Carter Sharer
This one compatable with brobot V3. first commit to BroBot
Dependents: BroBot_ESE350_Skeleton
Fork of
MPU6050
by 
Carter Sharer
Diff: MPU6050.cpp
- Revision:
- 7:d5845b617139
- Parent:
- 6:f38dfe62d74c
--- a/MPU6050.cpp Sat Jan 30 17:12:45 2016 +0000
+++ b/MPU6050.cpp Sun Jan 31 09:12:19 2016 +0000
@@ -1,39 +1,3 @@
-// I2Cdev library collection - MPU6050 I2C device class
-// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
-// 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
-// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
-//
-// Changelog:
-// ... - ongoing debug release
-
-// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
-// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
-// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
-
-/* ============================================
-I2Cdev device library code is placed under the MIT license
-Copyright (c) 2012 Jeff Rowberg
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-===============================================
-*/
-
#include "MPU6050.h"
/** Default constructor, uses default I2C address.
@@ -84,7 +48,7 @@
* @return I2C supply voltage level (0=VLOGIC, 1=VDD)
*/
uint8_t MPU6050::getAuxVDDIOLevel() {
- i2cdev.readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
return buffer[0];
}
/** Set the auxiliary I2C supply voltage level.
@@ -94,7 +58,7 @@
* @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
*/
void MPU6050::setAuxVDDIOLevel(uint8_t level) {
- i2cdev.writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
}
// SMPLRT_DIV register
@@ -121,7 +85,7 @@
* @see MPU6050_RA_SMPLRT_DIV
*/
uint8_t MPU6050::getRate() {
- i2cdev.readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
return buffer[0];
}
/** Set gyroscope sample rate divider.
@@ -130,7 +94,7 @@
* @see MPU6050_RA_SMPLRT_DIV
*/
void MPU6050::setRate(uint8_t rate) {
- i2cdev.writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
}
// CONFIG register
@@ -163,7 +127,7 @@
* @return FSYNC configuration value
*/
uint8_t MPU6050::getExternalFrameSync() {
- i2cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
+ I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
return buffer[0];
}
/** Set external FSYNC configuration.
@@ -172,7 +136,7 @@
* @param sync New FSYNC configuration value
*/
void MPU6050::setExternalFrameSync(uint8_t sync) {
- i2cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
+ I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
}
/** Get digital low-pass filter configuration.
* The DLPF_CFG parameter sets the digital low pass filter configuration. It
@@ -203,7 +167,7 @@
* @see MPU6050_CFG_DLPF_CFG_LENGTH
*/
uint8_t MPU6050::getDLPFMode() {
- i2cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
+ I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
return buffer[0];
}
/** Set digital low-pass filter configuration.
@@ -215,7 +179,7 @@
* @see MPU6050_CFG_DLPF_CFG_LENGTH
*/
void MPU6050::setDLPFMode(uint8_t mode) {
- i2cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
+ I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
}
// GYRO_CONFIG register
@@ -238,7 +202,7 @@
* @see MPU6050_GCONFIG_FS_SEL_LENGTH
*/
uint8_t MPU6050::getFullScaleGyroRange() {
- i2cdev.readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
+ I2Cdev::readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
return buffer[0];
}
/** Set full-scale gyroscope range.
@@ -250,7 +214,65 @@
* @see MPU6050_GCONFIG_FS_SEL_LENGTH
*/
void MPU6050::setFullScaleGyroRange(uint8_t range) {
- i2cdev.writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
+ I2Cdev::writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
+}
+
+// SELF TEST FACTORY TRIM VALUES
+
+/** Get self-test factory trim value for accelerometer X axis.
+ * @return factory trim value
+ * @see MPU6050_RA_SELF_TEST_X
+ */
+uint8_t MPU6050::getAccelXSelfTestFactoryTrim() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_X, &buffer[0]);
+ I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_A, &buffer[1]);
+ return (buffer[0]>>3) | ((buffer[1]>>4) & 0x03);
+}
+
+/** Get self-test factory trim value for accelerometer Y axis.
+ * @return factory trim value
+ * @see MPU6050_RA_SELF_TEST_Y
+ */
+uint8_t MPU6050::getAccelYSelfTestFactoryTrim() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Y, &buffer[0]);
+ I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_A, &buffer[1]);
+ return (buffer[0]>>3) | ((buffer[1]>>2) & 0x03);
+}
+
+/** Get self-test factory trim value for accelerometer Z axis.
+ * @return factory trim value
+ * @see MPU6050_RA_SELF_TEST_Z
+ */
+uint8_t MPU6050::getAccelZSelfTestFactoryTrim() {
+ I2Cdev::readBytes(devAddr, MPU6050_RA_SELF_TEST_Z, 2, buffer);
+ return (buffer[0]>>3) | (buffer[1] & 0x03);
+}
+
+/** Get self-test factory trim value for gyro X axis.
+ * @return factory trim value
+ * @see MPU6050_RA_SELF_TEST_X
+ */
+uint8_t MPU6050::getGyroXSelfTestFactoryTrim() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_X, buffer);
+ return (buffer[0] & 0x1F);
+}
+
+/** Get self-test factory trim value for gyro Y axis.
+ * @return factory trim value
+ * @see MPU6050_RA_SELF_TEST_Y
+ */
+uint8_t MPU6050::getGyroYSelfTestFactoryTrim() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Y, buffer);
+ return (buffer[0] & 0x1F);
+}
+
+/** Get self-test factory trim value for gyro Z axis.
+ * @return factory trim value
+ * @see MPU6050_RA_SELF_TEST_Z
+ */
+uint8_t MPU6050::getGyroZSelfTestFactoryTrim() {
+ I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Z, buffer);
+ return (buffer[0] & 0x1F);
}
// ACCEL_CONFIG register
@@ -260,7 +282,7 @@
* @see MPU6050_RA_ACCEL_CONFIG
*/
bool MPU6050::getAccelXSelfTest() {
- i2cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
return buffer[0];
}
/** Get self-test enabled setting for accelerometer X axis.
@@ -268,14 +290,14 @@
* @see MPU6050_RA_ACCEL_CONFIG
*/
void MPU6050::setAccelXSelfTest(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
}
/** Get self-test enabled value for accelerometer Y axis.
* @return Self-test enabled value
* @see MPU6050_RA_ACCEL_CONFIG
*/
bool MPU6050::getAccelYSelfTest() {
- i2cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
return buffer[0];
}
/** Get self-test enabled value for accelerometer Y axis.
@@ -283,14 +305,14 @@
* @see MPU6050_RA_ACCEL_CONFIG
*/
void MPU6050::setAccelYSelfTest(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
}
/** Get self-test enabled value for accelerometer Z axis.
* @return Self-test enabled value
* @see MPU6050_RA_ACCEL_CONFIG
*/
bool MPU6050::getAccelZSelfTest() {
- i2cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
return buffer[0];
}
/** Set self-test enabled value for accelerometer Z axis.
@@ -298,7 +320,7 @@
* @see MPU6050_RA_ACCEL_CONFIG
*/
void MPU6050::setAccelZSelfTest(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
}
/** Get full-scale accelerometer range.
* The FS_SEL parameter allows setting the full-scale range of the accelerometer
@@ -318,7 +340,7 @@
* @see MPU6050_ACONFIG_AFS_SEL_LENGTH
*/
uint8_t MPU6050::getFullScaleAccelRange() {
- i2cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
+ I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
return buffer[0];
}
/** Set full-scale accelerometer range.
