MPU_6050_nadafa - mpu6050 nadafa

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quadcopter cufe / Mbed 2 deprecated MPU_6050_nadafa

mpu6050 nadafa

MPU6050.cpp@0:8fe8d6dd7cd6, 2015-06-23 (annotated)

Committer:: khaledelmadawi
Date:: Tue Jun 23 14:47:52 2015 +0000
Revision:: 0:8fe8d6dd7cd6

mpu nadafa

Who changed what in which revision?

User	Revision	Line number	New contents of line
khaledelmadawi	0:8fe8d6dd7cd6	1	//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
khaledelmadawi	0:8fe8d6dd7cd6	2	//written by szymon gaertig (email: szymon@gaertig.com.pl)
khaledelmadawi	0:8fe8d6dd7cd6	3	//
khaledelmadawi	0:8fe8d6dd7cd6	4	//Changelog:
khaledelmadawi	0:8fe8d6dd7cd6	5	//2013-01-08 - first beta release
khaledelmadawi	0:8fe8d6dd7cd6	6
khaledelmadawi	0:8fe8d6dd7cd6	7	// I2Cdev library collection - MPU6050 I2C device class
khaledelmadawi	0:8fe8d6dd7cd6	8	// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
khaledelmadawi	0:8fe8d6dd7cd6	9	// 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
khaledelmadawi	0:8fe8d6dd7cd6	10	// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
khaledelmadawi	0:8fe8d6dd7cd6	11	//
khaledelmadawi	0:8fe8d6dd7cd6	12	// Changelog:
khaledelmadawi	0:8fe8d6dd7cd6	13	// ... - ongoing debug release
khaledelmadawi	0:8fe8d6dd7cd6	14
khaledelmadawi	0:8fe8d6dd7cd6	15	// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
khaledelmadawi	0:8fe8d6dd7cd6	16	// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
khaledelmadawi	0:8fe8d6dd7cd6	17	// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
khaledelmadawi	0:8fe8d6dd7cd6	18
khaledelmadawi	0:8fe8d6dd7cd6	19	/* ============================================
khaledelmadawi	0:8fe8d6dd7cd6	20	I2Cdev device library code is placed under the MIT license
khaledelmadawi	0:8fe8d6dd7cd6	21	Copyright (c) 2012 Jeff Rowberg
khaledelmadawi	0:8fe8d6dd7cd6	22
khaledelmadawi	0:8fe8d6dd7cd6	23	Permission is hereby granted, free of charge, to any person obtaining a copy
khaledelmadawi	0:8fe8d6dd7cd6	24	of this software and associated documentation files (the "Software"), to deal
khaledelmadawi	0:8fe8d6dd7cd6	25	in the Software without restriction, including without limitation the rights
khaledelmadawi	0:8fe8d6dd7cd6	26	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
khaledelmadawi	0:8fe8d6dd7cd6	27	copies of the Software, and to permit persons to whom the Software is
khaledelmadawi	0:8fe8d6dd7cd6	28	furnished to do so, subject to the following conditions:
khaledelmadawi	0:8fe8d6dd7cd6	29
khaledelmadawi	0:8fe8d6dd7cd6	30	The above copyright notice and this permission notice shall be included in
khaledelmadawi	0:8fe8d6dd7cd6	31	all copies or substantial portions of the Software.
khaledelmadawi	0:8fe8d6dd7cd6	32
khaledelmadawi	0:8fe8d6dd7cd6	33	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
khaledelmadawi	0:8fe8d6dd7cd6	34	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
khaledelmadawi	0:8fe8d6dd7cd6	35	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
khaledelmadawi	0:8fe8d6dd7cd6	36	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
khaledelmadawi	0:8fe8d6dd7cd6	37	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
khaledelmadawi	0:8fe8d6dd7cd6	38	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
khaledelmadawi	0:8fe8d6dd7cd6	39	THE SOFTWARE.
khaledelmadawi	0:8fe8d6dd7cd6	40	===============================================
khaledelmadawi	0:8fe8d6dd7cd6	41	*/
khaledelmadawi	0:8fe8d6dd7cd6	42
khaledelmadawi	0:8fe8d6dd7cd6	43	#include "MPU6050.h"
khaledelmadawi	0:8fe8d6dd7cd6	44
khaledelmadawi	0:8fe8d6dd7cd6	45	#define useDebugSerial
khaledelmadawi	0:8fe8d6dd7cd6	46
khaledelmadawi	0:8fe8d6dd7cd6	47	//instead of using pgmspace.h
khaledelmadawi	0:8fe8d6dd7cd6	48	typedef const unsigned char prog_uchar;
khaledelmadawi	0:8fe8d6dd7cd6	49	#define pgm_read_byte_near(x) ((prog_uchar)(x))//<- I modified here
khaledelmadawi	0:8fe8d6dd7cd6	50	#define pgm_read_byte(x) ((prog_uchar)(x))//<- I modified here
khaledelmadawi	0:8fe8d6dd7cd6	51
khaledelmadawi	0:8fe8d6dd7cd6	52	/** Default constructor, uses default I2C address.
khaledelmadawi	0:8fe8d6dd7cd6	53	* @see MPU6050_DEFAULT_ADDRESS
khaledelmadawi	0:8fe8d6dd7cd6	54	*/
khaledelmadawi	0:8fe8d6dd7cd6	55	MPU6050::MPU6050() : debugSerial(USBTX, USBRX)
khaledelmadawi	0:8fe8d6dd7cd6	56	{
khaledelmadawi	0:8fe8d6dd7cd6	57	devAddr = MPU6050_DEFAULT_ADDRESS;
khaledelmadawi	0:8fe8d6dd7cd6	58	}
khaledelmadawi	0:8fe8d6dd7cd6	59
khaledelmadawi	0:8fe8d6dd7cd6	60	/** Specific address constructor.
khaledelmadawi	0:8fe8d6dd7cd6	61	* @param address I2C address
khaledelmadawi	0:8fe8d6dd7cd6	62	* @see MPU6050_DEFAULT_ADDRESS
khaledelmadawi	0:8fe8d6dd7cd6	63	* @see MPU6050_ADDRESS_AD0_LOW
khaledelmadawi	0:8fe8d6dd7cd6	64	* @see MPU6050_ADDRESS_AD0_HIGH
khaledelmadawi	0:8fe8d6dd7cd6	65	*/
khaledelmadawi	0:8fe8d6dd7cd6	66	MPU6050::MPU6050(uint8_t address) : debugSerial(USBTX, USBRX)
khaledelmadawi	0:8fe8d6dd7cd6	67	{
khaledelmadawi	0:8fe8d6dd7cd6	68	devAddr = address;
khaledelmadawi	0:8fe8d6dd7cd6	69	}
khaledelmadawi	0:8fe8d6dd7cd6	70
khaledelmadawi	0:8fe8d6dd7cd6	71	/** Power on and prepare for general usage.
khaledelmadawi	0:8fe8d6dd7cd6	72	* This will activate the device and take it out of sleep mode (which must be done
khaledelmadawi	0:8fe8d6dd7cd6	73	* after start-up). This function also sets both the accelerometer and the gyroscope
khaledelmadawi	0:8fe8d6dd7cd6	74	* to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
khaledelmadawi	0:8fe8d6dd7cd6	75	* the clock source to use the X Gyro for reference, which is slightly better than
khaledelmadawi	0:8fe8d6dd7cd6	76	* the default internal clock source.
khaledelmadawi	0:8fe8d6dd7cd6	77	*/
khaledelmadawi	0:8fe8d6dd7cd6	78	void MPU6050::initialize()
khaledelmadawi	0:8fe8d6dd7cd6	79	{
khaledelmadawi	0:8fe8d6dd7cd6	80
khaledelmadawi	0:8fe8d6dd7cd6	81	#ifdef useDebugSerial
khaledelmadawi	0:8fe8d6dd7cd6	82	debugSerial.printf("MPU6050::initialize start\n");
khaledelmadawi	0:8fe8d6dd7cd6	83	#endif
khaledelmadawi	0:8fe8d6dd7cd6	84
khaledelmadawi	0:8fe8d6dd7cd6	85	setClockSource(MPU6050_CLOCK_PLL_XGYRO);
khaledelmadawi	0:8fe8d6dd7cd6	86	setFullScaleGyroRange(MPU6050_GYRO_FS_250);
khaledelmadawi	0:8fe8d6dd7cd6	87	setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
khaledelmadawi	0:8fe8d6dd7cd6	88	setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
khaledelmadawi	0:8fe8d6dd7cd6	89
khaledelmadawi	0:8fe8d6dd7cd6	90	#ifdef useDebugSerial
khaledelmadawi	0:8fe8d6dd7cd6	91	debugSerial.printf("MPU6050::initialize end\n");
khaledelmadawi	0:8fe8d6dd7cd6	92	#endif
khaledelmadawi	0:8fe8d6dd7cd6	93	}
khaledelmadawi	0:8fe8d6dd7cd6	94
khaledelmadawi	0:8fe8d6dd7cd6	95	/** Verify the I2C connection.
khaledelmadawi	0:8fe8d6dd7cd6	96	* Make sure the device is connected and responds as expected.
khaledelmadawi	0:8fe8d6dd7cd6	97	* @return True if connection is valid, false otherwise
khaledelmadawi	0:8fe8d6dd7cd6	98	*/
khaledelmadawi	0:8fe8d6dd7cd6	99	bool MPU6050::testConnection()
khaledelmadawi	0:8fe8d6dd7cd6	100	{
khaledelmadawi	0:8fe8d6dd7cd6	101	#ifdef useDebugSerial
khaledelmadawi	0:8fe8d6dd7cd6	102	debugSerial.printf("MPU6050::testConnection start\n");
khaledelmadawi	0:8fe8d6dd7cd6	103	#endif
khaledelmadawi	0:8fe8d6dd7cd6	104	uint8_t deviceId = getDeviceID();
khaledelmadawi	0:8fe8d6dd7cd6	105	#ifdef useDebugSerial
khaledelmadawi	0:8fe8d6dd7cd6	106	debugSerial.printf("DeviceId = %d\n",deviceId);
khaledelmadawi	0:8fe8d6dd7cd6	107	#endif
khaledelmadawi	0:8fe8d6dd7cd6	108	return deviceId == 0x34;
khaledelmadawi	0:8fe8d6dd7cd6	109	}
khaledelmadawi	0:8fe8d6dd7cd6	110
khaledelmadawi	0:8fe8d6dd7cd6	111	// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
khaledelmadawi	0:8fe8d6dd7cd6	112
khaledelmadawi	0:8fe8d6dd7cd6	113	/** Get the auxiliary I2C supply voltage level.
khaledelmadawi	0:8fe8d6dd7cd6	114	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
khaledelmadawi	0:8fe8d6dd7cd6	115	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
khaledelmadawi	0:8fe8d6dd7cd6	116	* the MPU-6000, which does not have a VLOGIC pin.
khaledelmadawi	0:8fe8d6dd7cd6	117	* @return I2C supply voltage level (0=VLOGIC, 1=VDD)
khaledelmadawi	0:8fe8d6dd7cd6	118	*/
khaledelmadawi	0:8fe8d6dd7cd6	119	uint8_t MPU6050::getAuxVDDIOLevel()
khaledelmadawi	0:8fe8d6dd7cd6	120	{
khaledelmadawi	0:8fe8d6dd7cd6	121	i2Cdev.readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	122	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	123	}
khaledelmadawi	0:8fe8d6dd7cd6	124	/** Set the auxiliary I2C supply voltage level.
khaledelmadawi	0:8fe8d6dd7cd6	125	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
khaledelmadawi	0:8fe8d6dd7cd6	126	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
khaledelmadawi	0:8fe8d6dd7cd6	127	* the MPU-6000, which does not have a VLOGIC pin.
khaledelmadawi	0:8fe8d6dd7cd6	128	* @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
khaledelmadawi	0:8fe8d6dd7cd6	129	*/
khaledelmadawi	0:8fe8d6dd7cd6	130	void MPU6050::setAuxVDDIOLevel(uint8_t level)
khaledelmadawi	0:8fe8d6dd7cd6	131	{
khaledelmadawi	0:8fe8d6dd7cd6	132	i2Cdev.writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
khaledelmadawi	0:8fe8d6dd7cd6	133	}
khaledelmadawi	0:8fe8d6dd7cd6	134
khaledelmadawi	0:8fe8d6dd7cd6	135	// SMPLRT_DIV register
khaledelmadawi	0:8fe8d6dd7cd6	136
khaledelmadawi	0:8fe8d6dd7cd6	137	/** Get gyroscope output rate divider.
khaledelmadawi	0:8fe8d6dd7cd6	138	* The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
khaledelmadawi	0:8fe8d6dd7cd6	139	* Motion detection, and Free Fall detection are all based on the Sample Rate.
khaledelmadawi	0:8fe8d6dd7cd6	140	* The Sample Rate is generated by dividing the gyroscope output rate by
khaledelmadawi	0:8fe8d6dd7cd6	141	* SMPLRT_DIV:
khaledelmadawi	0:8fe8d6dd7cd6	142	*
khaledelmadawi	0:8fe8d6dd7cd6	143	* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
khaledelmadawi	0:8fe8d6dd7cd6	144	*
khaledelmadawi	0:8fe8d6dd7cd6	145	* where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
khaledelmadawi	0:8fe8d6dd7cd6	146	* 7), and 1kHz when the DLPF is enabled (see Register 26).
khaledelmadawi	0:8fe8d6dd7cd6	147	*
khaledelmadawi	0:8fe8d6dd7cd6	148	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
khaledelmadawi	0:8fe8d6dd7cd6	149	* Rate greater than 1kHz, the same accelerometer sample may be output to the
khaledelmadawi	0:8fe8d6dd7cd6	150	* FIFO, DMP, and sensor registers more than once.
khaledelmadawi	0:8fe8d6dd7cd6	151	*
khaledelmadawi	0:8fe8d6dd7cd6	152	* For a diagram of the gyroscope and accelerometer signal paths, see Section 8
khaledelmadawi	0:8fe8d6dd7cd6	153	* of the MPU-6000/MPU-6050 Product Specification document.
khaledelmadawi	0:8fe8d6dd7cd6	154	*
khaledelmadawi	0:8fe8d6dd7cd6	155	* @return Current sample rate
khaledelmadawi	0:8fe8d6dd7cd6	156	* @see MPU6050_RA_SMPLRT_DIV
khaledelmadawi	0:8fe8d6dd7cd6	157	*/
khaledelmadawi	0:8fe8d6dd7cd6	158	uint8_t MPU6050::getRate()
khaledelmadawi	0:8fe8d6dd7cd6	159	{
khaledelmadawi	0:8fe8d6dd7cd6	160	i2Cdev.readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	161	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	162	}
khaledelmadawi	0:8fe8d6dd7cd6	163	/** Set gyroscope sample rate divider.
khaledelmadawi	0:8fe8d6dd7cd6	164	* @param rate New sample rate divider
khaledelmadawi	0:8fe8d6dd7cd6	165	* @see getRate()
khaledelmadawi	0:8fe8d6dd7cd6	166	* @see MPU6050_RA_SMPLRT_DIV
khaledelmadawi	0:8fe8d6dd7cd6	167	*/
khaledelmadawi	0:8fe8d6dd7cd6	168	void MPU6050::setRate(uint8_t rate)
khaledelmadawi	0:8fe8d6dd7cd6	169	{
khaledelmadawi	0:8fe8d6dd7cd6	170	i2Cdev.writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
khaledelmadawi	0:8fe8d6dd7cd6	171	}
khaledelmadawi	0:8fe8d6dd7cd6	172
khaledelmadawi	0:8fe8d6dd7cd6	173	// CONFIG register
khaledelmadawi	0:8fe8d6dd7cd6	174
khaledelmadawi	0:8fe8d6dd7cd6	175	/** Get external FSYNC configuration.
khaledelmadawi	0:8fe8d6dd7cd6	176	* Configures the external Frame Synchronization (FSYNC) pin sampling. An
khaledelmadawi	0:8fe8d6dd7cd6	177	* external signal connected to the FSYNC pin can be sampled by configuring
khaledelmadawi	0:8fe8d6dd7cd6	178	* EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
khaledelmadawi	0:8fe8d6dd7cd6	179	* strobes may be captured. The latched FSYNC signal will be sampled at the
khaledelmadawi	0:8fe8d6dd7cd6	180	* Sampling Rate, as defined in register 25. After sampling, the latch will
khaledelmadawi	0:8fe8d6dd7cd6	181	* reset to the current FSYNC signal state.
khaledelmadawi	0:8fe8d6dd7cd6	182	*
khaledelmadawi	0:8fe8d6dd7cd6	183	* The sampled value will be reported in place of the least significant bit in
khaledelmadawi	0:8fe8d6dd7cd6	184	* a sensor data register determined by the value of EXT_SYNC_SET according to
khaledelmadawi	0:8fe8d6dd7cd6	185	* the following table.
khaledelmadawi	0:8fe8d6dd7cd6	186	*
khaledelmadawi	0:8fe8d6dd7cd6	187	* <pre>
khaledelmadawi	0:8fe8d6dd7cd6	188	* EXT_SYNC_SET \| FSYNC Bit Location
khaledelmadawi	0:8fe8d6dd7cd6	189	* -------------+-------------------
khaledelmadawi	0:8fe8d6dd7cd6	190	* 0 \| Input disabled
khaledelmadawi	0:8fe8d6dd7cd6	191	* 1 \| TEMP_OUT_L[0]
khaledelmadawi	0:8fe8d6dd7cd6	192	* 2 \| GYRO_XOUT_L[0]
khaledelmadawi	0:8fe8d6dd7cd6	193	* 3 \| GYRO_YOUT_L[0]
khaledelmadawi	0:8fe8d6dd7cd6	194	* 4 \| GYRO_ZOUT_L[0]
khaledelmadawi	0:8fe8d6dd7cd6	195	* 5 \| ACCEL_XOUT_L[0]
khaledelmadawi	0:8fe8d6dd7cd6	196	* 6 \| ACCEL_YOUT_L[0]
khaledelmadawi	0:8fe8d6dd7cd6	197	* 7 \| ACCEL_ZOUT_L[0]
khaledelmadawi	0:8fe8d6dd7cd6	198	* </pre>
khaledelmadawi	0:8fe8d6dd7cd6	199	*
khaledelmadawi	0:8fe8d6dd7cd6	200	* @return FSYNC configuration value
khaledelmadawi	0:8fe8d6dd7cd6	201	*/
khaledelmadawi	0:8fe8d6dd7cd6	202	uint8_t MPU6050::getExternalFrameSync()
khaledelmadawi	0:8fe8d6dd7cd6	203	{
khaledelmadawi	0:8fe8d6dd7cd6	204	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	205	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	206	}
khaledelmadawi	0:8fe8d6dd7cd6	207	/** Set external FSYNC configuration.
khaledelmadawi	0:8fe8d6dd7cd6	208	* @see getExternalFrameSync()
khaledelmadawi	0:8fe8d6dd7cd6	209	* @see MPU6050_RA_CONFIG
khaledelmadawi	0:8fe8d6dd7cd6	210	* @param sync New FSYNC configuration value
khaledelmadawi	0:8fe8d6dd7cd6	211	*/
khaledelmadawi	0:8fe8d6dd7cd6	212	void MPU6050::setExternalFrameSync(uint8_t sync)
khaledelmadawi	0:8fe8d6dd7cd6	213	{
khaledelmadawi	0:8fe8d6dd7cd6	214	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
khaledelmadawi	0:8fe8d6dd7cd6	215	}
khaledelmadawi	0:8fe8d6dd7cd6	216	/** Get digital low-pass filter configuration.
khaledelmadawi	0:8fe8d6dd7cd6	217	* The DLPF_CFG parameter sets the digital low pass filter configuration. It
khaledelmadawi	0:8fe8d6dd7cd6	218	* also determines the internal sampling rate used by the device as shown in
khaledelmadawi	0:8fe8d6dd7cd6	219	* the table below.
khaledelmadawi	0:8fe8d6dd7cd6	220	*
khaledelmadawi	0:8fe8d6dd7cd6	221	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
khaledelmadawi	0:8fe8d6dd7cd6	222	* Rate greater than 1kHz, the same accelerometer sample may be output to the
khaledelmadawi	0:8fe8d6dd7cd6	223	* FIFO, DMP, and sensor registers more than once.
khaledelmadawi	0:8fe8d6dd7cd6	224	*
khaledelmadawi	0:8fe8d6dd7cd6	225	* <pre>
khaledelmadawi	0:8fe8d6dd7cd6	226	* \| ACCELEROMETER \| GYROSCOPE
khaledelmadawi	0:8fe8d6dd7cd6	227	* DLPF_CFG \| Bandwidth \| Delay \| Bandwidth \| Delay \| Sample Rate
khaledelmadawi	0:8fe8d6dd7cd6	228	* ---------+-----------+--------+-----------+--------+-------------
khaledelmadawi	0:8fe8d6dd7cd6	229	* 0 \| 260Hz \| 0ms \| 256Hz \| 0.98ms \| 8kHz
khaledelmadawi	0:8fe8d6dd7cd6	230	* 1 \| 184Hz \| 2.0ms \| 188Hz \| 1.9ms \| 1kHz
khaledelmadawi	0:8fe8d6dd7cd6	231	* 2 \| 94Hz \| 3.0ms \| 98Hz \| 2.8ms \| 1kHz
khaledelmadawi	0:8fe8d6dd7cd6	232	* 3 \| 44Hz \| 4.9ms \| 42Hz \| 4.8ms \| 1kHz
khaledelmadawi	0:8fe8d6dd7cd6	233	* 4 \| 21Hz \| 8.5ms \| 20Hz \| 8.3ms \| 1kHz
khaledelmadawi	0:8fe8d6dd7cd6	234	* 5 \| 10Hz \| 13.8ms \| 10Hz \| 13.4ms \| 1kHz
khaledelmadawi	0:8fe8d6dd7cd6	235	* 6 \| 5Hz \| 19.0ms \| 5Hz \| 18.6ms \| 1kHz
khaledelmadawi	0:8fe8d6dd7cd6	236	* 7 \| -- Reserved -- \| -- Reserved -- \| Reserved
khaledelmadawi	0:8fe8d6dd7cd6	237	* </pre>
khaledelmadawi	0:8fe8d6dd7cd6	238	*
khaledelmadawi	0:8fe8d6dd7cd6	239	* @return DLFP configuration
khaledelmadawi	0:8fe8d6dd7cd6	240	* @see MPU6050_RA_CONFIG
khaledelmadawi	0:8fe8d6dd7cd6	241	* @see MPU6050_CFG_DLPF_CFG_BIT
khaledelmadawi	0:8fe8d6dd7cd6	242	* @see MPU6050_CFG_DLPF_CFG_LENGTH
khaledelmadawi	0:8fe8d6dd7cd6	243	*/
khaledelmadawi	0:8fe8d6dd7cd6	244	uint8_t MPU6050::getDLPFMode()
khaledelmadawi	0:8fe8d6dd7cd6	245	{
khaledelmadawi	0:8fe8d6dd7cd6	246	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	247	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	248	}
khaledelmadawi	0:8fe8d6dd7cd6	249	/** Set digital low-pass filter configuration.
khaledelmadawi	0:8fe8d6dd7cd6	250	* @param mode New DLFP configuration setting
khaledelmadawi	0:8fe8d6dd7cd6	251	* @see getDLPFBandwidth()
khaledelmadawi	0:8fe8d6dd7cd6	252	* @see MPU6050_DLPF_BW_256
khaledelmadawi	0:8fe8d6dd7cd6	253	* @see MPU6050_RA_CONFIG
khaledelmadawi	0:8fe8d6dd7cd6	254	* @see MPU6050_CFG_DLPF_CFG_BIT
khaledelmadawi	0:8fe8d6dd7cd6	255	* @see MPU6050_CFG_DLPF_CFG_LENGTH
khaledelmadawi	0:8fe8d6dd7cd6	256	*/
khaledelmadawi	0:8fe8d6dd7cd6	257	void MPU6050::setDLPFMode(uint8_t mode)
khaledelmadawi	0:8fe8d6dd7cd6	258	{
khaledelmadawi	0:8fe8d6dd7cd6	259	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
khaledelmadawi	0:8fe8d6dd7cd6	260	}
khaledelmadawi	0:8fe8d6dd7cd6	261
khaledelmadawi	0:8fe8d6dd7cd6	262	// GYRO_CONFIG register
khaledelmadawi	0:8fe8d6dd7cd6	263
khaledelmadawi	0:8fe8d6dd7cd6	264	/** Get full-scale gyroscope range.
khaledelmadawi	0:8fe8d6dd7cd6	265	* The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
khaledelmadawi	0:8fe8d6dd7cd6	266	* as described in the table below.
khaledelmadawi	0:8fe8d6dd7cd6	267	*
khaledelmadawi	0:8fe8d6dd7cd6	268	* <pre>
khaledelmadawi	0:8fe8d6dd7cd6	269	* 0 = +/- 250 degrees/sec
khaledelmadawi	0:8fe8d6dd7cd6	270	* 1 = +/- 500 degrees/sec
khaledelmadawi	0:8fe8d6dd7cd6	271	* 2 = +/- 1000 degrees/sec
khaledelmadawi	0:8fe8d6dd7cd6	272	* 3 = +/- 2000 degrees/sec
khaledelmadawi	0:8fe8d6dd7cd6	273	* </pre>
khaledelmadawi	0:8fe8d6dd7cd6	274	*
khaledelmadawi	0:8fe8d6dd7cd6	275	* @return Current full-scale gyroscope range setting
khaledelmadawi	0:8fe8d6dd7cd6	276	* @see MPU6050_GYRO_FS_250
khaledelmadawi	0:8fe8d6dd7cd6	277	* @see MPU6050_RA_GYRO_CONFIG
khaledelmadawi	0:8fe8d6dd7cd6	278	* @see MPU6050_GCONFIG_FS_SEL_BIT
khaledelmadawi	0:8fe8d6dd7cd6	279	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
khaledelmadawi	0:8fe8d6dd7cd6	280	*/
khaledelmadawi	0:8fe8d6dd7cd6	281	uint8_t MPU6050::getFullScaleGyroRange()
khaledelmadawi	0:8fe8d6dd7cd6	282	{
khaledelmadawi	0:8fe8d6dd7cd6	283	i2Cdev.readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	284	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	285	}
khaledelmadawi	0:8fe8d6dd7cd6	286	/** Set full-scale gyroscope range.
khaledelmadawi	0:8fe8d6dd7cd6	287	* @param range New full-scale gyroscope range value
khaledelmadawi	0:8fe8d6dd7cd6	288	* @see getFullScaleRange()
khaledelmadawi	0:8fe8d6dd7cd6	289	* @see MPU6050_GYRO_FS_250
khaledelmadawi	0:8fe8d6dd7cd6	290	* @see MPU6050_RA_GYRO_CONFIG
khaledelmadawi	0:8fe8d6dd7cd6	291	* @see MPU6050_GCONFIG_FS_SEL_BIT
khaledelmadawi	0:8fe8d6dd7cd6	292	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
khaledelmadawi	0:8fe8d6dd7cd6	293	*/
khaledelmadawi	0:8fe8d6dd7cd6	294	void MPU6050::setFullScaleGyroRange(uint8_t range)
khaledelmadawi	0:8fe8d6dd7cd6	295	{
khaledelmadawi	0:8fe8d6dd7cd6	296	i2Cdev.writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
khaledelmadawi	0:8fe8d6dd7cd6	297	}
khaledelmadawi	0:8fe8d6dd7cd6	298
khaledelmadawi	0:8fe8d6dd7cd6	299	// ACCEL_CONFIG register
khaledelmadawi	0:8fe8d6dd7cd6	300
khaledelmadawi	0:8fe8d6dd7cd6	301	/** Get self-test enabled setting for accelerometer X axis.
khaledelmadawi	0:8fe8d6dd7cd6	302	* @return Self-test enabled value
khaledelmadawi	0:8fe8d6dd7cd6	303	* @see MPU6050_RA_ACCEL_CONFIG
khaledelmadawi	0:8fe8d6dd7cd6	304	*/
khaledelmadawi	0:8fe8d6dd7cd6	305	bool MPU6050::getAccelXSelfTest()
khaledelmadawi	0:8fe8d6dd7cd6	306	{
khaledelmadawi	0:8fe8d6dd7cd6	307	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	308	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	309	}
khaledelmadawi	0:8fe8d6dd7cd6	310	/** Get self-test enabled setting for accelerometer X axis.
khaledelmadawi	0:8fe8d6dd7cd6	311	* @param enabled Self-test enabled value
khaledelmadawi	0:8fe8d6dd7cd6	312	* @see MPU6050_RA_ACCEL_CONFIG
khaledelmadawi	0:8fe8d6dd7cd6	313	*/
khaledelmadawi	0:8fe8d6dd7cd6	314	void MPU6050::setAccelXSelfTest(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	315	{
khaledelmadawi	0:8fe8d6dd7cd6	316	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	317	}
khaledelmadawi	0:8fe8d6dd7cd6	318	/** Get self-test enabled value for accelerometer Y axis.
khaledelmadawi	0:8fe8d6dd7cd6	319	* @return Self-test enabled value
khaledelmadawi	0:8fe8d6dd7cd6	320	* @see MPU6050_RA_ACCEL_CONFIG
khaledelmadawi	0:8fe8d6dd7cd6	321	*/
khaledelmadawi	0:8fe8d6dd7cd6	322	bool MPU6050::getAccelYSelfTest()
khaledelmadawi	0:8fe8d6dd7cd6	323	{
khaledelmadawi	0:8fe8d6dd7cd6	324	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	325	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	326	}
khaledelmadawi	0:8fe8d6dd7cd6	327	/** Get self-test enabled value for accelerometer Y axis.
khaledelmadawi	0:8fe8d6dd7cd6	328	* @param enabled Self-test enabled value
khaledelmadawi	0:8fe8d6dd7cd6	329	* @see MPU6050_RA_ACCEL_CONFIG
khaledelmadawi	0:8fe8d6dd7cd6	330	*/
khaledelmadawi	0:8fe8d6dd7cd6	331	void MPU6050::setAccelYSelfTest(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	332	{
khaledelmadawi	0:8fe8d6dd7cd6	333	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	334	}
khaledelmadawi	0:8fe8d6dd7cd6	335	/** Get self-test enabled value for accelerometer Z axis.
khaledelmadawi	0:8fe8d6dd7cd6	336	* @return Self-test enabled value
khaledelmadawi	0:8fe8d6dd7cd6	337	* @see MPU6050_RA_ACCEL_CONFIG
khaledelmadawi	0:8fe8d6dd7cd6	338	*/
khaledelmadawi	0:8fe8d6dd7cd6	339	bool MPU6050::getAccelZSelfTest()
khaledelmadawi	0:8fe8d6dd7cd6	340	{
khaledelmadawi	0:8fe8d6dd7cd6	341	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	342	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	343	}
khaledelmadawi	0:8fe8d6dd7cd6	344	/** Set self-test enabled value for accelerometer Z axis.
khaledelmadawi	0:8fe8d6dd7cd6	345	* @param enabled Self-test enabled value
khaledelmadawi	0:8fe8d6dd7cd6	346	* @see MPU6050_RA_ACCEL_CONFIG
khaledelmadawi	0:8fe8d6dd7cd6	347	*/
khaledelmadawi	0:8fe8d6dd7cd6	348	void MPU6050::setAccelZSelfTest(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	349	{
khaledelmadawi	0:8fe8d6dd7cd6	350	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	351	}
khaledelmadawi	0:8fe8d6dd7cd6	352	/** Get full-scale accelerometer range.
khaledelmadawi	0:8fe8d6dd7cd6	353	* The FS_SEL parameter allows setting the full-scale range of the accelerometer
khaledelmadawi	0:8fe8d6dd7cd6	354	* sensors, as described in the table below.
khaledelmadawi	0:8fe8d6dd7cd6	355	*
khaledelmadawi	0:8fe8d6dd7cd6	356	* <pre>
khaledelmadawi	0:8fe8d6dd7cd6	357	* 0 = +/- 2g
khaledelmadawi	0:8fe8d6dd7cd6	358	* 1 = +/- 4g
khaledelmadawi	0:8fe8d6dd7cd6	359	* 2 = +/- 8g
khaledelmadawi	0:8fe8d6dd7cd6	360	* 3 = +/- 16g
khaledelmadawi	0:8fe8d6dd7cd6	361	* </pre>
khaledelmadawi	0:8fe8d6dd7cd6	362	*
khaledelmadawi	0:8fe8d6dd7cd6	363	* @return Current full-scale accelerometer range setting
khaledelmadawi	0:8fe8d6dd7cd6	364	* @see MPU6050_ACCEL_FS_2
khaledelmadawi	0:8fe8d6dd7cd6	365	* @see MPU6050_RA_ACCEL_CONFIG
khaledelmadawi	0:8fe8d6dd7cd6	366	* @see MPU6050_ACONFIG_AFS_SEL_BIT
khaledelmadawi	0:8fe8d6dd7cd6	367	* @see MPU6050_ACONFIG_AFS_SEL_LENGTH
khaledelmadawi	0:8fe8d6dd7cd6	368	*/
khaledelmadawi	0:8fe8d6dd7cd6	369	uint8_t MPU6050::getFullScaleAccelRange()
khaledelmadawi	0:8fe8d6dd7cd6	370	{
khaledelmadawi	0:8fe8d6dd7cd6	371	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	372	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	373	}
khaledelmadawi	0:8fe8d6dd7cd6	374	/** Set full-scale accelerometer range.
khaledelmadawi	0:8fe8d6dd7cd6	375	* @param range New full-scale accelerometer range setting
khaledelmadawi	0:8fe8d6dd7cd6	376	* @see getFullScaleAccelRange()
khaledelmadawi	0:8fe8d6dd7cd6	377	*/
khaledelmadawi	0:8fe8d6dd7cd6	378	void MPU6050::setFullScaleAccelRange(uint8_t range)
khaledelmadawi	0:8fe8d6dd7cd6	379	{
khaledelmadawi	0:8fe8d6dd7cd6	380	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
khaledelmadawi	0:8fe8d6dd7cd6	381	}
khaledelmadawi	0:8fe8d6dd7cd6	382	/** Get the high-pass filter configuration.
khaledelmadawi	0:8fe8d6dd7cd6	383	* The DHPF is a filter module in the path leading to motion detectors (Free
khaledelmadawi	0:8fe8d6dd7cd6	384	* Fall, Motion threshold, and Zero Motion). The high pass filter output is not
khaledelmadawi	0:8fe8d6dd7cd6	385	* available to the data registers (see Figure in Section 8 of the MPU-6000/
khaledelmadawi	0:8fe8d6dd7cd6	386	* MPU-6050 Product Specification document).
khaledelmadawi	0:8fe8d6dd7cd6	387	*
khaledelmadawi	0:8fe8d6dd7cd6	388	* The high pass filter has three modes:
khaledelmadawi	0:8fe8d6dd7cd6	389	*
khaledelmadawi	0:8fe8d6dd7cd6	390	* <pre>
khaledelmadawi	0:8fe8d6dd7cd6	391	* Reset: The filter output settles to zero within one sample. This
khaledelmadawi	0:8fe8d6dd7cd6	392	* effectively disables the high pass filter. This mode may be toggled
khaledelmadawi	0:8fe8d6dd7cd6	393	* to quickly settle the filter.
