gurvan	0:9cb9445a11f0	1957	*/
Gurvan	0:9cb9445a11f0	1958	int16_t MPU6050::getAccelerationX()
Gurvan	0:9cb9445a11f0	1959	{
Gurvan	0:9cb9445a11f0	1960	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
Gurvan	0:9cb9445a11f0	1961	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gurvan	0:9cb9445a11f0	1962	}
Gurvan	0:9cb9445a11f0	1963	/** Get Y-axis accelerometer reading.
Gurvan	0:9cb9445a11f0	1964	* @return Y-axis acceleration measurement in 16-bit 2's complement format
Gurvan	0:9cb9445a11f0	1965	* @see getMotion6()
Gurvan	0:9cb9445a11f0	1966	* @see MPU6050_RA_ACCEL_YOUT_H
Gurvan	0:9cb9445a11f0	1967	*/
Gurvan	0:9cb9445a11f0	1968	int16_t MPU6050::getAccelerationY()
Gurvan	0:9cb9445a11f0	1969	{
Gurvan	0:9cb9445a11f0	1970	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
Gurvan	0:9cb9445a11f0	1971	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gurvan	0:9cb9445a11f0	1972	}
Gurvan	0:9cb9445a11f0	1973	/** Get Z-axis accelerometer reading.
Gurvan	0:9cb9445a11f0	1974	* @return Z-axis acceleration measurement in 16-bit 2's complement format
Gurvan	0:9cb9445a11f0	1975	* @see getMotion6()
Gurvan	0:9cb9445a11f0	1976	* @see MPU6050_RA_ACCEL_ZOUT_H
Gurvan	0:9cb9445a11f0	1977	*/
Gurvan	0:9cb9445a11f0	1978	int16_t MPU6050::getAccelerationZ()
Gurvan	0:9cb9445a11f0	1979	{
Gurvan	0:9cb9445a11f0	1980	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
Gurvan	0:9cb9445a11f0	1981	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gurvan	0:9cb9445a11f0	1982	}
Gurvan	0:9cb9445a11f0	1983
Gurvan	0:9cb9445a11f0	1984	// TEMP_OUT_* registers
Gurvan	0:9cb9445a11f0	1985
Gurvan	0:9cb9445a11f0	1986	/** Get current internal temperature.
Gurvan	0:9cb9445a11f0	1987	* @return Temperature reading in 16-bit 2's complement format
Gurvan	0:9cb9445a11f0	1988	* @see MPU6050_RA_TEMP_OUT_H
Gurvan	0:9cb9445a11f0	1989	*/
Gurvan	0:9cb9445a11f0	1990	int16_t MPU6050::getTemperature()
Gurvan	0:9cb9445a11f0	1991	{
Gurvan	0:9cb9445a11f0	1992	i2Cdev.readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
Gurvan	0:9cb9445a11f0	1993	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gurvan	0:9cb9445a11f0	1994	}
Gurvan	0:9cb9445a11f0	1995
Gurvan	0:9cb9445a11f0	1996	// GYRO_OUT_ registers
Gurvan	0:9cb9445a11f0	1997
Gurvan	0:9cb9445a11f0	1998	/** Get 3-axis gyroscope readings.
Gurvan	0:9cb9445a11f0	1999	* These gyroscope measurement registers, along with the accelerometer
Gurvan	0:9cb9445a11f0	2000	* measurement registers, temperature measurement registers, and external sensor
Gurvan	0:9cb9445a11f0	2001	* data registers, are composed of two sets of registers: an internal register
Gurvan	0:9cb9445a11f0	2002	* set and a user-facing read register set.
Gurvan	0:9cb9445a11f0	2003	* The data within the gyroscope sensors' internal register set is always
Gurvan	0:9cb9445a11f0	2004	* updated at the Sample Rate. Meanwhile, the user-facing read register set
Gurvan	0:9cb9445a11f0	2005	* duplicates the internal register set's data values whenever the serial
Gurvan	0:9cb9445a11f0	2006	* interface is idle. This guarantees that a burst read of sensor registers will
Gurvan	0:9cb9445a11f0	2007	* read measurements from the same sampling instant. Note that if burst reads
Gurvan	0:9cb9445a11f0	2008	* are not used, the user is responsible for ensuring a set of single byte reads
Gurvan	0:9cb9445a11f0	2009	* correspond to a single sampling instant by checking the Data Ready interrupt.
Gurvan	0:9cb9445a11f0	2010	*
Gurvan	0:9cb9445a11f0	2011	* Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
Gurvan	0:9cb9445a11f0	2012	* (Register 27). For each full scale setting, the gyroscopes' sensitivity per
Gurvan	0:9cb9445a11f0	2013	* LSB in GYRO_xOUT is shown in the table below:
Gurvan	0:9cb9445a11f0	2014	*
Gurvan	0:9cb9445a11f0	2015	* <pre>
Gurvan	0:9cb9445a11f0	2016	* FS_SEL \| Full Scale Range \| LSB Sensitivity
Gurvan	0:9cb9445a11f0	2017	* -------+--------------------+----------------
Gurvan	0:9cb9445a11f0	2018	* 0 \| +/- 250 degrees/s \| 131 LSB/deg/s
Gurvan	0:9cb9445a11f0	2019	* 1 \| +/- 500 degrees/s \| 65.5 LSB/deg/s
Gurvan	0:9cb9445a11f0	2020	* 2 \| +/- 1000 degrees/s \| 32.8 LSB/deg/s
Gurvan	0:9cb9445a11f0	2021	* 3 \| +/- 2000 degrees/s \| 16.4 LSB/deg/s
Gurvan	0:9cb9445a11f0	2022	* </pre>
Gurvan	0:9cb9445a11f0	2023	*
Gurvan	0:9cb9445a11f0	2024	* @param x 16-bit signed integer container for X-axis rotation
Gurvan	0:9cb9445a11f0	2025	* @param y 16-bit signed integer container for Y-axis rotation
Gurvan	0:9cb9445a11f0	2026	* @param z 16-bit signed integer container for Z-axis rotation
Gurvan	0:9cb9445a11f0	2027	* @see getMotion6()
Gurvan	0:9cb9445a11f0	2028	* @see MPU6050_RA_GYRO_XOUT_H
Gurvan	0:9cb9445a11f0	2029	*/
Gurvan	0:9cb9445a11f0	2030	void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z)
Gurvan	0:9cb9445a11f0	2031	{
Gurvan	0:9cb9445a11f0	2032	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
Gurvan	0:9cb9445a11f0	2033	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
Gurvan	0:9cb9445a11f0	2034	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
Gurvan	0:9cb9445a11f0	2035	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
Gurvan	0:9cb9445a11f0	2036	}
Gurvan	0:9cb9445a11f0	2037	/** Get X-axis gyroscope reading.
Gurvan	0:9cb9445a11f0	2038	* @return X-axis rotation measurement in 16-bit 2's complement format
Gurvan	0:9cb9445a11f0	2039	* @see getMotion6()
Gurvan	0:9cb9445a11f0	2040	* @see MPU6050_RA_GYRO_XOUT_H
Gurvan	0:9cb9445a11f0	2041	*/
Gurvan	0:9cb9445a11f0	2042	int16_t MPU6050::getRotationX()
Gurvan	0:9cb9445a11f0	2043	{
Gurvan	0:9cb9445a11f0	2044	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
Gurvan	0:9cb9445a11f0	2045	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gurvan	0:9cb9445a11f0	2046	}
Gurvan	0:9cb9445a11f0	2047	/** Get Y-axis gyroscope reading.
Gurvan	0:9cb9445a11f0	2048	* @return Y-axis rotation measurement in 16-bit 2's complement format
Gurvan	0:9cb9445a11f0	2049	* @see getMotion6()
Gurvan	0:9cb9445a11f0	2050	* @see MPU6050_RA_GYRO_YOUT_H
Gurvan	0:9cb9445a11f0	2051	*/
Gurvan	0:9cb9445a11f0	2052	int16_t MPU6050::getRotationY()
Gurvan	0:9cb9445a11f0	2053	{
Gurvan	0:9cb9445a11f0	2054	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
Gurvan	0:9cb9445a11f0	2055	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gurvan	0:9cb9445a11f0	2056	}
Gurvan	0:9cb9445a11f0	2057	/** Get Z-axis gyroscope reading.
Gurvan	0:9cb9445a11f0	2058	* @return Z-axis rotation measurement in 16-bit 2's complement format
Gurvan	0:9cb9445a11f0	2059	* @see getMotion6()
Gurvan	0:9cb9445a11f0	2060	* @see MPU6050_RA_GYRO_ZOUT_H
Gurvan	0:9cb9445a11f0	2061	*/
Gurvan	0:9cb9445a11f0	2062	int16_t MPU6050::getRotationZ()
Gurvan	0:9cb9445a11f0	2063	{
Gurvan	0:9cb9445a11f0	2064	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
Gurvan	0:9cb9445a11f0	2065	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gurvan	0:9cb9445a11f0	2066	}
Gurvan	0:9cb9445a11f0	2067
Gurvan	0:9cb9445a11f0	2068	// EXT_SENS_DATA_* registers
Gurvan	0:9cb9445a11f0	2069
Gurvan	0:9cb9445a11f0	2070	/** Read single byte from external sensor data register.
Gurvan	0:9cb9445a11f0	2071	* These registers store data read from external sensors by the Slave 0, 1, 2,
Gurvan	0:9cb9445a11f0	2072	* and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
Gurvan	0:9cb9445a11f0	2073	* I2C_SLV4_DI (Register 53).
Gurvan	0:9cb9445a11f0	2074	*
Gurvan	0:9cb9445a11f0	2075	* External sensor data is written to these registers at the Sample Rate as
Gurvan	0:9cb9445a11f0	2076	* defined in Register 25. This access rate can be reduced by using the Slave
Gurvan	0:9cb9445a11f0	2077	* Delay Enable registers (Register 103).
Gurvan	0:9cb9445a11f0	2078	*
Gurvan	0:9cb9445a11f0	2079	* External sensor data registers, along with the gyroscope measurement
Gurvan	0:9cb9445a11f0	2080	* registers, accelerometer measurement registers, and temperature measurement
Gurvan	0:9cb9445a11f0	2081	* registers, are composed of two sets of registers: an internal register set
Gurvan	0:9cb9445a11f0	2082	* and a user-facing read register set.
Gurvan	0:9cb9445a11f0	2083	*
Gurvan	0:9cb9445a11f0	2084	* The data within the external sensors' internal register set is always updated
Gurvan	0:9cb9445a11f0	2085	* at the Sample Rate (or the reduced access rate) whenever the serial interface
Gurvan	0:9cb9445a11f0	2086	* is idle. This guarantees that a burst read of sensor registers will read
Gurvan	0:9cb9445a11f0	2087	* measurements from the same sampling instant. Note that if burst reads are not
Gurvan	0:9cb9445a11f0	2088	* used, the user is responsible for ensuring a set of single byte reads
Gurvan	0:9cb9445a11f0	2089	* correspond to a single sampling instant by checking the Data Ready interrupt.
Gurvan	0:9cb9445a11f0	2090	*
Gurvan	0:9cb9445a11f0	2091	* Data is placed in these external sensor data registers according to
Gurvan	0:9cb9445a11f0	2092	* I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
Gurvan	0:9cb9445a11f0	2093	* 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
Gurvan	0:9cb9445a11f0	2094	* an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
Gurvan	0:9cb9445a11f0	2095	* defined in Register 25) or delayed rate (if specified in Register 52 and
Gurvan	0:9cb9445a11f0	2096	* 103). During each Sample cycle, slave reads are performed in order of Slave
Gurvan	0:9cb9445a11f0	2097	* number. If all slaves are enabled with more than zero bytes to be read, the
Gurvan	0:9cb9445a11f0	2098	* order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
Gurvan	0:9cb9445a11f0	2099	*
Gurvan	0:9cb9445a11f0	2100	* Each enabled slave will have EXT_SENS_DATA registers associated with it by
Gurvan	0:9cb9445a11f0	2101	* number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
Gurvan	0:9cb9445a11f0	2102	* EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
Gurvan	0:9cb9445a11f0	2103	* change the higher numbered slaves' associated registers. Furthermore, if
Gurvan	0:9cb9445a11f0	2104	* fewer total bytes are being read from the external sensors as a result of
Gurvan	0:9cb9445a11f0	2105	* such a change, then the data remaining in the registers which no longer have
Gurvan	0:9cb9445a11f0	2106	* an associated slave device (i.e. high numbered registers) will remain in
Gurvan	0:9cb9445a11f0	2107	* these previously allocated registers unless reset.
Gurvan	0:9cb9445a11f0	2108	*
Gurvan	0:9cb9445a11f0	2109	* If the sum of the read lengths of all SLVx transactions exceed the number of
Gurvan	0:9cb9445a11f0	2110	* available EXT_SENS_DATA registers, the excess bytes will be dropped. There
Gurvan	0:9cb9445a11f0	2111	* are 24 EXT_SENS_DATA registers and hence the total read lengths between all
Gurvan	0:9cb9445a11f0	2112	* the slaves cannot be greater than 24 or some bytes will be lost.
Gurvan	0:9cb9445a11f0	2113	*
Gurvan	0:9cb9445a11f0	2114	* Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
Gurvan	0:9cb9445a11f0	2115	* information regarding the characteristics of Slave 4, please refer to
Gurvan	0:9cb9445a11f0	2116	* Registers 49 to 53.
Gurvan	0:9cb9445a11f0	2117	*
Gurvan	0:9cb9445a11f0	2118	* EXAMPLE:
Gurvan	0:9cb9445a11f0	2119	* Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
Gurvan	0:9cb9445a11f0	2120	* I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
Gurvan	0:9cb9445a11f0	2121	* I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
Gurvan	0:9cb9445a11f0	2122	* through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
Gurvan	0:9cb9445a11f0	2123	* will be associated with Slave 1. If Slave 2 is enabled as well, registers
Gurvan	0:9cb9445a11f0	2124	* starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
Gurvan	0:9cb9445a11f0	2125	*
Gurvan	0:9cb9445a11f0	2126	* If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
Gurvan	0:9cb9445a11f0	2127	* registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
Gurvan	0:9cb9445a11f0	2128	* instead.