@@ -326,7 +348,7 @@
* @see getFullScaleAccelRange()
*/
void MPU6050::setFullScaleAccelRange(uint8_t range) {
- i2cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
+ I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
}
/** Get the high-pass filter configuration.
* The DHPF is a filter module in the path leading to motion detectors (Free
@@ -364,7 +386,7 @@
* @see MPU6050_RA_ACCEL_CONFIG
*/
uint8_t MPU6050::getDHPFMode() {
- i2cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
+ I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
return buffer[0];
}
/** Set the high-pass filter configuration.
@@ -374,7 +396,7 @@
* @see MPU6050_RA_ACCEL_CONFIG
*/
void MPU6050::setDHPFMode(uint8_t bandwidth) {
- i2cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
+ I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
}
// FF_THR register
@@ -395,7 +417,7 @@
* @see MPU6050_RA_FF_THR
*/
uint8_t MPU6050::getFreefallDetectionThreshold() {
- i2cdev.readByte(devAddr, MPU6050_RA_FF_THR, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_FF_THR, buffer);
return buffer[0];
}
/** Get free-fall event acceleration threshold.
@@ -404,7 +426,7 @@
* @see MPU6050_RA_FF_THR
*/
void MPU6050::setFreefallDetectionThreshold(uint8_t threshold) {
- i2cdev.writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
}
// FF_DUR register
@@ -427,7 +449,7 @@
* @see MPU6050_RA_FF_DUR
*/
uint8_t MPU6050::getFreefallDetectionDuration() {
- i2cdev.readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
return buffer[0];
}
/** Get free-fall event duration threshold.
@@ -436,7 +458,7 @@
* @see MPU6050_RA_FF_DUR
*/
void MPU6050::setFreefallDetectionDuration(uint8_t duration) {
- i2cdev.writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
}
// MOT_THR register
@@ -461,16 +483,16 @@
* @see MPU6050_RA_MOT_THR
*/
uint8_t MPU6050::getMotionDetectionThreshold() {
- i2cdev.readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
return buffer[0];
}
-/** Set free-fall event acceleration threshold.
+/** Set motion detection event acceleration threshold.
* @param threshold New motion detection acceleration threshold value (LSB = 2mg)
* @see getMotionDetectionThreshold()
* @see MPU6050_RA_MOT_THR
*/
void MPU6050::setMotionDetectionThreshold(uint8_t threshold) {
- i2cdev.writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
}
// MOT_DUR register
@@ -491,7 +513,7 @@
* @see MPU6050_RA_MOT_DUR
*/
uint8_t MPU6050::getMotionDetectionDuration() {
- i2cdev.readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
return buffer[0];
}
/** Set motion detection event duration threshold.
@@ -500,7 +522,7 @@
* @see MPU6050_RA_MOT_DUR
*/
void MPU6050::setMotionDetectionDuration(uint8_t duration) {
- i2cdev.writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
}
// ZRMOT_THR register
@@ -531,7 +553,7 @@
* @see MPU6050_RA_ZRMOT_THR
*/
uint8_t MPU6050::getZeroMotionDetectionThreshold() {
- i2cdev.readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
return buffer[0];
}
/** Set zero motion detection event acceleration threshold.
@@ -540,7 +562,7 @@
* @see MPU6050_RA_ZRMOT_THR
*/
void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold) {
- i2cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
}
// ZRMOT_DUR register
@@ -562,7 +584,7 @@
* @see MPU6050_RA_ZRMOT_DUR
*/
uint8_t MPU6050::getZeroMotionDetectionDuration() {
- i2cdev.readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
return buffer[0];
}
/** Set zero motion detection event duration threshold.
@@ -571,7 +593,7 @@
* @see MPU6050_RA_ZRMOT_DUR
*/
void MPU6050::setZeroMotionDetectionDuration(uint8_t duration) {
- i2cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
}
// FIFO_EN register
@@ -583,7 +605,7 @@
* @see MPU6050_RA_FIFO_EN
*/
bool MPU6050::getTempFIFOEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set temperature FIFO enabled value.
@@ -592,7 +614,7 @@
* @see MPU6050_RA_FIFO_EN
*/
void MPU6050::setTempFIFOEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
}
/** Get gyroscope X-axis FIFO enabled value.
* When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
@@ -601,7 +623,7 @@
* @see MPU6050_RA_FIFO_EN
*/
bool MPU6050::getXGyroFIFOEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set gyroscope X-axis FIFO enabled value.
@@ -610,7 +632,7 @@
* @see MPU6050_RA_FIFO_EN
*/
void MPU6050::setXGyroFIFOEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
}
/** Get gyroscope Y-axis FIFO enabled value.
* When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
@@ -619,7 +641,7 @@
* @see MPU6050_RA_FIFO_EN
*/
bool MPU6050::getYGyroFIFOEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set gyroscope Y-axis FIFO enabled value.
@@ -628,7 +650,7 @@
* @see MPU6050_RA_FIFO_EN
*/
void MPU6050::setYGyroFIFOEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
}
/** Get gyroscope Z-axis FIFO enabled value.
* When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
@@ -637,7 +659,7 @@
* @see MPU6050_RA_FIFO_EN
*/
bool MPU6050::getZGyroFIFOEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set gyroscope Z-axis FIFO enabled value.
@@ -646,7 +668,7 @@
* @see MPU6050_RA_FIFO_EN
*/
void MPU6050::setZGyroFIFOEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
}
/** Get accelerometer FIFO enabled value.
* When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
@@ -656,7 +678,7 @@
* @see MPU6050_RA_FIFO_EN
*/
bool MPU6050::getAccelFIFOEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set accelerometer FIFO enabled value.
@@ -665,7 +687,7 @@
* @see MPU6050_RA_FIFO_EN
*/
void MPU6050::setAccelFIFOEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
}
/** Get Slave 2 FIFO enabled value.
* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
@@ -674,7 +696,7 @@
* @see MPU6050_RA_FIFO_EN
*/
bool MPU6050::getSlave2FIFOEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 2 FIFO enabled value.
@@ -683,7 +705,7 @@
* @see MPU6050_RA_FIFO_EN
*/
void MPU6050::setSlave2FIFOEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
}
/** Get Slave 1 FIFO enabled value.
* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
@@ -692,7 +714,7 @@
* @see MPU6050_RA_FIFO_EN
*/
bool MPU6050::getSlave1FIFOEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 1 FIFO enabled value.
@@ -701,7 +723,7 @@
* @see MPU6050_RA_FIFO_EN
*/
void MPU6050::setSlave1FIFOEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
}
/** Get Slave 0 FIFO enabled value.
* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
@@ -710,7 +732,7 @@
* @see MPU6050_RA_FIFO_EN
*/
bool MPU6050::getSlave0FIFOEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 0 FIFO enabled value.
@@ -719,7 +741,7 @@
* @see MPU6050_RA_FIFO_EN
*/
void MPU6050::setSlave0FIFOEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
}
// I2C_MST_CTRL register
@@ -740,7 +762,7 @@
* @see MPU6050_RA_I2C_MST_CTRL
*/
bool MPU6050::getMultiMasterEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
return buffer[0];
}
/** Set multi-master enabled value.
@@ -749,7 +771,7 @@
* @see MPU6050_RA_I2C_MST_CTRL
*/
void MPU6050::setMultiMasterEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
}
/** Get wait-for-external-sensor-data enabled value.
