wallbotLED_base - うおーるぼっとLEDのワークショップ用

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Junichi Katsu / Mbed 2 deprecated wallbotLED_base

うおーるぼっとLEDのワークショップ用

wallbotLED/MPU6050_wallbotble/MPU6050.cpp@3:b707c09b4433, 2017-02-04 (annotated)

Committer:: jksoft
Date:: Sat Feb 04 03:33:08 2017 +0000
Revision:: 3:b707c09b4433
Parent:: 0:9fcc79b3f00e

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Who changed what in which revision?

User	Revision	Line number	New contents of line
jksoft	0:9fcc79b3f00e	1	//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
jksoft	0:9fcc79b3f00e	2	//written by szymon gaertig (email: szymon@gaertig.com.pl)
jksoft	0:9fcc79b3f00e	3	//
jksoft	0:9fcc79b3f00e	4	//Changelog:
jksoft	0:9fcc79b3f00e	5	//2013-01-08 - first beta release
jksoft	0:9fcc79b3f00e	6
jksoft	0:9fcc79b3f00e	7	// I2Cdev library collection - MPU6050 I2C device class
jksoft	0:9fcc79b3f00e	8	// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
jksoft	0:9fcc79b3f00e	9	// 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
jksoft	0:9fcc79b3f00e	10	// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
jksoft	0:9fcc79b3f00e	11	//
jksoft	0:9fcc79b3f00e	12	// Changelog:
jksoft	0:9fcc79b3f00e	13	// ... - ongoing debug release
jksoft	0:9fcc79b3f00e	14
jksoft	0:9fcc79b3f00e	15	// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
jksoft	0:9fcc79b3f00e	16	// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
jksoft	0:9fcc79b3f00e	17	// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
jksoft	0:9fcc79b3f00e	18
jksoft	0:9fcc79b3f00e	19	/* ============================================
jksoft	0:9fcc79b3f00e	20	I2Cdev device library code is placed under the MIT license
jksoft	0:9fcc79b3f00e	21	Copyright (c) 2012 Jeff Rowberg
jksoft	0:9fcc79b3f00e	22
jksoft	0:9fcc79b3f00e	23	Permission is hereby granted, free of charge, to any person obtaining a copy
jksoft	0:9fcc79b3f00e	24	of this software and associated documentation files (the "Software"), to deal
jksoft	0:9fcc79b3f00e	25	in the Software without restriction, including without limitation the rights
jksoft	0:9fcc79b3f00e	26	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
jksoft	0:9fcc79b3f00e	27	copies of the Software, and to permit persons to whom the Software is
jksoft	0:9fcc79b3f00e	28	furnished to do so, subject to the following conditions:
jksoft	0:9fcc79b3f00e	29
jksoft	0:9fcc79b3f00e	30	The above copyright notice and this permission notice shall be included in
jksoft	0:9fcc79b3f00e	31	all copies or substantial portions of the Software.
jksoft	0:9fcc79b3f00e	32
jksoft	0:9fcc79b3f00e	33	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
jksoft	0:9fcc79b3f00e	34	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
jksoft	0:9fcc79b3f00e	35	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
jksoft	0:9fcc79b3f00e	36	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
jksoft	0:9fcc79b3f00e	37	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
jksoft	0:9fcc79b3f00e	38	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
jksoft	0:9fcc79b3f00e	39	THE SOFTWARE.
jksoft	0:9fcc79b3f00e	40	===============================================
jksoft	0:9fcc79b3f00e	41	*/
jksoft	0:9fcc79b3f00e	42
jksoft	0:9fcc79b3f00e	43	#include "MPU6050.h"
jksoft	0:9fcc79b3f00e	44
jksoft	0:9fcc79b3f00e	45	#define useDebugSerial
jksoft	0:9fcc79b3f00e	46
jksoft	0:9fcc79b3f00e	47	//instead of using pgmspace.h
jksoft	0:9fcc79b3f00e	48	typedef const unsigned char prog_uchar;
jksoft	0:9fcc79b3f00e	49	#define pgm_read_byte_near(x) ((prog_uchar)x)
jksoft	0:9fcc79b3f00e	50	#define pgm_read_byte(x) ((prog_uchar)x)
jksoft	0:9fcc79b3f00e	51
jksoft	0:9fcc79b3f00e	52	/** Default constructor, uses default I2C address.
jksoft	0:9fcc79b3f00e	53	* @see MPU6050_DEFAULT_ADDRESS
jksoft	0:9fcc79b3f00e	54	*/
jksoft	0:9fcc79b3f00e	55	MPU6050::MPU6050() : debugSerial(USBTX, USBRX)
jksoft	0:9fcc79b3f00e	56	{
jksoft	0:9fcc79b3f00e	57	devAddr = MPU6050_DEFAULT_ADDRESS;
jksoft	0:9fcc79b3f00e	58	}
jksoft	0:9fcc79b3f00e	59
jksoft	0:9fcc79b3f00e	60	/** Specific address constructor.
jksoft	0:9fcc79b3f00e	61	* @param address I2C address
jksoft	0:9fcc79b3f00e	62	* @see MPU6050_DEFAULT_ADDRESS
jksoft	0:9fcc79b3f00e	63	* @see MPU6050_ADDRESS_AD0_LOW
jksoft	0:9fcc79b3f00e	64	* @see MPU6050_ADDRESS_AD0_HIGH
jksoft	0:9fcc79b3f00e	65	*/
jksoft	0:9fcc79b3f00e	66	MPU6050::MPU6050(uint8_t address) : debugSerial(USBTX, USBRX)
jksoft	0:9fcc79b3f00e	67	{
jksoft	0:9fcc79b3f00e	68	devAddr = address;
jksoft	0:9fcc79b3f00e	69	}
jksoft	0:9fcc79b3f00e	70
jksoft	0:9fcc79b3f00e	71	/** Power on and prepare for general usage.
jksoft	0:9fcc79b3f00e	72	* This will activate the device and take it out of sleep mode (which must be done
jksoft	0:9fcc79b3f00e	73	* after start-up). This function also sets both the accelerometer and the gyroscope
jksoft	0:9fcc79b3f00e	74	* to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
jksoft	0:9fcc79b3f00e	75	* the clock source to use the X Gyro for reference, which is slightly better than
jksoft	0:9fcc79b3f00e	76	* the default internal clock source.
jksoft	0:9fcc79b3f00e	77	*/
jksoft	0:9fcc79b3f00e	78	void MPU6050::initialize()
jksoft	0:9fcc79b3f00e	79	{
jksoft	0:9fcc79b3f00e	80
jksoft	0:9fcc79b3f00e	81	#ifdef useDebugSerial
jksoft	0:9fcc79b3f00e	82	debugSerial.printf("MPU6050::initialize start\n");
jksoft	0:9fcc79b3f00e	83	#endif
jksoft	0:9fcc79b3f00e	84
jksoft	0:9fcc79b3f00e	85	setClockSource(MPU6050_CLOCK_PLL_XGYRO);
jksoft	0:9fcc79b3f00e	86	setFullScaleGyroRange(MPU6050_GYRO_FS_250);
jksoft	0:9fcc79b3f00e	87	setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
jksoft	0:9fcc79b3f00e	88	setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
jksoft	0:9fcc79b3f00e	89
jksoft	0:9fcc79b3f00e	90	#ifdef useDebugSerial
jksoft	0:9fcc79b3f00e	91	debugSerial.printf("MPU6050::initialize end\n");
jksoft	0:9fcc79b3f00e	92	#endif
jksoft	0:9fcc79b3f00e	93	}
jksoft	0:9fcc79b3f00e	94
jksoft	0:9fcc79b3f00e	95	/** Verify the I2C connection.
jksoft	0:9fcc79b3f00e	96	* Make sure the device is connected and responds as expected.
jksoft	0:9fcc79b3f00e	97	* @return True if connection is valid, false otherwise
jksoft	0:9fcc79b3f00e	98	*/
jksoft	0:9fcc79b3f00e	99	bool MPU6050::testConnection()
jksoft	0:9fcc79b3f00e	100	{
jksoft	0:9fcc79b3f00e	101	#ifdef useDebugSerial
jksoft	0:9fcc79b3f00e	102	debugSerial.printf("MPU6050::testConnection start\n");
jksoft	0:9fcc79b3f00e	103	#endif
jksoft	0:9fcc79b3f00e	104	uint8_t deviceId = getDeviceID();
jksoft	0:9fcc79b3f00e	105	#ifdef useDebugSerial
jksoft	0:9fcc79b3f00e	106	debugSerial.printf("DeviceId = %d\n",deviceId);
jksoft	0:9fcc79b3f00e	107	#endif
jksoft	0:9fcc79b3f00e	108	return deviceId == 0x34;
jksoft	0:9fcc79b3f00e	109	}
jksoft	0:9fcc79b3f00e	110
jksoft	0:9fcc79b3f00e	111	// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
jksoft	0:9fcc79b3f00e	112
jksoft	0:9fcc79b3f00e	113	/** Get the auxiliary I2C supply voltage level.
jksoft	0:9fcc79b3f00e	114	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
jksoft	0:9fcc79b3f00e	115	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
jksoft	0:9fcc79b3f00e	116	* the MPU-6000, which does not have a VLOGIC pin.
jksoft	0:9fcc79b3f00e	117	* @return I2C supply voltage level (0=VLOGIC, 1=VDD)
jksoft	0:9fcc79b3f00e	118	*/
jksoft	0:9fcc79b3f00e	119	uint8_t MPU6050::getAuxVDDIOLevel()
jksoft	0:9fcc79b3f00e	120	{
jksoft	0:9fcc79b3f00e	121	i2Cdev.readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
jksoft	0:9fcc79b3f00e	122	return buffer[0];
jksoft	0:9fcc79b3f00e	123	}
jksoft	0:9fcc79b3f00e	124	/** Set the auxiliary I2C supply voltage level.
jksoft	0:9fcc79b3f00e	125	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
jksoft	0:9fcc79b3f00e	126	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
jksoft	0:9fcc79b3f00e	127	* the MPU-6000, which does not have a VLOGIC pin.
jksoft	0:9fcc79b3f00e	128	* @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
jksoft	0:9fcc79b3f00e	129	*/
jksoft	0:9fcc79b3f00e	130	void MPU6050::setAuxVDDIOLevel(uint8_t level)
jksoft	0:9fcc79b3f00e	131	{
jksoft	0:9fcc79b3f00e	132	i2Cdev.writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
jksoft	0:9fcc79b3f00e	133	}
jksoft	0:9fcc79b3f00e	134
jksoft	0:9fcc79b3f00e	135	// SMPLRT_DIV register
jksoft	0:9fcc79b3f00e	136
jksoft	0:9fcc79b3f00e	137	/** Get gyroscope output rate divider.
jksoft	0:9fcc79b3f00e	138	* The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
jksoft	0:9fcc79b3f00e	139	* Motion detection, and Free Fall detection are all based on the Sample Rate.
jksoft	0:9fcc79b3f00e	140	* The Sample Rate is generated by dividing the gyroscope output rate by
jksoft	0:9fcc79b3f00e	141	* SMPLRT_DIV:
jksoft	0:9fcc79b3f00e	142	*
jksoft	0:9fcc79b3f00e	143	* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
jksoft	0:9fcc79b3f00e	144	*
jksoft	0:9fcc79b3f00e	145	* where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
jksoft	0:9fcc79b3f00e	146	* 7), and 1kHz when the DLPF is enabled (see Register 26).
jksoft	0:9fcc79b3f00e	147	*
jksoft	0:9fcc79b3f00e	148	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
jksoft	0:9fcc79b3f00e	149	* Rate greater than 1kHz, the same accelerometer sample may be output to the
jksoft	0:9fcc79b3f00e	150	* FIFO, DMP, and sensor registers more than once.
jksoft	0:9fcc79b3f00e	151	*
jksoft	0:9fcc79b3f00e	152	* For a diagram of the gyroscope and accelerometer signal paths, see Section 8
jksoft	0:9fcc79b3f00e	153	* of the MPU-6000/MPU-6050 Product Specification document.
jksoft	0:9fcc79b3f00e	154	*
jksoft	0:9fcc79b3f00e	155	* @return Current sample rate
jksoft	0:9fcc79b3f00e	156	* @see MPU6050_RA_SMPLRT_DIV
jksoft	0:9fcc79b3f00e	157	*/
jksoft	0:9fcc79b3f00e	158	uint8_t MPU6050::getRate()
jksoft	0:9fcc79b3f00e	159	{
jksoft	0:9fcc79b3f00e	160	i2Cdev.readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
jksoft	0:9fcc79b3f00e	161	return buffer[0];
jksoft	0:9fcc79b3f00e	162	}
jksoft	0:9fcc79b3f00e	163	/** Set gyroscope sample rate divider.
jksoft	0:9fcc79b3f00e	164	* @param rate New sample rate divider
jksoft	0:9fcc79b3f00e	165	* @see getRate()
jksoft	0:9fcc79b3f00e	166	* @see MPU6050_RA_SMPLRT_DIV
jksoft	0:9fcc79b3f00e	167	*/
jksoft	0:9fcc79b3f00e	168	void MPU6050::setRate(uint8_t rate)
jksoft	0:9fcc79b3f00e	169	{
jksoft	0:9fcc79b3f00e	170	i2Cdev.writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
jksoft	0:9fcc79b3f00e	171	}
jksoft	0:9fcc79b3f00e	172
jksoft	0:9fcc79b3f00e	173	// CONFIG register
jksoft	0:9fcc79b3f00e	174
jksoft	0:9fcc79b3f00e	175	/** Get external FSYNC configuration.
jksoft	0:9fcc79b3f00e	176	* Configures the external Frame Synchronization (FSYNC) pin sampling. An
jksoft	0:9fcc79b3f00e	177	* external signal connected to the FSYNC pin can be sampled by configuring
jksoft	0:9fcc79b3f00e	178	* EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
jksoft	0:9fcc79b3f00e	179	* strobes may be captured. The latched FSYNC signal will be sampled at the
jksoft	0:9fcc79b3f00e	180	* Sampling Rate, as defined in register 25. After sampling, the latch will
jksoft	0:9fcc79b3f00e	181	* reset to the current FSYNC signal state.
jksoft	0:9fcc79b3f00e	182	*
jksoft	0:9fcc79b3f00e	183	* The sampled value will be reported in place of the least significant bit in
jksoft	0:9fcc79b3f00e	184	* a sensor data register determined by the value of EXT_SYNC_SET according to
jksoft	0:9fcc79b3f00e	185	* the following table.
jksoft	0:9fcc79b3f00e	186	*
jksoft	0:9fcc79b3f00e	187	* <pre>
jksoft	0:9fcc79b3f00e	188	* EXT_SYNC_SET \| FSYNC Bit Location
jksoft	0:9fcc79b3f00e	189	* -------------+-------------------
jksoft	0:9fcc79b3f00e	190	* 0 \| Input disabled
jksoft	0:9fcc79b3f00e	191	* 1 \| TEMP_OUT_L[0]
jksoft	0:9fcc79b3f00e	192	* 2 \| GYRO_XOUT_L[0]
jksoft	0:9fcc79b3f00e	193	* 3 \| GYRO_YOUT_L[0]
jksoft	0:9fcc79b3f00e	194	* 4 \| GYRO_ZOUT_L[0]
jksoft	0:9fcc79b3f00e	195	* 5 \| ACCEL_XOUT_L[0]
jksoft	0:9fcc79b3f00e	196	* 6 \| ACCEL_YOUT_L[0]
jksoft	0:9fcc79b3f00e	197	* 7 \| ACCEL_ZOUT_L[0]
jksoft	0:9fcc79b3f00e	198	* </pre>
jksoft	0:9fcc79b3f00e	199	*
jksoft	0:9fcc79b3f00e	200	* @return FSYNC configuration value
jksoft	0:9fcc79b3f00e	201	*/
jksoft	0:9fcc79b3f00e	202	uint8_t MPU6050::getExternalFrameSync()
jksoft	0:9fcc79b3f00e	203	{
jksoft	0:9fcc79b3f00e	204	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
jksoft	0:9fcc79b3f00e	205	return buffer[0];
jksoft	0:9fcc79b3f00e	206	}
jksoft	0:9fcc79b3f00e	207	/** Set external FSYNC configuration.
jksoft	0:9fcc79b3f00e	208	* @see getExternalFrameSync()
jksoft	0:9fcc79b3f00e	209	* @see MPU6050_RA_CONFIG
jksoft	0:9fcc79b3f00e	210	* @param sync New FSYNC configuration value
jksoft	0:9fcc79b3f00e	211	*/
jksoft	0:9fcc79b3f00e	212	void MPU6050::setExternalFrameSync(uint8_t sync)
jksoft	0:9fcc79b3f00e	213	{
jksoft	0:9fcc79b3f00e	214	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
jksoft	0:9fcc79b3f00e	215	}
jksoft	0:9fcc79b3f00e	216	/** Get digital low-pass filter configuration.
jksoft	0:9fcc79b3f00e	217	* The DLPF_CFG parameter sets the digital low pass filter configuration. It
jksoft	0:9fcc79b3f00e	218	* also determines the internal sampling rate used by the device as shown in
jksoft	0:9fcc79b3f00e	219	* the table below.
jksoft	0:9fcc79b3f00e	220	*
jksoft	0:9fcc79b3f00e	221	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
jksoft	0:9fcc79b3f00e	222	* Rate greater than 1kHz, the same accelerometer sample may be output to the
jksoft	0:9fcc79b3f00e	223	* FIFO, DMP, and sensor registers more than once.
jksoft	0:9fcc79b3f00e	224	*
jksoft	0:9fcc79b3f00e	225	* <pre>
jksoft	0:9fcc79b3f00e	226	* \| ACCELEROMETER \| GYROSCOPE
jksoft	0:9fcc79b3f00e	227	* DLPF_CFG \| Bandwidth \| Delay \| Bandwidth \| Delay \| Sample Rate
jksoft	0:9fcc79b3f00e	228	* ---------+-----------+--------+-----------+--------+-------------
jksoft	0:9fcc79b3f00e	229	* 0 \| 260Hz \| 0ms \| 256Hz \| 0.98ms \| 8kHz
jksoft	0:9fcc79b3f00e	230	* 1 \| 184Hz \| 2.0ms \| 188Hz \| 1.9ms \| 1kHz
jksoft	0:9fcc79b3f00e	231	* 2 \| 94Hz \| 3.0ms \| 98Hz \| 2.8ms \| 1kHz
jksoft	0:9fcc79b3f00e	232	* 3 \| 44Hz \| 4.9ms \| 42Hz \| 4.8ms \| 1kHz
jksoft	0:9fcc79b3f00e	233	* 4 \| 21Hz \| 8.5ms \| 20Hz \| 8.3ms \| 1kHz
jksoft	0:9fcc79b3f00e	234	* 5 \| 10Hz \| 13.8ms \| 10Hz \| 13.4ms \| 1kHz
jksoft	0:9fcc79b3f00e	235	* 6 \| 5Hz \| 19.0ms \| 5Hz \| 18.6ms \| 1kHz
jksoft	0:9fcc79b3f00e	236	* 7 \| -- Reserved -- \| -- Reserved -- \| Reserved
jksoft	0:9fcc79b3f00e	237	* </pre>
jksoft	0:9fcc79b3f00e	238	*
jksoft	0:9fcc79b3f00e	239	* @return DLFP configuration
jksoft	0:9fcc79b3f00e	240	* @see MPU6050_RA_CONFIG
jksoft	0:9fcc79b3f00e	241	* @see MPU6050_CFG_DLPF_CFG_BIT
jksoft	0:9fcc79b3f00e	242	* @see MPU6050_CFG_DLPF_CFG_LENGTH
jksoft	0:9fcc79b3f00e	243	*/
jksoft	0:9fcc79b3f00e	244	uint8_t MPU6050::getDLPFMode()
jksoft	0:9fcc79b3f00e	245	{
jksoft	0:9fcc79b3f00e	246	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
jksoft	0:9fcc79b3f00e	247	return buffer[0];
jksoft	0:9fcc79b3f00e	248	}
jksoft	0:9fcc79b3f00e	249	/** Set digital low-pass filter configuration.
jksoft	0:9fcc79b3f00e	250	* @param mode New DLFP configuration setting
jksoft	0:9fcc79b3f00e	251	* @see getDLPFBandwidth()
jksoft	0:9fcc79b3f00e	252	* @see MPU6050_DLPF_BW_256
jksoft	0:9fcc79b3f00e	253	* @see MPU6050_RA_CONFIG
jksoft	0:9fcc79b3f00e	254	* @see MPU6050_CFG_DLPF_CFG_BIT
jksoft	0:9fcc79b3f00e	255	* @see MPU6050_CFG_DLPF_CFG_LENGTH
jksoft	0:9fcc79b3f00e	256	*/
jksoft	0:9fcc79b3f00e	257	void MPU6050::setDLPFMode(uint8_t mode)
jksoft	0:9fcc79b3f00e	258	{
jksoft	0:9fcc79b3f00e	259	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
jksoft	0:9fcc79b3f00e	260	}
jksoft	0:9fcc79b3f00e	261
jksoft	0:9fcc79b3f00e	262	// GYRO_CONFIG register
jksoft	0:9fcc79b3f00e	263
jksoft	0:9fcc79b3f00e	264	/** Get full-scale gyroscope range.
jksoft	0:9fcc79b3f00e	265	* The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
jksoft	0:9fcc79b3f00e	266	* as described in the table below.
jksoft	0:9fcc79b3f00e	267	*
jksoft	0:9fcc79b3f00e	268	* <pre>
jksoft	0:9fcc79b3f00e	269	* 0 = +/- 250 degrees/sec
jksoft	0:9fcc79b3f00e	270	* 1 = +/- 500 degrees/sec
jksoft	0:9fcc79b3f00e	271	* 2 = +/- 1000 degrees/sec
jksoft	0:9fcc79b3f00e	272	* 3 = +/- 2000 degrees/sec
jksoft	0:9fcc79b3f00e	273	* </pre>
jksoft	0:9fcc79b3f00e	274	*
jksoft	0:9fcc79b3f00e	275	* @return Current full-scale gyroscope range setting
jksoft	0:9fcc79b3f00e	276	* @see MPU6050_GYRO_FS_250
jksoft	0:9fcc79b3f00e	277	* @see MPU6050_RA_GYRO_CONFIG
jksoft	0:9fcc79b3f00e	278	* @see MPU6050_GCONFIG_FS_SEL_BIT
jksoft	0:9fcc79b3f00e	279	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
jksoft	0:9fcc79b3f00e	280	*/
jksoft	0:9fcc79b3f00e	281	uint8_t MPU6050::getFullScaleGyroRange()
jksoft	0:9fcc79b3f00e	282	{
jksoft	0:9fcc79b3f00e	283	i2Cdev.readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
jksoft	0:9fcc79b3f00e	284	return buffer[0];
jksoft	0:9fcc79b3f00e	285	}
jksoft	0:9fcc79b3f00e	286	/** Set full-scale gyroscope range.
jksoft	0:9fcc79b3f00e	287	* @param range New full-scale gyroscope range value
jksoft	0:9fcc79b3f00e	288	* @see getFullScaleRange()
jksoft	0:9fcc79b3f00e	289	* @see MPU6050_GYRO_FS_250
jksoft	0:9fcc79b3f00e	290	* @see MPU6050_RA_GYRO_CONFIG
jksoft	0:9fcc79b3f00e	291	* @see MPU6050_GCONFIG_FS_SEL_BIT
jksoft	0:9fcc79b3f00e	292	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
jksoft	0:9fcc79b3f00e	293	*/
jksoft	0:9fcc79b3f00e	294	void MPU6050::setFullScaleGyroRange(uint8_t range)
jksoft	0:9fcc79b3f00e	295	{
jksoft	0:9fcc79b3f00e	296	i2Cdev.writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
jksoft	0:9fcc79b3f00e	297	}
jksoft	0:9fcc79b3f00e	298
jksoft	0:9fcc79b3f00e	299	// ACCEL_CONFIG register
jksoft	0:9fcc79b3f00e	300
jksoft	0:9fcc79b3f00e	301	/** Get self-test enabled setting for accelerometer X axis.
jksoft	0:9fcc79b3f00e	302	* @return Self-test enabled value
jksoft	0:9fcc79b3f00e	303	* @see MPU6050_RA_ACCEL_CONFIG
jksoft	0:9fcc79b3f00e	304	*/
jksoft	0:9fcc79b3f00e	305	bool MPU6050::getAccelXSelfTest()
jksoft	0:9fcc79b3f00e	306	{
jksoft	0:9fcc79b3f00e	307	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
jksoft	0:9fcc79b3f00e	308	return buffer[0];
jksoft	0:9fcc79b3f00e	309	}
jksoft	0:9fcc79b3f00e	310	/** Get self-test enabled setting for accelerometer X axis.
jksoft	0:9fcc79b3f00e	311	* @param enabled Self-test enabled value
jksoft	0:9fcc79b3f00e	312	* @see MPU6050_RA_ACCEL_CONFIG
jksoft	0:9fcc79b3f00e	313	*/
jksoft	0:9fcc79b3f00e	314	void MPU6050::setAccelXSelfTest(bool enabled)
jksoft	0:9fcc79b3f00e	315	{
jksoft	0:9fcc79b3f00e	316	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
jksoft	0:9fcc79b3f00e	317	}
jksoft	0:9fcc79b3f00e	318	/** Get self-test enabled value for accelerometer Y axis.
jksoft	0:9fcc79b3f00e	319	* @return Self-test enabled value
jksoft	0:9fcc79b3f00e	320	* @see MPU6050_RA_ACCEL_CONFIG
jksoft	0:9fcc79b3f00e	321	*/
jksoft	0:9fcc79b3f00e	322	bool MPU6050::getAccelYSelfTest()
jksoft	0:9fcc79b3f00e	323	{
jksoft	0:9fcc79b3f00e	324	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
jksoft	0:9fcc79b3f00e	325	return buffer[0];
jksoft	0:9fcc79b3f00e	326	}
jksoft	0:9fcc79b3f00e	327	/** Get self-test enabled value for accelerometer Y axis.
jksoft	0:9fcc79b3f00e	328	* @param enabled Self-test enabled value
jksoft	0:9fcc79b3f00e	329	* @see MPU6050_RA_ACCEL_CONFIG
jksoft	0:9fcc79b3f00e	330	*/
jksoft	0:9fcc79b3f00e	331	void MPU6050::setAccelYSelfTest(bool enabled)
jksoft	0:9fcc79b3f00e	332	{
jksoft	0:9fcc79b3f00e	333	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
jksoft	0:9fcc79b3f00e	334	}
jksoft	0:9fcc79b3f00e	335	/** Get self-test enabled value for accelerometer Z axis.
jksoft	0:9fcc79b3f00e	336	* @return Self-test enabled value
jksoft	0:9fcc79b3f00e	337	* @see MPU6050_RA_ACCEL_CONFIG
jksoft	0:9fcc79b3f00e	338	*/
jksoft	0:9fcc79b3f00e	339	bool MPU6050::getAccelZSelfTest()
jksoft	0:9fcc79b3f00e	340	{
jksoft	0:9fcc79b3f00e	341	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
jksoft	0:9fcc79b3f00e	342	return buffer[0];
jksoft	0:9fcc79b3f00e	343	}
jksoft	0:9fcc79b3f00e	344	/** Set self-test enabled value for accelerometer Z axis.
jksoft	0:9fcc79b3f00e	345	* @param enabled Self-test enabled value
jksoft	0:9fcc79b3f00e	346	* @see MPU6050_RA_ACCEL_CONFIG
jksoft	0:9fcc79b3f00e	347	*/
jksoft	0:9fcc79b3f00e	348	void MPU6050::setAccelZSelfTest(bool enabled)
jksoft	0:9fcc79b3f00e	349	{
jksoft	0:9fcc79b3f00e	350	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
jksoft	0:9fcc79b3f00e	351	}
jksoft	0:9fcc79b3f00e	352	/** Get full-scale accelerometer range.
jksoft	0:9fcc79b3f00e	353	* The FS_SEL parameter allows setting the full-scale range of the accelerometer
jksoft	0:9fcc79b3f00e	354	* sensors, as described in the table below.
jksoft	0:9fcc79b3f00e	355	*
jksoft	0:9fcc79b3f00e	356	* <pre>
jksoft	0:9fcc79b3f00e	357	* 0 = +/- 2g
jksoft	0:9fcc79b3f00e	358	* 1 = +/- 4g
jksoft	0:9fcc79b3f00e	359	* 2 = +/- 8g
jksoft	0:9fcc79b3f00e	360	* 3 = +/- 16g
jksoft	0:9fcc79b3f00e	361	* </pre>
jksoft	0:9fcc79b3f00e	362	*
jksoft	0:9fcc79b3f00e	363	* @return Current full-scale accelerometer range setting
jksoft	0:9fcc79b3f00e	364	* @see MPU6050_ACCEL_FS_2
jksoft	0:9fcc79b3f00e	365	* @see MPU6050_RA_ACCEL_CONFIG
jksoft	0:9fcc79b3f00e	366	* @see MPU6050_ACONFIG_AFS_SEL_BIT
jksoft	0:9fcc79b3f00e	367	* @see MPU6050_ACONFIG_AFS_SEL_LENGTH
jksoft	0:9fcc79b3f00e	368	*/
jksoft	0:9fcc79b3f00e	369	uint8_t MPU6050::getFullScaleAccelRange()
jksoft	0:9fcc79b3f00e	370	{
jksoft	0:9fcc79b3f00e	371	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
jksoft	0:9fcc79b3f00e	372	return buffer[0];
jksoft	0:9fcc79b3f00e	373	}
jksoft	0:9fcc79b3f00e	374	/** Set full-scale accelerometer range.
jksoft	0:9fcc79b3f00e	375	* @param range New full-scale accelerometer range setting
jksoft	0:9fcc79b3f00e	376	* @see getFullScaleAccelRange()
jksoft	0:9fcc79b3f00e	377	*/
jksoft	0:9fcc79b3f00e	378	void MPU6050::setFullScaleAccelRange(uint8_t range)
jksoft	0:9fcc79b3f00e	379	{
jksoft	0:9fcc79b3f00e	380	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
jksoft	0:9fcc79b3f00e	381	}
jksoft	0:9fcc79b3f00e	382	/** Get the high-pass filter configuration.
jksoft	0:9fcc79b3f00e	383	* The DHPF is a filter module in the path leading to motion detectors (Free
jksoft	0:9fcc79b3f00e	384	* Fall, Motion threshold, and Zero Motion). The high pass filter output is not
jksoft	0:9fcc79b3f00e	385	* available to the data registers (see Figure in Section 8 of the MPU-6000/
jksoft	0:9fcc79b3f00e	386	* MPU-6050 Product Specification document).
jksoft	0:9fcc79b3f00e	387	*
jksoft	0:9fcc79b3f00e	388	* The high pass filter has three modes:
jksoft	0:9fcc79b3f00e	389	*
jksoft	0:9fcc79b3f00e	390	* <pre>
jksoft	0:9fcc79b3f00e	391	* Reset: The filter output settles to zero within one sample. This
jksoft	0:9fcc79b3f00e	392	* effectively disables the high pass filter. This mode may be toggled
jksoft	0:9fcc79b3f00e	393	* to quickly settle the filter.
jksoft	0:9fcc79b3f00e	394	*
jksoft	0:9fcc79b3f00e	395	* On: The high pass filter will pass signals above the cut off frequency.
jksoft	0:9fcc79b3f00e	396	*
jksoft	0:9fcc79b3f00e	397	* Hold: When triggered, the filter holds the present sample. The filter
jksoft	0:9fcc79b3f00e	398	* output will be the difference between the input sample and the held
jksoft	0:9fcc79b3f00e	399	* sample.
jksoft	0:9fcc79b3f00e	400	* </pre>
jksoft	0:9fcc79b3f00e	401	*
jksoft	0:9fcc79b3f00e	402	* <pre>
jksoft	0:9fcc79b3f00e	403	* ACCEL_HPF \| Filter Mode \| Cut-off Frequency
jksoft	0:9fcc79b3f00e	404	* ----------+-------------+------------------
jksoft	0:9fcc79b3f00e	405	* 0 \| Reset \| None
jksoft	0:9fcc79b3f00e	406	* 1 \| On \| 5Hz
jksoft	0:9fcc79b3f00e	407	* 2 \| On \| 2.5Hz
jksoft	0:9fcc79b3f00e	408	* 3 \| On \| 1.25Hz
jksoft	0:9fcc79b3f00e	409	* 4 \| On \| 0.63Hz
jksoft	0:9fcc79b3f00e	410	* 7 \| Hold \| None
jksoft	0:9fcc79b3f00e	411	* </pre>
jksoft	0:9fcc79b3f00e	412	*
jksoft	0:9fcc79b3f00e	413	* @return Current high-pass filter configuration
jksoft	0:9fcc79b3f00e	414	* @see MPU6050_DHPF_RESET
jksoft	0:9fcc79b3f00e	415	* @see MPU6050_RA_ACCEL_CONFIG
jksoft	0:9fcc79b3f00e	416	*/
jksoft	0:9fcc79b3f00e	417	uint8_t MPU6050::getDHPFMode()
jksoft	0:9fcc79b3f00e	418	{
jksoft	0:9fcc79b3f00e	419	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
jksoft	0:9fcc79b3f00e	420	return buffer[0];
jksoft	0:9fcc79b3f00e	421	}
jksoft	0:9fcc79b3f00e	422	/** Set the high-pass filter configuration.
