MPU6050_V3 - This one compatable with brobot V3. first commit…

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Carter Sharer / MPU6050_V3

This one compatable with brobot V3. first commit to BroBot

Dependencies: I2Cdev

Dependents: BroBot_ESE350_Skeleton

Fork of MPU6050 by Carter Sharer

MPU6050.cpp@3:25e1a5a10e53, 2013-11-19 (annotated)

Committer:: syundo0730
Date:: Tue Nov 19 19:05:55 2013 +0000
Revision:: 3:25e1a5a10e53
Parent:: 2:f8bfb37b2e1f
Child:: 6:f38dfe62d74c

first commit

Who changed what in which revision?

User	Revision	Line number	New contents of line
garfieldsg	0:662207e34fba	1	//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
garfieldsg	0:662207e34fba	2	//written by szymon gaertig (email: szymon@gaertig.com.pl)
garfieldsg	0:662207e34fba	3	//
garfieldsg	0:662207e34fba	4	//Changelog:
garfieldsg	0:662207e34fba	5	//2013-01-08 - first beta release
garfieldsg	0:662207e34fba	6
garfieldsg	0:662207e34fba	7	// I2Cdev library collection - MPU6050 I2C device class
garfieldsg	0:662207e34fba	8	// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
garfieldsg	0:662207e34fba	9	// 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
garfieldsg	0:662207e34fba	10	// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
garfieldsg	0:662207e34fba	11	//
garfieldsg	0:662207e34fba	12	// Changelog:
garfieldsg	0:662207e34fba	13	// ... - ongoing debug release
garfieldsg	0:662207e34fba	14
garfieldsg	0:662207e34fba	15	// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
garfieldsg	0:662207e34fba	16	// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
garfieldsg	0:662207e34fba	17	// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
garfieldsg	0:662207e34fba	18
garfieldsg	0:662207e34fba	19	/* ============================================
garfieldsg	0:662207e34fba	20	I2Cdev device library code is placed under the MIT license
garfieldsg	0:662207e34fba	21	Copyright (c) 2012 Jeff Rowberg
garfieldsg	0:662207e34fba	22
garfieldsg	0:662207e34fba	23	Permission is hereby granted, free of charge, to any person obtaining a copy
garfieldsg	0:662207e34fba	24	of this software and associated documentation files (the "Software"), to deal
garfieldsg	0:662207e34fba	25	in the Software without restriction, including without limitation the rights
garfieldsg	0:662207e34fba	26	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
garfieldsg	0:662207e34fba	27	copies of the Software, and to permit persons to whom the Software is
garfieldsg	0:662207e34fba	28	furnished to do so, subject to the following conditions:
garfieldsg	0:662207e34fba	29
garfieldsg	0:662207e34fba	30	The above copyright notice and this permission notice shall be included in
garfieldsg	0:662207e34fba	31	all copies or substantial portions of the Software.
garfieldsg	0:662207e34fba	32
garfieldsg	0:662207e34fba	33	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
garfieldsg	0:662207e34fba	34	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
garfieldsg	0:662207e34fba	35	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
garfieldsg	0:662207e34fba	36	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
garfieldsg	0:662207e34fba	37	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
garfieldsg	0:662207e34fba	38	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
garfieldsg	0:662207e34fba	39	THE SOFTWARE.
garfieldsg	0:662207e34fba	40	===============================================
garfieldsg	0:662207e34fba	41	*/
garfieldsg	0:662207e34fba	42
garfieldsg	0:662207e34fba	43	#include "MPU6050.h"
garfieldsg	0:662207e34fba	44
garfieldsg	0:662207e34fba	45	#define useDebugSerial
garfieldsg	0:662207e34fba	46
garfieldsg	0:662207e34fba	47	//instead of using pgmspace.h
garfieldsg	0:662207e34fba	48	typedef const unsigned char prog_uchar;
syundo0730	3:25e1a5a10e53	49	#define pgm_read_byte_near(x) ((prog_uchar)(x))//<- I modified here
syundo0730	3:25e1a5a10e53	50	#define pgm_read_byte(x) ((prog_uchar)(x))//<- I modified here
garfieldsg	0:662207e34fba	51
garfieldsg	0:662207e34fba	52	/** Default constructor, uses default I2C address.
garfieldsg	0:662207e34fba	53	* @see MPU6050_DEFAULT_ADDRESS
garfieldsg	0:662207e34fba	54	*/
garfieldsg	0:662207e34fba	55	MPU6050::MPU6050() : debugSerial(USBTX, USBRX)
garfieldsg	0:662207e34fba	56	{
garfieldsg	0:662207e34fba	57	devAddr = MPU6050_DEFAULT_ADDRESS;
garfieldsg	0:662207e34fba	58	}
garfieldsg	0:662207e34fba	59
garfieldsg	0:662207e34fba	60	/** Specific address constructor.
garfieldsg	0:662207e34fba	61	* @param address I2C address
garfieldsg	0:662207e34fba	62	* @see MPU6050_DEFAULT_ADDRESS
garfieldsg	0:662207e34fba	63	* @see MPU6050_ADDRESS_AD0_LOW
garfieldsg	0:662207e34fba	64	* @see MPU6050_ADDRESS_AD0_HIGH
garfieldsg	0:662207e34fba	65	*/
garfieldsg	0:662207e34fba	66	MPU6050::MPU6050(uint8_t address) : debugSerial(USBTX, USBRX)
garfieldsg	0:662207e34fba	67	{
garfieldsg	0:662207e34fba	68	devAddr = address;
garfieldsg	0:662207e34fba	69	}
garfieldsg	0:662207e34fba	70
garfieldsg	0:662207e34fba	71	/** Power on and prepare for general usage.
garfieldsg	0:662207e34fba	72	* This will activate the device and take it out of sleep mode (which must be done
garfieldsg	0:662207e34fba	73	* after start-up). This function also sets both the accelerometer and the gyroscope
garfieldsg	0:662207e34fba	74	* to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
garfieldsg	0:662207e34fba	75	* the clock source to use the X Gyro for reference, which is slightly better than
garfieldsg	0:662207e34fba	76	* the default internal clock source.
garfieldsg	0:662207e34fba	77	*/
garfieldsg	0:662207e34fba	78	void MPU6050::initialize()
garfieldsg	0:662207e34fba	79	{
garfieldsg	0:662207e34fba	80
garfieldsg	0:662207e34fba	81	#ifdef useDebugSerial
garfieldsg	0:662207e34fba	82	debugSerial.printf("MPU6050::initialize start\n");
garfieldsg	0:662207e34fba	83	#endif
garfieldsg	0:662207e34fba	84
garfieldsg	0:662207e34fba	85	setClockSource(MPU6050_CLOCK_PLL_XGYRO);
garfieldsg	0:662207e34fba	86	setFullScaleGyroRange(MPU6050_GYRO_FS_250);
garfieldsg	0:662207e34fba	87	setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
garfieldsg	0:662207e34fba	88	setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
garfieldsg	0:662207e34fba	89
garfieldsg	0:662207e34fba	90	#ifdef useDebugSerial
garfieldsg	0:662207e34fba	91	debugSerial.printf("MPU6050::initialize end\n");
garfieldsg	0:662207e34fba	92	#endif
garfieldsg	0:662207e34fba	93	}
garfieldsg	0:662207e34fba	94
garfieldsg	0:662207e34fba	95	/** Verify the I2C connection.
garfieldsg	0:662207e34fba	96	* Make sure the device is connected and responds as expected.
garfieldsg	0:662207e34fba	97	* @return True if connection is valid, false otherwise
garfieldsg	0:662207e34fba	98	*/
garfieldsg	0:662207e34fba	99	bool MPU6050::testConnection()
garfieldsg	0:662207e34fba	100	{
garfieldsg	0:662207e34fba	101	#ifdef useDebugSerial
garfieldsg	0:662207e34fba	102	debugSerial.printf("MPU6050::testConnection start\n");
garfieldsg	0:662207e34fba	103	#endif
garfieldsg	0:662207e34fba	104	uint8_t deviceId = getDeviceID();
garfieldsg	0:662207e34fba	105	#ifdef useDebugSerial
garfieldsg	0:662207e34fba	106	debugSerial.printf("DeviceId = %d\n",deviceId);
garfieldsg	0:662207e34fba	107	#endif
garfieldsg	0:662207e34fba	108	return deviceId == 0x34;
garfieldsg	0:662207e34fba	109	}
garfieldsg	0:662207e34fba	110
garfieldsg	0:662207e34fba	111	// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
garfieldsg	0:662207e34fba	112
garfieldsg	0:662207e34fba	113	/** Get the auxiliary I2C supply voltage level.
garfieldsg	0:662207e34fba	114	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
garfieldsg	0:662207e34fba	115	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
garfieldsg	0:662207e34fba	116	* the MPU-6000, which does not have a VLOGIC pin.
garfieldsg	0:662207e34fba	117	* @return I2C supply voltage level (0=VLOGIC, 1=VDD)
garfieldsg	0:662207e34fba	118	*/
garfieldsg	0:662207e34fba	119	uint8_t MPU6050::getAuxVDDIOLevel()
garfieldsg	0:662207e34fba	120	{
garfieldsg	0:662207e34fba	121	i2Cdev.readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
garfieldsg	0:662207e34fba	122	return buffer[0];
garfieldsg	0:662207e34fba	123	}
garfieldsg	0:662207e34fba	124	/** Set the auxiliary I2C supply voltage level.
garfieldsg	0:662207e34fba	125	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
garfieldsg	0:662207e34fba	126	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
garfieldsg	0:662207e34fba	127	* the MPU-6000, which does not have a VLOGIC pin.
garfieldsg	0:662207e34fba	128	* @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
garfieldsg	0:662207e34fba	129	*/
garfieldsg	0:662207e34fba	130	void MPU6050::setAuxVDDIOLevel(uint8_t level)
garfieldsg	0:662207e34fba	131	{
garfieldsg	0:662207e34fba	132	i2Cdev.writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
garfieldsg	0:662207e34fba	133	}
garfieldsg	0:662207e34fba	134
garfieldsg	0:662207e34fba	135	// SMPLRT_DIV register
garfieldsg	0:662207e34fba	136
garfieldsg	0:662207e34fba	137	/** Get gyroscope output rate divider.
garfieldsg	0:662207e34fba	138	* The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
garfieldsg	0:662207e34fba	139	* Motion detection, and Free Fall detection are all based on the Sample Rate.
garfieldsg	0:662207e34fba	140	* The Sample Rate is generated by dividing the gyroscope output rate by
garfieldsg	0:662207e34fba	141	* SMPLRT_DIV:
garfieldsg	0:662207e34fba	142	*
garfieldsg	0:662207e34fba	143	* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
garfieldsg	0:662207e34fba	144	*
garfieldsg	0:662207e34fba	145	* where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
garfieldsg	0:662207e34fba	146	* 7), and 1kHz when the DLPF is enabled (see Register 26).
garfieldsg	0:662207e34fba	147	*
garfieldsg	0:662207e34fba	148	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
garfieldsg	0:662207e34fba	149	* Rate greater than 1kHz, the same accelerometer sample may be output to the
garfieldsg	0:662207e34fba	150	* FIFO, DMP, and sensor registers more than once.
garfieldsg	0:662207e34fba	151	*
garfieldsg	0:662207e34fba	152	* For a diagram of the gyroscope and accelerometer signal paths, see Section 8
garfieldsg	0:662207e34fba	153	* of the MPU-6000/MPU-6050 Product Specification document.
garfieldsg	0:662207e34fba	154	*
garfieldsg	0:662207e34fba	155	* @return Current sample rate
garfieldsg	0:662207e34fba	156	* @see MPU6050_RA_SMPLRT_DIV
garfieldsg	0:662207e34fba	157	*/
garfieldsg	0:662207e34fba	158	uint8_t MPU6050::getRate()
garfieldsg	0:662207e34fba	159	{
garfieldsg	0:662207e34fba	160	i2Cdev.readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
garfieldsg	0:662207e34fba	161	return buffer[0];
garfieldsg	0:662207e34fba	162	}
garfieldsg	0:662207e34fba	163	/** Set gyroscope sample rate divider.
garfieldsg	0:662207e34fba	164	* @param rate New sample rate divider
garfieldsg	0:662207e34fba	165	* @see getRate()
garfieldsg	0:662207e34fba	166	* @see MPU6050_RA_SMPLRT_DIV
garfieldsg	0:662207e34fba	167	*/
garfieldsg	0:662207e34fba	168	void MPU6050::setRate(uint8_t rate)
garfieldsg	0:662207e34fba	169	{
garfieldsg	0:662207e34fba	170	i2Cdev.writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
garfieldsg	0:662207e34fba	171	}
garfieldsg	0:662207e34fba	172
garfieldsg	0:662207e34fba	173	// CONFIG register
garfieldsg	0:662207e34fba	174
garfieldsg	0:662207e34fba	175	/** Get external FSYNC configuration.
garfieldsg	0:662207e34fba	176	* Configures the external Frame Synchronization (FSYNC) pin sampling. An
garfieldsg	0:662207e34fba	177	* external signal connected to the FSYNC pin can be sampled by configuring
garfieldsg	0:662207e34fba	178	* EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
garfieldsg	0:662207e34fba	179	* strobes may be captured. The latched FSYNC signal will be sampled at the
garfieldsg	0:662207e34fba	180	* Sampling Rate, as defined in register 25. After sampling, the latch will
garfieldsg	0:662207e34fba	181	* reset to the current FSYNC signal state.
garfieldsg	0:662207e34fba	182	*
garfieldsg	0:662207e34fba	183	* The sampled value will be reported in place of the least significant bit in
garfieldsg	0:662207e34fba	184	* a sensor data register determined by the value of EXT_SYNC_SET according to
garfieldsg	0:662207e34fba	185	* the following table.
garfieldsg	0:662207e34fba	186	*
garfieldsg	0:662207e34fba	187	* <pre>
garfieldsg	0:662207e34fba	188	* EXT_SYNC_SET \| FSYNC Bit Location
garfieldsg	0:662207e34fba	189	* -------------+-------------------
garfieldsg	0:662207e34fba	190	* 0 \| Input disabled
garfieldsg	0:662207e34fba	191	* 1 \| TEMP_OUT_L[0]
garfieldsg	0:662207e34fba	192	* 2 \| GYRO_XOUT_L[0]
garfieldsg	0:662207e34fba	193	* 3 \| GYRO_YOUT_L[0]
garfieldsg	0:662207e34fba	194	* 4 \| GYRO_ZOUT_L[0]
garfieldsg	0:662207e34fba	195	* 5 \| ACCEL_XOUT_L[0]
garfieldsg	0:662207e34fba	196	* 6 \| ACCEL_YOUT_L[0]
garfieldsg	0:662207e34fba	197	* 7 \| ACCEL_ZOUT_L[0]
garfieldsg	0:662207e34fba	198	* </pre>
garfieldsg	0:662207e34fba	199	*
garfieldsg	0:662207e34fba	200	* @return FSYNC configuration value
garfieldsg	0:662207e34fba	201	*/
garfieldsg	0:662207e34fba	202	uint8_t MPU6050::getExternalFrameSync()
garfieldsg	0:662207e34fba	203	{
garfieldsg	0:662207e34fba	204	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
garfieldsg	0:662207e34fba	205	return buffer[0];
garfieldsg	0:662207e34fba	206	}
garfieldsg	0:662207e34fba	207	/** Set external FSYNC configuration.
garfieldsg	0:662207e34fba	208	* @see getExternalFrameSync()
garfieldsg	0:662207e34fba	209	* @see MPU6050_RA_CONFIG
garfieldsg	0:662207e34fba	210	* @param sync New FSYNC configuration value
garfieldsg	0:662207e34fba	211	*/
garfieldsg	0:662207e34fba	212	void MPU6050::setExternalFrameSync(uint8_t sync)
garfieldsg	0:662207e34fba	213	{
garfieldsg	0:662207e34fba	214	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
garfieldsg	0:662207e34fba	215	}
garfieldsg	0:662207e34fba	216	/** Get digital low-pass filter configuration.
garfieldsg	0:662207e34fba	217	* The DLPF_CFG parameter sets the digital low pass filter configuration. It
garfieldsg	0:662207e34fba	218	* also determines the internal sampling rate used by the device as shown in
garfieldsg	0:662207e34fba	219	* the table below.
garfieldsg	0:662207e34fba	220	*
garfieldsg	0:662207e34fba	221	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
garfieldsg	0:662207e34fba	222	* Rate greater than 1kHz, the same accelerometer sample may be output to the
garfieldsg	0:662207e34fba	223	* FIFO, DMP, and sensor registers more than once.
garfieldsg	0:662207e34fba	224	*
garfieldsg	0:662207e34fba	225	* <pre>
garfieldsg	0:662207e34fba	226	* \| ACCELEROMETER \| GYROSCOPE
garfieldsg	0:662207e34fba	227	* DLPF_CFG \| Bandwidth \| Delay \| Bandwidth \| Delay \| Sample Rate
garfieldsg	0:662207e34fba	228	* ---------+-----------+--------+-----------+--------+-------------
garfieldsg	0:662207e34fba	229	* 0 \| 260Hz \| 0ms \| 256Hz \| 0.98ms \| 8kHz
garfieldsg	0:662207e34fba	230	* 1 \| 184Hz \| 2.0ms \| 188Hz \| 1.9ms \| 1kHz
garfieldsg	0:662207e34fba	231	* 2 \| 94Hz \| 3.0ms \| 98Hz \| 2.8ms \| 1kHz
garfieldsg	0:662207e34fba	232	* 3 \| 44Hz \| 4.9ms \| 42Hz \| 4.8ms \| 1kHz
garfieldsg	0:662207e34fba	233	* 4 \| 21Hz \| 8.5ms \| 20Hz \| 8.3ms \| 1kHz
garfieldsg	0:662207e34fba	234	* 5 \| 10Hz \| 13.8ms \| 10Hz \| 13.4ms \| 1kHz
garfieldsg	0:662207e34fba	235	* 6 \| 5Hz \| 19.0ms \| 5Hz \| 18.6ms \| 1kHz
garfieldsg	0:662207e34fba	236	* 7 \| -- Reserved -- \| -- Reserved -- \| Reserved
garfieldsg	0:662207e34fba	237	* </pre>
garfieldsg	0:662207e34fba	238	*
garfieldsg	0:662207e34fba	239	* @return DLFP configuration
garfieldsg	0:662207e34fba	240	* @see MPU6050_RA_CONFIG
garfieldsg	0:662207e34fba	241	* @see MPU6050_CFG_DLPF_CFG_BIT
garfieldsg	0:662207e34fba	242	* @see MPU6050_CFG_DLPF_CFG_LENGTH
garfieldsg	0:662207e34fba	243	*/
garfieldsg	0:662207e34fba	244	uint8_t MPU6050::getDLPFMode()
garfieldsg	0:662207e34fba	245	{
garfieldsg	0:662207e34fba	246	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
garfieldsg	0:662207e34fba	247	return buffer[0];
garfieldsg	0:662207e34fba	248	}
garfieldsg	0:662207e34fba	249	/** Set digital low-pass filter configuration.
garfieldsg	0:662207e34fba	250	* @param mode New DLFP configuration setting
garfieldsg	0:662207e34fba	251	* @see getDLPFBandwidth()
garfieldsg	0:662207e34fba	252	* @see MPU6050_DLPF_BW_256
garfieldsg	0:662207e34fba	253	* @see MPU6050_RA_CONFIG
garfieldsg	0:662207e34fba	254	* @see MPU6050_CFG_DLPF_CFG_BIT
garfieldsg	0:662207e34fba	255	* @see MPU6050_CFG_DLPF_CFG_LENGTH
garfieldsg	0:662207e34fba	256	*/
garfieldsg	0:662207e34fba	257	void MPU6050::setDLPFMode(uint8_t mode)
garfieldsg	0:662207e34fba	258	{
garfieldsg	0:662207e34fba	259	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
garfieldsg	0:662207e34fba	260	}
garfieldsg	0:662207e34fba	261
garfieldsg	0:662207e34fba	262	// GYRO_CONFIG register
garfieldsg	0:662207e34fba	263
garfieldsg	0:662207e34fba	264	/** Get full-scale gyroscope range.
garfieldsg	0:662207e34fba	265	* The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
garfieldsg	0:662207e34fba	266	* as described in the table below.
garfieldsg	0:662207e34fba	267	*
garfieldsg	0:662207e34fba	268	* <pre>
garfieldsg	0:662207e34fba	269	* 0 = +/- 250 degrees/sec
garfieldsg	0:662207e34fba	270	* 1 = +/- 500 degrees/sec
garfieldsg	0:662207e34fba	271	* 2 = +/- 1000 degrees/sec
garfieldsg	0:662207e34fba	272	* 3 = +/- 2000 degrees/sec
garfieldsg	0:662207e34fba	273	* </pre>
garfieldsg	0:662207e34fba	274	*
garfieldsg	0:662207e34fba	275	* @return Current full-scale gyroscope range setting
garfieldsg	0:662207e34fba	276	* @see MPU6050_GYRO_FS_250
garfieldsg	0:662207e34fba	277	* @see MPU6050_RA_GYRO_CONFIG
garfieldsg	0:662207e34fba	278	* @see MPU6050_GCONFIG_FS_SEL_BIT
garfieldsg	0:662207e34fba	279	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
garfieldsg	0:662207e34fba	280	*/
garfieldsg	0:662207e34fba	281	uint8_t MPU6050::getFullScaleGyroRange()
garfieldsg	0:662207e34fba	282	{
garfieldsg	0:662207e34fba	283	i2Cdev.readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
garfieldsg	0:662207e34fba	284	return buffer[0];
garfieldsg	0:662207e34fba	285	}
garfieldsg	0:662207e34fba	286	/** Set full-scale gyroscope range.
garfieldsg	0:662207e34fba	287	* @param range New full-scale gyroscope range value
garfieldsg	0:662207e34fba	288	* @see getFullScaleRange()
garfieldsg	0:662207e34fba	289	* @see MPU6050_GYRO_FS_250
garfieldsg	0:662207e34fba	290	* @see MPU6050_RA_GYRO_CONFIG
garfieldsg	0:662207e34fba	291	* @see MPU6050_GCONFIG_FS_SEL_BIT
garfieldsg	0:662207e34fba	292	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
garfieldsg	0:662207e34fba	293	*/
garfieldsg	0:662207e34fba	294	void MPU6050::setFullScaleGyroRange(uint8_t range)
garfieldsg	0:662207e34fba	295	{
garfieldsg	0:662207e34fba	296	i2Cdev.writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
garfieldsg	0:662207e34fba	297	}
garfieldsg	0:662207e34fba	298
garfieldsg	0:662207e34fba	299	// ACCEL_CONFIG register
garfieldsg	0:662207e34fba	300
garfieldsg	0:662207e34fba	301	/** Get self-test enabled setting for accelerometer X axis.
garfieldsg	0:662207e34fba	302	* @return Self-test enabled value
garfieldsg	0:662207e34fba	303	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	304	*/
garfieldsg	0:662207e34fba	305	bool MPU6050::getAccelXSelfTest()
garfieldsg	0:662207e34fba	306	{
garfieldsg	0:662207e34fba	307	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
garfieldsg	0:662207e34fba	308	return buffer[0];
garfieldsg	0:662207e34fba	309	}
garfieldsg	0:662207e34fba	310	/** Get self-test enabled setting for accelerometer X axis.
garfieldsg	0:662207e34fba	311	* @param enabled Self-test enabled value
garfieldsg	0:662207e34fba	312	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	313	*/
garfieldsg	0:662207e34fba	314	void MPU6050::setAccelXSelfTest(bool enabled)
garfieldsg	0:662207e34fba	315	{
garfieldsg	0:662207e34fba	316	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
garfieldsg	0:662207e34fba	317	}
garfieldsg	0:662207e34fba	318	/** Get self-test enabled value for accelerometer Y axis.
garfieldsg	0:662207e34fba	319	* @return Self-test enabled value
garfieldsg	0:662207e34fba	320	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	321	*/
garfieldsg	0:662207e34fba	322	bool MPU6050::getAccelYSelfTest()
garfieldsg	0:662207e34fba	323	{
garfieldsg	0:662207e34fba	324	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
garfieldsg	0:662207e34fba	325	return buffer[0];
garfieldsg	0:662207e34fba	326	}
garfieldsg	0:662207e34fba	327	/** Get self-test enabled value for accelerometer Y axis.
garfieldsg	0:662207e34fba	328	* @param enabled Self-test enabled value
garfieldsg	0:662207e34fba	329	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	330	*/
garfieldsg	0:662207e34fba	331	void MPU6050::setAccelYSelfTest(bool enabled)
garfieldsg	0:662207e34fba	332	{
garfieldsg	0:662207e34fba	333	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
garfieldsg	0:662207e34fba	334	}
garfieldsg	0:662207e34fba	335	/** Get self-test enabled value for accelerometer Z axis.
garfieldsg	0:662207e34fba	336	* @return Self-test enabled value
garfieldsg	0:662207e34fba	337	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	338	*/
garfieldsg	0:662207e34fba	339	bool MPU6050::getAccelZSelfTest()
garfieldsg	0:662207e34fba	340	{
garfieldsg	0:662207e34fba	341	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
garfieldsg	0:662207e34fba	342	return buffer[0];
garfieldsg	0:662207e34fba	343	}
garfieldsg	0:662207e34fba	344	/** Set self-test enabled value for accelerometer Z axis.
garfieldsg	0:662207e34fba	345	* @param enabled Self-test enabled value
garfieldsg	0:662207e34fba	346	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	347	*/
garfieldsg	0:662207e34fba	348	void MPU6050::setAccelZSelfTest(bool enabled)
garfieldsg	0:662207e34fba	349	{
garfieldsg	0:662207e34fba	350	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
garfieldsg	0:662207e34fba	351	}
garfieldsg	0:662207e34fba	352	/** Get full-scale accelerometer range.
garfieldsg	0:662207e34fba	353	* The FS_SEL parameter allows setting the full-scale range of the accelerometer
garfieldsg	0:662207e34fba	354	* sensors, as described in the table below.
garfieldsg	0:662207e34fba	355	*
garfieldsg	0:662207e34fba	356	* <pre>
garfieldsg	0:662207e34fba	357	* 0 = +/- 2g
garfieldsg	0:662207e34fba	358	* 1 = +/- 4g
garfieldsg	0:662207e34fba	359	* 2 = +/- 8g
garfieldsg	0:662207e34fba	360	* 3 = +/- 16g
garfieldsg	0:662207e34fba	361	* </pre>
garfieldsg	0:662207e34fba	362	*
garfieldsg	0:662207e34fba	363	* @return Current full-scale accelerometer range setting
garfieldsg	0:662207e34fba	364	* @see MPU6050_ACCEL_FS_2
garfieldsg	0:662207e34fba	365	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	366	* @see MPU6050_ACONFIG_AFS_SEL_BIT
garfieldsg	0:662207e34fba	367	* @see MPU6050_ACONFIG_AFS_SEL_LENGTH
garfieldsg	0:662207e34fba	368	*/
garfieldsg	0:662207e34fba	369	uint8_t MPU6050::getFullScaleAccelRange()
garfieldsg	0:662207e34fba	370	{
garfieldsg	0:662207e34fba	371	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
garfieldsg	0:662207e34fba	372	return buffer[0];
garfieldsg	0:662207e34fba	373	}
garfieldsg	0:662207e34fba	374	/** Set full-scale accelerometer range.
garfieldsg	0:662207e34fba	375	* @param range New full-scale accelerometer range setting
garfieldsg	0:662207e34fba	376	* @see getFullScaleAccelRange()
garfieldsg	0:662207e34fba	377	*/
garfieldsg	0:662207e34fba	378	void MPU6050::setFullScaleAccelRange(uint8_t range)
garfieldsg	0:662207e34fba	379	{
garfieldsg	0:662207e34fba	380	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
garfieldsg	0:662207e34fba	381	}
garfieldsg	0:662207e34fba	382	/** Get the high-pass filter configuration.
garfieldsg	0:662207e34fba	383	* The DHPF is a filter module in the path leading to motion detectors (Free
garfieldsg	0:662207e34fba	384	* Fall, Motion threshold, and Zero Motion). The high pass filter output is not
garfieldsg	0:662207e34fba	385	* available to the data registers (see Figure in Section 8 of the MPU-6000/
garfieldsg	0:662207e34fba	386	* MPU-6050 Product Specification document).