* When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
@@ -763,7 +785,7 @@
* @see MPU6050_RA_I2C_MST_CTRL
*/
bool MPU6050::getWaitForExternalSensorEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
return buffer[0];
}
/** Set wait-for-external-sensor-data enabled value.
@@ -772,7 +794,7 @@
* @see MPU6050_RA_I2C_MST_CTRL
*/
void MPU6050::setWaitForExternalSensorEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
}
/** Get Slave 3 FIFO enabled value.
* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
@@ -781,7 +803,7 @@
* @see MPU6050_RA_MST_CTRL
*/
bool MPU6050::getSlave3FIFOEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 3 FIFO enabled value.
@@ -790,7 +812,7 @@
* @see MPU6050_RA_MST_CTRL
*/
void MPU6050::setSlave3FIFOEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
}
/** Get slave read/write transition enabled value.
* The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
@@ -803,7 +825,7 @@
* @see MPU6050_RA_I2C_MST_CTRL
*/
bool MPU6050::getSlaveReadWriteTransitionEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
return buffer[0];
}
/** Set slave read/write transition enabled value.
@@ -812,7 +834,7 @@
* @see MPU6050_RA_I2C_MST_CTRL
*/
void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
}
/** Get I2C master clock speed.
* I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
@@ -844,7 +866,7 @@
* @see MPU6050_RA_I2C_MST_CTRL
*/
uint8_t MPU6050::getMasterClockSpeed() {
- i2cdev.readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
+ I2Cdev::readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
return buffer[0];
}
/** Set I2C master clock speed.
@@ -852,7 +874,7 @@
* @see MPU6050_RA_I2C_MST_CTRL
*/
void MPU6050::setMasterClockSpeed(uint8_t speed) {
- i2cdev.writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
+ I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
}
// I2C_SLV* registers (Slave 0-3)
@@ -862,7 +884,7 @@
* operation, and if it is cleared, then it's a write operation. The remaining
* bits (6-0) are the 7-bit device address of the slave device.
*
- * In read mode, the result of the read is placed in the lowest available
+ * In read mode, the result of the read is placed in the lowest available
* EXT_SENS_DATA register. For further information regarding the allocation of
* read results, please refer to the EXT_SENS_DATA register description
* (Registers 73 - 96).
@@ -900,7 +922,7 @@
*/
uint8_t MPU6050::getSlaveAddress(uint8_t num) {
if (num > 3) return 0;
- i2cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
return buffer[0];
}
/** Set the I2C address of the specified slave (0-3).
@@ -911,7 +933,7 @@
*/
void MPU6050::setSlaveAddress(uint8_t num, uint8_t address) {
if (num > 3) return;
- i2cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
}
/** Get the active internal register for the specified slave (0-3).
* Read/write operations for this slave will be done to whatever internal
@@ -926,7 +948,7 @@
*/
uint8_t MPU6050::getSlaveRegister(uint8_t num) {
if (num > 3) return 0;
- i2cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
return buffer[0];
}
/** Set the active internal register for the specified slave (0-3).
@@ -937,7 +959,7 @@
*/
void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg) {
if (num > 3) return;
- i2cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
}
/** Get the enabled value for the specified slave (0-3).
* When set to 1, this bit enables Slave 0 for data transfer operations. When
@@ -948,7 +970,7 @@
*/
bool MPU6050::getSlaveEnabled(uint8_t num) {
if (num > 3) return 0;
- i2cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
return buffer[0];
}
/** Set the enabled value for the specified slave (0-3).
@@ -959,7 +981,7 @@
*/
void MPU6050::setSlaveEnabled(uint8_t num, bool enabled) {
if (num > 3) return;
- i2cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
}
/** Get word pair byte-swapping enabled for the specified slave (0-3).
* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
@@ -974,7 +996,7 @@
*/
bool MPU6050::getSlaveWordByteSwap(uint8_t num) {
if (num > 3) return 0;
- i2cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
return buffer[0];
}
/** Set word pair byte-swapping enabled for the specified slave (0-3).
@@ -985,7 +1007,7 @@
*/
void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled) {
if (num > 3) return;
- i2cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
}
/** Get write mode for the specified slave (0-3).
* When set to 1, the transaction will read or write data only. When cleared to
@@ -999,7 +1021,7 @@
*/
bool MPU6050::getSlaveWriteMode(uint8_t num) {
if (num > 3) return 0;
- i2cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
return buffer[0];
}
/** Set write mode for the specified slave (0-3).
@@ -1010,7 +1032,7 @@
*/
void MPU6050::setSlaveWriteMode(uint8_t num, bool mode) {
if (num > 3) return;
- i2cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
}
/** Get word pair grouping order offset for the specified slave (0-3).
* This sets specifies the grouping order of word pairs received from registers.
@@ -1025,7 +1047,7 @@
*/
bool MPU6050::getSlaveWordGroupOffset(uint8_t num) {
if (num > 3) return 0;
- i2cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
return buffer[0];
}
/** Set word pair grouping order offset for the specified slave (0-3).
@@ -1036,7 +1058,7 @@
*/
void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled) {
if (num > 3) return;
- i2cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
}
/** Get number of bytes to read for the specified slave (0-3).
* Specifies the number of bytes transferred to and from Slave 0. Clearing this
@@ -1047,7 +1069,7 @@
*/
uint8_t MPU6050::getSlaveDataLength(uint8_t num) {
if (num > 3) return 0;
- i2cdev.readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
+ I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
return buffer[0];
}
/** Set number of bytes to read for the specified slave (0-3).
@@ -1058,7 +1080,7 @@
*/
void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length) {
if (num > 3) return;
- i2cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
+ I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
}
// I2C_SLV* registers (Slave 4)
@@ -1073,7 +1095,7 @@
* @see MPU6050_RA_I2C_SLV4_ADDR
*/
uint8_t MPU6050::getSlave4Address() {
- i2cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
return buffer[0];
}
/** Set the I2C address of Slave 4.
@@ -1082,7 +1104,7 @@
* @see MPU6050_RA_I2C_SLV4_ADDR
*/
void MPU6050::setSlave4Address(uint8_t address) {
- i2cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
}
/** Get the active internal register for the Slave 4.
* Read/write operations for this slave will be done to whatever internal
@@ -1092,7 +1114,7 @@
* @see MPU6050_RA_I2C_SLV4_REG
*/
uint8_t MPU6050::getSlave4Register() {
- i2cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
return buffer[0];
}
/** Set the active internal register for Slave 4.
@@ -1101,7 +1123,7 @@
* @see MPU6050_RA_I2C_SLV4_REG
*/
void MPU6050::setSlave4Register(uint8_t reg) {
- i2cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
}
/** Set new byte to write to Slave 4.
* This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
@@ -1110,7 +1132,7 @@
* @see MPU6050_RA_I2C_SLV4_DO
*/
void MPU6050::setSlave4OutputByte(uint8_t data) {
- i2cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
}
/** Get the enabled value for the Slave 4.
* When set to 1, this bit enables Slave 4 for data transfer operations. When
@@ -1119,7 +1141,7 @@
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
bool MPU6050::getSlave4Enabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
return buffer[0];
}
/** Set the enabled value for Slave 4.
@@ -1128,7 +1150,7 @@
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
void MPU6050::setSlave4Enabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
}
/** Get the enabled value for Slave 4 transaction interrupts.