jksoft	0:9fcc79b3f00e	423	* @param bandwidth New high-pass filter configuration
jksoft	0:9fcc79b3f00e	424	* @see setDHPFMode()
jksoft	0:9fcc79b3f00e	425	* @see MPU6050_DHPF_RESET
jksoft	0:9fcc79b3f00e	426	* @see MPU6050_RA_ACCEL_CONFIG
jksoft	0:9fcc79b3f00e	427	*/
jksoft	0:9fcc79b3f00e	428	void MPU6050::setDHPFMode(uint8_t bandwidth)
jksoft	0:9fcc79b3f00e	429	{
jksoft	0:9fcc79b3f00e	430	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
jksoft	0:9fcc79b3f00e	431	}
jksoft	0:9fcc79b3f00e	432
jksoft	0:9fcc79b3f00e	433	// FF_THR register
jksoft	0:9fcc79b3f00e	434
jksoft	0:9fcc79b3f00e	435	/** Get free-fall event acceleration threshold.
jksoft	0:9fcc79b3f00e	436	* This register configures the detection threshold for Free Fall event
jksoft	0:9fcc79b3f00e	437	* detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
jksoft	0:9fcc79b3f00e	438	* absolute value of the accelerometer measurements for the three axes are each
jksoft	0:9fcc79b3f00e	439	* less than the detection threshold. This condition increments the Free Fall
jksoft	0:9fcc79b3f00e	440	* duration counter (Register 30). The Free Fall interrupt is triggered when the
jksoft	0:9fcc79b3f00e	441	* Free Fall duration counter reaches the time specified in FF_DUR.
jksoft	0:9fcc79b3f00e	442	*
jksoft	0:9fcc79b3f00e	443	* For more details on the Free Fall detection interrupt, see Section 8.2 of the
jksoft	0:9fcc79b3f00e	444	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
jksoft	0:9fcc79b3f00e	445	* 58 of this document.
jksoft	0:9fcc79b3f00e	446	*
jksoft	0:9fcc79b3f00e	447	* @return Current free-fall acceleration threshold value (LSB = 2mg)
jksoft	0:9fcc79b3f00e	448	* @see MPU6050_RA_FF_THR
jksoft	0:9fcc79b3f00e	449	*/
jksoft	0:9fcc79b3f00e	450	uint8_t MPU6050::getFreefallDetectionThreshold()
jksoft	0:9fcc79b3f00e	451	{
jksoft	0:9fcc79b3f00e	452	i2Cdev.readByte(devAddr, MPU6050_RA_FF_THR, buffer);
jksoft	0:9fcc79b3f00e	453	return buffer[0];
jksoft	0:9fcc79b3f00e	454	}
jksoft	0:9fcc79b3f00e	455	/** Get free-fall event acceleration threshold.
jksoft	0:9fcc79b3f00e	456	* @param threshold New free-fall acceleration threshold value (LSB = 2mg)
jksoft	0:9fcc79b3f00e	457	* @see getFreefallDetectionThreshold()
jksoft	0:9fcc79b3f00e	458	* @see MPU6050_RA_FF_THR
jksoft	0:9fcc79b3f00e	459	*/
jksoft	0:9fcc79b3f00e	460	void MPU6050::setFreefallDetectionThreshold(uint8_t threshold)
jksoft	0:9fcc79b3f00e	461	{
jksoft	0:9fcc79b3f00e	462	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
jksoft	0:9fcc79b3f00e	463	}
jksoft	0:9fcc79b3f00e	464
jksoft	0:9fcc79b3f00e	465	// FF_DUR register
jksoft	0:9fcc79b3f00e	466
jksoft	0:9fcc79b3f00e	467	/** Get free-fall event duration threshold.
jksoft	0:9fcc79b3f00e	468	* This register configures the duration counter threshold for Free Fall event
jksoft	0:9fcc79b3f00e	469	* detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
jksoft	0:9fcc79b3f00e	470	* of 1 LSB = 1 ms.
jksoft	0:9fcc79b3f00e	471	*
jksoft	0:9fcc79b3f00e	472	* The Free Fall duration counter increments while the absolute value of the
jksoft	0:9fcc79b3f00e	473	* accelerometer measurements are each less than the detection threshold
jksoft	0:9fcc79b3f00e	474	* (Register 29). The Free Fall interrupt is triggered when the Free Fall
jksoft	0:9fcc79b3f00e	475	* duration counter reaches the time specified in this register.
jksoft	0:9fcc79b3f00e	476	*
jksoft	0:9fcc79b3f00e	477	* For more details on the Free Fall detection interrupt, see Section 8.2 of
jksoft	0:9fcc79b3f00e	478	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
jksoft	0:9fcc79b3f00e	479	* and 58 of this document.
jksoft	0:9fcc79b3f00e	480	*
jksoft	0:9fcc79b3f00e	481	* @return Current free-fall duration threshold value (LSB = 1ms)
jksoft	0:9fcc79b3f00e	482	* @see MPU6050_RA_FF_DUR
jksoft	0:9fcc79b3f00e	483	*/
jksoft	0:9fcc79b3f00e	484	uint8_t MPU6050::getFreefallDetectionDuration()
jksoft	0:9fcc79b3f00e	485	{
jksoft	0:9fcc79b3f00e	486	i2Cdev.readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
jksoft	0:9fcc79b3f00e	487	return buffer[0];
jksoft	0:9fcc79b3f00e	488	}
jksoft	0:9fcc79b3f00e	489	/** Get free-fall event duration threshold.
jksoft	0:9fcc79b3f00e	490	* @param duration New free-fall duration threshold value (LSB = 1ms)
jksoft	0:9fcc79b3f00e	491	* @see getFreefallDetectionDuration()
jksoft	0:9fcc79b3f00e	492	* @see MPU6050_RA_FF_DUR
jksoft	0:9fcc79b3f00e	493	*/
jksoft	0:9fcc79b3f00e	494	void MPU6050::setFreefallDetectionDuration(uint8_t duration)
jksoft	0:9fcc79b3f00e	495	{
jksoft	0:9fcc79b3f00e	496	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
jksoft	0:9fcc79b3f00e	497	}
jksoft	0:9fcc79b3f00e	498
jksoft	0:9fcc79b3f00e	499	// MOT_THR register
jksoft	0:9fcc79b3f00e	500
jksoft	0:9fcc79b3f00e	501	/** Get motion detection event acceleration threshold.
jksoft	0:9fcc79b3f00e	502	* This register configures the detection threshold for Motion interrupt
jksoft	0:9fcc79b3f00e	503	* generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
jksoft	0:9fcc79b3f00e	504	* absolute value of any of the accelerometer measurements exceeds this Motion
jksoft	0:9fcc79b3f00e	505	* detection threshold. This condition increments the Motion detection duration
jksoft	0:9fcc79b3f00e	506	* counter (Register 32). The Motion detection interrupt is triggered when the
jksoft	0:9fcc79b3f00e	507	* Motion Detection counter reaches the time count specified in MOT_DUR
jksoft	0:9fcc79b3f00e	508	* (Register 32).
jksoft	0:9fcc79b3f00e	509	*
jksoft	0:9fcc79b3f00e	510	* The Motion interrupt will indicate the axis and polarity of detected motion
jksoft	0:9fcc79b3f00e	511	* in MOT_DETECT_STATUS (Register 97).
jksoft	0:9fcc79b3f00e	512	*
jksoft	0:9fcc79b3f00e	513	* For more details on the Motion detection interrupt, see Section 8.3 of the
jksoft	0:9fcc79b3f00e	514	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
jksoft	0:9fcc79b3f00e	515	* 58 of this document.
jksoft	0:9fcc79b3f00e	516	*
jksoft	0:9fcc79b3f00e	517	* @return Current motion detection acceleration threshold value (LSB = 2mg)
jksoft	0:9fcc79b3f00e	518	* @see MPU6050_RA_MOT_THR
jksoft	0:9fcc79b3f00e	519	*/
jksoft	0:9fcc79b3f00e	520	uint8_t MPU6050::getMotionDetectionThreshold()
jksoft	0:9fcc79b3f00e	521	{
jksoft	0:9fcc79b3f00e	522	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
jksoft	0:9fcc79b3f00e	523	return buffer[0];
jksoft	0:9fcc79b3f00e	524	}
jksoft	0:9fcc79b3f00e	525	/** Set free-fall event acceleration threshold.
jksoft	0:9fcc79b3f00e	526	* @param threshold New motion detection acceleration threshold value (LSB = 2mg)
jksoft	0:9fcc79b3f00e	527	* @see getMotionDetectionThreshold()
jksoft	0:9fcc79b3f00e	528	* @see MPU6050_RA_MOT_THR
jksoft	0:9fcc79b3f00e	529	*/
jksoft	0:9fcc79b3f00e	530	void MPU6050::setMotionDetectionThreshold(uint8_t threshold)
jksoft	0:9fcc79b3f00e	531	{
jksoft	0:9fcc79b3f00e	532	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
jksoft	0:9fcc79b3f00e	533	}
jksoft	0:9fcc79b3f00e	534
jksoft	0:9fcc79b3f00e	535	// MOT_DUR register
jksoft	0:9fcc79b3f00e	536
jksoft	0:9fcc79b3f00e	537	/** Get motion detection event duration threshold.
jksoft	0:9fcc79b3f00e	538	* This register configures the duration counter threshold for Motion interrupt
jksoft	0:9fcc79b3f00e	539	* generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
jksoft	0:9fcc79b3f00e	540	* of 1LSB = 1ms. The Motion detection duration counter increments when the
jksoft	0:9fcc79b3f00e	541	* absolute value of any of the accelerometer measurements exceeds the Motion
jksoft	0:9fcc79b3f00e	542	* detection threshold (Register 31). The Motion detection interrupt is
jksoft	0:9fcc79b3f00e	543	* triggered when the Motion detection counter reaches the time count specified
jksoft	0:9fcc79b3f00e	544	* in this register.
jksoft	0:9fcc79b3f00e	545	*
jksoft	0:9fcc79b3f00e	546	* For more details on the Motion detection interrupt, see Section 8.3 of the
jksoft	0:9fcc79b3f00e	547	* MPU-6000/MPU-6050 Product Specification document.
jksoft	0:9fcc79b3f00e	548	*
jksoft	0:9fcc79b3f00e	549	* @return Current motion detection duration threshold value (LSB = 1ms)
jksoft	0:9fcc79b3f00e	550	* @see MPU6050_RA_MOT_DUR
jksoft	0:9fcc79b3f00e	551	*/
jksoft	0:9fcc79b3f00e	552	uint8_t MPU6050::getMotionDetectionDuration()
jksoft	0:9fcc79b3f00e	553	{
jksoft	0:9fcc79b3f00e	554	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
jksoft	0:9fcc79b3f00e	555	return buffer[0];
jksoft	0:9fcc79b3f00e	556	}
jksoft	0:9fcc79b3f00e	557	/** Set motion detection event duration threshold.
jksoft	0:9fcc79b3f00e	558	* @param duration New motion detection duration threshold value (LSB = 1ms)
jksoft	0:9fcc79b3f00e	559	* @see getMotionDetectionDuration()
jksoft	0:9fcc79b3f00e	560	* @see MPU6050_RA_MOT_DUR
jksoft	0:9fcc79b3f00e	561	*/
jksoft	0:9fcc79b3f00e	562	void MPU6050::setMotionDetectionDuration(uint8_t duration)
jksoft	0:9fcc79b3f00e	563	{
jksoft	0:9fcc79b3f00e	564	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
jksoft	0:9fcc79b3f00e	565	}
jksoft	0:9fcc79b3f00e	566
jksoft	0:9fcc79b3f00e	567	// ZRMOT_THR register
jksoft	0:9fcc79b3f00e	568
jksoft	0:9fcc79b3f00e	569	/** Get zero motion detection event acceleration threshold.
jksoft	0:9fcc79b3f00e	570	* This register configures the detection threshold for Zero Motion interrupt
jksoft	0:9fcc79b3f00e	571	* generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
jksoft	0:9fcc79b3f00e	572	* the absolute value of the accelerometer measurements for the 3 axes are each
jksoft	0:9fcc79b3f00e	573	* less than the detection threshold. This condition increments the Zero Motion
jksoft	0:9fcc79b3f00e	574	* duration counter (Register 34). The Zero Motion interrupt is triggered when
jksoft	0:9fcc79b3f00e	575	* the Zero Motion duration counter reaches the time count specified in
jksoft	0:9fcc79b3f00e	576	* ZRMOT_DUR (Register 34).
jksoft	0:9fcc79b3f00e	577	*
jksoft	0:9fcc79b3f00e	578	* Unlike Free Fall or Motion detection, Zero Motion detection triggers an
jksoft	0:9fcc79b3f00e	579	* interrupt both when Zero Motion is first detected and when Zero Motion is no
jksoft	0:9fcc79b3f00e	580	* longer detected.
jksoft	0:9fcc79b3f00e	581	*
jksoft	0:9fcc79b3f00e	582	* When a zero motion event is detected, a Zero Motion Status will be indicated
jksoft	0:9fcc79b3f00e	583	* in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
jksoft	0:9fcc79b3f00e	584	* condition is detected, the status bit is set to 1. When a zero-motion-to-
jksoft	0:9fcc79b3f00e	585	* motion condition is detected, the status bit is set to 0.
jksoft	0:9fcc79b3f00e	586	*
jksoft	0:9fcc79b3f00e	587	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
jksoft	0:9fcc79b3f00e	588	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
jksoft	0:9fcc79b3f00e	589	* and 58 of this document.
jksoft	0:9fcc79b3f00e	590	*
jksoft	0:9fcc79b3f00e	591	* @return Current zero motion detection acceleration threshold value (LSB = 2mg)
jksoft	0:9fcc79b3f00e	592	* @see MPU6050_RA_ZRMOT_THR
jksoft	0:9fcc79b3f00e	593	*/
jksoft	0:9fcc79b3f00e	594	uint8_t MPU6050::getZeroMotionDetectionThreshold()
jksoft	0:9fcc79b3f00e	595	{
jksoft	0:9fcc79b3f00e	596	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
jksoft	0:9fcc79b3f00e	597	return buffer[0];
jksoft	0:9fcc79b3f00e	598	}
jksoft	0:9fcc79b3f00e	599	/** Set zero motion detection event acceleration threshold.
jksoft	0:9fcc79b3f00e	600	* @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
jksoft	0:9fcc79b3f00e	601	* @see getZeroMotionDetectionThreshold()
jksoft	0:9fcc79b3f00e	602	* @see MPU6050_RA_ZRMOT_THR
jksoft	0:9fcc79b3f00e	603	*/
jksoft	0:9fcc79b3f00e	604	void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold)
jksoft	0:9fcc79b3f00e	605	{
jksoft	0:9fcc79b3f00e	606	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
jksoft	0:9fcc79b3f00e	607	}
jksoft	0:9fcc79b3f00e	608
jksoft	0:9fcc79b3f00e	609	// ZRMOT_DUR register
jksoft	0:9fcc79b3f00e	610
jksoft	0:9fcc79b3f00e	611	/** Get zero motion detection event duration threshold.
jksoft	0:9fcc79b3f00e	612	* This register configures the duration counter threshold for Zero Motion
jksoft	0:9fcc79b3f00e	613	* interrupt generation. The duration counter ticks at 16 Hz, therefore
jksoft	0:9fcc79b3f00e	614	* ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
jksoft	0:9fcc79b3f00e	615	* increments while the absolute value of the accelerometer measurements are
jksoft	0:9fcc79b3f00e	616	* each less than the detection threshold (Register 33). The Zero Motion
jksoft	0:9fcc79b3f00e	617	* interrupt is triggered when the Zero Motion duration counter reaches the time
jksoft	0:9fcc79b3f00e	618	* count specified in this register.
jksoft	0:9fcc79b3f00e	619	*
jksoft	0:9fcc79b3f00e	620	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
jksoft	0:9fcc79b3f00e	621	* the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
jksoft	0:9fcc79b3f00e	622	* and 58 of this document.
jksoft	0:9fcc79b3f00e	623	*
jksoft	0:9fcc79b3f00e	624	* @return Current zero motion detection duration threshold value (LSB = 64ms)
jksoft	0:9fcc79b3f00e	625	* @see MPU6050_RA_ZRMOT_DUR
jksoft	0:9fcc79b3f00e	626	*/
jksoft	0:9fcc79b3f00e	627	uint8_t MPU6050::getZeroMotionDetectionDuration()
jksoft	0:9fcc79b3f00e	628	{
jksoft	0:9fcc79b3f00e	629	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
jksoft	0:9fcc79b3f00e	630	return buffer[0];
jksoft	0:9fcc79b3f00e	631	}
jksoft	0:9fcc79b3f00e	632	/** Set zero motion detection event duration threshold.
jksoft	0:9fcc79b3f00e	633	* @param duration New zero motion detection duration threshold value (LSB = 1ms)
jksoft	0:9fcc79b3f00e	634	* @see getZeroMotionDetectionDuration()
jksoft	0:9fcc79b3f00e	635	* @see MPU6050_RA_ZRMOT_DUR
jksoft	0:9fcc79b3f00e	636	*/
jksoft	0:9fcc79b3f00e	637	void MPU6050::setZeroMotionDetectionDuration(uint8_t duration)
jksoft	0:9fcc79b3f00e	638	{
jksoft	0:9fcc79b3f00e	639	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
jksoft	0:9fcc79b3f00e	640	}
jksoft	0:9fcc79b3f00e	641
jksoft	0:9fcc79b3f00e	642	// FIFO_EN register
jksoft	0:9fcc79b3f00e	643
jksoft	0:9fcc79b3f00e	644	/** Get temperature FIFO enabled value.
jksoft	0:9fcc79b3f00e	645	* When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
jksoft	0:9fcc79b3f00e	646	* 66) to be written into the FIFO buffer.
jksoft	0:9fcc79b3f00e	647	* @return Current temperature FIFO enabled value
jksoft	0:9fcc79b3f00e	648	* @see MPU6050_RA_FIFO_EN
jksoft	0:9fcc79b3f00e	649	*/
jksoft	0:9fcc79b3f00e	650	bool MPU6050::getTempFIFOEnabled()
jksoft	0:9fcc79b3f00e	651	{
jksoft	0:9fcc79b3f00e	652	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
jksoft	0:9fcc79b3f00e	653	return buffer[0];
jksoft	0:9fcc79b3f00e	654	}
jksoft	0:9fcc79b3f00e	655	/** Set temperature FIFO enabled value.
jksoft	0:9fcc79b3f00e	656	* @param enabled New temperature FIFO enabled value
jksoft	0:9fcc79b3f00e	657	* @see getTempFIFOEnabled()
jksoft	0:9fcc79b3f00e	658	* @see MPU6050_RA_FIFO_EN
jksoft	0:9fcc79b3f00e	659	*/
jksoft	0:9fcc79b3f00e	660	void MPU6050::setTempFIFOEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	661	{
jksoft	0:9fcc79b3f00e	662	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
jksoft	0:9fcc79b3f00e	663	}
jksoft	0:9fcc79b3f00e	664	/** Get gyroscope X-axis FIFO enabled value.
jksoft	0:9fcc79b3f00e	665	* When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
jksoft	0:9fcc79b3f00e	666	* 68) to be written into the FIFO buffer.
jksoft	0:9fcc79b3f00e	667	* @return Current gyroscope X-axis FIFO enabled value
jksoft	0:9fcc79b3f00e	668	* @see MPU6050_RA_FIFO_EN
jksoft	0:9fcc79b3f00e	669	*/
jksoft	0:9fcc79b3f00e	670	bool MPU6050::getXGyroFIFOEnabled()
jksoft	0:9fcc79b3f00e	671	{
jksoft	0:9fcc79b3f00e	672	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
jksoft	0:9fcc79b3f00e	673	return buffer[0];
jksoft	0:9fcc79b3f00e	674	}
jksoft	0:9fcc79b3f00e	675	/** Set gyroscope X-axis FIFO enabled value.
jksoft	0:9fcc79b3f00e	676	* @param enabled New gyroscope X-axis FIFO enabled value
jksoft	0:9fcc79b3f00e	677	* @see getXGyroFIFOEnabled()
jksoft	0:9fcc79b3f00e	678	* @see MPU6050_RA_FIFO_EN
jksoft	0:9fcc79b3f00e	679	*/
jksoft	0:9fcc79b3f00e	680	void MPU6050::setXGyroFIFOEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	681	{
jksoft	0:9fcc79b3f00e	682	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
jksoft	0:9fcc79b3f00e	683	}
jksoft	0:9fcc79b3f00e	684	/** Get gyroscope Y-axis FIFO enabled value.
jksoft	0:9fcc79b3f00e	685	* When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
jksoft	0:9fcc79b3f00e	686	* 70) to be written into the FIFO buffer.
jksoft	0:9fcc79b3f00e	687	* @return Current gyroscope Y-axis FIFO enabled value
jksoft	0:9fcc79b3f00e	688	* @see MPU6050_RA_FIFO_EN
jksoft	0:9fcc79b3f00e	689	*/
jksoft	0:9fcc79b3f00e	690	bool MPU6050::getYGyroFIFOEnabled()
jksoft	0:9fcc79b3f00e	691	{
jksoft	0:9fcc79b3f00e	692	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
jksoft	0:9fcc79b3f00e	693	return buffer[0];
jksoft	0:9fcc79b3f00e	694	}
jksoft	0:9fcc79b3f00e	695	/** Set gyroscope Y-axis FIFO enabled value.
jksoft	0:9fcc79b3f00e	696	* @param enabled New gyroscope Y-axis FIFO enabled value
jksoft	0:9fcc79b3f00e	697	* @see getYGyroFIFOEnabled()
jksoft	0:9fcc79b3f00e	698	* @see MPU6050_RA_FIFO_EN
jksoft	0:9fcc79b3f00e	699	*/
jksoft	0:9fcc79b3f00e	700	void MPU6050::setYGyroFIFOEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	701	{
jksoft	0:9fcc79b3f00e	702	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
jksoft	0:9fcc79b3f00e	703	}
jksoft	0:9fcc79b3f00e	704	/** Get gyroscope Z-axis FIFO enabled value.
jksoft	0:9fcc79b3f00e	705	* When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
jksoft	0:9fcc79b3f00e	706	* 72) to be written into the FIFO buffer.
jksoft	0:9fcc79b3f00e	707	* @return Current gyroscope Z-axis FIFO enabled value
jksoft	0:9fcc79b3f00e	708	* @see MPU6050_RA_FIFO_EN
jksoft	0:9fcc79b3f00e	709	*/
jksoft	0:9fcc79b3f00e	710	bool MPU6050::getZGyroFIFOEnabled()
jksoft	0:9fcc79b3f00e	711	{
jksoft	0:9fcc79b3f00e	712	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
jksoft	0:9fcc79b3f00e	713	return buffer[0];
jksoft	0:9fcc79b3f00e	714	}
jksoft	0:9fcc79b3f00e	715	/** Set gyroscope Z-axis FIFO enabled value.
jksoft	0:9fcc79b3f00e	716	* @param enabled New gyroscope Z-axis FIFO enabled value
jksoft	0:9fcc79b3f00e	717	* @see getZGyroFIFOEnabled()
jksoft	0:9fcc79b3f00e	718	* @see MPU6050_RA_FIFO_EN
jksoft	0:9fcc79b3f00e	719	*/
jksoft	0:9fcc79b3f00e	720	void MPU6050::setZGyroFIFOEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	721	{
jksoft	0:9fcc79b3f00e	722	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
jksoft	0:9fcc79b3f00e	723	}
jksoft	0:9fcc79b3f00e	724	/** Get accelerometer FIFO enabled value.
jksoft	0:9fcc79b3f00e	725	* When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
jksoft	0:9fcc79b3f00e	726	* ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
jksoft	0:9fcc79b3f00e	727	* written into the FIFO buffer.
jksoft	0:9fcc79b3f00e	728	* @return Current accelerometer FIFO enabled value
jksoft	0:9fcc79b3f00e	729	* @see MPU6050_RA_FIFO_EN
jksoft	0:9fcc79b3f00e	730	*/
jksoft	0:9fcc79b3f00e	731	bool MPU6050::getAccelFIFOEnabled()
jksoft	0:9fcc79b3f00e	732	{
jksoft	0:9fcc79b3f00e	733	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
jksoft	0:9fcc79b3f00e	734	return buffer[0];
jksoft	0:9fcc79b3f00e	735	}
jksoft	0:9fcc79b3f00e	736	/** Set accelerometer FIFO enabled value.
jksoft	0:9fcc79b3f00e	737	* @param enabled New accelerometer FIFO enabled value
jksoft	0:9fcc79b3f00e	738	* @see getAccelFIFOEnabled()
jksoft	0:9fcc79b3f00e	739	* @see MPU6050_RA_FIFO_EN
jksoft	0:9fcc79b3f00e	740	*/
jksoft	0:9fcc79b3f00e	741	void MPU6050::setAccelFIFOEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	742	{
jksoft	0:9fcc79b3f00e	743	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
jksoft	0:9fcc79b3f00e	744	}
jksoft	0:9fcc79b3f00e	745	/** Get Slave 2 FIFO enabled value.
jksoft	0:9fcc79b3f00e	746	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
jksoft	0:9fcc79b3f00e	747	* associated with Slave 2 to be written into the FIFO buffer.
jksoft	0:9fcc79b3f00e	748	* @return Current Slave 2 FIFO enabled value
jksoft	0:9fcc79b3f00e	749	* @see MPU6050_RA_FIFO_EN
jksoft	0:9fcc79b3f00e	750	*/
jksoft	0:9fcc79b3f00e	751	bool MPU6050::getSlave2FIFOEnabled()
jksoft	0:9fcc79b3f00e	752	{
jksoft	0:9fcc79b3f00e	753	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
jksoft	0:9fcc79b3f00e	754	return buffer[0];
jksoft	0:9fcc79b3f00e	755	}
jksoft	0:9fcc79b3f00e	756	/** Set Slave 2 FIFO enabled value.
jksoft	0:9fcc79b3f00e	757	* @param enabled New Slave 2 FIFO enabled value
jksoft	0:9fcc79b3f00e	758	* @see getSlave2FIFOEnabled()
jksoft	0:9fcc79b3f00e	759	* @see MPU6050_RA_FIFO_EN
jksoft	0:9fcc79b3f00e	760	*/
jksoft	0:9fcc79b3f00e	761	void MPU6050::setSlave2FIFOEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	762	{
jksoft	0:9fcc79b3f00e	763	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
jksoft	0:9fcc79b3f00e	764	}
jksoft	0:9fcc79b3f00e	765	/** Get Slave 1 FIFO enabled value.
jksoft	0:9fcc79b3f00e	766	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
jksoft	0:9fcc79b3f00e	767	* associated with Slave 1 to be written into the FIFO buffer.
jksoft	0:9fcc79b3f00e	768	* @return Current Slave 1 FIFO enabled value
jksoft	0:9fcc79b3f00e	769	* @see MPU6050_RA_FIFO_EN
jksoft	0:9fcc79b3f00e	770	*/
jksoft	0:9fcc79b3f00e	771	bool MPU6050::getSlave1FIFOEnabled()
jksoft	0:9fcc79b3f00e	772	{
jksoft	0:9fcc79b3f00e	773	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
jksoft	0:9fcc79b3f00e	774	return buffer[0];
jksoft	0:9fcc79b3f00e	775	}
jksoft	0:9fcc79b3f00e	776	/** Set Slave 1 FIFO enabled value.
jksoft	0:9fcc79b3f00e	777	* @param enabled New Slave 1 FIFO enabled value
jksoft	0:9fcc79b3f00e	778	* @see getSlave1FIFOEnabled()
jksoft	0:9fcc79b3f00e	779	* @see MPU6050_RA_FIFO_EN
jksoft	0:9fcc79b3f00e	780	*/
jksoft	0:9fcc79b3f00e	781	void MPU6050::setSlave1FIFOEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	782	{
jksoft	0:9fcc79b3f00e	783	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
jksoft	0:9fcc79b3f00e	784	}
jksoft	0:9fcc79b3f00e	785	/** Get Slave 0 FIFO enabled value.
jksoft	0:9fcc79b3f00e	786	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
jksoft	0:9fcc79b3f00e	787	* associated with Slave 0 to be written into the FIFO buffer.
jksoft	0:9fcc79b3f00e	788	* @return Current Slave 0 FIFO enabled value
jksoft	0:9fcc79b3f00e	789	* @see MPU6050_RA_FIFO_EN
jksoft	0:9fcc79b3f00e	790	*/
jksoft	0:9fcc79b3f00e	791	bool MPU6050::getSlave0FIFOEnabled()
jksoft	0:9fcc79b3f00e	792	{
jksoft	0:9fcc79b3f00e	793	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
jksoft	0:9fcc79b3f00e	794	return buffer[0];
jksoft	0:9fcc79b3f00e	795	}
jksoft	0:9fcc79b3f00e	796	/** Set Slave 0 FIFO enabled value.
jksoft	0:9fcc79b3f00e	797	* @param enabled New Slave 0 FIFO enabled value
jksoft	0:9fcc79b3f00e	798	* @see getSlave0FIFOEnabled()
jksoft	0:9fcc79b3f00e	799	* @see MPU6050_RA_FIFO_EN
jksoft	0:9fcc79b3f00e	800	*/
jksoft	0:9fcc79b3f00e	801	void MPU6050::setSlave0FIFOEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	802	{
jksoft	0:9fcc79b3f00e	803	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
jksoft	0:9fcc79b3f00e	804	}
jksoft	0:9fcc79b3f00e	805
jksoft	0:9fcc79b3f00e	806	// I2C_MST_CTRL register
jksoft	0:9fcc79b3f00e	807
jksoft	0:9fcc79b3f00e	808	/** Get multi-master enabled value.
jksoft	0:9fcc79b3f00e	809	* Multi-master capability allows multiple I2C masters to operate on the same
jksoft	0:9fcc79b3f00e	810	* bus. In circuits where multi-master capability is required, set MULT_MST_EN
jksoft	0:9fcc79b3f00e	811	* to 1. This will increase current drawn by approximately 30uA.
jksoft	0:9fcc79b3f00e	812	*
jksoft	0:9fcc79b3f00e	813	* In circuits where multi-master capability is required, the state of the I2C
jksoft	0:9fcc79b3f00e	814	* bus must always be monitored by each separate I2C Master. Before an I2C
jksoft	0:9fcc79b3f00e	815	* Master can assume arbitration of the bus, it must first confirm that no other
jksoft	0:9fcc79b3f00e	816	* I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
jksoft	0:9fcc79b3f00e	817	* MPU-60X0's bus arbitration detection logic is turned on, enabling it to
jksoft	0:9fcc79b3f00e	818	* detect when the bus is available.
jksoft	0:9fcc79b3f00e	819	*
jksoft	0:9fcc79b3f00e	820	* @return Current multi-master enabled value
jksoft	0:9fcc79b3f00e	821	* @see MPU6050_RA_I2C_MST_CTRL
jksoft	0:9fcc79b3f00e	822	*/
jksoft	0:9fcc79b3f00e	823	bool MPU6050::getMultiMasterEnabled()
jksoft	0:9fcc79b3f00e	824	{
jksoft	0:9fcc79b3f00e	825	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
jksoft	0:9fcc79b3f00e	826	return buffer[0];
jksoft	0:9fcc79b3f00e	827	}
jksoft	0:9fcc79b3f00e	828	/** Set multi-master enabled value.
jksoft	0:9fcc79b3f00e	829	* @param enabled New multi-master enabled value
jksoft	0:9fcc79b3f00e	830	* @see getMultiMasterEnabled()
jksoft	0:9fcc79b3f00e	831	* @see MPU6050_RA_I2C_MST_CTRL
jksoft	0:9fcc79b3f00e	832	*/
jksoft	0:9fcc79b3f00e	833	void MPU6050::setMultiMasterEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	834	{
jksoft	0:9fcc79b3f00e	835	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
jksoft	0:9fcc79b3f00e	836	}
jksoft	0:9fcc79b3f00e	837	/** Get wait-for-external-sensor-data enabled value.
jksoft	0:9fcc79b3f00e	838	* When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
jksoft	0:9fcc79b3f00e	839	* delayed until External Sensor data from the Slave Devices are loaded into the
jksoft	0:9fcc79b3f00e	840	* EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
jksoft	0:9fcc79b3f00e	841	* data (i.e. from gyro and accel) and external sensor data have been loaded to
jksoft	0:9fcc79b3f00e	842	* their respective data registers (i.e. the data is synced) when the Data Ready
jksoft	0:9fcc79b3f00e	843	* interrupt is triggered.
jksoft	0:9fcc79b3f00e	844	*
jksoft	0:9fcc79b3f00e	845	* @return Current wait-for-external-sensor-data enabled value
jksoft	0:9fcc79b3f00e	846	* @see MPU6050_RA_I2C_MST_CTRL
jksoft	0:9fcc79b3f00e	847	*/
jksoft	0:9fcc79b3f00e	848	bool MPU6050::getWaitForExternalSensorEnabled()
jksoft	0:9fcc79b3f00e	849	{
jksoft	0:9fcc79b3f00e	850	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
jksoft	0:9fcc79b3f00e	851	return buffer[0];
jksoft	0:9fcc79b3f00e	852	}
jksoft	0:9fcc79b3f00e	853	/** Set wait-for-external-sensor-data enabled value.
jksoft	0:9fcc79b3f00e	854	* @param enabled New wait-for-external-sensor-data enabled value
jksoft	0:9fcc79b3f00e	855	* @see getWaitForExternalSensorEnabled()
jksoft	0:9fcc79b3f00e	856	* @see MPU6050_RA_I2C_MST_CTRL
jksoft	0:9fcc79b3f00e	857	*/
jksoft	0:9fcc79b3f00e	858	void MPU6050::setWaitForExternalSensorEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	859	{
jksoft	0:9fcc79b3f00e	860	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
jksoft	0:9fcc79b3f00e	861	}
jksoft	0:9fcc79b3f00e	862	/** Get Slave 3 FIFO enabled value.
