DISCO-F746NG_blink_led - Projet interfaçage

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anthony peltriaux / Mbed 2 deprecated DISCO-F746NG_blink_led

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MPU6050.cpp@1:eb044e6a9033, 2021-06-22 (annotated)

Committer:: anthonyp08
Date:: Tue Jun 22 12:04:16 2021 +0000
Revision:: 1:eb044e6a9033
Parent:: 0:1c6757f4b61c

projet

Who changed what in which revision?

User	Revision	Line number	New contents of line
anthonyp08	0:1c6757f4b61c	1	//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
anthonyp08	0:1c6757f4b61c	2	//written by szymon gaertig (email: szymon@gaertig.com.pl)
anthonyp08	0:1c6757f4b61c	3	//
anthonyp08	0:1c6757f4b61c	4	//Changelog:
anthonyp08	0:1c6757f4b61c	5	//2013-01-08 - first beta release
anthonyp08	0:1c6757f4b61c	6
anthonyp08	0:1c6757f4b61c	7	// I2Cdev library collection - MPU6050 I2C device class
anthonyp08	0:1c6757f4b61c	8	// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
anthonyp08	0:1c6757f4b61c	9	// 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
anthonyp08	0:1c6757f4b61c	10	// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
anthonyp08	0:1c6757f4b61c	11	//
anthonyp08	0:1c6757f4b61c	12	// Changelog:
anthonyp08	0:1c6757f4b61c	13	// ... - ongoing debug release
anthonyp08	0:1c6757f4b61c	14
anthonyp08	0:1c6757f4b61c	15	// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
anthonyp08	0:1c6757f4b61c	16	// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
anthonyp08	0:1c6757f4b61c	17	// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
anthonyp08	0:1c6757f4b61c	18
anthonyp08	0:1c6757f4b61c	19	/* ============================================
anthonyp08	0:1c6757f4b61c	20	I2Cdev device library code is placed under the MIT license
anthonyp08	0:1c6757f4b61c	21	Copyright (c) 2012 Jeff Rowberg
anthonyp08	0:1c6757f4b61c	22
anthonyp08	0:1c6757f4b61c	23	Permission is hereby granted, free of charge, to any person obtaining a copy
anthonyp08	0:1c6757f4b61c	24	of this software and associated documentation files (the "Software"), to deal
anthonyp08	0:1c6757f4b61c	25	in the Software without restriction, including without limitation the rights
anthonyp08	0:1c6757f4b61c	26	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
anthonyp08	0:1c6757f4b61c	27	copies of the Software, and to permit persons to whom the Software is
anthonyp08	0:1c6757f4b61c	28	furnished to do so, subject to the following conditions:
anthonyp08	0:1c6757f4b61c	29
anthonyp08	0:1c6757f4b61c	30	The above copyright notice and this permission notice shall be included in
anthonyp08	0:1c6757f4b61c	31	all copies or substantial portions of the Software.
anthonyp08	0:1c6757f4b61c	32
anthonyp08	0:1c6757f4b61c	33	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
anthonyp08	0:1c6757f4b61c	34	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
anthonyp08	0:1c6757f4b61c	35	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
anthonyp08	0:1c6757f4b61c	36	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
anthonyp08	0:1c6757f4b61c	37	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
anthonyp08	0:1c6757f4b61c	38	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
anthonyp08	0:1c6757f4b61c	39	THE SOFTWARE.
anthonyp08	0:1c6757f4b61c	40	===============================================
anthonyp08	0:1c6757f4b61c	41	*/
anthonyp08	0:1c6757f4b61c	42
anthonyp08	0:1c6757f4b61c	43	#include "MPU6050.h"
anthonyp08	0:1c6757f4b61c	44
anthonyp08	0:1c6757f4b61c	45	#define LOG(args...) // printf(args)
anthonyp08	0:1c6757f4b61c	46
anthonyp08	0:1c6757f4b61c	47	//instead of using pgmspace.h
anthonyp08	0:1c6757f4b61c	48	typedef const unsigned char prog_uchar;
anthonyp08	0:1c6757f4b61c	49	#define pgm_read_byte_near(x) ((prog_uchar)x)
anthonyp08	0:1c6757f4b61c	50	#define pgm_read_byte(x) ((prog_uchar)x)
anthonyp08	0:1c6757f4b61c	51
anthonyp08	0:1c6757f4b61c	52	/** Specific address constructor.
anthonyp08	0:1c6757f4b61c	53	* @param address I2C address
anthonyp08	0:1c6757f4b61c	54	* @see MPU6050_DEFAULT_ADDRESS
anthonyp08	0:1c6757f4b61c	55	* @see MPU6050_ADDRESS_AD0_LOW
anthonyp08	0:1c6757f4b61c	56	* @see MPU6050_ADDRESS_AD0_HIGH
anthonyp08	0:1c6757f4b61c	57	*/
anthonyp08	0:1c6757f4b61c	58	MPU6050::MPU6050(I2C &i2c, uint8_t address) : i2Cdev(i2c)
anthonyp08	0:1c6757f4b61c	59	{
anthonyp08	0:1c6757f4b61c	60	devAddr = address;
anthonyp08	0:1c6757f4b61c	61	}
anthonyp08	0:1c6757f4b61c	62
anthonyp08	0:1c6757f4b61c	63	/** Power on and prepare for general usage.
anthonyp08	0:1c6757f4b61c	64	* This will activate the device and take it out of sleep mode (which must be done
anthonyp08	0:1c6757f4b61c	65	* after start-up). This function also sets both the accelerometer and the gyroscope
anthonyp08	0:1c6757f4b61c	66	* to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
anthonyp08	0:1c6757f4b61c	67	* the clock source to use the X Gyro for reference, which is slightly better than
anthonyp08	0:1c6757f4b61c	68	* the default internal clock source.
anthonyp08	0:1c6757f4b61c	69	*/
anthonyp08	0:1c6757f4b61c	70	void MPU6050::initialize()
anthonyp08	0:1c6757f4b61c	71	{
anthonyp08	0:1c6757f4b61c	72	LOG("MPU6050::initialize start\n");
anthonyp08	0:1c6757f4b61c	73
anthonyp08	0:1c6757f4b61c	74	setClockSource(MPU6050_CLOCK_PLL_XGYRO);
anthonyp08	0:1c6757f4b61c	75	setFullScaleGyroRange(MPU6050_GYRO_FS_250);
anthonyp08	0:1c6757f4b61c	76	setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
anthonyp08	0:1c6757f4b61c	77	setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
anthonyp08	0:1c6757f4b61c	78
anthonyp08	0:1c6757f4b61c	79	LOG("MPU6050::initialize end\n");
anthonyp08	0:1c6757f4b61c	80	}
anthonyp08	0:1c6757f4b61c	81
anthonyp08	0:1c6757f4b61c	82	/** Verify the I2C connection.
anthonyp08	0:1c6757f4b61c	83	* Make sure the device is connected and responds as expected.
anthonyp08	0:1c6757f4b61c	84	* @return True if connection is valid, false otherwise
anthonyp08	0:1c6757f4b61c	85	*/
anthonyp08	0:1c6757f4b61c	86	bool MPU6050::testConnection()
anthonyp08	0:1c6757f4b61c	87	{
anthonyp08	0:1c6757f4b61c	88	LOG("MPU6050::testConnection start\n");
anthonyp08	0:1c6757f4b61c	89
anthonyp08	0:1c6757f4b61c	90	uint8_t deviceId = getDeviceID();
anthonyp08	0:1c6757f4b61c	91
anthonyp08	0:1c6757f4b61c	92	LOG("DeviceId = %d\n",deviceId);
anthonyp08	0:1c6757f4b61c	93
anthonyp08	0:1c6757f4b61c	94	return deviceId == 0x34;
anthonyp08	0:1c6757f4b61c	95	}
anthonyp08	0:1c6757f4b61c	96
anthonyp08	0:1c6757f4b61c	97	// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
anthonyp08	0:1c6757f4b61c	98
anthonyp08	0:1c6757f4b61c	99	/** Get the auxiliary I2C supply voltage level.
anthonyp08	0:1c6757f4b61c	100	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
anthonyp08	0:1c6757f4b61c	101	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
anthonyp08	0:1c6757f4b61c	102	* the MPU-6000, which does not have a VLOGIC pin.
anthonyp08	0:1c6757f4b61c	103	* @return I2C supply voltage level (0=VLOGIC, 1=VDD)
anthonyp08	0:1c6757f4b61c	104	*/
anthonyp08	0:1c6757f4b61c	105	uint8_t MPU6050::getAuxVDDIOLevel()
anthonyp08	0:1c6757f4b61c	106	{
anthonyp08	0:1c6757f4b61c	107	i2Cdev.readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
anthonyp08	0:1c6757f4b61c	108	return buffer[0];
anthonyp08	0:1c6757f4b61c	109	}
anthonyp08	0:1c6757f4b61c	110	/** Set the auxiliary I2C supply voltage level.
anthonyp08	0:1c6757f4b61c	111	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
anthonyp08	0:1c6757f4b61c	112	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
anthonyp08	0:1c6757f4b61c	113	* the MPU-6000, which does not have a VLOGIC pin.
anthonyp08	0:1c6757f4b61c	114	* @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
anthonyp08	0:1c6757f4b61c	115	*/
anthonyp08	0:1c6757f4b61c	116	void MPU6050::setAuxVDDIOLevel(uint8_t level)
anthonyp08	0:1c6757f4b61c	117	{
anthonyp08	0:1c6757f4b61c	118	i2Cdev.writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
anthonyp08	0:1c6757f4b61c	119	}
anthonyp08	0:1c6757f4b61c	120
anthonyp08	0:1c6757f4b61c	121	// SMPLRT_DIV register
anthonyp08	0:1c6757f4b61c	122
anthonyp08	0:1c6757f4b61c	123	/** Get gyroscope output rate divider.
anthonyp08	0:1c6757f4b61c	124	* The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
anthonyp08	0:1c6757f4b61c	125	* Motion detection, and Free Fall detection are all based on the Sample Rate.
anthonyp08	0:1c6757f4b61c	126	* The Sample Rate is generated by dividing the gyroscope output rate by
anthonyp08	0:1c6757f4b61c	127	* SMPLRT_DIV:
anthonyp08	0:1c6757f4b61c	128	*
anthonyp08	0:1c6757f4b61c	129	* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
anthonyp08	0:1c6757f4b61c	130	*
anthonyp08	0:1c6757f4b61c	131	* where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
anthonyp08	0:1c6757f4b61c	132	* 7), and 1kHz when the DLPF is enabled (see Register 26).
anthonyp08	0:1c6757f4b61c	133	*
anthonyp08	0:1c6757f4b61c	134	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
anthonyp08	0:1c6757f4b61c	135	* Rate greater than 1kHz, the same accelerometer sample may be output to the
anthonyp08	0:1c6757f4b61c	136	* FIFO, DMP, and sensor registers more than once.
anthonyp08	0:1c6757f4b61c	137	*
anthonyp08	0:1c6757f4b61c	138	* For a diagram of the gyroscope and accelerometer signal paths, see Section 8
anthonyp08	0:1c6757f4b61c	139	* of the MPU-6000/MPU-6050 Product Specification document.
anthonyp08	0:1c6757f4b61c	140	*
anthonyp08	0:1c6757f4b61c	141	* @return Current sample rate
anthonyp08	0:1c6757f4b61c	142	* @see MPU6050_RA_SMPLRT_DIV
anthonyp08	0:1c6757f4b61c	143	*/
anthonyp08	0:1c6757f4b61c	144	uint8_t MPU6050::getRate()
anthonyp08	0:1c6757f4b61c	145	{
anthonyp08	0:1c6757f4b61c	146	i2Cdev.readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
anthonyp08	0:1c6757f4b61c	147	return buffer[0];
anthonyp08	0:1c6757f4b61c	148	}
anthonyp08	0:1c6757f4b61c	149	/** Set gyroscope sample rate divider.
anthonyp08	0:1c6757f4b61c	150	* @param rate New sample rate divider
anthonyp08	0:1c6757f4b61c	151	* @see getRate()
anthonyp08	0:1c6757f4b61c	152	* @see MPU6050_RA_SMPLRT_DIV
anthonyp08	0:1c6757f4b61c	153	*/
anthonyp08	0:1c6757f4b61c	154	void MPU6050::setRate(uint8_t rate)
anthonyp08	0:1c6757f4b61c	155	{
anthonyp08	0:1c6757f4b61c	156	i2Cdev.writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
anthonyp08	0:1c6757f4b61c	157	}
anthonyp08	0:1c6757f4b61c	158
anthonyp08	0:1c6757f4b61c	159	// CONFIG register
anthonyp08	0:1c6757f4b61c	160
anthonyp08	0:1c6757f4b61c	161	/** Get external FSYNC configuration.
anthonyp08	0:1c6757f4b61c	162	* Configures the external Frame Synchronization (FSYNC) pin sampling. An
anthonyp08	0:1c6757f4b61c	163	* external signal connected to the FSYNC pin can be sampled by configuring
anthonyp08	0:1c6757f4b61c	164	* EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
anthonyp08	0:1c6757f4b61c	165	* strobes may be captured. The latched FSYNC signal will be sampled at the
anthonyp08	0:1c6757f4b61c	166	* Sampling Rate, as defined in register 25. After sampling, the latch will
anthonyp08	0:1c6757f4b61c	167	* reset to the current FSYNC signal state.
anthonyp08	0:1c6757f4b61c	168	*
anthonyp08	0:1c6757f4b61c	169	* The sampled value will be reported in place of the least significant bit in
anthonyp08	0:1c6757f4b61c	170	* a sensor data register determined by the value of EXT_SYNC_SET according to
anthonyp08	0:1c6757f4b61c	171	* the following table.
anthonyp08	0:1c6757f4b61c	172	*
anthonyp08	0:1c6757f4b61c	173	* <pre>
anthonyp08	0:1c6757f4b61c	174	* EXT_SYNC_SET \| FSYNC Bit Location
anthonyp08	0:1c6757f4b61c	175	* -------------+-------------------
anthonyp08	0:1c6757f4b61c	176	* 0 \| Input disabled
anthonyp08	0:1c6757f4b61c	177	* 1 \| TEMP_OUT_L[0]
anthonyp08	0:1c6757f4b61c	178	* 2 \| GYRO_XOUT_L[0]
anthonyp08	0:1c6757f4b61c	179	* 3 \| GYRO_YOUT_L[0]
anthonyp08	0:1c6757f4b61c	180	* 4 \| GYRO_ZOUT_L[0]
anthonyp08	0:1c6757f4b61c	181	* 5 \| ACCEL_XOUT_L[0]
anthonyp08	0:1c6757f4b61c	182	* 6 \| ACCEL_YOUT_L[0]
anthonyp08	0:1c6757f4b61c	183	* 7 \| ACCEL_ZOUT_L[0]
anthonyp08	0:1c6757f4b61c	184	* </pre>
anthonyp08	0:1c6757f4b61c	185	*
anthonyp08	0:1c6757f4b61c	186	* @return FSYNC configuration value
anthonyp08	0:1c6757f4b61c	187	*/
anthonyp08	0:1c6757f4b61c	188	uint8_t MPU6050::getExternalFrameSync()
anthonyp08	0:1c6757f4b61c	189	{
anthonyp08	0:1c6757f4b61c	190	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
anthonyp08	0:1c6757f4b61c	191	return buffer[0];
anthonyp08	0:1c6757f4b61c	192	}
anthonyp08	0:1c6757f4b61c	193	/** Set external FSYNC configuration.
anthonyp08	0:1c6757f4b61c	194	* @see getExternalFrameSync()
anthonyp08	0:1c6757f4b61c	195	* @see MPU6050_RA_CONFIG
anthonyp08	0:1c6757f4b61c	196	* @param sync New FSYNC configuration value
anthonyp08	0:1c6757f4b61c	197	*/
anthonyp08	0:1c6757f4b61c	198	void MPU6050::setExternalFrameSync(uint8_t sync)
anthonyp08	0:1c6757f4b61c	199	{
anthonyp08	0:1c6757f4b61c	200	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
anthonyp08	0:1c6757f4b61c	201	}
anthonyp08	0:1c6757f4b61c	202	/** Get digital low-pass filter configuration.
anthonyp08	0:1c6757f4b61c	203	* The DLPF_CFG parameter sets the digital low pass filter configuration. It
anthonyp08	0:1c6757f4b61c	204	* also determines the internal sampling rate used by the device as shown in
anthonyp08	0:1c6757f4b61c	205	* the table below.
anthonyp08	0:1c6757f4b61c	206	*
anthonyp08	0:1c6757f4b61c	207	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
anthonyp08	0:1c6757f4b61c	208	* Rate greater than 1kHz, the same accelerometer sample may be output to the
anthonyp08	0:1c6757f4b61c	209	* FIFO, DMP, and sensor registers more than once.
anthonyp08	0:1c6757f4b61c	210	*
anthonyp08	0:1c6757f4b61c	211	* <pre>
anthonyp08	0:1c6757f4b61c	212	* \| ACCELEROMETER \| GYROSCOPE
anthonyp08	0:1c6757f4b61c	213	* DLPF_CFG \| Bandwidth \| Delay \| Bandwidth \| Delay \| Sample Rate
anthonyp08	0:1c6757f4b61c	214	* ---------+-----------+--------+-----------+--------+-------------
anthonyp08	0:1c6757f4b61c	215	* 0 \| 260Hz \| 0ms \| 256Hz \| 0.98ms \| 8kHz
anthonyp08	0:1c6757f4b61c	216	* 1 \| 184Hz \| 2.0ms \| 188Hz \| 1.9ms \| 1kHz
anthonyp08	0:1c6757f4b61c	217	* 2 \| 94Hz \| 3.0ms \| 98Hz \| 2.8ms \| 1kHz
anthonyp08	0:1c6757f4b61c	218	* 3 \| 44Hz \| 4.9ms \| 42Hz \| 4.8ms \| 1kHz
anthonyp08	0:1c6757f4b61c	219	* 4 \| 21Hz \| 8.5ms \| 20Hz \| 8.3ms \| 1kHz
anthonyp08	0:1c6757f4b61c	220	* 5 \| 10Hz \| 13.8ms \| 10Hz \| 13.4ms \| 1kHz
anthonyp08	0:1c6757f4b61c	221	* 6 \| 5Hz \| 19.0ms \| 5Hz \| 18.6ms \| 1kHz
anthonyp08	0:1c6757f4b61c	222	* 7 \| -- Reserved -- \| -- Reserved -- \| Reserved
anthonyp08	0:1c6757f4b61c	223	* </pre>
anthonyp08	0:1c6757f4b61c	224	*
anthonyp08	0:1c6757f4b61c	225	* @return DLFP configuration
anthonyp08	0:1c6757f4b61c	226	* @see MPU6050_RA_CONFIG
anthonyp08	0:1c6757f4b61c	227	* @see MPU6050_CFG_DLPF_CFG_BIT
anthonyp08	0:1c6757f4b61c	228	* @see MPU6050_CFG_DLPF_CFG_LENGTH
anthonyp08	0:1c6757f4b61c	229	*/
anthonyp08	0:1c6757f4b61c	230	uint8_t MPU6050::getDLPFMode()
anthonyp08	0:1c6757f4b61c	231	{
anthonyp08	0:1c6757f4b61c	232	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
anthonyp08	0:1c6757f4b61c	233	return buffer[0];
anthonyp08	0:1c6757f4b61c	234	}
anthonyp08	0:1c6757f4b61c	235	/** Set digital low-pass filter configuration.
anthonyp08	0:1c6757f4b61c	236	* @param mode New DLFP configuration setting
anthonyp08	0:1c6757f4b61c	237	* @see getDLPFBandwidth()
anthonyp08	0:1c6757f4b61c	238	* @see MPU6050_DLPF_BW_256
anthonyp08	0:1c6757f4b61c	239	* @see MPU6050_RA_CONFIG
anthonyp08	0:1c6757f4b61c	240	* @see MPU6050_CFG_DLPF_CFG_BIT
anthonyp08	0:1c6757f4b61c	241	* @see MPU6050_CFG_DLPF_CFG_LENGTH
anthonyp08	0:1c6757f4b61c	242	*/
anthonyp08	0:1c6757f4b61c	243	void MPU6050::setDLPFMode(uint8_t mode)
anthonyp08	0:1c6757f4b61c	244	{
anthonyp08	0:1c6757f4b61c	245	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
anthonyp08	0:1c6757f4b61c	246	}
anthonyp08	0:1c6757f4b61c	247
anthonyp08	0:1c6757f4b61c	248	// GYRO_CONFIG register
anthonyp08	0:1c6757f4b61c	249
anthonyp08	0:1c6757f4b61c	250	/** Get full-scale gyroscope range.
anthonyp08	0:1c6757f4b61c	251	* The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
anthonyp08	0:1c6757f4b61c	252	* as described in the table below.
anthonyp08	0:1c6757f4b61c	253	*
anthonyp08	0:1c6757f4b61c	254	* <pre>
anthonyp08	0:1c6757f4b61c	255	* 0 = +/- 250 degrees/sec
anthonyp08	0:1c6757f4b61c	256	* 1 = +/- 500 degrees/sec
anthonyp08	0:1c6757f4b61c	257	* 2 = +/- 1000 degrees/sec
anthonyp08	0:1c6757f4b61c	258	* 3 = +/- 2000 degrees/sec
anthonyp08	0:1c6757f4b61c	259	* </pre>
anthonyp08	0:1c6757f4b61c	260	*
anthonyp08	0:1c6757f4b61c	261	* @return Current full-scale gyroscope range setting
anthonyp08	0:1c6757f4b61c	262	* @see MPU6050_GYRO_FS_250
anthonyp08	0:1c6757f4b61c	263	* @see MPU6050_RA_GYRO_CONFIG
anthonyp08	0:1c6757f4b61c	264	* @see MPU6050_GCONFIG_FS_SEL_BIT
anthonyp08	0:1c6757f4b61c	265	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
anthonyp08	0:1c6757f4b61c	266	*/
anthonyp08	0:1c6757f4b61c	267	uint8_t MPU6050::getFullScaleGyroRange()
anthonyp08	0:1c6757f4b61c	268	{
anthonyp08	0:1c6757f4b61c	269	i2Cdev.readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
anthonyp08	0:1c6757f4b61c	270	return buffer[0];
anthonyp08	0:1c6757f4b61c	271	}
anthonyp08	0:1c6757f4b61c	272	/** Set full-scale gyroscope range.
anthonyp08	0:1c6757f4b61c	273	* @param range New full-scale gyroscope range value
anthonyp08	0:1c6757f4b61c	274	* @see getFullScaleRange()
anthonyp08	0:1c6757f4b61c	275	* @see MPU6050_GYRO_FS_250
anthonyp08	0:1c6757f4b61c	276	* @see MPU6050_RA_GYRO_CONFIG
anthonyp08	0:1c6757f4b61c	277	* @see MPU6050_GCONFIG_FS_SEL_BIT
anthonyp08	0:1c6757f4b61c	278	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
anthonyp08	0:1c6757f4b61c	279	*/
anthonyp08	0:1c6757f4b61c	280	void MPU6050::setFullScaleGyroRange(uint8_t range)
anthonyp08	0:1c6757f4b61c	281	{
anthonyp08	0:1c6757f4b61c	282	i2Cdev.writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
anthonyp08	0:1c6757f4b61c	283	}
anthonyp08	0:1c6757f4b61c	284
anthonyp08	0:1c6757f4b61c	285	// ACCEL_CONFIG register
anthonyp08	0:1c6757f4b61c	286
anthonyp08	0:1c6757f4b61c	287	/** Get self-test enabled setting for accelerometer X axis.
anthonyp08	0:1c6757f4b61c	288	* @return Self-test enabled value
anthonyp08	0:1c6757f4b61c	289	* @see MPU6050_RA_ACCEL_CONFIG
anthonyp08	0:1c6757f4b61c	290	*/
anthonyp08	0:1c6757f4b61c	291	bool MPU6050::getAccelXSelfTest()
anthonyp08	0:1c6757f4b61c	292	{
anthonyp08	0:1c6757f4b61c	293	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
anthonyp08	0:1c6757f4b61c	294	return buffer[0];
anthonyp08	0:1c6757f4b61c	295	}
anthonyp08	0:1c6757f4b61c	296	/** Get self-test enabled setting for accelerometer X axis.
anthonyp08	0:1c6757f4b61c	297	* @param enabled Self-test enabled value
anthonyp08	0:1c6757f4b61c	298	* @see MPU6050_RA_ACCEL_CONFIG
anthonyp08	0:1c6757f4b61c	299	*/
anthonyp08	0:1c6757f4b61c	300	void MPU6050::setAccelXSelfTest(bool enabled)
anthonyp08	0:1c6757f4b61c	301	{
anthonyp08	0:1c6757f4b61c	302	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
anthonyp08	0:1c6757f4b61c	303	}
anthonyp08	0:1c6757f4b61c	304	/** Get self-test enabled value for accelerometer Y axis.
anthonyp08	0:1c6757f4b61c	305	* @return Self-test enabled value
anthonyp08	0:1c6757f4b61c	306	* @see MPU6050_RA_ACCEL_CONFIG
anthonyp08	0:1c6757f4b61c	307	*/
anthonyp08	0:1c6757f4b61c	308	bool MPU6050::getAccelYSelfTest()
anthonyp08	0:1c6757f4b61c	309	{
anthonyp08	0:1c6757f4b61c	310	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
anthonyp08	0:1c6757f4b61c	311	return buffer[0];
anthonyp08	0:1c6757f4b61c	312	}
anthonyp08	0:1c6757f4b61c	313	/** Get self-test enabled value for accelerometer Y axis.
anthonyp08	0:1c6757f4b61c	314	* @param enabled Self-test enabled value
anthonyp08	0:1c6757f4b61c	315	* @see MPU6050_RA_ACCEL_CONFIG
anthonyp08	0:1c6757f4b61c	316	*/
anthonyp08	0:1c6757f4b61c	317	void MPU6050::setAccelYSelfTest(bool enabled)
anthonyp08	0:1c6757f4b61c	318	{
anthonyp08	0:1c6757f4b61c	319	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
anthonyp08	0:1c6757f4b61c	320	}
anthonyp08	0:1c6757f4b61c	321	/** Get self-test enabled value for accelerometer Z axis.
anthonyp08	0:1c6757f4b61c	322	* @return Self-test enabled value
anthonyp08	0:1c6757f4b61c	323	* @see MPU6050_RA_ACCEL_CONFIG
anthonyp08	0:1c6757f4b61c	324	*/
anthonyp08	0:1c6757f4b61c	325	bool MPU6050::getAccelZSelfTest()
anthonyp08	0:1c6757f4b61c	326	{
anthonyp08	0:1c6757f4b61c	327	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
anthonyp08	0:1c6757f4b61c	328	return buffer[0];
anthonyp08	0:1c6757f4b61c	329	}
anthonyp08	0:1c6757f4b61c	330	/** Set self-test enabled value for accelerometer Z axis.
anthonyp08	0:1c6757f4b61c	331	* @param enabled Self-test enabled value
anthonyp08	0:1c6757f4b61c	332	* @see MPU6050_RA_ACCEL_CONFIG
anthonyp08	0:1c6757f4b61c	333	*/
anthonyp08	0:1c6757f4b61c	334	void MPU6050::setAccelZSelfTest(bool enabled)
anthonyp08	0:1c6757f4b61c	335	{
anthonyp08	0:1c6757f4b61c	336	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
anthonyp08	0:1c6757f4b61c	337	}
anthonyp08	0:1c6757f4b61c	338	/** Get full-scale accelerometer range.
anthonyp08	0:1c6757f4b61c	339	* The FS_SEL parameter allows setting the full-scale range of the accelerometer
anthonyp08	0:1c6757f4b61c	340	* sensors, as described in the table below.
anthonyp08	0:1c6757f4b61c	341	*
anthonyp08	0:1c6757f4b61c	342	* <pre>
anthonyp08	0:1c6757f4b61c	343	* 0 = +/- 2g
anthonyp08	0:1c6757f4b61c	344	* 1 = +/- 4g
anthonyp08	0:1c6757f4b61c	345	* 2 = +/- 8g
anthonyp08	0:1c6757f4b61c	346	* 3 = +/- 16g
anthonyp08	0:1c6757f4b61c	347	* </pre>
anthonyp08	0:1c6757f4b61c	348	*
anthonyp08	0:1c6757f4b61c	349	* @return Current full-scale accelerometer range setting
anthonyp08	0:1c6757f4b61c	350	* @see MPU6050_ACCEL_FS_2
anthonyp08	0:1c6757f4b61c	351	* @see MPU6050_RA_ACCEL_CONFIG
anthonyp08	0:1c6757f4b61c	352	* @see MPU6050_ACONFIG_AFS_SEL_BIT
anthonyp08	0:1c6757f4b61c	353	* @see MPU6050_ACONFIG_AFS_SEL_LENGTH
anthonyp08	0:1c6757f4b61c	354	*/
anthonyp08	0:1c6757f4b61c	355	uint8_t MPU6050::getFullScaleAccelRange()
anthonyp08	0:1c6757f4b61c	356	{
anthonyp08	0:1c6757f4b61c	357	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
anthonyp08	0:1c6757f4b61c	358	return buffer[0];
anthonyp08	0:1c6757f4b61c	359	}
anthonyp08	0:1c6757f4b61c	360	/** Set full-scale accelerometer range.
anthonyp08	0:1c6757f4b61c	361	* @param range New full-scale accelerometer range setting
anthonyp08	0:1c6757f4b61c	362	* @see getFullScaleAccelRange()
anthonyp08	0:1c6757f4b61c	363	*/
anthonyp08	0:1c6757f4b61c	364	void MPU6050::setFullScaleAccelRange(uint8_t range)
anthonyp08	0:1c6757f4b61c	365	{
anthonyp08	0:1c6757f4b61c	366	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
anthonyp08	0:1c6757f4b61c	367	}
anthonyp08	0:1c6757f4b61c	368	/** Get the high-pass filter configuration.
anthonyp08	0:1c6757f4b61c	369	* The DHPF is a filter module in the path leading to motion detectors (Free
anthonyp08	0:1c6757f4b61c	370	* Fall, Motion threshold, and Zero Motion). The high pass filter output is not
anthonyp08	0:1c6757f4b61c	371	* available to the data registers (see Figure in Section 8 of the MPU-6000/
anthonyp08	0:1c6757f4b61c	372	* MPU-6050 Product Specification document).
anthonyp08	0:1c6757f4b61c	373	*
anthonyp08	0:1c6757f4b61c	374	* The high pass filter has three modes:
anthonyp08	0:1c6757f4b61c	375	*
anthonyp08	0:1c6757f4b61c	376	* <pre>
anthonyp08	0:1c6757f4b61c	377	* Reset: The filter output settles to zero within one sample. This
anthonyp08	0:1c6757f4b61c	378	* effectively disables the high pass filter. This mode may be toggled
anthonyp08	0:1c6757f4b61c	379	* to quickly settle the filter.
anthonyp08	0:1c6757f4b61c	380	*
anthonyp08	0:1c6757f4b61c	381	* On: The high pass filter will pass signals above the cut off frequency.
anthonyp08	0:1c6757f4b61c	382	*
anthonyp08	0:1c6757f4b61c	383	* Hold: When triggered, the filter holds the present sample. The filter
anthonyp08	0:1c6757f4b61c	384	* output will be the difference between the input sample and the held
anthonyp08	0:1c6757f4b61c	385	* sample.
anthonyp08	0:1c6757f4b61c	386	* </pre>
anthonyp08	0:1c6757f4b61c	387	*
anthonyp08	0:1c6757f4b61c	388	* <pre>
anthonyp08	0:1c6757f4b61c	389	* ACCEL_HPF \| Filter Mode \| Cut-off Frequency
anthonyp08	0:1c6757f4b61c	390	* ----------+-------------+------------------
anthonyp08	0:1c6757f4b61c	391	* 0 \| Reset \| None
anthonyp08	0:1c6757f4b61c	392	* 1 \| On \| 5Hz
anthonyp08	0:1c6757f4b61c	393	* 2 \| On \| 2.5Hz
anthonyp08	0:1c6757f4b61c	394	* 3 \| On \| 1.25Hz
anthonyp08	0:1c6757f4b61c	395	* 4 \| On \| 0.63Hz
anthonyp08	0:1c6757f4b61c	396	* 7 \| Hold \| None
anthonyp08	0:1c6757f4b61c	397	* </pre>
anthonyp08	0:1c6757f4b61c	398	*
anthonyp08	0:1c6757f4b61c	399	* @return Current high-pass filter configuration
anthonyp08	0:1c6757f4b61c	400	* @see MPU6050_DHPF_RESET
anthonyp08	0:1c6757f4b61c	401	* @see MPU6050_RA_ACCEL_CONFIG
anthonyp08	0:1c6757f4b61c	402	*/
anthonyp08	0:1c6757f4b61c	403	uint8_t MPU6050::getDHPFMode()
anthonyp08	0:1c6757f4b61c	404	{
anthonyp08	0:1c6757f4b61c	405	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
anthonyp08	0:1c6757f4b61c	406	return buffer[0];
anthonyp08	0:1c6757f4b61c	407	}
anthonyp08	0:1c6757f4b61c	408	/** Set the high-pass filter configuration.
anthonyp08	0:1c6757f4b61c	409	* @param bandwidth New high-pass filter configuration
anthonyp08	0:1c6757f4b61c	410	* @see setDHPFMode()
anthonyp08	0:1c6757f4b61c	411	* @see MPU6050_DHPF_RESET
anthonyp08	0:1c6757f4b61c	412	* @see MPU6050_RA_ACCEL_CONFIG
anthonyp08	0:1c6757f4b61c	413	*/
anthonyp08	0:1c6757f4b61c	414	void MPU6050::setDHPFMode(uint8_t bandwidth)
anthonyp08	0:1c6757f4b61c	415	{
anthonyp08	0:1c6757f4b61c	416	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
anthonyp08	0:1c6757f4b61c	417	}
anthonyp08	0:1c6757f4b61c	418
anthonyp08	0:1c6757f4b61c	419	// FF_THR register
anthonyp08	0:1c6757f4b61c	420
anthonyp08	0:1c6757f4b61c	421	/** Get free-fall event acceleration threshold.