* When set to 1, this bit enables the generation of an interrupt signal upon
@@ -1140,7 +1162,7 @@
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
bool MPU6050::getSlave4InterruptEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
return buffer[0];
}
/** Set the enabled value for Slave 4 transaction interrupts.
@@ -1149,7 +1171,7 @@
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
void MPU6050::setSlave4InterruptEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
}
/** Get write mode for Slave 4.
* When set to 1, the transaction will read or write data only. When cleared to
@@ -1161,7 +1183,7 @@
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
bool MPU6050::getSlave4WriteMode() {
- i2cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
return buffer[0];
}
/** Set write mode for the Slave 4.
@@ -1170,7 +1192,7 @@
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
void MPU6050::setSlave4WriteMode(bool mode) {
- i2cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
}
/** Get Slave 4 master delay value.
* This configures the reduced access rate of I2C slaves relative to the Sample
@@ -1188,7 +1210,7 @@
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
uint8_t MPU6050::getSlave4MasterDelay() {
- i2cdev.readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
+ I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
return buffer[0];
}
/** Set Slave 4 master delay value.
@@ -1197,7 +1219,7 @@
* @see MPU6050_RA_I2C_SLV4_CTRL
*/
void MPU6050::setSlave4MasterDelay(uint8_t delay) {
- i2cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
+ I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
}
/** Get last available byte read from Slave 4.
* This register stores the data read from Slave 4. This field is populated
@@ -1206,7 +1228,7 @@
* @see MPU6050_RA_I2C_SLV4_DI
*/
uint8_t MPU6050::getSlate4InputByte() {
- i2cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
return buffer[0];
}
@@ -1222,7 +1244,7 @@
* @see MPU6050_RA_I2C_MST_STATUS
*/
bool MPU6050::getPassthroughStatus() {
- i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
return buffer[0];
}
/** Get Slave 4 transaction done status.
@@ -1234,7 +1256,7 @@
* @see MPU6050_RA_I2C_MST_STATUS
*/
bool MPU6050::getSlave4IsDone() {
- i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
return buffer[0];
}
/** Get master arbitration lost status.
@@ -1245,7 +1267,7 @@
* @see MPU6050_RA_I2C_MST_STATUS
*/
bool MPU6050::getLostArbitration() {
- i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
return buffer[0];
}
/** Get Slave 4 NACK status.
@@ -1256,7 +1278,7 @@
* @see MPU6050_RA_I2C_MST_STATUS
*/
bool MPU6050::getSlave4Nack() {
- i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
return buffer[0];
}
/** Get Slave 3 NACK status.
@@ -1267,7 +1289,7 @@
* @see MPU6050_RA_I2C_MST_STATUS
*/
bool MPU6050::getSlave3Nack() {
- i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
return buffer[0];
}
/** Get Slave 2 NACK status.
@@ -1278,7 +1300,7 @@
* @see MPU6050_RA_I2C_MST_STATUS
*/
bool MPU6050::getSlave2Nack() {
- i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
return buffer[0];
}
/** Get Slave 1 NACK status.
@@ -1289,7 +1311,7 @@
* @see MPU6050_RA_I2C_MST_STATUS
*/
bool MPU6050::getSlave1Nack() {
- i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
return buffer[0];
}
/** Get Slave 0 NACK status.
@@ -1300,7 +1322,7 @@
* @see MPU6050_RA_I2C_MST_STATUS
*/
bool MPU6050::getSlave0Nack() {
- i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
return buffer[0];
}
@@ -1313,7 +1335,7 @@
* @see MPU6050_INTCFG_INT_LEVEL_BIT
*/
bool MPU6050::getInterruptMode() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
return buffer[0];
}
/** Set interrupt logic level mode.
@@ -1323,7 +1345,7 @@
* @see MPU6050_INTCFG_INT_LEVEL_BIT
*/
void MPU6050::setInterruptMode(bool mode) {
- i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
}
/** Get interrupt drive mode.
* Will be set 0 for push-pull, 1 for open-drain.
@@ -1332,7 +1354,7 @@
* @see MPU6050_INTCFG_INT_OPEN_BIT
*/
bool MPU6050::getInterruptDrive() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
return buffer[0];
}
/** Set interrupt drive mode.
@@ -1342,7 +1364,7 @@
* @see MPU6050_INTCFG_INT_OPEN_BIT
*/
void MPU6050::setInterruptDrive(bool drive) {
- i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
}
/** Get interrupt latch mode.
* Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
@@ -1351,7 +1373,7 @@
* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
*/
bool MPU6050::getInterruptLatch() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
return buffer[0];
}
/** Set interrupt latch mode.
@@ -1361,7 +1383,7 @@
* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
*/
void MPU6050::setInterruptLatch(bool latch) {
- i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
}
/** Get interrupt latch clear mode.
* Will be set 0 for status-read-only, 1 for any-register-read.
@@ -1370,7 +1392,7 @@
* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
*/
bool MPU6050::getInterruptLatchClear() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
return buffer[0];
}
/** Set interrupt latch clear mode.
@@ -1380,7 +1402,7 @@
* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
*/
void MPU6050::setInterruptLatchClear(bool clear) {
- i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
}
/** Get FSYNC interrupt logic level mode.
* @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
@@ -1389,7 +1411,7 @@
* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
*/
bool MPU6050::getFSyncInterruptLevel() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
return buffer[0];
}
/** Set FSYNC interrupt logic level mode.
@@ -1399,7 +1421,7 @@
* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
*/
void MPU6050::setFSyncInterruptLevel(bool level) {
- i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
}
/** Get FSYNC pin interrupt enabled setting.
* Will be set 0 for disabled, 1 for enabled.
@@ -1408,7 +1430,7 @@
* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
*/
bool MPU6050::getFSyncInterruptEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
return buffer[0];
}
/** Set FSYNC pin interrupt enabled setting.
@@ -1418,7 +1440,7 @@
* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
*/
void MPU6050::setFSyncInterruptEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
}
/** Get I2C bypass enabled status.
* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
@@ -1432,7 +1454,7 @@
* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
*/
bool MPU6050::getI2CBypassEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
return buffer[0];
}
/** Set I2C bypass enabled status.
@@ -1447,7 +1469,7 @@
* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
*/
void MPU6050::setI2CBypassEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
}
/** Get reference clock output enabled status.
* When this bit is equal to 1, a reference clock output is provided at the
@@ -1459,7 +1481,7 @@
* @see MPU6050_INTCFG_CLKOUT_EN_BIT
*/
bool MPU6050::getClockOutputEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
return buffer[0];
}
/** Set reference clock output enabled status.
@@ -1472,7 +1494,7 @@
* @see MPU6050_INTCFG_CLKOUT_EN_BIT
*/
void MPU6050::setClockOutputEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
}
// INT_ENABLE register
@@ -1485,7 +1507,7 @@
* @see MPU6050_INTERRUPT_FF_BIT
**/
uint8_t MPU6050::getIntEnabled() {
- i2cdev.readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
return buffer[0];
}
/** Set full interrupt enabled status.
@@ -1497,7 +1519,7 @@
* @see MPU6050_INTERRUPT_FF_BIT
**/
void MPU6050::setIntEnabled(uint8_t enabled) {
- i2cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
}
/** Get Free Fall interrupt enabled status.
* Will be set 0 for disabled, 1 for enabled.
@@ -1506,7 +1528,7 @@
* @see MPU6050_INTERRUPT_FF_BIT
**/
bool MPU6050::getIntFreefallEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
return buffer[0];
}
/** Set Free Fall interrupt enabled status.
