FYDP_Final2 - This is for our FYDP project. 2 MPU6050s are used

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This is for our FYDP project. 2 MPU6050s are used

drivers/MPU6050-DMP-Ian/MPU/src/MPU6050.cpp@4:05484073a641, 2015-03-22 (annotated)

Committer:: majik
Date:: Sun Mar 22 06:34:30 2015 +0000
Revision:: 4:05484073a641
Parent:: 0:21019d94ad33

BOTH IMUs WORK NOW. Put them in separate threads. Servo is included.

Who changed what in which revision?

User	Revision	Line number	New contents of line
majik	0:21019d94ad33	1	//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
majik	0:21019d94ad33	2	//written by szymon gaertig (email: szymon@gaertig.com.pl)
majik	0:21019d94ad33	3	//
majik	0:21019d94ad33	4	//Changelog:
majik	0:21019d94ad33	5	//2013-01-08 - first beta release
majik	0:21019d94ad33	6
majik	0:21019d94ad33	7	// I2Cdev library collection - MPU6050 I2C device class
majik	0:21019d94ad33	8	// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
majik	0:21019d94ad33	9	// 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
majik	0:21019d94ad33	10	// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
majik	0:21019d94ad33	11	//
majik	0:21019d94ad33	12	// Changelog:
majik	0:21019d94ad33	13	// ... - ongoing debug release
majik	0:21019d94ad33	14
majik	0:21019d94ad33	15	// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
majik	0:21019d94ad33	16	// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
majik	0:21019d94ad33	17	// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
majik	0:21019d94ad33	18
majik	0:21019d94ad33	19	/* ============================================
majik	0:21019d94ad33	20	I2Cdev device library code is placed under the MIT license
majik	0:21019d94ad33	21	Copyright (c) 2012 Jeff Rowberg
majik	0:21019d94ad33	22
majik	0:21019d94ad33	23	Permission is hereby granted, free of charge, to any person obtaining a copy
majik	0:21019d94ad33	24	of this software and associated documentation files (the "Software"), to deal
majik	0:21019d94ad33	25	in the Software without restriction, including without limitation the rights
majik	0:21019d94ad33	26	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
majik	0:21019d94ad33	27	copies of the Software, and to permit persons to whom the Software is
majik	0:21019d94ad33	28	furnished to do so, subject to the following conditions:
majik	0:21019d94ad33	29
majik	0:21019d94ad33	30	The above copyright notice and this permission notice shall be included in
majik	0:21019d94ad33	31	all copies or substantial portions of the Software.
majik	0:21019d94ad33	32
majik	0:21019d94ad33	33	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
majik	0:21019d94ad33	34	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
majik	0:21019d94ad33	35	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
majik	0:21019d94ad33	36	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
majik	0:21019d94ad33	37	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
majik	0:21019d94ad33	38	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
majik	0:21019d94ad33	39	THE SOFTWARE.
majik	0:21019d94ad33	40	===============================================
majik	0:21019d94ad33	41	*/
majik	0:21019d94ad33	42
majik	0:21019d94ad33	43	#include "MPU6050.h"
majik	0:21019d94ad33	44
majik	0:21019d94ad33	45	//#define useDebugSerial
majik	0:21019d94ad33	46
majik	0:21019d94ad33	47	//instead of using pgmspace.h
majik	0:21019d94ad33	48	typedef const unsigned char prog_uchar;
majik	0:21019d94ad33	49	#define pgm_read_byte_near(x) ((prog_uchar)(x))//<- I modified here
majik	0:21019d94ad33	50	#define pgm_read_byte(x) ((prog_uchar)(x))//<- I modified here
majik	0:21019d94ad33	51
majik	0:21019d94ad33	52	/** Default constructor, uses default I2C address.
majik	0:21019d94ad33	53	* @see MPU6050_DEFAULT_ADDRESS
majik	0:21019d94ad33	54	*/
majik	0:21019d94ad33	55	MPU6050::MPU6050() //: debugSerial(USBTX, USBRX)
majik	0:21019d94ad33	56	{
majik	0:21019d94ad33	57	devAddr = MPU6050_DEFAULT_ADDRESS;
majik	0:21019d94ad33	58	}
majik	0:21019d94ad33	59
majik	0:21019d94ad33	60	/** Specific address constructor.
majik	0:21019d94ad33	61	* @param address I2C address
majik	0:21019d94ad33	62	* @see MPU6050_DEFAULT_ADDRESS
majik	0:21019d94ad33	63	* @see MPU6050_ADDRESS_AD0_LOW
majik	0:21019d94ad33	64	* @see MPU6050_ADDRESS_AD0_HIGH
majik	0:21019d94ad33	65	*/
majik	0:21019d94ad33	66	MPU6050::MPU6050(uint8_t address) //: debugSerial(USBTX, USBRX)
majik	0:21019d94ad33	67	{
majik	0:21019d94ad33	68	devAddr = address;
majik	0:21019d94ad33	69	}
majik	0:21019d94ad33	70
majik	0:21019d94ad33	71	/** Power on and prepare for general usage.
majik	0:21019d94ad33	72	* This will activate the device and take it out of sleep mode (which must be done
majik	0:21019d94ad33	73	* after start-up). This function also sets both the accelerometer and the gyroscope
majik	0:21019d94ad33	74	* to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
majik	0:21019d94ad33	75	* the clock source to use the X Gyro for reference, which is slightly better than
majik	0:21019d94ad33	76	* the default internal clock source.
majik	0:21019d94ad33	77	*/
majik	0:21019d94ad33	78	void MPU6050::initialize()
majik	0:21019d94ad33	79	{
majik	0:21019d94ad33	80
majik	0:21019d94ad33	81	#ifdef useDebugSerial
majik	0:21019d94ad33	82	debugSerial.printf("MPU6050::initialize start\n");
majik	0:21019d94ad33	83	#endif
majik	0:21019d94ad33	84
majik	0:21019d94ad33	85	setClockSource(MPU6050_CLOCK_PLL_XGYRO);
majik	0:21019d94ad33	86	setFullScaleGyroRange(MPU6050_GYRO_FS_250);
majik	0:21019d94ad33	87	setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
majik	0:21019d94ad33	88	setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
majik	0:21019d94ad33	89
majik	0:21019d94ad33	90	#ifdef useDebugSerial
majik	0:21019d94ad33	91	debugSerial.printf("MPU6050::initialize end\n");
majik	0:21019d94ad33	92	#endif
majik	0:21019d94ad33	93	}
majik	0:21019d94ad33	94
majik	0:21019d94ad33	95	/** Verify the I2C connection.
majik	0:21019d94ad33	96	* Make sure the device is connected and responds as expected.
majik	0:21019d94ad33	97	* @return True if connection is valid, false otherwise
majik	0:21019d94ad33	98	*/
majik	0:21019d94ad33	99	bool MPU6050::testConnection()
majik	0:21019d94ad33	100	{
majik	0:21019d94ad33	101	#ifdef useDebugSerial
majik	0:21019d94ad33	102	debugSerial.printf("MPU6050::testConnection start\n");
majik	0:21019d94ad33	103	#endif
majik	0:21019d94ad33	104	uint8_t deviceId = getDeviceID();
majik	0:21019d94ad33	105	#ifdef useDebugSerial
majik	0:21019d94ad33	106	debugSerial.printf("DeviceId = %d\n",deviceId);
majik	0:21019d94ad33	107	#endif
majik	0:21019d94ad33	108	return deviceId == 0x34;
majik	0:21019d94ad33	109	}
majik	0:21019d94ad33	110
majik	0:21019d94ad33	111	// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
majik	0:21019d94ad33	112
majik	0:21019d94ad33	113	/** Get the auxiliary I2C supply voltage level.
majik	0:21019d94ad33	114	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
majik	0:21019d94ad33	115	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
majik	0:21019d94ad33	116	* the MPU-6000, which does not have a VLOGIC pin.
majik	0:21019d94ad33	117	* @return I2C supply voltage level (0=VLOGIC, 1=VDD)
majik	0:21019d94ad33	118	*/
majik	0:21019d94ad33	119	uint8_t MPU6050::getAuxVDDIOLevel()
majik	0:21019d94ad33	120	{
majik	0:21019d94ad33	121	i2Cdev.readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
majik	0:21019d94ad33	122	return buffer[0];
majik	0:21019d94ad33	123	}
majik	0:21019d94ad33	124	/** Set the auxiliary I2C supply voltage level.
majik	0:21019d94ad33	125	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
majik	0:21019d94ad33	126	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
majik	0:21019d94ad33	127	* the MPU-6000, which does not have a VLOGIC pin.
majik	0:21019d94ad33	128	* @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
majik	0:21019d94ad33	129	*/
majik	0:21019d94ad33	130	void MPU6050::setAuxVDDIOLevel(uint8_t level)
majik	0:21019d94ad33	131	{
majik	0:21019d94ad33	132	i2Cdev.writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
majik	0:21019d94ad33	133	}
majik	0:21019d94ad33	134
majik	0:21019d94ad33	135	// SMPLRT_DIV register
majik	0:21019d94ad33	136
majik	0:21019d94ad33	137	/** Get gyroscope output rate divider.
majik	0:21019d94ad33	138	* The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
majik	0:21019d94ad33	139	* Motion detection, and Free Fall detection are all based on the Sample Rate.
majik	0:21019d94ad33	140	* The Sample Rate is generated by dividing the gyroscope output rate by
majik	0:21019d94ad33	141	* SMPLRT_DIV:
majik	0:21019d94ad33	142	*
majik	0:21019d94ad33	143	* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
majik	0:21019d94ad33	144	*
majik	0:21019d94ad33	145	* where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
majik	0:21019d94ad33	146	* 7), and 1kHz when the DLPF is enabled (see Register 26).
majik	0:21019d94ad33	147	*
majik	0:21019d94ad33	148	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
majik	0:21019d94ad33	149	* Rate greater than 1kHz, the same accelerometer sample may be output to the
majik	0:21019d94ad33	150	* FIFO, DMP, and sensor registers more than once.
majik	0:21019d94ad33	151	*
majik	0:21019d94ad33	152	* For a diagram of the gyroscope and accelerometer signal paths, see Section 8
majik	0:21019d94ad33	153	* of the MPU-6000/MPU-6050 Product Specification document.
majik	0:21019d94ad33	154	*
majik	0:21019d94ad33	155	* @return Current sample rate
majik	0:21019d94ad33	156	* @see MPU6050_RA_SMPLRT_DIV
majik	0:21019d94ad33	157	*/
majik	0:21019d94ad33	158	uint8_t MPU6050::getRate()
majik	0:21019d94ad33	159	{
majik	0:21019d94ad33	160	i2Cdev.readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
majik	0:21019d94ad33	161	return buffer[0];
majik	0:21019d94ad33	162	}
majik	0:21019d94ad33	163	/** Set gyroscope sample rate divider.
majik	0:21019d94ad33	164	* @param rate New sample rate divider
majik	0:21019d94ad33	165	* @see getRate()
majik	0:21019d94ad33	166	* @see MPU6050_RA_SMPLRT_DIV
majik	0:21019d94ad33	167	*/
majik	0:21019d94ad33	168	void MPU6050::setRate(uint8_t rate)
majik	0:21019d94ad33	169	{
majik	0:21019d94ad33	170	i2Cdev.writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
majik	0:21019d94ad33	171	}
majik	0:21019d94ad33	172
majik	0:21019d94ad33	173	// CONFIG register
majik	0:21019d94ad33	174
majik	0:21019d94ad33	175	/** Get external FSYNC configuration.