Gurvan	0:9cb9445a11f0	2129	*
Gurvan	0:9cb9445a11f0	2130	* REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
Gurvan	0:9cb9445a11f0	2131	* If a slave is disabled at any time, the space initially allocated to the
Gurvan	0:9cb9445a11f0	2132	* slave in the EXT_SENS_DATA register, will remain associated with that slave.
Gurvan	0:9cb9445a11f0	2133	* This is to avoid dynamic adjustment of the register allocation.
Gurvan	0:9cb9445a11f0	2134	*
Gurvan	0:9cb9445a11f0	2135	* The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
Gurvan	0:9cb9445a11f0	2136	* slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
Gurvan	0:9cb9445a11f0	2137	*
Gurvan	0:9cb9445a11f0	2138	* This above is also true if one of the slaves gets NACKed and stops
Gurvan	0:9cb9445a11f0	2139	* functioning.
Gurvan	0:9cb9445a11f0	2140	*
Gurvan	0:9cb9445a11f0	2141	* @param position Starting position (0-23)
Gurvan	0:9cb9445a11f0	2142	* @return Byte read from register
Gurvan	0:9cb9445a11f0	2143	*/
Gurvan	0:9cb9445a11f0	2144	uint8_t MPU6050::getExternalSensorByte(int position)
Gurvan	0:9cb9445a11f0	2145	{
Gurvan	0:9cb9445a11f0	2146	i2Cdev.readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
Gurvan	0:9cb9445a11f0	2147	return buffer[0];
Gurvan	0:9cb9445a11f0	2148	}
Gurvan	0:9cb9445a11f0	2149	/** Read word (2 bytes) from external sensor data registers.
Gurvan	0:9cb9445a11f0	2150	* @param position Starting position (0-21)
Gurvan	0:9cb9445a11f0	2151	* @return Word read from register
Gurvan	0:9cb9445a11f0	2152	* @see getExternalSensorByte()
Gurvan	0:9cb9445a11f0	2153	*/
Gurvan	0:9cb9445a11f0	2154	uint16_t MPU6050::getExternalSensorWord(int position)
Gurvan	0:9cb9445a11f0	2155	{
Gurvan	0:9cb9445a11f0	2156	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
Gurvan	0:9cb9445a11f0	2157	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
Gurvan	0:9cb9445a11f0	2158	}
Gurvan	0:9cb9445a11f0	2159	/** Read double word (4 bytes) from external sensor data registers.
Gurvan	0:9cb9445a11f0	2160	* @param position Starting position (0-20)
Gurvan	0:9cb9445a11f0	2161	* @return Double word read from registers
Gurvan	0:9cb9445a11f0	2162	* @see getExternalSensorByte()
Gurvan	0:9cb9445a11f0	2163	*/
Gurvan	0:9cb9445a11f0	2164	uint32_t MPU6050::getExternalSensorDWord(int position)
Gurvan	0:9cb9445a11f0	2165	{
Gurvan	0:9cb9445a11f0	2166	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
Gurvan	0:9cb9445a11f0	2167	return (((uint32_t)buffer[0]) << 24) \| (((uint32_t)buffer[1]) << 16) \| (((uint16_t)buffer[2]) << 8) \| buffer[3];
Gurvan	0:9cb9445a11f0	2168	}
Gurvan	0:9cb9445a11f0	2169
Gurvan	0:9cb9445a11f0	2170	// MOT_DETECT_STATUS register
Gurvan	0:9cb9445a11f0	2171
Gurvan	0:9cb9445a11f0	2172	/** Get X-axis negative motion detection interrupt status.
Gurvan	0:9cb9445a11f0	2173	* @return Motion detection status
Gurvan	0:9cb9445a11f0	2174	* @see MPU6050_RA_MOT_DETECT_STATUS
Gurvan	0:9cb9445a11f0	2175	* @see MPU6050_MOTION_MOT_XNEG_BIT
Gurvan	0:9cb9445a11f0	2176	*/
Gurvan	0:9cb9445a11f0	2177	bool MPU6050::getXNegMotionDetected()
Gurvan	0:9cb9445a11f0	2178	{
Gurvan	0:9cb9445a11f0	2179	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
Gurvan	0:9cb9445a11f0	2180	return buffer[0];
Gurvan	0:9cb9445a11f0	2181	}
Gurvan	0:9cb9445a11f0	2182	/** Get X-axis positive motion detection interrupt status.
Gurvan	0:9cb9445a11f0	2183	* @return Motion detection status
Gurvan	0:9cb9445a11f0	2184	* @see MPU6050_RA_MOT_DETECT_STATUS
Gurvan	0:9cb9445a11f0	2185	* @see MPU6050_MOTION_MOT_XPOS_BIT
Gurvan	0:9cb9445a11f0	2186	*/
Gurvan	0:9cb9445a11f0	2187	bool MPU6050::getXPosMotionDetected()
Gurvan	0:9cb9445a11f0	2188	{
Gurvan	0:9cb9445a11f0	2189	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
Gurvan	0:9cb9445a11f0	2190	return buffer[0];
Gurvan	0:9cb9445a11f0	2191	}
Gurvan	0:9cb9445a11f0	2192	/** Get Y-axis negative motion detection interrupt status.
Gurvan	0:9cb9445a11f0	2193	* @return Motion detection status
Gurvan	0:9cb9445a11f0	2194	* @see MPU6050_RA_MOT_DETECT_STATUS
Gurvan	0:9cb9445a11f0	2195	* @see MPU6050_MOTION_MOT_YNEG_BIT
Gurvan	0:9cb9445a11f0	2196	*/
Gurvan	0:9cb9445a11f0	2197	bool MPU6050::getYNegMotionDetected()
Gurvan	0:9cb9445a11f0	2198	{
Gurvan	0:9cb9445a11f0	2199	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
Gurvan	0:9cb9445a11f0	2200	return buffer[0];
Gurvan	0:9cb9445a11f0	2201	}
Gurvan	0:9cb9445a11f0	2202	/** Get Y-axis positive motion detection interrupt status.
Gurvan	0:9cb9445a11f0	2203	* @return Motion detection status
Gurvan	0:9cb9445a11f0	2204	* @see MPU6050_RA_MOT_DETECT_STATUS
Gurvan	0:9cb9445a11f0	2205	* @see MPU6050_MOTION_MOT_YPOS_BIT
Gurvan	0:9cb9445a11f0	2206	*/
Gurvan	0:9cb9445a11f0	2207	bool MPU6050::getYPosMotionDetected()
Gurvan	0:9cb9445a11f0	2208	{
Gurvan	0:9cb9445a11f0	2209	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
Gurvan	0:9cb9445a11f0	2210	return buffer[0];
Gurvan	0:9cb9445a11f0	2211	}
Gurvan	0:9cb9445a11f0	2212	/** Get Z-axis negative motion detection interrupt status.
Gurvan	0:9cb9445a11f0	2213	* @return Motion detection status
Gurvan	0:9cb9445a11f0	2214	* @see MPU6050_RA_MOT_DETECT_STATUS
Gurvan	0:9cb9445a11f0	2215	* @see MPU6050_MOTION_MOT_ZNEG_BIT
Gurvan	0:9cb9445a11f0	2216	*/
Gurvan	0:9cb9445a11f0	2217	bool MPU6050::getZNegMotionDetected()
Gurvan	0:9cb9445a11f0	2218	{
Gurvan	0:9cb9445a11f0	2219	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
Gurvan	0:9cb9445a11f0	2220	return buffer[0];
Gurvan	0:9cb9445a11f0	2221	}
Gurvan	0:9cb9445a11f0	2222	/** Get Z-axis positive motion detection interrupt status.
Gurvan	0:9cb9445a11f0	2223	* @return Motion detection status
Gurvan	0:9cb9445a11f0	2224	* @see MPU6050_RA_MOT_DETECT_STATUS
Gurvan	0:9cb9445a11f0	2225	* @see MPU6050_MOTION_MOT_ZPOS_BIT
Gurvan	0:9cb9445a11f0	2226	*/
Gurvan	0:9cb9445a11f0	2227	bool MPU6050::getZPosMotionDetected()
Gurvan	0:9cb9445a11f0	2228	{
Gurvan	0:9cb9445a11f0	2229	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
Gurvan	0:9cb9445a11f0	2230	return buffer[0];
Gurvan	0:9cb9445a11f0	2231	}
Gurvan	0:9cb9445a11f0	2232	/** Get zero motion detection interrupt status.
Gurvan	0:9cb9445a11f0	2233	* @return Motion detection status
Gurvan	0:9cb9445a11f0	2234	* @see MPU6050_RA_MOT_DETECT_STATUS
Gurvan	0:9cb9445a11f0	2235	* @see MPU6050_MOTION_MOT_ZRMOT_BIT
Gurvan	0:9cb9445a11f0	2236	*/
Gurvan	0:9cb9445a11f0	2237	bool MPU6050::getZeroMotionDetected()
Gurvan	0:9cb9445a11f0	2238	{
Gurvan	0:9cb9445a11f0	2239	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
Gurvan	0:9cb9445a11f0	2240	return buffer[0];
Gurvan	0:9cb9445a11f0	2241	}
Gurvan	0:9cb9445a11f0	2242
Gurvan	0:9cb9445a11f0	2243	// I2C_SLV*_DO register
Gurvan	0:9cb9445a11f0	2244
Gurvan	0:9cb9445a11f0	2245	/** Write byte to Data Output container for specified slave.
Gurvan	0:9cb9445a11f0	2246	* This register holds the output data written into Slave when Slave is set to
Gurvan	0:9cb9445a11f0	2247	* write mode. For further information regarding Slave control, please
Gurvan	0:9cb9445a11f0	2248	* refer to Registers 37 to 39 and immediately following.
Gurvan	0:9cb9445a11f0	2249	* @param num Slave number (0-3)
Gurvan	0:9cb9445a11f0	2250	* @param data Byte to write
Gurvan	0:9cb9445a11f0	2251	* @see MPU6050_RA_I2C_SLV0_DO
Gurvan	0:9cb9445a11f0	2252	*/
Gurvan	0:9cb9445a11f0	2253	void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data)
Gurvan	0:9cb9445a11f0	2254	{
Gurvan	0:9cb9445a11f0	2255	if (num > 3) return;
Gurvan	0:9cb9445a11f0	2256	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
Gurvan	0:9cb9445a11f0	2257	}
Gurvan	0:9cb9445a11f0	2258
Gurvan	0:9cb9445a11f0	2259	// I2C_MST_DELAY_CTRL register
Gurvan	0:9cb9445a11f0	2260
Gurvan	0:9cb9445a11f0	2261	/** Get external data shadow delay enabled status.
Gurvan	0:9cb9445a11f0	2262	* This register is used to specify the timing of external sensor data
Gurvan	0:9cb9445a11f0	2263	* shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
Gurvan	0:9cb9445a11f0	2264	* sensor data is delayed until all data has been received.
Gurvan	0:9cb9445a11f0	2265	* @return Current external data shadow delay enabled status.
Gurvan	0:9cb9445a11f0	2266	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
Gurvan	0:9cb9445a11f0	2267	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
Gurvan	0:9cb9445a11f0	2268	*/
Gurvan	0:9cb9445a11f0	2269	bool MPU6050::getExternalShadowDelayEnabled()
Gurvan	0:9cb9445a11f0	2270	{
Gurvan	0:9cb9445a11f0	2271	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
Gurvan	0:9cb9445a11f0	2272	return buffer[0];
Gurvan	0:9cb9445a11f0	2273	}
Gurvan	0:9cb9445a11f0	2274	/** Set external data shadow delay enabled status.
Gurvan	0:9cb9445a11f0	2275	* @param enabled New external data shadow delay enabled status.
Gurvan	0:9cb9445a11f0	2276	* @see getExternalShadowDelayEnabled()
Gurvan	0:9cb9445a11f0	2277	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
Gurvan	0:9cb9445a11f0	2278	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
Gurvan	0:9cb9445a11f0	2279	*/
Gurvan	0:9cb9445a11f0	2280	void MPU6050::setExternalShadowDelayEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	2281	{
Gurvan	0:9cb9445a11f0	2282	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
Gurvan	0:9cb9445a11f0	2283	}
Gurvan	0:9cb9445a11f0	2284	/** Get slave delay enabled status.
Gurvan	0:9cb9445a11f0	2285	* When a particular slave delay is enabled, the rate of access for the that
Gurvan	0:9cb9445a11f0	2286	* slave device is reduced. When a slave's access rate is decreased relative to
Gurvan	0:9cb9445a11f0	2287	* the Sample Rate, the slave is accessed every:
Gurvan	0:9cb9445a11f0	2288	*
Gurvan	0:9cb9445a11f0	2289	* 1 / (1 + I2C_MST_DLY) Samples
Gurvan	0:9cb9445a11f0	2290	*
Gurvan	0:9cb9445a11f0	2291	* This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25)
Gurvan	0:9cb9445a11f0	2292	* and DLPF_CFG (register 26).
Gurvan	0:9cb9445a11f0	2293	*
Gurvan	0:9cb9445a11f0	2294	* For further information regarding I2C_MST_DLY, please refer to register 52.
Gurvan	0:9cb9445a11f0	2295	* For further information regarding the Sample Rate, please refer to register 25.
Gurvan	0:9cb9445a11f0	2296	*
Gurvan	0:9cb9445a11f0	2297	* @param num Slave number (0-4)
Gurvan	0:9cb9445a11f0	2298	* @return Current slave delay enabled status.
Gurvan	0:9cb9445a11f0	2299	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
Gurvan	0:9cb9445a11f0	2300	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
Gurvan	0:9cb9445a11f0	2301	*/
Gurvan	0:9cb9445a11f0	2302	bool MPU6050::getSlaveDelayEnabled(uint8_t num)
Gurvan	0:9cb9445a11f0	2303	{
Gurvan	0:9cb9445a11f0	2304	// MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
Gurvan	0:9cb9445a11f0	2305	if (num > 4) return 0;
Gurvan	0:9cb9445a11f0	2306	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
Gurvan	0:9cb9445a11f0	2307	return buffer[0];
Gurvan	0:9cb9445a11f0	2308	}
Gurvan	0:9cb9445a11f0	2309	/** Set slave delay enabled status.
Gurvan	0:9cb9445a11f0	2310	* @param num Slave number (0-4)
Gurvan	0:9cb9445a11f0	2311	* @param enabled New slave delay enabled status.