khaledelmadawi	0:8fe8d6dd7cd6	394	*
khaledelmadawi	0:8fe8d6dd7cd6	395	* On: The high pass filter will pass signals above the cut off frequency.
khaledelmadawi	0:8fe8d6dd7cd6	396	*
khaledelmadawi	0:8fe8d6dd7cd6	397	* Hold: When triggered, the filter holds the present sample. The filter
khaledelmadawi	0:8fe8d6dd7cd6	398	* output will be the difference between the input sample and the held
khaledelmadawi	0:8fe8d6dd7cd6	399	* sample.
khaledelmadawi	0:8fe8d6dd7cd6	400	* </pre>
khaledelmadawi	0:8fe8d6dd7cd6	401	*
khaledelmadawi	0:8fe8d6dd7cd6	402	* <pre>
khaledelmadawi	0:8fe8d6dd7cd6	403	* ACCEL_HPF \| Filter Mode \| Cut-off Frequency
khaledelmadawi	0:8fe8d6dd7cd6	404	* ----------+-------------+------------------
khaledelmadawi	0:8fe8d6dd7cd6	405	* 0 \| Reset \| None
khaledelmadawi	0:8fe8d6dd7cd6	406	* 1 \| On \| 5Hz
khaledelmadawi	0:8fe8d6dd7cd6	407	* 2 \| On \| 2.5Hz
khaledelmadawi	0:8fe8d6dd7cd6	408	* 3 \| On \| 1.25Hz
khaledelmadawi	0:8fe8d6dd7cd6	409	* 4 \| On \| 0.63Hz
khaledelmadawi	0:8fe8d6dd7cd6	410	* 7 \| Hold \| None
khaledelmadawi	0:8fe8d6dd7cd6	411	* </pre>
khaledelmadawi	0:8fe8d6dd7cd6	412	*
khaledelmadawi	0:8fe8d6dd7cd6	413	* @return Current high-pass filter configuration
khaledelmadawi	0:8fe8d6dd7cd6	414	* @see MPU6050_DHPF_RESET
khaledelmadawi	0:8fe8d6dd7cd6	415	* @see MPU6050_RA_ACCEL_CONFIG
khaledelmadawi	0:8fe8d6dd7cd6	416	*/
khaledelmadawi	0:8fe8d6dd7cd6	417	uint8_t MPU6050::getDHPFMode()
khaledelmadawi	0:8fe8d6dd7cd6	418	{
khaledelmadawi	0:8fe8d6dd7cd6	419	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	420	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	421	}
khaledelmadawi	0:8fe8d6dd7cd6	422	/** Set the high-pass filter configuration.
khaledelmadawi	0:8fe8d6dd7cd6	423	* @param bandwidth New high-pass filter configuration
khaledelmadawi	0:8fe8d6dd7cd6	424	* @see setDHPFMode()
khaledelmadawi	0:8fe8d6dd7cd6	425	* @see MPU6050_DHPF_RESET
khaledelmadawi	0:8fe8d6dd7cd6	426	* @see MPU6050_RA_ACCEL_CONFIG
khaledelmadawi	0:8fe8d6dd7cd6	427	*/
khaledelmadawi	0:8fe8d6dd7cd6	428	void MPU6050::setDHPFMode(uint8_t bandwidth)
khaledelmadawi	0:8fe8d6dd7cd6	429	{
khaledelmadawi	0:8fe8d6dd7cd6	430	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
khaledelmadawi	0:8fe8d6dd7cd6	431	}
khaledelmadawi	0:8fe8d6dd7cd6	432
khaledelmadawi	0:8fe8d6dd7cd6	433	// FF_THR register
khaledelmadawi	0:8fe8d6dd7cd6	434
khaledelmadawi	0:8fe8d6dd7cd6	435	/** Get free-fall event acceleration threshold.
khaledelmadawi	0:8fe8d6dd7cd6	436	* This register configures the detection threshold for Free Fall event
khaledelmadawi	0:8fe8d6dd7cd6	437	* detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
khaledelmadawi	0:8fe8d6dd7cd6	438	* absolute value of the accelerometer measurements for the three axes are each
khaledelmadawi	0:8fe8d6dd7cd6	439	* less than the detection threshold. This condition increments the Free Fall
khaledelmadawi	0:8fe8d6dd7cd6	440	* duration counter (Register 30). The Free Fall interrupt is triggered when the
khaledelmadawi	0:8fe8d6dd7cd6	441	* Free Fall duration counter reaches the time specified in FF_DUR.
khaledelmadawi	0:8fe8d6dd7cd6	442	*
khaledelmadawi	0:8fe8d6dd7cd6	443	* For more details on the Free Fall detection interrupt, see Section 8.2 of the
khaledelmadawi	0:8fe8d6dd7cd6	444	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
khaledelmadawi	0:8fe8d6dd7cd6	445	* 58 of this document.
khaledelmadawi	0:8fe8d6dd7cd6	446	*
khaledelmadawi	0:8fe8d6dd7cd6	447	* @return Current free-fall acceleration threshold value (LSB = 2mg)
khaledelmadawi	0:8fe8d6dd7cd6	448	* @see MPU6050_RA_FF_THR
khaledelmadawi	0:8fe8d6dd7cd6	449	*/
khaledelmadawi	0:8fe8d6dd7cd6	450	uint8_t MPU6050::getFreefallDetectionThreshold()
khaledelmadawi	0:8fe8d6dd7cd6	451	{
khaledelmadawi	0:8fe8d6dd7cd6	452	i2Cdev.readByte(devAddr, MPU6050_RA_FF_THR, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	453	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	454	}
khaledelmadawi	0:8fe8d6dd7cd6	455	/** Get free-fall event acceleration threshold.
khaledelmadawi	0:8fe8d6dd7cd6	456	* @param threshold New free-fall acceleration threshold value (LSB = 2mg)
khaledelmadawi	0:8fe8d6dd7cd6	457	* @see getFreefallDetectionThreshold()
khaledelmadawi	0:8fe8d6dd7cd6	458	* @see MPU6050_RA_FF_THR
khaledelmadawi	0:8fe8d6dd7cd6	459	*/
khaledelmadawi	0:8fe8d6dd7cd6	460	void MPU6050::setFreefallDetectionThreshold(uint8_t threshold)
khaledelmadawi	0:8fe8d6dd7cd6	461	{
khaledelmadawi	0:8fe8d6dd7cd6	462	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
khaledelmadawi	0:8fe8d6dd7cd6	463	}
khaledelmadawi	0:8fe8d6dd7cd6	464
khaledelmadawi	0:8fe8d6dd7cd6	465	// FF_DUR register
khaledelmadawi	0:8fe8d6dd7cd6	466
khaledelmadawi	0:8fe8d6dd7cd6	467	/** Get free-fall event duration threshold.
khaledelmadawi	0:8fe8d6dd7cd6	468	* This register configures the duration counter threshold for Free Fall event
khaledelmadawi	0:8fe8d6dd7cd6	469	* detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
khaledelmadawi	0:8fe8d6dd7cd6	470	* of 1 LSB = 1 ms.
khaledelmadawi	0:8fe8d6dd7cd6	471	*
khaledelmadawi	0:8fe8d6dd7cd6	472	* The Free Fall duration counter increments while the absolute value of the
khaledelmadawi	0:8fe8d6dd7cd6	473	* accelerometer measurements are each less than the detection threshold
khaledelmadawi	0:8fe8d6dd7cd6	474	* (Register 29). The Free Fall interrupt is triggered when the Free Fall
khaledelmadawi	0:8fe8d6dd7cd6	475	* duration counter reaches the time specified in this register.
khaledelmadawi	0:8fe8d6dd7cd6	476	*
khaledelmadawi	0:8fe8d6dd7cd6	477	* For more details on the Free Fall detection interrupt, see Section 8.2 of
khaledelmadawi	0:8fe8d6dd7cd6	478	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
khaledelmadawi	0:8fe8d6dd7cd6	479	* and 58 of this document.
khaledelmadawi	0:8fe8d6dd7cd6	480	*
khaledelmadawi	0:8fe8d6dd7cd6	481	* @return Current free-fall duration threshold value (LSB = 1ms)
khaledelmadawi	0:8fe8d6dd7cd6	482	* @see MPU6050_RA_FF_DUR
khaledelmadawi	0:8fe8d6dd7cd6	483	*/
khaledelmadawi	0:8fe8d6dd7cd6	484	uint8_t MPU6050::getFreefallDetectionDuration()
khaledelmadawi	0:8fe8d6dd7cd6	485	{
khaledelmadawi	0:8fe8d6dd7cd6	486	i2Cdev.readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	487	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	488	}
khaledelmadawi	0:8fe8d6dd7cd6	489	/** Get free-fall event duration threshold.
khaledelmadawi	0:8fe8d6dd7cd6	490	* @param duration New free-fall duration threshold value (LSB = 1ms)
khaledelmadawi	0:8fe8d6dd7cd6	491	* @see getFreefallDetectionDuration()
khaledelmadawi	0:8fe8d6dd7cd6	492	* @see MPU6050_RA_FF_DUR
khaledelmadawi	0:8fe8d6dd7cd6	493	*/
khaledelmadawi	0:8fe8d6dd7cd6	494	void MPU6050::setFreefallDetectionDuration(uint8_t duration)
khaledelmadawi	0:8fe8d6dd7cd6	495	{
khaledelmadawi	0:8fe8d6dd7cd6	496	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
khaledelmadawi	0:8fe8d6dd7cd6	497	}
khaledelmadawi	0:8fe8d6dd7cd6	498
khaledelmadawi	0:8fe8d6dd7cd6	499	// MOT_THR register
khaledelmadawi	0:8fe8d6dd7cd6	500
khaledelmadawi	0:8fe8d6dd7cd6	501	/** Get motion detection event acceleration threshold.
khaledelmadawi	0:8fe8d6dd7cd6	502	* This register configures the detection threshold for Motion interrupt
khaledelmadawi	0:8fe8d6dd7cd6	503	* generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
khaledelmadawi	0:8fe8d6dd7cd6	504	* absolute value of any of the accelerometer measurements exceeds this Motion
khaledelmadawi	0:8fe8d6dd7cd6	505	* detection threshold. This condition increments the Motion detection duration
khaledelmadawi	0:8fe8d6dd7cd6	506	* counter (Register 32). The Motion detection interrupt is triggered when the
khaledelmadawi	0:8fe8d6dd7cd6	507	* Motion Detection counter reaches the time count specified in MOT_DUR
khaledelmadawi	0:8fe8d6dd7cd6	508	* (Register 32).
khaledelmadawi	0:8fe8d6dd7cd6	509	*
khaledelmadawi	0:8fe8d6dd7cd6	510	* The Motion interrupt will indicate the axis and polarity of detected motion
khaledelmadawi	0:8fe8d6dd7cd6	511	* in MOT_DETECT_STATUS (Register 97).
khaledelmadawi	0:8fe8d6dd7cd6	512	*
khaledelmadawi	0:8fe8d6dd7cd6	513	* For more details on the Motion detection interrupt, see Section 8.3 of the
khaledelmadawi	0:8fe8d6dd7cd6	514	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
khaledelmadawi	0:8fe8d6dd7cd6	515	* 58 of this document.
khaledelmadawi	0:8fe8d6dd7cd6	516	*
khaledelmadawi	0:8fe8d6dd7cd6	517	* @return Current motion detection acceleration threshold value (LSB = 2mg)
khaledelmadawi	0:8fe8d6dd7cd6	518	* @see MPU6050_RA_MOT_THR
khaledelmadawi	0:8fe8d6dd7cd6	519	*/
khaledelmadawi	0:8fe8d6dd7cd6	520	uint8_t MPU6050::getMotionDetectionThreshold()
khaledelmadawi	0:8fe8d6dd7cd6	521	{
khaledelmadawi	0:8fe8d6dd7cd6	522	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	523	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	524	}
khaledelmadawi	0:8fe8d6dd7cd6	525	/** Set free-fall event acceleration threshold.
khaledelmadawi	0:8fe8d6dd7cd6	526	* @param threshold New motion detection acceleration threshold value (LSB = 2mg)
khaledelmadawi	0:8fe8d6dd7cd6	527	* @see getMotionDetectionThreshold()
khaledelmadawi	0:8fe8d6dd7cd6	528	* @see MPU6050_RA_MOT_THR
khaledelmadawi	0:8fe8d6dd7cd6	529	*/
khaledelmadawi	0:8fe8d6dd7cd6	530	void MPU6050::setMotionDetectionThreshold(uint8_t threshold)
khaledelmadawi	0:8fe8d6dd7cd6	531	{
khaledelmadawi	0:8fe8d6dd7cd6	532	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
khaledelmadawi	0:8fe8d6dd7cd6	533	}
khaledelmadawi	0:8fe8d6dd7cd6	534
khaledelmadawi	0:8fe8d6dd7cd6	535	// MOT_DUR register
khaledelmadawi	0:8fe8d6dd7cd6	536
khaledelmadawi	0:8fe8d6dd7cd6	537	/** Get motion detection event duration threshold.
khaledelmadawi	0:8fe8d6dd7cd6	538	* This register configures the duration counter threshold for Motion interrupt
khaledelmadawi	0:8fe8d6dd7cd6	539	* generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
khaledelmadawi	0:8fe8d6dd7cd6	540	* of 1LSB = 1ms. The Motion detection duration counter increments when the
khaledelmadawi	0:8fe8d6dd7cd6	541	* absolute value of any of the accelerometer measurements exceeds the Motion
khaledelmadawi	0:8fe8d6dd7cd6	542	* detection threshold (Register 31). The Motion detection interrupt is
khaledelmadawi	0:8fe8d6dd7cd6	543	* triggered when the Motion detection counter reaches the time count specified
khaledelmadawi	0:8fe8d6dd7cd6	544	* in this register.
khaledelmadawi	0:8fe8d6dd7cd6	545	*
khaledelmadawi	0:8fe8d6dd7cd6	546	* For more details on the Motion detection interrupt, see Section 8.3 of the
khaledelmadawi	0:8fe8d6dd7cd6	547	* MPU-6000/MPU-6050 Product Specification document.
khaledelmadawi	0:8fe8d6dd7cd6	548	*
khaledelmadawi	0:8fe8d6dd7cd6	549	* @return Current motion detection duration threshold value (LSB = 1ms)
khaledelmadawi	0:8fe8d6dd7cd6	550	* @see MPU6050_RA_MOT_DUR
khaledelmadawi	0:8fe8d6dd7cd6	551	*/
khaledelmadawi	0:8fe8d6dd7cd6	552	uint8_t MPU6050::getMotionDetectionDuration()
khaledelmadawi	0:8fe8d6dd7cd6	553	{
khaledelmadawi	0:8fe8d6dd7cd6	554	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	555	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	556	}
khaledelmadawi	0:8fe8d6dd7cd6	557	/** Set motion detection event duration threshold.
khaledelmadawi	0:8fe8d6dd7cd6	558	* @param duration New motion detection duration threshold value (LSB = 1ms)
khaledelmadawi	0:8fe8d6dd7cd6	559	* @see getMotionDetectionDuration()
khaledelmadawi	0:8fe8d6dd7cd6	560	* @see MPU6050_RA_MOT_DUR
khaledelmadawi	0:8fe8d6dd7cd6	561	*/
khaledelmadawi	0:8fe8d6dd7cd6	562	void MPU6050::setMotionDetectionDuration(uint8_t duration)
khaledelmadawi	0:8fe8d6dd7cd6	563	{
khaledelmadawi	0:8fe8d6dd7cd6	564	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
khaledelmadawi	0:8fe8d6dd7cd6	565	}
khaledelmadawi	0:8fe8d6dd7cd6	566
khaledelmadawi	0:8fe8d6dd7cd6	567	// ZRMOT_THR register
khaledelmadawi	0:8fe8d6dd7cd6	568
khaledelmadawi	0:8fe8d6dd7cd6	569	/** Get zero motion detection event acceleration threshold.
khaledelmadawi	0:8fe8d6dd7cd6	570	* This register configures the detection threshold for Zero Motion interrupt
khaledelmadawi	0:8fe8d6dd7cd6	571	* generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
khaledelmadawi	0:8fe8d6dd7cd6	572	* the absolute value of the accelerometer measurements for the 3 axes are each
khaledelmadawi	0:8fe8d6dd7cd6	573	* less than the detection threshold. This condition increments the Zero Motion
khaledelmadawi	0:8fe8d6dd7cd6	574	* duration counter (Register 34). The Zero Motion interrupt is triggered when
khaledelmadawi	0:8fe8d6dd7cd6	575	* the Zero Motion duration counter reaches the time count specified in
khaledelmadawi	0:8fe8d6dd7cd6	576	* ZRMOT_DUR (Register 34).
khaledelmadawi	0:8fe8d6dd7cd6	577	*
khaledelmadawi	0:8fe8d6dd7cd6	578	* Unlike Free Fall or Motion detection, Zero Motion detection triggers an
khaledelmadawi	0:8fe8d6dd7cd6	579	* interrupt both when Zero Motion is first detected and when Zero Motion is no
khaledelmadawi	0:8fe8d6dd7cd6	580	* longer detected.
khaledelmadawi	0:8fe8d6dd7cd6	581	*
khaledelmadawi	0:8fe8d6dd7cd6	582	* When a zero motion event is detected, a Zero Motion Status will be indicated
khaledelmadawi	0:8fe8d6dd7cd6	583	* in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
khaledelmadawi	0:8fe8d6dd7cd6	584	* condition is detected, the status bit is set to 1. When a zero-motion-to-
khaledelmadawi	0:8fe8d6dd7cd6	585	* motion condition is detected, the status bit is set to 0.
khaledelmadawi	0:8fe8d6dd7cd6	586	*
khaledelmadawi	0:8fe8d6dd7cd6	587	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
khaledelmadawi	0:8fe8d6dd7cd6	588	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
khaledelmadawi	0:8fe8d6dd7cd6	589	* and 58 of this document.
khaledelmadawi	0:8fe8d6dd7cd6	590	*
khaledelmadawi	0:8fe8d6dd7cd6	591	* @return Current zero motion detection acceleration threshold value (LSB = 2mg)
khaledelmadawi	0:8fe8d6dd7cd6	592	* @see MPU6050_RA_ZRMOT_THR
khaledelmadawi	0:8fe8d6dd7cd6	593	*/
khaledelmadawi	0:8fe8d6dd7cd6	594	uint8_t MPU6050::getZeroMotionDetectionThreshold()
khaledelmadawi	0:8fe8d6dd7cd6	595	{
khaledelmadawi	0:8fe8d6dd7cd6	596	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	597	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	598	}
khaledelmadawi	0:8fe8d6dd7cd6	599	/** Set zero motion detection event acceleration threshold.
khaledelmadawi	0:8fe8d6dd7cd6	600	* @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
khaledelmadawi	0:8fe8d6dd7cd6	601	* @see getZeroMotionDetectionThreshold()
khaledelmadawi	0:8fe8d6dd7cd6	602	* @see MPU6050_RA_ZRMOT_THR
khaledelmadawi	0:8fe8d6dd7cd6	603	*/
khaledelmadawi	0:8fe8d6dd7cd6	604	void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold)
khaledelmadawi	0:8fe8d6dd7cd6	605	{
khaledelmadawi	0:8fe8d6dd7cd6	606	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
khaledelmadawi	0:8fe8d6dd7cd6	607	}
khaledelmadawi	0:8fe8d6dd7cd6	608
khaledelmadawi	0:8fe8d6dd7cd6	609	// ZRMOT_DUR register
khaledelmadawi	0:8fe8d6dd7cd6	610
khaledelmadawi	0:8fe8d6dd7cd6	611	/** Get zero motion detection event duration threshold.
khaledelmadawi	0:8fe8d6dd7cd6	612	* This register configures the duration counter threshold for Zero Motion
khaledelmadawi	0:8fe8d6dd7cd6	613	* interrupt generation. The duration counter ticks at 16 Hz, therefore
khaledelmadawi	0:8fe8d6dd7cd6	614	* ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
khaledelmadawi	0:8fe8d6dd7cd6	615	* increments while the absolute value of the accelerometer measurements are
khaledelmadawi	0:8fe8d6dd7cd6	616	* each less than the detection threshold (Register 33). The Zero Motion
khaledelmadawi	0:8fe8d6dd7cd6	617	* interrupt is triggered when the Zero Motion duration counter reaches the time
khaledelmadawi	0:8fe8d6dd7cd6	618	* count specified in this register.
khaledelmadawi	0:8fe8d6dd7cd6	619	*
khaledelmadawi	0:8fe8d6dd7cd6	620	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
khaledelmadawi	0:8fe8d6dd7cd6	621	* the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
khaledelmadawi	0:8fe8d6dd7cd6	622	* and 58 of this document.
khaledelmadawi	0:8fe8d6dd7cd6	623	*
khaledelmadawi	0:8fe8d6dd7cd6	624	* @return Current zero motion detection duration threshold value (LSB = 64ms)
khaledelmadawi	0:8fe8d6dd7cd6	625	* @see MPU6050_RA_ZRMOT_DUR
khaledelmadawi	0:8fe8d6dd7cd6	626	*/
khaledelmadawi	0:8fe8d6dd7cd6	627	uint8_t MPU6050::getZeroMotionDetectionDuration()
khaledelmadawi	0:8fe8d6dd7cd6	628	{
khaledelmadawi	0:8fe8d6dd7cd6	629	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	630	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	631	}
khaledelmadawi	0:8fe8d6dd7cd6	632	/** Set zero motion detection event duration threshold.
khaledelmadawi	0:8fe8d6dd7cd6	633	* @param duration New zero motion detection duration threshold value (LSB = 1ms)
khaledelmadawi	0:8fe8d6dd7cd6	634	* @see getZeroMotionDetectionDuration()
khaledelmadawi	0:8fe8d6dd7cd6	635	* @see MPU6050_RA_ZRMOT_DUR
khaledelmadawi	0:8fe8d6dd7cd6	636	*/
khaledelmadawi	0:8fe8d6dd7cd6	637	void MPU6050::setZeroMotionDetectionDuration(uint8_t duration)
khaledelmadawi	0:8fe8d6dd7cd6	638	{
khaledelmadawi	0:8fe8d6dd7cd6	639	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
khaledelmadawi	0:8fe8d6dd7cd6	640	}
khaledelmadawi	0:8fe8d6dd7cd6	641
khaledelmadawi	0:8fe8d6dd7cd6	642	// FIFO_EN register
khaledelmadawi	0:8fe8d6dd7cd6	643
khaledelmadawi	0:8fe8d6dd7cd6	644	/** Get temperature FIFO enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	645	* When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
khaledelmadawi	0:8fe8d6dd7cd6	646	* 66) to be written into the FIFO buffer.
khaledelmadawi	0:8fe8d6dd7cd6	647	* @return Current temperature FIFO enabled value
khaledelmadawi	0:8fe8d6dd7cd6	648	* @see MPU6050_RA_FIFO_EN
khaledelmadawi	0:8fe8d6dd7cd6	649	*/
khaledelmadawi	0:8fe8d6dd7cd6	650	bool MPU6050::getTempFIFOEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	651	{
khaledelmadawi	0:8fe8d6dd7cd6	652	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	653	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	654	}
khaledelmadawi	0:8fe8d6dd7cd6	655	/** Set temperature FIFO enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	656	* @param enabled New temperature FIFO enabled value
khaledelmadawi	0:8fe8d6dd7cd6	657	* @see getTempFIFOEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	658	* @see MPU6050_RA_FIFO_EN
khaledelmadawi	0:8fe8d6dd7cd6	659	*/
khaledelmadawi	0:8fe8d6dd7cd6	660	void MPU6050::setTempFIFOEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	661	{
khaledelmadawi	0:8fe8d6dd7cd6	662	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	663	}
khaledelmadawi	0:8fe8d6dd7cd6	664	/** Get gyroscope X-axis FIFO enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	665	* When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
khaledelmadawi	0:8fe8d6dd7cd6	666	* 68) to be written into the FIFO buffer.
khaledelmadawi	0:8fe8d6dd7cd6	667	* @return Current gyroscope X-axis FIFO enabled value
khaledelmadawi	0:8fe8d6dd7cd6	668	* @see MPU6050_RA_FIFO_EN
khaledelmadawi	0:8fe8d6dd7cd6	669	*/
khaledelmadawi	0:8fe8d6dd7cd6	670	bool MPU6050::getXGyroFIFOEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	671	{
khaledelmadawi	0:8fe8d6dd7cd6	672	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	673	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	674	}
khaledelmadawi	0:8fe8d6dd7cd6	675	/** Set gyroscope X-axis FIFO enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	676	* @param enabled New gyroscope X-axis FIFO enabled value
khaledelmadawi	0:8fe8d6dd7cd6	677	* @see getXGyroFIFOEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	678	* @see MPU6050_RA_FIFO_EN
khaledelmadawi	0:8fe8d6dd7cd6	679	*/
khaledelmadawi	0:8fe8d6dd7cd6	680	void MPU6050::setXGyroFIFOEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	681	{
khaledelmadawi	0:8fe8d6dd7cd6	682	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	683	}
khaledelmadawi	0:8fe8d6dd7cd6	684	/** Get gyroscope Y-axis FIFO enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	685	* When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
khaledelmadawi	0:8fe8d6dd7cd6	686	* 70) to be written into the FIFO buffer.
khaledelmadawi	0:8fe8d6dd7cd6	687	* @return Current gyroscope Y-axis FIFO enabled value
khaledelmadawi	0:8fe8d6dd7cd6	688	* @see MPU6050_RA_FIFO_EN
khaledelmadawi	0:8fe8d6dd7cd6	689	*/
khaledelmadawi	0:8fe8d6dd7cd6	690	bool MPU6050::getYGyroFIFOEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	691	{
khaledelmadawi	0:8fe8d6dd7cd6	692	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	693	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	694	}
khaledelmadawi	0:8fe8d6dd7cd6	695	/** Set gyroscope Y-axis FIFO enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	696	* @param enabled New gyroscope Y-axis FIFO enabled value
khaledelmadawi	0:8fe8d6dd7cd6	697	* @see getYGyroFIFOEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	698	* @see MPU6050_RA_FIFO_EN
khaledelmadawi	0:8fe8d6dd7cd6	699	*/
khaledelmadawi	0:8fe8d6dd7cd6	700	void MPU6050::setYGyroFIFOEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	701	{
khaledelmadawi	0:8fe8d6dd7cd6	702	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	703	}
khaledelmadawi	0:8fe8d6dd7cd6	704	/** Get gyroscope Z-axis FIFO enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	705	* When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
khaledelmadawi	0:8fe8d6dd7cd6	706	* 72) to be written into the FIFO buffer.
khaledelmadawi	0:8fe8d6dd7cd6	707	* @return Current gyroscope Z-axis FIFO enabled value
khaledelmadawi	0:8fe8d6dd7cd6	708	* @see MPU6050_RA_FIFO_EN
khaledelmadawi	0:8fe8d6dd7cd6	709	*/
khaledelmadawi	0:8fe8d6dd7cd6	710	bool MPU6050::getZGyroFIFOEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	711	{
khaledelmadawi	0:8fe8d6dd7cd6	712	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	713	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	714	}
khaledelmadawi	0:8fe8d6dd7cd6	715	/** Set gyroscope Z-axis FIFO enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	716	* @param enabled New gyroscope Z-axis FIFO enabled value
khaledelmadawi	0:8fe8d6dd7cd6	717	* @see getZGyroFIFOEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	718	* @see MPU6050_RA_FIFO_EN
khaledelmadawi	0:8fe8d6dd7cd6	719	*/
khaledelmadawi	0:8fe8d6dd7cd6	720	void MPU6050::setZGyroFIFOEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	721	{
khaledelmadawi	0:8fe8d6dd7cd6	722	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	723	}
khaledelmadawi	0:8fe8d6dd7cd6	724	/** Get accelerometer FIFO enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	725	* When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
khaledelmadawi	0:8fe8d6dd7cd6	726	* ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
khaledelmadawi	0:8fe8d6dd7cd6	727	* written into the FIFO buffer.
khaledelmadawi	0:8fe8d6dd7cd6	728	* @return Current accelerometer FIFO enabled value
khaledelmadawi	0:8fe8d6dd7cd6	729	* @see MPU6050_RA_FIFO_EN
khaledelmadawi	0:8fe8d6dd7cd6	730	*/
khaledelmadawi	0:8fe8d6dd7cd6	731	bool MPU6050::getAccelFIFOEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	732	{
khaledelmadawi	0:8fe8d6dd7cd6	733	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	734	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	735	}
khaledelmadawi	0:8fe8d6dd7cd6	736	/** Set accelerometer FIFO enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	737	* @param enabled New accelerometer FIFO enabled value
khaledelmadawi	0:8fe8d6dd7cd6	738	* @see getAccelFIFOEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	739	* @see MPU6050_RA_FIFO_EN
khaledelmadawi	0:8fe8d6dd7cd6	740	*/
khaledelmadawi	0:8fe8d6dd7cd6	741	void MPU6050::setAccelFIFOEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	742	{
khaledelmadawi	0:8fe8d6dd7cd6	743	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	744	}
khaledelmadawi	0:8fe8d6dd7cd6	745	/** Get Slave 2 FIFO enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	746	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
khaledelmadawi	0:8fe8d6dd7cd6	747	* associated with Slave 2 to be written into the FIFO buffer.
khaledelmadawi	0:8fe8d6dd7cd6	748	* @return Current Slave 2 FIFO enabled value
khaledelmadawi	0:8fe8d6dd7cd6	749	* @see MPU6050_RA_FIFO_EN
khaledelmadawi	0:8fe8d6dd7cd6	750	*/
khaledelmadawi	0:8fe8d6dd7cd6	751	bool MPU6050::getSlave2FIFOEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	752	{
khaledelmadawi	0:8fe8d6dd7cd6	753	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	754	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	755	}
khaledelmadawi	0:8fe8d6dd7cd6	756	/** Set Slave 2 FIFO enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	757	* @param enabled New Slave 2 FIFO enabled value
khaledelmadawi	0:8fe8d6dd7cd6	758	* @see getSlave2FIFOEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	759	* @see MPU6050_RA_FIFO_EN
khaledelmadawi	0:8fe8d6dd7cd6	760	*/
khaledelmadawi	0:8fe8d6dd7cd6	761	void MPU6050::setSlave2FIFOEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	762	{
khaledelmadawi	0:8fe8d6dd7cd6	763	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	764	}
khaledelmadawi	0:8fe8d6dd7cd6	765	/** Get Slave 1 FIFO enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	766	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
khaledelmadawi	0:8fe8d6dd7cd6	767	* associated with Slave 1 to be written into the FIFO buffer.
khaledelmadawi	0:8fe8d6dd7cd6	768	* @return Current Slave 1 FIFO enabled value
khaledelmadawi	0:8fe8d6dd7cd6	769	* @see MPU6050_RA_FIFO_EN
khaledelmadawi	0:8fe8d6dd7cd6	770	*/
khaledelmadawi	0:8fe8d6dd7cd6	771	bool MPU6050::getSlave1FIFOEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	772	{
khaledelmadawi	0:8fe8d6dd7cd6	773	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	774	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	775	}
khaledelmadawi	0:8fe8d6dd7cd6	776	/** Set Slave 1 FIFO enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	777	* @param enabled New Slave 1 FIFO enabled value
khaledelmadawi	0:8fe8d6dd7cd6	778	* @see getSlave1FIFOEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	779	* @see MPU6050_RA_FIFO_EN
khaledelmadawi	0:8fe8d6dd7cd6	780	*/
khaledelmadawi	0:8fe8d6dd7cd6	781	void MPU6050::setSlave1FIFOEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	782	{
khaledelmadawi	0:8fe8d6dd7cd6	783	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	784	}
khaledelmadawi	0:8fe8d6dd7cd6	785	/** Get Slave 0 FIFO enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	786	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
khaledelmadawi	0:8fe8d6dd7cd6	787	* associated with Slave 0 to be written into the FIFO buffer.
khaledelmadawi	0:8fe8d6dd7cd6	788	* @return Current Slave 0 FIFO enabled value
khaledelmadawi	0:8fe8d6dd7cd6	789	* @see MPU6050_RA_FIFO_EN
khaledelmadawi	0:8fe8d6dd7cd6	790	*/
khaledelmadawi	0:8fe8d6dd7cd6	791	bool MPU6050::getSlave0FIFOEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	792	{
khaledelmadawi	0:8fe8d6dd7cd6	793	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	794	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	795	}
khaledelmadawi	0:8fe8d6dd7cd6	796	/** Set Slave 0 FIFO enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	797	* @param enabled New Slave 0 FIFO enabled value
khaledelmadawi	0:8fe8d6dd7cd6	798	* @see getSlave0FIFOEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	799	* @see MPU6050_RA_FIFO_EN
khaledelmadawi	0:8fe8d6dd7cd6	800	*/
khaledelmadawi	0:8fe8d6dd7cd6	801	void MPU6050::setSlave0FIFOEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	802	{
khaledelmadawi	0:8fe8d6dd7cd6	803	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	804	}
khaledelmadawi	0:8fe8d6dd7cd6	805
khaledelmadawi	0:8fe8d6dd7cd6	806	// I2C_MST_CTRL register
khaledelmadawi	0:8fe8d6dd7cd6	807
khaledelmadawi	0:8fe8d6dd7cd6	808	/** Get multi-master enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	809	* Multi-master capability allows multiple I2C masters to operate on the same
khaledelmadawi	0:8fe8d6dd7cd6	810	* bus. In circuits where multi-master capability is required, set MULT_MST_EN
khaledelmadawi	0:8fe8d6dd7cd6	811	* to 1. This will increase current drawn by approximately 30uA.
khaledelmadawi	0:8fe8d6dd7cd6	812	*
khaledelmadawi	0:8fe8d6dd7cd6	813	* In circuits where multi-master capability is required, the state of the I2C
khaledelmadawi	0:8fe8d6dd7cd6	814	* bus must always be monitored by each separate I2C Master. Before an I2C
khaledelmadawi	0:8fe8d6dd7cd6	815	* Master can assume arbitration of the bus, it must first confirm that no other
khaledelmadawi	0:8fe8d6dd7cd6	816	* I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
khaledelmadawi	0:8fe8d6dd7cd6	817	* MPU-60X0's bus arbitration detection logic is turned on, enabling it to
khaledelmadawi	0:8fe8d6dd7cd6	818	* detect when the bus is available.