anthonyp08	0:1c6757f4b61c	422	* This register configures the detection threshold for Free Fall event
anthonyp08	0:1c6757f4b61c	423	* detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
anthonyp08	0:1c6757f4b61c	424	* absolute value of the accelerometer measurements for the three axes are each
anthonyp08	0:1c6757f4b61c	425	* less than the detection threshold. This condition increments the Free Fall
anthonyp08	0:1c6757f4b61c	426	* duration counter (Register 30). The Free Fall interrupt is triggered when the
anthonyp08	0:1c6757f4b61c	427	* Free Fall duration counter reaches the time specified in FF_DUR.
anthonyp08	0:1c6757f4b61c	428	*
anthonyp08	0:1c6757f4b61c	429	* For more details on the Free Fall detection interrupt, see Section 8.2 of the
anthonyp08	0:1c6757f4b61c	430	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
anthonyp08	0:1c6757f4b61c	431	* 58 of this document.
anthonyp08	0:1c6757f4b61c	432	*
anthonyp08	0:1c6757f4b61c	433	* @return Current free-fall acceleration threshold value (LSB = 2mg)
anthonyp08	0:1c6757f4b61c	434	* @see MPU6050_RA_FF_THR
anthonyp08	0:1c6757f4b61c	435	*/
anthonyp08	0:1c6757f4b61c	436	uint8_t MPU6050::getFreefallDetectionThreshold()
anthonyp08	0:1c6757f4b61c	437	{
anthonyp08	0:1c6757f4b61c	438	i2Cdev.readByte(devAddr, MPU6050_RA_FF_THR, buffer);
anthonyp08	0:1c6757f4b61c	439	return buffer[0];
anthonyp08	0:1c6757f4b61c	440	}
anthonyp08	0:1c6757f4b61c	441	/** Get free-fall event acceleration threshold.
anthonyp08	0:1c6757f4b61c	442	* @param threshold New free-fall acceleration threshold value (LSB = 2mg)
anthonyp08	0:1c6757f4b61c	443	* @see getFreefallDetectionThreshold()
anthonyp08	0:1c6757f4b61c	444	* @see MPU6050_RA_FF_THR
anthonyp08	0:1c6757f4b61c	445	*/
anthonyp08	0:1c6757f4b61c	446	void MPU6050::setFreefallDetectionThreshold(uint8_t threshold)
anthonyp08	0:1c6757f4b61c	447	{
anthonyp08	0:1c6757f4b61c	448	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
anthonyp08	0:1c6757f4b61c	449	}
anthonyp08	0:1c6757f4b61c	450
anthonyp08	0:1c6757f4b61c	451	// FF_DUR register
anthonyp08	0:1c6757f4b61c	452
anthonyp08	0:1c6757f4b61c	453	/** Get free-fall event duration threshold.
anthonyp08	0:1c6757f4b61c	454	* This register configures the duration counter threshold for Free Fall event
anthonyp08	0:1c6757f4b61c	455	* detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
anthonyp08	0:1c6757f4b61c	456	* of 1 LSB = 1 ms.
anthonyp08	0:1c6757f4b61c	457	*
anthonyp08	0:1c6757f4b61c	458	* The Free Fall duration counter increments while the absolute value of the
anthonyp08	0:1c6757f4b61c	459	* accelerometer measurements are each less than the detection threshold
anthonyp08	0:1c6757f4b61c	460	* (Register 29). The Free Fall interrupt is triggered when the Free Fall
anthonyp08	0:1c6757f4b61c	461	* duration counter reaches the time specified in this register.
anthonyp08	0:1c6757f4b61c	462	*
anthonyp08	0:1c6757f4b61c	463	* For more details on the Free Fall detection interrupt, see Section 8.2 of
anthonyp08	0:1c6757f4b61c	464	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
anthonyp08	0:1c6757f4b61c	465	* and 58 of this document.
anthonyp08	0:1c6757f4b61c	466	*
anthonyp08	0:1c6757f4b61c	467	* @return Current free-fall duration threshold value (LSB = 1ms)
anthonyp08	0:1c6757f4b61c	468	* @see MPU6050_RA_FF_DUR
anthonyp08	0:1c6757f4b61c	469	*/
anthonyp08	0:1c6757f4b61c	470	uint8_t MPU6050::getFreefallDetectionDuration()
anthonyp08	0:1c6757f4b61c	471	{
anthonyp08	0:1c6757f4b61c	472	i2Cdev.readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
anthonyp08	0:1c6757f4b61c	473	return buffer[0];
anthonyp08	0:1c6757f4b61c	474	}
anthonyp08	0:1c6757f4b61c	475	/** Get free-fall event duration threshold.
anthonyp08	0:1c6757f4b61c	476	* @param duration New free-fall duration threshold value (LSB = 1ms)
anthonyp08	0:1c6757f4b61c	477	* @see getFreefallDetectionDuration()
anthonyp08	0:1c6757f4b61c	478	* @see MPU6050_RA_FF_DUR
anthonyp08	0:1c6757f4b61c	479	*/
anthonyp08	0:1c6757f4b61c	480	void MPU6050::setFreefallDetectionDuration(uint8_t duration)
anthonyp08	0:1c6757f4b61c	481	{
anthonyp08	0:1c6757f4b61c	482	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
anthonyp08	0:1c6757f4b61c	483	}
anthonyp08	0:1c6757f4b61c	484
anthonyp08	0:1c6757f4b61c	485	// MOT_THR register
anthonyp08	0:1c6757f4b61c	486
anthonyp08	0:1c6757f4b61c	487	/** Get motion detection event acceleration threshold.
anthonyp08	0:1c6757f4b61c	488	* This register configures the detection threshold for Motion interrupt
anthonyp08	0:1c6757f4b61c	489	* generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
anthonyp08	0:1c6757f4b61c	490	* absolute value of any of the accelerometer measurements exceeds this Motion
anthonyp08	0:1c6757f4b61c	491	* detection threshold. This condition increments the Motion detection duration
anthonyp08	0:1c6757f4b61c	492	* counter (Register 32). The Motion detection interrupt is triggered when the
anthonyp08	0:1c6757f4b61c	493	* Motion Detection counter reaches the time count specified in MOT_DUR
anthonyp08	0:1c6757f4b61c	494	* (Register 32).
anthonyp08	0:1c6757f4b61c	495	*
anthonyp08	0:1c6757f4b61c	496	* The Motion interrupt will indicate the axis and polarity of detected motion
anthonyp08	0:1c6757f4b61c	497	* in MOT_DETECT_STATUS (Register 97).
anthonyp08	0:1c6757f4b61c	498	*
anthonyp08	0:1c6757f4b61c	499	* For more details on the Motion detection interrupt, see Section 8.3 of the
anthonyp08	0:1c6757f4b61c	500	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
anthonyp08	0:1c6757f4b61c	501	* 58 of this document.
anthonyp08	0:1c6757f4b61c	502	*
anthonyp08	0:1c6757f4b61c	503	* @return Current motion detection acceleration threshold value (LSB = 2mg)
anthonyp08	0:1c6757f4b61c	504	* @see MPU6050_RA_MOT_THR
anthonyp08	0:1c6757f4b61c	505	*/
anthonyp08	0:1c6757f4b61c	506	uint8_t MPU6050::getMotionDetectionThreshold()
anthonyp08	0:1c6757f4b61c	507	{
anthonyp08	0:1c6757f4b61c	508	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
anthonyp08	0:1c6757f4b61c	509	return buffer[0];
anthonyp08	0:1c6757f4b61c	510	}
anthonyp08	0:1c6757f4b61c	511	/** Set free-fall event acceleration threshold.
anthonyp08	0:1c6757f4b61c	512	* @param threshold New motion detection acceleration threshold value (LSB = 2mg)
anthonyp08	0:1c6757f4b61c	513	* @see getMotionDetectionThreshold()
anthonyp08	0:1c6757f4b61c	514	* @see MPU6050_RA_MOT_THR
anthonyp08	0:1c6757f4b61c	515	*/
anthonyp08	0:1c6757f4b61c	516	void MPU6050::setMotionDetectionThreshold(uint8_t threshold)
anthonyp08	0:1c6757f4b61c	517	{
anthonyp08	0:1c6757f4b61c	518	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
anthonyp08	0:1c6757f4b61c	519	}
anthonyp08	0:1c6757f4b61c	520
anthonyp08	0:1c6757f4b61c	521	// MOT_DUR register
anthonyp08	0:1c6757f4b61c	522
anthonyp08	0:1c6757f4b61c	523	/** Get motion detection event duration threshold.
anthonyp08	0:1c6757f4b61c	524	* This register configures the duration counter threshold for Motion interrupt
anthonyp08	0:1c6757f4b61c	525	* generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
anthonyp08	0:1c6757f4b61c	526	* of 1LSB = 1ms. The Motion detection duration counter increments when the
anthonyp08	0:1c6757f4b61c	527	* absolute value of any of the accelerometer measurements exceeds the Motion
anthonyp08	0:1c6757f4b61c	528	* detection threshold (Register 31). The Motion detection interrupt is
anthonyp08	0:1c6757f4b61c	529	* triggered when the Motion detection counter reaches the time count specified
anthonyp08	0:1c6757f4b61c	530	* in this register.
anthonyp08	0:1c6757f4b61c	531	*
anthonyp08	0:1c6757f4b61c	532	* For more details on the Motion detection interrupt, see Section 8.3 of the
anthonyp08	0:1c6757f4b61c	533	* MPU-6000/MPU-6050 Product Specification document.
anthonyp08	0:1c6757f4b61c	534	*
anthonyp08	0:1c6757f4b61c	535	* @return Current motion detection duration threshold value (LSB = 1ms)
anthonyp08	0:1c6757f4b61c	536	* @see MPU6050_RA_MOT_DUR
anthonyp08	0:1c6757f4b61c	537	*/
anthonyp08	0:1c6757f4b61c	538	uint8_t MPU6050::getMotionDetectionDuration()
anthonyp08	0:1c6757f4b61c	539	{
anthonyp08	0:1c6757f4b61c	540	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
anthonyp08	0:1c6757f4b61c	541	return buffer[0];
anthonyp08	0:1c6757f4b61c	542	}
anthonyp08	0:1c6757f4b61c	543	/** Set motion detection event duration threshold.
anthonyp08	0:1c6757f4b61c	544	* @param duration New motion detection duration threshold value (LSB = 1ms)
anthonyp08	0:1c6757f4b61c	545	* @see getMotionDetectionDuration()
anthonyp08	0:1c6757f4b61c	546	* @see MPU6050_RA_MOT_DUR
anthonyp08	0:1c6757f4b61c	547	*/
anthonyp08	0:1c6757f4b61c	548	void MPU6050::setMotionDetectionDuration(uint8_t duration)
anthonyp08	0:1c6757f4b61c	549	{
anthonyp08	0:1c6757f4b61c	550	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
anthonyp08	0:1c6757f4b61c	551	}
anthonyp08	0:1c6757f4b61c	552
anthonyp08	0:1c6757f4b61c	553	// ZRMOT_THR register
anthonyp08	0:1c6757f4b61c	554
anthonyp08	0:1c6757f4b61c	555	/** Get zero motion detection event acceleration threshold.
anthonyp08	0:1c6757f4b61c	556	* This register configures the detection threshold for Zero Motion interrupt
anthonyp08	0:1c6757f4b61c	557	* generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
anthonyp08	0:1c6757f4b61c	558	* the absolute value of the accelerometer measurements for the 3 axes are each
anthonyp08	0:1c6757f4b61c	559	* less than the detection threshold. This condition increments the Zero Motion
anthonyp08	0:1c6757f4b61c	560	* duration counter (Register 34). The Zero Motion interrupt is triggered when
anthonyp08	0:1c6757f4b61c	561	* the Zero Motion duration counter reaches the time count specified in
anthonyp08	0:1c6757f4b61c	562	* ZRMOT_DUR (Register 34).
anthonyp08	0:1c6757f4b61c	563	*
anthonyp08	0:1c6757f4b61c	564	* Unlike Free Fall or Motion detection, Zero Motion detection triggers an
anthonyp08	0:1c6757f4b61c	565	* interrupt both when Zero Motion is first detected and when Zero Motion is no
anthonyp08	0:1c6757f4b61c	566	* longer detected.
anthonyp08	0:1c6757f4b61c	567	*
anthonyp08	0:1c6757f4b61c	568	* When a zero motion event is detected, a Zero Motion Status will be indicated
anthonyp08	0:1c6757f4b61c	569	* in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
anthonyp08	0:1c6757f4b61c	570	* condition is detected, the status bit is set to 1. When a zero-motion-to-
anthonyp08	0:1c6757f4b61c	571	* motion condition is detected, the status bit is set to 0.
anthonyp08	0:1c6757f4b61c	572	*
anthonyp08	0:1c6757f4b61c	573	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
anthonyp08	0:1c6757f4b61c	574	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
anthonyp08	0:1c6757f4b61c	575	* and 58 of this document.
anthonyp08	0:1c6757f4b61c	576	*
anthonyp08	0:1c6757f4b61c	577	* @return Current zero motion detection acceleration threshold value (LSB = 2mg)
anthonyp08	0:1c6757f4b61c	578	* @see MPU6050_RA_ZRMOT_THR
anthonyp08	0:1c6757f4b61c	579	*/
anthonyp08	0:1c6757f4b61c	580	uint8_t MPU6050::getZeroMotionDetectionThreshold()
anthonyp08	0:1c6757f4b61c	581	{
anthonyp08	0:1c6757f4b61c	582	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
anthonyp08	0:1c6757f4b61c	583	return buffer[0];
anthonyp08	0:1c6757f4b61c	584	}
anthonyp08	0:1c6757f4b61c	585	/** Set zero motion detection event acceleration threshold.
anthonyp08	0:1c6757f4b61c	586	* @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
anthonyp08	0:1c6757f4b61c	587	* @see getZeroMotionDetectionThreshold()
anthonyp08	0:1c6757f4b61c	588	* @see MPU6050_RA_ZRMOT_THR
anthonyp08	0:1c6757f4b61c	589	*/
anthonyp08	0:1c6757f4b61c	590	void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold)
anthonyp08	0:1c6757f4b61c	591	{
anthonyp08	0:1c6757f4b61c	592	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
anthonyp08	0:1c6757f4b61c	593	}
anthonyp08	0:1c6757f4b61c	594
anthonyp08	0:1c6757f4b61c	595	// ZRMOT_DUR register
anthonyp08	0:1c6757f4b61c	596
anthonyp08	0:1c6757f4b61c	597	/** Get zero motion detection event duration threshold.
anthonyp08	0:1c6757f4b61c	598	* This register configures the duration counter threshold for Zero Motion
anthonyp08	0:1c6757f4b61c	599	* interrupt generation. The duration counter ticks at 16 Hz, therefore
anthonyp08	0:1c6757f4b61c	600	* ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
anthonyp08	0:1c6757f4b61c	601	* increments while the absolute value of the accelerometer measurements are
anthonyp08	0:1c6757f4b61c	602	* each less than the detection threshold (Register 33). The Zero Motion
anthonyp08	0:1c6757f4b61c	603	* interrupt is triggered when the Zero Motion duration counter reaches the time
anthonyp08	0:1c6757f4b61c	604	* count specified in this register.
anthonyp08	0:1c6757f4b61c	605	*
anthonyp08	0:1c6757f4b61c	606	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
anthonyp08	0:1c6757f4b61c	607	* the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
anthonyp08	0:1c6757f4b61c	608	* and 58 of this document.
anthonyp08	0:1c6757f4b61c	609	*
anthonyp08	0:1c6757f4b61c	610	* @return Current zero motion detection duration threshold value (LSB = 64ms)
anthonyp08	0:1c6757f4b61c	611	* @see MPU6050_RA_ZRMOT_DUR
anthonyp08	0:1c6757f4b61c	612	*/
anthonyp08	0:1c6757f4b61c	613	uint8_t MPU6050::getZeroMotionDetectionDuration()
anthonyp08	0:1c6757f4b61c	614	{
anthonyp08	0:1c6757f4b61c	615	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
anthonyp08	0:1c6757f4b61c	616	return buffer[0];
anthonyp08	0:1c6757f4b61c	617	}
anthonyp08	0:1c6757f4b61c	618	/** Set zero motion detection event duration threshold.
anthonyp08	0:1c6757f4b61c	619	* @param duration New zero motion detection duration threshold value (LSB = 1ms)
anthonyp08	0:1c6757f4b61c	620	* @see getZeroMotionDetectionDuration()
anthonyp08	0:1c6757f4b61c	621	* @see MPU6050_RA_ZRMOT_DUR
anthonyp08	0:1c6757f4b61c	622	*/
anthonyp08	0:1c6757f4b61c	623	void MPU6050::setZeroMotionDetectionDuration(uint8_t duration)
anthonyp08	0:1c6757f4b61c	624	{
anthonyp08	0:1c6757f4b61c	625	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
anthonyp08	0:1c6757f4b61c	626	}
anthonyp08	0:1c6757f4b61c	627
anthonyp08	0:1c6757f4b61c	628	// FIFO_EN register
anthonyp08	0:1c6757f4b61c	629
anthonyp08	0:1c6757f4b61c	630	/** Get temperature FIFO enabled value.
anthonyp08	0:1c6757f4b61c	631	* When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
anthonyp08	0:1c6757f4b61c	632	* 66) to be written into the FIFO buffer.
anthonyp08	0:1c6757f4b61c	633	* @return Current temperature FIFO enabled value
anthonyp08	0:1c6757f4b61c	634	* @see MPU6050_RA_FIFO_EN
anthonyp08	0:1c6757f4b61c	635	*/
anthonyp08	0:1c6757f4b61c	636	bool MPU6050::getTempFIFOEnabled()
anthonyp08	0:1c6757f4b61c	637	{
anthonyp08	0:1c6757f4b61c	638	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
anthonyp08	0:1c6757f4b61c	639	return buffer[0];
anthonyp08	0:1c6757f4b61c	640	}
anthonyp08	0:1c6757f4b61c	641	/** Set temperature FIFO enabled value.
anthonyp08	0:1c6757f4b61c	642	* @param enabled New temperature FIFO enabled value
anthonyp08	0:1c6757f4b61c	643	* @see getTempFIFOEnabled()
anthonyp08	0:1c6757f4b61c	644	* @see MPU6050_RA_FIFO_EN
anthonyp08	0:1c6757f4b61c	645	*/
anthonyp08	0:1c6757f4b61c	646	void MPU6050::setTempFIFOEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	647	{
anthonyp08	0:1c6757f4b61c	648	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
anthonyp08	0:1c6757f4b61c	649	}
anthonyp08	0:1c6757f4b61c	650	/** Get gyroscope X-axis FIFO enabled value.
anthonyp08	0:1c6757f4b61c	651	* When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
anthonyp08	0:1c6757f4b61c	652	* 68) to be written into the FIFO buffer.
anthonyp08	0:1c6757f4b61c	653	* @return Current gyroscope X-axis FIFO enabled value
anthonyp08	0:1c6757f4b61c	654	* @see MPU6050_RA_FIFO_EN
anthonyp08	0:1c6757f4b61c	655	*/
anthonyp08	0:1c6757f4b61c	656	bool MPU6050::getXGyroFIFOEnabled()
anthonyp08	0:1c6757f4b61c	657	{
anthonyp08	0:1c6757f4b61c	658	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
anthonyp08	0:1c6757f4b61c	659	return buffer[0];
anthonyp08	0:1c6757f4b61c	660	}
anthonyp08	0:1c6757f4b61c	661	/** Set gyroscope X-axis FIFO enabled value.
anthonyp08	0:1c6757f4b61c	662	* @param enabled New gyroscope X-axis FIFO enabled value
anthonyp08	0:1c6757f4b61c	663	* @see getXGyroFIFOEnabled()
anthonyp08	0:1c6757f4b61c	664	* @see MPU6050_RA_FIFO_EN
anthonyp08	0:1c6757f4b61c	665	*/
anthonyp08	0:1c6757f4b61c	666	void MPU6050::setXGyroFIFOEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	667	{
anthonyp08	0:1c6757f4b61c	668	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
anthonyp08	0:1c6757f4b61c	669	}
anthonyp08	0:1c6757f4b61c	670	/** Get gyroscope Y-axis FIFO enabled value.
anthonyp08	0:1c6757f4b61c	671	* When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
anthonyp08	0:1c6757f4b61c	672	* 70) to be written into the FIFO buffer.
anthonyp08	0:1c6757f4b61c	673	* @return Current gyroscope Y-axis FIFO enabled value
anthonyp08	0:1c6757f4b61c	674	* @see MPU6050_RA_FIFO_EN
anthonyp08	0:1c6757f4b61c	675	*/
anthonyp08	0:1c6757f4b61c	676	bool MPU6050::getYGyroFIFOEnabled()
anthonyp08	0:1c6757f4b61c	677	{
anthonyp08	0:1c6757f4b61c	678	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
anthonyp08	0:1c6757f4b61c	679	return buffer[0];
anthonyp08	0:1c6757f4b61c	680	}
anthonyp08	0:1c6757f4b61c	681	/** Set gyroscope Y-axis FIFO enabled value.
anthonyp08	0:1c6757f4b61c	682	* @param enabled New gyroscope Y-axis FIFO enabled value
anthonyp08	0:1c6757f4b61c	683	* @see getYGyroFIFOEnabled()
anthonyp08	0:1c6757f4b61c	684	* @see MPU6050_RA_FIFO_EN
anthonyp08	0:1c6757f4b61c	685	*/
anthonyp08	0:1c6757f4b61c	686	void MPU6050::setYGyroFIFOEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	687	{
anthonyp08	0:1c6757f4b61c	688	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
anthonyp08	0:1c6757f4b61c	689	}
anthonyp08	0:1c6757f4b61c	690	/** Get gyroscope Z-axis FIFO enabled value.
anthonyp08	0:1c6757f4b61c	691	* When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
anthonyp08	0:1c6757f4b61c	692	* 72) to be written into the FIFO buffer.
anthonyp08	0:1c6757f4b61c	693	* @return Current gyroscope Z-axis FIFO enabled value
anthonyp08	0:1c6757f4b61c	694	* @see MPU6050_RA_FIFO_EN
anthonyp08	0:1c6757f4b61c	695	*/
anthonyp08	0:1c6757f4b61c	696	bool MPU6050::getZGyroFIFOEnabled()
anthonyp08	0:1c6757f4b61c	697	{
anthonyp08	0:1c6757f4b61c	698	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
anthonyp08	0:1c6757f4b61c	699	return buffer[0];
anthonyp08	0:1c6757f4b61c	700	}
anthonyp08	0:1c6757f4b61c	701	/** Set gyroscope Z-axis FIFO enabled value.
anthonyp08	0:1c6757f4b61c	702	* @param enabled New gyroscope Z-axis FIFO enabled value
anthonyp08	0:1c6757f4b61c	703	* @see getZGyroFIFOEnabled()
anthonyp08	0:1c6757f4b61c	704	* @see MPU6050_RA_FIFO_EN
anthonyp08	0:1c6757f4b61c	705	*/
anthonyp08	0:1c6757f4b61c	706	void MPU6050::setZGyroFIFOEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	707	{
anthonyp08	0:1c6757f4b61c	708	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
anthonyp08	0:1c6757f4b61c	709	}
anthonyp08	0:1c6757f4b61c	710	/** Get accelerometer FIFO enabled value.
anthonyp08	0:1c6757f4b61c	711	* When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
anthonyp08	0:1c6757f4b61c	712	* ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
anthonyp08	0:1c6757f4b61c	713	* written into the FIFO buffer.
anthonyp08	0:1c6757f4b61c	714	* @return Current accelerometer FIFO enabled value
anthonyp08	0:1c6757f4b61c	715	* @see MPU6050_RA_FIFO_EN
anthonyp08	0:1c6757f4b61c	716	*/
anthonyp08	0:1c6757f4b61c	717	bool MPU6050::getAccelFIFOEnabled()
anthonyp08	0:1c6757f4b61c	718	{
anthonyp08	0:1c6757f4b61c	719	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
anthonyp08	0:1c6757f4b61c	720	return buffer[0];
anthonyp08	0:1c6757f4b61c	721	}
anthonyp08	0:1c6757f4b61c	722	/** Set accelerometer FIFO enabled value.
anthonyp08	0:1c6757f4b61c	723	* @param enabled New accelerometer FIFO enabled value
anthonyp08	0:1c6757f4b61c	724	* @see getAccelFIFOEnabled()
anthonyp08	0:1c6757f4b61c	725	* @see MPU6050_RA_FIFO_EN
anthonyp08	0:1c6757f4b61c	726	*/
anthonyp08	0:1c6757f4b61c	727	void MPU6050::setAccelFIFOEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	728	{
anthonyp08	0:1c6757f4b61c	729	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
anthonyp08	0:1c6757f4b61c	730	}
anthonyp08	0:1c6757f4b61c	731	/** Get Slave 2 FIFO enabled value.
anthonyp08	0:1c6757f4b61c	732	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
anthonyp08	0:1c6757f4b61c	733	* associated with Slave 2 to be written into the FIFO buffer.
anthonyp08	0:1c6757f4b61c	734	* @return Current Slave 2 FIFO enabled value
anthonyp08	0:1c6757f4b61c	735	* @see MPU6050_RA_FIFO_EN
anthonyp08	0:1c6757f4b61c	736	*/
anthonyp08	0:1c6757f4b61c	737	bool MPU6050::getSlave2FIFOEnabled()
anthonyp08	0:1c6757f4b61c	738	{
anthonyp08	0:1c6757f4b61c	739	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
anthonyp08	0:1c6757f4b61c	740	return buffer[0];
anthonyp08	0:1c6757f4b61c	741	}
anthonyp08	0:1c6757f4b61c	742	/** Set Slave 2 FIFO enabled value.
anthonyp08	0:1c6757f4b61c	743	* @param enabled New Slave 2 FIFO enabled value
anthonyp08	0:1c6757f4b61c	744	* @see getSlave2FIFOEnabled()
anthonyp08	0:1c6757f4b61c	745	* @see MPU6050_RA_FIFO_EN
anthonyp08	0:1c6757f4b61c	746	*/
anthonyp08	0:1c6757f4b61c	747	void MPU6050::setSlave2FIFOEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	748	{
anthonyp08	0:1c6757f4b61c	749	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
anthonyp08	0:1c6757f4b61c	750	}
anthonyp08	0:1c6757f4b61c	751	/** Get Slave 1 FIFO enabled value.
anthonyp08	0:1c6757f4b61c	752	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
anthonyp08	0:1c6757f4b61c	753	* associated with Slave 1 to be written into the FIFO buffer.
anthonyp08	0:1c6757f4b61c	754	* @return Current Slave 1 FIFO enabled value
anthonyp08	0:1c6757f4b61c	755	* @see MPU6050_RA_FIFO_EN
anthonyp08	0:1c6757f4b61c	756	*/
anthonyp08	0:1c6757f4b61c	757	bool MPU6050::getSlave1FIFOEnabled()
anthonyp08	0:1c6757f4b61c	758	{
anthonyp08	0:1c6757f4b61c	759	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
anthonyp08	0:1c6757f4b61c	760	return buffer[0];
anthonyp08	0:1c6757f4b61c	761	}
anthonyp08	0:1c6757f4b61c	762	/** Set Slave 1 FIFO enabled value.
anthonyp08	0:1c6757f4b61c	763	* @param enabled New Slave 1 FIFO enabled value
anthonyp08	0:1c6757f4b61c	764	* @see getSlave1FIFOEnabled()
anthonyp08	0:1c6757f4b61c	765	* @see MPU6050_RA_FIFO_EN
anthonyp08	0:1c6757f4b61c	766	*/
anthonyp08	0:1c6757f4b61c	767	void MPU6050::setSlave1FIFOEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	768	{
anthonyp08	0:1c6757f4b61c	769	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
anthonyp08	0:1c6757f4b61c	770	}
anthonyp08	0:1c6757f4b61c	771	/** Get Slave 0 FIFO enabled value.
anthonyp08	0:1c6757f4b61c	772	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
anthonyp08	0:1c6757f4b61c	773	* associated with Slave 0 to be written into the FIFO buffer.
anthonyp08	0:1c6757f4b61c	774	* @return Current Slave 0 FIFO enabled value
anthonyp08	0:1c6757f4b61c	775	* @see MPU6050_RA_FIFO_EN
anthonyp08	0:1c6757f4b61c	776	*/
anthonyp08	0:1c6757f4b61c	777	bool MPU6050::getSlave0FIFOEnabled()
anthonyp08	0:1c6757f4b61c	778	{
anthonyp08	0:1c6757f4b61c	779	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
anthonyp08	0:1c6757f4b61c	780	return buffer[0];
anthonyp08	0:1c6757f4b61c	781	}
anthonyp08	0:1c6757f4b61c	782	/** Set Slave 0 FIFO enabled value.
anthonyp08	0:1c6757f4b61c	783	* @param enabled New Slave 0 FIFO enabled value
anthonyp08	0:1c6757f4b61c	784	* @see getSlave0FIFOEnabled()
anthonyp08	0:1c6757f4b61c	785	* @see MPU6050_RA_FIFO_EN
anthonyp08	0:1c6757f4b61c	786	*/
anthonyp08	0:1c6757f4b61c	787	void MPU6050::setSlave0FIFOEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	788	{
anthonyp08	0:1c6757f4b61c	789	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
anthonyp08	0:1c6757f4b61c	790	}
anthonyp08	0:1c6757f4b61c	791
anthonyp08	0:1c6757f4b61c	792	// I2C_MST_CTRL register
anthonyp08	0:1c6757f4b61c	793
anthonyp08	0:1c6757f4b61c	794	/** Get multi-master enabled value.
anthonyp08	0:1c6757f4b61c	795	* Multi-master capability allows multiple I2C masters to operate on the same
anthonyp08	0:1c6757f4b61c	796	* bus. In circuits where multi-master capability is required, set MULT_MST_EN
anthonyp08	0:1c6757f4b61c	797	* to 1. This will increase current drawn by approximately 30uA.
anthonyp08	0:1c6757f4b61c	798	*
anthonyp08	0:1c6757f4b61c	799	* In circuits where multi-master capability is required, the state of the I2C
anthonyp08	0:1c6757f4b61c	800	* bus must always be monitored by each separate I2C Master. Before an I2C
anthonyp08	0:1c6757f4b61c	801	* Master can assume arbitration of the bus, it must first confirm that no other
anthonyp08	0:1c6757f4b61c	802	* I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
anthonyp08	0:1c6757f4b61c	803	* MPU-60X0's bus arbitration detection logic is turned on, enabling it to
anthonyp08	0:1c6757f4b61c	804	* detect when the bus is available.
anthonyp08	0:1c6757f4b61c	805	*
anthonyp08	0:1c6757f4b61c	806	* @return Current multi-master enabled value
anthonyp08	0:1c6757f4b61c	807	* @see MPU6050_RA_I2C_MST_CTRL
anthonyp08	0:1c6757f4b61c	808	*/
anthonyp08	0:1c6757f4b61c	809	bool MPU6050::getMultiMasterEnabled()
anthonyp08	0:1c6757f4b61c	810	{
anthonyp08	0:1c6757f4b61c	811	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
anthonyp08	0:1c6757f4b61c	812	return buffer[0];
anthonyp08	0:1c6757f4b61c	813	}
anthonyp08	0:1c6757f4b61c	814	/** Set multi-master enabled value.
anthonyp08	0:1c6757f4b61c	815	* @param enabled New multi-master enabled value
anthonyp08	0:1c6757f4b61c	816	* @see getMultiMasterEnabled()
anthonyp08	0:1c6757f4b61c	817	* @see MPU6050_RA_I2C_MST_CTRL
anthonyp08	0:1c6757f4b61c	818	*/
anthonyp08	0:1c6757f4b61c	819	void MPU6050::setMultiMasterEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	820	{
anthonyp08	0:1c6757f4b61c	821	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
anthonyp08	0:1c6757f4b61c	822	}
anthonyp08	0:1c6757f4b61c	823	/** Get wait-for-external-sensor-data enabled value.
anthonyp08	0:1c6757f4b61c	824	* When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
anthonyp08	0:1c6757f4b61c	825	* delayed until External Sensor data from the Slave Devices are loaded into the
anthonyp08	0:1c6757f4b61c	826	* EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
anthonyp08	0:1c6757f4b61c	827	* data (i.e. from gyro and accel) and external sensor data have been loaded to
anthonyp08	0:1c6757f4b61c	828	* their respective data registers (i.e. the data is synced) when the Data Ready
anthonyp08	0:1c6757f4b61c	829	* interrupt is triggered.
anthonyp08	0:1c6757f4b61c	830	*
anthonyp08	0:1c6757f4b61c	831	* @return Current wait-for-external-sensor-data enabled value
anthonyp08	0:1c6757f4b61c	832	* @see MPU6050_RA_I2C_MST_CTRL
anthonyp08	0:1c6757f4b61c	833	*/
anthonyp08	0:1c6757f4b61c	834	bool MPU6050::getWaitForExternalSensorEnabled()
anthonyp08	0:1c6757f4b61c	835	{
anthonyp08	0:1c6757f4b61c	836	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
anthonyp08	0:1c6757f4b61c	837	return buffer[0];
anthonyp08	0:1c6757f4b61c	838	}
anthonyp08	0:1c6757f4b61c	839	/** Set wait-for-external-sensor-data enabled value.
anthonyp08	0:1c6757f4b61c	840	* @param enabled New wait-for-external-sensor-data enabled value
anthonyp08	0:1c6757f4b61c	841	* @see getWaitForExternalSensorEnabled()
anthonyp08	0:1c6757f4b61c	842	* @see MPU6050_RA_I2C_MST_CTRL
anthonyp08	0:1c6757f4b61c	843	*/
anthonyp08	0:1c6757f4b61c	844	void MPU6050::setWaitForExternalSensorEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	845	{
anthonyp08	0:1c6757f4b61c	846	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
anthonyp08	0:1c6757f4b61c	847	}
anthonyp08	0:1c6757f4b61c	848	/** Get Slave 3 FIFO enabled value.
anthonyp08	0:1c6757f4b61c	849	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
anthonyp08	0:1c6757f4b61c	850	* associated with Slave 3 to be written into the FIFO buffer.