@@ -1516,7 +1538,7 @@
* @see MPU6050_INTERRUPT_FF_BIT
**/
void MPU6050::setIntFreefallEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
}
/** Get Motion Detection interrupt enabled status.
* Will be set 0 for disabled, 1 for enabled.
@@ -1525,7 +1547,7 @@
* @see MPU6050_INTERRUPT_MOT_BIT
**/
bool MPU6050::getIntMotionEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
return buffer[0];
}
/** Set Motion Detection interrupt enabled status.
@@ -1535,7 +1557,7 @@
* @see MPU6050_INTERRUPT_MOT_BIT
**/
void MPU6050::setIntMotionEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
}
/** Get Zero Motion Detection interrupt enabled status.
* Will be set 0 for disabled, 1 for enabled.
@@ -1544,7 +1566,7 @@
* @see MPU6050_INTERRUPT_ZMOT_BIT
**/
bool MPU6050::getIntZeroMotionEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
return buffer[0];
}
/** Set Zero Motion Detection interrupt enabled status.
@@ -1554,7 +1576,7 @@
* @see MPU6050_INTERRUPT_ZMOT_BIT
**/
void MPU6050::setIntZeroMotionEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
}
/** Get FIFO Buffer Overflow interrupt enabled status.
* Will be set 0 for disabled, 1 for enabled.
@@ -1563,7 +1585,7 @@
* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
**/
bool MPU6050::getIntFIFOBufferOverflowEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
return buffer[0];
}
/** Set FIFO Buffer Overflow interrupt enabled status.
@@ -1573,7 +1595,7 @@
* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
**/
void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
}
/** Get I2C Master interrupt enabled status.
* This enables any of the I2C Master interrupt sources to generate an
@@ -1583,7 +1605,7 @@
* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
**/
bool MPU6050::getIntI2CMasterEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
return buffer[0];
}
/** Set I2C Master interrupt enabled status.
@@ -1593,7 +1615,7 @@
* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
**/
void MPU6050::setIntI2CMasterEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
}
/** Get Data Ready interrupt enabled setting.
* This event occurs each time a write operation to all of the sensor registers
@@ -1603,7 +1625,7 @@
* @see MPU6050_INTERRUPT_DATA_RDY_BIT
*/
bool MPU6050::getIntDataReadyEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
return buffer[0];
}
/** Set Data Ready interrupt enabled status.
@@ -1613,7 +1635,7 @@
* @see MPU6050_INTERRUPT_DATA_RDY_BIT
*/
void MPU6050::setIntDataReadyEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
}
// INT_STATUS register
@@ -1626,7 +1648,7 @@
* @see MPU6050_RA_INT_STATUS
*/
uint8_t MPU6050::getIntStatus() {
- i2cdev.readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
return buffer[0];
}
/** Get Free Fall interrupt status.
@@ -1637,7 +1659,7 @@
* @see MPU6050_INTERRUPT_FF_BIT
*/
bool MPU6050::getIntFreefallStatus() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
return buffer[0];
}
/** Get Motion Detection interrupt status.
@@ -1648,7 +1670,7 @@
* @see MPU6050_INTERRUPT_MOT_BIT
*/
bool MPU6050::getIntMotionStatus() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
return buffer[0];
}
/** Get Zero Motion Detection interrupt status.
@@ -1659,7 +1681,7 @@
* @see MPU6050_INTERRUPT_ZMOT_BIT
*/
bool MPU6050::getIntZeroMotionStatus() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
return buffer[0];
}
/** Get FIFO Buffer Overflow interrupt status.
@@ -1670,7 +1692,7 @@
* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
*/
bool MPU6050::getIntFIFOBufferOverflowStatus() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
return buffer[0];
}
/** Get I2C Master interrupt status.
@@ -1682,7 +1704,7 @@
* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
*/
bool MPU6050::getIntI2CMasterStatus() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
return buffer[0];
}
/** Get Data Ready interrupt status.
@@ -1693,7 +1715,7 @@
* @see MPU6050_INTERRUPT_DATA_RDY_BIT
*/
bool MPU6050::getIntDataReadyStatus() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
return buffer[0];
}
@@ -1732,7 +1754,7 @@
* @see MPU6050_RA_ACCEL_XOUT_H
*/
void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz) {
- i2cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
+ I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
*ax = (((int16_t)buffer[0]) << 8) | buffer[1];
*ay = (((int16_t)buffer[2]) << 8) | buffer[3];
*az = (((int16_t)buffer[4]) << 8) | buffer[5];
@@ -1777,7 +1799,7 @@
* @see MPU6050_RA_GYRO_XOUT_H
*/
void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z) {
- i2cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
+ I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
*x = (((int16_t)buffer[0]) << 8) | buffer[1];
*y = (((int16_t)buffer[2]) << 8) | buffer[3];
*z = (((int16_t)buffer[4]) << 8) | buffer[5];
@@ -1788,7 +1810,7 @@
* @see MPU6050_RA_ACCEL_XOUT_H
*/
int16_t MPU6050::getAccelerationX() {
- i2cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
+ I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
/** Get Y-axis accelerometer reading.
@@ -1797,7 +1819,7 @@
* @see MPU6050_RA_ACCEL_YOUT_H
*/
int16_t MPU6050::getAccelerationY() {
- i2cdev.readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
+ I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
/** Get Z-axis accelerometer reading.
@@ -1806,7 +1828,7 @@
* @see MPU6050_RA_ACCEL_ZOUT_H
*/
int16_t MPU6050::getAccelerationZ() {
- i2cdev.readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
+ I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
@@ -1817,7 +1839,7 @@
* @see MPU6050_RA_TEMP_OUT_H
*/
int16_t MPU6050::getTemperature() {
- i2cdev.readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
+ I2Cdev::readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
@@ -1856,7 +1878,7 @@
* @see MPU6050_RA_GYRO_XOUT_H
*/
void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z) {
- i2cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
+ I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
*x = (((int16_t)buffer[0]) << 8) | buffer[1];
*y = (((int16_t)buffer[2]) << 8) | buffer[3];
*z = (((int16_t)buffer[4]) << 8) | buffer[5];
@@ -1867,7 +1889,7 @@
* @see MPU6050_RA_GYRO_XOUT_H
*/
int16_t MPU6050::getRotationX() {
- i2cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
+ I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
/** Get Y-axis gyroscope reading.
@@ -1876,7 +1898,7 @@
* @see MPU6050_RA_GYRO_YOUT_H
*/
int16_t MPU6050::getRotationY() {
- i2cdev.readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
+ I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
/** Get Z-axis gyroscope reading.
@@ -1885,7 +1907,7 @@
* @see MPU6050_RA_GYRO_ZOUT_H
*/
int16_t MPU6050::getRotationZ() {
- i2cdev.readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
+ I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
@@ -1966,7 +1988,7 @@
* @return Byte read from register
*/
uint8_t MPU6050::getExternalSensorByte(int position) {
- i2cdev.readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
return buffer[0];
}
/** Read word (2 bytes) from external sensor data registers.
@@ -1975,7 +1997,7 @@
* @see getExternalSensorByte()
*/
uint16_t MPU6050::getExternalSensorWord(int position) {
- i2cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
+ I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
return (((uint16_t)buffer[0]) << 8) | buffer[1];
}
/** Read double word (4 bytes) from external sensor data registers.