garfieldsg	0:662207e34fba	387	*
garfieldsg	0:662207e34fba	388	* The high pass filter has three modes:
garfieldsg	0:662207e34fba	389	*
garfieldsg	0:662207e34fba	390	* <pre>
garfieldsg	0:662207e34fba	391	* Reset: The filter output settles to zero within one sample. This
garfieldsg	0:662207e34fba	392	* effectively disables the high pass filter. This mode may be toggled
garfieldsg	0:662207e34fba	393	* to quickly settle the filter.
garfieldsg	0:662207e34fba	394	*
garfieldsg	0:662207e34fba	395	* On: The high pass filter will pass signals above the cut off frequency.
garfieldsg	0:662207e34fba	396	*
garfieldsg	0:662207e34fba	397	* Hold: When triggered, the filter holds the present sample. The filter
garfieldsg	0:662207e34fba	398	* output will be the difference between the input sample and the held
garfieldsg	0:662207e34fba	399	* sample.
garfieldsg	0:662207e34fba	400	* </pre>
garfieldsg	0:662207e34fba	401	*
garfieldsg	0:662207e34fba	402	* <pre>
garfieldsg	0:662207e34fba	403	* ACCEL_HPF \| Filter Mode \| Cut-off Frequency
garfieldsg	0:662207e34fba	404	* ----------+-------------+------------------
garfieldsg	0:662207e34fba	405	* 0 \| Reset \| None
garfieldsg	0:662207e34fba	406	* 1 \| On \| 5Hz
garfieldsg	0:662207e34fba	407	* 2 \| On \| 2.5Hz
garfieldsg	0:662207e34fba	408	* 3 \| On \| 1.25Hz
garfieldsg	0:662207e34fba	409	* 4 \| On \| 0.63Hz
garfieldsg	0:662207e34fba	410	* 7 \| Hold \| None
garfieldsg	0:662207e34fba	411	* </pre>
garfieldsg	0:662207e34fba	412	*
garfieldsg	0:662207e34fba	413	* @return Current high-pass filter configuration
garfieldsg	0:662207e34fba	414	* @see MPU6050_DHPF_RESET
garfieldsg	0:662207e34fba	415	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	416	*/
garfieldsg	0:662207e34fba	417	uint8_t MPU6050::getDHPFMode()
garfieldsg	0:662207e34fba	418	{
garfieldsg	0:662207e34fba	419	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
garfieldsg	0:662207e34fba	420	return buffer[0];
garfieldsg	0:662207e34fba	421	}
garfieldsg	0:662207e34fba	422	/** Set the high-pass filter configuration.
garfieldsg	0:662207e34fba	423	* @param bandwidth New high-pass filter configuration
garfieldsg	0:662207e34fba	424	* @see setDHPFMode()
garfieldsg	0:662207e34fba	425	* @see MPU6050_DHPF_RESET
garfieldsg	0:662207e34fba	426	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	427	*/
garfieldsg	0:662207e34fba	428	void MPU6050::setDHPFMode(uint8_t bandwidth)
garfieldsg	0:662207e34fba	429	{
garfieldsg	0:662207e34fba	430	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
garfieldsg	0:662207e34fba	431	}
garfieldsg	0:662207e34fba	432
garfieldsg	0:662207e34fba	433	// FF_THR register
garfieldsg	0:662207e34fba	434
garfieldsg	0:662207e34fba	435	/** Get free-fall event acceleration threshold.
garfieldsg	0:662207e34fba	436	* This register configures the detection threshold for Free Fall event
garfieldsg	0:662207e34fba	437	* detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
garfieldsg	0:662207e34fba	438	* absolute value of the accelerometer measurements for the three axes are each
garfieldsg	0:662207e34fba	439	* less than the detection threshold. This condition increments the Free Fall
garfieldsg	0:662207e34fba	440	* duration counter (Register 30). The Free Fall interrupt is triggered when the
garfieldsg	0:662207e34fba	441	* Free Fall duration counter reaches the time specified in FF_DUR.
garfieldsg	0:662207e34fba	442	*
garfieldsg	0:662207e34fba	443	* For more details on the Free Fall detection interrupt, see Section 8.2 of the
garfieldsg	0:662207e34fba	444	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
garfieldsg	0:662207e34fba	445	* 58 of this document.
garfieldsg	0:662207e34fba	446	*
garfieldsg	0:662207e34fba	447	* @return Current free-fall acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	448	* @see MPU6050_RA_FF_THR
garfieldsg	0:662207e34fba	449	*/
garfieldsg	0:662207e34fba	450	uint8_t MPU6050::getFreefallDetectionThreshold()
garfieldsg	0:662207e34fba	451	{
garfieldsg	0:662207e34fba	452	i2Cdev.readByte(devAddr, MPU6050_RA_FF_THR, buffer);
garfieldsg	0:662207e34fba	453	return buffer[0];
garfieldsg	0:662207e34fba	454	}
garfieldsg	0:662207e34fba	455	/** Get free-fall event acceleration threshold.
garfieldsg	0:662207e34fba	456	* @param threshold New free-fall acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	457	* @see getFreefallDetectionThreshold()
garfieldsg	0:662207e34fba	458	* @see MPU6050_RA_FF_THR
garfieldsg	0:662207e34fba	459	*/
garfieldsg	0:662207e34fba	460	void MPU6050::setFreefallDetectionThreshold(uint8_t threshold)
garfieldsg	0:662207e34fba	461	{
garfieldsg	0:662207e34fba	462	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
garfieldsg	0:662207e34fba	463	}
garfieldsg	0:662207e34fba	464
garfieldsg	0:662207e34fba	465	// FF_DUR register
garfieldsg	0:662207e34fba	466
garfieldsg	0:662207e34fba	467	/** Get free-fall event duration threshold.
garfieldsg	0:662207e34fba	468	* This register configures the duration counter threshold for Free Fall event
garfieldsg	0:662207e34fba	469	* detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
garfieldsg	0:662207e34fba	470	* of 1 LSB = 1 ms.
garfieldsg	0:662207e34fba	471	*
garfieldsg	0:662207e34fba	472	* The Free Fall duration counter increments while the absolute value of the
garfieldsg	0:662207e34fba	473	* accelerometer measurements are each less than the detection threshold
garfieldsg	0:662207e34fba	474	* (Register 29). The Free Fall interrupt is triggered when the Free Fall
garfieldsg	0:662207e34fba	475	* duration counter reaches the time specified in this register.
garfieldsg	0:662207e34fba	476	*
garfieldsg	0:662207e34fba	477	* For more details on the Free Fall detection interrupt, see Section 8.2 of
garfieldsg	0:662207e34fba	478	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
garfieldsg	0:662207e34fba	479	* and 58 of this document.
garfieldsg	0:662207e34fba	480	*
garfieldsg	0:662207e34fba	481	* @return Current free-fall duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	482	* @see MPU6050_RA_FF_DUR
garfieldsg	0:662207e34fba	483	*/
garfieldsg	0:662207e34fba	484	uint8_t MPU6050::getFreefallDetectionDuration()
garfieldsg	0:662207e34fba	485	{
garfieldsg	0:662207e34fba	486	i2Cdev.readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
garfieldsg	0:662207e34fba	487	return buffer[0];
garfieldsg	0:662207e34fba	488	}
garfieldsg	0:662207e34fba	489	/** Get free-fall event duration threshold.
garfieldsg	0:662207e34fba	490	* @param duration New free-fall duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	491	* @see getFreefallDetectionDuration()
garfieldsg	0:662207e34fba	492	* @see MPU6050_RA_FF_DUR
garfieldsg	0:662207e34fba	493	*/
garfieldsg	0:662207e34fba	494	void MPU6050::setFreefallDetectionDuration(uint8_t duration)
garfieldsg	0:662207e34fba	495	{
garfieldsg	0:662207e34fba	496	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
garfieldsg	0:662207e34fba	497	}
garfieldsg	0:662207e34fba	498
garfieldsg	0:662207e34fba	499	// MOT_THR register
garfieldsg	0:662207e34fba	500
garfieldsg	0:662207e34fba	501	/** Get motion detection event acceleration threshold.
garfieldsg	0:662207e34fba	502	* This register configures the detection threshold for Motion interrupt
garfieldsg	0:662207e34fba	503	* generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
garfieldsg	0:662207e34fba	504	* absolute value of any of the accelerometer measurements exceeds this Motion
garfieldsg	0:662207e34fba	505	* detection threshold. This condition increments the Motion detection duration
garfieldsg	0:662207e34fba	506	* counter (Register 32). The Motion detection interrupt is triggered when the
garfieldsg	0:662207e34fba	507	* Motion Detection counter reaches the time count specified in MOT_DUR
garfieldsg	0:662207e34fba	508	* (Register 32).
garfieldsg	0:662207e34fba	509	*
garfieldsg	0:662207e34fba	510	* The Motion interrupt will indicate the axis and polarity of detected motion
garfieldsg	0:662207e34fba	511	* in MOT_DETECT_STATUS (Register 97).
garfieldsg	0:662207e34fba	512	*
garfieldsg	0:662207e34fba	513	* For more details on the Motion detection interrupt, see Section 8.3 of the
garfieldsg	0:662207e34fba	514	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
garfieldsg	0:662207e34fba	515	* 58 of this document.
garfieldsg	0:662207e34fba	516	*
garfieldsg	0:662207e34fba	517	* @return Current motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	518	* @see MPU6050_RA_MOT_THR
garfieldsg	0:662207e34fba	519	*/
garfieldsg	0:662207e34fba	520	uint8_t MPU6050::getMotionDetectionThreshold()
garfieldsg	0:662207e34fba	521	{
garfieldsg	0:662207e34fba	522	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
garfieldsg	0:662207e34fba	523	return buffer[0];
garfieldsg	0:662207e34fba	524	}
garfieldsg	0:662207e34fba	525	/** Set free-fall event acceleration threshold.
garfieldsg	0:662207e34fba	526	* @param threshold New motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	527	* @see getMotionDetectionThreshold()
garfieldsg	0:662207e34fba	528	* @see MPU6050_RA_MOT_THR
garfieldsg	0:662207e34fba	529	*/
garfieldsg	0:662207e34fba	530	void MPU6050::setMotionDetectionThreshold(uint8_t threshold)
garfieldsg	0:662207e34fba	531	{
garfieldsg	0:662207e34fba	532	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
garfieldsg	0:662207e34fba	533	}
garfieldsg	0:662207e34fba	534
garfieldsg	0:662207e34fba	535	// MOT_DUR register
garfieldsg	0:662207e34fba	536
garfieldsg	0:662207e34fba	537	/** Get motion detection event duration threshold.
garfieldsg	0:662207e34fba	538	* This register configures the duration counter threshold for Motion interrupt
garfieldsg	0:662207e34fba	539	* generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
garfieldsg	0:662207e34fba	540	* of 1LSB = 1ms. The Motion detection duration counter increments when the
garfieldsg	0:662207e34fba	541	* absolute value of any of the accelerometer measurements exceeds the Motion
garfieldsg	0:662207e34fba	542	* detection threshold (Register 31). The Motion detection interrupt is
garfieldsg	0:662207e34fba	543	* triggered when the Motion detection counter reaches the time count specified
garfieldsg	0:662207e34fba	544	* in this register.
garfieldsg	0:662207e34fba	545	*
garfieldsg	0:662207e34fba	546	* For more details on the Motion detection interrupt, see Section 8.3 of the
garfieldsg	0:662207e34fba	547	* MPU-6000/MPU-6050 Product Specification document.
garfieldsg	0:662207e34fba	548	*
garfieldsg	0:662207e34fba	549	* @return Current motion detection duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	550	* @see MPU6050_RA_MOT_DUR
garfieldsg	0:662207e34fba	551	*/
garfieldsg	0:662207e34fba	552	uint8_t MPU6050::getMotionDetectionDuration()
garfieldsg	0:662207e34fba	553	{
garfieldsg	0:662207e34fba	554	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
garfieldsg	0:662207e34fba	555	return buffer[0];
garfieldsg	0:662207e34fba	556	}
garfieldsg	0:662207e34fba	557	/** Set motion detection event duration threshold.
garfieldsg	0:662207e34fba	558	* @param duration New motion detection duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	559	* @see getMotionDetectionDuration()
garfieldsg	0:662207e34fba	560	* @see MPU6050_RA_MOT_DUR
garfieldsg	0:662207e34fba	561	*/
garfieldsg	0:662207e34fba	562	void MPU6050::setMotionDetectionDuration(uint8_t duration)
garfieldsg	0:662207e34fba	563	{
garfieldsg	0:662207e34fba	564	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
garfieldsg	0:662207e34fba	565	}
garfieldsg	0:662207e34fba	566
garfieldsg	0:662207e34fba	567	// ZRMOT_THR register
garfieldsg	0:662207e34fba	568
garfieldsg	0:662207e34fba	569	/** Get zero motion detection event acceleration threshold.
garfieldsg	0:662207e34fba	570	* This register configures the detection threshold for Zero Motion interrupt
garfieldsg	0:662207e34fba	571	* generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
garfieldsg	0:662207e34fba	572	* the absolute value of the accelerometer measurements for the 3 axes are each
garfieldsg	0:662207e34fba	573	* less than the detection threshold. This condition increments the Zero Motion
garfieldsg	0:662207e34fba	574	* duration counter (Register 34). The Zero Motion interrupt is triggered when
garfieldsg	0:662207e34fba	575	* the Zero Motion duration counter reaches the time count specified in
garfieldsg	0:662207e34fba	576	* ZRMOT_DUR (Register 34).
garfieldsg	0:662207e34fba	577	*
garfieldsg	0:662207e34fba	578	* Unlike Free Fall or Motion detection, Zero Motion detection triggers an
garfieldsg	0:662207e34fba	579	* interrupt both when Zero Motion is first detected and when Zero Motion is no
garfieldsg	0:662207e34fba	580	* longer detected.
garfieldsg	0:662207e34fba	581	*
garfieldsg	0:662207e34fba	582	* When a zero motion event is detected, a Zero Motion Status will be indicated
garfieldsg	0:662207e34fba	583	* in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
garfieldsg	0:662207e34fba	584	* condition is detected, the status bit is set to 1. When a zero-motion-to-
garfieldsg	0:662207e34fba	585	* motion condition is detected, the status bit is set to 0.
garfieldsg	0:662207e34fba	586	*
garfieldsg	0:662207e34fba	587	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
garfieldsg	0:662207e34fba	588	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
garfieldsg	0:662207e34fba	589	* and 58 of this document.
garfieldsg	0:662207e34fba	590	*
garfieldsg	0:662207e34fba	591	* @return Current zero motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	592	* @see MPU6050_RA_ZRMOT_THR
garfieldsg	0:662207e34fba	593	*/
garfieldsg	0:662207e34fba	594	uint8_t MPU6050::getZeroMotionDetectionThreshold()
garfieldsg	0:662207e34fba	595	{
garfieldsg	0:662207e34fba	596	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
garfieldsg	0:662207e34fba	597	return buffer[0];
garfieldsg	0:662207e34fba	598	}
garfieldsg	0:662207e34fba	599	/** Set zero motion detection event acceleration threshold.
garfieldsg	0:662207e34fba	600	* @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	601	* @see getZeroMotionDetectionThreshold()
garfieldsg	0:662207e34fba	602	* @see MPU6050_RA_ZRMOT_THR
garfieldsg	0:662207e34fba	603	*/
garfieldsg	0:662207e34fba	604	void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold)
garfieldsg	0:662207e34fba	605	{
garfieldsg	0:662207e34fba	606	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
garfieldsg	0:662207e34fba	607	}
garfieldsg	0:662207e34fba	608
garfieldsg	0:662207e34fba	609	// ZRMOT_DUR register
garfieldsg	0:662207e34fba	610
garfieldsg	0:662207e34fba	611	/** Get zero motion detection event duration threshold.
garfieldsg	0:662207e34fba	612	* This register configures the duration counter threshold for Zero Motion
garfieldsg	0:662207e34fba	613	* interrupt generation. The duration counter ticks at 16 Hz, therefore
garfieldsg	0:662207e34fba	614	* ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
garfieldsg	0:662207e34fba	615	* increments while the absolute value of the accelerometer measurements are
garfieldsg	0:662207e34fba	616	* each less than the detection threshold (Register 33). The Zero Motion
garfieldsg	0:662207e34fba	617	* interrupt is triggered when the Zero Motion duration counter reaches the time
garfieldsg	0:662207e34fba	618	* count specified in this register.
garfieldsg	0:662207e34fba	619	*
garfieldsg	0:662207e34fba	620	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
garfieldsg	0:662207e34fba	621	* the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
garfieldsg	0:662207e34fba	622	* and 58 of this document.
garfieldsg	0:662207e34fba	623	*
garfieldsg	0:662207e34fba	624	* @return Current zero motion detection duration threshold value (LSB = 64ms)
garfieldsg	0:662207e34fba	625	* @see MPU6050_RA_ZRMOT_DUR
garfieldsg	0:662207e34fba	626	*/
garfieldsg	0:662207e34fba	627	uint8_t MPU6050::getZeroMotionDetectionDuration()
garfieldsg	0:662207e34fba	628	{
garfieldsg	0:662207e34fba	629	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
garfieldsg	0:662207e34fba	630	return buffer[0];
garfieldsg	0:662207e34fba	631	}
garfieldsg	0:662207e34fba	632	/** Set zero motion detection event duration threshold.
garfieldsg	0:662207e34fba	633	* @param duration New zero motion detection duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	634	* @see getZeroMotionDetectionDuration()
garfieldsg	0:662207e34fba	635	* @see MPU6050_RA_ZRMOT_DUR
garfieldsg	0:662207e34fba	636	*/
garfieldsg	0:662207e34fba	637	void MPU6050::setZeroMotionDetectionDuration(uint8_t duration)
garfieldsg	0:662207e34fba	638	{
garfieldsg	0:662207e34fba	639	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
garfieldsg	0:662207e34fba	640	}
garfieldsg	0:662207e34fba	641
garfieldsg	0:662207e34fba	642	// FIFO_EN register
garfieldsg	0:662207e34fba	643
garfieldsg	0:662207e34fba	644	/** Get temperature FIFO enabled value.
garfieldsg	0:662207e34fba	645	* When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
garfieldsg	0:662207e34fba	646	* 66) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	647	* @return Current temperature FIFO enabled value
garfieldsg	0:662207e34fba	648	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	649	*/
garfieldsg	0:662207e34fba	650	bool MPU6050::getTempFIFOEnabled()
garfieldsg	0:662207e34fba	651	{
garfieldsg	0:662207e34fba	652	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	653	return buffer[0];
garfieldsg	0:662207e34fba	654	}
garfieldsg	0:662207e34fba	655	/** Set temperature FIFO enabled value.
garfieldsg	0:662207e34fba	656	* @param enabled New temperature FIFO enabled value
garfieldsg	0:662207e34fba	657	* @see getTempFIFOEnabled()
garfieldsg	0:662207e34fba	658	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	659	*/
garfieldsg	0:662207e34fba	660	void MPU6050::setTempFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	661	{
garfieldsg	0:662207e34fba	662	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	663	}
garfieldsg	0:662207e34fba	664	/** Get gyroscope X-axis FIFO enabled value.
garfieldsg	0:662207e34fba	665	* When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
garfieldsg	0:662207e34fba	666	* 68) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	667	* @return Current gyroscope X-axis FIFO enabled value
garfieldsg	0:662207e34fba	668	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	669	*/
garfieldsg	0:662207e34fba	670	bool MPU6050::getXGyroFIFOEnabled()
garfieldsg	0:662207e34fba	671	{
garfieldsg	0:662207e34fba	672	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	673	return buffer[0];
garfieldsg	0:662207e34fba	674	}
garfieldsg	0:662207e34fba	675	/** Set gyroscope X-axis FIFO enabled value.
garfieldsg	0:662207e34fba	676	* @param enabled New gyroscope X-axis FIFO enabled value
garfieldsg	0:662207e34fba	677	* @see getXGyroFIFOEnabled()
garfieldsg	0:662207e34fba	678	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	679	*/
garfieldsg	0:662207e34fba	680	void MPU6050::setXGyroFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	681	{
garfieldsg	0:662207e34fba	682	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	683	}
garfieldsg	0:662207e34fba	684	/** Get gyroscope Y-axis FIFO enabled value.
garfieldsg	0:662207e34fba	685	* When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
garfieldsg	0:662207e34fba	686	* 70) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	687	* @return Current gyroscope Y-axis FIFO enabled value
garfieldsg	0:662207e34fba	688	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	689	*/
garfieldsg	0:662207e34fba	690	bool MPU6050::getYGyroFIFOEnabled()
garfieldsg	0:662207e34fba	691	{
garfieldsg	0:662207e34fba	692	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	693	return buffer[0];
garfieldsg	0:662207e34fba	694	}
garfieldsg	0:662207e34fba	695	/** Set gyroscope Y-axis FIFO enabled value.
garfieldsg	0:662207e34fba	696	* @param enabled New gyroscope Y-axis FIFO enabled value
garfieldsg	0:662207e34fba	697	* @see getYGyroFIFOEnabled()
garfieldsg	0:662207e34fba	698	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	699	*/
garfieldsg	0:662207e34fba	700	void MPU6050::setYGyroFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	701	{
garfieldsg	0:662207e34fba	702	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	703	}
garfieldsg	0:662207e34fba	704	/** Get gyroscope Z-axis FIFO enabled value.
garfieldsg	0:662207e34fba	705	* When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
garfieldsg	0:662207e34fba	706	* 72) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	707	* @return Current gyroscope Z-axis FIFO enabled value
garfieldsg	0:662207e34fba	708	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	709	*/
garfieldsg	0:662207e34fba	710	bool MPU6050::getZGyroFIFOEnabled()
garfieldsg	0:662207e34fba	711	{
garfieldsg	0:662207e34fba	712	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	713	return buffer[0];
garfieldsg	0:662207e34fba	714	}
garfieldsg	0:662207e34fba	715	/** Set gyroscope Z-axis FIFO enabled value.
garfieldsg	0:662207e34fba	716	* @param enabled New gyroscope Z-axis FIFO enabled value
garfieldsg	0:662207e34fba	717	* @see getZGyroFIFOEnabled()
garfieldsg	0:662207e34fba	718	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	719	*/
garfieldsg	0:662207e34fba	720	void MPU6050::setZGyroFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	721	{
garfieldsg	0:662207e34fba	722	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	723	}
garfieldsg	0:662207e34fba	724	/** Get accelerometer FIFO enabled value.
garfieldsg	0:662207e34fba	725	* When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
garfieldsg	0:662207e34fba	726	* ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
garfieldsg	0:662207e34fba	727	* written into the FIFO buffer.
garfieldsg	0:662207e34fba	728	* @return Current accelerometer FIFO enabled value
garfieldsg	0:662207e34fba	729	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	730	*/
garfieldsg	0:662207e34fba	731	bool MPU6050::getAccelFIFOEnabled()
garfieldsg	0:662207e34fba	732	{
garfieldsg	0:662207e34fba	733	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	734	return buffer[0];
garfieldsg	0:662207e34fba	735	}
garfieldsg	0:662207e34fba	736	/** Set accelerometer FIFO enabled value.
garfieldsg	0:662207e34fba	737	* @param enabled New accelerometer FIFO enabled value
garfieldsg	0:662207e34fba	738	* @see getAccelFIFOEnabled()
garfieldsg	0:662207e34fba	739	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	740	*/
garfieldsg	0:662207e34fba	741	void MPU6050::setAccelFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	742	{
garfieldsg	0:662207e34fba	743	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	744	}
garfieldsg	0:662207e34fba	745	/** Get Slave 2 FIFO enabled value.
garfieldsg	0:662207e34fba	746	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	747	* associated with Slave 2 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	748	* @return Current Slave 2 FIFO enabled value
garfieldsg	0:662207e34fba	749	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	750	*/
garfieldsg	0:662207e34fba	751	bool MPU6050::getSlave2FIFOEnabled()
garfieldsg	0:662207e34fba	752	{
garfieldsg	0:662207e34fba	753	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	754	return buffer[0];
garfieldsg	0:662207e34fba	755	}
garfieldsg	0:662207e34fba	756	/** Set Slave 2 FIFO enabled value.
garfieldsg	0:662207e34fba	757	* @param enabled New Slave 2 FIFO enabled value
garfieldsg	0:662207e34fba	758	* @see getSlave2FIFOEnabled()
garfieldsg	0:662207e34fba	759	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	760	*/
garfieldsg	0:662207e34fba	761	void MPU6050::setSlave2FIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	762	{
garfieldsg	0:662207e34fba	763	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	764	}
garfieldsg	0:662207e34fba	765	/** Get Slave 1 FIFO enabled value.
garfieldsg	0:662207e34fba	766	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	767	* associated with Slave 1 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	768	* @return Current Slave 1 FIFO enabled value
garfieldsg	0:662207e34fba	769	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	770	*/
garfieldsg	0:662207e34fba	771	bool MPU6050::getSlave1FIFOEnabled()
garfieldsg	0:662207e34fba	772	{
garfieldsg	0:662207e34fba	773	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	774	return buffer[0];
garfieldsg	0:662207e34fba	775	}
garfieldsg	0:662207e34fba	776	/** Set Slave 1 FIFO enabled value.
garfieldsg	0:662207e34fba	777	* @param enabled New Slave 1 FIFO enabled value
garfieldsg	0:662207e34fba	778	* @see getSlave1FIFOEnabled()
garfieldsg	0:662207e34fba	779	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	780	*/
garfieldsg	0:662207e34fba	781	void MPU6050::setSlave1FIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	782	{
garfieldsg	0:662207e34fba	783	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	784	}
garfieldsg	0:662207e34fba	785	/** Get Slave 0 FIFO enabled value.
garfieldsg	0:662207e34fba	786	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	787	* associated with Slave 0 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	788	* @return Current Slave 0 FIFO enabled value
garfieldsg	0:662207e34fba	789	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	790	*/
garfieldsg	0:662207e34fba	791	bool MPU6050::getSlave0FIFOEnabled()
garfieldsg	0:662207e34fba	792	{
garfieldsg	0:662207e34fba	793	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	794	return buffer[0];
garfieldsg	0:662207e34fba	795	}
garfieldsg	0:662207e34fba	796	/** Set Slave 0 FIFO enabled value.
garfieldsg	0:662207e34fba	797	* @param enabled New Slave 0 FIFO enabled value
garfieldsg	0:662207e34fba	798	* @see getSlave0FIFOEnabled()
garfieldsg	0:662207e34fba	799	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	800	*/
garfieldsg	0:662207e34fba	801	void MPU6050::setSlave0FIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	802	{
garfieldsg	0:662207e34fba	803	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	804	}
garfieldsg	0:662207e34fba	805
garfieldsg	0:662207e34fba	806	// I2C_MST_CTRL register
garfieldsg	0:662207e34fba	807
garfieldsg	0:662207e34fba	808	/** Get multi-master enabled value.
garfieldsg	0:662207e34fba	809	* Multi-master capability allows multiple I2C masters to operate on the same
garfieldsg	0:662207e34fba	810	* bus. In circuits where multi-master capability is required, set MULT_MST_EN
garfieldsg	0:662207e34fba	811	* to 1. This will increase current drawn by approximately 30uA.
garfieldsg	0:662207e34fba	812	*
garfieldsg	0:662207e34fba	813	* In circuits where multi-master capability is required, the state of the I2C
garfieldsg	0:662207e34fba	814	* bus must always be monitored by each separate I2C Master. Before an I2C
garfieldsg	0:662207e34fba	815	* Master can assume arbitration of the bus, it must first confirm that no other
garfieldsg	0:662207e34fba	816	* I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
garfieldsg	0:662207e34fba	817	* MPU-60X0's bus arbitration detection logic is turned on, enabling it to
garfieldsg	0:662207e34fba	818	* detect when the bus is available.
garfieldsg	0:662207e34fba	819	*
garfieldsg	0:662207e34fba	820	* @return Current multi-master enabled value
garfieldsg	0:662207e34fba	821	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	822	*/
garfieldsg	0:662207e34fba	823	bool MPU6050::getMultiMasterEnabled()
garfieldsg	0:662207e34fba	824	{
garfieldsg	0:662207e34fba	825	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
garfieldsg	0:662207e34fba	826	return buffer[0];
garfieldsg	0:662207e34fba	827	}
garfieldsg	0:662207e34fba	828	/** Set multi-master enabled value.
garfieldsg	0:662207e34fba	829	* @param enabled New multi-master enabled value
garfieldsg	0:662207e34fba	830	* @see getMultiMasterEnabled()
garfieldsg	0:662207e34fba	831	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	832	*/
garfieldsg	0:662207e34fba	833	void MPU6050::setMultiMasterEnabled(bool enabled)
garfieldsg	0:662207e34fba	834	{
garfieldsg	0:662207e34fba	835	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
garfieldsg	0:662207e34fba	836	}
garfieldsg	0:662207e34fba	837	/** Get wait-for-external-sensor-data enabled value.