anthonyp08	0:1c6757f4b61c	851	* @return Current Slave 3 FIFO enabled value
anthonyp08	0:1c6757f4b61c	852	* @see MPU6050_RA_MST_CTRL
anthonyp08	0:1c6757f4b61c	853	*/
anthonyp08	0:1c6757f4b61c	854	bool MPU6050::getSlave3FIFOEnabled()
anthonyp08	0:1c6757f4b61c	855	{
anthonyp08	0:1c6757f4b61c	856	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
anthonyp08	0:1c6757f4b61c	857	return buffer[0];
anthonyp08	0:1c6757f4b61c	858	}
anthonyp08	0:1c6757f4b61c	859	/** Set Slave 3 FIFO enabled value.
anthonyp08	0:1c6757f4b61c	860	* @param enabled New Slave 3 FIFO enabled value
anthonyp08	0:1c6757f4b61c	861	* @see getSlave3FIFOEnabled()
anthonyp08	0:1c6757f4b61c	862	* @see MPU6050_RA_MST_CTRL
anthonyp08	0:1c6757f4b61c	863	*/
anthonyp08	0:1c6757f4b61c	864	void MPU6050::setSlave3FIFOEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	865	{
anthonyp08	0:1c6757f4b61c	866	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
anthonyp08	0:1c6757f4b61c	867	}
anthonyp08	0:1c6757f4b61c	868	/** Get slave read/write transition enabled value.
anthonyp08	0:1c6757f4b61c	869	* The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
anthonyp08	0:1c6757f4b61c	870	* read to the next slave read. If the bit equals 0, there will be a restart
anthonyp08	0:1c6757f4b61c	871	* between reads. If the bit equals 1, there will be a stop followed by a start
anthonyp08	0:1c6757f4b61c	872	* of the following read. When a write transaction follows a read transaction,
anthonyp08	0:1c6757f4b61c	873	* the stop followed by a start of the successive write will be always used.
anthonyp08	0:1c6757f4b61c	874	*
anthonyp08	0:1c6757f4b61c	875	* @return Current slave read/write transition enabled value
anthonyp08	0:1c6757f4b61c	876	* @see MPU6050_RA_I2C_MST_CTRL
anthonyp08	0:1c6757f4b61c	877	*/
anthonyp08	0:1c6757f4b61c	878	bool MPU6050::getSlaveReadWriteTransitionEnabled()
anthonyp08	0:1c6757f4b61c	879	{
anthonyp08	0:1c6757f4b61c	880	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
anthonyp08	0:1c6757f4b61c	881	return buffer[0];
anthonyp08	0:1c6757f4b61c	882	}
anthonyp08	0:1c6757f4b61c	883	/** Set slave read/write transition enabled value.
anthonyp08	0:1c6757f4b61c	884	* @param enabled New slave read/write transition enabled value
anthonyp08	0:1c6757f4b61c	885	* @see getSlaveReadWriteTransitionEnabled()
anthonyp08	0:1c6757f4b61c	886	* @see MPU6050_RA_I2C_MST_CTRL
anthonyp08	0:1c6757f4b61c	887	*/
anthonyp08	0:1c6757f4b61c	888	void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	889	{
anthonyp08	0:1c6757f4b61c	890	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
anthonyp08	0:1c6757f4b61c	891	}
anthonyp08	0:1c6757f4b61c	892	/** Get I2C master clock speed.
anthonyp08	0:1c6757f4b61c	893	* I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
anthonyp08	0:1c6757f4b61c	894	* MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
anthonyp08	0:1c6757f4b61c	895	* the following table:
anthonyp08	0:1c6757f4b61c	896	*
anthonyp08	0:1c6757f4b61c	897	* <pre>
anthonyp08	0:1c6757f4b61c	898	* I2C_MST_CLK \| I2C Master Clock Speed \| 8MHz Clock Divider
anthonyp08	0:1c6757f4b61c	899	* ------------+------------------------+-------------------
anthonyp08	0:1c6757f4b61c	900	* 0 \| 348kHz \| 23
anthonyp08	0:1c6757f4b61c	901	* 1 \| 333kHz \| 24
anthonyp08	0:1c6757f4b61c	902	* 2 \| 320kHz \| 25
anthonyp08	0:1c6757f4b61c	903	* 3 \| 308kHz \| 26
anthonyp08	0:1c6757f4b61c	904	* 4 \| 296kHz \| 27
anthonyp08	0:1c6757f4b61c	905	* 5 \| 286kHz \| 28
anthonyp08	0:1c6757f4b61c	906	* 6 \| 276kHz \| 29
anthonyp08	0:1c6757f4b61c	907	* 7 \| 267kHz \| 30
anthonyp08	0:1c6757f4b61c	908	* 8 \| 258kHz \| 31
anthonyp08	0:1c6757f4b61c	909	* 9 \| 500kHz \| 16
anthonyp08	0:1c6757f4b61c	910	* 10 \| 471kHz \| 17
anthonyp08	0:1c6757f4b61c	911	* 11 \| 444kHz \| 18
anthonyp08	0:1c6757f4b61c	912	* 12 \| 421kHz \| 19
anthonyp08	0:1c6757f4b61c	913	* 13 \| 400kHz \| 20
anthonyp08	0:1c6757f4b61c	914	* 14 \| 381kHz \| 21
anthonyp08	0:1c6757f4b61c	915	* 15 \| 364kHz \| 22
anthonyp08	0:1c6757f4b61c	916	* </pre>
anthonyp08	0:1c6757f4b61c	917	*
anthonyp08	0:1c6757f4b61c	918	* @return Current I2C master clock speed
anthonyp08	0:1c6757f4b61c	919	* @see MPU6050_RA_I2C_MST_CTRL
anthonyp08	0:1c6757f4b61c	920	*/
anthonyp08	0:1c6757f4b61c	921	uint8_t MPU6050::getMasterClockSpeed()
anthonyp08	0:1c6757f4b61c	922	{
anthonyp08	0:1c6757f4b61c	923	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
anthonyp08	0:1c6757f4b61c	924	return buffer[0];
anthonyp08	0:1c6757f4b61c	925	}
anthonyp08	0:1c6757f4b61c	926	/** Set I2C master clock speed.
anthonyp08	0:1c6757f4b61c	927	* @reparam speed Current I2C master clock speed
anthonyp08	0:1c6757f4b61c	928	* @see MPU6050_RA_I2C_MST_CTRL
anthonyp08	0:1c6757f4b61c	929	*/
anthonyp08	0:1c6757f4b61c	930	void MPU6050::setMasterClockSpeed(uint8_t speed)
anthonyp08	0:1c6757f4b61c	931	{
anthonyp08	0:1c6757f4b61c	932	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
anthonyp08	0:1c6757f4b61c	933	}
anthonyp08	0:1c6757f4b61c	934
anthonyp08	0:1c6757f4b61c	935	// I2C_SLV* registers (Slave 0-3)
anthonyp08	0:1c6757f4b61c	936
anthonyp08	0:1c6757f4b61c	937	/** Get the I2C address of the specified slave (0-3).
anthonyp08	0:1c6757f4b61c	938	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
anthonyp08	0:1c6757f4b61c	939	* operation, and if it is cleared, then it's a write operation. The remaining
anthonyp08	0:1c6757f4b61c	940	* bits (6-0) are the 7-bit device address of the slave device.
anthonyp08	0:1c6757f4b61c	941	*
anthonyp08	0:1c6757f4b61c	942	* In read mode, the result of the read is placed in the lowest available
anthonyp08	0:1c6757f4b61c	943	* EXT_SENS_DATA register. For further information regarding the allocation of
anthonyp08	0:1c6757f4b61c	944	* read results, please refer to the EXT_SENS_DATA register description
anthonyp08	0:1c6757f4b61c	945	* (Registers 73 - 96).
anthonyp08	0:1c6757f4b61c	946	*
anthonyp08	0:1c6757f4b61c	947	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
anthonyp08	0:1c6757f4b61c	948	* characteristics, and so it has its own functions (getSlave4* and setSlave4*).
anthonyp08	0:1c6757f4b61c	949	*
anthonyp08	0:1c6757f4b61c	950	* I2C data transactions are performed at the Sample Rate, as defined in
anthonyp08	0:1c6757f4b61c	951	* Register 25. The user is responsible for ensuring that I2C data transactions
anthonyp08	0:1c6757f4b61c	952	* to and from each enabled Slave can be completed within a single period of the
anthonyp08	0:1c6757f4b61c	953	* Sample Rate.
anthonyp08	0:1c6757f4b61c	954	*
anthonyp08	0:1c6757f4b61c	955	* The I2C slave access rate can be reduced relative to the Sample Rate. This
anthonyp08	0:1c6757f4b61c	956	* reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
anthonyp08	0:1c6757f4b61c	957	* slave's access rate is reduced relative to the Sample Rate is determined by
anthonyp08	0:1c6757f4b61c	958	* I2C_MST_DELAY_CTRL (Register 103).
anthonyp08	0:1c6757f4b61c	959	*
anthonyp08	0:1c6757f4b61c	960	* The processing order for the slaves is fixed. The sequence followed for
anthonyp08	0:1c6757f4b61c	961	* processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
anthonyp08	0:1c6757f4b61c	962	* particular Slave is disabled it will be skipped.
anthonyp08	0:1c6757f4b61c	963	*
anthonyp08	0:1c6757f4b61c	964	* Each slave can either be accessed at the sample rate or at a reduced sample
anthonyp08	0:1c6757f4b61c	965	* rate. In a case where some slaves are accessed at the Sample Rate and some
anthonyp08	0:1c6757f4b61c	966	* slaves are accessed at the reduced rate, the sequence of accessing the slaves
anthonyp08	0:1c6757f4b61c	967	* (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
anthonyp08	0:1c6757f4b61c	968	* be skipped if their access rate dictates that they should not be accessed
anthonyp08	0:1c6757f4b61c	969	* during that particular cycle. For further information regarding the reduced
anthonyp08	0:1c6757f4b61c	970	* access rate, please refer to Register 52. Whether a slave is accessed at the
anthonyp08	0:1c6757f4b61c	971	* Sample Rate or at the reduced rate is determined by the Delay Enable bits in
anthonyp08	0:1c6757f4b61c	972	* Register 103.
anthonyp08	0:1c6757f4b61c	973	*
anthonyp08	0:1c6757f4b61c	974	* @param num Slave number (0-3)
anthonyp08	0:1c6757f4b61c	975	* @return Current address for specified slave
anthonyp08	0:1c6757f4b61c	976	* @see MPU6050_RA_I2C_SLV0_ADDR
anthonyp08	0:1c6757f4b61c	977	*/
anthonyp08	0:1c6757f4b61c	978	uint8_t MPU6050::getSlaveAddress(uint8_t num)
anthonyp08	0:1c6757f4b61c	979	{
anthonyp08	0:1c6757f4b61c	980	if (num > 3) return 0;
anthonyp08	0:1c6757f4b61c	981	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
anthonyp08	0:1c6757f4b61c	982	return buffer[0];
anthonyp08	0:1c6757f4b61c	983	}
anthonyp08	0:1c6757f4b61c	984	/** Set the I2C address of the specified slave (0-3).
anthonyp08	0:1c6757f4b61c	985	* @param num Slave number (0-3)
anthonyp08	0:1c6757f4b61c	986	* @param address New address for specified slave
anthonyp08	0:1c6757f4b61c	987	* @see getSlaveAddress()
anthonyp08	0:1c6757f4b61c	988	* @see MPU6050_RA_I2C_SLV0_ADDR
anthonyp08	0:1c6757f4b61c	989	*/
anthonyp08	0:1c6757f4b61c	990	void MPU6050::setSlaveAddress(uint8_t num, uint8_t address)
anthonyp08	0:1c6757f4b61c	991	{
anthonyp08	0:1c6757f4b61c	992	if (num > 3) return;
anthonyp08	0:1c6757f4b61c	993	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
anthonyp08	0:1c6757f4b61c	994	}
anthonyp08	0:1c6757f4b61c	995	/** Get the active internal register for the specified slave (0-3).
anthonyp08	0:1c6757f4b61c	996	* Read/write operations for this slave will be done to whatever internal
anthonyp08	0:1c6757f4b61c	997	* register address is stored in this MPU register.
anthonyp08	0:1c6757f4b61c	998	*
anthonyp08	0:1c6757f4b61c	999	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
anthonyp08	0:1c6757f4b61c	1000	* characteristics, and so it has its own functions.
anthonyp08	0:1c6757f4b61c	1001	*
anthonyp08	0:1c6757f4b61c	1002	* @param num Slave number (0-3)
anthonyp08	0:1c6757f4b61c	1003	* @return Current active register for specified slave
anthonyp08	0:1c6757f4b61c	1004	* @see MPU6050_RA_I2C_SLV0_REG
anthonyp08	0:1c6757f4b61c	1005	*/
anthonyp08	0:1c6757f4b61c	1006	uint8_t MPU6050::getSlaveRegister(uint8_t num)
anthonyp08	0:1c6757f4b61c	1007	{
anthonyp08	0:1c6757f4b61c	1008	if (num > 3) return 0;
anthonyp08	0:1c6757f4b61c	1009	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
anthonyp08	0:1c6757f4b61c	1010	return buffer[0];
anthonyp08	0:1c6757f4b61c	1011	}
anthonyp08	0:1c6757f4b61c	1012	/** Set the active internal register for the specified slave (0-3).
anthonyp08	0:1c6757f4b61c	1013	* @param num Slave number (0-3)
anthonyp08	0:1c6757f4b61c	1014	* @param reg New active register for specified slave
anthonyp08	0:1c6757f4b61c	1015	* @see getSlaveRegister()
anthonyp08	0:1c6757f4b61c	1016	* @see MPU6050_RA_I2C_SLV0_REG
anthonyp08	0:1c6757f4b61c	1017	*/
anthonyp08	0:1c6757f4b61c	1018	void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg)
anthonyp08	0:1c6757f4b61c	1019	{
anthonyp08	0:1c6757f4b61c	1020	if (num > 3) return;
anthonyp08	0:1c6757f4b61c	1021	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
anthonyp08	0:1c6757f4b61c	1022	}
anthonyp08	0:1c6757f4b61c	1023	/** Get the enabled value for the specified slave (0-3).
anthonyp08	0:1c6757f4b61c	1024	* When set to 1, this bit enables Slave 0 for data transfer operations. When
anthonyp08	0:1c6757f4b61c	1025	* cleared to 0, this bit disables Slave 0 from data transfer operations.
anthonyp08	0:1c6757f4b61c	1026	* @param num Slave number (0-3)
anthonyp08	0:1c6757f4b61c	1027	* @return Current enabled value for specified slave
anthonyp08	0:1c6757f4b61c	1028	* @see MPU6050_RA_I2C_SLV0_CTRL
anthonyp08	0:1c6757f4b61c	1029	*/
anthonyp08	0:1c6757f4b61c	1030	bool MPU6050::getSlaveEnabled(uint8_t num)
anthonyp08	0:1c6757f4b61c	1031	{
anthonyp08	0:1c6757f4b61c	1032	if (num > 3) return 0;
anthonyp08	0:1c6757f4b61c	1033	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1034	return buffer[0];
anthonyp08	0:1c6757f4b61c	1035	}
anthonyp08	0:1c6757f4b61c	1036	/** Set the enabled value for the specified slave (0-3).
anthonyp08	0:1c6757f4b61c	1037	* @param num Slave number (0-3)
anthonyp08	0:1c6757f4b61c	1038	* @param enabled New enabled value for specified slave
anthonyp08	0:1c6757f4b61c	1039	* @see getSlaveEnabled()
anthonyp08	0:1c6757f4b61c	1040	* @see MPU6050_RA_I2C_SLV0_CTRL
anthonyp08	0:1c6757f4b61c	1041	*/
anthonyp08	0:1c6757f4b61c	1042	void MPU6050::setSlaveEnabled(uint8_t num, bool enabled)
anthonyp08	0:1c6757f4b61c	1043	{
anthonyp08	0:1c6757f4b61c	1044	if (num > 3) return;
anthonyp08	0:1c6757f4b61c	1045	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
anthonyp08	0:1c6757f4b61c	1046	}
anthonyp08	0:1c6757f4b61c	1047	/** Get word pair byte-swapping enabled for the specified slave (0-3).
anthonyp08	0:1c6757f4b61c	1048	* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
anthonyp08	0:1c6757f4b61c	1049	* the high and low bytes of a word pair are swapped. Please refer to
anthonyp08	0:1c6757f4b61c	1050	* I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
anthonyp08	0:1c6757f4b61c	1051	* bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
anthonyp08	0:1c6757f4b61c	1052	* registers in the order they were transferred.
anthonyp08	0:1c6757f4b61c	1053	*
anthonyp08	0:1c6757f4b61c	1054	* @param num Slave number (0-3)
anthonyp08	0:1c6757f4b61c	1055	* @return Current word pair byte-swapping enabled value for specified slave
anthonyp08	0:1c6757f4b61c	1056	* @see MPU6050_RA_I2C_SLV0_CTRL
anthonyp08	0:1c6757f4b61c	1057	*/
anthonyp08	0:1c6757f4b61c	1058	bool MPU6050::getSlaveWordByteSwap(uint8_t num)
anthonyp08	0:1c6757f4b61c	1059	{
anthonyp08	0:1c6757f4b61c	1060	if (num > 3) return 0;
anthonyp08	0:1c6757f4b61c	1061	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1062	return buffer[0];
anthonyp08	0:1c6757f4b61c	1063	}
anthonyp08	0:1c6757f4b61c	1064	/** Set word pair byte-swapping enabled for the specified slave (0-3).
anthonyp08	0:1c6757f4b61c	1065	* @param num Slave number (0-3)
anthonyp08	0:1c6757f4b61c	1066	* @param enabled New word pair byte-swapping enabled value for specified slave
anthonyp08	0:1c6757f4b61c	1067	* @see getSlaveWordByteSwap()
anthonyp08	0:1c6757f4b61c	1068	* @see MPU6050_RA_I2C_SLV0_CTRL
anthonyp08	0:1c6757f4b61c	1069	*/
anthonyp08	0:1c6757f4b61c	1070	void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled)
anthonyp08	0:1c6757f4b61c	1071	{
anthonyp08	0:1c6757f4b61c	1072	if (num > 3) return;
anthonyp08	0:1c6757f4b61c	1073	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
anthonyp08	0:1c6757f4b61c	1074	}
anthonyp08	0:1c6757f4b61c	1075	/** Get write mode for the specified slave (0-3).
anthonyp08	0:1c6757f4b61c	1076	* When set to 1, the transaction will read or write data only. When cleared to
anthonyp08	0:1c6757f4b61c	1077	* 0, the transaction will write a register address prior to reading or writing
anthonyp08	0:1c6757f4b61c	1078	* data. This should equal 0 when specifying the register address within the
anthonyp08	0:1c6757f4b61c	1079	* Slave device to/from which the ensuing data transaction will take place.
anthonyp08	0:1c6757f4b61c	1080	*
anthonyp08	0:1c6757f4b61c	1081	* @param num Slave number (0-3)
anthonyp08	0:1c6757f4b61c	1082	* @return Current write mode for specified slave (0 = register address + data, 1 = data only)
anthonyp08	0:1c6757f4b61c	1083	* @see MPU6050_RA_I2C_SLV0_CTRL
anthonyp08	0:1c6757f4b61c	1084	*/
anthonyp08	0:1c6757f4b61c	1085	bool MPU6050::getSlaveWriteMode(uint8_t num)
anthonyp08	0:1c6757f4b61c	1086	{
anthonyp08	0:1c6757f4b61c	1087	if (num > 3) return 0;
anthonyp08	0:1c6757f4b61c	1088	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1089	return buffer[0];
anthonyp08	0:1c6757f4b61c	1090	}
anthonyp08	0:1c6757f4b61c	1091	/** Set write mode for the specified slave (0-3).
anthonyp08	0:1c6757f4b61c	1092	* @param num Slave number (0-3)
anthonyp08	0:1c6757f4b61c	1093	* @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
anthonyp08	0:1c6757f4b61c	1094	* @see getSlaveWriteMode()
anthonyp08	0:1c6757f4b61c	1095	* @see MPU6050_RA_I2C_SLV0_CTRL
anthonyp08	0:1c6757f4b61c	1096	*/
anthonyp08	0:1c6757f4b61c	1097	void MPU6050::setSlaveWriteMode(uint8_t num, bool mode)
anthonyp08	0:1c6757f4b61c	1098	{
anthonyp08	0:1c6757f4b61c	1099	if (num > 3) return;
anthonyp08	0:1c6757f4b61c	1100	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
anthonyp08	0:1c6757f4b61c	1101	}
anthonyp08	0:1c6757f4b61c	1102	/** Get word pair grouping order offset for the specified slave (0-3).
anthonyp08	0:1c6757f4b61c	1103	* This sets specifies the grouping order of word pairs received from registers.
anthonyp08	0:1c6757f4b61c	1104	* When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
anthonyp08	0:1c6757f4b61c	1105	* then odd register addresses) are paired to form a word. When set to 1, bytes
anthonyp08	0:1c6757f4b61c	1106	* from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
anthonyp08	0:1c6757f4b61c	1107	* register addresses) are paired to form a word.
anthonyp08	0:1c6757f4b61c	1108	*
anthonyp08	0:1c6757f4b61c	1109	* @param num Slave number (0-3)
anthonyp08	0:1c6757f4b61c	1110	* @return Current word pair grouping order offset for specified slave
anthonyp08	0:1c6757f4b61c	1111	* @see MPU6050_RA_I2C_SLV0_CTRL
anthonyp08	0:1c6757f4b61c	1112	*/
anthonyp08	0:1c6757f4b61c	1113	bool MPU6050::getSlaveWordGroupOffset(uint8_t num)
anthonyp08	0:1c6757f4b61c	1114	{
anthonyp08	0:1c6757f4b61c	1115	if (num > 3) return 0;
anthonyp08	0:1c6757f4b61c	1116	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1117	return buffer[0];
anthonyp08	0:1c6757f4b61c	1118	}
anthonyp08	0:1c6757f4b61c	1119	/** Set word pair grouping order offset for the specified slave (0-3).
anthonyp08	0:1c6757f4b61c	1120	* @param num Slave number (0-3)
anthonyp08	0:1c6757f4b61c	1121	* @param enabled New word pair grouping order offset for specified slave
anthonyp08	0:1c6757f4b61c	1122	* @see getSlaveWordGroupOffset()
anthonyp08	0:1c6757f4b61c	1123	* @see MPU6050_RA_I2C_SLV0_CTRL
anthonyp08	0:1c6757f4b61c	1124	*/
anthonyp08	0:1c6757f4b61c	1125	void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled)
anthonyp08	0:1c6757f4b61c	1126	{
anthonyp08	0:1c6757f4b61c	1127	if (num > 3) return;
anthonyp08	0:1c6757f4b61c	1128	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
anthonyp08	0:1c6757f4b61c	1129	}
anthonyp08	0:1c6757f4b61c	1130	/** Get number of bytes to read for the specified slave (0-3).
anthonyp08	0:1c6757f4b61c	1131	* Specifies the number of bytes transferred to and from Slave 0. Clearing this
anthonyp08	0:1c6757f4b61c	1132	* bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
anthonyp08	0:1c6757f4b61c	1133	* @param num Slave number (0-3)
anthonyp08	0:1c6757f4b61c	1134	* @return Number of bytes to read for specified slave
anthonyp08	0:1c6757f4b61c	1135	* @see MPU6050_RA_I2C_SLV0_CTRL
anthonyp08	0:1c6757f4b61c	1136	*/
anthonyp08	0:1c6757f4b61c	1137	uint8_t MPU6050::getSlaveDataLength(uint8_t num)
anthonyp08	0:1c6757f4b61c	1138	{
anthonyp08	0:1c6757f4b61c	1139	if (num > 3) return 0;
anthonyp08	0:1c6757f4b61c	1140	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
anthonyp08	0:1c6757f4b61c	1141	return buffer[0];
anthonyp08	0:1c6757f4b61c	1142	}
anthonyp08	0:1c6757f4b61c	1143	/** Set number of bytes to read for the specified slave (0-3).
anthonyp08	0:1c6757f4b61c	1144	* @param num Slave number (0-3)
anthonyp08	0:1c6757f4b61c	1145	* @param length Number of bytes to read for specified slave
anthonyp08	0:1c6757f4b61c	1146	* @see getSlaveDataLength()
anthonyp08	0:1c6757f4b61c	1147	* @see MPU6050_RA_I2C_SLV0_CTRL
anthonyp08	0:1c6757f4b61c	1148	*/
anthonyp08	0:1c6757f4b61c	1149	void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length)
anthonyp08	0:1c6757f4b61c	1150	{
anthonyp08	0:1c6757f4b61c	1151	if (num > 3) return;
anthonyp08	0:1c6757f4b61c	1152	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
anthonyp08	0:1c6757f4b61c	1153	}
anthonyp08	0:1c6757f4b61c	1154
anthonyp08	0:1c6757f4b61c	1155	// I2C_SLV* registers (Slave 4)
anthonyp08	0:1c6757f4b61c	1156
anthonyp08	0:1c6757f4b61c	1157	/** Get the I2C address of Slave 4.
anthonyp08	0:1c6757f4b61c	1158	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
anthonyp08	0:1c6757f4b61c	1159	* operation, and if it is cleared, then it's a write operation. The remaining
anthonyp08	0:1c6757f4b61c	1160	* bits (6-0) are the 7-bit device address of the slave device.
anthonyp08	0:1c6757f4b61c	1161	*
anthonyp08	0:1c6757f4b61c	1162	* @return Current address for Slave 4
anthonyp08	0:1c6757f4b61c	1163	* @see getSlaveAddress()
anthonyp08	0:1c6757f4b61c	1164	* @see MPU6050_RA_I2C_SLV4_ADDR
anthonyp08	0:1c6757f4b61c	1165	*/
anthonyp08	0:1c6757f4b61c	1166	uint8_t MPU6050::getSlave4Address()
anthonyp08	0:1c6757f4b61c	1167	{
anthonyp08	0:1c6757f4b61c	1168	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
anthonyp08	0:1c6757f4b61c	1169	return buffer[0];
anthonyp08	0:1c6757f4b61c	1170	}
anthonyp08	0:1c6757f4b61c	1171	/** Set the I2C address of Slave 4.
anthonyp08	0:1c6757f4b61c	1172	* @param address New address for Slave 4
anthonyp08	0:1c6757f4b61c	1173	* @see getSlave4Address()
anthonyp08	0:1c6757f4b61c	1174	* @see MPU6050_RA_I2C_SLV4_ADDR
anthonyp08	0:1c6757f4b61c	1175	*/
anthonyp08	0:1c6757f4b61c	1176	void MPU6050::setSlave4Address(uint8_t address)
anthonyp08	0:1c6757f4b61c	1177	{
anthonyp08	0:1c6757f4b61c	1178	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
anthonyp08	0:1c6757f4b61c	1179	}
anthonyp08	0:1c6757f4b61c	1180	/** Get the active internal register for the Slave 4.
anthonyp08	0:1c6757f4b61c	1181	* Read/write operations for this slave will be done to whatever internal
anthonyp08	0:1c6757f4b61c	1182	* register address is stored in this MPU register.
anthonyp08	0:1c6757f4b61c	1183	*
anthonyp08	0:1c6757f4b61c	1184	* @return Current active register for Slave 4
anthonyp08	0:1c6757f4b61c	1185	* @see MPU6050_RA_I2C_SLV4_REG
anthonyp08	0:1c6757f4b61c	1186	*/
anthonyp08	0:1c6757f4b61c	1187	uint8_t MPU6050::getSlave4Register()
anthonyp08	0:1c6757f4b61c	1188	{
anthonyp08	0:1c6757f4b61c	1189	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
anthonyp08	0:1c6757f4b61c	1190	return buffer[0];
anthonyp08	0:1c6757f4b61c	1191	}
anthonyp08	0:1c6757f4b61c	1192	/** Set the active internal register for Slave 4.
anthonyp08	0:1c6757f4b61c	1193	* @param reg New active register for Slave 4
anthonyp08	0:1c6757f4b61c	1194	* @see getSlave4Register()
anthonyp08	0:1c6757f4b61c	1195	* @see MPU6050_RA_I2C_SLV4_REG
anthonyp08	0:1c6757f4b61c	1196	*/
anthonyp08	0:1c6757f4b61c	1197	void MPU6050::setSlave4Register(uint8_t reg)
anthonyp08	0:1c6757f4b61c	1198	{
anthonyp08	0:1c6757f4b61c	1199	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
anthonyp08	0:1c6757f4b61c	1200	}
anthonyp08	0:1c6757f4b61c	1201	/** Set new byte to write to Slave 4.
anthonyp08	0:1c6757f4b61c	1202	* This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
anthonyp08	0:1c6757f4b61c	1203	* is set 1 (set to read), this register has no effect.
anthonyp08	0:1c6757f4b61c	1204	* @param data New byte to write to Slave 4
anthonyp08	0:1c6757f4b61c	1205	* @see MPU6050_RA_I2C_SLV4_DO
anthonyp08	0:1c6757f4b61c	1206	*/
anthonyp08	0:1c6757f4b61c	1207	void MPU6050::setSlave4OutputByte(uint8_t data)
anthonyp08	0:1c6757f4b61c	1208	{
anthonyp08	0:1c6757f4b61c	1209	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
anthonyp08	0:1c6757f4b61c	1210	}
anthonyp08	0:1c6757f4b61c	1211	/** Get the enabled value for the Slave 4.
anthonyp08	0:1c6757f4b61c	1212	* When set to 1, this bit enables Slave 4 for data transfer operations. When
anthonyp08	0:1c6757f4b61c	1213	* cleared to 0, this bit disables Slave 4 from data transfer operations.
anthonyp08	0:1c6757f4b61c	1214	* @return Current enabled value for Slave 4
anthonyp08	0:1c6757f4b61c	1215	* @see MPU6050_RA_I2C_SLV4_CTRL
anthonyp08	0:1c6757f4b61c	1216	*/
anthonyp08	0:1c6757f4b61c	1217	bool MPU6050::getSlave4Enabled()
anthonyp08	0:1c6757f4b61c	1218	{
anthonyp08	0:1c6757f4b61c	1219	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1220	return buffer[0];
anthonyp08	0:1c6757f4b61c	1221	}
anthonyp08	0:1c6757f4b61c	1222	/** Set the enabled value for Slave 4.
anthonyp08	0:1c6757f4b61c	1223	* @param enabled New enabled value for Slave 4
anthonyp08	0:1c6757f4b61c	1224	* @see getSlave4Enabled()
anthonyp08	0:1c6757f4b61c	1225	* @see MPU6050_RA_I2C_SLV4_CTRL
anthonyp08	0:1c6757f4b61c	1226	*/
anthonyp08	0:1c6757f4b61c	1227	void MPU6050::setSlave4Enabled(bool enabled)
anthonyp08	0:1c6757f4b61c	1228	{
anthonyp08	0:1c6757f4b61c	1229	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
anthonyp08	0:1c6757f4b61c	1230	}
anthonyp08	0:1c6757f4b61c	1231	/** Get the enabled value for Slave 4 transaction interrupts.
anthonyp08	0:1c6757f4b61c	1232	* When set to 1, this bit enables the generation of an interrupt signal upon
anthonyp08	0:1c6757f4b61c	1233	* completion of a Slave 4 transaction. When cleared to 0, this bit disables the
anthonyp08	0:1c6757f4b61c	1234	* generation of an interrupt signal upon completion of a Slave 4 transaction.
anthonyp08	0:1c6757f4b61c	1235	* The interrupt status can be observed in Register 54.
anthonyp08	0:1c6757f4b61c	1236	*
anthonyp08	0:1c6757f4b61c	1237	* @return Current enabled value for Slave 4 transaction interrupts.
anthonyp08	0:1c6757f4b61c	1238	* @see MPU6050_RA_I2C_SLV4_CTRL
anthonyp08	0:1c6757f4b61c	1239	*/
anthonyp08	0:1c6757f4b61c	1240	bool MPU6050::getSlave4InterruptEnabled()
anthonyp08	0:1c6757f4b61c	1241	{
anthonyp08	0:1c6757f4b61c	1242	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1243	return buffer[0];
anthonyp08	0:1c6757f4b61c	1244	}
anthonyp08	0:1c6757f4b61c	1245	/** Set the enabled value for Slave 4 transaction interrupts.
anthonyp08	0:1c6757f4b61c	1246	* @param enabled New enabled value for Slave 4 transaction interrupts.
anthonyp08	0:1c6757f4b61c	1247	* @see getSlave4InterruptEnabled()
anthonyp08	0:1c6757f4b61c	1248	* @see MPU6050_RA_I2C_SLV4_CTRL
anthonyp08	0:1c6757f4b61c	1249	*/
anthonyp08	0:1c6757f4b61c	1250	void MPU6050::setSlave4InterruptEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	1251	{
anthonyp08	0:1c6757f4b61c	1252	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
anthonyp08	0:1c6757f4b61c	1253	}
anthonyp08	0:1c6757f4b61c	1254	/** Get write mode for Slave 4.
anthonyp08	0:1c6757f4b61c	1255	* When set to 1, the transaction will read or write data only. When cleared to
anthonyp08	0:1c6757f4b61c	1256	* 0, the transaction will write a register address prior to reading or writing
anthonyp08	0:1c6757f4b61c	1257	* data. This should equal 0 when specifying the register address within the
anthonyp08	0:1c6757f4b61c	1258	* Slave device to/from which the ensuing data transaction will take place.
anthonyp08	0:1c6757f4b61c	1259	*
anthonyp08	0:1c6757f4b61c	1260	* @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
anthonyp08	0:1c6757f4b61c	1261	* @see MPU6050_RA_I2C_SLV4_CTRL
anthonyp08	0:1c6757f4b61c	1262	*/
anthonyp08	0:1c6757f4b61c	1263	bool MPU6050::getSlave4WriteMode()
anthonyp08	0:1c6757f4b61c	1264	{
anthonyp08	0:1c6757f4b61c	1265	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1266	return buffer[0];
anthonyp08	0:1c6757f4b61c	1267	}
anthonyp08	0:1c6757f4b61c	1268	/** Set write mode for the Slave 4.
anthonyp08	0:1c6757f4b61c	1269	* @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
anthonyp08	0:1c6757f4b61c	1270	* @see getSlave4WriteMode()
anthonyp08	0:1c6757f4b61c	1271	* @see MPU6050_RA_I2C_SLV4_CTRL
anthonyp08	0:1c6757f4b61c	1272	*/
anthonyp08	0:1c6757f4b61c	1273	void MPU6050::setSlave4WriteMode(bool mode)
anthonyp08	0:1c6757f4b61c	1274	{
anthonyp08	0:1c6757f4b61c	1275	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
anthonyp08	0:1c6757f4b61c	1276	}
anthonyp08	0:1c6757f4b61c	1277	/** Get Slave 4 master delay value.
