Carter Sharer
This one compatable with brobot V3, V4, Lab6 Part 3. first commit to BroBot
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MPU6050_V3
by 
Carter Sharer
Diff: MPU6050.cpp
- Revision:
- 6:f38dfe62d74c
- Parent:
- 3:25e1a5a10e53
- Child:
- 7:d5845b617139
--- a/MPU6050.cpp Sat Nov 23 16:47:00 2013 +0000
+++ b/MPU6050.cpp Sat Jan 30 17:12:45 2016 +0000
@@ -1,9 +1,3 @@
-//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
-//written by szymon gaertig (email: szymon@gaertig.com.pl)
-//
-//Changelog:
-//2013-01-08 - first beta release
-
// I2Cdev library collection - MPU6050 I2C device class
// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
// 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
@@ -42,18 +36,10 @@
#include "MPU6050.h"
-#define useDebugSerial
-
-//instead of using pgmspace.h
-typedef const unsigned char prog_uchar;
-#define pgm_read_byte_near(x) (*(prog_uchar*)(x))//<- I modified here
-#define pgm_read_byte(x) (*(prog_uchar*)(x))//<- I modified here
-
/** Default constructor, uses default I2C address.
* @see MPU6050_DEFAULT_ADDRESS
*/
-MPU6050::MPU6050() : debugSerial(USBTX, USBRX)
-{
+MPU6050::MPU6050() {
devAddr = MPU6050_DEFAULT_ADDRESS;
}
@@ -63,8 +49,7 @@
* @see MPU6050_ADDRESS_AD0_LOW
* @see MPU6050_ADDRESS_AD0_HIGH
*/
-MPU6050::MPU6050(uint8_t address) : debugSerial(USBTX, USBRX)
-{
+MPU6050::MPU6050(uint8_t address) {
devAddr = address;
}
@@ -75,37 +60,19 @@
* the clock source to use the X Gyro for reference, which is slightly better than
* the default internal clock source.
*/
-void MPU6050::initialize()
-{
-
-#ifdef useDebugSerial
- debugSerial.printf("MPU6050::initialize start\n");
-#endif
-
+void MPU6050::initialize() {
setClockSource(MPU6050_CLOCK_PLL_XGYRO);
setFullScaleGyroRange(MPU6050_GYRO_FS_250);
setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
-
-#ifdef useDebugSerial
- debugSerial.printf("MPU6050::initialize end\n");
-#endif
}
/** Verify the I2C connection.
* Make sure the device is connected and responds as expected.
* @return True if connection is valid, false otherwise
*/
-bool MPU6050::testConnection()
-{
-#ifdef useDebugSerial
- debugSerial.printf("MPU6050::testConnection start\n");
-#endif
- uint8_t deviceId = getDeviceID();
-#ifdef useDebugSerial
- debugSerial.printf("DeviceId = %d\n",deviceId);
-#endif
- return deviceId == 0x34;
+bool MPU6050::testConnection() {
+ return getDeviceID() == 0x34;
}
// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
@@ -116,9 +83,8 @@
* the MPU-6000, which does not have a VLOGIC pin.
* @return I2C supply voltage level (0=VLOGIC, 1=VDD)
*/
-uint8_t MPU6050::getAuxVDDIOLevel()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
+uint8_t MPU6050::getAuxVDDIOLevel() {
+ i2cdev.readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
return buffer[0];
}
/** Set the auxiliary I2C supply voltage level.
@@ -127,9 +93,8 @@
* the MPU-6000, which does not have a VLOGIC pin.
* @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
*/
-void MPU6050::setAuxVDDIOLevel(uint8_t level)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
+void MPU6050::setAuxVDDIOLevel(uint8_t level) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
}
// SMPLRT_DIV register
@@ -155,9 +120,8 @@
* @return Current sample rate
* @see MPU6050_RA_SMPLRT_DIV
*/
-uint8_t MPU6050::getRate()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
+uint8_t MPU6050::getRate() {
+ i2cdev.readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
return buffer[0];
}
/** Set gyroscope sample rate divider.
@@ -165,9 +129,8 @@
* @see getRate()
* @see MPU6050_RA_SMPLRT_DIV
*/
-void MPU6050::setRate(uint8_t rate)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
+void MPU6050::setRate(uint8_t rate) {
+ i2cdev.writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
}
// CONFIG register
@@ -199,9 +162,8 @@
*
* @return FSYNC configuration value
*/
-uint8_t MPU6050::getExternalFrameSync()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
+uint8_t MPU6050::getExternalFrameSync() {
+ i2cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
return buffer[0];
}
/** Set external FSYNC configuration.
@@ -209,9 +171,8 @@
* @see MPU6050_RA_CONFIG
* @param sync New FSYNC configuration value
*/
-void MPU6050::setExternalFrameSync(uint8_t sync)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
+void MPU6050::setExternalFrameSync(uint8_t sync) {
+ i2cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
}
/** Get digital low-pass filter configuration.
* The DLPF_CFG parameter sets the digital low pass filter configuration. It
@@ -241,9 +202,8 @@
* @see MPU6050_CFG_DLPF_CFG_BIT
* @see MPU6050_CFG_DLPF_CFG_LENGTH
*/
-uint8_t MPU6050::getDLPFMode()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
+uint8_t MPU6050::getDLPFMode() {
+ i2cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
return buffer[0];
}
/** Set digital low-pass filter configuration.
@@ -254,9 +214,8 @@
* @see MPU6050_CFG_DLPF_CFG_BIT
* @see MPU6050_CFG_DLPF_CFG_LENGTH
*/
-void MPU6050::setDLPFMode(uint8_t mode)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
+void MPU6050::setDLPFMode(uint8_t mode) {
+ i2cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
}
// GYRO_CONFIG register
@@ -278,9 +237,8 @@
* @see MPU6050_GCONFIG_FS_SEL_BIT
* @see MPU6050_GCONFIG_FS_SEL_LENGTH
*/
-uint8_t MPU6050::getFullScaleGyroRange()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
+uint8_t MPU6050::getFullScaleGyroRange() {
+ i2cdev.readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
return buffer[0];
}
/** Set full-scale gyroscope range.
@@ -291,9 +249,8 @@
* @see MPU6050_GCONFIG_FS_SEL_BIT
* @see MPU6050_GCONFIG_FS_SEL_LENGTH
*/
-void MPU6050::setFullScaleGyroRange(uint8_t range)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
+void MPU6050::setFullScaleGyroRange(uint8_t range) {
+ i2cdev.writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
}
// ACCEL_CONFIG register
@@ -302,52 +259,46 @@
* @return Self-test enabled value
* @see MPU6050_RA_ACCEL_CONFIG
*/
-bool MPU6050::getAccelXSelfTest()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
+bool MPU6050::getAccelXSelfTest() {
+ i2cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
return buffer[0];
}
/** Get self-test enabled setting for accelerometer X axis.
* @param enabled Self-test enabled value
* @see MPU6050_RA_ACCEL_CONFIG
*/
-void MPU6050::setAccelXSelfTest(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
+void MPU6050::setAccelXSelfTest(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
}
/** Get self-test enabled value for accelerometer Y axis.
* @return Self-test enabled value
* @see MPU6050_RA_ACCEL_CONFIG
*/
-bool MPU6050::getAccelYSelfTest()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
+bool MPU6050::getAccelYSelfTest() {
+ i2cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
return buffer[0];
}
/** Get self-test enabled value for accelerometer Y axis.
* @param enabled Self-test enabled value
* @see MPU6050_RA_ACCEL_CONFIG
*/
-void MPU6050::setAccelYSelfTest(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
+void MPU6050::setAccelYSelfTest(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
}
/** Get self-test enabled value for accelerometer Z axis.
* @return Self-test enabled value
* @see MPU6050_RA_ACCEL_CONFIG
*/
-bool MPU6050::getAccelZSelfTest()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
+bool MPU6050::getAccelZSelfTest() {
+ i2cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
return buffer[0];
}
/** Set self-test enabled value for accelerometer Z axis.
* @param enabled Self-test enabled value
* @see MPU6050_RA_ACCEL_CONFIG
*/
-void MPU6050::setAccelZSelfTest(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
+void MPU6050::setAccelZSelfTest(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
}
/** Get full-scale accelerometer range.
* The FS_SEL parameter allows setting the full-scale range of the accelerometer
@@ -366,18 +317,16 @@
* @see MPU6050_ACONFIG_AFS_SEL_BIT
* @see MPU6050_ACONFIG_AFS_SEL_LENGTH
*/
-uint8_t MPU6050::getFullScaleAccelRange()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
+uint8_t MPU6050::getFullScaleAccelRange() {
+ i2cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
return buffer[0];
}
/** Set full-scale accelerometer range.
* @param range New full-scale accelerometer range setting
* @see getFullScaleAccelRange()
*/
-void MPU6050::setFullScaleAccelRange(uint8_t range)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
+void MPU6050::setFullScaleAccelRange(uint8_t range) {
+ i2cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
}
/** Get the high-pass filter configuration.
* The DHPF is a filter module in the path leading to motion detectors (Free
@@ -414,9 +363,8 @@
* @see MPU6050_DHPF_RESET
* @see MPU6050_RA_ACCEL_CONFIG
*/
-uint8_t MPU6050::getDHPFMode()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
+uint8_t MPU6050::getDHPFMode() {
+ i2cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
return buffer[0];
}
/** Set the high-pass filter configuration.
@@ -425,9 +373,8 @@
* @see MPU6050_DHPF_RESET
* @see MPU6050_RA_ACCEL_CONFIG
*/
-void MPU6050::setDHPFMode(uint8_t bandwidth)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
+void MPU6050::setDHPFMode(uint8_t bandwidth) {
+ i2cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
}
// FF_THR register
@@ -447,9 +394,8 @@
* @return Current free-fall acceleration threshold value (LSB = 2mg)
* @see MPU6050_RA_FF_THR
*/
-uint8_t MPU6050::getFreefallDetectionThreshold()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_FF_THR, buffer);
+uint8_t MPU6050::getFreefallDetectionThreshold() {
+ i2cdev.readByte(devAddr, MPU6050_RA_FF_THR, buffer);
return buffer[0];
}
/** Get free-fall event acceleration threshold.