Gurvan	0:9cb9445a11f0	2312	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
Gurvan	0:9cb9445a11f0	2313	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
Gurvan	0:9cb9445a11f0	2314	*/
Gurvan	0:9cb9445a11f0	2315	void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled)
Gurvan	0:9cb9445a11f0	2316	{
Gurvan	0:9cb9445a11f0	2317	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
Gurvan	0:9cb9445a11f0	2318	}
Gurvan	0:9cb9445a11f0	2319
Gurvan	0:9cb9445a11f0	2320	// SIGNAL_PATH_RESET register
Gurvan	0:9cb9445a11f0	2321
Gurvan	0:9cb9445a11f0	2322	/** Reset gyroscope signal path.
Gurvan	0:9cb9445a11f0	2323	* The reset will revert the signal path analog to digital converters and
Gurvan	0:9cb9445a11f0	2324	* filters to their power up configurations.
Gurvan	0:9cb9445a11f0	2325	* @see MPU6050_RA_SIGNAL_PATH_RESET
Gurvan	0:9cb9445a11f0	2326	* @see MPU6050_PATHRESET_GYRO_RESET_BIT
Gurvan	0:9cb9445a11f0	2327	*/
Gurvan	0:9cb9445a11f0	2328	void MPU6050::resetGyroscopePath()
Gurvan	0:9cb9445a11f0	2329	{
Gurvan	0:9cb9445a11f0	2330	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
Gurvan	0:9cb9445a11f0	2331	}
Gurvan	0:9cb9445a11f0	2332	/** Reset accelerometer signal path.
Gurvan	0:9cb9445a11f0	2333	* The reset will revert the signal path analog to digital converters and
Gurvan	0:9cb9445a11f0	2334	* filters to their power up configurations.
Gurvan	0:9cb9445a11f0	2335	* @see MPU6050_RA_SIGNAL_PATH_RESET
Gurvan	0:9cb9445a11f0	2336	* @see MPU6050_PATHRESET_ACCEL_RESET_BIT
Gurvan	0:9cb9445a11f0	2337	*/
Gurvan	0:9cb9445a11f0	2338	void MPU6050::resetAccelerometerPath()
Gurvan	0:9cb9445a11f0	2339	{
Gurvan	0:9cb9445a11f0	2340	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
Gurvan	0:9cb9445a11f0	2341	}
Gurvan	0:9cb9445a11f0	2342	/** Reset temperature sensor signal path.
Gurvan	0:9cb9445a11f0	2343	* The reset will revert the signal path analog to digital converters and
Gurvan	0:9cb9445a11f0	2344	* filters to their power up configurations.
Gurvan	0:9cb9445a11f0	2345	* @see MPU6050_RA_SIGNAL_PATH_RESET
Gurvan	0:9cb9445a11f0	2346	* @see MPU6050_PATHRESET_TEMP_RESET_BIT
Gurvan	0:9cb9445a11f0	2347	*/
Gurvan	0:9cb9445a11f0	2348	void MPU6050::resetTemperaturePath()
Gurvan	0:9cb9445a11f0	2349	{
Gurvan	0:9cb9445a11f0	2350	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
Gurvan	0:9cb9445a11f0	2351	}
Gurvan	0:9cb9445a11f0	2352
Gurvan	0:9cb9445a11f0	2353	// MOT_DETECT_CTRL register
Gurvan	0:9cb9445a11f0	2354
Gurvan	0:9cb9445a11f0	2355	/** Get accelerometer power-on delay.
Gurvan	0:9cb9445a11f0	2356	* The accelerometer data path provides samples to the sensor registers, Motion
Gurvan	0:9cb9445a11f0	2357	* detection, Zero Motion detection, and Free Fall detection modules. The
Gurvan	0:9cb9445a11f0	2358	* signal path contains filters which must be flushed on wake-up with new
Gurvan	0:9cb9445a11f0	2359	* samples before the detection modules begin operations. The default wake-up
Gurvan	0:9cb9445a11f0	2360	* delay, of 4ms can be lengthened by up to 3ms. This additional delay is
Gurvan	0:9cb9445a11f0	2361	* specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
Gurvan	0:9cb9445a11f0	2362	* any value above zero unless instructed otherwise by InvenSense. Please refer
Gurvan	0:9cb9445a11f0	2363	* to Section 8 of the MPU-6000/MPU-6050 Product Specification document for
Gurvan	0:9cb9445a11f0	2364	* further information regarding the detection modules.
Gurvan	0:9cb9445a11f0	2365	* @return Current accelerometer power-on delay
Gurvan	0:9cb9445a11f0	2366	* @see MPU6050_RA_MOT_DETECT_CTRL
Gurvan	0:9cb9445a11f0	2367	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
Gurvan	0:9cb9445a11f0	2368	*/
Gurvan	0:9cb9445a11f0	2369	uint8_t MPU6050::getAccelerometerPowerOnDelay()
Gurvan	0:9cb9445a11f0	2370	{
Gurvan	0:9cb9445a11f0	2371	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
Gurvan	0:9cb9445a11f0	2372	return buffer[0];
Gurvan	0:9cb9445a11f0	2373	}
Gurvan	0:9cb9445a11f0	2374	/** Set accelerometer power-on delay.
Gurvan	0:9cb9445a11f0	2375	* @param delay New accelerometer power-on delay (0-3)
Gurvan	0:9cb9445a11f0	2376	* @see getAccelerometerPowerOnDelay()
Gurvan	0:9cb9445a11f0	2377	* @see MPU6050_RA_MOT_DETECT_CTRL
Gurvan	0:9cb9445a11f0	2378	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
Gurvan	0:9cb9445a11f0	2379	*/
Gurvan	0:9cb9445a11f0	2380	void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay)
Gurvan	0:9cb9445a11f0	2381	{
Gurvan	0:9cb9445a11f0	2382	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
Gurvan	0:9cb9445a11f0	2383	}
Gurvan	0:9cb9445a11f0	2384	/** Get Free Fall detection counter decrement configuration.
Gurvan	0:9cb9445a11f0	2385	* Detection is registered by the Free Fall detection module after accelerometer
Gurvan	0:9cb9445a11f0	2386	* measurements meet their respective threshold conditions over a specified
Gurvan	0:9cb9445a11f0	2387	* number of samples. When the threshold conditions are met, the corresponding
Gurvan	0:9cb9445a11f0	2388	* detection counter increments by 1. The user may control the rate at which the
Gurvan	0:9cb9445a11f0	2389	* detection counter decrements when the threshold condition is not met by
Gurvan	0:9cb9445a11f0	2390	* configuring FF_COUNT. The decrement rate can be set according to the
Gurvan	0:9cb9445a11f0	2391	* following table:
Gurvan	0:9cb9445a11f0	2392	*
Gurvan	0:9cb9445a11f0	2393	* <pre>
Gurvan	0:9cb9445a11f0	2394	* FF_COUNT \| Counter Decrement
Gurvan	0:9cb9445a11f0	2395	* ---------+------------------
Gurvan	0:9cb9445a11f0	2396	* 0 \| Reset
Gurvan	0:9cb9445a11f0	2397	* 1 \| 1
Gurvan	0:9cb9445a11f0	2398	* 2 \| 2
Gurvan	0:9cb9445a11f0	2399	* 3 \| 4
Gurvan	0:9cb9445a11f0	2400	* </pre>
Gurvan	0:9cb9445a11f0	2401	*
Gurvan	0:9cb9445a11f0	2402	* When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
Gurvan	0:9cb9445a11f0	2403	* reset the counter to 0. For further information on Free Fall detection,
Gurvan	0:9cb9445a11f0	2404	* please refer to Registers 29 to 32.
Gurvan	0:9cb9445a11f0	2405	*
Gurvan	0:9cb9445a11f0	2406	* @return Current decrement configuration
Gurvan	0:9cb9445a11f0	2407	* @see MPU6050_RA_MOT_DETECT_CTRL
Gurvan	0:9cb9445a11f0	2408	* @see MPU6050_DETECT_FF_COUNT_BIT
Gurvan	0:9cb9445a11f0	2409	*/
Gurvan	0:9cb9445a11f0	2410	uint8_t MPU6050::getFreefallDetectionCounterDecrement()
Gurvan	0:9cb9445a11f0	2411	{
Gurvan	0:9cb9445a11f0	2412	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
Gurvan	0:9cb9445a11f0	2413	return buffer[0];
Gurvan	0:9cb9445a11f0	2414	}
Gurvan	0:9cb9445a11f0	2415	/** Set Free Fall detection counter decrement configuration.
Gurvan	0:9cb9445a11f0	2416	* @param decrement New decrement configuration value
Gurvan	0:9cb9445a11f0	2417	* @see getFreefallDetectionCounterDecrement()
Gurvan	0:9cb9445a11f0	2418	* @see MPU6050_RA_MOT_DETECT_CTRL
Gurvan	0:9cb9445a11f0	2419	* @see MPU6050_DETECT_FF_COUNT_BIT
Gurvan	0:9cb9445a11f0	2420	*/
Gurvan	0:9cb9445a11f0	2421	void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement)
Gurvan	0:9cb9445a11f0	2422	{
Gurvan	0:9cb9445a11f0	2423	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
Gurvan	0:9cb9445a11f0	2424	}
Gurvan	0:9cb9445a11f0	2425	/** Get Motion detection counter decrement configuration.
Gurvan	0:9cb9445a11f0	2426	* Detection is registered by the Motion detection module after accelerometer
Gurvan	0:9cb9445a11f0	2427	* measurements meet their respective threshold conditions over a specified
Gurvan	0:9cb9445a11f0	2428	* number of samples. When the threshold conditions are met, the corresponding
Gurvan	0:9cb9445a11f0	2429	* detection counter increments by 1. The user may control the rate at which the
Gurvan	0:9cb9445a11f0	2430	* detection counter decrements when the threshold condition is not met by
Gurvan	0:9cb9445a11f0	2431	* configuring MOT_COUNT. The decrement rate can be set according to the
Gurvan	0:9cb9445a11f0	2432	* following table:
Gurvan	0:9cb9445a11f0	2433	*
Gurvan	0:9cb9445a11f0	2434	* <pre>
Gurvan	0:9cb9445a11f0	2435	* MOT_COUNT \| Counter Decrement
Gurvan	0:9cb9445a11f0	2436	* ----------+------------------
Gurvan	0:9cb9445a11f0	2437	* 0 \| Reset
Gurvan	0:9cb9445a11f0	2438	* 1 \| 1
Gurvan	0:9cb9445a11f0	2439	* 2 \| 2
Gurvan	0:9cb9445a11f0	2440	* 3 \| 4
Gurvan	0:9cb9445a11f0	2441	* </pre>
Gurvan	0:9cb9445a11f0	2442	*
Gurvan	0:9cb9445a11f0	2443	* When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
Gurvan	0:9cb9445a11f0	2444	* reset the counter to 0. For further information on Motion detection,
Gurvan	0:9cb9445a11f0	2445	* please refer to Registers 29 to 32.
Gurvan	0:9cb9445a11f0	2446	*
Gurvan	0:9cb9445a11f0	2447	*/
Gurvan	0:9cb9445a11f0	2448	uint8_t MPU6050::getMotionDetectionCounterDecrement()
Gurvan	0:9cb9445a11f0	2449	{
Gurvan	0:9cb9445a11f0	2450	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
Gurvan	0:9cb9445a11f0	2451	return buffer[0];
Gurvan	0:9cb9445a11f0	2452	}
Gurvan	0:9cb9445a11f0	2453	/** Set Motion detection counter decrement configuration.
Gurvan	0:9cb9445a11f0	2454	* @param decrement New decrement configuration value
Gurvan	0:9cb9445a11f0	2455	* @see getMotionDetectionCounterDecrement()
Gurvan	0:9cb9445a11f0	2456	* @see MPU6050_RA_MOT_DETECT_CTRL
Gurvan	0:9cb9445a11f0	2457	* @see MPU6050_DETECT_MOT_COUNT_BIT
Gurvan	0:9cb9445a11f0	2458	*/
Gurvan	0:9cb9445a11f0	2459	void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement)
Gurvan	0:9cb9445a11f0	2460	{
Gurvan	0:9cb9445a11f0	2461	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
Gurvan	0:9cb9445a11f0	2462	}
Gurvan	0:9cb9445a11f0	2463
Gurvan	0:9cb9445a11f0	2464	// USER_CTRL register
Gurvan	0:9cb9445a11f0	2465
Gurvan	0:9cb9445a11f0	2466	/** Get FIFO enabled status.
Gurvan	0:9cb9445a11f0	2467	* When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
Gurvan	0:9cb9445a11f0	2468	* cannot be written to or read from while disabled. The FIFO buffer's state
Gurvan	0:9cb9445a11f0	2469	* does not change unless the MPU-60X0 is power cycled.
Gurvan	0:9cb9445a11f0	2470	* @return Current FIFO enabled status
Gurvan	0:9cb9445a11f0	2471	* @see MPU6050_RA_USER_CTRL
Gurvan	0:9cb9445a11f0	2472	* @see MPU6050_USERCTRL_FIFO_EN_BIT
Gurvan	0:9cb9445a11f0	2473	*/
Gurvan	0:9cb9445a11f0	2474	bool MPU6050::getFIFOEnabled()
Gurvan	0:9cb9445a11f0	2475	{
Gurvan	0:9cb9445a11f0	2476	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
Gurvan	0:9cb9445a11f0	2477	return buffer[0];
Gurvan	0:9cb9445a11f0	2478	}
Gurvan	0:9cb9445a11f0	2479	/** Set FIFO enabled status.
Gurvan	0:9cb9445a11f0	2480	* @param enabled New FIFO enabled status
Gurvan	0:9cb9445a11f0	2481	* @see getFIFOEnabled()
Gurvan	0:9cb9445a11f0	2482	* @see MPU6050_RA_USER_CTRL
Gurvan	0:9cb9445a11f0	2483	* @see MPU6050_USERCTRL_FIFO_EN_BIT
Gurvan	0:9cb9445a11f0	2484	*/
Gurvan	0:9cb9445a11f0	2485	void MPU6050::setFIFOEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	2486	{
Gurvan	0:9cb9445a11f0	2487	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
Gurvan	0:9cb9445a11f0	2488	}
Gurvan	0:9cb9445a11f0	2489	/** Get I2C Master Mode enabled status.