khaledelmadawi	0:8fe8d6dd7cd6	819	*
khaledelmadawi	0:8fe8d6dd7cd6	820	* @return Current multi-master enabled value
khaledelmadawi	0:8fe8d6dd7cd6	821	* @see MPU6050_RA_I2C_MST_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	822	*/
khaledelmadawi	0:8fe8d6dd7cd6	823	bool MPU6050::getMultiMasterEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	824	{
khaledelmadawi	0:8fe8d6dd7cd6	825	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	826	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	827	}
khaledelmadawi	0:8fe8d6dd7cd6	828	/** Set multi-master enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	829	* @param enabled New multi-master enabled value
khaledelmadawi	0:8fe8d6dd7cd6	830	* @see getMultiMasterEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	831	* @see MPU6050_RA_I2C_MST_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	832	*/
khaledelmadawi	0:8fe8d6dd7cd6	833	void MPU6050::setMultiMasterEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	834	{
khaledelmadawi	0:8fe8d6dd7cd6	835	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	836	}
khaledelmadawi	0:8fe8d6dd7cd6	837	/** Get wait-for-external-sensor-data enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	838	* When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
khaledelmadawi	0:8fe8d6dd7cd6	839	* delayed until External Sensor data from the Slave Devices are loaded into the
khaledelmadawi	0:8fe8d6dd7cd6	840	* EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
khaledelmadawi	0:8fe8d6dd7cd6	841	* data (i.e. from gyro and accel) and external sensor data have been loaded to
khaledelmadawi	0:8fe8d6dd7cd6	842	* their respective data registers (i.e. the data is synced) when the Data Ready
khaledelmadawi	0:8fe8d6dd7cd6	843	* interrupt is triggered.
khaledelmadawi	0:8fe8d6dd7cd6	844	*
khaledelmadawi	0:8fe8d6dd7cd6	845	* @return Current wait-for-external-sensor-data enabled value
khaledelmadawi	0:8fe8d6dd7cd6	846	* @see MPU6050_RA_I2C_MST_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	847	*/
khaledelmadawi	0:8fe8d6dd7cd6	848	bool MPU6050::getWaitForExternalSensorEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	849	{
khaledelmadawi	0:8fe8d6dd7cd6	850	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	851	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	852	}
khaledelmadawi	0:8fe8d6dd7cd6	853	/** Set wait-for-external-sensor-data enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	854	* @param enabled New wait-for-external-sensor-data enabled value
khaledelmadawi	0:8fe8d6dd7cd6	855	* @see getWaitForExternalSensorEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	856	* @see MPU6050_RA_I2C_MST_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	857	*/
khaledelmadawi	0:8fe8d6dd7cd6	858	void MPU6050::setWaitForExternalSensorEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	859	{
khaledelmadawi	0:8fe8d6dd7cd6	860	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	861	}
khaledelmadawi	0:8fe8d6dd7cd6	862	/** Get Slave 3 FIFO enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	863	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
khaledelmadawi	0:8fe8d6dd7cd6	864	* associated with Slave 3 to be written into the FIFO buffer.
khaledelmadawi	0:8fe8d6dd7cd6	865	* @return Current Slave 3 FIFO enabled value
khaledelmadawi	0:8fe8d6dd7cd6	866	* @see MPU6050_RA_MST_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	867	*/
khaledelmadawi	0:8fe8d6dd7cd6	868	bool MPU6050::getSlave3FIFOEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	869	{
khaledelmadawi	0:8fe8d6dd7cd6	870	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	871	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	872	}
khaledelmadawi	0:8fe8d6dd7cd6	873	/** Set Slave 3 FIFO enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	874	* @param enabled New Slave 3 FIFO enabled value
khaledelmadawi	0:8fe8d6dd7cd6	875	* @see getSlave3FIFOEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	876	* @see MPU6050_RA_MST_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	877	*/
khaledelmadawi	0:8fe8d6dd7cd6	878	void MPU6050::setSlave3FIFOEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	879	{
khaledelmadawi	0:8fe8d6dd7cd6	880	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	881	}
khaledelmadawi	0:8fe8d6dd7cd6	882	/** Get slave read/write transition enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	883	* The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
khaledelmadawi	0:8fe8d6dd7cd6	884	* read to the next slave read. If the bit equals 0, there will be a restart
khaledelmadawi	0:8fe8d6dd7cd6	885	* between reads. If the bit equals 1, there will be a stop followed by a start
khaledelmadawi	0:8fe8d6dd7cd6	886	* of the following read. When a write transaction follows a read transaction,
khaledelmadawi	0:8fe8d6dd7cd6	887	* the stop followed by a start of the successive write will be always used.
khaledelmadawi	0:8fe8d6dd7cd6	888	*
khaledelmadawi	0:8fe8d6dd7cd6	889	* @return Current slave read/write transition enabled value
khaledelmadawi	0:8fe8d6dd7cd6	890	* @see MPU6050_RA_I2C_MST_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	891	*/
khaledelmadawi	0:8fe8d6dd7cd6	892	bool MPU6050::getSlaveReadWriteTransitionEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	893	{
khaledelmadawi	0:8fe8d6dd7cd6	894	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	895	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	896	}
khaledelmadawi	0:8fe8d6dd7cd6	897	/** Set slave read/write transition enabled value.
khaledelmadawi	0:8fe8d6dd7cd6	898	* @param enabled New slave read/write transition enabled value
khaledelmadawi	0:8fe8d6dd7cd6	899	* @see getSlaveReadWriteTransitionEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	900	* @see MPU6050_RA_I2C_MST_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	901	*/
khaledelmadawi	0:8fe8d6dd7cd6	902	void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	903	{
khaledelmadawi	0:8fe8d6dd7cd6	904	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	905	}
khaledelmadawi	0:8fe8d6dd7cd6	906	/** Get I2C master clock speed.
khaledelmadawi	0:8fe8d6dd7cd6	907	* I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
khaledelmadawi	0:8fe8d6dd7cd6	908	* MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
khaledelmadawi	0:8fe8d6dd7cd6	909	* the following table:
khaledelmadawi	0:8fe8d6dd7cd6	910	*
khaledelmadawi	0:8fe8d6dd7cd6	911	* <pre>
khaledelmadawi	0:8fe8d6dd7cd6	912	* I2C_MST_CLK \| I2C Master Clock Speed \| 8MHz Clock Divider
khaledelmadawi	0:8fe8d6dd7cd6	913	* ------------+------------------------+-------------------
khaledelmadawi	0:8fe8d6dd7cd6	914	* 0 \| 348kHz \| 23
khaledelmadawi	0:8fe8d6dd7cd6	915	* 1 \| 333kHz \| 24
khaledelmadawi	0:8fe8d6dd7cd6	916	* 2 \| 320kHz \| 25
khaledelmadawi	0:8fe8d6dd7cd6	917	* 3 \| 308kHz \| 26
khaledelmadawi	0:8fe8d6dd7cd6	918	* 4 \| 296kHz \| 27
khaledelmadawi	0:8fe8d6dd7cd6	919	* 5 \| 286kHz \| 28
khaledelmadawi	0:8fe8d6dd7cd6	920	* 6 \| 276kHz \| 29
khaledelmadawi	0:8fe8d6dd7cd6	921	* 7 \| 267kHz \| 30
khaledelmadawi	0:8fe8d6dd7cd6	922	* 8 \| 258kHz \| 31
khaledelmadawi	0:8fe8d6dd7cd6	923	* 9 \| 500kHz \| 16
khaledelmadawi	0:8fe8d6dd7cd6	924	* 10 \| 471kHz \| 17
khaledelmadawi	0:8fe8d6dd7cd6	925	* 11 \| 444kHz \| 18
khaledelmadawi	0:8fe8d6dd7cd6	926	* 12 \| 421kHz \| 19
khaledelmadawi	0:8fe8d6dd7cd6	927	* 13 \| 400kHz \| 20
khaledelmadawi	0:8fe8d6dd7cd6	928	* 14 \| 381kHz \| 21
khaledelmadawi	0:8fe8d6dd7cd6	929	* 15 \| 364kHz \| 22
khaledelmadawi	0:8fe8d6dd7cd6	930	* </pre>
khaledelmadawi	0:8fe8d6dd7cd6	931	*
khaledelmadawi	0:8fe8d6dd7cd6	932	* @return Current I2C master clock speed
khaledelmadawi	0:8fe8d6dd7cd6	933	* @see MPU6050_RA_I2C_MST_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	934	*/
khaledelmadawi	0:8fe8d6dd7cd6	935	uint8_t MPU6050::getMasterClockSpeed()
khaledelmadawi	0:8fe8d6dd7cd6	936	{
khaledelmadawi	0:8fe8d6dd7cd6	937	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	938	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	939	}
khaledelmadawi	0:8fe8d6dd7cd6	940	/** Set I2C master clock speed.
khaledelmadawi	0:8fe8d6dd7cd6	941	* @reparam speed Current I2C master clock speed
khaledelmadawi	0:8fe8d6dd7cd6	942	* @see MPU6050_RA_I2C_MST_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	943	*/
khaledelmadawi	0:8fe8d6dd7cd6	944	void MPU6050::setMasterClockSpeed(uint8_t speed)
khaledelmadawi	0:8fe8d6dd7cd6	945	{
khaledelmadawi	0:8fe8d6dd7cd6	946	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
khaledelmadawi	0:8fe8d6dd7cd6	947	}
khaledelmadawi	0:8fe8d6dd7cd6	948
khaledelmadawi	0:8fe8d6dd7cd6	949	// I2C_SLV* registers (Slave 0-3)
khaledelmadawi	0:8fe8d6dd7cd6	950
khaledelmadawi	0:8fe8d6dd7cd6	951	/** Get the I2C address of the specified slave (0-3).
khaledelmadawi	0:8fe8d6dd7cd6	952	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
khaledelmadawi	0:8fe8d6dd7cd6	953	* operation, and if it is cleared, then it's a write operation. The remaining
khaledelmadawi	0:8fe8d6dd7cd6	954	* bits (6-0) are the 7-bit device address of the slave device.
khaledelmadawi	0:8fe8d6dd7cd6	955	*
khaledelmadawi	0:8fe8d6dd7cd6	956	* In read mode, the result of the read is placed in the lowest available
khaledelmadawi	0:8fe8d6dd7cd6	957	* EXT_SENS_DATA register. For further information regarding the allocation of
khaledelmadawi	0:8fe8d6dd7cd6	958	* read results, please refer to the EXT_SENS_DATA register description
khaledelmadawi	0:8fe8d6dd7cd6	959	* (Registers 73 - 96).
khaledelmadawi	0:8fe8d6dd7cd6	960	*
khaledelmadawi	0:8fe8d6dd7cd6	961	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
khaledelmadawi	0:8fe8d6dd7cd6	962	* characteristics, and so it has its own functions (getSlave4* and setSlave4*).
khaledelmadawi	0:8fe8d6dd7cd6	963	*
khaledelmadawi	0:8fe8d6dd7cd6	964	* I2C data transactions are performed at the Sample Rate, as defined in
khaledelmadawi	0:8fe8d6dd7cd6	965	* Register 25. The user is responsible for ensuring that I2C data transactions
khaledelmadawi	0:8fe8d6dd7cd6	966	* to and from each enabled Slave can be completed within a single period of the
khaledelmadawi	0:8fe8d6dd7cd6	967	* Sample Rate.
khaledelmadawi	0:8fe8d6dd7cd6	968	*
khaledelmadawi	0:8fe8d6dd7cd6	969	* The I2C slave access rate can be reduced relative to the Sample Rate. This
khaledelmadawi	0:8fe8d6dd7cd6	970	* reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
khaledelmadawi	0:8fe8d6dd7cd6	971	* slave's access rate is reduced relative to the Sample Rate is determined by
khaledelmadawi	0:8fe8d6dd7cd6	972	* I2C_MST_DELAY_CTRL (Register 103).
khaledelmadawi	0:8fe8d6dd7cd6	973	*
khaledelmadawi	0:8fe8d6dd7cd6	974	* The processing order for the slaves is fixed. The sequence followed for
khaledelmadawi	0:8fe8d6dd7cd6	975	* processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
khaledelmadawi	0:8fe8d6dd7cd6	976	* particular Slave is disabled it will be skipped.
khaledelmadawi	0:8fe8d6dd7cd6	977	*
khaledelmadawi	0:8fe8d6dd7cd6	978	* Each slave can either be accessed at the sample rate or at a reduced sample
khaledelmadawi	0:8fe8d6dd7cd6	979	* rate. In a case where some slaves are accessed at the Sample Rate and some
khaledelmadawi	0:8fe8d6dd7cd6	980	* slaves are accessed at the reduced rate, the sequence of accessing the slaves
khaledelmadawi	0:8fe8d6dd7cd6	981	* (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
khaledelmadawi	0:8fe8d6dd7cd6	982	* be skipped if their access rate dictates that they should not be accessed
khaledelmadawi	0:8fe8d6dd7cd6	983	* during that particular cycle. For further information regarding the reduced
khaledelmadawi	0:8fe8d6dd7cd6	984	* access rate, please refer to Register 52. Whether a slave is accessed at the
khaledelmadawi	0:8fe8d6dd7cd6	985	* Sample Rate or at the reduced rate is determined by the Delay Enable bits in
khaledelmadawi	0:8fe8d6dd7cd6	986	* Register 103.
khaledelmadawi	0:8fe8d6dd7cd6	987	*
khaledelmadawi	0:8fe8d6dd7cd6	988	* @param num Slave number (0-3)
khaledelmadawi	0:8fe8d6dd7cd6	989	* @return Current address for specified slave
khaledelmadawi	0:8fe8d6dd7cd6	990	* @see MPU6050_RA_I2C_SLV0_ADDR
khaledelmadawi	0:8fe8d6dd7cd6	991	*/
khaledelmadawi	0:8fe8d6dd7cd6	992	uint8_t MPU6050::getSlaveAddress(uint8_t num)
khaledelmadawi	0:8fe8d6dd7cd6	993	{
khaledelmadawi	0:8fe8d6dd7cd6	994	if (num > 3) return 0;
khaledelmadawi	0:8fe8d6dd7cd6	995	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	996	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	997	}
khaledelmadawi	0:8fe8d6dd7cd6	998	/** Set the I2C address of the specified slave (0-3).
khaledelmadawi	0:8fe8d6dd7cd6	999	* @param num Slave number (0-3)
khaledelmadawi	0:8fe8d6dd7cd6	1000	* @param address New address for specified slave
khaledelmadawi	0:8fe8d6dd7cd6	1001	* @see getSlaveAddress()
khaledelmadawi	0:8fe8d6dd7cd6	1002	* @see MPU6050_RA_I2C_SLV0_ADDR
khaledelmadawi	0:8fe8d6dd7cd6	1003	*/
khaledelmadawi	0:8fe8d6dd7cd6	1004	void MPU6050::setSlaveAddress(uint8_t num, uint8_t address)
khaledelmadawi	0:8fe8d6dd7cd6	1005	{
khaledelmadawi	0:8fe8d6dd7cd6	1006	if (num > 3) return;
khaledelmadawi	0:8fe8d6dd7cd6	1007	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
khaledelmadawi	0:8fe8d6dd7cd6	1008	}
khaledelmadawi	0:8fe8d6dd7cd6	1009	/** Get the active internal register for the specified slave (0-3).
khaledelmadawi	0:8fe8d6dd7cd6	1010	* Read/write operations for this slave will be done to whatever internal
khaledelmadawi	0:8fe8d6dd7cd6	1011	* register address is stored in this MPU register.
khaledelmadawi	0:8fe8d6dd7cd6	1012	*
khaledelmadawi	0:8fe8d6dd7cd6	1013	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
khaledelmadawi	0:8fe8d6dd7cd6	1014	* characteristics, and so it has its own functions.
khaledelmadawi	0:8fe8d6dd7cd6	1015	*
khaledelmadawi	0:8fe8d6dd7cd6	1016	* @param num Slave number (0-3)
khaledelmadawi	0:8fe8d6dd7cd6	1017	* @return Current active register for specified slave
khaledelmadawi	0:8fe8d6dd7cd6	1018	* @see MPU6050_RA_I2C_SLV0_REG
khaledelmadawi	0:8fe8d6dd7cd6	1019	*/
khaledelmadawi	0:8fe8d6dd7cd6	1020	uint8_t MPU6050::getSlaveRegister(uint8_t num)
khaledelmadawi	0:8fe8d6dd7cd6	1021	{
khaledelmadawi	0:8fe8d6dd7cd6	1022	if (num > 3) return 0;
khaledelmadawi	0:8fe8d6dd7cd6	1023	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1024	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1025	}
khaledelmadawi	0:8fe8d6dd7cd6	1026	/** Set the active internal register for the specified slave (0-3).
khaledelmadawi	0:8fe8d6dd7cd6	1027	* @param num Slave number (0-3)
khaledelmadawi	0:8fe8d6dd7cd6	1028	* @param reg New active register for specified slave
khaledelmadawi	0:8fe8d6dd7cd6	1029	* @see getSlaveRegister()
khaledelmadawi	0:8fe8d6dd7cd6	1030	* @see MPU6050_RA_I2C_SLV0_REG
khaledelmadawi	0:8fe8d6dd7cd6	1031	*/
khaledelmadawi	0:8fe8d6dd7cd6	1032	void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg)
khaledelmadawi	0:8fe8d6dd7cd6	1033	{
khaledelmadawi	0:8fe8d6dd7cd6	1034	if (num > 3) return;
khaledelmadawi	0:8fe8d6dd7cd6	1035	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
khaledelmadawi	0:8fe8d6dd7cd6	1036	}
khaledelmadawi	0:8fe8d6dd7cd6	1037	/** Get the enabled value for the specified slave (0-3).
khaledelmadawi	0:8fe8d6dd7cd6	1038	* When set to 1, this bit enables Slave 0 for data transfer operations. When
khaledelmadawi	0:8fe8d6dd7cd6	1039	* cleared to 0, this bit disables Slave 0 from data transfer operations.
khaledelmadawi	0:8fe8d6dd7cd6	1040	* @param num Slave number (0-3)
khaledelmadawi	0:8fe8d6dd7cd6	1041	* @return Current enabled value for specified slave
khaledelmadawi	0:8fe8d6dd7cd6	1042	* @see MPU6050_RA_I2C_SLV0_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	1043	*/
khaledelmadawi	0:8fe8d6dd7cd6	1044	bool MPU6050::getSlaveEnabled(uint8_t num)
khaledelmadawi	0:8fe8d6dd7cd6	1045	{
khaledelmadawi	0:8fe8d6dd7cd6	1046	if (num > 3) return 0;
khaledelmadawi	0:8fe8d6dd7cd6	1047	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1048	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1049	}
khaledelmadawi	0:8fe8d6dd7cd6	1050	/** Set the enabled value for the specified slave (0-3).
khaledelmadawi	0:8fe8d6dd7cd6	1051	* @param num Slave number (0-3)
khaledelmadawi	0:8fe8d6dd7cd6	1052	* @param enabled New enabled value for specified slave
khaledelmadawi	0:8fe8d6dd7cd6	1053	* @see getSlaveEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	1054	* @see MPU6050_RA_I2C_SLV0_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	1055	*/
khaledelmadawi	0:8fe8d6dd7cd6	1056	void MPU6050::setSlaveEnabled(uint8_t num, bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	1057	{
khaledelmadawi	0:8fe8d6dd7cd6	1058	if (num > 3) return;
khaledelmadawi	0:8fe8d6dd7cd6	1059	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	1060	}
khaledelmadawi	0:8fe8d6dd7cd6	1061	/** Get word pair byte-swapping enabled for the specified slave (0-3).
khaledelmadawi	0:8fe8d6dd7cd6	1062	* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
khaledelmadawi	0:8fe8d6dd7cd6	1063	* the high and low bytes of a word pair are swapped. Please refer to
khaledelmadawi	0:8fe8d6dd7cd6	1064	* I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
khaledelmadawi	0:8fe8d6dd7cd6	1065	* bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
khaledelmadawi	0:8fe8d6dd7cd6	1066	* registers in the order they were transferred.
khaledelmadawi	0:8fe8d6dd7cd6	1067	*
khaledelmadawi	0:8fe8d6dd7cd6	1068	* @param num Slave number (0-3)
khaledelmadawi	0:8fe8d6dd7cd6	1069	* @return Current word pair byte-swapping enabled value for specified slave
khaledelmadawi	0:8fe8d6dd7cd6	1070	* @see MPU6050_RA_I2C_SLV0_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	1071	*/
khaledelmadawi	0:8fe8d6dd7cd6	1072	bool MPU6050::getSlaveWordByteSwap(uint8_t num)
khaledelmadawi	0:8fe8d6dd7cd6	1073	{
khaledelmadawi	0:8fe8d6dd7cd6	1074	if (num > 3) return 0;
khaledelmadawi	0:8fe8d6dd7cd6	1075	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1076	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1077	}
khaledelmadawi	0:8fe8d6dd7cd6	1078	/** Set word pair byte-swapping enabled for the specified slave (0-3).
khaledelmadawi	0:8fe8d6dd7cd6	1079	* @param num Slave number (0-3)
khaledelmadawi	0:8fe8d6dd7cd6	1080	* @param enabled New word pair byte-swapping enabled value for specified slave
khaledelmadawi	0:8fe8d6dd7cd6	1081	* @see getSlaveWordByteSwap()
khaledelmadawi	0:8fe8d6dd7cd6	1082	* @see MPU6050_RA_I2C_SLV0_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	1083	*/
khaledelmadawi	0:8fe8d6dd7cd6	1084	void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	1085	{
khaledelmadawi	0:8fe8d6dd7cd6	1086	if (num > 3) return;
khaledelmadawi	0:8fe8d6dd7cd6	1087	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	1088	}
khaledelmadawi	0:8fe8d6dd7cd6	1089	/** Get write mode for the specified slave (0-3).
khaledelmadawi	0:8fe8d6dd7cd6	1090	* When set to 1, the transaction will read or write data only. When cleared to
khaledelmadawi	0:8fe8d6dd7cd6	1091	* 0, the transaction will write a register address prior to reading or writing
khaledelmadawi	0:8fe8d6dd7cd6	1092	* data. This should equal 0 when specifying the register address within the
khaledelmadawi	0:8fe8d6dd7cd6	1093	* Slave device to/from which the ensuing data transaction will take place.
khaledelmadawi	0:8fe8d6dd7cd6	1094	*
khaledelmadawi	0:8fe8d6dd7cd6	1095	* @param num Slave number (0-3)
khaledelmadawi	0:8fe8d6dd7cd6	1096	* @return Current write mode for specified slave (0 = register address + data, 1 = data only)
khaledelmadawi	0:8fe8d6dd7cd6	1097	* @see MPU6050_RA_I2C_SLV0_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	1098	*/
khaledelmadawi	0:8fe8d6dd7cd6	1099	bool MPU6050::getSlaveWriteMode(uint8_t num)
khaledelmadawi	0:8fe8d6dd7cd6	1100	{
khaledelmadawi	0:8fe8d6dd7cd6	1101	if (num > 3) return 0;
khaledelmadawi	0:8fe8d6dd7cd6	1102	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1103	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1104	}
khaledelmadawi	0:8fe8d6dd7cd6	1105	/** Set write mode for the specified slave (0-3).
khaledelmadawi	0:8fe8d6dd7cd6	1106	* @param num Slave number (0-3)
khaledelmadawi	0:8fe8d6dd7cd6	1107	* @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
khaledelmadawi	0:8fe8d6dd7cd6	1108	* @see getSlaveWriteMode()
khaledelmadawi	0:8fe8d6dd7cd6	1109	* @see MPU6050_RA_I2C_SLV0_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	1110	*/
khaledelmadawi	0:8fe8d6dd7cd6	1111	void MPU6050::setSlaveWriteMode(uint8_t num, bool mode)
khaledelmadawi	0:8fe8d6dd7cd6	1112	{
khaledelmadawi	0:8fe8d6dd7cd6	1113	if (num > 3) return;
khaledelmadawi	0:8fe8d6dd7cd6	1114	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
khaledelmadawi	0:8fe8d6dd7cd6	1115	}
khaledelmadawi	0:8fe8d6dd7cd6	1116	/** Get word pair grouping order offset for the specified slave (0-3).
khaledelmadawi	0:8fe8d6dd7cd6	1117	* This sets specifies the grouping order of word pairs received from registers.
khaledelmadawi	0:8fe8d6dd7cd6	1118	* When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
khaledelmadawi	0:8fe8d6dd7cd6	1119	* then odd register addresses) are paired to form a word. When set to 1, bytes
khaledelmadawi	0:8fe8d6dd7cd6	1120	* from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
khaledelmadawi	0:8fe8d6dd7cd6	1121	* register addresses) are paired to form a word.
khaledelmadawi	0:8fe8d6dd7cd6	1122	*
khaledelmadawi	0:8fe8d6dd7cd6	1123	* @param num Slave number (0-3)
khaledelmadawi	0:8fe8d6dd7cd6	1124	* @return Current word pair grouping order offset for specified slave
khaledelmadawi	0:8fe8d6dd7cd6	1125	* @see MPU6050_RA_I2C_SLV0_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	1126	*/
khaledelmadawi	0:8fe8d6dd7cd6	1127	bool MPU6050::getSlaveWordGroupOffset(uint8_t num)
khaledelmadawi	0:8fe8d6dd7cd6	1128	{
khaledelmadawi	0:8fe8d6dd7cd6	1129	if (num > 3) return 0;
khaledelmadawi	0:8fe8d6dd7cd6	1130	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1131	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1132	}
khaledelmadawi	0:8fe8d6dd7cd6	1133	/** Set word pair grouping order offset for the specified slave (0-3).
khaledelmadawi	0:8fe8d6dd7cd6	1134	* @param num Slave number (0-3)
khaledelmadawi	0:8fe8d6dd7cd6	1135	* @param enabled New word pair grouping order offset for specified slave
khaledelmadawi	0:8fe8d6dd7cd6	1136	* @see getSlaveWordGroupOffset()
khaledelmadawi	0:8fe8d6dd7cd6	1137	* @see MPU6050_RA_I2C_SLV0_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	1138	*/
khaledelmadawi	0:8fe8d6dd7cd6	1139	void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	1140	{
khaledelmadawi	0:8fe8d6dd7cd6	1141	if (num > 3) return;
khaledelmadawi	0:8fe8d6dd7cd6	1142	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	1143	}
khaledelmadawi	0:8fe8d6dd7cd6	1144	/** Get number of bytes to read for the specified slave (0-3).
khaledelmadawi	0:8fe8d6dd7cd6	1145	* Specifies the number of bytes transferred to and from Slave 0. Clearing this
khaledelmadawi	0:8fe8d6dd7cd6	1146	* bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
khaledelmadawi	0:8fe8d6dd7cd6	1147	* @param num Slave number (0-3)
khaledelmadawi	0:8fe8d6dd7cd6	1148	* @return Number of bytes to read for specified slave
khaledelmadawi	0:8fe8d6dd7cd6	1149	* @see MPU6050_RA_I2C_SLV0_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	1150	*/
khaledelmadawi	0:8fe8d6dd7cd6	1151	uint8_t MPU6050::getSlaveDataLength(uint8_t num)
khaledelmadawi	0:8fe8d6dd7cd6	1152	{
khaledelmadawi	0:8fe8d6dd7cd6	1153	if (num > 3) return 0;
khaledelmadawi	0:8fe8d6dd7cd6	1154	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1155	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1156	}
khaledelmadawi	0:8fe8d6dd7cd6	1157	/** Set number of bytes to read for the specified slave (0-3).
khaledelmadawi	0:8fe8d6dd7cd6	1158	* @param num Slave number (0-3)
khaledelmadawi	0:8fe8d6dd7cd6	1159	* @param length Number of bytes to read for specified slave
khaledelmadawi	0:8fe8d6dd7cd6	1160	* @see getSlaveDataLength()
khaledelmadawi	0:8fe8d6dd7cd6	1161	* @see MPU6050_RA_I2C_SLV0_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	1162	*/
khaledelmadawi	0:8fe8d6dd7cd6	1163	void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length)
khaledelmadawi	0:8fe8d6dd7cd6	1164	{
khaledelmadawi	0:8fe8d6dd7cd6	1165	if (num > 3) return;
khaledelmadawi	0:8fe8d6dd7cd6	1166	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
khaledelmadawi	0:8fe8d6dd7cd6	1167	}
khaledelmadawi	0:8fe8d6dd7cd6	1168
khaledelmadawi	0:8fe8d6dd7cd6	1169	// I2C_SLV* registers (Slave 4)
khaledelmadawi	0:8fe8d6dd7cd6	1170
khaledelmadawi	0:8fe8d6dd7cd6	1171	/** Get the I2C address of Slave 4.
khaledelmadawi	0:8fe8d6dd7cd6	1172	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
khaledelmadawi	0:8fe8d6dd7cd6	1173	* operation, and if it is cleared, then it's a write operation. The remaining
khaledelmadawi	0:8fe8d6dd7cd6	1174	* bits (6-0) are the 7-bit device address of the slave device.
khaledelmadawi	0:8fe8d6dd7cd6	1175	*
khaledelmadawi	0:8fe8d6dd7cd6	1176	* @return Current address for Slave 4
khaledelmadawi	0:8fe8d6dd7cd6	1177	* @see getSlaveAddress()
khaledelmadawi	0:8fe8d6dd7cd6	1178	* @see MPU6050_RA_I2C_SLV4_ADDR
khaledelmadawi	0:8fe8d6dd7cd6	1179	*/
khaledelmadawi	0:8fe8d6dd7cd6	1180	uint8_t MPU6050::getSlave4Address()
khaledelmadawi	0:8fe8d6dd7cd6	1181	{
khaledelmadawi	0:8fe8d6dd7cd6	1182	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1183	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1184	}
khaledelmadawi	0:8fe8d6dd7cd6	1185	/** Set the I2C address of Slave 4.
khaledelmadawi	0:8fe8d6dd7cd6	1186	* @param address New address for Slave 4
khaledelmadawi	0:8fe8d6dd7cd6	1187	* @see getSlave4Address()
khaledelmadawi	0:8fe8d6dd7cd6	1188	* @see MPU6050_RA_I2C_SLV4_ADDR
khaledelmadawi	0:8fe8d6dd7cd6	1189	*/
khaledelmadawi	0:8fe8d6dd7cd6	1190	void MPU6050::setSlave4Address(uint8_t address)
khaledelmadawi	0:8fe8d6dd7cd6	1191	{
khaledelmadawi	0:8fe8d6dd7cd6	1192	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
khaledelmadawi	0:8fe8d6dd7cd6	1193	}
khaledelmadawi	0:8fe8d6dd7cd6	1194	/** Get the active internal register for the Slave 4.
khaledelmadawi	0:8fe8d6dd7cd6	1195	* Read/write operations for this slave will be done to whatever internal
khaledelmadawi	0:8fe8d6dd7cd6	1196	* register address is stored in this MPU register.
khaledelmadawi	0:8fe8d6dd7cd6	1197	*
khaledelmadawi	0:8fe8d6dd7cd6	1198	* @return Current active register for Slave 4
khaledelmadawi	0:8fe8d6dd7cd6	1199	* @see MPU6050_RA_I2C_SLV4_REG
khaledelmadawi	0:8fe8d6dd7cd6	1200	*/
khaledelmadawi	0:8fe8d6dd7cd6	1201	uint8_t MPU6050::getSlave4Register()
khaledelmadawi	0:8fe8d6dd7cd6	1202	{
khaledelmadawi	0:8fe8d6dd7cd6	1203	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1204	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1205	}
khaledelmadawi	0:8fe8d6dd7cd6	1206	/** Set the active internal register for Slave 4.
khaledelmadawi	0:8fe8d6dd7cd6	1207	* @param reg New active register for Slave 4
khaledelmadawi	0:8fe8d6dd7cd6	1208	* @see getSlave4Register()
khaledelmadawi	0:8fe8d6dd7cd6	1209	* @see MPU6050_RA_I2C_SLV4_REG
khaledelmadawi	0:8fe8d6dd7cd6	1210	*/
khaledelmadawi	0:8fe8d6dd7cd6	1211	void MPU6050::setSlave4Register(uint8_t reg)
khaledelmadawi	0:8fe8d6dd7cd6	1212	{
khaledelmadawi	0:8fe8d6dd7cd6	1213	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
khaledelmadawi	0:8fe8d6dd7cd6	1214	}
khaledelmadawi	0:8fe8d6dd7cd6	1215	/** Set new byte to write to Slave 4.
khaledelmadawi	0:8fe8d6dd7cd6	1216	* This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
khaledelmadawi	0:8fe8d6dd7cd6	1217	* is set 1 (set to read), this register has no effect.
khaledelmadawi	0:8fe8d6dd7cd6	1218	* @param data New byte to write to Slave 4
khaledelmadawi	0:8fe8d6dd7cd6	1219	* @see MPU6050_RA_I2C_SLV4_DO
khaledelmadawi	0:8fe8d6dd7cd6	1220	*/
khaledelmadawi	0:8fe8d6dd7cd6	1221	void MPU6050::setSlave4OutputByte(uint8_t data)
khaledelmadawi	0:8fe8d6dd7cd6	1222	{
khaledelmadawi	0:8fe8d6dd7cd6	1223	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
khaledelmadawi	0:8fe8d6dd7cd6	1224	}
khaledelmadawi	0:8fe8d6dd7cd6	1225	/** Get the enabled value for the Slave 4.
khaledelmadawi	0:8fe8d6dd7cd6	1226	* When set to 1, this bit enables Slave 4 for data transfer operations. When
khaledelmadawi	0:8fe8d6dd7cd6	1227	* cleared to 0, this bit disables Slave 4 from data transfer operations.
khaledelmadawi	0:8fe8d6dd7cd6	1228	* @return Current enabled value for Slave 4
khaledelmadawi	0:8fe8d6dd7cd6	1229	* @see MPU6050_RA_I2C_SLV4_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	1230	*/
khaledelmadawi	0:8fe8d6dd7cd6	1231	bool MPU6050::getSlave4Enabled()
khaledelmadawi	0:8fe8d6dd7cd6	1232	{
khaledelmadawi	0:8fe8d6dd7cd6	1233	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1234	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1235	}
khaledelmadawi	0:8fe8d6dd7cd6	1236	/** Set the enabled value for Slave 4.
khaledelmadawi	0:8fe8d6dd7cd6	1237	* @param enabled New enabled value for Slave 4
khaledelmadawi	0:8fe8d6dd7cd6	1238	* @see getSlave4Enabled()
khaledelmadawi	0:8fe8d6dd7cd6	1239	* @see MPU6050_RA_I2C_SLV4_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	1240	*/
khaledelmadawi	0:8fe8d6dd7cd6	1241	void MPU6050::setSlave4Enabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	1242	{
khaledelmadawi	0:8fe8d6dd7cd6	1243	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	1244	}
khaledelmadawi	0:8fe8d6dd7cd6	1245	/** Get the enabled value for Slave 4 transaction interrupts.
khaledelmadawi	0:8fe8d6dd7cd6	1246	* When set to 1, this bit enables the generation of an interrupt signal upon
khaledelmadawi	0:8fe8d6dd7cd6	1247	* completion of a Slave 4 transaction. When cleared to 0, this bit disables the
khaledelmadawi	0:8fe8d6dd7cd6	1248	* generation of an interrupt signal upon completion of a Slave 4 transaction.
khaledelmadawi	0:8fe8d6dd7cd6	1249	* The interrupt status can be observed in Register 54.
khaledelmadawi	0:8fe8d6dd7cd6	1250	*
khaledelmadawi	0:8fe8d6dd7cd6	1251	* @return Current enabled value for Slave 4 transaction interrupts.
khaledelmadawi	0:8fe8d6dd7cd6	1252	* @see MPU6050_RA_I2C_SLV4_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	1253	*/
khaledelmadawi	0:8fe8d6dd7cd6	1254	bool MPU6050::getSlave4InterruptEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	1255	{
khaledelmadawi	0:8fe8d6dd7cd6	1256	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1257	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1258	}
khaledelmadawi	0:8fe8d6dd7cd6	1259	/** Set the enabled value for Slave 4 transaction interrupts.