@@ -457,9 +403,8 @@
* @see getFreefallDetectionThreshold()
* @see MPU6050_RA_FF_THR
*/
-void MPU6050::setFreefallDetectionThreshold(uint8_t threshold)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
+void MPU6050::setFreefallDetectionThreshold(uint8_t threshold) {
+ i2cdev.writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
}
// FF_DUR register
@@ -481,9 +426,8 @@
* @return Current free-fall duration threshold value (LSB = 1ms)
* @see MPU6050_RA_FF_DUR
*/
-uint8_t MPU6050::getFreefallDetectionDuration()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
+uint8_t MPU6050::getFreefallDetectionDuration() {
+ i2cdev.readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
return buffer[0];
}
/** Get free-fall event duration threshold.
@@ -491,9 +435,8 @@
* @see getFreefallDetectionDuration()
* @see MPU6050_RA_FF_DUR
*/
-void MPU6050::setFreefallDetectionDuration(uint8_t duration)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
+void MPU6050::setFreefallDetectionDuration(uint8_t duration) {
+ i2cdev.writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
}
// MOT_THR register
@@ -517,9 +460,8 @@
* @return Current motion detection acceleration threshold value (LSB = 2mg)
* @see MPU6050_RA_MOT_THR
*/
-uint8_t MPU6050::getMotionDetectionThreshold()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
+uint8_t MPU6050::getMotionDetectionThreshold() {
+ i2cdev.readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
return buffer[0];
}
/** Set free-fall event acceleration threshold.
@@ -527,9 +469,8 @@
* @see getMotionDetectionThreshold()
* @see MPU6050_RA_MOT_THR
*/
-void MPU6050::setMotionDetectionThreshold(uint8_t threshold)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
+void MPU6050::setMotionDetectionThreshold(uint8_t threshold) {
+ i2cdev.writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
}
// MOT_DUR register
@@ -549,9 +490,8 @@
* @return Current motion detection duration threshold value (LSB = 1ms)
* @see MPU6050_RA_MOT_DUR
*/
-uint8_t MPU6050::getMotionDetectionDuration()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
+uint8_t MPU6050::getMotionDetectionDuration() {
+ i2cdev.readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
return buffer[0];
}
/** Set motion detection event duration threshold.
@@ -559,9 +499,8 @@
* @see getMotionDetectionDuration()
* @see MPU6050_RA_MOT_DUR
*/
-void MPU6050::setMotionDetectionDuration(uint8_t duration)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
+void MPU6050::setMotionDetectionDuration(uint8_t duration) {
+ i2cdev.writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
}
// ZRMOT_THR register
@@ -591,9 +530,8 @@
* @return Current zero motion detection acceleration threshold value (LSB = 2mg)
* @see MPU6050_RA_ZRMOT_THR
*/
-uint8_t MPU6050::getZeroMotionDetectionThreshold()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
+uint8_t MPU6050::getZeroMotionDetectionThreshold() {
+ i2cdev.readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
return buffer[0];
}
/** Set zero motion detection event acceleration threshold.
@@ -601,9 +539,8 @@
* @see getZeroMotionDetectionThreshold()
* @see MPU6050_RA_ZRMOT_THR
*/
-void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
+void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold) {
+ i2cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
}
// ZRMOT_DUR register
@@ -624,9 +561,8 @@
* @return Current zero motion detection duration threshold value (LSB = 64ms)
* @see MPU6050_RA_ZRMOT_DUR
*/
-uint8_t MPU6050::getZeroMotionDetectionDuration()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
+uint8_t MPU6050::getZeroMotionDetectionDuration() {
+ i2cdev.readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
return buffer[0];
}
/** Set zero motion detection event duration threshold.
@@ -634,9 +570,8 @@
* @see getZeroMotionDetectionDuration()
* @see MPU6050_RA_ZRMOT_DUR
*/
-void MPU6050::setZeroMotionDetectionDuration(uint8_t duration)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
+void MPU6050::setZeroMotionDetectionDuration(uint8_t duration) {
+ i2cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
}
// FIFO_EN register
@@ -647,9 +582,8 @@
* @return Current temperature FIFO enabled value
* @see MPU6050_RA_FIFO_EN
*/
-bool MPU6050::getTempFIFOEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
+bool MPU6050::getTempFIFOEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set temperature FIFO enabled value.
@@ -657,9 +591,8 @@
* @see getTempFIFOEnabled()
* @see MPU6050_RA_FIFO_EN
*/
-void MPU6050::setTempFIFOEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
+void MPU6050::setTempFIFOEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
}
/** Get gyroscope X-axis FIFO enabled value.
* When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
@@ -667,9 +600,8 @@
* @return Current gyroscope X-axis FIFO enabled value
* @see MPU6050_RA_FIFO_EN
*/
-bool MPU6050::getXGyroFIFOEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
+bool MPU6050::getXGyroFIFOEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set gyroscope X-axis FIFO enabled value.
@@ -677,9 +609,8 @@
* @see getXGyroFIFOEnabled()
* @see MPU6050_RA_FIFO_EN
*/
-void MPU6050::setXGyroFIFOEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
+void MPU6050::setXGyroFIFOEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
}
/** Get gyroscope Y-axis FIFO enabled value.
* When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
@@ -687,9 +618,8 @@
* @return Current gyroscope Y-axis FIFO enabled value
* @see MPU6050_RA_FIFO_EN
*/
-bool MPU6050::getYGyroFIFOEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
+bool MPU6050::getYGyroFIFOEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set gyroscope Y-axis FIFO enabled value.
@@ -697,9 +627,8 @@
* @see getYGyroFIFOEnabled()
* @see MPU6050_RA_FIFO_EN
*/
-void MPU6050::setYGyroFIFOEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
+void MPU6050::setYGyroFIFOEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
}
/** Get gyroscope Z-axis FIFO enabled value.
* When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
@@ -707,9 +636,8 @@
* @return Current gyroscope Z-axis FIFO enabled value
* @see MPU6050_RA_FIFO_EN
*/
-bool MPU6050::getZGyroFIFOEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
+bool MPU6050::getZGyroFIFOEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set gyroscope Z-axis FIFO enabled value.
@@ -717,9 +645,8 @@
* @see getZGyroFIFOEnabled()
* @see MPU6050_RA_FIFO_EN
*/
-void MPU6050::setZGyroFIFOEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
+void MPU6050::setZGyroFIFOEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
}
/** Get accelerometer FIFO enabled value.
* When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
@@ -728,9 +655,8 @@
* @return Current accelerometer FIFO enabled value
* @see MPU6050_RA_FIFO_EN
*/
-bool MPU6050::getAccelFIFOEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
+bool MPU6050::getAccelFIFOEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set accelerometer FIFO enabled value.
@@ -738,9 +664,8 @@
* @see getAccelFIFOEnabled()
* @see MPU6050_RA_FIFO_EN
*/
-void MPU6050::setAccelFIFOEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
+void MPU6050::setAccelFIFOEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
}
/** Get Slave 2 FIFO enabled value.
* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
@@ -748,9 +673,8 @@
* @return Current Slave 2 FIFO enabled value
* @see MPU6050_RA_FIFO_EN
*/
-bool MPU6050::getSlave2FIFOEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
+bool MPU6050::getSlave2FIFOEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 2 FIFO enabled value.
@@ -758,9 +682,8 @@
* @see getSlave2FIFOEnabled()
* @see MPU6050_RA_FIFO_EN
*/
-void MPU6050::setSlave2FIFOEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
+void MPU6050::setSlave2FIFOEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
}
/** Get Slave 1 FIFO enabled value.
* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
@@ -768,9 +691,8 @@
* @return Current Slave 1 FIFO enabled value
* @see MPU6050_RA_FIFO_EN
*/
-bool MPU6050::getSlave1FIFOEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
+bool MPU6050::getSlave1FIFOEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 1 FIFO enabled value.
@@ -778,9 +700,8 @@
* @see getSlave1FIFOEnabled()
* @see MPU6050_RA_FIFO_EN
*/
-void MPU6050::setSlave1FIFOEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
+void MPU6050::setSlave1FIFOEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
}
/** Get Slave 0 FIFO enabled value.
* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
@@ -788,9 +709,8 @@
* @return Current Slave 0 FIFO enabled value
* @see MPU6050_RA_FIFO_EN
*/
-bool MPU6050::getSlave0FIFOEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
+bool MPU6050::getSlave0FIFOEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 0 FIFO enabled value.
@@ -798,9 +718,8 @@
* @see getSlave0FIFOEnabled()
* @see MPU6050_RA_FIFO_EN
*/
-void MPU6050::setSlave0FIFOEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
+void MPU6050::setSlave0FIFOEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
}
// I2C_MST_CTRL register
@@ -820,9 +739,8 @@
* @return Current multi-master enabled value
* @see MPU6050_RA_I2C_MST_CTRL
*/
-bool MPU6050::getMultiMasterEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
+bool MPU6050::getMultiMasterEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
return buffer[0];
}
/** Set multi-master enabled value.
@@ -830,9 +748,8 @@
* @see getMultiMasterEnabled()
* @see MPU6050_RA_I2C_MST_CTRL
*/
-void MPU6050::setMultiMasterEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
+void MPU6050::setMultiMasterEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
}
/** Get wait-for-external-sensor-data enabled value.
* When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
@@ -845,9 +762,8 @@
* @return Current wait-for-external-sensor-data enabled value
* @see MPU6050_RA_I2C_MST_CTRL
*/
-bool MPU6050::getWaitForExternalSensorEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
+bool MPU6050::getWaitForExternalSensorEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
return buffer[0];
}
/** Set wait-for-external-sensor-data enabled value.