majik	0:21019d94ad33	176	* Configures the external Frame Synchronization (FSYNC) pin sampling. An
majik	0:21019d94ad33	177	* external signal connected to the FSYNC pin can be sampled by configuring
majik	0:21019d94ad33	178	* EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
majik	0:21019d94ad33	179	* strobes may be captured. The latched FSYNC signal will be sampled at the
majik	0:21019d94ad33	180	* Sampling Rate, as defined in register 25. After sampling, the latch will
majik	0:21019d94ad33	181	* reset to the current FSYNC signal state.
majik	0:21019d94ad33	182	*
majik	0:21019d94ad33	183	* The sampled value will be reported in place of the least significant bit in
majik	0:21019d94ad33	184	* a sensor data register determined by the value of EXT_SYNC_SET according to
majik	0:21019d94ad33	185	* the following table.
majik	0:21019d94ad33	186	*
majik	0:21019d94ad33	187	* <pre>
majik	0:21019d94ad33	188	* EXT_SYNC_SET \| FSYNC Bit Location
majik	0:21019d94ad33	189	* -------------+-------------------
majik	0:21019d94ad33	190	* 0 \| Input disabled
majik	0:21019d94ad33	191	* 1 \| TEMP_OUT_L[0]
majik	0:21019d94ad33	192	* 2 \| GYRO_XOUT_L[0]
majik	0:21019d94ad33	193	* 3 \| GYRO_YOUT_L[0]
majik	0:21019d94ad33	194	* 4 \| GYRO_ZOUT_L[0]
majik	0:21019d94ad33	195	* 5 \| ACCEL_XOUT_L[0]
majik	0:21019d94ad33	196	* 6 \| ACCEL_YOUT_L[0]
majik	0:21019d94ad33	197	* 7 \| ACCEL_ZOUT_L[0]
majik	0:21019d94ad33	198	* </pre>
majik	0:21019d94ad33	199	*
majik	0:21019d94ad33	200	* @return FSYNC configuration value
majik	0:21019d94ad33	201	*/
majik	0:21019d94ad33	202	uint8_t MPU6050::getExternalFrameSync()
majik	0:21019d94ad33	203	{
majik	0:21019d94ad33	204	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
majik	0:21019d94ad33	205	return buffer[0];
majik	0:21019d94ad33	206	}
majik	0:21019d94ad33	207	/** Set external FSYNC configuration.
majik	0:21019d94ad33	208	* @see getExternalFrameSync()
majik	0:21019d94ad33	209	* @see MPU6050_RA_CONFIG
majik	0:21019d94ad33	210	* @param sync New FSYNC configuration value
majik	0:21019d94ad33	211	*/
majik	0:21019d94ad33	212	void MPU6050::setExternalFrameSync(uint8_t sync)
majik	0:21019d94ad33	213	{
majik	0:21019d94ad33	214	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
majik	0:21019d94ad33	215	}
majik	0:21019d94ad33	216	/** Get digital low-pass filter configuration.
majik	0:21019d94ad33	217	* The DLPF_CFG parameter sets the digital low pass filter configuration. It
majik	0:21019d94ad33	218	* also determines the internal sampling rate used by the device as shown in
majik	0:21019d94ad33	219	* the table below.
majik	0:21019d94ad33	220	*
majik	0:21019d94ad33	221	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
majik	0:21019d94ad33	222	* Rate greater than 1kHz, the same accelerometer sample may be output to the
majik	0:21019d94ad33	223	* FIFO, DMP, and sensor registers more than once.
majik	0:21019d94ad33	224	*
majik	0:21019d94ad33	225	* <pre>
majik	0:21019d94ad33	226	* \| ACCELEROMETER \| GYROSCOPE
majik	0:21019d94ad33	227	* DLPF_CFG \| Bandwidth \| Delay \| Bandwidth \| Delay \| Sample Rate
majik	0:21019d94ad33	228	* ---------+-----------+--------+-----------+--------+-------------
majik	0:21019d94ad33	229	* 0 \| 260Hz \| 0ms \| 256Hz \| 0.98ms \| 8kHz
majik	0:21019d94ad33	230	* 1 \| 184Hz \| 2.0ms \| 188Hz \| 1.9ms \| 1kHz
majik	0:21019d94ad33	231	* 2 \| 94Hz \| 3.0ms \| 98Hz \| 2.8ms \| 1kHz
majik	0:21019d94ad33	232	* 3 \| 44Hz \| 4.9ms \| 42Hz \| 4.8ms \| 1kHz
majik	0:21019d94ad33	233	* 4 \| 21Hz \| 8.5ms \| 20Hz \| 8.3ms \| 1kHz
majik	0:21019d94ad33	234	* 5 \| 10Hz \| 13.8ms \| 10Hz \| 13.4ms \| 1kHz
majik	0:21019d94ad33	235	* 6 \| 5Hz \| 19.0ms \| 5Hz \| 18.6ms \| 1kHz
majik	0:21019d94ad33	236	* 7 \| -- Reserved -- \| -- Reserved -- \| Reserved
majik	0:21019d94ad33	237	* </pre>
majik	0:21019d94ad33	238	*
majik	0:21019d94ad33	239	* @return DLFP configuration
majik	0:21019d94ad33	240	* @see MPU6050_RA_CONFIG
majik	0:21019d94ad33	241	* @see MPU6050_CFG_DLPF_CFG_BIT
majik	0:21019d94ad33	242	* @see MPU6050_CFG_DLPF_CFG_LENGTH
majik	0:21019d94ad33	243	*/
majik	0:21019d94ad33	244	uint8_t MPU6050::getDLPFMode()
majik	0:21019d94ad33	245	{
majik	0:21019d94ad33	246	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
majik	0:21019d94ad33	247	return buffer[0];
majik	0:21019d94ad33	248	}
majik	0:21019d94ad33	249	/** Set digital low-pass filter configuration.
majik	0:21019d94ad33	250	* @param mode New DLFP configuration setting
majik	0:21019d94ad33	251	* @see getDLPFBandwidth()
majik	0:21019d94ad33	252	* @see MPU6050_DLPF_BW_256
majik	0:21019d94ad33	253	* @see MPU6050_RA_CONFIG
majik	0:21019d94ad33	254	* @see MPU6050_CFG_DLPF_CFG_BIT
majik	0:21019d94ad33	255	* @see MPU6050_CFG_DLPF_CFG_LENGTH
majik	0:21019d94ad33	256	*/
majik	0:21019d94ad33	257	void MPU6050::setDLPFMode(uint8_t mode)
majik	0:21019d94ad33	258	{
majik	0:21019d94ad33	259	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
majik	0:21019d94ad33	260	}
majik	0:21019d94ad33	261
majik	0:21019d94ad33	262	// GYRO_CONFIG register
majik	0:21019d94ad33	263
majik	0:21019d94ad33	264	/** Get full-scale gyroscope range.
majik	0:21019d94ad33	265	* The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
majik	0:21019d94ad33	266	* as described in the table below.
majik	0:21019d94ad33	267	*
majik	0:21019d94ad33	268	* <pre>
majik	0:21019d94ad33	269	* 0 = +/- 250 degrees/sec
majik	0:21019d94ad33	270	* 1 = +/- 500 degrees/sec
majik	0:21019d94ad33	271	* 2 = +/- 1000 degrees/sec
majik	0:21019d94ad33	272	* 3 = +/- 2000 degrees/sec
majik	0:21019d94ad33	273	* </pre>
majik	0:21019d94ad33	274	*
majik	0:21019d94ad33	275	* @return Current full-scale gyroscope range setting
majik	0:21019d94ad33	276	* @see MPU6050_GYRO_FS_250
majik	0:21019d94ad33	277	* @see MPU6050_RA_GYRO_CONFIG
majik	0:21019d94ad33	278	* @see MPU6050_GCONFIG_FS_SEL_BIT
majik	0:21019d94ad33	279	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
majik	0:21019d94ad33	280	*/
majik	0:21019d94ad33	281	uint8_t MPU6050::getFullScaleGyroRange()
majik	0:21019d94ad33	282	{
majik	0:21019d94ad33	283	i2Cdev.readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
majik	0:21019d94ad33	284	return buffer[0];
majik	0:21019d94ad33	285	}
majik	0:21019d94ad33	286	/** Set full-scale gyroscope range.
majik	0:21019d94ad33	287	* @param range New full-scale gyroscope range value
majik	0:21019d94ad33	288	* @see getFullScaleRange()
majik	0:21019d94ad33	289	* @see MPU6050_GYRO_FS_250
majik	0:21019d94ad33	290	* @see MPU6050_RA_GYRO_CONFIG
majik	0:21019d94ad33	291	* @see MPU6050_GCONFIG_FS_SEL_BIT
majik	0:21019d94ad33	292	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
majik	0:21019d94ad33	293	*/
majik	0:21019d94ad33	294	void MPU6050::setFullScaleGyroRange(uint8_t range)
majik	0:21019d94ad33	295	{
majik	0:21019d94ad33	296	i2Cdev.writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
majik	0:21019d94ad33	297	}
majik	0:21019d94ad33	298
majik	0:21019d94ad33	299	// ACCEL_CONFIG register
majik	0:21019d94ad33	300
majik	0:21019d94ad33	301	/** Get self-test enabled setting for accelerometer X axis.
majik	0:21019d94ad33	302	* @return Self-test enabled value
majik	0:21019d94ad33	303	* @see MPU6050_RA_ACCEL_CONFIG
majik	0:21019d94ad33	304	*/
majik	0:21019d94ad33	305	bool MPU6050::getAccelXSelfTest()
majik	0:21019d94ad33	306	{
majik	0:21019d94ad33	307	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
majik	0:21019d94ad33	308	return buffer[0];
majik	0:21019d94ad33	309	}
majik	0:21019d94ad33	310	/** Get self-test enabled setting for accelerometer X axis.
majik	0:21019d94ad33	311	* @param enabled Self-test enabled value
majik	0:21019d94ad33	312	* @see MPU6050_RA_ACCEL_CONFIG
majik	0:21019d94ad33	313	*/
majik	0:21019d94ad33	314	void MPU6050::setAccelXSelfTest(bool enabled)
majik	0:21019d94ad33	315	{
majik	0:21019d94ad33	316	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
majik	0:21019d94ad33	317	}
majik	0:21019d94ad33	318	/** Get self-test enabled value for accelerometer Y axis.
majik	0:21019d94ad33	319	* @return Self-test enabled value
majik	0:21019d94ad33	320	* @see MPU6050_RA_ACCEL_CONFIG
majik	0:21019d94ad33	321	*/
majik	0:21019d94ad33	322	bool MPU6050::getAccelYSelfTest()
majik	0:21019d94ad33	323	{
majik	0:21019d94ad33	324	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
majik	0:21019d94ad33	325	return buffer[0];
majik	0:21019d94ad33	326	}
majik	0:21019d94ad33	327	/** Get self-test enabled value for accelerometer Y axis.