khaledelmadawi	0:8fe8d6dd7cd6	1260	* @param enabled New enabled value for Slave 4 transaction interrupts.
khaledelmadawi	0:8fe8d6dd7cd6	1261	* @see getSlave4InterruptEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	1262	* @see MPU6050_RA_I2C_SLV4_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	1263	*/
khaledelmadawi	0:8fe8d6dd7cd6	1264	void MPU6050::setSlave4InterruptEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	1265	{
khaledelmadawi	0:8fe8d6dd7cd6	1266	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	1267	}
khaledelmadawi	0:8fe8d6dd7cd6	1268	/** Get write mode for Slave 4.
khaledelmadawi	0:8fe8d6dd7cd6	1269	* When set to 1, the transaction will read or write data only. When cleared to
khaledelmadawi	0:8fe8d6dd7cd6	1270	* 0, the transaction will write a register address prior to reading or writing
khaledelmadawi	0:8fe8d6dd7cd6	1271	* data. This should equal 0 when specifying the register address within the
khaledelmadawi	0:8fe8d6dd7cd6	1272	* Slave device to/from which the ensuing data transaction will take place.
khaledelmadawi	0:8fe8d6dd7cd6	1273	*
khaledelmadawi	0:8fe8d6dd7cd6	1274	* @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
khaledelmadawi	0:8fe8d6dd7cd6	1275	* @see MPU6050_RA_I2C_SLV4_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	1276	*/
khaledelmadawi	0:8fe8d6dd7cd6	1277	bool MPU6050::getSlave4WriteMode()
khaledelmadawi	0:8fe8d6dd7cd6	1278	{
khaledelmadawi	0:8fe8d6dd7cd6	1279	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1280	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1281	}
khaledelmadawi	0:8fe8d6dd7cd6	1282	/** Set write mode for the Slave 4.
khaledelmadawi	0:8fe8d6dd7cd6	1283	* @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
khaledelmadawi	0:8fe8d6dd7cd6	1284	* @see getSlave4WriteMode()
khaledelmadawi	0:8fe8d6dd7cd6	1285	* @see MPU6050_RA_I2C_SLV4_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	1286	*/
khaledelmadawi	0:8fe8d6dd7cd6	1287	void MPU6050::setSlave4WriteMode(bool mode)
khaledelmadawi	0:8fe8d6dd7cd6	1288	{
khaledelmadawi	0:8fe8d6dd7cd6	1289	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
khaledelmadawi	0:8fe8d6dd7cd6	1290	}
khaledelmadawi	0:8fe8d6dd7cd6	1291	/** Get Slave 4 master delay value.
khaledelmadawi	0:8fe8d6dd7cd6	1292	* This configures the reduced access rate of I2C slaves relative to the Sample
khaledelmadawi	0:8fe8d6dd7cd6	1293	* Rate. When a slave's access rate is decreased relative to the Sample Rate,
khaledelmadawi	0:8fe8d6dd7cd6	1294	* the slave is accessed every:
khaledelmadawi	0:8fe8d6dd7cd6	1295	*
khaledelmadawi	0:8fe8d6dd7cd6	1296	* 1 / (1 + I2C_MST_DLY) samples
khaledelmadawi	0:8fe8d6dd7cd6	1297	*
khaledelmadawi	0:8fe8d6dd7cd6	1298	* This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
khaledelmadawi	0:8fe8d6dd7cd6	1299	* DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
khaledelmadawi	0:8fe8d6dd7cd6	1300	* the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
khaledelmadawi	0:8fe8d6dd7cd6	1301	* further information regarding the Sample Rate, please refer to register 25.
khaledelmadawi	0:8fe8d6dd7cd6	1302	*
khaledelmadawi	0:8fe8d6dd7cd6	1303	* @return Current Slave 4 master delay value
khaledelmadawi	0:8fe8d6dd7cd6	1304	* @see MPU6050_RA_I2C_SLV4_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	1305	*/
khaledelmadawi	0:8fe8d6dd7cd6	1306	uint8_t MPU6050::getSlave4MasterDelay()
khaledelmadawi	0:8fe8d6dd7cd6	1307	{
khaledelmadawi	0:8fe8d6dd7cd6	1308	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1309	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1310	}
khaledelmadawi	0:8fe8d6dd7cd6	1311	/** Set Slave 4 master delay value.
khaledelmadawi	0:8fe8d6dd7cd6	1312	* @param delay New Slave 4 master delay value
khaledelmadawi	0:8fe8d6dd7cd6	1313	* @see getSlave4MasterDelay()
khaledelmadawi	0:8fe8d6dd7cd6	1314	* @see MPU6050_RA_I2C_SLV4_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	1315	*/
khaledelmadawi	0:8fe8d6dd7cd6	1316	void MPU6050::setSlave4MasterDelay(uint8_t delay)
khaledelmadawi	0:8fe8d6dd7cd6	1317	{
khaledelmadawi	0:8fe8d6dd7cd6	1318	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
khaledelmadawi	0:8fe8d6dd7cd6	1319	}
khaledelmadawi	0:8fe8d6dd7cd6	1320	/** Get last available byte read from Slave 4.
khaledelmadawi	0:8fe8d6dd7cd6	1321	* This register stores the data read from Slave 4. This field is populated
khaledelmadawi	0:8fe8d6dd7cd6	1322	* after a read transaction.
khaledelmadawi	0:8fe8d6dd7cd6	1323	* @return Last available byte read from to Slave 4
khaledelmadawi	0:8fe8d6dd7cd6	1324	* @see MPU6050_RA_I2C_SLV4_DI
khaledelmadawi	0:8fe8d6dd7cd6	1325	*/
khaledelmadawi	0:8fe8d6dd7cd6	1326	uint8_t MPU6050::getSlate4InputByte()
khaledelmadawi	0:8fe8d6dd7cd6	1327	{
khaledelmadawi	0:8fe8d6dd7cd6	1328	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1329	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1330	}
khaledelmadawi	0:8fe8d6dd7cd6	1331
khaledelmadawi	0:8fe8d6dd7cd6	1332	// I2C_MST_STATUS register
khaledelmadawi	0:8fe8d6dd7cd6	1333
khaledelmadawi	0:8fe8d6dd7cd6	1334	/** Get FSYNC interrupt status.
khaledelmadawi	0:8fe8d6dd7cd6	1335	* This bit reflects the status of the FSYNC interrupt from an external device
khaledelmadawi	0:8fe8d6dd7cd6	1336	* into the MPU-60X0. This is used as a way to pass an external interrupt
khaledelmadawi	0:8fe8d6dd7cd6	1337	* through the MPU-60X0 to the host application processor. When set to 1, this
khaledelmadawi	0:8fe8d6dd7cd6	1338	* bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
khaledelmadawi	0:8fe8d6dd7cd6	1339	* (Register 55).
khaledelmadawi	0:8fe8d6dd7cd6	1340	* @return FSYNC interrupt status
khaledelmadawi	0:8fe8d6dd7cd6	1341	* @see MPU6050_RA_I2C_MST_STATUS
khaledelmadawi	0:8fe8d6dd7cd6	1342	*/
khaledelmadawi	0:8fe8d6dd7cd6	1343	bool MPU6050::getPassthroughStatus()
khaledelmadawi	0:8fe8d6dd7cd6	1344	{
khaledelmadawi	0:8fe8d6dd7cd6	1345	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1346	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1347	}
khaledelmadawi	0:8fe8d6dd7cd6	1348	/** Get Slave 4 transaction done status.
khaledelmadawi	0:8fe8d6dd7cd6	1349	* Automatically sets to 1 when a Slave 4 transaction has completed. This
khaledelmadawi	0:8fe8d6dd7cd6	1350	* triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
khaledelmadawi	0:8fe8d6dd7cd6	1351	* (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
khaledelmadawi	0:8fe8d6dd7cd6	1352	* I2C_SLV4_CTRL register (Register 52).
khaledelmadawi	0:8fe8d6dd7cd6	1353	* @return Slave 4 transaction done status
khaledelmadawi	0:8fe8d6dd7cd6	1354	* @see MPU6050_RA_I2C_MST_STATUS
khaledelmadawi	0:8fe8d6dd7cd6	1355	*/
khaledelmadawi	0:8fe8d6dd7cd6	1356	bool MPU6050::getSlave4IsDone()
khaledelmadawi	0:8fe8d6dd7cd6	1357	{
khaledelmadawi	0:8fe8d6dd7cd6	1358	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1359	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1360	}
khaledelmadawi	0:8fe8d6dd7cd6	1361	/** Get master arbitration lost status.
khaledelmadawi	0:8fe8d6dd7cd6	1362	* This bit automatically sets to 1 when the I2C Master has lost arbitration of
khaledelmadawi	0:8fe8d6dd7cd6	1363	* the auxiliary I2C bus (an error condition). This triggers an interrupt if the
khaledelmadawi	0:8fe8d6dd7cd6	1364	* I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
khaledelmadawi	0:8fe8d6dd7cd6	1365	* @return Master arbitration lost status
khaledelmadawi	0:8fe8d6dd7cd6	1366	* @see MPU6050_RA_I2C_MST_STATUS
khaledelmadawi	0:8fe8d6dd7cd6	1367	*/
khaledelmadawi	0:8fe8d6dd7cd6	1368	bool MPU6050::getLostArbitration()
khaledelmadawi	0:8fe8d6dd7cd6	1369	{
khaledelmadawi	0:8fe8d6dd7cd6	1370	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1371	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1372	}
khaledelmadawi	0:8fe8d6dd7cd6	1373	/** Get Slave 4 NACK status.
khaledelmadawi	0:8fe8d6dd7cd6	1374	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
khaledelmadawi	0:8fe8d6dd7cd6	1375	* transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
khaledelmadawi	0:8fe8d6dd7cd6	1376	* bit in the INT_ENABLE register (Register 56) is asserted.
khaledelmadawi	0:8fe8d6dd7cd6	1377	* @return Slave 4 NACK interrupt status
khaledelmadawi	0:8fe8d6dd7cd6	1378	* @see MPU6050_RA_I2C_MST_STATUS
khaledelmadawi	0:8fe8d6dd7cd6	1379	*/
khaledelmadawi	0:8fe8d6dd7cd6	1380	bool MPU6050::getSlave4Nack()
khaledelmadawi	0:8fe8d6dd7cd6	1381	{
khaledelmadawi	0:8fe8d6dd7cd6	1382	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1383	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1384	}
khaledelmadawi	0:8fe8d6dd7cd6	1385	/** Get Slave 3 NACK status.
khaledelmadawi	0:8fe8d6dd7cd6	1386	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
khaledelmadawi	0:8fe8d6dd7cd6	1387	* transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
khaledelmadawi	0:8fe8d6dd7cd6	1388	* bit in the INT_ENABLE register (Register 56) is asserted.
khaledelmadawi	0:8fe8d6dd7cd6	1389	* @return Slave 3 NACK interrupt status
khaledelmadawi	0:8fe8d6dd7cd6	1390	* @see MPU6050_RA_I2C_MST_STATUS
khaledelmadawi	0:8fe8d6dd7cd6	1391	*/
khaledelmadawi	0:8fe8d6dd7cd6	1392	bool MPU6050::getSlave3Nack()
khaledelmadawi	0:8fe8d6dd7cd6	1393	{
khaledelmadawi	0:8fe8d6dd7cd6	1394	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1395	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1396	}
khaledelmadawi	0:8fe8d6dd7cd6	1397	/** Get Slave 2 NACK status.
khaledelmadawi	0:8fe8d6dd7cd6	1398	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
khaledelmadawi	0:8fe8d6dd7cd6	1399	* transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
khaledelmadawi	0:8fe8d6dd7cd6	1400	* bit in the INT_ENABLE register (Register 56) is asserted.
khaledelmadawi	0:8fe8d6dd7cd6	1401	* @return Slave 2 NACK interrupt status
khaledelmadawi	0:8fe8d6dd7cd6	1402	* @see MPU6050_RA_I2C_MST_STATUS
khaledelmadawi	0:8fe8d6dd7cd6	1403	*/
khaledelmadawi	0:8fe8d6dd7cd6	1404	bool MPU6050::getSlave2Nack()
khaledelmadawi	0:8fe8d6dd7cd6	1405	{
khaledelmadawi	0:8fe8d6dd7cd6	1406	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1407	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1408	}
khaledelmadawi	0:8fe8d6dd7cd6	1409	/** Get Slave 1 NACK status.
khaledelmadawi	0:8fe8d6dd7cd6	1410	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
khaledelmadawi	0:8fe8d6dd7cd6	1411	* transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
khaledelmadawi	0:8fe8d6dd7cd6	1412	* bit in the INT_ENABLE register (Register 56) is asserted.
khaledelmadawi	0:8fe8d6dd7cd6	1413	* @return Slave 1 NACK interrupt status
khaledelmadawi	0:8fe8d6dd7cd6	1414	* @see MPU6050_RA_I2C_MST_STATUS
khaledelmadawi	0:8fe8d6dd7cd6	1415	*/
khaledelmadawi	0:8fe8d6dd7cd6	1416	bool MPU6050::getSlave1Nack()
khaledelmadawi	0:8fe8d6dd7cd6	1417	{
khaledelmadawi	0:8fe8d6dd7cd6	1418	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1419	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1420	}
khaledelmadawi	0:8fe8d6dd7cd6	1421	/** Get Slave 0 NACK status.
khaledelmadawi	0:8fe8d6dd7cd6	1422	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
khaledelmadawi	0:8fe8d6dd7cd6	1423	* transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
khaledelmadawi	0:8fe8d6dd7cd6	1424	* bit in the INT_ENABLE register (Register 56) is asserted.
khaledelmadawi	0:8fe8d6dd7cd6	1425	* @return Slave 0 NACK interrupt status
khaledelmadawi	0:8fe8d6dd7cd6	1426	* @see MPU6050_RA_I2C_MST_STATUS
khaledelmadawi	0:8fe8d6dd7cd6	1427	*/
khaledelmadawi	0:8fe8d6dd7cd6	1428	bool MPU6050::getSlave0Nack()
khaledelmadawi	0:8fe8d6dd7cd6	1429	{
khaledelmadawi	0:8fe8d6dd7cd6	1430	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1431	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1432	}
khaledelmadawi	0:8fe8d6dd7cd6	1433
khaledelmadawi	0:8fe8d6dd7cd6	1434	// INT_PIN_CFG register
khaledelmadawi	0:8fe8d6dd7cd6	1435
khaledelmadawi	0:8fe8d6dd7cd6	1436	/** Get interrupt logic level mode.
khaledelmadawi	0:8fe8d6dd7cd6	1437	* Will be set 0 for active-high, 1 for active-low.
khaledelmadawi	0:8fe8d6dd7cd6	1438	* @return Current interrupt mode (0=active-high, 1=active-low)
khaledelmadawi	0:8fe8d6dd7cd6	1439	* @see MPU6050_RA_INT_PIN_CFG
khaledelmadawi	0:8fe8d6dd7cd6	1440	* @see MPU6050_INTCFG_INT_LEVEL_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1441	*/
khaledelmadawi	0:8fe8d6dd7cd6	1442	bool MPU6050::getInterruptMode()
khaledelmadawi	0:8fe8d6dd7cd6	1443	{
khaledelmadawi	0:8fe8d6dd7cd6	1444	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1445	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1446	}
khaledelmadawi	0:8fe8d6dd7cd6	1447	/** Set interrupt logic level mode.
khaledelmadawi	0:8fe8d6dd7cd6	1448	* @param mode New interrupt mode (0=active-high, 1=active-low)
khaledelmadawi	0:8fe8d6dd7cd6	1449	* @see getInterruptMode()
khaledelmadawi	0:8fe8d6dd7cd6	1450	* @see MPU6050_RA_INT_PIN_CFG
khaledelmadawi	0:8fe8d6dd7cd6	1451	* @see MPU6050_INTCFG_INT_LEVEL_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1452	*/
khaledelmadawi	0:8fe8d6dd7cd6	1453	void MPU6050::setInterruptMode(bool mode)
khaledelmadawi	0:8fe8d6dd7cd6	1454	{
khaledelmadawi	0:8fe8d6dd7cd6	1455	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
khaledelmadawi	0:8fe8d6dd7cd6	1456	}
khaledelmadawi	0:8fe8d6dd7cd6	1457	/** Get interrupt drive mode.
khaledelmadawi	0:8fe8d6dd7cd6	1458	* Will be set 0 for push-pull, 1 for open-drain.
khaledelmadawi	0:8fe8d6dd7cd6	1459	* @return Current interrupt drive mode (0=push-pull, 1=open-drain)
khaledelmadawi	0:8fe8d6dd7cd6	1460	* @see MPU6050_RA_INT_PIN_CFG
khaledelmadawi	0:8fe8d6dd7cd6	1461	* @see MPU6050_INTCFG_INT_OPEN_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1462	*/
khaledelmadawi	0:8fe8d6dd7cd6	1463	bool MPU6050::getInterruptDrive()
khaledelmadawi	0:8fe8d6dd7cd6	1464	{
khaledelmadawi	0:8fe8d6dd7cd6	1465	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1466	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1467	}
khaledelmadawi	0:8fe8d6dd7cd6	1468	/** Set interrupt drive mode.
khaledelmadawi	0:8fe8d6dd7cd6	1469	* @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
khaledelmadawi	0:8fe8d6dd7cd6	1470	* @see getInterruptDrive()
khaledelmadawi	0:8fe8d6dd7cd6	1471	* @see MPU6050_RA_INT_PIN_CFG
khaledelmadawi	0:8fe8d6dd7cd6	1472	* @see MPU6050_INTCFG_INT_OPEN_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1473	*/
khaledelmadawi	0:8fe8d6dd7cd6	1474	void MPU6050::setInterruptDrive(bool drive)
khaledelmadawi	0:8fe8d6dd7cd6	1475	{
khaledelmadawi	0:8fe8d6dd7cd6	1476	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
khaledelmadawi	0:8fe8d6dd7cd6	1477	}
khaledelmadawi	0:8fe8d6dd7cd6	1478	/** Get interrupt latch mode.
khaledelmadawi	0:8fe8d6dd7cd6	1479	* Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
khaledelmadawi	0:8fe8d6dd7cd6	1480	* @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
khaledelmadawi	0:8fe8d6dd7cd6	1481	* @see MPU6050_RA_INT_PIN_CFG
khaledelmadawi	0:8fe8d6dd7cd6	1482	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1483	*/
khaledelmadawi	0:8fe8d6dd7cd6	1484	bool MPU6050::getInterruptLatch()
khaledelmadawi	0:8fe8d6dd7cd6	1485	{
khaledelmadawi	0:8fe8d6dd7cd6	1486	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1487	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1488	}
khaledelmadawi	0:8fe8d6dd7cd6	1489	/** Set interrupt latch mode.
khaledelmadawi	0:8fe8d6dd7cd6	1490	* @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
khaledelmadawi	0:8fe8d6dd7cd6	1491	* @see getInterruptLatch()
khaledelmadawi	0:8fe8d6dd7cd6	1492	* @see MPU6050_RA_INT_PIN_CFG
khaledelmadawi	0:8fe8d6dd7cd6	1493	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1494	*/
khaledelmadawi	0:8fe8d6dd7cd6	1495	void MPU6050::setInterruptLatch(bool latch)
khaledelmadawi	0:8fe8d6dd7cd6	1496	{
khaledelmadawi	0:8fe8d6dd7cd6	1497	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
khaledelmadawi	0:8fe8d6dd7cd6	1498	}
khaledelmadawi	0:8fe8d6dd7cd6	1499	/** Get interrupt latch clear mode.
khaledelmadawi	0:8fe8d6dd7cd6	1500	* Will be set 0 for status-read-only, 1 for any-register-read.
khaledelmadawi	0:8fe8d6dd7cd6	1501	* @return Current latch clear mode (0=status-read-only, 1=any-register-read)
khaledelmadawi	0:8fe8d6dd7cd6	1502	* @see MPU6050_RA_INT_PIN_CFG
khaledelmadawi	0:8fe8d6dd7cd6	1503	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1504	*/
khaledelmadawi	0:8fe8d6dd7cd6	1505	bool MPU6050::getInterruptLatchClear()
khaledelmadawi	0:8fe8d6dd7cd6	1506	{
khaledelmadawi	0:8fe8d6dd7cd6	1507	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1508	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1509	}
khaledelmadawi	0:8fe8d6dd7cd6	1510	/** Set interrupt latch clear mode.
khaledelmadawi	0:8fe8d6dd7cd6	1511	* @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
khaledelmadawi	0:8fe8d6dd7cd6	1512	* @see getInterruptLatchClear()
khaledelmadawi	0:8fe8d6dd7cd6	1513	* @see MPU6050_RA_INT_PIN_CFG
khaledelmadawi	0:8fe8d6dd7cd6	1514	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1515	*/
khaledelmadawi	0:8fe8d6dd7cd6	1516	void MPU6050::setInterruptLatchClear(bool clear)
khaledelmadawi	0:8fe8d6dd7cd6	1517	{
khaledelmadawi	0:8fe8d6dd7cd6	1518	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
khaledelmadawi	0:8fe8d6dd7cd6	1519	}
khaledelmadawi	0:8fe8d6dd7cd6	1520	/** Get FSYNC interrupt logic level mode.
khaledelmadawi	0:8fe8d6dd7cd6	1521	* @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
khaledelmadawi	0:8fe8d6dd7cd6	1522	* @see getFSyncInterruptMode()
khaledelmadawi	0:8fe8d6dd7cd6	1523	* @see MPU6050_RA_INT_PIN_CFG
khaledelmadawi	0:8fe8d6dd7cd6	1524	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1525	*/
khaledelmadawi	0:8fe8d6dd7cd6	1526	bool MPU6050::getFSyncInterruptLevel()
khaledelmadawi	0:8fe8d6dd7cd6	1527	{
khaledelmadawi	0:8fe8d6dd7cd6	1528	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1529	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1530	}
khaledelmadawi	0:8fe8d6dd7cd6	1531	/** Set FSYNC interrupt logic level mode.
khaledelmadawi	0:8fe8d6dd7cd6	1532	* @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
khaledelmadawi	0:8fe8d6dd7cd6	1533	* @see getFSyncInterruptMode()
khaledelmadawi	0:8fe8d6dd7cd6	1534	* @see MPU6050_RA_INT_PIN_CFG
khaledelmadawi	0:8fe8d6dd7cd6	1535	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1536	*/
khaledelmadawi	0:8fe8d6dd7cd6	1537	void MPU6050::setFSyncInterruptLevel(bool level)
khaledelmadawi	0:8fe8d6dd7cd6	1538	{
khaledelmadawi	0:8fe8d6dd7cd6	1539	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
khaledelmadawi	0:8fe8d6dd7cd6	1540	}
khaledelmadawi	0:8fe8d6dd7cd6	1541	/** Get FSYNC pin interrupt enabled setting.
khaledelmadawi	0:8fe8d6dd7cd6	1542	* Will be set 0 for disabled, 1 for enabled.
khaledelmadawi	0:8fe8d6dd7cd6	1543	* @return Current interrupt enabled setting
khaledelmadawi	0:8fe8d6dd7cd6	1544	* @see MPU6050_RA_INT_PIN_CFG
khaledelmadawi	0:8fe8d6dd7cd6	1545	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1546	*/
khaledelmadawi	0:8fe8d6dd7cd6	1547	bool MPU6050::getFSyncInterruptEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	1548	{
khaledelmadawi	0:8fe8d6dd7cd6	1549	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1550	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1551	}
khaledelmadawi	0:8fe8d6dd7cd6	1552	/** Set FSYNC pin interrupt enabled setting.
khaledelmadawi	0:8fe8d6dd7cd6	1553	* @param enabled New FSYNC pin interrupt enabled setting
khaledelmadawi	0:8fe8d6dd7cd6	1554	* @see getFSyncInterruptEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	1555	* @see MPU6050_RA_INT_PIN_CFG
khaledelmadawi	0:8fe8d6dd7cd6	1556	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1557	*/
khaledelmadawi	0:8fe8d6dd7cd6	1558	void MPU6050::setFSyncInterruptEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	1559	{
khaledelmadawi	0:8fe8d6dd7cd6	1560	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	1561	}
khaledelmadawi	0:8fe8d6dd7cd6	1562	/** Get I2C bypass enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	1563	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
khaledelmadawi	0:8fe8d6dd7cd6	1564	* 0, the host application processor will be able to directly access the
khaledelmadawi	0:8fe8d6dd7cd6	1565	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
khaledelmadawi	0:8fe8d6dd7cd6	1566	* application processor will not be able to directly access the auxiliary I2C
khaledelmadawi	0:8fe8d6dd7cd6	1567	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
khaledelmadawi	0:8fe8d6dd7cd6	1568	* bit[5]).
khaledelmadawi	0:8fe8d6dd7cd6	1569	* @return Current I2C bypass enabled status
khaledelmadawi	0:8fe8d6dd7cd6	1570	* @see MPU6050_RA_INT_PIN_CFG
khaledelmadawi	0:8fe8d6dd7cd6	1571	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1572	*/
khaledelmadawi	0:8fe8d6dd7cd6	1573	bool MPU6050::getI2CBypassEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	1574	{
khaledelmadawi	0:8fe8d6dd7cd6	1575	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1576	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1577	}
khaledelmadawi	0:8fe8d6dd7cd6	1578	/** Set I2C bypass enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	1579	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
khaledelmadawi	0:8fe8d6dd7cd6	1580	* 0, the host application processor will be able to directly access the
khaledelmadawi	0:8fe8d6dd7cd6	1581	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
khaledelmadawi	0:8fe8d6dd7cd6	1582	* application processor will not be able to directly access the auxiliary I2C
khaledelmadawi	0:8fe8d6dd7cd6	1583	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
khaledelmadawi	0:8fe8d6dd7cd6	1584	* bit[5]).
khaledelmadawi	0:8fe8d6dd7cd6	1585	* @param enabled New I2C bypass enabled status
khaledelmadawi	0:8fe8d6dd7cd6	1586	* @see MPU6050_RA_INT_PIN_CFG
khaledelmadawi	0:8fe8d6dd7cd6	1587	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1588	*/
khaledelmadawi	0:8fe8d6dd7cd6	1589	void MPU6050::setI2CBypassEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	1590	{
khaledelmadawi	0:8fe8d6dd7cd6	1591	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	1592	}
khaledelmadawi	0:8fe8d6dd7cd6	1593	/** Get reference clock output enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	1594	* When this bit is equal to 1, a reference clock output is provided at the
khaledelmadawi	0:8fe8d6dd7cd6	1595	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
khaledelmadawi	0:8fe8d6dd7cd6	1596	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
khaledelmadawi	0:8fe8d6dd7cd6	1597	* Specification document.
khaledelmadawi	0:8fe8d6dd7cd6	1598	* @return Current reference clock output enabled status
khaledelmadawi	0:8fe8d6dd7cd6	1599	* @see MPU6050_RA_INT_PIN_CFG
khaledelmadawi	0:8fe8d6dd7cd6	1600	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1601	*/
khaledelmadawi	0:8fe8d6dd7cd6	1602	bool MPU6050::getClockOutputEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	1603	{
khaledelmadawi	0:8fe8d6dd7cd6	1604	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1605	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1606	}
khaledelmadawi	0:8fe8d6dd7cd6	1607	/** Set reference clock output enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	1608	* When this bit is equal to 1, a reference clock output is provided at the
khaledelmadawi	0:8fe8d6dd7cd6	1609	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
khaledelmadawi	0:8fe8d6dd7cd6	1610	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
khaledelmadawi	0:8fe8d6dd7cd6	1611	* Specification document.
khaledelmadawi	0:8fe8d6dd7cd6	1612	* @param enabled New reference clock output enabled status
khaledelmadawi	0:8fe8d6dd7cd6	1613	* @see MPU6050_RA_INT_PIN_CFG
khaledelmadawi	0:8fe8d6dd7cd6	1614	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1615	*/
khaledelmadawi	0:8fe8d6dd7cd6	1616	void MPU6050::setClockOutputEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	1617	{
khaledelmadawi	0:8fe8d6dd7cd6	1618	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	1619	}
khaledelmadawi	0:8fe8d6dd7cd6	1620
khaledelmadawi	0:8fe8d6dd7cd6	1621	// INT_ENABLE register
khaledelmadawi	0:8fe8d6dd7cd6	1622
khaledelmadawi	0:8fe8d6dd7cd6	1623	/** Get full interrupt enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	1624	* Full register byte for all interrupts, for quick reading. Each bit will be
khaledelmadawi	0:8fe8d6dd7cd6	1625	* set 0 for disabled, 1 for enabled.
khaledelmadawi	0:8fe8d6dd7cd6	1626	* @return Current interrupt enabled status
khaledelmadawi	0:8fe8d6dd7cd6	1627	* @see MPU6050_RA_INT_ENABLE
khaledelmadawi	0:8fe8d6dd7cd6	1628	* @see MPU6050_INTERRUPT_FF_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1629	**/
khaledelmadawi	0:8fe8d6dd7cd6	1630	uint8_t MPU6050::getIntEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	1631	{
khaledelmadawi	0:8fe8d6dd7cd6	1632	i2Cdev.readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1633	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1634	}
khaledelmadawi	0:8fe8d6dd7cd6	1635	/** Set full interrupt enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	1636	* Full register byte for all interrupts, for quick reading. Each bit should be
khaledelmadawi	0:8fe8d6dd7cd6	1637	* set 0 for disabled, 1 for enabled.
khaledelmadawi	0:8fe8d6dd7cd6	1638	* @param enabled New interrupt enabled status
khaledelmadawi	0:8fe8d6dd7cd6	1639	* @see getIntFreefallEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	1640	* @see MPU6050_RA_INT_ENABLE
khaledelmadawi	0:8fe8d6dd7cd6	1641	* @see MPU6050_INTERRUPT_FF_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1642	**/
khaledelmadawi	0:8fe8d6dd7cd6	1643	void MPU6050::setIntEnabled(uint8_t enabled)
khaledelmadawi	0:8fe8d6dd7cd6	1644	{
khaledelmadawi	0:8fe8d6dd7cd6	1645	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	1646	}
khaledelmadawi	0:8fe8d6dd7cd6	1647	/** Get Free Fall interrupt enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	1648	* Will be set 0 for disabled, 1 for enabled.
khaledelmadawi	0:8fe8d6dd7cd6	1649	* @return Current interrupt enabled status
khaledelmadawi	0:8fe8d6dd7cd6	1650	* @see MPU6050_RA_INT_ENABLE
khaledelmadawi	0:8fe8d6dd7cd6	1651	* @see MPU6050_INTERRUPT_FF_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1652	**/
khaledelmadawi	0:8fe8d6dd7cd6	1653	bool MPU6050::getIntFreefallEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	1654	{
khaledelmadawi	0:8fe8d6dd7cd6	1655	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1656	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1657	}
khaledelmadawi	0:8fe8d6dd7cd6	1658	/** Set Free Fall interrupt enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	1659	* @param enabled New interrupt enabled status
khaledelmadawi	0:8fe8d6dd7cd6	1660	* @see getIntFreefallEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	1661	* @see MPU6050_RA_INT_ENABLE
khaledelmadawi	0:8fe8d6dd7cd6	1662	* @see MPU6050_INTERRUPT_FF_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1663	**/
khaledelmadawi	0:8fe8d6dd7cd6	1664	void MPU6050::setIntFreefallEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	1665	{
khaledelmadawi	0:8fe8d6dd7cd6	1666	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	1667	}
khaledelmadawi	0:8fe8d6dd7cd6	1668	/** Get Motion Detection interrupt enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	1669	* Will be set 0 for disabled, 1 for enabled.
khaledelmadawi	0:8fe8d6dd7cd6	1670	* @return Current interrupt enabled status
khaledelmadawi	0:8fe8d6dd7cd6	1671	* @see MPU6050_RA_INT_ENABLE
khaledelmadawi	0:8fe8d6dd7cd6	1672	* @see MPU6050_INTERRUPT_MOT_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1673	**/
khaledelmadawi	0:8fe8d6dd7cd6	1674	bool MPU6050::getIntMotionEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	1675	{
khaledelmadawi	0:8fe8d6dd7cd6	1676	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1677	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1678	}
khaledelmadawi	0:8fe8d6dd7cd6	1679	/** Set Motion Detection interrupt enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	1680	* @param enabled New interrupt enabled status
khaledelmadawi	0:8fe8d6dd7cd6	1681	* @see getIntMotionEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	1682	* @see MPU6050_RA_INT_ENABLE
khaledelmadawi	0:8fe8d6dd7cd6	1683	* @see MPU6050_INTERRUPT_MOT_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1684	**/
khaledelmadawi	0:8fe8d6dd7cd6	1685	void MPU6050::setIntMotionEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	1686	{
khaledelmadawi	0:8fe8d6dd7cd6	1687	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	1688	}
khaledelmadawi	0:8fe8d6dd7cd6	1689	/** Get Zero Motion Detection interrupt enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	1690	* Will be set 0 for disabled, 1 for enabled.
khaledelmadawi	0:8fe8d6dd7cd6	1691	* @return Current interrupt enabled status
khaledelmadawi	0:8fe8d6dd7cd6	1692	* @see MPU6050_RA_INT_ENABLE
khaledelmadawi	0:8fe8d6dd7cd6	1693	* @see MPU6050_INTERRUPT_ZMOT_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1694	**/
khaledelmadawi	0:8fe8d6dd7cd6	1695	bool MPU6050::getIntZeroMotionEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	1696	{
khaledelmadawi	0:8fe8d6dd7cd6	1697	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1698	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1699	}
khaledelmadawi	0:8fe8d6dd7cd6	1700	/** Set Zero Motion Detection interrupt enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	1701	* @param enabled New interrupt enabled status
khaledelmadawi	0:8fe8d6dd7cd6	1702	* @see getIntZeroMotionEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	1703	* @see MPU6050_RA_INT_ENABLE
khaledelmadawi	0:8fe8d6dd7cd6	1704	* @see MPU6050_INTERRUPT_ZMOT_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1705	**/
khaledelmadawi	0:8fe8d6dd7cd6	1706	void MPU6050::setIntZeroMotionEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	1707	{
khaledelmadawi	0:8fe8d6dd7cd6	1708	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	1709	}
khaledelmadawi	0:8fe8d6dd7cd6	1710	/** Get FIFO Buffer Overflow interrupt enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	1711	* Will be set 0 for disabled, 1 for enabled.
khaledelmadawi	0:8fe8d6dd7cd6	1712	* @return Current interrupt enabled status
khaledelmadawi	0:8fe8d6dd7cd6	1713	* @see MPU6050_RA_INT_ENABLE
khaledelmadawi	0:8fe8d6dd7cd6	1714	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1715	**/
khaledelmadawi	0:8fe8d6dd7cd6	1716	bool MPU6050::getIntFIFOBufferOverflowEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	1717	{
khaledelmadawi	0:8fe8d6dd7cd6	1718	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1719	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1720	}
khaledelmadawi	0:8fe8d6dd7cd6	1721	/** Set FIFO Buffer Overflow interrupt enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	1722	* @param enabled New interrupt enabled status
khaledelmadawi	0:8fe8d6dd7cd6	1723	* @see getIntFIFOBufferOverflowEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	1724	* @see MPU6050_RA_INT_ENABLE
khaledelmadawi	0:8fe8d6dd7cd6	1725	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1726	**/
khaledelmadawi	0:8fe8d6dd7cd6	1727	void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	1728	{
khaledelmadawi	0:8fe8d6dd7cd6	1729	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	1730	}
khaledelmadawi	0:8fe8d6dd7cd6	1731	/** Get I2C Master interrupt enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	1732	* This enables any of the I2C Master interrupt sources to generate an
khaledelmadawi	0:8fe8d6dd7cd6	1733	* interrupt. Will be set 0 for disabled, 1 for enabled.