@@ -1984,7 +2006,7 @@
* @see getExternalSensorByte()
*/
uint32_t MPU6050::getExternalSensorDWord(int position) {
- i2cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
+ I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
return (((uint32_t)buffer[0]) << 24) | (((uint32_t)buffer[1]) << 16) | (((uint16_t)buffer[2]) << 8) | buffer[3];
}
@@ -1995,7 +2017,7 @@
* @see MPU6050_RA_MOT_DETECT_STATUS
*/
uint8_t MPU6050::getMotionStatus() {
- i2cdev.readByte(devAddr, MPU6050_RA_MOT_DETECT_STATUS, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DETECT_STATUS, buffer);
return buffer[0];
}
/** Get X-axis negative motion detection interrupt status.
@@ -2004,7 +2026,7 @@
* @see MPU6050_MOTION_MOT_XNEG_BIT
*/
bool MPU6050::getXNegMotionDetected() {
- i2cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
return buffer[0];
}
/** Get X-axis positive motion detection interrupt status.
@@ -2013,7 +2035,7 @@
* @see MPU6050_MOTION_MOT_XPOS_BIT
*/
bool MPU6050::getXPosMotionDetected() {
- i2cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
return buffer[0];
}
/** Get Y-axis negative motion detection interrupt status.
@@ -2022,7 +2044,7 @@
* @see MPU6050_MOTION_MOT_YNEG_BIT
*/
bool MPU6050::getYNegMotionDetected() {
- i2cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
return buffer[0];
}
/** Get Y-axis positive motion detection interrupt status.
@@ -2031,7 +2053,7 @@
* @see MPU6050_MOTION_MOT_YPOS_BIT
*/
bool MPU6050::getYPosMotionDetected() {
- i2cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
return buffer[0];
}
/** Get Z-axis negative motion detection interrupt status.
@@ -2040,7 +2062,7 @@
* @see MPU6050_MOTION_MOT_ZNEG_BIT
*/
bool MPU6050::getZNegMotionDetected() {
- i2cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
return buffer[0];
}
/** Get Z-axis positive motion detection interrupt status.
@@ -2049,7 +2071,7 @@
* @see MPU6050_MOTION_MOT_ZPOS_BIT
*/
bool MPU6050::getZPosMotionDetected() {
- i2cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
return buffer[0];
}
/** Get zero motion detection interrupt status.
@@ -2058,7 +2080,7 @@
* @see MPU6050_MOTION_MOT_ZRMOT_BIT
*/
bool MPU6050::getZeroMotionDetected() {
- i2cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
return buffer[0];
}
@@ -2074,7 +2096,7 @@
*/
void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data) {
if (num > 3) return;
- i2cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
}
// I2C_MST_DELAY_CTRL register
@@ -2088,7 +2110,7 @@
* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
*/
bool MPU6050::getExternalShadowDelayEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
return buffer[0];
}
/** Set external data shadow delay enabled status.
@@ -2098,7 +2120,7 @@
* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
*/
void MPU6050::setExternalShadowDelayEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
}
/** Get slave delay enabled status.
* When a particular slave delay is enabled, the rate of access for the that
@@ -2121,7 +2143,7 @@
bool MPU6050::getSlaveDelayEnabled(uint8_t num) {
// MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
if (num > 4) return 0;
- i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
return buffer[0];
}
/** Set slave delay enabled status.
@@ -2131,7 +2153,7 @@
* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
*/
void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
}
// SIGNAL_PATH_RESET register
@@ -2143,7 +2165,7 @@
* @see MPU6050_PATHRESET_GYRO_RESET_BIT
*/
void MPU6050::resetGyroscopePath() {
- i2cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
}
/** Reset accelerometer signal path.
* The reset will revert the signal path analog to digital converters and
@@ -2152,7 +2174,7 @@
* @see MPU6050_PATHRESET_ACCEL_RESET_BIT
*/
void MPU6050::resetAccelerometerPath() {
- i2cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
}
/** Reset temperature sensor signal path.
* The reset will revert the signal path analog to digital converters and
@@ -2161,7 +2183,7 @@
* @see MPU6050_PATHRESET_TEMP_RESET_BIT
*/
void MPU6050::resetTemperaturePath() {
- i2cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
}
// MOT_DETECT_CTRL register
@@ -2181,7 +2203,7 @@
* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
*/
uint8_t MPU6050::getAccelerometerPowerOnDelay() {
- i2cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
+ I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
return buffer[0];
}
/** Set accelerometer power-on delay.
@@ -2191,7 +2213,7 @@
* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
*/
void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay) {
- i2cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
+ I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
}
/** Get Free Fall detection counter decrement configuration.
* Detection is registered by the Free Fall detection module after accelerometer
@@ -2220,7 +2242,7 @@
* @see MPU6050_DETECT_FF_COUNT_BIT
*/
uint8_t MPU6050::getFreefallDetectionCounterDecrement() {
- i2cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
+ I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
return buffer[0];
}
/** Set Free Fall detection counter decrement configuration.
@@ -2230,7 +2252,7 @@
* @see MPU6050_DETECT_FF_COUNT_BIT
*/
void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement) {
- i2cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
+ I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
}
/** Get Motion detection counter decrement configuration.
* Detection is registered by the Motion detection module after accelerometer
@@ -2256,7 +2278,7 @@
*
*/
uint8_t MPU6050::getMotionDetectionCounterDecrement() {
- i2cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
+ I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
return buffer[0];
}
/** Set Motion detection counter decrement configuration.
@@ -2266,7 +2288,7 @@
* @see MPU6050_DETECT_MOT_COUNT_BIT
*/
void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement) {
- i2cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
+ I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
}
// USER_CTRL register
@@ -2280,7 +2302,7 @@
* @see MPU6050_USERCTRL_FIFO_EN_BIT
*/
bool MPU6050::getFIFOEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set FIFO enabled status.
@@ -2290,7 +2312,7 @@
* @see MPU6050_USERCTRL_FIFO_EN_BIT
*/
void MPU6050::setFIFOEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
}
/** Get I2C Master Mode enabled status.
* When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
@@ -2304,7 +2326,7 @@
* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
*/
bool MPU6050::getI2CMasterModeEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
return buffer[0];
}
/** Set I2C Master Mode enabled status.
@@ -2314,14 +2336,14 @@
* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
*/
void MPU6050::setI2CMasterModeEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
}
/** Switch from I2C to SPI mode (MPU-6000 only)
* If this is set, the primary SPI interface will be enabled in place of the
* disabled primary I2C interface.
*/
void MPU6050::switchSPIEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
}
/** Reset the FIFO.
* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
@@ -2330,7 +2352,7 @@
* @see MPU6050_USERCTRL_FIFO_RESET_BIT
*/
void MPU6050::resetFIFO() {
- i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
}
/** Reset the I2C Master.
* This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
@@ -2339,7 +2361,7 @@
* @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
*/
void MPU6050::resetI2CMaster() {
- i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
}
/** Reset all sensor registers and signal paths.
* When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
@@ -2354,7 +2376,7 @@
* @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
*/
void MPU6050::resetSensors() {
- i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
}
// PWR_MGMT_1 register
@@ -2365,7 +2387,7 @@
* @see MPU6050_PWR1_DEVICE_RESET_BIT
*/
void MPU6050::reset() {
- i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
}
/** Get sleep mode status.
* Setting the SLEEP bit in the register puts the device into very low power
@@ -2379,7 +2401,7 @@
* @see MPU6050_PWR1_SLEEP_BIT
*/
bool MPU6050::getSleepEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
return buffer[0];
}
/** Set sleep mode status.