@@ -855,9 +771,8 @@
* @see getWaitForExternalSensorEnabled()
* @see MPU6050_RA_I2C_MST_CTRL
*/
-void MPU6050::setWaitForExternalSensorEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
+void MPU6050::setWaitForExternalSensorEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
}
/** Get Slave 3 FIFO enabled value.
* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
@@ -865,9 +780,8 @@
* @return Current Slave 3 FIFO enabled value
* @see MPU6050_RA_MST_CTRL
*/
-bool MPU6050::getSlave3FIFOEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
+bool MPU6050::getSlave3FIFOEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 3 FIFO enabled value.
@@ -875,9 +789,8 @@
* @see getSlave3FIFOEnabled()
* @see MPU6050_RA_MST_CTRL
*/
-void MPU6050::setSlave3FIFOEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
+void MPU6050::setSlave3FIFOEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
}
/** Get slave read/write transition enabled value.
* The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
@@ -889,9 +802,8 @@
* @return Current slave read/write transition enabled value
* @see MPU6050_RA_I2C_MST_CTRL
*/
-bool MPU6050::getSlaveReadWriteTransitionEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
+bool MPU6050::getSlaveReadWriteTransitionEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
return buffer[0];
}
/** Set slave read/write transition enabled value.
@@ -899,9 +811,8 @@
* @see getSlaveReadWriteTransitionEnabled()
* @see MPU6050_RA_I2C_MST_CTRL
*/
-void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
+void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
}
/** Get I2C master clock speed.
* I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
@@ -932,18 +843,16 @@
* @return Current I2C master clock speed
* @see MPU6050_RA_I2C_MST_CTRL
*/
-uint8_t MPU6050::getMasterClockSpeed()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
+uint8_t MPU6050::getMasterClockSpeed() {
+ i2cdev.readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
return buffer[0];
}
/** Set I2C master clock speed.
* @reparam speed Current I2C master clock speed
* @see MPU6050_RA_I2C_MST_CTRL
*/
-void MPU6050::setMasterClockSpeed(uint8_t speed)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
+void MPU6050::setMasterClockSpeed(uint8_t speed) {
+ i2cdev.writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
}
// I2C_SLV* registers (Slave 0-3)
@@ -953,7 +862,7 @@
* operation, and if it is cleared, then it's a write operation. The remaining
* bits (6-0) are the 7-bit device address of the slave device.
*
- * In read mode, the result of the read is placed in the lowest available
+ * In read mode, the result of the read is placed in the lowest available
* EXT_SENS_DATA register. For further information regarding the allocation of
* read results, please refer to the EXT_SENS_DATA register description
* (Registers 73 - 96).
@@ -989,10 +898,9 @@
* @return Current address for specified slave
* @see MPU6050_RA_I2C_SLV0_ADDR
*/
-uint8_t MPU6050::getSlaveAddress(uint8_t num)
-{
+uint8_t MPU6050::getSlaveAddress(uint8_t num) {
if (num > 3) return 0;
- i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
+ i2cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
return buffer[0];
}
/** Set the I2C address of the specified slave (0-3).
@@ -1001,10 +909,9 @@
* @see getSlaveAddress()
* @see MPU6050_RA_I2C_SLV0_ADDR
*/
-void MPU6050::setSlaveAddress(uint8_t num, uint8_t address)
-{
+void MPU6050::setSlaveAddress(uint8_t num, uint8_t address) {
if (num > 3) return;
- i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
+ i2cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
}
/** Get the active internal register for the specified slave (0-3).
* Read/write operations for this slave will be done to whatever internal
@@ -1017,10 +924,9 @@
* @return Current active register for specified slave
* @see MPU6050_RA_I2C_SLV0_REG
*/
-uint8_t MPU6050::getSlaveRegister(uint8_t num)
-{
+uint8_t MPU6050::getSlaveRegister(uint8_t num) {
if (num > 3) return 0;
- i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
+ i2cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
return buffer[0];
}
/** Set the active internal register for the specified slave (0-3).
@@ -1029,10 +935,9 @@
* @see getSlaveRegister()
* @see MPU6050_RA_I2C_SLV0_REG
*/
-void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg)
-{
+void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg) {
if (num > 3) return;
- i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
+ i2cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
}
/** Get the enabled value for the specified slave (0-3).
* When set to 1, this bit enables Slave 0 for data transfer operations. When
@@ -1041,22 +946,20 @@
* @return Current enabled value for specified slave
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
-bool MPU6050::getSlaveEnabled(uint8_t num)
-{
+bool MPU6050::getSlaveEnabled(uint8_t num) {
if (num > 3) return 0;
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
+ i2cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
return buffer[0];
}
/** Set the enabled value for the specified slave (0-3).
* @param num Slave number (0-3)
- * @param enabled New enabled value for specified slave
+ * @param enabled New enabled value for specified slave
* @see getSlaveEnabled()
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
-void MPU6050::setSlaveEnabled(uint8_t num, bool enabled)
-{
+void MPU6050::setSlaveEnabled(uint8_t num, bool enabled) {
if (num > 3) return;
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
+ i2cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
}
/** Get word pair byte-swapping enabled for the specified slave (0-3).
* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
@@ -1069,10 +972,9 @@
* @return Current word pair byte-swapping enabled value for specified slave
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
-bool MPU6050::getSlaveWordByteSwap(uint8_t num)
-{
+bool MPU6050::getSlaveWordByteSwap(uint8_t num) {
if (num > 3) return 0;
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
+ i2cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
return buffer[0];
}
/** Set word pair byte-swapping enabled for the specified slave (0-3).
@@ -1081,10 +983,9 @@
* @see getSlaveWordByteSwap()
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
-void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled)
-{
+void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled) {
if (num > 3) return;
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
+ i2cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
}
/** Get write mode for the specified slave (0-3).
* When set to 1, the transaction will read or write data only. When cleared to
@@ -1096,10 +997,9 @@
* @return Current write mode for specified slave (0 = register address + data, 1 = data only)
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
-bool MPU6050::getSlaveWriteMode(uint8_t num)
-{
+bool MPU6050::getSlaveWriteMode(uint8_t num) {
if (num > 3) return 0;
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
+ i2cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
return buffer[0];
}
/** Set write mode for the specified slave (0-3).
@@ -1108,10 +1008,9 @@
* @see getSlaveWriteMode()
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
-void MPU6050::setSlaveWriteMode(uint8_t num, bool mode)
-{
+void MPU6050::setSlaveWriteMode(uint8_t num, bool mode) {
if (num > 3) return;
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
+ i2cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
}
/** Get word pair grouping order offset for the specified slave (0-3).
* This sets specifies the grouping order of word pairs received from registers.
@@ -1124,10 +1023,9 @@
* @return Current word pair grouping order offset for specified slave
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
-bool MPU6050::getSlaveWordGroupOffset(uint8_t num)
-{
+bool MPU6050::getSlaveWordGroupOffset(uint8_t num) {
if (num > 3) return 0;
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
+ i2cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
return buffer[0];
}
/** Set word pair grouping order offset for the specified slave (0-3).
@@ -1136,10 +1034,9 @@
* @see getSlaveWordGroupOffset()
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
-void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled)
-{
+void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled) {
if (num > 3) return;
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
+ i2cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
}
/** Get number of bytes to read for the specified slave (0-3).
* Specifies the number of bytes transferred to and from Slave 0. Clearing this
@@ -1148,10 +1045,9 @@
* @return Number of bytes to read for specified slave
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
-uint8_t MPU6050::getSlaveDataLength(uint8_t num)
-{
+uint8_t MPU6050::getSlaveDataLength(uint8_t num) {
if (num > 3) return 0;
- i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
+ i2cdev.readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
return buffer[0];
}
/** Set number of bytes to read for the specified slave (0-3).
@@ -1160,10 +1056,9 @@
* @see getSlaveDataLength()
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
-void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length)
-{
+void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length) {
if (num > 3) return;
- i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
+ i2cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
}
// I2C_SLV* registers (Slave 4)
@@ -1177,9 +1072,8 @@
* @see getSlaveAddress()
* @see MPU6050_RA_I2C_SLV4_ADDR
*/
-uint8_t MPU6050::getSlave4Address()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
+uint8_t MPU6050::getSlave4Address() {
+ i2cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
return buffer[0];
}
/** Set the I2C address of Slave 4.
@@ -1187,9 +1081,8 @@
* @see getSlave4Address()
* @see MPU6050_RA_I2C_SLV4_ADDR
*/
-void MPU6050::setSlave4Address(uint8_t address)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
+void MPU6050::setSlave4Address(uint8_t address) {
+ i2cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
}
/** Get the active internal register for the Slave 4.
* Read/write operations for this slave will be done to whatever internal
@@ -1198,9 +1091,8 @@
* @return Current active register for Slave 4
* @see MPU6050_RA_I2C_SLV4_REG
*/
-uint8_t MPU6050::getSlave4Register()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
+uint8_t MPU6050::getSlave4Register() {
+ i2cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
return buffer[0];
}
/** Set the active internal register for Slave 4.
@@ -1208,9 +1100,8 @@
* @see getSlave4Register()
* @see MPU6050_RA_I2C_SLV4_REG
*/
-void MPU6050::setSlave4Register(uint8_t reg)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
+void MPU6050::setSlave4Register(uint8_t reg) {
+ i2cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
}
/** Set new byte to write to Slave 4.
* This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
@@ -1218,9 +1109,8 @@
* @param data New byte to write to Slave 4
* @see MPU6050_RA_I2C_SLV4_DO
*/
-void MPU6050::setSlave4OutputByte(uint8_t data)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
+void MPU6050::setSlave4OutputByte(uint8_t data) {
+ i2cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
}
/** Get the enabled value for the Slave 4.
* When set to 1, this bit enables Slave 4 for data transfer operations. When
@@ -1228,9 +1118,8 @@
* @return Current enabled value for Slave 4
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
-bool MPU6050::getSlave4Enabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
+bool MPU6050::getSlave4Enabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
return buffer[0];
}
/** Set the enabled value for Slave 4.