garfieldsg	0:662207e34fba	838	* When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
garfieldsg	0:662207e34fba	839	* delayed until External Sensor data from the Slave Devices are loaded into the
garfieldsg	0:662207e34fba	840	* EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
garfieldsg	0:662207e34fba	841	* data (i.e. from gyro and accel) and external sensor data have been loaded to
garfieldsg	0:662207e34fba	842	* their respective data registers (i.e. the data is synced) when the Data Ready
garfieldsg	0:662207e34fba	843	* interrupt is triggered.
garfieldsg	0:662207e34fba	844	*
garfieldsg	0:662207e34fba	845	* @return Current wait-for-external-sensor-data enabled value
garfieldsg	0:662207e34fba	846	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	847	*/
garfieldsg	0:662207e34fba	848	bool MPU6050::getWaitForExternalSensorEnabled()
garfieldsg	0:662207e34fba	849	{
garfieldsg	0:662207e34fba	850	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
garfieldsg	0:662207e34fba	851	return buffer[0];
garfieldsg	0:662207e34fba	852	}
garfieldsg	0:662207e34fba	853	/** Set wait-for-external-sensor-data enabled value.
garfieldsg	0:662207e34fba	854	* @param enabled New wait-for-external-sensor-data enabled value
garfieldsg	0:662207e34fba	855	* @see getWaitForExternalSensorEnabled()
garfieldsg	0:662207e34fba	856	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	857	*/
garfieldsg	0:662207e34fba	858	void MPU6050::setWaitForExternalSensorEnabled(bool enabled)
garfieldsg	0:662207e34fba	859	{
garfieldsg	0:662207e34fba	860	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
garfieldsg	0:662207e34fba	861	}
garfieldsg	0:662207e34fba	862	/** Get Slave 3 FIFO enabled value.
garfieldsg	0:662207e34fba	863	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	864	* associated with Slave 3 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	865	* @return Current Slave 3 FIFO enabled value
garfieldsg	0:662207e34fba	866	* @see MPU6050_RA_MST_CTRL
garfieldsg	0:662207e34fba	867	*/
garfieldsg	0:662207e34fba	868	bool MPU6050::getSlave3FIFOEnabled()
garfieldsg	0:662207e34fba	869	{
garfieldsg	0:662207e34fba	870	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	871	return buffer[0];
garfieldsg	0:662207e34fba	872	}
garfieldsg	0:662207e34fba	873	/** Set Slave 3 FIFO enabled value.
garfieldsg	0:662207e34fba	874	* @param enabled New Slave 3 FIFO enabled value
garfieldsg	0:662207e34fba	875	* @see getSlave3FIFOEnabled()
garfieldsg	0:662207e34fba	876	* @see MPU6050_RA_MST_CTRL
garfieldsg	0:662207e34fba	877	*/
garfieldsg	0:662207e34fba	878	void MPU6050::setSlave3FIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	879	{
garfieldsg	0:662207e34fba	880	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	881	}
garfieldsg	0:662207e34fba	882	/** Get slave read/write transition enabled value.
garfieldsg	0:662207e34fba	883	* The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
garfieldsg	0:662207e34fba	884	* read to the next slave read. If the bit equals 0, there will be a restart
garfieldsg	0:662207e34fba	885	* between reads. If the bit equals 1, there will be a stop followed by a start
garfieldsg	0:662207e34fba	886	* of the following read. When a write transaction follows a read transaction,
garfieldsg	0:662207e34fba	887	* the stop followed by a start of the successive write will be always used.
garfieldsg	0:662207e34fba	888	*
garfieldsg	0:662207e34fba	889	* @return Current slave read/write transition enabled value
garfieldsg	0:662207e34fba	890	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	891	*/
garfieldsg	0:662207e34fba	892	bool MPU6050::getSlaveReadWriteTransitionEnabled()
garfieldsg	0:662207e34fba	893	{
garfieldsg	0:662207e34fba	894	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
garfieldsg	0:662207e34fba	895	return buffer[0];
garfieldsg	0:662207e34fba	896	}
garfieldsg	0:662207e34fba	897	/** Set slave read/write transition enabled value.
garfieldsg	0:662207e34fba	898	* @param enabled New slave read/write transition enabled value
garfieldsg	0:662207e34fba	899	* @see getSlaveReadWriteTransitionEnabled()
garfieldsg	0:662207e34fba	900	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	901	*/
garfieldsg	0:662207e34fba	902	void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled)
garfieldsg	0:662207e34fba	903	{
garfieldsg	0:662207e34fba	904	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
garfieldsg	0:662207e34fba	905	}
garfieldsg	0:662207e34fba	906	/** Get I2C master clock speed.
garfieldsg	0:662207e34fba	907	* I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
garfieldsg	0:662207e34fba	908	* MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
garfieldsg	0:662207e34fba	909	* the following table:
garfieldsg	0:662207e34fba	910	*
garfieldsg	0:662207e34fba	911	* <pre>
garfieldsg	0:662207e34fba	912	* I2C_MST_CLK \| I2C Master Clock Speed \| 8MHz Clock Divider
garfieldsg	0:662207e34fba	913	* ------------+------------------------+-------------------
garfieldsg	0:662207e34fba	914	* 0 \| 348kHz \| 23
garfieldsg	0:662207e34fba	915	* 1 \| 333kHz \| 24
garfieldsg	0:662207e34fba	916	* 2 \| 320kHz \| 25
garfieldsg	0:662207e34fba	917	* 3 \| 308kHz \| 26
garfieldsg	0:662207e34fba	918	* 4 \| 296kHz \| 27
garfieldsg	0:662207e34fba	919	* 5 \| 286kHz \| 28
garfieldsg	0:662207e34fba	920	* 6 \| 276kHz \| 29
garfieldsg	0:662207e34fba	921	* 7 \| 267kHz \| 30
garfieldsg	0:662207e34fba	922	* 8 \| 258kHz \| 31
garfieldsg	0:662207e34fba	923	* 9 \| 500kHz \| 16
garfieldsg	0:662207e34fba	924	* 10 \| 471kHz \| 17
garfieldsg	0:662207e34fba	925	* 11 \| 444kHz \| 18
garfieldsg	0:662207e34fba	926	* 12 \| 421kHz \| 19
garfieldsg	0:662207e34fba	927	* 13 \| 400kHz \| 20
garfieldsg	0:662207e34fba	928	* 14 \| 381kHz \| 21
garfieldsg	0:662207e34fba	929	* 15 \| 364kHz \| 22
garfieldsg	0:662207e34fba	930	* </pre>
garfieldsg	0:662207e34fba	931	*
garfieldsg	0:662207e34fba	932	* @return Current I2C master clock speed
garfieldsg	0:662207e34fba	933	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	934	*/
garfieldsg	0:662207e34fba	935	uint8_t MPU6050::getMasterClockSpeed()
garfieldsg	0:662207e34fba	936	{
garfieldsg	0:662207e34fba	937	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
garfieldsg	0:662207e34fba	938	return buffer[0];
garfieldsg	0:662207e34fba	939	}
garfieldsg	0:662207e34fba	940	/** Set I2C master clock speed.
garfieldsg	0:662207e34fba	941	* @reparam speed Current I2C master clock speed
garfieldsg	0:662207e34fba	942	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	943	*/
garfieldsg	0:662207e34fba	944	void MPU6050::setMasterClockSpeed(uint8_t speed)
garfieldsg	0:662207e34fba	945	{
garfieldsg	0:662207e34fba	946	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
garfieldsg	0:662207e34fba	947	}
garfieldsg	0:662207e34fba	948
garfieldsg	0:662207e34fba	949	// I2C_SLV* registers (Slave 0-3)
garfieldsg	0:662207e34fba	950
garfieldsg	0:662207e34fba	951	/** Get the I2C address of the specified slave (0-3).
garfieldsg	0:662207e34fba	952	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
garfieldsg	0:662207e34fba	953	* operation, and if it is cleared, then it's a write operation. The remaining
garfieldsg	0:662207e34fba	954	* bits (6-0) are the 7-bit device address of the slave device.
garfieldsg	0:662207e34fba	955	*
garfieldsg	0:662207e34fba	956	* In read mode, the result of the read is placed in the lowest available
garfieldsg	0:662207e34fba	957	* EXT_SENS_DATA register. For further information regarding the allocation of
garfieldsg	0:662207e34fba	958	* read results, please refer to the EXT_SENS_DATA register description
garfieldsg	0:662207e34fba	959	* (Registers 73 - 96).
garfieldsg	0:662207e34fba	960	*
garfieldsg	0:662207e34fba	961	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
garfieldsg	0:662207e34fba	962	* characteristics, and so it has its own functions (getSlave4* and setSlave4*).
garfieldsg	0:662207e34fba	963	*
garfieldsg	0:662207e34fba	964	* I2C data transactions are performed at the Sample Rate, as defined in
garfieldsg	0:662207e34fba	965	* Register 25. The user is responsible for ensuring that I2C data transactions
garfieldsg	0:662207e34fba	966	* to and from each enabled Slave can be completed within a single period of the
garfieldsg	0:662207e34fba	967	* Sample Rate.
garfieldsg	0:662207e34fba	968	*
garfieldsg	0:662207e34fba	969	* The I2C slave access rate can be reduced relative to the Sample Rate. This
garfieldsg	0:662207e34fba	970	* reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
garfieldsg	0:662207e34fba	971	* slave's access rate is reduced relative to the Sample Rate is determined by
garfieldsg	0:662207e34fba	972	* I2C_MST_DELAY_CTRL (Register 103).
garfieldsg	0:662207e34fba	973	*
garfieldsg	0:662207e34fba	974	* The processing order for the slaves is fixed. The sequence followed for
garfieldsg	0:662207e34fba	975	* processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
garfieldsg	0:662207e34fba	976	* particular Slave is disabled it will be skipped.
garfieldsg	0:662207e34fba	977	*
garfieldsg	0:662207e34fba	978	* Each slave can either be accessed at the sample rate or at a reduced sample
garfieldsg	0:662207e34fba	979	* rate. In a case where some slaves are accessed at the Sample Rate and some
garfieldsg	0:662207e34fba	980	* slaves are accessed at the reduced rate, the sequence of accessing the slaves
garfieldsg	0:662207e34fba	981	* (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
garfieldsg	0:662207e34fba	982	* be skipped if their access rate dictates that they should not be accessed
garfieldsg	0:662207e34fba	983	* during that particular cycle. For further information regarding the reduced
garfieldsg	0:662207e34fba	984	* access rate, please refer to Register 52. Whether a slave is accessed at the
garfieldsg	0:662207e34fba	985	* Sample Rate or at the reduced rate is determined by the Delay Enable bits in
garfieldsg	0:662207e34fba	986	* Register 103.
garfieldsg	0:662207e34fba	987	*
garfieldsg	0:662207e34fba	988	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	989	* @return Current address for specified slave
garfieldsg	0:662207e34fba	990	* @see MPU6050_RA_I2C_SLV0_ADDR
garfieldsg	0:662207e34fba	991	*/
garfieldsg	0:662207e34fba	992	uint8_t MPU6050::getSlaveAddress(uint8_t num)
garfieldsg	0:662207e34fba	993	{
garfieldsg	0:662207e34fba	994	if (num > 3) return 0;
garfieldsg	0:662207e34fba	995	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
garfieldsg	0:662207e34fba	996	return buffer[0];
garfieldsg	0:662207e34fba	997	}
garfieldsg	0:662207e34fba	998	/** Set the I2C address of the specified slave (0-3).
garfieldsg	0:662207e34fba	999	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1000	* @param address New address for specified slave
garfieldsg	0:662207e34fba	1001	* @see getSlaveAddress()
garfieldsg	0:662207e34fba	1002	* @see MPU6050_RA_I2C_SLV0_ADDR
garfieldsg	0:662207e34fba	1003	*/
garfieldsg	0:662207e34fba	1004	void MPU6050::setSlaveAddress(uint8_t num, uint8_t address)
garfieldsg	0:662207e34fba	1005	{
garfieldsg	0:662207e34fba	1006	if (num > 3) return;
garfieldsg	0:662207e34fba	1007	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
garfieldsg	0:662207e34fba	1008	}
garfieldsg	0:662207e34fba	1009	/** Get the active internal register for the specified slave (0-3).
garfieldsg	0:662207e34fba	1010	* Read/write operations for this slave will be done to whatever internal
garfieldsg	0:662207e34fba	1011	* register address is stored in this MPU register.
garfieldsg	0:662207e34fba	1012	*
garfieldsg	0:662207e34fba	1013	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
garfieldsg	0:662207e34fba	1014	* characteristics, and so it has its own functions.
garfieldsg	0:662207e34fba	1015	*
garfieldsg	0:662207e34fba	1016	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1017	* @return Current active register for specified slave
garfieldsg	0:662207e34fba	1018	* @see MPU6050_RA_I2C_SLV0_REG
garfieldsg	0:662207e34fba	1019	*/
garfieldsg	0:662207e34fba	1020	uint8_t MPU6050::getSlaveRegister(uint8_t num)
garfieldsg	0:662207e34fba	1021	{
garfieldsg	0:662207e34fba	1022	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1023	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
garfieldsg	0:662207e34fba	1024	return buffer[0];
garfieldsg	0:662207e34fba	1025	}
garfieldsg	0:662207e34fba	1026	/** Set the active internal register for the specified slave (0-3).
garfieldsg	0:662207e34fba	1027	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1028	* @param reg New active register for specified slave
garfieldsg	0:662207e34fba	1029	* @see getSlaveRegister()
garfieldsg	0:662207e34fba	1030	* @see MPU6050_RA_I2C_SLV0_REG
garfieldsg	0:662207e34fba	1031	*/
garfieldsg	0:662207e34fba	1032	void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg)
garfieldsg	0:662207e34fba	1033	{
garfieldsg	0:662207e34fba	1034	if (num > 3) return;
garfieldsg	0:662207e34fba	1035	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
garfieldsg	0:662207e34fba	1036	}
garfieldsg	0:662207e34fba	1037	/** Get the enabled value for the specified slave (0-3).
garfieldsg	0:662207e34fba	1038	* When set to 1, this bit enables Slave 0 for data transfer operations. When
garfieldsg	0:662207e34fba	1039	* cleared to 0, this bit disables Slave 0 from data transfer operations.
garfieldsg	0:662207e34fba	1040	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1041	* @return Current enabled value for specified slave
garfieldsg	0:662207e34fba	1042	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1043	*/
garfieldsg	0:662207e34fba	1044	bool MPU6050::getSlaveEnabled(uint8_t num)
garfieldsg	0:662207e34fba	1045	{
garfieldsg	0:662207e34fba	1046	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1047	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1048	return buffer[0];
garfieldsg	0:662207e34fba	1049	}
garfieldsg	0:662207e34fba	1050	/** Set the enabled value for the specified slave (0-3).
garfieldsg	0:662207e34fba	1051	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1052	* @param enabled New enabled value for specified slave
garfieldsg	0:662207e34fba	1053	* @see getSlaveEnabled()
garfieldsg	0:662207e34fba	1054	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1055	*/
garfieldsg	0:662207e34fba	1056	void MPU6050::setSlaveEnabled(uint8_t num, bool enabled)
garfieldsg	0:662207e34fba	1057	{
garfieldsg	0:662207e34fba	1058	if (num > 3) return;
garfieldsg	0:662207e34fba	1059	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1060	}
garfieldsg	0:662207e34fba	1061	/** Get word pair byte-swapping enabled for the specified slave (0-3).
garfieldsg	0:662207e34fba	1062	* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
garfieldsg	0:662207e34fba	1063	* the high and low bytes of a word pair are swapped. Please refer to
garfieldsg	0:662207e34fba	1064	* I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
garfieldsg	0:662207e34fba	1065	* bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
garfieldsg	0:662207e34fba	1066	* registers in the order they were transferred.
garfieldsg	0:662207e34fba	1067	*
garfieldsg	0:662207e34fba	1068	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1069	* @return Current word pair byte-swapping enabled value for specified slave
garfieldsg	0:662207e34fba	1070	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1071	*/
garfieldsg	0:662207e34fba	1072	bool MPU6050::getSlaveWordByteSwap(uint8_t num)
garfieldsg	0:662207e34fba	1073	{
garfieldsg	0:662207e34fba	1074	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1075	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
garfieldsg	0:662207e34fba	1076	return buffer[0];
garfieldsg	0:662207e34fba	1077	}
garfieldsg	0:662207e34fba	1078	/** Set word pair byte-swapping enabled for the specified slave (0-3).
garfieldsg	0:662207e34fba	1079	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1080	* @param enabled New word pair byte-swapping enabled value for specified slave
garfieldsg	0:662207e34fba	1081	* @see getSlaveWordByteSwap()
garfieldsg	0:662207e34fba	1082	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1083	*/
garfieldsg	0:662207e34fba	1084	void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled)
garfieldsg	0:662207e34fba	1085	{
garfieldsg	0:662207e34fba	1086	if (num > 3) return;
garfieldsg	0:662207e34fba	1087	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
garfieldsg	0:662207e34fba	1088	}
garfieldsg	0:662207e34fba	1089	/** Get write mode for the specified slave (0-3).
garfieldsg	0:662207e34fba	1090	* When set to 1, the transaction will read or write data only. When cleared to
garfieldsg	0:662207e34fba	1091	* 0, the transaction will write a register address prior to reading or writing
garfieldsg	0:662207e34fba	1092	* data. This should equal 0 when specifying the register address within the
garfieldsg	0:662207e34fba	1093	* Slave device to/from which the ensuing data transaction will take place.
garfieldsg	0:662207e34fba	1094	*
garfieldsg	0:662207e34fba	1095	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1096	* @return Current write mode for specified slave (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	1097	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1098	*/
garfieldsg	0:662207e34fba	1099	bool MPU6050::getSlaveWriteMode(uint8_t num)
garfieldsg	0:662207e34fba	1100	{
garfieldsg	0:662207e34fba	1101	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1102	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
garfieldsg	0:662207e34fba	1103	return buffer[0];
garfieldsg	0:662207e34fba	1104	}
garfieldsg	0:662207e34fba	1105	/** Set write mode for the specified slave (0-3).
garfieldsg	0:662207e34fba	1106	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1107	* @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	1108	* @see getSlaveWriteMode()
garfieldsg	0:662207e34fba	1109	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1110	*/
garfieldsg	0:662207e34fba	1111	void MPU6050::setSlaveWriteMode(uint8_t num, bool mode)
garfieldsg	0:662207e34fba	1112	{
garfieldsg	0:662207e34fba	1113	if (num > 3) return;
garfieldsg	0:662207e34fba	1114	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
garfieldsg	0:662207e34fba	1115	}
garfieldsg	0:662207e34fba	1116	/** Get word pair grouping order offset for the specified slave (0-3).
garfieldsg	0:662207e34fba	1117	* This sets specifies the grouping order of word pairs received from registers.
garfieldsg	0:662207e34fba	1118	* When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
garfieldsg	0:662207e34fba	1119	* then odd register addresses) are paired to form a word. When set to 1, bytes
garfieldsg	0:662207e34fba	1120	* from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
garfieldsg	0:662207e34fba	1121	* register addresses) are paired to form a word.
garfieldsg	0:662207e34fba	1122	*
garfieldsg	0:662207e34fba	1123	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1124	* @return Current word pair grouping order offset for specified slave
garfieldsg	0:662207e34fba	1125	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1126	*/
garfieldsg	0:662207e34fba	1127	bool MPU6050::getSlaveWordGroupOffset(uint8_t num)
garfieldsg	0:662207e34fba	1128	{
garfieldsg	0:662207e34fba	1129	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1130	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
garfieldsg	0:662207e34fba	1131	return buffer[0];
garfieldsg	0:662207e34fba	1132	}
garfieldsg	0:662207e34fba	1133	/** Set word pair grouping order offset for the specified slave (0-3).
garfieldsg	0:662207e34fba	1134	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1135	* @param enabled New word pair grouping order offset for specified slave
garfieldsg	0:662207e34fba	1136	* @see getSlaveWordGroupOffset()
garfieldsg	0:662207e34fba	1137	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1138	*/
garfieldsg	0:662207e34fba	1139	void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled)
garfieldsg	0:662207e34fba	1140	{
garfieldsg	0:662207e34fba	1141	if (num > 3) return;
garfieldsg	0:662207e34fba	1142	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
garfieldsg	0:662207e34fba	1143	}
garfieldsg	0:662207e34fba	1144	/** Get number of bytes to read for the specified slave (0-3).
garfieldsg	0:662207e34fba	1145	* Specifies the number of bytes transferred to and from Slave 0. Clearing this
garfieldsg	0:662207e34fba	1146	* bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
garfieldsg	0:662207e34fba	1147	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1148	* @return Number of bytes to read for specified slave
garfieldsg	0:662207e34fba	1149	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1150	*/
garfieldsg	0:662207e34fba	1151	uint8_t MPU6050::getSlaveDataLength(uint8_t num)
garfieldsg	0:662207e34fba	1152	{
garfieldsg	0:662207e34fba	1153	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1154	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
garfieldsg	0:662207e34fba	1155	return buffer[0];
garfieldsg	0:662207e34fba	1156	}
garfieldsg	0:662207e34fba	1157	/** Set number of bytes to read for the specified slave (0-3).
garfieldsg	0:662207e34fba	1158	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1159	* @param length Number of bytes to read for specified slave
garfieldsg	0:662207e34fba	1160	* @see getSlaveDataLength()
garfieldsg	0:662207e34fba	1161	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1162	*/
garfieldsg	0:662207e34fba	1163	void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length)
garfieldsg	0:662207e34fba	1164	{
garfieldsg	0:662207e34fba	1165	if (num > 3) return;
garfieldsg	0:662207e34fba	1166	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
garfieldsg	0:662207e34fba	1167	}
garfieldsg	0:662207e34fba	1168
garfieldsg	0:662207e34fba	1169	// I2C_SLV* registers (Slave 4)
garfieldsg	0:662207e34fba	1170
garfieldsg	0:662207e34fba	1171	/** Get the I2C address of Slave 4.
garfieldsg	0:662207e34fba	1172	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
garfieldsg	0:662207e34fba	1173	* operation, and if it is cleared, then it's a write operation. The remaining
garfieldsg	0:662207e34fba	1174	* bits (6-0) are the 7-bit device address of the slave device.
garfieldsg	0:662207e34fba	1175	*
garfieldsg	0:662207e34fba	1176	* @return Current address for Slave 4
garfieldsg	0:662207e34fba	1177	* @see getSlaveAddress()
garfieldsg	0:662207e34fba	1178	* @see MPU6050_RA_I2C_SLV4_ADDR
garfieldsg	0:662207e34fba	1179	*/
garfieldsg	0:662207e34fba	1180	uint8_t MPU6050::getSlave4Address()
garfieldsg	0:662207e34fba	1181	{
garfieldsg	0:662207e34fba	1182	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
garfieldsg	0:662207e34fba	1183	return buffer[0];
garfieldsg	0:662207e34fba	1184	}
garfieldsg	0:662207e34fba	1185	/** Set the I2C address of Slave 4.
garfieldsg	0:662207e34fba	1186	* @param address New address for Slave 4
garfieldsg	0:662207e34fba	1187	* @see getSlave4Address()
garfieldsg	0:662207e34fba	1188	* @see MPU6050_RA_I2C_SLV4_ADDR
garfieldsg	0:662207e34fba	1189	*/
garfieldsg	0:662207e34fba	1190	void MPU6050::setSlave4Address(uint8_t address)
garfieldsg	0:662207e34fba	1191	{
garfieldsg	0:662207e34fba	1192	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
garfieldsg	0:662207e34fba	1193	}
garfieldsg	0:662207e34fba	1194	/** Get the active internal register for the Slave 4.
garfieldsg	0:662207e34fba	1195	* Read/write operations for this slave will be done to whatever internal
garfieldsg	0:662207e34fba	1196	* register address is stored in this MPU register.
garfieldsg	0:662207e34fba	1197	*
garfieldsg	0:662207e34fba	1198	* @return Current active register for Slave 4
garfieldsg	0:662207e34fba	1199	* @see MPU6050_RA_I2C_SLV4_REG
garfieldsg	0:662207e34fba	1200	*/
garfieldsg	0:662207e34fba	1201	uint8_t MPU6050::getSlave4Register()
garfieldsg	0:662207e34fba	1202	{
garfieldsg	0:662207e34fba	1203	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
garfieldsg	0:662207e34fba	1204	return buffer[0];
garfieldsg	0:662207e34fba	1205	}
garfieldsg	0:662207e34fba	1206	/** Set the active internal register for Slave 4.
garfieldsg	0:662207e34fba	1207	* @param reg New active register for Slave 4
garfieldsg	0:662207e34fba	1208	* @see getSlave4Register()
garfieldsg	0:662207e34fba	1209	* @see MPU6050_RA_I2C_SLV4_REG
garfieldsg	0:662207e34fba	1210	*/
garfieldsg	0:662207e34fba	1211	void MPU6050::setSlave4Register(uint8_t reg)
garfieldsg	0:662207e34fba	1212	{
garfieldsg	0:662207e34fba	1213	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
garfieldsg	0:662207e34fba	1214	}
garfieldsg	0:662207e34fba	1215	/** Set new byte to write to Slave 4.
garfieldsg	0:662207e34fba	1216	* This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
garfieldsg	0:662207e34fba	1217	* is set 1 (set to read), this register has no effect.
garfieldsg	0:662207e34fba	1218	* @param data New byte to write to Slave 4
garfieldsg	0:662207e34fba	1219	* @see MPU6050_RA_I2C_SLV4_DO
garfieldsg	0:662207e34fba	1220	*/
garfieldsg	0:662207e34fba	1221	void MPU6050::setSlave4OutputByte(uint8_t data)
garfieldsg	0:662207e34fba	1222	{
garfieldsg	0:662207e34fba	1223	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
garfieldsg	0:662207e34fba	1224	}
garfieldsg	0:662207e34fba	1225	/** Get the enabled value for the Slave 4.
garfieldsg	0:662207e34fba	1226	* When set to 1, this bit enables Slave 4 for data transfer operations. When
garfieldsg	0:662207e34fba	1227	* cleared to 0, this bit disables Slave 4 from data transfer operations.
garfieldsg	0:662207e34fba	1228	* @return Current enabled value for Slave 4
garfieldsg	0:662207e34fba	1229	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1230	*/
garfieldsg	0:662207e34fba	1231	bool MPU6050::getSlave4Enabled()
garfieldsg	0:662207e34fba	1232	{
garfieldsg	0:662207e34fba	1233	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1234	return buffer[0];
garfieldsg	0:662207e34fba	1235	}
garfieldsg	0:662207e34fba	1236	/** Set the enabled value for Slave 4.
garfieldsg	0:662207e34fba	1237	* @param enabled New enabled value for Slave 4
garfieldsg	0:662207e34fba	1238	* @see getSlave4Enabled()
garfieldsg	0:662207e34fba	1239	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1240	*/
garfieldsg	0:662207e34fba	1241	void MPU6050::setSlave4Enabled(bool enabled)
garfieldsg	0:662207e34fba	1242	{
garfieldsg	0:662207e34fba	1243	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1244	}
garfieldsg	0:662207e34fba	1245	/** Get the enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1246	* When set to 1, this bit enables the generation of an interrupt signal upon
garfieldsg	0:662207e34fba	1247	* completion of a Slave 4 transaction. When cleared to 0, this bit disables the
garfieldsg	0:662207e34fba	1248	* generation of an interrupt signal upon completion of a Slave 4 transaction.
garfieldsg	0:662207e34fba	1249	* The interrupt status can be observed in Register 54.
garfieldsg	0:662207e34fba	1250	*
garfieldsg	0:662207e34fba	1251	* @return Current enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1252	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1253	*/
garfieldsg	0:662207e34fba	1254	bool MPU6050::getSlave4InterruptEnabled()
garfieldsg	0:662207e34fba	1255	{
garfieldsg	0:662207e34fba	1256	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1257	return buffer[0];
garfieldsg	0:662207e34fba	1258	}
garfieldsg	0:662207e34fba	1259	/** Set the enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1260	* @param enabled New enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1261	* @see getSlave4InterruptEnabled()
garfieldsg	0:662207e34fba	1262	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1263	*/
garfieldsg	0:662207e34fba	1264	void MPU6050::setSlave4InterruptEnabled(bool enabled)
garfieldsg	0:662207e34fba	1265	{
garfieldsg	0:662207e34fba	1266	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1267	}
garfieldsg	0:662207e34fba	1268	/** Get write mode for Slave 4.
