Weber Yang
For nucleoF103 change sda,scl to PB_7,PB_6
Dependents: AGV_0411 AGV_SMT_Sevro AGV_SMT
Fork of
MPU6050-DMP
by 
takaaki mastuzawa
Revision 8:473800bd51ac, committed 2018-05-10
- Comitter:
- WeberYang
- Date:
- Thu May 10 08:15:44 2018 +0000
- Parent:
- 7:6b1b4bcaf494
- Commit message:
- let address be 0x34
Changed in this revision
diff -r 6b1b4bcaf494 -r 473800bd51ac I2Cdev.cpp
--- a/I2Cdev.cpp Thu Apr 12 01:11:08 2018 +0000
+++ b/I2Cdev.cpp Thu May 10 08:15:44 2018 +0000
@@ -1,20 +1,18 @@
// ported from arduino library: https://github.com/jrowberg/i2cdevlib
// written by szymon gaertig (email: szymon@gaertig.com.pl, website: szymongaertig.pl)
+// modified by shundo kishi
+//
// Changelog:
// 2013-01-08 - first release
+// 2016-01-31 - changed all functions and variables static to make porting from arduino easier(by shundo kishi)
#include "I2Cdev.h"
-//#define useDebugSerial
-
-I2Cdev::I2Cdev(): i2c(I2C_SDA,I2C_SCL), debugSerial(USBTX, USBRX)
-{
+I2C I2Cdev::i2c(I2C_SDA,I2C_SCL);
-}
-
-I2Cdev::I2Cdev(PinName i2cSda, PinName i2cScl): i2c(i2cSda,i2cScl), debugSerial(USBTX, USBRX)
-{
-
+/** Default constructor.
+ */
+I2Cdev::I2Cdev() {
}
/** Read a single bit from an 8-bit device register.
@@ -254,15 +252,14 @@
bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data)
{
- char *writeData = (char*)malloc(length+1);
- writeData[0] = regAddr;
-
- for(int i=0; i<length ; i++){
- writeData[i+1] = data[i];
+ i2c.start();
+ i2c.write(devAddr<<1);
+ i2c.write(regAddr);
+ for(int i = 0; i < length; i++) {
+ i2c.write(data[i]);
}
- int res = i2c.write(devAddr<<1, writeData, length+1, true);
- free(writeData);
- return res;
+ i2c.stop();
+ return true;
}
bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data)
diff -r 6b1b4bcaf494 -r 473800bd51ac I2Cdev.h
--- a/I2Cdev.h Thu Apr 12 01:11:08 2018 +0000
+++ b/I2Cdev.h Thu May 10 08:15:44 2018 +0000
@@ -1,42 +1,42 @@
//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
//written by szymon gaertig (email: szymon@gaertig.com.pl)
+// modified by shundo kishi
//
-//Changelog:
-//2013-01-08 - first beta release
+// Changelog:
+// 2013-01-08 - first release
+// 2016-01-31 - changed all functions and variables static to make porting from arduino easier(by shundo kishi)
#ifndef I2Cdev_h
#define I2Cdev_h
#include "mbed.h"
-#define I2C_SDA PB_7//P0_23
-#define I2C_SCL PB_6//P0_22
+#define I2C_SDA PB_7//p28
+#define I2C_SCL PB_6//p27
class I2Cdev {
private:
- I2C i2c;
- Serial debugSerial;
+ static I2C i2c;
public:
I2Cdev();
- I2Cdev(PinName i2cSda, PinName i2cScl);
-
- int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
- int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
- int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
- int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
- int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
- int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
- int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
- int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
- bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
- bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
- bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
- bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
- bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
- bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
- bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
- bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
+ static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
+ static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
+ static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
+ static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
+ static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
+ static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
+ static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
+ static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
+
+ static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
+ static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
+ static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
+ static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
+ static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
+ static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
+ static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
+ static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
static uint16_t readTimeout(void);
};
diff -r 6b1b4bcaf494 -r 473800bd51ac MPU6050.cpp
--- a/MPU6050.cpp Thu Apr 12 01:11:08 2018 +0000
+++ b/MPU6050.cpp Thu May 10 08:15:44 2018 +0000
@@ -1,59 +1,9 @@
-//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
-//written by szymon gaertig (email: szymon@gaertig.com.pl)
-//
-//Changelog:
-//2013-01-08 - first beta release
-
-// I2Cdev library collection - MPU6050 I2C device class
-// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
-// 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
-// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
-//
-// Changelog:
-// ... - ongoing debug release
-
-// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
-// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
-// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
-
-/* ============================================
-I2Cdev device library code is placed under the MIT license
-Copyright (c) 2012 Jeff Rowberg
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-===============================================
-*/
-
#include "MPU6050.h"
-#define useDebugSerial
-
-//instead of using pgmspace.h
-typedef const unsigned char prog_uchar;
-#define pgm_read_byte_near(x) (*(prog_uchar*)(x))//<- I modified here
-#define pgm_read_byte(x) (*(prog_uchar*)(x))//<- I modified here
-
/** Default constructor, uses default I2C address.
* @see MPU6050_DEFAULT_ADDRESS
*/
-MPU6050::MPU6050() : debugSerial(USBTX, USBRX)
-{
+MPU6050::MPU6050() {
devAddr = MPU6050_DEFAULT_ADDRESS;
}
@@ -63,8 +13,7 @@
* @see MPU6050_ADDRESS_AD0_LOW
* @see MPU6050_ADDRESS_AD0_HIGH
*/
-MPU6050::MPU6050(uint8_t address) : debugSerial(USBTX, USBRX)
-{
+MPU6050::MPU6050(uint8_t address) {
devAddr = address;
}
@@ -75,37 +24,19 @@
* the clock source to use the X Gyro for reference, which is slightly better than
* the default internal clock source.
*/
-void MPU6050::initialize()
-{
-
-#ifdef useDebugSerial
- debugSerial.printf("MPU6050::initialize start\n");
-#endif
-
+void MPU6050::initialize() {
setClockSource(MPU6050_CLOCK_PLL_XGYRO);
setFullScaleGyroRange(MPU6050_GYRO_FS_250);
setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
-
-#ifdef useDebugSerial
- debugSerial.printf("MPU6050::initialize end\n");
-#endif
}
/** Verify the I2C connection.
* Make sure the device is connected and responds as expected.
* @return True if connection is valid, false otherwise
*/
-bool MPU6050::testConnection()
-{
-#ifdef useDebugSerial
- debugSerial.printf("MPU6050::testConnection start\n");
-#endif
- uint8_t deviceId = getDeviceID();
-#ifdef useDebugSerial
- debugSerial.printf("DeviceId = %d\n",deviceId);
-#endif
- return deviceId == 0x34;
+bool MPU6050::testConnection() {
+ return getDeviceID() == 0x34;
}
// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
@@ -116,9 +47,8 @@
* the MPU-6000, which does not have a VLOGIC pin.
* @return I2C supply voltage level (0=VLOGIC, 1=VDD)
*/
-uint8_t MPU6050::getAuxVDDIOLevel()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
+uint8_t MPU6050::getAuxVDDIOLevel() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
return buffer[0];
}
/** Set the auxiliary I2C supply voltage level.
@@ -127,9 +57,8 @@
* the MPU-6000, which does not have a VLOGIC pin.
* @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
*/
-void MPU6050::setAuxVDDIOLevel(uint8_t level)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
+void MPU6050::setAuxVDDIOLevel(uint8_t level) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
}
// SMPLRT_DIV register
@@ -155,9 +84,8 @@
* @return Current sample rate
* @see MPU6050_RA_SMPLRT_DIV
*/
-uint8_t MPU6050::getRate()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
+uint8_t MPU6050::getRate() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
return buffer[0];
}
/** Set gyroscope sample rate divider.
@@ -165,9 +93,8 @@
* @see getRate()
* @see MPU6050_RA_SMPLRT_DIV
*/
-void MPU6050::setRate(uint8_t rate)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
+void MPU6050::setRate(uint8_t rate) {
+ I2Cdev::writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
}
// CONFIG register
@@ -199,9 +126,8 @@
*
* @return FSYNC configuration value
*/
-uint8_t MPU6050::getExternalFrameSync()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
+uint8_t MPU6050::getExternalFrameSync() {
+ I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
return buffer[0];
}
/** Set external FSYNC configuration.
@@ -209,9 +135,8 @@
* @see MPU6050_RA_CONFIG
* @param sync New FSYNC configuration value
*/
-void MPU6050::setExternalFrameSync(uint8_t sync)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
+void MPU6050::setExternalFrameSync(uint8_t sync) {
+ I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
}
/** Get digital low-pass filter configuration.
* The DLPF_CFG parameter sets the digital low pass filter configuration. It
@@ -241,9 +166,8 @@
* @see MPU6050_CFG_DLPF_CFG_BIT
* @see MPU6050_CFG_DLPF_CFG_LENGTH
*/
-uint8_t MPU6050::getDLPFMode()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
+uint8_t MPU6050::getDLPFMode() {
+ I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
return buffer[0];
}
/** Set digital low-pass filter configuration.
@@ -254,9 +178,8 @@
* @see MPU6050_CFG_DLPF_CFG_BIT
* @see MPU6050_CFG_DLPF_CFG_LENGTH
*/
-void MPU6050::setDLPFMode(uint8_t mode)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
+void MPU6050::setDLPFMode(uint8_t mode) {
+ I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
}
// GYRO_CONFIG register
@@ -278,9 +201,8 @@
* @see MPU6050_GCONFIG_FS_SEL_BIT
* @see MPU6050_GCONFIG_FS_SEL_LENGTH
*/
-uint8_t MPU6050::getFullScaleGyroRange()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
+uint8_t MPU6050::getFullScaleGyroRange() {
+ I2Cdev::readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
return buffer[0];
}
/** Set full-scale gyroscope range.
@@ -291,9 +213,66 @@
* @see MPU6050_GCONFIG_FS_SEL_BIT
* @see MPU6050_GCONFIG_FS_SEL_LENGTH
*/
-void MPU6050::setFullScaleGyroRange(uint8_t range)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
+void MPU6050::setFullScaleGyroRange(uint8_t range) {
+ I2Cdev::writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
+}
+
+// SELF TEST FACTORY TRIM VALUES
+
+/** Get self-test factory trim value for accelerometer X axis.
+ * @return factory trim value
+ * @see MPU6050_RA_SELF_TEST_X
+ */
+uint8_t MPU6050::getAccelXSelfTestFactoryTrim() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_X, &buffer[0]);
+ I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_A, &buffer[1]);
+ return (buffer[0]>>3) | ((buffer[1]>>4) & 0x03);
+}
+
+/** Get self-test factory trim value for accelerometer Y axis.
+ * @return factory trim value
+ * @see MPU6050_RA_SELF_TEST_Y
+ */
+uint8_t MPU6050::getAccelYSelfTestFactoryTrim() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Y, &buffer[0]);
+ I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_A, &buffer[1]);
+ return (buffer[0]>>3) | ((buffer[1]>>2) & 0x03);
+}
+
+/** Get self-test factory trim value for accelerometer Z axis.
+ * @return factory trim value
+ * @see MPU6050_RA_SELF_TEST_Z
+ */
+uint8_t MPU6050::getAccelZSelfTestFactoryTrim() {
+ I2Cdev::readBytes(devAddr, MPU6050_RA_SELF_TEST_Z, 2, buffer);
+ return (buffer[0]>>3) | (buffer[1] & 0x03);
+}
+
+/** Get self-test factory trim value for gyro X axis.
+ * @return factory trim value
+ * @see MPU6050_RA_SELF_TEST_X
+ */
+uint8_t MPU6050::getGyroXSelfTestFactoryTrim() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_X, buffer);
+ return (buffer[0] & 0x1F);
+}
+
+/** Get self-test factory trim value for gyro Y axis.
+ * @return factory trim value
+ * @see MPU6050_RA_SELF_TEST_Y
+ */
+uint8_t MPU6050::getGyroYSelfTestFactoryTrim() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Y, buffer);
+ return (buffer[0] & 0x1F);
+}
+
+/** Get self-test factory trim value for gyro Z axis.
+ * @return factory trim value
+ * @see MPU6050_RA_SELF_TEST_Z
+ */
+uint8_t MPU6050::getGyroZSelfTestFactoryTrim() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Z, buffer);
+ return (buffer[0] & 0x1F);
}
// ACCEL_CONFIG register
@@ -302,52 +281,46 @@
* @return Self-test enabled value
* @see MPU6050_RA_ACCEL_CONFIG
*/
-bool MPU6050::getAccelXSelfTest()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
+bool MPU6050::getAccelXSelfTest() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
return buffer[0];
}
/** Get self-test enabled setting for accelerometer X axis.
* @param enabled Self-test enabled value
* @see MPU6050_RA_ACCEL_CONFIG
*/
-void MPU6050::setAccelXSelfTest(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
+void MPU6050::setAccelXSelfTest(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
}
/** Get self-test enabled value for accelerometer Y axis.
* @return Self-test enabled value
* @see MPU6050_RA_ACCEL_CONFIG
*/
-bool MPU6050::getAccelYSelfTest()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
+bool MPU6050::getAccelYSelfTest() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
return buffer[0];
}
/** Get self-test enabled value for accelerometer Y axis.
* @param enabled Self-test enabled value
* @see MPU6050_RA_ACCEL_CONFIG
*/
-void MPU6050::setAccelYSelfTest(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
+void MPU6050::setAccelYSelfTest(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
}
/** Get self-test enabled value for accelerometer Z axis.