anthonyp08	0:1c6757f4b61c	1278	* This configures the reduced access rate of I2C slaves relative to the Sample
anthonyp08	0:1c6757f4b61c	1279	* Rate. When a slave's access rate is decreased relative to the Sample Rate,
anthonyp08	0:1c6757f4b61c	1280	* the slave is accessed every:
anthonyp08	0:1c6757f4b61c	1281	*
anthonyp08	0:1c6757f4b61c	1282	* 1 / (1 + I2C_MST_DLY) samples
anthonyp08	0:1c6757f4b61c	1283	*
anthonyp08	0:1c6757f4b61c	1284	* This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
anthonyp08	0:1c6757f4b61c	1285	* DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
anthonyp08	0:1c6757f4b61c	1286	* the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
anthonyp08	0:1c6757f4b61c	1287	* further information regarding the Sample Rate, please refer to register 25.
anthonyp08	0:1c6757f4b61c	1288	*
anthonyp08	0:1c6757f4b61c	1289	* @return Current Slave 4 master delay value
anthonyp08	0:1c6757f4b61c	1290	* @see MPU6050_RA_I2C_SLV4_CTRL
anthonyp08	0:1c6757f4b61c	1291	*/
anthonyp08	0:1c6757f4b61c	1292	uint8_t MPU6050::getSlave4MasterDelay()
anthonyp08	0:1c6757f4b61c	1293	{
anthonyp08	0:1c6757f4b61c	1294	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
anthonyp08	0:1c6757f4b61c	1295	return buffer[0];
anthonyp08	0:1c6757f4b61c	1296	}
anthonyp08	0:1c6757f4b61c	1297	/** Set Slave 4 master delay value.
anthonyp08	0:1c6757f4b61c	1298	* @param delay New Slave 4 master delay value
anthonyp08	0:1c6757f4b61c	1299	* @see getSlave4MasterDelay()
anthonyp08	0:1c6757f4b61c	1300	* @see MPU6050_RA_I2C_SLV4_CTRL
anthonyp08	0:1c6757f4b61c	1301	*/
anthonyp08	0:1c6757f4b61c	1302	void MPU6050::setSlave4MasterDelay(uint8_t delay)
anthonyp08	0:1c6757f4b61c	1303	{
anthonyp08	0:1c6757f4b61c	1304	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
anthonyp08	0:1c6757f4b61c	1305	}
anthonyp08	0:1c6757f4b61c	1306	/** Get last available byte read from Slave 4.
anthonyp08	0:1c6757f4b61c	1307	* This register stores the data read from Slave 4. This field is populated
anthonyp08	0:1c6757f4b61c	1308	* after a read transaction.
anthonyp08	0:1c6757f4b61c	1309	* @return Last available byte read from to Slave 4
anthonyp08	0:1c6757f4b61c	1310	* @see MPU6050_RA_I2C_SLV4_DI
anthonyp08	0:1c6757f4b61c	1311	*/
anthonyp08	0:1c6757f4b61c	1312	uint8_t MPU6050::getSlate4InputByte()
anthonyp08	0:1c6757f4b61c	1313	{
anthonyp08	0:1c6757f4b61c	1314	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
anthonyp08	0:1c6757f4b61c	1315	return buffer[0];
anthonyp08	0:1c6757f4b61c	1316	}
anthonyp08	0:1c6757f4b61c	1317
anthonyp08	0:1c6757f4b61c	1318	// I2C_MST_STATUS register
anthonyp08	0:1c6757f4b61c	1319
anthonyp08	0:1c6757f4b61c	1320	/** Get FSYNC interrupt status.
anthonyp08	0:1c6757f4b61c	1321	* This bit reflects the status of the FSYNC interrupt from an external device
anthonyp08	0:1c6757f4b61c	1322	* into the MPU-60X0. This is used as a way to pass an external interrupt
anthonyp08	0:1c6757f4b61c	1323	* through the MPU-60X0 to the host application processor. When set to 1, this
anthonyp08	0:1c6757f4b61c	1324	* bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
anthonyp08	0:1c6757f4b61c	1325	* (Register 55).
anthonyp08	0:1c6757f4b61c	1326	* @return FSYNC interrupt status
anthonyp08	0:1c6757f4b61c	1327	* @see MPU6050_RA_I2C_MST_STATUS
anthonyp08	0:1c6757f4b61c	1328	*/
anthonyp08	0:1c6757f4b61c	1329	bool MPU6050::getPassthroughStatus()
anthonyp08	0:1c6757f4b61c	1330	{
anthonyp08	0:1c6757f4b61c	1331	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1332	return buffer[0];
anthonyp08	0:1c6757f4b61c	1333	}
anthonyp08	0:1c6757f4b61c	1334	/** Get Slave 4 transaction done status.
anthonyp08	0:1c6757f4b61c	1335	* Automatically sets to 1 when a Slave 4 transaction has completed. This
anthonyp08	0:1c6757f4b61c	1336	* triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
anthonyp08	0:1c6757f4b61c	1337	* (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
anthonyp08	0:1c6757f4b61c	1338	* I2C_SLV4_CTRL register (Register 52).
anthonyp08	0:1c6757f4b61c	1339	* @return Slave 4 transaction done status
anthonyp08	0:1c6757f4b61c	1340	* @see MPU6050_RA_I2C_MST_STATUS
anthonyp08	0:1c6757f4b61c	1341	*/
anthonyp08	0:1c6757f4b61c	1342	bool MPU6050::getSlave4IsDone()
anthonyp08	0:1c6757f4b61c	1343	{
anthonyp08	0:1c6757f4b61c	1344	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1345	return buffer[0];
anthonyp08	0:1c6757f4b61c	1346	}
anthonyp08	0:1c6757f4b61c	1347	/** Get master arbitration lost status.
anthonyp08	0:1c6757f4b61c	1348	* This bit automatically sets to 1 when the I2C Master has lost arbitration of
anthonyp08	0:1c6757f4b61c	1349	* the auxiliary I2C bus (an error condition). This triggers an interrupt if the
anthonyp08	0:1c6757f4b61c	1350	* I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
anthonyp08	0:1c6757f4b61c	1351	* @return Master arbitration lost status
anthonyp08	0:1c6757f4b61c	1352	* @see MPU6050_RA_I2C_MST_STATUS
anthonyp08	0:1c6757f4b61c	1353	*/
anthonyp08	0:1c6757f4b61c	1354	bool MPU6050::getLostArbitration()
anthonyp08	0:1c6757f4b61c	1355	{
anthonyp08	0:1c6757f4b61c	1356	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1357	return buffer[0];
anthonyp08	0:1c6757f4b61c	1358	}
anthonyp08	0:1c6757f4b61c	1359	/** Get Slave 4 NACK status.
anthonyp08	0:1c6757f4b61c	1360	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
anthonyp08	0:1c6757f4b61c	1361	* transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
anthonyp08	0:1c6757f4b61c	1362	* bit in the INT_ENABLE register (Register 56) is asserted.
anthonyp08	0:1c6757f4b61c	1363	* @return Slave 4 NACK interrupt status
anthonyp08	0:1c6757f4b61c	1364	* @see MPU6050_RA_I2C_MST_STATUS
anthonyp08	0:1c6757f4b61c	1365	*/
anthonyp08	0:1c6757f4b61c	1366	bool MPU6050::getSlave4Nack()
anthonyp08	0:1c6757f4b61c	1367	{
anthonyp08	0:1c6757f4b61c	1368	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1369	return buffer[0];
anthonyp08	0:1c6757f4b61c	1370	}
anthonyp08	0:1c6757f4b61c	1371	/** Get Slave 3 NACK status.
anthonyp08	0:1c6757f4b61c	1372	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
anthonyp08	0:1c6757f4b61c	1373	* transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
anthonyp08	0:1c6757f4b61c	1374	* bit in the INT_ENABLE register (Register 56) is asserted.
anthonyp08	0:1c6757f4b61c	1375	* @return Slave 3 NACK interrupt status
anthonyp08	0:1c6757f4b61c	1376	* @see MPU6050_RA_I2C_MST_STATUS
anthonyp08	0:1c6757f4b61c	1377	*/
anthonyp08	0:1c6757f4b61c	1378	bool MPU6050::getSlave3Nack()
anthonyp08	0:1c6757f4b61c	1379	{
anthonyp08	0:1c6757f4b61c	1380	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1381	return buffer[0];
anthonyp08	0:1c6757f4b61c	1382	}
anthonyp08	0:1c6757f4b61c	1383	/** Get Slave 2 NACK status.
anthonyp08	0:1c6757f4b61c	1384	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
anthonyp08	0:1c6757f4b61c	1385	* transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
anthonyp08	0:1c6757f4b61c	1386	* bit in the INT_ENABLE register (Register 56) is asserted.
anthonyp08	0:1c6757f4b61c	1387	* @return Slave 2 NACK interrupt status
anthonyp08	0:1c6757f4b61c	1388	* @see MPU6050_RA_I2C_MST_STATUS
anthonyp08	0:1c6757f4b61c	1389	*/
anthonyp08	0:1c6757f4b61c	1390	bool MPU6050::getSlave2Nack()
anthonyp08	0:1c6757f4b61c	1391	{
anthonyp08	0:1c6757f4b61c	1392	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1393	return buffer[0];
anthonyp08	0:1c6757f4b61c	1394	}
anthonyp08	0:1c6757f4b61c	1395	/** Get Slave 1 NACK status.
anthonyp08	0:1c6757f4b61c	1396	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
anthonyp08	0:1c6757f4b61c	1397	* transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
anthonyp08	0:1c6757f4b61c	1398	* bit in the INT_ENABLE register (Register 56) is asserted.
anthonyp08	0:1c6757f4b61c	1399	* @return Slave 1 NACK interrupt status
anthonyp08	0:1c6757f4b61c	1400	* @see MPU6050_RA_I2C_MST_STATUS
anthonyp08	0:1c6757f4b61c	1401	*/
anthonyp08	0:1c6757f4b61c	1402	bool MPU6050::getSlave1Nack()
anthonyp08	0:1c6757f4b61c	1403	{
anthonyp08	0:1c6757f4b61c	1404	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1405	return buffer[0];
anthonyp08	0:1c6757f4b61c	1406	}
anthonyp08	0:1c6757f4b61c	1407	/** Get Slave 0 NACK status.
anthonyp08	0:1c6757f4b61c	1408	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
anthonyp08	0:1c6757f4b61c	1409	* transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
anthonyp08	0:1c6757f4b61c	1410	* bit in the INT_ENABLE register (Register 56) is asserted.
anthonyp08	0:1c6757f4b61c	1411	* @return Slave 0 NACK interrupt status
anthonyp08	0:1c6757f4b61c	1412	* @see MPU6050_RA_I2C_MST_STATUS
anthonyp08	0:1c6757f4b61c	1413	*/
anthonyp08	0:1c6757f4b61c	1414	bool MPU6050::getSlave0Nack()
anthonyp08	0:1c6757f4b61c	1415	{
anthonyp08	0:1c6757f4b61c	1416	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1417	return buffer[0];
anthonyp08	0:1c6757f4b61c	1418	}
anthonyp08	0:1c6757f4b61c	1419
anthonyp08	0:1c6757f4b61c	1420	// INT_PIN_CFG register
anthonyp08	0:1c6757f4b61c	1421
anthonyp08	0:1c6757f4b61c	1422	/** Get interrupt logic level mode.
anthonyp08	0:1c6757f4b61c	1423	* Will be set 0 for active-high, 1 for active-low.
anthonyp08	0:1c6757f4b61c	1424	* @return Current interrupt mode (0=active-high, 1=active-low)
anthonyp08	0:1c6757f4b61c	1425	* @see MPU6050_RA_INT_PIN_CFG
anthonyp08	0:1c6757f4b61c	1426	* @see MPU6050_INTCFG_INT_LEVEL_BIT
anthonyp08	0:1c6757f4b61c	1427	*/
anthonyp08	0:1c6757f4b61c	1428	bool MPU6050::getInterruptMode()
anthonyp08	0:1c6757f4b61c	1429	{
anthonyp08	0:1c6757f4b61c	1430	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1431	return buffer[0];
anthonyp08	0:1c6757f4b61c	1432	}
anthonyp08	0:1c6757f4b61c	1433	/** Set interrupt logic level mode.
anthonyp08	0:1c6757f4b61c	1434	* @param mode New interrupt mode (0=active-high, 1=active-low)
anthonyp08	0:1c6757f4b61c	1435	* @see getInterruptMode()
anthonyp08	0:1c6757f4b61c	1436	* @see MPU6050_RA_INT_PIN_CFG
anthonyp08	0:1c6757f4b61c	1437	* @see MPU6050_INTCFG_INT_LEVEL_BIT
anthonyp08	0:1c6757f4b61c	1438	*/
anthonyp08	0:1c6757f4b61c	1439	void MPU6050::setInterruptMode(bool mode)
anthonyp08	0:1c6757f4b61c	1440	{
anthonyp08	0:1c6757f4b61c	1441	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
anthonyp08	0:1c6757f4b61c	1442	}
anthonyp08	0:1c6757f4b61c	1443	/** Get interrupt drive mode.
anthonyp08	0:1c6757f4b61c	1444	* Will be set 0 for push-pull, 1 for open-drain.
anthonyp08	0:1c6757f4b61c	1445	* @return Current interrupt drive mode (0=push-pull, 1=open-drain)
anthonyp08	0:1c6757f4b61c	1446	* @see MPU6050_RA_INT_PIN_CFG
anthonyp08	0:1c6757f4b61c	1447	* @see MPU6050_INTCFG_INT_OPEN_BIT
anthonyp08	0:1c6757f4b61c	1448	*/
anthonyp08	0:1c6757f4b61c	1449	bool MPU6050::getInterruptDrive()
anthonyp08	0:1c6757f4b61c	1450	{
anthonyp08	0:1c6757f4b61c	1451	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1452	return buffer[0];
anthonyp08	0:1c6757f4b61c	1453	}
anthonyp08	0:1c6757f4b61c	1454	/** Set interrupt drive mode.
anthonyp08	0:1c6757f4b61c	1455	* @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
anthonyp08	0:1c6757f4b61c	1456	* @see getInterruptDrive()
anthonyp08	0:1c6757f4b61c	1457	* @see MPU6050_RA_INT_PIN_CFG
anthonyp08	0:1c6757f4b61c	1458	* @see MPU6050_INTCFG_INT_OPEN_BIT
anthonyp08	0:1c6757f4b61c	1459	*/
anthonyp08	0:1c6757f4b61c	1460	void MPU6050::setInterruptDrive(bool drive)
anthonyp08	0:1c6757f4b61c	1461	{
anthonyp08	0:1c6757f4b61c	1462	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
anthonyp08	0:1c6757f4b61c	1463	}
anthonyp08	0:1c6757f4b61c	1464	/** Get interrupt latch mode.
anthonyp08	0:1c6757f4b61c	1465	* Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
anthonyp08	0:1c6757f4b61c	1466	* @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
anthonyp08	0:1c6757f4b61c	1467	* @see MPU6050_RA_INT_PIN_CFG
anthonyp08	0:1c6757f4b61c	1468	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
anthonyp08	0:1c6757f4b61c	1469	*/
anthonyp08	0:1c6757f4b61c	1470	bool MPU6050::getInterruptLatch()
anthonyp08	0:1c6757f4b61c	1471	{
anthonyp08	0:1c6757f4b61c	1472	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1473	return buffer[0];
anthonyp08	0:1c6757f4b61c	1474	}
anthonyp08	0:1c6757f4b61c	1475	/** Set interrupt latch mode.
anthonyp08	0:1c6757f4b61c	1476	* @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
anthonyp08	0:1c6757f4b61c	1477	* @see getInterruptLatch()
anthonyp08	0:1c6757f4b61c	1478	* @see MPU6050_RA_INT_PIN_CFG
anthonyp08	0:1c6757f4b61c	1479	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
anthonyp08	0:1c6757f4b61c	1480	*/
anthonyp08	0:1c6757f4b61c	1481	void MPU6050::setInterruptLatch(bool latch)
anthonyp08	0:1c6757f4b61c	1482	{
anthonyp08	0:1c6757f4b61c	1483	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
anthonyp08	0:1c6757f4b61c	1484	}
anthonyp08	0:1c6757f4b61c	1485	/** Get interrupt latch clear mode.
anthonyp08	0:1c6757f4b61c	1486	* Will be set 0 for status-read-only, 1 for any-register-read.
anthonyp08	0:1c6757f4b61c	1487	* @return Current latch clear mode (0=status-read-only, 1=any-register-read)
anthonyp08	0:1c6757f4b61c	1488	* @see MPU6050_RA_INT_PIN_CFG
anthonyp08	0:1c6757f4b61c	1489	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
anthonyp08	0:1c6757f4b61c	1490	*/
anthonyp08	0:1c6757f4b61c	1491	bool MPU6050::getInterruptLatchClear()
anthonyp08	0:1c6757f4b61c	1492	{
anthonyp08	0:1c6757f4b61c	1493	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1494	return buffer[0];
anthonyp08	0:1c6757f4b61c	1495	}
anthonyp08	0:1c6757f4b61c	1496	/** Set interrupt latch clear mode.
anthonyp08	0:1c6757f4b61c	1497	* @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
anthonyp08	0:1c6757f4b61c	1498	* @see getInterruptLatchClear()
anthonyp08	0:1c6757f4b61c	1499	* @see MPU6050_RA_INT_PIN_CFG
anthonyp08	0:1c6757f4b61c	1500	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
anthonyp08	0:1c6757f4b61c	1501	*/
anthonyp08	0:1c6757f4b61c	1502	void MPU6050::setInterruptLatchClear(bool clear)
anthonyp08	0:1c6757f4b61c	1503	{
anthonyp08	0:1c6757f4b61c	1504	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
anthonyp08	0:1c6757f4b61c	1505	}
anthonyp08	0:1c6757f4b61c	1506	/** Get FSYNC interrupt logic level mode.
anthonyp08	0:1c6757f4b61c	1507	* @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
anthonyp08	0:1c6757f4b61c	1508	* @see getFSyncInterruptMode()
anthonyp08	0:1c6757f4b61c	1509	* @see MPU6050_RA_INT_PIN_CFG
anthonyp08	0:1c6757f4b61c	1510	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
anthonyp08	0:1c6757f4b61c	1511	*/
anthonyp08	0:1c6757f4b61c	1512	bool MPU6050::getFSyncInterruptLevel()
anthonyp08	0:1c6757f4b61c	1513	{
anthonyp08	0:1c6757f4b61c	1514	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1515	return buffer[0];
anthonyp08	0:1c6757f4b61c	1516	}
anthonyp08	0:1c6757f4b61c	1517	/** Set FSYNC interrupt logic level mode.
anthonyp08	0:1c6757f4b61c	1518	* @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
anthonyp08	0:1c6757f4b61c	1519	* @see getFSyncInterruptMode()
anthonyp08	0:1c6757f4b61c	1520	* @see MPU6050_RA_INT_PIN_CFG
anthonyp08	0:1c6757f4b61c	1521	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
anthonyp08	0:1c6757f4b61c	1522	*/
anthonyp08	0:1c6757f4b61c	1523	void MPU6050::setFSyncInterruptLevel(bool level)
anthonyp08	0:1c6757f4b61c	1524	{
anthonyp08	0:1c6757f4b61c	1525	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
anthonyp08	0:1c6757f4b61c	1526	}
anthonyp08	0:1c6757f4b61c	1527	/** Get FSYNC pin interrupt enabled setting.
anthonyp08	0:1c6757f4b61c	1528	* Will be set 0 for disabled, 1 for enabled.
anthonyp08	0:1c6757f4b61c	1529	* @return Current interrupt enabled setting
anthonyp08	0:1c6757f4b61c	1530	* @see MPU6050_RA_INT_PIN_CFG
anthonyp08	0:1c6757f4b61c	1531	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
anthonyp08	0:1c6757f4b61c	1532	*/
anthonyp08	0:1c6757f4b61c	1533	bool MPU6050::getFSyncInterruptEnabled()
anthonyp08	0:1c6757f4b61c	1534	{
anthonyp08	0:1c6757f4b61c	1535	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1536	return buffer[0];
anthonyp08	0:1c6757f4b61c	1537	}
anthonyp08	0:1c6757f4b61c	1538	/** Set FSYNC pin interrupt enabled setting.
anthonyp08	0:1c6757f4b61c	1539	* @param enabled New FSYNC pin interrupt enabled setting
anthonyp08	0:1c6757f4b61c	1540	* @see getFSyncInterruptEnabled()
anthonyp08	0:1c6757f4b61c	1541	* @see MPU6050_RA_INT_PIN_CFG
anthonyp08	0:1c6757f4b61c	1542	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
anthonyp08	0:1c6757f4b61c	1543	*/
anthonyp08	0:1c6757f4b61c	1544	void MPU6050::setFSyncInterruptEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	1545	{
anthonyp08	0:1c6757f4b61c	1546	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
anthonyp08	0:1c6757f4b61c	1547	}
anthonyp08	0:1c6757f4b61c	1548	/** Get I2C bypass enabled status.
anthonyp08	0:1c6757f4b61c	1549	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
anthonyp08	0:1c6757f4b61c	1550	* 0, the host application processor will be able to directly access the
anthonyp08	0:1c6757f4b61c	1551	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
anthonyp08	0:1c6757f4b61c	1552	* application processor will not be able to directly access the auxiliary I2C
anthonyp08	0:1c6757f4b61c	1553	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
anthonyp08	0:1c6757f4b61c	1554	* bit[5]).
anthonyp08	0:1c6757f4b61c	1555	* @return Current I2C bypass enabled status
anthonyp08	0:1c6757f4b61c	1556	* @see MPU6050_RA_INT_PIN_CFG
anthonyp08	0:1c6757f4b61c	1557	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
anthonyp08	0:1c6757f4b61c	1558	*/
anthonyp08	0:1c6757f4b61c	1559	bool MPU6050::getI2CBypassEnabled()
anthonyp08	0:1c6757f4b61c	1560	{
anthonyp08	0:1c6757f4b61c	1561	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1562	return buffer[0];
anthonyp08	0:1c6757f4b61c	1563	}
anthonyp08	0:1c6757f4b61c	1564	/** Set I2C bypass enabled status.
anthonyp08	0:1c6757f4b61c	1565	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
anthonyp08	0:1c6757f4b61c	1566	* 0, the host application processor will be able to directly access the
anthonyp08	0:1c6757f4b61c	1567	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
anthonyp08	0:1c6757f4b61c	1568	* application processor will not be able to directly access the auxiliary I2C
anthonyp08	0:1c6757f4b61c	1569	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
anthonyp08	0:1c6757f4b61c	1570	* bit[5]).
anthonyp08	0:1c6757f4b61c	1571	* @param enabled New I2C bypass enabled status
anthonyp08	0:1c6757f4b61c	1572	* @see MPU6050_RA_INT_PIN_CFG
anthonyp08	0:1c6757f4b61c	1573	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
anthonyp08	0:1c6757f4b61c	1574	*/
anthonyp08	0:1c6757f4b61c	1575	void MPU6050::setI2CBypassEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	1576	{
anthonyp08	0:1c6757f4b61c	1577	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
anthonyp08	0:1c6757f4b61c	1578	}
anthonyp08	0:1c6757f4b61c	1579	/** Get reference clock output enabled status.
anthonyp08	0:1c6757f4b61c	1580	* When this bit is equal to 1, a reference clock output is provided at the
anthonyp08	0:1c6757f4b61c	1581	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
anthonyp08	0:1c6757f4b61c	1582	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
anthonyp08	0:1c6757f4b61c	1583	* Specification document.
anthonyp08	0:1c6757f4b61c	1584	* @return Current reference clock output enabled status
anthonyp08	0:1c6757f4b61c	1585	* @see MPU6050_RA_INT_PIN_CFG
anthonyp08	0:1c6757f4b61c	1586	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
anthonyp08	0:1c6757f4b61c	1587	*/
anthonyp08	0:1c6757f4b61c	1588	bool MPU6050::getClockOutputEnabled()
anthonyp08	0:1c6757f4b61c	1589	{
anthonyp08	0:1c6757f4b61c	1590	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1591	return buffer[0];
anthonyp08	0:1c6757f4b61c	1592	}
anthonyp08	0:1c6757f4b61c	1593	/** Set reference clock output enabled status.
anthonyp08	0:1c6757f4b61c	1594	* When this bit is equal to 1, a reference clock output is provided at the
anthonyp08	0:1c6757f4b61c	1595	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
anthonyp08	0:1c6757f4b61c	1596	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
anthonyp08	0:1c6757f4b61c	1597	* Specification document.
anthonyp08	0:1c6757f4b61c	1598	* @param enabled New reference clock output enabled status
anthonyp08	0:1c6757f4b61c	1599	* @see MPU6050_RA_INT_PIN_CFG
anthonyp08	0:1c6757f4b61c	1600	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
anthonyp08	0:1c6757f4b61c	1601	*/
anthonyp08	0:1c6757f4b61c	1602	void MPU6050::setClockOutputEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	1603	{
anthonyp08	0:1c6757f4b61c	1604	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
anthonyp08	0:1c6757f4b61c	1605	}
anthonyp08	0:1c6757f4b61c	1606
anthonyp08	0:1c6757f4b61c	1607	// INT_ENABLE register
anthonyp08	0:1c6757f4b61c	1608
anthonyp08	0:1c6757f4b61c	1609	/** Get full interrupt enabled status.
anthonyp08	0:1c6757f4b61c	1610	* Full register byte for all interrupts, for quick reading. Each bit will be
anthonyp08	0:1c6757f4b61c	1611	* set 0 for disabled, 1 for enabled.
anthonyp08	0:1c6757f4b61c	1612	* @return Current interrupt enabled status
anthonyp08	0:1c6757f4b61c	1613	* @see MPU6050_RA_INT_ENABLE
anthonyp08	0:1c6757f4b61c	1614	* @see MPU6050_INTERRUPT_FF_BIT
anthonyp08	0:1c6757f4b61c	1615	**/
anthonyp08	0:1c6757f4b61c	1616	uint8_t MPU6050::getIntEnabled()
anthonyp08	0:1c6757f4b61c	1617	{
anthonyp08	0:1c6757f4b61c	1618	i2Cdev.readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
anthonyp08	0:1c6757f4b61c	1619	return buffer[0];
anthonyp08	0:1c6757f4b61c	1620	}
anthonyp08	0:1c6757f4b61c	1621	/** Set full interrupt enabled status.
anthonyp08	0:1c6757f4b61c	1622	* Full register byte for all interrupts, for quick reading. Each bit should be
anthonyp08	0:1c6757f4b61c	1623	* set 0 for disabled, 1 for enabled.
anthonyp08	0:1c6757f4b61c	1624	* @param enabled New interrupt enabled status
anthonyp08	0:1c6757f4b61c	1625	* @see getIntFreefallEnabled()
anthonyp08	0:1c6757f4b61c	1626	* @see MPU6050_RA_INT_ENABLE
anthonyp08	0:1c6757f4b61c	1627	* @see MPU6050_INTERRUPT_FF_BIT
anthonyp08	0:1c6757f4b61c	1628	**/
anthonyp08	0:1c6757f4b61c	1629	void MPU6050::setIntEnabled(uint8_t enabled)
anthonyp08	0:1c6757f4b61c	1630	{
anthonyp08	0:1c6757f4b61c	1631	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
anthonyp08	0:1c6757f4b61c	1632	}
anthonyp08	0:1c6757f4b61c	1633	/** Get Free Fall interrupt enabled status.
anthonyp08	0:1c6757f4b61c	1634	* Will be set 0 for disabled, 1 for enabled.
anthonyp08	0:1c6757f4b61c	1635	* @return Current interrupt enabled status
anthonyp08	0:1c6757f4b61c	1636	* @see MPU6050_RA_INT_ENABLE
anthonyp08	0:1c6757f4b61c	1637	* @see MPU6050_INTERRUPT_FF_BIT
anthonyp08	0:1c6757f4b61c	1638	**/
anthonyp08	0:1c6757f4b61c	1639	bool MPU6050::getIntFreefallEnabled()
anthonyp08	0:1c6757f4b61c	1640	{
anthonyp08	0:1c6757f4b61c	1641	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1642	return buffer[0];
anthonyp08	0:1c6757f4b61c	1643	}
anthonyp08	0:1c6757f4b61c	1644	/** Set Free Fall interrupt enabled status.
anthonyp08	0:1c6757f4b61c	1645	* @param enabled New interrupt enabled status
anthonyp08	0:1c6757f4b61c	1646	* @see getIntFreefallEnabled()
anthonyp08	0:1c6757f4b61c	1647	* @see MPU6050_RA_INT_ENABLE
anthonyp08	0:1c6757f4b61c	1648	* @see MPU6050_INTERRUPT_FF_BIT
anthonyp08	0:1c6757f4b61c	1649	**/
anthonyp08	0:1c6757f4b61c	1650	void MPU6050::setIntFreefallEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	1651	{
anthonyp08	0:1c6757f4b61c	1652	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
anthonyp08	0:1c6757f4b61c	1653	}
anthonyp08	0:1c6757f4b61c	1654	/** Get Motion Detection interrupt enabled status.
anthonyp08	0:1c6757f4b61c	1655	* Will be set 0 for disabled, 1 for enabled.
anthonyp08	0:1c6757f4b61c	1656	* @return Current interrupt enabled status
anthonyp08	0:1c6757f4b61c	1657	* @see MPU6050_RA_INT_ENABLE
anthonyp08	0:1c6757f4b61c	1658	* @see MPU6050_INTERRUPT_MOT_BIT
anthonyp08	0:1c6757f4b61c	1659	**/
anthonyp08	0:1c6757f4b61c	1660	bool MPU6050::getIntMotionEnabled()
anthonyp08	0:1c6757f4b61c	1661	{
anthonyp08	0:1c6757f4b61c	1662	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1663	return buffer[0];
anthonyp08	0:1c6757f4b61c	1664	}
anthonyp08	0:1c6757f4b61c	1665	/** Set Motion Detection interrupt enabled status.
anthonyp08	0:1c6757f4b61c	1666	* @param enabled New interrupt enabled status
anthonyp08	0:1c6757f4b61c	1667	* @see getIntMotionEnabled()
anthonyp08	0:1c6757f4b61c	1668	* @see MPU6050_RA_INT_ENABLE
anthonyp08	0:1c6757f4b61c	1669	* @see MPU6050_INTERRUPT_MOT_BIT
anthonyp08	0:1c6757f4b61c	1670	**/
anthonyp08	0:1c6757f4b61c	1671	void MPU6050::setIntMotionEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	1672	{
anthonyp08	0:1c6757f4b61c	1673	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
anthonyp08	0:1c6757f4b61c	1674	}
anthonyp08	0:1c6757f4b61c	1675	/** Get Zero Motion Detection interrupt enabled status.
anthonyp08	0:1c6757f4b61c	1676	* Will be set 0 for disabled, 1 for enabled.
anthonyp08	0:1c6757f4b61c	1677	* @return Current interrupt enabled status
anthonyp08	0:1c6757f4b61c	1678	* @see MPU6050_RA_INT_ENABLE
anthonyp08	0:1c6757f4b61c	1679	* @see MPU6050_INTERRUPT_ZMOT_BIT
anthonyp08	0:1c6757f4b61c	1680	**/
anthonyp08	0:1c6757f4b61c	1681	bool MPU6050::getIntZeroMotionEnabled()
anthonyp08	0:1c6757f4b61c	1682	{
anthonyp08	0:1c6757f4b61c	1683	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1684	return buffer[0];
anthonyp08	0:1c6757f4b61c	1685	}
anthonyp08	0:1c6757f4b61c	1686	/** Set Zero Motion Detection interrupt enabled status.
anthonyp08	0:1c6757f4b61c	1687	* @param enabled New interrupt enabled status
anthonyp08	0:1c6757f4b61c	1688	* @see getIntZeroMotionEnabled()
anthonyp08	0:1c6757f4b61c	1689	* @see MPU6050_RA_INT_ENABLE
anthonyp08	0:1c6757f4b61c	1690	* @see MPU6050_INTERRUPT_ZMOT_BIT
anthonyp08	0:1c6757f4b61c	1691	**/
anthonyp08	0:1c6757f4b61c	1692	void MPU6050::setIntZeroMotionEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	1693	{
anthonyp08	0:1c6757f4b61c	1694	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
anthonyp08	0:1c6757f4b61c	1695	}
anthonyp08	0:1c6757f4b61c	1696	/** Get FIFO Buffer Overflow interrupt enabled status.
anthonyp08	0:1c6757f4b61c	1697	* Will be set 0 for disabled, 1 for enabled.
anthonyp08	0:1c6757f4b61c	1698	* @return Current interrupt enabled status
anthonyp08	0:1c6757f4b61c	1699	* @see MPU6050_RA_INT_ENABLE
anthonyp08	0:1c6757f4b61c	1700	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
anthonyp08	0:1c6757f4b61c	1701	**/
anthonyp08	0:1c6757f4b61c	1702	bool MPU6050::getIntFIFOBufferOverflowEnabled()
anthonyp08	0:1c6757f4b61c	1703	{
anthonyp08	0:1c6757f4b61c	1704	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1705	return buffer[0];
anthonyp08	0:1c6757f4b61c	1706	}
anthonyp08	0:1c6757f4b61c	1707	/** Set FIFO Buffer Overflow interrupt enabled status.
anthonyp08	0:1c6757f4b61c	1708	* @param enabled New interrupt enabled status
anthonyp08	0:1c6757f4b61c	1709	* @see getIntFIFOBufferOverflowEnabled()
anthonyp08	0:1c6757f4b61c	1710	* @see MPU6050_RA_INT_ENABLE
anthonyp08	0:1c6757f4b61c	1711	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
anthonyp08	0:1c6757f4b61c	1712	**/
anthonyp08	0:1c6757f4b61c	1713	void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	1714	{
anthonyp08	0:1c6757f4b61c	1715	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
anthonyp08	0:1c6757f4b61c	1716	}
anthonyp08	0:1c6757f4b61c	1717	/** Get I2C Master interrupt enabled status.