Gurvan	0:9cb9445a11f0	2490	* When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
Gurvan	0:9cb9445a11f0	2491	* external sensor slave devices on the auxiliary I2C bus. When this bit is
Gurvan	0:9cb9445a11f0	2492	* cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
Gurvan	0:9cb9445a11f0	2493	* driven by the primary I2C bus (SDA and SCL). This is a precondition to
Gurvan	0:9cb9445a11f0	2494	* enabling Bypass Mode. For further information regarding Bypass Mode, please
Gurvan	0:9cb9445a11f0	2495	* refer to Register 55.
Gurvan	0:9cb9445a11f0	2496	* @return Current I2C Master Mode enabled status
Gurvan	0:9cb9445a11f0	2497	* @see MPU6050_RA_USER_CTRL
Gurvan	0:9cb9445a11f0	2498	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
Gurvan	0:9cb9445a11f0	2499	*/
Gurvan	0:9cb9445a11f0	2500	bool MPU6050::getI2CMasterModeEnabled()
Gurvan	0:9cb9445a11f0	2501	{
Gurvan	0:9cb9445a11f0	2502	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
Gurvan	0:9cb9445a11f0	2503	return buffer[0];
Gurvan	0:9cb9445a11f0	2504	}
Gurvan	0:9cb9445a11f0	2505	/** Set I2C Master Mode enabled status.
Gurvan	0:9cb9445a11f0	2506	* @param enabled New I2C Master Mode enabled status
Gurvan	0:9cb9445a11f0	2507	* @see getI2CMasterModeEnabled()
Gurvan	0:9cb9445a11f0	2508	* @see MPU6050_RA_USER_CTRL
Gurvan	0:9cb9445a11f0	2509	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
Gurvan	0:9cb9445a11f0	2510	*/
Gurvan	0:9cb9445a11f0	2511	void MPU6050::setI2CMasterModeEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	2512	{
Gurvan	0:9cb9445a11f0	2513	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
Gurvan	0:9cb9445a11f0	2514	}
Gurvan	0:9cb9445a11f0	2515	/** Switch from I2C to SPI mode (MPU-6000 only)
Gurvan	0:9cb9445a11f0	2516	* If this is set, the primary SPI interface will be enabled in place of the
Gurvan	0:9cb9445a11f0	2517	* disabled primary I2C interface.
Gurvan	0:9cb9445a11f0	2518	*/
Gurvan	0:9cb9445a11f0	2519	void MPU6050::switchSPIEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	2520	{
Gurvan	0:9cb9445a11f0	2521	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
Gurvan	0:9cb9445a11f0	2522	}
Gurvan	0:9cb9445a11f0	2523	/** Reset the FIFO.
Gurvan	0:9cb9445a11f0	2524	* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
Gurvan	0:9cb9445a11f0	2525	* bit automatically clears to 0 after the reset has been triggered.
Gurvan	0:9cb9445a11f0	2526	* @see MPU6050_RA_USER_CTRL
Gurvan	0:9cb9445a11f0	2527	* @see MPU6050_USERCTRL_FIFO_RESET_BIT
Gurvan	0:9cb9445a11f0	2528	*/
Gurvan	0:9cb9445a11f0	2529	void MPU6050::resetFIFO()
Gurvan	0:9cb9445a11f0	2530	{
Gurvan	0:9cb9445a11f0	2531	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
Gurvan	0:9cb9445a11f0	2532	}
Gurvan	0:9cb9445a11f0	2533	/** Reset the I2C Master.
Gurvan	0:9cb9445a11f0	2534	* This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
Gurvan	0:9cb9445a11f0	2535	* This bit automatically clears to 0 after the reset has been triggered.
Gurvan	0:9cb9445a11f0	2536	* @see MPU6050_RA_USER_CTRL
Gurvan	0:9cb9445a11f0	2537	* @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
Gurvan	0:9cb9445a11f0	2538	*/
Gurvan	0:9cb9445a11f0	2539	void MPU6050::resetI2CMaster()
Gurvan	0:9cb9445a11f0	2540	{
Gurvan	0:9cb9445a11f0	2541	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
Gurvan	0:9cb9445a11f0	2542	}
Gurvan	0:9cb9445a11f0	2543	/** Reset all sensor registers and signal paths.
Gurvan	0:9cb9445a11f0	2544	* When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
Gurvan	0:9cb9445a11f0	2545	* accelerometers, and temperature sensor). This operation will also clear the
Gurvan	0:9cb9445a11f0	2546	* sensor registers. This bit automatically clears to 0 after the reset has been
Gurvan	0:9cb9445a11f0	2547	* triggered.
Gurvan	0:9cb9445a11f0	2548	*
Gurvan	0:9cb9445a11f0	2549	* When resetting only the signal path (and not the sensor registers), please
Gurvan	0:9cb9445a11f0	2550	* use Register 104, SIGNAL_PATH_RESET.
Gurvan	0:9cb9445a11f0	2551	*
Gurvan	0:9cb9445a11f0	2552	* @see MPU6050_RA_USER_CTRL
Gurvan	0:9cb9445a11f0	2553	* @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
Gurvan	0:9cb9445a11f0	2554	*/
Gurvan	0:9cb9445a11f0	2555	void MPU6050::resetSensors()
Gurvan	0:9cb9445a11f0	2556	{
Gurvan	0:9cb9445a11f0	2557	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
Gurvan	0:9cb9445a11f0	2558	}
Gurvan	0:9cb9445a11f0	2559
Gurvan	0:9cb9445a11f0	2560	// PWR_MGMT_1 register
Gurvan	0:9cb9445a11f0	2561
Gurvan	0:9cb9445a11f0	2562	/** Trigger a full device reset.
Gurvan	0:9cb9445a11f0	2563	* A small delay of ~50ms may be desirable after triggering a reset.
Gurvan	0:9cb9445a11f0	2564	* @see MPU6050_RA_PWR_MGMT_1
Gurvan	0:9cb9445a11f0	2565	* @see MPU6050_PWR1_DEVICE_RESET_BIT
Gurvan	0:9cb9445a11f0	2566	*/
Gurvan	0:9cb9445a11f0	2567	void MPU6050::reset()
Gurvan	0:9cb9445a11f0	2568	{
Gurvan	0:9cb9445a11f0	2569	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
Gurvan	0:9cb9445a11f0	2570	}
Gurvan	0:9cb9445a11f0	2571	/** Get sleep mode status.
Gurvan	0:9cb9445a11f0	2572	* Setting the SLEEP bit in the register puts the device into very low power
Gurvan	0:9cb9445a11f0	2573	* sleep mode. In this mode, only the serial interface and internal registers
Gurvan	0:9cb9445a11f0	2574	* remain active, allowing for a very low standby current. Clearing this bit
Gurvan	0:9cb9445a11f0	2575	* puts the device back into normal mode. To save power, the individual standby
Gurvan	0:9cb9445a11f0	2576	* selections for each of the gyros should be used if any gyro axis is not used
Gurvan	0:9cb9445a11f0	2577	* by the application.
Gurvan	0:9cb9445a11f0	2578	* @return Current sleep mode enabled status
Gurvan	0:9cb9445a11f0	2579	* @see MPU6050_RA_PWR_MGMT_1
Gurvan	0:9cb9445a11f0	2580	* @see MPU6050_PWR1_SLEEP_BIT
Gurvan	0:9cb9445a11f0	2581	*/
Gurvan	0:9cb9445a11f0	2582	bool MPU6050::getSleepEnabled()
Gurvan	0:9cb9445a11f0	2583	{
Gurvan	0:9cb9445a11f0	2584	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
Gurvan	0:9cb9445a11f0	2585	return buffer[0];
Gurvan	0:9cb9445a11f0	2586	}
Gurvan	0:9cb9445a11f0	2587	/** Set sleep mode status.
Gurvan	0:9cb9445a11f0	2588	* @param enabled New sleep mode enabled status
Gurvan	0:9cb9445a11f0	2589	* @see getSleepEnabled()
Gurvan	0:9cb9445a11f0	2590	* @see MPU6050_RA_PWR_MGMT_1
Gurvan	0:9cb9445a11f0	2591	* @see MPU6050_PWR1_SLEEP_BIT
Gurvan	0:9cb9445a11f0	2592	*/
Gurvan	0:9cb9445a11f0	2593	void MPU6050::setSleepEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	2594	{
Gurvan	0:9cb9445a11f0	2595	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
Gurvan	0:9cb9445a11f0	2596	}
Gurvan	0:9cb9445a11f0	2597	/** Get wake cycle enabled status.
Gurvan	0:9cb9445a11f0	2598	* When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
Gurvan	0:9cb9445a11f0	2599	* between sleep mode and waking up to take a single sample of data from active
Gurvan	0:9cb9445a11f0	2600	* sensors at a rate determined by LP_WAKE_CTRL (register 108).
Gurvan	0:9cb9445a11f0	2601	* @return Current sleep mode enabled status
Gurvan	0:9cb9445a11f0	2602	* @see MPU6050_RA_PWR_MGMT_1
Gurvan	0:9cb9445a11f0	2603	* @see MPU6050_PWR1_CYCLE_BIT
Gurvan	0:9cb9445a11f0	2604	*/
Gurvan	0:9cb9445a11f0	2605	bool MPU6050::getWakeCycleEnabled()
Gurvan	0:9cb9445a11f0	2606	{
Gurvan	0:9cb9445a11f0	2607	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
Gurvan	0:9cb9445a11f0	2608	return buffer[0];
Gurvan	0:9cb9445a11f0	2609	}
Gurvan	0:9cb9445a11f0	2610	/** Set wake cycle enabled status.
Gurvan	0:9cb9445a11f0	2611	* @param enabled New sleep mode enabled status
Gurvan	0:9cb9445a11f0	2612	* @see getWakeCycleEnabled()
Gurvan	0:9cb9445a11f0	2613	* @see MPU6050_RA_PWR_MGMT_1
Gurvan	0:9cb9445a11f0	2614	* @see MPU6050_PWR1_CYCLE_BIT
Gurvan	0:9cb9445a11f0	2615	*/
Gurvan	0:9cb9445a11f0	2616	void MPU6050::setWakeCycleEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	2617	{
Gurvan	0:9cb9445a11f0	2618	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
Gurvan	0:9cb9445a11f0	2619	}
Gurvan	0:9cb9445a11f0	2620	/** Get temperature sensor enabled status.
Gurvan	0:9cb9445a11f0	2621	* Control the usage of the internal temperature sensor.
Gurvan	0:9cb9445a11f0	2622	*
Gurvan	0:9cb9445a11f0	2623	* Note: this register stores the disabled value, but for consistency with the
Gurvan	0:9cb9445a11f0	2624	* rest of the code, the function is named and used with standard true/false
Gurvan	0:9cb9445a11f0	2625	* values to indicate whether the sensor is enabled or disabled, respectively.
Gurvan	0:9cb9445a11f0	2626	*
Gurvan	0:9cb9445a11f0	2627	* @return Current temperature sensor enabled status
Gurvan	0:9cb9445a11f0	2628	* @see MPU6050_RA_PWR_MGMT_1
Gurvan	0:9cb9445a11f0	2629	* @see MPU6050_PWR1_TEMP_DIS_BIT
Gurvan	0:9cb9445a11f0	2630	*/
Gurvan	0:9cb9445a11f0	2631	bool MPU6050::getTempSensorEnabled()
Gurvan	0:9cb9445a11f0	2632	{
Gurvan	0:9cb9445a11f0	2633	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
Gurvan	0:9cb9445a11f0	2634	return buffer[0] == 0; // 1 is actually disabled here
Gurvan	0:9cb9445a11f0	2635	}
Gurvan	0:9cb9445a11f0	2636	/** Set temperature sensor enabled status.
Gurvan	0:9cb9445a11f0	2637	* Note: this register stores the disabled value, but for consistency with the
Gurvan	0:9cb9445a11f0	2638	* rest of the code, the function is named and used with standard true/false
Gurvan	0:9cb9445a11f0	2639	* values to indicate whether the sensor is enabled or disabled, respectively.
Gurvan	0:9cb9445a11f0	2640	*
Gurvan	0:9cb9445a11f0	2641	* @param enabled New temperature sensor enabled status
Gurvan	0:9cb9445a11f0	2642	* @see getTempSensorEnabled()
Gurvan	0:9cb9445a11f0	2643	* @see MPU6050_RA_PWR_MGMT_1
Gurvan	0:9cb9445a11f0	2644	* @see MPU6050_PWR1_TEMP_DIS_BIT
Gurvan	0:9cb9445a11f0	2645	*/
Gurvan	0:9cb9445a11f0	2646	void MPU6050::setTempSensorEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	2647	{
Gurvan	0:9cb9445a11f0	2648	// 1 is actually disabled here
Gurvan	0:9cb9445a11f0	2649	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
Gurvan	0:9cb9445a11f0	2650	}
Gurvan	0:9cb9445a11f0	2651	/** Get clock source setting.
Gurvan	0:9cb9445a11f0	2652	* @return Current clock source setting
Gurvan	0:9cb9445a11f0	2653	* @see MPU6050_RA_PWR_MGMT_1
Gurvan	0:9cb9445a11f0	2654	* @see MPU6050_PWR1_CLKSEL_BIT
Gurvan	0:9cb9445a11f0	2655	* @see MPU6050_PWR1_CLKSEL_LENGTH
Gurvan	0:9cb9445a11f0	2656	*/
Gurvan	0:9cb9445a11f0	2657	uint8_t MPU6050::getClockSource()
Gurvan	0:9cb9445a11f0	2658	{
Gurvan	0:9cb9445a11f0	2659	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
Gurvan	0:9cb9445a11f0	2660	return buffer[0];
Gurvan	0:9cb9445a11f0	2661	}
Gurvan	0:9cb9445a11f0	2662	/** Set clock source setting.
Gurvan	0:9cb9445a11f0	2663	* An internal 8MHz oscillator, gyroscope based clock, or external sources can
Gurvan	0:9cb9445a11f0	2664	* be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
Gurvan	0:9cb9445a11f0	2665	* or an external source is chosen as the clock source, the MPU-60X0 can operate
Gurvan	0:9cb9445a11f0	2666	* in low power modes with the gyroscopes disabled.