jksoft	0:9fcc79b3f00e	863	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
jksoft	0:9fcc79b3f00e	864	* associated with Slave 3 to be written into the FIFO buffer.
jksoft	0:9fcc79b3f00e	865	* @return Current Slave 3 FIFO enabled value
jksoft	0:9fcc79b3f00e	866	* @see MPU6050_RA_MST_CTRL
jksoft	0:9fcc79b3f00e	867	*/
jksoft	0:9fcc79b3f00e	868	bool MPU6050::getSlave3FIFOEnabled()
jksoft	0:9fcc79b3f00e	869	{
jksoft	0:9fcc79b3f00e	870	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
jksoft	0:9fcc79b3f00e	871	return buffer[0];
jksoft	0:9fcc79b3f00e	872	}
jksoft	0:9fcc79b3f00e	873	/** Set Slave 3 FIFO enabled value.
jksoft	0:9fcc79b3f00e	874	* @param enabled New Slave 3 FIFO enabled value
jksoft	0:9fcc79b3f00e	875	* @see getSlave3FIFOEnabled()
jksoft	0:9fcc79b3f00e	876	* @see MPU6050_RA_MST_CTRL
jksoft	0:9fcc79b3f00e	877	*/
jksoft	0:9fcc79b3f00e	878	void MPU6050::setSlave3FIFOEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	879	{
jksoft	0:9fcc79b3f00e	880	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
jksoft	0:9fcc79b3f00e	881	}
jksoft	0:9fcc79b3f00e	882	/** Get slave read/write transition enabled value.
jksoft	0:9fcc79b3f00e	883	* The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
jksoft	0:9fcc79b3f00e	884	* read to the next slave read. If the bit equals 0, there will be a restart
jksoft	0:9fcc79b3f00e	885	* between reads. If the bit equals 1, there will be a stop followed by a start
jksoft	0:9fcc79b3f00e	886	* of the following read. When a write transaction follows a read transaction,
jksoft	0:9fcc79b3f00e	887	* the stop followed by a start of the successive write will be always used.
jksoft	0:9fcc79b3f00e	888	*
jksoft	0:9fcc79b3f00e	889	* @return Current slave read/write transition enabled value
jksoft	0:9fcc79b3f00e	890	* @see MPU6050_RA_I2C_MST_CTRL
jksoft	0:9fcc79b3f00e	891	*/
jksoft	0:9fcc79b3f00e	892	bool MPU6050::getSlaveReadWriteTransitionEnabled()
jksoft	0:9fcc79b3f00e	893	{
jksoft	0:9fcc79b3f00e	894	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
jksoft	0:9fcc79b3f00e	895	return buffer[0];
jksoft	0:9fcc79b3f00e	896	}
jksoft	0:9fcc79b3f00e	897	/** Set slave read/write transition enabled value.
jksoft	0:9fcc79b3f00e	898	* @param enabled New slave read/write transition enabled value
jksoft	0:9fcc79b3f00e	899	* @see getSlaveReadWriteTransitionEnabled()
jksoft	0:9fcc79b3f00e	900	* @see MPU6050_RA_I2C_MST_CTRL
jksoft	0:9fcc79b3f00e	901	*/
jksoft	0:9fcc79b3f00e	902	void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	903	{
jksoft	0:9fcc79b3f00e	904	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
jksoft	0:9fcc79b3f00e	905	}
jksoft	0:9fcc79b3f00e	906	/** Get I2C master clock speed.
jksoft	0:9fcc79b3f00e	907	* I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
jksoft	0:9fcc79b3f00e	908	* MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
jksoft	0:9fcc79b3f00e	909	* the following table:
jksoft	0:9fcc79b3f00e	910	*
jksoft	0:9fcc79b3f00e	911	* <pre>
jksoft	0:9fcc79b3f00e	912	* I2C_MST_CLK \| I2C Master Clock Speed \| 8MHz Clock Divider
jksoft	0:9fcc79b3f00e	913	* ------------+------------------------+-------------------
jksoft	0:9fcc79b3f00e	914	* 0 \| 348kHz \| 23
jksoft	0:9fcc79b3f00e	915	* 1 \| 333kHz \| 24
jksoft	0:9fcc79b3f00e	916	* 2 \| 320kHz \| 25
jksoft	0:9fcc79b3f00e	917	* 3 \| 308kHz \| 26
jksoft	0:9fcc79b3f00e	918	* 4 \| 296kHz \| 27
jksoft	0:9fcc79b3f00e	919	* 5 \| 286kHz \| 28
jksoft	0:9fcc79b3f00e	920	* 6 \| 276kHz \| 29
jksoft	0:9fcc79b3f00e	921	* 7 \| 267kHz \| 30
jksoft	0:9fcc79b3f00e	922	* 8 \| 258kHz \| 31
jksoft	0:9fcc79b3f00e	923	* 9 \| 500kHz \| 16
jksoft	0:9fcc79b3f00e	924	* 10 \| 471kHz \| 17
jksoft	0:9fcc79b3f00e	925	* 11 \| 444kHz \| 18
jksoft	0:9fcc79b3f00e	926	* 12 \| 421kHz \| 19
jksoft	0:9fcc79b3f00e	927	* 13 \| 400kHz \| 20
jksoft	0:9fcc79b3f00e	928	* 14 \| 381kHz \| 21
jksoft	0:9fcc79b3f00e	929	* 15 \| 364kHz \| 22
jksoft	0:9fcc79b3f00e	930	* </pre>
jksoft	0:9fcc79b3f00e	931	*
jksoft	0:9fcc79b3f00e	932	* @return Current I2C master clock speed
jksoft	0:9fcc79b3f00e	933	* @see MPU6050_RA_I2C_MST_CTRL
jksoft	0:9fcc79b3f00e	934	*/
jksoft	0:9fcc79b3f00e	935	uint8_t MPU6050::getMasterClockSpeed()
jksoft	0:9fcc79b3f00e	936	{
jksoft	0:9fcc79b3f00e	937	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
jksoft	0:9fcc79b3f00e	938	return buffer[0];
jksoft	0:9fcc79b3f00e	939	}
jksoft	0:9fcc79b3f00e	940	/** Set I2C master clock speed.
jksoft	0:9fcc79b3f00e	941	* @reparam speed Current I2C master clock speed
jksoft	0:9fcc79b3f00e	942	* @see MPU6050_RA_I2C_MST_CTRL
jksoft	0:9fcc79b3f00e	943	*/
jksoft	0:9fcc79b3f00e	944	void MPU6050::setMasterClockSpeed(uint8_t speed)
jksoft	0:9fcc79b3f00e	945	{
jksoft	0:9fcc79b3f00e	946	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
jksoft	0:9fcc79b3f00e	947	}
jksoft	0:9fcc79b3f00e	948
jksoft	0:9fcc79b3f00e	949	// I2C_SLV* registers (Slave 0-3)
jksoft	0:9fcc79b3f00e	950
jksoft	0:9fcc79b3f00e	951	/** Get the I2C address of the specified slave (0-3).
jksoft	0:9fcc79b3f00e	952	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
jksoft	0:9fcc79b3f00e	953	* operation, and if it is cleared, then it's a write operation. The remaining
jksoft	0:9fcc79b3f00e	954	* bits (6-0) are the 7-bit device address of the slave device.
jksoft	0:9fcc79b3f00e	955	*
jksoft	0:9fcc79b3f00e	956	* In read mode, the result of the read is placed in the lowest available
jksoft	0:9fcc79b3f00e	957	* EXT_SENS_DATA register. For further information regarding the allocation of
jksoft	0:9fcc79b3f00e	958	* read results, please refer to the EXT_SENS_DATA register description
jksoft	0:9fcc79b3f00e	959	* (Registers 73 - 96).
jksoft	0:9fcc79b3f00e	960	*
jksoft	0:9fcc79b3f00e	961	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
jksoft	0:9fcc79b3f00e	962	* characteristics, and so it has its own functions (getSlave4* and setSlave4*).
jksoft	0:9fcc79b3f00e	963	*
jksoft	0:9fcc79b3f00e	964	* I2C data transactions are performed at the Sample Rate, as defined in
jksoft	0:9fcc79b3f00e	965	* Register 25. The user is responsible for ensuring that I2C data transactions
jksoft	0:9fcc79b3f00e	966	* to and from each enabled Slave can be completed within a single period of the
jksoft	0:9fcc79b3f00e	967	* Sample Rate.
jksoft	0:9fcc79b3f00e	968	*
jksoft	0:9fcc79b3f00e	969	* The I2C slave access rate can be reduced relative to the Sample Rate. This
jksoft	0:9fcc79b3f00e	970	* reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
jksoft	0:9fcc79b3f00e	971	* slave's access rate is reduced relative to the Sample Rate is determined by
jksoft	0:9fcc79b3f00e	972	* I2C_MST_DELAY_CTRL (Register 103).
jksoft	0:9fcc79b3f00e	973	*
jksoft	0:9fcc79b3f00e	974	* The processing order for the slaves is fixed. The sequence followed for
jksoft	0:9fcc79b3f00e	975	* processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
jksoft	0:9fcc79b3f00e	976	* particular Slave is disabled it will be skipped.
jksoft	0:9fcc79b3f00e	977	*
jksoft	0:9fcc79b3f00e	978	* Each slave can either be accessed at the sample rate or at a reduced sample
jksoft	0:9fcc79b3f00e	979	* rate. In a case where some slaves are accessed at the Sample Rate and some
jksoft	0:9fcc79b3f00e	980	* slaves are accessed at the reduced rate, the sequence of accessing the slaves
jksoft	0:9fcc79b3f00e	981	* (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
jksoft	0:9fcc79b3f00e	982	* be skipped if their access rate dictates that they should not be accessed
jksoft	0:9fcc79b3f00e	983	* during that particular cycle. For further information regarding the reduced
jksoft	0:9fcc79b3f00e	984	* access rate, please refer to Register 52. Whether a slave is accessed at the
jksoft	0:9fcc79b3f00e	985	* Sample Rate or at the reduced rate is determined by the Delay Enable bits in
jksoft	0:9fcc79b3f00e	986	* Register 103.
jksoft	0:9fcc79b3f00e	987	*
jksoft	0:9fcc79b3f00e	988	* @param num Slave number (0-3)
jksoft	0:9fcc79b3f00e	989	* @return Current address for specified slave
jksoft	0:9fcc79b3f00e	990	* @see MPU6050_RA_I2C_SLV0_ADDR
jksoft	0:9fcc79b3f00e	991	*/
jksoft	0:9fcc79b3f00e	992	uint8_t MPU6050::getSlaveAddress(uint8_t num)
jksoft	0:9fcc79b3f00e	993	{
jksoft	0:9fcc79b3f00e	994	if (num > 3) return 0;
jksoft	0:9fcc79b3f00e	995	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
jksoft	0:9fcc79b3f00e	996	return buffer[0];
jksoft	0:9fcc79b3f00e	997	}
jksoft	0:9fcc79b3f00e	998	/** Set the I2C address of the specified slave (0-3).
jksoft	0:9fcc79b3f00e	999	* @param num Slave number (0-3)
jksoft	0:9fcc79b3f00e	1000	* @param address New address for specified slave
jksoft	0:9fcc79b3f00e	1001	* @see getSlaveAddress()
jksoft	0:9fcc79b3f00e	1002	* @see MPU6050_RA_I2C_SLV0_ADDR
jksoft	0:9fcc79b3f00e	1003	*/
jksoft	0:9fcc79b3f00e	1004	void MPU6050::setSlaveAddress(uint8_t num, uint8_t address)
jksoft	0:9fcc79b3f00e	1005	{
jksoft	0:9fcc79b3f00e	1006	if (num > 3) return;
jksoft	0:9fcc79b3f00e	1007	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
jksoft	0:9fcc79b3f00e	1008	}
jksoft	0:9fcc79b3f00e	1009	/** Get the active internal register for the specified slave (0-3).
jksoft	0:9fcc79b3f00e	1010	* Read/write operations for this slave will be done to whatever internal
jksoft	0:9fcc79b3f00e	1011	* register address is stored in this MPU register.
jksoft	0:9fcc79b3f00e	1012	*
jksoft	0:9fcc79b3f00e	1013	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
jksoft	0:9fcc79b3f00e	1014	* characteristics, and so it has its own functions.
jksoft	0:9fcc79b3f00e	1015	*
jksoft	0:9fcc79b3f00e	1016	* @param num Slave number (0-3)
jksoft	0:9fcc79b3f00e	1017	* @return Current active register for specified slave
jksoft	0:9fcc79b3f00e	1018	* @see MPU6050_RA_I2C_SLV0_REG
jksoft	0:9fcc79b3f00e	1019	*/
jksoft	0:9fcc79b3f00e	1020	uint8_t MPU6050::getSlaveRegister(uint8_t num)
jksoft	0:9fcc79b3f00e	1021	{
jksoft	0:9fcc79b3f00e	1022	if (num > 3) return 0;
jksoft	0:9fcc79b3f00e	1023	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
jksoft	0:9fcc79b3f00e	1024	return buffer[0];
jksoft	0:9fcc79b3f00e	1025	}
jksoft	0:9fcc79b3f00e	1026	/** Set the active internal register for the specified slave (0-3).
jksoft	0:9fcc79b3f00e	1027	* @param num Slave number (0-3)
jksoft	0:9fcc79b3f00e	1028	* @param reg New active register for specified slave
jksoft	0:9fcc79b3f00e	1029	* @see getSlaveRegister()
jksoft	0:9fcc79b3f00e	1030	* @see MPU6050_RA_I2C_SLV0_REG
jksoft	0:9fcc79b3f00e	1031	*/
jksoft	0:9fcc79b3f00e	1032	void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg)
jksoft	0:9fcc79b3f00e	1033	{
jksoft	0:9fcc79b3f00e	1034	if (num > 3) return;
jksoft	0:9fcc79b3f00e	1035	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
jksoft	0:9fcc79b3f00e	1036	}
jksoft	0:9fcc79b3f00e	1037	/** Get the enabled value for the specified slave (0-3).
jksoft	0:9fcc79b3f00e	1038	* When set to 1, this bit enables Slave 0 for data transfer operations. When
jksoft	0:9fcc79b3f00e	1039	* cleared to 0, this bit disables Slave 0 from data transfer operations.
jksoft	0:9fcc79b3f00e	1040	* @param num Slave number (0-3)
jksoft	0:9fcc79b3f00e	1041	* @return Current enabled value for specified slave
jksoft	0:9fcc79b3f00e	1042	* @see MPU6050_RA_I2C_SLV0_CTRL
jksoft	0:9fcc79b3f00e	1043	*/
jksoft	0:9fcc79b3f00e	1044	bool MPU6050::getSlaveEnabled(uint8_t num)
jksoft	0:9fcc79b3f00e	1045	{
jksoft	0:9fcc79b3f00e	1046	if (num > 3) return 0;
jksoft	0:9fcc79b3f00e	1047	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
jksoft	0:9fcc79b3f00e	1048	return buffer[0];
jksoft	0:9fcc79b3f00e	1049	}
jksoft	0:9fcc79b3f00e	1050	/** Set the enabled value for the specified slave (0-3).
jksoft	0:9fcc79b3f00e	1051	* @param num Slave number (0-3)
jksoft	0:9fcc79b3f00e	1052	* @param enabled New enabled value for specified slave
jksoft	0:9fcc79b3f00e	1053	* @see getSlaveEnabled()
jksoft	0:9fcc79b3f00e	1054	* @see MPU6050_RA_I2C_SLV0_CTRL
jksoft	0:9fcc79b3f00e	1055	*/
jksoft	0:9fcc79b3f00e	1056	void MPU6050::setSlaveEnabled(uint8_t num, bool enabled)
jksoft	0:9fcc79b3f00e	1057	{
jksoft	0:9fcc79b3f00e	1058	if (num > 3) return;
jksoft	0:9fcc79b3f00e	1059	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
jksoft	0:9fcc79b3f00e	1060	}
jksoft	0:9fcc79b3f00e	1061	/** Get word pair byte-swapping enabled for the specified slave (0-3).
jksoft	0:9fcc79b3f00e	1062	* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
jksoft	0:9fcc79b3f00e	1063	* the high and low bytes of a word pair are swapped. Please refer to
jksoft	0:9fcc79b3f00e	1064	* I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
jksoft	0:9fcc79b3f00e	1065	* bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
jksoft	0:9fcc79b3f00e	1066	* registers in the order they were transferred.
jksoft	0:9fcc79b3f00e	1067	*
jksoft	0:9fcc79b3f00e	1068	* @param num Slave number (0-3)
jksoft	0:9fcc79b3f00e	1069	* @return Current word pair byte-swapping enabled value for specified slave
jksoft	0:9fcc79b3f00e	1070	* @see MPU6050_RA_I2C_SLV0_CTRL
jksoft	0:9fcc79b3f00e	1071	*/
jksoft	0:9fcc79b3f00e	1072	bool MPU6050::getSlaveWordByteSwap(uint8_t num)
jksoft	0:9fcc79b3f00e	1073	{
jksoft	0:9fcc79b3f00e	1074	if (num > 3) return 0;
jksoft	0:9fcc79b3f00e	1075	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
jksoft	0:9fcc79b3f00e	1076	return buffer[0];
jksoft	0:9fcc79b3f00e	1077	}
jksoft	0:9fcc79b3f00e	1078	/** Set word pair byte-swapping enabled for the specified slave (0-3).
jksoft	0:9fcc79b3f00e	1079	* @param num Slave number (0-3)
jksoft	0:9fcc79b3f00e	1080	* @param enabled New word pair byte-swapping enabled value for specified slave
jksoft	0:9fcc79b3f00e	1081	* @see getSlaveWordByteSwap()
jksoft	0:9fcc79b3f00e	1082	* @see MPU6050_RA_I2C_SLV0_CTRL
jksoft	0:9fcc79b3f00e	1083	*/
jksoft	0:9fcc79b3f00e	1084	void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled)
jksoft	0:9fcc79b3f00e	1085	{
jksoft	0:9fcc79b3f00e	1086	if (num > 3) return;
jksoft	0:9fcc79b3f00e	1087	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
jksoft	0:9fcc79b3f00e	1088	}
jksoft	0:9fcc79b3f00e	1089	/** Get write mode for the specified slave (0-3).
jksoft	0:9fcc79b3f00e	1090	* When set to 1, the transaction will read or write data only. When cleared to
jksoft	0:9fcc79b3f00e	1091	* 0, the transaction will write a register address prior to reading or writing
jksoft	0:9fcc79b3f00e	1092	* data. This should equal 0 when specifying the register address within the
jksoft	0:9fcc79b3f00e	1093	* Slave device to/from which the ensuing data transaction will take place.
jksoft	0:9fcc79b3f00e	1094	*
jksoft	0:9fcc79b3f00e	1095	* @param num Slave number (0-3)
jksoft	0:9fcc79b3f00e	1096	* @return Current write mode for specified slave (0 = register address + data, 1 = data only)
jksoft	0:9fcc79b3f00e	1097	* @see MPU6050_RA_I2C_SLV0_CTRL
jksoft	0:9fcc79b3f00e	1098	*/
jksoft	0:9fcc79b3f00e	1099	bool MPU6050::getSlaveWriteMode(uint8_t num)
jksoft	0:9fcc79b3f00e	1100	{
jksoft	0:9fcc79b3f00e	1101	if (num > 3) return 0;
jksoft	0:9fcc79b3f00e	1102	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
jksoft	0:9fcc79b3f00e	1103	return buffer[0];
jksoft	0:9fcc79b3f00e	1104	}
jksoft	0:9fcc79b3f00e	1105	/** Set write mode for the specified slave (0-3).
jksoft	0:9fcc79b3f00e	1106	* @param num Slave number (0-3)
jksoft	0:9fcc79b3f00e	1107	* @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
jksoft	0:9fcc79b3f00e	1108	* @see getSlaveWriteMode()
jksoft	0:9fcc79b3f00e	1109	* @see MPU6050_RA_I2C_SLV0_CTRL
jksoft	0:9fcc79b3f00e	1110	*/
jksoft	0:9fcc79b3f00e	1111	void MPU6050::setSlaveWriteMode(uint8_t num, bool mode)
jksoft	0:9fcc79b3f00e	1112	{
jksoft	0:9fcc79b3f00e	1113	if (num > 3) return;
jksoft	0:9fcc79b3f00e	1114	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
jksoft	0:9fcc79b3f00e	1115	}
jksoft	0:9fcc79b3f00e	1116	/** Get word pair grouping order offset for the specified slave (0-3).
jksoft	0:9fcc79b3f00e	1117	* This sets specifies the grouping order of word pairs received from registers.
jksoft	0:9fcc79b3f00e	1118	* When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
jksoft	0:9fcc79b3f00e	1119	* then odd register addresses) are paired to form a word. When set to 1, bytes
jksoft	0:9fcc79b3f00e	1120	* from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
jksoft	0:9fcc79b3f00e	1121	* register addresses) are paired to form a word.
jksoft	0:9fcc79b3f00e	1122	*
jksoft	0:9fcc79b3f00e	1123	* @param num Slave number (0-3)
jksoft	0:9fcc79b3f00e	1124	* @return Current word pair grouping order offset for specified slave
jksoft	0:9fcc79b3f00e	1125	* @see MPU6050_RA_I2C_SLV0_CTRL
jksoft	0:9fcc79b3f00e	1126	*/
jksoft	0:9fcc79b3f00e	1127	bool MPU6050::getSlaveWordGroupOffset(uint8_t num)
jksoft	0:9fcc79b3f00e	1128	{
jksoft	0:9fcc79b3f00e	1129	if (num > 3) return 0;
jksoft	0:9fcc79b3f00e	1130	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
jksoft	0:9fcc79b3f00e	1131	return buffer[0];
jksoft	0:9fcc79b3f00e	1132	}
jksoft	0:9fcc79b3f00e	1133	/** Set word pair grouping order offset for the specified slave (0-3).
jksoft	0:9fcc79b3f00e	1134	* @param num Slave number (0-3)
jksoft	0:9fcc79b3f00e	1135	* @param enabled New word pair grouping order offset for specified slave
jksoft	0:9fcc79b3f00e	1136	* @see getSlaveWordGroupOffset()
jksoft	0:9fcc79b3f00e	1137	* @see MPU6050_RA_I2C_SLV0_CTRL
jksoft	0:9fcc79b3f00e	1138	*/
jksoft	0:9fcc79b3f00e	1139	void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled)
jksoft	0:9fcc79b3f00e	1140	{
jksoft	0:9fcc79b3f00e	1141	if (num > 3) return;
jksoft	0:9fcc79b3f00e	1142	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
jksoft	0:9fcc79b3f00e	1143	}
jksoft	0:9fcc79b3f00e	1144	/** Get number of bytes to read for the specified slave (0-3).
jksoft	0:9fcc79b3f00e	1145	* Specifies the number of bytes transferred to and from Slave 0. Clearing this
jksoft	0:9fcc79b3f00e	1146	* bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
jksoft	0:9fcc79b3f00e	1147	* @param num Slave number (0-3)
jksoft	0:9fcc79b3f00e	1148	* @return Number of bytes to read for specified slave
jksoft	0:9fcc79b3f00e	1149	* @see MPU6050_RA_I2C_SLV0_CTRL
jksoft	0:9fcc79b3f00e	1150	*/
jksoft	0:9fcc79b3f00e	1151	uint8_t MPU6050::getSlaveDataLength(uint8_t num)
jksoft	0:9fcc79b3f00e	1152	{
jksoft	0:9fcc79b3f00e	1153	if (num > 3) return 0;
jksoft	0:9fcc79b3f00e	1154	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
jksoft	0:9fcc79b3f00e	1155	return buffer[0];
jksoft	0:9fcc79b3f00e	1156	}
jksoft	0:9fcc79b3f00e	1157	/** Set number of bytes to read for the specified slave (0-3).
jksoft	0:9fcc79b3f00e	1158	* @param num Slave number (0-3)
jksoft	0:9fcc79b3f00e	1159	* @param length Number of bytes to read for specified slave
jksoft	0:9fcc79b3f00e	1160	* @see getSlaveDataLength()
jksoft	0:9fcc79b3f00e	1161	* @see MPU6050_RA_I2C_SLV0_CTRL
jksoft	0:9fcc79b3f00e	1162	*/
jksoft	0:9fcc79b3f00e	1163	void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length)
jksoft	0:9fcc79b3f00e	1164	{
jksoft	0:9fcc79b3f00e	1165	if (num > 3) return;
jksoft	0:9fcc79b3f00e	1166	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
jksoft	0:9fcc79b3f00e	1167	}
jksoft	0:9fcc79b3f00e	1168
jksoft	0:9fcc79b3f00e	1169	// I2C_SLV* registers (Slave 4)
jksoft	0:9fcc79b3f00e	1170
jksoft	0:9fcc79b3f00e	1171	/** Get the I2C address of Slave 4.
jksoft	0:9fcc79b3f00e	1172	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
jksoft	0:9fcc79b3f00e	1173	* operation, and if it is cleared, then it's a write operation. The remaining
jksoft	0:9fcc79b3f00e	1174	* bits (6-0) are the 7-bit device address of the slave device.
jksoft	0:9fcc79b3f00e	1175	*
jksoft	0:9fcc79b3f00e	1176	* @return Current address for Slave 4
jksoft	0:9fcc79b3f00e	1177	* @see getSlaveAddress()
jksoft	0:9fcc79b3f00e	1178	* @see MPU6050_RA_I2C_SLV4_ADDR
jksoft	0:9fcc79b3f00e	1179	*/
jksoft	0:9fcc79b3f00e	1180	uint8_t MPU6050::getSlave4Address()
jksoft	0:9fcc79b3f00e	1181	{
jksoft	0:9fcc79b3f00e	1182	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
jksoft	0:9fcc79b3f00e	1183	return buffer[0];
jksoft	0:9fcc79b3f00e	1184	}
jksoft	0:9fcc79b3f00e	1185	/** Set the I2C address of Slave 4.
jksoft	0:9fcc79b3f00e	1186	* @param address New address for Slave 4
jksoft	0:9fcc79b3f00e	1187	* @see getSlave4Address()
jksoft	0:9fcc79b3f00e	1188	* @see MPU6050_RA_I2C_SLV4_ADDR
jksoft	0:9fcc79b3f00e	1189	*/
jksoft	0:9fcc79b3f00e	1190	void MPU6050::setSlave4Address(uint8_t address)
jksoft	0:9fcc79b3f00e	1191	{
jksoft	0:9fcc79b3f00e	1192	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
jksoft	0:9fcc79b3f00e	1193	}
jksoft	0:9fcc79b3f00e	1194	/** Get the active internal register for the Slave 4.
jksoft	0:9fcc79b3f00e	1195	* Read/write operations for this slave will be done to whatever internal
jksoft	0:9fcc79b3f00e	1196	* register address is stored in this MPU register.
jksoft	0:9fcc79b3f00e	1197	*
jksoft	0:9fcc79b3f00e	1198	* @return Current active register for Slave 4
jksoft	0:9fcc79b3f00e	1199	* @see MPU6050_RA_I2C_SLV4_REG
jksoft	0:9fcc79b3f00e	1200	*/
jksoft	0:9fcc79b3f00e	1201	uint8_t MPU6050::getSlave4Register()
jksoft	0:9fcc79b3f00e	1202	{
jksoft	0:9fcc79b3f00e	1203	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
jksoft	0:9fcc79b3f00e	1204	return buffer[0];
jksoft	0:9fcc79b3f00e	1205	}
jksoft	0:9fcc79b3f00e	1206	/** Set the active internal register for Slave 4.
jksoft	0:9fcc79b3f00e	1207	* @param reg New active register for Slave 4
jksoft	0:9fcc79b3f00e	1208	* @see getSlave4Register()
jksoft	0:9fcc79b3f00e	1209	* @see MPU6050_RA_I2C_SLV4_REG
jksoft	0:9fcc79b3f00e	1210	*/
jksoft	0:9fcc79b3f00e	1211	void MPU6050::setSlave4Register(uint8_t reg)
jksoft	0:9fcc79b3f00e	1212	{
jksoft	0:9fcc79b3f00e	1213	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
jksoft	0:9fcc79b3f00e	1214	}
jksoft	0:9fcc79b3f00e	1215	/** Set new byte to write to Slave 4.
jksoft	0:9fcc79b3f00e	1216	* This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
jksoft	0:9fcc79b3f00e	1217	* is set 1 (set to read), this register has no effect.
jksoft	0:9fcc79b3f00e	1218	* @param data New byte to write to Slave 4
jksoft	0:9fcc79b3f00e	1219	* @see MPU6050_RA_I2C_SLV4_DO
jksoft	0:9fcc79b3f00e	1220	*/
jksoft	0:9fcc79b3f00e	1221	void MPU6050::setSlave4OutputByte(uint8_t data)
jksoft	0:9fcc79b3f00e	1222	{
jksoft	0:9fcc79b3f00e	1223	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
jksoft	0:9fcc79b3f00e	1224	}
jksoft	0:9fcc79b3f00e	1225	/** Get the enabled value for the Slave 4.
jksoft	0:9fcc79b3f00e	1226	* When set to 1, this bit enables Slave 4 for data transfer operations. When
jksoft	0:9fcc79b3f00e	1227	* cleared to 0, this bit disables Slave 4 from data transfer operations.
jksoft	0:9fcc79b3f00e	1228	* @return Current enabled value for Slave 4
jksoft	0:9fcc79b3f00e	1229	* @see MPU6050_RA_I2C_SLV4_CTRL
jksoft	0:9fcc79b3f00e	1230	*/
jksoft	0:9fcc79b3f00e	1231	bool MPU6050::getSlave4Enabled()
jksoft	0:9fcc79b3f00e	1232	{
jksoft	0:9fcc79b3f00e	1233	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
jksoft	0:9fcc79b3f00e	1234	return buffer[0];
jksoft	0:9fcc79b3f00e	1235	}
jksoft	0:9fcc79b3f00e	1236	/** Set the enabled value for Slave 4.
jksoft	0:9fcc79b3f00e	1237	* @param enabled New enabled value for Slave 4
jksoft	0:9fcc79b3f00e	1238	* @see getSlave4Enabled()
jksoft	0:9fcc79b3f00e	1239	* @see MPU6050_RA_I2C_SLV4_CTRL
jksoft	0:9fcc79b3f00e	1240	*/
jksoft	0:9fcc79b3f00e	1241	void MPU6050::setSlave4Enabled(bool enabled)
jksoft	0:9fcc79b3f00e	1242	{
jksoft	0:9fcc79b3f00e	1243	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
jksoft	0:9fcc79b3f00e	1244	}
jksoft	0:9fcc79b3f00e	1245	/** Get the enabled value for Slave 4 transaction interrupts.
jksoft	0:9fcc79b3f00e	1246	* When set to 1, this bit enables the generation of an interrupt signal upon
jksoft	0:9fcc79b3f00e	1247	* completion of a Slave 4 transaction. When cleared to 0, this bit disables the
jksoft	0:9fcc79b3f00e	1248	* generation of an interrupt signal upon completion of a Slave 4 transaction.
jksoft	0:9fcc79b3f00e	1249	* The interrupt status can be observed in Register 54.
jksoft	0:9fcc79b3f00e	1250	*
jksoft	0:9fcc79b3f00e	1251	* @return Current enabled value for Slave 4 transaction interrupts.
jksoft	0:9fcc79b3f00e	1252	* @see MPU6050_RA_I2C_SLV4_CTRL
jksoft	0:9fcc79b3f00e	1253	*/
jksoft	0:9fcc79b3f00e	1254	bool MPU6050::getSlave4InterruptEnabled()
jksoft	0:9fcc79b3f00e	1255	{
jksoft	0:9fcc79b3f00e	1256	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
jksoft	0:9fcc79b3f00e	1257	return buffer[0];
jksoft	0:9fcc79b3f00e	1258	}
jksoft	0:9fcc79b3f00e	1259	/** Set the enabled value for Slave 4 transaction interrupts.
jksoft	0:9fcc79b3f00e	1260	* @param enabled New enabled value for Slave 4 transaction interrupts.
jksoft	0:9fcc79b3f00e	1261	* @see getSlave4InterruptEnabled()
jksoft	0:9fcc79b3f00e	1262	* @see MPU6050_RA_I2C_SLV4_CTRL
jksoft	0:9fcc79b3f00e	1263	*/
jksoft	0:9fcc79b3f00e	1264	void MPU6050::setSlave4InterruptEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	1265	{
jksoft	0:9fcc79b3f00e	1266	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
jksoft	0:9fcc79b3f00e	1267	}
jksoft	0:9fcc79b3f00e	1268	/** Get write mode for Slave 4.
jksoft	0:9fcc79b3f00e	1269	* When set to 1, the transaction will read or write data only. When cleared to
jksoft	0:9fcc79b3f00e	1270	* 0, the transaction will write a register address prior to reading or writing
jksoft	0:9fcc79b3f00e	1271	* data. This should equal 0 when specifying the register address within the
jksoft	0:9fcc79b3f00e	1272	* Slave device to/from which the ensuing data transaction will take place.
jksoft	0:9fcc79b3f00e	1273	*
jksoft	0:9fcc79b3f00e	1274	* @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
jksoft	0:9fcc79b3f00e	1275	* @see MPU6050_RA_I2C_SLV4_CTRL
jksoft	0:9fcc79b3f00e	1276	*/
jksoft	0:9fcc79b3f00e	1277	bool MPU6050::getSlave4WriteMode()
jksoft	0:9fcc79b3f00e	1278	{
jksoft	0:9fcc79b3f00e	1279	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
jksoft	0:9fcc79b3f00e	1280	return buffer[0];
jksoft	0:9fcc79b3f00e	1281	}
jksoft	0:9fcc79b3f00e	1282	/** Set write mode for the Slave 4.