* @return Self-test enabled value
* @see MPU6050_RA_ACCEL_CONFIG
*/
-bool MPU6050::getAccelZSelfTest()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
+bool MPU6050::getAccelZSelfTest() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
return buffer[0];
}
/** Set self-test enabled value for accelerometer Z axis.
* @param enabled Self-test enabled value
* @see MPU6050_RA_ACCEL_CONFIG
*/
-void MPU6050::setAccelZSelfTest(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
+void MPU6050::setAccelZSelfTest(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
}
/** Get full-scale accelerometer range.
* The FS_SEL parameter allows setting the full-scale range of the accelerometer
@@ -366,18 +339,16 @@
* @see MPU6050_ACONFIG_AFS_SEL_BIT
* @see MPU6050_ACONFIG_AFS_SEL_LENGTH
*/
-uint8_t MPU6050::getFullScaleAccelRange()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
+uint8_t MPU6050::getFullScaleAccelRange() {
+ I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
return buffer[0];
}
/** Set full-scale accelerometer range.
* @param range New full-scale accelerometer range setting
* @see getFullScaleAccelRange()
*/
-void MPU6050::setFullScaleAccelRange(uint8_t range)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
+void MPU6050::setFullScaleAccelRange(uint8_t range) {
+ I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
}
/** Get the high-pass filter configuration.
* The DHPF is a filter module in the path leading to motion detectors (Free
@@ -414,9 +385,8 @@
* @see MPU6050_DHPF_RESET
* @see MPU6050_RA_ACCEL_CONFIG
*/
-uint8_t MPU6050::getDHPFMode()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
+uint8_t MPU6050::getDHPFMode() {
+ I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
return buffer[0];
}
/** Set the high-pass filter configuration.
@@ -425,9 +395,8 @@
* @see MPU6050_DHPF_RESET
* @see MPU6050_RA_ACCEL_CONFIG
*/
-void MPU6050::setDHPFMode(uint8_t bandwidth)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
+void MPU6050::setDHPFMode(uint8_t bandwidth) {
+ I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
}
// FF_THR register
@@ -447,9 +416,8 @@
* @return Current free-fall acceleration threshold value (LSB = 2mg)
* @see MPU6050_RA_FF_THR
*/
-uint8_t MPU6050::getFreefallDetectionThreshold()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_FF_THR, buffer);
+uint8_t MPU6050::getFreefallDetectionThreshold() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_FF_THR, buffer);
return buffer[0];
}
/** Get free-fall event acceleration threshold.
@@ -457,9 +425,8 @@
* @see getFreefallDetectionThreshold()
* @see MPU6050_RA_FF_THR
*/
-void MPU6050::setFreefallDetectionThreshold(uint8_t threshold)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
+void MPU6050::setFreefallDetectionThreshold(uint8_t threshold) {
+ I2Cdev::writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
}
// FF_DUR register
@@ -481,9 +448,8 @@
* @return Current free-fall duration threshold value (LSB = 1ms)
* @see MPU6050_RA_FF_DUR
*/
-uint8_t MPU6050::getFreefallDetectionDuration()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
+uint8_t MPU6050::getFreefallDetectionDuration() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
return buffer[0];
}
/** Get free-fall event duration threshold.
@@ -491,9 +457,8 @@
* @see getFreefallDetectionDuration()
* @see MPU6050_RA_FF_DUR
*/
-void MPU6050::setFreefallDetectionDuration(uint8_t duration)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
+void MPU6050::setFreefallDetectionDuration(uint8_t duration) {
+ I2Cdev::writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
}
// MOT_THR register
@@ -517,19 +482,17 @@
* @return Current motion detection acceleration threshold value (LSB = 2mg)
* @see MPU6050_RA_MOT_THR
*/
-uint8_t MPU6050::getMotionDetectionThreshold()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
+uint8_t MPU6050::getMotionDetectionThreshold() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
return buffer[0];
}
-/** Set free-fall event acceleration threshold.
+/** Set motion detection event acceleration threshold.
* @param threshold New motion detection acceleration threshold value (LSB = 2mg)
* @see getMotionDetectionThreshold()
* @see MPU6050_RA_MOT_THR
*/
-void MPU6050::setMotionDetectionThreshold(uint8_t threshold)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
+void MPU6050::setMotionDetectionThreshold(uint8_t threshold) {
+ I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
}
// MOT_DUR register
@@ -549,9 +512,8 @@
* @return Current motion detection duration threshold value (LSB = 1ms)
* @see MPU6050_RA_MOT_DUR
*/
-uint8_t MPU6050::getMotionDetectionDuration()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
+uint8_t MPU6050::getMotionDetectionDuration() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
return buffer[0];
}
/** Set motion detection event duration threshold.
@@ -559,9 +521,8 @@
* @see getMotionDetectionDuration()
* @see MPU6050_RA_MOT_DUR
*/
-void MPU6050::setMotionDetectionDuration(uint8_t duration)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
+void MPU6050::setMotionDetectionDuration(uint8_t duration) {
+ I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
}
// ZRMOT_THR register
@@ -591,9 +552,8 @@
* @return Current zero motion detection acceleration threshold value (LSB = 2mg)
* @see MPU6050_RA_ZRMOT_THR
*/
-uint8_t MPU6050::getZeroMotionDetectionThreshold()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
+uint8_t MPU6050::getZeroMotionDetectionThreshold() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
return buffer[0];
}
/** Set zero motion detection event acceleration threshold.
@@ -601,9 +561,8 @@
* @see getZeroMotionDetectionThreshold()
* @see MPU6050_RA_ZRMOT_THR
*/
-void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
+void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold) {
+ I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
}
// ZRMOT_DUR register
@@ -624,9 +583,8 @@
* @return Current zero motion detection duration threshold value (LSB = 64ms)
* @see MPU6050_RA_ZRMOT_DUR
*/
-uint8_t MPU6050::getZeroMotionDetectionDuration()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
+uint8_t MPU6050::getZeroMotionDetectionDuration() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
return buffer[0];
}
/** Set zero motion detection event duration threshold.
@@ -634,9 +592,8 @@
* @see getZeroMotionDetectionDuration()
* @see MPU6050_RA_ZRMOT_DUR
*/
-void MPU6050::setZeroMotionDetectionDuration(uint8_t duration)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
+void MPU6050::setZeroMotionDetectionDuration(uint8_t duration) {
+ I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
}
// FIFO_EN register
@@ -647,9 +604,8 @@
* @return Current temperature FIFO enabled value
* @see MPU6050_RA_FIFO_EN
*/
-bool MPU6050::getTempFIFOEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
+bool MPU6050::getTempFIFOEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set temperature FIFO enabled value.
@@ -657,9 +613,8 @@
* @see getTempFIFOEnabled()
* @see MPU6050_RA_FIFO_EN
*/
-void MPU6050::setTempFIFOEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
+void MPU6050::setTempFIFOEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
}
/** Get gyroscope X-axis FIFO enabled value.
* When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
@@ -667,9 +622,8 @@
* @return Current gyroscope X-axis FIFO enabled value
* @see MPU6050_RA_FIFO_EN
*/
-bool MPU6050::getXGyroFIFOEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
+bool MPU6050::getXGyroFIFOEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set gyroscope X-axis FIFO enabled value.
@@ -677,9 +631,8 @@
* @see getXGyroFIFOEnabled()
* @see MPU6050_RA_FIFO_EN
*/
-void MPU6050::setXGyroFIFOEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
+void MPU6050::setXGyroFIFOEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
}
/** Get gyroscope Y-axis FIFO enabled value.
* When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
@@ -687,9 +640,8 @@
* @return Current gyroscope Y-axis FIFO enabled value
* @see MPU6050_RA_FIFO_EN
*/
-bool MPU6050::getYGyroFIFOEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
+bool MPU6050::getYGyroFIFOEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set gyroscope Y-axis FIFO enabled value.
@@ -697,9 +649,8 @@
* @see getYGyroFIFOEnabled()
* @see MPU6050_RA_FIFO_EN
*/
-void MPU6050::setYGyroFIFOEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
+void MPU6050::setYGyroFIFOEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
}
/** Get gyroscope Z-axis FIFO enabled value.
* When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
@@ -707,9 +658,8 @@
* @return Current gyroscope Z-axis FIFO enabled value
* @see MPU6050_RA_FIFO_EN
*/
-bool MPU6050::getZGyroFIFOEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
+bool MPU6050::getZGyroFIFOEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set gyroscope Z-axis FIFO enabled value.
@@ -717,9 +667,8 @@
* @see getZGyroFIFOEnabled()
* @see MPU6050_RA_FIFO_EN
*/
-void MPU6050::setZGyroFIFOEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
+void MPU6050::setZGyroFIFOEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
}
/** Get accelerometer FIFO enabled value.
* When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
@@ -728,9 +677,8 @@
* @return Current accelerometer FIFO enabled value
* @see MPU6050_RA_FIFO_EN
*/
-bool MPU6050::getAccelFIFOEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
+bool MPU6050::getAccelFIFOEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set accelerometer FIFO enabled value.
@@ -738,9 +686,8 @@
* @see getAccelFIFOEnabled()
* @see MPU6050_RA_FIFO_EN
*/
-void MPU6050::setAccelFIFOEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
+void MPU6050::setAccelFIFOEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
}
/** Get Slave 2 FIFO enabled value.
* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
@@ -748,9 +695,8 @@
* @return Current Slave 2 FIFO enabled value
* @see MPU6050_RA_FIFO_EN
*/
-bool MPU6050::getSlave2FIFOEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
+bool MPU6050::getSlave2FIFOEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 2 FIFO enabled value.
@@ -758,9 +704,8 @@
* @see getSlave2FIFOEnabled()
* @see MPU6050_RA_FIFO_EN
*/
-void MPU6050::setSlave2FIFOEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
+void MPU6050::setSlave2FIFOEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
}
/** Get Slave 1 FIFO enabled value.
* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
@@ -768,9 +713,8 @@
* @return Current Slave 1 FIFO enabled value
* @see MPU6050_RA_FIFO_EN
*/
-bool MPU6050::getSlave1FIFOEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
+bool MPU6050::getSlave1FIFOEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 1 FIFO enabled value.
@@ -778,9 +722,8 @@
* @see getSlave1FIFOEnabled()
* @see MPU6050_RA_FIFO_EN
*/
-void MPU6050::setSlave1FIFOEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
+void MPU6050::setSlave1FIFOEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
}
/** Get Slave 0 FIFO enabled value.
* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
@@ -788,9 +731,8 @@
* @return Current Slave 0 FIFO enabled value
* @see MPU6050_RA_FIFO_EN
*/
-bool MPU6050::getSlave0FIFOEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
+bool MPU6050::getSlave0FIFOEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 0 FIFO enabled value.
@@ -798,9 +740,8 @@
* @see getSlave0FIFOEnabled()
* @see MPU6050_RA_FIFO_EN
*/
-void MPU6050::setSlave0FIFOEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
+void MPU6050::setSlave0FIFOEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
}
// I2C_MST_CTRL register
@@ -820,9 +761,8 @@
* @return Current multi-master enabled value
* @see MPU6050_RA_I2C_MST_CTRL
*/
-bool MPU6050::getMultiMasterEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
+bool MPU6050::getMultiMasterEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
return buffer[0];
}
/** Set multi-master enabled value.
@@ -830,9 +770,8 @@
* @see getMultiMasterEnabled()
* @see MPU6050_RA_I2C_MST_CTRL
*/
-void MPU6050::setMultiMasterEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
+void MPU6050::setMultiMasterEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
}
/** Get wait-for-external-sensor-data enabled value.
* When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
@@ -845,9 +784,8 @@
* @return Current wait-for-external-sensor-data enabled value
* @see MPU6050_RA_I2C_MST_CTRL
*/
-bool MPU6050::getWaitForExternalSensorEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
+bool MPU6050::getWaitForExternalSensorEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
return buffer[0];
}
/** Set wait-for-external-sensor-data enabled value.
@@ -855,9 +793,8 @@
* @see getWaitForExternalSensorEnabled()
* @see MPU6050_RA_I2C_MST_CTRL
*/
-void MPU6050::setWaitForExternalSensorEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
+void MPU6050::setWaitForExternalSensorEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
}
/** Get Slave 3 FIFO enabled value.
* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
@@ -865,9 +802,8 @@
* @return Current Slave 3 FIFO enabled value
* @see MPU6050_RA_MST_CTRL
*/
-bool MPU6050::getSlave3FIFOEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
+bool MPU6050::getSlave3FIFOEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 3 FIFO enabled value.
@@ -875,9 +811,8 @@
* @see getSlave3FIFOEnabled()
* @see MPU6050_RA_MST_CTRL
*/
-void MPU6050::setSlave3FIFOEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
+void MPU6050::setSlave3FIFOEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
}
/** Get slave read/write transition enabled value.
* The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
@@ -889,9 +824,8 @@
* @return Current slave read/write transition enabled value
* @see MPU6050_RA_I2C_MST_CTRL
*/
-bool MPU6050::getSlaveReadWriteTransitionEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
+bool MPU6050::getSlaveReadWriteTransitionEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
return buffer[0];
}
/** Set slave read/write transition enabled value.
@@ -899,9 +833,8 @@
* @see getSlaveReadWriteTransitionEnabled()
* @see MPU6050_RA_I2C_MST_CTRL
*/
-void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
+void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
}
/** Get I2C master clock speed.
* I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
@@ -932,18 +865,16 @@
* @return Current I2C master clock speed
* @see MPU6050_RA_I2C_MST_CTRL
*/
-uint8_t MPU6050::getMasterClockSpeed()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
+uint8_t MPU6050::getMasterClockSpeed() {
+ I2Cdev::readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
return buffer[0];
}
/** Set I2C master clock speed.