majik	0:21019d94ad33	328	* @param enabled Self-test enabled value
majik	0:21019d94ad33	329	* @see MPU6050_RA_ACCEL_CONFIG
majik	0:21019d94ad33	330	*/
majik	0:21019d94ad33	331	void MPU6050::setAccelYSelfTest(bool enabled)
majik	0:21019d94ad33	332	{
majik	0:21019d94ad33	333	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
majik	0:21019d94ad33	334	}
majik	0:21019d94ad33	335	/** Get self-test enabled value for accelerometer Z axis.
majik	0:21019d94ad33	336	* @return Self-test enabled value
majik	0:21019d94ad33	337	* @see MPU6050_RA_ACCEL_CONFIG
majik	0:21019d94ad33	338	*/
majik	0:21019d94ad33	339	bool MPU6050::getAccelZSelfTest()
majik	0:21019d94ad33	340	{
majik	0:21019d94ad33	341	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
majik	0:21019d94ad33	342	return buffer[0];
majik	0:21019d94ad33	343	}
majik	0:21019d94ad33	344	/** Set self-test enabled value for accelerometer Z axis.
majik	0:21019d94ad33	345	* @param enabled Self-test enabled value
majik	0:21019d94ad33	346	* @see MPU6050_RA_ACCEL_CONFIG
majik	0:21019d94ad33	347	*/
majik	0:21019d94ad33	348	void MPU6050::setAccelZSelfTest(bool enabled)
majik	0:21019d94ad33	349	{
majik	0:21019d94ad33	350	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
majik	0:21019d94ad33	351	}
majik	0:21019d94ad33	352	/** Get full-scale accelerometer range.
majik	0:21019d94ad33	353	* The FS_SEL parameter allows setting the full-scale range of the accelerometer
majik	0:21019d94ad33	354	* sensors, as described in the table below.
majik	0:21019d94ad33	355	*
majik	0:21019d94ad33	356	* <pre>
majik	0:21019d94ad33	357	* 0 = +/- 2g
majik	0:21019d94ad33	358	* 1 = +/- 4g
majik	0:21019d94ad33	359	* 2 = +/- 8g
majik	0:21019d94ad33	360	* 3 = +/- 16g
majik	0:21019d94ad33	361	* </pre>
majik	0:21019d94ad33	362	*
majik	0:21019d94ad33	363	* @return Current full-scale accelerometer range setting
majik	0:21019d94ad33	364	* @see MPU6050_ACCEL_FS_2
majik	0:21019d94ad33	365	* @see MPU6050_RA_ACCEL_CONFIG
majik	0:21019d94ad33	366	* @see MPU6050_ACONFIG_AFS_SEL_BIT
majik	0:21019d94ad33	367	* @see MPU6050_ACONFIG_AFS_SEL_LENGTH
majik	0:21019d94ad33	368	*/
majik	0:21019d94ad33	369	uint8_t MPU6050::getFullScaleAccelRange()
majik	0:21019d94ad33	370	{
majik	0:21019d94ad33	371	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
majik	0:21019d94ad33	372	return buffer[0];
majik	0:21019d94ad33	373	}
majik	0:21019d94ad33	374	/** Set full-scale accelerometer range.
majik	0:21019d94ad33	375	* @param range New full-scale accelerometer range setting
majik	0:21019d94ad33	376	* @see getFullScaleAccelRange()
majik	0:21019d94ad33	377	*/
majik	0:21019d94ad33	378	void MPU6050::setFullScaleAccelRange(uint8_t range)
majik	0:21019d94ad33	379	{
majik	0:21019d94ad33	380	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
majik	0:21019d94ad33	381	}
majik	0:21019d94ad33	382	/** Get the high-pass filter configuration.
majik	0:21019d94ad33	383	* The DHPF is a filter module in the path leading to motion detectors (Free
majik	0:21019d94ad33	384	* Fall, Motion threshold, and Zero Motion). The high pass filter output is not
majik	0:21019d94ad33	385	* available to the data registers (see Figure in Section 8 of the MPU-6000/
majik	0:21019d94ad33	386	* MPU-6050 Product Specification document).
majik	0:21019d94ad33	387	*
majik	0:21019d94ad33	388	* The high pass filter has three modes:
majik	0:21019d94ad33	389	*
majik	0:21019d94ad33	390	* <pre>
majik	0:21019d94ad33	391	* Reset: The filter output settles to zero within one sample. This
majik	0:21019d94ad33	392	* effectively disables the high pass filter. This mode may be toggled
majik	0:21019d94ad33	393	* to quickly settle the filter.
majik	0:21019d94ad33	394	*
majik	0:21019d94ad33	395	* On: The high pass filter will pass signals above the cut off frequency.
majik	0:21019d94ad33	396	*
majik	0:21019d94ad33	397	* Hold: When triggered, the filter holds the present sample. The filter
majik	0:21019d94ad33	398	* output will be the difference between the input sample and the held
majik	0:21019d94ad33	399	* sample.
majik	0:21019d94ad33	400	* </pre>
majik	0:21019d94ad33	401	*
majik	0:21019d94ad33	402	* <pre>
majik	0:21019d94ad33	403	* ACCEL_HPF \| Filter Mode \| Cut-off Frequency
majik	0:21019d94ad33	404	* ----------+-------------+------------------
majik	0:21019d94ad33	405	* 0 \| Reset \| None
majik	0:21019d94ad33	406	* 1 \| On \| 5Hz
majik	0:21019d94ad33	407	* 2 \| On \| 2.5Hz
majik	0:21019d94ad33	408	* 3 \| On \| 1.25Hz
majik	0:21019d94ad33	409	* 4 \| On \| 0.63Hz
majik	0:21019d94ad33	410	* 7 \| Hold \| None
majik	0:21019d94ad33	411	* </pre>
majik	0:21019d94ad33	412	*
majik	0:21019d94ad33	413	* @return Current high-pass filter configuration
majik	0:21019d94ad33	414	* @see MPU6050_DHPF_RESET
majik	0:21019d94ad33	415	* @see MPU6050_RA_ACCEL_CONFIG
majik	0:21019d94ad33	416	*/
majik	0:21019d94ad33	417	uint8_t MPU6050::getDHPFMode()
majik	0:21019d94ad33	418	{
majik	0:21019d94ad33	419	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
majik	0:21019d94ad33	420	return buffer[0];
majik	0:21019d94ad33	421	}
majik	0:21019d94ad33	422	/** Set the high-pass filter configuration.
majik	0:21019d94ad33	423	* @param bandwidth New high-pass filter configuration
majik	0:21019d94ad33	424	* @see setDHPFMode()
majik	0:21019d94ad33	425	* @see MPU6050_DHPF_RESET
majik	0:21019d94ad33	426	* @see MPU6050_RA_ACCEL_CONFIG
majik	0:21019d94ad33	427	*/
majik	0:21019d94ad33	428	void MPU6050::setDHPFMode(uint8_t bandwidth)
majik	0:21019d94ad33	429	{
majik	0:21019d94ad33	430	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
majik	0:21019d94ad33	431	}
majik	0:21019d94ad33	432
majik	0:21019d94ad33	433	// FF_THR register
majik	0:21019d94ad33	434
majik	0:21019d94ad33	435	/** Get free-fall event acceleration threshold.
majik	0:21019d94ad33	436	* This register configures the detection threshold for Free Fall event
majik	0:21019d94ad33	437	* detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
majik	0:21019d94ad33	438	* absolute value of the accelerometer measurements for the three axes are each
majik	0:21019d94ad33	439	* less than the detection threshold. This condition increments the Free Fall
majik	0:21019d94ad33	440	* duration counter (Register 30). The Free Fall interrupt is triggered when the
majik	0:21019d94ad33	441	* Free Fall duration counter reaches the time specified in FF_DUR.
majik	0:21019d94ad33	442	*
majik	0:21019d94ad33	443	* For more details on the Free Fall detection interrupt, see Section 8.2 of the
majik	0:21019d94ad33	444	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
majik	0:21019d94ad33	445	* 58 of this document.
majik	0:21019d94ad33	446	*
majik	0:21019d94ad33	447	* @return Current free-fall acceleration threshold value (LSB = 2mg)
majik	0:21019d94ad33	448	* @see MPU6050_RA_FF_THR
majik	0:21019d94ad33	449	*/
majik	0:21019d94ad33	450	uint8_t MPU6050::getFreefallDetectionThreshold()
majik	0:21019d94ad33	451	{
majik	0:21019d94ad33	452	i2Cdev.readByte(devAddr, MPU6050_RA_FF_THR, buffer);
majik	0:21019d94ad33	453	return buffer[0];
majik	0:21019d94ad33	454	}
majik	0:21019d94ad33	455	/** Get free-fall event acceleration threshold.
majik	0:21019d94ad33	456	* @param threshold New free-fall acceleration threshold value (LSB = 2mg)
majik	0:21019d94ad33	457	* @see getFreefallDetectionThreshold()
majik	0:21019d94ad33	458	* @see MPU6050_RA_FF_THR
majik	0:21019d94ad33	459	*/
majik	0:21019d94ad33	460	void MPU6050::setFreefallDetectionThreshold(uint8_t threshold)
majik	0:21019d94ad33	461	{
majik	0:21019d94ad33	462	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
majik	0:21019d94ad33	463	}
majik	0:21019d94ad33	464
majik	0:21019d94ad33	465	// FF_DUR register
majik	0:21019d94ad33	466
majik	0:21019d94ad33	467	/** Get free-fall event duration threshold.
majik	0:21019d94ad33	468	* This register configures the duration counter threshold for Free Fall event
majik	0:21019d94ad33	469	* detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
majik	0:21019d94ad33	470	* of 1 LSB = 1 ms.
majik	0:21019d94ad33	471	*
majik	0:21019d94ad33	472	* The Free Fall duration counter increments while the absolute value of the
majik	0:21019d94ad33	473	* accelerometer measurements are each less than the detection threshold
majik	0:21019d94ad33	474	* (Register 29). The Free Fall interrupt is triggered when the Free Fall
majik	0:21019d94ad33	475	* duration counter reaches the time specified in this register.
majik	0:21019d94ad33	476	*
majik	0:21019d94ad33	477	* For more details on the Free Fall detection interrupt, see Section 8.2 of
majik	0:21019d94ad33	478	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
majik	0:21019d94ad33	479	* and 58 of this document.
majik	0:21019d94ad33	480	*
majik	0:21019d94ad33	481	* @return Current free-fall duration threshold value (LSB = 1ms)
majik	0:21019d94ad33	482	* @see MPU6050_RA_FF_DUR
majik	0:21019d94ad33	483	*/
majik	0:21019d94ad33	484	uint8_t MPU6050::getFreefallDetectionDuration()
majik	0:21019d94ad33	485	{
majik	0:21019d94ad33	486	i2Cdev.readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
majik	0:21019d94ad33	487	return buffer[0];
majik	0:21019d94ad33	488	}
majik	0:21019d94ad33	489	/** Get free-fall event duration threshold.
majik	0:21019d94ad33	490	* @param duration New free-fall duration threshold value (LSB = 1ms)
majik	0:21019d94ad33	491	* @see getFreefallDetectionDuration()
majik	0:21019d94ad33	492	* @see MPU6050_RA_FF_DUR
majik	0:21019d94ad33	493	*/
majik	0:21019d94ad33	494	void MPU6050::setFreefallDetectionDuration(uint8_t duration)
majik	0:21019d94ad33	495	{
majik	0:21019d94ad33	496	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
majik	0:21019d94ad33	497	}
majik	0:21019d94ad33	498
majik	0:21019d94ad33	499	// MOT_THR register
majik	0:21019d94ad33	500
majik	0:21019d94ad33	501	/** Get motion detection event acceleration threshold.