Gurvan	0:9cb9445a11f0	2667	*
Gurvan	0:9cb9445a11f0	2668	* Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
Gurvan	0:9cb9445a11f0	2669	* However, it is highly recommended that the device be configured to use one of
Gurvan	0:9cb9445a11f0	2670	* the gyroscopes (or an external clock source) as the clock reference for
Gurvan	0:9cb9445a11f0	2671	* improved stability. The clock source can be selected according to the following table:
Gurvan	0:9cb9445a11f0	2672	*
Gurvan	0:9cb9445a11f0	2673	* <pre>
Gurvan	0:9cb9445a11f0	2674	* CLK_SEL \| Clock Source
Gurvan	0:9cb9445a11f0	2675	* --------+--------------------------------------
Gurvan	0:9cb9445a11f0	2676	* 0 \| Internal oscillator
Gurvan	0:9cb9445a11f0	2677	* 1 \| PLL with X Gyro reference
Gurvan	0:9cb9445a11f0	2678	* 2 \| PLL with Y Gyro reference
Gurvan	0:9cb9445a11f0	2679	* 3 \| PLL with Z Gyro reference
Gurvan	0:9cb9445a11f0	2680	* 4 \| PLL with external 32.768kHz reference
Gurvan	0:9cb9445a11f0	2681	* 5 \| PLL with external 19.2MHz reference
Gurvan	0:9cb9445a11f0	2682	* 6 \| Reserved
Gurvan	0:9cb9445a11f0	2683	* 7 \| Stops the clock and keeps the timing generator in reset
Gurvan	0:9cb9445a11f0	2684	* </pre>
Gurvan	0:9cb9445a11f0	2685	*
Gurvan	0:9cb9445a11f0	2686	* @param source New clock source setting
Gurvan	0:9cb9445a11f0	2687	* @see getClockSource()
Gurvan	0:9cb9445a11f0	2688	* @see MPU6050_RA_PWR_MGMT_1
Gurvan	0:9cb9445a11f0	2689	* @see MPU6050_PWR1_CLKSEL_BIT
Gurvan	0:9cb9445a11f0	2690	* @see MPU6050_PWR1_CLKSEL_LENGTH
Gurvan	0:9cb9445a11f0	2691	*/
Gurvan	0:9cb9445a11f0	2692	void MPU6050::setClockSource(uint8_t source)
Gurvan	0:9cb9445a11f0	2693	{
Gurvan	0:9cb9445a11f0	2694	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
Gurvan	0:9cb9445a11f0	2695	}
Gurvan	0:9cb9445a11f0	2696
Gurvan	0:9cb9445a11f0	2697	// PWR_MGMT_2 register
Gurvan	0:9cb9445a11f0	2698
Gurvan	0:9cb9445a11f0	2699	/** Get wake frequency in Accel-Only Low Power Mode.
Gurvan	0:9cb9445a11f0	2700	* The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
Gurvan	0:9cb9445a11f0	2701	* PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
Gurvan	0:9cb9445a11f0	2702	* the device will power off all devices except for the primary I2C interface,
Gurvan	0:9cb9445a11f0	2703	* waking only the accelerometer at fixed intervals to take a single
Gurvan	0:9cb9445a11f0	2704	* measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
Gurvan	0:9cb9445a11f0	2705	* as shown below:
Gurvan	0:9cb9445a11f0	2706	*
Gurvan	0:9cb9445a11f0	2707	* <pre>
Gurvan	0:9cb9445a11f0	2708	* LP_WAKE_CTRL \| Wake-up Frequency
Gurvan	0:9cb9445a11f0	2709	* -------------+------------------
Gurvan	0:9cb9445a11f0	2710	* 0 \| 1.25 Hz
Gurvan	0:9cb9445a11f0	2711	* 1 \| 2.5 Hz
Gurvan	0:9cb9445a11f0	2712	* 2 \| 5 Hz
Gurvan	0:9cb9445a11f0	2713	* 3 \| 10 Hz
Gurvan	0:9cb9445a11f0	2714	* <pre>
Gurvan	0:9cb9445a11f0	2715	*
Gurvan	0:9cb9445a11f0	2716	* For further information regarding the MPU-60X0's power modes, please refer to
Gurvan	0:9cb9445a11f0	2717	* Register 107.
Gurvan	0:9cb9445a11f0	2718	*
Gurvan	0:9cb9445a11f0	2719	* @return Current wake frequency
Gurvan	0:9cb9445a11f0	2720	* @see MPU6050_RA_PWR_MGMT_2
Gurvan	0:9cb9445a11f0	2721	*/
Gurvan	0:9cb9445a11f0	2722	uint8_t MPU6050::getWakeFrequency()
Gurvan	0:9cb9445a11f0	2723	{
Gurvan	0:9cb9445a11f0	2724	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
Gurvan	0:9cb9445a11f0	2725	return buffer[0];
Gurvan	0:9cb9445a11f0	2726	}
Gurvan	0:9cb9445a11f0	2727	/** Set wake frequency in Accel-Only Low Power Mode.
Gurvan	0:9cb9445a11f0	2728	* @param frequency New wake frequency
Gurvan	0:9cb9445a11f0	2729	* @see MPU6050_RA_PWR_MGMT_2
Gurvan	0:9cb9445a11f0	2730	*/
Gurvan	0:9cb9445a11f0	2731	void MPU6050::setWakeFrequency(uint8_t frequency)
Gurvan	0:9cb9445a11f0	2732	{
Gurvan	0:9cb9445a11f0	2733	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
Gurvan	0:9cb9445a11f0	2734	}
Gurvan	0:9cb9445a11f0	2735
Gurvan	0:9cb9445a11f0	2736	/** Get X-axis accelerometer standby enabled status.
Gurvan	0:9cb9445a11f0	2737	* If enabled, the X-axis will not gather or report data (or use power).
Gurvan	0:9cb9445a11f0	2738	* @return Current X-axis standby enabled status
Gurvan	0:9cb9445a11f0	2739	* @see MPU6050_RA_PWR_MGMT_2
Gurvan	0:9cb9445a11f0	2740	* @see MPU6050_PWR2_STBY_XA_BIT
Gurvan	0:9cb9445a11f0	2741	*/
Gurvan	0:9cb9445a11f0	2742	bool MPU6050::getStandbyXAccelEnabled()
Gurvan	0:9cb9445a11f0	2743	{
Gurvan	0:9cb9445a11f0	2744	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
Gurvan	0:9cb9445a11f0	2745	return buffer[0];
Gurvan	0:9cb9445a11f0	2746	}
Gurvan	0:9cb9445a11f0	2747	/** Set X-axis accelerometer standby enabled status.
Gurvan	0:9cb9445a11f0	2748	* @param New X-axis standby enabled status
Gurvan	0:9cb9445a11f0	2749	* @see getStandbyXAccelEnabled()
Gurvan	0:9cb9445a11f0	2750	* @see MPU6050_RA_PWR_MGMT_2
Gurvan	0:9cb9445a11f0	2751	* @see MPU6050_PWR2_STBY_XA_BIT
Gurvan	0:9cb9445a11f0	2752	*/
Gurvan	0:9cb9445a11f0	2753	void MPU6050::setStandbyXAccelEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	2754	{
Gurvan	0:9cb9445a11f0	2755	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
Gurvan	0:9cb9445a11f0	2756	}
Gurvan	0:9cb9445a11f0	2757	/** Get Y-axis accelerometer standby enabled status.
Gurvan	0:9cb9445a11f0	2758	* If enabled, the Y-axis will not gather or report data (or use power).
Gurvan	0:9cb9445a11f0	2759	* @return Current Y-axis standby enabled status
Gurvan	0:9cb9445a11f0	2760	* @see MPU6050_RA_PWR_MGMT_2
Gurvan	0:9cb9445a11f0	2761	* @see MPU6050_PWR2_STBY_YA_BIT
Gurvan	0:9cb9445a11f0	2762	*/
Gurvan	0:9cb9445a11f0	2763	bool MPU6050::getStandbyYAccelEnabled()
Gurvan	0:9cb9445a11f0	2764	{
Gurvan	0:9cb9445a11f0	2765	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
Gurvan	0:9cb9445a11f0	2766	return buffer[0];
Gurvan	0:9cb9445a11f0	2767	}
Gurvan	0:9cb9445a11f0	2768	/** Set Y-axis accelerometer standby enabled status.
Gurvan	0:9cb9445a11f0	2769	* @param New Y-axis standby enabled status
Gurvan	0:9cb9445a11f0	2770	* @see getStandbyYAccelEnabled()
Gurvan	0:9cb9445a11f0	2771	* @see MPU6050_RA_PWR_MGMT_2
Gurvan	0:9cb9445a11f0	2772	* @see MPU6050_PWR2_STBY_YA_BIT
Gurvan	0:9cb9445a11f0	2773	*/
Gurvan	0:9cb9445a11f0	2774	void MPU6050::setStandbyYAccelEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	2775	{
Gurvan	0:9cb9445a11f0	2776	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
Gurvan	0:9cb9445a11f0	2777	}
Gurvan	0:9cb9445a11f0	2778	/** Get Z-axis accelerometer standby enabled status.
Gurvan	0:9cb9445a11f0	2779	* If enabled, the Z-axis will not gather or report data (or use power).
Gurvan	0:9cb9445a11f0	2780	* @return Current Z-axis standby enabled status
Gurvan	0:9cb9445a11f0	2781	* @see MPU6050_RA_PWR_MGMT_2
Gurvan	0:9cb9445a11f0	2782	* @see MPU6050_PWR2_STBY_ZA_BIT
Gurvan	0:9cb9445a11f0	2783	*/
Gurvan	0:9cb9445a11f0	2784	bool MPU6050::getStandbyZAccelEnabled()
Gurvan	0:9cb9445a11f0	2785	{
Gurvan	0:9cb9445a11f0	2786	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
Gurvan	0:9cb9445a11f0	2787	return buffer[0];
Gurvan	0:9cb9445a11f0	2788	}
Gurvan	0:9cb9445a11f0	2789	/** Set Z-axis accelerometer standby enabled status.
Gurvan	0:9cb9445a11f0	2790	* @param New Z-axis standby enabled status
Gurvan	0:9cb9445a11f0	2791	* @see getStandbyZAccelEnabled()
Gurvan	0:9cb9445a11f0	2792	* @see MPU6050_RA_PWR_MGMT_2
Gurvan	0:9cb9445a11f0	2793	* @see MPU6050_PWR2_STBY_ZA_BIT
Gurvan	0:9cb9445a11f0	2794	*/
Gurvan	0:9cb9445a11f0	2795	void MPU6050::setStandbyZAccelEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	2796	{
Gurvan	0:9cb9445a11f0	2797	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
Gurvan	0:9cb9445a11f0	2798	}
Gurvan	0:9cb9445a11f0	2799	/** Get X-axis gyroscope standby enabled status.
Gurvan	0:9cb9445a11f0	2800	* If enabled, the X-axis will not gather or report data (or use power).
Gurvan	0:9cb9445a11f0	2801	* @return Current X-axis standby enabled status
Gurvan	0:9cb9445a11f0	2802	* @see MPU6050_RA_PWR_MGMT_2
Gurvan	0:9cb9445a11f0	2803	* @see MPU6050_PWR2_STBY_XG_BIT
Gurvan	0:9cb9445a11f0	2804	*/
Gurvan	0:9cb9445a11f0	2805	bool MPU6050::getStandbyXGyroEnabled()
Gurvan	0:9cb9445a11f0	2806	{
Gurvan	0:9cb9445a11f0	2807	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
Gurvan	0:9cb9445a11f0	2808	return buffer[0];
Gurvan	0:9cb9445a11f0	2809	}
Gurvan	0:9cb9445a11f0	2810	/** Set X-axis gyroscope standby enabled status.
Gurvan	0:9cb9445a11f0	2811	* @param New X-axis standby enabled status
Gurvan	0:9cb9445a11f0	2812	* @see getStandbyXGyroEnabled()
Gurvan	0:9cb9445a11f0	2813	* @see MPU6050_RA_PWR_MGMT_2
Gurvan	0:9cb9445a11f0	2814	* @see MPU6050_PWR2_STBY_XG_BIT
Gurvan	0:9cb9445a11f0	2815	*/
Gurvan	0:9cb9445a11f0	2816	void MPU6050::setStandbyXGyroEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	2817	{
Gurvan	0:9cb9445a11f0	2818	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
Gurvan	0:9cb9445a11f0	2819	}
Gurvan	0:9cb9445a11f0	2820	/** Get Y-axis gyroscope standby enabled status.
Gurvan	0:9cb9445a11f0	2821	* If enabled, the Y-axis will not gather or report data (or use power).
Gurvan	0:9cb9445a11f0	2822	* @return Current Y-axis standby enabled status
Gurvan	0:9cb9445a11f0	2823	* @see MPU6050_RA_PWR_MGMT_2
Gurvan	0:9cb9445a11f0	2824	* @see MPU6050_PWR2_STBY_YG_BIT
Gurvan	0:9cb9445a11f0	2825	*/
Gurvan	0:9cb9445a11f0	2826	bool MPU6050::getStandbyYGyroEnabled()
Gurvan	0:9cb9445a11f0	2827	{
Gurvan	0:9cb9445a11f0	2828	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
Gurvan	0:9cb9445a11f0	2829	return buffer[0];
Gurvan	0:9cb9445a11f0	2830	}
Gurvan	0:9cb9445a11f0	2831	/** Set Y-axis gyroscope standby enabled status.
Gurvan	0:9cb9445a11f0	2832	* @param New Y-axis standby enabled status
Gurvan	0:9cb9445a11f0	2833	* @see getStandbyYGyroEnabled()
Gurvan	0:9cb9445a11f0	2834	* @see MPU6050_RA_PWR_MGMT_2
Gurvan	0:9cb9445a11f0	2835	* @see MPU6050_PWR2_STBY_YG_BIT
Gurvan	0:9cb9445a11f0	2836	*/
Gurvan	0:9cb9445a11f0	2837	void MPU6050::setStandbyYGyroEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	2838	{
Gurvan	0:9cb9445a11f0	2839	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
Gurvan	0:9cb9445a11f0	2840	}
Gurvan	0:9cb9445a11f0	2841	/** Get Z-axis gyroscope standby enabled status.
Gurvan	0:9cb9445a11f0	2842	* If enabled, the Z-axis will not gather or report data (or use power).