@@ -1238,9 +1127,8 @@
* @see getSlave4Enabled()
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
-void MPU6050::setSlave4Enabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
+void MPU6050::setSlave4Enabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
}
/** Get the enabled value for Slave 4 transaction interrupts.
* When set to 1, this bit enables the generation of an interrupt signal upon
@@ -1251,9 +1139,8 @@
* @return Current enabled value for Slave 4 transaction interrupts.
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
-bool MPU6050::getSlave4InterruptEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
+bool MPU6050::getSlave4InterruptEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
return buffer[0];
}
/** Set the enabled value for Slave 4 transaction interrupts.
@@ -1261,9 +1148,8 @@
* @see getSlave4InterruptEnabled()
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
-void MPU6050::setSlave4InterruptEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
+void MPU6050::setSlave4InterruptEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
}
/** Get write mode for Slave 4.
* When set to 1, the transaction will read or write data only. When cleared to
@@ -1274,9 +1160,8 @@
* @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
-bool MPU6050::getSlave4WriteMode()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
+bool MPU6050::getSlave4WriteMode() {
+ i2cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
return buffer[0];
}
/** Set write mode for the Slave 4.
@@ -1284,9 +1169,8 @@
* @see getSlave4WriteMode()
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
-void MPU6050::setSlave4WriteMode(bool mode)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
+void MPU6050::setSlave4WriteMode(bool mode) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
}
/** Get Slave 4 master delay value.
* This configures the reduced access rate of I2C slaves relative to the Sample
@@ -1303,9 +1187,8 @@
* @return Current Slave 4 master delay value
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
-uint8_t MPU6050::getSlave4MasterDelay()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
+uint8_t MPU6050::getSlave4MasterDelay() {
+ i2cdev.readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
return buffer[0];
}
/** Set Slave 4 master delay value.
@@ -1313,9 +1196,8 @@
* @see getSlave4MasterDelay()
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
-void MPU6050::setSlave4MasterDelay(uint8_t delay)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
+void MPU6050::setSlave4MasterDelay(uint8_t delay) {
+ i2cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
}
/** Get last available byte read from Slave 4.
* This register stores the data read from Slave 4. This field is populated
@@ -1323,9 +1205,8 @@
* @return Last available byte read from to Slave 4
* @see MPU6050_RA_I2C_SLV4_DI
*/
-uint8_t MPU6050::getSlate4InputByte()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
+uint8_t MPU6050::getSlate4InputByte() {
+ i2cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
return buffer[0];
}
@@ -1340,9 +1221,8 @@
* @return FSYNC interrupt status
* @see MPU6050_RA_I2C_MST_STATUS
*/
-bool MPU6050::getPassthroughStatus()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
+bool MPU6050::getPassthroughStatus() {
+ i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
return buffer[0];
}
/** Get Slave 4 transaction done status.
@@ -1353,9 +1233,8 @@
* @return Slave 4 transaction done status
* @see MPU6050_RA_I2C_MST_STATUS
*/
-bool MPU6050::getSlave4IsDone()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
+bool MPU6050::getSlave4IsDone() {
+ i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
return buffer[0];
}
/** Get master arbitration lost status.
@@ -1365,9 +1244,8 @@
* @return Master arbitration lost status
* @see MPU6050_RA_I2C_MST_STATUS
*/
-bool MPU6050::getLostArbitration()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
+bool MPU6050::getLostArbitration() {
+ i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
return buffer[0];
}
/** Get Slave 4 NACK status.
@@ -1377,9 +1255,8 @@
* @return Slave 4 NACK interrupt status
* @see MPU6050_RA_I2C_MST_STATUS
*/
-bool MPU6050::getSlave4Nack()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
+bool MPU6050::getSlave4Nack() {
+ i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
return buffer[0];
}
/** Get Slave 3 NACK status.
@@ -1389,9 +1266,8 @@
* @return Slave 3 NACK interrupt status
* @see MPU6050_RA_I2C_MST_STATUS
*/
-bool MPU6050::getSlave3Nack()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
+bool MPU6050::getSlave3Nack() {
+ i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
return buffer[0];
}
/** Get Slave 2 NACK status.
@@ -1401,9 +1277,8 @@
* @return Slave 2 NACK interrupt status
* @see MPU6050_RA_I2C_MST_STATUS
*/
-bool MPU6050::getSlave2Nack()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
+bool MPU6050::getSlave2Nack() {
+ i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
return buffer[0];
}
/** Get Slave 1 NACK status.
@@ -1413,9 +1288,8 @@
* @return Slave 1 NACK interrupt status
* @see MPU6050_RA_I2C_MST_STATUS
*/
-bool MPU6050::getSlave1Nack()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
+bool MPU6050::getSlave1Nack() {
+ i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
return buffer[0];
}
/** Get Slave 0 NACK status.
@@ -1425,9 +1299,8 @@
* @return Slave 0 NACK interrupt status
* @see MPU6050_RA_I2C_MST_STATUS
*/
-bool MPU6050::getSlave0Nack()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
+bool MPU6050::getSlave0Nack() {
+ i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
return buffer[0];
}
@@ -1439,9 +1312,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_INT_LEVEL_BIT
*/
-bool MPU6050::getInterruptMode()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
+bool MPU6050::getInterruptMode() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
return buffer[0];
}
/** Set interrupt logic level mode.
@@ -1450,9 +1322,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_INT_LEVEL_BIT
*/
-void MPU6050::setInterruptMode(bool mode)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
+void MPU6050::setInterruptMode(bool mode) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
}
/** Get interrupt drive mode.
* Will be set 0 for push-pull, 1 for open-drain.
@@ -1460,9 +1331,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_INT_OPEN_BIT
*/
-bool MPU6050::getInterruptDrive()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
+bool MPU6050::getInterruptDrive() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
return buffer[0];
}
/** Set interrupt drive mode.
@@ -1471,9 +1341,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_INT_OPEN_BIT
*/
-void MPU6050::setInterruptDrive(bool drive)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
+void MPU6050::setInterruptDrive(bool drive) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
}
/** Get interrupt latch mode.
* Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
@@ -1481,9 +1350,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
*/
-bool MPU6050::getInterruptLatch()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
+bool MPU6050::getInterruptLatch() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
return buffer[0];
}
/** Set interrupt latch mode.
@@ -1492,9 +1360,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
*/
-void MPU6050::setInterruptLatch(bool latch)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
+void MPU6050::setInterruptLatch(bool latch) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
}
/** Get interrupt latch clear mode.
* Will be set 0 for status-read-only, 1 for any-register-read.
@@ -1502,9 +1369,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
*/
-bool MPU6050::getInterruptLatchClear()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
+bool MPU6050::getInterruptLatchClear() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
return buffer[0];
}
/** Set interrupt latch clear mode.
@@ -1513,9 +1379,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
*/
-void MPU6050::setInterruptLatchClear(bool clear)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
+void MPU6050::setInterruptLatchClear(bool clear) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
}
/** Get FSYNC interrupt logic level mode.
* @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
@@ -1523,9 +1388,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
*/
-bool MPU6050::getFSyncInterruptLevel()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
+bool MPU6050::getFSyncInterruptLevel() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
return buffer[0];
}
/** Set FSYNC interrupt logic level mode.
@@ -1534,9 +1398,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
*/
-void MPU6050::setFSyncInterruptLevel(bool level)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
+void MPU6050::setFSyncInterruptLevel(bool level) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
}
/** Get FSYNC pin interrupt enabled setting.
* Will be set 0 for disabled, 1 for enabled.
@@ -1544,9 +1407,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
*/
-bool MPU6050::getFSyncInterruptEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
+bool MPU6050::getFSyncInterruptEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
return buffer[0];
}
/** Set FSYNC pin interrupt enabled setting.
@@ -1555,9 +1417,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
*/
-void MPU6050::setFSyncInterruptEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
+void MPU6050::setFSyncInterruptEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
}
/** Get I2C bypass enabled status.
* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
@@ -1570,9 +1431,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
*/
-bool MPU6050::getI2CBypassEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
+bool MPU6050::getI2CBypassEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
return buffer[0];
}
/** Set I2C bypass enabled status.
@@ -1586,9 +1446,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
*/
-void MPU6050::setI2CBypassEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
+void MPU6050::setI2CBypassEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
}
/** Get reference clock output enabled status.
* When this bit is equal to 1, a reference clock output is provided at the
@@ -1599,9 +1458,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_CLKOUT_EN_BIT
*/
-bool MPU6050::getClockOutputEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
+bool MPU6050::getClockOutputEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
return buffer[0];
}
/** Set reference clock output enabled status.
@@ -1613,9 +1471,8 @@
* @see MPU6050_RA_INT_PIN_CFG
* @see MPU6050_INTCFG_CLKOUT_EN_BIT
*/
-void MPU6050::setClockOutputEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
+void MPU6050::setClockOutputEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
}
// INT_ENABLE register
@@ -1627,9 +1484,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_FF_BIT
**/
-uint8_t MPU6050::getIntEnabled()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
+uint8_t MPU6050::getIntEnabled() {
+ i2cdev.readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
return buffer[0];
}
/** Set full interrupt enabled status.
@@ -1640,9 +1496,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_FF_BIT
**/
-void MPU6050::setIntEnabled(uint8_t enabled)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
+void MPU6050::setIntEnabled(uint8_t enabled) {
+ i2cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
}
/** Get Free Fall interrupt enabled status.
* Will be set 0 for disabled, 1 for enabled.
@@ -1650,9 +1505,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_FF_BIT
**/
-bool MPU6050::getIntFreefallEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
+bool MPU6050::getIntFreefallEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
return buffer[0];
}
/** Set Free Fall interrupt enabled status.
@@ -1661,9 +1515,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_FF_BIT
**/
-void MPU6050::setIntFreefallEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
+void MPU6050::setIntFreefallEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
}
/** Get Motion Detection interrupt enabled status.
* Will be set 0 for disabled, 1 for enabled.
@@ -1671,9 +1524,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_MOT_BIT
**/
-bool MPU6050::getIntMotionEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
+bool MPU6050::getIntMotionEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
return buffer[0];
}
/** Set Motion Detection interrupt enabled status.