majik	0:21019d94ad33	502	* This register configures the detection threshold for Motion interrupt
majik	0:21019d94ad33	503	* generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
majik	0:21019d94ad33	504	* absolute value of any of the accelerometer measurements exceeds this Motion
majik	0:21019d94ad33	505	* detection threshold. This condition increments the Motion detection duration
majik	0:21019d94ad33	506	* counter (Register 32). The Motion detection interrupt is triggered when the
majik	0:21019d94ad33	507	* Motion Detection counter reaches the time count specified in MOT_DUR
majik	0:21019d94ad33	508	* (Register 32).
majik	0:21019d94ad33	509	*
majik	0:21019d94ad33	510	* The Motion interrupt will indicate the axis and polarity of detected motion
majik	0:21019d94ad33	511	* in MOT_DETECT_STATUS (Register 97).
majik	0:21019d94ad33	512	*
majik	0:21019d94ad33	513	* For more details on the Motion detection interrupt, see Section 8.3 of the
majik	0:21019d94ad33	514	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
majik	0:21019d94ad33	515	* 58 of this document.
majik	0:21019d94ad33	516	*
majik	0:21019d94ad33	517	* @return Current motion detection acceleration threshold value (LSB = 2mg)
majik	0:21019d94ad33	518	* @see MPU6050_RA_MOT_THR
majik	0:21019d94ad33	519	*/
majik	0:21019d94ad33	520	uint8_t MPU6050::getMotionDetectionThreshold()
majik	0:21019d94ad33	521	{
majik	0:21019d94ad33	522	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
majik	0:21019d94ad33	523	return buffer[0];
majik	0:21019d94ad33	524	}
majik	0:21019d94ad33	525	/** Set free-fall event acceleration threshold.
majik	0:21019d94ad33	526	* @param threshold New motion detection acceleration threshold value (LSB = 2mg)
majik	0:21019d94ad33	527	* @see getMotionDetectionThreshold()
majik	0:21019d94ad33	528	* @see MPU6050_RA_MOT_THR
majik	0:21019d94ad33	529	*/
majik	0:21019d94ad33	530	void MPU6050::setMotionDetectionThreshold(uint8_t threshold)
majik	0:21019d94ad33	531	{
majik	0:21019d94ad33	532	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
majik	0:21019d94ad33	533	}
majik	0:21019d94ad33	534
majik	0:21019d94ad33	535	// MOT_DUR register
majik	0:21019d94ad33	536
majik	0:21019d94ad33	537	/** Get motion detection event duration threshold.
majik	0:21019d94ad33	538	* This register configures the duration counter threshold for Motion interrupt
majik	0:21019d94ad33	539	* generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
majik	0:21019d94ad33	540	* of 1LSB = 1ms. The Motion detection duration counter increments when the
majik	0:21019d94ad33	541	* absolute value of any of the accelerometer measurements exceeds the Motion
majik	0:21019d94ad33	542	* detection threshold (Register 31). The Motion detection interrupt is
majik	0:21019d94ad33	543	* triggered when the Motion detection counter reaches the time count specified
majik	0:21019d94ad33	544	* in this register.
majik	0:21019d94ad33	545	*
majik	0:21019d94ad33	546	* For more details on the Motion detection interrupt, see Section 8.3 of the
majik	0:21019d94ad33	547	* MPU-6000/MPU-6050 Product Specification document.
majik	0:21019d94ad33	548	*
majik	0:21019d94ad33	549	* @return Current motion detection duration threshold value (LSB = 1ms)
majik	0:21019d94ad33	550	* @see MPU6050_RA_MOT_DUR
majik	0:21019d94ad33	551	*/
majik	0:21019d94ad33	552	uint8_t MPU6050::getMotionDetectionDuration()
majik	0:21019d94ad33	553	{
majik	0:21019d94ad33	554	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
majik	0:21019d94ad33	555	return buffer[0];
majik	0:21019d94ad33	556	}
majik	0:21019d94ad33	557	/** Set motion detection event duration threshold.
majik	0:21019d94ad33	558	* @param duration New motion detection duration threshold value (LSB = 1ms)
majik	0:21019d94ad33	559	* @see getMotionDetectionDuration()
majik	0:21019d94ad33	560	* @see MPU6050_RA_MOT_DUR
majik	0:21019d94ad33	561	*/
majik	0:21019d94ad33	562	void MPU6050::setMotionDetectionDuration(uint8_t duration)
majik	0:21019d94ad33	563	{
majik	0:21019d94ad33	564	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
majik	0:21019d94ad33	565	}
majik	0:21019d94ad33	566
majik	0:21019d94ad33	567	// ZRMOT_THR register
majik	0:21019d94ad33	568
majik	0:21019d94ad33	569	/** Get zero motion detection event acceleration threshold.
majik	0:21019d94ad33	570	* This register configures the detection threshold for Zero Motion interrupt
majik	0:21019d94ad33	571	* generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
majik	0:21019d94ad33	572	* the absolute value of the accelerometer measurements for the 3 axes are each
majik	0:21019d94ad33	573	* less than the detection threshold. This condition increments the Zero Motion
majik	0:21019d94ad33	574	* duration counter (Register 34). The Zero Motion interrupt is triggered when
majik	0:21019d94ad33	575	* the Zero Motion duration counter reaches the time count specified in
majik	0:21019d94ad33	576	* ZRMOT_DUR (Register 34).
majik	0:21019d94ad33	577	*
majik	0:21019d94ad33	578	* Unlike Free Fall or Motion detection, Zero Motion detection triggers an
majik	0:21019d94ad33	579	* interrupt both when Zero Motion is first detected and when Zero Motion is no
majik	0:21019d94ad33	580	* longer detected.
majik	0:21019d94ad33	581	*
majik	0:21019d94ad33	582	* When a zero motion event is detected, a Zero Motion Status will be indicated
majik	0:21019d94ad33	583	* in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
majik	0:21019d94ad33	584	* condition is detected, the status bit is set to 1. When a zero-motion-to-
majik	0:21019d94ad33	585	* motion condition is detected, the status bit is set to 0.
majik	0:21019d94ad33	586	*
majik	0:21019d94ad33	587	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
majik	0:21019d94ad33	588	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
majik	0:21019d94ad33	589	* and 58 of this document.
majik	0:21019d94ad33	590	*
majik	0:21019d94ad33	591	* @return Current zero motion detection acceleration threshold value (LSB = 2mg)
majik	0:21019d94ad33	592	* @see MPU6050_RA_ZRMOT_THR
majik	0:21019d94ad33	593	*/
majik	0:21019d94ad33	594	uint8_t MPU6050::getZeroMotionDetectionThreshold()
majik	0:21019d94ad33	595	{
majik	0:21019d94ad33	596	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
majik	0:21019d94ad33	597	return buffer[0];
majik	0:21019d94ad33	598	}
majik	0:21019d94ad33	599	/** Set zero motion detection event acceleration threshold.
majik	0:21019d94ad33	600	* @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
majik	0:21019d94ad33	601	* @see getZeroMotionDetectionThreshold()
majik	0:21019d94ad33	602	* @see MPU6050_RA_ZRMOT_THR
majik	0:21019d94ad33	603	*/
majik	0:21019d94ad33	604	void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold)
majik	0:21019d94ad33	605	{
majik	0:21019d94ad33	606	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
majik	0:21019d94ad33	607	}
majik	0:21019d94ad33	608
majik	0:21019d94ad33	609	// ZRMOT_DUR register
majik	0:21019d94ad33	610
majik	0:21019d94ad33	611	/** Get zero motion detection event duration threshold.
majik	0:21019d94ad33	612	* This register configures the duration counter threshold for Zero Motion
majik	0:21019d94ad33	613	* interrupt generation. The duration counter ticks at 16 Hz, therefore
majik	0:21019d94ad33	614	* ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
majik	0:21019d94ad33	615	* increments while the absolute value of the accelerometer measurements are
majik	0:21019d94ad33	616	* each less than the detection threshold (Register 33). The Zero Motion
majik	0:21019d94ad33	617	* interrupt is triggered when the Zero Motion duration counter reaches the time
majik	0:21019d94ad33	618	* count specified in this register.
majik	0:21019d94ad33	619	*
majik	0:21019d94ad33	620	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
majik	0:21019d94ad33	621	* the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
majik	0:21019d94ad33	622	* and 58 of this document.
majik	0:21019d94ad33	623	*
majik	0:21019d94ad33	624	* @return Current zero motion detection duration threshold value (LSB = 64ms)
majik	0:21019d94ad33	625	* @see MPU6050_RA_ZRMOT_DUR
majik	0:21019d94ad33	626	*/
majik	0:21019d94ad33	627	uint8_t MPU6050::getZeroMotionDetectionDuration()
majik	0:21019d94ad33	628	{
majik	0:21019d94ad33	629	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
majik	0:21019d94ad33	630	return buffer[0];
majik	0:21019d94ad33	631	}
majik	0:21019d94ad33	632	/** Set zero motion detection event duration threshold.
majik	0:21019d94ad33	633	* @param duration New zero motion detection duration threshold value (LSB = 1ms)
majik	0:21019d94ad33	634	* @see getZeroMotionDetectionDuration()
majik	0:21019d94ad33	635	* @see MPU6050_RA_ZRMOT_DUR
majik	0:21019d94ad33	636	*/
majik	0:21019d94ad33	637	void MPU6050::setZeroMotionDetectionDuration(uint8_t duration)
majik	0:21019d94ad33	638	{
majik	0:21019d94ad33	639	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
majik	0:21019d94ad33	640	}
majik	0:21019d94ad33	641
majik	0:21019d94ad33	642	// FIFO_EN register
majik	0:21019d94ad33	643
majik	0:21019d94ad33	644	/** Get temperature FIFO enabled value.
majik	0:21019d94ad33	645	* When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
majik	0:21019d94ad33	646	* 66) to be written into the FIFO buffer.
majik	0:21019d94ad33	647	* @return Current temperature FIFO enabled value
majik	0:21019d94ad33	648	* @see MPU6050_RA_FIFO_EN
majik	0:21019d94ad33	649	*/
majik	0:21019d94ad33	650	bool MPU6050::getTempFIFOEnabled()
majik	0:21019d94ad33	651	{
majik	0:21019d94ad33	652	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
majik	0:21019d94ad33	653	return buffer[0];
majik	0:21019d94ad33	654	}
majik	0:21019d94ad33	655	/** Set temperature FIFO enabled value.
majik	0:21019d94ad33	656	* @param enabled New temperature FIFO enabled value
majik	0:21019d94ad33	657	* @see getTempFIFOEnabled()
majik	0:21019d94ad33	658	* @see MPU6050_RA_FIFO_EN
majik	0:21019d94ad33	659	*/
majik	0:21019d94ad33	660	void MPU6050::setTempFIFOEnabled(bool enabled)
majik	0:21019d94ad33	661	{
majik	0:21019d94ad33	662	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
majik	0:21019d94ad33	663	}
majik	0:21019d94ad33	664	/** Get gyroscope X-axis FIFO enabled value.
majik	0:21019d94ad33	665	* When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
majik	0:21019d94ad33	666	* 68) to be written into the FIFO buffer.