jksoft	0:9fcc79b3f00e	1283	* @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
jksoft	0:9fcc79b3f00e	1284	* @see getSlave4WriteMode()
jksoft	0:9fcc79b3f00e	1285	* @see MPU6050_RA_I2C_SLV4_CTRL
jksoft	0:9fcc79b3f00e	1286	*/
jksoft	0:9fcc79b3f00e	1287	void MPU6050::setSlave4WriteMode(bool mode)
jksoft	0:9fcc79b3f00e	1288	{
jksoft	0:9fcc79b3f00e	1289	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
jksoft	0:9fcc79b3f00e	1290	}
jksoft	0:9fcc79b3f00e	1291	/** Get Slave 4 master delay value.
jksoft	0:9fcc79b3f00e	1292	* This configures the reduced access rate of I2C slaves relative to the Sample
jksoft	0:9fcc79b3f00e	1293	* Rate. When a slave's access rate is decreased relative to the Sample Rate,
jksoft	0:9fcc79b3f00e	1294	* the slave is accessed every:
jksoft	0:9fcc79b3f00e	1295	*
jksoft	0:9fcc79b3f00e	1296	* 1 / (1 + I2C_MST_DLY) samples
jksoft	0:9fcc79b3f00e	1297	*
jksoft	0:9fcc79b3f00e	1298	* This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
jksoft	0:9fcc79b3f00e	1299	* DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
jksoft	0:9fcc79b3f00e	1300	* the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
jksoft	0:9fcc79b3f00e	1301	* further information regarding the Sample Rate, please refer to register 25.
jksoft	0:9fcc79b3f00e	1302	*
jksoft	0:9fcc79b3f00e	1303	* @return Current Slave 4 master delay value
jksoft	0:9fcc79b3f00e	1304	* @see MPU6050_RA_I2C_SLV4_CTRL
jksoft	0:9fcc79b3f00e	1305	*/
jksoft	0:9fcc79b3f00e	1306	uint8_t MPU6050::getSlave4MasterDelay()
jksoft	0:9fcc79b3f00e	1307	{
jksoft	0:9fcc79b3f00e	1308	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
jksoft	0:9fcc79b3f00e	1309	return buffer[0];
jksoft	0:9fcc79b3f00e	1310	}
jksoft	0:9fcc79b3f00e	1311	/** Set Slave 4 master delay value.
jksoft	0:9fcc79b3f00e	1312	* @param delay New Slave 4 master delay value
jksoft	0:9fcc79b3f00e	1313	* @see getSlave4MasterDelay()
jksoft	0:9fcc79b3f00e	1314	* @see MPU6050_RA_I2C_SLV4_CTRL
jksoft	0:9fcc79b3f00e	1315	*/
jksoft	0:9fcc79b3f00e	1316	void MPU6050::setSlave4MasterDelay(uint8_t delay)
jksoft	0:9fcc79b3f00e	1317	{
jksoft	0:9fcc79b3f00e	1318	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
jksoft	0:9fcc79b3f00e	1319	}
jksoft	0:9fcc79b3f00e	1320	/** Get last available byte read from Slave 4.
jksoft	0:9fcc79b3f00e	1321	* This register stores the data read from Slave 4. This field is populated
jksoft	0:9fcc79b3f00e	1322	* after a read transaction.
jksoft	0:9fcc79b3f00e	1323	* @return Last available byte read from to Slave 4
jksoft	0:9fcc79b3f00e	1324	* @see MPU6050_RA_I2C_SLV4_DI
jksoft	0:9fcc79b3f00e	1325	*/
jksoft	0:9fcc79b3f00e	1326	uint8_t MPU6050::getSlate4InputByte()
jksoft	0:9fcc79b3f00e	1327	{
jksoft	0:9fcc79b3f00e	1328	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
jksoft	0:9fcc79b3f00e	1329	return buffer[0];
jksoft	0:9fcc79b3f00e	1330	}
jksoft	0:9fcc79b3f00e	1331
jksoft	0:9fcc79b3f00e	1332	// I2C_MST_STATUS register
jksoft	0:9fcc79b3f00e	1333
jksoft	0:9fcc79b3f00e	1334	/** Get FSYNC interrupt status.
jksoft	0:9fcc79b3f00e	1335	* This bit reflects the status of the FSYNC interrupt from an external device
jksoft	0:9fcc79b3f00e	1336	* into the MPU-60X0. This is used as a way to pass an external interrupt
jksoft	0:9fcc79b3f00e	1337	* through the MPU-60X0 to the host application processor. When set to 1, this
jksoft	0:9fcc79b3f00e	1338	* bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
jksoft	0:9fcc79b3f00e	1339	* (Register 55).
jksoft	0:9fcc79b3f00e	1340	* @return FSYNC interrupt status
jksoft	0:9fcc79b3f00e	1341	* @see MPU6050_RA_I2C_MST_STATUS
jksoft	0:9fcc79b3f00e	1342	*/
jksoft	0:9fcc79b3f00e	1343	bool MPU6050::getPassthroughStatus()
jksoft	0:9fcc79b3f00e	1344	{
jksoft	0:9fcc79b3f00e	1345	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
jksoft	0:9fcc79b3f00e	1346	return buffer[0];
jksoft	0:9fcc79b3f00e	1347	}
jksoft	0:9fcc79b3f00e	1348	/** Get Slave 4 transaction done status.
jksoft	0:9fcc79b3f00e	1349	* Automatically sets to 1 when a Slave 4 transaction has completed. This
jksoft	0:9fcc79b3f00e	1350	* triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
jksoft	0:9fcc79b3f00e	1351	* (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
jksoft	0:9fcc79b3f00e	1352	* I2C_SLV4_CTRL register (Register 52).
jksoft	0:9fcc79b3f00e	1353	* @return Slave 4 transaction done status
jksoft	0:9fcc79b3f00e	1354	* @see MPU6050_RA_I2C_MST_STATUS
jksoft	0:9fcc79b3f00e	1355	*/
jksoft	0:9fcc79b3f00e	1356	bool MPU6050::getSlave4IsDone()
jksoft	0:9fcc79b3f00e	1357	{
jksoft	0:9fcc79b3f00e	1358	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
jksoft	0:9fcc79b3f00e	1359	return buffer[0];
jksoft	0:9fcc79b3f00e	1360	}
jksoft	0:9fcc79b3f00e	1361	/** Get master arbitration lost status.
jksoft	0:9fcc79b3f00e	1362	* This bit automatically sets to 1 when the I2C Master has lost arbitration of
jksoft	0:9fcc79b3f00e	1363	* the auxiliary I2C bus (an error condition). This triggers an interrupt if the
jksoft	0:9fcc79b3f00e	1364	* I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
jksoft	0:9fcc79b3f00e	1365	* @return Master arbitration lost status
jksoft	0:9fcc79b3f00e	1366	* @see MPU6050_RA_I2C_MST_STATUS
jksoft	0:9fcc79b3f00e	1367	*/
jksoft	0:9fcc79b3f00e	1368	bool MPU6050::getLostArbitration()
jksoft	0:9fcc79b3f00e	1369	{
jksoft	0:9fcc79b3f00e	1370	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
jksoft	0:9fcc79b3f00e	1371	return buffer[0];
jksoft	0:9fcc79b3f00e	1372	}
jksoft	0:9fcc79b3f00e	1373	/** Get Slave 4 NACK status.
jksoft	0:9fcc79b3f00e	1374	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
jksoft	0:9fcc79b3f00e	1375	* transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
jksoft	0:9fcc79b3f00e	1376	* bit in the INT_ENABLE register (Register 56) is asserted.
jksoft	0:9fcc79b3f00e	1377	* @return Slave 4 NACK interrupt status
jksoft	0:9fcc79b3f00e	1378	* @see MPU6050_RA_I2C_MST_STATUS
jksoft	0:9fcc79b3f00e	1379	*/
jksoft	0:9fcc79b3f00e	1380	bool MPU6050::getSlave4Nack()
jksoft	0:9fcc79b3f00e	1381	{
jksoft	0:9fcc79b3f00e	1382	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
jksoft	0:9fcc79b3f00e	1383	return buffer[0];
jksoft	0:9fcc79b3f00e	1384	}
jksoft	0:9fcc79b3f00e	1385	/** Get Slave 3 NACK status.
jksoft	0:9fcc79b3f00e	1386	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
jksoft	0:9fcc79b3f00e	1387	* transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
jksoft	0:9fcc79b3f00e	1388	* bit in the INT_ENABLE register (Register 56) is asserted.
jksoft	0:9fcc79b3f00e	1389	* @return Slave 3 NACK interrupt status
jksoft	0:9fcc79b3f00e	1390	* @see MPU6050_RA_I2C_MST_STATUS
jksoft	0:9fcc79b3f00e	1391	*/
jksoft	0:9fcc79b3f00e	1392	bool MPU6050::getSlave3Nack()
jksoft	0:9fcc79b3f00e	1393	{
jksoft	0:9fcc79b3f00e	1394	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
jksoft	0:9fcc79b3f00e	1395	return buffer[0];
jksoft	0:9fcc79b3f00e	1396	}
jksoft	0:9fcc79b3f00e	1397	/** Get Slave 2 NACK status.
jksoft	0:9fcc79b3f00e	1398	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
jksoft	0:9fcc79b3f00e	1399	* transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
jksoft	0:9fcc79b3f00e	1400	* bit in the INT_ENABLE register (Register 56) is asserted.
jksoft	0:9fcc79b3f00e	1401	* @return Slave 2 NACK interrupt status
jksoft	0:9fcc79b3f00e	1402	* @see MPU6050_RA_I2C_MST_STATUS
jksoft	0:9fcc79b3f00e	1403	*/
jksoft	0:9fcc79b3f00e	1404	bool MPU6050::getSlave2Nack()
jksoft	0:9fcc79b3f00e	1405	{
jksoft	0:9fcc79b3f00e	1406	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
jksoft	0:9fcc79b3f00e	1407	return buffer[0];
jksoft	0:9fcc79b3f00e	1408	}
jksoft	0:9fcc79b3f00e	1409	/** Get Slave 1 NACK status.
jksoft	0:9fcc79b3f00e	1410	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
jksoft	0:9fcc79b3f00e	1411	* transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
jksoft	0:9fcc79b3f00e	1412	* bit in the INT_ENABLE register (Register 56) is asserted.
jksoft	0:9fcc79b3f00e	1413	* @return Slave 1 NACK interrupt status
jksoft	0:9fcc79b3f00e	1414	* @see MPU6050_RA_I2C_MST_STATUS
jksoft	0:9fcc79b3f00e	1415	*/
jksoft	0:9fcc79b3f00e	1416	bool MPU6050::getSlave1Nack()
jksoft	0:9fcc79b3f00e	1417	{
jksoft	0:9fcc79b3f00e	1418	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
jksoft	0:9fcc79b3f00e	1419	return buffer[0];
jksoft	0:9fcc79b3f00e	1420	}
jksoft	0:9fcc79b3f00e	1421	/** Get Slave 0 NACK status.
jksoft	0:9fcc79b3f00e	1422	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
jksoft	0:9fcc79b3f00e	1423	* transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
jksoft	0:9fcc79b3f00e	1424	* bit in the INT_ENABLE register (Register 56) is asserted.
jksoft	0:9fcc79b3f00e	1425	* @return Slave 0 NACK interrupt status
jksoft	0:9fcc79b3f00e	1426	* @see MPU6050_RA_I2C_MST_STATUS
jksoft	0:9fcc79b3f00e	1427	*/
jksoft	0:9fcc79b3f00e	1428	bool MPU6050::getSlave0Nack()
jksoft	0:9fcc79b3f00e	1429	{
jksoft	0:9fcc79b3f00e	1430	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
jksoft	0:9fcc79b3f00e	1431	return buffer[0];
jksoft	0:9fcc79b3f00e	1432	}
jksoft	0:9fcc79b3f00e	1433
jksoft	0:9fcc79b3f00e	1434	// INT_PIN_CFG register
jksoft	0:9fcc79b3f00e	1435
jksoft	0:9fcc79b3f00e	1436	/** Get interrupt logic level mode.
jksoft	0:9fcc79b3f00e	1437	* Will be set 0 for active-high, 1 for active-low.
jksoft	0:9fcc79b3f00e	1438	* @return Current interrupt mode (0=active-high, 1=active-low)
jksoft	0:9fcc79b3f00e	1439	* @see MPU6050_RA_INT_PIN_CFG
jksoft	0:9fcc79b3f00e	1440	* @see MPU6050_INTCFG_INT_LEVEL_BIT
jksoft	0:9fcc79b3f00e	1441	*/
jksoft	0:9fcc79b3f00e	1442	bool MPU6050::getInterruptMode()
jksoft	0:9fcc79b3f00e	1443	{
jksoft	0:9fcc79b3f00e	1444	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
jksoft	0:9fcc79b3f00e	1445	return buffer[0];
jksoft	0:9fcc79b3f00e	1446	}
jksoft	0:9fcc79b3f00e	1447	/** Set interrupt logic level mode.
jksoft	0:9fcc79b3f00e	1448	* @param mode New interrupt mode (0=active-high, 1=active-low)
jksoft	0:9fcc79b3f00e	1449	* @see getInterruptMode()
jksoft	0:9fcc79b3f00e	1450	* @see MPU6050_RA_INT_PIN_CFG
jksoft	0:9fcc79b3f00e	1451	* @see MPU6050_INTCFG_INT_LEVEL_BIT
jksoft	0:9fcc79b3f00e	1452	*/
jksoft	0:9fcc79b3f00e	1453	void MPU6050::setInterruptMode(bool mode)
jksoft	0:9fcc79b3f00e	1454	{
jksoft	0:9fcc79b3f00e	1455	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
jksoft	0:9fcc79b3f00e	1456	}
jksoft	0:9fcc79b3f00e	1457	/** Get interrupt drive mode.
jksoft	0:9fcc79b3f00e	1458	* Will be set 0 for push-pull, 1 for open-drain.
jksoft	0:9fcc79b3f00e	1459	* @return Current interrupt drive mode (0=push-pull, 1=open-drain)
jksoft	0:9fcc79b3f00e	1460	* @see MPU6050_RA_INT_PIN_CFG
jksoft	0:9fcc79b3f00e	1461	* @see MPU6050_INTCFG_INT_OPEN_BIT
jksoft	0:9fcc79b3f00e	1462	*/
jksoft	0:9fcc79b3f00e	1463	bool MPU6050::getInterruptDrive()
jksoft	0:9fcc79b3f00e	1464	{
jksoft	0:9fcc79b3f00e	1465	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
jksoft	0:9fcc79b3f00e	1466	return buffer[0];
jksoft	0:9fcc79b3f00e	1467	}
jksoft	0:9fcc79b3f00e	1468	/** Set interrupt drive mode.
jksoft	0:9fcc79b3f00e	1469	* @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
jksoft	0:9fcc79b3f00e	1470	* @see getInterruptDrive()
jksoft	0:9fcc79b3f00e	1471	* @see MPU6050_RA_INT_PIN_CFG
jksoft	0:9fcc79b3f00e	1472	* @see MPU6050_INTCFG_INT_OPEN_BIT
jksoft	0:9fcc79b3f00e	1473	*/
jksoft	0:9fcc79b3f00e	1474	void MPU6050::setInterruptDrive(bool drive)
jksoft	0:9fcc79b3f00e	1475	{
jksoft	0:9fcc79b3f00e	1476	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
jksoft	0:9fcc79b3f00e	1477	}
jksoft	0:9fcc79b3f00e	1478	/** Get interrupt latch mode.
jksoft	0:9fcc79b3f00e	1479	* Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
jksoft	0:9fcc79b3f00e	1480	* @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
jksoft	0:9fcc79b3f00e	1481	* @see MPU6050_RA_INT_PIN_CFG
jksoft	0:9fcc79b3f00e	1482	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
jksoft	0:9fcc79b3f00e	1483	*/
jksoft	0:9fcc79b3f00e	1484	bool MPU6050::getInterruptLatch()
jksoft	0:9fcc79b3f00e	1485	{
jksoft	0:9fcc79b3f00e	1486	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
jksoft	0:9fcc79b3f00e	1487	return buffer[0];
jksoft	0:9fcc79b3f00e	1488	}
jksoft	0:9fcc79b3f00e	1489	/** Set interrupt latch mode.
jksoft	0:9fcc79b3f00e	1490	* @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
jksoft	0:9fcc79b3f00e	1491	* @see getInterruptLatch()
jksoft	0:9fcc79b3f00e	1492	* @see MPU6050_RA_INT_PIN_CFG
jksoft	0:9fcc79b3f00e	1493	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
jksoft	0:9fcc79b3f00e	1494	*/
jksoft	0:9fcc79b3f00e	1495	void MPU6050::setInterruptLatch(bool latch)
jksoft	0:9fcc79b3f00e	1496	{
jksoft	0:9fcc79b3f00e	1497	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
jksoft	0:9fcc79b3f00e	1498	}
jksoft	0:9fcc79b3f00e	1499	/** Get interrupt latch clear mode.
jksoft	0:9fcc79b3f00e	1500	* Will be set 0 for status-read-only, 1 for any-register-read.
jksoft	0:9fcc79b3f00e	1501	* @return Current latch clear mode (0=status-read-only, 1=any-register-read)
jksoft	0:9fcc79b3f00e	1502	* @see MPU6050_RA_INT_PIN_CFG
jksoft	0:9fcc79b3f00e	1503	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
jksoft	0:9fcc79b3f00e	1504	*/
jksoft	0:9fcc79b3f00e	1505	bool MPU6050::getInterruptLatchClear()
jksoft	0:9fcc79b3f00e	1506	{
jksoft	0:9fcc79b3f00e	1507	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
jksoft	0:9fcc79b3f00e	1508	return buffer[0];
jksoft	0:9fcc79b3f00e	1509	}
jksoft	0:9fcc79b3f00e	1510	/** Set interrupt latch clear mode.
jksoft	0:9fcc79b3f00e	1511	* @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
jksoft	0:9fcc79b3f00e	1512	* @see getInterruptLatchClear()
jksoft	0:9fcc79b3f00e	1513	* @see MPU6050_RA_INT_PIN_CFG
jksoft	0:9fcc79b3f00e	1514	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
jksoft	0:9fcc79b3f00e	1515	*/
jksoft	0:9fcc79b3f00e	1516	void MPU6050::setInterruptLatchClear(bool clear)
jksoft	0:9fcc79b3f00e	1517	{
jksoft	0:9fcc79b3f00e	1518	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
jksoft	0:9fcc79b3f00e	1519	}
jksoft	0:9fcc79b3f00e	1520	/** Get FSYNC interrupt logic level mode.
jksoft	0:9fcc79b3f00e	1521	* @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
jksoft	0:9fcc79b3f00e	1522	* @see getFSyncInterruptMode()
jksoft	0:9fcc79b3f00e	1523	* @see MPU6050_RA_INT_PIN_CFG
jksoft	0:9fcc79b3f00e	1524	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
jksoft	0:9fcc79b3f00e	1525	*/
jksoft	0:9fcc79b3f00e	1526	bool MPU6050::getFSyncInterruptLevel()
jksoft	0:9fcc79b3f00e	1527	{
jksoft	0:9fcc79b3f00e	1528	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
jksoft	0:9fcc79b3f00e	1529	return buffer[0];
jksoft	0:9fcc79b3f00e	1530	}
jksoft	0:9fcc79b3f00e	1531	/** Set FSYNC interrupt logic level mode.
jksoft	0:9fcc79b3f00e	1532	* @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
jksoft	0:9fcc79b3f00e	1533	* @see getFSyncInterruptMode()
jksoft	0:9fcc79b3f00e	1534	* @see MPU6050_RA_INT_PIN_CFG
jksoft	0:9fcc79b3f00e	1535	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
jksoft	0:9fcc79b3f00e	1536	*/
jksoft	0:9fcc79b3f00e	1537	void MPU6050::setFSyncInterruptLevel(bool level)
jksoft	0:9fcc79b3f00e	1538	{
jksoft	0:9fcc79b3f00e	1539	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
jksoft	0:9fcc79b3f00e	1540	}
jksoft	0:9fcc79b3f00e	1541	/** Get FSYNC pin interrupt enabled setting.
jksoft	0:9fcc79b3f00e	1542	* Will be set 0 for disabled, 1 for enabled.
jksoft	0:9fcc79b3f00e	1543	* @return Current interrupt enabled setting
jksoft	0:9fcc79b3f00e	1544	* @see MPU6050_RA_INT_PIN_CFG
jksoft	0:9fcc79b3f00e	1545	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
jksoft	0:9fcc79b3f00e	1546	*/
jksoft	0:9fcc79b3f00e	1547	bool MPU6050::getFSyncInterruptEnabled()
jksoft	0:9fcc79b3f00e	1548	{
jksoft	0:9fcc79b3f00e	1549	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
jksoft	0:9fcc79b3f00e	1550	return buffer[0];
jksoft	0:9fcc79b3f00e	1551	}
jksoft	0:9fcc79b3f00e	1552	/** Set FSYNC pin interrupt enabled setting.
jksoft	0:9fcc79b3f00e	1553	* @param enabled New FSYNC pin interrupt enabled setting
jksoft	0:9fcc79b3f00e	1554	* @see getFSyncInterruptEnabled()
jksoft	0:9fcc79b3f00e	1555	* @see MPU6050_RA_INT_PIN_CFG
jksoft	0:9fcc79b3f00e	1556	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
jksoft	0:9fcc79b3f00e	1557	*/
jksoft	0:9fcc79b3f00e	1558	void MPU6050::setFSyncInterruptEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	1559	{
jksoft	0:9fcc79b3f00e	1560	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
jksoft	0:9fcc79b3f00e	1561	}
jksoft	0:9fcc79b3f00e	1562	/** Get I2C bypass enabled status.
jksoft	0:9fcc79b3f00e	1563	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
jksoft	0:9fcc79b3f00e	1564	* 0, the host application processor will be able to directly access the
jksoft	0:9fcc79b3f00e	1565	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
jksoft	0:9fcc79b3f00e	1566	* application processor will not be able to directly access the auxiliary I2C
jksoft	0:9fcc79b3f00e	1567	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
jksoft	0:9fcc79b3f00e	1568	* bit[5]).
jksoft	0:9fcc79b3f00e	1569	* @return Current I2C bypass enabled status
jksoft	0:9fcc79b3f00e	1570	* @see MPU6050_RA_INT_PIN_CFG
jksoft	0:9fcc79b3f00e	1571	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
jksoft	0:9fcc79b3f00e	1572	*/
jksoft	0:9fcc79b3f00e	1573	bool MPU6050::getI2CBypassEnabled()
jksoft	0:9fcc79b3f00e	1574	{
jksoft	0:9fcc79b3f00e	1575	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
jksoft	0:9fcc79b3f00e	1576	return buffer[0];
jksoft	0:9fcc79b3f00e	1577	}
jksoft	0:9fcc79b3f00e	1578	/** Set I2C bypass enabled status.
jksoft	0:9fcc79b3f00e	1579	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
jksoft	0:9fcc79b3f00e	1580	* 0, the host application processor will be able to directly access the
jksoft	0:9fcc79b3f00e	1581	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
jksoft	0:9fcc79b3f00e	1582	* application processor will not be able to directly access the auxiliary I2C
jksoft	0:9fcc79b3f00e	1583	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
jksoft	0:9fcc79b3f00e	1584	* bit[5]).
jksoft	0:9fcc79b3f00e	1585	* @param enabled New I2C bypass enabled status
jksoft	0:9fcc79b3f00e	1586	* @see MPU6050_RA_INT_PIN_CFG
jksoft	0:9fcc79b3f00e	1587	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
jksoft	0:9fcc79b3f00e	1588	*/
jksoft	0:9fcc79b3f00e	1589	void MPU6050::setI2CBypassEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	1590	{
jksoft	0:9fcc79b3f00e	1591	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
jksoft	0:9fcc79b3f00e	1592	}
jksoft	0:9fcc79b3f00e	1593	/** Get reference clock output enabled status.
jksoft	0:9fcc79b3f00e	1594	* When this bit is equal to 1, a reference clock output is provided at the
jksoft	0:9fcc79b3f00e	1595	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
jksoft	0:9fcc79b3f00e	1596	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
jksoft	0:9fcc79b3f00e	1597	* Specification document.
jksoft	0:9fcc79b3f00e	1598	* @return Current reference clock output enabled status
jksoft	0:9fcc79b3f00e	1599	* @see MPU6050_RA_INT_PIN_CFG
jksoft	0:9fcc79b3f00e	1600	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
jksoft	0:9fcc79b3f00e	1601	*/
jksoft	0:9fcc79b3f00e	1602	bool MPU6050::getClockOutputEnabled()
jksoft	0:9fcc79b3f00e	1603	{
jksoft	0:9fcc79b3f00e	1604	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
jksoft	0:9fcc79b3f00e	1605	return buffer[0];
jksoft	0:9fcc79b3f00e	1606	}
jksoft	0:9fcc79b3f00e	1607	/** Set reference clock output enabled status.
jksoft	0:9fcc79b3f00e	1608	* When this bit is equal to 1, a reference clock output is provided at the
jksoft	0:9fcc79b3f00e	1609	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
jksoft	0:9fcc79b3f00e	1610	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
jksoft	0:9fcc79b3f00e	1611	* Specification document.
jksoft	0:9fcc79b3f00e	1612	* @param enabled New reference clock output enabled status
jksoft	0:9fcc79b3f00e	1613	* @see MPU6050_RA_INT_PIN_CFG
jksoft	0:9fcc79b3f00e	1614	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
jksoft	0:9fcc79b3f00e	1615	*/
jksoft	0:9fcc79b3f00e	1616	void MPU6050::setClockOutputEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	1617	{
jksoft	0:9fcc79b3f00e	1618	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
jksoft	0:9fcc79b3f00e	1619	}
jksoft	0:9fcc79b3f00e	1620
jksoft	0:9fcc79b3f00e	1621	// INT_ENABLE register
jksoft	0:9fcc79b3f00e	1622
jksoft	0:9fcc79b3f00e	1623	/** Get full interrupt enabled status.
jksoft	0:9fcc79b3f00e	1624	* Full register byte for all interrupts, for quick reading. Each bit will be
jksoft	0:9fcc79b3f00e	1625	* set 0 for disabled, 1 for enabled.
jksoft	0:9fcc79b3f00e	1626	* @return Current interrupt enabled status
jksoft	0:9fcc79b3f00e	1627	* @see MPU6050_RA_INT_ENABLE
jksoft	0:9fcc79b3f00e	1628	* @see MPU6050_INTERRUPT_FF_BIT
jksoft	0:9fcc79b3f00e	1629	**/
jksoft	0:9fcc79b3f00e	1630	uint8_t MPU6050::getIntEnabled()
jksoft	0:9fcc79b3f00e	1631	{
jksoft	0:9fcc79b3f00e	1632	i2Cdev.readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
jksoft	0:9fcc79b3f00e	1633	return buffer[0];
jksoft	0:9fcc79b3f00e	1634	}
jksoft	0:9fcc79b3f00e	1635	/** Set full interrupt enabled status.
jksoft	0:9fcc79b3f00e	1636	* Full register byte for all interrupts, for quick reading. Each bit should be
jksoft	0:9fcc79b3f00e	1637	* set 0 for disabled, 1 for enabled.
jksoft	0:9fcc79b3f00e	1638	* @param enabled New interrupt enabled status
jksoft	0:9fcc79b3f00e	1639	* @see getIntFreefallEnabled()
jksoft	0:9fcc79b3f00e	1640	* @see MPU6050_RA_INT_ENABLE
jksoft	0:9fcc79b3f00e	1641	* @see MPU6050_INTERRUPT_FF_BIT
jksoft	0:9fcc79b3f00e	1642	**/
jksoft	0:9fcc79b3f00e	1643	void MPU6050::setIntEnabled(uint8_t enabled)
jksoft	0:9fcc79b3f00e	1644	{
jksoft	0:9fcc79b3f00e	1645	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
jksoft	0:9fcc79b3f00e	1646	}
jksoft	0:9fcc79b3f00e	1647	/** Get Free Fall interrupt enabled status.
jksoft	0:9fcc79b3f00e	1648	* Will be set 0 for disabled, 1 for enabled.
jksoft	0:9fcc79b3f00e	1649	* @return Current interrupt enabled status
jksoft	0:9fcc79b3f00e	1650	* @see MPU6050_RA_INT_ENABLE
jksoft	0:9fcc79b3f00e	1651	* @see MPU6050_INTERRUPT_FF_BIT
jksoft	0:9fcc79b3f00e	1652	**/
jksoft	0:9fcc79b3f00e	1653	bool MPU6050::getIntFreefallEnabled()
jksoft	0:9fcc79b3f00e	1654	{
jksoft	0:9fcc79b3f00e	1655	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
jksoft	0:9fcc79b3f00e	1656	return buffer[0];
jksoft	0:9fcc79b3f00e	1657	}
jksoft	0:9fcc79b3f00e	1658	/** Set Free Fall interrupt enabled status.
jksoft	0:9fcc79b3f00e	1659	* @param enabled New interrupt enabled status
jksoft	0:9fcc79b3f00e	1660	* @see getIntFreefallEnabled()
jksoft	0:9fcc79b3f00e	1661	* @see MPU6050_RA_INT_ENABLE
jksoft	0:9fcc79b3f00e	1662	* @see MPU6050_INTERRUPT_FF_BIT
jksoft	0:9fcc79b3f00e	1663	**/
jksoft	0:9fcc79b3f00e	1664	void MPU6050::setIntFreefallEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	1665	{
jksoft	0:9fcc79b3f00e	1666	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
jksoft	0:9fcc79b3f00e	1667	}
jksoft	0:9fcc79b3f00e	1668	/** Get Motion Detection interrupt enabled status.
jksoft	0:9fcc79b3f00e	1669	* Will be set 0 for disabled, 1 for enabled.
jksoft	0:9fcc79b3f00e	1670	* @return Current interrupt enabled status
jksoft	0:9fcc79b3f00e	1671	* @see MPU6050_RA_INT_ENABLE
jksoft	0:9fcc79b3f00e	1672	* @see MPU6050_INTERRUPT_MOT_BIT
jksoft	0:9fcc79b3f00e	1673	**/
jksoft	0:9fcc79b3f00e	1674	bool MPU6050::getIntMotionEnabled()
jksoft	0:9fcc79b3f00e	1675	{
jksoft	0:9fcc79b3f00e	1676	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
jksoft	0:9fcc79b3f00e	1677	return buffer[0];
jksoft	0:9fcc79b3f00e	1678	}
jksoft	0:9fcc79b3f00e	1679	/** Set Motion Detection interrupt enabled status.
jksoft	0:9fcc79b3f00e	1680	* @param enabled New interrupt enabled status
jksoft	0:9fcc79b3f00e	1681	* @see getIntMotionEnabled()
jksoft	0:9fcc79b3f00e	1682	* @see MPU6050_RA_INT_ENABLE
jksoft	0:9fcc79b3f00e	1683	* @see MPU6050_INTERRUPT_MOT_BIT
jksoft	0:9fcc79b3f00e	1684	**/
jksoft	0:9fcc79b3f00e	1685	void MPU6050::setIntMotionEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	1686	{
jksoft	0:9fcc79b3f00e	1687	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
jksoft	0:9fcc79b3f00e	1688	}
jksoft	0:9fcc79b3f00e	1689	/** Get Zero Motion Detection interrupt enabled status.
jksoft	0:9fcc79b3f00e	1690	* Will be set 0 for disabled, 1 for enabled.
jksoft	0:9fcc79b3f00e	1691	* @return Current interrupt enabled status
jksoft	0:9fcc79b3f00e	1692	* @see MPU6050_RA_INT_ENABLE
jksoft	0:9fcc79b3f00e	1693	* @see MPU6050_INTERRUPT_ZMOT_BIT
jksoft	0:9fcc79b3f00e	1694	**/
jksoft	0:9fcc79b3f00e	1695	bool MPU6050::getIntZeroMotionEnabled()
jksoft	0:9fcc79b3f00e	1696	{
jksoft	0:9fcc79b3f00e	1697	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
jksoft	0:9fcc79b3f00e	1698	return buffer[0];
jksoft	0:9fcc79b3f00e	1699	}
jksoft	0:9fcc79b3f00e	1700	/** Set Zero Motion Detection interrupt enabled status.
jksoft	0:9fcc79b3f00e	1701	* @param enabled New interrupt enabled status
jksoft	0:9fcc79b3f00e	1702	* @see getIntZeroMotionEnabled()
jksoft	0:9fcc79b3f00e	1703	* @see MPU6050_RA_INT_ENABLE
jksoft	0:9fcc79b3f00e	1704	* @see MPU6050_INTERRUPT_ZMOT_BIT
jksoft	0:9fcc79b3f00e	1705	**/
jksoft	0:9fcc79b3f00e	1706	void MPU6050::setIntZeroMotionEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	1707	{
jksoft	0:9fcc79b3f00e	1708	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
jksoft	0:9fcc79b3f00e	1709	}
jksoft	0:9fcc79b3f00e	1710	/** Get FIFO Buffer Overflow interrupt enabled status.
jksoft	0:9fcc79b3f00e	1711	* Will be set 0 for disabled, 1 for enabled.