* @reparam speed Current I2C master clock speed
* @see MPU6050_RA_I2C_MST_CTRL
*/
-void MPU6050::setMasterClockSpeed(uint8_t speed)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
+void MPU6050::setMasterClockSpeed(uint8_t speed) {
+ I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
}
// I2C_SLV* registers (Slave 0-3)
@@ -989,10 +920,9 @@
* @return Current address for specified slave
* @see MPU6050_RA_I2C_SLV0_ADDR
*/
-uint8_t MPU6050::getSlaveAddress(uint8_t num)
-{
+uint8_t MPU6050::getSlaveAddress(uint8_t num) {
if (num > 3) return 0;
- i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
return buffer[0];
}
/** Set the I2C address of the specified slave (0-3).
@@ -1001,10 +931,9 @@
* @see getSlaveAddress()
* @see MPU6050_RA_I2C_SLV0_ADDR
*/
-void MPU6050::setSlaveAddress(uint8_t num, uint8_t address)
-{
+void MPU6050::setSlaveAddress(uint8_t num, uint8_t address) {
if (num > 3) return;
- i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
}
/** Get the active internal register for the specified slave (0-3).
* Read/write operations for this slave will be done to whatever internal
@@ -1017,10 +946,9 @@
* @return Current active register for specified slave
* @see MPU6050_RA_I2C_SLV0_REG
*/
-uint8_t MPU6050::getSlaveRegister(uint8_t num)
-{
+uint8_t MPU6050::getSlaveRegister(uint8_t num) {
if (num > 3) return 0;
- i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
return buffer[0];
}
/** Set the active internal register for the specified slave (0-3).
@@ -1029,10 +957,9 @@
* @see getSlaveRegister()
* @see MPU6050_RA_I2C_SLV0_REG
*/
-void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg)
-{
+void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg) {
if (num > 3) return;
- i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
}
/** Get the enabled value for the specified slave (0-3).
* When set to 1, this bit enables Slave 0 for data transfer operations. When
@@ -1041,22 +968,20 @@
* @return Current enabled value for specified slave
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
-bool MPU6050::getSlaveEnabled(uint8_t num)
-{
+bool MPU6050::getSlaveEnabled(uint8_t num) {
if (num > 3) return 0;
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
return buffer[0];
}
/** Set the enabled value for the specified slave (0-3).
* @param num Slave number (0-3)
- * @param enabled New enabled value for specified slave
+ * @param enabled New enabled value for specified slave
* @see getSlaveEnabled()
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
-void MPU6050::setSlaveEnabled(uint8_t num, bool enabled)
-{
+void MPU6050::setSlaveEnabled(uint8_t num, bool enabled) {
if (num > 3) return;
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
}
/** Get word pair byte-swapping enabled for the specified slave (0-3).
* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
@@ -1069,10 +994,9 @@
* @return Current word pair byte-swapping enabled value for specified slave
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
-bool MPU6050::getSlaveWordByteSwap(uint8_t num)
-{
+bool MPU6050::getSlaveWordByteSwap(uint8_t num) {
if (num > 3) return 0;
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
return buffer[0];
}
/** Set word pair byte-swapping enabled for the specified slave (0-3).
@@ -1081,10 +1005,9 @@
* @see getSlaveWordByteSwap()
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
-void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled)
-{
+void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled) {
if (num > 3) return;
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
}
/** Get write mode for the specified slave (0-3).
* When set to 1, the transaction will read or write data only. When cleared to
@@ -1096,10 +1019,9 @@
* @return Current write mode for specified slave (0 = register address + data, 1 = data only)
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
-bool MPU6050::getSlaveWriteMode(uint8_t num)
-{
+bool MPU6050::getSlaveWriteMode(uint8_t num) {
if (num > 3) return 0;
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
return buffer[0];
}
/** Set write mode for the specified slave (0-3).
@@ -1108,10 +1030,9 @@
* @see getSlaveWriteMode()
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
-void MPU6050::setSlaveWriteMode(uint8_t num, bool mode)
-{
+void MPU6050::setSlaveWriteMode(uint8_t num, bool mode) {
if (num > 3) return;
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
}
/** Get word pair grouping order offset for the specified slave (0-3).
* This sets specifies the grouping order of word pairs received from registers.
@@ -1124,10 +1045,9 @@
* @return Current word pair grouping order offset for specified slave
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
-bool MPU6050::getSlaveWordGroupOffset(uint8_t num)
-{
+bool MPU6050::getSlaveWordGroupOffset(uint8_t num) {
if (num > 3) return 0;
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
return buffer[0];
}
/** Set word pair grouping order offset for the specified slave (0-3).
@@ -1136,10 +1056,9 @@
* @see getSlaveWordGroupOffset()
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
-void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled)
-{
+void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled) {
if (num > 3) return;
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
}
/** Get number of bytes to read for the specified slave (0-3).
* Specifies the number of bytes transferred to and from Slave 0. Clearing this
@@ -1148,10 +1067,9 @@
* @return Number of bytes to read for specified slave
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
-uint8_t MPU6050::getSlaveDataLength(uint8_t num)
-{
+uint8_t MPU6050::getSlaveDataLength(uint8_t num) {
if (num > 3) return 0;
- i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
+ I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
return buffer[0];
}
/** Set number of bytes to read for the specified slave (0-3).
@@ -1160,10 +1078,9 @@
* @see getSlaveDataLength()
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
-void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length)
-{
+void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length) {
if (num > 3) return;
- i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
+ I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
}
// I2C_SLV* registers (Slave 4)
@@ -1177,9 +1094,8 @@
* @see getSlaveAddress()
* @see MPU6050_RA_I2C_SLV4_ADDR
*/
-uint8_t MPU6050::getSlave4Address()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
+uint8_t MPU6050::getSlave4Address() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
return buffer[0];
}
/** Set the I2C address of Slave 4.
@@ -1187,9 +1103,8 @@
* @see getSlave4Address()
* @see MPU6050_RA_I2C_SLV4_ADDR
*/
-void MPU6050::setSlave4Address(uint8_t address)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
+void MPU6050::setSlave4Address(uint8_t address) {
+ I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
}
/** Get the active internal register for the Slave 4.
* Read/write operations for this slave will be done to whatever internal
@@ -1198,9 +1113,8 @@
* @return Current active register for Slave 4
* @see MPU6050_RA_I2C_SLV4_REG
*/
-uint8_t MPU6050::getSlave4Register()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
+uint8_t MPU6050::getSlave4Register() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
return buffer[0];
}
/** Set the active internal register for Slave 4.
@@ -1208,9 +1122,8 @@
* @see getSlave4Register()
* @see MPU6050_RA_I2C_SLV4_REG
*/
-void MPU6050::setSlave4Register(uint8_t reg)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
+void MPU6050::setSlave4Register(uint8_t reg) {
+ I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
}
/** Set new byte to write to Slave 4.
* This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
@@ -1218,9 +1131,8 @@
* @param data New byte to write to Slave 4
* @see MPU6050_RA_I2C_SLV4_DO
*/
-void MPU6050::setSlave4OutputByte(uint8_t data)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
+void MPU6050::setSlave4OutputByte(uint8_t data) {
+ I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
}
/** Get the enabled value for the Slave 4.
* When set to 1, this bit enables Slave 4 for data transfer operations. When
@@ -1228,9 +1140,8 @@
* @return Current enabled value for Slave 4
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
-bool MPU6050::getSlave4Enabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
+bool MPU6050::getSlave4Enabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
return buffer[0];
}
/** Set the enabled value for Slave 4.
@@ -1238,9 +1149,8 @@
* @see getSlave4Enabled()
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
-void MPU6050::setSlave4Enabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
+void MPU6050::setSlave4Enabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
}
/** Get the enabled value for Slave 4 transaction interrupts.
* When set to 1, this bit enables the generation of an interrupt signal upon
@@ -1251,9 +1161,8 @@
* @return Current enabled value for Slave 4 transaction interrupts.
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
-bool MPU6050::getSlave4InterruptEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
+bool MPU6050::getSlave4InterruptEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
return buffer[0];
}
/** Set the enabled value for Slave 4 transaction interrupts.
@@ -1261,9 +1170,8 @@
* @see getSlave4InterruptEnabled()
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
-void MPU6050::setSlave4InterruptEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
+void MPU6050::setSlave4InterruptEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
}
/** Get write mode for Slave 4.
* When set to 1, the transaction will read or write data only. When cleared to
@@ -1274,9 +1182,8 @@
* @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
-bool MPU6050::getSlave4WriteMode()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
+bool MPU6050::getSlave4WriteMode() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
return buffer[0];
}
/** Set write mode for the Slave 4.
@@ -1284,9 +1191,8 @@
* @see getSlave4WriteMode()
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
-void MPU6050::setSlave4WriteMode(bool mode)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
+void MPU6050::setSlave4WriteMode(bool mode) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
}
/** Get Slave 4 master delay value.
* This configures the reduced access rate of I2C slaves relative to the Sample
@@ -1303,9 +1209,8 @@
* @return Current Slave 4 master delay value
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
-uint8_t MPU6050::getSlave4MasterDelay()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
+uint8_t MPU6050::getSlave4MasterDelay() {
+ I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
return buffer[0];
}
/** Set Slave 4 master delay value.
@@ -1313,9 +1218,8 @@
* @see getSlave4MasterDelay()
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
-void MPU6050::setSlave4MasterDelay(uint8_t delay)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
+void MPU6050::setSlave4MasterDelay(uint8_t delay) {
+ I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
}
/** Get last available byte read from Slave 4.
* This register stores the data read from Slave 4. This field is populated
@@ -1323,9 +1227,8 @@
* @return Last available byte read from to Slave 4
* @see MPU6050_RA_I2C_SLV4_DI
*/
-uint8_t MPU6050::getSlate4InputByte()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
+uint8_t MPU6050::getSlate4InputByte() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
return buffer[0];
}
@@ -1340,9 +1243,8 @@
* @return FSYNC interrupt status
* @see MPU6050_RA_I2C_MST_STATUS
*/
-bool MPU6050::getPassthroughStatus()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
+bool MPU6050::getPassthroughStatus() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
return buffer[0];
}
/** Get Slave 4 transaction done status.
@@ -1353,9 +1255,8 @@
* @return Slave 4 transaction done status
* @see MPU6050_RA_I2C_MST_STATUS
*/
-bool MPU6050::getSlave4IsDone()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
+bool MPU6050::getSlave4IsDone() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
return buffer[0];
}
/** Get master arbitration lost status.
@@ -1365,9 +1266,8 @@
* @return Master arbitration lost status
* @see MPU6050_RA_I2C_MST_STATUS
*/
-bool MPU6050::getLostArbitration()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
+bool MPU6050::getLostArbitration() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
return buffer[0];
}
/** Get Slave 4 NACK status.
@@ -1377,9 +1277,8 @@
* @return Slave 4 NACK interrupt status
* @see MPU6050_RA_I2C_MST_STATUS
*/
-bool MPU6050::getSlave4Nack()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
+bool MPU6050::getSlave4Nack() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
return buffer[0];
}
/** Get Slave 3 NACK status.
@@ -1389,9 +1288,8 @@
* @return Slave 3 NACK interrupt status
* @see MPU6050_RA_I2C_MST_STATUS
*/
-bool MPU6050::getSlave3Nack()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
+bool MPU6050::getSlave3Nack() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
return buffer[0];
}
/** Get Slave 2 NACK status.
@@ -1401,9 +1299,8 @@
* @return Slave 2 NACK interrupt status
* @see MPU6050_RA_I2C_MST_STATUS
*/
-bool MPU6050::getSlave2Nack()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
+bool MPU6050::getSlave2Nack() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
return buffer[0];
}
/** Get Slave 1 NACK status.
@@ -1413,9 +1310,8 @@
* @return Slave 1 NACK interrupt status
* @see MPU6050_RA_I2C_MST_STATUS
*/
-bool MPU6050::getSlave1Nack()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
+bool MPU6050::getSlave1Nack() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
return buffer[0];
}
/** Get Slave 0 NACK status.
@@ -1425,9 +1321,8 @@
* @return Slave 0 NACK interrupt status
* @see MPU6050_RA_I2C_MST_STATUS
*/
-bool MPU6050::getSlave0Nack()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
+bool MPU6050::getSlave0Nack() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
return buffer[0];
}
@@ -1439,9 +1334,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_INT_LEVEL_BIT
*/
-bool MPU6050::getInterruptMode()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
+bool MPU6050::getInterruptMode() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
return buffer[0];
}
/** Set interrupt logic level mode.
@@ -1450,9 +1344,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_INT_LEVEL_BIT
*/
-void MPU6050::setInterruptMode(bool mode)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
+void MPU6050::setInterruptMode(bool mode) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
}
/** Get interrupt drive mode.
* Will be set 0 for push-pull, 1 for open-drain.
@@ -1460,9 +1353,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_INT_OPEN_BIT
*/
-bool MPU6050::getInterruptDrive()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
+bool MPU6050::getInterruptDrive() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
return buffer[0];
}
/** Set interrupt drive mode.
@@ -1471,9 +1363,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_INT_OPEN_BIT
*/
-void MPU6050::setInterruptDrive(bool drive)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
+void MPU6050::setInterruptDrive(bool drive) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
}
/** Get interrupt latch mode.
* Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
@@ -1481,9 +1372,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
*/
-bool MPU6050::getInterruptLatch()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
+bool MPU6050::getInterruptLatch() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
return buffer[0];
}
/** Set interrupt latch mode.