anthonyp08	0:1c6757f4b61c	1718	* This enables any of the I2C Master interrupt sources to generate an
anthonyp08	0:1c6757f4b61c	1719	* interrupt. Will be set 0 for disabled, 1 for enabled.
anthonyp08	0:1c6757f4b61c	1720	* @return Current interrupt enabled status
anthonyp08	0:1c6757f4b61c	1721	* @see MPU6050_RA_INT_ENABLE
anthonyp08	0:1c6757f4b61c	1722	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
anthonyp08	0:1c6757f4b61c	1723	**/
anthonyp08	0:1c6757f4b61c	1724	bool MPU6050::getIntI2CMasterEnabled()
anthonyp08	0:1c6757f4b61c	1725	{
anthonyp08	0:1c6757f4b61c	1726	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1727	return buffer[0];
anthonyp08	0:1c6757f4b61c	1728	}
anthonyp08	0:1c6757f4b61c	1729	/** Set I2C Master interrupt enabled status.
anthonyp08	0:1c6757f4b61c	1730	* @param enabled New interrupt enabled status
anthonyp08	0:1c6757f4b61c	1731	* @see getIntI2CMasterEnabled()
anthonyp08	0:1c6757f4b61c	1732	* @see MPU6050_RA_INT_ENABLE
anthonyp08	0:1c6757f4b61c	1733	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
anthonyp08	0:1c6757f4b61c	1734	**/
anthonyp08	0:1c6757f4b61c	1735	void MPU6050::setIntI2CMasterEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	1736	{
anthonyp08	0:1c6757f4b61c	1737	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
anthonyp08	0:1c6757f4b61c	1738	}
anthonyp08	0:1c6757f4b61c	1739	/** Get Data Ready interrupt enabled setting.
anthonyp08	0:1c6757f4b61c	1740	* This event occurs each time a write operation to all of the sensor registers
anthonyp08	0:1c6757f4b61c	1741	* has been completed. Will be set 0 for disabled, 1 for enabled.
anthonyp08	0:1c6757f4b61c	1742	* @return Current interrupt enabled status
anthonyp08	0:1c6757f4b61c	1743	* @see MPU6050_RA_INT_ENABLE
anthonyp08	0:1c6757f4b61c	1744	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
anthonyp08	0:1c6757f4b61c	1745	*/
anthonyp08	0:1c6757f4b61c	1746	bool MPU6050::getIntDataReadyEnabled()
anthonyp08	0:1c6757f4b61c	1747	{
anthonyp08	0:1c6757f4b61c	1748	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1749	return buffer[0];
anthonyp08	0:1c6757f4b61c	1750	}
anthonyp08	0:1c6757f4b61c	1751	/** Set Data Ready interrupt enabled status.
anthonyp08	0:1c6757f4b61c	1752	* @param enabled New interrupt enabled status
anthonyp08	0:1c6757f4b61c	1753	* @see getIntDataReadyEnabled()
anthonyp08	0:1c6757f4b61c	1754	* @see MPU6050_RA_INT_CFG
anthonyp08	0:1c6757f4b61c	1755	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
anthonyp08	0:1c6757f4b61c	1756	*/
anthonyp08	0:1c6757f4b61c	1757	void MPU6050::setIntDataReadyEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	1758	{
anthonyp08	0:1c6757f4b61c	1759	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
anthonyp08	0:1c6757f4b61c	1760	}
anthonyp08	0:1c6757f4b61c	1761
anthonyp08	0:1c6757f4b61c	1762	// INT_STATUS register
anthonyp08	0:1c6757f4b61c	1763
anthonyp08	0:1c6757f4b61c	1764	/** Get full set of interrupt status bits.
anthonyp08	0:1c6757f4b61c	1765	* These bits clear to 0 after the register has been read. Very useful
anthonyp08	0:1c6757f4b61c	1766	* for getting multiple INT statuses, since each single bit read clears
anthonyp08	0:1c6757f4b61c	1767	* all of them because it has to read the whole byte.
anthonyp08	0:1c6757f4b61c	1768	* @return Current interrupt status
anthonyp08	0:1c6757f4b61c	1769	* @see MPU6050_RA_INT_STATUS
anthonyp08	0:1c6757f4b61c	1770	*/
anthonyp08	0:1c6757f4b61c	1771	uint8_t MPU6050::getIntStatus()
anthonyp08	0:1c6757f4b61c	1772	{
anthonyp08	0:1c6757f4b61c	1773	i2Cdev.readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
anthonyp08	0:1c6757f4b61c	1774	return buffer[0];
anthonyp08	0:1c6757f4b61c	1775	}
anthonyp08	0:1c6757f4b61c	1776	/** Get Free Fall interrupt status.
anthonyp08	0:1c6757f4b61c	1777	* This bit automatically sets to 1 when a Free Fall interrupt has been
anthonyp08	0:1c6757f4b61c	1778	* generated. The bit clears to 0 after the register has been read.
anthonyp08	0:1c6757f4b61c	1779	* @return Current interrupt status
anthonyp08	0:1c6757f4b61c	1780	* @see MPU6050_RA_INT_STATUS
anthonyp08	0:1c6757f4b61c	1781	* @see MPU6050_INTERRUPT_FF_BIT
anthonyp08	0:1c6757f4b61c	1782	*/
anthonyp08	0:1c6757f4b61c	1783	bool MPU6050::getIntFreefallStatus()
anthonyp08	0:1c6757f4b61c	1784	{
anthonyp08	0:1c6757f4b61c	1785	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1786	return buffer[0];
anthonyp08	0:1c6757f4b61c	1787	}
anthonyp08	0:1c6757f4b61c	1788	/** Get Motion Detection interrupt status.
anthonyp08	0:1c6757f4b61c	1789	* This bit automatically sets to 1 when a Motion Detection interrupt has been
anthonyp08	0:1c6757f4b61c	1790	* generated. The bit clears to 0 after the register has been read.
anthonyp08	0:1c6757f4b61c	1791	* @return Current interrupt status
anthonyp08	0:1c6757f4b61c	1792	* @see MPU6050_RA_INT_STATUS
anthonyp08	0:1c6757f4b61c	1793	* @see MPU6050_INTERRUPT_MOT_BIT
anthonyp08	0:1c6757f4b61c	1794	*/
anthonyp08	0:1c6757f4b61c	1795	bool MPU6050::getIntMotionStatus()
anthonyp08	0:1c6757f4b61c	1796	{
anthonyp08	0:1c6757f4b61c	1797	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1798	return buffer[0];
anthonyp08	0:1c6757f4b61c	1799	}
anthonyp08	0:1c6757f4b61c	1800	/** Get Zero Motion Detection interrupt status.
anthonyp08	0:1c6757f4b61c	1801	* This bit automatically sets to 1 when a Zero Motion Detection interrupt has
anthonyp08	0:1c6757f4b61c	1802	* been generated. The bit clears to 0 after the register has been read.
anthonyp08	0:1c6757f4b61c	1803	* @return Current interrupt status
anthonyp08	0:1c6757f4b61c	1804	* @see MPU6050_RA_INT_STATUS
anthonyp08	0:1c6757f4b61c	1805	* @see MPU6050_INTERRUPT_ZMOT_BIT
anthonyp08	0:1c6757f4b61c	1806	*/
anthonyp08	0:1c6757f4b61c	1807	bool MPU6050::getIntZeroMotionStatus()
anthonyp08	0:1c6757f4b61c	1808	{
anthonyp08	0:1c6757f4b61c	1809	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1810	return buffer[0];
anthonyp08	0:1c6757f4b61c	1811	}
anthonyp08	0:1c6757f4b61c	1812	/** Get FIFO Buffer Overflow interrupt status.
anthonyp08	0:1c6757f4b61c	1813	* This bit automatically sets to 1 when a Free Fall interrupt has been
anthonyp08	0:1c6757f4b61c	1814	* generated. The bit clears to 0 after the register has been read.
anthonyp08	0:1c6757f4b61c	1815	* @return Current interrupt status
anthonyp08	0:1c6757f4b61c	1816	* @see MPU6050_RA_INT_STATUS
anthonyp08	0:1c6757f4b61c	1817	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
anthonyp08	0:1c6757f4b61c	1818	*/
anthonyp08	0:1c6757f4b61c	1819	bool MPU6050::getIntFIFOBufferOverflowStatus()
anthonyp08	0:1c6757f4b61c	1820	{
anthonyp08	0:1c6757f4b61c	1821	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1822	return buffer[0];
anthonyp08	0:1c6757f4b61c	1823	}
anthonyp08	0:1c6757f4b61c	1824	/** Get I2C Master interrupt status.
anthonyp08	0:1c6757f4b61c	1825	* This bit automatically sets to 1 when an I2C Master interrupt has been
anthonyp08	0:1c6757f4b61c	1826	* generated. For a list of I2C Master interrupts, please refer to Register 54.
anthonyp08	0:1c6757f4b61c	1827	* The bit clears to 0 after the register has been read.
anthonyp08	0:1c6757f4b61c	1828	* @return Current interrupt status
anthonyp08	0:1c6757f4b61c	1829	* @see MPU6050_RA_INT_STATUS
anthonyp08	0:1c6757f4b61c	1830	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
anthonyp08	0:1c6757f4b61c	1831	*/
anthonyp08	0:1c6757f4b61c	1832	bool MPU6050::getIntI2CMasterStatus()
anthonyp08	0:1c6757f4b61c	1833	{
anthonyp08	0:1c6757f4b61c	1834	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1835	return buffer[0];
anthonyp08	0:1c6757f4b61c	1836	}
anthonyp08	0:1c6757f4b61c	1837	/** Get Data Ready interrupt status.
anthonyp08	0:1c6757f4b61c	1838	* This bit automatically sets to 1 when a Data Ready interrupt has been
anthonyp08	0:1c6757f4b61c	1839	* generated. The bit clears to 0 after the register has been read.
anthonyp08	0:1c6757f4b61c	1840	* @return Current interrupt status
anthonyp08	0:1c6757f4b61c	1841	* @see MPU6050_RA_INT_STATUS
anthonyp08	0:1c6757f4b61c	1842	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
anthonyp08	0:1c6757f4b61c	1843	*/
anthonyp08	0:1c6757f4b61c	1844	bool MPU6050::getIntDataReadyStatus()
anthonyp08	0:1c6757f4b61c	1845	{
anthonyp08	0:1c6757f4b61c	1846	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
anthonyp08	0:1c6757f4b61c	1847	return buffer[0];
anthonyp08	0:1c6757f4b61c	1848	}
anthonyp08	0:1c6757f4b61c	1849
anthonyp08	0:1c6757f4b61c	1850	// ACCEL_OUT_ registers
anthonyp08	0:1c6757f4b61c	1851
anthonyp08	0:1c6757f4b61c	1852	/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
anthonyp08	0:1c6757f4b61c	1853	* FUNCTION NOT FULLY IMPLEMENTED YET.
anthonyp08	0:1c6757f4b61c	1854	* @param ax 16-bit signed integer container for accelerometer X-axis value
anthonyp08	0:1c6757f4b61c	1855	* @param ay 16-bit signed integer container for accelerometer Y-axis value
anthonyp08	0:1c6757f4b61c	1856	* @param az 16-bit signed integer container for accelerometer Z-axis value
anthonyp08	0:1c6757f4b61c	1857	* @param gx 16-bit signed integer container for gyroscope X-axis value
anthonyp08	0:1c6757f4b61c	1858	* @param gy 16-bit signed integer container for gyroscope Y-axis value
anthonyp08	0:1c6757f4b61c	1859	* @param gz 16-bit signed integer container for gyroscope Z-axis value
anthonyp08	0:1c6757f4b61c	1860	* @param mx 16-bit signed integer container for magnetometer X-axis value
anthonyp08	0:1c6757f4b61c	1861	* @param my 16-bit signed integer container for magnetometer Y-axis value
anthonyp08	0:1c6757f4b61c	1862	* @param mz 16-bit signed integer container for magnetometer Z-axis value
anthonyp08	0:1c6757f4b61c	1863	* @see getMotion6()
anthonyp08	0:1c6757f4b61c	1864	* @see getAcceleration()
anthonyp08	0:1c6757f4b61c	1865	* @see getRotation()
anthonyp08	0:1c6757f4b61c	1866	* @see MPU6050_RA_ACCEL_XOUT_H
anthonyp08	0:1c6757f4b61c	1867	*/
anthonyp08	0:1c6757f4b61c	1868	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)
anthonyp08	0:1c6757f4b61c	1869	{
anthonyp08	0:1c6757f4b61c	1870	getMotion6(ax, ay, az, gx, gy, gz);
anthonyp08	0:1c6757f4b61c	1871	// TODO: magnetometer integration
anthonyp08	0:1c6757f4b61c	1872	}
anthonyp08	0:1c6757f4b61c	1873	/** Get raw 6-axis motion sensor readings (accel/gyro).
anthonyp08	0:1c6757f4b61c	1874	* Retrieves all currently available motion sensor values.
anthonyp08	0:1c6757f4b61c	1875	* @param ax 16-bit signed integer container for accelerometer X-axis value
anthonyp08	0:1c6757f4b61c	1876	* @param ay 16-bit signed integer container for accelerometer Y-axis value
anthonyp08	0:1c6757f4b61c	1877	* @param az 16-bit signed integer container for accelerometer Z-axis value
anthonyp08	0:1c6757f4b61c	1878	* @param gx 16-bit signed integer container for gyroscope X-axis value
anthonyp08	0:1c6757f4b61c	1879	* @param gy 16-bit signed integer container for gyroscope Y-axis value
anthonyp08	0:1c6757f4b61c	1880	* @param gz 16-bit signed integer container for gyroscope Z-axis value
anthonyp08	0:1c6757f4b61c	1881	* @see getAcceleration()
anthonyp08	0:1c6757f4b61c	1882	* @see getRotation()
anthonyp08	0:1c6757f4b61c	1883	* @see MPU6050_RA_ACCEL_XOUT_H
anthonyp08	0:1c6757f4b61c	1884	*/
anthonyp08	0:1c6757f4b61c	1885	void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
anthonyp08	0:1c6757f4b61c	1886	{
anthonyp08	0:1c6757f4b61c	1887	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
anthonyp08	0:1c6757f4b61c	1888	*ax = (((int16_t)buffer[0]) << 8) \| buffer[1];
anthonyp08	0:1c6757f4b61c	1889	*ay = (((int16_t)buffer[2]) << 8) \| buffer[3];
anthonyp08	0:1c6757f4b61c	1890	*az = (((int16_t)buffer[4]) << 8) \| buffer[5];
anthonyp08	0:1c6757f4b61c	1891	*gx = (((int16_t)buffer[8]) << 8) \| buffer[9];
anthonyp08	0:1c6757f4b61c	1892	*gy = (((int16_t)buffer[10]) << 8) \| buffer[11];
anthonyp08	0:1c6757f4b61c	1893	*gz = (((int16_t)buffer[12]) << 8) \| buffer[13];
anthonyp08	0:1c6757f4b61c	1894	}
anthonyp08	0:1c6757f4b61c	1895	/** Get 3-axis accelerometer readings.
anthonyp08	0:1c6757f4b61c	1896	* These registers store the most recent accelerometer measurements.
anthonyp08	0:1c6757f4b61c	1897	* Accelerometer measurements are written to these registers at the Sample Rate
anthonyp08	0:1c6757f4b61c	1898	* as defined in Register 25.
anthonyp08	0:1c6757f4b61c	1899	*
anthonyp08	0:1c6757f4b61c	1900	* The accelerometer measurement registers, along with the temperature
anthonyp08	0:1c6757f4b61c	1901	* measurement registers, gyroscope measurement registers, and external sensor
anthonyp08	0:1c6757f4b61c	1902	* data registers, are composed of two sets of registers: an internal register
anthonyp08	0:1c6757f4b61c	1903	* set and a user-facing read register set.
anthonyp08	0:1c6757f4b61c	1904	*
anthonyp08	0:1c6757f4b61c	1905	* The data within the accelerometer sensors' internal register set is always
anthonyp08	0:1c6757f4b61c	1906	* updated at the Sample Rate. Meanwhile, the user-facing read register set
anthonyp08	0:1c6757f4b61c	1907	* duplicates the internal register set's data values whenever the serial
anthonyp08	0:1c6757f4b61c	1908	* interface is idle. This guarantees that a burst read of sensor registers will
anthonyp08	0:1c6757f4b61c	1909	* read measurements from the same sampling instant. Note that if burst reads
anthonyp08	0:1c6757f4b61c	1910	* are not used, the user is responsible for ensuring a set of single byte reads
anthonyp08	0:1c6757f4b61c	1911	* correspond to a single sampling instant by checking the Data Ready interrupt.
anthonyp08	0:1c6757f4b61c	1912	*
anthonyp08	0:1c6757f4b61c	1913	* Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
anthonyp08	0:1c6757f4b61c	1914	* (Register 28). For each full scale setting, the accelerometers' sensitivity
anthonyp08	0:1c6757f4b61c	1915	* per LSB in ACCEL_xOUT is shown in the table below:
anthonyp08	0:1c6757f4b61c	1916	*
anthonyp08	0:1c6757f4b61c	1917	* <pre>
anthonyp08	0:1c6757f4b61c	1918	* AFS_SEL \| Full Scale Range \| LSB Sensitivity
anthonyp08	0:1c6757f4b61c	1919	* --------+------------------+----------------
anthonyp08	0:1c6757f4b61c	1920	* 0 \| +/- 2g \| 8192 LSB/mg
anthonyp08	0:1c6757f4b61c	1921	* 1 \| +/- 4g \| 4096 LSB/mg
anthonyp08	0:1c6757f4b61c	1922	* 2 \| +/- 8g \| 2048 LSB/mg
anthonyp08	0:1c6757f4b61c	1923	* 3 \| +/- 16g \| 1024 LSB/mg
anthonyp08	0:1c6757f4b61c	1924	* </pre>
anthonyp08	0:1c6757f4b61c	1925	*
anthonyp08	0:1c6757f4b61c	1926	* @param x 16-bit signed integer container for X-axis acceleration
anthonyp08	0:1c6757f4b61c	1927	* @param y 16-bit signed integer container for Y-axis acceleration
anthonyp08	0:1c6757f4b61c	1928	* @param z 16-bit signed integer container for Z-axis acceleration
anthonyp08	0:1c6757f4b61c	1929	* @see MPU6050_RA_GYRO_XOUT_H
anthonyp08	0:1c6757f4b61c	1930	*/
anthonyp08	0:1c6757f4b61c	1931	void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z)
anthonyp08	0:1c6757f4b61c	1932	{
anthonyp08	0:1c6757f4b61c	1933	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
anthonyp08	0:1c6757f4b61c	1934	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
anthonyp08	0:1c6757f4b61c	1935	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
anthonyp08	0:1c6757f4b61c	1936	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
anthonyp08	0:1c6757f4b61c	1937	}
anthonyp08	0:1c6757f4b61c	1938	/** Get X-axis accelerometer reading.
anthonyp08	0:1c6757f4b61c	1939	* @return X-axis acceleration measurement in 16-bit 2's complement format
anthonyp08	0:1c6757f4b61c	1940	* @see getMotion6()
anthonyp08	0:1c6757f4b61c	1941	* @see MPU6050_RA_ACCEL_XOUT_H
anthonyp08	0:1c6757f4b61c	1942	*/
anthonyp08	0:1c6757f4b61c	1943	int16_t MPU6050::getAccelerationX()
anthonyp08	0:1c6757f4b61c	1944	{
anthonyp08	0:1c6757f4b61c	1945	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
anthonyp08	0:1c6757f4b61c	1946	return (((int16_t)buffer[0]) << 8) \| buffer[1];
anthonyp08	0:1c6757f4b61c	1947	}
anthonyp08	0:1c6757f4b61c	1948	/** Get Y-axis accelerometer reading.
anthonyp08	0:1c6757f4b61c	1949	* @return Y-axis acceleration measurement in 16-bit 2's complement format
anthonyp08	0:1c6757f4b61c	1950	* @see getMotion6()
anthonyp08	0:1c6757f4b61c	1951	* @see MPU6050_RA_ACCEL_YOUT_H
anthonyp08	0:1c6757f4b61c	1952	*/
anthonyp08	0:1c6757f4b61c	1953	int16_t MPU6050::getAccelerationY()
anthonyp08	0:1c6757f4b61c	1954	{
anthonyp08	0:1c6757f4b61c	1955	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
anthonyp08	0:1c6757f4b61c	1956	return (((int16_t)buffer[0]) << 8) \| buffer[1];
anthonyp08	0:1c6757f4b61c	1957	}
anthonyp08	0:1c6757f4b61c	1958	/** Get Z-axis accelerometer reading.
anthonyp08	0:1c6757f4b61c	1959	* @return Z-axis acceleration measurement in 16-bit 2's complement format
anthonyp08	0:1c6757f4b61c	1960	* @see getMotion6()
anthonyp08	0:1c6757f4b61c	1961	* @see MPU6050_RA_ACCEL_ZOUT_H
anthonyp08	0:1c6757f4b61c	1962	*/
anthonyp08	0:1c6757f4b61c	1963	int16_t MPU6050::getAccelerationZ()
anthonyp08	0:1c6757f4b61c	1964	{
anthonyp08	0:1c6757f4b61c	1965	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
anthonyp08	0:1c6757f4b61c	1966	return (((int16_t)buffer[0]) << 8) \| buffer[1];
anthonyp08	0:1c6757f4b61c	1967	}
anthonyp08	0:1c6757f4b61c	1968
anthonyp08	0:1c6757f4b61c	1969	// TEMP_OUT_* registers
anthonyp08	0:1c6757f4b61c	1970
anthonyp08	0:1c6757f4b61c	1971	/** Get current internal temperature.
anthonyp08	0:1c6757f4b61c	1972	* @return Temperature reading in 16-bit 2's complement format
anthonyp08	0:1c6757f4b61c	1973	* @see MPU6050_RA_TEMP_OUT_H
anthonyp08	0:1c6757f4b61c	1974	*/
anthonyp08	0:1c6757f4b61c	1975	int16_t MPU6050::getTemperature()
anthonyp08	0:1c6757f4b61c	1976	{
anthonyp08	0:1c6757f4b61c	1977	i2Cdev.readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
anthonyp08	0:1c6757f4b61c	1978	return (((int16_t)buffer[0]) << 8) \| buffer[1];
anthonyp08	0:1c6757f4b61c	1979	}
anthonyp08	0:1c6757f4b61c	1980
anthonyp08	0:1c6757f4b61c	1981	// GYRO_OUT_ registers
anthonyp08	0:1c6757f4b61c	1982
anthonyp08	0:1c6757f4b61c	1983	/** Get 3-axis gyroscope readings.
anthonyp08	0:1c6757f4b61c	1984	* These gyroscope measurement registers, along with the accelerometer
anthonyp08	0:1c6757f4b61c	1985	* measurement registers, temperature measurement registers, and external sensor
anthonyp08	0:1c6757f4b61c	1986	* data registers, are composed of two sets of registers: an internal register
anthonyp08	0:1c6757f4b61c	1987	* set and a user-facing read register set.
anthonyp08	0:1c6757f4b61c	1988	* The data within the gyroscope sensors' internal register set is always
anthonyp08	0:1c6757f4b61c	1989	* updated at the Sample Rate. Meanwhile, the user-facing read register set
anthonyp08	0:1c6757f4b61c	1990	* duplicates the internal register set's data values whenever the serial
anthonyp08	0:1c6757f4b61c	1991	* interface is idle. This guarantees that a burst read of sensor registers will
anthonyp08	0:1c6757f4b61c	1992	* read measurements from the same sampling instant. Note that if burst reads
anthonyp08	0:1c6757f4b61c	1993	* are not used, the user is responsible for ensuring a set of single byte reads
anthonyp08	0:1c6757f4b61c	1994	* correspond to a single sampling instant by checking the Data Ready interrupt.
anthonyp08	0:1c6757f4b61c	1995	*
anthonyp08	0:1c6757f4b61c	1996	* Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
anthonyp08	0:1c6757f4b61c	1997	* (Register 27). For each full scale setting, the gyroscopes' sensitivity per
anthonyp08	0:1c6757f4b61c	1998	* LSB in GYRO_xOUT is shown in the table below:
anthonyp08	0:1c6757f4b61c	1999	*
anthonyp08	0:1c6757f4b61c	2000	* <pre>
anthonyp08	0:1c6757f4b61c	2001	* FS_SEL \| Full Scale Range \| LSB Sensitivity
anthonyp08	0:1c6757f4b61c	2002	* -------+--------------------+----------------
anthonyp08	0:1c6757f4b61c	2003	* 0 \| +/- 250 degrees/s \| 131 LSB/deg/s
anthonyp08	0:1c6757f4b61c	2004	* 1 \| +/- 500 degrees/s \| 65.5 LSB/deg/s
anthonyp08	0:1c6757f4b61c	2005	* 2 \| +/- 1000 degrees/s \| 32.8 LSB/deg/s
anthonyp08	0:1c6757f4b61c	2006	* 3 \| +/- 2000 degrees/s \| 16.4 LSB/deg/s
anthonyp08	0:1c6757f4b61c	2007	* </pre>
anthonyp08	0:1c6757f4b61c	2008	*
anthonyp08	0:1c6757f4b61c	2009	* @param x 16-bit signed integer container for X-axis rotation
anthonyp08	0:1c6757f4b61c	2010	* @param y 16-bit signed integer container for Y-axis rotation
anthonyp08	0:1c6757f4b61c	2011	* @param z 16-bit signed integer container for Z-axis rotation
anthonyp08	0:1c6757f4b61c	2012	* @see getMotion6()
anthonyp08	0:1c6757f4b61c	2013	* @see MPU6050_RA_GYRO_XOUT_H
anthonyp08	0:1c6757f4b61c	2014	*/
anthonyp08	0:1c6757f4b61c	2015	void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z)
anthonyp08	0:1c6757f4b61c	2016	{
anthonyp08	0:1c6757f4b61c	2017	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
anthonyp08	0:1c6757f4b61c	2018	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
anthonyp08	0:1c6757f4b61c	2019	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
anthonyp08	0:1c6757f4b61c	2020	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
anthonyp08	0:1c6757f4b61c	2021	}
anthonyp08	0:1c6757f4b61c	2022	/** Get X-axis gyroscope reading.
anthonyp08	0:1c6757f4b61c	2023	* @return X-axis rotation measurement in 16-bit 2's complement format
anthonyp08	0:1c6757f4b61c	2024	* @see getMotion6()
anthonyp08	0:1c6757f4b61c	2025	* @see MPU6050_RA_GYRO_XOUT_H
anthonyp08	0:1c6757f4b61c	2026	*/
anthonyp08	0:1c6757f4b61c	2027	int16_t MPU6050::getRotationX()
anthonyp08	0:1c6757f4b61c	2028	{
anthonyp08	0:1c6757f4b61c	2029	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
anthonyp08	0:1c6757f4b61c	2030	return (((int16_t)buffer[0]) << 8) \| buffer[1];
anthonyp08	0:1c6757f4b61c	2031	}
anthonyp08	0:1c6757f4b61c	2032	/** Get Y-axis gyroscope reading.
anthonyp08	0:1c6757f4b61c	2033	* @return Y-axis rotation measurement in 16-bit 2's complement format
anthonyp08	0:1c6757f4b61c	2034	* @see getMotion6()
anthonyp08	0:1c6757f4b61c	2035	* @see MPU6050_RA_GYRO_YOUT_H
anthonyp08	0:1c6757f4b61c	2036	*/
anthonyp08	0:1c6757f4b61c	2037	int16_t MPU6050::getRotationY()
anthonyp08	0:1c6757f4b61c	2038	{
anthonyp08	0:1c6757f4b61c	2039	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
anthonyp08	0:1c6757f4b61c	2040	return (((int16_t)buffer[0]) << 8) \| buffer[1];
anthonyp08	0:1c6757f4b61c	2041	}
anthonyp08	0:1c6757f4b61c	2042	/** Get Z-axis gyroscope reading.
anthonyp08	0:1c6757f4b61c	2043	* @return Z-axis rotation measurement in 16-bit 2's complement format
anthonyp08	0:1c6757f4b61c	2044	* @see getMotion6()
anthonyp08	0:1c6757f4b61c	2045	* @see MPU6050_RA_GYRO_ZOUT_H
anthonyp08	0:1c6757f4b61c	2046	*/
anthonyp08	0:1c6757f4b61c	2047	int16_t MPU6050::getRotationZ()
anthonyp08	0:1c6757f4b61c	2048	{
anthonyp08	0:1c6757f4b61c	2049	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
anthonyp08	0:1c6757f4b61c	2050	return (((int16_t)buffer[0]) << 8) \| buffer[1];
anthonyp08	0:1c6757f4b61c	2051	}
anthonyp08	0:1c6757f4b61c	2052
anthonyp08	0:1c6757f4b61c	2053	// EXT_SENS_DATA_* registers
anthonyp08	0:1c6757f4b61c	2054
anthonyp08	0:1c6757f4b61c	2055	/** Read single byte from external sensor data register.
anthonyp08	0:1c6757f4b61c	2056	* These registers store data read from external sensors by the Slave 0, 1, 2,
anthonyp08	0:1c6757f4b61c	2057	* and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
anthonyp08	0:1c6757f4b61c	2058	* I2C_SLV4_DI (Register 53).
anthonyp08	0:1c6757f4b61c	2059	*
anthonyp08	0:1c6757f4b61c	2060	* External sensor data is written to these registers at the Sample Rate as
anthonyp08	0:1c6757f4b61c	2061	* defined in Register 25. This access rate can be reduced by using the Slave
anthonyp08	0:1c6757f4b61c	2062	* Delay Enable registers (Register 103).
anthonyp08	0:1c6757f4b61c	2063	*
anthonyp08	0:1c6757f4b61c	2064	* External sensor data registers, along with the gyroscope measurement
anthonyp08	0:1c6757f4b61c	2065	* registers, accelerometer measurement registers, and temperature measurement
anthonyp08	0:1c6757f4b61c	2066	* registers, are composed of two sets of registers: an internal register set
anthonyp08	0:1c6757f4b61c	2067	* and a user-facing read register set.
anthonyp08	0:1c6757f4b61c	2068	*
anthonyp08	0:1c6757f4b61c	2069	* The data within the external sensors' internal register set is always updated
anthonyp08	0:1c6757f4b61c	2070	* at the Sample Rate (or the reduced access rate) whenever the serial interface
anthonyp08	0:1c6757f4b61c	2071	* is idle. This guarantees that a burst read of sensor registers will read
anthonyp08	0:1c6757f4b61c	2072	* measurements from the same sampling instant. Note that if burst reads are not
anthonyp08	0:1c6757f4b61c	2073	* used, the user is responsible for ensuring a set of single byte reads
anthonyp08	0:1c6757f4b61c	2074	* correspond to a single sampling instant by checking the Data Ready interrupt.
anthonyp08	0:1c6757f4b61c	2075	*
anthonyp08	0:1c6757f4b61c	2076	* Data is placed in these external sensor data registers according to
anthonyp08	0:1c6757f4b61c	2077	* I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
anthonyp08	0:1c6757f4b61c	2078	* 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
anthonyp08	0:1c6757f4b61c	2079	* an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
anthonyp08	0:1c6757f4b61c	2080	* defined in Register 25) or delayed rate (if specified in Register 52 and
anthonyp08	0:1c6757f4b61c	2081	* 103). During each Sample cycle, slave reads are performed in order of Slave
anthonyp08	0:1c6757f4b61c	2082	* number. If all slaves are enabled with more than zero bytes to be read, the
anthonyp08	0:1c6757f4b61c	2083	* order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
anthonyp08	0:1c6757f4b61c	2084	*
anthonyp08	0:1c6757f4b61c	2085	* Each enabled slave will have EXT_SENS_DATA registers associated with it by
anthonyp08	0:1c6757f4b61c	2086	* number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
anthonyp08	0:1c6757f4b61c	2087	* EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
anthonyp08	0:1c6757f4b61c	2088	* change the higher numbered slaves' associated registers. Furthermore, if
anthonyp08	0:1c6757f4b61c	2089	* fewer total bytes are being read from the external sensors as a result of
anthonyp08	0:1c6757f4b61c	2090	* such a change, then the data remaining in the registers which no longer have
anthonyp08	0:1c6757f4b61c	2091	* an associated slave device (i.e. high numbered registers) will remain in
anthonyp08	0:1c6757f4b61c	2092	* these previously allocated registers unless reset.
anthonyp08	0:1c6757f4b61c	2093	*
anthonyp08	0:1c6757f4b61c	2094	* If the sum of the read lengths of all SLVx transactions exceed the number of
anthonyp08	0:1c6757f4b61c	2095	* available EXT_SENS_DATA registers, the excess bytes will be dropped. There
anthonyp08	0:1c6757f4b61c	2096	* are 24 EXT_SENS_DATA registers and hence the total read lengths between all
anthonyp08	0:1c6757f4b61c	2097	* the slaves cannot be greater than 24 or some bytes will be lost.
anthonyp08	0:1c6757f4b61c	2098	*
anthonyp08	0:1c6757f4b61c	2099	* Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
anthonyp08	0:1c6757f4b61c	2100	* information regarding the characteristics of Slave 4, please refer to
anthonyp08	0:1c6757f4b61c	2101	* Registers 49 to 53.
anthonyp08	0:1c6757f4b61c	2102	*
anthonyp08	0:1c6757f4b61c	2103	* EXAMPLE:
anthonyp08	0:1c6757f4b61c	2104	* Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
anthonyp08	0:1c6757f4b61c	2105	* I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
anthonyp08	0:1c6757f4b61c	2106	* I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
anthonyp08	0:1c6757f4b61c	2107	* through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
anthonyp08	0:1c6757f4b61c	2108	* will be associated with Slave 1. If Slave 2 is enabled as well, registers
anthonyp08	0:1c6757f4b61c	2109	* starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
anthonyp08	0:1c6757f4b61c	2110	*
anthonyp08	0:1c6757f4b61c	2111	* If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
anthonyp08	0:1c6757f4b61c	2112	* registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
anthonyp08	0:1c6757f4b61c	2113	* instead.
anthonyp08	0:1c6757f4b61c	2114	*
anthonyp08	0:1c6757f4b61c	2115	* REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
anthonyp08	0:1c6757f4b61c	2116	* If a slave is disabled at any time, the space initially allocated to the
anthonyp08	0:1c6757f4b61c	2117	* slave in the EXT_SENS_DATA register, will remain associated with that slave.