@@ -1682,9 +1534,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_MOT_BIT
**/
-void MPU6050::setIntMotionEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
+void MPU6050::setIntMotionEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
}
/** Get Zero Motion Detection interrupt enabled status.
* Will be set 0 for disabled, 1 for enabled.
@@ -1692,9 +1543,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_ZMOT_BIT
**/
-bool MPU6050::getIntZeroMotionEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
+bool MPU6050::getIntZeroMotionEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
return buffer[0];
}
/** Set Zero Motion Detection interrupt enabled status.
@@ -1703,9 +1553,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_ZMOT_BIT
**/
-void MPU6050::setIntZeroMotionEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
+void MPU6050::setIntZeroMotionEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
}
/** Get FIFO Buffer Overflow interrupt enabled status.
* Will be set 0 for disabled, 1 for enabled.
@@ -1713,9 +1562,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
**/
-bool MPU6050::getIntFIFOBufferOverflowEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
+bool MPU6050::getIntFIFOBufferOverflowEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
return buffer[0];
}
/** Set FIFO Buffer Overflow interrupt enabled status.
@@ -1724,9 +1572,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
**/
-void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
+void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
}
/** Get I2C Master interrupt enabled status.
* This enables any of the I2C Master interrupt sources to generate an
@@ -1735,9 +1582,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
**/
-bool MPU6050::getIntI2CMasterEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
+bool MPU6050::getIntI2CMasterEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
return buffer[0];
}
/** Set I2C Master interrupt enabled status.
@@ -1746,9 +1592,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
**/
-void MPU6050::setIntI2CMasterEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
+void MPU6050::setIntI2CMasterEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
}
/** Get Data Ready interrupt enabled setting.
* This event occurs each time a write operation to all of the sensor registers
@@ -1757,9 +1602,8 @@
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_DATA_RDY_BIT
*/
-bool MPU6050::getIntDataReadyEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
+bool MPU6050::getIntDataReadyEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
return buffer[0];
}
/** Set Data Ready interrupt enabled status.
@@ -1768,9 +1612,8 @@
* @see MPU6050_RA_INT_CFG
* @see MPU6050_INTERRUPT_DATA_RDY_BIT
*/
-void MPU6050::setIntDataReadyEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
+void MPU6050::setIntDataReadyEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
}
// INT_STATUS register
@@ -1782,9 +1625,8 @@
* @return Current interrupt status
* @see MPU6050_RA_INT_STATUS
*/
-uint8_t MPU6050::getIntStatus()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
+uint8_t MPU6050::getIntStatus() {
+ i2cdev.readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
return buffer[0];
}
/** Get Free Fall interrupt status.
@@ -1794,9 +1636,8 @@
* @see MPU6050_RA_INT_STATUS
* @see MPU6050_INTERRUPT_FF_BIT
*/
-bool MPU6050::getIntFreefallStatus()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
+bool MPU6050::getIntFreefallStatus() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
return buffer[0];
}
/** Get Motion Detection interrupt status.
@@ -1806,9 +1647,8 @@
* @see MPU6050_RA_INT_STATUS
* @see MPU6050_INTERRUPT_MOT_BIT
*/
-bool MPU6050::getIntMotionStatus()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
+bool MPU6050::getIntMotionStatus() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
return buffer[0];
}
/** Get Zero Motion Detection interrupt status.
@@ -1818,9 +1658,8 @@
* @see MPU6050_RA_INT_STATUS
* @see MPU6050_INTERRUPT_ZMOT_BIT
*/
-bool MPU6050::getIntZeroMotionStatus()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
+bool MPU6050::getIntZeroMotionStatus() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
return buffer[0];
}
/** Get FIFO Buffer Overflow interrupt status.
@@ -1830,9 +1669,8 @@
* @see MPU6050_RA_INT_STATUS
* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
*/
-bool MPU6050::getIntFIFOBufferOverflowStatus()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
+bool MPU6050::getIntFIFOBufferOverflowStatus() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
return buffer[0];
}
/** Get I2C Master interrupt status.
@@ -1843,9 +1681,8 @@
* @see MPU6050_RA_INT_STATUS
* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
*/
-bool MPU6050::getIntI2CMasterStatus()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
+bool MPU6050::getIntI2CMasterStatus() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
return buffer[0];
}
/** Get Data Ready interrupt status.
@@ -1855,9 +1692,8 @@
* @see MPU6050_RA_INT_STATUS
* @see MPU6050_INTERRUPT_DATA_RDY_BIT
*/
-bool MPU6050::getIntDataReadyStatus()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
+bool MPU6050::getIntDataReadyStatus() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
return buffer[0];
}
@@ -1879,19 +1715,9 @@
* @see getRotation()
* @see MPU6050_RA_ACCEL_XOUT_H
*/
-void MPU6050::getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz)
-{
+void MPU6050::getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz) {
getMotion6(ax, ay, az, gx, gy, gz);
-
- // magnetometer reading
- i2Cdev.writeByte(devAddr, MPU6050_RA_INT_PIN_CFG, 0x02); //set i2c bypass enable pin to true to access magnetometer
- wait_ms(10); // necessary wait >=6ms
- i2Cdev.writeByte(MPU9150_RA_MAG_ADDRESS, 0x0A, 0x01); // enable the magnetometer
- wait_ms(10); // necessary wait >=6ms
- i2Cdev.readBytes(MPU9150_RA_MAG_ADDRESS, MPU9150_RA_MAG_XOUT_L, 6, buffer);
- *mx = (((int16_t)buffer[0]) << 8) | buffer[1];
- *my = (((int16_t)buffer[2]) << 8) | buffer[3];
- *mz = (((int16_t)buffer[4]) << 8) | buffer[5];
+ // TODO: magnetometer integration
}
/** Get raw 6-axis motion sensor readings (accel/gyro).
* Retrieves all currently available motion sensor values.
@@ -1905,9 +1731,8 @@
* @see getRotation()
* @see MPU6050_RA_ACCEL_XOUT_H
*/
-void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
+void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz) {
+ i2cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
*ax = (((int16_t)buffer[0]) << 8) | buffer[1];
*ay = (((int16_t)buffer[2]) << 8) | buffer[3];
*az = (((int16_t)buffer[4]) << 8) | buffer[5];
@@ -1951,9 +1776,8 @@
* @param z 16-bit signed integer container for Z-axis acceleration
* @see MPU6050_RA_GYRO_XOUT_H
*/
-void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z)
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
+void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z) {
+ i2cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
*x = (((int16_t)buffer[0]) << 8) | buffer[1];
*y = (((int16_t)buffer[2]) << 8) | buffer[3];
*z = (((int16_t)buffer[4]) << 8) | buffer[5];
@@ -1963,9 +1787,8 @@
* @see getMotion6()
* @see MPU6050_RA_ACCEL_XOUT_H
*/
-int16_t MPU6050::getAccelerationX()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
+int16_t MPU6050::getAccelerationX() {
+ i2cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
/** Get Y-axis accelerometer reading.
@@ -1973,9 +1796,8 @@
* @see getMotion6()
* @see MPU6050_RA_ACCEL_YOUT_H
*/
-int16_t MPU6050::getAccelerationY()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
+int16_t MPU6050::getAccelerationY() {
+ i2cdev.readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
/** Get Z-axis accelerometer reading.
@@ -1983,9 +1805,8 @@
* @see getMotion6()
* @see MPU6050_RA_ACCEL_ZOUT_H
*/
-int16_t MPU6050::getAccelerationZ()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
+int16_t MPU6050::getAccelerationZ() {
+ i2cdev.readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
@@ -1995,9 +1816,8 @@
* @return Temperature reading in 16-bit 2's complement format
* @see MPU6050_RA_TEMP_OUT_H
*/
-int16_t MPU6050::getTemperature()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
+int16_t MPU6050::getTemperature() {
+ i2cdev.readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
@@ -2035,9 +1855,8 @@
* @see getMotion6()
* @see MPU6050_RA_GYRO_XOUT_H
*/
-void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z)
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
+void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z) {
+ i2cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
*x = (((int16_t)buffer[0]) << 8) | buffer[1];
*y = (((int16_t)buffer[2]) << 8) | buffer[3];
*z = (((int16_t)buffer[4]) << 8) | buffer[5];
@@ -2047,9 +1866,8 @@
* @see getMotion6()
* @see MPU6050_RA_GYRO_XOUT_H
*/
-int16_t MPU6050::getRotationX()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
+int16_t MPU6050::getRotationX() {
+ i2cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
/** Get Y-axis gyroscope reading.
@@ -2057,9 +1875,8 @@
* @see getMotion6()
* @see MPU6050_RA_GYRO_YOUT_H
*/
-int16_t MPU6050::getRotationY()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
+int16_t MPU6050::getRotationY() {
+ i2cdev.readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
/** Get Z-axis gyroscope reading.
@@ -2067,9 +1884,8 @@
* @see getMotion6()
* @see MPU6050_RA_GYRO_ZOUT_H
*/
-int16_t MPU6050::getRotationZ()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
+int16_t MPU6050::getRotationZ() {
+ i2cdev.readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
@@ -2149,9 +1965,8 @@
* @param position Starting position (0-23)
* @return Byte read from register
*/
-uint8_t MPU6050::getExternalSensorByte(int position)
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
+uint8_t MPU6050::getExternalSensorByte(int position) {
+ i2cdev.readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
return buffer[0];
}
/** Read word (2 bytes) from external sensor data registers.
@@ -2159,9 +1974,8 @@
* @return Word read from register
* @see getExternalSensorByte()
*/
-uint16_t MPU6050::getExternalSensorWord(int position)
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
+uint16_t MPU6050::getExternalSensorWord(int position) {
+ i2cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
return (((uint16_t)buffer[0]) << 8) | buffer[1];
}
/** Read double word (4 bytes) from external sensor data registers.