@@ -1492,9 +1382,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
*/
-void MPU6050::setInterruptLatch(bool latch)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
+void MPU6050::setInterruptLatch(bool latch) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
}
/** Get interrupt latch clear mode.
* Will be set 0 for status-read-only, 1 for any-register-read.
@@ -1502,9 +1391,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
*/
-bool MPU6050::getInterruptLatchClear()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
+bool MPU6050::getInterruptLatchClear() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
return buffer[0];
}
/** Set interrupt latch clear mode.
@@ -1513,9 +1401,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
*/
-void MPU6050::setInterruptLatchClear(bool clear)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
+void MPU6050::setInterruptLatchClear(bool clear) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
}
/** Get FSYNC interrupt logic level mode.
* @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
@@ -1523,9 +1410,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
*/
-bool MPU6050::getFSyncInterruptLevel()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
+bool MPU6050::getFSyncInterruptLevel() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
return buffer[0];
}
/** Set FSYNC interrupt logic level mode.
@@ -1534,9 +1420,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
*/
-void MPU6050::setFSyncInterruptLevel(bool level)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
+void MPU6050::setFSyncInterruptLevel(bool level) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
}
/** Get FSYNC pin interrupt enabled setting.
* Will be set 0 for disabled, 1 for enabled.
@@ -1544,9 +1429,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
*/
-bool MPU6050::getFSyncInterruptEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
+bool MPU6050::getFSyncInterruptEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
return buffer[0];
}
/** Set FSYNC pin interrupt enabled setting.
@@ -1555,9 +1439,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
*/
-void MPU6050::setFSyncInterruptEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
+void MPU6050::setFSyncInterruptEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
}
/** Get I2C bypass enabled status.
* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
@@ -1570,9 +1453,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
*/
-bool MPU6050::getI2CBypassEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
+bool MPU6050::getI2CBypassEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
return buffer[0];
}
/** Set I2C bypass enabled status.
@@ -1586,9 +1468,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
*/
-void MPU6050::setI2CBypassEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
+void MPU6050::setI2CBypassEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
}
/** Get reference clock output enabled status.
* When this bit is equal to 1, a reference clock output is provided at the
@@ -1599,9 +1480,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_CLKOUT_EN_BIT
*/
-bool MPU6050::getClockOutputEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
+bool MPU6050::getClockOutputEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
return buffer[0];
}
/** Set reference clock output enabled status.
@@ -1613,9 +1493,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_CLKOUT_EN_BIT
*/
-void MPU6050::setClockOutputEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
+void MPU6050::setClockOutputEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
}
// INT_ENABLE register
@@ -1627,9 +1506,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_FF_BIT
**/
-uint8_t MPU6050::getIntEnabled()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
+uint8_t MPU6050::getIntEnabled() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
return buffer[0];
}
/** Set full interrupt enabled status.
@@ -1640,9 +1518,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_FF_BIT
**/
-void MPU6050::setIntEnabled(uint8_t enabled)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
+void MPU6050::setIntEnabled(uint8_t enabled) {
+ I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
}
/** Get Free Fall interrupt enabled status.
* Will be set 0 for disabled, 1 for enabled.
@@ -1650,9 +1527,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_FF_BIT
**/
-bool MPU6050::getIntFreefallEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
+bool MPU6050::getIntFreefallEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
return buffer[0];
}
/** Set Free Fall interrupt enabled status.
@@ -1661,9 +1537,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_FF_BIT
**/
-void MPU6050::setIntFreefallEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
+void MPU6050::setIntFreefallEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
}
/** Get Motion Detection interrupt enabled status.
* Will be set 0 for disabled, 1 for enabled.
@@ -1671,9 +1546,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_MOT_BIT
**/
-bool MPU6050::getIntMotionEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
+bool MPU6050::getIntMotionEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
return buffer[0];
}
/** Set Motion Detection interrupt enabled status.
@@ -1682,9 +1556,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_MOT_BIT
**/
-void MPU6050::setIntMotionEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
+void MPU6050::setIntMotionEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
}
/** Get Zero Motion Detection interrupt enabled status.
* Will be set 0 for disabled, 1 for enabled.
@@ -1692,9 +1565,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_ZMOT_BIT
**/
-bool MPU6050::getIntZeroMotionEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
+bool MPU6050::getIntZeroMotionEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
return buffer[0];
}
/** Set Zero Motion Detection interrupt enabled status.
@@ -1703,9 +1575,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_ZMOT_BIT
**/
-void MPU6050::setIntZeroMotionEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
+void MPU6050::setIntZeroMotionEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
}
/** Get FIFO Buffer Overflow interrupt enabled status.
* Will be set 0 for disabled, 1 for enabled.
@@ -1713,9 +1584,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
**/
-bool MPU6050::getIntFIFOBufferOverflowEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
+bool MPU6050::getIntFIFOBufferOverflowEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
return buffer[0];
}
/** Set FIFO Buffer Overflow interrupt enabled status.
@@ -1724,9 +1594,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
**/
-void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
+void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
}
/** Get I2C Master interrupt enabled status.
* This enables any of the I2C Master interrupt sources to generate an
@@ -1735,9 +1604,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
**/
-bool MPU6050::getIntI2CMasterEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
+bool MPU6050::getIntI2CMasterEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
return buffer[0];
}
/** Set I2C Master interrupt enabled status.
@@ -1746,9 +1614,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
**/
-void MPU6050::setIntI2CMasterEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
+void MPU6050::setIntI2CMasterEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
}
/** Get Data Ready interrupt enabled setting.
* This event occurs each time a write operation to all of the sensor registers
@@ -1757,9 +1624,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_DATA_RDY_BIT
*/
-bool MPU6050::getIntDataReadyEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
+bool MPU6050::getIntDataReadyEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
return buffer[0];
}
/** Set Data Ready interrupt enabled status.
@@ -1768,9 +1634,8 @@
* @see MPU6050_RA_INT_CFG
* @see MPU6050_INTERRUPT_DATA_RDY_BIT
*/
-void MPU6050::setIntDataReadyEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
+void MPU6050::setIntDataReadyEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
}
// INT_STATUS register
@@ -1782,9 +1647,8 @@
* @return Current interrupt status
* @see MPU6050_RA_INT_STATUS
*/
-uint8_t MPU6050::getIntStatus()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
+uint8_t MPU6050::getIntStatus() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
return buffer[0];
}
/** Get Free Fall interrupt status.
@@ -1794,9 +1658,8 @@
* @see MPU6050_RA_INT_STATUS
* @see MPU6050_INTERRUPT_FF_BIT
*/
-bool MPU6050::getIntFreefallStatus()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
+bool MPU6050::getIntFreefallStatus() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
return buffer[0];
}
/** Get Motion Detection interrupt status.
@@ -1806,9 +1669,8 @@
* @see MPU6050_RA_INT_STATUS
* @see MPU6050_INTERRUPT_MOT_BIT
*/
-bool MPU6050::getIntMotionStatus()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
+bool MPU6050::getIntMotionStatus() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
return buffer[0];
}
/** Get Zero Motion Detection interrupt status.
@@ -1818,9 +1680,8 @@
* @see MPU6050_RA_INT_STATUS
* @see MPU6050_INTERRUPT_ZMOT_BIT
*/
-bool MPU6050::getIntZeroMotionStatus()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
+bool MPU6050::getIntZeroMotionStatus() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
return buffer[0];
}
/** Get FIFO Buffer Overflow interrupt status.
@@ -1830,9 +1691,8 @@
* @see MPU6050_RA_INT_STATUS
* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
*/
-bool MPU6050::getIntFIFOBufferOverflowStatus()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
+bool MPU6050::getIntFIFOBufferOverflowStatus() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
return buffer[0];
}
/** Get I2C Master interrupt status.
@@ -1843,9 +1703,8 @@
* @see MPU6050_RA_INT_STATUS
* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
*/
-bool MPU6050::getIntI2CMasterStatus()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
+bool MPU6050::getIntI2CMasterStatus() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
return buffer[0];
}
/** Get Data Ready interrupt status.
@@ -1855,9 +1714,8 @@
* @see MPU6050_RA_INT_STATUS
* @see MPU6050_INTERRUPT_DATA_RDY_BIT
*/
-bool MPU6050::getIntDataReadyStatus()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
+bool MPU6050::getIntDataReadyStatus() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
return buffer[0];
}
@@ -1879,19 +1737,9 @@
* @see getRotation()
* @see MPU6050_RA_ACCEL_XOUT_H
*/
-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)
-{
+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) {
getMotion6(ax, ay, az, gx, gy, gz);
-
- // magnetometer reading
- i2Cdev.writeByte(devAddr, MPU6050_RA_INT_PIN_CFG, 0x02); //set i2c bypass enable pin to true to access magnetometer
- wait_ms(10); // necessary wait >=6ms
- i2Cdev.writeByte(MPU9150_RA_MAG_ADDRESS, 0x0A, 0x01); // enable the magnetometer
- wait_ms(10); // necessary wait >=6ms
- i2Cdev.readBytes(MPU9150_RA_MAG_ADDRESS, MPU9150_RA_MAG_XOUT_L, 6, buffer);
- *mx = (((int16_t)buffer[0]) << 8) | buffer[1];
- *my = (((int16_t)buffer[2]) << 8) | buffer[3];
- *mz = (((int16_t)buffer[4]) << 8) | buffer[5];
+ // TODO: magnetometer integration
}
/** Get raw 6-axis motion sensor readings (accel/gyro).
* Retrieves all currently available motion sensor values.
@@ -1905,9 +1753,8 @@
* @see getRotation()
* @see MPU6050_RA_ACCEL_XOUT_H
*/
-void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
+void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz) {
+ I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
*ax = (((int16_t)buffer[0]) << 8) | buffer[1];
*ay = (((int16_t)buffer[2]) << 8) | buffer[3];
*az = (((int16_t)buffer[4]) << 8) | buffer[5];
@@ -1951,9 +1798,8 @@
* @param z 16-bit signed integer container for Z-axis acceleration
* @see MPU6050_RA_GYRO_XOUT_H
*/
-void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z)
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
+void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z) {
+ I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
*x = (((int16_t)buffer[0]) << 8) | buffer[1];
*y = (((int16_t)buffer[2]) << 8) | buffer[3];
*z = (((int16_t)buffer[4]) << 8) | buffer[5];
@@ -1963,9 +1809,8 @@
* @see getMotion6()
* @see MPU6050_RA_ACCEL_XOUT_H
*/
-int16_t MPU6050::getAccelerationX()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
+int16_t MPU6050::getAccelerationX() {
+ I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
/** Get Y-axis accelerometer reading.
@@ -1973,9 +1818,8 @@
* @see getMotion6()
* @see MPU6050_RA_ACCEL_YOUT_H
*/
-int16_t MPU6050::getAccelerationY()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
+int16_t MPU6050::getAccelerationY() {
+ I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
/** Get Z-axis accelerometer reading.
@@ -1983,9 +1827,8 @@
* @see getMotion6()
* @see MPU6050_RA_ACCEL_ZOUT_H
*/
-int16_t MPU6050::getAccelerationZ()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
+int16_t MPU6050::getAccelerationZ() {
+ I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
@@ -1995,9 +1838,8 @@
* @return Temperature reading in 16-bit 2's complement format
* @see MPU6050_RA_TEMP_OUT_H
*/
-int16_t MPU6050::getTemperature()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
+int16_t MPU6050::getTemperature() {
+ I2Cdev::readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
@@ -2035,9 +1877,8 @@
* @see getMotion6()
* @see MPU6050_RA_GYRO_XOUT_H
*/
-void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z)
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
+void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z) {
+ I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
*x = (((int16_t)buffer[0]) << 8) | buffer[1];
*y = (((int16_t)buffer[2]) << 8) | buffer[3];
*z = (((int16_t)buffer[4]) << 8) | buffer[5];
@@ -2047,9 +1888,8 @@
* @see getMotion6()
* @see MPU6050_RA_GYRO_XOUT_H
*/
-int16_t MPU6050::getRotationX()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
+int16_t MPU6050::getRotationX() {
+ I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
/** Get Y-axis gyroscope reading.
@@ -2057,9 +1897,8 @@
* @see getMotion6()
* @see MPU6050_RA_GYRO_YOUT_H
*/
-int16_t MPU6050::getRotationY()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
+int16_t MPU6050::getRotationY() {
+ I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
/** Get Z-axis gyroscope reading.
@@ -2067,9 +1906,8 @@
* @see getMotion6()
* @see MPU6050_RA_GYRO_ZOUT_H
*/
-int16_t MPU6050::getRotationZ()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
+int16_t MPU6050::getRotationZ() {
+ I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
@@ -2149,9 +1987,8 @@
* @param position Starting position (0-23)
* @return Byte read from register
*/
-uint8_t MPU6050::getExternalSensorByte(int position)
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
+uint8_t MPU6050::getExternalSensorByte(int position) {
+ I2Cdev::readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
return buffer[0];
}
/** Read word (2 bytes) from external sensor data registers.
@@ -2159,9 +1996,8 @@
* @return Word read from register
* @see getExternalSensorByte()
*/
-uint16_t MPU6050::getExternalSensorWord(int position)
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
+uint16_t MPU6050::getExternalSensorWord(int position) {
+ I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
return (((uint16_t)buffer[0]) << 8) | buffer[1];
}
/** Read double word (4 bytes) from external sensor data registers.