Gurvan	0:9cb9445a11f0	2843	* @return Current Z-axis standby enabled status
Gurvan	0:9cb9445a11f0	2844	* @see MPU6050_RA_PWR_MGMT_2
Gurvan	0:9cb9445a11f0	2845	* @see MPU6050_PWR2_STBY_ZG_BIT
Gurvan	0:9cb9445a11f0	2846	*/
Gurvan	0:9cb9445a11f0	2847	bool MPU6050::getStandbyZGyroEnabled()
Gurvan	0:9cb9445a11f0	2848	{
Gurvan	0:9cb9445a11f0	2849	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
Gurvan	0:9cb9445a11f0	2850	return buffer[0];
Gurvan	0:9cb9445a11f0	2851	}
Gurvan	0:9cb9445a11f0	2852	/** Set Z-axis gyroscope standby enabled status.
Gurvan	0:9cb9445a11f0	2853	* @param New Z-axis standby enabled status
Gurvan	0:9cb9445a11f0	2854	* @see getStandbyZGyroEnabled()
Gurvan	0:9cb9445a11f0	2855	* @see MPU6050_RA_PWR_MGMT_2
Gurvan	0:9cb9445a11f0	2856	* @see MPU6050_PWR2_STBY_ZG_BIT
Gurvan	0:9cb9445a11f0	2857	*/
Gurvan	0:9cb9445a11f0	2858	void MPU6050::setStandbyZGyroEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	2859	{
Gurvan	0:9cb9445a11f0	2860	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
Gurvan	0:9cb9445a11f0	2861	}
Gurvan	0:9cb9445a11f0	2862
Gurvan	0:9cb9445a11f0	2863	// FIFO_COUNT* registers
Gurvan	0:9cb9445a11f0	2864
Gurvan	0:9cb9445a11f0	2865	/** Get current FIFO buffer size.
Gurvan	0:9cb9445a11f0	2866	* This value indicates the number of bytes stored in the FIFO buffer. This
Gurvan	0:9cb9445a11f0	2867	* number is in turn the number of bytes that can be read from the FIFO buffer
Gurvan	0:9cb9445a11f0	2868	* and it is directly proportional to the number of samples available given the
Gurvan	0:9cb9445a11f0	2869	* set of sensor data bound to be stored in the FIFO (register 35 and 36).
Gurvan	0:9cb9445a11f0	2870	* @return Current FIFO buffer size
Gurvan	0:9cb9445a11f0	2871	*/
Gurvan	0:9cb9445a11f0	2872	uint16_t MPU6050::getFIFOCount()
Gurvan	0:9cb9445a11f0	2873	{
Gurvan	0:9cb9445a11f0	2874	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
Gurvan	0:9cb9445a11f0	2875	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
Gurvan	0:9cb9445a11f0	2876	}
Gurvan	0:9cb9445a11f0	2877
Gurvan	0:9cb9445a11f0	2878	// FIFO_R_W register
Gurvan	0:9cb9445a11f0	2879
Gurvan	0:9cb9445a11f0	2880	/** Get byte from FIFO buffer.
Gurvan	0:9cb9445a11f0	2881	* This register is used to read and write data from the FIFO buffer. Data is
Gurvan	0:9cb9445a11f0	2882	* written to the FIFO in order of register number (from lowest to highest). If
Gurvan	0:9cb9445a11f0	2883	* all the FIFO enable flags (see below) are enabled and all External Sensor
Gurvan	0:9cb9445a11f0	2884	* Data registers (Registers 73 to 96) are associated with a Slave device, the
Gurvan	0:9cb9445a11f0	2885	* contents of registers 59 through 96 will be written in order at the Sample
Gurvan	0:9cb9445a11f0	2886	* Rate.
Gurvan	0:9cb9445a11f0	2887	*
Gurvan	0:9cb9445a11f0	2888	* The contents of the sensor data registers (Registers 59 to 96) are written
Gurvan	0:9cb9445a11f0	2889	* into the FIFO buffer when their corresponding FIFO enable flags are set to 1
Gurvan	0:9cb9445a11f0	2890	* in FIFO_EN (Register 35). An additional flag for the sensor data registers
Gurvan	0:9cb9445a11f0	2891	* associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
Gurvan	0:9cb9445a11f0	2892	*
Gurvan	0:9cb9445a11f0	2893	* If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
Gurvan	0:9cb9445a11f0	2894	* automatically set to 1. This bit is located in INT_STATUS (Register 58).
Gurvan	0:9cb9445a11f0	2895	* When the FIFO buffer has overflowed, the oldest data will be lost and new
Gurvan	0:9cb9445a11f0	2896	* data will be written to the FIFO.
Gurvan	0:9cb9445a11f0	2897	*
Gurvan	0:9cb9445a11f0	2898	* If the FIFO buffer is empty, reading this register will return the last byte
Gurvan	0:9cb9445a11f0	2899	* that was previously read from the FIFO until new data is available. The user
Gurvan	0:9cb9445a11f0	2900	* should check FIFO_COUNT to ensure that the FIFO buffer is not read when
Gurvan	0:9cb9445a11f0	2901	* empty.
Gurvan	0:9cb9445a11f0	2902	*
Gurvan	0:9cb9445a11f0	2903	* @return Byte from FIFO buffer
Gurvan	0:9cb9445a11f0	2904	*/
Gurvan	0:9cb9445a11f0	2905	uint8_t MPU6050::getFIFOByte()
Gurvan	0:9cb9445a11f0	2906	{
Gurvan	0:9cb9445a11f0	2907	i2Cdev.readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
Gurvan	0:9cb9445a11f0	2908	return buffer[0];
Gurvan	0:9cb9445a11f0	2909	}
Gurvan	0:9cb9445a11f0	2910	void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length)
Gurvan	0:9cb9445a11f0	2911	{
Gurvan	0:9cb9445a11f0	2912	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
Gurvan	0:9cb9445a11f0	2913	}
Gurvan	0:9cb9445a11f0	2914	/** Write byte to FIFO buffer.
Gurvan	0:9cb9445a11f0	2915	* @see getFIFOByte()
Gurvan	0:9cb9445a11f0	2916	* @see MPU6050_RA_FIFO_R_W
Gurvan	0:9cb9445a11f0	2917	*/
Gurvan	0:9cb9445a11f0	2918	void MPU6050::setFIFOByte(uint8_t data)
Gurvan	0:9cb9445a11f0	2919	{
Gurvan	0:9cb9445a11f0	2920	i2Cdev.writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
Gurvan	0:9cb9445a11f0	2921	}
Gurvan	0:9cb9445a11f0	2922
Gurvan	0:9cb9445a11f0	2923	// WHO_AM_I register
Gurvan	0:9cb9445a11f0	2924
Gurvan	0:9cb9445a11f0	2925	/** Get Device ID.
Gurvan	0:9cb9445a11f0	2926	* This register is used to verify the identity of the device (0b110100, 0x34).
Gurvan	0:9cb9445a11f0	2927	* @return Device ID (6 bits only! should be 0x34)
Gurvan	0:9cb9445a11f0	2928	* @see MPU6050_RA_WHO_AM_I
Gurvan	0:9cb9445a11f0	2929	* @see MPU6050_WHO_AM_I_BIT
Gurvan	0:9cb9445a11f0	2930	* @see MPU6050_WHO_AM_I_LENGTH
Gurvan	0:9cb9445a11f0	2931	*/
Gurvan	0:9cb9445a11f0	2932	uint8_t MPU6050::getDeviceID()
Gurvan	0:9cb9445a11f0	2933	{
Gurvan	0:9cb9445a11f0	2934	i2Cdev.readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
Gurvan	0:9cb9445a11f0	2935	return buffer[0];
Gurvan	0:9cb9445a11f0	2936	}
Gurvan	0:9cb9445a11f0	2937	/** Set Device ID.
Gurvan	0:9cb9445a11f0	2938	* Write a new ID into the WHO_AM_I register (no idea why this should ever be
Gurvan	0:9cb9445a11f0	2939	* necessary though).
Gurvan	0:9cb9445a11f0	2940	* @param id New device ID to set.
Gurvan	0:9cb9445a11f0	2941	* @see getDeviceID()
Gurvan	0:9cb9445a11f0	2942	* @see MPU6050_RA_WHO_AM_I
Gurvan	0:9cb9445a11f0	2943	* @see MPU6050_WHO_AM_I_BIT
Gurvan	0:9cb9445a11f0	2944	* @see MPU6050_WHO_AM_I_LENGTH
Gurvan	0:9cb9445a11f0	2945	*/
Gurvan	0:9cb9445a11f0	2946	void MPU6050::setDeviceID(uint8_t id)
Gurvan	0:9cb9445a11f0	2947	{
Gurvan	0:9cb9445a11f0	2948	i2Cdev.writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
Gurvan	0:9cb9445a11f0	2949	}
Gurvan	0:9cb9445a11f0	2950
Gurvan	0:9cb9445a11f0	2951	// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
Gurvan	0:9cb9445a11f0	2952
Gurvan	0:9cb9445a11f0	2953	// XG_OFFS_TC register
Gurvan	0:9cb9445a11f0	2954
Gurvan	0:9cb9445a11f0	2955	uint8_t MPU6050::getOTPBankValid()
Gurvan	0:9cb9445a11f0	2956	{
Gurvan	0:9cb9445a11f0	2957	i2Cdev.readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
Gurvan	0:9cb9445a11f0	2958	return buffer[0];
Gurvan	0:9cb9445a11f0	2959	}
Gurvan	0:9cb9445a11f0	2960	void MPU6050::setOTPBankValid(bool enabled)
Gurvan	0:9cb9445a11f0	2961	{
Gurvan	0:9cb9445a11f0	2962	i2Cdev.writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
Gurvan	0:9cb9445a11f0	2963	}
Gurvan	0:9cb9445a11f0	2964	int8_t MPU6050::getXGyroOffset()
Gurvan	0:9cb9445a11f0	2965	{
Gurvan	0:9cb9445a11f0	2966	i2Cdev.readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
Gurvan	0:9cb9445a11f0	2967	return buffer[0];
Gurvan	0:9cb9445a11f0	2968	}
Gurvan	0:9cb9445a11f0	2969	void MPU6050::setXGyroOffset(int8_t offset)
Gurvan	0:9cb9445a11f0	2970	{
Gurvan	0:9cb9445a11f0	2971	i2Cdev.writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
Gurvan	0:9cb9445a11f0	2972	}
Gurvan	0:9cb9445a11f0	2973
Gurvan	0:9cb9445a11f0	2974	// YG_OFFS_TC register
Gurvan	0:9cb9445a11f0	2975
Gurvan	0:9cb9445a11f0	2976	int8_t MPU6050::getYGyroOffset()
Gurvan	0:9cb9445a11f0	2977	{
Gurvan	0:9cb9445a11f0	2978	i2Cdev.readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
Gurvan	0:9cb9445a11f0	2979	return buffer[0];
Gurvan	0:9cb9445a11f0	2980	}
Gurvan	0:9cb9445a11f0	2981	void MPU6050::setYGyroOffset(int8_t offset)
Gurvan	0:9cb9445a11f0	2982	{
Gurvan	0:9cb9445a11f0	2983	i2Cdev.writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
Gurvan	0:9cb9445a11f0	2984	}
Gurvan	0:9cb9445a11f0	2985
Gurvan	0:9cb9445a11f0	2986	// ZG_OFFS_TC register
Gurvan	0:9cb9445a11f0	2987
Gurvan	0:9cb9445a11f0	2988	int8_t MPU6050::getZGyroOffset()
Gurvan	0:9cb9445a11f0	2989	{
Gurvan	0:9cb9445a11f0	2990	i2Cdev.readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
Gurvan	0:9cb9445a11f0	2991	return buffer[0];
Gurvan	0:9cb9445a11f0	2992	}
Gurvan	0:9cb9445a11f0	2993	void MPU6050::setZGyroOffset(int8_t offset)
Gurvan	0:9cb9445a11f0	2994	{
Gurvan	0:9cb9445a11f0	2995	i2Cdev.writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
Gurvan	0:9cb9445a11f0	2996	}
Gurvan	0:9cb9445a11f0	2997
Gurvan	0:9cb9445a11f0	2998	// X_FINE_GAIN register
Gurvan	0:9cb9445a11f0	2999
Gurvan	0:9cb9445a11f0	3000	int8_t MPU6050::getXFineGain()
Gurvan	0:9cb9445a11f0	3001	{
Gurvan	0:9cb9445a11f0	3002	i2Cdev.readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
Gurvan	0:9cb9445a11f0	3003	return buffer[0];
Gurvan	0:9cb9445a11f0	3004	}
Gurvan	0:9cb9445a11f0	3005	void MPU6050::setXFineGain(int8_t gain)
Gurvan	0:9cb9445a11f0	3006	{
Gurvan	0:9cb9445a11f0	3007	i2Cdev.writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
Gurvan	0:9cb9445a11f0	3008	}
Gurvan	0:9cb9445a11f0	3009
Gurvan	0:9cb9445a11f0	3010	// Y_FINE_GAIN register
Gurvan	0:9cb9445a11f0	3011
Gurvan	0:9cb9445a11f0	3012	int8_t MPU6050::getYFineGain()
Gurvan	0:9cb9445a11f0	3013	{
Gurvan	0:9cb9445a11f0	3014	i2Cdev.readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
Gurvan	0:9cb9445a11f0	3015	return buffer[0];
Gurvan	0:9cb9445a11f0	3016	}
Gurvan	0:9cb9445a11f0	3017	void MPU6050::setYFineGain(int8_t gain)
Gurvan	0:9cb9445a11f0	3018	{
Gurvan	0:9cb9445a11f0	3019	i2Cdev.writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
Gurvan	0:9cb9445a11f0	3020	}
Gurvan	0:9cb9445a11f0	3021
Gurvan	0:9cb9445a11f0	3022	// Z_FINE_GAIN register
Gurvan	0:9cb9445a11f0	3023
Gurvan	0:9cb9445a11f0	3024	int8_t MPU6050::getZFineGain()
Gurvan	0:9cb9445a11f0	3025	{
Gurvan	0:9cb9445a11f0	3026	i2Cdev.readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
Gurvan	0:9cb9445a11f0	3027	return buffer[0];
Gurvan	0:9cb9445a11f0	3028	}
Gurvan	0:9cb9445a11f0	3029	void MPU6050::setZFineGain(int8_t gain)
Gurvan	0:9cb9445a11f0	3030	{
Gurvan	0:9cb9445a11f0	3031	i2Cdev.writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
Gurvan	0:9cb9445a11f0	3032	}
Gurvan	0:9cb9445a11f0	3033