@@ -2169,22 +1983,28 @@
* @return Double word read from registers
* @see getExternalSensorByte()
*/
-uint32_t MPU6050::getExternalSensorDWord(int position)
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
+uint32_t MPU6050::getExternalSensorDWord(int position) {
+ i2cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
return (((uint32_t)buffer[0]) << 24) | (((uint32_t)buffer[1]) << 16) | (((uint16_t)buffer[2]) << 8) | buffer[3];
}
// MOT_DETECT_STATUS register
+/** Get full motion detection status register content (all bits).
+ * @return Motion detection status byte
+ * @see MPU6050_RA_MOT_DETECT_STATUS
+ */
+uint8_t MPU6050::getMotionStatus() {
+ i2cdev.readByte(devAddr, MPU6050_RA_MOT_DETECT_STATUS, buffer);
+ return buffer[0];
+}
/** Get X-axis negative motion detection interrupt status.
* @return Motion detection status
* @see MPU6050_RA_MOT_DETECT_STATUS
* @see MPU6050_MOTION_MOT_XNEG_BIT
*/
-bool MPU6050::getXNegMotionDetected()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
+bool MPU6050::getXNegMotionDetected() {
+ i2cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
return buffer[0];
}
/** Get X-axis positive motion detection interrupt status.
@@ -2192,9 +2012,8 @@
* @see MPU6050_RA_MOT_DETECT_STATUS
* @see MPU6050_MOTION_MOT_XPOS_BIT
*/
-bool MPU6050::getXPosMotionDetected()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
+bool MPU6050::getXPosMotionDetected() {
+ i2cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
return buffer[0];
}
/** Get Y-axis negative motion detection interrupt status.
@@ -2202,9 +2021,8 @@
* @see MPU6050_RA_MOT_DETECT_STATUS
* @see MPU6050_MOTION_MOT_YNEG_BIT
*/
-bool MPU6050::getYNegMotionDetected()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
+bool MPU6050::getYNegMotionDetected() {
+ i2cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
return buffer[0];
}
/** Get Y-axis positive motion detection interrupt status.
@@ -2212,9 +2030,8 @@
* @see MPU6050_RA_MOT_DETECT_STATUS
* @see MPU6050_MOTION_MOT_YPOS_BIT
*/
-bool MPU6050::getYPosMotionDetected()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
+bool MPU6050::getYPosMotionDetected() {
+ i2cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
return buffer[0];
}
/** Get Z-axis negative motion detection interrupt status.
@@ -2222,9 +2039,8 @@
* @see MPU6050_RA_MOT_DETECT_STATUS
* @see MPU6050_MOTION_MOT_ZNEG_BIT
*/
-bool MPU6050::getZNegMotionDetected()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
+bool MPU6050::getZNegMotionDetected() {
+ i2cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
return buffer[0];
}
/** Get Z-axis positive motion detection interrupt status.
@@ -2232,9 +2048,8 @@
* @see MPU6050_RA_MOT_DETECT_STATUS
* @see MPU6050_MOTION_MOT_ZPOS_BIT
*/
-bool MPU6050::getZPosMotionDetected()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
+bool MPU6050::getZPosMotionDetected() {
+ i2cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
return buffer[0];
}
/** Get zero motion detection interrupt status.
@@ -2242,9 +2057,8 @@
* @see MPU6050_RA_MOT_DETECT_STATUS
* @see MPU6050_MOTION_MOT_ZRMOT_BIT
*/
-bool MPU6050::getZeroMotionDetected()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
+bool MPU6050::getZeroMotionDetected() {
+ i2cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
return buffer[0];
}
@@ -2258,10 +2072,9 @@
* @param data Byte to write
* @see MPU6050_RA_I2C_SLV0_DO
*/
-void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data)
-{
+void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data) {
if (num > 3) return;
- i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
+ i2cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
}
// I2C_MST_DELAY_CTRL register
@@ -2274,9 +2087,8 @@
* @see MPU6050_RA_I2C_MST_DELAY_CTRL
* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
*/
-bool MPU6050::getExternalShadowDelayEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
+bool MPU6050::getExternalShadowDelayEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
return buffer[0];
}
/** Set external data shadow delay enabled status.
@@ -2285,9 +2097,8 @@
* @see MPU6050_RA_I2C_MST_DELAY_CTRL
* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
*/
-void MPU6050::setExternalShadowDelayEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
+void MPU6050::setExternalShadowDelayEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
}
/** Get slave delay enabled status.
* When a particular slave delay is enabled, the rate of access for the that
@@ -2307,11 +2118,10 @@
* @see MPU6050_RA_I2C_MST_DELAY_CTRL
* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
*/
-bool MPU6050::getSlaveDelayEnabled(uint8_t num)
-{
+bool MPU6050::getSlaveDelayEnabled(uint8_t num) {
// MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
if (num > 4) return 0;
- i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
+ i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
return buffer[0];
}
/** Set slave delay enabled status.
@@ -2320,9 +2130,8 @@
* @see MPU6050_RA_I2C_MST_DELAY_CTRL
* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
*/
-void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
+void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
}
// SIGNAL_PATH_RESET register
@@ -2333,9 +2142,8 @@
* @see MPU6050_RA_SIGNAL_PATH_RESET
* @see MPU6050_PATHRESET_GYRO_RESET_BIT
*/
-void MPU6050::resetGyroscopePath()
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
+void MPU6050::resetGyroscopePath() {
+ i2cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
}
/** Reset accelerometer signal path.
* The reset will revert the signal path analog to digital converters and
@@ -2343,9 +2151,8 @@
* @see MPU6050_RA_SIGNAL_PATH_RESET
* @see MPU6050_PATHRESET_ACCEL_RESET_BIT
*/
-void MPU6050::resetAccelerometerPath()
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
+void MPU6050::resetAccelerometerPath() {
+ i2cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
}
/** Reset temperature sensor signal path.
* The reset will revert the signal path analog to digital converters and
@@ -2353,9 +2160,8 @@
* @see MPU6050_RA_SIGNAL_PATH_RESET
* @see MPU6050_PATHRESET_TEMP_RESET_BIT
*/
-void MPU6050::resetTemperaturePath()
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
+void MPU6050::resetTemperaturePath() {
+ i2cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
}
// MOT_DETECT_CTRL register
@@ -2374,9 +2180,8 @@
* @see MPU6050_RA_MOT_DETECT_CTRL
* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
*/
-uint8_t MPU6050::getAccelerometerPowerOnDelay()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
+uint8_t MPU6050::getAccelerometerPowerOnDelay() {
+ i2cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
return buffer[0];
}
/** Set accelerometer power-on delay.
@@ -2385,9 +2190,8 @@
* @see MPU6050_RA_MOT_DETECT_CTRL
* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
*/
-void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
+void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay) {
+ i2cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
}
/** Get Free Fall detection counter decrement configuration.
* Detection is registered by the Free Fall detection module after accelerometer
@@ -2415,9 +2219,8 @@
* @see MPU6050_RA_MOT_DETECT_CTRL
* @see MPU6050_DETECT_FF_COUNT_BIT
*/
-uint8_t MPU6050::getFreefallDetectionCounterDecrement()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
+uint8_t MPU6050::getFreefallDetectionCounterDecrement() {
+ i2cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
return buffer[0];
}
/** Set Free Fall detection counter decrement configuration.
@@ -2426,9 +2229,8 @@
* @see MPU6050_RA_MOT_DETECT_CTRL
* @see MPU6050_DETECT_FF_COUNT_BIT
*/
-void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
+void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement) {
+ i2cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
}
/** Get Motion detection counter decrement configuration.
* Detection is registered by the Motion detection module after accelerometer
@@ -2453,9 +2255,8 @@
* please refer to Registers 29 to 32.
*
*/
-uint8_t MPU6050::getMotionDetectionCounterDecrement()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
+uint8_t MPU6050::getMotionDetectionCounterDecrement() {
+ i2cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
return buffer[0];
}
/** Set Motion detection counter decrement configuration.
@@ -2464,9 +2265,8 @@
* @see MPU6050_RA_MOT_DETECT_CTRL
* @see MPU6050_DETECT_MOT_COUNT_BIT
*/
-void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
+void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement) {
+ i2cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
}
// USER_CTRL register
@@ -2479,9 +2279,8 @@
* @see MPU6050_RA_USER_CTRL
* @see MPU6050_USERCTRL_FIFO_EN_BIT
*/
-bool MPU6050::getFIFOEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
+bool MPU6050::getFIFOEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set FIFO enabled status.
@@ -2490,9 +2289,8 @@
* @see MPU6050_RA_USER_CTRL
* @see MPU6050_USERCTRL_FIFO_EN_BIT
*/
-void MPU6050::setFIFOEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
+void MPU6050::setFIFOEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
}
/** Get I2C Master Mode enabled status.
* When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
@@ -2505,9 +2303,8 @@
* @see MPU6050_RA_USER_CTRL
* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
*/
-bool MPU6050::getI2CMasterModeEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
+bool MPU6050::getI2CMasterModeEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
return buffer[0];
}
/** Set I2C Master Mode enabled status.
@@ -2516,17 +2313,15 @@
* @see MPU6050_RA_USER_CTRL
* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
*/
-void MPU6050::setI2CMasterModeEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
+void MPU6050::setI2CMasterModeEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
}
/** Switch from I2C to SPI mode (MPU-6000 only)
* If this is set, the primary SPI interface will be enabled in place of the
* disabled primary I2C interface.
*/
-void MPU6050::switchSPIEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
+void MPU6050::switchSPIEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
}
/** Reset the FIFO.
* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
@@ -2534,9 +2329,8 @@
* @see MPU6050_RA_USER_CTRL
* @see MPU6050_USERCTRL_FIFO_RESET_BIT
*/
-void MPU6050::resetFIFO()
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
+void MPU6050::resetFIFO() {
+ i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
}
/** Reset the I2C Master.
* This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
@@ -2544,9 +2338,8 @@
* @see MPU6050_RA_USER_CTRL
* @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
*/
-void MPU6050::resetI2CMaster()
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
+void MPU6050::resetI2CMaster() {
+ i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
}
/** Reset all sensor registers and signal paths.