anthonyp08	0:1c6757f4b61c	2118	* This is to avoid dynamic adjustment of the register allocation.
anthonyp08	0:1c6757f4b61c	2119	*
anthonyp08	0:1c6757f4b61c	2120	* The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
anthonyp08	0:1c6757f4b61c	2121	* slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
anthonyp08	0:1c6757f4b61c	2122	*
anthonyp08	0:1c6757f4b61c	2123	* This above is also true if one of the slaves gets NACKed and stops
anthonyp08	0:1c6757f4b61c	2124	* functioning.
anthonyp08	0:1c6757f4b61c	2125	*
anthonyp08	0:1c6757f4b61c	2126	* @param position Starting position (0-23)
anthonyp08	0:1c6757f4b61c	2127	* @return Byte read from register
anthonyp08	0:1c6757f4b61c	2128	*/
anthonyp08	0:1c6757f4b61c	2129	uint8_t MPU6050::getExternalSensorByte(int position)
anthonyp08	0:1c6757f4b61c	2130	{
anthonyp08	0:1c6757f4b61c	2131	i2Cdev.readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
anthonyp08	0:1c6757f4b61c	2132	return buffer[0];
anthonyp08	0:1c6757f4b61c	2133	}
anthonyp08	0:1c6757f4b61c	2134	/** Read word (2 bytes) from external sensor data registers.
anthonyp08	0:1c6757f4b61c	2135	* @param position Starting position (0-21)
anthonyp08	0:1c6757f4b61c	2136	* @return Word read from register
anthonyp08	0:1c6757f4b61c	2137	* @see getExternalSensorByte()
anthonyp08	0:1c6757f4b61c	2138	*/
anthonyp08	0:1c6757f4b61c	2139	uint16_t MPU6050::getExternalSensorWord(int position)
anthonyp08	0:1c6757f4b61c	2140	{
anthonyp08	0:1c6757f4b61c	2141	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
anthonyp08	0:1c6757f4b61c	2142	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
anthonyp08	0:1c6757f4b61c	2143	}
anthonyp08	0:1c6757f4b61c	2144	/** Read double word (4 bytes) from external sensor data registers.
anthonyp08	0:1c6757f4b61c	2145	* @param position Starting position (0-20)
anthonyp08	0:1c6757f4b61c	2146	* @return Double word read from registers
anthonyp08	0:1c6757f4b61c	2147	* @see getExternalSensorByte()
anthonyp08	0:1c6757f4b61c	2148	*/
anthonyp08	0:1c6757f4b61c	2149	uint32_t MPU6050::getExternalSensorDWord(int position)
anthonyp08	0:1c6757f4b61c	2150	{
anthonyp08	0:1c6757f4b61c	2151	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
anthonyp08	0:1c6757f4b61c	2152	return (((uint32_t)buffer[0]) << 24) \| (((uint32_t)buffer[1]) << 16) \| (((uint16_t)buffer[2]) << 8) \| buffer[3];
anthonyp08	0:1c6757f4b61c	2153	}
anthonyp08	0:1c6757f4b61c	2154
anthonyp08	0:1c6757f4b61c	2155	// MOT_DETECT_STATUS register
anthonyp08	0:1c6757f4b61c	2156
anthonyp08	0:1c6757f4b61c	2157	/** Get X-axis negative motion detection interrupt status.
anthonyp08	0:1c6757f4b61c	2158	* @return Motion detection status
anthonyp08	0:1c6757f4b61c	2159	* @see MPU6050_RA_MOT_DETECT_STATUS
anthonyp08	0:1c6757f4b61c	2160	* @see MPU6050_MOTION_MOT_XNEG_BIT
anthonyp08	0:1c6757f4b61c	2161	*/
anthonyp08	0:1c6757f4b61c	2162	bool MPU6050::getXNegMotionDetected()
anthonyp08	0:1c6757f4b61c	2163	{
anthonyp08	0:1c6757f4b61c	2164	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
anthonyp08	0:1c6757f4b61c	2165	return buffer[0];
anthonyp08	0:1c6757f4b61c	2166	}
anthonyp08	0:1c6757f4b61c	2167	/** Get X-axis positive motion detection interrupt status.
anthonyp08	0:1c6757f4b61c	2168	* @return Motion detection status
anthonyp08	0:1c6757f4b61c	2169	* @see MPU6050_RA_MOT_DETECT_STATUS
anthonyp08	0:1c6757f4b61c	2170	* @see MPU6050_MOTION_MOT_XPOS_BIT
anthonyp08	0:1c6757f4b61c	2171	*/
anthonyp08	0:1c6757f4b61c	2172	bool MPU6050::getXPosMotionDetected()
anthonyp08	0:1c6757f4b61c	2173	{
anthonyp08	0:1c6757f4b61c	2174	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
anthonyp08	0:1c6757f4b61c	2175	return buffer[0];
anthonyp08	0:1c6757f4b61c	2176	}
anthonyp08	0:1c6757f4b61c	2177	/** Get Y-axis negative motion detection interrupt status.
anthonyp08	0:1c6757f4b61c	2178	* @return Motion detection status
anthonyp08	0:1c6757f4b61c	2179	* @see MPU6050_RA_MOT_DETECT_STATUS
anthonyp08	0:1c6757f4b61c	2180	* @see MPU6050_MOTION_MOT_YNEG_BIT
anthonyp08	0:1c6757f4b61c	2181	*/
anthonyp08	0:1c6757f4b61c	2182	bool MPU6050::getYNegMotionDetected()
anthonyp08	0:1c6757f4b61c	2183	{
anthonyp08	0:1c6757f4b61c	2184	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
anthonyp08	0:1c6757f4b61c	2185	return buffer[0];
anthonyp08	0:1c6757f4b61c	2186	}
anthonyp08	0:1c6757f4b61c	2187	/** Get Y-axis positive motion detection interrupt status.
anthonyp08	0:1c6757f4b61c	2188	* @return Motion detection status
anthonyp08	0:1c6757f4b61c	2189	* @see MPU6050_RA_MOT_DETECT_STATUS
anthonyp08	0:1c6757f4b61c	2190	* @see MPU6050_MOTION_MOT_YPOS_BIT
anthonyp08	0:1c6757f4b61c	2191	*/
anthonyp08	0:1c6757f4b61c	2192	bool MPU6050::getYPosMotionDetected()
anthonyp08	0:1c6757f4b61c	2193	{
anthonyp08	0:1c6757f4b61c	2194	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
anthonyp08	0:1c6757f4b61c	2195	return buffer[0];
anthonyp08	0:1c6757f4b61c	2196	}
anthonyp08	0:1c6757f4b61c	2197	/** Get Z-axis negative motion detection interrupt status.
anthonyp08	0:1c6757f4b61c	2198	* @return Motion detection status
anthonyp08	0:1c6757f4b61c	2199	* @see MPU6050_RA_MOT_DETECT_STATUS
anthonyp08	0:1c6757f4b61c	2200	* @see MPU6050_MOTION_MOT_ZNEG_BIT
anthonyp08	0:1c6757f4b61c	2201	*/
anthonyp08	0:1c6757f4b61c	2202	bool MPU6050::getZNegMotionDetected()
anthonyp08	0:1c6757f4b61c	2203	{
anthonyp08	0:1c6757f4b61c	2204	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
anthonyp08	0:1c6757f4b61c	2205	return buffer[0];
anthonyp08	0:1c6757f4b61c	2206	}
anthonyp08	0:1c6757f4b61c	2207	/** Get Z-axis positive motion detection interrupt status.
anthonyp08	0:1c6757f4b61c	2208	* @return Motion detection status
anthonyp08	0:1c6757f4b61c	2209	* @see MPU6050_RA_MOT_DETECT_STATUS
anthonyp08	0:1c6757f4b61c	2210	* @see MPU6050_MOTION_MOT_ZPOS_BIT
anthonyp08	0:1c6757f4b61c	2211	*/
anthonyp08	0:1c6757f4b61c	2212	bool MPU6050::getZPosMotionDetected()
anthonyp08	0:1c6757f4b61c	2213	{
anthonyp08	0:1c6757f4b61c	2214	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
anthonyp08	0:1c6757f4b61c	2215	return buffer[0];
anthonyp08	0:1c6757f4b61c	2216	}
anthonyp08	0:1c6757f4b61c	2217	/** Get zero motion detection interrupt status.
anthonyp08	0:1c6757f4b61c	2218	* @return Motion detection status
anthonyp08	0:1c6757f4b61c	2219	* @see MPU6050_RA_MOT_DETECT_STATUS
anthonyp08	0:1c6757f4b61c	2220	* @see MPU6050_MOTION_MOT_ZRMOT_BIT
anthonyp08	0:1c6757f4b61c	2221	*/
anthonyp08	0:1c6757f4b61c	2222	bool MPU6050::getZeroMotionDetected()
anthonyp08	0:1c6757f4b61c	2223	{
anthonyp08	0:1c6757f4b61c	2224	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
anthonyp08	0:1c6757f4b61c	2225	return buffer[0];
anthonyp08	0:1c6757f4b61c	2226	}
anthonyp08	0:1c6757f4b61c	2227
anthonyp08	0:1c6757f4b61c	2228	// I2C_SLV*_DO register
anthonyp08	0:1c6757f4b61c	2229
anthonyp08	0:1c6757f4b61c	2230	/** Write byte to Data Output container for specified slave.
anthonyp08	0:1c6757f4b61c	2231	* This register holds the output data written into Slave when Slave is set to
anthonyp08	0:1c6757f4b61c	2232	* write mode. For further information regarding Slave control, please
anthonyp08	0:1c6757f4b61c	2233	* refer to Registers 37 to 39 and immediately following.
anthonyp08	0:1c6757f4b61c	2234	* @param num Slave number (0-3)
anthonyp08	0:1c6757f4b61c	2235	* @param data Byte to write
anthonyp08	0:1c6757f4b61c	2236	* @see MPU6050_RA_I2C_SLV0_DO
anthonyp08	0:1c6757f4b61c	2237	*/
anthonyp08	0:1c6757f4b61c	2238	void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data)
anthonyp08	0:1c6757f4b61c	2239	{
anthonyp08	0:1c6757f4b61c	2240	if (num > 3) return;
anthonyp08	0:1c6757f4b61c	2241	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
anthonyp08	0:1c6757f4b61c	2242	}
anthonyp08	0:1c6757f4b61c	2243
anthonyp08	0:1c6757f4b61c	2244	// I2C_MST_DELAY_CTRL register
anthonyp08	0:1c6757f4b61c	2245
anthonyp08	0:1c6757f4b61c	2246	/** Get external data shadow delay enabled status.
anthonyp08	0:1c6757f4b61c	2247	* This register is used to specify the timing of external sensor data
anthonyp08	0:1c6757f4b61c	2248	* shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
anthonyp08	0:1c6757f4b61c	2249	* sensor data is delayed until all data has been received.
anthonyp08	0:1c6757f4b61c	2250	* @return Current external data shadow delay enabled status.
anthonyp08	0:1c6757f4b61c	2251	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
anthonyp08	0:1c6757f4b61c	2252	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
anthonyp08	0:1c6757f4b61c	2253	*/
anthonyp08	0:1c6757f4b61c	2254	bool MPU6050::getExternalShadowDelayEnabled()
anthonyp08	0:1c6757f4b61c	2255	{
anthonyp08	0:1c6757f4b61c	2256	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
anthonyp08	0:1c6757f4b61c	2257	return buffer[0];
anthonyp08	0:1c6757f4b61c	2258	}
anthonyp08	0:1c6757f4b61c	2259	/** Set external data shadow delay enabled status.
anthonyp08	0:1c6757f4b61c	2260	* @param enabled New external data shadow delay enabled status.
anthonyp08	0:1c6757f4b61c	2261	* @see getExternalShadowDelayEnabled()
anthonyp08	0:1c6757f4b61c	2262	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
anthonyp08	0:1c6757f4b61c	2263	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
anthonyp08	0:1c6757f4b61c	2264	*/
anthonyp08	0:1c6757f4b61c	2265	void MPU6050::setExternalShadowDelayEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	2266	{
anthonyp08	0:1c6757f4b61c	2267	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
anthonyp08	0:1c6757f4b61c	2268	}
anthonyp08	0:1c6757f4b61c	2269	/** Get slave delay enabled status.
anthonyp08	0:1c6757f4b61c	2270	* When a particular slave delay is enabled, the rate of access for the that
anthonyp08	0:1c6757f4b61c	2271	* slave device is reduced. When a slave's access rate is decreased relative to
anthonyp08	0:1c6757f4b61c	2272	* the Sample Rate, the slave is accessed every:
anthonyp08	0:1c6757f4b61c	2273	*
anthonyp08	0:1c6757f4b61c	2274	* 1 / (1 + I2C_MST_DLY) Samples
anthonyp08	0:1c6757f4b61c	2275	*
anthonyp08	0:1c6757f4b61c	2276	* This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25)
anthonyp08	0:1c6757f4b61c	2277	* and DLPF_CFG (register 26).
anthonyp08	0:1c6757f4b61c	2278	*
anthonyp08	0:1c6757f4b61c	2279	* For further information regarding I2C_MST_DLY, please refer to register 52.
anthonyp08	0:1c6757f4b61c	2280	* For further information regarding the Sample Rate, please refer to register 25.
anthonyp08	0:1c6757f4b61c	2281	*
anthonyp08	0:1c6757f4b61c	2282	* @param num Slave number (0-4)
anthonyp08	0:1c6757f4b61c	2283	* @return Current slave delay enabled status.
anthonyp08	0:1c6757f4b61c	2284	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
anthonyp08	0:1c6757f4b61c	2285	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
anthonyp08	0:1c6757f4b61c	2286	*/
anthonyp08	0:1c6757f4b61c	2287	bool MPU6050::getSlaveDelayEnabled(uint8_t num)
anthonyp08	0:1c6757f4b61c	2288	{
anthonyp08	0:1c6757f4b61c	2289	// MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
anthonyp08	0:1c6757f4b61c	2290	if (num > 4) return 0;
anthonyp08	0:1c6757f4b61c	2291	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
anthonyp08	0:1c6757f4b61c	2292	return buffer[0];
anthonyp08	0:1c6757f4b61c	2293	}
anthonyp08	0:1c6757f4b61c	2294	/** Set slave delay enabled status.
anthonyp08	0:1c6757f4b61c	2295	* @param num Slave number (0-4)
anthonyp08	0:1c6757f4b61c	2296	* @param enabled New slave delay enabled status.
anthonyp08	0:1c6757f4b61c	2297	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
anthonyp08	0:1c6757f4b61c	2298	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
anthonyp08	0:1c6757f4b61c	2299	*/
anthonyp08	0:1c6757f4b61c	2300	void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled)
anthonyp08	0:1c6757f4b61c	2301	{
anthonyp08	0:1c6757f4b61c	2302	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
anthonyp08	0:1c6757f4b61c	2303	}
anthonyp08	0:1c6757f4b61c	2304
anthonyp08	0:1c6757f4b61c	2305	// SIGNAL_PATH_RESET register
anthonyp08	0:1c6757f4b61c	2306
anthonyp08	0:1c6757f4b61c	2307	/** Reset gyroscope signal path.
anthonyp08	0:1c6757f4b61c	2308	* The reset will revert the signal path analog to digital converters and
anthonyp08	0:1c6757f4b61c	2309	* filters to their power up configurations.
anthonyp08	0:1c6757f4b61c	2310	* @see MPU6050_RA_SIGNAL_PATH_RESET
anthonyp08	0:1c6757f4b61c	2311	* @see MPU6050_PATHRESET_GYRO_RESET_BIT
anthonyp08	0:1c6757f4b61c	2312	*/
anthonyp08	0:1c6757f4b61c	2313	void MPU6050::resetGyroscopePath()
anthonyp08	0:1c6757f4b61c	2314	{
anthonyp08	0:1c6757f4b61c	2315	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
anthonyp08	0:1c6757f4b61c	2316	}
anthonyp08	0:1c6757f4b61c	2317	/** Reset accelerometer signal path.
anthonyp08	0:1c6757f4b61c	2318	* The reset will revert the signal path analog to digital converters and
anthonyp08	0:1c6757f4b61c	2319	* filters to their power up configurations.
anthonyp08	0:1c6757f4b61c	2320	* @see MPU6050_RA_SIGNAL_PATH_RESET
anthonyp08	0:1c6757f4b61c	2321	* @see MPU6050_PATHRESET_ACCEL_RESET_BIT
anthonyp08	0:1c6757f4b61c	2322	*/
anthonyp08	0:1c6757f4b61c	2323	void MPU6050::resetAccelerometerPath()
anthonyp08	0:1c6757f4b61c	2324	{
anthonyp08	0:1c6757f4b61c	2325	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
anthonyp08	0:1c6757f4b61c	2326	}
anthonyp08	0:1c6757f4b61c	2327	/** Reset temperature sensor signal path.
anthonyp08	0:1c6757f4b61c	2328	* The reset will revert the signal path analog to digital converters and
anthonyp08	0:1c6757f4b61c	2329	* filters to their power up configurations.
anthonyp08	0:1c6757f4b61c	2330	* @see MPU6050_RA_SIGNAL_PATH_RESET
anthonyp08	0:1c6757f4b61c	2331	* @see MPU6050_PATHRESET_TEMP_RESET_BIT
anthonyp08	0:1c6757f4b61c	2332	*/
anthonyp08	0:1c6757f4b61c	2333	void MPU6050::resetTemperaturePath()
anthonyp08	0:1c6757f4b61c	2334	{
anthonyp08	0:1c6757f4b61c	2335	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
anthonyp08	0:1c6757f4b61c	2336	}
anthonyp08	0:1c6757f4b61c	2337
anthonyp08	0:1c6757f4b61c	2338	// MOT_DETECT_CTRL register
anthonyp08	0:1c6757f4b61c	2339
anthonyp08	0:1c6757f4b61c	2340	/** Get accelerometer power-on delay.
anthonyp08	0:1c6757f4b61c	2341	* The accelerometer data path provides samples to the sensor registers, Motion
anthonyp08	0:1c6757f4b61c	2342	* detection, Zero Motion detection, and Free Fall detection modules. The
anthonyp08	0:1c6757f4b61c	2343	* signal path contains filters which must be flushed on wake-up with new
anthonyp08	0:1c6757f4b61c	2344	* samples before the detection modules begin operations. The default wake-up
anthonyp08	0:1c6757f4b61c	2345	* delay, of 4ms can be lengthened by up to 3ms. This additional delay is
anthonyp08	0:1c6757f4b61c	2346	* specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
anthonyp08	0:1c6757f4b61c	2347	* any value above zero unless instructed otherwise by InvenSense. Please refer
anthonyp08	0:1c6757f4b61c	2348	* to Section 8 of the MPU-6000/MPU-6050 Product Specification document for
anthonyp08	0:1c6757f4b61c	2349	* further information regarding the detection modules.
anthonyp08	0:1c6757f4b61c	2350	* @return Current accelerometer power-on delay
anthonyp08	0:1c6757f4b61c	2351	* @see MPU6050_RA_MOT_DETECT_CTRL
anthonyp08	0:1c6757f4b61c	2352	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
anthonyp08	0:1c6757f4b61c	2353	*/
anthonyp08	0:1c6757f4b61c	2354	uint8_t MPU6050::getAccelerometerPowerOnDelay()
anthonyp08	0:1c6757f4b61c	2355	{
anthonyp08	0:1c6757f4b61c	2356	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
anthonyp08	0:1c6757f4b61c	2357	return buffer[0];
anthonyp08	0:1c6757f4b61c	2358	}
anthonyp08	0:1c6757f4b61c	2359	/** Set accelerometer power-on delay.
anthonyp08	0:1c6757f4b61c	2360	* @param delay New accelerometer power-on delay (0-3)
anthonyp08	0:1c6757f4b61c	2361	* @see getAccelerometerPowerOnDelay()
anthonyp08	0:1c6757f4b61c	2362	* @see MPU6050_RA_MOT_DETECT_CTRL
anthonyp08	0:1c6757f4b61c	2363	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
anthonyp08	0:1c6757f4b61c	2364	*/
anthonyp08	0:1c6757f4b61c	2365	void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay)
anthonyp08	0:1c6757f4b61c	2366	{
anthonyp08	0:1c6757f4b61c	2367	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
anthonyp08	0:1c6757f4b61c	2368	}
anthonyp08	0:1c6757f4b61c	2369	/** Get Free Fall detection counter decrement configuration.
anthonyp08	0:1c6757f4b61c	2370	* Detection is registered by the Free Fall detection module after accelerometer
anthonyp08	0:1c6757f4b61c	2371	* measurements meet their respective threshold conditions over a specified
anthonyp08	0:1c6757f4b61c	2372	* number of samples. When the threshold conditions are met, the corresponding
anthonyp08	0:1c6757f4b61c	2373	* detection counter increments by 1. The user may control the rate at which the
anthonyp08	0:1c6757f4b61c	2374	* detection counter decrements when the threshold condition is not met by
anthonyp08	0:1c6757f4b61c	2375	* configuring FF_COUNT. The decrement rate can be set according to the
anthonyp08	0:1c6757f4b61c	2376	* following table:
anthonyp08	0:1c6757f4b61c	2377	*
anthonyp08	0:1c6757f4b61c	2378	* <pre>
anthonyp08	0:1c6757f4b61c	2379	* FF_COUNT \| Counter Decrement
anthonyp08	0:1c6757f4b61c	2380	* ---------+------------------
anthonyp08	0:1c6757f4b61c	2381	* 0 \| Reset
anthonyp08	0:1c6757f4b61c	2382	* 1 \| 1
anthonyp08	0:1c6757f4b61c	2383	* 2 \| 2
anthonyp08	0:1c6757f4b61c	2384	* 3 \| 4
anthonyp08	0:1c6757f4b61c	2385	* </pre>
anthonyp08	0:1c6757f4b61c	2386	*
anthonyp08	0:1c6757f4b61c	2387	* When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
anthonyp08	0:1c6757f4b61c	2388	* reset the counter to 0. For further information on Free Fall detection,
anthonyp08	0:1c6757f4b61c	2389	* please refer to Registers 29 to 32.
anthonyp08	0:1c6757f4b61c	2390	*
anthonyp08	0:1c6757f4b61c	2391	* @return Current decrement configuration
anthonyp08	0:1c6757f4b61c	2392	* @see MPU6050_RA_MOT_DETECT_CTRL
anthonyp08	0:1c6757f4b61c	2393	* @see MPU6050_DETECT_FF_COUNT_BIT
anthonyp08	0:1c6757f4b61c	2394	*/
anthonyp08	0:1c6757f4b61c	2395	uint8_t MPU6050::getFreefallDetectionCounterDecrement()
anthonyp08	0:1c6757f4b61c	2396	{
anthonyp08	0:1c6757f4b61c	2397	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
anthonyp08	0:1c6757f4b61c	2398	return buffer[0];
anthonyp08	0:1c6757f4b61c	2399	}
anthonyp08	0:1c6757f4b61c	2400	/** Set Free Fall detection counter decrement configuration.
anthonyp08	0:1c6757f4b61c	2401	* @param decrement New decrement configuration value
anthonyp08	0:1c6757f4b61c	2402	* @see getFreefallDetectionCounterDecrement()
anthonyp08	0:1c6757f4b61c	2403	* @see MPU6050_RA_MOT_DETECT_CTRL
anthonyp08	0:1c6757f4b61c	2404	* @see MPU6050_DETECT_FF_COUNT_BIT
anthonyp08	0:1c6757f4b61c	2405	*/
anthonyp08	0:1c6757f4b61c	2406	void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement)
anthonyp08	0:1c6757f4b61c	2407	{
anthonyp08	0:1c6757f4b61c	2408	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
anthonyp08	0:1c6757f4b61c	2409	}
anthonyp08	0:1c6757f4b61c	2410	/** Get Motion detection counter decrement configuration.
anthonyp08	0:1c6757f4b61c	2411	* Detection is registered by the Motion detection module after accelerometer
anthonyp08	0:1c6757f4b61c	2412	* measurements meet their respective threshold conditions over a specified
anthonyp08	0:1c6757f4b61c	2413	* number of samples. When the threshold conditions are met, the corresponding
anthonyp08	0:1c6757f4b61c	2414	* detection counter increments by 1. The user may control the rate at which the
anthonyp08	0:1c6757f4b61c	2415	* detection counter decrements when the threshold condition is not met by
anthonyp08	0:1c6757f4b61c	2416	* configuring MOT_COUNT. The decrement rate can be set according to the
anthonyp08	0:1c6757f4b61c	2417	* following table:
anthonyp08	0:1c6757f4b61c	2418	*
anthonyp08	0:1c6757f4b61c	2419	* <pre>
anthonyp08	0:1c6757f4b61c	2420	* MOT_COUNT \| Counter Decrement
anthonyp08	0:1c6757f4b61c	2421	* ----------+------------------
anthonyp08	0:1c6757f4b61c	2422	* 0 \| Reset
anthonyp08	0:1c6757f4b61c	2423	* 1 \| 1
anthonyp08	0:1c6757f4b61c	2424	* 2 \| 2
anthonyp08	0:1c6757f4b61c	2425	* 3 \| 4
anthonyp08	0:1c6757f4b61c	2426	* </pre>
anthonyp08	0:1c6757f4b61c	2427	*
anthonyp08	0:1c6757f4b61c	2428	* When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
anthonyp08	0:1c6757f4b61c	2429	* reset the counter to 0. For further information on Motion detection,
anthonyp08	0:1c6757f4b61c	2430	* please refer to Registers 29 to 32.
anthonyp08	0:1c6757f4b61c	2431	*
anthonyp08	0:1c6757f4b61c	2432	*/
anthonyp08	0:1c6757f4b61c	2433	uint8_t MPU6050::getMotionDetectionCounterDecrement()
anthonyp08	0:1c6757f4b61c	2434	{
anthonyp08	0:1c6757f4b61c	2435	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
anthonyp08	0:1c6757f4b61c	2436	return buffer[0];
anthonyp08	0:1c6757f4b61c	2437	}
anthonyp08	0:1c6757f4b61c	2438	/** Set Motion detection counter decrement configuration.
anthonyp08	0:1c6757f4b61c	2439	* @param decrement New decrement configuration value
anthonyp08	0:1c6757f4b61c	2440	* @see getMotionDetectionCounterDecrement()
anthonyp08	0:1c6757f4b61c	2441	* @see MPU6050_RA_MOT_DETECT_CTRL
anthonyp08	0:1c6757f4b61c	2442	* @see MPU6050_DETECT_MOT_COUNT_BIT
anthonyp08	0:1c6757f4b61c	2443	*/
anthonyp08	0:1c6757f4b61c	2444	void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement)
anthonyp08	0:1c6757f4b61c	2445	{
anthonyp08	0:1c6757f4b61c	2446	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
anthonyp08	0:1c6757f4b61c	2447	}
anthonyp08	0:1c6757f4b61c	2448
anthonyp08	0:1c6757f4b61c	2449	// USER_CTRL register
anthonyp08	0:1c6757f4b61c	2450
anthonyp08	0:1c6757f4b61c	2451	/** Get FIFO enabled status.
anthonyp08	0:1c6757f4b61c	2452	* When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
anthonyp08	0:1c6757f4b61c	2453	* cannot be written to or read from while disabled. The FIFO buffer's state
anthonyp08	0:1c6757f4b61c	2454	* does not change unless the MPU-60X0 is power cycled.
anthonyp08	0:1c6757f4b61c	2455	* @return Current FIFO enabled status
anthonyp08	0:1c6757f4b61c	2456	* @see MPU6050_RA_USER_CTRL
anthonyp08	0:1c6757f4b61c	2457	* @see MPU6050_USERCTRL_FIFO_EN_BIT
anthonyp08	0:1c6757f4b61c	2458	*/
anthonyp08	0:1c6757f4b61c	2459	bool MPU6050::getFIFOEnabled()
anthonyp08	0:1c6757f4b61c	2460	{
anthonyp08	0:1c6757f4b61c	2461	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
anthonyp08	0:1c6757f4b61c	2462	return buffer[0];
anthonyp08	0:1c6757f4b61c	2463	}
anthonyp08	0:1c6757f4b61c	2464	/** Set FIFO enabled status.
anthonyp08	0:1c6757f4b61c	2465	* @param enabled New FIFO enabled status
anthonyp08	0:1c6757f4b61c	2466	* @see getFIFOEnabled()
anthonyp08	0:1c6757f4b61c	2467	* @see MPU6050_RA_USER_CTRL
anthonyp08	0:1c6757f4b61c	2468	* @see MPU6050_USERCTRL_FIFO_EN_BIT
anthonyp08	0:1c6757f4b61c	2469	*/
anthonyp08	0:1c6757f4b61c	2470	void MPU6050::setFIFOEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	2471	{
anthonyp08	0:1c6757f4b61c	2472	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
anthonyp08	0:1c6757f4b61c	2473	}
anthonyp08	0:1c6757f4b61c	2474	/** Get I2C Master Mode enabled status.
anthonyp08	0:1c6757f4b61c	2475	* When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
anthonyp08	0:1c6757f4b61c	2476	* external sensor slave devices on the auxiliary I2C bus. When this bit is
anthonyp08	0:1c6757f4b61c	2477	* cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
anthonyp08	0:1c6757f4b61c	2478	* driven by the primary I2C bus (SDA and SCL). This is a precondition to
anthonyp08	0:1c6757f4b61c	2479	* enabling Bypass Mode. For further information regarding Bypass Mode, please
anthonyp08	0:1c6757f4b61c	2480	* refer to Register 55.
anthonyp08	0:1c6757f4b61c	2481	* @return Current I2C Master Mode enabled status
anthonyp08	0:1c6757f4b61c	2482	* @see MPU6050_RA_USER_CTRL
anthonyp08	0:1c6757f4b61c	2483	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
anthonyp08	0:1c6757f4b61c	2484	*/
anthonyp08	0:1c6757f4b61c	2485	bool MPU6050::getI2CMasterModeEnabled()
anthonyp08	0:1c6757f4b61c	2486	{
anthonyp08	0:1c6757f4b61c	2487	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
anthonyp08	0:1c6757f4b61c	2488	return buffer[0];
anthonyp08	0:1c6757f4b61c	2489	}
anthonyp08	0:1c6757f4b61c	2490	/** Set I2C Master Mode enabled status.
anthonyp08	0:1c6757f4b61c	2491	* @param enabled New I2C Master Mode enabled status
anthonyp08	0:1c6757f4b61c	2492	* @see getI2CMasterModeEnabled()
anthonyp08	0:1c6757f4b61c	2493	* @see MPU6050_RA_USER_CTRL
anthonyp08	0:1c6757f4b61c	2494	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
anthonyp08	0:1c6757f4b61c	2495	*/
anthonyp08	0:1c6757f4b61c	2496	void MPU6050::setI2CMasterModeEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	2497	{
anthonyp08	0:1c6757f4b61c	2498	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
anthonyp08	0:1c6757f4b61c	2499	}
anthonyp08	0:1c6757f4b61c	2500	/** Switch from I2C to SPI mode (MPU-6000 only)
anthonyp08	0:1c6757f4b61c	2501	* If this is set, the primary SPI interface will be enabled in place of the
anthonyp08	0:1c6757f4b61c	2502	* disabled primary I2C interface.
anthonyp08	0:1c6757f4b61c	2503	*/
anthonyp08	0:1c6757f4b61c	2504	void MPU6050::switchSPIEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	2505	{
anthonyp08	0:1c6757f4b61c	2506	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
anthonyp08	0:1c6757f4b61c	2507	}
anthonyp08	0:1c6757f4b61c	2508	/** Reset the FIFO.
anthonyp08	0:1c6757f4b61c	2509	* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
anthonyp08	0:1c6757f4b61c	2510	* bit automatically clears to 0 after the reset has been triggered.
anthonyp08	0:1c6757f4b61c	2511	* @see MPU6050_RA_USER_CTRL
anthonyp08	0:1c6757f4b61c	2512	* @see MPU6050_USERCTRL_FIFO_RESET_BIT
anthonyp08	0:1c6757f4b61c	2513	*/
anthonyp08	0:1c6757f4b61c	2514	void MPU6050::resetFIFO()
anthonyp08	0:1c6757f4b61c	2515	{
anthonyp08	0:1c6757f4b61c	2516	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
anthonyp08	0:1c6757f4b61c	2517	}
anthonyp08	0:1c6757f4b61c	2518	/** Reset the I2C Master.
anthonyp08	0:1c6757f4b61c	2519	* This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
anthonyp08	0:1c6757f4b61c	2520	* This bit automatically clears to 0 after the reset has been triggered.
anthonyp08	0:1c6757f4b61c	2521	* @see MPU6050_RA_USER_CTRL
anthonyp08	0:1c6757f4b61c	2522	* @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
anthonyp08	0:1c6757f4b61c	2523	*/
anthonyp08	0:1c6757f4b61c	2524	void MPU6050::resetI2CMaster()
anthonyp08	0:1c6757f4b61c	2525	{
anthonyp08	0:1c6757f4b61c	2526	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
anthonyp08	0:1c6757f4b61c	2527	}
anthonyp08	0:1c6757f4b61c	2528	/** Reset all sensor registers and signal paths.
anthonyp08	0:1c6757f4b61c	2529	* When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
anthonyp08	0:1c6757f4b61c	2530	* accelerometers, and temperature sensor). This operation will also clear the
anthonyp08	0:1c6757f4b61c	2531	* sensor registers. This bit automatically clears to 0 after the reset has been
anthonyp08	0:1c6757f4b61c	2532	* triggered.
anthonyp08	0:1c6757f4b61c	2533	*
anthonyp08	0:1c6757f4b61c	2534	* When resetting only the signal path (and not the sensor registers), please
anthonyp08	0:1c6757f4b61c	2535	* use Register 104, SIGNAL_PATH_RESET.
anthonyp08	0:1c6757f4b61c	2536	*
anthonyp08	0:1c6757f4b61c	2537	* @see MPU6050_RA_USER_CTRL
anthonyp08	0:1c6757f4b61c	2538	* @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
anthonyp08	0:1c6757f4b61c	2539	*/
anthonyp08	0:1c6757f4b61c	2540	void MPU6050::resetSensors()
anthonyp08	0:1c6757f4b61c	2541	{
anthonyp08	0:1c6757f4b61c	2542	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
anthonyp08	0:1c6757f4b61c	2543	}
anthonyp08	0:1c6757f4b61c	2544
anthonyp08	0:1c6757f4b61c	2545	// PWR_MGMT_1 register
anthonyp08	0:1c6757f4b61c	2546
anthonyp08	0:1c6757f4b61c	2547	/** Trigger a full device reset.