Gurvan	0:9cb9445a11f0	3034	// XA_OFFS_* registers
Gurvan	0:9cb9445a11f0	3035
Gurvan	0:9cb9445a11f0	3036	int16_t MPU6050::getXAccelOffset()
Gurvan	0:9cb9445a11f0	3037	{
Gurvan	0:9cb9445a11f0	3038	i2Cdev.readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
Gurvan	0:9cb9445a11f0	3039	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gurvan	0:9cb9445a11f0	3040	}
Gurvan	0:9cb9445a11f0	3041	void MPU6050::setXAccelOffset(int16_t offset)
Gurvan	0:9cb9445a11f0	3042	{
Gurvan	0:9cb9445a11f0	3043	i2Cdev.writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
Gurvan	0:9cb9445a11f0	3044	}
Gurvan	0:9cb9445a11f0	3045
Gurvan	0:9cb9445a11f0	3046	// YA_OFFS_* register
Gurvan	0:9cb9445a11f0	3047
Gurvan	0:9cb9445a11f0	3048	int16_t MPU6050::getYAccelOffset()
Gurvan	0:9cb9445a11f0	3049	{
Gurvan	0:9cb9445a11f0	3050	i2Cdev.readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
Gurvan	0:9cb9445a11f0	3051	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gurvan	0:9cb9445a11f0	3052	}
Gurvan	0:9cb9445a11f0	3053	void MPU6050::setYAccelOffset(int16_t offset)
Gurvan	0:9cb9445a11f0	3054	{
Gurvan	0:9cb9445a11f0	3055	i2Cdev.writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
Gurvan	0:9cb9445a11f0	3056	}
Gurvan	0:9cb9445a11f0	3057
Gurvan	0:9cb9445a11f0	3058	// ZA_OFFS_* register
Gurvan	0:9cb9445a11f0	3059
Gurvan	0:9cb9445a11f0	3060	int16_t MPU6050::getZAccelOffset()
Gurvan	0:9cb9445a11f0	3061	{
Gurvan	0:9cb9445a11f0	3062	i2Cdev.readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
Gurvan	0:9cb9445a11f0	3063	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gurvan	0:9cb9445a11f0	3064	}
Gurvan	0:9cb9445a11f0	3065	void MPU6050::setZAccelOffset(int16_t offset)
Gurvan	0:9cb9445a11f0	3066	{
Gurvan	0:9cb9445a11f0	3067	i2Cdev.writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
Gurvan	0:9cb9445a11f0	3068	}
Gurvan	0:9cb9445a11f0	3069
Gurvan	0:9cb9445a11f0	3070	// XG_OFFS_USR* registers
Gurvan	0:9cb9445a11f0	3071
Gurvan	0:9cb9445a11f0	3072	int16_t MPU6050::getXGyroOffsetUser()
Gurvan	0:9cb9445a11f0	3073	{
Gurvan	0:9cb9445a11f0	3074	i2Cdev.readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
Gurvan	0:9cb9445a11f0	3075	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gurvan	0:9cb9445a11f0	3076	}
Gurvan	0:9cb9445a11f0	3077	void MPU6050::setXGyroOffsetUser(int16_t offset)
Gurvan	0:9cb9445a11f0	3078	{
Gurvan	0:9cb9445a11f0	3079	i2Cdev.writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
Gurvan	0:9cb9445a11f0	3080	}
Gurvan	0:9cb9445a11f0	3081
Gurvan	0:9cb9445a11f0	3082	// YG_OFFS_USR* register
Gurvan	0:9cb9445a11f0	3083
Gurvan	0:9cb9445a11f0	3084	int16_t MPU6050::getYGyroOffsetUser()
Gurvan	0:9cb9445a11f0	3085	{
Gurvan	0:9cb9445a11f0	3086	i2Cdev.readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
Gurvan	0:9cb9445a11f0	3087	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gurvan	0:9cb9445a11f0	3088	}
Gurvan	0:9cb9445a11f0	3089	void MPU6050::setYGyroOffsetUser(int16_t offset)
Gurvan	0:9cb9445a11f0	3090	{
Gurvan	0:9cb9445a11f0	3091	i2Cdev.writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
Gurvan	0:9cb9445a11f0	3092	}
Gurvan	0:9cb9445a11f0	3093
Gurvan	0:9cb9445a11f0	3094	// ZG_OFFS_USR* register
Gurvan	0:9cb9445a11f0	3095
Gurvan	0:9cb9445a11f0	3096	int16_t MPU6050::getZGyroOffsetUser()
Gurvan	0:9cb9445a11f0	3097	{
Gurvan	0:9cb9445a11f0	3098	i2Cdev.readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
Gurvan	0:9cb9445a11f0	3099	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gurvan	0:9cb9445a11f0	3100	}
Gurvan	0:9cb9445a11f0	3101	void MPU6050::setZGyroOffsetUser(int16_t offset)
Gurvan	0:9cb9445a11f0	3102	{
Gurvan	0:9cb9445a11f0	3103	i2Cdev.writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
Gurvan	0:9cb9445a11f0	3104	}
Gurvan	0:9cb9445a11f0	3105
Gurvan	0:9cb9445a11f0	3106	// INT_ENABLE register (DMP functions)
Gurvan	0:9cb9445a11f0	3107
Gurvan	0:9cb9445a11f0	3108	bool MPU6050::getIntPLLReadyEnabled()
Gurvan	0:9cb9445a11f0	3109	{
Gurvan	0:9cb9445a11f0	3110	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
Gurvan	0:9cb9445a11f0	3111	return buffer[0];
Gurvan	0:9cb9445a11f0	3112	}
Gurvan	0:9cb9445a11f0	3113	void MPU6050::setIntPLLReadyEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	3114	{
Gurvan	0:9cb9445a11f0	3115	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
Gurvan	0:9cb9445a11f0	3116	}
Gurvan	0:9cb9445a11f0	3117	bool MPU6050::getIntDMPEnabled()
Gurvan	0:9cb9445a11f0	3118	{
Gurvan	0:9cb9445a11f0	3119	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
Gurvan	0:9cb9445a11f0	3120	return buffer[0];
Gurvan	0:9cb9445a11f0	3121	}
Gurvan	0:9cb9445a11f0	3122	void MPU6050::setIntDMPEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	3123	{
Gurvan	0:9cb9445a11f0	3124	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
Gurvan	0:9cb9445a11f0	3125	}
Gurvan	0:9cb9445a11f0	3126
Gurvan	0:9cb9445a11f0	3127	// DMP_INT_STATUS
Gurvan	0:9cb9445a11f0	3128
Gurvan	0:9cb9445a11f0	3129	bool MPU6050::getDMPInt5Status()
Gurvan	0:9cb9445a11f0	3130	{
Gurvan	0:9cb9445a11f0	3131	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
Gurvan	0:9cb9445a11f0	3132	return buffer[0];
Gurvan	0:9cb9445a11f0	3133	}
Gurvan	0:9cb9445a11f0	3134	bool MPU6050::getDMPInt4Status()
Gurvan	0:9cb9445a11f0	3135	{
Gurvan	0:9cb9445a11f0	3136	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
Gurvan	0:9cb9445a11f0	3137	return buffer[0];
Gurvan	0:9cb9445a11f0	3138	}
Gurvan	0:9cb9445a11f0	3139	bool MPU6050::getDMPInt3Status()
Gurvan	0:9cb9445a11f0	3140	{
Gurvan	0:9cb9445a11f0	3141	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
Gurvan	0:9cb9445a11f0	3142	return buffer[0];
Gurvan	0:9cb9445a11f0	3143	}
Gurvan	0:9cb9445a11f0	3144	bool MPU6050::getDMPInt2Status()
Gurvan	0:9cb9445a11f0	3145	{
Gurvan	0:9cb9445a11f0	3146	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
Gurvan	0:9cb9445a11f0	3147	return buffer[0];
Gurvan	0:9cb9445a11f0	3148	}
Gurvan	0:9cb9445a11f0	3149	bool MPU6050::getDMPInt1Status()
Gurvan	0:9cb9445a11f0	3150	{
Gurvan	0:9cb9445a11f0	3151	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
Gurvan	0:9cb9445a11f0	3152	return buffer[0];
Gurvan	0:9cb9445a11f0	3153	}
Gurvan	0:9cb9445a11f0	3154	bool MPU6050::getDMPInt0Status()
Gurvan	0:9cb9445a11f0	3155	{
Gurvan	0:9cb9445a11f0	3156	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
Gurvan	0:9cb9445a11f0	3157	return buffer[0];
Gurvan	0:9cb9445a11f0	3158	}
Gurvan	0:9cb9445a11f0	3159
Gurvan	0:9cb9445a11f0	3160	// INT_STATUS register (DMP functions)
Gurvan	0:9cb9445a11f0	3161
Gurvan	0:9cb9445a11f0	3162	bool MPU6050::getIntPLLReadyStatus()
Gurvan	0:9cb9445a11f0	3163	{
Gurvan	0:9cb9445a11f0	3164	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
Gurvan	0:9cb9445a11f0	3165	return buffer[0];
Gurvan	0:9cb9445a11f0	3166	}
Gurvan	0:9cb9445a11f0	3167	bool MPU6050::getIntDMPStatus()
Gurvan	0:9cb9445a11f0	3168	{
Gurvan	0:9cb9445a11f0	3169	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
Gurvan	0:9cb9445a11f0	3170	return buffer[0];
Gurvan	0:9cb9445a11f0	3171	}
Gurvan	0:9cb9445a11f0	3172
Gurvan	0:9cb9445a11f0	3173	// USER_CTRL register (DMP functions)
Gurvan	0:9cb9445a11f0	3174
Gurvan	0:9cb9445a11f0	3175	bool MPU6050::getDMPEnabled()
Gurvan	0:9cb9445a11f0	3176	{
Gurvan	0:9cb9445a11f0	3177	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
Gurvan	0:9cb9445a11f0	3178	return buffer[0];
Gurvan	0:9cb9445a11f0	3179	}
Gurvan	0:9cb9445a11f0	3180	void MPU6050::setDMPEnabled(bool enabled)
Gurvan	0:9cb9445a11f0	3181	{
Gurvan	0:9cb9445a11f0	3182	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
Gurvan	0:9cb9445a11f0	3183	}
Gurvan	0:9cb9445a11f0	3184	void MPU6050::resetDMP()
Gurvan	0:9cb9445a11f0	3185	{
Gurvan	0:9cb9445a11f0	3186	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
Gurvan	0:9cb9445a11f0	3187	}
Gurvan	0:9cb9445a11f0	3188
Gurvan	0:9cb9445a11f0	3189	// BANK_SEL register
Gurvan	0:9cb9445a11f0	3190
Gurvan	0:9cb9445a11f0	3191	void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank)
Gurvan	0:9cb9445a11f0	3192	{
Gurvan	0:9cb9445a11f0	3193	bank &= 0x1F;
Gurvan	0:9cb9445a11f0	3194	if (userBank) bank \|= 0x20;
Gurvan	0:9cb9445a11f0	3195	if (prefetchEnabled) bank \|= 0x40;
Gurvan	0:9cb9445a11f0	3196	i2Cdev.writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
Gurvan	0:9cb9445a11f0	3197	}
Gurvan	0:9cb9445a11f0	3198
Gurvan	0:9cb9445a11f0	3199	// MEM_START_ADDR register
Gurvan	0:9cb9445a11f0	3200
Gurvan	0:9cb9445a11f0	3201	void MPU6050::setMemoryStartAddress(uint8_t address)
Gurvan	0:9cb9445a11f0	3202	{
Gurvan	0:9cb9445a11f0	3203	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
Gurvan	0:9cb9445a11f0	3204	}
Gurvan	0:9cb9445a11f0	3205
Gurvan	0:9cb9445a11f0	3206	// MEM_R_W register
Gurvan	0:9cb9445a11f0	3207
Gurvan	0:9cb9445a11f0	3208	uint8_t MPU6050::readMemoryByte()
Gurvan	0:9cb9445a11f0	3209	{
Gurvan	0:9cb9445a11f0	3210	i2Cdev.readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
Gurvan	0:9cb9445a11f0	3211	return buffer[0];
Gurvan	0:9cb9445a11f0	3212	}
Gurvan	0:9cb9445a11f0	3213	void MPU6050::writeMemoryByte(uint8_t data)
Gurvan	0:9cb9445a11f0	3214	{
Gurvan	0:9cb9445a11f0	3215	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
Gurvan	0:9cb9445a11f0	3216	}
Gurvan	0:9cb9445a11f0	3217	void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address)
Gurvan	0:9cb9445a11f0	3218	{
Gurvan	0:9cb9445a11f0	3219	setMemoryBank(bank);
Gurvan	0:9cb9445a11f0	3220	setMemoryStartAddress(address);
Gurvan	0:9cb9445a11f0	3221	uint8_t chunkSize;
Gurvan	0:9cb9445a11f0	3222	for (uint16_t i = 0; i < dataSize;) {
Gurvan	0:9cb9445a11f0	3223	// determine correct chunk size according to bank position and data size
Gurvan	0:9cb9445a11f0	3224	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
Gurvan	0:9cb9445a11f0	3225
Gurvan	0:9cb9445a11f0	3226	// make sure we don't go past the data size
Gurvan	0:9cb9445a11f0	3227	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
Gurvan	0:9cb9445a11f0	3228
Gurvan	0:9cb9445a11f0	3229	// make sure this chunk doesn't go past the bank boundary (256 bytes)
Gurvan	0:9cb9445a11f0	3230	if (chunkSize > 256 - address) chunkSize = 256 - address;
Gurvan	0:9cb9445a11f0	3231
Gurvan	0:9cb9445a11f0	3232	// read the chunk of data as specified
Gurvan	0:9cb9445a11f0	3233	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
Gurvan	0:9cb9445a11f0	3234
Gurvan	0:9cb9445a11f0	3235	// increase byte index by [chunkSize]
Gurvan	0:9cb9445a11f0	3236	i += chunkSize;
Gurvan	0:9cb9445a11f0	3237
Gurvan	0:9cb9445a11f0	3238	// uint8_t automatically wraps to 0 at 256
Gurvan	0:9cb9445a11f0	3239	address += chunkSize;