@@ -2169,22 +2005,28 @@
* @return Double word read from registers
* @see getExternalSensorByte()
*/
-uint32_t MPU6050::getExternalSensorDWord(int position)
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
+uint32_t MPU6050::getExternalSensorDWord(int position) {
+ I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
return (((uint32_t)buffer[0]) << 24) | (((uint32_t)buffer[1]) << 16) | (((uint16_t)buffer[2]) << 8) | buffer[3];
}
// MOT_DETECT_STATUS register
+/** Get full motion detection status register content (all bits).
+ * @return Motion detection status byte
+ * @see MPU6050_RA_MOT_DETECT_STATUS
+ */
+uint8_t MPU6050::getMotionStatus() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DETECT_STATUS, buffer);
+ return buffer[0];
+}
/** Get X-axis negative motion detection interrupt status.
* @return Motion detection status
* @see MPU6050_RA_MOT_DETECT_STATUS
* @see MPU6050_MOTION_MOT_XNEG_BIT
*/
-bool MPU6050::getXNegMotionDetected()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
+bool MPU6050::getXNegMotionDetected() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
return buffer[0];
}
/** Get X-axis positive motion detection interrupt status.
@@ -2192,9 +2034,8 @@
* @see MPU6050_RA_MOT_DETECT_STATUS
* @see MPU6050_MOTION_MOT_XPOS_BIT
*/
-bool MPU6050::getXPosMotionDetected()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
+bool MPU6050::getXPosMotionDetected() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
return buffer[0];
}
/** Get Y-axis negative motion detection interrupt status.
@@ -2202,9 +2043,8 @@
* @see MPU6050_RA_MOT_DETECT_STATUS
* @see MPU6050_MOTION_MOT_YNEG_BIT
*/
-bool MPU6050::getYNegMotionDetected()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
+bool MPU6050::getYNegMotionDetected() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
return buffer[0];
}
/** Get Y-axis positive motion detection interrupt status.
@@ -2212,9 +2052,8 @@
* @see MPU6050_RA_MOT_DETECT_STATUS
* @see MPU6050_MOTION_MOT_YPOS_BIT
*/
-bool MPU6050::getYPosMotionDetected()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
+bool MPU6050::getYPosMotionDetected() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
return buffer[0];
}
/** Get Z-axis negative motion detection interrupt status.
@@ -2222,9 +2061,8 @@
* @see MPU6050_RA_MOT_DETECT_STATUS
* @see MPU6050_MOTION_MOT_ZNEG_BIT
*/
-bool MPU6050::getZNegMotionDetected()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
+bool MPU6050::getZNegMotionDetected() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
return buffer[0];
}
/** Get Z-axis positive motion detection interrupt status.
@@ -2232,9 +2070,8 @@
* @see MPU6050_RA_MOT_DETECT_STATUS
* @see MPU6050_MOTION_MOT_ZPOS_BIT
*/
-bool MPU6050::getZPosMotionDetected()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
+bool MPU6050::getZPosMotionDetected() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
return buffer[0];
}
/** Get zero motion detection interrupt status.
@@ -2242,9 +2079,8 @@
* @see MPU6050_RA_MOT_DETECT_STATUS
* @see MPU6050_MOTION_MOT_ZRMOT_BIT
*/
-bool MPU6050::getZeroMotionDetected()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
+bool MPU6050::getZeroMotionDetected() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
return buffer[0];
}
@@ -2258,10 +2094,9 @@
* @param data Byte to write
* @see MPU6050_RA_I2C_SLV0_DO
*/
-void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data)
-{
+void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data) {
if (num > 3) return;
- i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
}
// I2C_MST_DELAY_CTRL register
@@ -2274,9 +2109,8 @@
* @see MPU6050_RA_I2C_MST_DELAY_CTRL
* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
*/
-bool MPU6050::getExternalShadowDelayEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
+bool MPU6050::getExternalShadowDelayEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
return buffer[0];
}
/** Set external data shadow delay enabled status.
@@ -2285,9 +2119,8 @@
* @see MPU6050_RA_I2C_MST_DELAY_CTRL
* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
*/
-void MPU6050::setExternalShadowDelayEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
+void MPU6050::setExternalShadowDelayEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
}
/** Get slave delay enabled status.
* When a particular slave delay is enabled, the rate of access for the that
@@ -2307,11 +2140,10 @@
* @see MPU6050_RA_I2C_MST_DELAY_CTRL
* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
*/
-bool MPU6050::getSlaveDelayEnabled(uint8_t num)
-{
+bool MPU6050::getSlaveDelayEnabled(uint8_t num) {
// MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
if (num > 4) return 0;
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
return buffer[0];
}
/** Set slave delay enabled status.
@@ -2320,9 +2152,8 @@
* @see MPU6050_RA_I2C_MST_DELAY_CTRL
* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
*/
-void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
+void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
}
// SIGNAL_PATH_RESET register
@@ -2333,9 +2164,8 @@
* @see MPU6050_RA_SIGNAL_PATH_RESET
* @see MPU6050_PATHRESET_GYRO_RESET_BIT
*/
-void MPU6050::resetGyroscopePath()
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
+void MPU6050::resetGyroscopePath() {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
}
/** Reset accelerometer signal path.
* The reset will revert the signal path analog to digital converters and
@@ -2343,9 +2173,8 @@
* @see MPU6050_RA_SIGNAL_PATH_RESET
* @see MPU6050_PATHRESET_ACCEL_RESET_BIT
*/
-void MPU6050::resetAccelerometerPath()
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
+void MPU6050::resetAccelerometerPath() {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
}
/** Reset temperature sensor signal path.
* The reset will revert the signal path analog to digital converters and
@@ -2353,9 +2182,8 @@
* @see MPU6050_RA_SIGNAL_PATH_RESET
* @see MPU6050_PATHRESET_TEMP_RESET_BIT
*/
-void MPU6050::resetTemperaturePath()
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
+void MPU6050::resetTemperaturePath() {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
}
// MOT_DETECT_CTRL register
@@ -2374,9 +2202,8 @@
* @see MPU6050_RA_MOT_DETECT_CTRL
* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
*/
-uint8_t MPU6050::getAccelerometerPowerOnDelay()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
+uint8_t MPU6050::getAccelerometerPowerOnDelay() {
+ I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
return buffer[0];
}
/** Set accelerometer power-on delay.
@@ -2385,9 +2212,8 @@
* @see MPU6050_RA_MOT_DETECT_CTRL
* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
*/
-void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
+void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay) {
+ I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
}
/** Get Free Fall detection counter decrement configuration.
* Detection is registered by the Free Fall detection module after accelerometer
@@ -2415,9 +2241,8 @@
* @see MPU6050_RA_MOT_DETECT_CTRL
* @see MPU6050_DETECT_FF_COUNT_BIT
*/
-uint8_t MPU6050::getFreefallDetectionCounterDecrement()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
+uint8_t MPU6050::getFreefallDetectionCounterDecrement() {
+ I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
return buffer[0];
}
/** Set Free Fall detection counter decrement configuration.
@@ -2426,9 +2251,8 @@
* @see MPU6050_RA_MOT_DETECT_CTRL
* @see MPU6050_DETECT_FF_COUNT_BIT
*/
-void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
+void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement) {
+ I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
}
/** Get Motion detection counter decrement configuration.
* Detection is registered by the Motion detection module after accelerometer
@@ -2453,9 +2277,8 @@
* please refer to Registers 29 to 32.
*
*/
-uint8_t MPU6050::getMotionDetectionCounterDecrement()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
+uint8_t MPU6050::getMotionDetectionCounterDecrement() {
+ I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
return buffer[0];
}
/** Set Motion detection counter decrement configuration.
@@ -2464,9 +2287,8 @@
* @see MPU6050_RA_MOT_DETECT_CTRL
* @see MPU6050_DETECT_MOT_COUNT_BIT
*/
-void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
+void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement) {
+ I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
}
// USER_CTRL register
@@ -2479,9 +2301,8 @@
* @see MPU6050_RA_USER_CTRL
* @see MPU6050_USERCTRL_FIFO_EN_BIT
*/
-bool MPU6050::getFIFOEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
+bool MPU6050::getFIFOEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set FIFO enabled status.
@@ -2490,9 +2311,8 @@
* @see MPU6050_RA_USER_CTRL
* @see MPU6050_USERCTRL_FIFO_EN_BIT
*/
-void MPU6050::setFIFOEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
+void MPU6050::setFIFOEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
}
/** Get I2C Master Mode enabled status.
* When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
@@ -2505,9 +2325,8 @@
* @see MPU6050_RA_USER_CTRL
* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
*/
-bool MPU6050::getI2CMasterModeEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
+bool MPU6050::getI2CMasterModeEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
return buffer[0];
}
/** Set I2C Master Mode enabled status.
@@ -2516,17 +2335,15 @@
* @see MPU6050_RA_USER_CTRL
* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
*/
-void MPU6050::setI2CMasterModeEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
+void MPU6050::setI2CMasterModeEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
}
/** Switch from I2C to SPI mode (MPU-6000 only)
* If this is set, the primary SPI interface will be enabled in place of the
* disabled primary I2C interface.
*/
-void MPU6050::switchSPIEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
+void MPU6050::switchSPIEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
}
/** Reset the FIFO.
* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
@@ -2534,9 +2351,8 @@
* @see MPU6050_RA_USER_CTRL
* @see MPU6050_USERCTRL_FIFO_RESET_BIT
*/
-void MPU6050::resetFIFO()
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
+void MPU6050::resetFIFO() {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
}
/** Reset the I2C Master.
* This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
@@ -2544,9 +2360,8 @@
* @see MPU6050_RA_USER_CTRL
* @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
*/
-void MPU6050::resetI2CMaster()
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
+void MPU6050::resetI2CMaster() {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
}
/** Reset all sensor registers and signal paths.
* When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
@@ -2560,9 +2375,8 @@
* @see MPU6050_RA_USER_CTRL
* @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
*/
-void MPU6050::resetSensors()
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
+void MPU6050::resetSensors() {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
}
// PWR_MGMT_1 register
@@ -2572,9 +2386,8 @@
* @see MPU6050_RA_PWR_MGMT_1
* @see MPU6050_PWR1_DEVICE_RESET_BIT
*/
-void MPU6050::reset()
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
+void MPU6050::reset() {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
}
/** Get sleep mode status.
* Setting the SLEEP bit in the register puts the device into very low power
@@ -2587,9 +2400,8 @@
* @see MPU6050_RA_PWR_MGMT_1
* @see MPU6050_PWR1_SLEEP_BIT
*/
-bool MPU6050::getSleepEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
+bool MPU6050::getSleepEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
return buffer[0];
}
/** Set sleep mode status.
@@ -2598,9 +2410,8 @@
* @see MPU6050_RA_PWR_MGMT_1
* @see MPU6050_PWR1_SLEEP_BIT
*/
-void MPU6050::setSleepEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
+void MPU6050::setSleepEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
}
/** Get wake cycle enabled status.
* When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
@@ -2610,9 +2421,8 @@
* @see MPU6050_RA_PWR_MGMT_1
* @see MPU6050_PWR1_CYCLE_BIT
*/
-bool MPU6050::getWakeCycleEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
+bool MPU6050::getWakeCycleEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
return buffer[0];
}
/** Set wake cycle enabled status.
@@ -2621,9 +2431,8 @@
* @see MPU6050_RA_PWR_MGMT_1
* @see MPU6050_PWR1_CYCLE_BIT
*/
-void MPU6050::setWakeCycleEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
+void MPU6050::setWakeCycleEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
}
/** Get temperature sensor enabled status.
* Control the usage of the internal temperature sensor.
@@ -2636,9 +2445,8 @@
* @see MPU6050_RA_PWR_MGMT_1
* @see MPU6050_PWR1_TEMP_DIS_BIT
*/
-bool MPU6050::getTempSensorEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
+bool MPU6050::getTempSensorEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
return buffer[0] == 0; // 1 is actually disabled here
}
/** Set temperature sensor enabled status.
@@ -2651,10 +2459,9 @@
* @see MPU6050_RA_PWR_MGMT_1
* @see MPU6050_PWR1_TEMP_DIS_BIT
*/
-void MPU6050::setTempSensorEnabled(bool enabled)
-{
+void MPU6050::setTempSensorEnabled(bool enabled) {
// 1 is actually disabled here
- i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
}
/** Get clock source setting.
* @return Current clock source setting
@@ -2662,9 +2469,8 @@
* @see MPU6050_PWR1_CLKSEL_BIT
* @see MPU6050_PWR1_CLKSEL_LENGTH
*/
-uint8_t MPU6050::getClockSource()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
+uint8_t MPU6050::getClockSource() {
+ I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
return buffer[0];
}
/** Set clock source setting.
@@ -2697,9 +2503,8 @@
* @see MPU6050_PWR1_CLKSEL_BIT
* @see MPU6050_PWR1_CLKSEL_LENGTH
*/
-void MPU6050::setClockSource(uint8_t source)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
+void MPU6050::setClockSource(uint8_t source) {
+ I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
}
// PWR_MGMT_2 register
@@ -2719,7 +2524,7 @@
* 1 | 2.5 Hz
* 2 | 5 Hz
* 3 | 10 Hz
- * <pre>
+ * </pre>
*
* For further information regarding the MPU-60X0's power modes, please refer to
* Register 107.
@@ -2727,18 +2532,16 @@
* @return Current wake frequency
* @see MPU6050_RA_PWR_MGMT_2
*/
-uint8_t MPU6050::getWakeFrequency()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
+uint8_t MPU6050::getWakeFrequency() {
+ I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
return buffer[0];
}
/** Set wake frequency in Accel-Only Low Power Mode.