anthonyp08	0:1c6757f4b61c	2548	* A small delay of ~50ms may be desirable after triggering a reset.
anthonyp08	0:1c6757f4b61c	2549	* @see MPU6050_RA_PWR_MGMT_1
anthonyp08	0:1c6757f4b61c	2550	* @see MPU6050_PWR1_DEVICE_RESET_BIT
anthonyp08	0:1c6757f4b61c	2551	*/
anthonyp08	0:1c6757f4b61c	2552	void MPU6050::reset()
anthonyp08	0:1c6757f4b61c	2553	{
anthonyp08	0:1c6757f4b61c	2554	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
anthonyp08	0:1c6757f4b61c	2555	}
anthonyp08	0:1c6757f4b61c	2556	/** Get sleep mode status.
anthonyp08	0:1c6757f4b61c	2557	* Setting the SLEEP bit in the register puts the device into very low power
anthonyp08	0:1c6757f4b61c	2558	* sleep mode. In this mode, only the serial interface and internal registers
anthonyp08	0:1c6757f4b61c	2559	* remain active, allowing for a very low standby current. Clearing this bit
anthonyp08	0:1c6757f4b61c	2560	* puts the device back into normal mode. To save power, the individual standby
anthonyp08	0:1c6757f4b61c	2561	* selections for each of the gyros should be used if any gyro axis is not used
anthonyp08	0:1c6757f4b61c	2562	* by the application.
anthonyp08	0:1c6757f4b61c	2563	* @return Current sleep mode enabled status
anthonyp08	0:1c6757f4b61c	2564	* @see MPU6050_RA_PWR_MGMT_1
anthonyp08	0:1c6757f4b61c	2565	* @see MPU6050_PWR1_SLEEP_BIT
anthonyp08	0:1c6757f4b61c	2566	*/
anthonyp08	0:1c6757f4b61c	2567	bool MPU6050::getSleepEnabled()
anthonyp08	0:1c6757f4b61c	2568	{
anthonyp08	0:1c6757f4b61c	2569	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
anthonyp08	0:1c6757f4b61c	2570	return buffer[0];
anthonyp08	0:1c6757f4b61c	2571	}
anthonyp08	0:1c6757f4b61c	2572	/** Set sleep mode status.
anthonyp08	0:1c6757f4b61c	2573	* @param enabled New sleep mode enabled status
anthonyp08	0:1c6757f4b61c	2574	* @see getSleepEnabled()
anthonyp08	0:1c6757f4b61c	2575	* @see MPU6050_RA_PWR_MGMT_1
anthonyp08	0:1c6757f4b61c	2576	* @see MPU6050_PWR1_SLEEP_BIT
anthonyp08	0:1c6757f4b61c	2577	*/
anthonyp08	0:1c6757f4b61c	2578	void MPU6050::setSleepEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	2579	{
anthonyp08	0:1c6757f4b61c	2580	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
anthonyp08	0:1c6757f4b61c	2581	}
anthonyp08	0:1c6757f4b61c	2582	/** Get wake cycle enabled status.
anthonyp08	0:1c6757f4b61c	2583	* When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
anthonyp08	0:1c6757f4b61c	2584	* between sleep mode and waking up to take a single sample of data from active
anthonyp08	0:1c6757f4b61c	2585	* sensors at a rate determined by LP_WAKE_CTRL (register 108).
anthonyp08	0:1c6757f4b61c	2586	* @return Current sleep mode enabled status
anthonyp08	0:1c6757f4b61c	2587	* @see MPU6050_RA_PWR_MGMT_1
anthonyp08	0:1c6757f4b61c	2588	* @see MPU6050_PWR1_CYCLE_BIT
anthonyp08	0:1c6757f4b61c	2589	*/
anthonyp08	0:1c6757f4b61c	2590	bool MPU6050::getWakeCycleEnabled()
anthonyp08	0:1c6757f4b61c	2591	{
anthonyp08	0:1c6757f4b61c	2592	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
anthonyp08	0:1c6757f4b61c	2593	return buffer[0];
anthonyp08	0:1c6757f4b61c	2594	}
anthonyp08	0:1c6757f4b61c	2595	/** Set wake cycle enabled status.
anthonyp08	0:1c6757f4b61c	2596	* @param enabled New sleep mode enabled status
anthonyp08	0:1c6757f4b61c	2597	* @see getWakeCycleEnabled()
anthonyp08	0:1c6757f4b61c	2598	* @see MPU6050_RA_PWR_MGMT_1
anthonyp08	0:1c6757f4b61c	2599	* @see MPU6050_PWR1_CYCLE_BIT
anthonyp08	0:1c6757f4b61c	2600	*/
anthonyp08	0:1c6757f4b61c	2601	void MPU6050::setWakeCycleEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	2602	{
anthonyp08	0:1c6757f4b61c	2603	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
anthonyp08	0:1c6757f4b61c	2604	}
anthonyp08	0:1c6757f4b61c	2605	/** Get temperature sensor enabled status.
anthonyp08	0:1c6757f4b61c	2606	* Control the usage of the internal temperature sensor.
anthonyp08	0:1c6757f4b61c	2607	*
anthonyp08	0:1c6757f4b61c	2608	* Note: this register stores the disabled value, but for consistency with the
anthonyp08	0:1c6757f4b61c	2609	* rest of the code, the function is named and used with standard true/false
anthonyp08	0:1c6757f4b61c	2610	* values to indicate whether the sensor is enabled or disabled, respectively.
anthonyp08	0:1c6757f4b61c	2611	*
anthonyp08	0:1c6757f4b61c	2612	* @return Current temperature sensor enabled status
anthonyp08	0:1c6757f4b61c	2613	* @see MPU6050_RA_PWR_MGMT_1
anthonyp08	0:1c6757f4b61c	2614	* @see MPU6050_PWR1_TEMP_DIS_BIT
anthonyp08	0:1c6757f4b61c	2615	*/
anthonyp08	0:1c6757f4b61c	2616	bool MPU6050::getTempSensorEnabled()
anthonyp08	0:1c6757f4b61c	2617	{
anthonyp08	0:1c6757f4b61c	2618	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
anthonyp08	0:1c6757f4b61c	2619	return buffer[0] == 0; // 1 is actually disabled here
anthonyp08	0:1c6757f4b61c	2620	}
anthonyp08	0:1c6757f4b61c	2621	/** Set temperature sensor enabled status.
anthonyp08	0:1c6757f4b61c	2622	* Note: this register stores the disabled value, but for consistency with the
anthonyp08	0:1c6757f4b61c	2623	* rest of the code, the function is named and used with standard true/false
anthonyp08	0:1c6757f4b61c	2624	* values to indicate whether the sensor is enabled or disabled, respectively.
anthonyp08	0:1c6757f4b61c	2625	*
anthonyp08	0:1c6757f4b61c	2626	* @param enabled New temperature sensor enabled status
anthonyp08	0:1c6757f4b61c	2627	* @see getTempSensorEnabled()
anthonyp08	0:1c6757f4b61c	2628	* @see MPU6050_RA_PWR_MGMT_1
anthonyp08	0:1c6757f4b61c	2629	* @see MPU6050_PWR1_TEMP_DIS_BIT
anthonyp08	0:1c6757f4b61c	2630	*/
anthonyp08	0:1c6757f4b61c	2631	void MPU6050::setTempSensorEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	2632	{
anthonyp08	0:1c6757f4b61c	2633	// 1 is actually disabled here
anthonyp08	0:1c6757f4b61c	2634	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
anthonyp08	0:1c6757f4b61c	2635	}
anthonyp08	0:1c6757f4b61c	2636	/** Get clock source setting.
anthonyp08	0:1c6757f4b61c	2637	* @return Current clock source setting
anthonyp08	0:1c6757f4b61c	2638	* @see MPU6050_RA_PWR_MGMT_1
anthonyp08	0:1c6757f4b61c	2639	* @see MPU6050_PWR1_CLKSEL_BIT
anthonyp08	0:1c6757f4b61c	2640	* @see MPU6050_PWR1_CLKSEL_LENGTH
anthonyp08	0:1c6757f4b61c	2641	*/
anthonyp08	0:1c6757f4b61c	2642	uint8_t MPU6050::getClockSource()
anthonyp08	0:1c6757f4b61c	2643	{
anthonyp08	0:1c6757f4b61c	2644	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
anthonyp08	0:1c6757f4b61c	2645	return buffer[0];
anthonyp08	0:1c6757f4b61c	2646	}
anthonyp08	0:1c6757f4b61c	2647	/** Set clock source setting.
anthonyp08	0:1c6757f4b61c	2648	* An internal 8MHz oscillator, gyroscope based clock, or external sources can
anthonyp08	0:1c6757f4b61c	2649	* be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
anthonyp08	0:1c6757f4b61c	2650	* or an external source is chosen as the clock source, the MPU-60X0 can operate
anthonyp08	0:1c6757f4b61c	2651	* in low power modes with the gyroscopes disabled.
anthonyp08	0:1c6757f4b61c	2652	*
anthonyp08	0:1c6757f4b61c	2653	* Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
anthonyp08	0:1c6757f4b61c	2654	* However, it is highly recommended that the device be configured to use one of
anthonyp08	0:1c6757f4b61c	2655	* the gyroscopes (or an external clock source) as the clock reference for
anthonyp08	0:1c6757f4b61c	2656	* improved stability. The clock source can be selected according to the following table:
anthonyp08	0:1c6757f4b61c	2657	*
anthonyp08	0:1c6757f4b61c	2658	* <pre>
anthonyp08	0:1c6757f4b61c	2659	* CLK_SEL \| Clock Source
anthonyp08	0:1c6757f4b61c	2660	* --------+--------------------------------------
anthonyp08	0:1c6757f4b61c	2661	* 0 \| Internal oscillator
anthonyp08	0:1c6757f4b61c	2662	* 1 \| PLL with X Gyro reference
anthonyp08	0:1c6757f4b61c	2663	* 2 \| PLL with Y Gyro reference
anthonyp08	0:1c6757f4b61c	2664	* 3 \| PLL with Z Gyro reference
anthonyp08	0:1c6757f4b61c	2665	* 4 \| PLL with external 32.768kHz reference
anthonyp08	0:1c6757f4b61c	2666	* 5 \| PLL with external 19.2MHz reference
anthonyp08	0:1c6757f4b61c	2667	* 6 \| Reserved
anthonyp08	0:1c6757f4b61c	2668	* 7 \| Stops the clock and keeps the timing generator in reset
anthonyp08	0:1c6757f4b61c	2669	* </pre>
anthonyp08	0:1c6757f4b61c	2670	*
anthonyp08	0:1c6757f4b61c	2671	* @param source New clock source setting
anthonyp08	0:1c6757f4b61c	2672	* @see getClockSource()
anthonyp08	0:1c6757f4b61c	2673	* @see MPU6050_RA_PWR_MGMT_1
anthonyp08	0:1c6757f4b61c	2674	* @see MPU6050_PWR1_CLKSEL_BIT
anthonyp08	0:1c6757f4b61c	2675	* @see MPU6050_PWR1_CLKSEL_LENGTH
anthonyp08	0:1c6757f4b61c	2676	*/
anthonyp08	0:1c6757f4b61c	2677	void MPU6050::setClockSource(uint8_t source)
anthonyp08	0:1c6757f4b61c	2678	{
anthonyp08	0:1c6757f4b61c	2679	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
anthonyp08	0:1c6757f4b61c	2680	}
anthonyp08	0:1c6757f4b61c	2681
anthonyp08	0:1c6757f4b61c	2682	// PWR_MGMT_2 register
anthonyp08	0:1c6757f4b61c	2683
anthonyp08	0:1c6757f4b61c	2684	/** Get wake frequency in Accel-Only Low Power Mode.
anthonyp08	0:1c6757f4b61c	2685	* The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
anthonyp08	0:1c6757f4b61c	2686	* PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
anthonyp08	0:1c6757f4b61c	2687	* the device will power off all devices except for the primary I2C interface,
anthonyp08	0:1c6757f4b61c	2688	* waking only the accelerometer at fixed intervals to take a single
anthonyp08	0:1c6757f4b61c	2689	* measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
anthonyp08	0:1c6757f4b61c	2690	* as shown below:
anthonyp08	0:1c6757f4b61c	2691	*
anthonyp08	0:1c6757f4b61c	2692	* <pre>
anthonyp08	0:1c6757f4b61c	2693	* LP_WAKE_CTRL \| Wake-up Frequency
anthonyp08	0:1c6757f4b61c	2694	* -------------+------------------
anthonyp08	0:1c6757f4b61c	2695	* 0 \| 1.25 Hz
anthonyp08	0:1c6757f4b61c	2696	* 1 \| 2.5 Hz
anthonyp08	0:1c6757f4b61c	2697	* 2 \| 5 Hz
anthonyp08	0:1c6757f4b61c	2698	* 3 \| 10 Hz
anthonyp08	0:1c6757f4b61c	2699	* <pre>
anthonyp08	0:1c6757f4b61c	2700	*
anthonyp08	0:1c6757f4b61c	2701	* For further information regarding the MPU-60X0's power modes, please refer to
anthonyp08	0:1c6757f4b61c	2702	* Register 107.
anthonyp08	0:1c6757f4b61c	2703	*
anthonyp08	0:1c6757f4b61c	2704	* @return Current wake frequency
anthonyp08	0:1c6757f4b61c	2705	* @see MPU6050_RA_PWR_MGMT_2
anthonyp08	0:1c6757f4b61c	2706	*/
anthonyp08	0:1c6757f4b61c	2707	uint8_t MPU6050::getWakeFrequency()
anthonyp08	0:1c6757f4b61c	2708	{
anthonyp08	0:1c6757f4b61c	2709	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
anthonyp08	0:1c6757f4b61c	2710	return buffer[0];
anthonyp08	0:1c6757f4b61c	2711	}
anthonyp08	0:1c6757f4b61c	2712	/** Set wake frequency in Accel-Only Low Power Mode.
anthonyp08	0:1c6757f4b61c	2713	* @param frequency New wake frequency
anthonyp08	0:1c6757f4b61c	2714	* @see MPU6050_RA_PWR_MGMT_2
anthonyp08	0:1c6757f4b61c	2715	*/
anthonyp08	0:1c6757f4b61c	2716	void MPU6050::setWakeFrequency(uint8_t frequency)
anthonyp08	0:1c6757f4b61c	2717	{
anthonyp08	0:1c6757f4b61c	2718	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
anthonyp08	0:1c6757f4b61c	2719	}
anthonyp08	0:1c6757f4b61c	2720
anthonyp08	0:1c6757f4b61c	2721	/** Get X-axis accelerometer standby enabled status.
anthonyp08	0:1c6757f4b61c	2722	* If enabled, the X-axis will not gather or report data (or use power).
anthonyp08	0:1c6757f4b61c	2723	* @return Current X-axis standby enabled status
anthonyp08	0:1c6757f4b61c	2724	* @see MPU6050_RA_PWR_MGMT_2
anthonyp08	0:1c6757f4b61c	2725	* @see MPU6050_PWR2_STBY_XA_BIT
anthonyp08	0:1c6757f4b61c	2726	*/
anthonyp08	0:1c6757f4b61c	2727	bool MPU6050::getStandbyXAccelEnabled()
anthonyp08	0:1c6757f4b61c	2728	{
anthonyp08	0:1c6757f4b61c	2729	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
anthonyp08	0:1c6757f4b61c	2730	return buffer[0];
anthonyp08	0:1c6757f4b61c	2731	}
anthonyp08	0:1c6757f4b61c	2732	/** Set X-axis accelerometer standby enabled status.
anthonyp08	0:1c6757f4b61c	2733	* @param New X-axis standby enabled status
anthonyp08	0:1c6757f4b61c	2734	* @see getStandbyXAccelEnabled()
anthonyp08	0:1c6757f4b61c	2735	* @see MPU6050_RA_PWR_MGMT_2
anthonyp08	0:1c6757f4b61c	2736	* @see MPU6050_PWR2_STBY_XA_BIT
anthonyp08	0:1c6757f4b61c	2737	*/
anthonyp08	0:1c6757f4b61c	2738	void MPU6050::setStandbyXAccelEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	2739	{
anthonyp08	0:1c6757f4b61c	2740	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
anthonyp08	0:1c6757f4b61c	2741	}
anthonyp08	0:1c6757f4b61c	2742	/** Get Y-axis accelerometer standby enabled status.
anthonyp08	0:1c6757f4b61c	2743	* If enabled, the Y-axis will not gather or report data (or use power).
anthonyp08	0:1c6757f4b61c	2744	* @return Current Y-axis standby enabled status
anthonyp08	0:1c6757f4b61c	2745	* @see MPU6050_RA_PWR_MGMT_2
anthonyp08	0:1c6757f4b61c	2746	* @see MPU6050_PWR2_STBY_YA_BIT
anthonyp08	0:1c6757f4b61c	2747	*/
anthonyp08	0:1c6757f4b61c	2748	bool MPU6050::getStandbyYAccelEnabled()
anthonyp08	0:1c6757f4b61c	2749	{
anthonyp08	0:1c6757f4b61c	2750	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
anthonyp08	0:1c6757f4b61c	2751	return buffer[0];
anthonyp08	0:1c6757f4b61c	2752	}
anthonyp08	0:1c6757f4b61c	2753	/** Set Y-axis accelerometer standby enabled status.
anthonyp08	0:1c6757f4b61c	2754	* @param New Y-axis standby enabled status
anthonyp08	0:1c6757f4b61c	2755	* @see getStandbyYAccelEnabled()
anthonyp08	0:1c6757f4b61c	2756	* @see MPU6050_RA_PWR_MGMT_2
anthonyp08	0:1c6757f4b61c	2757	* @see MPU6050_PWR2_STBY_YA_BIT
anthonyp08	0:1c6757f4b61c	2758	*/
anthonyp08	0:1c6757f4b61c	2759	void MPU6050::setStandbyYAccelEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	2760	{
anthonyp08	0:1c6757f4b61c	2761	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
anthonyp08	0:1c6757f4b61c	2762	}
anthonyp08	0:1c6757f4b61c	2763	/** Get Z-axis accelerometer standby enabled status.
anthonyp08	0:1c6757f4b61c	2764	* If enabled, the Z-axis will not gather or report data (or use power).
anthonyp08	0:1c6757f4b61c	2765	* @return Current Z-axis standby enabled status
anthonyp08	0:1c6757f4b61c	2766	* @see MPU6050_RA_PWR_MGMT_2
anthonyp08	0:1c6757f4b61c	2767	* @see MPU6050_PWR2_STBY_ZA_BIT
anthonyp08	0:1c6757f4b61c	2768	*/
anthonyp08	0:1c6757f4b61c	2769	bool MPU6050::getStandbyZAccelEnabled()
anthonyp08	0:1c6757f4b61c	2770	{
anthonyp08	0:1c6757f4b61c	2771	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
anthonyp08	0:1c6757f4b61c	2772	return buffer[0];
anthonyp08	0:1c6757f4b61c	2773	}
anthonyp08	0:1c6757f4b61c	2774	/** Set Z-axis accelerometer standby enabled status.
anthonyp08	0:1c6757f4b61c	2775	* @param New Z-axis standby enabled status
anthonyp08	0:1c6757f4b61c	2776	* @see getStandbyZAccelEnabled()
anthonyp08	0:1c6757f4b61c	2777	* @see MPU6050_RA_PWR_MGMT_2
anthonyp08	0:1c6757f4b61c	2778	* @see MPU6050_PWR2_STBY_ZA_BIT
anthonyp08	0:1c6757f4b61c	2779	*/
anthonyp08	0:1c6757f4b61c	2780	void MPU6050::setStandbyZAccelEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	2781	{
anthonyp08	0:1c6757f4b61c	2782	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
anthonyp08	0:1c6757f4b61c	2783	}
anthonyp08	0:1c6757f4b61c	2784	/** Get X-axis gyroscope standby enabled status.
anthonyp08	0:1c6757f4b61c	2785	* If enabled, the X-axis will not gather or report data (or use power).
anthonyp08	0:1c6757f4b61c	2786	* @return Current X-axis standby enabled status
anthonyp08	0:1c6757f4b61c	2787	* @see MPU6050_RA_PWR_MGMT_2
anthonyp08	0:1c6757f4b61c	2788	* @see MPU6050_PWR2_STBY_XG_BIT
anthonyp08	0:1c6757f4b61c	2789	*/
anthonyp08	0:1c6757f4b61c	2790	bool MPU6050::getStandbyXGyroEnabled()
anthonyp08	0:1c6757f4b61c	2791	{
anthonyp08	0:1c6757f4b61c	2792	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
anthonyp08	0:1c6757f4b61c	2793	return buffer[0];
anthonyp08	0:1c6757f4b61c	2794	}
anthonyp08	0:1c6757f4b61c	2795	/** Set X-axis gyroscope standby enabled status.
anthonyp08	0:1c6757f4b61c	2796	* @param New X-axis standby enabled status
anthonyp08	0:1c6757f4b61c	2797	* @see getStandbyXGyroEnabled()
anthonyp08	0:1c6757f4b61c	2798	* @see MPU6050_RA_PWR_MGMT_2
anthonyp08	0:1c6757f4b61c	2799	* @see MPU6050_PWR2_STBY_XG_BIT
anthonyp08	0:1c6757f4b61c	2800	*/
anthonyp08	0:1c6757f4b61c	2801	void MPU6050::setStandbyXGyroEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	2802	{
anthonyp08	0:1c6757f4b61c	2803	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
anthonyp08	0:1c6757f4b61c	2804	}
anthonyp08	0:1c6757f4b61c	2805	/** Get Y-axis gyroscope standby enabled status.
anthonyp08	0:1c6757f4b61c	2806	* If enabled, the Y-axis will not gather or report data (or use power).
anthonyp08	0:1c6757f4b61c	2807	* @return Current Y-axis standby enabled status
anthonyp08	0:1c6757f4b61c	2808	* @see MPU6050_RA_PWR_MGMT_2
anthonyp08	0:1c6757f4b61c	2809	* @see MPU6050_PWR2_STBY_YG_BIT
anthonyp08	0:1c6757f4b61c	2810	*/
anthonyp08	0:1c6757f4b61c	2811	bool MPU6050::getStandbyYGyroEnabled()
anthonyp08	0:1c6757f4b61c	2812	{
anthonyp08	0:1c6757f4b61c	2813	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
anthonyp08	0:1c6757f4b61c	2814	return buffer[0];
anthonyp08	0:1c6757f4b61c	2815	}
anthonyp08	0:1c6757f4b61c	2816	/** Set Y-axis gyroscope standby enabled status.
anthonyp08	0:1c6757f4b61c	2817	* @param New Y-axis standby enabled status
anthonyp08	0:1c6757f4b61c	2818	* @see getStandbyYGyroEnabled()
anthonyp08	0:1c6757f4b61c	2819	* @see MPU6050_RA_PWR_MGMT_2
anthonyp08	0:1c6757f4b61c	2820	* @see MPU6050_PWR2_STBY_YG_BIT
anthonyp08	0:1c6757f4b61c	2821	*/
anthonyp08	0:1c6757f4b61c	2822	void MPU6050::setStandbyYGyroEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	2823	{
anthonyp08	0:1c6757f4b61c	2824	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
anthonyp08	0:1c6757f4b61c	2825	}
anthonyp08	0:1c6757f4b61c	2826	/** Get Z-axis gyroscope standby enabled status.
anthonyp08	0:1c6757f4b61c	2827	* If enabled, the Z-axis will not gather or report data (or use power).
anthonyp08	0:1c6757f4b61c	2828	* @return Current Z-axis standby enabled status
anthonyp08	0:1c6757f4b61c	2829	* @see MPU6050_RA_PWR_MGMT_2
anthonyp08	0:1c6757f4b61c	2830	* @see MPU6050_PWR2_STBY_ZG_BIT
anthonyp08	0:1c6757f4b61c	2831	*/
anthonyp08	0:1c6757f4b61c	2832	bool MPU6050::getStandbyZGyroEnabled()
anthonyp08	0:1c6757f4b61c	2833	{
anthonyp08	0:1c6757f4b61c	2834	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
anthonyp08	0:1c6757f4b61c	2835	return buffer[0];
anthonyp08	0:1c6757f4b61c	2836	}
anthonyp08	0:1c6757f4b61c	2837	/** Set Z-axis gyroscope standby enabled status.
anthonyp08	0:1c6757f4b61c	2838	* @param New Z-axis standby enabled status
anthonyp08	0:1c6757f4b61c	2839	* @see getStandbyZGyroEnabled()
anthonyp08	0:1c6757f4b61c	2840	* @see MPU6050_RA_PWR_MGMT_2
anthonyp08	0:1c6757f4b61c	2841	* @see MPU6050_PWR2_STBY_ZG_BIT
anthonyp08	0:1c6757f4b61c	2842	*/
anthonyp08	0:1c6757f4b61c	2843	void MPU6050::setStandbyZGyroEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	2844	{
anthonyp08	0:1c6757f4b61c	2845	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
anthonyp08	0:1c6757f4b61c	2846	}
anthonyp08	0:1c6757f4b61c	2847
anthonyp08	0:1c6757f4b61c	2848	// FIFO_COUNT* registers
anthonyp08	0:1c6757f4b61c	2849
anthonyp08	0:1c6757f4b61c	2850	/** Get current FIFO buffer size.
anthonyp08	0:1c6757f4b61c	2851	* This value indicates the number of bytes stored in the FIFO buffer. This
anthonyp08	0:1c6757f4b61c	2852	* number is in turn the number of bytes that can be read from the FIFO buffer
anthonyp08	0:1c6757f4b61c	2853	* and it is directly proportional to the number of samples available given the
anthonyp08	0:1c6757f4b61c	2854	* set of sensor data bound to be stored in the FIFO (register 35 and 36).
anthonyp08	0:1c6757f4b61c	2855	* @return Current FIFO buffer size
anthonyp08	0:1c6757f4b61c	2856	*/
anthonyp08	0:1c6757f4b61c	2857	uint16_t MPU6050::getFIFOCount()
anthonyp08	0:1c6757f4b61c	2858	{
anthonyp08	0:1c6757f4b61c	2859	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
anthonyp08	0:1c6757f4b61c	2860	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
anthonyp08	0:1c6757f4b61c	2861	}
anthonyp08	0:1c6757f4b61c	2862
anthonyp08	0:1c6757f4b61c	2863	// FIFO_R_W register
anthonyp08	0:1c6757f4b61c	2864
anthonyp08	0:1c6757f4b61c	2865	/** Get byte from FIFO buffer.
anthonyp08	0:1c6757f4b61c	2866	* This register is used to read and write data from the FIFO buffer. Data is
anthonyp08	0:1c6757f4b61c	2867	* written to the FIFO in order of register number (from lowest to highest). If
anthonyp08	0:1c6757f4b61c	2868	* all the FIFO enable flags (see below) are enabled and all External Sensor
anthonyp08	0:1c6757f4b61c	2869	* Data registers (Registers 73 to 96) are associated with a Slave device, the
anthonyp08	0:1c6757f4b61c	2870	* contents of registers 59 through 96 will be written in order at the Sample
anthonyp08	0:1c6757f4b61c	2871	* Rate.
anthonyp08	0:1c6757f4b61c	2872	*
anthonyp08	0:1c6757f4b61c	2873	* The contents of the sensor data registers (Registers 59 to 96) are written
anthonyp08	0:1c6757f4b61c	2874	* into the FIFO buffer when their corresponding FIFO enable flags are set to 1
anthonyp08	0:1c6757f4b61c	2875	* in FIFO_EN (Register 35). An additional flag for the sensor data registers
anthonyp08	0:1c6757f4b61c	2876	* associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
anthonyp08	0:1c6757f4b61c	2877	*
anthonyp08	0:1c6757f4b61c	2878	* If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
anthonyp08	0:1c6757f4b61c	2879	* automatically set to 1. This bit is located in INT_STATUS (Register 58).
anthonyp08	0:1c6757f4b61c	2880	* When the FIFO buffer has overflowed, the oldest data will be lost and new
anthonyp08	0:1c6757f4b61c	2881	* data will be written to the FIFO.
anthonyp08	0:1c6757f4b61c	2882	*
anthonyp08	0:1c6757f4b61c	2883	* If the FIFO buffer is empty, reading this register will return the last byte
anthonyp08	0:1c6757f4b61c	2884	* that was previously read from the FIFO until new data is available. The user
anthonyp08	0:1c6757f4b61c	2885	* should check FIFO_COUNT to ensure that the FIFO buffer is not read when
anthonyp08	0:1c6757f4b61c	2886	* empty.
anthonyp08	0:1c6757f4b61c	2887	*
anthonyp08	0:1c6757f4b61c	2888	* @return Byte from FIFO buffer
anthonyp08	0:1c6757f4b61c	2889	*/
anthonyp08	0:1c6757f4b61c	2890	uint8_t MPU6050::getFIFOByte()
anthonyp08	0:1c6757f4b61c	2891	{
anthonyp08	0:1c6757f4b61c	2892	i2Cdev.readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
anthonyp08	0:1c6757f4b61c	2893	return buffer[0];
anthonyp08	0:1c6757f4b61c	2894	}
anthonyp08	0:1c6757f4b61c	2895	void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length)
anthonyp08	0:1c6757f4b61c	2896	{
anthonyp08	0:1c6757f4b61c	2897	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
anthonyp08	0:1c6757f4b61c	2898	}
anthonyp08	0:1c6757f4b61c	2899	/** Write byte to FIFO buffer.
anthonyp08	0:1c6757f4b61c	2900	* @see getFIFOByte()
anthonyp08	0:1c6757f4b61c	2901	* @see MPU6050_RA_FIFO_R_W
anthonyp08	0:1c6757f4b61c	2902	*/
anthonyp08	0:1c6757f4b61c	2903	void MPU6050::setFIFOByte(uint8_t data)
anthonyp08	0:1c6757f4b61c	2904	{
anthonyp08	0:1c6757f4b61c	2905	i2Cdev.writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
anthonyp08	0:1c6757f4b61c	2906	}
anthonyp08	0:1c6757f4b61c	2907
anthonyp08	0:1c6757f4b61c	2908	// WHO_AM_I register
anthonyp08	0:1c6757f4b61c	2909
anthonyp08	0:1c6757f4b61c	2910	/** Get Device ID.
anthonyp08	0:1c6757f4b61c	2911	* This register is used to verify the identity of the device (0b110100, 0x34).
anthonyp08	0:1c6757f4b61c	2912	* @return Device ID (6 bits only! should be 0x34)
anthonyp08	0:1c6757f4b61c	2913	* @see MPU6050_RA_WHO_AM_I
anthonyp08	0:1c6757f4b61c	2914	* @see MPU6050_WHO_AM_I_BIT
anthonyp08	0:1c6757f4b61c	2915	* @see MPU6050_WHO_AM_I_LENGTH
anthonyp08	0:1c6757f4b61c	2916	*/
anthonyp08	0:1c6757f4b61c	2917	uint8_t MPU6050::getDeviceID()
anthonyp08	0:1c6757f4b61c	2918	{
anthonyp08	0:1c6757f4b61c	2919	i2Cdev.readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
anthonyp08	0:1c6757f4b61c	2920	return buffer[0];
anthonyp08	0:1c6757f4b61c	2921	}
anthonyp08	0:1c6757f4b61c	2922	/** Set Device ID.
anthonyp08	0:1c6757f4b61c	2923	* Write a new ID into the WHO_AM_I register (no idea why this should ever be
anthonyp08	0:1c6757f4b61c	2924	* necessary though).
anthonyp08	0:1c6757f4b61c	2925	* @param id New device ID to set.