garfieldsg	0:662207e34fba	1269	* When set to 1, the transaction will read or write data only. When cleared to
garfieldsg	0:662207e34fba	1270	* 0, the transaction will write a register address prior to reading or writing
garfieldsg	0:662207e34fba	1271	* data. This should equal 0 when specifying the register address within the
garfieldsg	0:662207e34fba	1272	* Slave device to/from which the ensuing data transaction will take place.
garfieldsg	0:662207e34fba	1273	*
garfieldsg	0:662207e34fba	1274	* @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	1275	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1276	*/
garfieldsg	0:662207e34fba	1277	bool MPU6050::getSlave4WriteMode()
garfieldsg	0:662207e34fba	1278	{
garfieldsg	0:662207e34fba	1279	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
garfieldsg	0:662207e34fba	1280	return buffer[0];
garfieldsg	0:662207e34fba	1281	}
garfieldsg	0:662207e34fba	1282	/** Set write mode for the Slave 4.
garfieldsg	0:662207e34fba	1283	* @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	1284	* @see getSlave4WriteMode()
garfieldsg	0:662207e34fba	1285	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1286	*/
garfieldsg	0:662207e34fba	1287	void MPU6050::setSlave4WriteMode(bool mode)
garfieldsg	0:662207e34fba	1288	{
garfieldsg	0:662207e34fba	1289	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
garfieldsg	0:662207e34fba	1290	}
garfieldsg	0:662207e34fba	1291	/** Get Slave 4 master delay value.
garfieldsg	0:662207e34fba	1292	* This configures the reduced access rate of I2C slaves relative to the Sample
garfieldsg	0:662207e34fba	1293	* Rate. When a slave's access rate is decreased relative to the Sample Rate,
garfieldsg	0:662207e34fba	1294	* the slave is accessed every:
garfieldsg	0:662207e34fba	1295	*
garfieldsg	0:662207e34fba	1296	* 1 / (1 + I2C_MST_DLY) samples
garfieldsg	0:662207e34fba	1297	*
garfieldsg	0:662207e34fba	1298	* This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
garfieldsg	0:662207e34fba	1299	* DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
garfieldsg	0:662207e34fba	1300	* the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
garfieldsg	0:662207e34fba	1301	* further information regarding the Sample Rate, please refer to register 25.
garfieldsg	0:662207e34fba	1302	*
garfieldsg	0:662207e34fba	1303	* @return Current Slave 4 master delay value
garfieldsg	0:662207e34fba	1304	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1305	*/
garfieldsg	0:662207e34fba	1306	uint8_t MPU6050::getSlave4MasterDelay()
garfieldsg	0:662207e34fba	1307	{
garfieldsg	0:662207e34fba	1308	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
garfieldsg	0:662207e34fba	1309	return buffer[0];
garfieldsg	0:662207e34fba	1310	}
garfieldsg	0:662207e34fba	1311	/** Set Slave 4 master delay value.
garfieldsg	0:662207e34fba	1312	* @param delay New Slave 4 master delay value
garfieldsg	0:662207e34fba	1313	* @see getSlave4MasterDelay()
garfieldsg	0:662207e34fba	1314	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1315	*/
garfieldsg	0:662207e34fba	1316	void MPU6050::setSlave4MasterDelay(uint8_t delay)
garfieldsg	0:662207e34fba	1317	{
garfieldsg	0:662207e34fba	1318	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
garfieldsg	0:662207e34fba	1319	}
garfieldsg	0:662207e34fba	1320	/** Get last available byte read from Slave 4.
garfieldsg	0:662207e34fba	1321	* This register stores the data read from Slave 4. This field is populated
garfieldsg	0:662207e34fba	1322	* after a read transaction.
garfieldsg	0:662207e34fba	1323	* @return Last available byte read from to Slave 4
garfieldsg	0:662207e34fba	1324	* @see MPU6050_RA_I2C_SLV4_DI
garfieldsg	0:662207e34fba	1325	*/
garfieldsg	0:662207e34fba	1326	uint8_t MPU6050::getSlate4InputByte()
garfieldsg	0:662207e34fba	1327	{
garfieldsg	0:662207e34fba	1328	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
garfieldsg	0:662207e34fba	1329	return buffer[0];
garfieldsg	0:662207e34fba	1330	}
garfieldsg	0:662207e34fba	1331
garfieldsg	0:662207e34fba	1332	// I2C_MST_STATUS register
garfieldsg	0:662207e34fba	1333
garfieldsg	0:662207e34fba	1334	/** Get FSYNC interrupt status.
garfieldsg	0:662207e34fba	1335	* This bit reflects the status of the FSYNC interrupt from an external device
garfieldsg	0:662207e34fba	1336	* into the MPU-60X0. This is used as a way to pass an external interrupt
garfieldsg	0:662207e34fba	1337	* through the MPU-60X0 to the host application processor. When set to 1, this
garfieldsg	0:662207e34fba	1338	* bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
garfieldsg	0:662207e34fba	1339	* (Register 55).
garfieldsg	0:662207e34fba	1340	* @return FSYNC interrupt status
garfieldsg	0:662207e34fba	1341	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1342	*/
garfieldsg	0:662207e34fba	1343	bool MPU6050::getPassthroughStatus()
garfieldsg	0:662207e34fba	1344	{
garfieldsg	0:662207e34fba	1345	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
garfieldsg	0:662207e34fba	1346	return buffer[0];
garfieldsg	0:662207e34fba	1347	}
garfieldsg	0:662207e34fba	1348	/** Get Slave 4 transaction done status.
garfieldsg	0:662207e34fba	1349	* Automatically sets to 1 when a Slave 4 transaction has completed. This
garfieldsg	0:662207e34fba	1350	* triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
garfieldsg	0:662207e34fba	1351	* (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
garfieldsg	0:662207e34fba	1352	* I2C_SLV4_CTRL register (Register 52).
garfieldsg	0:662207e34fba	1353	* @return Slave 4 transaction done status
garfieldsg	0:662207e34fba	1354	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1355	*/
garfieldsg	0:662207e34fba	1356	bool MPU6050::getSlave4IsDone()
garfieldsg	0:662207e34fba	1357	{
garfieldsg	0:662207e34fba	1358	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
garfieldsg	0:662207e34fba	1359	return buffer[0];
garfieldsg	0:662207e34fba	1360	}
garfieldsg	0:662207e34fba	1361	/** Get master arbitration lost status.
garfieldsg	0:662207e34fba	1362	* This bit automatically sets to 1 when the I2C Master has lost arbitration of
garfieldsg	0:662207e34fba	1363	* the auxiliary I2C bus (an error condition). This triggers an interrupt if the
garfieldsg	0:662207e34fba	1364	* I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1365	* @return Master arbitration lost status
garfieldsg	0:662207e34fba	1366	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1367	*/
garfieldsg	0:662207e34fba	1368	bool MPU6050::getLostArbitration()
garfieldsg	0:662207e34fba	1369	{
garfieldsg	0:662207e34fba	1370	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
garfieldsg	0:662207e34fba	1371	return buffer[0];
garfieldsg	0:662207e34fba	1372	}
garfieldsg	0:662207e34fba	1373	/** Get Slave 4 NACK status.
garfieldsg	0:662207e34fba	1374	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1375	* transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1376	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1377	* @return Slave 4 NACK interrupt status
garfieldsg	0:662207e34fba	1378	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1379	*/
garfieldsg	0:662207e34fba	1380	bool MPU6050::getSlave4Nack()
garfieldsg	0:662207e34fba	1381	{
garfieldsg	0:662207e34fba	1382	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1383	return buffer[0];
garfieldsg	0:662207e34fba	1384	}
garfieldsg	0:662207e34fba	1385	/** Get Slave 3 NACK status.
garfieldsg	0:662207e34fba	1386	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1387	* transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1388	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1389	* @return Slave 3 NACK interrupt status
garfieldsg	0:662207e34fba	1390	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1391	*/
garfieldsg	0:662207e34fba	1392	bool MPU6050::getSlave3Nack()
garfieldsg	0:662207e34fba	1393	{
garfieldsg	0:662207e34fba	1394	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1395	return buffer[0];
garfieldsg	0:662207e34fba	1396	}
garfieldsg	0:662207e34fba	1397	/** Get Slave 2 NACK status.
garfieldsg	0:662207e34fba	1398	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1399	* transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1400	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1401	* @return Slave 2 NACK interrupt status
garfieldsg	0:662207e34fba	1402	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1403	*/
garfieldsg	0:662207e34fba	1404	bool MPU6050::getSlave2Nack()
garfieldsg	0:662207e34fba	1405	{
garfieldsg	0:662207e34fba	1406	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1407	return buffer[0];
garfieldsg	0:662207e34fba	1408	}
garfieldsg	0:662207e34fba	1409	/** Get Slave 1 NACK status.
garfieldsg	0:662207e34fba	1410	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1411	* transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1412	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1413	* @return Slave 1 NACK interrupt status
garfieldsg	0:662207e34fba	1414	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1415	*/
garfieldsg	0:662207e34fba	1416	bool MPU6050::getSlave1Nack()
garfieldsg	0:662207e34fba	1417	{
garfieldsg	0:662207e34fba	1418	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1419	return buffer[0];
garfieldsg	0:662207e34fba	1420	}
garfieldsg	0:662207e34fba	1421	/** Get Slave 0 NACK status.
garfieldsg	0:662207e34fba	1422	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1423	* transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1424	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1425	* @return Slave 0 NACK interrupt status
garfieldsg	0:662207e34fba	1426	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1427	*/
garfieldsg	0:662207e34fba	1428	bool MPU6050::getSlave0Nack()
garfieldsg	0:662207e34fba	1429	{
garfieldsg	0:662207e34fba	1430	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1431	return buffer[0];
garfieldsg	0:662207e34fba	1432	}
garfieldsg	0:662207e34fba	1433
garfieldsg	0:662207e34fba	1434	// INT_PIN_CFG register
garfieldsg	0:662207e34fba	1435
garfieldsg	0:662207e34fba	1436	/** Get interrupt logic level mode.
garfieldsg	0:662207e34fba	1437	* Will be set 0 for active-high, 1 for active-low.
garfieldsg	0:662207e34fba	1438	* @return Current interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1439	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1440	* @see MPU6050_INTCFG_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1441	*/
garfieldsg	0:662207e34fba	1442	bool MPU6050::getInterruptMode()
garfieldsg	0:662207e34fba	1443	{
garfieldsg	0:662207e34fba	1444	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
garfieldsg	0:662207e34fba	1445	return buffer[0];
garfieldsg	0:662207e34fba	1446	}
garfieldsg	0:662207e34fba	1447	/** Set interrupt logic level mode.
garfieldsg	0:662207e34fba	1448	* @param mode New interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1449	* @see getInterruptMode()
garfieldsg	0:662207e34fba	1450	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1451	* @see MPU6050_INTCFG_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1452	*/
garfieldsg	0:662207e34fba	1453	void MPU6050::setInterruptMode(bool mode)
garfieldsg	0:662207e34fba	1454	{
garfieldsg	0:662207e34fba	1455	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
garfieldsg	0:662207e34fba	1456	}
garfieldsg	0:662207e34fba	1457	/** Get interrupt drive mode.
garfieldsg	0:662207e34fba	1458	* Will be set 0 for push-pull, 1 for open-drain.
garfieldsg	0:662207e34fba	1459	* @return Current interrupt drive mode (0=push-pull, 1=open-drain)
garfieldsg	0:662207e34fba	1460	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1461	* @see MPU6050_INTCFG_INT_OPEN_BIT
garfieldsg	0:662207e34fba	1462	*/
garfieldsg	0:662207e34fba	1463	bool MPU6050::getInterruptDrive()
garfieldsg	0:662207e34fba	1464	{
garfieldsg	0:662207e34fba	1465	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
garfieldsg	0:662207e34fba	1466	return buffer[0];
garfieldsg	0:662207e34fba	1467	}
garfieldsg	0:662207e34fba	1468	/** Set interrupt drive mode.
garfieldsg	0:662207e34fba	1469	* @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
garfieldsg	0:662207e34fba	1470	* @see getInterruptDrive()
garfieldsg	0:662207e34fba	1471	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1472	* @see MPU6050_INTCFG_INT_OPEN_BIT
garfieldsg	0:662207e34fba	1473	*/
garfieldsg	0:662207e34fba	1474	void MPU6050::setInterruptDrive(bool drive)
garfieldsg	0:662207e34fba	1475	{
garfieldsg	0:662207e34fba	1476	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
garfieldsg	0:662207e34fba	1477	}
garfieldsg	0:662207e34fba	1478	/** Get interrupt latch mode.
garfieldsg	0:662207e34fba	1479	* Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
garfieldsg	0:662207e34fba	1480	* @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
garfieldsg	0:662207e34fba	1481	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1482	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
garfieldsg	0:662207e34fba	1483	*/
garfieldsg	0:662207e34fba	1484	bool MPU6050::getInterruptLatch()
garfieldsg	0:662207e34fba	1485	{
garfieldsg	0:662207e34fba	1486	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1487	return buffer[0];
garfieldsg	0:662207e34fba	1488	}
garfieldsg	0:662207e34fba	1489	/** Set interrupt latch mode.
garfieldsg	0:662207e34fba	1490	* @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
garfieldsg	0:662207e34fba	1491	* @see getInterruptLatch()
garfieldsg	0:662207e34fba	1492	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1493	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
garfieldsg	0:662207e34fba	1494	*/
garfieldsg	0:662207e34fba	1495	void MPU6050::setInterruptLatch(bool latch)
garfieldsg	0:662207e34fba	1496	{
garfieldsg	0:662207e34fba	1497	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
garfieldsg	0:662207e34fba	1498	}
garfieldsg	0:662207e34fba	1499	/** Get interrupt latch clear mode.
garfieldsg	0:662207e34fba	1500	* Will be set 0 for status-read-only, 1 for any-register-read.
garfieldsg	0:662207e34fba	1501	* @return Current latch clear mode (0=status-read-only, 1=any-register-read)
garfieldsg	0:662207e34fba	1502	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1503	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
garfieldsg	0:662207e34fba	1504	*/
garfieldsg	0:662207e34fba	1505	bool MPU6050::getInterruptLatchClear()
garfieldsg	0:662207e34fba	1506	{
garfieldsg	0:662207e34fba	1507	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
garfieldsg	0:662207e34fba	1508	return buffer[0];
garfieldsg	0:662207e34fba	1509	}
garfieldsg	0:662207e34fba	1510	/** Set interrupt latch clear mode.
garfieldsg	0:662207e34fba	1511	* @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
garfieldsg	0:662207e34fba	1512	* @see getInterruptLatchClear()
garfieldsg	0:662207e34fba	1513	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1514	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
garfieldsg	0:662207e34fba	1515	*/
garfieldsg	0:662207e34fba	1516	void MPU6050::setInterruptLatchClear(bool clear)
garfieldsg	0:662207e34fba	1517	{
garfieldsg	0:662207e34fba	1518	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
garfieldsg	0:662207e34fba	1519	}
garfieldsg	0:662207e34fba	1520	/** Get FSYNC interrupt logic level mode.
garfieldsg	0:662207e34fba	1521	* @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1522	* @see getFSyncInterruptMode()
garfieldsg	0:662207e34fba	1523	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1524	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1525	*/
garfieldsg	0:662207e34fba	1526	bool MPU6050::getFSyncInterruptLevel()
garfieldsg	0:662207e34fba	1527	{
garfieldsg	0:662207e34fba	1528	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
garfieldsg	0:662207e34fba	1529	return buffer[0];
garfieldsg	0:662207e34fba	1530	}
garfieldsg	0:662207e34fba	1531	/** Set FSYNC interrupt logic level mode.
garfieldsg	0:662207e34fba	1532	* @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1533	* @see getFSyncInterruptMode()
garfieldsg	0:662207e34fba	1534	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1535	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1536	*/
garfieldsg	0:662207e34fba	1537	void MPU6050::setFSyncInterruptLevel(bool level)
garfieldsg	0:662207e34fba	1538	{
garfieldsg	0:662207e34fba	1539	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
garfieldsg	0:662207e34fba	1540	}
garfieldsg	0:662207e34fba	1541	/** Get FSYNC pin interrupt enabled setting.
garfieldsg	0:662207e34fba	1542	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1543	* @return Current interrupt enabled setting
garfieldsg	0:662207e34fba	1544	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1545	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
garfieldsg	0:662207e34fba	1546	*/
garfieldsg	0:662207e34fba	1547	bool MPU6050::getFSyncInterruptEnabled()
garfieldsg	0:662207e34fba	1548	{
garfieldsg	0:662207e34fba	1549	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1550	return buffer[0];
garfieldsg	0:662207e34fba	1551	}
garfieldsg	0:662207e34fba	1552	/** Set FSYNC pin interrupt enabled setting.
garfieldsg	0:662207e34fba	1553	* @param enabled New FSYNC pin interrupt enabled setting
garfieldsg	0:662207e34fba	1554	* @see getFSyncInterruptEnabled()
garfieldsg	0:662207e34fba	1555	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1556	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
garfieldsg	0:662207e34fba	1557	*/
garfieldsg	0:662207e34fba	1558	void MPU6050::setFSyncInterruptEnabled(bool enabled)
garfieldsg	0:662207e34fba	1559	{
garfieldsg	0:662207e34fba	1560	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1561	}
garfieldsg	0:662207e34fba	1562	/** Get I2C bypass enabled status.
garfieldsg	0:662207e34fba	1563	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
garfieldsg	0:662207e34fba	1564	* 0, the host application processor will be able to directly access the
garfieldsg	0:662207e34fba	1565	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
garfieldsg	0:662207e34fba	1566	* application processor will not be able to directly access the auxiliary I2C
garfieldsg	0:662207e34fba	1567	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
garfieldsg	0:662207e34fba	1568	* bit[5]).
garfieldsg	0:662207e34fba	1569	* @return Current I2C bypass enabled status
garfieldsg	0:662207e34fba	1570	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1571	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
garfieldsg	0:662207e34fba	1572	*/
garfieldsg	0:662207e34fba	1573	bool MPU6050::getI2CBypassEnabled()
garfieldsg	0:662207e34fba	1574	{
garfieldsg	0:662207e34fba	1575	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1576	return buffer[0];
garfieldsg	0:662207e34fba	1577	}
garfieldsg	0:662207e34fba	1578	/** Set I2C bypass enabled status.
garfieldsg	0:662207e34fba	1579	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
garfieldsg	0:662207e34fba	1580	* 0, the host application processor will be able to directly access the
garfieldsg	0:662207e34fba	1581	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
garfieldsg	0:662207e34fba	1582	* application processor will not be able to directly access the auxiliary I2C
garfieldsg	0:662207e34fba	1583	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
garfieldsg	0:662207e34fba	1584	* bit[5]).
garfieldsg	0:662207e34fba	1585	* @param enabled New I2C bypass enabled status
garfieldsg	0:662207e34fba	1586	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1587	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
garfieldsg	0:662207e34fba	1588	*/
garfieldsg	0:662207e34fba	1589	void MPU6050::setI2CBypassEnabled(bool enabled)
garfieldsg	0:662207e34fba	1590	{
garfieldsg	0:662207e34fba	1591	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1592	}
garfieldsg	0:662207e34fba	1593	/** Get reference clock output enabled status.
garfieldsg	0:662207e34fba	1594	* When this bit is equal to 1, a reference clock output is provided at the
garfieldsg	0:662207e34fba	1595	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
garfieldsg	0:662207e34fba	1596	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
garfieldsg	0:662207e34fba	1597	* Specification document.
garfieldsg	0:662207e34fba	1598	* @return Current reference clock output enabled status
garfieldsg	0:662207e34fba	1599	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1600	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
garfieldsg	0:662207e34fba	1601	*/
garfieldsg	0:662207e34fba	1602	bool MPU6050::getClockOutputEnabled()
garfieldsg	0:662207e34fba	1603	{
garfieldsg	0:662207e34fba	1604	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1605	return buffer[0];
garfieldsg	0:662207e34fba	1606	}
garfieldsg	0:662207e34fba	1607	/** Set reference clock output enabled status.
garfieldsg	0:662207e34fba	1608	* When this bit is equal to 1, a reference clock output is provided at the
garfieldsg	0:662207e34fba	1609	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
garfieldsg	0:662207e34fba	1610	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
garfieldsg	0:662207e34fba	1611	* Specification document.
garfieldsg	0:662207e34fba	1612	* @param enabled New reference clock output enabled status
garfieldsg	0:662207e34fba	1613	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1614	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
garfieldsg	0:662207e34fba	1615	*/
garfieldsg	0:662207e34fba	1616	void MPU6050::setClockOutputEnabled(bool enabled)
garfieldsg	0:662207e34fba	1617	{
garfieldsg	0:662207e34fba	1618	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1619	}
garfieldsg	0:662207e34fba	1620
garfieldsg	0:662207e34fba	1621	// INT_ENABLE register
garfieldsg	0:662207e34fba	1622
garfieldsg	0:662207e34fba	1623	/** Get full interrupt enabled status.
garfieldsg	0:662207e34fba	1624	* Full register byte for all interrupts, for quick reading. Each bit will be
garfieldsg	0:662207e34fba	1625	* set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1626	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1627	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1628	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1629	**/
garfieldsg	0:662207e34fba	1630	uint8_t MPU6050::getIntEnabled()
garfieldsg	0:662207e34fba	1631	{
garfieldsg	0:662207e34fba	1632	i2Cdev.readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
garfieldsg	0:662207e34fba	1633	return buffer[0];
garfieldsg	0:662207e34fba	1634	}
garfieldsg	0:662207e34fba	1635	/** Set full interrupt enabled status.
garfieldsg	0:662207e34fba	1636	* Full register byte for all interrupts, for quick reading. Each bit should be
garfieldsg	0:662207e34fba	1637	* set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1638	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1639	* @see getIntFreefallEnabled()
garfieldsg	0:662207e34fba	1640	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1641	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1642	**/
garfieldsg	0:662207e34fba	1643	void MPU6050::setIntEnabled(uint8_t enabled)
garfieldsg	0:662207e34fba	1644	{
garfieldsg	0:662207e34fba	1645	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
garfieldsg	0:662207e34fba	1646	}
garfieldsg	0:662207e34fba	1647	/** Get Free Fall interrupt enabled status.
garfieldsg	0:662207e34fba	1648	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1649	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1650	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1651	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1652	**/
garfieldsg	0:662207e34fba	1653	bool MPU6050::getIntFreefallEnabled()
garfieldsg	0:662207e34fba	1654	{
garfieldsg	0:662207e34fba	1655	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
garfieldsg	0:662207e34fba	1656	return buffer[0];
garfieldsg	0:662207e34fba	1657	}
garfieldsg	0:662207e34fba	1658	/** Set Free Fall interrupt enabled status.
garfieldsg	0:662207e34fba	1659	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1660	* @see getIntFreefallEnabled()
garfieldsg	0:662207e34fba	1661	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1662	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1663	**/
garfieldsg	0:662207e34fba	1664	void MPU6050::setIntFreefallEnabled(bool enabled)
garfieldsg	0:662207e34fba	1665	{
garfieldsg	0:662207e34fba	1666	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
garfieldsg	0:662207e34fba	1667	}
garfieldsg	0:662207e34fba	1668	/** Get Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1669	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1670	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1671	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1672	* @see MPU6050_INTERRUPT_MOT_BIT
garfieldsg	0:662207e34fba	1673	**/
garfieldsg	0:662207e34fba	1674	bool MPU6050::getIntMotionEnabled()
garfieldsg	0:662207e34fba	1675	{
garfieldsg	0:662207e34fba	1676	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
garfieldsg	0:662207e34fba	1677	return buffer[0];
garfieldsg	0:662207e34fba	1678	}
garfieldsg	0:662207e34fba	1679	/** Set Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1680	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1681	* @see getIntMotionEnabled()
garfieldsg	0:662207e34fba	1682	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1683	* @see MPU6050_INTERRUPT_MOT_BIT
garfieldsg	0:662207e34fba	1684	**/
garfieldsg	0:662207e34fba	1685	void MPU6050::setIntMotionEnabled(bool enabled)
garfieldsg	0:662207e34fba	1686	{
garfieldsg	0:662207e34fba	1687	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
garfieldsg	0:662207e34fba	1688	}
garfieldsg	0:662207e34fba	1689	/** Get Zero Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1690	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1691	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1692	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1693	* @see MPU6050_INTERRUPT_ZMOT_BIT
garfieldsg	0:662207e34fba	1694	**/
garfieldsg	0:662207e34fba	1695	bool MPU6050::getIntZeroMotionEnabled()
garfieldsg	0:662207e34fba	1696	{
garfieldsg	0:662207e34fba	1697	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
garfieldsg	0:662207e34fba	1698	return buffer[0];
garfieldsg	0:662207e34fba	1699	}
garfieldsg	0:662207e34fba	1700	/** Set Zero Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1701	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1702	* @see getIntZeroMotionEnabled()
garfieldsg	0:662207e34fba	1703	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1704	* @see MPU6050_INTERRUPT_ZMOT_BIT
garfieldsg	0:662207e34fba	1705	**/
garfieldsg	0:662207e34fba	1706	void MPU6050::setIntZeroMotionEnabled(bool enabled)
garfieldsg	0:662207e34fba	1707	{
garfieldsg	0:662207e34fba	1708	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
garfieldsg	0:662207e34fba	1709	}
garfieldsg	0:662207e34fba	1710	/** Get FIFO Buffer Overflow interrupt enabled status.
garfieldsg	0:662207e34fba	1711	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1712	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1713	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1714	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
garfieldsg	0:662207e34fba	1715	**/
garfieldsg	0:662207e34fba	1716	bool MPU6050::getIntFIFOBufferOverflowEnabled()
garfieldsg	0:662207e34fba	1717	{
garfieldsg	0:662207e34fba	1718	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
garfieldsg	0:662207e34fba	1719	return buffer[0];
garfieldsg	0:662207e34fba	1720	}
garfieldsg	0:662207e34fba	1721	/** Set FIFO Buffer Overflow interrupt enabled status.
garfieldsg	0:662207e34fba	1722	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1723	* @see getIntFIFOBufferOverflowEnabled()
garfieldsg	0:662207e34fba	1724	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1725	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
garfieldsg	0:662207e34fba	1726	**/
garfieldsg	0:662207e34fba	1727	void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled)
garfieldsg	0:662207e34fba	1728	{
garfieldsg	0:662207e34fba	1729	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
garfieldsg	0:662207e34fba	1730	}
garfieldsg	0:662207e34fba	1731	/** Get I2C Master interrupt enabled status.
garfieldsg	0:662207e34fba	1732	* This enables any of the I2C Master interrupt sources to generate an
garfieldsg	0:662207e34fba	1733	* interrupt. Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1734	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1735	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1736	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
garfieldsg	0:662207e34fba	1737	**/
garfieldsg	0:662207e34fba	1738	bool MPU6050::getIntI2CMasterEnabled()
garfieldsg	0:662207e34fba	1739	{
garfieldsg	0:662207e34fba	1740	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
garfieldsg	0:662207e34fba	1741	return buffer[0];
garfieldsg	0:662207e34fba	1742	}
garfieldsg	0:662207e34fba	1743	/** Set I2C Master interrupt enabled status.
garfieldsg	0:662207e34fba	1744	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1745	* @see getIntI2CMasterEnabled()
garfieldsg	0:662207e34fba	1746	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1747	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
garfieldsg	0:662207e34fba	1748	**/
garfieldsg	0:662207e34fba	1749	void MPU6050::setIntI2CMasterEnabled(bool enabled)
garfieldsg	0:662207e34fba	1750	{
garfieldsg	0:662207e34fba	1751	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
garfieldsg	0:662207e34fba	1752	}
garfieldsg	0:662207e34fba	1753	/** Get Data Ready interrupt enabled setting.
garfieldsg	0:662207e34fba	1754	* This event occurs each time a write operation to all of the sensor registers
garfieldsg	0:662207e34fba	1755	* has been completed. Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1756	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1757	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1758	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
garfieldsg	0:662207e34fba	1759	*/
garfieldsg	0:662207e34fba	1760	bool MPU6050::getIntDataReadyEnabled()
garfieldsg	0:662207e34fba	1761	{
garfieldsg	0:662207e34fba	1762	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
garfieldsg	0:662207e34fba	1763	return buffer[0];
garfieldsg	0:662207e34fba	1764	}
garfieldsg	0:662207e34fba	1765	/** Set Data Ready interrupt enabled status.