* @param frequency New wake frequency
* @see MPU6050_RA_PWR_MGMT_2
*/
-void MPU6050::setWakeFrequency(uint8_t frequency)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
+void MPU6050::setWakeFrequency(uint8_t frequency) {
+ I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
}
/** Get X-axis accelerometer standby enabled status.
@@ -2747,9 +2550,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_XA_BIT
*/
-bool MPU6050::getStandbyXAccelEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
+bool MPU6050::getStandbyXAccelEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
return buffer[0];
}
/** Set X-axis accelerometer standby enabled status.
@@ -2758,9 +2560,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_XA_BIT
*/
-void MPU6050::setStandbyXAccelEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
+void MPU6050::setStandbyXAccelEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
}
/** Get Y-axis accelerometer standby enabled status.
* If enabled, the Y-axis will not gather or report data (or use power).
@@ -2768,9 +2569,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_YA_BIT
*/
-bool MPU6050::getStandbyYAccelEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
+bool MPU6050::getStandbyYAccelEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
return buffer[0];
}
/** Set Y-axis accelerometer standby enabled status.
@@ -2779,9 +2579,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_YA_BIT
*/
-void MPU6050::setStandbyYAccelEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
+void MPU6050::setStandbyYAccelEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
}
/** Get Z-axis accelerometer standby enabled status.
* If enabled, the Z-axis will not gather or report data (or use power).
@@ -2789,9 +2588,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_ZA_BIT
*/
-bool MPU6050::getStandbyZAccelEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
+bool MPU6050::getStandbyZAccelEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
return buffer[0];
}
/** Set Z-axis accelerometer standby enabled status.
@@ -2800,9 +2598,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_ZA_BIT
*/
-void MPU6050::setStandbyZAccelEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
+void MPU6050::setStandbyZAccelEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
}
/** Get X-axis gyroscope standby enabled status.
* If enabled, the X-axis will not gather or report data (or use power).
@@ -2810,9 +2607,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_XG_BIT
*/
-bool MPU6050::getStandbyXGyroEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
+bool MPU6050::getStandbyXGyroEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
return buffer[0];
}
/** Set X-axis gyroscope standby enabled status.
@@ -2821,9 +2617,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_XG_BIT
*/
-void MPU6050::setStandbyXGyroEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
+void MPU6050::setStandbyXGyroEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
}
/** Get Y-axis gyroscope standby enabled status.
* If enabled, the Y-axis will not gather or report data (or use power).
@@ -2831,9 +2626,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_YG_BIT
*/
-bool MPU6050::getStandbyYGyroEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
+bool MPU6050::getStandbyYGyroEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
return buffer[0];
}
/** Set Y-axis gyroscope standby enabled status.
@@ -2842,9 +2636,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_YG_BIT
*/
-void MPU6050::setStandbyYGyroEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
+void MPU6050::setStandbyYGyroEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
}
/** Get Z-axis gyroscope standby enabled status.
* If enabled, the Z-axis will not gather or report data (or use power).
@@ -2852,9 +2645,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_ZG_BIT
*/
-bool MPU6050::getStandbyZGyroEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
+bool MPU6050::getStandbyZGyroEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
return buffer[0];
}
/** Set Z-axis gyroscope standby enabled status.
@@ -2863,9 +2655,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_ZG_BIT
*/
-void MPU6050::setStandbyZGyroEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
+void MPU6050::setStandbyZGyroEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
}
// FIFO_COUNT* registers
@@ -2877,9 +2668,8 @@
* set of sensor data bound to be stored in the FIFO (register 35 and 36).
* @return Current FIFO buffer size
*/
-uint16_t MPU6050::getFIFOCount()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
+uint16_t MPU6050::getFIFOCount() {
+ I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
return (((uint16_t)buffer[0]) << 8) | buffer[1];
}
@@ -2910,22 +2700,23 @@
*
* @return Byte from FIFO buffer
*/
-uint8_t MPU6050::getFIFOByte()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
+uint8_t MPU6050::getFIFOByte() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
return buffer[0];
}
-void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length)
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
+void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) {
+ if(length > 0){
+ I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
+ } else {
+ *data = 0;
+ }
}
/** Write byte to FIFO buffer.
* @see getFIFOByte()
* @see MPU6050_RA_FIFO_R_W
*/
-void MPU6050::setFIFOByte(uint8_t data)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
+void MPU6050::setFIFOByte(uint8_t data) {
+ I2Cdev::writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
}
// WHO_AM_I register
@@ -2937,9 +2728,8 @@
* @see MPU6050_WHO_AM_I_BIT
* @see MPU6050_WHO_AM_I_LENGTH
*/
-uint8_t MPU6050::getDeviceID()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
+uint8_t MPU6050::getDeviceID() {
+ I2Cdev::readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
return buffer[0];
}
/** Set Device ID.
@@ -2951,279 +2741,232 @@
* @see MPU6050_WHO_AM_I_BIT
* @see MPU6050_WHO_AM_I_LENGTH
*/
-void MPU6050::setDeviceID(uint8_t id)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
+void MPU6050::setDeviceID(uint8_t id) {
+ I2Cdev::writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
}
// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
// XG_OFFS_TC register
-uint8_t MPU6050::getOTPBankValid()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
+uint8_t MPU6050::getOTPBankValid() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
return buffer[0];
}
-void MPU6050::setOTPBankValid(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
+void MPU6050::setOTPBankValid(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
}
-int8_t MPU6050::getXGyroOffset()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+int8_t MPU6050::getXGyroOffsetTC() {
+ I2Cdev::readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
return buffer[0];
}
-void MPU6050::setXGyroOffset(int8_t offset)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+void MPU6050::setXGyroOffsetTC(int8_t offset) {
+ I2Cdev::writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
}
// YG_OFFS_TC register
-int8_t MPU6050::getYGyroOffset()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+int8_t MPU6050::getYGyroOffsetTC() {
+ I2Cdev::readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
return buffer[0];
}
-void MPU6050::setYGyroOffset(int8_t offset)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+void MPU6050::setYGyroOffsetTC(int8_t offset) {
+ I2Cdev::writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
}
// ZG_OFFS_TC register
-int8_t MPU6050::getZGyroOffset()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+int8_t MPU6050::getZGyroOffsetTC() {
+ I2Cdev::readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
return buffer[0];
}
-void MPU6050::setZGyroOffset(int8_t offset)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+void MPU6050::setZGyroOffsetTC(int8_t offset) {
+ I2Cdev::writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
}
// X_FINE_GAIN register
-int8_t MPU6050::getXFineGain()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
+int8_t MPU6050::getXFineGain() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
return buffer[0];
}
-void MPU6050::setXFineGain(int8_t gain)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
+void MPU6050::setXFineGain(int8_t gain) {
+ I2Cdev::writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
}
// Y_FINE_GAIN register
-int8_t MPU6050::getYFineGain()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
+int8_t MPU6050::getYFineGain() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
return buffer[0];
}
-void MPU6050::setYFineGain(int8_t gain)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
+void MPU6050::setYFineGain(int8_t gain) {
+ I2Cdev::writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
}
// Z_FINE_GAIN register
-int8_t MPU6050::getZFineGain()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
+int8_t MPU6050::getZFineGain() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
return buffer[0];
}
-void MPU6050::setZFineGain(int8_t gain)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
+void MPU6050::setZFineGain(int8_t gain) {
+ I2Cdev::writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
}
// XA_OFFS_* registers
-int16_t MPU6050::getXAccelOffset()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
+int16_t MPU6050::getXAccelOffset() {
+ I2Cdev::readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
-void MPU6050::setXAccelOffset(int16_t offset)
-{
- i2Cdev.writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
+void MPU6050::setXAccelOffset(int16_t offset) {
+ I2Cdev::writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
}
// YA_OFFS_* register
-int16_t MPU6050::getYAccelOffset()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
+int16_t MPU6050::getYAccelOffset() {
+ I2Cdev::readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
-void MPU6050::setYAccelOffset(int16_t offset)
-{
- i2Cdev.writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
+void MPU6050::setYAccelOffset(int16_t offset) {
+ I2Cdev::writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
}
// ZA_OFFS_* register
-int16_t MPU6050::getZAccelOffset()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
+int16_t MPU6050::getZAccelOffset() {
+ I2Cdev::readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
-void MPU6050::setZAccelOffset(int16_t offset)
-{
- i2Cdev.writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
+void MPU6050::setZAccelOffset(int16_t offset) {
+ I2Cdev::writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
}
// XG_OFFS_USR* registers
-int16_t MPU6050::getXGyroOffsetUser()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
+int16_t MPU6050::getXGyroOffset() {
+ I2Cdev::readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
-void MPU6050::setXGyroOffsetUser(int16_t offset)
-{
- i2Cdev.writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
+void MPU6050::setXGyroOffset(int16_t offset) {
+ I2Cdev::writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
}
// YG_OFFS_USR* register
-int16_t MPU6050::getYGyroOffsetUser()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
+int16_t MPU6050::getYGyroOffset() {
+ I2Cdev::readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
-void MPU6050::setYGyroOffsetUser(int16_t offset)
-{
- i2Cdev.writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
+void MPU6050::setYGyroOffset(int16_t offset) {
+ I2Cdev::writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
}
// ZG_OFFS_USR* register
-int16_t MPU6050::getZGyroOffsetUser()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
+int16_t MPU6050::getZGyroOffset() {
+ I2Cdev::readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
-void MPU6050::setZGyroOffsetUser(int16_t offset)
-{
- i2Cdev.writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
+void MPU6050::setZGyroOffset(int16_t offset) {
+ I2Cdev::writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
}
// INT_ENABLE register (DMP functions)
-bool MPU6050::getIntPLLReadyEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
+bool MPU6050::getIntPLLReadyEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
return buffer[0];
}
-void MPU6050::setIntPLLReadyEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
+void MPU6050::setIntPLLReadyEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
}
-bool MPU6050::getIntDMPEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
+bool MPU6050::getIntDMPEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
return buffer[0];
}
-void MPU6050::setIntDMPEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
+void MPU6050::setIntDMPEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
}
// DMP_INT_STATUS
-bool MPU6050::getDMPInt5Status()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
+bool MPU6050::getDMPInt5Status() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
return buffer[0];
}
-bool MPU6050::getDMPInt4Status()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
+bool MPU6050::getDMPInt4Status() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
return buffer[0];
}
-bool MPU6050::getDMPInt3Status()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
+bool MPU6050::getDMPInt3Status() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
return buffer[0];
}
-bool MPU6050::getDMPInt2Status()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
+bool MPU6050::getDMPInt2Status() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
return buffer[0];
}
-bool MPU6050::getDMPInt1Status()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
+bool MPU6050::getDMPInt1Status() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
return buffer[0];
}
-bool MPU6050::getDMPInt0Status()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
+bool MPU6050::getDMPInt0Status() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
return buffer[0];
}
// INT_STATUS register (DMP functions)
-bool MPU6050::getIntPLLReadyStatus()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
+bool MPU6050::getIntPLLReadyStatus() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
return buffer[0];
}
-bool MPU6050::getIntDMPStatus()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
+bool MPU6050::getIntDMPStatus() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
return buffer[0];
}
// USER_CTRL register (DMP functions)
-bool MPU6050::getDMPEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
+bool MPU6050::getDMPEnabled() {
+ I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
return buffer[0];
}
-void MPU6050::setDMPEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
+void MPU6050::setDMPEnabled(bool enabled) {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
}
-void MPU6050::resetDMP()