jksoft	0:9fcc79b3f00e	1712	* @return Current interrupt enabled status
jksoft	0:9fcc79b3f00e	1713	* @see MPU6050_RA_INT_ENABLE
jksoft	0:9fcc79b3f00e	1714	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
jksoft	0:9fcc79b3f00e	1715	**/
jksoft	0:9fcc79b3f00e	1716	bool MPU6050::getIntFIFOBufferOverflowEnabled()
jksoft	0:9fcc79b3f00e	1717	{
jksoft	0:9fcc79b3f00e	1718	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
jksoft	0:9fcc79b3f00e	1719	return buffer[0];
jksoft	0:9fcc79b3f00e	1720	}
jksoft	0:9fcc79b3f00e	1721	/** Set FIFO Buffer Overflow interrupt enabled status.
jksoft	0:9fcc79b3f00e	1722	* @param enabled New interrupt enabled status
jksoft	0:9fcc79b3f00e	1723	* @see getIntFIFOBufferOverflowEnabled()
jksoft	0:9fcc79b3f00e	1724	* @see MPU6050_RA_INT_ENABLE
jksoft	0:9fcc79b3f00e	1725	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
jksoft	0:9fcc79b3f00e	1726	**/
jksoft	0:9fcc79b3f00e	1727	void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	1728	{
jksoft	0:9fcc79b3f00e	1729	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
jksoft	0:9fcc79b3f00e	1730	}
jksoft	0:9fcc79b3f00e	1731	/** Get I2C Master interrupt enabled status.
jksoft	0:9fcc79b3f00e	1732	* This enables any of the I2C Master interrupt sources to generate an
jksoft	0:9fcc79b3f00e	1733	* interrupt. Will be set 0 for disabled, 1 for enabled.
jksoft	0:9fcc79b3f00e	1734	* @return Current interrupt enabled status
jksoft	0:9fcc79b3f00e	1735	* @see MPU6050_RA_INT_ENABLE
jksoft	0:9fcc79b3f00e	1736	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
jksoft	0:9fcc79b3f00e	1737	**/
jksoft	0:9fcc79b3f00e	1738	bool MPU6050::getIntI2CMasterEnabled()
jksoft	0:9fcc79b3f00e	1739	{
jksoft	0:9fcc79b3f00e	1740	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
jksoft	0:9fcc79b3f00e	1741	return buffer[0];
jksoft	0:9fcc79b3f00e	1742	}
jksoft	0:9fcc79b3f00e	1743	/** Set I2C Master interrupt enabled status.
jksoft	0:9fcc79b3f00e	1744	* @param enabled New interrupt enabled status
jksoft	0:9fcc79b3f00e	1745	* @see getIntI2CMasterEnabled()
jksoft	0:9fcc79b3f00e	1746	* @see MPU6050_RA_INT_ENABLE
jksoft	0:9fcc79b3f00e	1747	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
jksoft	0:9fcc79b3f00e	1748	**/
jksoft	0:9fcc79b3f00e	1749	void MPU6050::setIntI2CMasterEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	1750	{
jksoft	0:9fcc79b3f00e	1751	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
jksoft	0:9fcc79b3f00e	1752	}
jksoft	0:9fcc79b3f00e	1753	/** Get Data Ready interrupt enabled setting.
jksoft	0:9fcc79b3f00e	1754	* This event occurs each time a write operation to all of the sensor registers
jksoft	0:9fcc79b3f00e	1755	* has been completed. Will be set 0 for disabled, 1 for enabled.
jksoft	0:9fcc79b3f00e	1756	* @return Current interrupt enabled status
jksoft	0:9fcc79b3f00e	1757	* @see MPU6050_RA_INT_ENABLE
jksoft	0:9fcc79b3f00e	1758	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
jksoft	0:9fcc79b3f00e	1759	*/
jksoft	0:9fcc79b3f00e	1760	bool MPU6050::getIntDataReadyEnabled()
jksoft	0:9fcc79b3f00e	1761	{
jksoft	0:9fcc79b3f00e	1762	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
jksoft	0:9fcc79b3f00e	1763	return buffer[0];
jksoft	0:9fcc79b3f00e	1764	}
jksoft	0:9fcc79b3f00e	1765	/** Set Data Ready interrupt enabled status.
jksoft	0:9fcc79b3f00e	1766	* @param enabled New interrupt enabled status
jksoft	0:9fcc79b3f00e	1767	* @see getIntDataReadyEnabled()
jksoft	0:9fcc79b3f00e	1768	* @see MPU6050_RA_INT_CFG
jksoft	0:9fcc79b3f00e	1769	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
jksoft	0:9fcc79b3f00e	1770	*/
jksoft	0:9fcc79b3f00e	1771	void MPU6050::setIntDataReadyEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	1772	{
jksoft	0:9fcc79b3f00e	1773	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
jksoft	0:9fcc79b3f00e	1774	}
jksoft	0:9fcc79b3f00e	1775
jksoft	0:9fcc79b3f00e	1776	// INT_STATUS register
jksoft	0:9fcc79b3f00e	1777
jksoft	0:9fcc79b3f00e	1778	/** Get full set of interrupt status bits.
jksoft	0:9fcc79b3f00e	1779	* These bits clear to 0 after the register has been read. Very useful
jksoft	0:9fcc79b3f00e	1780	* for getting multiple INT statuses, since each single bit read clears
jksoft	0:9fcc79b3f00e	1781	* all of them because it has to read the whole byte.
jksoft	0:9fcc79b3f00e	1782	* @return Current interrupt status
jksoft	0:9fcc79b3f00e	1783	* @see MPU6050_RA_INT_STATUS
jksoft	0:9fcc79b3f00e	1784	*/
jksoft	0:9fcc79b3f00e	1785	uint8_t MPU6050::getIntStatus()
jksoft	0:9fcc79b3f00e	1786	{
jksoft	0:9fcc79b3f00e	1787	i2Cdev.readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
jksoft	0:9fcc79b3f00e	1788	return buffer[0];
jksoft	0:9fcc79b3f00e	1789	}
jksoft	0:9fcc79b3f00e	1790	/** Get Free Fall interrupt status.
jksoft	0:9fcc79b3f00e	1791	* This bit automatically sets to 1 when a Free Fall interrupt has been
jksoft	0:9fcc79b3f00e	1792	* generated. The bit clears to 0 after the register has been read.
jksoft	0:9fcc79b3f00e	1793	* @return Current interrupt status
jksoft	0:9fcc79b3f00e	1794	* @see MPU6050_RA_INT_STATUS
jksoft	0:9fcc79b3f00e	1795	* @see MPU6050_INTERRUPT_FF_BIT
jksoft	0:9fcc79b3f00e	1796	*/
jksoft	0:9fcc79b3f00e	1797	bool MPU6050::getIntFreefallStatus()
jksoft	0:9fcc79b3f00e	1798	{
jksoft	0:9fcc79b3f00e	1799	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
jksoft	0:9fcc79b3f00e	1800	return buffer[0];
jksoft	0:9fcc79b3f00e	1801	}
jksoft	0:9fcc79b3f00e	1802	/** Get Motion Detection interrupt status.
jksoft	0:9fcc79b3f00e	1803	* This bit automatically sets to 1 when a Motion Detection interrupt has been
jksoft	0:9fcc79b3f00e	1804	* generated. The bit clears to 0 after the register has been read.
jksoft	0:9fcc79b3f00e	1805	* @return Current interrupt status
jksoft	0:9fcc79b3f00e	1806	* @see MPU6050_RA_INT_STATUS
jksoft	0:9fcc79b3f00e	1807	* @see MPU6050_INTERRUPT_MOT_BIT
jksoft	0:9fcc79b3f00e	1808	*/
jksoft	0:9fcc79b3f00e	1809	bool MPU6050::getIntMotionStatus()
jksoft	0:9fcc79b3f00e	1810	{
jksoft	0:9fcc79b3f00e	1811	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
jksoft	0:9fcc79b3f00e	1812	return buffer[0];
jksoft	0:9fcc79b3f00e	1813	}
jksoft	0:9fcc79b3f00e	1814	/** Get Zero Motion Detection interrupt status.
jksoft	0:9fcc79b3f00e	1815	* This bit automatically sets to 1 when a Zero Motion Detection interrupt has
jksoft	0:9fcc79b3f00e	1816	* been generated. The bit clears to 0 after the register has been read.
jksoft	0:9fcc79b3f00e	1817	* @return Current interrupt status
jksoft	0:9fcc79b3f00e	1818	* @see MPU6050_RA_INT_STATUS
jksoft	0:9fcc79b3f00e	1819	* @see MPU6050_INTERRUPT_ZMOT_BIT
jksoft	0:9fcc79b3f00e	1820	*/
jksoft	0:9fcc79b3f00e	1821	bool MPU6050::getIntZeroMotionStatus()
jksoft	0:9fcc79b3f00e	1822	{
jksoft	0:9fcc79b3f00e	1823	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
jksoft	0:9fcc79b3f00e	1824	return buffer[0];
jksoft	0:9fcc79b3f00e	1825	}
jksoft	0:9fcc79b3f00e	1826	/** Get FIFO Buffer Overflow interrupt status.
jksoft	0:9fcc79b3f00e	1827	* This bit automatically sets to 1 when a Free Fall interrupt has been
jksoft	0:9fcc79b3f00e	1828	* generated. The bit clears to 0 after the register has been read.
jksoft	0:9fcc79b3f00e	1829	* @return Current interrupt status
jksoft	0:9fcc79b3f00e	1830	* @see MPU6050_RA_INT_STATUS
jksoft	0:9fcc79b3f00e	1831	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
jksoft	0:9fcc79b3f00e	1832	*/
jksoft	0:9fcc79b3f00e	1833	bool MPU6050::getIntFIFOBufferOverflowStatus()
jksoft	0:9fcc79b3f00e	1834	{
jksoft	0:9fcc79b3f00e	1835	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
jksoft	0:9fcc79b3f00e	1836	return buffer[0];
jksoft	0:9fcc79b3f00e	1837	}
jksoft	0:9fcc79b3f00e	1838	/** Get I2C Master interrupt status.
jksoft	0:9fcc79b3f00e	1839	* This bit automatically sets to 1 when an I2C Master interrupt has been
jksoft	0:9fcc79b3f00e	1840	* generated. For a list of I2C Master interrupts, please refer to Register 54.
jksoft	0:9fcc79b3f00e	1841	* The bit clears to 0 after the register has been read.
jksoft	0:9fcc79b3f00e	1842	* @return Current interrupt status
jksoft	0:9fcc79b3f00e	1843	* @see MPU6050_RA_INT_STATUS
jksoft	0:9fcc79b3f00e	1844	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
jksoft	0:9fcc79b3f00e	1845	*/
jksoft	0:9fcc79b3f00e	1846	bool MPU6050::getIntI2CMasterStatus()
jksoft	0:9fcc79b3f00e	1847	{
jksoft	0:9fcc79b3f00e	1848	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
jksoft	0:9fcc79b3f00e	1849	return buffer[0];
jksoft	0:9fcc79b3f00e	1850	}
jksoft	0:9fcc79b3f00e	1851	/** Get Data Ready interrupt status.
jksoft	0:9fcc79b3f00e	1852	* This bit automatically sets to 1 when a Data Ready interrupt has been
jksoft	0:9fcc79b3f00e	1853	* generated. The bit clears to 0 after the register has been read.
jksoft	0:9fcc79b3f00e	1854	* @return Current interrupt status
jksoft	0:9fcc79b3f00e	1855	* @see MPU6050_RA_INT_STATUS
jksoft	0:9fcc79b3f00e	1856	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
jksoft	0:9fcc79b3f00e	1857	*/
jksoft	0:9fcc79b3f00e	1858	bool MPU6050::getIntDataReadyStatus()
jksoft	0:9fcc79b3f00e	1859	{
jksoft	0:9fcc79b3f00e	1860	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
jksoft	0:9fcc79b3f00e	1861	return buffer[0];
jksoft	0:9fcc79b3f00e	1862	}
jksoft	0:9fcc79b3f00e	1863
jksoft	0:9fcc79b3f00e	1864	// ACCEL_OUT_ registers
jksoft	0:9fcc79b3f00e	1865
jksoft	0:9fcc79b3f00e	1866	/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
jksoft	0:9fcc79b3f00e	1867	* FUNCTION NOT FULLY IMPLEMENTED YET.
jksoft	0:9fcc79b3f00e	1868	* @param ax 16-bit signed integer container for accelerometer X-axis value
jksoft	0:9fcc79b3f00e	1869	* @param ay 16-bit signed integer container for accelerometer Y-axis value
jksoft	0:9fcc79b3f00e	1870	* @param az 16-bit signed integer container for accelerometer Z-axis value
jksoft	0:9fcc79b3f00e	1871	* @param gx 16-bit signed integer container for gyroscope X-axis value
jksoft	0:9fcc79b3f00e	1872	* @param gy 16-bit signed integer container for gyroscope Y-axis value
jksoft	0:9fcc79b3f00e	1873	* @param gz 16-bit signed integer container for gyroscope Z-axis value
jksoft	0:9fcc79b3f00e	1874	* @param mx 16-bit signed integer container for magnetometer X-axis value
jksoft	0:9fcc79b3f00e	1875	* @param my 16-bit signed integer container for magnetometer Y-axis value
jksoft	0:9fcc79b3f00e	1876	* @param mz 16-bit signed integer container for magnetometer Z-axis value
jksoft	0:9fcc79b3f00e	1877	* @see getMotion6()
jksoft	0:9fcc79b3f00e	1878	* @see getAcceleration()
jksoft	0:9fcc79b3f00e	1879	* @see getRotation()
jksoft	0:9fcc79b3f00e	1880	* @see MPU6050_RA_ACCEL_XOUT_H
jksoft	0:9fcc79b3f00e	1881	*/
jksoft	0:9fcc79b3f00e	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)
jksoft	0:9fcc79b3f00e	1883	{
jksoft	0:9fcc79b3f00e	1884	getMotion6(ax, ay, az, gx, gy, gz);
jksoft	0:9fcc79b3f00e	1885	// TODO: magnetometer integration
jksoft	0:9fcc79b3f00e	1886	}
jksoft	0:9fcc79b3f00e	1887	/** Get raw 6-axis motion sensor readings (accel/gyro).
jksoft	0:9fcc79b3f00e	1888	* Retrieves all currently available motion sensor values.
jksoft	0:9fcc79b3f00e	1889	* @param ax 16-bit signed integer container for accelerometer X-axis value
jksoft	0:9fcc79b3f00e	1890	* @param ay 16-bit signed integer container for accelerometer Y-axis value
jksoft	0:9fcc79b3f00e	1891	* @param az 16-bit signed integer container for accelerometer Z-axis value
jksoft	0:9fcc79b3f00e	1892	* @param gx 16-bit signed integer container for gyroscope X-axis value
jksoft	0:9fcc79b3f00e	1893	* @param gy 16-bit signed integer container for gyroscope Y-axis value
jksoft	0:9fcc79b3f00e	1894	* @param gz 16-bit signed integer container for gyroscope Z-axis value
jksoft	0:9fcc79b3f00e	1895	* @see getAcceleration()
jksoft	0:9fcc79b3f00e	1896	* @see getRotation()
jksoft	0:9fcc79b3f00e	1897	* @see MPU6050_RA_ACCEL_XOUT_H
jksoft	0:9fcc79b3f00e	1898	*/
jksoft	0:9fcc79b3f00e	1899	void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
jksoft	0:9fcc79b3f00e	1900	{
jksoft	0:9fcc79b3f00e	1901	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
jksoft	0:9fcc79b3f00e	1902	*ax = (((int16_t)buffer[0]) << 8) \| buffer[1];
jksoft	0:9fcc79b3f00e	1903	*ay = (((int16_t)buffer[2]) << 8) \| buffer[3];
jksoft	0:9fcc79b3f00e	1904	*az = (((int16_t)buffer[4]) << 8) \| buffer[5];
jksoft	0:9fcc79b3f00e	1905	*gx = (((int16_t)buffer[8]) << 8) \| buffer[9];
jksoft	0:9fcc79b3f00e	1906	*gy = (((int16_t)buffer[10]) << 8) \| buffer[11];
jksoft	0:9fcc79b3f00e	1907	*gz = (((int16_t)buffer[12]) << 8) \| buffer[13];
jksoft	0:9fcc79b3f00e	1908	}
jksoft	0:9fcc79b3f00e	1909	/** Get 3-axis accelerometer readings.
jksoft	0:9fcc79b3f00e	1910	* These registers store the most recent accelerometer measurements.
jksoft	0:9fcc79b3f00e	1911	* Accelerometer measurements are written to these registers at the Sample Rate
jksoft	0:9fcc79b3f00e	1912	* as defined in Register 25.
jksoft	0:9fcc79b3f00e	1913	*
jksoft	0:9fcc79b3f00e	1914	* The accelerometer measurement registers, along with the temperature
jksoft	0:9fcc79b3f00e	1915	* measurement registers, gyroscope measurement registers, and external sensor
jksoft	0:9fcc79b3f00e	1916	* data registers, are composed of two sets of registers: an internal register
jksoft	0:9fcc79b3f00e	1917	* set and a user-facing read register set.
jksoft	0:9fcc79b3f00e	1918	*
jksoft	0:9fcc79b3f00e	1919	* The data within the accelerometer sensors' internal register set is always
jksoft	0:9fcc79b3f00e	1920	* updated at the Sample Rate. Meanwhile, the user-facing read register set
jksoft	0:9fcc79b3f00e	1921	* duplicates the internal register set's data values whenever the serial
jksoft	0:9fcc79b3f00e	1922	* interface is idle. This guarantees that a burst read of sensor registers will
jksoft	0:9fcc79b3f00e	1923	* read measurements from the same sampling instant. Note that if burst reads
jksoft	0:9fcc79b3f00e	1924	* are not used, the user is responsible for ensuring a set of single byte reads
jksoft	0:9fcc79b3f00e	1925	* correspond to a single sampling instant by checking the Data Ready interrupt.
jksoft	0:9fcc79b3f00e	1926	*
jksoft	0:9fcc79b3f00e	1927	* Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
jksoft	0:9fcc79b3f00e	1928	* (Register 28). For each full scale setting, the accelerometers' sensitivity
jksoft	0:9fcc79b3f00e	1929	* per LSB in ACCEL_xOUT is shown in the table below:
jksoft	0:9fcc79b3f00e	1930	*
jksoft	0:9fcc79b3f00e	1931	* <pre>
jksoft	0:9fcc79b3f00e	1932	* AFS_SEL \| Full Scale Range \| LSB Sensitivity
jksoft	0:9fcc79b3f00e	1933	* --------+------------------+----------------
jksoft	0:9fcc79b3f00e	1934	* 0 \| +/- 2g \| 8192 LSB/mg
jksoft	0:9fcc79b3f00e	1935	* 1 \| +/- 4g \| 4096 LSB/mg
jksoft	0:9fcc79b3f00e	1936	* 2 \| +/- 8g \| 2048 LSB/mg
jksoft	0:9fcc79b3f00e	1937	* 3 \| +/- 16g \| 1024 LSB/mg
jksoft	0:9fcc79b3f00e	1938	* </pre>
jksoft	0:9fcc79b3f00e	1939	*
jksoft	0:9fcc79b3f00e	1940	* @param x 16-bit signed integer container for X-axis acceleration
jksoft	0:9fcc79b3f00e	1941	* @param y 16-bit signed integer container for Y-axis acceleration
jksoft	0:9fcc79b3f00e	1942	* @param z 16-bit signed integer container for Z-axis acceleration
jksoft	0:9fcc79b3f00e	1943	* @see MPU6050_RA_GYRO_XOUT_H
jksoft	0:9fcc79b3f00e	1944	*/
jksoft	0:9fcc79b3f00e	1945	void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z)
jksoft	0:9fcc79b3f00e	1946	{
jksoft	0:9fcc79b3f00e	1947	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
jksoft	0:9fcc79b3f00e	1948	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
jksoft	0:9fcc79b3f00e	1949	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
jksoft	0:9fcc79b3f00e	1950	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
jksoft	0:9fcc79b3f00e	1951	}
jksoft	0:9fcc79b3f00e	1952	/** Get X-axis accelerometer reading.
jksoft	0:9fcc79b3f00e	1953	* @return X-axis acceleration measurement in 16-bit 2's complement format
jksoft	0:9fcc79b3f00e	1954	* @see getMotion6()
jksoft	0:9fcc79b3f00e	1955	* @see MPU6050_RA_ACCEL_XOUT_H
jksoft	0:9fcc79b3f00e	1956	*/
jksoft	0:9fcc79b3f00e	1957	int16_t MPU6050::getAccelerationX()
jksoft	0:9fcc79b3f00e	1958	{
jksoft	0:9fcc79b3f00e	1959	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
jksoft	0:9fcc79b3f00e	1960	return (((int16_t)buffer[0]) << 8) \| buffer[1];
jksoft	0:9fcc79b3f00e	1961	}
jksoft	0:9fcc79b3f00e	1962	/** Get Y-axis accelerometer reading.
jksoft	0:9fcc79b3f00e	1963	* @return Y-axis acceleration measurement in 16-bit 2's complement format
jksoft	0:9fcc79b3f00e	1964	* @see getMotion6()
jksoft	0:9fcc79b3f00e	1965	* @see MPU6050_RA_ACCEL_YOUT_H
jksoft	0:9fcc79b3f00e	1966	*/
jksoft	0:9fcc79b3f00e	1967	int16_t MPU6050::getAccelerationY()
jksoft	0:9fcc79b3f00e	1968	{
jksoft	0:9fcc79b3f00e	1969	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
jksoft	0:9fcc79b3f00e	1970	return (((int16_t)buffer[0]) << 8) \| buffer[1];
jksoft	0:9fcc79b3f00e	1971	}
jksoft	0:9fcc79b3f00e	1972	/** Get Z-axis accelerometer reading.
jksoft	0:9fcc79b3f00e	1973	* @return Z-axis acceleration measurement in 16-bit 2's complement format
jksoft	0:9fcc79b3f00e	1974	* @see getMotion6()
jksoft	0:9fcc79b3f00e	1975	* @see MPU6050_RA_ACCEL_ZOUT_H
jksoft	0:9fcc79b3f00e	1976	*/
jksoft	0:9fcc79b3f00e	1977	int16_t MPU6050::getAccelerationZ()
jksoft	0:9fcc79b3f00e	1978	{
jksoft	0:9fcc79b3f00e	1979	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
jksoft	0:9fcc79b3f00e	1980	return (((int16_t)buffer[0]) << 8) \| buffer[1];
jksoft	0:9fcc79b3f00e	1981	}
jksoft	0:9fcc79b3f00e	1982
jksoft	0:9fcc79b3f00e	1983	// TEMP_OUT_* registers
jksoft	0:9fcc79b3f00e	1984
jksoft	0:9fcc79b3f00e	1985	/** Get current internal temperature.
jksoft	0:9fcc79b3f00e	1986	* @return Temperature reading in 16-bit 2's complement format
jksoft	0:9fcc79b3f00e	1987	* @see MPU6050_RA_TEMP_OUT_H
jksoft	0:9fcc79b3f00e	1988	*/
jksoft	0:9fcc79b3f00e	1989	int16_t MPU6050::getTemperature()
jksoft	0:9fcc79b3f00e	1990	{
jksoft	0:9fcc79b3f00e	1991	i2Cdev.readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
jksoft	0:9fcc79b3f00e	1992	return (((int16_t)buffer[0]) << 8) \| buffer[1];
jksoft	0:9fcc79b3f00e	1993	}
jksoft	0:9fcc79b3f00e	1994
jksoft	0:9fcc79b3f00e	1995	// GYRO_OUT_ registers
jksoft	0:9fcc79b3f00e	1996
jksoft	0:9fcc79b3f00e	1997	/** Get 3-axis gyroscope readings.
jksoft	0:9fcc79b3f00e	1998	* These gyroscope measurement registers, along with the accelerometer
jksoft	0:9fcc79b3f00e	1999	* measurement registers, temperature measurement registers, and external sensor
jksoft	0:9fcc79b3f00e	2000	* data registers, are composed of two sets of registers: an internal register
jksoft	0:9fcc79b3f00e	2001	* set and a user-facing read register set.
jksoft	0:9fcc79b3f00e	2002	* The data within the gyroscope sensors' internal register set is always
jksoft	0:9fcc79b3f00e	2003	* updated at the Sample Rate. Meanwhile, the user-facing read register set
jksoft	0:9fcc79b3f00e	2004	* duplicates the internal register set's data values whenever the serial
jksoft	0:9fcc79b3f00e	2005	* interface is idle. This guarantees that a burst read of sensor registers will
jksoft	0:9fcc79b3f00e	2006	* read measurements from the same sampling instant. Note that if burst reads
jksoft	0:9fcc79b3f00e	2007	* are not used, the user is responsible for ensuring a set of single byte reads
jksoft	0:9fcc79b3f00e	2008	* correspond to a single sampling instant by checking the Data Ready interrupt.
jksoft	0:9fcc79b3f00e	2009	*
jksoft	0:9fcc79b3f00e	2010	* Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
jksoft	0:9fcc79b3f00e	2011	* (Register 27). For each full scale setting, the gyroscopes' sensitivity per
jksoft	0:9fcc79b3f00e	2012	* LSB in GYRO_xOUT is shown in the table below:
jksoft	0:9fcc79b3f00e	2013	*
jksoft	0:9fcc79b3f00e	2014	* <pre>
jksoft	0:9fcc79b3f00e	2015	* FS_SEL \| Full Scale Range \| LSB Sensitivity
jksoft	0:9fcc79b3f00e	2016	* -------+--------------------+----------------
jksoft	0:9fcc79b3f00e	2017	* 0 \| +/- 250 degrees/s \| 131 LSB/deg/s
jksoft	0:9fcc79b3f00e	2018	* 1 \| +/- 500 degrees/s \| 65.5 LSB/deg/s
jksoft	0:9fcc79b3f00e	2019	* 2 \| +/- 1000 degrees/s \| 32.8 LSB/deg/s
jksoft	0:9fcc79b3f00e	2020	* 3 \| +/- 2000 degrees/s \| 16.4 LSB/deg/s
jksoft	0:9fcc79b3f00e	2021	* </pre>
jksoft	0:9fcc79b3f00e	2022	*
jksoft	0:9fcc79b3f00e	2023	* @param x 16-bit signed integer container for X-axis rotation
jksoft	0:9fcc79b3f00e	2024	* @param y 16-bit signed integer container for Y-axis rotation
jksoft	0:9fcc79b3f00e	2025	* @param z 16-bit signed integer container for Z-axis rotation
jksoft	0:9fcc79b3f00e	2026	* @see getMotion6()
jksoft	0:9fcc79b3f00e	2027	* @see MPU6050_RA_GYRO_XOUT_H
jksoft	0:9fcc79b3f00e	2028	*/
jksoft	0:9fcc79b3f00e	2029	void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z)
jksoft	0:9fcc79b3f00e	2030	{
jksoft	0:9fcc79b3f00e	2031	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
jksoft	0:9fcc79b3f00e	2032	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
jksoft	0:9fcc79b3f00e	2033	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
jksoft	0:9fcc79b3f00e	2034	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
jksoft	0:9fcc79b3f00e	2035	}
jksoft	0:9fcc79b3f00e	2036	/** Get X-axis gyroscope reading.
jksoft	0:9fcc79b3f00e	2037	* @return X-axis rotation measurement in 16-bit 2's complement format
jksoft	0:9fcc79b3f00e	2038	* @see getMotion6()
jksoft	0:9fcc79b3f00e	2039	* @see MPU6050_RA_GYRO_XOUT_H
jksoft	0:9fcc79b3f00e	2040	*/
jksoft	0:9fcc79b3f00e	2041	int16_t MPU6050::getRotationX()
jksoft	0:9fcc79b3f00e	2042	{
jksoft	0:9fcc79b3f00e	2043	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
jksoft	0:9fcc79b3f00e	2044	return (((int16_t)buffer[0]) << 8) \| buffer[1];
jksoft	0:9fcc79b3f00e	2045	}
jksoft	0:9fcc79b3f00e	2046	/** Get Y-axis gyroscope reading.
jksoft	0:9fcc79b3f00e	2047	* @return Y-axis rotation measurement in 16-bit 2's complement format
jksoft	0:9fcc79b3f00e	2048	* @see getMotion6()
jksoft	0:9fcc79b3f00e	2049	* @see MPU6050_RA_GYRO_YOUT_H
jksoft	0:9fcc79b3f00e	2050	*/
jksoft	0:9fcc79b3f00e	2051	int16_t MPU6050::getRotationY()
jksoft	0:9fcc79b3f00e	2052	{
jksoft	0:9fcc79b3f00e	2053	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
jksoft	0:9fcc79b3f00e	2054	return (((int16_t)buffer[0]) << 8) \| buffer[1];
jksoft	0:9fcc79b3f00e	2055	}
jksoft	0:9fcc79b3f00e	2056	/** Get Z-axis gyroscope reading.
jksoft	0:9fcc79b3f00e	2057	* @return Z-axis rotation measurement in 16-bit 2's complement format
jksoft	0:9fcc79b3f00e	2058	* @see getMotion6()
jksoft	0:9fcc79b3f00e	2059	* @see MPU6050_RA_GYRO_ZOUT_H
jksoft	0:9fcc79b3f00e	2060	*/
jksoft	0:9fcc79b3f00e	2061	int16_t MPU6050::getRotationZ()
jksoft	0:9fcc79b3f00e	2062	{
jksoft	0:9fcc79b3f00e	2063	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
jksoft	0:9fcc79b3f00e	2064	return (((int16_t)buffer[0]) << 8) \| buffer[1];
jksoft	0:9fcc79b3f00e	2065	}
jksoft	0:9fcc79b3f00e	2066
jksoft	0:9fcc79b3f00e	2067	// EXT_SENS_DATA_* registers
jksoft	0:9fcc79b3f00e	2068
jksoft	0:9fcc79b3f00e	2069	/** Read single byte from external sensor data register.
jksoft	0:9fcc79b3f00e	2070	* These registers store data read from external sensors by the Slave 0, 1, 2,
jksoft	0:9fcc79b3f00e	2071	* and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
jksoft	0:9fcc79b3f00e	2072	* I2C_SLV4_DI (Register 53).
jksoft	0:9fcc79b3f00e	2073	*
jksoft	0:9fcc79b3f00e	2074	* External sensor data is written to these registers at the Sample Rate as
jksoft	0:9fcc79b3f00e	2075	* defined in Register 25. This access rate can be reduced by using the Slave
jksoft	0:9fcc79b3f00e	2076	* Delay Enable registers (Register 103).
jksoft	0:9fcc79b3f00e	2077	*
jksoft	0:9fcc79b3f00e	2078	* External sensor data registers, along with the gyroscope measurement
jksoft	0:9fcc79b3f00e	2079	* registers, accelerometer measurement registers, and temperature measurement
jksoft	0:9fcc79b3f00e	2080	* registers, are composed of two sets of registers: an internal register set
jksoft	0:9fcc79b3f00e	2081	* and a user-facing read register set.
jksoft	0:9fcc79b3f00e	2082	*
jksoft	0:9fcc79b3f00e	2083	* The data within the external sensors' internal register set is always updated
jksoft	0:9fcc79b3f00e	2084	* at the Sample Rate (or the reduced access rate) whenever the serial interface
jksoft	0:9fcc79b3f00e	2085	* is idle. This guarantees that a burst read of sensor registers will read
jksoft	0:9fcc79b3f00e	2086	* measurements from the same sampling instant. Note that if burst reads are not
jksoft	0:9fcc79b3f00e	2087	* used, the user is responsible for ensuring a set of single byte reads
jksoft	0:9fcc79b3f00e	2088	* correspond to a single sampling instant by checking the Data Ready interrupt.
jksoft	0:9fcc79b3f00e	2089	*
jksoft	0:9fcc79b3f00e	2090	* Data is placed in these external sensor data registers according to
jksoft	0:9fcc79b3f00e	2091	* I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
jksoft	0:9fcc79b3f00e	2092	* 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
jksoft	0:9fcc79b3f00e	2093	* an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
jksoft	0:9fcc79b3f00e	2094	* defined in Register 25) or delayed rate (if specified in Register 52 and
jksoft	0:9fcc79b3f00e	2095	* 103). During each Sample cycle, slave reads are performed in order of Slave
jksoft	0:9fcc79b3f00e	2096	* number. If all slaves are enabled with more than zero bytes to be read, the
jksoft	0:9fcc79b3f00e	2097	* order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
jksoft	0:9fcc79b3f00e	2098	*
jksoft	0:9fcc79b3f00e	2099	* Each enabled slave will have EXT_SENS_DATA registers associated with it by
jksoft	0:9fcc79b3f00e	2100	* number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
jksoft	0:9fcc79b3f00e	2101	* EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
jksoft	0:9fcc79b3f00e	2102	* change the higher numbered slaves' associated registers. Furthermore, if
jksoft	0:9fcc79b3f00e	2103	* fewer total bytes are being read from the external sensors as a result of
jksoft	0:9fcc79b3f00e	2104	* such a change, then the data remaining in the registers which no longer have
jksoft	0:9fcc79b3f00e	2105	* an associated slave device (i.e. high numbered registers) will remain in
jksoft	0:9fcc79b3f00e	2106	* these previously allocated registers unless reset.
jksoft	0:9fcc79b3f00e	2107	*
jksoft	0:9fcc79b3f00e	2108	* If the sum of the read lengths of all SLVx transactions exceed the number of
jksoft	0:9fcc79b3f00e	2109	* available EXT_SENS_DATA registers, the excess bytes will be dropped. There
jksoft	0:9fcc79b3f00e	2110	* are 24 EXT_SENS_DATA registers and hence the total read lengths between all
jksoft	0:9fcc79b3f00e	2111	* the slaves cannot be greater than 24 or some bytes will be lost.
jksoft	0:9fcc79b3f00e	2112	*
jksoft	0:9fcc79b3f00e	2113	* Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
jksoft	0:9fcc79b3f00e	2114	* information regarding the characteristics of Slave 4, please refer to
jksoft	0:9fcc79b3f00e	2115	* Registers 49 to 53.