garfieldsg	0:662207e34fba	1766	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1767	* @see getIntDataReadyEnabled()
garfieldsg	0:662207e34fba	1768	* @see MPU6050_RA_INT_CFG
garfieldsg	0:662207e34fba	1769	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
garfieldsg	0:662207e34fba	1770	*/
garfieldsg	0:662207e34fba	1771	void MPU6050::setIntDataReadyEnabled(bool enabled)
garfieldsg	0:662207e34fba	1772	{
garfieldsg	0:662207e34fba	1773	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
garfieldsg	0:662207e34fba	1774	}
garfieldsg	0:662207e34fba	1775
garfieldsg	0:662207e34fba	1776	// INT_STATUS register
garfieldsg	0:662207e34fba	1777
garfieldsg	0:662207e34fba	1778	/** Get full set of interrupt status bits.
garfieldsg	0:662207e34fba	1779	* These bits clear to 0 after the register has been read. Very useful
garfieldsg	0:662207e34fba	1780	* for getting multiple INT statuses, since each single bit read clears
garfieldsg	0:662207e34fba	1781	* all of them because it has to read the whole byte.
garfieldsg	0:662207e34fba	1782	* @return Current interrupt status
garfieldsg	0:662207e34fba	1783	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1784	*/
garfieldsg	0:662207e34fba	1785	uint8_t MPU6050::getIntStatus()
garfieldsg	0:662207e34fba	1786	{
garfieldsg	0:662207e34fba	1787	i2Cdev.readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
garfieldsg	0:662207e34fba	1788	return buffer[0];
garfieldsg	0:662207e34fba	1789	}
garfieldsg	0:662207e34fba	1790	/** Get Free Fall interrupt status.
garfieldsg	0:662207e34fba	1791	* This bit automatically sets to 1 when a Free Fall interrupt has been
garfieldsg	0:662207e34fba	1792	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1793	* @return Current interrupt status
garfieldsg	0:662207e34fba	1794	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1795	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1796	*/
garfieldsg	0:662207e34fba	1797	bool MPU6050::getIntFreefallStatus()
garfieldsg	0:662207e34fba	1798	{
garfieldsg	0:662207e34fba	1799	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
garfieldsg	0:662207e34fba	1800	return buffer[0];
garfieldsg	0:662207e34fba	1801	}
garfieldsg	0:662207e34fba	1802	/** Get Motion Detection interrupt status.
garfieldsg	0:662207e34fba	1803	* This bit automatically sets to 1 when a Motion Detection interrupt has been
garfieldsg	0:662207e34fba	1804	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1805	* @return Current interrupt status
garfieldsg	0:662207e34fba	1806	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1807	* @see MPU6050_INTERRUPT_MOT_BIT
garfieldsg	0:662207e34fba	1808	*/
garfieldsg	0:662207e34fba	1809	bool MPU6050::getIntMotionStatus()
garfieldsg	0:662207e34fba	1810	{
garfieldsg	0:662207e34fba	1811	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
garfieldsg	0:662207e34fba	1812	return buffer[0];
garfieldsg	0:662207e34fba	1813	}
garfieldsg	0:662207e34fba	1814	/** Get Zero Motion Detection interrupt status.
garfieldsg	0:662207e34fba	1815	* This bit automatically sets to 1 when a Zero Motion Detection interrupt has
garfieldsg	0:662207e34fba	1816	* been generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1817	* @return Current interrupt status
garfieldsg	0:662207e34fba	1818	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1819	* @see MPU6050_INTERRUPT_ZMOT_BIT
garfieldsg	0:662207e34fba	1820	*/
garfieldsg	0:662207e34fba	1821	bool MPU6050::getIntZeroMotionStatus()
garfieldsg	0:662207e34fba	1822	{
garfieldsg	0:662207e34fba	1823	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
garfieldsg	0:662207e34fba	1824	return buffer[0];
garfieldsg	0:662207e34fba	1825	}
garfieldsg	0:662207e34fba	1826	/** Get FIFO Buffer Overflow interrupt status.
garfieldsg	0:662207e34fba	1827	* This bit automatically sets to 1 when a Free Fall interrupt has been
garfieldsg	0:662207e34fba	1828	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1829	* @return Current interrupt status
garfieldsg	0:662207e34fba	1830	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1831	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
garfieldsg	0:662207e34fba	1832	*/
garfieldsg	0:662207e34fba	1833	bool MPU6050::getIntFIFOBufferOverflowStatus()
garfieldsg	0:662207e34fba	1834	{
garfieldsg	0:662207e34fba	1835	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
garfieldsg	0:662207e34fba	1836	return buffer[0];
garfieldsg	0:662207e34fba	1837	}
garfieldsg	0:662207e34fba	1838	/** Get I2C Master interrupt status.
garfieldsg	0:662207e34fba	1839	* This bit automatically sets to 1 when an I2C Master interrupt has been
garfieldsg	0:662207e34fba	1840	* generated. For a list of I2C Master interrupts, please refer to Register 54.
garfieldsg	0:662207e34fba	1841	* The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1842	* @return Current interrupt status
garfieldsg	0:662207e34fba	1843	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1844	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
garfieldsg	0:662207e34fba	1845	*/
garfieldsg	0:662207e34fba	1846	bool MPU6050::getIntI2CMasterStatus()
garfieldsg	0:662207e34fba	1847	{
garfieldsg	0:662207e34fba	1848	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
garfieldsg	0:662207e34fba	1849	return buffer[0];
garfieldsg	0:662207e34fba	1850	}
garfieldsg	0:662207e34fba	1851	/** Get Data Ready interrupt status.
garfieldsg	0:662207e34fba	1852	* This bit automatically sets to 1 when a Data Ready interrupt has been
garfieldsg	0:662207e34fba	1853	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1854	* @return Current interrupt status
garfieldsg	0:662207e34fba	1855	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1856	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
garfieldsg	0:662207e34fba	1857	*/
garfieldsg	0:662207e34fba	1858	bool MPU6050::getIntDataReadyStatus()
garfieldsg	0:662207e34fba	1859	{
garfieldsg	0:662207e34fba	1860	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
garfieldsg	0:662207e34fba	1861	return buffer[0];
garfieldsg	0:662207e34fba	1862	}
garfieldsg	0:662207e34fba	1863
garfieldsg	0:662207e34fba	1864	// ACCEL_OUT_ registers
garfieldsg	0:662207e34fba	1865
garfieldsg	0:662207e34fba	1866	/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
garfieldsg	0:662207e34fba	1867	* FUNCTION NOT FULLY IMPLEMENTED YET.
garfieldsg	0:662207e34fba	1868	* @param ax 16-bit signed integer container for accelerometer X-axis value
garfieldsg	0:662207e34fba	1869	* @param ay 16-bit signed integer container for accelerometer Y-axis value
garfieldsg	0:662207e34fba	1870	* @param az 16-bit signed integer container for accelerometer Z-axis value
garfieldsg	0:662207e34fba	1871	* @param gx 16-bit signed integer container for gyroscope X-axis value
garfieldsg	0:662207e34fba	1872	* @param gy 16-bit signed integer container for gyroscope Y-axis value
garfieldsg	0:662207e34fba	1873	* @param gz 16-bit signed integer container for gyroscope Z-axis value
garfieldsg	0:662207e34fba	1874	* @param mx 16-bit signed integer container for magnetometer X-axis value
garfieldsg	0:662207e34fba	1875	* @param my 16-bit signed integer container for magnetometer Y-axis value
garfieldsg	0:662207e34fba	1876	* @param mz 16-bit signed integer container for magnetometer Z-axis value
garfieldsg	0:662207e34fba	1877	* @see getMotion6()
garfieldsg	0:662207e34fba	1878	* @see getAcceleration()
garfieldsg	0:662207e34fba	1879	* @see getRotation()
garfieldsg	0:662207e34fba	1880	* @see MPU6050_RA_ACCEL_XOUT_H
garfieldsg	0:662207e34fba	1881	*/
garfieldsg	0:662207e34fba	1882	void MPU6050::getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz)
garfieldsg	0:662207e34fba	1883	{
garfieldsg	0:662207e34fba	1884	getMotion6(ax, ay, az, gx, gy, gz);
akode	2:f8bfb37b2e1f	1885
akode	2:f8bfb37b2e1f	1886	// magnetometer reading
akode	2:f8bfb37b2e1f	1887	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_PIN_CFG, 0x02); //set i2c bypass enable pin to true to access magnetometer
akode	2:f8bfb37b2e1f	1888	wait_ms(10); // necessary wait >=6ms
akode	2:f8bfb37b2e1f	1889	i2Cdev.writeByte(MPU9150_RA_MAG_ADDRESS, 0x0A, 0x01); // enable the magnetometer
akode	2:f8bfb37b2e1f	1890	wait_ms(10); // necessary wait >=6ms
akode	2:f8bfb37b2e1f	1891	i2Cdev.readBytes(MPU9150_RA_MAG_ADDRESS, MPU9150_RA_MAG_XOUT_L, 6, buffer);
akode	2:f8bfb37b2e1f	1892	*mx = (((int16_t)buffer[0]) << 8) \| buffer[1];
akode	2:f8bfb37b2e1f	1893	*my = (((int16_t)buffer[2]) << 8) \| buffer[3];
akode	2:f8bfb37b2e1f	1894	*mz = (((int16_t)buffer[4]) << 8) \| buffer[5];
garfieldsg	0:662207e34fba	1895	}
garfieldsg	0:662207e34fba	1896	/** Get raw 6-axis motion sensor readings (accel/gyro).
garfieldsg	0:662207e34fba	1897	* Retrieves all currently available motion sensor values.
garfieldsg	0:662207e34fba	1898	* @param ax 16-bit signed integer container for accelerometer X-axis value
garfieldsg	0:662207e34fba	1899	* @param ay 16-bit signed integer container for accelerometer Y-axis value
garfieldsg	0:662207e34fba	1900	* @param az 16-bit signed integer container for accelerometer Z-axis value
garfieldsg	0:662207e34fba	1901	* @param gx 16-bit signed integer container for gyroscope X-axis value
garfieldsg	0:662207e34fba	1902	* @param gy 16-bit signed integer container for gyroscope Y-axis value
garfieldsg	0:662207e34fba	1903	* @param gz 16-bit signed integer container for gyroscope Z-axis value
garfieldsg	0:662207e34fba	1904	* @see getAcceleration()
garfieldsg	0:662207e34fba	1905	* @see getRotation()
garfieldsg	0:662207e34fba	1906	* @see MPU6050_RA_ACCEL_XOUT_H
garfieldsg	0:662207e34fba	1907	*/
garfieldsg	0:662207e34fba	1908	void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
garfieldsg	0:662207e34fba	1909	{
garfieldsg	0:662207e34fba	1910	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
garfieldsg	0:662207e34fba	1911	*ax = (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	1912	*ay = (((int16_t)buffer[2]) << 8) \| buffer[3];
garfieldsg	0:662207e34fba	1913	*az = (((int16_t)buffer[4]) << 8) \| buffer[5];
garfieldsg	0:662207e34fba	1914	*gx = (((int16_t)buffer[8]) << 8) \| buffer[9];
garfieldsg	0:662207e34fba	1915	*gy = (((int16_t)buffer[10]) << 8) \| buffer[11];
garfieldsg	0:662207e34fba	1916	*gz = (((int16_t)buffer[12]) << 8) \| buffer[13];
garfieldsg	0:662207e34fba	1917	}
garfieldsg	0:662207e34fba	1918	/** Get 3-axis accelerometer readings.
garfieldsg	0:662207e34fba	1919	* These registers store the most recent accelerometer measurements.
garfieldsg	0:662207e34fba	1920	* Accelerometer measurements are written to these registers at the Sample Rate
garfieldsg	0:662207e34fba	1921	* as defined in Register 25.
garfieldsg	0:662207e34fba	1922	*
garfieldsg	0:662207e34fba	1923	* The accelerometer measurement registers, along with the temperature
garfieldsg	0:662207e34fba	1924	* measurement registers, gyroscope measurement registers, and external sensor
garfieldsg	0:662207e34fba	1925	* data registers, are composed of two sets of registers: an internal register
garfieldsg	0:662207e34fba	1926	* set and a user-facing read register set.
garfieldsg	0:662207e34fba	1927	*
garfieldsg	0:662207e34fba	1928	* The data within the accelerometer sensors' internal register set is always
garfieldsg	0:662207e34fba	1929	* updated at the Sample Rate. Meanwhile, the user-facing read register set
garfieldsg	0:662207e34fba	1930	* duplicates the internal register set's data values whenever the serial
garfieldsg	0:662207e34fba	1931	* interface is idle. This guarantees that a burst read of sensor registers will
garfieldsg	0:662207e34fba	1932	* read measurements from the same sampling instant. Note that if burst reads
garfieldsg	0:662207e34fba	1933	* are not used, the user is responsible for ensuring a set of single byte reads
garfieldsg	0:662207e34fba	1934	* correspond to a single sampling instant by checking the Data Ready interrupt.
garfieldsg	0:662207e34fba	1935	*
garfieldsg	0:662207e34fba	1936	* Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
garfieldsg	0:662207e34fba	1937	* (Register 28). For each full scale setting, the accelerometers' sensitivity
garfieldsg	0:662207e34fba	1938	* per LSB in ACCEL_xOUT is shown in the table below:
garfieldsg	0:662207e34fba	1939	*
garfieldsg	0:662207e34fba	1940	* <pre>
garfieldsg	0:662207e34fba	1941	* AFS_SEL \| Full Scale Range \| LSB Sensitivity
garfieldsg	0:662207e34fba	1942	* --------+------------------+----------------
garfieldsg	0:662207e34fba	1943	* 0 \| +/- 2g \| 8192 LSB/mg
garfieldsg	0:662207e34fba	1944	* 1 \| +/- 4g \| 4096 LSB/mg
garfieldsg	0:662207e34fba	1945	* 2 \| +/- 8g \| 2048 LSB/mg
garfieldsg	0:662207e34fba	1946	* 3 \| +/- 16g \| 1024 LSB/mg
garfieldsg	0:662207e34fba	1947	* </pre>
garfieldsg	0:662207e34fba	1948	*
garfieldsg	0:662207e34fba	1949	* @param x 16-bit signed integer container for X-axis acceleration
garfieldsg	0:662207e34fba	1950	* @param y 16-bit signed integer container for Y-axis acceleration
garfieldsg	0:662207e34fba	1951	* @param z 16-bit signed integer container for Z-axis acceleration
garfieldsg	0:662207e34fba	1952	* @see MPU6050_RA_GYRO_XOUT_H
garfieldsg	0:662207e34fba	1953	*/
garfieldsg	0:662207e34fba	1954	void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z)
garfieldsg	0:662207e34fba	1955	{
garfieldsg	0:662207e34fba	1956	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
garfieldsg	0:662207e34fba	1957	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	1958	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
garfieldsg	0:662207e34fba	1959	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
garfieldsg	0:662207e34fba	1960	}
garfieldsg	0:662207e34fba	1961	/** Get X-axis accelerometer reading.
garfieldsg	0:662207e34fba	1962	* @return X-axis acceleration measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	1963	* @see getMotion6()
garfieldsg	0:662207e34fba	1964	* @see MPU6050_RA_ACCEL_XOUT_H
garfieldsg	0:662207e34fba	1965	*/
garfieldsg	0:662207e34fba	1966	int16_t MPU6050::getAccelerationX()
garfieldsg	0:662207e34fba	1967	{
garfieldsg	0:662207e34fba	1968	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	1969	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	1970	}
garfieldsg	0:662207e34fba	1971	/** Get Y-axis accelerometer reading.
garfieldsg	0:662207e34fba	1972	* @return Y-axis acceleration measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	1973	* @see getMotion6()
garfieldsg	0:662207e34fba	1974	* @see MPU6050_RA_ACCEL_YOUT_H
garfieldsg	0:662207e34fba	1975	*/
garfieldsg	0:662207e34fba	1976	int16_t MPU6050::getAccelerationY()
garfieldsg	0:662207e34fba	1977	{
garfieldsg	0:662207e34fba	1978	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	1979	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	1980	}
garfieldsg	0:662207e34fba	1981	/** Get Z-axis accelerometer reading.
garfieldsg	0:662207e34fba	1982	* @return Z-axis acceleration measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	1983	* @see getMotion6()
garfieldsg	0:662207e34fba	1984	* @see MPU6050_RA_ACCEL_ZOUT_H
garfieldsg	0:662207e34fba	1985	*/
garfieldsg	0:662207e34fba	1986	int16_t MPU6050::getAccelerationZ()
garfieldsg	0:662207e34fba	1987	{
garfieldsg	0:662207e34fba	1988	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	1989	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	1990	}
garfieldsg	0:662207e34fba	1991
garfieldsg	0:662207e34fba	1992	// TEMP_OUT_* registers
garfieldsg	0:662207e34fba	1993
garfieldsg	0:662207e34fba	1994	/** Get current internal temperature.
garfieldsg	0:662207e34fba	1995	* @return Temperature reading in 16-bit 2's complement format
garfieldsg	0:662207e34fba	1996	* @see MPU6050_RA_TEMP_OUT_H
garfieldsg	0:662207e34fba	1997	*/
garfieldsg	0:662207e34fba	1998	int16_t MPU6050::getTemperature()
garfieldsg	0:662207e34fba	1999	{
garfieldsg	0:662207e34fba	2000	i2Cdev.readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2001	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2002	}
garfieldsg	0:662207e34fba	2003
garfieldsg	0:662207e34fba	2004	// GYRO_OUT_ registers
garfieldsg	0:662207e34fba	2005
garfieldsg	0:662207e34fba	2006	/** Get 3-axis gyroscope readings.
garfieldsg	0:662207e34fba	2007	* These gyroscope measurement registers, along with the accelerometer
garfieldsg	0:662207e34fba	2008	* measurement registers, temperature measurement registers, and external sensor
garfieldsg	0:662207e34fba	2009	* data registers, are composed of two sets of registers: an internal register
garfieldsg	0:662207e34fba	2010	* set and a user-facing read register set.
garfieldsg	0:662207e34fba	2011	* The data within the gyroscope sensors' internal register set is always
garfieldsg	0:662207e34fba	2012	* updated at the Sample Rate. Meanwhile, the user-facing read register set
garfieldsg	0:662207e34fba	2013	* duplicates the internal register set's data values whenever the serial
garfieldsg	0:662207e34fba	2014	* interface is idle. This guarantees that a burst read of sensor registers will
garfieldsg	0:662207e34fba	2015	* read measurements from the same sampling instant. Note that if burst reads
garfieldsg	0:662207e34fba	2016	* are not used, the user is responsible for ensuring a set of single byte reads
garfieldsg	0:662207e34fba	2017	* correspond to a single sampling instant by checking the Data Ready interrupt.
garfieldsg	0:662207e34fba	2018	*
garfieldsg	0:662207e34fba	2019	* Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
garfieldsg	0:662207e34fba	2020	* (Register 27). For each full scale setting, the gyroscopes' sensitivity per
garfieldsg	0:662207e34fba	2021	* LSB in GYRO_xOUT is shown in the table below:
garfieldsg	0:662207e34fba	2022	*
garfieldsg	0:662207e34fba	2023	* <pre>
garfieldsg	0:662207e34fba	2024	* FS_SEL \| Full Scale Range \| LSB Sensitivity
garfieldsg	0:662207e34fba	2025	* -------+--------------------+----------------
garfieldsg	0:662207e34fba	2026	* 0 \| +/- 250 degrees/s \| 131 LSB/deg/s
garfieldsg	0:662207e34fba	2027	* 1 \| +/- 500 degrees/s \| 65.5 LSB/deg/s
garfieldsg	0:662207e34fba	2028	* 2 \| +/- 1000 degrees/s \| 32.8 LSB/deg/s
garfieldsg	0:662207e34fba	2029	* 3 \| +/- 2000 degrees/s \| 16.4 LSB/deg/s
garfieldsg	0:662207e34fba	2030	* </pre>
garfieldsg	0:662207e34fba	2031	*
garfieldsg	0:662207e34fba	2032	* @param x 16-bit signed integer container for X-axis rotation
garfieldsg	0:662207e34fba	2033	* @param y 16-bit signed integer container for Y-axis rotation
garfieldsg	0:662207e34fba	2034	* @param z 16-bit signed integer container for Z-axis rotation
garfieldsg	0:662207e34fba	2035	* @see getMotion6()
garfieldsg	0:662207e34fba	2036	* @see MPU6050_RA_GYRO_XOUT_H
garfieldsg	0:662207e34fba	2037	*/
garfieldsg	0:662207e34fba	2038	void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z)
garfieldsg	0:662207e34fba	2039	{
garfieldsg	0:662207e34fba	2040	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
garfieldsg	0:662207e34fba	2041	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2042	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
garfieldsg	0:662207e34fba	2043	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
garfieldsg	0:662207e34fba	2044	}
garfieldsg	0:662207e34fba	2045	/** Get X-axis gyroscope reading.
garfieldsg	0:662207e34fba	2046	* @return X-axis rotation measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2047	* @see getMotion6()
garfieldsg	0:662207e34fba	2048	* @see MPU6050_RA_GYRO_XOUT_H
garfieldsg	0:662207e34fba	2049	*/
garfieldsg	0:662207e34fba	2050	int16_t MPU6050::getRotationX()
garfieldsg	0:662207e34fba	2051	{
garfieldsg	0:662207e34fba	2052	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2053	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2054	}
garfieldsg	0:662207e34fba	2055	/** Get Y-axis gyroscope reading.
garfieldsg	0:662207e34fba	2056	* @return Y-axis rotation measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2057	* @see getMotion6()
garfieldsg	0:662207e34fba	2058	* @see MPU6050_RA_GYRO_YOUT_H
garfieldsg	0:662207e34fba	2059	*/
garfieldsg	0:662207e34fba	2060	int16_t MPU6050::getRotationY()
garfieldsg	0:662207e34fba	2061	{
garfieldsg	0:662207e34fba	2062	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2063	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2064	}
garfieldsg	0:662207e34fba	2065	/** Get Z-axis gyroscope reading.
garfieldsg	0:662207e34fba	2066	* @return Z-axis rotation measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2067	* @see getMotion6()
garfieldsg	0:662207e34fba	2068	* @see MPU6050_RA_GYRO_ZOUT_H
garfieldsg	0:662207e34fba	2069	*/
garfieldsg	0:662207e34fba	2070	int16_t MPU6050::getRotationZ()
garfieldsg	0:662207e34fba	2071	{
garfieldsg	0:662207e34fba	2072	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2073	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2074	}
garfieldsg	0:662207e34fba	2075
garfieldsg	0:662207e34fba	2076	// EXT_SENS_DATA_* registers
garfieldsg	0:662207e34fba	2077
garfieldsg	0:662207e34fba	2078	/** Read single byte from external sensor data register.
garfieldsg	0:662207e34fba	2079	* These registers store data read from external sensors by the Slave 0, 1, 2,
garfieldsg	0:662207e34fba	2080	* and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
garfieldsg	0:662207e34fba	2081	* I2C_SLV4_DI (Register 53).
garfieldsg	0:662207e34fba	2082	*
garfieldsg	0:662207e34fba	2083	* External sensor data is written to these registers at the Sample Rate as
garfieldsg	0:662207e34fba	2084	* defined in Register 25. This access rate can be reduced by using the Slave
garfieldsg	0:662207e34fba	2085	* Delay Enable registers (Register 103).
garfieldsg	0:662207e34fba	2086	*
garfieldsg	0:662207e34fba	2087	* External sensor data registers, along with the gyroscope measurement
garfieldsg	0:662207e34fba	2088	* registers, accelerometer measurement registers, and temperature measurement
garfieldsg	0:662207e34fba	2089	* registers, are composed of two sets of registers: an internal register set
garfieldsg	0:662207e34fba	2090	* and a user-facing read register set.
garfieldsg	0:662207e34fba	2091	*
garfieldsg	0:662207e34fba	2092	* The data within the external sensors' internal register set is always updated
garfieldsg	0:662207e34fba	2093	* at the Sample Rate (or the reduced access rate) whenever the serial interface
garfieldsg	0:662207e34fba	2094	* is idle. This guarantees that a burst read of sensor registers will read
garfieldsg	0:662207e34fba	2095	* measurements from the same sampling instant. Note that if burst reads are not
garfieldsg	0:662207e34fba	2096	* used, the user is responsible for ensuring a set of single byte reads
garfieldsg	0:662207e34fba	2097	* correspond to a single sampling instant by checking the Data Ready interrupt.
garfieldsg	0:662207e34fba	2098	*
garfieldsg	0:662207e34fba	2099	* Data is placed in these external sensor data registers according to
garfieldsg	0:662207e34fba	2100	* I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
garfieldsg	0:662207e34fba	2101	* 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
garfieldsg	0:662207e34fba	2102	* an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
garfieldsg	0:662207e34fba	2103	* defined in Register 25) or delayed rate (if specified in Register 52 and
garfieldsg	0:662207e34fba	2104	* 103). During each Sample cycle, slave reads are performed in order of Slave
garfieldsg	0:662207e34fba	2105	* number. If all slaves are enabled with more than zero bytes to be read, the
garfieldsg	0:662207e34fba	2106	* order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
garfieldsg	0:662207e34fba	2107	*
garfieldsg	0:662207e34fba	2108	* Each enabled slave will have EXT_SENS_DATA registers associated with it by
garfieldsg	0:662207e34fba	2109	* number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
garfieldsg	0:662207e34fba	2110	* EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
garfieldsg	0:662207e34fba	2111	* change the higher numbered slaves' associated registers. Furthermore, if
garfieldsg	0:662207e34fba	2112	* fewer total bytes are being read from the external sensors as a result of
garfieldsg	0:662207e34fba	2113	* such a change, then the data remaining in the registers which no longer have
garfieldsg	0:662207e34fba	2114	* an associated slave device (i.e. high numbered registers) will remain in
garfieldsg	0:662207e34fba	2115	* these previously allocated registers unless reset.
garfieldsg	0:662207e34fba	2116	*
garfieldsg	0:662207e34fba	2117	* If the sum of the read lengths of all SLVx transactions exceed the number of
garfieldsg	0:662207e34fba	2118	* available EXT_SENS_DATA registers, the excess bytes will be dropped. There
garfieldsg	0:662207e34fba	2119	* are 24 EXT_SENS_DATA registers and hence the total read lengths between all
garfieldsg	0:662207e34fba	2120	* the slaves cannot be greater than 24 or some bytes will be lost.
garfieldsg	0:662207e34fba	2121	*
garfieldsg	0:662207e34fba	2122	* Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
garfieldsg	0:662207e34fba	2123	* information regarding the characteristics of Slave 4, please refer to
garfieldsg	0:662207e34fba	2124	* Registers 49 to 53.
garfieldsg	0:662207e34fba	2125	*
garfieldsg	0:662207e34fba	2126	* EXAMPLE:
garfieldsg	0:662207e34fba	2127	* Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
garfieldsg	0:662207e34fba	2128	* I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
garfieldsg	0:662207e34fba	2129	* I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
garfieldsg	0:662207e34fba	2130	* through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
garfieldsg	0:662207e34fba	2131	* will be associated with Slave 1. If Slave 2 is enabled as well, registers
garfieldsg	0:662207e34fba	2132	* starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
garfieldsg	0:662207e34fba	2133	*
garfieldsg	0:662207e34fba	2134	* If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
garfieldsg	0:662207e34fba	2135	* registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
garfieldsg	0:662207e34fba	2136	* instead.
garfieldsg	0:662207e34fba	2137	*
garfieldsg	0:662207e34fba	2138	* REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
garfieldsg	0:662207e34fba	2139	* If a slave is disabled at any time, the space initially allocated to the
garfieldsg	0:662207e34fba	2140	* slave in the EXT_SENS_DATA register, will remain associated with that slave.
garfieldsg	0:662207e34fba	2141	* This is to avoid dynamic adjustment of the register allocation.
garfieldsg	0:662207e34fba	2142	*
garfieldsg	0:662207e34fba	2143	* The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
garfieldsg	0:662207e34fba	2144	* slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
garfieldsg	0:662207e34fba	2145	*
garfieldsg	0:662207e34fba	2146	* This above is also true if one of the slaves gets NACKed and stops
garfieldsg	0:662207e34fba	2147	* functioning.
garfieldsg	0:662207e34fba	2148	*
garfieldsg	0:662207e34fba	2149	* @param position Starting position (0-23)
garfieldsg	0:662207e34fba	2150	* @return Byte read from register
garfieldsg	0:662207e34fba	2151	*/
garfieldsg	0:662207e34fba	2152	uint8_t MPU6050::getExternalSensorByte(int position)
garfieldsg	0:662207e34fba	2153	{
garfieldsg	0:662207e34fba	2154	i2Cdev.readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
garfieldsg	0:662207e34fba	2155	return buffer[0];
garfieldsg	0:662207e34fba	2156	}
garfieldsg	0:662207e34fba	2157	/** Read word (2 bytes) from external sensor data registers.