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
+void MPU6050::resetDMP() {
+ I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
}
// BANK_SEL register
-void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank)
-{
+void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank) {
bank &= 0x1F;
if (userBank) bank |= 0x20;
if (prefetchEnabled) bank |= 0x40;
- i2Cdev.writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
}
// MEM_START_ADDR register
-void MPU6050::setMemoryStartAddress(uint8_t address)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
+void MPU6050::setMemoryStartAddress(uint8_t address) {
+ I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
}
// MEM_R_W register
-uint8_t MPU6050::readMemoryByte()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
+uint8_t MPU6050::readMemoryByte() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
return buffer[0];
}
-void MPU6050::writeMemoryByte(uint8_t data)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
+void MPU6050::writeMemoryByte(uint8_t data) {
+ I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
}
-void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address)
-{
+void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address) {
setMemoryBank(bank);
setMemoryStartAddress(address);
uint8_t chunkSize;
@@ -3238,7 +2981,7 @@
if (chunkSize > 256 - address) chunkSize = 256 - address;
// read the chunk of data as specified
- i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
+ I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
// increase byte index by [chunkSize]
i += chunkSize;
@@ -3254,13 +2997,12 @@
}
}
}
-bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem)
-{
+bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem) {
setMemoryBank(bank);
setMemoryStartAddress(address);
uint8_t chunkSize;
- uint8_t *verifyBuffer = NULL;
- uint8_t *progBuffer = NULL;
+ uint8_t *verifyBuffer;
+ uint8_t *progBuffer=0;
uint16_t i;
uint8_t j;
if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
@@ -3283,13 +3025,13 @@
progBuffer = (uint8_t *)data + i;
}
- i2Cdev.writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
+ I2Cdev::writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
// verify data if needed
if (verify && verifyBuffer) {
setMemoryBank(bank);
setMemoryStartAddress(address);
- i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
+ I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
/*Serial.print("Block write verification error, bank ");
Serial.print(bank, DEC);
@@ -3331,14 +3073,12 @@
if (useProgMem) free(progBuffer);
return true;
}
-bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify)
-{
+bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify) {
return writeMemoryBlock(data, dataSize, bank, address, verify, true);
}
-bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem)
-{
+bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem) {
+ uint8_t *progBuffer = 0;
uint8_t success, special;
- uint8_t *progBuffer = NULL;
uint16_t i, j;
if (useProgMem) {
progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
@@ -3395,7 +3135,7 @@
//setIntZeroMotionEnabled(true);
//setIntFIFOBufferOverflowEnabled(true);
//setIntDMPEnabled(true);
- i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
+ I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
success = true;
} else {
@@ -3412,31 +3152,26 @@
if (useProgMem) free(progBuffer);
return true;
}
-bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
-{
- return writeDMPConfigurationSet(data, dataSize, false);
+bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize) {
+ return writeDMPConfigurationSet(data, dataSize, true);
}
// DMP_CFG_1 register
-uint8_t MPU6050::getDMPConfig1()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
+uint8_t MPU6050::getDMPConfig1() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
return buffer[0];
}
-void MPU6050::setDMPConfig1(uint8_t config)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
+void MPU6050::setDMPConfig1(uint8_t config) {
+ I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
}
// DMP_CFG_2 register
-uint8_t MPU6050::getDMPConfig2()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
+uint8_t MPU6050::getDMPConfig2() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
return buffer[0];
}
-void MPU6050::setDMPConfig2(uint8_t config)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
+void MPU6050::setDMPConfig2(uint8_t config) {
+ I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
}
\ No newline at end of file
diff -r 6b1b4bcaf494 -r 473800bd51ac MPU6050.h
--- a/MPU6050.h Thu Apr 12 01:11:08 2018 +0000
+++ b/MPU6050.h Thu May 10 08:15:44 2018 +0000
@@ -1,50 +1,21 @@
-//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
-//written by szymon gaertig (email: szymon@gaertig.com.pl)
-//
-//Changelog:
-//2013-01-08 - first beta release
-
-// I2Cdev library collection - MPU6050 I2C device class
-// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
-// 10/3/2011 by Jeff Rowberg <jeff@rowberg.net>
-// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
-//
-// Changelog:
-// ... - ongoing debug release
-
-// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
-// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
-// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
-
-/* ============================================
-I2Cdev device library code is placed under the MIT license
-Copyright (c) 2012 Jeff Rowberg
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-===============================================
-*/
-
#ifndef _MPU6050_H_
#define _MPU6050_H_
#include "I2Cdev.h"
-#include "helper_3dmath.h"
+
+// supporting link: http://forum.arduino.cc/index.php?&topic=143444.msg1079517#msg1079517
+// also: http://forum.arduino.cc/index.php?&topic=141571.msg1062899#msg1062899s
+
+#ifdef __AVR__
+#include <avr/pgmspace.h>
+#else
+#define PROGMEM /* empty */
+#define pgm_read_byte(x) (*(x))
+#define pgm_read_word(x) (*(x))
+#define pgm_read_float(x) (*(x))
+#define PSTR(STR) STR
+#endif
+
#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC)
@@ -62,6 +33,10 @@
#define MPU6050_RA_YA_OFFS_L_TC 0x09
#define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
#define MPU6050_RA_ZA_OFFS_L_TC 0x0B
+#define MPU6050_RA_SELF_TEST_X 0x0D //[7:5] XA_TEST[4-2], [4:0] XG_TEST[4-0]
+#define MPU6050_RA_SELF_TEST_Y 0x0E //[7:5] YA_TEST[4-2], [4:0] YG_TEST[4-0]
+#define MPU6050_RA_SELF_TEST_Z 0x0F //[7:5] ZA_TEST[4-2], [4:0] ZG_TEST[4-0]
+#define MPU6050_RA_SELF_TEST_A 0x10 //[5:4] XA_TEST[1-0], [3:2] YA_TEST[1-0], [1:0] ZA_TEST[1-0]
#define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
#define MPU6050_RA_XG_OFFS_USRL 0x14
#define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
@@ -102,32 +77,20 @@
#define MPU6050_RA_INT_ENABLE 0x38
#define MPU6050_RA_DMP_INT_STATUS 0x39
#define MPU6050_RA_INT_STATUS 0x3A
-
#define MPU6050_RA_ACCEL_XOUT_H 0x3B
#define MPU6050_RA_ACCEL_XOUT_L 0x3C
#define MPU6050_RA_ACCEL_YOUT_H 0x3D
#define MPU6050_RA_ACCEL_YOUT_L 0x3E
#define MPU6050_RA_ACCEL_ZOUT_H 0x3F
#define MPU6050_RA_ACCEL_ZOUT_L 0x40
-
#define MPU6050_RA_TEMP_OUT_H 0x41
#define MPU6050_RA_TEMP_OUT_L 0x42
-
#define MPU6050_RA_GYRO_XOUT_H 0x43
#define MPU6050_RA_GYRO_XOUT_L 0x44
#define MPU6050_RA_GYRO_YOUT_H 0x45
#define MPU6050_RA_GYRO_YOUT_L 0x46
#define MPU6050_RA_GYRO_ZOUT_H 0x47
#define MPU6050_RA_GYRO_ZOUT_L 0x48
-
-#define MPU9150_RA_MAG_ADDRESS 0x0C
-#define MPU9150_RA_MAG_XOUT_L 0x03
-#define MPU9150_RA_MAG_XOUT_H 0x04
-#define MPU9150_RA_MAG_YOUT_L 0x05
-#define MPU9150_RA_MAG_YOUT_H 0x06
-#define MPU9150_RA_MAG_ZOUT_L 0x07
-#define MPU9150_RA_MAG_ZOUT_H 0x08
-
#define MPU6050_RA_EXT_SENS_DATA_00 0x49
#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
@@ -173,6 +136,26 @@
#define MPU6050_RA_FIFO_R_W 0x74
#define MPU6050_RA_WHO_AM_I 0x75
+#define MPU6050_SELF_TEST_XA_1_BIT 0x07
+#define MPU6050_SELF_TEST_XA_1_LENGTH 0x03
+#define MPU6050_SELF_TEST_XA_2_BIT 0x05
+#define MPU6050_SELF_TEST_XA_2_LENGTH 0x02
+#define MPU6050_SELF_TEST_YA_1_BIT 0x07
+#define MPU6050_SELF_TEST_YA_1_LENGTH 0x03
+#define MPU6050_SELF_TEST_YA_2_BIT 0x03
+#define MPU6050_SELF_TEST_YA_2_LENGTH 0x02
+#define MPU6050_SELF_TEST_ZA_1_BIT 0x07
+#define MPU6050_SELF_TEST_ZA_1_LENGTH 0x03
+#define MPU6050_SELF_TEST_ZA_2_BIT 0x01
+#define MPU6050_SELF_TEST_ZA_2_LENGTH 0x02
+
+#define MPU6050_SELF_TEST_XG_1_BIT 0x04
+#define MPU6050_SELF_TEST_XG_1_LENGTH 0x05
+#define MPU6050_SELF_TEST_YG_1_BIT 0x04
+#define MPU6050_SELF_TEST_YG_1_LENGTH 0x05
+#define MPU6050_SELF_TEST_ZG_1_BIT 0x04
+#define MPU6050_SELF_TEST_ZG_1_LENGTH 0x05
+
#define MPU6050_TC_PWR_MODE_BIT 7
#define MPU6050_TC_OFFSET_BIT 6
#define MPU6050_TC_OFFSET_LENGTH 6
@@ -415,9 +398,6 @@
// note: DMP code memory blocks defined at end of header file
class MPU6050 {
- private:
- I2Cdev i2Cdev;
- Serial debugSerial;
public:
MPU6050();
MPU6050(uint8_t address);
@@ -443,6 +423,15 @@
uint8_t getFullScaleGyroRange();
void setFullScaleGyroRange(uint8_t range);
+ // SELF_TEST registers
+ uint8_t getAccelXSelfTestFactoryTrim();
+ uint8_t getAccelYSelfTestFactoryTrim();
+ uint8_t getAccelZSelfTestFactoryTrim();
+
+ uint8_t getGyroXSelfTestFactoryTrim();
+ uint8_t getGyroYSelfTestFactoryTrim();
+ uint8_t getGyroZSelfTestFactoryTrim();
+
// ACCEL_CONFIG register
bool getAccelXSelfTest();
void setAccelXSelfTest(bool enabled);
@@ -617,6 +606,7 @@
uint32_t getExternalSensorDWord(int position);
// MOT_DETECT_STATUS register
+ uint8_t getMotionStatus();
bool getXNegMotionDetected();
bool getXPosMotionDetected();
bool getYNegMotionDetected();
@@ -695,22 +685,22 @@
// WHO_AM_I register
uint8_t getDeviceID();
void setDeviceID(uint8_t id);
-
+
// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
-
+
// XG_OFFS_TC register
uint8_t getOTPBankValid();
void setOTPBankValid(bool enabled);
- int8_t getXGyroOffset();
- void setXGyroOffset(int8_t offset);
+ int8_t getXGyroOffsetTC();
+ void setXGyroOffsetTC(int8_t offset);
// YG_OFFS_TC register
- int8_t getYGyroOffset();
- void setYGyroOffset(int8_t offset);
+ int8_t getYGyroOffsetTC();
+ void setYGyroOffsetTC(int8_t offset);
// ZG_OFFS_TC register
- int8_t getZGyroOffset();
- void setZGyroOffset(int8_t offset);
+ int8_t getZGyroOffsetTC();
+ void setZGyroOffsetTC(int8_t offset);
// X_FINE_GAIN register
int8_t getXFineGain();
@@ -737,23 +727,23 @@
void setZAccelOffset(int16_t offset);
// XG_OFFS_USR* registers
- int16_t getXGyroOffsetUser();
- void setXGyroOffsetUser(int16_t offset);
+ int16_t getXGyroOffset();
+ void setXGyroOffset(int16_t offset);
// YG_OFFS_USR* register
- int16_t getYGyroOffsetUser();
- void setYGyroOffsetUser(int16_t offset);
+ int16_t getYGyroOffset();
+ void setYGyroOffset(int16_t offset);
// ZG_OFFS_USR* register
- int16_t getZGyroOffsetUser();
- void setZGyroOffsetUser(int16_t offset);
-
+ int16_t getZGyroOffset();
+ void setZGyroOffset(int16_t offset);
+
// INT_ENABLE register (DMP functions)
bool getIntPLLReadyEnabled();
void setIntPLLReadyEnabled(bool enabled);
bool getIntDMPEnabled();
void setIntDMPEnabled(bool enabled);
-
+
// DMP_INT_STATUS
bool getDMPInt5Status();
bool getDMPInt4Status();
@@ -765,18 +755,18 @@
// INT_STATUS register (DMP functions)
bool getIntPLLReadyStatus();
bool getIntDMPStatus();
-
+
// USER_CTRL register (DMP functions)
bool getDMPEnabled();
void setDMPEnabled(bool enabled);
void resetDMP();
-
+
// BANK_SEL register
void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false);
-
+
// MEM_START_ADDR register
void setMemoryStartAddress(uint8_t address);
-
+
// MEM_R_W register
uint8_t readMemoryByte();
void writeMemoryByte(uint8_t data);
@@ -808,12 +798,12 @@
uint8_t dmpGetSampleStepSizeMS();
uint8_t dmpGetSampleFrequency();
int32_t dmpDecodeTemperature(int8_t tempReg);
-
+
// Register callbacks after a packet of FIFO data is processed
//uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
//uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
uint8_t dmpRunFIFORateProcesses();
-
+
// Setup FIFO for various output
uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
@@ -873,7 +863,7 @@
uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
-
+
uint8_t dmpGetEuler(float *data, Quaternion *q);
uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
@@ -909,12 +899,12 @@
uint8_t dmpGetSampleStepSizeMS();
uint8_t dmpGetSampleFrequency();
int32_t dmpDecodeTemperature(int8_t tempReg);
-
+
// Register callbacks after a packet of FIFO data is processed
//uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
//uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
uint8_t dmpRunFIFORateProcesses();
-
+
// Setup FIFO for various output
uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
@@ -975,7 +965,7 @@
uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
-
+
uint8_t dmpGetEuler(float *data, Quaternion *q);
uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
diff -r 6b1b4bcaf494 -r 473800bd51ac MPU6050_6Axis_MotionApps20.h
--- a/MPU6050_6Axis_MotionApps20.h Thu Apr 12 01:11:08 2018 +0000
+++ b/MPU6050_6Axis_MotionApps20.h Thu May 10 08:15:44 2018 +0000
@@ -1,40 +1,6 @@
-// I2Cdev library collection - MPU6050 I2C device class, 6-axis MotionApps 2.0 implementation
-// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
-// 5/20/2013 by Jeff Rowberg <jeff@rowberg.net>
-// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
-//
-// Changelog:
-// ... - ongoing debug release
-
-/* ============================================
-I2Cdev device library code is placed under the MIT license
-Copyright (c) 2012 Jeff Rowberg
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-===============================================
-*/
-
#ifndef _MPU6050_6AXIS_MOTIONAPPS20_H_
#define _MPU6050_6AXIS_MOTIONAPPS20_H_
-//#include <iostream>
-
#include "I2Cdev.h"
#include "helper_3dmath.h"
@@ -45,7 +11,7 @@
// Tom Carpenter's conditional PROGMEM code
// http://forum.arduino.cc/index.php?topic=129407.0
-#ifndef __arm__
+#ifdef __AVR__
#include <avr/pgmspace.h>
#else
// Teensy 3.0 library conditional PROGMEM code from Paul Stoffregen
@@ -67,16 +33,16 @@
typedef uint16_t prog_uint16_t;
typedef int32_t prog_int32_t;
typedef uint32_t prog_uint32_t;
-
+
#define strcpy_P(dest, src) strcpy((dest), (src))
#define strcat_P(dest, src) strcat((dest), (src))
#define strcmp_P(a, b) strcmp((a), (b))
-
+
#define pgm_read_byte(addr) (*(const unsigned char *)(addr))
#define pgm_read_word(addr) (*(const unsigned short *)(addr))
#define pgm_read_dword(addr) (*(const unsigned long *)(addr))
#define pgm_read_float(addr) (*(const float *)(addr))
-
+
#define pgm_read_byte_near(addr) pgm_read_byte(addr)
#define pgm_read_word_near(addr) pgm_read_word(addr)
#define pgm_read_dword_near(addr) pgm_read_dword(addr)
@@ -102,13 +68,14 @@
// after moving string constants to flash memory storage using the F()
// compiler macro (Arduino IDE 1.0+ required).