khaledelmadawi	0:8fe8d6dd7cd6	1734	* @return Current interrupt enabled status
khaledelmadawi	0:8fe8d6dd7cd6	1735	* @see MPU6050_RA_INT_ENABLE
khaledelmadawi	0:8fe8d6dd7cd6	1736	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1737	**/
khaledelmadawi	0:8fe8d6dd7cd6	1738	bool MPU6050::getIntI2CMasterEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	1739	{
khaledelmadawi	0:8fe8d6dd7cd6	1740	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1741	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1742	}
khaledelmadawi	0:8fe8d6dd7cd6	1743	/** Set I2C Master interrupt enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	1744	* @param enabled New interrupt enabled status
khaledelmadawi	0:8fe8d6dd7cd6	1745	* @see getIntI2CMasterEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	1746	* @see MPU6050_RA_INT_ENABLE
khaledelmadawi	0:8fe8d6dd7cd6	1747	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1748	**/
khaledelmadawi	0:8fe8d6dd7cd6	1749	void MPU6050::setIntI2CMasterEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	1750	{
khaledelmadawi	0:8fe8d6dd7cd6	1751	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	1752	}
khaledelmadawi	0:8fe8d6dd7cd6	1753	/** Get Data Ready interrupt enabled setting.
khaledelmadawi	0:8fe8d6dd7cd6	1754	* This event occurs each time a write operation to all of the sensor registers
khaledelmadawi	0:8fe8d6dd7cd6	1755	* has been completed. Will be set 0 for disabled, 1 for enabled.
khaledelmadawi	0:8fe8d6dd7cd6	1756	* @return Current interrupt enabled status
khaledelmadawi	0:8fe8d6dd7cd6	1757	* @see MPU6050_RA_INT_ENABLE
khaledelmadawi	0:8fe8d6dd7cd6	1758	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1759	*/
khaledelmadawi	0:8fe8d6dd7cd6	1760	bool MPU6050::getIntDataReadyEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	1761	{
khaledelmadawi	0:8fe8d6dd7cd6	1762	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1763	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1764	}
khaledelmadawi	0:8fe8d6dd7cd6	1765	/** Set Data Ready interrupt enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	1766	* @param enabled New interrupt enabled status
khaledelmadawi	0:8fe8d6dd7cd6	1767	* @see getIntDataReadyEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	1768	* @see MPU6050_RA_INT_CFG
khaledelmadawi	0:8fe8d6dd7cd6	1769	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1770	*/
khaledelmadawi	0:8fe8d6dd7cd6	1771	void MPU6050::setIntDataReadyEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	1772	{
khaledelmadawi	0:8fe8d6dd7cd6	1773	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	1774	}
khaledelmadawi	0:8fe8d6dd7cd6	1775
khaledelmadawi	0:8fe8d6dd7cd6	1776	// INT_STATUS register
khaledelmadawi	0:8fe8d6dd7cd6	1777
khaledelmadawi	0:8fe8d6dd7cd6	1778	/** Get full set of interrupt status bits.
khaledelmadawi	0:8fe8d6dd7cd6	1779	* These bits clear to 0 after the register has been read. Very useful
khaledelmadawi	0:8fe8d6dd7cd6	1780	* for getting multiple INT statuses, since each single bit read clears
khaledelmadawi	0:8fe8d6dd7cd6	1781	* all of them because it has to read the whole byte.
khaledelmadawi	0:8fe8d6dd7cd6	1782	* @return Current interrupt status
khaledelmadawi	0:8fe8d6dd7cd6	1783	* @see MPU6050_RA_INT_STATUS
khaledelmadawi	0:8fe8d6dd7cd6	1784	*/
khaledelmadawi	0:8fe8d6dd7cd6	1785	uint8_t MPU6050::getIntStatus()
khaledelmadawi	0:8fe8d6dd7cd6	1786	{
khaledelmadawi	0:8fe8d6dd7cd6	1787	i2Cdev.readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1788	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1789	}
khaledelmadawi	0:8fe8d6dd7cd6	1790	/** Get Free Fall interrupt status.
khaledelmadawi	0:8fe8d6dd7cd6	1791	* This bit automatically sets to 1 when a Free Fall interrupt has been
khaledelmadawi	0:8fe8d6dd7cd6	1792	* generated. The bit clears to 0 after the register has been read.
khaledelmadawi	0:8fe8d6dd7cd6	1793	* @return Current interrupt status
khaledelmadawi	0:8fe8d6dd7cd6	1794	* @see MPU6050_RA_INT_STATUS
khaledelmadawi	0:8fe8d6dd7cd6	1795	* @see MPU6050_INTERRUPT_FF_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1796	*/
khaledelmadawi	0:8fe8d6dd7cd6	1797	bool MPU6050::getIntFreefallStatus()
khaledelmadawi	0:8fe8d6dd7cd6	1798	{
khaledelmadawi	0:8fe8d6dd7cd6	1799	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1800	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1801	}
khaledelmadawi	0:8fe8d6dd7cd6	1802	/** Get Motion Detection interrupt status.
khaledelmadawi	0:8fe8d6dd7cd6	1803	* This bit automatically sets to 1 when a Motion Detection interrupt has been
khaledelmadawi	0:8fe8d6dd7cd6	1804	* generated. The bit clears to 0 after the register has been read.
khaledelmadawi	0:8fe8d6dd7cd6	1805	* @return Current interrupt status
khaledelmadawi	0:8fe8d6dd7cd6	1806	* @see MPU6050_RA_INT_STATUS
khaledelmadawi	0:8fe8d6dd7cd6	1807	* @see MPU6050_INTERRUPT_MOT_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1808	*/
khaledelmadawi	0:8fe8d6dd7cd6	1809	bool MPU6050::getIntMotionStatus()
khaledelmadawi	0:8fe8d6dd7cd6	1810	{
khaledelmadawi	0:8fe8d6dd7cd6	1811	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1812	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1813	}
khaledelmadawi	0:8fe8d6dd7cd6	1814	/** Get Zero Motion Detection interrupt status.
khaledelmadawi	0:8fe8d6dd7cd6	1815	* This bit automatically sets to 1 when a Zero Motion Detection interrupt has
khaledelmadawi	0:8fe8d6dd7cd6	1816	* been generated. The bit clears to 0 after the register has been read.
khaledelmadawi	0:8fe8d6dd7cd6	1817	* @return Current interrupt status
khaledelmadawi	0:8fe8d6dd7cd6	1818	* @see MPU6050_RA_INT_STATUS
khaledelmadawi	0:8fe8d6dd7cd6	1819	* @see MPU6050_INTERRUPT_ZMOT_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1820	*/
khaledelmadawi	0:8fe8d6dd7cd6	1821	bool MPU6050::getIntZeroMotionStatus()
khaledelmadawi	0:8fe8d6dd7cd6	1822	{
khaledelmadawi	0:8fe8d6dd7cd6	1823	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1824	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1825	}
khaledelmadawi	0:8fe8d6dd7cd6	1826	/** Get FIFO Buffer Overflow interrupt status.
khaledelmadawi	0:8fe8d6dd7cd6	1827	* This bit automatically sets to 1 when a Free Fall interrupt has been
khaledelmadawi	0:8fe8d6dd7cd6	1828	* generated. The bit clears to 0 after the register has been read.
khaledelmadawi	0:8fe8d6dd7cd6	1829	* @return Current interrupt status
khaledelmadawi	0:8fe8d6dd7cd6	1830	* @see MPU6050_RA_INT_STATUS
khaledelmadawi	0:8fe8d6dd7cd6	1831	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1832	*/
khaledelmadawi	0:8fe8d6dd7cd6	1833	bool MPU6050::getIntFIFOBufferOverflowStatus()
khaledelmadawi	0:8fe8d6dd7cd6	1834	{
khaledelmadawi	0:8fe8d6dd7cd6	1835	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1836	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1837	}
khaledelmadawi	0:8fe8d6dd7cd6	1838	/** Get I2C Master interrupt status.
khaledelmadawi	0:8fe8d6dd7cd6	1839	* This bit automatically sets to 1 when an I2C Master interrupt has been
khaledelmadawi	0:8fe8d6dd7cd6	1840	* generated. For a list of I2C Master interrupts, please refer to Register 54.
khaledelmadawi	0:8fe8d6dd7cd6	1841	* The bit clears to 0 after the register has been read.
khaledelmadawi	0:8fe8d6dd7cd6	1842	* @return Current interrupt status
khaledelmadawi	0:8fe8d6dd7cd6	1843	* @see MPU6050_RA_INT_STATUS
khaledelmadawi	0:8fe8d6dd7cd6	1844	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1845	*/
khaledelmadawi	0:8fe8d6dd7cd6	1846	bool MPU6050::getIntI2CMasterStatus()
khaledelmadawi	0:8fe8d6dd7cd6	1847	{
khaledelmadawi	0:8fe8d6dd7cd6	1848	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1849	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1850	}
khaledelmadawi	0:8fe8d6dd7cd6	1851	/** Get Data Ready interrupt status.
khaledelmadawi	0:8fe8d6dd7cd6	1852	* This bit automatically sets to 1 when a Data Ready interrupt has been
khaledelmadawi	0:8fe8d6dd7cd6	1853	* generated. The bit clears to 0 after the register has been read.
khaledelmadawi	0:8fe8d6dd7cd6	1854	* @return Current interrupt status
khaledelmadawi	0:8fe8d6dd7cd6	1855	* @see MPU6050_RA_INT_STATUS
khaledelmadawi	0:8fe8d6dd7cd6	1856	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
khaledelmadawi	0:8fe8d6dd7cd6	1857	*/
khaledelmadawi	0:8fe8d6dd7cd6	1858	bool MPU6050::getIntDataReadyStatus()
khaledelmadawi	0:8fe8d6dd7cd6	1859	{
khaledelmadawi	0:8fe8d6dd7cd6	1860	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1861	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	1862	}
khaledelmadawi	0:8fe8d6dd7cd6	1863
khaledelmadawi	0:8fe8d6dd7cd6	1864	// ACCEL_OUT_ registers
khaledelmadawi	0:8fe8d6dd7cd6	1865
khaledelmadawi	0:8fe8d6dd7cd6	1866	/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
khaledelmadawi	0:8fe8d6dd7cd6	1867	* FUNCTION NOT FULLY IMPLEMENTED YET.
khaledelmadawi	0:8fe8d6dd7cd6	1868	* @param ax 16-bit signed integer container for accelerometer X-axis value
khaledelmadawi	0:8fe8d6dd7cd6	1869	* @param ay 16-bit signed integer container for accelerometer Y-axis value
khaledelmadawi	0:8fe8d6dd7cd6	1870	* @param az 16-bit signed integer container for accelerometer Z-axis value
khaledelmadawi	0:8fe8d6dd7cd6	1871	* @param gx 16-bit signed integer container for gyroscope X-axis value
khaledelmadawi	0:8fe8d6dd7cd6	1872	* @param gy 16-bit signed integer container for gyroscope Y-axis value
khaledelmadawi	0:8fe8d6dd7cd6	1873	* @param gz 16-bit signed integer container for gyroscope Z-axis value
khaledelmadawi	0:8fe8d6dd7cd6	1874	* @param mx 16-bit signed integer container for magnetometer X-axis value
khaledelmadawi	0:8fe8d6dd7cd6	1875	* @param my 16-bit signed integer container for magnetometer Y-axis value
khaledelmadawi	0:8fe8d6dd7cd6	1876	* @param mz 16-bit signed integer container for magnetometer Z-axis value
khaledelmadawi	0:8fe8d6dd7cd6	1877	* @see getMotion6()
khaledelmadawi	0:8fe8d6dd7cd6	1878	* @see getAcceleration()
khaledelmadawi	0:8fe8d6dd7cd6	1879	* @see getRotation()
khaledelmadawi	0:8fe8d6dd7cd6	1880	* @see MPU6050_RA_ACCEL_XOUT_H
khaledelmadawi	0:8fe8d6dd7cd6	1881	*/
khaledelmadawi	0:8fe8d6dd7cd6	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)
khaledelmadawi	0:8fe8d6dd7cd6	1883	{
khaledelmadawi	0:8fe8d6dd7cd6	1884	getMotion6(ax, ay, az, gx, gy, gz);
khaledelmadawi	0:8fe8d6dd7cd6	1885
khaledelmadawi	0:8fe8d6dd7cd6	1886	// magnetometer reading
khaledelmadawi	0:8fe8d6dd7cd6	1887	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_PIN_CFG, 0x02); //set i2c bypass enable pin to true to access magnetometer
khaledelmadawi	0:8fe8d6dd7cd6	1888	wait_ms(10); // necessary wait >=6ms
khaledelmadawi	0:8fe8d6dd7cd6	1889	i2Cdev.writeByte(MPU9150_RA_MAG_ADDRESS, 0x0A, 0x01); // enable the magnetometer
khaledelmadawi	0:8fe8d6dd7cd6	1890	wait_ms(10); // necessary wait >=6ms
khaledelmadawi	0:8fe8d6dd7cd6	1891	i2Cdev.readBytes(MPU9150_RA_MAG_ADDRESS, MPU9150_RA_MAG_XOUT_L, 6, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1892	*mx = (((int16_t)buffer[0]) << 8) \| buffer[1];
khaledelmadawi	0:8fe8d6dd7cd6	1893	*my = (((int16_t)buffer[2]) << 8) \| buffer[3];
khaledelmadawi	0:8fe8d6dd7cd6	1894	*mz = (((int16_t)buffer[4]) << 8) \| buffer[5];
khaledelmadawi	0:8fe8d6dd7cd6	1895	}
khaledelmadawi	0:8fe8d6dd7cd6	1896	/** Get raw 6-axis motion sensor readings (accel/gyro).
khaledelmadawi	0:8fe8d6dd7cd6	1897	* Retrieves all currently available motion sensor values.
khaledelmadawi	0:8fe8d6dd7cd6	1898	* @param ax 16-bit signed integer container for accelerometer X-axis value
khaledelmadawi	0:8fe8d6dd7cd6	1899	* @param ay 16-bit signed integer container for accelerometer Y-axis value
khaledelmadawi	0:8fe8d6dd7cd6	1900	* @param az 16-bit signed integer container for accelerometer Z-axis value
khaledelmadawi	0:8fe8d6dd7cd6	1901	* @param gx 16-bit signed integer container for gyroscope X-axis value
khaledelmadawi	0:8fe8d6dd7cd6	1902	* @param gy 16-bit signed integer container for gyroscope Y-axis value
khaledelmadawi	0:8fe8d6dd7cd6	1903	* @param gz 16-bit signed integer container for gyroscope Z-axis value
khaledelmadawi	0:8fe8d6dd7cd6	1904	* @see getAcceleration()
khaledelmadawi	0:8fe8d6dd7cd6	1905	* @see getRotation()
khaledelmadawi	0:8fe8d6dd7cd6	1906	* @see MPU6050_RA_ACCEL_XOUT_H
khaledelmadawi	0:8fe8d6dd7cd6	1907	*/
khaledelmadawi	0:8fe8d6dd7cd6	1908	void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
khaledelmadawi	0:8fe8d6dd7cd6	1909	{
khaledelmadawi	0:8fe8d6dd7cd6	1910	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1911	*ax = (((int16_t)buffer[0]) << 8) \| buffer[1];
khaledelmadawi	0:8fe8d6dd7cd6	1912	*ay = (((int16_t)buffer[2]) << 8) \| buffer[3];
khaledelmadawi	0:8fe8d6dd7cd6	1913	*az = (((int16_t)buffer[4]) << 8) \| buffer[5];
khaledelmadawi	0:8fe8d6dd7cd6	1914	*gx = (((int16_t)buffer[8]) << 8) \| buffer[9];
khaledelmadawi	0:8fe8d6dd7cd6	1915	*gy = (((int16_t)buffer[10]) << 8) \| buffer[11];
khaledelmadawi	0:8fe8d6dd7cd6	1916	*gz = (((int16_t)buffer[12]) << 8) \| buffer[13];
khaledelmadawi	0:8fe8d6dd7cd6	1917	}
khaledelmadawi	0:8fe8d6dd7cd6	1918	/** Get 3-axis accelerometer readings.
khaledelmadawi	0:8fe8d6dd7cd6	1919	* These registers store the most recent accelerometer measurements.
khaledelmadawi	0:8fe8d6dd7cd6	1920	* Accelerometer measurements are written to these registers at the Sample Rate
khaledelmadawi	0:8fe8d6dd7cd6	1921	* as defined in Register 25.
khaledelmadawi	0:8fe8d6dd7cd6	1922	*
khaledelmadawi	0:8fe8d6dd7cd6	1923	* The accelerometer measurement registers, along with the temperature
khaledelmadawi	0:8fe8d6dd7cd6	1924	* measurement registers, gyroscope measurement registers, and external sensor
khaledelmadawi	0:8fe8d6dd7cd6	1925	* data registers, are composed of two sets of registers: an internal register
khaledelmadawi	0:8fe8d6dd7cd6	1926	* set and a user-facing read register set.
khaledelmadawi	0:8fe8d6dd7cd6	1927	*
khaledelmadawi	0:8fe8d6dd7cd6	1928	* The data within the accelerometer sensors' internal register set is always
khaledelmadawi	0:8fe8d6dd7cd6	1929	* updated at the Sample Rate. Meanwhile, the user-facing read register set
khaledelmadawi	0:8fe8d6dd7cd6	1930	* duplicates the internal register set's data values whenever the serial
khaledelmadawi	0:8fe8d6dd7cd6	1931	* interface is idle. This guarantees that a burst read of sensor registers will
khaledelmadawi	0:8fe8d6dd7cd6	1932	* read measurements from the same sampling instant. Note that if burst reads
khaledelmadawi	0:8fe8d6dd7cd6	1933	* are not used, the user is responsible for ensuring a set of single byte reads
khaledelmadawi	0:8fe8d6dd7cd6	1934	* correspond to a single sampling instant by checking the Data Ready interrupt.
khaledelmadawi	0:8fe8d6dd7cd6	1935	*
khaledelmadawi	0:8fe8d6dd7cd6	1936	* Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
khaledelmadawi	0:8fe8d6dd7cd6	1937	* (Register 28). For each full scale setting, the accelerometers' sensitivity
khaledelmadawi	0:8fe8d6dd7cd6	1938	* per LSB in ACCEL_xOUT is shown in the table below:
khaledelmadawi	0:8fe8d6dd7cd6	1939	*
khaledelmadawi	0:8fe8d6dd7cd6	1940	* <pre>
khaledelmadawi	0:8fe8d6dd7cd6	1941	* AFS_SEL \| Full Scale Range \| LSB Sensitivity
khaledelmadawi	0:8fe8d6dd7cd6	1942	* --------+------------------+----------------
khaledelmadawi	0:8fe8d6dd7cd6	1943	* 0 \| +/- 2g \| 8192 LSB/mg
khaledelmadawi	0:8fe8d6dd7cd6	1944	* 1 \| +/- 4g \| 4096 LSB/mg
khaledelmadawi	0:8fe8d6dd7cd6	1945	* 2 \| +/- 8g \| 2048 LSB/mg
khaledelmadawi	0:8fe8d6dd7cd6	1946	* 3 \| +/- 16g \| 1024 LSB/mg
khaledelmadawi	0:8fe8d6dd7cd6	1947	* </pre>
khaledelmadawi	0:8fe8d6dd7cd6	1948	*
khaledelmadawi	0:8fe8d6dd7cd6	1949	* @param x 16-bit signed integer container for X-axis acceleration
khaledelmadawi	0:8fe8d6dd7cd6	1950	* @param y 16-bit signed integer container for Y-axis acceleration
khaledelmadawi	0:8fe8d6dd7cd6	1951	* @param z 16-bit signed integer container for Z-axis acceleration
khaledelmadawi	0:8fe8d6dd7cd6	1952	* @see MPU6050_RA_GYRO_XOUT_H
khaledelmadawi	0:8fe8d6dd7cd6	1953	*/
khaledelmadawi	0:8fe8d6dd7cd6	1954	void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z)
khaledelmadawi	0:8fe8d6dd7cd6	1955	{
khaledelmadawi	0:8fe8d6dd7cd6	1956	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1957	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
khaledelmadawi	0:8fe8d6dd7cd6	1958	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
khaledelmadawi	0:8fe8d6dd7cd6	1959	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
khaledelmadawi	0:8fe8d6dd7cd6	1960	}
khaledelmadawi	0:8fe8d6dd7cd6	1961	/** Get X-axis accelerometer reading.
khaledelmadawi	0:8fe8d6dd7cd6	1962	* @return X-axis acceleration measurement in 16-bit 2's complement format
khaledelmadawi	0:8fe8d6dd7cd6	1963	* @see getMotion6()
khaledelmadawi	0:8fe8d6dd7cd6	1964	* @see MPU6050_RA_ACCEL_XOUT_H
khaledelmadawi	0:8fe8d6dd7cd6	1965	*/
khaledelmadawi	0:8fe8d6dd7cd6	1966	int16_t MPU6050::getAccelerationX()
khaledelmadawi	0:8fe8d6dd7cd6	1967	{
khaledelmadawi	0:8fe8d6dd7cd6	1968	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1969	return (((int16_t)buffer[0]) << 8) \| buffer[1];
khaledelmadawi	0:8fe8d6dd7cd6	1970	}
khaledelmadawi	0:8fe8d6dd7cd6	1971	/** Get Y-axis accelerometer reading.
khaledelmadawi	0:8fe8d6dd7cd6	1972	* @return Y-axis acceleration measurement in 16-bit 2's complement format
khaledelmadawi	0:8fe8d6dd7cd6	1973	* @see getMotion6()
khaledelmadawi	0:8fe8d6dd7cd6	1974	* @see MPU6050_RA_ACCEL_YOUT_H
khaledelmadawi	0:8fe8d6dd7cd6	1975	*/
khaledelmadawi	0:8fe8d6dd7cd6	1976	int16_t MPU6050::getAccelerationY()
khaledelmadawi	0:8fe8d6dd7cd6	1977	{
khaledelmadawi	0:8fe8d6dd7cd6	1978	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1979	return (((int16_t)buffer[0]) << 8) \| buffer[1];
khaledelmadawi	0:8fe8d6dd7cd6	1980	}
khaledelmadawi	0:8fe8d6dd7cd6	1981	/** Get Z-axis accelerometer reading.
khaledelmadawi	0:8fe8d6dd7cd6	1982	* @return Z-axis acceleration measurement in 16-bit 2's complement format
khaledelmadawi	0:8fe8d6dd7cd6	1983	* @see getMotion6()
khaledelmadawi	0:8fe8d6dd7cd6	1984	* @see MPU6050_RA_ACCEL_ZOUT_H
khaledelmadawi	0:8fe8d6dd7cd6	1985	*/
khaledelmadawi	0:8fe8d6dd7cd6	1986	int16_t MPU6050::getAccelerationZ()
khaledelmadawi	0:8fe8d6dd7cd6	1987	{
khaledelmadawi	0:8fe8d6dd7cd6	1988	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	1989	return (((int16_t)buffer[0]) << 8) \| buffer[1];
khaledelmadawi	0:8fe8d6dd7cd6	1990	}
khaledelmadawi	0:8fe8d6dd7cd6	1991
khaledelmadawi	0:8fe8d6dd7cd6	1992	// TEMP_OUT_* registers
khaledelmadawi	0:8fe8d6dd7cd6	1993
khaledelmadawi	0:8fe8d6dd7cd6	1994	/** Get current internal temperature.
khaledelmadawi	0:8fe8d6dd7cd6	1995	* @return Temperature reading in 16-bit 2's complement format
khaledelmadawi	0:8fe8d6dd7cd6	1996	* @see MPU6050_RA_TEMP_OUT_H
khaledelmadawi	0:8fe8d6dd7cd6	1997	*/
khaledelmadawi	0:8fe8d6dd7cd6	1998	int16_t MPU6050::getTemperature()
khaledelmadawi	0:8fe8d6dd7cd6	1999	{
khaledelmadawi	0:8fe8d6dd7cd6	2000	i2Cdev.readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2001	return (((int16_t)buffer[0]) << 8) \| buffer[1];
khaledelmadawi	0:8fe8d6dd7cd6	2002	}
khaledelmadawi	0:8fe8d6dd7cd6	2003
khaledelmadawi	0:8fe8d6dd7cd6	2004	// GYRO_OUT_ registers
khaledelmadawi	0:8fe8d6dd7cd6	2005
khaledelmadawi	0:8fe8d6dd7cd6	2006	/** Get 3-axis gyroscope readings.
khaledelmadawi	0:8fe8d6dd7cd6	2007	* These gyroscope measurement registers, along with the accelerometer
khaledelmadawi	0:8fe8d6dd7cd6	2008	* measurement registers, temperature measurement registers, and external sensor
khaledelmadawi	0:8fe8d6dd7cd6	2009	* data registers, are composed of two sets of registers: an internal register
khaledelmadawi	0:8fe8d6dd7cd6	2010	* set and a user-facing read register set.
khaledelmadawi	0:8fe8d6dd7cd6	2011	* The data within the gyroscope sensors' internal register set is always
khaledelmadawi	0:8fe8d6dd7cd6	2012	* updated at the Sample Rate. Meanwhile, the user-facing read register set
khaledelmadawi	0:8fe8d6dd7cd6	2013	* duplicates the internal register set's data values whenever the serial
khaledelmadawi	0:8fe8d6dd7cd6	2014	* interface is idle. This guarantees that a burst read of sensor registers will
khaledelmadawi	0:8fe8d6dd7cd6	2015	* read measurements from the same sampling instant. Note that if burst reads
khaledelmadawi	0:8fe8d6dd7cd6	2016	* are not used, the user is responsible for ensuring a set of single byte reads
khaledelmadawi	0:8fe8d6dd7cd6	2017	* correspond to a single sampling instant by checking the Data Ready interrupt.
khaledelmadawi	0:8fe8d6dd7cd6	2018	*
khaledelmadawi	0:8fe8d6dd7cd6	2019	* Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
khaledelmadawi	0:8fe8d6dd7cd6	2020	* (Register 27). For each full scale setting, the gyroscopes' sensitivity per
khaledelmadawi	0:8fe8d6dd7cd6	2021	* LSB in GYRO_xOUT is shown in the table below:
khaledelmadawi	0:8fe8d6dd7cd6	2022	*
khaledelmadawi	0:8fe8d6dd7cd6	2023	* <pre>
khaledelmadawi	0:8fe8d6dd7cd6	2024	* FS_SEL \| Full Scale Range \| LSB Sensitivity
khaledelmadawi	0:8fe8d6dd7cd6	2025	* -------+--------------------+----------------
khaledelmadawi	0:8fe8d6dd7cd6	2026	* 0 \| +/- 250 degrees/s \| 131 LSB/deg/s
khaledelmadawi	0:8fe8d6dd7cd6	2027	* 1 \| +/- 500 degrees/s \| 65.5 LSB/deg/s
khaledelmadawi	0:8fe8d6dd7cd6	2028	* 2 \| +/- 1000 degrees/s \| 32.8 LSB/deg/s
khaledelmadawi	0:8fe8d6dd7cd6	2029	* 3 \| +/- 2000 degrees/s \| 16.4 LSB/deg/s
khaledelmadawi	0:8fe8d6dd7cd6	2030	* </pre>
khaledelmadawi	0:8fe8d6dd7cd6	2031	*
khaledelmadawi	0:8fe8d6dd7cd6	2032	* @param x 16-bit signed integer container for X-axis rotation
khaledelmadawi	0:8fe8d6dd7cd6	2033	* @param y 16-bit signed integer container for Y-axis rotation
khaledelmadawi	0:8fe8d6dd7cd6	2034	* @param z 16-bit signed integer container for Z-axis rotation
khaledelmadawi	0:8fe8d6dd7cd6	2035	* @see getMotion6()
khaledelmadawi	0:8fe8d6dd7cd6	2036	* @see MPU6050_RA_GYRO_XOUT_H
khaledelmadawi	0:8fe8d6dd7cd6	2037	*/
khaledelmadawi	0:8fe8d6dd7cd6	2038	void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z)
khaledelmadawi	0:8fe8d6dd7cd6	2039	{
khaledelmadawi	0:8fe8d6dd7cd6	2040	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2041	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
khaledelmadawi	0:8fe8d6dd7cd6	2042	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
khaledelmadawi	0:8fe8d6dd7cd6	2043	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
khaledelmadawi	0:8fe8d6dd7cd6	2044	}
khaledelmadawi	0:8fe8d6dd7cd6	2045	/** Get X-axis gyroscope reading.
khaledelmadawi	0:8fe8d6dd7cd6	2046	* @return X-axis rotation measurement in 16-bit 2's complement format
khaledelmadawi	0:8fe8d6dd7cd6	2047	* @see getMotion6()
khaledelmadawi	0:8fe8d6dd7cd6	2048	* @see MPU6050_RA_GYRO_XOUT_H
khaledelmadawi	0:8fe8d6dd7cd6	2049	*/
khaledelmadawi	0:8fe8d6dd7cd6	2050	int16_t MPU6050::getRotationX()
khaledelmadawi	0:8fe8d6dd7cd6	2051	{
khaledelmadawi	0:8fe8d6dd7cd6	2052	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2053	return (((int16_t)buffer[0]) << 8) \| buffer[1];
khaledelmadawi	0:8fe8d6dd7cd6	2054	}
khaledelmadawi	0:8fe8d6dd7cd6	2055	/** Get Y-axis gyroscope reading.
khaledelmadawi	0:8fe8d6dd7cd6	2056	* @return Y-axis rotation measurement in 16-bit 2's complement format
khaledelmadawi	0:8fe8d6dd7cd6	2057	* @see getMotion6()
khaledelmadawi	0:8fe8d6dd7cd6	2058	* @see MPU6050_RA_GYRO_YOUT_H
khaledelmadawi	0:8fe8d6dd7cd6	2059	*/
khaledelmadawi	0:8fe8d6dd7cd6	2060	int16_t MPU6050::getRotationY()
khaledelmadawi	0:8fe8d6dd7cd6	2061	{
khaledelmadawi	0:8fe8d6dd7cd6	2062	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2063	return (((int16_t)buffer[0]) << 8) \| buffer[1];
khaledelmadawi	0:8fe8d6dd7cd6	2064	}
khaledelmadawi	0:8fe8d6dd7cd6	2065	/** Get Z-axis gyroscope reading.
khaledelmadawi	0:8fe8d6dd7cd6	2066	* @return Z-axis rotation measurement in 16-bit 2's complement format
khaledelmadawi	0:8fe8d6dd7cd6	2067	* @see getMotion6()
khaledelmadawi	0:8fe8d6dd7cd6	2068	* @see MPU6050_RA_GYRO_ZOUT_H
khaledelmadawi	0:8fe8d6dd7cd6	2069	*/
khaledelmadawi	0:8fe8d6dd7cd6	2070	int16_t MPU6050::getRotationZ()
khaledelmadawi	0:8fe8d6dd7cd6	2071	{
khaledelmadawi	0:8fe8d6dd7cd6	2072	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2073	return (((int16_t)buffer[0]) << 8) \| buffer[1];
khaledelmadawi	0:8fe8d6dd7cd6	2074	}
khaledelmadawi	0:8fe8d6dd7cd6	2075
khaledelmadawi	0:8fe8d6dd7cd6	2076	// EXT_SENS_DATA_* registers
khaledelmadawi	0:8fe8d6dd7cd6	2077
khaledelmadawi	0:8fe8d6dd7cd6	2078	/** Read single byte from external sensor data register.
khaledelmadawi	0:8fe8d6dd7cd6	2079	* These registers store data read from external sensors by the Slave 0, 1, 2,
khaledelmadawi	0:8fe8d6dd7cd6	2080	* and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
khaledelmadawi	0:8fe8d6dd7cd6	2081	* I2C_SLV4_DI (Register 53).
khaledelmadawi	0:8fe8d6dd7cd6	2082	*
khaledelmadawi	0:8fe8d6dd7cd6	2083	* External sensor data is written to these registers at the Sample Rate as
khaledelmadawi	0:8fe8d6dd7cd6	2084	* defined in Register 25. This access rate can be reduced by using the Slave
khaledelmadawi	0:8fe8d6dd7cd6	2085	* Delay Enable registers (Register 103).
khaledelmadawi	0:8fe8d6dd7cd6	2086	*
khaledelmadawi	0:8fe8d6dd7cd6	2087	* External sensor data registers, along with the gyroscope measurement
khaledelmadawi	0:8fe8d6dd7cd6	2088	* registers, accelerometer measurement registers, and temperature measurement
khaledelmadawi	0:8fe8d6dd7cd6	2089	* registers, are composed of two sets of registers: an internal register set
khaledelmadawi	0:8fe8d6dd7cd6	2090	* and a user-facing read register set.
khaledelmadawi	0:8fe8d6dd7cd6	2091	*
khaledelmadawi	0:8fe8d6dd7cd6	2092	* The data within the external sensors' internal register set is always updated
khaledelmadawi	0:8fe8d6dd7cd6	2093	* at the Sample Rate (or the reduced access rate) whenever the serial interface
khaledelmadawi	0:8fe8d6dd7cd6	2094	* is idle. This guarantees that a burst read of sensor registers will read
khaledelmadawi	0:8fe8d6dd7cd6	2095	* measurements from the same sampling instant. Note that if burst reads are not
khaledelmadawi	0:8fe8d6dd7cd6	2096	* used, the user is responsible for ensuring a set of single byte reads
khaledelmadawi	0:8fe8d6dd7cd6	2097	* correspond to a single sampling instant by checking the Data Ready interrupt.
khaledelmadawi	0:8fe8d6dd7cd6	2098	*
khaledelmadawi	0:8fe8d6dd7cd6	2099	* Data is placed in these external sensor data registers according to
khaledelmadawi	0:8fe8d6dd7cd6	2100	* I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
khaledelmadawi	0:8fe8d6dd7cd6	2101	* 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
khaledelmadawi	0:8fe8d6dd7cd6	2102	* an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
khaledelmadawi	0:8fe8d6dd7cd6	2103	* defined in Register 25) or delayed rate (if specified in Register 52 and
khaledelmadawi	0:8fe8d6dd7cd6	2104	* 103). During each Sample cycle, slave reads are performed in order of Slave
khaledelmadawi	0:8fe8d6dd7cd6	2105	* number. If all slaves are enabled with more than zero bytes to be read, the
khaledelmadawi	0:8fe8d6dd7cd6	2106	* order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
khaledelmadawi	0:8fe8d6dd7cd6	2107	*
khaledelmadawi	0:8fe8d6dd7cd6	2108	* Each enabled slave will have EXT_SENS_DATA registers associated with it by
khaledelmadawi	0:8fe8d6dd7cd6	2109	* number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
khaledelmadawi	0:8fe8d6dd7cd6	2110	* EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
khaledelmadawi	0:8fe8d6dd7cd6	2111	* change the higher numbered slaves' associated registers. Furthermore, if
khaledelmadawi	0:8fe8d6dd7cd6	2112	* fewer total bytes are being read from the external sensors as a result of
khaledelmadawi	0:8fe8d6dd7cd6	2113	* such a change, then the data remaining in the registers which no longer have
khaledelmadawi	0:8fe8d6dd7cd6	2114	* an associated slave device (i.e. high numbered registers) will remain in
khaledelmadawi	0:8fe8d6dd7cd6	2115	* these previously allocated registers unless reset.