majik	0:21019d94ad33	667	* @return Current gyroscope X-axis FIFO enabled value
majik	0:21019d94ad33	668	* @see MPU6050_RA_FIFO_EN
majik	0:21019d94ad33	669	*/
majik	0:21019d94ad33	670	bool MPU6050::getXGyroFIFOEnabled()
majik	0:21019d94ad33	671	{
majik	0:21019d94ad33	672	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
majik	0:21019d94ad33	673	return buffer[0];
majik	0:21019d94ad33	674	}
majik	0:21019d94ad33	675	/** Set gyroscope X-axis FIFO enabled value.
majik	0:21019d94ad33	676	* @param enabled New gyroscope X-axis FIFO enabled value
majik	0:21019d94ad33	677	* @see getXGyroFIFOEnabled()
majik	0:21019d94ad33	678	* @see MPU6050_RA_FIFO_EN
majik	0:21019d94ad33	679	*/
majik	0:21019d94ad33	680	void MPU6050::setXGyroFIFOEnabled(bool enabled)
majik	0:21019d94ad33	681	{
majik	0:21019d94ad33	682	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
majik	0:21019d94ad33	683	}
majik	0:21019d94ad33	684	/** Get gyroscope Y-axis FIFO enabled value.
majik	0:21019d94ad33	685	* When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
majik	0:21019d94ad33	686	* 70) to be written into the FIFO buffer.
majik	0:21019d94ad33	687	* @return Current gyroscope Y-axis FIFO enabled value
majik	0:21019d94ad33	688	* @see MPU6050_RA_FIFO_EN
majik	0:21019d94ad33	689	*/
majik	0:21019d94ad33	690	bool MPU6050::getYGyroFIFOEnabled()
majik	0:21019d94ad33	691	{
majik	0:21019d94ad33	692	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
majik	0:21019d94ad33	693	return buffer[0];
majik	0:21019d94ad33	694	}
majik	0:21019d94ad33	695	/** Set gyroscope Y-axis FIFO enabled value.
majik	0:21019d94ad33	696	* @param enabled New gyroscope Y-axis FIFO enabled value
majik	0:21019d94ad33	697	* @see getYGyroFIFOEnabled()
majik	0:21019d94ad33	698	* @see MPU6050_RA_FIFO_EN
majik	0:21019d94ad33	699	*/
majik	0:21019d94ad33	700	void MPU6050::setYGyroFIFOEnabled(bool enabled)
majik	0:21019d94ad33	701	{
majik	0:21019d94ad33	702	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
majik	0:21019d94ad33	703	}
majik	0:21019d94ad33	704	/** Get gyroscope Z-axis FIFO enabled value.
majik	0:21019d94ad33	705	* When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
majik	0:21019d94ad33	706	* 72) to be written into the FIFO buffer.
majik	0:21019d94ad33	707	* @return Current gyroscope Z-axis FIFO enabled value
majik	0:21019d94ad33	708	* @see MPU6050_RA_FIFO_EN
majik	0:21019d94ad33	709	*/
majik	0:21019d94ad33	710	bool MPU6050::getZGyroFIFOEnabled()
majik	0:21019d94ad33	711	{
majik	0:21019d94ad33	712	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
majik	0:21019d94ad33	713	return buffer[0];
majik	0:21019d94ad33	714	}
majik	0:21019d94ad33	715	/** Set gyroscope Z-axis FIFO enabled value.
majik	0:21019d94ad33	716	* @param enabled New gyroscope Z-axis FIFO enabled value
majik	0:21019d94ad33	717	* @see getZGyroFIFOEnabled()
majik	0:21019d94ad33	718	* @see MPU6050_RA_FIFO_EN
majik	0:21019d94ad33	719	*/
majik	0:21019d94ad33	720	void MPU6050::setZGyroFIFOEnabled(bool enabled)
majik	0:21019d94ad33	721	{
majik	0:21019d94ad33	722	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
majik	0:21019d94ad33	723	}
majik	0:21019d94ad33	724	/** Get accelerometer FIFO enabled value.
majik	0:21019d94ad33	725	* When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
majik	0:21019d94ad33	726	* ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
majik	0:21019d94ad33	727	* written into the FIFO buffer.
majik	0:21019d94ad33	728	* @return Current accelerometer FIFO enabled value
majik	0:21019d94ad33	729	* @see MPU6050_RA_FIFO_EN
majik	0:21019d94ad33	730	*/
majik	0:21019d94ad33	731	bool MPU6050::getAccelFIFOEnabled()
majik	0:21019d94ad33	732	{
majik	0:21019d94ad33	733	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
majik	0:21019d94ad33	734	return buffer[0];
majik	0:21019d94ad33	735	}
majik	0:21019d94ad33	736	/** Set accelerometer FIFO enabled value.
majik	0:21019d94ad33	737	* @param enabled New accelerometer FIFO enabled value
majik	0:21019d94ad33	738	* @see getAccelFIFOEnabled()
majik	0:21019d94ad33	739	* @see MPU6050_RA_FIFO_EN
majik	0:21019d94ad33	740	*/
majik	0:21019d94ad33	741	void MPU6050::setAccelFIFOEnabled(bool enabled)
majik	0:21019d94ad33	742	{
majik	0:21019d94ad33	743	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
majik	0:21019d94ad33	744	}
majik	0:21019d94ad33	745	/** Get Slave 2 FIFO enabled value.
majik	0:21019d94ad33	746	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
majik	0:21019d94ad33	747	* associated with Slave 2 to be written into the FIFO buffer.
majik	0:21019d94ad33	748	* @return Current Slave 2 FIFO enabled value
majik	0:21019d94ad33	749	* @see MPU6050_RA_FIFO_EN
majik	0:21019d94ad33	750	*/
majik	0:21019d94ad33	751	bool MPU6050::getSlave2FIFOEnabled()
majik	0:21019d94ad33	752	{
majik	0:21019d94ad33	753	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
majik	0:21019d94ad33	754	return buffer[0];
majik	0:21019d94ad33	755	}
majik	0:21019d94ad33	756	/** Set Slave 2 FIFO enabled value.
majik	0:21019d94ad33	757	* @param enabled New Slave 2 FIFO enabled value
majik	0:21019d94ad33	758	* @see getSlave2FIFOEnabled()
majik	0:21019d94ad33	759	* @see MPU6050_RA_FIFO_EN
majik	0:21019d94ad33	760	*/
majik	0:21019d94ad33	761	void MPU6050::setSlave2FIFOEnabled(bool enabled)
majik	0:21019d94ad33	762	{
majik	0:21019d94ad33	763	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
majik	0:21019d94ad33	764	}
majik	0:21019d94ad33	765	/** Get Slave 1 FIFO enabled value.
majik	0:21019d94ad33	766	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
majik	0:21019d94ad33	767	* associated with Slave 1 to be written into the FIFO buffer.
majik	0:21019d94ad33	768	* @return Current Slave 1 FIFO enabled value
majik	0:21019d94ad33	769	* @see MPU6050_RA_FIFO_EN
majik	0:21019d94ad33	770	*/
majik	0:21019d94ad33	771	bool MPU6050::getSlave1FIFOEnabled()
majik	0:21019d94ad33	772	{
majik	0:21019d94ad33	773	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
majik	0:21019d94ad33	774	return buffer[0];
majik	0:21019d94ad33	775	}
majik	0:21019d94ad33	776	/** Set Slave 1 FIFO enabled value.
majik	0:21019d94ad33	777	* @param enabled New Slave 1 FIFO enabled value
majik	0:21019d94ad33	778	* @see getSlave1FIFOEnabled()
majik	0:21019d94ad33	779	* @see MPU6050_RA_FIFO_EN
majik	0:21019d94ad33	780	*/
majik	0:21019d94ad33	781	void MPU6050::setSlave1FIFOEnabled(bool enabled)
majik	0:21019d94ad33	782	{
majik	0:21019d94ad33	783	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
majik	0:21019d94ad33	784	}
majik	0:21019d94ad33	785	/** Get Slave 0 FIFO enabled value.
majik	0:21019d94ad33	786	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
majik	0:21019d94ad33	787	* associated with Slave 0 to be written into the FIFO buffer.
majik	0:21019d94ad33	788	* @return Current Slave 0 FIFO enabled value
majik	0:21019d94ad33	789	* @see MPU6050_RA_FIFO_EN
majik	0:21019d94ad33	790	*/
majik	0:21019d94ad33	791	bool MPU6050::getSlave0FIFOEnabled()
majik	0:21019d94ad33	792	{
majik	0:21019d94ad33	793	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
majik	0:21019d94ad33	794	return buffer[0];
majik	0:21019d94ad33	795	}
majik	0:21019d94ad33	796	/** Set Slave 0 FIFO enabled value.
majik	0:21019d94ad33	797	* @param enabled New Slave 0 FIFO enabled value
majik	0:21019d94ad33	798	* @see getSlave0FIFOEnabled()
majik	0:21019d94ad33	799	* @see MPU6050_RA_FIFO_EN
majik	0:21019d94ad33	800	*/
majik	0:21019d94ad33	801	void MPU6050::setSlave0FIFOEnabled(bool enabled)
majik	0:21019d94ad33	802	{
majik	0:21019d94ad33	803	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
majik	0:21019d94ad33	804	}
majik	0:21019d94ad33	805
majik	0:21019d94ad33	806	// I2C_MST_CTRL register
majik	0:21019d94ad33	807
majik	0:21019d94ad33	808	/** Get multi-master enabled value.
majik	0:21019d94ad33	809	* Multi-master capability allows multiple I2C masters to operate on the same
majik	0:21019d94ad33	810	* bus. In circuits where multi-master capability is required, set MULT_MST_EN
majik	0:21019d94ad33	811	* to 1. This will increase current drawn by approximately 30uA.
majik	0:21019d94ad33	812	*
majik	0:21019d94ad33	813	* In circuits where multi-master capability is required, the state of the I2C
majik	0:21019d94ad33	814	* bus must always be monitored by each separate I2C Master. Before an I2C
majik	0:21019d94ad33	815	* Master can assume arbitration of the bus, it must first confirm that no other
majik	0:21019d94ad33	816	* I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
majik	0:21019d94ad33	817	* MPU-60X0's bus arbitration detection logic is turned on, enabling it to
majik	0:21019d94ad33	818	* detect when the bus is available.
majik	0:21019d94ad33	819	*
majik	0:21019d94ad33	820	* @return Current multi-master enabled value
majik	0:21019d94ad33	821	* @see MPU6050_RA_I2C_MST_CTRL
majik	0:21019d94ad33	822	*/
majik	0:21019d94ad33	823	bool MPU6050::getMultiMasterEnabled()
majik	0:21019d94ad33	824	{
majik	0:21019d94ad33	825	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
majik	0:21019d94ad33	826	return buffer[0];
majik	0:21019d94ad33	827	}
majik	0:21019d94ad33	828	/** Set multi-master enabled value.
majik	0:21019d94ad33	829	* @param enabled New multi-master enabled value
majik	0:21019d94ad33	830	* @see getMultiMasterEnabled()
majik	0:21019d94ad33	831	* @see MPU6050_RA_I2C_MST_CTRL
majik	0:21019d94ad33	832	*/
majik	0:21019d94ad33	833	void MPU6050::setMultiMasterEnabled(bool enabled)
majik	0:21019d94ad33	834	{
majik	0:21019d94ad33	835	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
majik	0:21019d94ad33	836	}
majik	0:21019d94ad33	837	/** Get wait-for-external-sensor-data enabled value.