-//#define DEBUG
+// #define DEBUG
#ifdef DEBUG
- #define DEBUG_PRINT(x) std::cout << x //Serial.print(x)
- #define DEBUG_PRINTF(x, y) std::cout << x //Serial.print(x, y)
- #define DEBUG_PRINTLN(x) std::cout << x << std::endl //Serial.println(x)
- #define DEBUG_PRINTLNF(x, y) std::cout << x << std::endl //Serial.println(x, y)
- #define F(x) x
+ #include "ArduinoSerial.h"
+ ArduinoSerial arduinoSerial;
+ #define DEBUG_PRINT(x) arduinoSerial.print(x)
+ #define DEBUG_PRINTF(x, y) arduinoSerial.print(x, y)
+ #define DEBUG_PRINTLN(x) arduinoSerial.println(x)
+ #define DEBUG_PRINTLNF(x, y) arduinoSerial.println(x, y)
#else
#define DEBUG_PRINT(x)
#define DEBUG_PRINTF(x, y)
@@ -305,7 +272,7 @@
0x07, 0x46, 0x01, 0x9A, // CFG_GYRO_SOURCE inv_send_gyro
0x07, 0x47, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_9 inv_send_gyro -> inv_construct3_fifo
0x07, 0x6C, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_12 inv_send_accel -> inv_construct3_fifo
- 0x02, 0x16, 0x02, 0x00, 0x00 // D_0_22 inv_set_fifo_rate
+ 0x02, 0x16, 0x02, 0x00, 0x01 // D_0_22 inv_set_fifo_rate
// This very last 0x01 WAS a 0x09, which drops the FIFO rate down to 20 Hz. 0x07 is 25 Hz,
// 0x01 is 100Hz. Going faster than 100Hz (0x00=200Hz) tends to result in very noisy data.
@@ -329,8 +296,7 @@
// reset device
DEBUG_PRINTLN(F("\n\nResetting MPU6050..."));
reset();
- //delay(30); // wait after reset
- wait_ms(30);
+ wait_ms(30); // wait after reset
// enable sleep mode and wake cycle
/*Serial.println(F("Enabling sleep mode..."));
@@ -348,29 +314,27 @@
DEBUG_PRINTLN(F("Selecting memory byte 6..."));
setMemoryStartAddress(0x06);
DEBUG_PRINTLN(F("Checking hardware revision..."));
- uint8_t hwRevision = readMemoryByte();
DEBUG_PRINT(F("Revision @ user[16][6] = "));
- DEBUG_PRINTLNF(hwRevision, HEX);
+ DEBUG_PRINTLNF(readMemoryByte(), HEX);
DEBUG_PRINTLN(F("Resetting memory bank selection to 0..."));
setMemoryBank(0, false, false);
// check OTP bank valid
DEBUG_PRINTLN(F("Reading OTP bank valid flag..."));
- uint8_t otpValid = getOTPBankValid();
DEBUG_PRINT(F("OTP bank is "));
- DEBUG_PRINTLN((otpValid ? F("valid!") : F("invalid!")));
+ DEBUG_PRINTLN(getOTPBankValid() ? F("valid!") : F("invalid!"));
// get X/Y/Z gyro offsets
DEBUG_PRINTLN(F("Reading gyro offset TC values..."));
- //int8_t xgOffsetTC = getXGyroOffsetTC();
- //int8_t ygOffsetTC = getYGyroOffsetTC();
- //int8_t zgOffsetTC = getZGyroOffsetTC();
- //DEBUG_PRINT(F("X gyro offset = "));
- //DEBUG_PRINTLN(xgOffset);
- //DEBUG_PRINT(F("Y gyro offset = "));
- //DEBUG_PRINTLN(ygOffset);
- //DEBUG_PRINT(F("Z gyro offset = "));
- //DEBUG_PRINTLN(zgOffset);
+ int8_t xgOffsetTC = getXGyroOffsetTC();
+ int8_t ygOffsetTC = getYGyroOffsetTC();
+ int8_t zgOffsetTC = getZGyroOffsetTC();
+ DEBUG_PRINT(F("X gyro offset = "));
+ DEBUG_PRINTLN(xgOffsetTC);
+ DEBUG_PRINT(F("Y gyro offset = "));
+ DEBUG_PRINTLN(ygOffsetTC);
+ DEBUG_PRINT(F("Z gyro offset = "));
+ DEBUG_PRINTLN(zgOffsetTC);
// setup weird slave stuff (?)
DEBUG_PRINTLN(F("Setting slave 0 address to 0x7F..."));
@@ -381,7 +345,6 @@
setSlaveAddress(0, 0x68);
DEBUG_PRINTLN(F("Resetting I2C Master control..."));
resetI2CMaster();
- //delay(20);
wait_ms(20);
// load DMP code into memory banks
@@ -424,9 +387,9 @@
setOTPBankValid(false);
DEBUG_PRINTLN(F("Setting X/Y/Z gyro offset TCs to previous values..."));
- //setXGyroOffsetTC(xgOffsetTC);
- //setYGyroOffsetTC(ygOffsetTC);
- //setZGyroOffsetTC(zgOffsetTC);
+ setXGyroOffset(xgOffsetTC);
+ setYGyroOffset(ygOffsetTC);
+ setZGyroOffset(zgOffsetTC);
//DEBUG_PRINTLN(F("Setting X/Y/Z gyro user offsets to zero..."));
//setXGyroOffset(0);
@@ -499,10 +462,9 @@
getFIFOBytes(fifoBuffer, fifoCount);
DEBUG_PRINTLN(F("Reading interrupt status..."));
- uint8_t mpuIntStatus = getIntStatus();
DEBUG_PRINT(F("Current interrupt status="));
- DEBUG_PRINTLNF(mpuIntStatus, HEX);
+ DEBUG_PRINTLNF(getIntStatus(), HEX);
DEBUG_PRINTLN(F("Reading final memory update 6/7 (function unknown)..."));
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
@@ -518,10 +480,9 @@
getFIFOBytes(fifoBuffer, fifoCount);
DEBUG_PRINTLN(F("Reading interrupt status..."));
- mpuIntStatus = getIntStatus();
DEBUG_PRINT(F("Current interrupt status="));
- DEBUG_PRINTLNF(mpuIntStatus, HEX);
+ DEBUG_PRINTLNF(getIntStatus(), HEX);
DEBUG_PRINTLN(F("Writing final memory update 7/7 (function unknown)..."));
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
@@ -582,43 +543,43 @@
uint8_t MPU6050::dmpGetAccel(int32_t *data, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
if (packet == 0) packet = dmpPacketBuffer;
- data[0] = ((packet[28] << 24) + (packet[29] << 16) + (packet[30] << 8) + packet[31]);
- data[1] = ((packet[32] << 24) + (packet[33] << 16) + (packet[34] << 8) + packet[35]);
- data[2] = ((packet[36] << 24) + (packet[37] << 16) + (packet[38] << 8) + packet[39]);
+ data[0] = (((uint32_t)packet[28] << 24) | ((uint32_t)packet[29] << 16) | ((uint32_t)packet[30] << 8) | packet[31]);
+ data[1] = (((uint32_t)packet[32] << 24) | ((uint32_t)packet[33] << 16) | ((uint32_t)packet[34] << 8) | packet[35]);
+ data[2] = (((uint32_t)packet[36] << 24) | ((uint32_t)packet[37] << 16) | ((uint32_t)packet[38] << 8) | packet[39]);
return 0;
}
uint8_t MPU6050::dmpGetAccel(int16_t *data, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
if (packet == 0) packet = dmpPacketBuffer;
- data[0] = (packet[28] << 8) + packet[29];
- data[1] = (packet[32] << 8) + packet[33];
- data[2] = (packet[36] << 8) + packet[37];
+ data[0] = (packet[28] << 8) | packet[29];
+ data[1] = (packet[32] << 8) | packet[33];
+ data[2] = (packet[36] << 8) | packet[37];
return 0;
}
uint8_t MPU6050::dmpGetAccel(VectorInt16 *v, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
if (packet == 0) packet = dmpPacketBuffer;
- v -> x = (packet[28] << 8) + packet[29];
- v -> y = (packet[32] << 8) + packet[33];
- v -> z = (packet[36] << 8) + packet[37];
+ v -> x = (packet[28] << 8) | packet[29];
+ v -> y = (packet[32] << 8) | packet[33];
+ v -> z = (packet[36] << 8) | packet[37];
return 0;
}
uint8_t MPU6050::dmpGetQuaternion(int32_t *data, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
if (packet == 0) packet = dmpPacketBuffer;
- data[0] = ((packet[0] << 24) + (packet[1] << 16) + (packet[2] << 8) + packet[3]);
- data[1] = ((packet[4] << 24) + (packet[5] << 16) + (packet[6] << 8) + packet[7]);
- data[2] = ((packet[8] << 24) + (packet[9] << 16) + (packet[10] << 8) + packet[11]);
- data[3] = ((packet[12] << 24) + (packet[13] << 16) + (packet[14] << 8) + packet[15]);
+ data[0] = (((uint32_t)packet[0] << 24) | ((uint32_t)packet[1] << 16) | ((uint32_t)packet[2] << 8) | packet[3]);
+ data[1] = (((uint32_t)packet[4] << 24) | ((uint32_t)packet[5] << 16) | ((uint32_t)packet[6] << 8) | packet[7]);
+ data[2] = (((uint32_t)packet[8] << 24) | ((uint32_t)packet[9] << 16) | ((uint32_t)packet[10] << 8) | packet[11]);
+ data[3] = (((uint32_t)packet[12] << 24) | ((uint32_t)packet[13] << 16) | ((uint32_t)packet[14] << 8) | packet[15]);
return 0;
}
uint8_t MPU6050::dmpGetQuaternion(int16_t *data, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
if (packet == 0) packet = dmpPacketBuffer;
- data[0] = ((packet[0] << 8) + packet[1]);
- data[1] = ((packet[4] << 8) + packet[5]);
- data[2] = ((packet[8] << 8) + packet[9]);
- data[3] = ((packet[12] << 8) + packet[13]);
+ data[0] = ((packet[0] << 8) | packet[1]);
+ data[1] = ((packet[4] << 8) | packet[5]);
+ data[2] = ((packet[8] << 8) | packet[9]);
+ data[3] = ((packet[12] << 8) | packet[13]);
return 0;
}
uint8_t MPU6050::dmpGetQuaternion(Quaternion *q, const uint8_t* packet) {
@@ -639,17 +600,25 @@
uint8_t MPU6050::dmpGetGyro(int32_t *data, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
if (packet == 0) packet = dmpPacketBuffer;
- data[0] = ((packet[16] << 24) + (packet[17] << 16) + (packet[18] << 8) + packet[19]);
- data[1] = ((packet[20] << 24) + (packet[21] << 16) + (packet[22] << 8) + packet[23]);
- data[2] = ((packet[24] << 24) + (packet[25] << 16) + (packet[26] << 8) + packet[27]);
+ data[0] = (((uint32_t)packet[16] << 24) | ((uint32_t)packet[17] << 16) | ((uint32_t)packet[18] << 8) | packet[19]);
+ data[1] = (((uint32_t)packet[20] << 24) | ((uint32_t)packet[21] << 16) | ((uint32_t)packet[22] << 8) | packet[23]);
+ data[2] = (((uint32_t)packet[24] << 24) | ((uint32_t)packet[25] << 16) | ((uint32_t)packet[26] << 8) | packet[27]);
return 0;
}
uint8_t MPU6050::dmpGetGyro(int16_t *data, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
if (packet == 0) packet = dmpPacketBuffer;
- data[0] = (packet[16] << 8) + packet[17];
- data[1] = (packet[20] << 8) + packet[21];
- data[2] = (packet[24] << 8) + packet[25];
+ data[0] = (packet[16] << 8) | packet[17];
+ data[1] = (packet[20] << 8) | packet[21];
+ data[2] = (packet[24] << 8) | packet[25];
+ return 0;
+}
+uint8_t MPU6050::dmpGetGyro(VectorInt16 *v, const uint8_t* packet) {
+ // TODO: accommodate different arrangements of sent data (ONLY default supported now)
+ if (packet == 0) packet = dmpPacketBuffer;
+ v -> x = (packet[16] << 8) | packet[17];
+ v -> y = (packet[20] << 8) | packet[21];
+ v -> z = (packet[24] << 8) | packet[25];
return 0;
}
// uint8_t MPU6050::dmpSetLinearAccelFilterCoefficient(float coef);
@@ -723,9 +692,9 @@
// process packet
if ((status = dmpProcessFIFOPacket(buf)) > 0) return status;
-
+
// increment external process count variable, if supplied
- if (processed != 0) *processed++;
+ if (processed != 0) (*processed)++;
}
return 0;
}