garfieldsg	0:662207e34fba	2158	* @param position Starting position (0-21)
garfieldsg	0:662207e34fba	2159	* @return Word read from register
garfieldsg	0:662207e34fba	2160	* @see getExternalSensorByte()
garfieldsg	0:662207e34fba	2161	*/
garfieldsg	0:662207e34fba	2162	uint16_t MPU6050::getExternalSensorWord(int position)
garfieldsg	0:662207e34fba	2163	{
garfieldsg	0:662207e34fba	2164	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
garfieldsg	0:662207e34fba	2165	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2166	}
garfieldsg	0:662207e34fba	2167	/** Read double word (4 bytes) from external sensor data registers.
garfieldsg	0:662207e34fba	2168	* @param position Starting position (0-20)
garfieldsg	0:662207e34fba	2169	* @return Double word read from registers
garfieldsg	0:662207e34fba	2170	* @see getExternalSensorByte()
garfieldsg	0:662207e34fba	2171	*/
garfieldsg	0:662207e34fba	2172	uint32_t MPU6050::getExternalSensorDWord(int position)
garfieldsg	0:662207e34fba	2173	{
garfieldsg	0:662207e34fba	2174	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
garfieldsg	0:662207e34fba	2175	return (((uint32_t)buffer[0]) << 24) \| (((uint32_t)buffer[1]) << 16) \| (((uint16_t)buffer[2]) << 8) \| buffer[3];
garfieldsg	0:662207e34fba	2176	}
garfieldsg	0:662207e34fba	2177
garfieldsg	0:662207e34fba	2178	// MOT_DETECT_STATUS register
garfieldsg	0:662207e34fba	2179
garfieldsg	0:662207e34fba	2180	/** Get X-axis negative motion detection interrupt status.
garfieldsg	0:662207e34fba	2181	* @return Motion detection status
garfieldsg	0:662207e34fba	2182	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2183	* @see MPU6050_MOTION_MOT_XNEG_BIT
garfieldsg	0:662207e34fba	2184	*/
garfieldsg	0:662207e34fba	2185	bool MPU6050::getXNegMotionDetected()
garfieldsg	0:662207e34fba	2186	{
garfieldsg	0:662207e34fba	2187	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
garfieldsg	0:662207e34fba	2188	return buffer[0];
garfieldsg	0:662207e34fba	2189	}
garfieldsg	0:662207e34fba	2190	/** Get X-axis positive motion detection interrupt status.
garfieldsg	0:662207e34fba	2191	* @return Motion detection status
garfieldsg	0:662207e34fba	2192	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2193	* @see MPU6050_MOTION_MOT_XPOS_BIT
garfieldsg	0:662207e34fba	2194	*/
garfieldsg	0:662207e34fba	2195	bool MPU6050::getXPosMotionDetected()
garfieldsg	0:662207e34fba	2196	{
garfieldsg	0:662207e34fba	2197	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
garfieldsg	0:662207e34fba	2198	return buffer[0];
garfieldsg	0:662207e34fba	2199	}
garfieldsg	0:662207e34fba	2200	/** Get Y-axis negative motion detection interrupt status.
garfieldsg	0:662207e34fba	2201	* @return Motion detection status
garfieldsg	0:662207e34fba	2202	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2203	* @see MPU6050_MOTION_MOT_YNEG_BIT
garfieldsg	0:662207e34fba	2204	*/
garfieldsg	0:662207e34fba	2205	bool MPU6050::getYNegMotionDetected()
garfieldsg	0:662207e34fba	2206	{
garfieldsg	0:662207e34fba	2207	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
garfieldsg	0:662207e34fba	2208	return buffer[0];
garfieldsg	0:662207e34fba	2209	}
garfieldsg	0:662207e34fba	2210	/** Get Y-axis positive motion detection interrupt status.
garfieldsg	0:662207e34fba	2211	* @return Motion detection status
garfieldsg	0:662207e34fba	2212	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2213	* @see MPU6050_MOTION_MOT_YPOS_BIT
garfieldsg	0:662207e34fba	2214	*/
garfieldsg	0:662207e34fba	2215	bool MPU6050::getYPosMotionDetected()
garfieldsg	0:662207e34fba	2216	{
garfieldsg	0:662207e34fba	2217	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
garfieldsg	0:662207e34fba	2218	return buffer[0];
garfieldsg	0:662207e34fba	2219	}
garfieldsg	0:662207e34fba	2220	/** Get Z-axis negative motion detection interrupt status.
garfieldsg	0:662207e34fba	2221	* @return Motion detection status
garfieldsg	0:662207e34fba	2222	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2223	* @see MPU6050_MOTION_MOT_ZNEG_BIT
garfieldsg	0:662207e34fba	2224	*/
garfieldsg	0:662207e34fba	2225	bool MPU6050::getZNegMotionDetected()
garfieldsg	0:662207e34fba	2226	{
garfieldsg	0:662207e34fba	2227	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
garfieldsg	0:662207e34fba	2228	return buffer[0];
garfieldsg	0:662207e34fba	2229	}
garfieldsg	0:662207e34fba	2230	/** Get Z-axis positive motion detection interrupt status.
garfieldsg	0:662207e34fba	2231	* @return Motion detection status
garfieldsg	0:662207e34fba	2232	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2233	* @see MPU6050_MOTION_MOT_ZPOS_BIT
garfieldsg	0:662207e34fba	2234	*/
garfieldsg	0:662207e34fba	2235	bool MPU6050::getZPosMotionDetected()
garfieldsg	0:662207e34fba	2236	{
garfieldsg	0:662207e34fba	2237	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
garfieldsg	0:662207e34fba	2238	return buffer[0];
garfieldsg	0:662207e34fba	2239	}
garfieldsg	0:662207e34fba	2240	/** Get zero motion detection interrupt status.
garfieldsg	0:662207e34fba	2241	* @return Motion detection status
garfieldsg	0:662207e34fba	2242	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2243	* @see MPU6050_MOTION_MOT_ZRMOT_BIT
garfieldsg	0:662207e34fba	2244	*/
garfieldsg	0:662207e34fba	2245	bool MPU6050::getZeroMotionDetected()
garfieldsg	0:662207e34fba	2246	{
garfieldsg	0:662207e34fba	2247	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
garfieldsg	0:662207e34fba	2248	return buffer[0];
garfieldsg	0:662207e34fba	2249	}
garfieldsg	0:662207e34fba	2250
garfieldsg	0:662207e34fba	2251	// I2C_SLV*_DO register
garfieldsg	0:662207e34fba	2252
garfieldsg	0:662207e34fba	2253	/** Write byte to Data Output container for specified slave.
garfieldsg	0:662207e34fba	2254	* This register holds the output data written into Slave when Slave is set to
garfieldsg	0:662207e34fba	2255	* write mode. For further information regarding Slave control, please
garfieldsg	0:662207e34fba	2256	* refer to Registers 37 to 39 and immediately following.
garfieldsg	0:662207e34fba	2257	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	2258	* @param data Byte to write
garfieldsg	0:662207e34fba	2259	* @see MPU6050_RA_I2C_SLV0_DO
garfieldsg	0:662207e34fba	2260	*/
garfieldsg	0:662207e34fba	2261	void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data)
garfieldsg	0:662207e34fba	2262	{
garfieldsg	0:662207e34fba	2263	if (num > 3) return;
garfieldsg	0:662207e34fba	2264	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
garfieldsg	0:662207e34fba	2265	}
garfieldsg	0:662207e34fba	2266
garfieldsg	0:662207e34fba	2267	// I2C_MST_DELAY_CTRL register
garfieldsg	0:662207e34fba	2268
garfieldsg	0:662207e34fba	2269	/** Get external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2270	* This register is used to specify the timing of external sensor data
garfieldsg	0:662207e34fba	2271	* shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
garfieldsg	0:662207e34fba	2272	* sensor data is delayed until all data has been received.
garfieldsg	0:662207e34fba	2273	* @return Current external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2274	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2275	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
garfieldsg	0:662207e34fba	2276	*/
garfieldsg	0:662207e34fba	2277	bool MPU6050::getExternalShadowDelayEnabled()
garfieldsg	0:662207e34fba	2278	{
garfieldsg	0:662207e34fba	2279	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
garfieldsg	0:662207e34fba	2280	return buffer[0];
garfieldsg	0:662207e34fba	2281	}
garfieldsg	0:662207e34fba	2282	/** Set external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2283	* @param enabled New external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2284	* @see getExternalShadowDelayEnabled()
garfieldsg	0:662207e34fba	2285	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2286	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
garfieldsg	0:662207e34fba	2287	*/
garfieldsg	0:662207e34fba	2288	void MPU6050::setExternalShadowDelayEnabled(bool enabled)
garfieldsg	0:662207e34fba	2289	{
garfieldsg	0:662207e34fba	2290	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
garfieldsg	0:662207e34fba	2291	}
garfieldsg	0:662207e34fba	2292	/** Get slave delay enabled status.
garfieldsg	0:662207e34fba	2293	* When a particular slave delay is enabled, the rate of access for the that
garfieldsg	0:662207e34fba	2294	* slave device is reduced. When a slave's access rate is decreased relative to
garfieldsg	0:662207e34fba	2295	* the Sample Rate, the slave is accessed every:
garfieldsg	0:662207e34fba	2296	*
garfieldsg	0:662207e34fba	2297	* 1 / (1 + I2C_MST_DLY) Samples
garfieldsg	0:662207e34fba	2298	*
garfieldsg	0:662207e34fba	2299	* This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25)
garfieldsg	0:662207e34fba	2300	* and DLPF_CFG (register 26).
garfieldsg	0:662207e34fba	2301	*
garfieldsg	0:662207e34fba	2302	* For further information regarding I2C_MST_DLY, please refer to register 52.
garfieldsg	0:662207e34fba	2303	* For further information regarding the Sample Rate, please refer to register 25.
garfieldsg	0:662207e34fba	2304	*
garfieldsg	0:662207e34fba	2305	* @param num Slave number (0-4)
garfieldsg	0:662207e34fba	2306	* @return Current slave delay enabled status.
garfieldsg	0:662207e34fba	2307	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2308	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
garfieldsg	0:662207e34fba	2309	*/
garfieldsg	0:662207e34fba	2310	bool MPU6050::getSlaveDelayEnabled(uint8_t num)
garfieldsg	0:662207e34fba	2311	{
garfieldsg	0:662207e34fba	2312	// MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
garfieldsg	0:662207e34fba	2313	if (num > 4) return 0;
garfieldsg	0:662207e34fba	2314	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
garfieldsg	0:662207e34fba	2315	return buffer[0];
garfieldsg	0:662207e34fba	2316	}
garfieldsg	0:662207e34fba	2317	/** Set slave delay enabled status.
garfieldsg	0:662207e34fba	2318	* @param num Slave number (0-4)
garfieldsg	0:662207e34fba	2319	* @param enabled New slave delay enabled status.
garfieldsg	0:662207e34fba	2320	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2321	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
garfieldsg	0:662207e34fba	2322	*/
garfieldsg	0:662207e34fba	2323	void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled)
garfieldsg	0:662207e34fba	2324	{
garfieldsg	0:662207e34fba	2325	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
garfieldsg	0:662207e34fba	2326	}
garfieldsg	0:662207e34fba	2327
garfieldsg	0:662207e34fba	2328	// SIGNAL_PATH_RESET register
garfieldsg	0:662207e34fba	2329
garfieldsg	0:662207e34fba	2330	/** Reset gyroscope signal path.
garfieldsg	0:662207e34fba	2331	* The reset will revert the signal path analog to digital converters and
garfieldsg	0:662207e34fba	2332	* filters to their power up configurations.
garfieldsg	0:662207e34fba	2333	* @see MPU6050_RA_SIGNAL_PATH_RESET
garfieldsg	0:662207e34fba	2334	* @see MPU6050_PATHRESET_GYRO_RESET_BIT
garfieldsg	0:662207e34fba	2335	*/
garfieldsg	0:662207e34fba	2336	void MPU6050::resetGyroscopePath()
garfieldsg	0:662207e34fba	2337	{
garfieldsg	0:662207e34fba	2338	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
garfieldsg	0:662207e34fba	2339	}
garfieldsg	0:662207e34fba	2340	/** Reset accelerometer signal path.
garfieldsg	0:662207e34fba	2341	* The reset will revert the signal path analog to digital converters and
garfieldsg	0:662207e34fba	2342	* filters to their power up configurations.
garfieldsg	0:662207e34fba	2343	* @see MPU6050_RA_SIGNAL_PATH_RESET
garfieldsg	0:662207e34fba	2344	* @see MPU6050_PATHRESET_ACCEL_RESET_BIT
garfieldsg	0:662207e34fba	2345	*/
garfieldsg	0:662207e34fba	2346	void MPU6050::resetAccelerometerPath()
garfieldsg	0:662207e34fba	2347	{
garfieldsg	0:662207e34fba	2348	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
garfieldsg	0:662207e34fba	2349	}
garfieldsg	0:662207e34fba	2350	/** Reset temperature sensor signal path.
garfieldsg	0:662207e34fba	2351	* The reset will revert the signal path analog to digital converters and
garfieldsg	0:662207e34fba	2352	* filters to their power up configurations.
garfieldsg	0:662207e34fba	2353	* @see MPU6050_RA_SIGNAL_PATH_RESET
garfieldsg	0:662207e34fba	2354	* @see MPU6050_PATHRESET_TEMP_RESET_BIT
garfieldsg	0:662207e34fba	2355	*/
garfieldsg	0:662207e34fba	2356	void MPU6050::resetTemperaturePath()
garfieldsg	0:662207e34fba	2357	{
garfieldsg	0:662207e34fba	2358	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
garfieldsg	0:662207e34fba	2359	}
garfieldsg	0:662207e34fba	2360
garfieldsg	0:662207e34fba	2361	// MOT_DETECT_CTRL register
garfieldsg	0:662207e34fba	2362
garfieldsg	0:662207e34fba	2363	/** Get accelerometer power-on delay.
garfieldsg	0:662207e34fba	2364	* The accelerometer data path provides samples to the sensor registers, Motion
garfieldsg	0:662207e34fba	2365	* detection, Zero Motion detection, and Free Fall detection modules. The
garfieldsg	0:662207e34fba	2366	* signal path contains filters which must be flushed on wake-up with new
garfieldsg	0:662207e34fba	2367	* samples before the detection modules begin operations. The default wake-up
garfieldsg	0:662207e34fba	2368	* delay, of 4ms can be lengthened by up to 3ms. This additional delay is
garfieldsg	0:662207e34fba	2369	* specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
garfieldsg	0:662207e34fba	2370	* any value above zero unless instructed otherwise by InvenSense. Please refer
garfieldsg	0:662207e34fba	2371	* to Section 8 of the MPU-6000/MPU-6050 Product Specification document for
garfieldsg	0:662207e34fba	2372	* further information regarding the detection modules.
garfieldsg	0:662207e34fba	2373	* @return Current accelerometer power-on delay
garfieldsg	0:662207e34fba	2374	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2375	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
garfieldsg	0:662207e34fba	2376	*/
garfieldsg	0:662207e34fba	2377	uint8_t MPU6050::getAccelerometerPowerOnDelay()
garfieldsg	0:662207e34fba	2378	{
garfieldsg	0:662207e34fba	2379	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
garfieldsg	0:662207e34fba	2380	return buffer[0];
garfieldsg	0:662207e34fba	2381	}
garfieldsg	0:662207e34fba	2382	/** Set accelerometer power-on delay.
garfieldsg	0:662207e34fba	2383	* @param delay New accelerometer power-on delay (0-3)
garfieldsg	0:662207e34fba	2384	* @see getAccelerometerPowerOnDelay()
garfieldsg	0:662207e34fba	2385	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2386	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
garfieldsg	0:662207e34fba	2387	*/
garfieldsg	0:662207e34fba	2388	void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay)
garfieldsg	0:662207e34fba	2389	{
garfieldsg	0:662207e34fba	2390	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
garfieldsg	0:662207e34fba	2391	}
garfieldsg	0:662207e34fba	2392	/** Get Free Fall detection counter decrement configuration.
garfieldsg	0:662207e34fba	2393	* Detection is registered by the Free Fall detection module after accelerometer
garfieldsg	0:662207e34fba	2394	* measurements meet their respective threshold conditions over a specified
garfieldsg	0:662207e34fba	2395	* number of samples. When the threshold conditions are met, the corresponding
garfieldsg	0:662207e34fba	2396	* detection counter increments by 1. The user may control the rate at which the
garfieldsg	0:662207e34fba	2397	* detection counter decrements when the threshold condition is not met by
garfieldsg	0:662207e34fba	2398	* configuring FF_COUNT. The decrement rate can be set according to the
garfieldsg	0:662207e34fba	2399	* following table:
garfieldsg	0:662207e34fba	2400	*
garfieldsg	0:662207e34fba	2401	* <pre>
garfieldsg	0:662207e34fba	2402	* FF_COUNT \| Counter Decrement
garfieldsg	0:662207e34fba	2403	* ---------+------------------
garfieldsg	0:662207e34fba	2404	* 0 \| Reset
garfieldsg	0:662207e34fba	2405	* 1 \| 1
garfieldsg	0:662207e34fba	2406	* 2 \| 2
garfieldsg	0:662207e34fba	2407	* 3 \| 4
garfieldsg	0:662207e34fba	2408	* </pre>
garfieldsg	0:662207e34fba	2409	*
garfieldsg	0:662207e34fba	2410	* When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
garfieldsg	0:662207e34fba	2411	* reset the counter to 0. For further information on Free Fall detection,
garfieldsg	0:662207e34fba	2412	* please refer to Registers 29 to 32.
garfieldsg	0:662207e34fba	2413	*
garfieldsg	0:662207e34fba	2414	* @return Current decrement configuration
garfieldsg	0:662207e34fba	2415	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2416	* @see MPU6050_DETECT_FF_COUNT_BIT
garfieldsg	0:662207e34fba	2417	*/
garfieldsg	0:662207e34fba	2418	uint8_t MPU6050::getFreefallDetectionCounterDecrement()
garfieldsg	0:662207e34fba	2419	{
garfieldsg	0:662207e34fba	2420	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
garfieldsg	0:662207e34fba	2421	return buffer[0];
garfieldsg	0:662207e34fba	2422	}
garfieldsg	0:662207e34fba	2423	/** Set Free Fall detection counter decrement configuration.
garfieldsg	0:662207e34fba	2424	* @param decrement New decrement configuration value
garfieldsg	0:662207e34fba	2425	* @see getFreefallDetectionCounterDecrement()
garfieldsg	0:662207e34fba	2426	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2427	* @see MPU6050_DETECT_FF_COUNT_BIT
garfieldsg	0:662207e34fba	2428	*/
garfieldsg	0:662207e34fba	2429	void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement)
garfieldsg	0:662207e34fba	2430	{
garfieldsg	0:662207e34fba	2431	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
garfieldsg	0:662207e34fba	2432	}
garfieldsg	0:662207e34fba	2433	/** Get Motion detection counter decrement configuration.
garfieldsg	0:662207e34fba	2434	* Detection is registered by the Motion detection module after accelerometer
garfieldsg	0:662207e34fba	2435	* measurements meet their respective threshold conditions over a specified
garfieldsg	0:662207e34fba	2436	* number of samples. When the threshold conditions are met, the corresponding
garfieldsg	0:662207e34fba	2437	* detection counter increments by 1. The user may control the rate at which the
garfieldsg	0:662207e34fba	2438	* detection counter decrements when the threshold condition is not met by
garfieldsg	0:662207e34fba	2439	* configuring MOT_COUNT. The decrement rate can be set according to the
garfieldsg	0:662207e34fba	2440	* following table:
garfieldsg	0:662207e34fba	2441	*
garfieldsg	0:662207e34fba	2442	* <pre>
garfieldsg	0:662207e34fba	2443	* MOT_COUNT \| Counter Decrement
garfieldsg	0:662207e34fba	2444	* ----------+------------------
garfieldsg	0:662207e34fba	2445	* 0 \| Reset
garfieldsg	0:662207e34fba	2446	* 1 \| 1
garfieldsg	0:662207e34fba	2447	* 2 \| 2
garfieldsg	0:662207e34fba	2448	* 3 \| 4
garfieldsg	0:662207e34fba	2449	* </pre>
garfieldsg	0:662207e34fba	2450	*
garfieldsg	0:662207e34fba	2451	* When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
garfieldsg	0:662207e34fba	2452	* reset the counter to 0. For further information on Motion detection,
garfieldsg	0:662207e34fba	2453	* please refer to Registers 29 to 32.
garfieldsg	0:662207e34fba	2454	*
garfieldsg	0:662207e34fba	2455	*/
garfieldsg	0:662207e34fba	2456	uint8_t MPU6050::getMotionDetectionCounterDecrement()
garfieldsg	0:662207e34fba	2457	{
garfieldsg	0:662207e34fba	2458	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
garfieldsg	0:662207e34fba	2459	return buffer[0];
garfieldsg	0:662207e34fba	2460	}
garfieldsg	0:662207e34fba	2461	/** Set Motion detection counter decrement configuration.
garfieldsg	0:662207e34fba	2462	* @param decrement New decrement configuration value
garfieldsg	0:662207e34fba	2463	* @see getMotionDetectionCounterDecrement()
garfieldsg	0:662207e34fba	2464	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2465	* @see MPU6050_DETECT_MOT_COUNT_BIT
garfieldsg	0:662207e34fba	2466	*/
garfieldsg	0:662207e34fba	2467	void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement)
garfieldsg	0:662207e34fba	2468	{
garfieldsg	0:662207e34fba	2469	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
garfieldsg	0:662207e34fba	2470	}
garfieldsg	0:662207e34fba	2471
garfieldsg	0:662207e34fba	2472	// USER_CTRL register
garfieldsg	0:662207e34fba	2473
garfieldsg	0:662207e34fba	2474	/** Get FIFO enabled status.
garfieldsg	0:662207e34fba	2475	* When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
garfieldsg	0:662207e34fba	2476	* cannot be written to or read from while disabled. The FIFO buffer's state
garfieldsg	0:662207e34fba	2477	* does not change unless the MPU-60X0 is power cycled.
garfieldsg	0:662207e34fba	2478	* @return Current FIFO enabled status
garfieldsg	0:662207e34fba	2479	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2480	* @see MPU6050_USERCTRL_FIFO_EN_BIT
garfieldsg	0:662207e34fba	2481	*/
garfieldsg	0:662207e34fba	2482	bool MPU6050::getFIFOEnabled()
garfieldsg	0:662207e34fba	2483	{
garfieldsg	0:662207e34fba	2484	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	2485	return buffer[0];
garfieldsg	0:662207e34fba	2486	}
garfieldsg	0:662207e34fba	2487	/** Set FIFO enabled status.
garfieldsg	0:662207e34fba	2488	* @param enabled New FIFO enabled status
garfieldsg	0:662207e34fba	2489	* @see getFIFOEnabled()
garfieldsg	0:662207e34fba	2490	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2491	* @see MPU6050_USERCTRL_FIFO_EN_BIT
garfieldsg	0:662207e34fba	2492	*/
garfieldsg	0:662207e34fba	2493	void MPU6050::setFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	2494	{
garfieldsg	0:662207e34fba	2495	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	2496	}
garfieldsg	0:662207e34fba	2497	/** Get I2C Master Mode enabled status.
garfieldsg	0:662207e34fba	2498	* When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
garfieldsg	0:662207e34fba	2499	* external sensor slave devices on the auxiliary I2C bus. When this bit is
garfieldsg	0:662207e34fba	2500	* cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
garfieldsg	0:662207e34fba	2501	* driven by the primary I2C bus (SDA and SCL). This is a precondition to
garfieldsg	0:662207e34fba	2502	* enabling Bypass Mode. For further information regarding Bypass Mode, please
garfieldsg	0:662207e34fba	2503	* refer to Register 55.
garfieldsg	0:662207e34fba	2504	* @return Current I2C Master Mode enabled status
garfieldsg	0:662207e34fba	2505	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2506	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
garfieldsg	0:662207e34fba	2507	*/
garfieldsg	0:662207e34fba	2508	bool MPU6050::getI2CMasterModeEnabled()
garfieldsg	0:662207e34fba	2509	{
garfieldsg	0:662207e34fba	2510	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
garfieldsg	0:662207e34fba	2511	return buffer[0];
garfieldsg	0:662207e34fba	2512	}
garfieldsg	0:662207e34fba	2513	/** Set I2C Master Mode enabled status.
garfieldsg	0:662207e34fba	2514	* @param enabled New I2C Master Mode enabled status
garfieldsg	0:662207e34fba	2515	* @see getI2CMasterModeEnabled()
garfieldsg	0:662207e34fba	2516	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2517	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
garfieldsg	0:662207e34fba	2518	*/
garfieldsg	0:662207e34fba	2519	void MPU6050::setI2CMasterModeEnabled(bool enabled)
garfieldsg	0:662207e34fba	2520	{
garfieldsg	0:662207e34fba	2521	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
garfieldsg	0:662207e34fba	2522	}
garfieldsg	0:662207e34fba	2523	/** Switch from I2C to SPI mode (MPU-6000 only)
garfieldsg	0:662207e34fba	2524	* If this is set, the primary SPI interface will be enabled in place of the
garfieldsg	0:662207e34fba	2525	* disabled primary I2C interface.
garfieldsg	0:662207e34fba	2526	*/
garfieldsg	0:662207e34fba	2527	void MPU6050::switchSPIEnabled(bool enabled)
garfieldsg	0:662207e34fba	2528	{
garfieldsg	0:662207e34fba	2529	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
garfieldsg	0:662207e34fba	2530	}
garfieldsg	0:662207e34fba	2531	/** Reset the FIFO.
garfieldsg	0:662207e34fba	2532	* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
garfieldsg	0:662207e34fba	2533	* bit automatically clears to 0 after the reset has been triggered.
garfieldsg	0:662207e34fba	2534	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2535	* @see MPU6050_USERCTRL_FIFO_RESET_BIT
garfieldsg	0:662207e34fba	2536	*/
garfieldsg	0:662207e34fba	2537	void MPU6050::resetFIFO()
garfieldsg	0:662207e34fba	2538	{
garfieldsg	0:662207e34fba	2539	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
garfieldsg	0:662207e34fba	2540	}
garfieldsg	0:662207e34fba	2541	/** Reset the I2C Master.
garfieldsg	0:662207e34fba	2542	* This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
garfieldsg	0:662207e34fba	2543	* This bit automatically clears to 0 after the reset has been triggered.
garfieldsg	0:662207e34fba	2544	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2545	* @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
garfieldsg	0:662207e34fba	2546	*/
garfieldsg	0:662207e34fba	2547	void MPU6050::resetI2CMaster()
garfieldsg	0:662207e34fba	2548	{
garfieldsg	0:662207e34fba	2549	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
garfieldsg	0:662207e34fba	2550	}
garfieldsg	0:662207e34fba	2551	/** Reset all sensor registers and signal paths.
garfieldsg	0:662207e34fba	2552	* When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
garfieldsg	0:662207e34fba	2553	* accelerometers, and temperature sensor). This operation will also clear the
garfieldsg	0:662207e34fba	2554	* sensor registers. This bit automatically clears to 0 after the reset has been
garfieldsg	0:662207e34fba	2555	* triggered.
garfieldsg	0:662207e34fba	2556	*
garfieldsg	0:662207e34fba	2557	* When resetting only the signal path (and not the sensor registers), please
garfieldsg	0:662207e34fba	2558	* use Register 104, SIGNAL_PATH_RESET.
garfieldsg	0:662207e34fba	2559	*
garfieldsg	0:662207e34fba	2560	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2561	* @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
garfieldsg	0:662207e34fba	2562	*/
garfieldsg	0:662207e34fba	2563	void MPU6050::resetSensors()
garfieldsg	0:662207e34fba	2564	{
garfieldsg	0:662207e34fba	2565	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
garfieldsg	0:662207e34fba	2566	}
garfieldsg	0:662207e34fba	2567
garfieldsg	0:662207e34fba	2568	// PWR_MGMT_1 register
garfieldsg	0:662207e34fba	2569
garfieldsg	0:662207e34fba	2570	/** Trigger a full device reset.
garfieldsg	0:662207e34fba	2571	* A small delay of ~50ms may be desirable after triggering a reset.