majik	0:21019d94ad33	838	* When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
majik	0:21019d94ad33	839	* delayed until External Sensor data from the Slave Devices are loaded into the
majik	0:21019d94ad33	840	* EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
majik	0:21019d94ad33	841	* data (i.e. from gyro and accel) and external sensor data have been loaded to
majik	0:21019d94ad33	842	* their respective data registers (i.e. the data is synced) when the Data Ready
majik	0:21019d94ad33	843	* interrupt is triggered.
majik	0:21019d94ad33	844	*
majik	0:21019d94ad33	845	* @return Current wait-for-external-sensor-data enabled value
majik	0:21019d94ad33	846	* @see MPU6050_RA_I2C_MST_CTRL
majik	0:21019d94ad33	847	*/
majik	0:21019d94ad33	848	bool MPU6050::getWaitForExternalSensorEnabled()
majik	0:21019d94ad33	849	{
majik	0:21019d94ad33	850	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
majik	0:21019d94ad33	851	return buffer[0];
majik	0:21019d94ad33	852	}
majik	0:21019d94ad33	853	/** Set wait-for-external-sensor-data enabled value.
majik	0:21019d94ad33	854	* @param enabled New wait-for-external-sensor-data enabled value
majik	0:21019d94ad33	855	* @see getWaitForExternalSensorEnabled()
majik	0:21019d94ad33	856	* @see MPU6050_RA_I2C_MST_CTRL
majik	0:21019d94ad33	857	*/
majik	0:21019d94ad33	858	void MPU6050::setWaitForExternalSensorEnabled(bool enabled)
majik	0:21019d94ad33	859	{
majik	0:21019d94ad33	860	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
majik	0:21019d94ad33	861	}
majik	0:21019d94ad33	862	/** Get Slave 3 FIFO enabled value.
majik	0:21019d94ad33	863	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
majik	0:21019d94ad33	864	* associated with Slave 3 to be written into the FIFO buffer.
majik	0:21019d94ad33	865	* @return Current Slave 3 FIFO enabled value
majik	0:21019d94ad33	866	* @see MPU6050_RA_MST_CTRL
majik	0:21019d94ad33	867	*/
majik	0:21019d94ad33	868	bool MPU6050::getSlave3FIFOEnabled()
majik	0:21019d94ad33	869	{
majik	0:21019d94ad33	870	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
majik	0:21019d94ad33	871	return buffer[0];
majik	0:21019d94ad33	872	}
majik	0:21019d94ad33	873	/** Set Slave 3 FIFO enabled value.
majik	0:21019d94ad33	874	* @param enabled New Slave 3 FIFO enabled value
majik	0:21019d94ad33	875	* @see getSlave3FIFOEnabled()
majik	0:21019d94ad33	876	* @see MPU6050_RA_MST_CTRL
majik	0:21019d94ad33	877	*/
majik	0:21019d94ad33	878	void MPU6050::setSlave3FIFOEnabled(bool enabled)
majik	0:21019d94ad33	879	{
majik	0:21019d94ad33	880	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
majik	0:21019d94ad33	881	}
majik	0:21019d94ad33	882	/** Get slave read/write transition enabled value.
majik	0:21019d94ad33	883	* The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
majik	0:21019d94ad33	884	* read to the next slave read. If the bit equals 0, there will be a restart
majik	0:21019d94ad33	885	* between reads. If the bit equals 1, there will be a stop followed by a start
majik	0:21019d94ad33	886	* of the following read. When a write transaction follows a read transaction,
majik	0:21019d94ad33	887	* the stop followed by a start of the successive write will be always used.
majik	0:21019d94ad33	888	*
majik	0:21019d94ad33	889	* @return Current slave read/write transition enabled value
majik	0:21019d94ad33	890	* @see MPU6050_RA_I2C_MST_CTRL
majik	0:21019d94ad33	891	*/
majik	0:21019d94ad33	892	bool MPU6050::getSlaveReadWriteTransitionEnabled()
majik	0:21019d94ad33	893	{
majik	0:21019d94ad33	894	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
majik	0:21019d94ad33	895	return buffer[0];
majik	0:21019d94ad33	896	}
majik	0:21019d94ad33	897	/** Set slave read/write transition enabled value.
majik	0:21019d94ad33	898	* @param enabled New slave read/write transition enabled value
majik	0:21019d94ad33	899	* @see getSlaveReadWriteTransitionEnabled()
majik	0:21019d94ad33	900	* @see MPU6050_RA_I2C_MST_CTRL
majik	0:21019d94ad33	901	*/
majik	0:21019d94ad33	902	void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled)
majik	0:21019d94ad33	903	{
majik	0:21019d94ad33	904	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
majik	0:21019d94ad33	905	}
majik	0:21019d94ad33	906	/** Get I2C master clock speed.
majik	0:21019d94ad33	907	* I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
majik	0:21019d94ad33	908	* MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
majik	0:21019d94ad33	909	* the following table:
majik	0:21019d94ad33	910	*
majik	0:21019d94ad33	911	* <pre>
majik	0:21019d94ad33	912	* I2C_MST_CLK \| I2C Master Clock Speed \| 8MHz Clock Divider
majik	0:21019d94ad33	913	* ------------+------------------------+-------------------
majik	0:21019d94ad33	914	* 0 \| 348kHz \| 23
majik	0:21019d94ad33	915	* 1 \| 333kHz \| 24
majik	0:21019d94ad33	916	* 2 \| 320kHz \| 25
majik	0:21019d94ad33	917	* 3 \| 308kHz \| 26
majik	0:21019d94ad33	918	* 4 \| 296kHz \| 27
majik	0:21019d94ad33	919	* 5 \| 286kHz \| 28
majik	0:21019d94ad33	920	* 6 \| 276kHz \| 29
majik	0:21019d94ad33	921	* 7 \| 267kHz \| 30
majik	0:21019d94ad33	922	* 8 \| 258kHz \| 31
majik	0:21019d94ad33	923	* 9 \| 500kHz \| 16
majik	0:21019d94ad33	924	* 10 \| 471kHz \| 17
majik	0:21019d94ad33	925	* 11 \| 444kHz \| 18
majik	0:21019d94ad33	926	* 12 \| 421kHz \| 19
majik	0:21019d94ad33	927	* 13 \| 400kHz \| 20
majik	0:21019d94ad33	928	* 14 \| 381kHz \| 21
majik	0:21019d94ad33	929	* 15 \| 364kHz \| 22
majik	0:21019d94ad33	930	* </pre>
majik	0:21019d94ad33	931	*
majik	0:21019d94ad33	932	* @return Current I2C master clock speed
majik	0:21019d94ad33	933	* @see MPU6050_RA_I2C_MST_CTRL
majik	0:21019d94ad33	934	*/
majik	0:21019d94ad33	935	uint8_t MPU6050::getMasterClockSpeed()
majik	0:21019d94ad33	936	{
majik	0:21019d94ad33	937	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
majik	0:21019d94ad33	938	return buffer[0];
majik	0:21019d94ad33	939	}
majik	0:21019d94ad33	940	/** Set I2C master clock speed.
majik	0:21019d94ad33	941	* @reparam speed Current I2C master clock speed
majik	0:21019d94ad33	942	* @see MPU6050_RA_I2C_MST_CTRL
majik	0:21019d94ad33	943	*/
majik	0:21019d94ad33	944	void MPU6050::setMasterClockSpeed(uint8_t speed)
majik	0:21019d94ad33	945	{
majik	0:21019d94ad33	946	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
majik	0:21019d94ad33	947	}
majik	0:21019d94ad33	948
majik	0:21019d94ad33	949	// I2C_SLV* registers (Slave 0-3)
majik	0:21019d94ad33	950
majik	0:21019d94ad33	951	/** Get the I2C address of the specified slave (0-3).
majik	0:21019d94ad33	952	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
majik	0:21019d94ad33	953	* operation, and if it is cleared, then it's a write operation. The remaining
majik	0:21019d94ad33	954	* bits (6-0) are the 7-bit device address of the slave device.
majik	0:21019d94ad33	955	*
majik	0:21019d94ad33	956	* In read mode, the result of the read is placed in the lowest available
majik	0:21019d94ad33	957	* EXT_SENS_DATA register. For further information regarding the allocation of
majik	0:21019d94ad33	958	* read results, please refer to the EXT_SENS_DATA register description
majik	0:21019d94ad33	959	* (Registers 73 - 96).
majik	0:21019d94ad33	960	*
majik	0:21019d94ad33	961	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
majik	0:21019d94ad33	962	* characteristics, and so it has its own functions (getSlave4* and setSlave4*).
majik	0:21019d94ad33	963	*
majik	0:21019d94ad33	964	* I2C data transactions are performed at the Sample Rate, as defined in
majik	0:21019d94ad33	965	* Register 25. The user is responsible for ensuring that I2C data transactions
majik	0:21019d94ad33	966	* to and from each enabled Slave can be completed within a single period of the
majik	0:21019d94ad33	967	* Sample Rate.
majik	0:21019d94ad33	968	*
majik	0:21019d94ad33	969	* The I2C slave access rate can be reduced relative to the Sample Rate. This
majik	0:21019d94ad33	970	* reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
majik	0:21019d94ad33	971	* slave's access rate is reduced relative to the Sample Rate is determined by
majik	0:21019d94ad33	972	* I2C_MST_DELAY_CTRL (Register 103).
majik	0:21019d94ad33	973	*
majik	0:21019d94ad33	974	* The processing order for the slaves is fixed. The sequence followed for
majik	0:21019d94ad33	975	* processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
majik	0:21019d94ad33	976	* particular Slave is disabled it will be skipped.
majik	0:21019d94ad33	977	*
majik	0:21019d94ad33	978	* Each slave can either be accessed at the sample rate or at a reduced sample
majik	0:21019d94ad33	979	* rate. In a case where some slaves are accessed at the Sample Rate and some
majik	0:21019d94ad33	980	* slaves are accessed at the reduced rate, the sequence of accessing the slaves
majik	0:21019d94ad33	981	* (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
majik	0:21019d94ad33	982	* be skipped if their access rate dictates that they should not be accessed
majik	0:21019d94ad33	983	* during that particular cycle. For further information regarding the reduced
majik	0:21019d94ad33	984	* access rate, please refer to Register 52. Whether a slave is accessed at the
majik	0:21019d94ad33	985	* Sample Rate or at the reduced rate is determined by the Delay Enable bits in
majik	0:21019d94ad33	986	* Register 103.
majik	0:21019d94ad33	987	*
majik	0:21019d94ad33	988	* @param num Slave number (0-3)
majik	0:21019d94ad33	989	* @return Current address for specified slave
majik	0:21019d94ad33	990	* @see MPU6050_RA_I2C_SLV0_ADDR
majik	0:21019d94ad33	991	*/
majik	0:21019d94ad33	992	uint8_t MPU6050::getSlaveAddress(uint8_t num)
majik	0:21019d94ad33	993	{
majik	0:21019d94ad33	994	if (num > 3) return 0;
majik	0:21019d94ad33	995	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
majik	0:21019d94ad33	996	return buffer[0];
majik	0:21019d94ad33	997	}
majik	0:21019d94ad33	998	/** Set the I2C address of the specified slave (0-3).