Gurvan	0:9cb9445a11f0	3240
Gurvan	0:9cb9445a11f0	3241	// if we aren't done, update bank (if necessary) and address
Gurvan	0:9cb9445a11f0	3242	if (i < dataSize) {
Gurvan	0:9cb9445a11f0	3243	if (address == 0) bank++;
Gurvan	0:9cb9445a11f0	3244	setMemoryBank(bank);
Gurvan	0:9cb9445a11f0	3245	setMemoryStartAddress(address);
Gurvan	0:9cb9445a11f0	3246	}
Gurvan	0:9cb9445a11f0	3247	}
Gurvan	0:9cb9445a11f0	3248	}
Gurvan	0:9cb9445a11f0	3249	bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem)
Gurvan	0:9cb9445a11f0	3250	{
Gurvan	0:9cb9445a11f0	3251	setMemoryBank(bank);
Gurvan	0:9cb9445a11f0	3252	setMemoryStartAddress(address);
Gurvan	0:9cb9445a11f0	3253	uint8_t chunkSize;
Gurvan	0:9cb9445a11f0	3254	uint8_t *verifyBuffer;
Gurvan	0:9cb9445a11f0	3255	uint8_t *progBuffer;
Gurvan	0:9cb9445a11f0	3256	uint16_t i;
Gurvan	0:9cb9445a11f0	3257	uint8_t j;
Gurvan	0:9cb9445a11f0	3258	if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
Gurvan	0:9cb9445a11f0	3259	if (useProgMem) progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
Gurvan	0:9cb9445a11f0	3260	for (i = 0; i < dataSize;) {
Gurvan	0:9cb9445a11f0	3261	// determine correct chunk size according to bank position and data size
Gurvan	0:9cb9445a11f0	3262	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
Gurvan	0:9cb9445a11f0	3263
Gurvan	0:9cb9445a11f0	3264	// make sure we don't go past the data size
Gurvan	0:9cb9445a11f0	3265	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
Gurvan	0:9cb9445a11f0	3266
Gurvan	0:9cb9445a11f0	3267	// make sure this chunk doesn't go past the bank boundary (256 bytes)
Gurvan	0:9cb9445a11f0	3268	if (chunkSize > 256 - address) chunkSize = 256 - address;
Gurvan	0:9cb9445a11f0	3269
Gurvan	0:9cb9445a11f0	3270	if (useProgMem) {
Gurvan	0:9cb9445a11f0	3271	// write the chunk of data as specified
Gurvan	0:9cb9445a11f0	3272	for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
Gurvan	0:9cb9445a11f0	3273	} else {
Gurvan	0:9cb9445a11f0	3274	// write the chunk of data as specified
Gurvan	0:9cb9445a11f0	3275	progBuffer = (uint8_t *)data + i;
Gurvan	0:9cb9445a11f0	3276	}
Gurvan	0:9cb9445a11f0	3277
Gurvan	0:9cb9445a11f0	3278	i2Cdev.writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
Gurvan	0:9cb9445a11f0	3279
Gurvan	0:9cb9445a11f0	3280	// verify data if needed
Gurvan	0:9cb9445a11f0	3281	if (verify && verifyBuffer) {
Gurvan	0:9cb9445a11f0	3282	setMemoryBank(bank);
Gurvan	0:9cb9445a11f0	3283	setMemoryStartAddress(address);
Gurvan	0:9cb9445a11f0	3284	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
Gurvan	0:9cb9445a11f0	3285	if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
Gurvan	0:9cb9445a11f0	3286	/*Serial.print("Block write verification error, bank ");
Gurvan	0:9cb9445a11f0	3287	Serial.print(bank, DEC);
Gurvan	0:9cb9445a11f0	3288	Serial.print(", address ");
Gurvan	0:9cb9445a11f0	3289	Serial.print(address, DEC);
Gurvan	0:9cb9445a11f0	3290	Serial.print("!\nExpected:");
Gurvan	0:9cb9445a11f0	3291	for (j = 0; j < chunkSize; j++) {
Gurvan	0:9cb9445a11f0	3292	Serial.print(" 0x");
Gurvan	0:9cb9445a11f0	3293	if (progBuffer[j] < 16) Serial.print("0");
Gurvan	0:9cb9445a11f0	3294	Serial.print(progBuffer[j], HEX);
Gurvan	0:9cb9445a11f0	3295	}
Gurvan	0:9cb9445a11f0	3296	Serial.print("\nReceived:");
Gurvan	0:9cb9445a11f0	3297	for (uint8_t j = 0; j < chunkSize; j++) {
Gurvan	0:9cb9445a11f0	3298	Serial.print(" 0x");
Gurvan	0:9cb9445a11f0	3299	if (verifyBuffer[i + j] < 16) Serial.print("0");
Gurvan	0:9cb9445a11f0	3300	Serial.print(verifyBuffer[i + j], HEX);
Gurvan	0:9cb9445a11f0	3301	}
Gurvan	0:9cb9445a11f0	3302	Serial.print("\n");*/
Gurvan	0:9cb9445a11f0	3303	free(verifyBuffer);
Gurvan	0:9cb9445a11f0	3304	if (useProgMem) free(progBuffer);
Gurvan	0:9cb9445a11f0	3305	return false; // uh oh.
Gurvan	0:9cb9445a11f0	3306	}
Gurvan	0:9cb9445a11f0	3307	}
Gurvan	0:9cb9445a11f0	3308
Gurvan	0:9cb9445a11f0	3309	// increase byte index by [chunkSize]
Gurvan	0:9cb9445a11f0	3310	i += chunkSize;
Gurvan	0:9cb9445a11f0	3311
Gurvan	0:9cb9445a11f0	3312	// uint8_t automatically wraps to 0 at 256
Gurvan	0:9cb9445a11f0	3313	address += chunkSize;
Gurvan	0:9cb9445a11f0	3314
Gurvan	0:9cb9445a11f0	3315	// if we aren't done, update bank (if necessary) and address
Gurvan	0:9cb9445a11f0	3316	if (i < dataSize) {
Gurvan	0:9cb9445a11f0	3317	if (address == 0) bank++;
Gurvan	0:9cb9445a11f0	3318	setMemoryBank(bank);
Gurvan	0:9cb9445a11f0	3319	setMemoryStartAddress(address);
Gurvan	0:9cb9445a11f0	3320	}
Gurvan	0:9cb9445a11f0	3321	}
Gurvan	0:9cb9445a11f0	3322	if (verify) free(verifyBuffer);
Gurvan	0:9cb9445a11f0	3323	if (useProgMem) free(progBuffer);
Gurvan	0:9cb9445a11f0	3324	return true;
Gurvan	0:9cb9445a11f0	3325	}
Gurvan	0:9cb9445a11f0	3326	bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify)
Gurvan	0:9cb9445a11f0	3327	{
Gurvan	0:9cb9445a11f0	3328	return writeMemoryBlock(data, dataSize, bank, address, verify, true);
Gurvan	0:9cb9445a11f0	3329	}
Gurvan	0:9cb9445a11f0	3330	bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem)
Gurvan	0:9cb9445a11f0	3331	{
Gurvan	0:9cb9445a11f0	3332	uint8_t *progBuffer, success, special;
Gurvan	0:9cb9445a11f0	3333	uint16_t i, j;
Gurvan	0:9cb9445a11f0	3334	if (useProgMem) {
Gurvan	0:9cb9445a11f0	3335	progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
Gurvan	0:9cb9445a11f0	3336	}
Gurvan	0:9cb9445a11f0	3337
Gurvan	0:9cb9445a11f0	3338	// config set data is a long string of blocks with the following structure:
Gurvan	0:9cb9445a11f0	3339	// [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
Gurvan	0:9cb9445a11f0	3340	uint8_t bank, offset, length;
Gurvan	0:9cb9445a11f0	3341	for (i = 0; i < dataSize;) {
Gurvan	0:9cb9445a11f0	3342	if (useProgMem) {
Gurvan	0:9cb9445a11f0	3343	bank = pgm_read_byte(data + i++);
Gurvan	0:9cb9445a11f0	3344	offset = pgm_read_byte(data + i++);
Gurvan	0:9cb9445a11f0	3345	length = pgm_read_byte(data + i++);
Gurvan	0:9cb9445a11f0	3346	} else {
Gurvan	0:9cb9445a11f0	3347	bank = data[i++];
Gurvan	0:9cb9445a11f0	3348	offset = data[i++];
Gurvan	0:9cb9445a11f0	3349	length = data[i++];
Gurvan	0:9cb9445a11f0	3350	}
Gurvan	0:9cb9445a11f0	3351
Gurvan	0:9cb9445a11f0	3352	// write data or perform special action
Gurvan	0:9cb9445a11f0	3353	if (length > 0) {
Gurvan	0:9cb9445a11f0	3354	// regular block of data to write
Gurvan	0:9cb9445a11f0	3355	/*Serial.print("Writing config block to bank ");
Gurvan	0:9cb9445a11f0	3356	Serial.print(bank);
Gurvan	0:9cb9445a11f0	3357	Serial.print(", offset ");
Gurvan	0:9cb9445a11f0	3358	Serial.print(offset);
Gurvan	0:9cb9445a11f0	3359	Serial.print(", length=");
Gurvan	0:9cb9445a11f0	3360	Serial.println(length);*/
Gurvan	0:9cb9445a11f0	3361	if (useProgMem) {
Gurvan	0:9cb9445a11f0	3362	if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length);
Gurvan	0:9cb9445a11f0	3363	for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j);
Gurvan	0:9cb9445a11f0	3364	} else {
Gurvan	0:9cb9445a11f0	3365	progBuffer = (uint8_t *)data + i;
Gurvan	0:9cb9445a11f0	3366	}
Gurvan	0:9cb9445a11f0	3367	success = writeMemoryBlock(progBuffer, length, bank, offset, true);
Gurvan	0:9cb9445a11f0	3368	i += length;
Gurvan	0:9cb9445a11f0	3369	} else {
Gurvan	0:9cb9445a11f0	3370	// special instruction
Gurvan	0:9cb9445a11f0	3371	// NOTE: this kind of behavior (what and when to do certain things)
Gurvan	0:9cb9445a11f0	3372	// is totally undocumented. This code is in here based on observed
Gurvan	0:9cb9445a11f0	3373	// behavior only, and exactly why (or even whether) it has to be here
Gurvan	0:9cb9445a11f0	3374	// is anybody's guess for now.
Gurvan	0:9cb9445a11f0	3375	if (useProgMem) {
Gurvan	0:9cb9445a11f0	3376	special = pgm_read_byte(data + i++);
Gurvan	0:9cb9445a11f0	3377	} else {
Gurvan	0:9cb9445a11f0	3378	special = data[i++];
Gurvan	0:9cb9445a11f0	3379	}
Gurvan	0:9cb9445a11f0	3380	/*Serial.print("Special command code ");
Gurvan	0:9cb9445a11f0	3381	Serial.print(special, HEX);
Gurvan	0:9cb9445a11f0	3382	Serial.println(" found...");*/
Gurvan	0:9cb9445a11f0	3383	if (special == 0x01) {
Gurvan	0:9cb9445a11f0	3384	// enable DMP-related interrupts
Gurvan	0:9cb9445a11f0	3385
Gurvan	0:9cb9445a11f0	3386	//setIntZeroMotionEnabled(true);
Gurvan	0:9cb9445a11f0	3387	//setIntFIFOBufferOverflowEnabled(true);
Gurvan	0:9cb9445a11f0	3388	//setIntDMPEnabled(true);
Gurvan	0:9cb9445a11f0	3389	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
Gurvan	0:9cb9445a11f0	3390
Gurvan	0:9cb9445a11f0	3391	success = true;
Gurvan	0:9cb9445a11f0	3392	} else {
Gurvan	0:9cb9445a11f0	3393	// unknown special command
Gurvan	0:9cb9445a11f0	3394	success = false;
Gurvan	0:9cb9445a11f0	3395	}
Gurvan	0:9cb9445a11f0	3396	}
Gurvan	0:9cb9445a11f0	3397
Gurvan	0:9cb9445a11f0	3398	if (!success) {
Gurvan	0:9cb9445a11f0	3399	if (useProgMem) free(progBuffer);
Gurvan	0:9cb9445a11f0	3400	return false; // uh oh
Gurvan	0:9cb9445a11f0	3401	}
Gurvan	0:9cb9445a11f0	3402	}
Gurvan	0:9cb9445a11f0	3403	if (useProgMem) free(progBuffer);
Gurvan	0:9cb9445a11f0	3404	return true;
Gurvan	0:9cb9445a11f0	3405	}
Gurvan	0:9cb9445a11f0	3406	bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
Gurvan	0:9cb9445a11f0	3407	{
Gurvan	0:9cb9445a11f0	3408	return writeDMPConfigurationSet(data, dataSize, false);
Gurvan	0:9cb9445a11f0	3409	}
Gurvan	0:9cb9445a11f0	3410
Gurvan	0:9cb9445a11f0	3411	// DMP_CFG_1 register
Gurvan	0:9cb9445a11f0	3412
Gurvan	0:9cb9445a11f0	3413	uint8_t MPU6050::getDMPConfig1()
Gurvan	0:9cb9445a11f0	3414	{
Gurvan	0:9cb9445a11f0	3415	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
Gurvan	0:9cb9445a11f0	3416	return buffer[0];
Gurvan	0:9cb9445a11f0	3417	}
Gurvan	0:9cb9445a11f0	3418	void MPU6050::setDMPConfig1(uint8_t config)
Gurvan	0:9cb9445a11f0	3419	{
Gurvan	0:9cb9445a11f0	3420	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
Gurvan	0:9cb9445a11f0	3421	}
Gurvan	0:9cb9445a11f0	3422
Gurvan	0:9cb9445a11f0	3423	// DMP_CFG_2 register
Gurvan	0:9cb9445a11f0	3424
Gurvan	0:9cb9445a11f0	3425	uint8_t MPU6050::getDMPConfig2()
Gurvan	0:9cb9445a11f0	3426	{
Gurvan	0:9cb9445a11f0	3427	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
Gurvan	0:9cb9445a11f0	3428	return buffer[0];
Gurvan	0:9cb9445a11f0	3429	}
Gurvan	0:9cb9445a11f0	3430	void MPU6050::setDMPConfig2(uint8_t config)
Gurvan	0:9cb9445a11f0	3431	{
Gurvan	0:9cb9445a11f0	3432	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
Gurvan	0:9cb9445a11f0	3433	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	17 Jul 2013
Imports:	8
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	1
Followers:	3

MPU6050/MPU6050.cpp@0:9cb9445a11f0, 2013-07-17 (annotated)

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