* When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
@@ -2560,9 +2353,8 @@
* @see MPU6050_RA_USER_CTRL
* @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
*/
-void MPU6050::resetSensors()
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
+void MPU6050::resetSensors() {
+ i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
}
// PWR_MGMT_1 register
@@ -2572,9 +2364,8 @@
* @see MPU6050_RA_PWR_MGMT_1
* @see MPU6050_PWR1_DEVICE_RESET_BIT
*/
-void MPU6050::reset()
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
+void MPU6050::reset() {
+ i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
}
/** Get sleep mode status.
* Setting the SLEEP bit in the register puts the device into very low power
@@ -2587,9 +2378,8 @@
* @see MPU6050_RA_PWR_MGMT_1
* @see MPU6050_PWR1_SLEEP_BIT
*/
-bool MPU6050::getSleepEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
+bool MPU6050::getSleepEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
return buffer[0];
}
/** Set sleep mode status.
@@ -2598,9 +2388,8 @@
* @see MPU6050_RA_PWR_MGMT_1
* @see MPU6050_PWR1_SLEEP_BIT
*/
-void MPU6050::setSleepEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
+void MPU6050::setSleepEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
}
/** Get wake cycle enabled status.
* When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
@@ -2610,9 +2399,8 @@
* @see MPU6050_RA_PWR_MGMT_1
* @see MPU6050_PWR1_CYCLE_BIT
*/
-bool MPU6050::getWakeCycleEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
+bool MPU6050::getWakeCycleEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
return buffer[0];
}
/** Set wake cycle enabled status.
@@ -2621,9 +2409,8 @@
* @see MPU6050_RA_PWR_MGMT_1
* @see MPU6050_PWR1_CYCLE_BIT
*/
-void MPU6050::setWakeCycleEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
+void MPU6050::setWakeCycleEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
}
/** Get temperature sensor enabled status.
* Control the usage of the internal temperature sensor.
@@ -2636,9 +2423,8 @@
* @see MPU6050_RA_PWR_MGMT_1
* @see MPU6050_PWR1_TEMP_DIS_BIT
*/
-bool MPU6050::getTempSensorEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
+bool MPU6050::getTempSensorEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
return buffer[0] == 0; // 1 is actually disabled here
}
/** Set temperature sensor enabled status.
@@ -2651,10 +2437,9 @@
* @see MPU6050_RA_PWR_MGMT_1
* @see MPU6050_PWR1_TEMP_DIS_BIT
*/
-void MPU6050::setTempSensorEnabled(bool enabled)
-{
+void MPU6050::setTempSensorEnabled(bool enabled) {
// 1 is actually disabled here
- i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
+ i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
}
/** Get clock source setting.
* @return Current clock source setting
@@ -2662,9 +2447,8 @@
* @see MPU6050_PWR1_CLKSEL_BIT
* @see MPU6050_PWR1_CLKSEL_LENGTH
*/
-uint8_t MPU6050::getClockSource()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
+uint8_t MPU6050::getClockSource() {
+ i2cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
return buffer[0];
}
/** Set clock source setting.
@@ -2697,9 +2481,8 @@
* @see MPU6050_PWR1_CLKSEL_BIT
* @see MPU6050_PWR1_CLKSEL_LENGTH
*/
-void MPU6050::setClockSource(uint8_t source)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
+void MPU6050::setClockSource(uint8_t source) {
+ i2cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
}
// PWR_MGMT_2 register
@@ -2727,18 +2510,16 @@
* @return Current wake frequency
* @see MPU6050_RA_PWR_MGMT_2
*/
-uint8_t MPU6050::getWakeFrequency()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
+uint8_t MPU6050::getWakeFrequency() {
+ i2cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
return buffer[0];
}
/** Set wake frequency in Accel-Only Low Power Mode.
* @param frequency New wake frequency
* @see MPU6050_RA_PWR_MGMT_2
*/
-void MPU6050::setWakeFrequency(uint8_t frequency)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
+void MPU6050::setWakeFrequency(uint8_t frequency) {
+ i2cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
}
/** Get X-axis accelerometer standby enabled status.
@@ -2747,9 +2528,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_XA_BIT
*/
-bool MPU6050::getStandbyXAccelEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
+bool MPU6050::getStandbyXAccelEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
return buffer[0];
}
/** Set X-axis accelerometer standby enabled status.
@@ -2758,9 +2538,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_XA_BIT
*/
-void MPU6050::setStandbyXAccelEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
+void MPU6050::setStandbyXAccelEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
}
/** Get Y-axis accelerometer standby enabled status.
* If enabled, the Y-axis will not gather or report data (or use power).
@@ -2768,9 +2547,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_YA_BIT
*/
-bool MPU6050::getStandbyYAccelEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
+bool MPU6050::getStandbyYAccelEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
return buffer[0];
}
/** Set Y-axis accelerometer standby enabled status.
@@ -2779,9 +2557,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_YA_BIT
*/
-void MPU6050::setStandbyYAccelEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
+void MPU6050::setStandbyYAccelEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
}
/** Get Z-axis accelerometer standby enabled status.
* If enabled, the Z-axis will not gather or report data (or use power).
@@ -2789,9 +2566,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_ZA_BIT
*/
-bool MPU6050::getStandbyZAccelEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
+bool MPU6050::getStandbyZAccelEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
return buffer[0];
}
/** Set Z-axis accelerometer standby enabled status.
@@ -2800,9 +2576,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_ZA_BIT
*/
-void MPU6050::setStandbyZAccelEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
+void MPU6050::setStandbyZAccelEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
}
/** Get X-axis gyroscope standby enabled status.
* If enabled, the X-axis will not gather or report data (or use power).
@@ -2810,9 +2585,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_XG_BIT
*/
-bool MPU6050::getStandbyXGyroEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
+bool MPU6050::getStandbyXGyroEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
return buffer[0];
}
/** Set X-axis gyroscope standby enabled status.
@@ -2821,9 +2595,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_XG_BIT
*/
-void MPU6050::setStandbyXGyroEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
+void MPU6050::setStandbyXGyroEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
}
/** Get Y-axis gyroscope standby enabled status.
* If enabled, the Y-axis will not gather or report data (or use power).
@@ -2831,9 +2604,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_YG_BIT
*/
-bool MPU6050::getStandbyYGyroEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
+bool MPU6050::getStandbyYGyroEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
return buffer[0];
}
/** Set Y-axis gyroscope standby enabled status.
@@ -2842,9 +2614,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_YG_BIT
*/
-void MPU6050::setStandbyYGyroEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
+void MPU6050::setStandbyYGyroEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
}
/** Get Z-axis gyroscope standby enabled status.
* If enabled, the Z-axis will not gather or report data (or use power).
@@ -2852,9 +2623,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_ZG_BIT
*/
-bool MPU6050::getStandbyZGyroEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
+bool MPU6050::getStandbyZGyroEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
return buffer[0];
}
/** Set Z-axis gyroscope standby enabled status.
@@ -2863,9 +2633,8 @@
* @see MPU6050_RA_PWR_MGMT_2
* @see MPU6050_PWR2_STBY_ZG_BIT
*/
-void MPU6050::setStandbyZGyroEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
+void MPU6050::setStandbyZGyroEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
}
// FIFO_COUNT* registers
@@ -2877,9 +2646,8 @@
* set of sensor data bound to be stored in the FIFO (register 35 and 36).
* @return Current FIFO buffer size
*/
-uint16_t MPU6050::getFIFOCount()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
+uint16_t MPU6050::getFIFOCount() {
+ i2cdev.readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
return (((uint16_t)buffer[0]) << 8) | buffer[1];
}
@@ -2910,22 +2678,19 @@
*
* @return Byte from FIFO buffer
*/
-uint8_t MPU6050::getFIFOByte()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
+uint8_t MPU6050::getFIFOByte() {
+ i2cdev.readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
return buffer[0];
}
-void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length)
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
+void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) {
+ i2cdev.readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
}
/** Write byte to FIFO buffer.
* @see getFIFOByte()
* @see MPU6050_RA_FIFO_R_W
*/
-void MPU6050::setFIFOByte(uint8_t data)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
+void MPU6050::setFIFOByte(uint8_t data) {
+ i2cdev.writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
}
// WHO_AM_I register
@@ -2937,9 +2702,8 @@
* @see MPU6050_WHO_AM_I_BIT
* @see MPU6050_WHO_AM_I_LENGTH
*/
-uint8_t MPU6050::getDeviceID()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
+uint8_t MPU6050::getDeviceID() {
+ i2cdev.readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
return buffer[0];
}
/** Set Device ID.