jksoft	0:9fcc79b3f00e	2116	*
jksoft	0:9fcc79b3f00e	2117	* EXAMPLE:
jksoft	0:9fcc79b3f00e	2118	* Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
jksoft	0:9fcc79b3f00e	2119	* I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
jksoft	0:9fcc79b3f00e	2120	* I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
jksoft	0:9fcc79b3f00e	2121	* through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
jksoft	0:9fcc79b3f00e	2122	* will be associated with Slave 1. If Slave 2 is enabled as well, registers
jksoft	0:9fcc79b3f00e	2123	* starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
jksoft	0:9fcc79b3f00e	2124	*
jksoft	0:9fcc79b3f00e	2125	* If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
jksoft	0:9fcc79b3f00e	2126	* registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
jksoft	0:9fcc79b3f00e	2127	* instead.
jksoft	0:9fcc79b3f00e	2128	*
jksoft	0:9fcc79b3f00e	2129	* REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
jksoft	0:9fcc79b3f00e	2130	* If a slave is disabled at any time, the space initially allocated to the
jksoft	0:9fcc79b3f00e	2131	* slave in the EXT_SENS_DATA register, will remain associated with that slave.
jksoft	0:9fcc79b3f00e	2132	* This is to avoid dynamic adjustment of the register allocation.
jksoft	0:9fcc79b3f00e	2133	*
jksoft	0:9fcc79b3f00e	2134	* The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
jksoft	0:9fcc79b3f00e	2135	* slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
jksoft	0:9fcc79b3f00e	2136	*
jksoft	0:9fcc79b3f00e	2137	* This above is also true if one of the slaves gets NACKed and stops
jksoft	0:9fcc79b3f00e	2138	* functioning.
jksoft	0:9fcc79b3f00e	2139	*
jksoft	0:9fcc79b3f00e	2140	* @param position Starting position (0-23)
jksoft	0:9fcc79b3f00e	2141	* @return Byte read from register
jksoft	0:9fcc79b3f00e	2142	*/
jksoft	0:9fcc79b3f00e	2143	uint8_t MPU6050::getExternalSensorByte(int position)
jksoft	0:9fcc79b3f00e	2144	{
jksoft	0:9fcc79b3f00e	2145	i2Cdev.readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
jksoft	0:9fcc79b3f00e	2146	return buffer[0];
jksoft	0:9fcc79b3f00e	2147	}
jksoft	0:9fcc79b3f00e	2148	/** Read word (2 bytes) from external sensor data registers.
jksoft	0:9fcc79b3f00e	2149	* @param position Starting position (0-21)
jksoft	0:9fcc79b3f00e	2150	* @return Word read from register
jksoft	0:9fcc79b3f00e	2151	* @see getExternalSensorByte()
jksoft	0:9fcc79b3f00e	2152	*/
jksoft	0:9fcc79b3f00e	2153	uint16_t MPU6050::getExternalSensorWord(int position)
jksoft	0:9fcc79b3f00e	2154	{
jksoft	0:9fcc79b3f00e	2155	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
jksoft	0:9fcc79b3f00e	2156	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
jksoft	0:9fcc79b3f00e	2157	}
jksoft	0:9fcc79b3f00e	2158	/** Read double word (4 bytes) from external sensor data registers.
jksoft	0:9fcc79b3f00e	2159	* @param position Starting position (0-20)
jksoft	0:9fcc79b3f00e	2160	* @return Double word read from registers
jksoft	0:9fcc79b3f00e	2161	* @see getExternalSensorByte()
jksoft	0:9fcc79b3f00e	2162	*/
jksoft	0:9fcc79b3f00e	2163	uint32_t MPU6050::getExternalSensorDWord(int position)
jksoft	0:9fcc79b3f00e	2164	{
jksoft	0:9fcc79b3f00e	2165	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
jksoft	0:9fcc79b3f00e	2166	return (((uint32_t)buffer[0]) << 24) \| (((uint32_t)buffer[1]) << 16) \| (((uint16_t)buffer[2]) << 8) \| buffer[3];
jksoft	0:9fcc79b3f00e	2167	}
jksoft	0:9fcc79b3f00e	2168
jksoft	0:9fcc79b3f00e	2169	// MOT_DETECT_STATUS register
jksoft	0:9fcc79b3f00e	2170
jksoft	0:9fcc79b3f00e	2171	/** Get X-axis negative motion detection interrupt status.
jksoft	0:9fcc79b3f00e	2172	* @return Motion detection status
jksoft	0:9fcc79b3f00e	2173	* @see MPU6050_RA_MOT_DETECT_STATUS
jksoft	0:9fcc79b3f00e	2174	* @see MPU6050_MOTION_MOT_XNEG_BIT
jksoft	0:9fcc79b3f00e	2175	*/
jksoft	0:9fcc79b3f00e	2176	bool MPU6050::getXNegMotionDetected()
jksoft	0:9fcc79b3f00e	2177	{
jksoft	0:9fcc79b3f00e	2178	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
jksoft	0:9fcc79b3f00e	2179	return buffer[0];
jksoft	0:9fcc79b3f00e	2180	}
jksoft	0:9fcc79b3f00e	2181	/** Get X-axis positive motion detection interrupt status.
jksoft	0:9fcc79b3f00e	2182	* @return Motion detection status
jksoft	0:9fcc79b3f00e	2183	* @see MPU6050_RA_MOT_DETECT_STATUS
jksoft	0:9fcc79b3f00e	2184	* @see MPU6050_MOTION_MOT_XPOS_BIT
jksoft	0:9fcc79b3f00e	2185	*/
jksoft	0:9fcc79b3f00e	2186	bool MPU6050::getXPosMotionDetected()
jksoft	0:9fcc79b3f00e	2187	{
jksoft	0:9fcc79b3f00e	2188	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
jksoft	0:9fcc79b3f00e	2189	return buffer[0];
jksoft	0:9fcc79b3f00e	2190	}
jksoft	0:9fcc79b3f00e	2191	/** Get Y-axis negative motion detection interrupt status.
jksoft	0:9fcc79b3f00e	2192	* @return Motion detection status
jksoft	0:9fcc79b3f00e	2193	* @see MPU6050_RA_MOT_DETECT_STATUS
jksoft	0:9fcc79b3f00e	2194	* @see MPU6050_MOTION_MOT_YNEG_BIT
jksoft	0:9fcc79b3f00e	2195	*/
jksoft	0:9fcc79b3f00e	2196	bool MPU6050::getYNegMotionDetected()
jksoft	0:9fcc79b3f00e	2197	{
jksoft	0:9fcc79b3f00e	2198	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
jksoft	0:9fcc79b3f00e	2199	return buffer[0];
jksoft	0:9fcc79b3f00e	2200	}
jksoft	0:9fcc79b3f00e	2201	/** Get Y-axis positive motion detection interrupt status.
jksoft	0:9fcc79b3f00e	2202	* @return Motion detection status
jksoft	0:9fcc79b3f00e	2203	* @see MPU6050_RA_MOT_DETECT_STATUS
jksoft	0:9fcc79b3f00e	2204	* @see MPU6050_MOTION_MOT_YPOS_BIT
jksoft	0:9fcc79b3f00e	2205	*/
jksoft	0:9fcc79b3f00e	2206	bool MPU6050::getYPosMotionDetected()
jksoft	0:9fcc79b3f00e	2207	{
jksoft	0:9fcc79b3f00e	2208	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
jksoft	0:9fcc79b3f00e	2209	return buffer[0];
jksoft	0:9fcc79b3f00e	2210	}
jksoft	0:9fcc79b3f00e	2211	/** Get Z-axis negative motion detection interrupt status.
jksoft	0:9fcc79b3f00e	2212	* @return Motion detection status
jksoft	0:9fcc79b3f00e	2213	* @see MPU6050_RA_MOT_DETECT_STATUS
jksoft	0:9fcc79b3f00e	2214	* @see MPU6050_MOTION_MOT_ZNEG_BIT
jksoft	0:9fcc79b3f00e	2215	*/
jksoft	0:9fcc79b3f00e	2216	bool MPU6050::getZNegMotionDetected()
jksoft	0:9fcc79b3f00e	2217	{
jksoft	0:9fcc79b3f00e	2218	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
jksoft	0:9fcc79b3f00e	2219	return buffer[0];
jksoft	0:9fcc79b3f00e	2220	}
jksoft	0:9fcc79b3f00e	2221	/** Get Z-axis positive motion detection interrupt status.
jksoft	0:9fcc79b3f00e	2222	* @return Motion detection status
jksoft	0:9fcc79b3f00e	2223	* @see MPU6050_RA_MOT_DETECT_STATUS
jksoft	0:9fcc79b3f00e	2224	* @see MPU6050_MOTION_MOT_ZPOS_BIT
jksoft	0:9fcc79b3f00e	2225	*/
jksoft	0:9fcc79b3f00e	2226	bool MPU6050::getZPosMotionDetected()
jksoft	0:9fcc79b3f00e	2227	{
jksoft	0:9fcc79b3f00e	2228	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
jksoft	0:9fcc79b3f00e	2229	return buffer[0];
jksoft	0:9fcc79b3f00e	2230	}
jksoft	0:9fcc79b3f00e	2231	/** Get zero motion detection interrupt status.
jksoft	0:9fcc79b3f00e	2232	* @return Motion detection status
jksoft	0:9fcc79b3f00e	2233	* @see MPU6050_RA_MOT_DETECT_STATUS
jksoft	0:9fcc79b3f00e	2234	* @see MPU6050_MOTION_MOT_ZRMOT_BIT
jksoft	0:9fcc79b3f00e	2235	*/
jksoft	0:9fcc79b3f00e	2236	bool MPU6050::getZeroMotionDetected()
jksoft	0:9fcc79b3f00e	2237	{
jksoft	0:9fcc79b3f00e	2238	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
jksoft	0:9fcc79b3f00e	2239	return buffer[0];
jksoft	0:9fcc79b3f00e	2240	}
jksoft	0:9fcc79b3f00e	2241
jksoft	0:9fcc79b3f00e	2242	// I2C_SLV*_DO register
jksoft	0:9fcc79b3f00e	2243
jksoft	0:9fcc79b3f00e	2244	/** Write byte to Data Output container for specified slave.
jksoft	0:9fcc79b3f00e	2245	* This register holds the output data written into Slave when Slave is set to
jksoft	0:9fcc79b3f00e	2246	* write mode. For further information regarding Slave control, please
jksoft	0:9fcc79b3f00e	2247	* refer to Registers 37 to 39 and immediately following.
jksoft	0:9fcc79b3f00e	2248	* @param num Slave number (0-3)
jksoft	0:9fcc79b3f00e	2249	* @param data Byte to write
jksoft	0:9fcc79b3f00e	2250	* @see MPU6050_RA_I2C_SLV0_DO
jksoft	0:9fcc79b3f00e	2251	*/
jksoft	0:9fcc79b3f00e	2252	void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data)
jksoft	0:9fcc79b3f00e	2253	{
jksoft	0:9fcc79b3f00e	2254	if (num > 3) return;
jksoft	0:9fcc79b3f00e	2255	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
jksoft	0:9fcc79b3f00e	2256	}
jksoft	0:9fcc79b3f00e	2257
jksoft	0:9fcc79b3f00e	2258	// I2C_MST_DELAY_CTRL register
jksoft	0:9fcc79b3f00e	2259
jksoft	0:9fcc79b3f00e	2260	/** Get external data shadow delay enabled status.
jksoft	0:9fcc79b3f00e	2261	* This register is used to specify the timing of external sensor data
jksoft	0:9fcc79b3f00e	2262	* shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
jksoft	0:9fcc79b3f00e	2263	* sensor data is delayed until all data has been received.
jksoft	0:9fcc79b3f00e	2264	* @return Current external data shadow delay enabled status.
jksoft	0:9fcc79b3f00e	2265	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
jksoft	0:9fcc79b3f00e	2266	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
jksoft	0:9fcc79b3f00e	2267	*/
jksoft	0:9fcc79b3f00e	2268	bool MPU6050::getExternalShadowDelayEnabled()
jksoft	0:9fcc79b3f00e	2269	{
jksoft	0:9fcc79b3f00e	2270	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
jksoft	0:9fcc79b3f00e	2271	return buffer[0];
jksoft	0:9fcc79b3f00e	2272	}
jksoft	0:9fcc79b3f00e	2273	/** Set external data shadow delay enabled status.
jksoft	0:9fcc79b3f00e	2274	* @param enabled New external data shadow delay enabled status.
jksoft	0:9fcc79b3f00e	2275	* @see getExternalShadowDelayEnabled()
jksoft	0:9fcc79b3f00e	2276	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
jksoft	0:9fcc79b3f00e	2277	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
jksoft	0:9fcc79b3f00e	2278	*/
jksoft	0:9fcc79b3f00e	2279	void MPU6050::setExternalShadowDelayEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	2280	{
jksoft	0:9fcc79b3f00e	2281	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
jksoft	0:9fcc79b3f00e	2282	}
jksoft	0:9fcc79b3f00e	2283	/** Get slave delay enabled status.
jksoft	0:9fcc79b3f00e	2284	* When a particular slave delay is enabled, the rate of access for the that
jksoft	0:9fcc79b3f00e	2285	* slave device is reduced. When a slave's access rate is decreased relative to
jksoft	0:9fcc79b3f00e	2286	* the Sample Rate, the slave is accessed every:
jksoft	0:9fcc79b3f00e	2287	*
jksoft	0:9fcc79b3f00e	2288	* 1 / (1 + I2C_MST_DLY) Samples
jksoft	0:9fcc79b3f00e	2289	*
jksoft	0:9fcc79b3f00e	2290	* This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25)
jksoft	0:9fcc79b3f00e	2291	* and DLPF_CFG (register 26).
jksoft	0:9fcc79b3f00e	2292	*
jksoft	0:9fcc79b3f00e	2293	* For further information regarding I2C_MST_DLY, please refer to register 52.
jksoft	0:9fcc79b3f00e	2294	* For further information regarding the Sample Rate, please refer to register 25.
jksoft	0:9fcc79b3f00e	2295	*
jksoft	0:9fcc79b3f00e	2296	* @param num Slave number (0-4)
jksoft	0:9fcc79b3f00e	2297	* @return Current slave delay enabled status.
jksoft	0:9fcc79b3f00e	2298	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
jksoft	0:9fcc79b3f00e	2299	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
jksoft	0:9fcc79b3f00e	2300	*/
jksoft	0:9fcc79b3f00e	2301	bool MPU6050::getSlaveDelayEnabled(uint8_t num)
jksoft	0:9fcc79b3f00e	2302	{
jksoft	0:9fcc79b3f00e	2303	// MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
jksoft	0:9fcc79b3f00e	2304	if (num > 4) return 0;
jksoft	0:9fcc79b3f00e	2305	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
jksoft	0:9fcc79b3f00e	2306	return buffer[0];
jksoft	0:9fcc79b3f00e	2307	}
jksoft	0:9fcc79b3f00e	2308	/** Set slave delay enabled status.
jksoft	0:9fcc79b3f00e	2309	* @param num Slave number (0-4)
jksoft	0:9fcc79b3f00e	2310	* @param enabled New slave delay enabled status.
jksoft	0:9fcc79b3f00e	2311	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
jksoft	0:9fcc79b3f00e	2312	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
jksoft	0:9fcc79b3f00e	2313	*/
jksoft	0:9fcc79b3f00e	2314	void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled)
jksoft	0:9fcc79b3f00e	2315	{
jksoft	0:9fcc79b3f00e	2316	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
jksoft	0:9fcc79b3f00e	2317	}
jksoft	0:9fcc79b3f00e	2318
jksoft	0:9fcc79b3f00e	2319	// SIGNAL_PATH_RESET register
jksoft	0:9fcc79b3f00e	2320
jksoft	0:9fcc79b3f00e	2321	/** Reset gyroscope signal path.
jksoft	0:9fcc79b3f00e	2322	* The reset will revert the signal path analog to digital converters and
jksoft	0:9fcc79b3f00e	2323	* filters to their power up configurations.
jksoft	0:9fcc79b3f00e	2324	* @see MPU6050_RA_SIGNAL_PATH_RESET
jksoft	0:9fcc79b3f00e	2325	* @see MPU6050_PATHRESET_GYRO_RESET_BIT
jksoft	0:9fcc79b3f00e	2326	*/
jksoft	0:9fcc79b3f00e	2327	void MPU6050::resetGyroscopePath()
jksoft	0:9fcc79b3f00e	2328	{
jksoft	0:9fcc79b3f00e	2329	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
jksoft	0:9fcc79b3f00e	2330	}
jksoft	0:9fcc79b3f00e	2331	/** Reset accelerometer signal path.
jksoft	0:9fcc79b3f00e	2332	* The reset will revert the signal path analog to digital converters and
jksoft	0:9fcc79b3f00e	2333	* filters to their power up configurations.
jksoft	0:9fcc79b3f00e	2334	* @see MPU6050_RA_SIGNAL_PATH_RESET
jksoft	0:9fcc79b3f00e	2335	* @see MPU6050_PATHRESET_ACCEL_RESET_BIT
jksoft	0:9fcc79b3f00e	2336	*/
jksoft	0:9fcc79b3f00e	2337	void MPU6050::resetAccelerometerPath()
jksoft	0:9fcc79b3f00e	2338	{
jksoft	0:9fcc79b3f00e	2339	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
jksoft	0:9fcc79b3f00e	2340	}
jksoft	0:9fcc79b3f00e	2341	/** Reset temperature sensor signal path.
jksoft	0:9fcc79b3f00e	2342	* The reset will revert the signal path analog to digital converters and
jksoft	0:9fcc79b3f00e	2343	* filters to their power up configurations.
jksoft	0:9fcc79b3f00e	2344	* @see MPU6050_RA_SIGNAL_PATH_RESET
jksoft	0:9fcc79b3f00e	2345	* @see MPU6050_PATHRESET_TEMP_RESET_BIT
jksoft	0:9fcc79b3f00e	2346	*/
jksoft	0:9fcc79b3f00e	2347	void MPU6050::resetTemperaturePath()
jksoft	0:9fcc79b3f00e	2348	{
jksoft	0:9fcc79b3f00e	2349	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
jksoft	0:9fcc79b3f00e	2350	}
jksoft	0:9fcc79b3f00e	2351
jksoft	0:9fcc79b3f00e	2352	// MOT_DETECT_CTRL register
jksoft	0:9fcc79b3f00e	2353
jksoft	0:9fcc79b3f00e	2354	/** Get accelerometer power-on delay.
jksoft	0:9fcc79b3f00e	2355	* The accelerometer data path provides samples to the sensor registers, Motion
jksoft	0:9fcc79b3f00e	2356	* detection, Zero Motion detection, and Free Fall detection modules. The
jksoft	0:9fcc79b3f00e	2357	* signal path contains filters which must be flushed on wake-up with new
jksoft	0:9fcc79b3f00e	2358	* samples before the detection modules begin operations. The default wake-up
jksoft	0:9fcc79b3f00e	2359	* delay, of 4ms can be lengthened by up to 3ms. This additional delay is
jksoft	0:9fcc79b3f00e	2360	* specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
jksoft	0:9fcc79b3f00e	2361	* any value above zero unless instructed otherwise by InvenSense. Please refer
jksoft	0:9fcc79b3f00e	2362	* to Section 8 of the MPU-6000/MPU-6050 Product Specification document for
jksoft	0:9fcc79b3f00e	2363	* further information regarding the detection modules.
jksoft	0:9fcc79b3f00e	2364	* @return Current accelerometer power-on delay
jksoft	0:9fcc79b3f00e	2365	* @see MPU6050_RA_MOT_DETECT_CTRL
jksoft	0:9fcc79b3f00e	2366	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
jksoft	0:9fcc79b3f00e	2367	*/
jksoft	0:9fcc79b3f00e	2368	uint8_t MPU6050::getAccelerometerPowerOnDelay()
jksoft	0:9fcc79b3f00e	2369	{
jksoft	0:9fcc79b3f00e	2370	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
jksoft	0:9fcc79b3f00e	2371	return buffer[0];
jksoft	0:9fcc79b3f00e	2372	}
jksoft	0:9fcc79b3f00e	2373	/** Set accelerometer power-on delay.
jksoft	0:9fcc79b3f00e	2374	* @param delay New accelerometer power-on delay (0-3)
jksoft	0:9fcc79b3f00e	2375	* @see getAccelerometerPowerOnDelay()
jksoft	0:9fcc79b3f00e	2376	* @see MPU6050_RA_MOT_DETECT_CTRL
jksoft	0:9fcc79b3f00e	2377	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
jksoft	0:9fcc79b3f00e	2378	*/
jksoft	0:9fcc79b3f00e	2379	void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay)
jksoft	0:9fcc79b3f00e	2380	{
jksoft	0:9fcc79b3f00e	2381	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
jksoft	0:9fcc79b3f00e	2382	}
jksoft	0:9fcc79b3f00e	2383	/** Get Free Fall detection counter decrement configuration.
jksoft	0:9fcc79b3f00e	2384	* Detection is registered by the Free Fall detection module after accelerometer
jksoft	0:9fcc79b3f00e	2385	* measurements meet their respective threshold conditions over a specified
jksoft	0:9fcc79b3f00e	2386	* number of samples. When the threshold conditions are met, the corresponding
jksoft	0:9fcc79b3f00e	2387	* detection counter increments by 1. The user may control the rate at which the
jksoft	0:9fcc79b3f00e	2388	* detection counter decrements when the threshold condition is not met by
jksoft	0:9fcc79b3f00e	2389	* configuring FF_COUNT. The decrement rate can be set according to the
jksoft	0:9fcc79b3f00e	2390	* following table:
jksoft	0:9fcc79b3f00e	2391	*
jksoft	0:9fcc79b3f00e	2392	* <pre>
jksoft	0:9fcc79b3f00e	2393	* FF_COUNT \| Counter Decrement
jksoft	0:9fcc79b3f00e	2394	* ---------+------------------
jksoft	0:9fcc79b3f00e	2395	* 0 \| Reset
jksoft	0:9fcc79b3f00e	2396	* 1 \| 1
jksoft	0:9fcc79b3f00e	2397	* 2 \| 2
jksoft	0:9fcc79b3f00e	2398	* 3 \| 4
jksoft	0:9fcc79b3f00e	2399	* </pre>
jksoft	0:9fcc79b3f00e	2400	*
jksoft	0:9fcc79b3f00e	2401	* When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
jksoft	0:9fcc79b3f00e	2402	* reset the counter to 0. For further information on Free Fall detection,
jksoft	0:9fcc79b3f00e	2403	* please refer to Registers 29 to 32.
jksoft	0:9fcc79b3f00e	2404	*
jksoft	0:9fcc79b3f00e	2405	* @return Current decrement configuration
jksoft	0:9fcc79b3f00e	2406	* @see MPU6050_RA_MOT_DETECT_CTRL
jksoft	0:9fcc79b3f00e	2407	* @see MPU6050_DETECT_FF_COUNT_BIT
jksoft	0:9fcc79b3f00e	2408	*/
jksoft	0:9fcc79b3f00e	2409	uint8_t MPU6050::getFreefallDetectionCounterDecrement()
jksoft	0:9fcc79b3f00e	2410	{
jksoft	0:9fcc79b3f00e	2411	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
jksoft	0:9fcc79b3f00e	2412	return buffer[0];
jksoft	0:9fcc79b3f00e	2413	}
jksoft	0:9fcc79b3f00e	2414	/** Set Free Fall detection counter decrement configuration.
jksoft	0:9fcc79b3f00e	2415	* @param decrement New decrement configuration value
jksoft	0:9fcc79b3f00e	2416	* @see getFreefallDetectionCounterDecrement()
jksoft	0:9fcc79b3f00e	2417	* @see MPU6050_RA_MOT_DETECT_CTRL
jksoft	0:9fcc79b3f00e	2418	* @see MPU6050_DETECT_FF_COUNT_BIT
jksoft	0:9fcc79b3f00e	2419	*/
jksoft	0:9fcc79b3f00e	2420	void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement)
jksoft	0:9fcc79b3f00e	2421	{
jksoft	0:9fcc79b3f00e	2422	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
jksoft	0:9fcc79b3f00e	2423	}
jksoft	0:9fcc79b3f00e	2424	/** Get Motion detection counter decrement configuration.
jksoft	0:9fcc79b3f00e	2425	* Detection is registered by the Motion detection module after accelerometer
jksoft	0:9fcc79b3f00e	2426	* measurements meet their respective threshold conditions over a specified
jksoft	0:9fcc79b3f00e	2427	* number of samples. When the threshold conditions are met, the corresponding
jksoft	0:9fcc79b3f00e	2428	* detection counter increments by 1. The user may control the rate at which the
jksoft	0:9fcc79b3f00e	2429	* detection counter decrements when the threshold condition is not met by
jksoft	0:9fcc79b3f00e	2430	* configuring MOT_COUNT. The decrement rate can be set according to the
jksoft	0:9fcc79b3f00e	2431	* following table:
jksoft	0:9fcc79b3f00e	2432	*
jksoft	0:9fcc79b3f00e	2433	* <pre>
jksoft	0:9fcc79b3f00e	2434	* MOT_COUNT \| Counter Decrement
jksoft	0:9fcc79b3f00e	2435	* ----------+------------------
jksoft	0:9fcc79b3f00e	2436	* 0 \| Reset
jksoft	0:9fcc79b3f00e	2437	* 1 \| 1
jksoft	0:9fcc79b3f00e	2438	* 2 \| 2
jksoft	0:9fcc79b3f00e	2439	* 3 \| 4
jksoft	0:9fcc79b3f00e	2440	* </pre>
jksoft	0:9fcc79b3f00e	2441	*
jksoft	0:9fcc79b3f00e	2442	* When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
jksoft	0:9fcc79b3f00e	2443	* reset the counter to 0. For further information on Motion detection,
jksoft	0:9fcc79b3f00e	2444	* please refer to Registers 29 to 32.
jksoft	0:9fcc79b3f00e	2445	*
jksoft	0:9fcc79b3f00e	2446	*/
jksoft	0:9fcc79b3f00e	2447	uint8_t MPU6050::getMotionDetectionCounterDecrement()
jksoft	0:9fcc79b3f00e	2448	{
jksoft	0:9fcc79b3f00e	2449	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
jksoft	0:9fcc79b3f00e	2450	return buffer[0];
jksoft	0:9fcc79b3f00e	2451	}
jksoft	0:9fcc79b3f00e	2452	/** Set Motion detection counter decrement configuration.
jksoft	0:9fcc79b3f00e	2453	* @param decrement New decrement configuration value
jksoft	0:9fcc79b3f00e	2454	* @see getMotionDetectionCounterDecrement()
jksoft	0:9fcc79b3f00e	2455	* @see MPU6050_RA_MOT_DETECT_CTRL
jksoft	0:9fcc79b3f00e	2456	* @see MPU6050_DETECT_MOT_COUNT_BIT
jksoft	0:9fcc79b3f00e	2457	*/
jksoft	0:9fcc79b3f00e	2458	void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement)
jksoft	0:9fcc79b3f00e	2459	{
jksoft	0:9fcc79b3f00e	2460	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
jksoft	0:9fcc79b3f00e	2461	}
jksoft	0:9fcc79b3f00e	2462
jksoft	0:9fcc79b3f00e	2463	// USER_CTRL register
jksoft	0:9fcc79b3f00e	2464
jksoft	0:9fcc79b3f00e	2465	/** Get FIFO enabled status.
jksoft	0:9fcc79b3f00e	2466	* When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
jksoft	0:9fcc79b3f00e	2467	* cannot be written to or read from while disabled. The FIFO buffer's state
jksoft	0:9fcc79b3f00e	2468	* does not change unless the MPU-60X0 is power cycled.
jksoft	0:9fcc79b3f00e	2469	* @return Current FIFO enabled status
jksoft	0:9fcc79b3f00e	2470	* @see MPU6050_RA_USER_CTRL
jksoft	0:9fcc79b3f00e	2471	* @see MPU6050_USERCTRL_FIFO_EN_BIT
jksoft	0:9fcc79b3f00e	2472	*/
jksoft	0:9fcc79b3f00e	2473	bool MPU6050::getFIFOEnabled()
jksoft	0:9fcc79b3f00e	2474	{
jksoft	0:9fcc79b3f00e	2475	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
jksoft	0:9fcc79b3f00e	2476	return buffer[0];
jksoft	0:9fcc79b3f00e	2477	}
jksoft	0:9fcc79b3f00e	2478	/** Set FIFO enabled status.
jksoft	0:9fcc79b3f00e	2479	* @param enabled New FIFO enabled status
jksoft	0:9fcc79b3f00e	2480	* @see getFIFOEnabled()
jksoft	0:9fcc79b3f00e	2481	* @see MPU6050_RA_USER_CTRL
jksoft	0:9fcc79b3f00e	2482	* @see MPU6050_USERCTRL_FIFO_EN_BIT
jksoft	0:9fcc79b3f00e	2483	*/
jksoft	0:9fcc79b3f00e	2484	void MPU6050::setFIFOEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	2485	{
jksoft	0:9fcc79b3f00e	2486	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
jksoft	0:9fcc79b3f00e	2487	}
jksoft	0:9fcc79b3f00e	2488	/** Get I2C Master Mode enabled status.
jksoft	0:9fcc79b3f00e	2489	* When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
jksoft	0:9fcc79b3f00e	2490	* external sensor slave devices on the auxiliary I2C bus. When this bit is
jksoft	0:9fcc79b3f00e	2491	* cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
jksoft	0:9fcc79b3f00e	2492	* driven by the primary I2C bus (SDA and SCL). This is a precondition to
jksoft	0:9fcc79b3f00e	2493	* enabling Bypass Mode. For further information regarding Bypass Mode, please
jksoft	0:9fcc79b3f00e	2494	* refer to Register 55.
jksoft	0:9fcc79b3f00e	2495	* @return Current I2C Master Mode enabled status
jksoft	0:9fcc79b3f00e	2496	* @see MPU6050_RA_USER_CTRL
jksoft	0:9fcc79b3f00e	2497	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
jksoft	0:9fcc79b3f00e	2498	*/
jksoft	0:9fcc79b3f00e	2499	bool MPU6050::getI2CMasterModeEnabled()
jksoft	0:9fcc79b3f00e	2500	{
jksoft	0:9fcc79b3f00e	2501	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
jksoft	0:9fcc79b3f00e	2502	return buffer[0];
jksoft	0:9fcc79b3f00e	2503	}
jksoft	0:9fcc79b3f00e	2504	/** Set I2C Master Mode enabled status.
jksoft	0:9fcc79b3f00e	2505	* @param enabled New I2C Master Mode enabled status
jksoft	0:9fcc79b3f00e	2506	* @see getI2CMasterModeEnabled()
jksoft	0:9fcc79b3f00e	2507	* @see MPU6050_RA_USER_CTRL
jksoft	0:9fcc79b3f00e	2508	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
jksoft	0:9fcc79b3f00e	2509	*/
jksoft	0:9fcc79b3f00e	2510	void MPU6050::setI2CMasterModeEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	2511	{
jksoft	0:9fcc79b3f00e	2512	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
jksoft	0:9fcc79b3f00e	2513	}
jksoft	0:9fcc79b3f00e	2514	/** Switch from I2C to SPI mode (MPU-6000 only)
jksoft	0:9fcc79b3f00e	2515	* If this is set, the primary SPI interface will be enabled in place of the
jksoft	0:9fcc79b3f00e	2516	* disabled primary I2C interface.
jksoft	0:9fcc79b3f00e	2517	*/
jksoft	0:9fcc79b3f00e	2518	void MPU6050::switchSPIEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	2519	{
jksoft	0:9fcc79b3f00e	2520	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
jksoft	0:9fcc79b3f00e	2521	}
jksoft	0:9fcc79b3f00e	2522	/** Reset the FIFO.
jksoft	0:9fcc79b3f00e	2523	* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
jksoft	0:9fcc79b3f00e	2524	* bit automatically clears to 0 after the reset has been triggered.
jksoft	0:9fcc79b3f00e	2525	* @see MPU6050_RA_USER_CTRL
jksoft	0:9fcc79b3f00e	2526	* @see MPU6050_USERCTRL_FIFO_RESET_BIT
jksoft	0:9fcc79b3f00e	2527	*/
jksoft	0:9fcc79b3f00e	2528	void MPU6050::resetFIFO()
jksoft	0:9fcc79b3f00e	2529	{
jksoft	0:9fcc79b3f00e	2530	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
jksoft	0:9fcc79b3f00e	2531	}
jksoft	0:9fcc79b3f00e	2532	/** Reset the I2C Master.
jksoft	0:9fcc79b3f00e	2533	* This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
jksoft	0:9fcc79b3f00e	2534	* This bit automatically clears to 0 after the reset has been triggered.
jksoft	0:9fcc79b3f00e	2535	* @see MPU6050_RA_USER_CTRL
jksoft	0:9fcc79b3f00e	2536	* @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
jksoft	0:9fcc79b3f00e	2537	*/
jksoft	0:9fcc79b3f00e	2538	void MPU6050::resetI2CMaster()
jksoft	0:9fcc79b3f00e	2539	{
jksoft	0:9fcc79b3f00e	2540	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
jksoft	0:9fcc79b3f00e	2541	}
jksoft	0:9fcc79b3f00e	2542	/** Reset all sensor registers and signal paths.
jksoft	0:9fcc79b3f00e	2543	* When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
jksoft	0:9fcc79b3f00e	2544	* accelerometers, and temperature sensor). This operation will also clear the
jksoft	0:9fcc79b3f00e	2545	* sensor registers. This bit automatically clears to 0 after the reset has been
jksoft	0:9fcc79b3f00e	2546	* triggered.