khaledelmadawi	0:8fe8d6dd7cd6	2116	*
khaledelmadawi	0:8fe8d6dd7cd6	2117	* If the sum of the read lengths of all SLVx transactions exceed the number of
khaledelmadawi	0:8fe8d6dd7cd6	2118	* available EXT_SENS_DATA registers, the excess bytes will be dropped. There
khaledelmadawi	0:8fe8d6dd7cd6	2119	* are 24 EXT_SENS_DATA registers and hence the total read lengths between all
khaledelmadawi	0:8fe8d6dd7cd6	2120	* the slaves cannot be greater than 24 or some bytes will be lost.
khaledelmadawi	0:8fe8d6dd7cd6	2121	*
khaledelmadawi	0:8fe8d6dd7cd6	2122	* Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
khaledelmadawi	0:8fe8d6dd7cd6	2123	* information regarding the characteristics of Slave 4, please refer to
khaledelmadawi	0:8fe8d6dd7cd6	2124	* Registers 49 to 53.
khaledelmadawi	0:8fe8d6dd7cd6	2125	*
khaledelmadawi	0:8fe8d6dd7cd6	2126	* EXAMPLE:
khaledelmadawi	0:8fe8d6dd7cd6	2127	* Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
khaledelmadawi	0:8fe8d6dd7cd6	2128	* I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
khaledelmadawi	0:8fe8d6dd7cd6	2129	* I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
khaledelmadawi	0:8fe8d6dd7cd6	2130	* through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
khaledelmadawi	0:8fe8d6dd7cd6	2131	* will be associated with Slave 1. If Slave 2 is enabled as well, registers
khaledelmadawi	0:8fe8d6dd7cd6	2132	* starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
khaledelmadawi	0:8fe8d6dd7cd6	2133	*
khaledelmadawi	0:8fe8d6dd7cd6	2134	* If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
khaledelmadawi	0:8fe8d6dd7cd6	2135	* registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
khaledelmadawi	0:8fe8d6dd7cd6	2136	* instead.
khaledelmadawi	0:8fe8d6dd7cd6	2137	*
khaledelmadawi	0:8fe8d6dd7cd6	2138	* REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
khaledelmadawi	0:8fe8d6dd7cd6	2139	* If a slave is disabled at any time, the space initially allocated to the
khaledelmadawi	0:8fe8d6dd7cd6	2140	* slave in the EXT_SENS_DATA register, will remain associated with that slave.
khaledelmadawi	0:8fe8d6dd7cd6	2141	* This is to avoid dynamic adjustment of the register allocation.
khaledelmadawi	0:8fe8d6dd7cd6	2142	*
khaledelmadawi	0:8fe8d6dd7cd6	2143	* The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
khaledelmadawi	0:8fe8d6dd7cd6	2144	* slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
khaledelmadawi	0:8fe8d6dd7cd6	2145	*
khaledelmadawi	0:8fe8d6dd7cd6	2146	* This above is also true if one of the slaves gets NACKed and stops
khaledelmadawi	0:8fe8d6dd7cd6	2147	* functioning.
khaledelmadawi	0:8fe8d6dd7cd6	2148	*
khaledelmadawi	0:8fe8d6dd7cd6	2149	* @param position Starting position (0-23)
khaledelmadawi	0:8fe8d6dd7cd6	2150	* @return Byte read from register
khaledelmadawi	0:8fe8d6dd7cd6	2151	*/
khaledelmadawi	0:8fe8d6dd7cd6	2152	uint8_t MPU6050::getExternalSensorByte(int position)
khaledelmadawi	0:8fe8d6dd7cd6	2153	{
khaledelmadawi	0:8fe8d6dd7cd6	2154	i2Cdev.readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2155	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2156	}
khaledelmadawi	0:8fe8d6dd7cd6	2157	/** Read word (2 bytes) from external sensor data registers.
khaledelmadawi	0:8fe8d6dd7cd6	2158	* @param position Starting position (0-21)
khaledelmadawi	0:8fe8d6dd7cd6	2159	* @return Word read from register
khaledelmadawi	0:8fe8d6dd7cd6	2160	* @see getExternalSensorByte()
khaledelmadawi	0:8fe8d6dd7cd6	2161	*/
khaledelmadawi	0:8fe8d6dd7cd6	2162	uint16_t MPU6050::getExternalSensorWord(int position)
khaledelmadawi	0:8fe8d6dd7cd6	2163	{
khaledelmadawi	0:8fe8d6dd7cd6	2164	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2165	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
khaledelmadawi	0:8fe8d6dd7cd6	2166	}
khaledelmadawi	0:8fe8d6dd7cd6	2167	/** Read double word (4 bytes) from external sensor data registers.
khaledelmadawi	0:8fe8d6dd7cd6	2168	* @param position Starting position (0-20)
khaledelmadawi	0:8fe8d6dd7cd6	2169	* @return Double word read from registers
khaledelmadawi	0:8fe8d6dd7cd6	2170	* @see getExternalSensorByte()
khaledelmadawi	0:8fe8d6dd7cd6	2171	*/
khaledelmadawi	0:8fe8d6dd7cd6	2172	uint32_t MPU6050::getExternalSensorDWord(int position)
khaledelmadawi	0:8fe8d6dd7cd6	2173	{
khaledelmadawi	0:8fe8d6dd7cd6	2174	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2175	return (((uint32_t)buffer[0]) << 24) \| (((uint32_t)buffer[1]) << 16) \| (((uint16_t)buffer[2]) << 8) \| buffer[3];
khaledelmadawi	0:8fe8d6dd7cd6	2176	}
khaledelmadawi	0:8fe8d6dd7cd6	2177
khaledelmadawi	0:8fe8d6dd7cd6	2178	// MOT_DETECT_STATUS register
khaledelmadawi	0:8fe8d6dd7cd6	2179
khaledelmadawi	0:8fe8d6dd7cd6	2180	/** Get X-axis negative motion detection interrupt status.
khaledelmadawi	0:8fe8d6dd7cd6	2181	* @return Motion detection status
khaledelmadawi	0:8fe8d6dd7cd6	2182	* @see MPU6050_RA_MOT_DETECT_STATUS
khaledelmadawi	0:8fe8d6dd7cd6	2183	* @see MPU6050_MOTION_MOT_XNEG_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2184	*/
khaledelmadawi	0:8fe8d6dd7cd6	2185	bool MPU6050::getXNegMotionDetected()
khaledelmadawi	0:8fe8d6dd7cd6	2186	{
khaledelmadawi	0:8fe8d6dd7cd6	2187	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2188	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2189	}
khaledelmadawi	0:8fe8d6dd7cd6	2190	/** Get X-axis positive motion detection interrupt status.
khaledelmadawi	0:8fe8d6dd7cd6	2191	* @return Motion detection status
khaledelmadawi	0:8fe8d6dd7cd6	2192	* @see MPU6050_RA_MOT_DETECT_STATUS
khaledelmadawi	0:8fe8d6dd7cd6	2193	* @see MPU6050_MOTION_MOT_XPOS_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2194	*/
khaledelmadawi	0:8fe8d6dd7cd6	2195	bool MPU6050::getXPosMotionDetected()
khaledelmadawi	0:8fe8d6dd7cd6	2196	{
khaledelmadawi	0:8fe8d6dd7cd6	2197	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2198	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2199	}
khaledelmadawi	0:8fe8d6dd7cd6	2200	/** Get Y-axis negative motion detection interrupt status.
khaledelmadawi	0:8fe8d6dd7cd6	2201	* @return Motion detection status
khaledelmadawi	0:8fe8d6dd7cd6	2202	* @see MPU6050_RA_MOT_DETECT_STATUS
khaledelmadawi	0:8fe8d6dd7cd6	2203	* @see MPU6050_MOTION_MOT_YNEG_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2204	*/
khaledelmadawi	0:8fe8d6dd7cd6	2205	bool MPU6050::getYNegMotionDetected()
khaledelmadawi	0:8fe8d6dd7cd6	2206	{
khaledelmadawi	0:8fe8d6dd7cd6	2207	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2208	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2209	}
khaledelmadawi	0:8fe8d6dd7cd6	2210	/** Get Y-axis positive motion detection interrupt status.
khaledelmadawi	0:8fe8d6dd7cd6	2211	* @return Motion detection status
khaledelmadawi	0:8fe8d6dd7cd6	2212	* @see MPU6050_RA_MOT_DETECT_STATUS
khaledelmadawi	0:8fe8d6dd7cd6	2213	* @see MPU6050_MOTION_MOT_YPOS_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2214	*/
khaledelmadawi	0:8fe8d6dd7cd6	2215	bool MPU6050::getYPosMotionDetected()
khaledelmadawi	0:8fe8d6dd7cd6	2216	{
khaledelmadawi	0:8fe8d6dd7cd6	2217	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2218	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2219	}
khaledelmadawi	0:8fe8d6dd7cd6	2220	/** Get Z-axis negative motion detection interrupt status.
khaledelmadawi	0:8fe8d6dd7cd6	2221	* @return Motion detection status
khaledelmadawi	0:8fe8d6dd7cd6	2222	* @see MPU6050_RA_MOT_DETECT_STATUS
khaledelmadawi	0:8fe8d6dd7cd6	2223	* @see MPU6050_MOTION_MOT_ZNEG_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2224	*/
khaledelmadawi	0:8fe8d6dd7cd6	2225	bool MPU6050::getZNegMotionDetected()
khaledelmadawi	0:8fe8d6dd7cd6	2226	{
khaledelmadawi	0:8fe8d6dd7cd6	2227	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2228	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2229	}
khaledelmadawi	0:8fe8d6dd7cd6	2230	/** Get Z-axis positive motion detection interrupt status.
khaledelmadawi	0:8fe8d6dd7cd6	2231	* @return Motion detection status
khaledelmadawi	0:8fe8d6dd7cd6	2232	* @see MPU6050_RA_MOT_DETECT_STATUS
khaledelmadawi	0:8fe8d6dd7cd6	2233	* @see MPU6050_MOTION_MOT_ZPOS_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2234	*/
khaledelmadawi	0:8fe8d6dd7cd6	2235	bool MPU6050::getZPosMotionDetected()
khaledelmadawi	0:8fe8d6dd7cd6	2236	{
khaledelmadawi	0:8fe8d6dd7cd6	2237	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2238	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2239	}
khaledelmadawi	0:8fe8d6dd7cd6	2240	/** Get zero motion detection interrupt status.
khaledelmadawi	0:8fe8d6dd7cd6	2241	* @return Motion detection status
khaledelmadawi	0:8fe8d6dd7cd6	2242	* @see MPU6050_RA_MOT_DETECT_STATUS
khaledelmadawi	0:8fe8d6dd7cd6	2243	* @see MPU6050_MOTION_MOT_ZRMOT_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2244	*/
khaledelmadawi	0:8fe8d6dd7cd6	2245	bool MPU6050::getZeroMotionDetected()
khaledelmadawi	0:8fe8d6dd7cd6	2246	{
khaledelmadawi	0:8fe8d6dd7cd6	2247	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2248	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2249	}
khaledelmadawi	0:8fe8d6dd7cd6	2250
khaledelmadawi	0:8fe8d6dd7cd6	2251	// I2C_SLV*_DO register
khaledelmadawi	0:8fe8d6dd7cd6	2252
khaledelmadawi	0:8fe8d6dd7cd6	2253	/** Write byte to Data Output container for specified slave.
khaledelmadawi	0:8fe8d6dd7cd6	2254	* This register holds the output data written into Slave when Slave is set to
khaledelmadawi	0:8fe8d6dd7cd6	2255	* write mode. For further information regarding Slave control, please
khaledelmadawi	0:8fe8d6dd7cd6	2256	* refer to Registers 37 to 39 and immediately following.
khaledelmadawi	0:8fe8d6dd7cd6	2257	* @param num Slave number (0-3)
khaledelmadawi	0:8fe8d6dd7cd6	2258	* @param data Byte to write
khaledelmadawi	0:8fe8d6dd7cd6	2259	* @see MPU6050_RA_I2C_SLV0_DO
khaledelmadawi	0:8fe8d6dd7cd6	2260	*/
khaledelmadawi	0:8fe8d6dd7cd6	2261	void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data)
khaledelmadawi	0:8fe8d6dd7cd6	2262	{
khaledelmadawi	0:8fe8d6dd7cd6	2263	if (num > 3) return;
khaledelmadawi	0:8fe8d6dd7cd6	2264	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
khaledelmadawi	0:8fe8d6dd7cd6	2265	}
khaledelmadawi	0:8fe8d6dd7cd6	2266
khaledelmadawi	0:8fe8d6dd7cd6	2267	// I2C_MST_DELAY_CTRL register
khaledelmadawi	0:8fe8d6dd7cd6	2268
khaledelmadawi	0:8fe8d6dd7cd6	2269	/** Get external data shadow delay enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2270	* This register is used to specify the timing of external sensor data
khaledelmadawi	0:8fe8d6dd7cd6	2271	* shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
khaledelmadawi	0:8fe8d6dd7cd6	2272	* sensor data is delayed until all data has been received.
khaledelmadawi	0:8fe8d6dd7cd6	2273	* @return Current external data shadow delay enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2274	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	2275	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2276	*/
khaledelmadawi	0:8fe8d6dd7cd6	2277	bool MPU6050::getExternalShadowDelayEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2278	{
khaledelmadawi	0:8fe8d6dd7cd6	2279	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2280	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2281	}
khaledelmadawi	0:8fe8d6dd7cd6	2282	/** Set external data shadow delay enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2283	* @param enabled New external data shadow delay enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2284	* @see getExternalShadowDelayEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2285	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	2286	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2287	*/
khaledelmadawi	0:8fe8d6dd7cd6	2288	void MPU6050::setExternalShadowDelayEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	2289	{
khaledelmadawi	0:8fe8d6dd7cd6	2290	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	2291	}
khaledelmadawi	0:8fe8d6dd7cd6	2292	/** Get slave delay enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2293	* When a particular slave delay is enabled, the rate of access for the that
khaledelmadawi	0:8fe8d6dd7cd6	2294	* slave device is reduced. When a slave's access rate is decreased relative to
khaledelmadawi	0:8fe8d6dd7cd6	2295	* the Sample Rate, the slave is accessed every:
khaledelmadawi	0:8fe8d6dd7cd6	2296	*
khaledelmadawi	0:8fe8d6dd7cd6	2297	* 1 / (1 + I2C_MST_DLY) Samples
khaledelmadawi	0:8fe8d6dd7cd6	2298	*
khaledelmadawi	0:8fe8d6dd7cd6	2299	* This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25)
khaledelmadawi	0:8fe8d6dd7cd6	2300	* and DLPF_CFG (register 26).
khaledelmadawi	0:8fe8d6dd7cd6	2301	*
khaledelmadawi	0:8fe8d6dd7cd6	2302	* For further information regarding I2C_MST_DLY, please refer to register 52.
khaledelmadawi	0:8fe8d6dd7cd6	2303	* For further information regarding the Sample Rate, please refer to register 25.
khaledelmadawi	0:8fe8d6dd7cd6	2304	*
khaledelmadawi	0:8fe8d6dd7cd6	2305	* @param num Slave number (0-4)
khaledelmadawi	0:8fe8d6dd7cd6	2306	* @return Current slave delay enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2307	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	2308	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2309	*/
khaledelmadawi	0:8fe8d6dd7cd6	2310	bool MPU6050::getSlaveDelayEnabled(uint8_t num)
khaledelmadawi	0:8fe8d6dd7cd6	2311	{
khaledelmadawi	0:8fe8d6dd7cd6	2312	// MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
khaledelmadawi	0:8fe8d6dd7cd6	2313	if (num > 4) return 0;
khaledelmadawi	0:8fe8d6dd7cd6	2314	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2315	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2316	}
khaledelmadawi	0:8fe8d6dd7cd6	2317	/** Set slave delay enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2318	* @param num Slave number (0-4)
khaledelmadawi	0:8fe8d6dd7cd6	2319	* @param enabled New slave delay enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2320	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	2321	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2322	*/
khaledelmadawi	0:8fe8d6dd7cd6	2323	void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	2324	{
khaledelmadawi	0:8fe8d6dd7cd6	2325	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	2326	}
khaledelmadawi	0:8fe8d6dd7cd6	2327
khaledelmadawi	0:8fe8d6dd7cd6	2328	// SIGNAL_PATH_RESET register
khaledelmadawi	0:8fe8d6dd7cd6	2329
khaledelmadawi	0:8fe8d6dd7cd6	2330	/** Reset gyroscope signal path.
khaledelmadawi	0:8fe8d6dd7cd6	2331	* The reset will revert the signal path analog to digital converters and
khaledelmadawi	0:8fe8d6dd7cd6	2332	* filters to their power up configurations.
khaledelmadawi	0:8fe8d6dd7cd6	2333	* @see MPU6050_RA_SIGNAL_PATH_RESET
khaledelmadawi	0:8fe8d6dd7cd6	2334	* @see MPU6050_PATHRESET_GYRO_RESET_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2335	*/
khaledelmadawi	0:8fe8d6dd7cd6	2336	void MPU6050::resetGyroscopePath()
khaledelmadawi	0:8fe8d6dd7cd6	2337	{
khaledelmadawi	0:8fe8d6dd7cd6	2338	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
khaledelmadawi	0:8fe8d6dd7cd6	2339	}
khaledelmadawi	0:8fe8d6dd7cd6	2340	/** Reset accelerometer signal path.
khaledelmadawi	0:8fe8d6dd7cd6	2341	* The reset will revert the signal path analog to digital converters and
khaledelmadawi	0:8fe8d6dd7cd6	2342	* filters to their power up configurations.
khaledelmadawi	0:8fe8d6dd7cd6	2343	* @see MPU6050_RA_SIGNAL_PATH_RESET
khaledelmadawi	0:8fe8d6dd7cd6	2344	* @see MPU6050_PATHRESET_ACCEL_RESET_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2345	*/
khaledelmadawi	0:8fe8d6dd7cd6	2346	void MPU6050::resetAccelerometerPath()
khaledelmadawi	0:8fe8d6dd7cd6	2347	{
khaledelmadawi	0:8fe8d6dd7cd6	2348	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
khaledelmadawi	0:8fe8d6dd7cd6	2349	}
khaledelmadawi	0:8fe8d6dd7cd6	2350	/** Reset temperature sensor signal path.
khaledelmadawi	0:8fe8d6dd7cd6	2351	* The reset will revert the signal path analog to digital converters and
khaledelmadawi	0:8fe8d6dd7cd6	2352	* filters to their power up configurations.
khaledelmadawi	0:8fe8d6dd7cd6	2353	* @see MPU6050_RA_SIGNAL_PATH_RESET
khaledelmadawi	0:8fe8d6dd7cd6	2354	* @see MPU6050_PATHRESET_TEMP_RESET_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2355	*/
khaledelmadawi	0:8fe8d6dd7cd6	2356	void MPU6050::resetTemperaturePath()
khaledelmadawi	0:8fe8d6dd7cd6	2357	{
khaledelmadawi	0:8fe8d6dd7cd6	2358	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
khaledelmadawi	0:8fe8d6dd7cd6	2359	}
khaledelmadawi	0:8fe8d6dd7cd6	2360
khaledelmadawi	0:8fe8d6dd7cd6	2361	// MOT_DETECT_CTRL register
khaledelmadawi	0:8fe8d6dd7cd6	2362
khaledelmadawi	0:8fe8d6dd7cd6	2363	/** Get accelerometer power-on delay.
khaledelmadawi	0:8fe8d6dd7cd6	2364	* The accelerometer data path provides samples to the sensor registers, Motion
khaledelmadawi	0:8fe8d6dd7cd6	2365	* detection, Zero Motion detection, and Free Fall detection modules. The
khaledelmadawi	0:8fe8d6dd7cd6	2366	* signal path contains filters which must be flushed on wake-up with new
khaledelmadawi	0:8fe8d6dd7cd6	2367	* samples before the detection modules begin operations. The default wake-up
khaledelmadawi	0:8fe8d6dd7cd6	2368	* delay, of 4ms can be lengthened by up to 3ms. This additional delay is
khaledelmadawi	0:8fe8d6dd7cd6	2369	* specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
khaledelmadawi	0:8fe8d6dd7cd6	2370	* any value above zero unless instructed otherwise by InvenSense. Please refer
khaledelmadawi	0:8fe8d6dd7cd6	2371	* to Section 8 of the MPU-6000/MPU-6050 Product Specification document for
khaledelmadawi	0:8fe8d6dd7cd6	2372	* further information regarding the detection modules.
khaledelmadawi	0:8fe8d6dd7cd6	2373	* @return Current accelerometer power-on delay
khaledelmadawi	0:8fe8d6dd7cd6	2374	* @see MPU6050_RA_MOT_DETECT_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	2375	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2376	*/
khaledelmadawi	0:8fe8d6dd7cd6	2377	uint8_t MPU6050::getAccelerometerPowerOnDelay()
khaledelmadawi	0:8fe8d6dd7cd6	2378	{
khaledelmadawi	0:8fe8d6dd7cd6	2379	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2380	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2381	}
khaledelmadawi	0:8fe8d6dd7cd6	2382	/** Set accelerometer power-on delay.
khaledelmadawi	0:8fe8d6dd7cd6	2383	* @param delay New accelerometer power-on delay (0-3)
khaledelmadawi	0:8fe8d6dd7cd6	2384	* @see getAccelerometerPowerOnDelay()
khaledelmadawi	0:8fe8d6dd7cd6	2385	* @see MPU6050_RA_MOT_DETECT_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	2386	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2387	*/
khaledelmadawi	0:8fe8d6dd7cd6	2388	void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay)
khaledelmadawi	0:8fe8d6dd7cd6	2389	{
khaledelmadawi	0:8fe8d6dd7cd6	2390	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
khaledelmadawi	0:8fe8d6dd7cd6	2391	}
khaledelmadawi	0:8fe8d6dd7cd6	2392	/** Get Free Fall detection counter decrement configuration.
khaledelmadawi	0:8fe8d6dd7cd6	2393	* Detection is registered by the Free Fall detection module after accelerometer
khaledelmadawi	0:8fe8d6dd7cd6	2394	* measurements meet their respective threshold conditions over a specified
khaledelmadawi	0:8fe8d6dd7cd6	2395	* number of samples. When the threshold conditions are met, the corresponding
khaledelmadawi	0:8fe8d6dd7cd6	2396	* detection counter increments by 1. The user may control the rate at which the
khaledelmadawi	0:8fe8d6dd7cd6	2397	* detection counter decrements when the threshold condition is not met by
khaledelmadawi	0:8fe8d6dd7cd6	2398	* configuring FF_COUNT. The decrement rate can be set according to the
khaledelmadawi	0:8fe8d6dd7cd6	2399	* following table:
khaledelmadawi	0:8fe8d6dd7cd6	2400	*
khaledelmadawi	0:8fe8d6dd7cd6	2401	* <pre>
khaledelmadawi	0:8fe8d6dd7cd6	2402	* FF_COUNT \| Counter Decrement
khaledelmadawi	0:8fe8d6dd7cd6	2403	* ---------+------------------
khaledelmadawi	0:8fe8d6dd7cd6	2404	* 0 \| Reset
khaledelmadawi	0:8fe8d6dd7cd6	2405	* 1 \| 1
khaledelmadawi	0:8fe8d6dd7cd6	2406	* 2 \| 2
khaledelmadawi	0:8fe8d6dd7cd6	2407	* 3 \| 4
khaledelmadawi	0:8fe8d6dd7cd6	2408	* </pre>
khaledelmadawi	0:8fe8d6dd7cd6	2409	*
khaledelmadawi	0:8fe8d6dd7cd6	2410	* When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
khaledelmadawi	0:8fe8d6dd7cd6	2411	* reset the counter to 0. For further information on Free Fall detection,
khaledelmadawi	0:8fe8d6dd7cd6	2412	* please refer to Registers 29 to 32.
khaledelmadawi	0:8fe8d6dd7cd6	2413	*
khaledelmadawi	0:8fe8d6dd7cd6	2414	* @return Current decrement configuration
khaledelmadawi	0:8fe8d6dd7cd6	2415	* @see MPU6050_RA_MOT_DETECT_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	2416	* @see MPU6050_DETECT_FF_COUNT_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2417	*/
khaledelmadawi	0:8fe8d6dd7cd6	2418	uint8_t MPU6050::getFreefallDetectionCounterDecrement()
khaledelmadawi	0:8fe8d6dd7cd6	2419	{
khaledelmadawi	0:8fe8d6dd7cd6	2420	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2421	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2422	}
khaledelmadawi	0:8fe8d6dd7cd6	2423	/** Set Free Fall detection counter decrement configuration.
khaledelmadawi	0:8fe8d6dd7cd6	2424	* @param decrement New decrement configuration value
khaledelmadawi	0:8fe8d6dd7cd6	2425	* @see getFreefallDetectionCounterDecrement()
khaledelmadawi	0:8fe8d6dd7cd6	2426	* @see MPU6050_RA_MOT_DETECT_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	2427	* @see MPU6050_DETECT_FF_COUNT_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2428	*/
khaledelmadawi	0:8fe8d6dd7cd6	2429	void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement)
khaledelmadawi	0:8fe8d6dd7cd6	2430	{
khaledelmadawi	0:8fe8d6dd7cd6	2431	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
khaledelmadawi	0:8fe8d6dd7cd6	2432	}
khaledelmadawi	0:8fe8d6dd7cd6	2433	/** Get Motion detection counter decrement configuration.
khaledelmadawi	0:8fe8d6dd7cd6	2434	* Detection is registered by the Motion detection module after accelerometer
khaledelmadawi	0:8fe8d6dd7cd6	2435	* measurements meet their respective threshold conditions over a specified
khaledelmadawi	0:8fe8d6dd7cd6	2436	* number of samples. When the threshold conditions are met, the corresponding
khaledelmadawi	0:8fe8d6dd7cd6	2437	* detection counter increments by 1. The user may control the rate at which the
khaledelmadawi	0:8fe8d6dd7cd6	2438	* detection counter decrements when the threshold condition is not met by
khaledelmadawi	0:8fe8d6dd7cd6	2439	* configuring MOT_COUNT. The decrement rate can be set according to the
khaledelmadawi	0:8fe8d6dd7cd6	2440	* following table:
khaledelmadawi	0:8fe8d6dd7cd6	2441	*
khaledelmadawi	0:8fe8d6dd7cd6	2442	* <pre>
khaledelmadawi	0:8fe8d6dd7cd6	2443	* MOT_COUNT \| Counter Decrement
khaledelmadawi	0:8fe8d6dd7cd6	2444	* ----------+------------------
khaledelmadawi	0:8fe8d6dd7cd6	2445	* 0 \| Reset
khaledelmadawi	0:8fe8d6dd7cd6	2446	* 1 \| 1
khaledelmadawi	0:8fe8d6dd7cd6	2447	* 2 \| 2
khaledelmadawi	0:8fe8d6dd7cd6	2448	* 3 \| 4
khaledelmadawi	0:8fe8d6dd7cd6	2449	* </pre>
khaledelmadawi	0:8fe8d6dd7cd6	2450	*
khaledelmadawi	0:8fe8d6dd7cd6	2451	* When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
khaledelmadawi	0:8fe8d6dd7cd6	2452	* reset the counter to 0. For further information on Motion detection,
khaledelmadawi	0:8fe8d6dd7cd6	2453	* please refer to Registers 29 to 32.
khaledelmadawi	0:8fe8d6dd7cd6	2454	*
khaledelmadawi	0:8fe8d6dd7cd6	2455	*/
khaledelmadawi	0:8fe8d6dd7cd6	2456	uint8_t MPU6050::getMotionDetectionCounterDecrement()
khaledelmadawi	0:8fe8d6dd7cd6	2457	{
khaledelmadawi	0:8fe8d6dd7cd6	2458	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2459	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2460	}
khaledelmadawi	0:8fe8d6dd7cd6	2461	/** Set Motion detection counter decrement configuration.
khaledelmadawi	0:8fe8d6dd7cd6	2462	* @param decrement New decrement configuration value
khaledelmadawi	0:8fe8d6dd7cd6	2463	* @see getMotionDetectionCounterDecrement()
khaledelmadawi	0:8fe8d6dd7cd6	2464	* @see MPU6050_RA_MOT_DETECT_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	2465	* @see MPU6050_DETECT_MOT_COUNT_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2466	*/
khaledelmadawi	0:8fe8d6dd7cd6	2467	void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement)
khaledelmadawi	0:8fe8d6dd7cd6	2468	{
khaledelmadawi	0:8fe8d6dd7cd6	2469	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
khaledelmadawi	0:8fe8d6dd7cd6	2470	}
khaledelmadawi	0:8fe8d6dd7cd6	2471
khaledelmadawi	0:8fe8d6dd7cd6	2472	// USER_CTRL register
khaledelmadawi	0:8fe8d6dd7cd6	2473
khaledelmadawi	0:8fe8d6dd7cd6	2474	/** Get FIFO enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2475	* When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
khaledelmadawi	0:8fe8d6dd7cd6	2476	* cannot be written to or read from while disabled. The FIFO buffer's state
khaledelmadawi	0:8fe8d6dd7cd6	2477	* does not change unless the MPU-60X0 is power cycled.
khaledelmadawi	0:8fe8d6dd7cd6	2478	* @return Current FIFO enabled status
khaledelmadawi	0:8fe8d6dd7cd6	2479	* @see MPU6050_RA_USER_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	2480	* @see MPU6050_USERCTRL_FIFO_EN_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2481	*/
khaledelmadawi	0:8fe8d6dd7cd6	2482	bool MPU6050::getFIFOEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2483	{
khaledelmadawi	0:8fe8d6dd7cd6	2484	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2485	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2486	}
khaledelmadawi	0:8fe8d6dd7cd6	2487	/** Set FIFO enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2488	* @param enabled New FIFO enabled status
khaledelmadawi	0:8fe8d6dd7cd6	2489	* @see getFIFOEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2490	* @see MPU6050_RA_USER_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	2491	* @see MPU6050_USERCTRL_FIFO_EN_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2492	*/
khaledelmadawi	0:8fe8d6dd7cd6	2493	void MPU6050::setFIFOEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	2494	{
khaledelmadawi	0:8fe8d6dd7cd6	2495	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	2496	}
khaledelmadawi	0:8fe8d6dd7cd6	2497	/** Get I2C Master Mode enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2498	* When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
khaledelmadawi	0:8fe8d6dd7cd6	2499	* external sensor slave devices on the auxiliary I2C bus. When this bit is
khaledelmadawi	0:8fe8d6dd7cd6	2500	* cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
khaledelmadawi	0:8fe8d6dd7cd6	2501	* driven by the primary I2C bus (SDA and SCL). This is a precondition to
khaledelmadawi	0:8fe8d6dd7cd6	2502	* enabling Bypass Mode. For further information regarding Bypass Mode, please
khaledelmadawi	0:8fe8d6dd7cd6	2503	* refer to Register 55.
khaledelmadawi	0:8fe8d6dd7cd6	2504	* @return Current I2C Master Mode enabled status
khaledelmadawi	0:8fe8d6dd7cd6	2505	* @see MPU6050_RA_USER_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	2506	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2507	*/
khaledelmadawi	0:8fe8d6dd7cd6	2508	bool MPU6050::getI2CMasterModeEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2509	{
khaledelmadawi	0:8fe8d6dd7cd6	2510	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2511	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2512	}
khaledelmadawi	0:8fe8d6dd7cd6	2513	/** Set I2C Master Mode enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2514	* @param enabled New I2C Master Mode enabled status
khaledelmadawi	0:8fe8d6dd7cd6	2515	* @see getI2CMasterModeEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2516	* @see MPU6050_RA_USER_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	2517	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2518	*/
khaledelmadawi	0:8fe8d6dd7cd6	2519	void MPU6050::setI2CMasterModeEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	2520	{
khaledelmadawi	0:8fe8d6dd7cd6	2521	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	2522	}
khaledelmadawi	0:8fe8d6dd7cd6	2523	/** Switch from I2C to SPI mode (MPU-6000 only)
khaledelmadawi	0:8fe8d6dd7cd6	2524	* If this is set, the primary SPI interface will be enabled in place of the
khaledelmadawi	0:8fe8d6dd7cd6	2525	* disabled primary I2C interface.
khaledelmadawi	0:8fe8d6dd7cd6	2526	*/
khaledelmadawi	0:8fe8d6dd7cd6	2527	void MPU6050::switchSPIEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	2528	{
khaledelmadawi	0:8fe8d6dd7cd6	2529	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	2530	}
khaledelmadawi	0:8fe8d6dd7cd6	2531	/** Reset the FIFO.
khaledelmadawi	0:8fe8d6dd7cd6	2532	* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
khaledelmadawi	0:8fe8d6dd7cd6	2533	* bit automatically clears to 0 after the reset has been triggered.
khaledelmadawi	0:8fe8d6dd7cd6	2534	* @see MPU6050_RA_USER_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	2535	* @see MPU6050_USERCTRL_FIFO_RESET_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2536	*/
khaledelmadawi	0:8fe8d6dd7cd6	2537	void MPU6050::resetFIFO()
khaledelmadawi	0:8fe8d6dd7cd6	2538	{
khaledelmadawi	0:8fe8d6dd7cd6	2539	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
khaledelmadawi	0:8fe8d6dd7cd6	2540	}
khaledelmadawi	0:8fe8d6dd7cd6	2541	/** Reset the I2C Master.
khaledelmadawi	0:8fe8d6dd7cd6	2542	* This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
khaledelmadawi	0:8fe8d6dd7cd6	2543	* This bit automatically clears to 0 after the reset has been triggered.
khaledelmadawi	0:8fe8d6dd7cd6	2544	* @see MPU6050_RA_USER_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	2545	* @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2546	*/
khaledelmadawi	0:8fe8d6dd7cd6	2547	void MPU6050::resetI2CMaster()
khaledelmadawi	0:8fe8d6dd7cd6	2548	{
khaledelmadawi	0:8fe8d6dd7cd6	2549	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
khaledelmadawi	0:8fe8d6dd7cd6	2550	}
khaledelmadawi	0:8fe8d6dd7cd6	2551	/** Reset all sensor registers and signal paths.
khaledelmadawi	0:8fe8d6dd7cd6	2552	* When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
khaledelmadawi	0:8fe8d6dd7cd6	2553	* accelerometers, and temperature sensor). This operation will also clear the
khaledelmadawi	0:8fe8d6dd7cd6	2554	* sensor registers. This bit automatically clears to 0 after the reset has been
khaledelmadawi	0:8fe8d6dd7cd6	2555	* triggered.