@@ -2951,279 +2715,232 @@
* @see MPU6050_WHO_AM_I_BIT
* @see MPU6050_WHO_AM_I_LENGTH
*/
-void MPU6050::setDeviceID(uint8_t id)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
+void MPU6050::setDeviceID(uint8_t id) {
+ i2cdev.writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
}
// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
// XG_OFFS_TC register
-uint8_t MPU6050::getOTPBankValid()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
+uint8_t MPU6050::getOTPBankValid() {
+ i2cdev.readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
return buffer[0];
}
-void MPU6050::setOTPBankValid(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
+void MPU6050::setOTPBankValid(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
}
-int8_t MPU6050::getXGyroOffset()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+int8_t MPU6050::getXGyroOffsetTC() {
+ i2cdev.readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
return buffer[0];
}
-void MPU6050::setXGyroOffset(int8_t offset)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+void MPU6050::setXGyroOffsetTC(int8_t offset) {
+ i2cdev.writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
}
// YG_OFFS_TC register
-int8_t MPU6050::getYGyroOffset()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+int8_t MPU6050::getYGyroOffsetTC() {
+ i2cdev.readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
return buffer[0];
}
-void MPU6050::setYGyroOffset(int8_t offset)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+void MPU6050::setYGyroOffsetTC(int8_t offset) {
+ i2cdev.writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
}
// ZG_OFFS_TC register
-int8_t MPU6050::getZGyroOffset()
-{
- i2Cdev.readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+int8_t MPU6050::getZGyroOffsetTC() {
+ i2cdev.readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
return buffer[0];
}
-void MPU6050::setZGyroOffset(int8_t offset)
-{
- i2Cdev.writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+void MPU6050::setZGyroOffsetTC(int8_t offset) {
+ i2cdev.writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
}
// X_FINE_GAIN register
-int8_t MPU6050::getXFineGain()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
+int8_t MPU6050::getXFineGain() {
+ i2cdev.readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
return buffer[0];
}
-void MPU6050::setXFineGain(int8_t gain)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
+void MPU6050::setXFineGain(int8_t gain) {
+ i2cdev.writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
}
// Y_FINE_GAIN register
-int8_t MPU6050::getYFineGain()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
+int8_t MPU6050::getYFineGain() {
+ i2cdev.readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
return buffer[0];
}
-void MPU6050::setYFineGain(int8_t gain)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
+void MPU6050::setYFineGain(int8_t gain) {
+ i2cdev.writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
}
// Z_FINE_GAIN register
-int8_t MPU6050::getZFineGain()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
+int8_t MPU6050::getZFineGain() {
+ i2cdev.readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
return buffer[0];
}
-void MPU6050::setZFineGain(int8_t gain)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
+void MPU6050::setZFineGain(int8_t gain) {
+ i2cdev.writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
}
// XA_OFFS_* registers
-int16_t MPU6050::getXAccelOffset()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
+int16_t MPU6050::getXAccelOffset() {
+ i2cdev.readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
-void MPU6050::setXAccelOffset(int16_t offset)
-{
- i2Cdev.writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
+void MPU6050::setXAccelOffset(int16_t offset) {
+ i2cdev.writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
}
// YA_OFFS_* register
-int16_t MPU6050::getYAccelOffset()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
+int16_t MPU6050::getYAccelOffset() {
+ i2cdev.readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
-void MPU6050::setYAccelOffset(int16_t offset)
-{
- i2Cdev.writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
+void MPU6050::setYAccelOffset(int16_t offset) {
+ i2cdev.writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
}
// ZA_OFFS_* register
-int16_t MPU6050::getZAccelOffset()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
+int16_t MPU6050::getZAccelOffset() {
+ i2cdev.readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
-void MPU6050::setZAccelOffset(int16_t offset)
-{
- i2Cdev.writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
+void MPU6050::setZAccelOffset(int16_t offset) {
+ i2cdev.writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
}
// XG_OFFS_USR* registers
-int16_t MPU6050::getXGyroOffsetUser()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
+int16_t MPU6050::getXGyroOffset() {
+ i2cdev.readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
-void MPU6050::setXGyroOffsetUser(int16_t offset)
-{
- i2Cdev.writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
+void MPU6050::setXGyroOffset(int16_t offset) {
+ i2cdev.writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
}
// YG_OFFS_USR* register
-int16_t MPU6050::getYGyroOffsetUser()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
+int16_t MPU6050::getYGyroOffset() {
+ i2cdev.readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
-void MPU6050::setYGyroOffsetUser(int16_t offset)
-{
- i2Cdev.writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
+void MPU6050::setYGyroOffset(int16_t offset) {
+ i2cdev.writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
}
// ZG_OFFS_USR* register
-int16_t MPU6050::getZGyroOffsetUser()
-{
- i2Cdev.readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
+int16_t MPU6050::getZGyroOffset() {
+ i2cdev.readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
-void MPU6050::setZGyroOffsetUser(int16_t offset)
-{
- i2Cdev.writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
+void MPU6050::setZGyroOffset(int16_t offset) {
+ i2cdev.writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
}
// INT_ENABLE register (DMP functions)
-bool MPU6050::getIntPLLReadyEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
+bool MPU6050::getIntPLLReadyEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
return buffer[0];
}
-void MPU6050::setIntPLLReadyEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
+void MPU6050::setIntPLLReadyEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
}
-bool MPU6050::getIntDMPEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
+bool MPU6050::getIntDMPEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
return buffer[0];
}
-void MPU6050::setIntDMPEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
+void MPU6050::setIntDMPEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
}
// DMP_INT_STATUS
-bool MPU6050::getDMPInt5Status()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
+bool MPU6050::getDMPInt5Status() {
+ i2cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
return buffer[0];
}
-bool MPU6050::getDMPInt4Status()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
+bool MPU6050::getDMPInt4Status() {
+ i2cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
return buffer[0];
}
-bool MPU6050::getDMPInt3Status()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
+bool MPU6050::getDMPInt3Status() {
+ i2cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
return buffer[0];
}
-bool MPU6050::getDMPInt2Status()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
+bool MPU6050::getDMPInt2Status() {
+ i2cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
return buffer[0];
}
-bool MPU6050::getDMPInt1Status()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
+bool MPU6050::getDMPInt1Status() {
+ i2cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
return buffer[0];
}
-bool MPU6050::getDMPInt0Status()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
+bool MPU6050::getDMPInt0Status() {
+ i2cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
return buffer[0];
}
// INT_STATUS register (DMP functions)
-bool MPU6050::getIntPLLReadyStatus()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
+bool MPU6050::getIntPLLReadyStatus() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
return buffer[0];
}
-bool MPU6050::getIntDMPStatus()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
+bool MPU6050::getIntDMPStatus() {
+ i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
return buffer[0];
}
// USER_CTRL register (DMP functions)
-bool MPU6050::getDMPEnabled()
-{
- i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
+bool MPU6050::getDMPEnabled() {
+ i2cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
return buffer[0];
}
-void MPU6050::setDMPEnabled(bool enabled)
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
+void MPU6050::setDMPEnabled(bool enabled) {
+ i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
}
-void MPU6050::resetDMP()
-{
- i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
+void MPU6050::resetDMP() {
+ i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
}
// BANK_SEL register
-void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank)
-{
+void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank) {
bank &= 0x1F;
if (userBank) bank |= 0x20;
if (prefetchEnabled) bank |= 0x40;
- i2Cdev.writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
+ i2cdev.writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
}
// MEM_START_ADDR register
-void MPU6050::setMemoryStartAddress(uint8_t address)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
+void MPU6050::setMemoryStartAddress(uint8_t address) {
+ i2cdev.writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
}
// MEM_R_W register
-uint8_t MPU6050::readMemoryByte()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
+uint8_t MPU6050::readMemoryByte() {
+ i2cdev.readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
return buffer[0];
}
-void MPU6050::writeMemoryByte(uint8_t data)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
+void MPU6050::writeMemoryByte(uint8_t data) {
+ i2cdev.writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
}
-void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address)
-{
+void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address) {
setMemoryBank(bank);
setMemoryStartAddress(address);
uint8_t chunkSize;
@@ -3238,8 +2955,8 @@
if (chunkSize > 256 - address) chunkSize = 256 - address;
// read the chunk of data as specified
- i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
-
+ i2cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
+
// increase byte index by [chunkSize]
i += chunkSize;
@@ -3254,13 +2971,12 @@
}
}
}
-bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem)
-{
+bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem) {
setMemoryBank(bank);
setMemoryStartAddress(address);
uint8_t chunkSize;
- uint8_t *verifyBuffer = NULL;
- uint8_t *progBuffer = NULL;
+ uint8_t *verifyBuffer;
+ uint8_t *progBuffer;
uint16_t i;
uint8_t j;
if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
@@ -3274,7 +2990,7 @@
// make sure this chunk doesn't go past the bank boundary (256 bytes)
if (chunkSize > 256 - address) chunkSize = 256 - address;
-
+
if (useProgMem) {
// write the chunk of data as specified
for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
@@ -3283,13 +2999,13 @@
progBuffer = (uint8_t *)data + i;
}
- i2Cdev.writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
+ i2cdev.writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
// verify data if needed
if (verify && verifyBuffer) {
setMemoryBank(bank);
setMemoryStartAddress(address);
- i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
+ i2cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
/*Serial.print("Block write verification error, bank ");
Serial.print(bank, DEC);
@@ -3331,14 +3047,11 @@
if (useProgMem) free(progBuffer);
return true;
}
-bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify)
-{
+bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify) {
return writeMemoryBlock(data, dataSize, bank, address, verify, true);
}
-bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem)
-{
- uint8_t success, special;
- uint8_t *progBuffer = NULL;
+bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem) {
+ uint8_t *progBuffer, success, special;
uint16_t i, j;
if (useProgMem) {
progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
@@ -3391,11 +3104,11 @@
Serial.println(" found...");*/
if (special == 0x01) {
// enable DMP-related interrupts
-
+
//setIntZeroMotionEnabled(true);
//setIntFIFOBufferOverflowEnabled(true);
//setIntDMPEnabled(true);
- i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
+ i2cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
success = true;
} else {
@@ -3403,7 +3116,7 @@
success = false;
}
}
-
+
if (!success) {
if (useProgMem) free(progBuffer);
return false; // uh oh
@@ -3412,31 +3125,26 @@
if (useProgMem) free(progBuffer);
return true;
}
-bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
-{
- return writeDMPConfigurationSet(data, dataSize, false);
+bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize) {
+ return writeDMPConfigurationSet(data, dataSize, true);
}
// DMP_CFG_1 register
-uint8_t MPU6050::getDMPConfig1()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
+uint8_t MPU6050::getDMPConfig1() {
+ i2cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
return buffer[0];
}
-void MPU6050::setDMPConfig1(uint8_t config)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
+void MPU6050::setDMPConfig1(uint8_t config) {
+ i2cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
}
// DMP_CFG_2 register
-uint8_t MPU6050::getDMPConfig2()
-{
- i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
+uint8_t MPU6050::getDMPConfig2() {
+ i2cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
return buffer[0];
}
-void MPU6050::setDMPConfig2(uint8_t config)
-{
- i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
-}
\ No newline at end of file
+void MPU6050::setDMPConfig2(uint8_t config) {
+ i2cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
+}