jksoft	0:9fcc79b3f00e	2547	*
jksoft	0:9fcc79b3f00e	2548	* When resetting only the signal path (and not the sensor registers), please
jksoft	0:9fcc79b3f00e	2549	* use Register 104, SIGNAL_PATH_RESET.
jksoft	0:9fcc79b3f00e	2550	*
jksoft	0:9fcc79b3f00e	2551	* @see MPU6050_RA_USER_CTRL
jksoft	0:9fcc79b3f00e	2552	* @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
jksoft	0:9fcc79b3f00e	2553	*/
jksoft	0:9fcc79b3f00e	2554	void MPU6050::resetSensors()
jksoft	0:9fcc79b3f00e	2555	{
jksoft	0:9fcc79b3f00e	2556	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
jksoft	0:9fcc79b3f00e	2557	}
jksoft	0:9fcc79b3f00e	2558
jksoft	0:9fcc79b3f00e	2559	// PWR_MGMT_1 register
jksoft	0:9fcc79b3f00e	2560
jksoft	0:9fcc79b3f00e	2561	/** Trigger a full device reset.
jksoft	0:9fcc79b3f00e	2562	* A small delay of ~50ms may be desirable after triggering a reset.
jksoft	0:9fcc79b3f00e	2563	* @see MPU6050_RA_PWR_MGMT_1
jksoft	0:9fcc79b3f00e	2564	* @see MPU6050_PWR1_DEVICE_RESET_BIT
jksoft	0:9fcc79b3f00e	2565	*/
jksoft	0:9fcc79b3f00e	2566	void MPU6050::reset()
jksoft	0:9fcc79b3f00e	2567	{
jksoft	0:9fcc79b3f00e	2568	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
jksoft	0:9fcc79b3f00e	2569	}
jksoft	0:9fcc79b3f00e	2570	/** Get sleep mode status.
jksoft	0:9fcc79b3f00e	2571	* Setting the SLEEP bit in the register puts the device into very low power
jksoft	0:9fcc79b3f00e	2572	* sleep mode. In this mode, only the serial interface and internal registers
jksoft	0:9fcc79b3f00e	2573	* remain active, allowing for a very low standby current. Clearing this bit
jksoft	0:9fcc79b3f00e	2574	* puts the device back into normal mode. To save power, the individual standby
jksoft	0:9fcc79b3f00e	2575	* selections for each of the gyros should be used if any gyro axis is not used
jksoft	0:9fcc79b3f00e	2576	* by the application.
jksoft	0:9fcc79b3f00e	2577	* @return Current sleep mode enabled status
jksoft	0:9fcc79b3f00e	2578	* @see MPU6050_RA_PWR_MGMT_1
jksoft	0:9fcc79b3f00e	2579	* @see MPU6050_PWR1_SLEEP_BIT
jksoft	0:9fcc79b3f00e	2580	*/
jksoft	0:9fcc79b3f00e	2581	bool MPU6050::getSleepEnabled()
jksoft	0:9fcc79b3f00e	2582	{
jksoft	0:9fcc79b3f00e	2583	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
jksoft	0:9fcc79b3f00e	2584	return buffer[0];
jksoft	0:9fcc79b3f00e	2585	}
jksoft	0:9fcc79b3f00e	2586	/** Set sleep mode status.
jksoft	0:9fcc79b3f00e	2587	* @param enabled New sleep mode enabled status
jksoft	0:9fcc79b3f00e	2588	* @see getSleepEnabled()
jksoft	0:9fcc79b3f00e	2589	* @see MPU6050_RA_PWR_MGMT_1
jksoft	0:9fcc79b3f00e	2590	* @see MPU6050_PWR1_SLEEP_BIT
jksoft	0:9fcc79b3f00e	2591	*/
jksoft	0:9fcc79b3f00e	2592	void MPU6050::setSleepEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	2593	{
jksoft	0:9fcc79b3f00e	2594	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
jksoft	0:9fcc79b3f00e	2595	}
jksoft	0:9fcc79b3f00e	2596	/** Get wake cycle enabled status.
jksoft	0:9fcc79b3f00e	2597	* When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
jksoft	0:9fcc79b3f00e	2598	* between sleep mode and waking up to take a single sample of data from active
jksoft	0:9fcc79b3f00e	2599	* sensors at a rate determined by LP_WAKE_CTRL (register 108).
jksoft	0:9fcc79b3f00e	2600	* @return Current sleep mode enabled status
jksoft	0:9fcc79b3f00e	2601	* @see MPU6050_RA_PWR_MGMT_1
jksoft	0:9fcc79b3f00e	2602	* @see MPU6050_PWR1_CYCLE_BIT
jksoft	0:9fcc79b3f00e	2603	*/
jksoft	0:9fcc79b3f00e	2604	bool MPU6050::getWakeCycleEnabled()
jksoft	0:9fcc79b3f00e	2605	{
jksoft	0:9fcc79b3f00e	2606	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
jksoft	0:9fcc79b3f00e	2607	return buffer[0];
jksoft	0:9fcc79b3f00e	2608	}
jksoft	0:9fcc79b3f00e	2609	/** Set wake cycle enabled status.
jksoft	0:9fcc79b3f00e	2610	* @param enabled New sleep mode enabled status
jksoft	0:9fcc79b3f00e	2611	* @see getWakeCycleEnabled()
jksoft	0:9fcc79b3f00e	2612	* @see MPU6050_RA_PWR_MGMT_1
jksoft	0:9fcc79b3f00e	2613	* @see MPU6050_PWR1_CYCLE_BIT
jksoft	0:9fcc79b3f00e	2614	*/
jksoft	0:9fcc79b3f00e	2615	void MPU6050::setWakeCycleEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	2616	{
jksoft	0:9fcc79b3f00e	2617	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
jksoft	0:9fcc79b3f00e	2618	}
jksoft	0:9fcc79b3f00e	2619	/** Get temperature sensor enabled status.
jksoft	0:9fcc79b3f00e	2620	* Control the usage of the internal temperature sensor.
jksoft	0:9fcc79b3f00e	2621	*
jksoft	0:9fcc79b3f00e	2622	* Note: this register stores the disabled value, but for consistency with the
jksoft	0:9fcc79b3f00e	2623	* rest of the code, the function is named and used with standard true/false
jksoft	0:9fcc79b3f00e	2624	* values to indicate whether the sensor is enabled or disabled, respectively.
jksoft	0:9fcc79b3f00e	2625	*
jksoft	0:9fcc79b3f00e	2626	* @return Current temperature sensor enabled status
jksoft	0:9fcc79b3f00e	2627	* @see MPU6050_RA_PWR_MGMT_1
jksoft	0:9fcc79b3f00e	2628	* @see MPU6050_PWR1_TEMP_DIS_BIT
jksoft	0:9fcc79b3f00e	2629	*/
jksoft	0:9fcc79b3f00e	2630	bool MPU6050::getTempSensorEnabled()
jksoft	0:9fcc79b3f00e	2631	{
jksoft	0:9fcc79b3f00e	2632	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
jksoft	0:9fcc79b3f00e	2633	return buffer[0] == 0; // 1 is actually disabled here
jksoft	0:9fcc79b3f00e	2634	}
jksoft	0:9fcc79b3f00e	2635	/** Set temperature sensor enabled status.
jksoft	0:9fcc79b3f00e	2636	* Note: this register stores the disabled value, but for consistency with the
jksoft	0:9fcc79b3f00e	2637	* rest of the code, the function is named and used with standard true/false
jksoft	0:9fcc79b3f00e	2638	* values to indicate whether the sensor is enabled or disabled, respectively.
jksoft	0:9fcc79b3f00e	2639	*
jksoft	0:9fcc79b3f00e	2640	* @param enabled New temperature sensor enabled status
jksoft	0:9fcc79b3f00e	2641	* @see getTempSensorEnabled()
jksoft	0:9fcc79b3f00e	2642	* @see MPU6050_RA_PWR_MGMT_1
jksoft	0:9fcc79b3f00e	2643	* @see MPU6050_PWR1_TEMP_DIS_BIT
jksoft	0:9fcc79b3f00e	2644	*/
jksoft	0:9fcc79b3f00e	2645	void MPU6050::setTempSensorEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	2646	{
jksoft	0:9fcc79b3f00e	2647	// 1 is actually disabled here
jksoft	0:9fcc79b3f00e	2648	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
jksoft	0:9fcc79b3f00e	2649	}
jksoft	0:9fcc79b3f00e	2650	/** Get clock source setting.
jksoft	0:9fcc79b3f00e	2651	* @return Current clock source setting
jksoft	0:9fcc79b3f00e	2652	* @see MPU6050_RA_PWR_MGMT_1
jksoft	0:9fcc79b3f00e	2653	* @see MPU6050_PWR1_CLKSEL_BIT
jksoft	0:9fcc79b3f00e	2654	* @see MPU6050_PWR1_CLKSEL_LENGTH
jksoft	0:9fcc79b3f00e	2655	*/
jksoft	0:9fcc79b3f00e	2656	uint8_t MPU6050::getClockSource()
jksoft	0:9fcc79b3f00e	2657	{
jksoft	0:9fcc79b3f00e	2658	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
jksoft	0:9fcc79b3f00e	2659	return buffer[0];
jksoft	0:9fcc79b3f00e	2660	}
jksoft	0:9fcc79b3f00e	2661	/** Set clock source setting.
jksoft	0:9fcc79b3f00e	2662	* An internal 8MHz oscillator, gyroscope based clock, or external sources can
jksoft	0:9fcc79b3f00e	2663	* be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
jksoft	0:9fcc79b3f00e	2664	* or an external source is chosen as the clock source, the MPU-60X0 can operate
jksoft	0:9fcc79b3f00e	2665	* in low power modes with the gyroscopes disabled.
jksoft	0:9fcc79b3f00e	2666	*
jksoft	0:9fcc79b3f00e	2667	* Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
jksoft	0:9fcc79b3f00e	2668	* However, it is highly recommended that the device be configured to use one of
jksoft	0:9fcc79b3f00e	2669	* the gyroscopes (or an external clock source) as the clock reference for
jksoft	0:9fcc79b3f00e	2670	* improved stability. The clock source can be selected according to the following table:
jksoft	0:9fcc79b3f00e	2671	*
jksoft	0:9fcc79b3f00e	2672	* <pre>
jksoft	0:9fcc79b3f00e	2673	* CLK_SEL \| Clock Source
jksoft	0:9fcc79b3f00e	2674	* --------+--------------------------------------
jksoft	0:9fcc79b3f00e	2675	* 0 \| Internal oscillator
jksoft	0:9fcc79b3f00e	2676	* 1 \| PLL with X Gyro reference
jksoft	0:9fcc79b3f00e	2677	* 2 \| PLL with Y Gyro reference
jksoft	0:9fcc79b3f00e	2678	* 3 \| PLL with Z Gyro reference
jksoft	0:9fcc79b3f00e	2679	* 4 \| PLL with external 32.768kHz reference
jksoft	0:9fcc79b3f00e	2680	* 5 \| PLL with external 19.2MHz reference
jksoft	0:9fcc79b3f00e	2681	* 6 \| Reserved
jksoft	0:9fcc79b3f00e	2682	* 7 \| Stops the clock and keeps the timing generator in reset
jksoft	0:9fcc79b3f00e	2683	* </pre>
jksoft	0:9fcc79b3f00e	2684	*
jksoft	0:9fcc79b3f00e	2685	* @param source New clock source setting
jksoft	0:9fcc79b3f00e	2686	* @see getClockSource()
jksoft	0:9fcc79b3f00e	2687	* @see MPU6050_RA_PWR_MGMT_1
jksoft	0:9fcc79b3f00e	2688	* @see MPU6050_PWR1_CLKSEL_BIT
jksoft	0:9fcc79b3f00e	2689	* @see MPU6050_PWR1_CLKSEL_LENGTH
jksoft	0:9fcc79b3f00e	2690	*/
jksoft	0:9fcc79b3f00e	2691	void MPU6050::setClockSource(uint8_t source)
jksoft	0:9fcc79b3f00e	2692	{
jksoft	0:9fcc79b3f00e	2693	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
jksoft	0:9fcc79b3f00e	2694	}
jksoft	0:9fcc79b3f00e	2695
jksoft	0:9fcc79b3f00e	2696	// PWR_MGMT_2 register
jksoft	0:9fcc79b3f00e	2697
jksoft	0:9fcc79b3f00e	2698	/** Get wake frequency in Accel-Only Low Power Mode.
jksoft	0:9fcc79b3f00e	2699	* The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
jksoft	0:9fcc79b3f00e	2700	* PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
jksoft	0:9fcc79b3f00e	2701	* the device will power off all devices except for the primary I2C interface,
jksoft	0:9fcc79b3f00e	2702	* waking only the accelerometer at fixed intervals to take a single
jksoft	0:9fcc79b3f00e	2703	* measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
jksoft	0:9fcc79b3f00e	2704	* as shown below:
jksoft	0:9fcc79b3f00e	2705	*
jksoft	0:9fcc79b3f00e	2706	* <pre>
jksoft	0:9fcc79b3f00e	2707	* LP_WAKE_CTRL \| Wake-up Frequency
jksoft	0:9fcc79b3f00e	2708	* -------------+------------------
jksoft	0:9fcc79b3f00e	2709	* 0 \| 1.25 Hz
jksoft	0:9fcc79b3f00e	2710	* 1 \| 2.5 Hz
jksoft	0:9fcc79b3f00e	2711	* 2 \| 5 Hz
jksoft	0:9fcc79b3f00e	2712	* 3 \| 10 Hz
jksoft	0:9fcc79b3f00e	2713	* <pre>
jksoft	0:9fcc79b3f00e	2714	*
jksoft	0:9fcc79b3f00e	2715	* For further information regarding the MPU-60X0's power modes, please refer to
jksoft	0:9fcc79b3f00e	2716	* Register 107.
jksoft	0:9fcc79b3f00e	2717	*
jksoft	0:9fcc79b3f00e	2718	* @return Current wake frequency
jksoft	0:9fcc79b3f00e	2719	* @see MPU6050_RA_PWR_MGMT_2
jksoft	0:9fcc79b3f00e	2720	*/
jksoft	0:9fcc79b3f00e	2721	uint8_t MPU6050::getWakeFrequency()
jksoft	0:9fcc79b3f00e	2722	{
jksoft	0:9fcc79b3f00e	2723	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
jksoft	0:9fcc79b3f00e	2724	return buffer[0];
jksoft	0:9fcc79b3f00e	2725	}
jksoft	0:9fcc79b3f00e	2726	/** Set wake frequency in Accel-Only Low Power Mode.
jksoft	0:9fcc79b3f00e	2727	* @param frequency New wake frequency
jksoft	0:9fcc79b3f00e	2728	* @see MPU6050_RA_PWR_MGMT_2
jksoft	0:9fcc79b3f00e	2729	*/
jksoft	0:9fcc79b3f00e	2730	void MPU6050::setWakeFrequency(uint8_t frequency)
jksoft	0:9fcc79b3f00e	2731	{
jksoft	0:9fcc79b3f00e	2732	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
jksoft	0:9fcc79b3f00e	2733	}
jksoft	0:9fcc79b3f00e	2734
jksoft	0:9fcc79b3f00e	2735	/** Get X-axis accelerometer standby enabled status.
jksoft	0:9fcc79b3f00e	2736	* If enabled, the X-axis will not gather or report data (or use power).
jksoft	0:9fcc79b3f00e	2737	* @return Current X-axis standby enabled status
jksoft	0:9fcc79b3f00e	2738	* @see MPU6050_RA_PWR_MGMT_2
jksoft	0:9fcc79b3f00e	2739	* @see MPU6050_PWR2_STBY_XA_BIT
jksoft	0:9fcc79b3f00e	2740	*/
jksoft	0:9fcc79b3f00e	2741	bool MPU6050::getStandbyXAccelEnabled()
jksoft	0:9fcc79b3f00e	2742	{
jksoft	0:9fcc79b3f00e	2743	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
jksoft	0:9fcc79b3f00e	2744	return buffer[0];
jksoft	0:9fcc79b3f00e	2745	}
jksoft	0:9fcc79b3f00e	2746	/** Set X-axis accelerometer standby enabled status.
jksoft	0:9fcc79b3f00e	2747	* @param New X-axis standby enabled status
jksoft	0:9fcc79b3f00e	2748	* @see getStandbyXAccelEnabled()
jksoft	0:9fcc79b3f00e	2749	* @see MPU6050_RA_PWR_MGMT_2
jksoft	0:9fcc79b3f00e	2750	* @see MPU6050_PWR2_STBY_XA_BIT
jksoft	0:9fcc79b3f00e	2751	*/
jksoft	0:9fcc79b3f00e	2752	void MPU6050::setStandbyXAccelEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	2753	{
jksoft	0:9fcc79b3f00e	2754	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
jksoft	0:9fcc79b3f00e	2755	}
jksoft	0:9fcc79b3f00e	2756	/** Get Y-axis accelerometer standby enabled status.
jksoft	0:9fcc79b3f00e	2757	* If enabled, the Y-axis will not gather or report data (or use power).
jksoft	0:9fcc79b3f00e	2758	* @return Current Y-axis standby enabled status
jksoft	0:9fcc79b3f00e	2759	* @see MPU6050_RA_PWR_MGMT_2
jksoft	0:9fcc79b3f00e	2760	* @see MPU6050_PWR2_STBY_YA_BIT
jksoft	0:9fcc79b3f00e	2761	*/
jksoft	0:9fcc79b3f00e	2762	bool MPU6050::getStandbyYAccelEnabled()
jksoft	0:9fcc79b3f00e	2763	{
jksoft	0:9fcc79b3f00e	2764	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
jksoft	0:9fcc79b3f00e	2765	return buffer[0];
jksoft	0:9fcc79b3f00e	2766	}
jksoft	0:9fcc79b3f00e	2767	/** Set Y-axis accelerometer standby enabled status.
jksoft	0:9fcc79b3f00e	2768	* @param New Y-axis standby enabled status
jksoft	0:9fcc79b3f00e	2769	* @see getStandbyYAccelEnabled()
jksoft	0:9fcc79b3f00e	2770	* @see MPU6050_RA_PWR_MGMT_2
jksoft	0:9fcc79b3f00e	2771	* @see MPU6050_PWR2_STBY_YA_BIT
jksoft	0:9fcc79b3f00e	2772	*/
jksoft	0:9fcc79b3f00e	2773	void MPU6050::setStandbyYAccelEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	2774	{
jksoft	0:9fcc79b3f00e	2775	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
jksoft	0:9fcc79b3f00e	2776	}
jksoft	0:9fcc79b3f00e	2777	/** Get Z-axis accelerometer standby enabled status.
jksoft	0:9fcc79b3f00e	2778	* If enabled, the Z-axis will not gather or report data (or use power).
jksoft	0:9fcc79b3f00e	2779	* @return Current Z-axis standby enabled status
jksoft	0:9fcc79b3f00e	2780	* @see MPU6050_RA_PWR_MGMT_2
jksoft	0:9fcc79b3f00e	2781	* @see MPU6050_PWR2_STBY_ZA_BIT
jksoft	0:9fcc79b3f00e	2782	*/
jksoft	0:9fcc79b3f00e	2783	bool MPU6050::getStandbyZAccelEnabled()
jksoft	0:9fcc79b3f00e	2784	{
jksoft	0:9fcc79b3f00e	2785	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
jksoft	0:9fcc79b3f00e	2786	return buffer[0];
jksoft	0:9fcc79b3f00e	2787	}
jksoft	0:9fcc79b3f00e	2788	/** Set Z-axis accelerometer standby enabled status.
jksoft	0:9fcc79b3f00e	2789	* @param New Z-axis standby enabled status
jksoft	0:9fcc79b3f00e	2790	* @see getStandbyZAccelEnabled()
jksoft	0:9fcc79b3f00e	2791	* @see MPU6050_RA_PWR_MGMT_2
jksoft	0:9fcc79b3f00e	2792	* @see MPU6050_PWR2_STBY_ZA_BIT
jksoft	0:9fcc79b3f00e	2793	*/
jksoft	0:9fcc79b3f00e	2794	void MPU6050::setStandbyZAccelEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	2795	{
jksoft	0:9fcc79b3f00e	2796	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
jksoft	0:9fcc79b3f00e	2797	}
jksoft	0:9fcc79b3f00e	2798	/** Get X-axis gyroscope standby enabled status.
jksoft	0:9fcc79b3f00e	2799	* If enabled, the X-axis will not gather or report data (or use power).
jksoft	0:9fcc79b3f00e	2800	* @return Current X-axis standby enabled status
jksoft	0:9fcc79b3f00e	2801	* @see MPU6050_RA_PWR_MGMT_2
jksoft	0:9fcc79b3f00e	2802	* @see MPU6050_PWR2_STBY_XG_BIT
jksoft	0:9fcc79b3f00e	2803	*/
jksoft	0:9fcc79b3f00e	2804	bool MPU6050::getStandbyXGyroEnabled()
jksoft	0:9fcc79b3f00e	2805	{
jksoft	0:9fcc79b3f00e	2806	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
jksoft	0:9fcc79b3f00e	2807	return buffer[0];
jksoft	0:9fcc79b3f00e	2808	}
jksoft	0:9fcc79b3f00e	2809	/** Set X-axis gyroscope standby enabled status.
jksoft	0:9fcc79b3f00e	2810	* @param New X-axis standby enabled status
jksoft	0:9fcc79b3f00e	2811	* @see getStandbyXGyroEnabled()
jksoft	0:9fcc79b3f00e	2812	* @see MPU6050_RA_PWR_MGMT_2
jksoft	0:9fcc79b3f00e	2813	* @see MPU6050_PWR2_STBY_XG_BIT
jksoft	0:9fcc79b3f00e	2814	*/
jksoft	0:9fcc79b3f00e	2815	void MPU6050::setStandbyXGyroEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	2816	{
jksoft	0:9fcc79b3f00e	2817	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
jksoft	0:9fcc79b3f00e	2818	}
jksoft	0:9fcc79b3f00e	2819	/** Get Y-axis gyroscope standby enabled status.
jksoft	0:9fcc79b3f00e	2820	* If enabled, the Y-axis will not gather or report data (or use power).
jksoft	0:9fcc79b3f00e	2821	* @return Current Y-axis standby enabled status
jksoft	0:9fcc79b3f00e	2822	* @see MPU6050_RA_PWR_MGMT_2
jksoft	0:9fcc79b3f00e	2823	* @see MPU6050_PWR2_STBY_YG_BIT
jksoft	0:9fcc79b3f00e	2824	*/
jksoft	0:9fcc79b3f00e	2825	bool MPU6050::getStandbyYGyroEnabled()
jksoft	0:9fcc79b3f00e	2826	{
jksoft	0:9fcc79b3f00e	2827	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
jksoft	0:9fcc79b3f00e	2828	return buffer[0];
jksoft	0:9fcc79b3f00e	2829	}
jksoft	0:9fcc79b3f00e	2830	/** Set Y-axis gyroscope standby enabled status.
jksoft	0:9fcc79b3f00e	2831	* @param New Y-axis standby enabled status
jksoft	0:9fcc79b3f00e	2832	* @see getStandbyYGyroEnabled()
jksoft	0:9fcc79b3f00e	2833	* @see MPU6050_RA_PWR_MGMT_2
jksoft	0:9fcc79b3f00e	2834	* @see MPU6050_PWR2_STBY_YG_BIT
jksoft	0:9fcc79b3f00e	2835	*/
jksoft	0:9fcc79b3f00e	2836	void MPU6050::setStandbyYGyroEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	2837	{
jksoft	0:9fcc79b3f00e	2838	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
jksoft	0:9fcc79b3f00e	2839	}
jksoft	0:9fcc79b3f00e	2840	/** Get Z-axis gyroscope standby enabled status.
jksoft	0:9fcc79b3f00e	2841	* If enabled, the Z-axis will not gather or report data (or use power).
jksoft	0:9fcc79b3f00e	2842	* @return Current Z-axis standby enabled status
jksoft	0:9fcc79b3f00e	2843	* @see MPU6050_RA_PWR_MGMT_2
jksoft	0:9fcc79b3f00e	2844	* @see MPU6050_PWR2_STBY_ZG_BIT
jksoft	0:9fcc79b3f00e	2845	*/
jksoft	0:9fcc79b3f00e	2846	bool MPU6050::getStandbyZGyroEnabled()
jksoft	0:9fcc79b3f00e	2847	{
jksoft	0:9fcc79b3f00e	2848	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
jksoft	0:9fcc79b3f00e	2849	return buffer[0];
jksoft	0:9fcc79b3f00e	2850	}
jksoft	0:9fcc79b3f00e	2851	/** Set Z-axis gyroscope standby enabled status.
jksoft	0:9fcc79b3f00e	2852	* @param New Z-axis standby enabled status
jksoft	0:9fcc79b3f00e	2853	* @see getStandbyZGyroEnabled()
jksoft	0:9fcc79b3f00e	2854	* @see MPU6050_RA_PWR_MGMT_2
jksoft	0:9fcc79b3f00e	2855	* @see MPU6050_PWR2_STBY_ZG_BIT
jksoft	0:9fcc79b3f00e	2856	*/
jksoft	0:9fcc79b3f00e	2857	void MPU6050::setStandbyZGyroEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	2858	{
jksoft	0:9fcc79b3f00e	2859	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
jksoft	0:9fcc79b3f00e	2860	}
jksoft	0:9fcc79b3f00e	2861
jksoft	0:9fcc79b3f00e	2862	// FIFO_COUNT* registers
jksoft	0:9fcc79b3f00e	2863
jksoft	0:9fcc79b3f00e	2864	/** Get current FIFO buffer size.
jksoft	0:9fcc79b3f00e	2865	* This value indicates the number of bytes stored in the FIFO buffer. This
jksoft	0:9fcc79b3f00e	2866	* number is in turn the number of bytes that can be read from the FIFO buffer
jksoft	0:9fcc79b3f00e	2867	* and it is directly proportional to the number of samples available given the
jksoft	0:9fcc79b3f00e	2868	* set of sensor data bound to be stored in the FIFO (register 35 and 36).
jksoft	0:9fcc79b3f00e	2869	* @return Current FIFO buffer size
jksoft	0:9fcc79b3f00e	2870	*/
jksoft	0:9fcc79b3f00e	2871	uint16_t MPU6050::getFIFOCount()
jksoft	0:9fcc79b3f00e	2872	{
jksoft	0:9fcc79b3f00e	2873	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
jksoft	0:9fcc79b3f00e	2874	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
jksoft	0:9fcc79b3f00e	2875	}
jksoft	0:9fcc79b3f00e	2876
jksoft	0:9fcc79b3f00e	2877	// FIFO_R_W register
jksoft	0:9fcc79b3f00e	2878
jksoft	0:9fcc79b3f00e	2879	/** Get byte from FIFO buffer.
jksoft	0:9fcc79b3f00e	2880	* This register is used to read and write data from the FIFO buffer. Data is
jksoft	0:9fcc79b3f00e	2881	* written to the FIFO in order of register number (from lowest to highest). If
jksoft	0:9fcc79b3f00e	2882	* all the FIFO enable flags (see below) are enabled and all External Sensor
jksoft	0:9fcc79b3f00e	2883	* Data registers (Registers 73 to 96) are associated with a Slave device, the
jksoft	0:9fcc79b3f00e	2884	* contents of registers 59 through 96 will be written in order at the Sample
jksoft	0:9fcc79b3f00e	2885	* Rate.
jksoft	0:9fcc79b3f00e	2886	*
jksoft	0:9fcc79b3f00e	2887	* The contents of the sensor data registers (Registers 59 to 96) are written
jksoft	0:9fcc79b3f00e	2888	* into the FIFO buffer when their corresponding FIFO enable flags are set to 1
jksoft	0:9fcc79b3f00e	2889	* in FIFO_EN (Register 35). An additional flag for the sensor data registers
jksoft	0:9fcc79b3f00e	2890	* associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
jksoft	0:9fcc79b3f00e	2891	*
jksoft	0:9fcc79b3f00e	2892	* If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
jksoft	0:9fcc79b3f00e	2893	* automatically set to 1. This bit is located in INT_STATUS (Register 58).
jksoft	0:9fcc79b3f00e	2894	* When the FIFO buffer has overflowed, the oldest data will be lost and new
jksoft	0:9fcc79b3f00e	2895	* data will be written to the FIFO.
jksoft	0:9fcc79b3f00e	2896	*
jksoft	0:9fcc79b3f00e	2897	* If the FIFO buffer is empty, reading this register will return the last byte
jksoft	0:9fcc79b3f00e	2898	* that was previously read from the FIFO until new data is available. The user
jksoft	0:9fcc79b3f00e	2899	* should check FIFO_COUNT to ensure that the FIFO buffer is not read when
jksoft	0:9fcc79b3f00e	2900	* empty.
jksoft	0:9fcc79b3f00e	2901	*
jksoft	0:9fcc79b3f00e	2902	* @return Byte from FIFO buffer
jksoft	0:9fcc79b3f00e	2903	*/
jksoft	0:9fcc79b3f00e	2904	uint8_t MPU6050::getFIFOByte()
jksoft	0:9fcc79b3f00e	2905	{
jksoft	0:9fcc79b3f00e	2906	i2Cdev.readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
jksoft	0:9fcc79b3f00e	2907	return buffer[0];
jksoft	0:9fcc79b3f00e	2908	}
jksoft	0:9fcc79b3f00e	2909	void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length)
jksoft	0:9fcc79b3f00e	2910	{
jksoft	0:9fcc79b3f00e	2911	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
jksoft	0:9fcc79b3f00e	2912	}
jksoft	0:9fcc79b3f00e	2913	/** Write byte to FIFO buffer.
jksoft	0:9fcc79b3f00e	2914	* @see getFIFOByte()
jksoft	0:9fcc79b3f00e	2915	* @see MPU6050_RA_FIFO_R_W
jksoft	0:9fcc79b3f00e	2916	*/
jksoft	0:9fcc79b3f00e	2917	void MPU6050::setFIFOByte(uint8_t data)
jksoft	0:9fcc79b3f00e	2918	{
jksoft	0:9fcc79b3f00e	2919	i2Cdev.writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
jksoft	0:9fcc79b3f00e	2920	}
jksoft	0:9fcc79b3f00e	2921
jksoft	0:9fcc79b3f00e	2922	// WHO_AM_I register
jksoft	0:9fcc79b3f00e	2923
jksoft	0:9fcc79b3f00e	2924	/** Get Device ID.
jksoft	0:9fcc79b3f00e	2925	* This register is used to verify the identity of the device (0b110100, 0x34).
jksoft	0:9fcc79b3f00e	2926	* @return Device ID (6 bits only! should be 0x34)
jksoft	0:9fcc79b3f00e	2927	* @see MPU6050_RA_WHO_AM_I
jksoft	0:9fcc79b3f00e	2928	* @see MPU6050_WHO_AM_I_BIT
jksoft	0:9fcc79b3f00e	2929	* @see MPU6050_WHO_AM_I_LENGTH
jksoft	0:9fcc79b3f00e	2930	*/
jksoft	0:9fcc79b3f00e	2931	uint8_t MPU6050::getDeviceID()
jksoft	0:9fcc79b3f00e	2932	{
jksoft	0:9fcc79b3f00e	2933	i2Cdev.readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
jksoft	0:9fcc79b3f00e	2934	return buffer[0];
jksoft	0:9fcc79b3f00e	2935	}
jksoft	0:9fcc79b3f00e	2936	/** Set Device ID.
jksoft	0:9fcc79b3f00e	2937	* Write a new ID into the WHO_AM_I register (no idea why this should ever be
jksoft	0:9fcc79b3f00e	2938	* necessary though).
jksoft	0:9fcc79b3f00e	2939	* @param id New device ID to set.