khaledelmadawi	0:8fe8d6dd7cd6	2556	*
khaledelmadawi	0:8fe8d6dd7cd6	2557	* When resetting only the signal path (and not the sensor registers), please
khaledelmadawi	0:8fe8d6dd7cd6	2558	* use Register 104, SIGNAL_PATH_RESET.
khaledelmadawi	0:8fe8d6dd7cd6	2559	*
khaledelmadawi	0:8fe8d6dd7cd6	2560	* @see MPU6050_RA_USER_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	2561	* @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2562	*/
khaledelmadawi	0:8fe8d6dd7cd6	2563	void MPU6050::resetSensors()
khaledelmadawi	0:8fe8d6dd7cd6	2564	{
khaledelmadawi	0:8fe8d6dd7cd6	2565	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
khaledelmadawi	0:8fe8d6dd7cd6	2566	}
khaledelmadawi	0:8fe8d6dd7cd6	2567
khaledelmadawi	0:8fe8d6dd7cd6	2568	// PWR_MGMT_1 register
khaledelmadawi	0:8fe8d6dd7cd6	2569
khaledelmadawi	0:8fe8d6dd7cd6	2570	/** Trigger a full device reset.
khaledelmadawi	0:8fe8d6dd7cd6	2571	* A small delay of ~50ms may be desirable after triggering a reset.
khaledelmadawi	0:8fe8d6dd7cd6	2572	* @see MPU6050_RA_PWR_MGMT_1
khaledelmadawi	0:8fe8d6dd7cd6	2573	* @see MPU6050_PWR1_DEVICE_RESET_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2574	*/
khaledelmadawi	0:8fe8d6dd7cd6	2575	void MPU6050::reset()
khaledelmadawi	0:8fe8d6dd7cd6	2576	{
khaledelmadawi	0:8fe8d6dd7cd6	2577	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
khaledelmadawi	0:8fe8d6dd7cd6	2578	}
khaledelmadawi	0:8fe8d6dd7cd6	2579	/** Get sleep mode status.
khaledelmadawi	0:8fe8d6dd7cd6	2580	* Setting the SLEEP bit in the register puts the device into very low power
khaledelmadawi	0:8fe8d6dd7cd6	2581	* sleep mode. In this mode, only the serial interface and internal registers
khaledelmadawi	0:8fe8d6dd7cd6	2582	* remain active, allowing for a very low standby current. Clearing this bit
khaledelmadawi	0:8fe8d6dd7cd6	2583	* puts the device back into normal mode. To save power, the individual standby
khaledelmadawi	0:8fe8d6dd7cd6	2584	* selections for each of the gyros should be used if any gyro axis is not used
khaledelmadawi	0:8fe8d6dd7cd6	2585	* by the application.
khaledelmadawi	0:8fe8d6dd7cd6	2586	* @return Current sleep mode enabled status
khaledelmadawi	0:8fe8d6dd7cd6	2587	* @see MPU6050_RA_PWR_MGMT_1
khaledelmadawi	0:8fe8d6dd7cd6	2588	* @see MPU6050_PWR1_SLEEP_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2589	*/
khaledelmadawi	0:8fe8d6dd7cd6	2590	bool MPU6050::getSleepEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2591	{
khaledelmadawi	0:8fe8d6dd7cd6	2592	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2593	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2594	}
khaledelmadawi	0:8fe8d6dd7cd6	2595	/** Set sleep mode status.
khaledelmadawi	0:8fe8d6dd7cd6	2596	* @param enabled New sleep mode enabled status
khaledelmadawi	0:8fe8d6dd7cd6	2597	* @see getSleepEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2598	* @see MPU6050_RA_PWR_MGMT_1
khaledelmadawi	0:8fe8d6dd7cd6	2599	* @see MPU6050_PWR1_SLEEP_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2600	*/
khaledelmadawi	0:8fe8d6dd7cd6	2601	void MPU6050::setSleepEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	2602	{
khaledelmadawi	0:8fe8d6dd7cd6	2603	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	2604	}
khaledelmadawi	0:8fe8d6dd7cd6	2605	/** Get wake cycle enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2606	* When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
khaledelmadawi	0:8fe8d6dd7cd6	2607	* between sleep mode and waking up to take a single sample of data from active
khaledelmadawi	0:8fe8d6dd7cd6	2608	* sensors at a rate determined by LP_WAKE_CTRL (register 108).
khaledelmadawi	0:8fe8d6dd7cd6	2609	* @return Current sleep mode enabled status
khaledelmadawi	0:8fe8d6dd7cd6	2610	* @see MPU6050_RA_PWR_MGMT_1
khaledelmadawi	0:8fe8d6dd7cd6	2611	* @see MPU6050_PWR1_CYCLE_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2612	*/
khaledelmadawi	0:8fe8d6dd7cd6	2613	bool MPU6050::getWakeCycleEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2614	{
khaledelmadawi	0:8fe8d6dd7cd6	2615	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2616	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2617	}
khaledelmadawi	0:8fe8d6dd7cd6	2618	/** Set wake cycle enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2619	* @param enabled New sleep mode enabled status
khaledelmadawi	0:8fe8d6dd7cd6	2620	* @see getWakeCycleEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2621	* @see MPU6050_RA_PWR_MGMT_1
khaledelmadawi	0:8fe8d6dd7cd6	2622	* @see MPU6050_PWR1_CYCLE_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2623	*/
khaledelmadawi	0:8fe8d6dd7cd6	2624	void MPU6050::setWakeCycleEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	2625	{
khaledelmadawi	0:8fe8d6dd7cd6	2626	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	2627	}
khaledelmadawi	0:8fe8d6dd7cd6	2628	/** Get temperature sensor enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2629	* Control the usage of the internal temperature sensor.
khaledelmadawi	0:8fe8d6dd7cd6	2630	*
khaledelmadawi	0:8fe8d6dd7cd6	2631	* Note: this register stores the disabled value, but for consistency with the
khaledelmadawi	0:8fe8d6dd7cd6	2632	* rest of the code, the function is named and used with standard true/false
khaledelmadawi	0:8fe8d6dd7cd6	2633	* values to indicate whether the sensor is enabled or disabled, respectively.
khaledelmadawi	0:8fe8d6dd7cd6	2634	*
khaledelmadawi	0:8fe8d6dd7cd6	2635	* @return Current temperature sensor enabled status
khaledelmadawi	0:8fe8d6dd7cd6	2636	* @see MPU6050_RA_PWR_MGMT_1
khaledelmadawi	0:8fe8d6dd7cd6	2637	* @see MPU6050_PWR1_TEMP_DIS_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2638	*/
khaledelmadawi	0:8fe8d6dd7cd6	2639	bool MPU6050::getTempSensorEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2640	{
khaledelmadawi	0:8fe8d6dd7cd6	2641	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2642	return buffer[0] == 0; // 1 is actually disabled here
khaledelmadawi	0:8fe8d6dd7cd6	2643	}
khaledelmadawi	0:8fe8d6dd7cd6	2644	/** Set temperature sensor enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2645	* Note: this register stores the disabled value, but for consistency with the
khaledelmadawi	0:8fe8d6dd7cd6	2646	* rest of the code, the function is named and used with standard true/false
khaledelmadawi	0:8fe8d6dd7cd6	2647	* values to indicate whether the sensor is enabled or disabled, respectively.
khaledelmadawi	0:8fe8d6dd7cd6	2648	*
khaledelmadawi	0:8fe8d6dd7cd6	2649	* @param enabled New temperature sensor enabled status
khaledelmadawi	0:8fe8d6dd7cd6	2650	* @see getTempSensorEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2651	* @see MPU6050_RA_PWR_MGMT_1
khaledelmadawi	0:8fe8d6dd7cd6	2652	* @see MPU6050_PWR1_TEMP_DIS_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2653	*/
khaledelmadawi	0:8fe8d6dd7cd6	2654	void MPU6050::setTempSensorEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	2655	{
khaledelmadawi	0:8fe8d6dd7cd6	2656	// 1 is actually disabled here
khaledelmadawi	0:8fe8d6dd7cd6	2657	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
khaledelmadawi	0:8fe8d6dd7cd6	2658	}
khaledelmadawi	0:8fe8d6dd7cd6	2659	/** Get clock source setting.
khaledelmadawi	0:8fe8d6dd7cd6	2660	* @return Current clock source setting
khaledelmadawi	0:8fe8d6dd7cd6	2661	* @see MPU6050_RA_PWR_MGMT_1
khaledelmadawi	0:8fe8d6dd7cd6	2662	* @see MPU6050_PWR1_CLKSEL_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2663	* @see MPU6050_PWR1_CLKSEL_LENGTH
khaledelmadawi	0:8fe8d6dd7cd6	2664	*/
khaledelmadawi	0:8fe8d6dd7cd6	2665	uint8_t MPU6050::getClockSource()
khaledelmadawi	0:8fe8d6dd7cd6	2666	{
khaledelmadawi	0:8fe8d6dd7cd6	2667	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2668	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2669	}
khaledelmadawi	0:8fe8d6dd7cd6	2670	/** Set clock source setting.
khaledelmadawi	0:8fe8d6dd7cd6	2671	* An internal 8MHz oscillator, gyroscope based clock, or external sources can
khaledelmadawi	0:8fe8d6dd7cd6	2672	* be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
khaledelmadawi	0:8fe8d6dd7cd6	2673	* or an external source is chosen as the clock source, the MPU-60X0 can operate
khaledelmadawi	0:8fe8d6dd7cd6	2674	* in low power modes with the gyroscopes disabled.
khaledelmadawi	0:8fe8d6dd7cd6	2675	*
khaledelmadawi	0:8fe8d6dd7cd6	2676	* Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
khaledelmadawi	0:8fe8d6dd7cd6	2677	* However, it is highly recommended that the device be configured to use one of
khaledelmadawi	0:8fe8d6dd7cd6	2678	* the gyroscopes (or an external clock source) as the clock reference for
khaledelmadawi	0:8fe8d6dd7cd6	2679	* improved stability. The clock source can be selected according to the following table:
khaledelmadawi	0:8fe8d6dd7cd6	2680	*
khaledelmadawi	0:8fe8d6dd7cd6	2681	* <pre>
khaledelmadawi	0:8fe8d6dd7cd6	2682	* CLK_SEL \| Clock Source
khaledelmadawi	0:8fe8d6dd7cd6	2683	* --------+--------------------------------------
khaledelmadawi	0:8fe8d6dd7cd6	2684	* 0 \| Internal oscillator
khaledelmadawi	0:8fe8d6dd7cd6	2685	* 1 \| PLL with X Gyro reference
khaledelmadawi	0:8fe8d6dd7cd6	2686	* 2 \| PLL with Y Gyro reference
khaledelmadawi	0:8fe8d6dd7cd6	2687	* 3 \| PLL with Z Gyro reference
khaledelmadawi	0:8fe8d6dd7cd6	2688	* 4 \| PLL with external 32.768kHz reference
khaledelmadawi	0:8fe8d6dd7cd6	2689	* 5 \| PLL with external 19.2MHz reference
khaledelmadawi	0:8fe8d6dd7cd6	2690	* 6 \| Reserved
khaledelmadawi	0:8fe8d6dd7cd6	2691	* 7 \| Stops the clock and keeps the timing generator in reset
khaledelmadawi	0:8fe8d6dd7cd6	2692	* </pre>
khaledelmadawi	0:8fe8d6dd7cd6	2693	*
khaledelmadawi	0:8fe8d6dd7cd6	2694	* @param source New clock source setting
khaledelmadawi	0:8fe8d6dd7cd6	2695	* @see getClockSource()
khaledelmadawi	0:8fe8d6dd7cd6	2696	* @see MPU6050_RA_PWR_MGMT_1
khaledelmadawi	0:8fe8d6dd7cd6	2697	* @see MPU6050_PWR1_CLKSEL_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2698	* @see MPU6050_PWR1_CLKSEL_LENGTH
khaledelmadawi	0:8fe8d6dd7cd6	2699	*/
khaledelmadawi	0:8fe8d6dd7cd6	2700	void MPU6050::setClockSource(uint8_t source)
khaledelmadawi	0:8fe8d6dd7cd6	2701	{
khaledelmadawi	0:8fe8d6dd7cd6	2702	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
khaledelmadawi	0:8fe8d6dd7cd6	2703	}
khaledelmadawi	0:8fe8d6dd7cd6	2704
khaledelmadawi	0:8fe8d6dd7cd6	2705	// PWR_MGMT_2 register
khaledelmadawi	0:8fe8d6dd7cd6	2706
khaledelmadawi	0:8fe8d6dd7cd6	2707	/** Get wake frequency in Accel-Only Low Power Mode.
khaledelmadawi	0:8fe8d6dd7cd6	2708	* The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
khaledelmadawi	0:8fe8d6dd7cd6	2709	* PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
khaledelmadawi	0:8fe8d6dd7cd6	2710	* the device will power off all devices except for the primary I2C interface,
khaledelmadawi	0:8fe8d6dd7cd6	2711	* waking only the accelerometer at fixed intervals to take a single
khaledelmadawi	0:8fe8d6dd7cd6	2712	* measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
khaledelmadawi	0:8fe8d6dd7cd6	2713	* as shown below:
khaledelmadawi	0:8fe8d6dd7cd6	2714	*
khaledelmadawi	0:8fe8d6dd7cd6	2715	* <pre>
khaledelmadawi	0:8fe8d6dd7cd6	2716	* LP_WAKE_CTRL \| Wake-up Frequency
khaledelmadawi	0:8fe8d6dd7cd6	2717	* -------------+------------------
khaledelmadawi	0:8fe8d6dd7cd6	2718	* 0 \| 1.25 Hz
khaledelmadawi	0:8fe8d6dd7cd6	2719	* 1 \| 2.5 Hz
khaledelmadawi	0:8fe8d6dd7cd6	2720	* 2 \| 5 Hz
khaledelmadawi	0:8fe8d6dd7cd6	2721	* 3 \| 10 Hz
khaledelmadawi	0:8fe8d6dd7cd6	2722	* <pre>
khaledelmadawi	0:8fe8d6dd7cd6	2723	*
khaledelmadawi	0:8fe8d6dd7cd6	2724	* For further information regarding the MPU-60X0's power modes, please refer to
khaledelmadawi	0:8fe8d6dd7cd6	2725	* Register 107.
khaledelmadawi	0:8fe8d6dd7cd6	2726	*
khaledelmadawi	0:8fe8d6dd7cd6	2727	* @return Current wake frequency
khaledelmadawi	0:8fe8d6dd7cd6	2728	* @see MPU6050_RA_PWR_MGMT_2
khaledelmadawi	0:8fe8d6dd7cd6	2729	*/
khaledelmadawi	0:8fe8d6dd7cd6	2730	uint8_t MPU6050::getWakeFrequency()
khaledelmadawi	0:8fe8d6dd7cd6	2731	{
khaledelmadawi	0:8fe8d6dd7cd6	2732	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2733	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2734	}
khaledelmadawi	0:8fe8d6dd7cd6	2735	/** Set wake frequency in Accel-Only Low Power Mode.
khaledelmadawi	0:8fe8d6dd7cd6	2736	* @param frequency New wake frequency
khaledelmadawi	0:8fe8d6dd7cd6	2737	* @see MPU6050_RA_PWR_MGMT_2
khaledelmadawi	0:8fe8d6dd7cd6	2738	*/
khaledelmadawi	0:8fe8d6dd7cd6	2739	void MPU6050::setWakeFrequency(uint8_t frequency)
khaledelmadawi	0:8fe8d6dd7cd6	2740	{
khaledelmadawi	0:8fe8d6dd7cd6	2741	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
khaledelmadawi	0:8fe8d6dd7cd6	2742	}
khaledelmadawi	0:8fe8d6dd7cd6	2743
khaledelmadawi	0:8fe8d6dd7cd6	2744	/** Get X-axis accelerometer standby enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2745	* If enabled, the X-axis will not gather or report data (or use power).
khaledelmadawi	0:8fe8d6dd7cd6	2746	* @return Current X-axis standby enabled status
khaledelmadawi	0:8fe8d6dd7cd6	2747	* @see MPU6050_RA_PWR_MGMT_2
khaledelmadawi	0:8fe8d6dd7cd6	2748	* @see MPU6050_PWR2_STBY_XA_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2749	*/
khaledelmadawi	0:8fe8d6dd7cd6	2750	bool MPU6050::getStandbyXAccelEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2751	{
khaledelmadawi	0:8fe8d6dd7cd6	2752	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2753	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2754	}
khaledelmadawi	0:8fe8d6dd7cd6	2755	/** Set X-axis accelerometer standby enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2756	* @param New X-axis standby enabled status
khaledelmadawi	0:8fe8d6dd7cd6	2757	* @see getStandbyXAccelEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2758	* @see MPU6050_RA_PWR_MGMT_2
khaledelmadawi	0:8fe8d6dd7cd6	2759	* @see MPU6050_PWR2_STBY_XA_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2760	*/
khaledelmadawi	0:8fe8d6dd7cd6	2761	void MPU6050::setStandbyXAccelEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	2762	{
khaledelmadawi	0:8fe8d6dd7cd6	2763	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	2764	}
khaledelmadawi	0:8fe8d6dd7cd6	2765	/** Get Y-axis accelerometer standby enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2766	* If enabled, the Y-axis will not gather or report data (or use power).
khaledelmadawi	0:8fe8d6dd7cd6	2767	* @return Current Y-axis standby enabled status
khaledelmadawi	0:8fe8d6dd7cd6	2768	* @see MPU6050_RA_PWR_MGMT_2
khaledelmadawi	0:8fe8d6dd7cd6	2769	* @see MPU6050_PWR2_STBY_YA_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2770	*/
khaledelmadawi	0:8fe8d6dd7cd6	2771	bool MPU6050::getStandbyYAccelEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2772	{
khaledelmadawi	0:8fe8d6dd7cd6	2773	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2774	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2775	}
khaledelmadawi	0:8fe8d6dd7cd6	2776	/** Set Y-axis accelerometer standby enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2777	* @param New Y-axis standby enabled status
khaledelmadawi	0:8fe8d6dd7cd6	2778	* @see getStandbyYAccelEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2779	* @see MPU6050_RA_PWR_MGMT_2
khaledelmadawi	0:8fe8d6dd7cd6	2780	* @see MPU6050_PWR2_STBY_YA_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2781	*/
khaledelmadawi	0:8fe8d6dd7cd6	2782	void MPU6050::setStandbyYAccelEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	2783	{
khaledelmadawi	0:8fe8d6dd7cd6	2784	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	2785	}
khaledelmadawi	0:8fe8d6dd7cd6	2786	/** Get Z-axis accelerometer standby enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2787	* If enabled, the Z-axis will not gather or report data (or use power).
khaledelmadawi	0:8fe8d6dd7cd6	2788	* @return Current Z-axis standby enabled status
khaledelmadawi	0:8fe8d6dd7cd6	2789	* @see MPU6050_RA_PWR_MGMT_2
khaledelmadawi	0:8fe8d6dd7cd6	2790	* @see MPU6050_PWR2_STBY_ZA_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2791	*/
khaledelmadawi	0:8fe8d6dd7cd6	2792	bool MPU6050::getStandbyZAccelEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2793	{
khaledelmadawi	0:8fe8d6dd7cd6	2794	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2795	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2796	}
khaledelmadawi	0:8fe8d6dd7cd6	2797	/** Set Z-axis accelerometer standby enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2798	* @param New Z-axis standby enabled status
khaledelmadawi	0:8fe8d6dd7cd6	2799	* @see getStandbyZAccelEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2800	* @see MPU6050_RA_PWR_MGMT_2
khaledelmadawi	0:8fe8d6dd7cd6	2801	* @see MPU6050_PWR2_STBY_ZA_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2802	*/
khaledelmadawi	0:8fe8d6dd7cd6	2803	void MPU6050::setStandbyZAccelEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	2804	{
khaledelmadawi	0:8fe8d6dd7cd6	2805	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	2806	}
khaledelmadawi	0:8fe8d6dd7cd6	2807	/** Get X-axis gyroscope standby enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2808	* If enabled, the X-axis will not gather or report data (or use power).
khaledelmadawi	0:8fe8d6dd7cd6	2809	* @return Current X-axis standby enabled status
khaledelmadawi	0:8fe8d6dd7cd6	2810	* @see MPU6050_RA_PWR_MGMT_2
khaledelmadawi	0:8fe8d6dd7cd6	2811	* @see MPU6050_PWR2_STBY_XG_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2812	*/
khaledelmadawi	0:8fe8d6dd7cd6	2813	bool MPU6050::getStandbyXGyroEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2814	{
khaledelmadawi	0:8fe8d6dd7cd6	2815	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2816	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2817	}
khaledelmadawi	0:8fe8d6dd7cd6	2818	/** Set X-axis gyroscope standby enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2819	* @param New X-axis standby enabled status
khaledelmadawi	0:8fe8d6dd7cd6	2820	* @see getStandbyXGyroEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2821	* @see MPU6050_RA_PWR_MGMT_2
khaledelmadawi	0:8fe8d6dd7cd6	2822	* @see MPU6050_PWR2_STBY_XG_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2823	*/
khaledelmadawi	0:8fe8d6dd7cd6	2824	void MPU6050::setStandbyXGyroEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	2825	{
khaledelmadawi	0:8fe8d6dd7cd6	2826	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	2827	}
khaledelmadawi	0:8fe8d6dd7cd6	2828	/** Get Y-axis gyroscope standby enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2829	* If enabled, the Y-axis will not gather or report data (or use power).
khaledelmadawi	0:8fe8d6dd7cd6	2830	* @return Current Y-axis standby enabled status
khaledelmadawi	0:8fe8d6dd7cd6	2831	* @see MPU6050_RA_PWR_MGMT_2
khaledelmadawi	0:8fe8d6dd7cd6	2832	* @see MPU6050_PWR2_STBY_YG_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2833	*/
khaledelmadawi	0:8fe8d6dd7cd6	2834	bool MPU6050::getStandbyYGyroEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2835	{
khaledelmadawi	0:8fe8d6dd7cd6	2836	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2837	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2838	}
khaledelmadawi	0:8fe8d6dd7cd6	2839	/** Set Y-axis gyroscope standby enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2840	* @param New Y-axis standby enabled status
khaledelmadawi	0:8fe8d6dd7cd6	2841	* @see getStandbyYGyroEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2842	* @see MPU6050_RA_PWR_MGMT_2
khaledelmadawi	0:8fe8d6dd7cd6	2843	* @see MPU6050_PWR2_STBY_YG_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2844	*/
khaledelmadawi	0:8fe8d6dd7cd6	2845	void MPU6050::setStandbyYGyroEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	2846	{
khaledelmadawi	0:8fe8d6dd7cd6	2847	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	2848	}
khaledelmadawi	0:8fe8d6dd7cd6	2849	/** Get Z-axis gyroscope standby enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2850	* If enabled, the Z-axis will not gather or report data (or use power).
khaledelmadawi	0:8fe8d6dd7cd6	2851	* @return Current Z-axis standby enabled status
khaledelmadawi	0:8fe8d6dd7cd6	2852	* @see MPU6050_RA_PWR_MGMT_2
khaledelmadawi	0:8fe8d6dd7cd6	2853	* @see MPU6050_PWR2_STBY_ZG_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2854	*/
khaledelmadawi	0:8fe8d6dd7cd6	2855	bool MPU6050::getStandbyZGyroEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2856	{
khaledelmadawi	0:8fe8d6dd7cd6	2857	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2858	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2859	}
khaledelmadawi	0:8fe8d6dd7cd6	2860	/** Set Z-axis gyroscope standby enabled status.
khaledelmadawi	0:8fe8d6dd7cd6	2861	* @param New Z-axis standby enabled status
khaledelmadawi	0:8fe8d6dd7cd6	2862	* @see getStandbyZGyroEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	2863	* @see MPU6050_RA_PWR_MGMT_2
khaledelmadawi	0:8fe8d6dd7cd6	2864	* @see MPU6050_PWR2_STBY_ZG_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2865	*/
khaledelmadawi	0:8fe8d6dd7cd6	2866	void MPU6050::setStandbyZGyroEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	2867	{
khaledelmadawi	0:8fe8d6dd7cd6	2868	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	2869	}
khaledelmadawi	0:8fe8d6dd7cd6	2870
khaledelmadawi	0:8fe8d6dd7cd6	2871	// FIFO_COUNT* registers
khaledelmadawi	0:8fe8d6dd7cd6	2872
khaledelmadawi	0:8fe8d6dd7cd6	2873	/** Get current FIFO buffer size.
khaledelmadawi	0:8fe8d6dd7cd6	2874	* This value indicates the number of bytes stored in the FIFO buffer. This
khaledelmadawi	0:8fe8d6dd7cd6	2875	* number is in turn the number of bytes that can be read from the FIFO buffer
khaledelmadawi	0:8fe8d6dd7cd6	2876	* and it is directly proportional to the number of samples available given the
khaledelmadawi	0:8fe8d6dd7cd6	2877	* set of sensor data bound to be stored in the FIFO (register 35 and 36).
khaledelmadawi	0:8fe8d6dd7cd6	2878	* @return Current FIFO buffer size
khaledelmadawi	0:8fe8d6dd7cd6	2879	*/
khaledelmadawi	0:8fe8d6dd7cd6	2880	uint16_t MPU6050::getFIFOCount()
khaledelmadawi	0:8fe8d6dd7cd6	2881	{
khaledelmadawi	0:8fe8d6dd7cd6	2882	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2883	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
khaledelmadawi	0:8fe8d6dd7cd6	2884	}
khaledelmadawi	0:8fe8d6dd7cd6	2885
khaledelmadawi	0:8fe8d6dd7cd6	2886	// FIFO_R_W register
khaledelmadawi	0:8fe8d6dd7cd6	2887
khaledelmadawi	0:8fe8d6dd7cd6	2888	/** Get byte from FIFO buffer.
khaledelmadawi	0:8fe8d6dd7cd6	2889	* This register is used to read and write data from the FIFO buffer. Data is
khaledelmadawi	0:8fe8d6dd7cd6	2890	* written to the FIFO in order of register number (from lowest to highest). If
khaledelmadawi	0:8fe8d6dd7cd6	2891	* all the FIFO enable flags (see below) are enabled and all External Sensor
khaledelmadawi	0:8fe8d6dd7cd6	2892	* Data registers (Registers 73 to 96) are associated with a Slave device, the
khaledelmadawi	0:8fe8d6dd7cd6	2893	* contents of registers 59 through 96 will be written in order at the Sample
khaledelmadawi	0:8fe8d6dd7cd6	2894	* Rate.
khaledelmadawi	0:8fe8d6dd7cd6	2895	*
khaledelmadawi	0:8fe8d6dd7cd6	2896	* The contents of the sensor data registers (Registers 59 to 96) are written
khaledelmadawi	0:8fe8d6dd7cd6	2897	* into the FIFO buffer when their corresponding FIFO enable flags are set to 1
khaledelmadawi	0:8fe8d6dd7cd6	2898	* in FIFO_EN (Register 35). An additional flag for the sensor data registers
khaledelmadawi	0:8fe8d6dd7cd6	2899	* associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
khaledelmadawi	0:8fe8d6dd7cd6	2900	*
khaledelmadawi	0:8fe8d6dd7cd6	2901	* If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
khaledelmadawi	0:8fe8d6dd7cd6	2902	* automatically set to 1. This bit is located in INT_STATUS (Register 58).
khaledelmadawi	0:8fe8d6dd7cd6	2903	* When the FIFO buffer has overflowed, the oldest data will be lost and new
khaledelmadawi	0:8fe8d6dd7cd6	2904	* data will be written to the FIFO.
khaledelmadawi	0:8fe8d6dd7cd6	2905	*
khaledelmadawi	0:8fe8d6dd7cd6	2906	* If the FIFO buffer is empty, reading this register will return the last byte
khaledelmadawi	0:8fe8d6dd7cd6	2907	* that was previously read from the FIFO until new data is available. The user
khaledelmadawi	0:8fe8d6dd7cd6	2908	* should check FIFO_COUNT to ensure that the FIFO buffer is not read when
khaledelmadawi	0:8fe8d6dd7cd6	2909	* empty.
khaledelmadawi	0:8fe8d6dd7cd6	2910	*
khaledelmadawi	0:8fe8d6dd7cd6	2911	* @return Byte from FIFO buffer
khaledelmadawi	0:8fe8d6dd7cd6	2912	*/
khaledelmadawi	0:8fe8d6dd7cd6	2913	uint8_t MPU6050::getFIFOByte()
khaledelmadawi	0:8fe8d6dd7cd6	2914	{
khaledelmadawi	0:8fe8d6dd7cd6	2915	i2Cdev.readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2916	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2917	}
khaledelmadawi	0:8fe8d6dd7cd6	2918	void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length)
khaledelmadawi	0:8fe8d6dd7cd6	2919	{
khaledelmadawi	0:8fe8d6dd7cd6	2920	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
khaledelmadawi	0:8fe8d6dd7cd6	2921	}
khaledelmadawi	0:8fe8d6dd7cd6	2922	/** Write byte to FIFO buffer.
khaledelmadawi	0:8fe8d6dd7cd6	2923	* @see getFIFOByte()
khaledelmadawi	0:8fe8d6dd7cd6	2924	* @see MPU6050_RA_FIFO_R_W
khaledelmadawi	0:8fe8d6dd7cd6	2925	*/
khaledelmadawi	0:8fe8d6dd7cd6	2926	void MPU6050::setFIFOByte(uint8_t data)
khaledelmadawi	0:8fe8d6dd7cd6	2927	{
khaledelmadawi	0:8fe8d6dd7cd6	2928	i2Cdev.writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
khaledelmadawi	0:8fe8d6dd7cd6	2929	}
khaledelmadawi	0:8fe8d6dd7cd6	2930
khaledelmadawi	0:8fe8d6dd7cd6	2931	// WHO_AM_I register
khaledelmadawi	0:8fe8d6dd7cd6	2932
khaledelmadawi	0:8fe8d6dd7cd6	2933	/** Get Device ID.
khaledelmadawi	0:8fe8d6dd7cd6	2934	* This register is used to verify the identity of the device (0b110100, 0x34).
khaledelmadawi	0:8fe8d6dd7cd6	2935	* @return Device ID (6 bits only! should be 0x34)
khaledelmadawi	0:8fe8d6dd7cd6	2936	* @see MPU6050_RA_WHO_AM_I
khaledelmadawi	0:8fe8d6dd7cd6	2937	* @see MPU6050_WHO_AM_I_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2938	* @see MPU6050_WHO_AM_I_LENGTH
khaledelmadawi	0:8fe8d6dd7cd6	2939	*/
khaledelmadawi	0:8fe8d6dd7cd6	2940	uint8_t MPU6050::getDeviceID()
khaledelmadawi	0:8fe8d6dd7cd6	2941	{
khaledelmadawi	0:8fe8d6dd7cd6	2942	i2Cdev.readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2943	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2944	}
khaledelmadawi	0:8fe8d6dd7cd6	2945	/** Set Device ID.
khaledelmadawi	0:8fe8d6dd7cd6	2946	* Write a new ID into the WHO_AM_I register (no idea why this should ever be
khaledelmadawi	0:8fe8d6dd7cd6	2947	* necessary though).
khaledelmadawi	0:8fe8d6dd7cd6	2948	* @param id New device ID to set.