anthonyp08	0:1c6757f4b61c	2926	* @see getDeviceID()
anthonyp08	0:1c6757f4b61c	2927	* @see MPU6050_RA_WHO_AM_I
anthonyp08	0:1c6757f4b61c	2928	* @see MPU6050_WHO_AM_I_BIT
anthonyp08	0:1c6757f4b61c	2929	* @see MPU6050_WHO_AM_I_LENGTH
anthonyp08	0:1c6757f4b61c	2930	*/
anthonyp08	0:1c6757f4b61c	2931	void MPU6050::setDeviceID(uint8_t id)
anthonyp08	0:1c6757f4b61c	2932	{
anthonyp08	0:1c6757f4b61c	2933	i2Cdev.writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
anthonyp08	0:1c6757f4b61c	2934	}
anthonyp08	0:1c6757f4b61c	2935
anthonyp08	0:1c6757f4b61c	2936	// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
anthonyp08	0:1c6757f4b61c	2937
anthonyp08	0:1c6757f4b61c	2938	// XG_OFFS_TC register
anthonyp08	0:1c6757f4b61c	2939
anthonyp08	0:1c6757f4b61c	2940	uint8_t MPU6050::getOTPBankValid()
anthonyp08	0:1c6757f4b61c	2941	{
anthonyp08	0:1c6757f4b61c	2942	i2Cdev.readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
anthonyp08	0:1c6757f4b61c	2943	return buffer[0];
anthonyp08	0:1c6757f4b61c	2944	}
anthonyp08	0:1c6757f4b61c	2945	void MPU6050::setOTPBankValid(bool enabled)
anthonyp08	0:1c6757f4b61c	2946	{
anthonyp08	0:1c6757f4b61c	2947	i2Cdev.writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
anthonyp08	0:1c6757f4b61c	2948	}
anthonyp08	0:1c6757f4b61c	2949	int8_t MPU6050::getXGyroOffset()
anthonyp08	0:1c6757f4b61c	2950	{
anthonyp08	0:1c6757f4b61c	2951	i2Cdev.readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
anthonyp08	0:1c6757f4b61c	2952	return buffer[0];
anthonyp08	0:1c6757f4b61c	2953	}
anthonyp08	0:1c6757f4b61c	2954	void MPU6050::setXGyroOffset(int8_t offset)
anthonyp08	0:1c6757f4b61c	2955	{
anthonyp08	0:1c6757f4b61c	2956	i2Cdev.writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
anthonyp08	0:1c6757f4b61c	2957	}
anthonyp08	0:1c6757f4b61c	2958
anthonyp08	0:1c6757f4b61c	2959	// YG_OFFS_TC register
anthonyp08	0:1c6757f4b61c	2960
anthonyp08	0:1c6757f4b61c	2961	int8_t MPU6050::getYGyroOffset()
anthonyp08	0:1c6757f4b61c	2962	{
anthonyp08	0:1c6757f4b61c	2963	i2Cdev.readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
anthonyp08	0:1c6757f4b61c	2964	return buffer[0];
anthonyp08	0:1c6757f4b61c	2965	}
anthonyp08	0:1c6757f4b61c	2966	void MPU6050::setYGyroOffset(int8_t offset)
anthonyp08	0:1c6757f4b61c	2967	{
anthonyp08	0:1c6757f4b61c	2968	i2Cdev.writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
anthonyp08	0:1c6757f4b61c	2969	}
anthonyp08	0:1c6757f4b61c	2970
anthonyp08	0:1c6757f4b61c	2971	// ZG_OFFS_TC register
anthonyp08	0:1c6757f4b61c	2972
anthonyp08	0:1c6757f4b61c	2973	int8_t MPU6050::getZGyroOffset()
anthonyp08	0:1c6757f4b61c	2974	{
anthonyp08	0:1c6757f4b61c	2975	i2Cdev.readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
anthonyp08	0:1c6757f4b61c	2976	return buffer[0];
anthonyp08	0:1c6757f4b61c	2977	}
anthonyp08	0:1c6757f4b61c	2978	void MPU6050::setZGyroOffset(int8_t offset)
anthonyp08	0:1c6757f4b61c	2979	{
anthonyp08	0:1c6757f4b61c	2980	i2Cdev.writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
anthonyp08	0:1c6757f4b61c	2981	}
anthonyp08	0:1c6757f4b61c	2982
anthonyp08	0:1c6757f4b61c	2983	// X_FINE_GAIN register
anthonyp08	0:1c6757f4b61c	2984
anthonyp08	0:1c6757f4b61c	2985	int8_t MPU6050::getXFineGain()
anthonyp08	0:1c6757f4b61c	2986	{
anthonyp08	0:1c6757f4b61c	2987	i2Cdev.readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
anthonyp08	0:1c6757f4b61c	2988	return buffer[0];
anthonyp08	0:1c6757f4b61c	2989	}
anthonyp08	0:1c6757f4b61c	2990	void MPU6050::setXFineGain(int8_t gain)
anthonyp08	0:1c6757f4b61c	2991	{
anthonyp08	0:1c6757f4b61c	2992	i2Cdev.writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
anthonyp08	0:1c6757f4b61c	2993	}
anthonyp08	0:1c6757f4b61c	2994
anthonyp08	0:1c6757f4b61c	2995	// Y_FINE_GAIN register
anthonyp08	0:1c6757f4b61c	2996
anthonyp08	0:1c6757f4b61c	2997	int8_t MPU6050::getYFineGain()
anthonyp08	0:1c6757f4b61c	2998	{
anthonyp08	0:1c6757f4b61c	2999	i2Cdev.readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
anthonyp08	0:1c6757f4b61c	3000	return buffer[0];
anthonyp08	0:1c6757f4b61c	3001	}
anthonyp08	0:1c6757f4b61c	3002	void MPU6050::setYFineGain(int8_t gain)
anthonyp08	0:1c6757f4b61c	3003	{
anthonyp08	0:1c6757f4b61c	3004	i2Cdev.writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
anthonyp08	0:1c6757f4b61c	3005	}
anthonyp08	0:1c6757f4b61c	3006
anthonyp08	0:1c6757f4b61c	3007	// Z_FINE_GAIN register
anthonyp08	0:1c6757f4b61c	3008
anthonyp08	0:1c6757f4b61c	3009	int8_t MPU6050::getZFineGain()
anthonyp08	0:1c6757f4b61c	3010	{
anthonyp08	0:1c6757f4b61c	3011	i2Cdev.readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
anthonyp08	0:1c6757f4b61c	3012	return buffer[0];
anthonyp08	0:1c6757f4b61c	3013	}
anthonyp08	0:1c6757f4b61c	3014	void MPU6050::setZFineGain(int8_t gain)
anthonyp08	0:1c6757f4b61c	3015	{
anthonyp08	0:1c6757f4b61c	3016	i2Cdev.writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
anthonyp08	0:1c6757f4b61c	3017	}
anthonyp08	0:1c6757f4b61c	3018
anthonyp08	0:1c6757f4b61c	3019	// XA_OFFS_* registers
anthonyp08	0:1c6757f4b61c	3020
anthonyp08	0:1c6757f4b61c	3021	int16_t MPU6050::getXAccelOffset()
anthonyp08	0:1c6757f4b61c	3022	{
anthonyp08	0:1c6757f4b61c	3023	i2Cdev.readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
anthonyp08	0:1c6757f4b61c	3024	return (((int16_t)buffer[0]) << 8) \| buffer[1];
anthonyp08	0:1c6757f4b61c	3025	}
anthonyp08	0:1c6757f4b61c	3026	void MPU6050::setXAccelOffset(int16_t offset)
anthonyp08	0:1c6757f4b61c	3027	{
anthonyp08	0:1c6757f4b61c	3028	i2Cdev.writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
anthonyp08	0:1c6757f4b61c	3029	}
anthonyp08	0:1c6757f4b61c	3030
anthonyp08	0:1c6757f4b61c	3031	// YA_OFFS_* register
anthonyp08	0:1c6757f4b61c	3032
anthonyp08	0:1c6757f4b61c	3033	int16_t MPU6050::getYAccelOffset()
anthonyp08	0:1c6757f4b61c	3034	{
anthonyp08	0:1c6757f4b61c	3035	i2Cdev.readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
anthonyp08	0:1c6757f4b61c	3036	return (((int16_t)buffer[0]) << 8) \| buffer[1];
anthonyp08	0:1c6757f4b61c	3037	}
anthonyp08	0:1c6757f4b61c	3038	void MPU6050::setYAccelOffset(int16_t offset)
anthonyp08	0:1c6757f4b61c	3039	{
anthonyp08	0:1c6757f4b61c	3040	i2Cdev.writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
anthonyp08	0:1c6757f4b61c	3041	}
anthonyp08	0:1c6757f4b61c	3042
anthonyp08	0:1c6757f4b61c	3043	// ZA_OFFS_* register
anthonyp08	0:1c6757f4b61c	3044
anthonyp08	0:1c6757f4b61c	3045	int16_t MPU6050::getZAccelOffset()
anthonyp08	0:1c6757f4b61c	3046	{
anthonyp08	0:1c6757f4b61c	3047	i2Cdev.readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
anthonyp08	0:1c6757f4b61c	3048	return (((int16_t)buffer[0]) << 8) \| buffer[1];
anthonyp08	0:1c6757f4b61c	3049	}
anthonyp08	0:1c6757f4b61c	3050	void MPU6050::setZAccelOffset(int16_t offset)
anthonyp08	0:1c6757f4b61c	3051	{
anthonyp08	0:1c6757f4b61c	3052	i2Cdev.writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
anthonyp08	0:1c6757f4b61c	3053	}
anthonyp08	0:1c6757f4b61c	3054
anthonyp08	0:1c6757f4b61c	3055	// XG_OFFS_USR* registers
anthonyp08	0:1c6757f4b61c	3056
anthonyp08	0:1c6757f4b61c	3057	int16_t MPU6050::getXGyroOffsetUser()
anthonyp08	0:1c6757f4b61c	3058	{
anthonyp08	0:1c6757f4b61c	3059	i2Cdev.readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
anthonyp08	0:1c6757f4b61c	3060	return (((int16_t)buffer[0]) << 8) \| buffer[1];
anthonyp08	0:1c6757f4b61c	3061	}
anthonyp08	0:1c6757f4b61c	3062	void MPU6050::setXGyroOffsetUser(int16_t offset)
anthonyp08	0:1c6757f4b61c	3063	{
anthonyp08	0:1c6757f4b61c	3064	i2Cdev.writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
anthonyp08	0:1c6757f4b61c	3065	}
anthonyp08	0:1c6757f4b61c	3066
anthonyp08	0:1c6757f4b61c	3067	// YG_OFFS_USR* register
anthonyp08	0:1c6757f4b61c	3068
anthonyp08	0:1c6757f4b61c	3069	int16_t MPU6050::getYGyroOffsetUser()
anthonyp08	0:1c6757f4b61c	3070	{
anthonyp08	0:1c6757f4b61c	3071	i2Cdev.readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
anthonyp08	0:1c6757f4b61c	3072	return (((int16_t)buffer[0]) << 8) \| buffer[1];
anthonyp08	0:1c6757f4b61c	3073	}
anthonyp08	0:1c6757f4b61c	3074	void MPU6050::setYGyroOffsetUser(int16_t offset)
anthonyp08	0:1c6757f4b61c	3075	{
anthonyp08	0:1c6757f4b61c	3076	i2Cdev.writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
anthonyp08	0:1c6757f4b61c	3077	}
anthonyp08	0:1c6757f4b61c	3078
anthonyp08	0:1c6757f4b61c	3079	// ZG_OFFS_USR* register
anthonyp08	0:1c6757f4b61c	3080
anthonyp08	0:1c6757f4b61c	3081	int16_t MPU6050::getZGyroOffsetUser()
anthonyp08	0:1c6757f4b61c	3082	{
anthonyp08	0:1c6757f4b61c	3083	i2Cdev.readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
anthonyp08	0:1c6757f4b61c	3084	return (((int16_t)buffer[0]) << 8) \| buffer[1];
anthonyp08	0:1c6757f4b61c	3085	}
anthonyp08	0:1c6757f4b61c	3086	void MPU6050::setZGyroOffsetUser(int16_t offset)
anthonyp08	0:1c6757f4b61c	3087	{
anthonyp08	0:1c6757f4b61c	3088	i2Cdev.writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
anthonyp08	0:1c6757f4b61c	3089	}
anthonyp08	0:1c6757f4b61c	3090
anthonyp08	0:1c6757f4b61c	3091	// INT_ENABLE register (DMP functions)
anthonyp08	0:1c6757f4b61c	3092
anthonyp08	0:1c6757f4b61c	3093	bool MPU6050::getIntPLLReadyEnabled()
anthonyp08	0:1c6757f4b61c	3094	{
anthonyp08	0:1c6757f4b61c	3095	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
anthonyp08	0:1c6757f4b61c	3096	return buffer[0];
anthonyp08	0:1c6757f4b61c	3097	}
anthonyp08	0:1c6757f4b61c	3098	void MPU6050::setIntPLLReadyEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	3099	{
anthonyp08	0:1c6757f4b61c	3100	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
anthonyp08	0:1c6757f4b61c	3101	}
anthonyp08	0:1c6757f4b61c	3102	bool MPU6050::getIntDMPEnabled()
anthonyp08	0:1c6757f4b61c	3103	{
anthonyp08	0:1c6757f4b61c	3104	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
anthonyp08	0:1c6757f4b61c	3105	return buffer[0];
anthonyp08	0:1c6757f4b61c	3106	}
anthonyp08	0:1c6757f4b61c	3107	void MPU6050::setIntDMPEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	3108	{
anthonyp08	0:1c6757f4b61c	3109	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
anthonyp08	0:1c6757f4b61c	3110	}
anthonyp08	0:1c6757f4b61c	3111
anthonyp08	0:1c6757f4b61c	3112	// DMP_INT_STATUS
anthonyp08	0:1c6757f4b61c	3113
anthonyp08	0:1c6757f4b61c	3114	bool MPU6050::getDMPInt5Status()
anthonyp08	0:1c6757f4b61c	3115	{
anthonyp08	0:1c6757f4b61c	3116	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
anthonyp08	0:1c6757f4b61c	3117	return buffer[0];
anthonyp08	0:1c6757f4b61c	3118	}
anthonyp08	0:1c6757f4b61c	3119	bool MPU6050::getDMPInt4Status()
anthonyp08	0:1c6757f4b61c	3120	{
anthonyp08	0:1c6757f4b61c	3121	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
anthonyp08	0:1c6757f4b61c	3122	return buffer[0];
anthonyp08	0:1c6757f4b61c	3123	}
anthonyp08	0:1c6757f4b61c	3124	bool MPU6050::getDMPInt3Status()
anthonyp08	0:1c6757f4b61c	3125	{
anthonyp08	0:1c6757f4b61c	3126	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
anthonyp08	0:1c6757f4b61c	3127	return buffer[0];
anthonyp08	0:1c6757f4b61c	3128	}
anthonyp08	0:1c6757f4b61c	3129	bool MPU6050::getDMPInt2Status()
anthonyp08	0:1c6757f4b61c	3130	{
anthonyp08	0:1c6757f4b61c	3131	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
anthonyp08	0:1c6757f4b61c	3132	return buffer[0];
anthonyp08	0:1c6757f4b61c	3133	}
anthonyp08	0:1c6757f4b61c	3134	bool MPU6050::getDMPInt1Status()
anthonyp08	0:1c6757f4b61c	3135	{
anthonyp08	0:1c6757f4b61c	3136	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
anthonyp08	0:1c6757f4b61c	3137	return buffer[0];
anthonyp08	0:1c6757f4b61c	3138	}
anthonyp08	0:1c6757f4b61c	3139	bool MPU6050::getDMPInt0Status()
anthonyp08	0:1c6757f4b61c	3140	{
anthonyp08	0:1c6757f4b61c	3141	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
anthonyp08	0:1c6757f4b61c	3142	return buffer[0];
anthonyp08	0:1c6757f4b61c	3143	}
anthonyp08	0:1c6757f4b61c	3144
anthonyp08	0:1c6757f4b61c	3145	// INT_STATUS register (DMP functions)
anthonyp08	0:1c6757f4b61c	3146
anthonyp08	0:1c6757f4b61c	3147	bool MPU6050::getIntPLLReadyStatus()
anthonyp08	0:1c6757f4b61c	3148	{
anthonyp08	0:1c6757f4b61c	3149	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
anthonyp08	0:1c6757f4b61c	3150	return buffer[0];
anthonyp08	0:1c6757f4b61c	3151	}
anthonyp08	0:1c6757f4b61c	3152	bool MPU6050::getIntDMPStatus()
anthonyp08	0:1c6757f4b61c	3153	{
anthonyp08	0:1c6757f4b61c	3154	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
anthonyp08	0:1c6757f4b61c	3155	return buffer[0];
anthonyp08	0:1c6757f4b61c	3156	}
anthonyp08	0:1c6757f4b61c	3157
anthonyp08	0:1c6757f4b61c	3158	// USER_CTRL register (DMP functions)
anthonyp08	0:1c6757f4b61c	3159
anthonyp08	0:1c6757f4b61c	3160	bool MPU6050::getDMPEnabled()
anthonyp08	0:1c6757f4b61c	3161	{
anthonyp08	0:1c6757f4b61c	3162	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
anthonyp08	0:1c6757f4b61c	3163	return buffer[0];
anthonyp08	0:1c6757f4b61c	3164	}
anthonyp08	0:1c6757f4b61c	3165	void MPU6050::setDMPEnabled(bool enabled)
anthonyp08	0:1c6757f4b61c	3166	{
anthonyp08	0:1c6757f4b61c	3167	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
anthonyp08	0:1c6757f4b61c	3168	}
anthonyp08	0:1c6757f4b61c	3169	void MPU6050::resetDMP()
anthonyp08	0:1c6757f4b61c	3170	{
anthonyp08	0:1c6757f4b61c	3171	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
anthonyp08	0:1c6757f4b61c	3172	}
anthonyp08	0:1c6757f4b61c	3173
anthonyp08	0:1c6757f4b61c	3174	// BANK_SEL register
anthonyp08	0:1c6757f4b61c	3175
anthonyp08	0:1c6757f4b61c	3176	void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank)
anthonyp08	0:1c6757f4b61c	3177	{
anthonyp08	0:1c6757f4b61c	3178	bank &= 0x1F;
anthonyp08	0:1c6757f4b61c	3179	if (userBank) bank \|= 0x20;
anthonyp08	0:1c6757f4b61c	3180	if (prefetchEnabled) bank \|= 0x40;
anthonyp08	0:1c6757f4b61c	3181	i2Cdev.writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
anthonyp08	0:1c6757f4b61c	3182	}
anthonyp08	0:1c6757f4b61c	3183
anthonyp08	0:1c6757f4b61c	3184	// MEM_START_ADDR register
anthonyp08	0:1c6757f4b61c	3185
anthonyp08	0:1c6757f4b61c	3186	void MPU6050::setMemoryStartAddress(uint8_t address)
anthonyp08	0:1c6757f4b61c	3187	{
anthonyp08	0:1c6757f4b61c	3188	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
anthonyp08	0:1c6757f4b61c	3189	}
anthonyp08	0:1c6757f4b61c	3190
anthonyp08	0:1c6757f4b61c	3191	// MEM_R_W register
anthonyp08	0:1c6757f4b61c	3192
anthonyp08	0:1c6757f4b61c	3193	uint8_t MPU6050::readMemoryByte()
anthonyp08	0:1c6757f4b61c	3194	{
anthonyp08	0:1c6757f4b61c	3195	i2Cdev.readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
anthonyp08	0:1c6757f4b61c	3196	return buffer[0];
anthonyp08	0:1c6757f4b61c	3197	}
anthonyp08	0:1c6757f4b61c	3198	void MPU6050::writeMemoryByte(uint8_t data)
anthonyp08	0:1c6757f4b61c	3199	{
anthonyp08	0:1c6757f4b61c	3200	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
anthonyp08	0:1c6757f4b61c	3201	}
anthonyp08	0:1c6757f4b61c	3202	void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address)
anthonyp08	0:1c6757f4b61c	3203	{
anthonyp08	0:1c6757f4b61c	3204	setMemoryBank(bank);
anthonyp08	0:1c6757f4b61c	3205	setMemoryStartAddress(address);
anthonyp08	0:1c6757f4b61c	3206	uint8_t chunkSize;
anthonyp08	0:1c6757f4b61c	3207	for (uint16_t i = 0; i < dataSize;) {
anthonyp08	0:1c6757f4b61c	3208	// determine correct chunk size according to bank position and data size
anthonyp08	0:1c6757f4b61c	3209	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
anthonyp08	0:1c6757f4b61c	3210
anthonyp08	0:1c6757f4b61c	3211	// make sure we don't go past the data size
anthonyp08	0:1c6757f4b61c	3212	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
anthonyp08	0:1c6757f4b61c	3213
anthonyp08	0:1c6757f4b61c	3214	// make sure this chunk doesn't go past the bank boundary (256 bytes)
anthonyp08	0:1c6757f4b61c	3215	if (chunkSize > 256 - address) chunkSize = 256 - address;
anthonyp08	0:1c6757f4b61c	3216
anthonyp08	0:1c6757f4b61c	3217	// read the chunk of data as specified
anthonyp08	0:1c6757f4b61c	3218	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
anthonyp08	0:1c6757f4b61c	3219
anthonyp08	0:1c6757f4b61c	3220	// increase byte index by [chunkSize]
anthonyp08	0:1c6757f4b61c	3221	i += chunkSize;
anthonyp08	0:1c6757f4b61c	3222
anthonyp08	0:1c6757f4b61c	3223	// uint8_t automatically wraps to 0 at 256
anthonyp08	0:1c6757f4b61c	3224	address += chunkSize;
anthonyp08	0:1c6757f4b61c	3225
anthonyp08	0:1c6757f4b61c	3226	// if we aren't done, update bank (if necessary) and address
anthonyp08	0:1c6757f4b61c	3227	if (i < dataSize) {
anthonyp08	0:1c6757f4b61c	3228	if (address == 0) bank++;
anthonyp08	0:1c6757f4b61c	3229	setMemoryBank(bank);
anthonyp08	0:1c6757f4b61c	3230	setMemoryStartAddress(address);
anthonyp08	0:1c6757f4b61c	3231	}
anthonyp08	0:1c6757f4b61c	3232	}
anthonyp08	0:1c6757f4b61c	3233	}
anthonyp08	0:1c6757f4b61c	3234	bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem)
anthonyp08	0:1c6757f4b61c	3235	{
anthonyp08	0:1c6757f4b61c	3236	setMemoryBank(bank);
anthonyp08	0:1c6757f4b61c	3237	setMemoryStartAddress(address);
anthonyp08	0:1c6757f4b61c	3238	uint8_t chunkSize;
anthonyp08	0:1c6757f4b61c	3239	uint8_t *verifyBuffer;
anthonyp08	0:1c6757f4b61c	3240	uint8_t *progBuffer;
anthonyp08	0:1c6757f4b61c	3241	uint16_t i;
anthonyp08	0:1c6757f4b61c	3242	uint8_t j;
anthonyp08	0:1c6757f4b61c	3243	if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
anthonyp08	0:1c6757f4b61c	3244	if (useProgMem) progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
anthonyp08	0:1c6757f4b61c	3245	for (i = 0; i < dataSize;) {
anthonyp08	0:1c6757f4b61c	3246	// determine correct chunk size according to bank position and data size
anthonyp08	0:1c6757f4b61c	3247	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
anthonyp08	0:1c6757f4b61c	3248
anthonyp08	0:1c6757f4b61c	3249	// make sure we don't go past the data size
anthonyp08	0:1c6757f4b61c	3250	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
anthonyp08	0:1c6757f4b61c	3251
anthonyp08	0:1c6757f4b61c	3252	// make sure this chunk doesn't go past the bank boundary (256 bytes)
anthonyp08	0:1c6757f4b61c	3253	if (chunkSize > 256 - address) chunkSize = 256 - address;
anthonyp08	0:1c6757f4b61c	3254
anthonyp08	0:1c6757f4b61c	3255	if (useProgMem) {
anthonyp08	0:1c6757f4b61c	3256	// write the chunk of data as specified
anthonyp08	0:1c6757f4b61c	3257	for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
anthonyp08	0:1c6757f4b61c	3258	} else {
anthonyp08	0:1c6757f4b61c	3259	// write the chunk of data as specified
anthonyp08	0:1c6757f4b61c	3260	progBuffer = (uint8_t *)data + i;
anthonyp08	0:1c6757f4b61c	3261	}
anthonyp08	0:1c6757f4b61c	3262
anthonyp08	0:1c6757f4b61c	3263	i2Cdev.writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
anthonyp08	0:1c6757f4b61c	3264
anthonyp08	0:1c6757f4b61c	3265	// verify data if needed
anthonyp08	0:1c6757f4b61c	3266	if (verify && verifyBuffer) {
anthonyp08	0:1c6757f4b61c	3267	setMemoryBank(bank);
anthonyp08	0:1c6757f4b61c	3268	setMemoryStartAddress(address);
anthonyp08	0:1c6757f4b61c	3269	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
anthonyp08	0:1c6757f4b61c	3270	if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
anthonyp08	0:1c6757f4b61c	3271	/*Serial.print("Block write verification error, bank ");
anthonyp08	0:1c6757f4b61c	3272	Serial.print(bank, DEC);
anthonyp08	0:1c6757f4b61c	3273	Serial.print(", address ");
anthonyp08	0:1c6757f4b61c	3274	Serial.print(address, DEC);
anthonyp08	0:1c6757f4b61c	3275	Serial.print("!\nExpected:");
anthonyp08	0:1c6757f4b61c	3276	for (j = 0; j < chunkSize; j++) {
anthonyp08	0:1c6757f4b61c	3277	Serial.print(" 0x");
anthonyp08	0:1c6757f4b61c	3278	if (progBuffer[j] < 16) Serial.print("0");
anthonyp08	0:1c6757f4b61c	3279	Serial.print(progBuffer[j], HEX);
anthonyp08	0:1c6757f4b61c	3280	}
anthonyp08	0:1c6757f4b61c	3281	Serial.print("\nReceived:");
anthonyp08	0:1c6757f4b61c	3282	for (uint8_t j = 0; j < chunkSize; j++) {
anthonyp08	0:1c6757f4b61c	3283	Serial.print(" 0x");
anthonyp08	0:1c6757f4b61c	3284	if (verifyBuffer[i + j] < 16) Serial.print("0");
anthonyp08	0:1c6757f4b61c	3285	Serial.print(verifyBuffer[i + j], HEX);
anthonyp08	0:1c6757f4b61c	3286	}
anthonyp08	0:1c6757f4b61c	3287	Serial.print("\n");*/
anthonyp08	0:1c6757f4b61c	3288	free(verifyBuffer);
anthonyp08	0:1c6757f4b61c	3289	if (useProgMem) free(progBuffer);
anthonyp08	0:1c6757f4b61c	3290	return false; // uh oh.
anthonyp08	0:1c6757f4b61c	3291	}
anthonyp08	0:1c6757f4b61c	3292	}
anthonyp08	0:1c6757f4b61c	3293
anthonyp08	0:1c6757f4b61c	3294	// increase byte index by [chunkSize]
anthonyp08	0:1c6757f4b61c	3295	i += chunkSize;
anthonyp08	0:1c6757f4b61c	3296
anthonyp08	0:1c6757f4b61c	3297	// uint8_t automatically wraps to 0 at 256
anthonyp08	0:1c6757f4b61c	3298	address += chunkSize;
anthonyp08	0:1c6757f4b61c	3299
anthonyp08	0:1c6757f4b61c	3300	// if we aren't done, update bank (if necessary) and address
anthonyp08	0:1c6757f4b61c	3301	if (i < dataSize) {
anthonyp08	0:1c6757f4b61c	3302	if (address == 0) bank++;
anthonyp08	0:1c6757f4b61c	3303	setMemoryBank(bank);
anthonyp08	0:1c6757f4b61c	3304	setMemoryStartAddress(address);
anthonyp08	0:1c6757f4b61c	3305	}
anthonyp08	0:1c6757f4b61c	3306	}
anthonyp08	0:1c6757f4b61c	3307	if (verify) free(verifyBuffer);
anthonyp08	0:1c6757f4b61c	3308	if (useProgMem) free(progBuffer);
anthonyp08	0:1c6757f4b61c	3309	return true;
anthonyp08	0:1c6757f4b61c	3310	}
anthonyp08	0:1c6757f4b61c	3311	bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify)
anthonyp08	0:1c6757f4b61c	3312	{
anthonyp08	0:1c6757f4b61c	3313	return writeMemoryBlock(data, dataSize, bank, address, verify, true);
anthonyp08	0:1c6757f4b61c	3314	}
anthonyp08	0:1c6757f4b61c	3315	bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem)
anthonyp08	0:1c6757f4b61c	3316	{
anthonyp08	0:1c6757f4b61c	3317	uint8_t *progBuffer, success, special;
anthonyp08	0:1c6757f4b61c	3318	uint16_t i, j;
anthonyp08	0:1c6757f4b61c	3319	if (useProgMem) {
anthonyp08	0:1c6757f4b61c	3320	progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
anthonyp08	0:1c6757f4b61c	3321	}
anthonyp08	0:1c6757f4b61c	3322
anthonyp08	0:1c6757f4b61c	3323	// config set data is a long string of blocks with the following structure:
anthonyp08	0:1c6757f4b61c	3324	// [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
anthonyp08	0:1c6757f4b61c	3325	uint8_t bank, offset, length;
anthonyp08	0:1c6757f4b61c	3326	for (i = 0; i < dataSize;) {
anthonyp08	0:1c6757f4b61c	3327	if (useProgMem) {
anthonyp08	0:1c6757f4b61c	3328	bank = pgm_read_byte(data + i++);
anthonyp08	0:1c6757f4b61c	3329	offset = pgm_read_byte(data + i++);
anthonyp08	0:1c6757f4b61c	3330	length = pgm_read_byte(data + i++);
anthonyp08	0:1c6757f4b61c	3331	} else {
anthonyp08	0:1c6757f4b61c	3332	bank = data[i++];
anthonyp08	0:1c6757f4b61c	3333	offset = data[i++];
anthonyp08	0:1c6757f4b61c	3334	length = data[i++];
anthonyp08	0:1c6757f4b61c	3335	}
anthonyp08	0:1c6757f4b61c	3336
anthonyp08	0:1c6757f4b61c	3337	// write data or perform special action
anthonyp08	0:1c6757f4b61c	3338	if (length > 0) {
anthonyp08	0:1c6757f4b61c	3339	// regular block of data to write
anthonyp08	0:1c6757f4b61c	3340	/*Serial.print("Writing config block to bank ");
anthonyp08	0:1c6757f4b61c	3341	Serial.print(bank);
anthonyp08	0:1c6757f4b61c	3342	Serial.print(", offset ");
anthonyp08	0:1c6757f4b61c	3343	Serial.print(offset);
anthonyp08	0:1c6757f4b61c	3344	Serial.print(", length=");
anthonyp08	0:1c6757f4b61c	3345	Serial.println(length);*/
anthonyp08	0:1c6757f4b61c	3346	if (useProgMem) {
anthonyp08	0:1c6757f4b61c	3347	if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length);
anthonyp08	0:1c6757f4b61c	3348	for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j);
anthonyp08	0:1c6757f4b61c	3349	} else {
anthonyp08	0:1c6757f4b61c	3350	progBuffer = (uint8_t *)data + i;
anthonyp08	0:1c6757f4b61c	3351	}
anthonyp08	0:1c6757f4b61c	3352	success = writeMemoryBlock(progBuffer, length, bank, offset, true);
anthonyp08	0:1c6757f4b61c	3353	i += length;
anthonyp08	0:1c6757f4b61c	3354	} else {
anthonyp08	0:1c6757f4b61c	3355	// special instruction
anthonyp08	0:1c6757f4b61c	3356	// NOTE: this kind of behavior (what and when to do certain things)
anthonyp08	0:1c6757f4b61c	3357	// is totally undocumented. This code is in here based on observed
anthonyp08	0:1c6757f4b61c	3358	// behavior only, and exactly why (or even whether) it has to be here
anthonyp08	0:1c6757f4b61c	3359	// is anybody's guess for now.
anthonyp08	0:1c6757f4b61c	3360	if (useProgMem) {
anthonyp08	0:1c6757f4b61c	3361	special = pgm_read_byte(data + i++);
anthonyp08	0:1c6757f4b61c	3362	} else {
anthonyp08	0:1c6757f4b61c	3363	special = data[i++];
anthonyp08	0:1c6757f4b61c	3364	}
anthonyp08	0:1c6757f4b61c	3365	/*Serial.print("Special command code ");
anthonyp08	0:1c6757f4b61c	3366	Serial.print(special, HEX);
anthonyp08	0:1c6757f4b61c	3367	Serial.println(" found...");*/
anthonyp08	0:1c6757f4b61c	3368	if (special == 0x01) {
anthonyp08	0:1c6757f4b61c	3369	// enable DMP-related interrupts
anthonyp08	0:1c6757f4b61c	3370
anthonyp08	0:1c6757f4b61c	3371	//setIntZeroMotionEnabled(true);
anthonyp08	0:1c6757f4b61c	3372	//setIntFIFOBufferOverflowEnabled(true);
anthonyp08	0:1c6757f4b61c	3373	//setIntDMPEnabled(true);
anthonyp08	0:1c6757f4b61c	3374	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
anthonyp08	0:1c6757f4b61c	3375
anthonyp08	0:1c6757f4b61c	3376	success = true;
anthonyp08	0:1c6757f4b61c	3377	} else {
anthonyp08	0:1c6757f4b61c	3378	// unknown special command
anthonyp08	0:1c6757f4b61c	3379	success = false;
anthonyp08	0:1c6757f4b61c	3380	}
anthonyp08	0:1c6757f4b61c	3381	}
anthonyp08	0:1c6757f4b61c	3382
anthonyp08	0:1c6757f4b61c	3383	if (!success) {
anthonyp08	0:1c6757f4b61c	3384	if (useProgMem) free(progBuffer);
anthonyp08	0:1c6757f4b61c	3385	return false; // uh oh
anthonyp08	0:1c6757f4b61c	3386	}
anthonyp08	0:1c6757f4b61c	3387	}
anthonyp08	0:1c6757f4b61c	3388	if (useProgMem) free(progBuffer);
anthonyp08	0:1c6757f4b61c	3389	return true;
anthonyp08	0:1c6757f4b61c	3390	}
anthonyp08	0:1c6757f4b61c	3391	bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
anthonyp08	0:1c6757f4b61c	3392	{
anthonyp08	0:1c6757f4b61c	3393	return writeDMPConfigurationSet(data, dataSize, false);
anthonyp08	0:1c6757f4b61c	3394	}
anthonyp08	0:1c6757f4b61c	3395
anthonyp08	0:1c6757f4b61c	3396	// DMP_CFG_1 register
anthonyp08	0:1c6757f4b61c	3397
anthonyp08	0:1c6757f4b61c	3398	uint8_t MPU6050::getDMPConfig1()
anthonyp08	0:1c6757f4b61c	3399	{
anthonyp08	0:1c6757f4b61c	3400	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
anthonyp08	0:1c6757f4b61c	3401	return buffer[0];
anthonyp08	0:1c6757f4b61c	3402	}
anthonyp08	0:1c6757f4b61c	3403	void MPU6050::setDMPConfig1(uint8_t config)
anthonyp08	0:1c6757f4b61c	3404	{
anthonyp08	0:1c6757f4b61c	3405	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
anthonyp08	0:1c6757f4b61c	3406	}
anthonyp08	0:1c6757f4b61c	3407
anthonyp08	0:1c6757f4b61c	3408	// DMP_CFG_2 register
anthonyp08	0:1c6757f4b61c	3409
anthonyp08	0:1c6757f4b61c	3410	uint8_t MPU6050::getDMPConfig2()
anthonyp08	0:1c6757f4b61c	3411	{
anthonyp08	0:1c6757f4b61c	3412	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
anthonyp08	0:1c6757f4b61c	3413	return buffer[0];
anthonyp08	0:1c6757f4b61c	3414	}
anthonyp08	0:1c6757f4b61c	3415	void MPU6050::setDMPConfig2(uint8_t config)
anthonyp08	0:1c6757f4b61c	3416	{
anthonyp08	0:1c6757f4b61c	3417	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
anthonyp08	0:1c6757f4b61c	3418	}
anthonyp08	0:1c6757f4b61c	3419

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	21 Jun 2021
Imports:	0
Forks:	0
Commits:	2
Dependents:	0
Dependencies:	2
Followers:	1

MPU6050.cpp@1:eb044e6a9033, 2021-06-22 (annotated)

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