@@ -2389,7 +2411,7 @@
* @see MPU6050_PWR1_SLEEP_BIT
*/
void MPU6050::setSleepEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
}
/** Get wake cycle enabled status.
* When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
@@ -2400,7 +2422,7 @@
* @see MPU6050_PWR1_CYCLE_BIT
*/
bool MPU6050::getWakeCycleEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
return buffer[0];
}
/** Set wake cycle enabled status.
@@ -2410,7 +2432,7 @@
* @see MPU6050_PWR1_CYCLE_BIT
*/
void MPU6050::setWakeCycleEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
}
/** Get temperature sensor enabled status.
* Control the usage of the internal temperature sensor.
@@ -2424,7 +2446,7 @@
* @see MPU6050_PWR1_TEMP_DIS_BIT
*/
bool MPU6050::getTempSensorEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
return buffer[0] == 0; // 1 is actually disabled here
}
/** Set temperature sensor enabled status.
@@ -2439,7 +2461,7 @@
*/
void MPU6050::setTempSensorEnabled(bool enabled) {
// 1 is actually disabled here
- i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
}
/** Get clock source setting.
* @return Current clock source setting
@@ -2448,7 +2470,7 @@
* @see MPU6050_PWR1_CLKSEL_LENGTH
*/
uint8_t MPU6050::getClockSource() {
- i2cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
+ I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
return buffer[0];
}
/** Set clock source setting.
@@ -2482,7 +2504,7 @@
* @see MPU6050_PWR1_CLKSEL_LENGTH
*/
void MPU6050::setClockSource(uint8_t source) {
- i2cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
+ I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
}
// PWR_MGMT_2 register
@@ -2502,7 +2524,7 @@
* 1 | 2.5 Hz
* 2 | 5 Hz
* 3 | 10 Hz
- * <pre>
+ * </pre>
*
* For further information regarding the MPU-60X0's power modes, please refer to
* Register 107.
@@ -2511,7 +2533,7 @@
* @see MPU6050_RA_PWR_MGMT_2
*/
uint8_t MPU6050::getWakeFrequency() {
- i2cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
+ I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
return buffer[0];
}
/** Set wake frequency in Accel-Only Low Power Mode.
@@ -2519,7 +2541,7 @@
* @see MPU6050_RA_PWR_MGMT_2
*/
void MPU6050::setWakeFrequency(uint8_t frequency) {
- i2cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
+ I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
}
/** Get X-axis accelerometer standby enabled status.
@@ -2529,7 +2551,7 @@
* @see MPU6050_PWR2_STBY_XA_BIT
*/
bool MPU6050::getStandbyXAccelEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
return buffer[0];
}
/** Set X-axis accelerometer standby enabled status.
@@ -2539,7 +2561,7 @@
* @see MPU6050_PWR2_STBY_XA_BIT
*/
void MPU6050::setStandbyXAccelEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
}
/** Get Y-axis accelerometer standby enabled status.
* If enabled, the Y-axis will not gather or report data (or use power).
@@ -2548,7 +2570,7 @@
* @see MPU6050_PWR2_STBY_YA_BIT
*/
bool MPU6050::getStandbyYAccelEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
return buffer[0];
}
/** Set Y-axis accelerometer standby enabled status.
@@ -2558,7 +2580,7 @@
* @see MPU6050_PWR2_STBY_YA_BIT
*/
void MPU6050::setStandbyYAccelEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
}
/** Get Z-axis accelerometer standby enabled status.
* If enabled, the Z-axis will not gather or report data (or use power).
@@ -2567,7 +2589,7 @@
* @see MPU6050_PWR2_STBY_ZA_BIT
*/
bool MPU6050::getStandbyZAccelEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
return buffer[0];
}
/** Set Z-axis accelerometer standby enabled status.
@@ -2577,7 +2599,7 @@
* @see MPU6050_PWR2_STBY_ZA_BIT
*/
void MPU6050::setStandbyZAccelEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
}
/** Get X-axis gyroscope standby enabled status.
* If enabled, the X-axis will not gather or report data (or use power).
@@ -2586,7 +2608,7 @@
* @see MPU6050_PWR2_STBY_XG_BIT
*/
bool MPU6050::getStandbyXGyroEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
return buffer[0];
}
/** Set X-axis gyroscope standby enabled status.
@@ -2596,7 +2618,7 @@
* @see MPU6050_PWR2_STBY_XG_BIT
*/
void MPU6050::setStandbyXGyroEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
}
/** Get Y-axis gyroscope standby enabled status.
* If enabled, the Y-axis will not gather or report data (or use power).
@@ -2605,7 +2627,7 @@
* @see MPU6050_PWR2_STBY_YG_BIT
*/
bool MPU6050::getStandbyYGyroEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
return buffer[0];
}
/** Set Y-axis gyroscope standby enabled status.
@@ -2615,7 +2637,7 @@
* @see MPU6050_PWR2_STBY_YG_BIT
*/
void MPU6050::setStandbyYGyroEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
}
/** Get Z-axis gyroscope standby enabled status.
* If enabled, the Z-axis will not gather or report data (or use power).
@@ -2624,7 +2646,7 @@
* @see MPU6050_PWR2_STBY_ZG_BIT
*/
bool MPU6050::getStandbyZGyroEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
return buffer[0];
}
/** Set Z-axis gyroscope standby enabled status.
@@ -2634,7 +2656,7 @@
* @see MPU6050_PWR2_STBY_ZG_BIT
*/
void MPU6050::setStandbyZGyroEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
}
// FIFO_COUNT* registers
@@ -2647,7 +2669,7 @@
* @return Current FIFO buffer size
*/
uint16_t MPU6050::getFIFOCount() {
- i2cdev.readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
+ I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
return (((uint16_t)buffer[0]) << 8) | buffer[1];
}
@@ -2679,18 +2701,22 @@
* @return Byte from FIFO buffer
*/
uint8_t MPU6050::getFIFOByte() {
- i2cdev.readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
return buffer[0];
}
void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) {
- i2cdev.readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
+ if(length > 0){
+ I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
+ } else {
+ *data = 0;
+ }
}
/** Write byte to FIFO buffer.
* @see getFIFOByte()
* @see MPU6050_RA_FIFO_R_W
*/
void MPU6050::setFIFOByte(uint8_t data) {
- i2cdev.writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
}
// WHO_AM_I register
@@ -2703,7 +2729,7 @@
* @see MPU6050_WHO_AM_I_LENGTH
*/
uint8_t MPU6050::getDeviceID() {
- i2cdev.readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
+ I2Cdev::readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
return buffer[0];
}
/** Set Device ID.