majik	0:21019d94ad33	999	* @param num Slave number (0-3)
majik	0:21019d94ad33	1000	* @param address New address for specified slave
majik	0:21019d94ad33	1001	* @see getSlaveAddress()
majik	0:21019d94ad33	1002	* @see MPU6050_RA_I2C_SLV0_ADDR
majik	0:21019d94ad33	1003	*/
majik	0:21019d94ad33	1004	void MPU6050::setSlaveAddress(uint8_t num, uint8_t address)
majik	0:21019d94ad33	1005	{
majik	0:21019d94ad33	1006	if (num > 3) return;
majik	0:21019d94ad33	1007	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
majik	0:21019d94ad33	1008	}
majik	0:21019d94ad33	1009	/** Get the active internal register for the specified slave (0-3).
majik	0:21019d94ad33	1010	* Read/write operations for this slave will be done to whatever internal
majik	0:21019d94ad33	1011	* register address is stored in this MPU register.
majik	0:21019d94ad33	1012	*
majik	0:21019d94ad33	1013	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
majik	0:21019d94ad33	1014	* characteristics, and so it has its own functions.
majik	0:21019d94ad33	1015	*
majik	0:21019d94ad33	1016	* @param num Slave number (0-3)
majik	0:21019d94ad33	1017	* @return Current active register for specified slave
majik	0:21019d94ad33	1018	* @see MPU6050_RA_I2C_SLV0_REG
majik	0:21019d94ad33	1019	*/
majik	0:21019d94ad33	1020	uint8_t MPU6050::getSlaveRegister(uint8_t num)
majik	0:21019d94ad33	1021	{
majik	0:21019d94ad33	1022	if (num > 3) return 0;
majik	0:21019d94ad33	1023	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
majik	0:21019d94ad33	1024	return buffer[0];
majik	0:21019d94ad33	1025	}
majik	0:21019d94ad33	1026	/** Set the active internal register for the specified slave (0-3).
majik	0:21019d94ad33	1027	* @param num Slave number (0-3)
majik	0:21019d94ad33	1028	* @param reg New active register for specified slave
majik	0:21019d94ad33	1029	* @see getSlaveRegister()
majik	0:21019d94ad33	1030	* @see MPU6050_RA_I2C_SLV0_REG
majik	0:21019d94ad33	1031	*/
majik	0:21019d94ad33	1032	void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg)
majik	0:21019d94ad33	1033	{
majik	0:21019d94ad33	1034	if (num > 3) return;
majik	0:21019d94ad33	1035	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
majik	0:21019d94ad33	1036	}
majik	0:21019d94ad33	1037	/** Get the enabled value for the specified slave (0-3).
majik	0:21019d94ad33	1038	* When set to 1, this bit enables Slave 0 for data transfer operations. When
majik	0:21019d94ad33	1039	* cleared to 0, this bit disables Slave 0 from data transfer operations.
majik	0:21019d94ad33	1040	* @param num Slave number (0-3)
majik	0:21019d94ad33	1041	* @return Current enabled value for specified slave
majik	0:21019d94ad33	1042	* @see MPU6050_RA_I2C_SLV0_CTRL
majik	0:21019d94ad33	1043	*/
majik	0:21019d94ad33	1044	bool MPU6050::getSlaveEnabled(uint8_t num)
majik	0:21019d94ad33	1045	{
majik	0:21019d94ad33	1046	if (num > 3) return 0;
majik	0:21019d94ad33	1047	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
majik	0:21019d94ad33	1048	return buffer[0];
majik	0:21019d94ad33	1049	}
majik	0:21019d94ad33	1050	/** Set the enabled value for the specified slave (0-3).
majik	0:21019d94ad33	1051	* @param num Slave number (0-3)
majik	0:21019d94ad33	1052	* @param enabled New enabled value for specified slave
majik	0:21019d94ad33	1053	* @see getSlaveEnabled()
majik	0:21019d94ad33	1054	* @see MPU6050_RA_I2C_SLV0_CTRL
majik	0:21019d94ad33	1055	*/
majik	0:21019d94ad33	1056	void MPU6050::setSlaveEnabled(uint8_t num, bool enabled)
majik	0:21019d94ad33	1057	{
majik	0:21019d94ad33	1058	if (num > 3) return;
majik	0:21019d94ad33	1059	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
majik	0:21019d94ad33	1060	}
majik	0:21019d94ad33	1061	/** Get word pair byte-swapping enabled for the specified slave (0-3).
majik	0:21019d94ad33	1062	* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
majik	0:21019d94ad33	1063	* the high and low bytes of a word pair are swapped. Please refer to
majik	0:21019d94ad33	1064	* I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
majik	0:21019d94ad33	1065	* bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
majik	0:21019d94ad33	1066	* registers in the order they were transferred.
majik	0:21019d94ad33	1067	*
majik	0:21019d94ad33	1068	* @param num Slave number (0-3)
majik	0:21019d94ad33	1069	* @return Current word pair byte-swapping enabled value for specified slave
majik	0:21019d94ad33	1070	* @see MPU6050_RA_I2C_SLV0_CTRL
majik	0:21019d94ad33	1071	*/
majik	0:21019d94ad33	1072	bool MPU6050::getSlaveWordByteSwap(uint8_t num)
majik	0:21019d94ad33	1073	{
majik	0:21019d94ad33	1074	if (num > 3) return 0;
majik	0:21019d94ad33	1075	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
majik	0:21019d94ad33	1076	return buffer[0];
majik	0:21019d94ad33	1077	}
majik	0:21019d94ad33	1078	/** Set word pair byte-swapping enabled for the specified slave (0-3).
majik	0:21019d94ad33	1079	* @param num Slave number (0-3)
majik	0:21019d94ad33	1080	* @param enabled New word pair byte-swapping enabled value for specified slave
majik	0:21019d94ad33	1081	* @see getSlaveWordByteSwap()
majik	0:21019d94ad33	1082	* @see MPU6050_RA_I2C_SLV0_CTRL
majik	0:21019d94ad33	1083	*/
majik	0:21019d94ad33	1084	void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled)
majik	0:21019d94ad33	1085	{
majik	0:21019d94ad33	1086	if (num > 3) return;
majik	0:21019d94ad33	1087	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
majik	0:21019d94ad33	1088	}
majik	0:21019d94ad33	1089	/** Get write mode for the specified slave (0-3).
majik	0:21019d94ad33	1090	* When set to 1, the transaction will read or write data only. When cleared to
majik	0:21019d94ad33	1091	* 0, the transaction will write a register address prior to reading or writing
majik	0:21019d94ad33	1092	* data. This should equal 0 when specifying the register address within the
majik	0:21019d94ad33	1093	* Slave device to/from which the ensuing data transaction will take place.
majik	0:21019d94ad33	1094	*
majik	0:21019d94ad33	1095	* @param num Slave number (0-3)
majik	0:21019d94ad33	1096	* @return Current write mode for specified slave (0 = register address + data, 1 = data only)
majik	0:21019d94ad33	1097	* @see MPU6050_RA_I2C_SLV0_CTRL
majik	0:21019d94ad33	1098	*/
majik	0:21019d94ad33	1099	bool MPU6050::getSlaveWriteMode(uint8_t num)
majik	0:21019d94ad33	1100	{
majik	0:21019d94ad33	1101	if (num > 3) return 0;
majik	0:21019d94ad33	1102	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
majik	0:21019d94ad33	1103	return buffer[0];
majik	0:21019d94ad33	1104	}
majik	0:21019d94ad33	1105	/** Set write mode for the specified slave (0-3).
majik	0:21019d94ad33	1106	* @param num Slave number (0-3)
majik	0:21019d94ad33	1107	* @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
majik	0:21019d94ad33	1108	* @see getSlaveWriteMode()
majik	0:21019d94ad33	1109	* @see MPU6050_RA_I2C_SLV0_CTRL
majik	0:21019d94ad33	1110	*/
majik	0:21019d94ad33	1111	void MPU6050::setSlaveWriteMode(uint8_t num, bool mode)
majik	0:21019d94ad33	1112	{
majik	0:21019d94ad33	1113	if (num > 3) return;
majik	0:21019d94ad33	1114	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
majik	0:21019d94ad33	1115	}
majik	0:21019d94ad33	1116	/** Get word pair grouping order offset for the specified slave (0-3).
majik	0:21019d94ad33	1117	* This sets specifies the grouping order of word pairs received from registers.
majik	0:21019d94ad33	1118	* When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
majik	0:21019d94ad33	1119	* then odd register addresses) are paired to form a word. When set to 1, bytes
majik	0:21019d94ad33	1120	* from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
majik	0:21019d94ad33	1121	* register addresses) are paired to form a word.
majik	0:21019d94ad33	1122	*
majik	0:21019d94ad33	1123	* @param num Slave number (0-3)
majik	0:21019d94ad33	1124	* @return Current word pair grouping order offset for specified slave
majik	0:21019d94ad33	1125	* @see MPU6050_RA_I2C_SLV0_CTRL
majik	0:21019d94ad33	1126	*/
majik	0:21019d94ad33	1127	bool MPU6050::getSlaveWordGroupOffset(uint8_t num)
majik	0:21019d94ad33	1128	{
majik	0:21019d94ad33	1129	if (num > 3) return 0;
majik	0:21019d94ad33	1130	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
majik	0:21019d94ad33	1131	return buffer[0];
majik	0:21019d94ad33	1132	}
majik	0:21019d94ad33	1133	/** Set word pair grouping order offset for the specified slave (0-3).
majik	0:21019d94ad33	1134	* @param num Slave number (0-3)
majik	0:21019d94ad33	1135	* @param enabled New word pair grouping order offset for specified slave
majik	0:21019d94ad33	1136	* @see getSlaveWordGroupOffset()
majik	0:21019d94ad33	1137	* @see MPU6050_RA_I2C_SLV0_CTRL
majik	0:21019d94ad33	1138	*/
majik	0:21019d94ad33	1139	void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled)
majik	0:21019d94ad33	1140	{
majik	0:21019d94ad33	1141	if (num > 3) return;
majik	0:21019d94ad33	1142	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
majik	0:21019d94ad33	1143	}
majik	0:21019d94ad33	1144	/** Get number of bytes to read for the specified slave (0-3).
majik	0:21019d94ad33	1145	* Specifies the number of bytes transferred to and from Slave 0. Clearing this
majik	0:21019d94ad33	1146	* bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
majik	0:21019d94ad33	1147	* @param num Slave number (0-3)
majik	0:21019d94ad33	1148	* @return Number of bytes to read for specified slave
majik	0:21019d94ad33	1149	* @see MPU6050_RA_I2C_SLV0_CTRL
majik	0:21019d94ad33	1150	*/
majik	0:21019d94ad33	1151	uint8_t MPU6050::getSlaveDataLength(uint8_t num)
majik	0:21019d94ad33	1152	{
majik	0:21019d94ad33	1153	if (num > 3) return 0;
majik	0:21019d94ad33	1154	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
majik	0:21019d94ad33	1155	return buffer[0];
majik	0:21019d94ad33	1156	}
majik	0:21019d94ad33	1157	/** Set number of bytes to read for the specified slave (0-3).