garfieldsg	0:662207e34fba	2572	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2573	* @see MPU6050_PWR1_DEVICE_RESET_BIT
garfieldsg	0:662207e34fba	2574	*/
garfieldsg	0:662207e34fba	2575	void MPU6050::reset()
garfieldsg	0:662207e34fba	2576	{
garfieldsg	0:662207e34fba	2577	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
garfieldsg	0:662207e34fba	2578	}
garfieldsg	0:662207e34fba	2579	/** Get sleep mode status.
garfieldsg	0:662207e34fba	2580	* Setting the SLEEP bit in the register puts the device into very low power
garfieldsg	0:662207e34fba	2581	* sleep mode. In this mode, only the serial interface and internal registers
garfieldsg	0:662207e34fba	2582	* remain active, allowing for a very low standby current. Clearing this bit
garfieldsg	0:662207e34fba	2583	* puts the device back into normal mode. To save power, the individual standby
garfieldsg	0:662207e34fba	2584	* selections for each of the gyros should be used if any gyro axis is not used
garfieldsg	0:662207e34fba	2585	* by the application.
garfieldsg	0:662207e34fba	2586	* @return Current sleep mode enabled status
garfieldsg	0:662207e34fba	2587	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2588	* @see MPU6050_PWR1_SLEEP_BIT
garfieldsg	0:662207e34fba	2589	*/
garfieldsg	0:662207e34fba	2590	bool MPU6050::getSleepEnabled()
garfieldsg	0:662207e34fba	2591	{
garfieldsg	0:662207e34fba	2592	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
garfieldsg	0:662207e34fba	2593	return buffer[0];
garfieldsg	0:662207e34fba	2594	}
garfieldsg	0:662207e34fba	2595	/** Set sleep mode status.
garfieldsg	0:662207e34fba	2596	* @param enabled New sleep mode enabled status
garfieldsg	0:662207e34fba	2597	* @see getSleepEnabled()
garfieldsg	0:662207e34fba	2598	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2599	* @see MPU6050_PWR1_SLEEP_BIT
garfieldsg	0:662207e34fba	2600	*/
garfieldsg	0:662207e34fba	2601	void MPU6050::setSleepEnabled(bool enabled)
garfieldsg	0:662207e34fba	2602	{
garfieldsg	0:662207e34fba	2603	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
garfieldsg	0:662207e34fba	2604	}
garfieldsg	0:662207e34fba	2605	/** Get wake cycle enabled status.
garfieldsg	0:662207e34fba	2606	* When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
garfieldsg	0:662207e34fba	2607	* between sleep mode and waking up to take a single sample of data from active
garfieldsg	0:662207e34fba	2608	* sensors at a rate determined by LP_WAKE_CTRL (register 108).
garfieldsg	0:662207e34fba	2609	* @return Current sleep mode enabled status
garfieldsg	0:662207e34fba	2610	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2611	* @see MPU6050_PWR1_CYCLE_BIT
garfieldsg	0:662207e34fba	2612	*/
garfieldsg	0:662207e34fba	2613	bool MPU6050::getWakeCycleEnabled()
garfieldsg	0:662207e34fba	2614	{
garfieldsg	0:662207e34fba	2615	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
garfieldsg	0:662207e34fba	2616	return buffer[0];
garfieldsg	0:662207e34fba	2617	}
garfieldsg	0:662207e34fba	2618	/** Set wake cycle enabled status.
garfieldsg	0:662207e34fba	2619	* @param enabled New sleep mode enabled status
garfieldsg	0:662207e34fba	2620	* @see getWakeCycleEnabled()
garfieldsg	0:662207e34fba	2621	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2622	* @see MPU6050_PWR1_CYCLE_BIT
garfieldsg	0:662207e34fba	2623	*/
garfieldsg	0:662207e34fba	2624	void MPU6050::setWakeCycleEnabled(bool enabled)
garfieldsg	0:662207e34fba	2625	{
garfieldsg	0:662207e34fba	2626	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
garfieldsg	0:662207e34fba	2627	}
garfieldsg	0:662207e34fba	2628	/** Get temperature sensor enabled status.
garfieldsg	0:662207e34fba	2629	* Control the usage of the internal temperature sensor.
garfieldsg	0:662207e34fba	2630	*
garfieldsg	0:662207e34fba	2631	* Note: this register stores the disabled value, but for consistency with the
garfieldsg	0:662207e34fba	2632	* rest of the code, the function is named and used with standard true/false
garfieldsg	0:662207e34fba	2633	* values to indicate whether the sensor is enabled or disabled, respectively.
garfieldsg	0:662207e34fba	2634	*
garfieldsg	0:662207e34fba	2635	* @return Current temperature sensor enabled status
garfieldsg	0:662207e34fba	2636	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2637	* @see MPU6050_PWR1_TEMP_DIS_BIT
garfieldsg	0:662207e34fba	2638	*/
garfieldsg	0:662207e34fba	2639	bool MPU6050::getTempSensorEnabled()
garfieldsg	0:662207e34fba	2640	{
garfieldsg	0:662207e34fba	2641	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
garfieldsg	0:662207e34fba	2642	return buffer[0] == 0; // 1 is actually disabled here
garfieldsg	0:662207e34fba	2643	}
garfieldsg	0:662207e34fba	2644	/** Set temperature sensor enabled status.
garfieldsg	0:662207e34fba	2645	* Note: this register stores the disabled value, but for consistency with the
garfieldsg	0:662207e34fba	2646	* rest of the code, the function is named and used with standard true/false
garfieldsg	0:662207e34fba	2647	* values to indicate whether the sensor is enabled or disabled, respectively.
garfieldsg	0:662207e34fba	2648	*
garfieldsg	0:662207e34fba	2649	* @param enabled New temperature sensor enabled status
garfieldsg	0:662207e34fba	2650	* @see getTempSensorEnabled()
garfieldsg	0:662207e34fba	2651	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2652	* @see MPU6050_PWR1_TEMP_DIS_BIT
garfieldsg	0:662207e34fba	2653	*/
garfieldsg	0:662207e34fba	2654	void MPU6050::setTempSensorEnabled(bool enabled)
garfieldsg	0:662207e34fba	2655	{
garfieldsg	0:662207e34fba	2656	// 1 is actually disabled here
garfieldsg	0:662207e34fba	2657	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
garfieldsg	0:662207e34fba	2658	}
garfieldsg	0:662207e34fba	2659	/** Get clock source setting.
garfieldsg	0:662207e34fba	2660	* @return Current clock source setting
garfieldsg	0:662207e34fba	2661	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2662	* @see MPU6050_PWR1_CLKSEL_BIT
garfieldsg	0:662207e34fba	2663	* @see MPU6050_PWR1_CLKSEL_LENGTH
garfieldsg	0:662207e34fba	2664	*/
garfieldsg	0:662207e34fba	2665	uint8_t MPU6050::getClockSource()
garfieldsg	0:662207e34fba	2666	{
garfieldsg	0:662207e34fba	2667	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
garfieldsg	0:662207e34fba	2668	return buffer[0];
garfieldsg	0:662207e34fba	2669	}
garfieldsg	0:662207e34fba	2670	/** Set clock source setting.
garfieldsg	0:662207e34fba	2671	* An internal 8MHz oscillator, gyroscope based clock, or external sources can
garfieldsg	0:662207e34fba	2672	* be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
garfieldsg	0:662207e34fba	2673	* or an external source is chosen as the clock source, the MPU-60X0 can operate
garfieldsg	0:662207e34fba	2674	* in low power modes with the gyroscopes disabled.
garfieldsg	0:662207e34fba	2675	*
garfieldsg	0:662207e34fba	2676	* Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
garfieldsg	0:662207e34fba	2677	* However, it is highly recommended that the device be configured to use one of
garfieldsg	0:662207e34fba	2678	* the gyroscopes (or an external clock source) as the clock reference for
garfieldsg	0:662207e34fba	2679	* improved stability. The clock source can be selected according to the following table:
garfieldsg	0:662207e34fba	2680	*
garfieldsg	0:662207e34fba	2681	* <pre>
garfieldsg	0:662207e34fba	2682	* CLK_SEL \| Clock Source
garfieldsg	0:662207e34fba	2683	* --------+--------------------------------------
garfieldsg	0:662207e34fba	2684	* 0 \| Internal oscillator
garfieldsg	0:662207e34fba	2685	* 1 \| PLL with X Gyro reference
garfieldsg	0:662207e34fba	2686	* 2 \| PLL with Y Gyro reference
garfieldsg	0:662207e34fba	2687	* 3 \| PLL with Z Gyro reference
garfieldsg	0:662207e34fba	2688	* 4 \| PLL with external 32.768kHz reference
garfieldsg	0:662207e34fba	2689	* 5 \| PLL with external 19.2MHz reference
garfieldsg	0:662207e34fba	2690	* 6 \| Reserved
garfieldsg	0:662207e34fba	2691	* 7 \| Stops the clock and keeps the timing generator in reset
garfieldsg	0:662207e34fba	2692	* </pre>
garfieldsg	0:662207e34fba	2693	*
garfieldsg	0:662207e34fba	2694	* @param source New clock source setting
garfieldsg	0:662207e34fba	2695	* @see getClockSource()
garfieldsg	0:662207e34fba	2696	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2697	* @see MPU6050_PWR1_CLKSEL_BIT
garfieldsg	0:662207e34fba	2698	* @see MPU6050_PWR1_CLKSEL_LENGTH
garfieldsg	0:662207e34fba	2699	*/
garfieldsg	0:662207e34fba	2700	void MPU6050::setClockSource(uint8_t source)
garfieldsg	0:662207e34fba	2701	{
garfieldsg	0:662207e34fba	2702	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
garfieldsg	0:662207e34fba	2703	}
garfieldsg	0:662207e34fba	2704
garfieldsg	0:662207e34fba	2705	// PWR_MGMT_2 register
garfieldsg	0:662207e34fba	2706
garfieldsg	0:662207e34fba	2707	/** Get wake frequency in Accel-Only Low Power Mode.
garfieldsg	0:662207e34fba	2708	* The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
garfieldsg	0:662207e34fba	2709	* PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
garfieldsg	0:662207e34fba	2710	* the device will power off all devices except for the primary I2C interface,
garfieldsg	0:662207e34fba	2711	* waking only the accelerometer at fixed intervals to take a single
garfieldsg	0:662207e34fba	2712	* measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
garfieldsg	0:662207e34fba	2713	* as shown below:
garfieldsg	0:662207e34fba	2714	*
garfieldsg	0:662207e34fba	2715	* <pre>
garfieldsg	0:662207e34fba	2716	* LP_WAKE_CTRL \| Wake-up Frequency
garfieldsg	0:662207e34fba	2717	* -------------+------------------
garfieldsg	0:662207e34fba	2718	* 0 \| 1.25 Hz
garfieldsg	0:662207e34fba	2719	* 1 \| 2.5 Hz
garfieldsg	0:662207e34fba	2720	* 2 \| 5 Hz
garfieldsg	0:662207e34fba	2721	* 3 \| 10 Hz
garfieldsg	0:662207e34fba	2722	* <pre>
garfieldsg	0:662207e34fba	2723	*
garfieldsg	0:662207e34fba	2724	* For further information regarding the MPU-60X0's power modes, please refer to
garfieldsg	0:662207e34fba	2725	* Register 107.
garfieldsg	0:662207e34fba	2726	*
garfieldsg	0:662207e34fba	2727	* @return Current wake frequency
garfieldsg	0:662207e34fba	2728	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2729	*/
garfieldsg	0:662207e34fba	2730	uint8_t MPU6050::getWakeFrequency()
garfieldsg	0:662207e34fba	2731	{
garfieldsg	0:662207e34fba	2732	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
garfieldsg	0:662207e34fba	2733	return buffer[0];
garfieldsg	0:662207e34fba	2734	}
garfieldsg	0:662207e34fba	2735	/** Set wake frequency in Accel-Only Low Power Mode.
garfieldsg	0:662207e34fba	2736	* @param frequency New wake frequency
garfieldsg	0:662207e34fba	2737	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2738	*/
garfieldsg	0:662207e34fba	2739	void MPU6050::setWakeFrequency(uint8_t frequency)
garfieldsg	0:662207e34fba	2740	{
garfieldsg	0:662207e34fba	2741	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
garfieldsg	0:662207e34fba	2742	}
garfieldsg	0:662207e34fba	2743
garfieldsg	0:662207e34fba	2744	/** Get X-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2745	* If enabled, the X-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2746	* @return Current X-axis standby enabled status
garfieldsg	0:662207e34fba	2747	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2748	* @see MPU6050_PWR2_STBY_XA_BIT
garfieldsg	0:662207e34fba	2749	*/
garfieldsg	0:662207e34fba	2750	bool MPU6050::getStandbyXAccelEnabled()
garfieldsg	0:662207e34fba	2751	{
garfieldsg	0:662207e34fba	2752	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
garfieldsg	0:662207e34fba	2753	return buffer[0];
garfieldsg	0:662207e34fba	2754	}
garfieldsg	0:662207e34fba	2755	/** Set X-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2756	* @param New X-axis standby enabled status
garfieldsg	0:662207e34fba	2757	* @see getStandbyXAccelEnabled()
garfieldsg	0:662207e34fba	2758	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2759	* @see MPU6050_PWR2_STBY_XA_BIT
garfieldsg	0:662207e34fba	2760	*/
garfieldsg	0:662207e34fba	2761	void MPU6050::setStandbyXAccelEnabled(bool enabled)
garfieldsg	0:662207e34fba	2762	{
garfieldsg	0:662207e34fba	2763	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
garfieldsg	0:662207e34fba	2764	}
garfieldsg	0:662207e34fba	2765	/** Get Y-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2766	* If enabled, the Y-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2767	* @return Current Y-axis standby enabled status
garfieldsg	0:662207e34fba	2768	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2769	* @see MPU6050_PWR2_STBY_YA_BIT
garfieldsg	0:662207e34fba	2770	*/
garfieldsg	0:662207e34fba	2771	bool MPU6050::getStandbyYAccelEnabled()
garfieldsg	0:662207e34fba	2772	{
garfieldsg	0:662207e34fba	2773	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
garfieldsg	0:662207e34fba	2774	return buffer[0];
garfieldsg	0:662207e34fba	2775	}
garfieldsg	0:662207e34fba	2776	/** Set Y-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2777	* @param New Y-axis standby enabled status
garfieldsg	0:662207e34fba	2778	* @see getStandbyYAccelEnabled()
garfieldsg	0:662207e34fba	2779	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2780	* @see MPU6050_PWR2_STBY_YA_BIT
garfieldsg	0:662207e34fba	2781	*/
garfieldsg	0:662207e34fba	2782	void MPU6050::setStandbyYAccelEnabled(bool enabled)
garfieldsg	0:662207e34fba	2783	{
garfieldsg	0:662207e34fba	2784	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
garfieldsg	0:662207e34fba	2785	}
garfieldsg	0:662207e34fba	2786	/** Get Z-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2787	* If enabled, the Z-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2788	* @return Current Z-axis standby enabled status
garfieldsg	0:662207e34fba	2789	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2790	* @see MPU6050_PWR2_STBY_ZA_BIT
garfieldsg	0:662207e34fba	2791	*/
garfieldsg	0:662207e34fba	2792	bool MPU6050::getStandbyZAccelEnabled()
garfieldsg	0:662207e34fba	2793	{
garfieldsg	0:662207e34fba	2794	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
garfieldsg	0:662207e34fba	2795	return buffer[0];
garfieldsg	0:662207e34fba	2796	}
garfieldsg	0:662207e34fba	2797	/** Set Z-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2798	* @param New Z-axis standby enabled status
garfieldsg	0:662207e34fba	2799	* @see getStandbyZAccelEnabled()
garfieldsg	0:662207e34fba	2800	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2801	* @see MPU6050_PWR2_STBY_ZA_BIT
garfieldsg	0:662207e34fba	2802	*/
garfieldsg	0:662207e34fba	2803	void MPU6050::setStandbyZAccelEnabled(bool enabled)
garfieldsg	0:662207e34fba	2804	{
garfieldsg	0:662207e34fba	2805	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
garfieldsg	0:662207e34fba	2806	}
garfieldsg	0:662207e34fba	2807	/** Get X-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2808	* If enabled, the X-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2809	* @return Current X-axis standby enabled status
garfieldsg	0:662207e34fba	2810	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2811	* @see MPU6050_PWR2_STBY_XG_BIT
garfieldsg	0:662207e34fba	2812	*/
garfieldsg	0:662207e34fba	2813	bool MPU6050::getStandbyXGyroEnabled()
garfieldsg	0:662207e34fba	2814	{
garfieldsg	0:662207e34fba	2815	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
garfieldsg	0:662207e34fba	2816	return buffer[0];
garfieldsg	0:662207e34fba	2817	}
garfieldsg	0:662207e34fba	2818	/** Set X-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2819	* @param New X-axis standby enabled status
garfieldsg	0:662207e34fba	2820	* @see getStandbyXGyroEnabled()
garfieldsg	0:662207e34fba	2821	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2822	* @see MPU6050_PWR2_STBY_XG_BIT
garfieldsg	0:662207e34fba	2823	*/
garfieldsg	0:662207e34fba	2824	void MPU6050::setStandbyXGyroEnabled(bool enabled)
garfieldsg	0:662207e34fba	2825	{
garfieldsg	0:662207e34fba	2826	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
garfieldsg	0:662207e34fba	2827	}
garfieldsg	0:662207e34fba	2828	/** Get Y-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2829	* If enabled, the Y-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2830	* @return Current Y-axis standby enabled status
garfieldsg	0:662207e34fba	2831	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2832	* @see MPU6050_PWR2_STBY_YG_BIT
garfieldsg	0:662207e34fba	2833	*/
garfieldsg	0:662207e34fba	2834	bool MPU6050::getStandbyYGyroEnabled()
garfieldsg	0:662207e34fba	2835	{
garfieldsg	0:662207e34fba	2836	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
garfieldsg	0:662207e34fba	2837	return buffer[0];
garfieldsg	0:662207e34fba	2838	}
garfieldsg	0:662207e34fba	2839	/** Set Y-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2840	* @param New Y-axis standby enabled status
garfieldsg	0:662207e34fba	2841	* @see getStandbyYGyroEnabled()
garfieldsg	0:662207e34fba	2842	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2843	* @see MPU6050_PWR2_STBY_YG_BIT
garfieldsg	0:662207e34fba	2844	*/
garfieldsg	0:662207e34fba	2845	void MPU6050::setStandbyYGyroEnabled(bool enabled)
garfieldsg	0:662207e34fba	2846	{
garfieldsg	0:662207e34fba	2847	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
garfieldsg	0:662207e34fba	2848	}
garfieldsg	0:662207e34fba	2849	/** Get Z-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2850	* If enabled, the Z-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2851	* @return Current Z-axis standby enabled status
garfieldsg	0:662207e34fba	2852	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2853	* @see MPU6050_PWR2_STBY_ZG_BIT
garfieldsg	0:662207e34fba	2854	*/
garfieldsg	0:662207e34fba	2855	bool MPU6050::getStandbyZGyroEnabled()
garfieldsg	0:662207e34fba	2856	{
garfieldsg	0:662207e34fba	2857	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
garfieldsg	0:662207e34fba	2858	return buffer[0];
garfieldsg	0:662207e34fba	2859	}
garfieldsg	0:662207e34fba	2860	/** Set Z-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2861	* @param New Z-axis standby enabled status
garfieldsg	0:662207e34fba	2862	* @see getStandbyZGyroEnabled()
garfieldsg	0:662207e34fba	2863	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2864	* @see MPU6050_PWR2_STBY_ZG_BIT
garfieldsg	0:662207e34fba	2865	*/
garfieldsg	0:662207e34fba	2866	void MPU6050::setStandbyZGyroEnabled(bool enabled)
garfieldsg	0:662207e34fba	2867	{
garfieldsg	0:662207e34fba	2868	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
garfieldsg	0:662207e34fba	2869	}
garfieldsg	0:662207e34fba	2870
garfieldsg	0:662207e34fba	2871	// FIFO_COUNT* registers
garfieldsg	0:662207e34fba	2872
garfieldsg	0:662207e34fba	2873	/** Get current FIFO buffer size.
garfieldsg	0:662207e34fba	2874	* This value indicates the number of bytes stored in the FIFO buffer. This
garfieldsg	0:662207e34fba	2875	* number is in turn the number of bytes that can be read from the FIFO buffer
garfieldsg	0:662207e34fba	2876	* and it is directly proportional to the number of samples available given the
garfieldsg	0:662207e34fba	2877	* set of sensor data bound to be stored in the FIFO (register 35 and 36).
garfieldsg	0:662207e34fba	2878	* @return Current FIFO buffer size
garfieldsg	0:662207e34fba	2879	*/
garfieldsg	0:662207e34fba	2880	uint16_t MPU6050::getFIFOCount()
garfieldsg	0:662207e34fba	2881	{
garfieldsg	0:662207e34fba	2882	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
garfieldsg	0:662207e34fba	2883	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2884	}
garfieldsg	0:662207e34fba	2885
garfieldsg	0:662207e34fba	2886	// FIFO_R_W register
garfieldsg	0:662207e34fba	2887
garfieldsg	0:662207e34fba	2888	/** Get byte from FIFO buffer.
garfieldsg	0:662207e34fba	2889	* This register is used to read and write data from the FIFO buffer. Data is
garfieldsg	0:662207e34fba	2890	* written to the FIFO in order of register number (from lowest to highest). If
garfieldsg	0:662207e34fba	2891	* all the FIFO enable flags (see below) are enabled and all External Sensor
garfieldsg	0:662207e34fba	2892	* Data registers (Registers 73 to 96) are associated with a Slave device, the
garfieldsg	0:662207e34fba	2893	* contents of registers 59 through 96 will be written in order at the Sample
garfieldsg	0:662207e34fba	2894	* Rate.
garfieldsg	0:662207e34fba	2895	*
garfieldsg	0:662207e34fba	2896	* The contents of the sensor data registers (Registers 59 to 96) are written
garfieldsg	0:662207e34fba	2897	* into the FIFO buffer when their corresponding FIFO enable flags are set to 1
garfieldsg	0:662207e34fba	2898	* in FIFO_EN (Register 35). An additional flag for the sensor data registers
garfieldsg	0:662207e34fba	2899	* associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
garfieldsg	0:662207e34fba	2900	*
garfieldsg	0:662207e34fba	2901	* If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
garfieldsg	0:662207e34fba	2902	* automatically set to 1. This bit is located in INT_STATUS (Register 58).
garfieldsg	0:662207e34fba	2903	* When the FIFO buffer has overflowed, the oldest data will be lost and new
garfieldsg	0:662207e34fba	2904	* data will be written to the FIFO.
garfieldsg	0:662207e34fba	2905	*
garfieldsg	0:662207e34fba	2906	* If the FIFO buffer is empty, reading this register will return the last byte
garfieldsg	0:662207e34fba	2907	* that was previously read from the FIFO until new data is available. The user
garfieldsg	0:662207e34fba	2908	* should check FIFO_COUNT to ensure that the FIFO buffer is not read when
garfieldsg	0:662207e34fba	2909	* empty.
garfieldsg	0:662207e34fba	2910	*
garfieldsg	0:662207e34fba	2911	* @return Byte from FIFO buffer
garfieldsg	0:662207e34fba	2912	*/
garfieldsg	0:662207e34fba	2913	uint8_t MPU6050::getFIFOByte()
garfieldsg	0:662207e34fba	2914	{
garfieldsg	0:662207e34fba	2915	i2Cdev.readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
garfieldsg	0:662207e34fba	2916	return buffer[0];
garfieldsg	0:662207e34fba	2917	}
garfieldsg	0:662207e34fba	2918	void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length)
garfieldsg	0:662207e34fba	2919	{
garfieldsg	0:662207e34fba	2920	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
garfieldsg	0:662207e34fba	2921	}
garfieldsg	0:662207e34fba	2922	/** Write byte to FIFO buffer.
garfieldsg	0:662207e34fba	2923	* @see getFIFOByte()
garfieldsg	0:662207e34fba	2924	* @see MPU6050_RA_FIFO_R_W
garfieldsg	0:662207e34fba	2925	*/
garfieldsg	0:662207e34fba	2926	void MPU6050::setFIFOByte(uint8_t data)
garfieldsg	0:662207e34fba	2927	{
garfieldsg	0:662207e34fba	2928	i2Cdev.writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
garfieldsg	0:662207e34fba	2929	}
garfieldsg	0:662207e34fba	2930
garfieldsg	0:662207e34fba	2931	// WHO_AM_I register
garfieldsg	0:662207e34fba	2932
garfieldsg	0:662207e34fba	2933	/** Get Device ID.
garfieldsg	0:662207e34fba	2934	* This register is used to verify the identity of the device (0b110100, 0x34).
garfieldsg	0:662207e34fba	2935	* @return Device ID (6 bits only! should be 0x34)
garfieldsg	0:662207e34fba	2936	* @see MPU6050_RA_WHO_AM_I
garfieldsg	0:662207e34fba	2937	* @see MPU6050_WHO_AM_I_BIT
garfieldsg	0:662207e34fba	2938	* @see MPU6050_WHO_AM_I_LENGTH
garfieldsg	0:662207e34fba	2939	*/
garfieldsg	0:662207e34fba	2940	uint8_t MPU6050::getDeviceID()
garfieldsg	0:662207e34fba	2941	{
garfieldsg	0:662207e34fba	2942	i2Cdev.readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
garfieldsg	0:662207e34fba	2943	return buffer[0];
garfieldsg	0:662207e34fba	2944	}
garfieldsg	0:662207e34fba	2945	/** Set Device ID.
garfieldsg	0:662207e34fba	2946	* Write a new ID into the WHO_AM_I register (no idea why this should ever be
garfieldsg	0:662207e34fba	2947	* necessary though).
garfieldsg	0:662207e34fba	2948	* @param id New device ID to set.