@@ -2716,7 +2742,7 @@
* @see MPU6050_WHO_AM_I_LENGTH
*/
void MPU6050::setDeviceID(uint8_t id) {
- i2cdev.writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
+ I2Cdev::writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
}
// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
@@ -2724,196 +2750,196 @@
// XG_OFFS_TC register
uint8_t MPU6050::getOTPBankValid() {
- i2cdev.readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
return buffer[0];
}
void MPU6050::setOTPBankValid(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
}
int8_t MPU6050::getXGyroOffsetTC() {
- i2cdev.readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+ I2Cdev::readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
return buffer[0];
}
void MPU6050::setXGyroOffsetTC(int8_t offset) {
- i2cdev.writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+ I2Cdev::writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
}
// YG_OFFS_TC register
int8_t MPU6050::getYGyroOffsetTC() {
- i2cdev.readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+ I2Cdev::readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
return buffer[0];
}
void MPU6050::setYGyroOffsetTC(int8_t offset) {
- i2cdev.writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+ I2Cdev::writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
}
// ZG_OFFS_TC register
int8_t MPU6050::getZGyroOffsetTC() {
- i2cdev.readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+ I2Cdev::readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
return buffer[0];
}
void MPU6050::setZGyroOffsetTC(int8_t offset) {
- i2cdev.writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+ I2Cdev::writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
}
// X_FINE_GAIN register
int8_t MPU6050::getXFineGain() {
- i2cdev.readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
return buffer[0];
}
void MPU6050::setXFineGain(int8_t gain) {
- i2cdev.writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
}
// Y_FINE_GAIN register
int8_t MPU6050::getYFineGain() {
- i2cdev.readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
return buffer[0];
}
void MPU6050::setYFineGain(int8_t gain) {
- i2cdev.writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
}
// Z_FINE_GAIN register
int8_t MPU6050::getZFineGain() {
- i2cdev.readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
return buffer[0];
}
void MPU6050::setZFineGain(int8_t gain) {
- i2cdev.writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
}
// XA_OFFS_* registers
int16_t MPU6050::getXAccelOffset() {
- i2cdev.readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
+ I2Cdev::readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
void MPU6050::setXAccelOffset(int16_t offset) {
- i2cdev.writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
+ I2Cdev::writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
}
// YA_OFFS_* register
int16_t MPU6050::getYAccelOffset() {
- i2cdev.readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
+ I2Cdev::readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
void MPU6050::setYAccelOffset(int16_t offset) {
- i2cdev.writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
+ I2Cdev::writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
}
// ZA_OFFS_* register
int16_t MPU6050::getZAccelOffset() {
- i2cdev.readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
+ I2Cdev::readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
void MPU6050::setZAccelOffset(int16_t offset) {
- i2cdev.writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
+ I2Cdev::writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
}
// XG_OFFS_USR* registers
int16_t MPU6050::getXGyroOffset() {
- i2cdev.readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
+ I2Cdev::readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
void MPU6050::setXGyroOffset(int16_t offset) {
- i2cdev.writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
+ I2Cdev::writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
}
// YG_OFFS_USR* register
int16_t MPU6050::getYGyroOffset() {
- i2cdev.readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
+ I2Cdev::readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
void MPU6050::setYGyroOffset(int16_t offset) {
- i2cdev.writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
+ I2Cdev::writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
}
// ZG_OFFS_USR* register
int16_t MPU6050::getZGyroOffset() {
- i2cdev.readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
+ I2Cdev::readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
return (((int16_t)buffer[0]) << 8) | buffer[1];
}
void MPU6050::setZGyroOffset(int16_t offset) {
- i2cdev.writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
+ I2Cdev::writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
}
// INT_ENABLE register (DMP functions)
bool MPU6050::getIntPLLReadyEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
return buffer[0];
}
void MPU6050::setIntPLLReadyEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
}
bool MPU6050::getIntDMPEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
return buffer[0];
}
void MPU6050::setIntDMPEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
}
// DMP_INT_STATUS
bool MPU6050::getDMPInt5Status() {
- i2cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
return buffer[0];
}
bool MPU6050::getDMPInt4Status() {
- i2cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
return buffer[0];
}
bool MPU6050::getDMPInt3Status() {
- i2cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
return buffer[0];
}
bool MPU6050::getDMPInt2Status() {
- i2cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
return buffer[0];
}
bool MPU6050::getDMPInt1Status() {
- i2cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
return buffer[0];
}
bool MPU6050::getDMPInt0Status() {
- i2cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
return buffer[0];
}
// INT_STATUS register (DMP functions)
bool MPU6050::getIntPLLReadyStatus() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
return buffer[0];
}
bool MPU6050::getIntDMPStatus() {
- i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
return buffer[0];
}
// USER_CTRL register (DMP functions)
bool MPU6050::getDMPEnabled() {
- i2cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
+ I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
return buffer[0];
}
void MPU6050::setDMPEnabled(bool enabled) {
- i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
}
void MPU6050::resetDMP() {
- i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
+ I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
}
// BANK_SEL register
@@ -2922,23 +2948,23 @@
bank &= 0x1F;
if (userBank) bank |= 0x20;
if (prefetchEnabled) bank |= 0x40;
- i2cdev.writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
}
// MEM_START_ADDR register
void MPU6050::setMemoryStartAddress(uint8_t address) {
- i2cdev.writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
}
// MEM_R_W register
uint8_t MPU6050::readMemoryByte() {
- i2cdev.readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
return buffer[0];
}
void MPU6050::writeMemoryByte(uint8_t data) {
- i2cdev.writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
}
void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address) {
setMemoryBank(bank);
@@ -2955,8 +2981,8 @@
if (chunkSize > 256 - address) chunkSize = 256 - address;
// read the chunk of data as specified
- i2cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
-
+ I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
+
// increase byte index by [chunkSize]
i += chunkSize;
@@ -2976,7 +3002,7 @@
setMemoryStartAddress(address);
uint8_t chunkSize;
uint8_t *verifyBuffer;
- uint8_t *progBuffer;
+ uint8_t *progBuffer=0;
uint16_t i;
uint8_t j;
if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
@@ -2990,7 +3016,7 @@
// make sure this chunk doesn't go past the bank boundary (256 bytes)
if (chunkSize > 256 - address) chunkSize = 256 - address;
-
+
if (useProgMem) {
// write the chunk of data as specified
for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
@@ -2999,13 +3025,13 @@
progBuffer = (uint8_t *)data + i;
}
- i2cdev.writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
+ I2Cdev::writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
// verify data if needed
if (verify && verifyBuffer) {
setMemoryBank(bank);
setMemoryStartAddress(address);
- i2cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
+ I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
/*Serial.print("Block write verification error, bank ");
Serial.print(bank, DEC);
@@ -3051,7 +3077,8 @@
return writeMemoryBlock(data, dataSize, bank, address, verify, true);
}
bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem) {
- uint8_t *progBuffer, success, special;
+ uint8_t *progBuffer = 0;
+ uint8_t success, special;
uint16_t i, j;
if (useProgMem) {
progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
@@ -3104,11 +3131,11 @@
Serial.println(" found...");*/
if (special == 0x01) {
// enable DMP-related interrupts
-
+
//setIntZeroMotionEnabled(true);
//setIntFIFOBufferOverflowEnabled(true);
//setIntDMPEnabled(true);
- i2cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
+ I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
success = true;
} else {
@@ -3116,7 +3143,7 @@
success = false;
}
}
-
+
if (!success) {
if (useProgMem) free(progBuffer);
return false; // uh oh
@@ -3132,19 +3159,19 @@
// DMP_CFG_1 register
uint8_t MPU6050::getDMPConfig1() {
- i2cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
return buffer[0];
}
void MPU6050::setDMPConfig1(uint8_t config) {
- i2cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
+ I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
}
// DMP_CFG_2 register
uint8_t MPU6050::getDMPConfig2() {
- i2cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
+ I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
return buffer[0];
}
void MPU6050::setDMPConfig2(uint8_t config) {
- i2cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
-}
+ I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
+}
\ No newline at end of file