jksoft	0:9fcc79b3f00e	2940	* @see getDeviceID()
jksoft	0:9fcc79b3f00e	2941	* @see MPU6050_RA_WHO_AM_I
jksoft	0:9fcc79b3f00e	2942	* @see MPU6050_WHO_AM_I_BIT
jksoft	0:9fcc79b3f00e	2943	* @see MPU6050_WHO_AM_I_LENGTH
jksoft	0:9fcc79b3f00e	2944	*/
jksoft	0:9fcc79b3f00e	2945	void MPU6050::setDeviceID(uint8_t id)
jksoft	0:9fcc79b3f00e	2946	{
jksoft	0:9fcc79b3f00e	2947	i2Cdev.writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
jksoft	0:9fcc79b3f00e	2948	}
jksoft	0:9fcc79b3f00e	2949
jksoft	0:9fcc79b3f00e	2950	// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
jksoft	0:9fcc79b3f00e	2951
jksoft	0:9fcc79b3f00e	2952	// XG_OFFS_TC register
jksoft	0:9fcc79b3f00e	2953
jksoft	0:9fcc79b3f00e	2954	uint8_t MPU6050::getOTPBankValid()
jksoft	0:9fcc79b3f00e	2955	{
jksoft	0:9fcc79b3f00e	2956	i2Cdev.readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
jksoft	0:9fcc79b3f00e	2957	return buffer[0];
jksoft	0:9fcc79b3f00e	2958	}
jksoft	0:9fcc79b3f00e	2959	void MPU6050::setOTPBankValid(bool enabled)
jksoft	0:9fcc79b3f00e	2960	{
jksoft	0:9fcc79b3f00e	2961	i2Cdev.writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
jksoft	0:9fcc79b3f00e	2962	}
jksoft	0:9fcc79b3f00e	2963	int8_t MPU6050::getXGyroOffset()
jksoft	0:9fcc79b3f00e	2964	{
jksoft	0:9fcc79b3f00e	2965	i2Cdev.readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
jksoft	0:9fcc79b3f00e	2966	return buffer[0];
jksoft	0:9fcc79b3f00e	2967	}
jksoft	0:9fcc79b3f00e	2968	void MPU6050::setXGyroOffset(int8_t offset)
jksoft	0:9fcc79b3f00e	2969	{
jksoft	0:9fcc79b3f00e	2970	i2Cdev.writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
jksoft	0:9fcc79b3f00e	2971	}
jksoft	0:9fcc79b3f00e	2972
jksoft	0:9fcc79b3f00e	2973	// YG_OFFS_TC register
jksoft	0:9fcc79b3f00e	2974
jksoft	0:9fcc79b3f00e	2975	int8_t MPU6050::getYGyroOffset()
jksoft	0:9fcc79b3f00e	2976	{
jksoft	0:9fcc79b3f00e	2977	i2Cdev.readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
jksoft	0:9fcc79b3f00e	2978	return buffer[0];
jksoft	0:9fcc79b3f00e	2979	}
jksoft	0:9fcc79b3f00e	2980	void MPU6050::setYGyroOffset(int8_t offset)
jksoft	0:9fcc79b3f00e	2981	{
jksoft	0:9fcc79b3f00e	2982	i2Cdev.writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
jksoft	0:9fcc79b3f00e	2983	}
jksoft	0:9fcc79b3f00e	2984
jksoft	0:9fcc79b3f00e	2985	// ZG_OFFS_TC register
jksoft	0:9fcc79b3f00e	2986
jksoft	0:9fcc79b3f00e	2987	int8_t MPU6050::getZGyroOffset()
jksoft	0:9fcc79b3f00e	2988	{
jksoft	0:9fcc79b3f00e	2989	i2Cdev.readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
jksoft	0:9fcc79b3f00e	2990	return buffer[0];
jksoft	0:9fcc79b3f00e	2991	}
jksoft	0:9fcc79b3f00e	2992	void MPU6050::setZGyroOffset(int8_t offset)
jksoft	0:9fcc79b3f00e	2993	{
jksoft	0:9fcc79b3f00e	2994	i2Cdev.writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
jksoft	0:9fcc79b3f00e	2995	}
jksoft	0:9fcc79b3f00e	2996
jksoft	0:9fcc79b3f00e	2997	// X_FINE_GAIN register
jksoft	0:9fcc79b3f00e	2998
jksoft	0:9fcc79b3f00e	2999	int8_t MPU6050::getXFineGain()
jksoft	0:9fcc79b3f00e	3000	{
jksoft	0:9fcc79b3f00e	3001	i2Cdev.readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
jksoft	0:9fcc79b3f00e	3002	return buffer[0];
jksoft	0:9fcc79b3f00e	3003	}
jksoft	0:9fcc79b3f00e	3004	void MPU6050::setXFineGain(int8_t gain)
jksoft	0:9fcc79b3f00e	3005	{
jksoft	0:9fcc79b3f00e	3006	i2Cdev.writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
jksoft	0:9fcc79b3f00e	3007	}
jksoft	0:9fcc79b3f00e	3008
jksoft	0:9fcc79b3f00e	3009	// Y_FINE_GAIN register
jksoft	0:9fcc79b3f00e	3010
jksoft	0:9fcc79b3f00e	3011	int8_t MPU6050::getYFineGain()
jksoft	0:9fcc79b3f00e	3012	{
jksoft	0:9fcc79b3f00e	3013	i2Cdev.readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
jksoft	0:9fcc79b3f00e	3014	return buffer[0];
jksoft	0:9fcc79b3f00e	3015	}
jksoft	0:9fcc79b3f00e	3016	void MPU6050::setYFineGain(int8_t gain)
jksoft	0:9fcc79b3f00e	3017	{
jksoft	0:9fcc79b3f00e	3018	i2Cdev.writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
jksoft	0:9fcc79b3f00e	3019	}
jksoft	0:9fcc79b3f00e	3020
jksoft	0:9fcc79b3f00e	3021	// Z_FINE_GAIN register
jksoft	0:9fcc79b3f00e	3022
jksoft	0:9fcc79b3f00e	3023	int8_t MPU6050::getZFineGain()
jksoft	0:9fcc79b3f00e	3024	{
jksoft	0:9fcc79b3f00e	3025	i2Cdev.readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
jksoft	0:9fcc79b3f00e	3026	return buffer[0];
jksoft	0:9fcc79b3f00e	3027	}
jksoft	0:9fcc79b3f00e	3028	void MPU6050::setZFineGain(int8_t gain)
jksoft	0:9fcc79b3f00e	3029	{
jksoft	0:9fcc79b3f00e	3030	i2Cdev.writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
jksoft	0:9fcc79b3f00e	3031	}
jksoft	0:9fcc79b3f00e	3032
jksoft	0:9fcc79b3f00e	3033	// XA_OFFS_* registers
jksoft	0:9fcc79b3f00e	3034
jksoft	0:9fcc79b3f00e	3035	int16_t MPU6050::getXAccelOffset()
jksoft	0:9fcc79b3f00e	3036	{
jksoft	0:9fcc79b3f00e	3037	i2Cdev.readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
jksoft	0:9fcc79b3f00e	3038	return (((int16_t)buffer[0]) << 8) \| buffer[1];
jksoft	0:9fcc79b3f00e	3039	}
jksoft	0:9fcc79b3f00e	3040	void MPU6050::setXAccelOffset(int16_t offset)
jksoft	0:9fcc79b3f00e	3041	{
jksoft	0:9fcc79b3f00e	3042	i2Cdev.writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
jksoft	0:9fcc79b3f00e	3043	}
jksoft	0:9fcc79b3f00e	3044
jksoft	0:9fcc79b3f00e	3045	// YA_OFFS_* register
jksoft	0:9fcc79b3f00e	3046
jksoft	0:9fcc79b3f00e	3047	int16_t MPU6050::getYAccelOffset()
jksoft	0:9fcc79b3f00e	3048	{
jksoft	0:9fcc79b3f00e	3049	i2Cdev.readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
jksoft	0:9fcc79b3f00e	3050	return (((int16_t)buffer[0]) << 8) \| buffer[1];
jksoft	0:9fcc79b3f00e	3051	}
jksoft	0:9fcc79b3f00e	3052	void MPU6050::setYAccelOffset(int16_t offset)
jksoft	0:9fcc79b3f00e	3053	{
jksoft	0:9fcc79b3f00e	3054	i2Cdev.writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
jksoft	0:9fcc79b3f00e	3055	}
jksoft	0:9fcc79b3f00e	3056
jksoft	0:9fcc79b3f00e	3057	// ZA_OFFS_* register
jksoft	0:9fcc79b3f00e	3058
jksoft	0:9fcc79b3f00e	3059	int16_t MPU6050::getZAccelOffset()
jksoft	0:9fcc79b3f00e	3060	{
jksoft	0:9fcc79b3f00e	3061	i2Cdev.readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
jksoft	0:9fcc79b3f00e	3062	return (((int16_t)buffer[0]) << 8) \| buffer[1];
jksoft	0:9fcc79b3f00e	3063	}
jksoft	0:9fcc79b3f00e	3064	void MPU6050::setZAccelOffset(int16_t offset)
jksoft	0:9fcc79b3f00e	3065	{
jksoft	0:9fcc79b3f00e	3066	i2Cdev.writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
jksoft	0:9fcc79b3f00e	3067	}
jksoft	0:9fcc79b3f00e	3068
jksoft	0:9fcc79b3f00e	3069	// XG_OFFS_USR* registers
jksoft	0:9fcc79b3f00e	3070
jksoft	0:9fcc79b3f00e	3071	int16_t MPU6050::getXGyroOffsetUser()
jksoft	0:9fcc79b3f00e	3072	{
jksoft	0:9fcc79b3f00e	3073	i2Cdev.readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
jksoft	0:9fcc79b3f00e	3074	return (((int16_t)buffer[0]) << 8) \| buffer[1];
jksoft	0:9fcc79b3f00e	3075	}
jksoft	0:9fcc79b3f00e	3076	void MPU6050::setXGyroOffsetUser(int16_t offset)
jksoft	0:9fcc79b3f00e	3077	{
jksoft	0:9fcc79b3f00e	3078	i2Cdev.writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
jksoft	0:9fcc79b3f00e	3079	}
jksoft	0:9fcc79b3f00e	3080
jksoft	0:9fcc79b3f00e	3081	// YG_OFFS_USR* register
jksoft	0:9fcc79b3f00e	3082
jksoft	0:9fcc79b3f00e	3083	int16_t MPU6050::getYGyroOffsetUser()
jksoft	0:9fcc79b3f00e	3084	{
jksoft	0:9fcc79b3f00e	3085	i2Cdev.readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
jksoft	0:9fcc79b3f00e	3086	return (((int16_t)buffer[0]) << 8) \| buffer[1];
jksoft	0:9fcc79b3f00e	3087	}
jksoft	0:9fcc79b3f00e	3088	void MPU6050::setYGyroOffsetUser(int16_t offset)
jksoft	0:9fcc79b3f00e	3089	{
jksoft	0:9fcc79b3f00e	3090	i2Cdev.writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
jksoft	0:9fcc79b3f00e	3091	}
jksoft	0:9fcc79b3f00e	3092
jksoft	0:9fcc79b3f00e	3093	// ZG_OFFS_USR* register
jksoft	0:9fcc79b3f00e	3094
jksoft	0:9fcc79b3f00e	3095	int16_t MPU6050::getZGyroOffsetUser()
jksoft	0:9fcc79b3f00e	3096	{
jksoft	0:9fcc79b3f00e	3097	i2Cdev.readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
jksoft	0:9fcc79b3f00e	3098	return (((int16_t)buffer[0]) << 8) \| buffer[1];
jksoft	0:9fcc79b3f00e	3099	}
jksoft	0:9fcc79b3f00e	3100	void MPU6050::setZGyroOffsetUser(int16_t offset)
jksoft	0:9fcc79b3f00e	3101	{
jksoft	0:9fcc79b3f00e	3102	i2Cdev.writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
jksoft	0:9fcc79b3f00e	3103	}
jksoft	0:9fcc79b3f00e	3104
jksoft	0:9fcc79b3f00e	3105	// INT_ENABLE register (DMP functions)
jksoft	0:9fcc79b3f00e	3106
jksoft	0:9fcc79b3f00e	3107	bool MPU6050::getIntPLLReadyEnabled()
jksoft	0:9fcc79b3f00e	3108	{
jksoft	0:9fcc79b3f00e	3109	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
jksoft	0:9fcc79b3f00e	3110	return buffer[0];
jksoft	0:9fcc79b3f00e	3111	}
jksoft	0:9fcc79b3f00e	3112	void MPU6050::setIntPLLReadyEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	3113	{
jksoft	0:9fcc79b3f00e	3114	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
jksoft	0:9fcc79b3f00e	3115	}
jksoft	0:9fcc79b3f00e	3116	bool MPU6050::getIntDMPEnabled()
jksoft	0:9fcc79b3f00e	3117	{
jksoft	0:9fcc79b3f00e	3118	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
jksoft	0:9fcc79b3f00e	3119	return buffer[0];
jksoft	0:9fcc79b3f00e	3120	}
jksoft	0:9fcc79b3f00e	3121	void MPU6050::setIntDMPEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	3122	{
jksoft	0:9fcc79b3f00e	3123	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
jksoft	0:9fcc79b3f00e	3124	}
jksoft	0:9fcc79b3f00e	3125
jksoft	0:9fcc79b3f00e	3126	// DMP_INT_STATUS
jksoft	0:9fcc79b3f00e	3127
jksoft	0:9fcc79b3f00e	3128	bool MPU6050::getDMPInt5Status()
jksoft	0:9fcc79b3f00e	3129	{
jksoft	0:9fcc79b3f00e	3130	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
jksoft	0:9fcc79b3f00e	3131	return buffer[0];
jksoft	0:9fcc79b3f00e	3132	}
jksoft	0:9fcc79b3f00e	3133	bool MPU6050::getDMPInt4Status()
jksoft	0:9fcc79b3f00e	3134	{
jksoft	0:9fcc79b3f00e	3135	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
jksoft	0:9fcc79b3f00e	3136	return buffer[0];
jksoft	0:9fcc79b3f00e	3137	}
jksoft	0:9fcc79b3f00e	3138	bool MPU6050::getDMPInt3Status()
jksoft	0:9fcc79b3f00e	3139	{
jksoft	0:9fcc79b3f00e	3140	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
jksoft	0:9fcc79b3f00e	3141	return buffer[0];
jksoft	0:9fcc79b3f00e	3142	}
jksoft	0:9fcc79b3f00e	3143	bool MPU6050::getDMPInt2Status()
jksoft	0:9fcc79b3f00e	3144	{
jksoft	0:9fcc79b3f00e	3145	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
jksoft	0:9fcc79b3f00e	3146	return buffer[0];
jksoft	0:9fcc79b3f00e	3147	}
jksoft	0:9fcc79b3f00e	3148	bool MPU6050::getDMPInt1Status()
jksoft	0:9fcc79b3f00e	3149	{
jksoft	0:9fcc79b3f00e	3150	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
jksoft	0:9fcc79b3f00e	3151	return buffer[0];
jksoft	0:9fcc79b3f00e	3152	}
jksoft	0:9fcc79b3f00e	3153	bool MPU6050::getDMPInt0Status()
jksoft	0:9fcc79b3f00e	3154	{
jksoft	0:9fcc79b3f00e	3155	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
jksoft	0:9fcc79b3f00e	3156	return buffer[0];
jksoft	0:9fcc79b3f00e	3157	}
jksoft	0:9fcc79b3f00e	3158
jksoft	0:9fcc79b3f00e	3159	// INT_STATUS register (DMP functions)
jksoft	0:9fcc79b3f00e	3160
jksoft	0:9fcc79b3f00e	3161	bool MPU6050::getIntPLLReadyStatus()
jksoft	0:9fcc79b3f00e	3162	{
jksoft	0:9fcc79b3f00e	3163	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
jksoft	0:9fcc79b3f00e	3164	return buffer[0];
jksoft	0:9fcc79b3f00e	3165	}
jksoft	0:9fcc79b3f00e	3166	bool MPU6050::getIntDMPStatus()
jksoft	0:9fcc79b3f00e	3167	{
jksoft	0:9fcc79b3f00e	3168	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
jksoft	0:9fcc79b3f00e	3169	return buffer[0];
jksoft	0:9fcc79b3f00e	3170	}
jksoft	0:9fcc79b3f00e	3171
jksoft	0:9fcc79b3f00e	3172	// USER_CTRL register (DMP functions)
jksoft	0:9fcc79b3f00e	3173
jksoft	0:9fcc79b3f00e	3174	bool MPU6050::getDMPEnabled()
jksoft	0:9fcc79b3f00e	3175	{
jksoft	0:9fcc79b3f00e	3176	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
jksoft	0:9fcc79b3f00e	3177	return buffer[0];
jksoft	0:9fcc79b3f00e	3178	}
jksoft	0:9fcc79b3f00e	3179	void MPU6050::setDMPEnabled(bool enabled)
jksoft	0:9fcc79b3f00e	3180	{
jksoft	0:9fcc79b3f00e	3181	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
jksoft	0:9fcc79b3f00e	3182	}
jksoft	0:9fcc79b3f00e	3183	void MPU6050::resetDMP()
jksoft	0:9fcc79b3f00e	3184	{
jksoft	0:9fcc79b3f00e	3185	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
jksoft	0:9fcc79b3f00e	3186	}
jksoft	0:9fcc79b3f00e	3187
jksoft	0:9fcc79b3f00e	3188	// BANK_SEL register
jksoft	0:9fcc79b3f00e	3189
jksoft	0:9fcc79b3f00e	3190	void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank)
jksoft	0:9fcc79b3f00e	3191	{
jksoft	0:9fcc79b3f00e	3192	bank &= 0x1F;
jksoft	0:9fcc79b3f00e	3193	if (userBank) bank \|= 0x20;
jksoft	0:9fcc79b3f00e	3194	if (prefetchEnabled) bank \|= 0x40;
jksoft	0:9fcc79b3f00e	3195	i2Cdev.writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
jksoft	0:9fcc79b3f00e	3196	}
jksoft	0:9fcc79b3f00e	3197
jksoft	0:9fcc79b3f00e	3198	// MEM_START_ADDR register
jksoft	0:9fcc79b3f00e	3199
jksoft	0:9fcc79b3f00e	3200	void MPU6050::setMemoryStartAddress(uint8_t address)
jksoft	0:9fcc79b3f00e	3201	{
jksoft	0:9fcc79b3f00e	3202	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
jksoft	0:9fcc79b3f00e	3203	}
jksoft	0:9fcc79b3f00e	3204
jksoft	0:9fcc79b3f00e	3205	// MEM_R_W register
jksoft	0:9fcc79b3f00e	3206
jksoft	0:9fcc79b3f00e	3207	uint8_t MPU6050::readMemoryByte()
jksoft	0:9fcc79b3f00e	3208	{
jksoft	0:9fcc79b3f00e	3209	i2Cdev.readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
jksoft	0:9fcc79b3f00e	3210	return buffer[0];
jksoft	0:9fcc79b3f00e	3211	}
jksoft	0:9fcc79b3f00e	3212	void MPU6050::writeMemoryByte(uint8_t data)
jksoft	0:9fcc79b3f00e	3213	{
jksoft	0:9fcc79b3f00e	3214	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
jksoft	0:9fcc79b3f00e	3215	}
jksoft	0:9fcc79b3f00e	3216	void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address)
jksoft	0:9fcc79b3f00e	3217	{
jksoft	0:9fcc79b3f00e	3218	setMemoryBank(bank);
jksoft	0:9fcc79b3f00e	3219	setMemoryStartAddress(address);
jksoft	0:9fcc79b3f00e	3220	uint8_t chunkSize;
jksoft	0:9fcc79b3f00e	3221	for (uint16_t i = 0; i < dataSize;) {
jksoft	0:9fcc79b3f00e	3222	// determine correct chunk size according to bank position and data size
jksoft	0:9fcc79b3f00e	3223	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
jksoft	0:9fcc79b3f00e	3224
jksoft	0:9fcc79b3f00e	3225	// make sure we don't go past the data size
jksoft	0:9fcc79b3f00e	3226	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
jksoft	0:9fcc79b3f00e	3227
jksoft	0:9fcc79b3f00e	3228	// make sure this chunk doesn't go past the bank boundary (256 bytes)
jksoft	0:9fcc79b3f00e	3229	if (chunkSize > 256 - address) chunkSize = 256 - address;
jksoft	0:9fcc79b3f00e	3230
jksoft	0:9fcc79b3f00e	3231	// read the chunk of data as specified
jksoft	0:9fcc79b3f00e	3232	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
jksoft	0:9fcc79b3f00e	3233
jksoft	0:9fcc79b3f00e	3234	// increase byte index by [chunkSize]
jksoft	0:9fcc79b3f00e	3235	i += chunkSize;
jksoft	0:9fcc79b3f00e	3236
jksoft	0:9fcc79b3f00e	3237	// uint8_t automatically wraps to 0 at 256
jksoft	0:9fcc79b3f00e	3238	address += chunkSize;
jksoft	0:9fcc79b3f00e	3239
jksoft	0:9fcc79b3f00e	3240	// if we aren't done, update bank (if necessary) and address
jksoft	0:9fcc79b3f00e	3241	if (i < dataSize) {
jksoft	0:9fcc79b3f00e	3242	if (address == 0) bank++;
jksoft	0:9fcc79b3f00e	3243	setMemoryBank(bank);
jksoft	0:9fcc79b3f00e	3244	setMemoryStartAddress(address);
jksoft	0:9fcc79b3f00e	3245	}
jksoft	0:9fcc79b3f00e	3246	}
jksoft	0:9fcc79b3f00e	3247	}
jksoft	0:9fcc79b3f00e	3248	bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem)
jksoft	0:9fcc79b3f00e	3249	{
jksoft	0:9fcc79b3f00e	3250	setMemoryBank(bank);
jksoft	0:9fcc79b3f00e	3251	setMemoryStartAddress(address);
jksoft	0:9fcc79b3f00e	3252	uint8_t chunkSize;
jksoft	0:9fcc79b3f00e	3253	uint8_t *verifyBuffer;
jksoft	0:9fcc79b3f00e	3254	uint8_t *progBuffer;
jksoft	0:9fcc79b3f00e	3255	uint16_t i;
jksoft	0:9fcc79b3f00e	3256	uint8_t j;
jksoft	0:9fcc79b3f00e	3257	if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
jksoft	0:9fcc79b3f00e	3258	if (useProgMem) progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
jksoft	0:9fcc79b3f00e	3259	for (i = 0; i < dataSize;) {
jksoft	0:9fcc79b3f00e	3260	// determine correct chunk size according to bank position and data size
jksoft	0:9fcc79b3f00e	3261	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
jksoft	0:9fcc79b3f00e	3262
jksoft	0:9fcc79b3f00e	3263	// make sure we don't go past the data size
jksoft	0:9fcc79b3f00e	3264	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
jksoft	0:9fcc79b3f00e	3265
jksoft	0:9fcc79b3f00e	3266	// make sure this chunk doesn't go past the bank boundary (256 bytes)
jksoft	0:9fcc79b3f00e	3267	if (chunkSize > 256 - address) chunkSize = 256 - address;
jksoft	0:9fcc79b3f00e	3268
jksoft	0:9fcc79b3f00e	3269	if (useProgMem) {
jksoft	0:9fcc79b3f00e	3270	// write the chunk of data as specified
jksoft	0:9fcc79b3f00e	3271	for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
jksoft	0:9fcc79b3f00e	3272	} else {
jksoft	0:9fcc79b3f00e	3273	// write the chunk of data as specified
jksoft	0:9fcc79b3f00e	3274	progBuffer = (uint8_t *)data + i;
jksoft	0:9fcc79b3f00e	3275	}
jksoft	0:9fcc79b3f00e	3276
jksoft	0:9fcc79b3f00e	3277	i2Cdev.writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
jksoft	0:9fcc79b3f00e	3278
jksoft	0:9fcc79b3f00e	3279	// verify data if needed
jksoft	0:9fcc79b3f00e	3280	if (verify && verifyBuffer) {
jksoft	0:9fcc79b3f00e	3281	setMemoryBank(bank);
jksoft	0:9fcc79b3f00e	3282	setMemoryStartAddress(address);
jksoft	0:9fcc79b3f00e	3283	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
jksoft	0:9fcc79b3f00e	3284	if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
jksoft	0:9fcc79b3f00e	3285	/*Serial.print("Block write verification error, bank ");
jksoft	0:9fcc79b3f00e	3286	Serial.print(bank, DEC);
jksoft	0:9fcc79b3f00e	3287	Serial.print(", address ");
jksoft	0:9fcc79b3f00e	3288	Serial.print(address, DEC);
jksoft	0:9fcc79b3f00e	3289	Serial.print("!\nExpected:");
jksoft	0:9fcc79b3f00e	3290	for (j = 0; j < chunkSize; j++) {
jksoft	0:9fcc79b3f00e	3291	Serial.print(" 0x");
jksoft	0:9fcc79b3f00e	3292	if (progBuffer[j] < 16) Serial.print("0");
jksoft	0:9fcc79b3f00e	3293	Serial.print(progBuffer[j], HEX);
jksoft	0:9fcc79b3f00e	3294	}
jksoft	0:9fcc79b3f00e	3295	Serial.print("\nReceived:");
jksoft	0:9fcc79b3f00e	3296	for (uint8_t j = 0; j < chunkSize; j++) {
jksoft	0:9fcc79b3f00e	3297	Serial.print(" 0x");
jksoft	0:9fcc79b3f00e	3298	if (verifyBuffer[i + j] < 16) Serial.print("0");
jksoft	0:9fcc79b3f00e	3299	Serial.print(verifyBuffer[i + j], HEX);
jksoft	0:9fcc79b3f00e	3300	}
jksoft	0:9fcc79b3f00e	3301	Serial.print("\n");*/
jksoft	0:9fcc79b3f00e	3302	free(verifyBuffer);
jksoft	0:9fcc79b3f00e	3303	if (useProgMem) free(progBuffer);
jksoft	0:9fcc79b3f00e	3304	return false; // uh oh.
jksoft	0:9fcc79b3f00e	3305	}
jksoft	0:9fcc79b3f00e	3306	}
jksoft	0:9fcc79b3f00e	3307
jksoft	0:9fcc79b3f00e	3308	// increase byte index by [chunkSize]
jksoft	0:9fcc79b3f00e	3309	i += chunkSize;
jksoft	0:9fcc79b3f00e	3310
jksoft	0:9fcc79b3f00e	3311	// uint8_t automatically wraps to 0 at 256
jksoft	0:9fcc79b3f00e	3312	address += chunkSize;
jksoft	0:9fcc79b3f00e	3313
jksoft	0:9fcc79b3f00e	3314	// if we aren't done, update bank (if necessary) and address
jksoft	0:9fcc79b3f00e	3315	if (i < dataSize) {
jksoft	0:9fcc79b3f00e	3316	if (address == 0) bank++;
jksoft	0:9fcc79b3f00e	3317	setMemoryBank(bank);
jksoft	0:9fcc79b3f00e	3318	setMemoryStartAddress(address);
jksoft	0:9fcc79b3f00e	3319	}
jksoft	0:9fcc79b3f00e	3320	}
jksoft	0:9fcc79b3f00e	3321	if (verify) free(verifyBuffer);
jksoft	0:9fcc79b3f00e	3322	if (useProgMem) free(progBuffer);
jksoft	0:9fcc79b3f00e	3323	return true;
jksoft	0:9fcc79b3f00e	3324	}
jksoft	0:9fcc79b3f00e	3325	bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify)
jksoft	0:9fcc79b3f00e	3326	{
jksoft	0:9fcc79b3f00e	3327	return writeMemoryBlock(data, dataSize, bank, address, verify, true);
jksoft	0:9fcc79b3f00e	3328	}
jksoft	0:9fcc79b3f00e	3329	bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem)
jksoft	0:9fcc79b3f00e	3330	{
jksoft	0:9fcc79b3f00e	3331	uint8_t *progBuffer, success, special;
jksoft	0:9fcc79b3f00e	3332	uint16_t i, j;
jksoft	0:9fcc79b3f00e	3333	if (useProgMem) {
jksoft	0:9fcc79b3f00e	3334	progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
jksoft	0:9fcc79b3f00e	3335	}
jksoft	0:9fcc79b3f00e	3336
jksoft	0:9fcc79b3f00e	3337	// config set data is a long string of blocks with the following structure:
jksoft	0:9fcc79b3f00e	3338	// [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
jksoft	0:9fcc79b3f00e	3339	uint8_t bank, offset, length;
jksoft	0:9fcc79b3f00e	3340	for (i = 0; i < dataSize;) {
jksoft	0:9fcc79b3f00e	3341	if (useProgMem) {
jksoft	0:9fcc79b3f00e	3342	bank = pgm_read_byte(data + i++);
jksoft	0:9fcc79b3f00e	3343	offset = pgm_read_byte(data + i++);
jksoft	0:9fcc79b3f00e	3344	length = pgm_read_byte(data + i++);
jksoft	0:9fcc79b3f00e	3345	} else {
jksoft	0:9fcc79b3f00e	3346	bank = data[i++];
jksoft	0:9fcc79b3f00e	3347	offset = data[i++];
jksoft	0:9fcc79b3f00e	3348	length = data[i++];
jksoft	0:9fcc79b3f00e	3349	}
jksoft	0:9fcc79b3f00e	3350
jksoft	0:9fcc79b3f00e	3351	// write data or perform special action
jksoft	0:9fcc79b3f00e	3352	if (length > 0) {
jksoft	0:9fcc79b3f00e	3353	// regular block of data to write
jksoft	0:9fcc79b3f00e	3354	/*Serial.print("Writing config block to bank ");
jksoft	0:9fcc79b3f00e	3355	Serial.print(bank);
jksoft	0:9fcc79b3f00e	3356	Serial.print(", offset ");
jksoft	0:9fcc79b3f00e	3357	Serial.print(offset);
jksoft	0:9fcc79b3f00e	3358	Serial.print(", length=");
jksoft	0:9fcc79b3f00e	3359	Serial.println(length);*/
jksoft	0:9fcc79b3f00e	3360	if (useProgMem) {
jksoft	0:9fcc79b3f00e	3361	if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length);
jksoft	0:9fcc79b3f00e	3362	for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j);
jksoft	0:9fcc79b3f00e	3363	} else {
jksoft	0:9fcc79b3f00e	3364	progBuffer = (uint8_t *)data + i;
jksoft	0:9fcc79b3f00e	3365	}
jksoft	0:9fcc79b3f00e	3366	success = writeMemoryBlock(progBuffer, length, bank, offset, true);
jksoft	0:9fcc79b3f00e	3367	i += length;
jksoft	0:9fcc79b3f00e	3368	} else {
jksoft	0:9fcc79b3f00e	3369	// special instruction
jksoft	0:9fcc79b3f00e	3370	// NOTE: this kind of behavior (what and when to do certain things)
jksoft	0:9fcc79b3f00e	3371	// is totally undocumented. This code is in here based on observed
jksoft	0:9fcc79b3f00e	3372	// behavior only, and exactly why (or even whether) it has to be here
jksoft	0:9fcc79b3f00e	3373	// is anybody's guess for now.
jksoft	0:9fcc79b3f00e	3374	if (useProgMem) {
jksoft	0:9fcc79b3f00e	3375	special = pgm_read_byte(data + i++);
jksoft	0:9fcc79b3f00e	3376	} else {
jksoft	0:9fcc79b3f00e	3377	special = data[i++];
jksoft	0:9fcc79b3f00e	3378	}
jksoft	0:9fcc79b3f00e	3379	/*Serial.print("Special command code ");
jksoft	0:9fcc79b3f00e	3380	Serial.print(special, HEX);
jksoft	0:9fcc79b3f00e	3381	Serial.println(" found...");*/
jksoft	0:9fcc79b3f00e	3382	if (special == 0x01) {
jksoft	0:9fcc79b3f00e	3383	// enable DMP-related interrupts
jksoft	0:9fcc79b3f00e	3384
jksoft	0:9fcc79b3f00e	3385	//setIntZeroMotionEnabled(true);
jksoft	0:9fcc79b3f00e	3386	//setIntFIFOBufferOverflowEnabled(true);
jksoft	0:9fcc79b3f00e	3387	//setIntDMPEnabled(true);
jksoft	0:9fcc79b3f00e	3388	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
jksoft	0:9fcc79b3f00e	3389
jksoft	0:9fcc79b3f00e	3390	success = true;
jksoft	0:9fcc79b3f00e	3391	} else {
jksoft	0:9fcc79b3f00e	3392	// unknown special command
jksoft	0:9fcc79b3f00e	3393	success = false;
jksoft	0:9fcc79b3f00e	3394	}
jksoft	0:9fcc79b3f00e	3395	}
jksoft	0:9fcc79b3f00e	3396
jksoft	0:9fcc79b3f00e	3397	if (!success) {
jksoft	0:9fcc79b3f00e	3398	if (useProgMem) free(progBuffer);
jksoft	0:9fcc79b3f00e	3399	return false; // uh oh
jksoft	0:9fcc79b3f00e	3400	}
jksoft	0:9fcc79b3f00e	3401	}
jksoft	0:9fcc79b3f00e	3402	if (useProgMem) free(progBuffer);
jksoft	0:9fcc79b3f00e	3403	return true;
jksoft	0:9fcc79b3f00e	3404	}
jksoft	0:9fcc79b3f00e	3405	bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
jksoft	0:9fcc79b3f00e	3406	{
jksoft	0:9fcc79b3f00e	3407	return writeDMPConfigurationSet(data, dataSize, false);
jksoft	0:9fcc79b3f00e	3408	}
jksoft	0:9fcc79b3f00e	3409
jksoft	0:9fcc79b3f00e	3410	// DMP_CFG_1 register
jksoft	0:9fcc79b3f00e	3411
jksoft	0:9fcc79b3f00e	3412	uint8_t MPU6050::getDMPConfig1()
jksoft	0:9fcc79b3f00e	3413	{
jksoft	0:9fcc79b3f00e	3414	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
jksoft	0:9fcc79b3f00e	3415	return buffer[0];
jksoft	0:9fcc79b3f00e	3416	}
jksoft	0:9fcc79b3f00e	3417	void MPU6050::setDMPConfig1(uint8_t config)
jksoft	0:9fcc79b3f00e	3418	{
jksoft	0:9fcc79b3f00e	3419	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
jksoft	0:9fcc79b3f00e	3420	}
jksoft	0:9fcc79b3f00e	3421
jksoft	0:9fcc79b3f00e	3422	// DMP_CFG_2 register
jksoft	0:9fcc79b3f00e	3423
jksoft	0:9fcc79b3f00e	3424	uint8_t MPU6050::getDMPConfig2()
jksoft	0:9fcc79b3f00e	3425	{
jksoft	0:9fcc79b3f00e	3426	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
jksoft	0:9fcc79b3f00e	3427	return buffer[0];
jksoft	0:9fcc79b3f00e	3428	}
jksoft	0:9fcc79b3f00e	3429	void MPU6050::setDMPConfig2(uint8_t config)
jksoft	0:9fcc79b3f00e	3430	{
jksoft	0:9fcc79b3f00e	3431	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
jksoft	0:9fcc79b3f00e	3432	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	03 Feb 2017
Imports:	7
Forks:	0
Commits:	4
Dependents:	0
Dependencies:	1
Followers:	1

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wallbotLED/MPU6050_wallbotble/MPU6050.cpp@3:b707c09b4433, 2017-02-04 (annotated)

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