garfieldsg	0:662207e34fba	2949	* @see getDeviceID()
garfieldsg	0:662207e34fba	2950	* @see MPU6050_RA_WHO_AM_I
garfieldsg	0:662207e34fba	2951	* @see MPU6050_WHO_AM_I_BIT
garfieldsg	0:662207e34fba	2952	* @see MPU6050_WHO_AM_I_LENGTH
garfieldsg	0:662207e34fba	2953	*/
garfieldsg	0:662207e34fba	2954	void MPU6050::setDeviceID(uint8_t id)
garfieldsg	0:662207e34fba	2955	{
garfieldsg	0:662207e34fba	2956	i2Cdev.writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
garfieldsg	0:662207e34fba	2957	}
garfieldsg	0:662207e34fba	2958
garfieldsg	0:662207e34fba	2959	// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
garfieldsg	0:662207e34fba	2960
garfieldsg	0:662207e34fba	2961	// XG_OFFS_TC register
garfieldsg	0:662207e34fba	2962
garfieldsg	0:662207e34fba	2963	uint8_t MPU6050::getOTPBankValid()
garfieldsg	0:662207e34fba	2964	{
garfieldsg	0:662207e34fba	2965	i2Cdev.readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
garfieldsg	0:662207e34fba	2966	return buffer[0];
garfieldsg	0:662207e34fba	2967	}
garfieldsg	0:662207e34fba	2968	void MPU6050::setOTPBankValid(bool enabled)
garfieldsg	0:662207e34fba	2969	{
garfieldsg	0:662207e34fba	2970	i2Cdev.writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
garfieldsg	0:662207e34fba	2971	}
garfieldsg	0:662207e34fba	2972	int8_t MPU6050::getXGyroOffset()
garfieldsg	0:662207e34fba	2973	{
garfieldsg	0:662207e34fba	2974	i2Cdev.readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
garfieldsg	0:662207e34fba	2975	return buffer[0];
garfieldsg	0:662207e34fba	2976	}
garfieldsg	0:662207e34fba	2977	void MPU6050::setXGyroOffset(int8_t offset)
garfieldsg	0:662207e34fba	2978	{
garfieldsg	0:662207e34fba	2979	i2Cdev.writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
garfieldsg	0:662207e34fba	2980	}
garfieldsg	0:662207e34fba	2981
garfieldsg	0:662207e34fba	2982	// YG_OFFS_TC register
garfieldsg	0:662207e34fba	2983
garfieldsg	0:662207e34fba	2984	int8_t MPU6050::getYGyroOffset()
garfieldsg	0:662207e34fba	2985	{
garfieldsg	0:662207e34fba	2986	i2Cdev.readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
garfieldsg	0:662207e34fba	2987	return buffer[0];
garfieldsg	0:662207e34fba	2988	}
garfieldsg	0:662207e34fba	2989	void MPU6050::setYGyroOffset(int8_t offset)
garfieldsg	0:662207e34fba	2990	{
garfieldsg	0:662207e34fba	2991	i2Cdev.writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
garfieldsg	0:662207e34fba	2992	}
garfieldsg	0:662207e34fba	2993
garfieldsg	0:662207e34fba	2994	// ZG_OFFS_TC register
garfieldsg	0:662207e34fba	2995
garfieldsg	0:662207e34fba	2996	int8_t MPU6050::getZGyroOffset()
garfieldsg	0:662207e34fba	2997	{
garfieldsg	0:662207e34fba	2998	i2Cdev.readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
garfieldsg	0:662207e34fba	2999	return buffer[0];
garfieldsg	0:662207e34fba	3000	}
garfieldsg	0:662207e34fba	3001	void MPU6050::setZGyroOffset(int8_t offset)
garfieldsg	0:662207e34fba	3002	{
garfieldsg	0:662207e34fba	3003	i2Cdev.writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
garfieldsg	0:662207e34fba	3004	}
garfieldsg	0:662207e34fba	3005
garfieldsg	0:662207e34fba	3006	// X_FINE_GAIN register
garfieldsg	0:662207e34fba	3007
garfieldsg	0:662207e34fba	3008	int8_t MPU6050::getXFineGain()
garfieldsg	0:662207e34fba	3009	{
garfieldsg	0:662207e34fba	3010	i2Cdev.readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
garfieldsg	0:662207e34fba	3011	return buffer[0];
garfieldsg	0:662207e34fba	3012	}
garfieldsg	0:662207e34fba	3013	void MPU6050::setXFineGain(int8_t gain)
garfieldsg	0:662207e34fba	3014	{
garfieldsg	0:662207e34fba	3015	i2Cdev.writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
garfieldsg	0:662207e34fba	3016	}
garfieldsg	0:662207e34fba	3017
garfieldsg	0:662207e34fba	3018	// Y_FINE_GAIN register
garfieldsg	0:662207e34fba	3019
garfieldsg	0:662207e34fba	3020	int8_t MPU6050::getYFineGain()
garfieldsg	0:662207e34fba	3021	{
garfieldsg	0:662207e34fba	3022	i2Cdev.readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
garfieldsg	0:662207e34fba	3023	return buffer[0];
garfieldsg	0:662207e34fba	3024	}
garfieldsg	0:662207e34fba	3025	void MPU6050::setYFineGain(int8_t gain)
garfieldsg	0:662207e34fba	3026	{
garfieldsg	0:662207e34fba	3027	i2Cdev.writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
garfieldsg	0:662207e34fba	3028	}
garfieldsg	0:662207e34fba	3029
garfieldsg	0:662207e34fba	3030	// Z_FINE_GAIN register
garfieldsg	0:662207e34fba	3031
garfieldsg	0:662207e34fba	3032	int8_t MPU6050::getZFineGain()
garfieldsg	0:662207e34fba	3033	{
garfieldsg	0:662207e34fba	3034	i2Cdev.readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
garfieldsg	0:662207e34fba	3035	return buffer[0];
garfieldsg	0:662207e34fba	3036	}
garfieldsg	0:662207e34fba	3037	void MPU6050::setZFineGain(int8_t gain)
garfieldsg	0:662207e34fba	3038	{
garfieldsg	0:662207e34fba	3039	i2Cdev.writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
garfieldsg	0:662207e34fba	3040	}
garfieldsg	0:662207e34fba	3041
garfieldsg	0:662207e34fba	3042	// XA_OFFS_* registers
garfieldsg	0:662207e34fba	3043
garfieldsg	0:662207e34fba	3044	int16_t MPU6050::getXAccelOffset()
garfieldsg	0:662207e34fba	3045	{
garfieldsg	0:662207e34fba	3046	i2Cdev.readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
garfieldsg	0:662207e34fba	3047	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3048	}
garfieldsg	0:662207e34fba	3049	void MPU6050::setXAccelOffset(int16_t offset)
garfieldsg	0:662207e34fba	3050	{
garfieldsg	0:662207e34fba	3051	i2Cdev.writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
garfieldsg	0:662207e34fba	3052	}
garfieldsg	0:662207e34fba	3053
garfieldsg	0:662207e34fba	3054	// YA_OFFS_* register
garfieldsg	0:662207e34fba	3055
garfieldsg	0:662207e34fba	3056	int16_t MPU6050::getYAccelOffset()
garfieldsg	0:662207e34fba	3057	{
garfieldsg	0:662207e34fba	3058	i2Cdev.readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
garfieldsg	0:662207e34fba	3059	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3060	}
garfieldsg	0:662207e34fba	3061	void MPU6050::setYAccelOffset(int16_t offset)
garfieldsg	0:662207e34fba	3062	{
garfieldsg	0:662207e34fba	3063	i2Cdev.writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
garfieldsg	0:662207e34fba	3064	}
garfieldsg	0:662207e34fba	3065
garfieldsg	0:662207e34fba	3066	// ZA_OFFS_* register
garfieldsg	0:662207e34fba	3067
garfieldsg	0:662207e34fba	3068	int16_t MPU6050::getZAccelOffset()
garfieldsg	0:662207e34fba	3069	{
garfieldsg	0:662207e34fba	3070	i2Cdev.readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
garfieldsg	0:662207e34fba	3071	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3072	}
garfieldsg	0:662207e34fba	3073	void MPU6050::setZAccelOffset(int16_t offset)
garfieldsg	0:662207e34fba	3074	{
garfieldsg	0:662207e34fba	3075	i2Cdev.writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
garfieldsg	0:662207e34fba	3076	}
garfieldsg	0:662207e34fba	3077
garfieldsg	0:662207e34fba	3078	// XG_OFFS_USR* registers
garfieldsg	0:662207e34fba	3079
garfieldsg	0:662207e34fba	3080	int16_t MPU6050::getXGyroOffsetUser()
garfieldsg	0:662207e34fba	3081	{
garfieldsg	0:662207e34fba	3082	i2Cdev.readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
garfieldsg	0:662207e34fba	3083	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3084	}
garfieldsg	0:662207e34fba	3085	void MPU6050::setXGyroOffsetUser(int16_t offset)
garfieldsg	0:662207e34fba	3086	{
garfieldsg	0:662207e34fba	3087	i2Cdev.writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
garfieldsg	0:662207e34fba	3088	}
garfieldsg	0:662207e34fba	3089
garfieldsg	0:662207e34fba	3090	// YG_OFFS_USR* register
garfieldsg	0:662207e34fba	3091
garfieldsg	0:662207e34fba	3092	int16_t MPU6050::getYGyroOffsetUser()
garfieldsg	0:662207e34fba	3093	{
garfieldsg	0:662207e34fba	3094	i2Cdev.readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
garfieldsg	0:662207e34fba	3095	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3096	}
garfieldsg	0:662207e34fba	3097	void MPU6050::setYGyroOffsetUser(int16_t offset)
garfieldsg	0:662207e34fba	3098	{
garfieldsg	0:662207e34fba	3099	i2Cdev.writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
garfieldsg	0:662207e34fba	3100	}
garfieldsg	0:662207e34fba	3101
garfieldsg	0:662207e34fba	3102	// ZG_OFFS_USR* register
garfieldsg	0:662207e34fba	3103
garfieldsg	0:662207e34fba	3104	int16_t MPU6050::getZGyroOffsetUser()
garfieldsg	0:662207e34fba	3105	{
garfieldsg	0:662207e34fba	3106	i2Cdev.readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
garfieldsg	0:662207e34fba	3107	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3108	}
garfieldsg	0:662207e34fba	3109	void MPU6050::setZGyroOffsetUser(int16_t offset)
garfieldsg	0:662207e34fba	3110	{
garfieldsg	0:662207e34fba	3111	i2Cdev.writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
garfieldsg	0:662207e34fba	3112	}
garfieldsg	0:662207e34fba	3113
garfieldsg	0:662207e34fba	3114	// INT_ENABLE register (DMP functions)
garfieldsg	0:662207e34fba	3115
garfieldsg	0:662207e34fba	3116	bool MPU6050::getIntPLLReadyEnabled()
garfieldsg	0:662207e34fba	3117	{
garfieldsg	0:662207e34fba	3118	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
garfieldsg	0:662207e34fba	3119	return buffer[0];
garfieldsg	0:662207e34fba	3120	}
garfieldsg	0:662207e34fba	3121	void MPU6050::setIntPLLReadyEnabled(bool enabled)
garfieldsg	0:662207e34fba	3122	{
garfieldsg	0:662207e34fba	3123	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
garfieldsg	0:662207e34fba	3124	}
garfieldsg	0:662207e34fba	3125	bool MPU6050::getIntDMPEnabled()
garfieldsg	0:662207e34fba	3126	{
garfieldsg	0:662207e34fba	3127	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
garfieldsg	0:662207e34fba	3128	return buffer[0];
garfieldsg	0:662207e34fba	3129	}
garfieldsg	0:662207e34fba	3130	void MPU6050::setIntDMPEnabled(bool enabled)
garfieldsg	0:662207e34fba	3131	{
garfieldsg	0:662207e34fba	3132	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
garfieldsg	0:662207e34fba	3133	}
garfieldsg	0:662207e34fba	3134
garfieldsg	0:662207e34fba	3135	// DMP_INT_STATUS
garfieldsg	0:662207e34fba	3136
garfieldsg	0:662207e34fba	3137	bool MPU6050::getDMPInt5Status()
garfieldsg	0:662207e34fba	3138	{
garfieldsg	0:662207e34fba	3139	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
garfieldsg	0:662207e34fba	3140	return buffer[0];
garfieldsg	0:662207e34fba	3141	}
garfieldsg	0:662207e34fba	3142	bool MPU6050::getDMPInt4Status()
garfieldsg	0:662207e34fba	3143	{
garfieldsg	0:662207e34fba	3144	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
garfieldsg	0:662207e34fba	3145	return buffer[0];
garfieldsg	0:662207e34fba	3146	}
garfieldsg	0:662207e34fba	3147	bool MPU6050::getDMPInt3Status()
garfieldsg	0:662207e34fba	3148	{
garfieldsg	0:662207e34fba	3149	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
garfieldsg	0:662207e34fba	3150	return buffer[0];
garfieldsg	0:662207e34fba	3151	}
garfieldsg	0:662207e34fba	3152	bool MPU6050::getDMPInt2Status()
garfieldsg	0:662207e34fba	3153	{
garfieldsg	0:662207e34fba	3154	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
garfieldsg	0:662207e34fba	3155	return buffer[0];
garfieldsg	0:662207e34fba	3156	}
garfieldsg	0:662207e34fba	3157	bool MPU6050::getDMPInt1Status()
garfieldsg	0:662207e34fba	3158	{
garfieldsg	0:662207e34fba	3159	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
garfieldsg	0:662207e34fba	3160	return buffer[0];
garfieldsg	0:662207e34fba	3161	}
garfieldsg	0:662207e34fba	3162	bool MPU6050::getDMPInt0Status()
garfieldsg	0:662207e34fba	3163	{
garfieldsg	0:662207e34fba	3164	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
garfieldsg	0:662207e34fba	3165	return buffer[0];
garfieldsg	0:662207e34fba	3166	}
garfieldsg	0:662207e34fba	3167
garfieldsg	0:662207e34fba	3168	// INT_STATUS register (DMP functions)
garfieldsg	0:662207e34fba	3169
garfieldsg	0:662207e34fba	3170	bool MPU6050::getIntPLLReadyStatus()
garfieldsg	0:662207e34fba	3171	{
garfieldsg	0:662207e34fba	3172	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
garfieldsg	0:662207e34fba	3173	return buffer[0];
garfieldsg	0:662207e34fba	3174	}
garfieldsg	0:662207e34fba	3175	bool MPU6050::getIntDMPStatus()
garfieldsg	0:662207e34fba	3176	{
garfieldsg	0:662207e34fba	3177	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
garfieldsg	0:662207e34fba	3178	return buffer[0];
garfieldsg	0:662207e34fba	3179	}
garfieldsg	0:662207e34fba	3180
garfieldsg	0:662207e34fba	3181	// USER_CTRL register (DMP functions)
garfieldsg	0:662207e34fba	3182
garfieldsg	0:662207e34fba	3183	bool MPU6050::getDMPEnabled()
garfieldsg	0:662207e34fba	3184	{
garfieldsg	0:662207e34fba	3185	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
garfieldsg	0:662207e34fba	3186	return buffer[0];
garfieldsg	0:662207e34fba	3187	}
garfieldsg	0:662207e34fba	3188	void MPU6050::setDMPEnabled(bool enabled)
garfieldsg	0:662207e34fba	3189	{
garfieldsg	0:662207e34fba	3190	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
garfieldsg	0:662207e34fba	3191	}
garfieldsg	0:662207e34fba	3192	void MPU6050::resetDMP()
garfieldsg	0:662207e34fba	3193	{
garfieldsg	0:662207e34fba	3194	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
garfieldsg	0:662207e34fba	3195	}
garfieldsg	0:662207e34fba	3196
garfieldsg	0:662207e34fba	3197	// BANK_SEL register
garfieldsg	0:662207e34fba	3198
garfieldsg	0:662207e34fba	3199	void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank)
garfieldsg	0:662207e34fba	3200	{
garfieldsg	0:662207e34fba	3201	bank &= 0x1F;
garfieldsg	0:662207e34fba	3202	if (userBank) bank \|= 0x20;
garfieldsg	0:662207e34fba	3203	if (prefetchEnabled) bank \|= 0x40;
garfieldsg	0:662207e34fba	3204	i2Cdev.writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
garfieldsg	0:662207e34fba	3205	}
garfieldsg	0:662207e34fba	3206
garfieldsg	0:662207e34fba	3207	// MEM_START_ADDR register
garfieldsg	0:662207e34fba	3208
garfieldsg	0:662207e34fba	3209	void MPU6050::setMemoryStartAddress(uint8_t address)
garfieldsg	0:662207e34fba	3210	{
garfieldsg	0:662207e34fba	3211	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
garfieldsg	0:662207e34fba	3212	}
garfieldsg	0:662207e34fba	3213
garfieldsg	0:662207e34fba	3214	// MEM_R_W register
garfieldsg	0:662207e34fba	3215
garfieldsg	0:662207e34fba	3216	uint8_t MPU6050::readMemoryByte()
garfieldsg	0:662207e34fba	3217	{
garfieldsg	0:662207e34fba	3218	i2Cdev.readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
garfieldsg	0:662207e34fba	3219	return buffer[0];
garfieldsg	0:662207e34fba	3220	}
garfieldsg	0:662207e34fba	3221	void MPU6050::writeMemoryByte(uint8_t data)
garfieldsg	0:662207e34fba	3222	{
garfieldsg	0:662207e34fba	3223	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
garfieldsg	0:662207e34fba	3224	}
garfieldsg	0:662207e34fba	3225	void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address)
garfieldsg	0:662207e34fba	3226	{
garfieldsg	0:662207e34fba	3227	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3228	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3229	uint8_t chunkSize;
garfieldsg	0:662207e34fba	3230	for (uint16_t i = 0; i < dataSize;) {
garfieldsg	0:662207e34fba	3231	// determine correct chunk size according to bank position and data size
garfieldsg	0:662207e34fba	3232	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
garfieldsg	0:662207e34fba	3233
garfieldsg	0:662207e34fba	3234	// make sure we don't go past the data size
garfieldsg	0:662207e34fba	3235	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
garfieldsg	0:662207e34fba	3236
garfieldsg	0:662207e34fba	3237	// make sure this chunk doesn't go past the bank boundary (256 bytes)
garfieldsg	0:662207e34fba	3238	if (chunkSize > 256 - address) chunkSize = 256 - address;
garfieldsg	0:662207e34fba	3239
garfieldsg	0:662207e34fba	3240	// read the chunk of data as specified
garfieldsg	0:662207e34fba	3241	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
garfieldsg	0:662207e34fba	3242
garfieldsg	0:662207e34fba	3243	// increase byte index by [chunkSize]
garfieldsg	0:662207e34fba	3244	i += chunkSize;
garfieldsg	0:662207e34fba	3245
garfieldsg	0:662207e34fba	3246	// uint8_t automatically wraps to 0 at 256
garfieldsg	0:662207e34fba	3247	address += chunkSize;
garfieldsg	0:662207e34fba	3248
garfieldsg	0:662207e34fba	3249	// if we aren't done, update bank (if necessary) and address
garfieldsg	0:662207e34fba	3250	if (i < dataSize) {
garfieldsg	0:662207e34fba	3251	if (address == 0) bank++;
garfieldsg	0:662207e34fba	3252	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3253	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3254	}
garfieldsg	0:662207e34fba	3255	}
garfieldsg	0:662207e34fba	3256	}
garfieldsg	0:662207e34fba	3257	bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem)
garfieldsg	0:662207e34fba	3258	{
garfieldsg	0:662207e34fba	3259	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3260	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3261	uint8_t chunkSize;
akode	2:f8bfb37b2e1f	3262	uint8_t *verifyBuffer = NULL;
akode	2:f8bfb37b2e1f	3263	uint8_t *progBuffer = NULL;
garfieldsg	0:662207e34fba	3264	uint16_t i;
garfieldsg	0:662207e34fba	3265	uint8_t j;
garfieldsg	0:662207e34fba	3266	if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
garfieldsg	0:662207e34fba	3267	if (useProgMem) progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
garfieldsg	0:662207e34fba	3268	for (i = 0; i < dataSize;) {
garfieldsg	0:662207e34fba	3269	// determine correct chunk size according to bank position and data size
garfieldsg	0:662207e34fba	3270	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
garfieldsg	0:662207e34fba	3271
garfieldsg	0:662207e34fba	3272	// make sure we don't go past the data size
garfieldsg	0:662207e34fba	3273	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
garfieldsg	0:662207e34fba	3274
garfieldsg	0:662207e34fba	3275	// make sure this chunk doesn't go past the bank boundary (256 bytes)
garfieldsg	0:662207e34fba	3276	if (chunkSize > 256 - address) chunkSize = 256 - address;
garfieldsg	0:662207e34fba	3277
garfieldsg	0:662207e34fba	3278	if (useProgMem) {
garfieldsg	0:662207e34fba	3279	// write the chunk of data as specified
garfieldsg	0:662207e34fba	3280	for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
garfieldsg	0:662207e34fba	3281	} else {
garfieldsg	0:662207e34fba	3282	// write the chunk of data as specified
garfieldsg	0:662207e34fba	3283	progBuffer = (uint8_t *)data + i;
garfieldsg	0:662207e34fba	3284	}
garfieldsg	0:662207e34fba	3285
garfieldsg	0:662207e34fba	3286	i2Cdev.writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
garfieldsg	0:662207e34fba	3287
garfieldsg	0:662207e34fba	3288	// verify data if needed
garfieldsg	0:662207e34fba	3289	if (verify && verifyBuffer) {
garfieldsg	0:662207e34fba	3290	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3291	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3292	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
garfieldsg	0:662207e34fba	3293	if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
garfieldsg	0:662207e34fba	3294	/*Serial.print("Block write verification error, bank ");
garfieldsg	0:662207e34fba	3295	Serial.print(bank, DEC);
garfieldsg	0:662207e34fba	3296	Serial.print(", address ");
garfieldsg	0:662207e34fba	3297	Serial.print(address, DEC);
garfieldsg	0:662207e34fba	3298	Serial.print("!\nExpected:");
garfieldsg	0:662207e34fba	3299	for (j = 0; j < chunkSize; j++) {
garfieldsg	0:662207e34fba	3300	Serial.print(" 0x");
garfieldsg	0:662207e34fba	3301	if (progBuffer[j] < 16) Serial.print("0");
garfieldsg	0:662207e34fba	3302	Serial.print(progBuffer[j], HEX);
garfieldsg	0:662207e34fba	3303	}
garfieldsg	0:662207e34fba	3304	Serial.print("\nReceived:");
garfieldsg	0:662207e34fba	3305	for (uint8_t j = 0; j < chunkSize; j++) {
garfieldsg	0:662207e34fba	3306	Serial.print(" 0x");
garfieldsg	0:662207e34fba	3307	if (verifyBuffer[i + j] < 16) Serial.print("0");
garfieldsg	0:662207e34fba	3308	Serial.print(verifyBuffer[i + j], HEX);
garfieldsg	0:662207e34fba	3309	}
garfieldsg	0:662207e34fba	3310	Serial.print("\n");*/
garfieldsg	0:662207e34fba	3311	free(verifyBuffer);
garfieldsg	0:662207e34fba	3312	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3313	return false; // uh oh.
garfieldsg	0:662207e34fba	3314	}
garfieldsg	0:662207e34fba	3315	}
garfieldsg	0:662207e34fba	3316
garfieldsg	0:662207e34fba	3317	// increase byte index by [chunkSize]
garfieldsg	0:662207e34fba	3318	i += chunkSize;
garfieldsg	0:662207e34fba	3319
garfieldsg	0:662207e34fba	3320	// uint8_t automatically wraps to 0 at 256
garfieldsg	0:662207e34fba	3321	address += chunkSize;
garfieldsg	0:662207e34fba	3322
garfieldsg	0:662207e34fba	3323	// if we aren't done, update bank (if necessary) and address
garfieldsg	0:662207e34fba	3324	if (i < dataSize) {
garfieldsg	0:662207e34fba	3325	if (address == 0) bank++;
garfieldsg	0:662207e34fba	3326	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3327	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3328	}
garfieldsg	0:662207e34fba	3329	}
garfieldsg	0:662207e34fba	3330	if (verify) free(verifyBuffer);
garfieldsg	0:662207e34fba	3331	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3332	return true;
garfieldsg	0:662207e34fba	3333	}
garfieldsg	0:662207e34fba	3334	bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify)
garfieldsg	0:662207e34fba	3335	{
garfieldsg	0:662207e34fba	3336	return writeMemoryBlock(data, dataSize, bank, address, verify, true);
garfieldsg	0:662207e34fba	3337	}
garfieldsg	0:662207e34fba	3338	bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem)
garfieldsg	0:662207e34fba	3339	{
akode	2:f8bfb37b2e1f	3340	uint8_t success, special;
akode	2:f8bfb37b2e1f	3341	uint8_t *progBuffer = NULL;
garfieldsg	0:662207e34fba	3342	uint16_t i, j;
garfieldsg	0:662207e34fba	3343	if (useProgMem) {
garfieldsg	0:662207e34fba	3344	progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
garfieldsg	0:662207e34fba	3345	}
garfieldsg	0:662207e34fba	3346
garfieldsg	0:662207e34fba	3347	// config set data is a long string of blocks with the following structure:
garfieldsg	0:662207e34fba	3348	// [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
garfieldsg	0:662207e34fba	3349	uint8_t bank, offset, length;
garfieldsg	0:662207e34fba	3350	for (i = 0; i < dataSize;) {
garfieldsg	0:662207e34fba	3351	if (useProgMem) {
garfieldsg	0:662207e34fba	3352	bank = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3353	offset = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3354	length = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3355	} else {
garfieldsg	0:662207e34fba	3356	bank = data[i++];
garfieldsg	0:662207e34fba	3357	offset = data[i++];
garfieldsg	0:662207e34fba	3358	length = data[i++];
garfieldsg	0:662207e34fba	3359	}
garfieldsg	0:662207e34fba	3360
garfieldsg	0:662207e34fba	3361	// write data or perform special action
garfieldsg	0:662207e34fba	3362	if (length > 0) {
garfieldsg	0:662207e34fba	3363	// regular block of data to write
garfieldsg	0:662207e34fba	3364	/*Serial.print("Writing config block to bank ");
garfieldsg	0:662207e34fba	3365	Serial.print(bank);
garfieldsg	0:662207e34fba	3366	Serial.print(", offset ");
garfieldsg	0:662207e34fba	3367	Serial.print(offset);
garfieldsg	0:662207e34fba	3368	Serial.print(", length=");
garfieldsg	0:662207e34fba	3369	Serial.println(length);*/
garfieldsg	0:662207e34fba	3370	if (useProgMem) {
garfieldsg	0:662207e34fba	3371	if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length);
garfieldsg	0:662207e34fba	3372	for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j);
garfieldsg	0:662207e34fba	3373	} else {
garfieldsg	0:662207e34fba	3374	progBuffer = (uint8_t *)data + i;
garfieldsg	0:662207e34fba	3375	}
garfieldsg	0:662207e34fba	3376	success = writeMemoryBlock(progBuffer, length, bank, offset, true);
garfieldsg	0:662207e34fba	3377	i += length;
garfieldsg	0:662207e34fba	3378	} else {
garfieldsg	0:662207e34fba	3379	// special instruction
garfieldsg	0:662207e34fba	3380	// NOTE: this kind of behavior (what and when to do certain things)
garfieldsg	0:662207e34fba	3381	// is totally undocumented. This code is in here based on observed
garfieldsg	0:662207e34fba	3382	// behavior only, and exactly why (or even whether) it has to be here
garfieldsg	0:662207e34fba	3383	// is anybody's guess for now.
garfieldsg	0:662207e34fba	3384	if (useProgMem) {
garfieldsg	0:662207e34fba	3385	special = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3386	} else {
garfieldsg	0:662207e34fba	3387	special = data[i++];
garfieldsg	0:662207e34fba	3388	}
garfieldsg	0:662207e34fba	3389	/*Serial.print("Special command code ");
garfieldsg	0:662207e34fba	3390	Serial.print(special, HEX);
garfieldsg	0:662207e34fba	3391	Serial.println(" found...");*/
garfieldsg	0:662207e34fba	3392	if (special == 0x01) {
garfieldsg	0:662207e34fba	3393	// enable DMP-related interrupts
garfieldsg	0:662207e34fba	3394
garfieldsg	0:662207e34fba	3395	//setIntZeroMotionEnabled(true);
garfieldsg	0:662207e34fba	3396	//setIntFIFOBufferOverflowEnabled(true);
garfieldsg	0:662207e34fba	3397	//setIntDMPEnabled(true);
garfieldsg	0:662207e34fba	3398	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
garfieldsg	0:662207e34fba	3399
garfieldsg	0:662207e34fba	3400	success = true;
garfieldsg	0:662207e34fba	3401	} else {
garfieldsg	0:662207e34fba	3402	// unknown special command
garfieldsg	0:662207e34fba	3403	success = false;
garfieldsg	0:662207e34fba	3404	}
garfieldsg	0:662207e34fba	3405	}
garfieldsg	0:662207e34fba	3406
garfieldsg	0:662207e34fba	3407	if (!success) {
garfieldsg	0:662207e34fba	3408	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3409	return false; // uh oh
garfieldsg	0:662207e34fba	3410	}
garfieldsg	0:662207e34fba	3411	}
garfieldsg	0:662207e34fba	3412	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3413	return true;
garfieldsg	0:662207e34fba	3414	}
garfieldsg	0:662207e34fba	3415	bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
garfieldsg	0:662207e34fba	3416	{
garfieldsg	0:662207e34fba	3417	return writeDMPConfigurationSet(data, dataSize, false);
garfieldsg	0:662207e34fba	3418	}
garfieldsg	0:662207e34fba	3419
garfieldsg	0:662207e34fba	3420	// DMP_CFG_1 register
garfieldsg	0:662207e34fba	3421
garfieldsg	0:662207e34fba	3422	uint8_t MPU6050::getDMPConfig1()
garfieldsg	0:662207e34fba	3423	{
garfieldsg	0:662207e34fba	3424	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
garfieldsg	0:662207e34fba	3425	return buffer[0];
garfieldsg	0:662207e34fba	3426	}
garfieldsg	0:662207e34fba	3427	void MPU6050::setDMPConfig1(uint8_t config)
garfieldsg	0:662207e34fba	3428	{
garfieldsg	0:662207e34fba	3429	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
garfieldsg	0:662207e34fba	3430	}
garfieldsg	0:662207e34fba	3431
garfieldsg	0:662207e34fba	3432	// DMP_CFG_2 register
garfieldsg	0:662207e34fba	3433
garfieldsg	0:662207e34fba	3434	uint8_t MPU6050::getDMPConfig2()
garfieldsg	0:662207e34fba	3435	{
garfieldsg	0:662207e34fba	3436	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
garfieldsg	0:662207e34fba	3437	return buffer[0];
garfieldsg	0:662207e34fba	3438	}
garfieldsg	0:662207e34fba	3439	void MPU6050::setDMPConfig2(uint8_t config)
garfieldsg	0:662207e34fba	3440	{
garfieldsg	0:662207e34fba	3441	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
garfieldsg	0:662207e34fba	3442	}

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Type:	Library
Created:	18 Oct 2016
Imports:	1
Forks:	0
Commits:	14
Dependents:	1
Dependencies:	1
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MPU6050.cpp@3:25e1a5a10e53, 2013-11-19 (annotated)

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