khaledelmadawi	0:8fe8d6dd7cd6	2949	* @see getDeviceID()
khaledelmadawi	0:8fe8d6dd7cd6	2950	* @see MPU6050_RA_WHO_AM_I
khaledelmadawi	0:8fe8d6dd7cd6	2951	* @see MPU6050_WHO_AM_I_BIT
khaledelmadawi	0:8fe8d6dd7cd6	2952	* @see MPU6050_WHO_AM_I_LENGTH
khaledelmadawi	0:8fe8d6dd7cd6	2953	*/
khaledelmadawi	0:8fe8d6dd7cd6	2954	void MPU6050::setDeviceID(uint8_t id)
khaledelmadawi	0:8fe8d6dd7cd6	2955	{
khaledelmadawi	0:8fe8d6dd7cd6	2956	i2Cdev.writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
khaledelmadawi	0:8fe8d6dd7cd6	2957	}
khaledelmadawi	0:8fe8d6dd7cd6	2958
khaledelmadawi	0:8fe8d6dd7cd6	2959	// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
khaledelmadawi	0:8fe8d6dd7cd6	2960
khaledelmadawi	0:8fe8d6dd7cd6	2961	// XG_OFFS_TC register
khaledelmadawi	0:8fe8d6dd7cd6	2962
khaledelmadawi	0:8fe8d6dd7cd6	2963	uint8_t MPU6050::getOTPBankValid()
khaledelmadawi	0:8fe8d6dd7cd6	2964	{
khaledelmadawi	0:8fe8d6dd7cd6	2965	i2Cdev.readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2966	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2967	}
khaledelmadawi	0:8fe8d6dd7cd6	2968	void MPU6050::setOTPBankValid(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	2969	{
khaledelmadawi	0:8fe8d6dd7cd6	2970	i2Cdev.writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	2971	}
khaledelmadawi	0:8fe8d6dd7cd6	2972	int8_t MPU6050::getXGyroOffset()
khaledelmadawi	0:8fe8d6dd7cd6	2973	{
khaledelmadawi	0:8fe8d6dd7cd6	2974	i2Cdev.readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2975	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2976	}
khaledelmadawi	0:8fe8d6dd7cd6	2977	void MPU6050::setXGyroOffset(int8_t offset)
khaledelmadawi	0:8fe8d6dd7cd6	2978	{
khaledelmadawi	0:8fe8d6dd7cd6	2979	i2Cdev.writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
khaledelmadawi	0:8fe8d6dd7cd6	2980	}
khaledelmadawi	0:8fe8d6dd7cd6	2981
khaledelmadawi	0:8fe8d6dd7cd6	2982	// YG_OFFS_TC register
khaledelmadawi	0:8fe8d6dd7cd6	2983
khaledelmadawi	0:8fe8d6dd7cd6	2984	int8_t MPU6050::getYGyroOffset()
khaledelmadawi	0:8fe8d6dd7cd6	2985	{
khaledelmadawi	0:8fe8d6dd7cd6	2986	i2Cdev.readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2987	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	2988	}
khaledelmadawi	0:8fe8d6dd7cd6	2989	void MPU6050::setYGyroOffset(int8_t offset)
khaledelmadawi	0:8fe8d6dd7cd6	2990	{
khaledelmadawi	0:8fe8d6dd7cd6	2991	i2Cdev.writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
khaledelmadawi	0:8fe8d6dd7cd6	2992	}
khaledelmadawi	0:8fe8d6dd7cd6	2993
khaledelmadawi	0:8fe8d6dd7cd6	2994	// ZG_OFFS_TC register
khaledelmadawi	0:8fe8d6dd7cd6	2995
khaledelmadawi	0:8fe8d6dd7cd6	2996	int8_t MPU6050::getZGyroOffset()
khaledelmadawi	0:8fe8d6dd7cd6	2997	{
khaledelmadawi	0:8fe8d6dd7cd6	2998	i2Cdev.readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	2999	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	3000	}
khaledelmadawi	0:8fe8d6dd7cd6	3001	void MPU6050::setZGyroOffset(int8_t offset)
khaledelmadawi	0:8fe8d6dd7cd6	3002	{
khaledelmadawi	0:8fe8d6dd7cd6	3003	i2Cdev.writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
khaledelmadawi	0:8fe8d6dd7cd6	3004	}
khaledelmadawi	0:8fe8d6dd7cd6	3005
khaledelmadawi	0:8fe8d6dd7cd6	3006	// X_FINE_GAIN register
khaledelmadawi	0:8fe8d6dd7cd6	3007
khaledelmadawi	0:8fe8d6dd7cd6	3008	int8_t MPU6050::getXFineGain()
khaledelmadawi	0:8fe8d6dd7cd6	3009	{
khaledelmadawi	0:8fe8d6dd7cd6	3010	i2Cdev.readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	3011	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	3012	}
khaledelmadawi	0:8fe8d6dd7cd6	3013	void MPU6050::setXFineGain(int8_t gain)
khaledelmadawi	0:8fe8d6dd7cd6	3014	{
khaledelmadawi	0:8fe8d6dd7cd6	3015	i2Cdev.writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
khaledelmadawi	0:8fe8d6dd7cd6	3016	}
khaledelmadawi	0:8fe8d6dd7cd6	3017
khaledelmadawi	0:8fe8d6dd7cd6	3018	// Y_FINE_GAIN register
khaledelmadawi	0:8fe8d6dd7cd6	3019
khaledelmadawi	0:8fe8d6dd7cd6	3020	int8_t MPU6050::getYFineGain()
khaledelmadawi	0:8fe8d6dd7cd6	3021	{
khaledelmadawi	0:8fe8d6dd7cd6	3022	i2Cdev.readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	3023	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	3024	}
khaledelmadawi	0:8fe8d6dd7cd6	3025	void MPU6050::setYFineGain(int8_t gain)
khaledelmadawi	0:8fe8d6dd7cd6	3026	{
khaledelmadawi	0:8fe8d6dd7cd6	3027	i2Cdev.writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
khaledelmadawi	0:8fe8d6dd7cd6	3028	}
khaledelmadawi	0:8fe8d6dd7cd6	3029
khaledelmadawi	0:8fe8d6dd7cd6	3030	// Z_FINE_GAIN register
khaledelmadawi	0:8fe8d6dd7cd6	3031
khaledelmadawi	0:8fe8d6dd7cd6	3032	int8_t MPU6050::getZFineGain()
khaledelmadawi	0:8fe8d6dd7cd6	3033	{
khaledelmadawi	0:8fe8d6dd7cd6	3034	i2Cdev.readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	3035	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	3036	}
khaledelmadawi	0:8fe8d6dd7cd6	3037	void MPU6050::setZFineGain(int8_t gain)
khaledelmadawi	0:8fe8d6dd7cd6	3038	{
khaledelmadawi	0:8fe8d6dd7cd6	3039	i2Cdev.writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
khaledelmadawi	0:8fe8d6dd7cd6	3040	}
khaledelmadawi	0:8fe8d6dd7cd6	3041
khaledelmadawi	0:8fe8d6dd7cd6	3042	// XA_OFFS_* registers
khaledelmadawi	0:8fe8d6dd7cd6	3043
khaledelmadawi	0:8fe8d6dd7cd6	3044	int16_t MPU6050::getXAccelOffset()
khaledelmadawi	0:8fe8d6dd7cd6	3045	{
khaledelmadawi	0:8fe8d6dd7cd6	3046	i2Cdev.readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	3047	return (((int16_t)buffer[0]) << 8) \| buffer[1];
khaledelmadawi	0:8fe8d6dd7cd6	3048	}
khaledelmadawi	0:8fe8d6dd7cd6	3049	void MPU6050::setXAccelOffset(int16_t offset)
khaledelmadawi	0:8fe8d6dd7cd6	3050	{
khaledelmadawi	0:8fe8d6dd7cd6	3051	i2Cdev.writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
khaledelmadawi	0:8fe8d6dd7cd6	3052	}
khaledelmadawi	0:8fe8d6dd7cd6	3053
khaledelmadawi	0:8fe8d6dd7cd6	3054	// YA_OFFS_* register
khaledelmadawi	0:8fe8d6dd7cd6	3055
khaledelmadawi	0:8fe8d6dd7cd6	3056	int16_t MPU6050::getYAccelOffset()
khaledelmadawi	0:8fe8d6dd7cd6	3057	{
khaledelmadawi	0:8fe8d6dd7cd6	3058	i2Cdev.readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	3059	return (((int16_t)buffer[0]) << 8) \| buffer[1];
khaledelmadawi	0:8fe8d6dd7cd6	3060	}
khaledelmadawi	0:8fe8d6dd7cd6	3061	void MPU6050::setYAccelOffset(int16_t offset)
khaledelmadawi	0:8fe8d6dd7cd6	3062	{
khaledelmadawi	0:8fe8d6dd7cd6	3063	i2Cdev.writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
khaledelmadawi	0:8fe8d6dd7cd6	3064	}
khaledelmadawi	0:8fe8d6dd7cd6	3065
khaledelmadawi	0:8fe8d6dd7cd6	3066	// ZA_OFFS_* register
khaledelmadawi	0:8fe8d6dd7cd6	3067
khaledelmadawi	0:8fe8d6dd7cd6	3068	int16_t MPU6050::getZAccelOffset()
khaledelmadawi	0:8fe8d6dd7cd6	3069	{
khaledelmadawi	0:8fe8d6dd7cd6	3070	i2Cdev.readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	3071	return (((int16_t)buffer[0]) << 8) \| buffer[1];
khaledelmadawi	0:8fe8d6dd7cd6	3072	}
khaledelmadawi	0:8fe8d6dd7cd6	3073	void MPU6050::setZAccelOffset(int16_t offset)
khaledelmadawi	0:8fe8d6dd7cd6	3074	{
khaledelmadawi	0:8fe8d6dd7cd6	3075	i2Cdev.writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
khaledelmadawi	0:8fe8d6dd7cd6	3076	}
khaledelmadawi	0:8fe8d6dd7cd6	3077
khaledelmadawi	0:8fe8d6dd7cd6	3078	// XG_OFFS_USR* registers
khaledelmadawi	0:8fe8d6dd7cd6	3079
khaledelmadawi	0:8fe8d6dd7cd6	3080	int16_t MPU6050::getXGyroOffsetUser()
khaledelmadawi	0:8fe8d6dd7cd6	3081	{
khaledelmadawi	0:8fe8d6dd7cd6	3082	i2Cdev.readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	3083	return (((int16_t)buffer[0]) << 8) \| buffer[1];
khaledelmadawi	0:8fe8d6dd7cd6	3084	}
khaledelmadawi	0:8fe8d6dd7cd6	3085	void MPU6050::setXGyroOffsetUser(int16_t offset)
khaledelmadawi	0:8fe8d6dd7cd6	3086	{
khaledelmadawi	0:8fe8d6dd7cd6	3087	i2Cdev.writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
khaledelmadawi	0:8fe8d6dd7cd6	3088	}
khaledelmadawi	0:8fe8d6dd7cd6	3089
khaledelmadawi	0:8fe8d6dd7cd6	3090	// YG_OFFS_USR* register
khaledelmadawi	0:8fe8d6dd7cd6	3091
khaledelmadawi	0:8fe8d6dd7cd6	3092	int16_t MPU6050::getYGyroOffsetUser()
khaledelmadawi	0:8fe8d6dd7cd6	3093	{
khaledelmadawi	0:8fe8d6dd7cd6	3094	i2Cdev.readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	3095	return (((int16_t)buffer[0]) << 8) \| buffer[1];
khaledelmadawi	0:8fe8d6dd7cd6	3096	}
khaledelmadawi	0:8fe8d6dd7cd6	3097	void MPU6050::setYGyroOffsetUser(int16_t offset)
khaledelmadawi	0:8fe8d6dd7cd6	3098	{
khaledelmadawi	0:8fe8d6dd7cd6	3099	i2Cdev.writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
khaledelmadawi	0:8fe8d6dd7cd6	3100	}
khaledelmadawi	0:8fe8d6dd7cd6	3101
khaledelmadawi	0:8fe8d6dd7cd6	3102	// ZG_OFFS_USR* register
khaledelmadawi	0:8fe8d6dd7cd6	3103
khaledelmadawi	0:8fe8d6dd7cd6	3104	int16_t MPU6050::getZGyroOffsetUser()
khaledelmadawi	0:8fe8d6dd7cd6	3105	{
khaledelmadawi	0:8fe8d6dd7cd6	3106	i2Cdev.readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	3107	return (((int16_t)buffer[0]) << 8) \| buffer[1];
khaledelmadawi	0:8fe8d6dd7cd6	3108	}
khaledelmadawi	0:8fe8d6dd7cd6	3109	void MPU6050::setZGyroOffsetUser(int16_t offset)
khaledelmadawi	0:8fe8d6dd7cd6	3110	{
khaledelmadawi	0:8fe8d6dd7cd6	3111	i2Cdev.writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
khaledelmadawi	0:8fe8d6dd7cd6	3112	}
khaledelmadawi	0:8fe8d6dd7cd6	3113
khaledelmadawi	0:8fe8d6dd7cd6	3114	// INT_ENABLE register (DMP functions)
khaledelmadawi	0:8fe8d6dd7cd6	3115
khaledelmadawi	0:8fe8d6dd7cd6	3116	bool MPU6050::getIntPLLReadyEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	3117	{
khaledelmadawi	0:8fe8d6dd7cd6	3118	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	3119	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	3120	}
khaledelmadawi	0:8fe8d6dd7cd6	3121	void MPU6050::setIntPLLReadyEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	3122	{
khaledelmadawi	0:8fe8d6dd7cd6	3123	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	3124	}
khaledelmadawi	0:8fe8d6dd7cd6	3125	bool MPU6050::getIntDMPEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	3126	{
khaledelmadawi	0:8fe8d6dd7cd6	3127	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	3128	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	3129	}
khaledelmadawi	0:8fe8d6dd7cd6	3130	void MPU6050::setIntDMPEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	3131	{
khaledelmadawi	0:8fe8d6dd7cd6	3132	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	3133	}
khaledelmadawi	0:8fe8d6dd7cd6	3134
khaledelmadawi	0:8fe8d6dd7cd6	3135	// DMP_INT_STATUS
khaledelmadawi	0:8fe8d6dd7cd6	3136
khaledelmadawi	0:8fe8d6dd7cd6	3137	bool MPU6050::getDMPInt5Status()
khaledelmadawi	0:8fe8d6dd7cd6	3138	{
khaledelmadawi	0:8fe8d6dd7cd6	3139	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	3140	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	3141	}
khaledelmadawi	0:8fe8d6dd7cd6	3142	bool MPU6050::getDMPInt4Status()
khaledelmadawi	0:8fe8d6dd7cd6	3143	{
khaledelmadawi	0:8fe8d6dd7cd6	3144	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	3145	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	3146	}
khaledelmadawi	0:8fe8d6dd7cd6	3147	bool MPU6050::getDMPInt3Status()
khaledelmadawi	0:8fe8d6dd7cd6	3148	{
khaledelmadawi	0:8fe8d6dd7cd6	3149	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	3150	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	3151	}
khaledelmadawi	0:8fe8d6dd7cd6	3152	bool MPU6050::getDMPInt2Status()
khaledelmadawi	0:8fe8d6dd7cd6	3153	{
khaledelmadawi	0:8fe8d6dd7cd6	3154	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	3155	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	3156	}
khaledelmadawi	0:8fe8d6dd7cd6	3157	bool MPU6050::getDMPInt1Status()
khaledelmadawi	0:8fe8d6dd7cd6	3158	{
khaledelmadawi	0:8fe8d6dd7cd6	3159	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	3160	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	3161	}
khaledelmadawi	0:8fe8d6dd7cd6	3162	bool MPU6050::getDMPInt0Status()
khaledelmadawi	0:8fe8d6dd7cd6	3163	{
khaledelmadawi	0:8fe8d6dd7cd6	3164	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	3165	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	3166	}
khaledelmadawi	0:8fe8d6dd7cd6	3167
khaledelmadawi	0:8fe8d6dd7cd6	3168	// INT_STATUS register (DMP functions)
khaledelmadawi	0:8fe8d6dd7cd6	3169
khaledelmadawi	0:8fe8d6dd7cd6	3170	bool MPU6050::getIntPLLReadyStatus()
khaledelmadawi	0:8fe8d6dd7cd6	3171	{
khaledelmadawi	0:8fe8d6dd7cd6	3172	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	3173	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	3174	}
khaledelmadawi	0:8fe8d6dd7cd6	3175	bool MPU6050::getIntDMPStatus()
khaledelmadawi	0:8fe8d6dd7cd6	3176	{
khaledelmadawi	0:8fe8d6dd7cd6	3177	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	3178	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	3179	}
khaledelmadawi	0:8fe8d6dd7cd6	3180
khaledelmadawi	0:8fe8d6dd7cd6	3181	// USER_CTRL register (DMP functions)
khaledelmadawi	0:8fe8d6dd7cd6	3182
khaledelmadawi	0:8fe8d6dd7cd6	3183	bool MPU6050::getDMPEnabled()
khaledelmadawi	0:8fe8d6dd7cd6	3184	{
khaledelmadawi	0:8fe8d6dd7cd6	3185	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	3186	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	3187	}
khaledelmadawi	0:8fe8d6dd7cd6	3188	void MPU6050::setDMPEnabled(bool enabled)
khaledelmadawi	0:8fe8d6dd7cd6	3189	{
khaledelmadawi	0:8fe8d6dd7cd6	3190	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
khaledelmadawi	0:8fe8d6dd7cd6	3191	}
khaledelmadawi	0:8fe8d6dd7cd6	3192	void MPU6050::resetDMP()
khaledelmadawi	0:8fe8d6dd7cd6	3193	{
khaledelmadawi	0:8fe8d6dd7cd6	3194	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
khaledelmadawi	0:8fe8d6dd7cd6	3195	}
khaledelmadawi	0:8fe8d6dd7cd6	3196
khaledelmadawi	0:8fe8d6dd7cd6	3197	// BANK_SEL register
khaledelmadawi	0:8fe8d6dd7cd6	3198
khaledelmadawi	0:8fe8d6dd7cd6	3199	void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank)
khaledelmadawi	0:8fe8d6dd7cd6	3200	{
khaledelmadawi	0:8fe8d6dd7cd6	3201	bank &= 0x1F;
khaledelmadawi	0:8fe8d6dd7cd6	3202	if (userBank) bank \|= 0x20;
khaledelmadawi	0:8fe8d6dd7cd6	3203	if (prefetchEnabled) bank \|= 0x40;
khaledelmadawi	0:8fe8d6dd7cd6	3204	i2Cdev.writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
khaledelmadawi	0:8fe8d6dd7cd6	3205	}
khaledelmadawi	0:8fe8d6dd7cd6	3206
khaledelmadawi	0:8fe8d6dd7cd6	3207	// MEM_START_ADDR register
khaledelmadawi	0:8fe8d6dd7cd6	3208
khaledelmadawi	0:8fe8d6dd7cd6	3209	void MPU6050::setMemoryStartAddress(uint8_t address)
khaledelmadawi	0:8fe8d6dd7cd6	3210	{
khaledelmadawi	0:8fe8d6dd7cd6	3211	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
khaledelmadawi	0:8fe8d6dd7cd6	3212	}
khaledelmadawi	0:8fe8d6dd7cd6	3213
khaledelmadawi	0:8fe8d6dd7cd6	3214	// MEM_R_W register
khaledelmadawi	0:8fe8d6dd7cd6	3215
khaledelmadawi	0:8fe8d6dd7cd6	3216	uint8_t MPU6050::readMemoryByte()
khaledelmadawi	0:8fe8d6dd7cd6	3217	{
khaledelmadawi	0:8fe8d6dd7cd6	3218	i2Cdev.readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	3219	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	3220	}
khaledelmadawi	0:8fe8d6dd7cd6	3221	void MPU6050::writeMemoryByte(uint8_t data)
khaledelmadawi	0:8fe8d6dd7cd6	3222	{
khaledelmadawi	0:8fe8d6dd7cd6	3223	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
khaledelmadawi	0:8fe8d6dd7cd6	3224	}
khaledelmadawi	0:8fe8d6dd7cd6	3225	void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address)
khaledelmadawi	0:8fe8d6dd7cd6	3226	{
khaledelmadawi	0:8fe8d6dd7cd6	3227	setMemoryBank(bank);
khaledelmadawi	0:8fe8d6dd7cd6	3228	setMemoryStartAddress(address);
khaledelmadawi	0:8fe8d6dd7cd6	3229	uint8_t chunkSize;
khaledelmadawi	0:8fe8d6dd7cd6	3230	for (uint16_t i = 0; i < dataSize;) {
khaledelmadawi	0:8fe8d6dd7cd6	3231	// determine correct chunk size according to bank position and data size
khaledelmadawi	0:8fe8d6dd7cd6	3232	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
khaledelmadawi	0:8fe8d6dd7cd6	3233
khaledelmadawi	0:8fe8d6dd7cd6	3234	// make sure we don't go past the data size
khaledelmadawi	0:8fe8d6dd7cd6	3235	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
khaledelmadawi	0:8fe8d6dd7cd6	3236
khaledelmadawi	0:8fe8d6dd7cd6	3237	// make sure this chunk doesn't go past the bank boundary (256 bytes)
khaledelmadawi	0:8fe8d6dd7cd6	3238	if (chunkSize > 256 - address) chunkSize = 256 - address;
khaledelmadawi	0:8fe8d6dd7cd6	3239
khaledelmadawi	0:8fe8d6dd7cd6	3240	// read the chunk of data as specified
khaledelmadawi	0:8fe8d6dd7cd6	3241	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
khaledelmadawi	0:8fe8d6dd7cd6	3242
khaledelmadawi	0:8fe8d6dd7cd6	3243	// increase byte index by [chunkSize]
khaledelmadawi	0:8fe8d6dd7cd6	3244	i += chunkSize;
khaledelmadawi	0:8fe8d6dd7cd6	3245
khaledelmadawi	0:8fe8d6dd7cd6	3246	// uint8_t automatically wraps to 0 at 256
khaledelmadawi	0:8fe8d6dd7cd6	3247	address += chunkSize;
khaledelmadawi	0:8fe8d6dd7cd6	3248
khaledelmadawi	0:8fe8d6dd7cd6	3249	// if we aren't done, update bank (if necessary) and address
khaledelmadawi	0:8fe8d6dd7cd6	3250	if (i < dataSize) {
khaledelmadawi	0:8fe8d6dd7cd6	3251	if (address == 0) bank++;
khaledelmadawi	0:8fe8d6dd7cd6	3252	setMemoryBank(bank);
khaledelmadawi	0:8fe8d6dd7cd6	3253	setMemoryStartAddress(address);
khaledelmadawi	0:8fe8d6dd7cd6	3254	}
khaledelmadawi	0:8fe8d6dd7cd6	3255	}
khaledelmadawi	0:8fe8d6dd7cd6	3256	}
khaledelmadawi	0:8fe8d6dd7cd6	3257	bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem)
khaledelmadawi	0:8fe8d6dd7cd6	3258	{
khaledelmadawi	0:8fe8d6dd7cd6	3259	setMemoryBank(bank);
khaledelmadawi	0:8fe8d6dd7cd6	3260	setMemoryStartAddress(address);
khaledelmadawi	0:8fe8d6dd7cd6	3261	uint8_t chunkSize;
khaledelmadawi	0:8fe8d6dd7cd6	3262	uint8_t *verifyBuffer = NULL;
khaledelmadawi	0:8fe8d6dd7cd6	3263	uint8_t *progBuffer = NULL;
khaledelmadawi	0:8fe8d6dd7cd6	3264	uint16_t i;
khaledelmadawi	0:8fe8d6dd7cd6	3265	uint8_t j;
khaledelmadawi	0:8fe8d6dd7cd6	3266	if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
khaledelmadawi	0:8fe8d6dd7cd6	3267	if (useProgMem) progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
khaledelmadawi	0:8fe8d6dd7cd6	3268	for (i = 0; i < dataSize;) {
khaledelmadawi	0:8fe8d6dd7cd6	3269	// determine correct chunk size according to bank position and data size
khaledelmadawi	0:8fe8d6dd7cd6	3270	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
khaledelmadawi	0:8fe8d6dd7cd6	3271
khaledelmadawi	0:8fe8d6dd7cd6	3272	// make sure we don't go past the data size
khaledelmadawi	0:8fe8d6dd7cd6	3273	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
khaledelmadawi	0:8fe8d6dd7cd6	3274
khaledelmadawi	0:8fe8d6dd7cd6	3275	// make sure this chunk doesn't go past the bank boundary (256 bytes)
khaledelmadawi	0:8fe8d6dd7cd6	3276	if (chunkSize > 256 - address) chunkSize = 256 - address;
khaledelmadawi	0:8fe8d6dd7cd6	3277
khaledelmadawi	0:8fe8d6dd7cd6	3278	if (useProgMem) {
khaledelmadawi	0:8fe8d6dd7cd6	3279	// write the chunk of data as specified
khaledelmadawi	0:8fe8d6dd7cd6	3280	for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
khaledelmadawi	0:8fe8d6dd7cd6	3281	} else {
khaledelmadawi	0:8fe8d6dd7cd6	3282	// write the chunk of data as specified
khaledelmadawi	0:8fe8d6dd7cd6	3283	progBuffer = (uint8_t *)data + i;
khaledelmadawi	0:8fe8d6dd7cd6	3284	}
khaledelmadawi	0:8fe8d6dd7cd6	3285
khaledelmadawi	0:8fe8d6dd7cd6	3286	i2Cdev.writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
khaledelmadawi	0:8fe8d6dd7cd6	3287
khaledelmadawi	0:8fe8d6dd7cd6	3288	// verify data if needed
khaledelmadawi	0:8fe8d6dd7cd6	3289	if (verify && verifyBuffer) {
khaledelmadawi	0:8fe8d6dd7cd6	3290	setMemoryBank(bank);
khaledelmadawi	0:8fe8d6dd7cd6	3291	setMemoryStartAddress(address);
khaledelmadawi	0:8fe8d6dd7cd6	3292	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
khaledelmadawi	0:8fe8d6dd7cd6	3293	if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
khaledelmadawi	0:8fe8d6dd7cd6	3294	/*Serial.print("Block write verification error, bank ");
khaledelmadawi	0:8fe8d6dd7cd6	3295	Serial.print(bank, DEC);
khaledelmadawi	0:8fe8d6dd7cd6	3296	Serial.print(", address ");
khaledelmadawi	0:8fe8d6dd7cd6	3297	Serial.print(address, DEC);
khaledelmadawi	0:8fe8d6dd7cd6	3298	Serial.print("!\nExpected:");
khaledelmadawi	0:8fe8d6dd7cd6	3299	for (j = 0; j < chunkSize; j++) {
khaledelmadawi	0:8fe8d6dd7cd6	3300	Serial.print(" 0x");
khaledelmadawi	0:8fe8d6dd7cd6	3301	if (progBuffer[j] < 16) Serial.print("0");
khaledelmadawi	0:8fe8d6dd7cd6	3302	Serial.print(progBuffer[j], HEX);
khaledelmadawi	0:8fe8d6dd7cd6	3303	}
khaledelmadawi	0:8fe8d6dd7cd6	3304	Serial.print("\nReceived:");
khaledelmadawi	0:8fe8d6dd7cd6	3305	for (uint8_t j = 0; j < chunkSize; j++) {
khaledelmadawi	0:8fe8d6dd7cd6	3306	Serial.print(" 0x");
khaledelmadawi	0:8fe8d6dd7cd6	3307	if (verifyBuffer[i + j] < 16) Serial.print("0");
khaledelmadawi	0:8fe8d6dd7cd6	3308	Serial.print(verifyBuffer[i + j], HEX);
khaledelmadawi	0:8fe8d6dd7cd6	3309	}
khaledelmadawi	0:8fe8d6dd7cd6	3310	Serial.print("\n");*/
khaledelmadawi	0:8fe8d6dd7cd6	3311	free(verifyBuffer);
khaledelmadawi	0:8fe8d6dd7cd6	3312	if (useProgMem) free(progBuffer);
khaledelmadawi	0:8fe8d6dd7cd6	3313	return false; // uh oh.
khaledelmadawi	0:8fe8d6dd7cd6	3314	}
khaledelmadawi	0:8fe8d6dd7cd6	3315	}
khaledelmadawi	0:8fe8d6dd7cd6	3316
khaledelmadawi	0:8fe8d6dd7cd6	3317	// increase byte index by [chunkSize]
khaledelmadawi	0:8fe8d6dd7cd6	3318	i += chunkSize;
khaledelmadawi	0:8fe8d6dd7cd6	3319
khaledelmadawi	0:8fe8d6dd7cd6	3320	// uint8_t automatically wraps to 0 at 256
khaledelmadawi	0:8fe8d6dd7cd6	3321	address += chunkSize;
khaledelmadawi	0:8fe8d6dd7cd6	3322
khaledelmadawi	0:8fe8d6dd7cd6	3323	// if we aren't done, update bank (if necessary) and address
khaledelmadawi	0:8fe8d6dd7cd6	3324	if (i < dataSize) {
khaledelmadawi	0:8fe8d6dd7cd6	3325	if (address == 0) bank++;
khaledelmadawi	0:8fe8d6dd7cd6	3326	setMemoryBank(bank);
khaledelmadawi	0:8fe8d6dd7cd6	3327	setMemoryStartAddress(address);
khaledelmadawi	0:8fe8d6dd7cd6	3328	}
khaledelmadawi	0:8fe8d6dd7cd6	3329	}
khaledelmadawi	0:8fe8d6dd7cd6	3330	if (verify) free(verifyBuffer);
khaledelmadawi	0:8fe8d6dd7cd6	3331	if (useProgMem) free(progBuffer);
khaledelmadawi	0:8fe8d6dd7cd6	3332	return true;
khaledelmadawi	0:8fe8d6dd7cd6	3333	}
khaledelmadawi	0:8fe8d6dd7cd6	3334	bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify)
khaledelmadawi	0:8fe8d6dd7cd6	3335	{
khaledelmadawi	0:8fe8d6dd7cd6	3336	return writeMemoryBlock(data, dataSize, bank, address, verify, true);
khaledelmadawi	0:8fe8d6dd7cd6	3337	}
khaledelmadawi	0:8fe8d6dd7cd6	3338	bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem)
khaledelmadawi	0:8fe8d6dd7cd6	3339	{
khaledelmadawi	0:8fe8d6dd7cd6	3340	uint8_t success, special;
khaledelmadawi	0:8fe8d6dd7cd6	3341	uint8_t *progBuffer = NULL;
khaledelmadawi	0:8fe8d6dd7cd6	3342	uint16_t i, j;
khaledelmadawi	0:8fe8d6dd7cd6	3343	if (useProgMem) {
khaledelmadawi	0:8fe8d6dd7cd6	3344	progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
khaledelmadawi	0:8fe8d6dd7cd6	3345	}
khaledelmadawi	0:8fe8d6dd7cd6	3346
khaledelmadawi	0:8fe8d6dd7cd6	3347	// config set data is a long string of blocks with the following structure:
khaledelmadawi	0:8fe8d6dd7cd6	3348	// [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
khaledelmadawi	0:8fe8d6dd7cd6	3349	uint8_t bank, offset, length;
khaledelmadawi	0:8fe8d6dd7cd6	3350	for (i = 0; i < dataSize;) {
khaledelmadawi	0:8fe8d6dd7cd6	3351	if (useProgMem) {
khaledelmadawi	0:8fe8d6dd7cd6	3352	bank = pgm_read_byte(data + i++);
khaledelmadawi	0:8fe8d6dd7cd6	3353	offset = pgm_read_byte(data + i++);
khaledelmadawi	0:8fe8d6dd7cd6	3354	length = pgm_read_byte(data + i++);
khaledelmadawi	0:8fe8d6dd7cd6	3355	} else {
khaledelmadawi	0:8fe8d6dd7cd6	3356	bank = data[i++];
khaledelmadawi	0:8fe8d6dd7cd6	3357	offset = data[i++];
khaledelmadawi	0:8fe8d6dd7cd6	3358	length = data[i++];
khaledelmadawi	0:8fe8d6dd7cd6	3359	}
khaledelmadawi	0:8fe8d6dd7cd6	3360
khaledelmadawi	0:8fe8d6dd7cd6	3361	// write data or perform special action
khaledelmadawi	0:8fe8d6dd7cd6	3362	if (length > 0) {
khaledelmadawi	0:8fe8d6dd7cd6	3363	// regular block of data to write
khaledelmadawi	0:8fe8d6dd7cd6	3364	/*Serial.print("Writing config block to bank ");
khaledelmadawi	0:8fe8d6dd7cd6	3365	Serial.print(bank);
khaledelmadawi	0:8fe8d6dd7cd6	3366	Serial.print(", offset ");
khaledelmadawi	0:8fe8d6dd7cd6	3367	Serial.print(offset);
khaledelmadawi	0:8fe8d6dd7cd6	3368	Serial.print(", length=");
khaledelmadawi	0:8fe8d6dd7cd6	3369	Serial.println(length);*/
khaledelmadawi	0:8fe8d6dd7cd6	3370	if (useProgMem) {
khaledelmadawi	0:8fe8d6dd7cd6	3371	if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length);
khaledelmadawi	0:8fe8d6dd7cd6	3372	for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j);
khaledelmadawi	0:8fe8d6dd7cd6	3373	} else {
khaledelmadawi	0:8fe8d6dd7cd6	3374	progBuffer = (uint8_t *)data + i;
khaledelmadawi	0:8fe8d6dd7cd6	3375	}
khaledelmadawi	0:8fe8d6dd7cd6	3376	success = writeMemoryBlock(progBuffer, length, bank, offset, true);
khaledelmadawi	0:8fe8d6dd7cd6	3377	i += length;
khaledelmadawi	0:8fe8d6dd7cd6	3378	} else {
khaledelmadawi	0:8fe8d6dd7cd6	3379	// special instruction
khaledelmadawi	0:8fe8d6dd7cd6	3380	// NOTE: this kind of behavior (what and when to do certain things)
khaledelmadawi	0:8fe8d6dd7cd6	3381	// is totally undocumented. This code is in here based on observed
khaledelmadawi	0:8fe8d6dd7cd6	3382	// behavior only, and exactly why (or even whether) it has to be here
khaledelmadawi	0:8fe8d6dd7cd6	3383	// is anybody's guess for now.
khaledelmadawi	0:8fe8d6dd7cd6	3384	if (useProgMem) {
khaledelmadawi	0:8fe8d6dd7cd6	3385	special = pgm_read_byte(data + i++);
khaledelmadawi	0:8fe8d6dd7cd6	3386	} else {
khaledelmadawi	0:8fe8d6dd7cd6	3387	special = data[i++];
khaledelmadawi	0:8fe8d6dd7cd6	3388	}
khaledelmadawi	0:8fe8d6dd7cd6	3389	/*Serial.print("Special command code ");
khaledelmadawi	0:8fe8d6dd7cd6	3390	Serial.print(special, HEX);
khaledelmadawi	0:8fe8d6dd7cd6	3391	Serial.println(" found...");*/
khaledelmadawi	0:8fe8d6dd7cd6	3392	if (special == 0x01) {
khaledelmadawi	0:8fe8d6dd7cd6	3393	// enable DMP-related interrupts
khaledelmadawi	0:8fe8d6dd7cd6	3394
khaledelmadawi	0:8fe8d6dd7cd6	3395	//setIntZeroMotionEnabled(true);
khaledelmadawi	0:8fe8d6dd7cd6	3396	//setIntFIFOBufferOverflowEnabled(true);
khaledelmadawi	0:8fe8d6dd7cd6	3397	//setIntDMPEnabled(true);
khaledelmadawi	0:8fe8d6dd7cd6	3398	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
khaledelmadawi	0:8fe8d6dd7cd6	3399
khaledelmadawi	0:8fe8d6dd7cd6	3400	success = true;
khaledelmadawi	0:8fe8d6dd7cd6	3401	} else {
khaledelmadawi	0:8fe8d6dd7cd6	3402	// unknown special command
khaledelmadawi	0:8fe8d6dd7cd6	3403	success = false;
khaledelmadawi	0:8fe8d6dd7cd6	3404	}
khaledelmadawi	0:8fe8d6dd7cd6	3405	}
khaledelmadawi	0:8fe8d6dd7cd6	3406
khaledelmadawi	0:8fe8d6dd7cd6	3407	if (!success) {
khaledelmadawi	0:8fe8d6dd7cd6	3408	if (useProgMem) free(progBuffer);
khaledelmadawi	0:8fe8d6dd7cd6	3409	return false; // uh oh
khaledelmadawi	0:8fe8d6dd7cd6	3410	}
khaledelmadawi	0:8fe8d6dd7cd6	3411	}
khaledelmadawi	0:8fe8d6dd7cd6	3412	if (useProgMem) free(progBuffer);
khaledelmadawi	0:8fe8d6dd7cd6	3413	return true;
khaledelmadawi	0:8fe8d6dd7cd6	3414	}
khaledelmadawi	0:8fe8d6dd7cd6	3415	bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
khaledelmadawi	0:8fe8d6dd7cd6	3416	{
khaledelmadawi	0:8fe8d6dd7cd6	3417	return writeDMPConfigurationSet(data, dataSize, false);
khaledelmadawi	0:8fe8d6dd7cd6	3418	}
khaledelmadawi	0:8fe8d6dd7cd6	3419
khaledelmadawi	0:8fe8d6dd7cd6	3420	// DMP_CFG_1 register
khaledelmadawi	0:8fe8d6dd7cd6	3421
khaledelmadawi	0:8fe8d6dd7cd6	3422	uint8_t MPU6050::getDMPConfig1()
khaledelmadawi	0:8fe8d6dd7cd6	3423	{
khaledelmadawi	0:8fe8d6dd7cd6	3424	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	3425	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	3426	}
khaledelmadawi	0:8fe8d6dd7cd6	3427	void MPU6050::setDMPConfig1(uint8_t config)
khaledelmadawi	0:8fe8d6dd7cd6	3428	{
khaledelmadawi	0:8fe8d6dd7cd6	3429	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
khaledelmadawi	0:8fe8d6dd7cd6	3430	}
khaledelmadawi	0:8fe8d6dd7cd6	3431
khaledelmadawi	0:8fe8d6dd7cd6	3432	// DMP_CFG_2 register
khaledelmadawi	0:8fe8d6dd7cd6	3433
khaledelmadawi	0:8fe8d6dd7cd6	3434	uint8_t MPU6050::getDMPConfig2()
khaledelmadawi	0:8fe8d6dd7cd6	3435	{
khaledelmadawi	0:8fe8d6dd7cd6	3436	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
khaledelmadawi	0:8fe8d6dd7cd6	3437	return buffer[0];
khaledelmadawi	0:8fe8d6dd7cd6	3438	}
khaledelmadawi	0:8fe8d6dd7cd6	3439	void MPU6050::setDMPConfig2(uint8_t config)
khaledelmadawi	0:8fe8d6dd7cd6	3440	{
khaledelmadawi	0:8fe8d6dd7cd6	3441	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
khaledelmadawi	0:8fe8d6dd7cd6	3442	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	23 Jun 2015
Imports:	38
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	1
Followers:	1

MPU6050.cpp@0:8fe8d6dd7cd6, 2015-06-23 (annotated)

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