majik	0:21019d94ad33	1158	* @param num Slave number (0-3)
majik	0:21019d94ad33	1159	* @param length Number of bytes to read for specified slave
majik	0:21019d94ad33	1160	* @see getSlaveDataLength()
majik	0:21019d94ad33	1161	* @see MPU6050_RA_I2C_SLV0_CTRL
majik	0:21019d94ad33	1162	*/
majik	0:21019d94ad33	1163	void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length)
majik	0:21019d94ad33	1164	{
majik	0:21019d94ad33	1165	if (num > 3) return;
majik	0:21019d94ad33	1166	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
majik	0:21019d94ad33	1167	}
majik	0:21019d94ad33	1168
majik	0:21019d94ad33	1169	// I2C_SLV* registers (Slave 4)
majik	0:21019d94ad33	1170
majik	0:21019d94ad33	1171	/** Get the I2C address of Slave 4.
majik	0:21019d94ad33	1172	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
majik	0:21019d94ad33	1173	* operation, and if it is cleared, then it's a write operation. The remaining
majik	0:21019d94ad33	1174	* bits (6-0) are the 7-bit device address of the slave device.
majik	0:21019d94ad33	1175	*
majik	0:21019d94ad33	1176	* @return Current address for Slave 4
majik	0:21019d94ad33	1177	* @see getSlaveAddress()
majik	0:21019d94ad33	1178	* @see MPU6050_RA_I2C_SLV4_ADDR
majik	0:21019d94ad33	1179	*/
majik	0:21019d94ad33	1180	uint8_t MPU6050::getSlave4Address()
majik	0:21019d94ad33	1181	{
majik	0:21019d94ad33	1182	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
majik	0:21019d94ad33	1183	return buffer[0];
majik	0:21019d94ad33	1184	}
majik	0:21019d94ad33	1185	/** Set the I2C address of Slave 4.
majik	0:21019d94ad33	1186	* @param address New address for Slave 4
majik	0:21019d94ad33	1187	* @see getSlave4Address()
majik	0:21019d94ad33	1188	* @see MPU6050_RA_I2C_SLV4_ADDR
majik	0:21019d94ad33	1189	*/
majik	0:21019d94ad33	1190	void MPU6050::setSlave4Address(uint8_t address)
majik	0:21019d94ad33	1191	{
majik	0:21019d94ad33	1192	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
majik	0:21019d94ad33	1193	}
majik	0:21019d94ad33	1194	/** Get the active internal register for the Slave 4.
majik	0:21019d94ad33	1195	* Read/write operations for this slave will be done to whatever internal
majik	0:21019d94ad33	1196	* register address is stored in this MPU register.
majik	0:21019d94ad33	1197	*
majik	0:21019d94ad33	1198	* @return Current active register for Slave 4
majik	0:21019d94ad33	1199	* @see MPU6050_RA_I2C_SLV4_REG
majik	0:21019d94ad33	1200	*/
majik	0:21019d94ad33	1201	uint8_t MPU6050::getSlave4Register()
majik	0:21019d94ad33	1202	{
majik	0:21019d94ad33	1203	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
majik	0:21019d94ad33	1204	return buffer[0];
majik	0:21019d94ad33	1205	}
majik	0:21019d94ad33	1206	/** Set the active internal register for Slave 4.
majik	0:21019d94ad33	1207	* @param reg New active register for Slave 4
majik	0:21019d94ad33	1208	* @see getSlave4Register()
majik	0:21019d94ad33	1209	* @see MPU6050_RA_I2C_SLV4_REG
majik	0:21019d94ad33	1210	*/
majik	0:21019d94ad33	1211	void MPU6050::setSlave4Register(uint8_t reg)
majik	0:21019d94ad33	1212	{
majik	0:21019d94ad33	1213	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
majik	0:21019d94ad33	1214	}
majik	0:21019d94ad33	1215	/** Set new byte to write to Slave 4.
majik	0:21019d94ad33	1216	* This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
majik	0:21019d94ad33	1217	* is set 1 (set to read), this register has no effect.
majik	0:21019d94ad33	1218	* @param data New byte to write to Slave 4
majik	0:21019d94ad33	1219	* @see MPU6050_RA_I2C_SLV4_DO
majik	0:21019d94ad33	1220	*/
majik	0:21019d94ad33	1221	void MPU6050::setSlave4OutputByte(uint8_t data)
majik	0:21019d94ad33	1222	{
majik	0:21019d94ad33	1223	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
majik	0:21019d94ad33	1224	}
majik	0:21019d94ad33	1225	/** Get the enabled value for the Slave 4.
majik	0:21019d94ad33	1226	* When set to 1, this bit enables Slave 4 for data transfer operations. When
majik	0:21019d94ad33	1227	* cleared to 0, this bit disables Slave 4 from data transfer operations.
majik	0:21019d94ad33	1228	* @return Current enabled value for Slave 4
majik	0:21019d94ad33	1229	* @see MPU6050_RA_I2C_SLV4_CTRL
majik	0:21019d94ad33	1230	*/
majik	0:21019d94ad33	1231	bool MPU6050::getSlave4Enabled()
majik	0:21019d94ad33	1232	{
majik	0:21019d94ad33	1233	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
majik	0:21019d94ad33	1234	return buffer[0];
majik	0:21019d94ad33	1235	}
majik	0:21019d94ad33	1236	/** Set the enabled value for Slave 4.
majik	0:21019d94ad33	1237	* @param enabled New enabled value for Slave 4
majik	0:21019d94ad33	1238	* @see getSlave4Enabled()
majik	0:21019d94ad33	1239	* @see MPU6050_RA_I2C_SLV4_CTRL
majik	0:21019d94ad33	1240	*/
majik	0:21019d94ad33	1241	void MPU6050::setSlave4Enabled(bool enabled)
majik	0:21019d94ad33	1242	{
majik	0:21019d94ad33	1243	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
majik	0:21019d94ad33	1244	}
majik	0:21019d94ad33	1245	/** Get the enabled value for Slave 4 transaction interrupts.
majik	0:21019d94ad33	1246	* When set to 1, this bit enables the generation of an interrupt signal upon
majik	0:21019d94ad33	1247	* completion of a Slave 4 transaction. When cleared to 0, this bit disables the
majik	0:21019d94ad33	1248	* generation of an interrupt signal upon completion of a Slave 4 transaction.
majik	0:21019d94ad33	1249	* The interrupt status can be observed in Register 54.
majik	0:21019d94ad33	1250	*
majik	0:21019d94ad33	1251	* @return Current enabled value for Slave 4 transaction interrupts.
majik	0:21019d94ad33	1252	* @see MPU6050_RA_I2C_SLV4_CTRL
majik	0:21019d94ad33	1253	*/
majik	0:21019d94ad33	1254	bool MPU6050::getSlave4InterruptEnabled()
majik	0:21019d94ad33	1255	{
majik	0:21019d94ad33	1256	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
majik	0:21019d94ad33	1257	return buffer[0];
majik	0:21019d94ad33	1258	}
majik	0:21019d94ad33	1259	/** Set the enabled value for Slave 4 transaction interrupts.
majik	0:21019d94ad33	1260	* @param enabled New enabled value for Slave 4 transaction interrupts.
majik	0:21019d94ad33	1261	* @see getSlave4InterruptEnabled()
majik	0:21019d94ad33	1262	* @see MPU6050_RA_I2C_SLV4_CTRL
majik	0:21019d94ad33	1263	*/
majik	0:21019d94ad33	1264	void MPU6050::setSlave4InterruptEnabled(bool enabled)
majik	0:21019d94ad33	1265	{
majik	0:21019d94ad33	1266	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
majik	0:21019d94ad33	1267	}
majik	0:21019d94ad33	1268	/** Get write mode for Slave 4.
majik	0:21019d94ad33	1269	* When set to 1, the transaction will read or write data only. When cleared to
majik	0:21019d94ad33	1270	* 0, the transaction will write a register address prior to reading or writing
majik	0:21019d94ad33	1271	* data. This should equal 0 when specifying the register address within the
majik	0:21019d94ad33	1272	* Slave device to/from which the ensuing data transaction will take place.
majik	0:21019d94ad33	1273	*
majik	0:21019d94ad33	1274	* @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
majik	0:21019d94ad33	1275	* @see MPU6050_RA_I2C_SLV4_CTRL
majik	0:21019d94ad33	1276	*/
majik	0:21019d94ad33	1277	bool MPU6050::getSlave4WriteMode()
majik	0:21019d94ad33	1278	{
majik	0:21019d94ad33	1279	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
majik	0:21019d94ad33	1280	return buffer[0];
majik	0:21019d94ad33	1281	}
majik	0:21019d94ad33	1282	/** Set write mode for the Slave 4.
majik	0:21019d94ad33	1283	* @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
majik	0:21019d94ad33	1284	* @see getSlave4WriteMode()
majik	0:21019d94ad33	1285	* @see MPU6050_RA_I2C_SLV4_CTRL
majik	0:21019d94ad33	1286	*/
majik	0:21019d94ad33	1287	void MPU6050::setSlave4WriteMode(bool mode)
majik	0:21019d94ad33	1288	{
majik	0:21019d94ad33	1289	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
majik	0:21019d94ad33	1290	}
majik	0:21019d94ad33	1291	/** Get Slave 4 master delay value.
majik	0:21019d94ad33	1292	* This configures the reduced access rate of I2C slaves relative to the Sample
majik	0:21019d94ad33	1293	* Rate. When a slave's access rate is decreased relative to the Sample Rate,
majik	0:21019d94ad33	1294	* the slave is accessed every:
majik	0:21019d94ad33	1295	*
majik	0:21019d94ad33	1296	* 1 / (1 + I2C_MST_DLY) samples
majik	0:21019d94ad33	1297	*
majik	0:21019d94ad33	1298	* This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
majik	0:21019d94ad33	1299	* DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
majik	0:21019d94ad33	1300	* the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
majik	0:21019d94ad33	1301	* further information regarding the Sample Rate, please refer to register 25.
majik	0:21019d94ad33	1302	*
majik	0:21019d94ad33	1303	* @return Current Slave 4 master delay value
majik	0:21019d94ad33	1304	* @see MPU6050_RA_I2C_SLV4_CTRL
majik	0:21019d94ad33	1305	*/
majik	0:21019d94ad33	1306	uint8_t MPU6050::getSlave4MasterDelay()
majik	0:21019d94ad33	1307	{
majik	0:21019d94ad33	1308	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
majik	0:21019d94ad33	1309	return buffer[0];
majik	0:21019d94ad33	1310	}
majik	0:21019d94ad33	1311	/** Set Slave 4 master delay value.
majik	0:21019d94ad33	1312	* @param delay New Slave 4 master delay value
majik	0:21019d94ad33	1313	* @see getSlave4MasterDelay()
majik	0:21019d94ad33	1314	* @see MPU6050_RA_I2C_SLV4_CTRL
majik	0:21019d94ad33	1315	*/
majik	0:21019d94ad33	1316	void MPU6050::setSlave4MasterDelay(uint8_t delay)
majik	0:21019d94ad33	1317	{
majik	0:21019d94ad33	1318	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
majik	0:21019d94ad33	1319	}
majik	0:21019d94ad33	1320	/** Get last available byte read from Slave 4.
majik	0:21019d94ad33	1321	* This register stores the data read from Slave 4. This field is populated
majik	0:21019d94ad33	1322	* after a read transaction.
majik	0:21019d94ad33	1323	* @return Last available byte read from to Slave 4
majik	0:21019d94ad33	1324	* @see MPU6050_RA_I2C_SLV4_DI
majik	0:21019d94ad33	1325	*/
majik	0:21019d94ad33	1326	uint8_t MPU6050::getSlate4InputByte()
majik	0:21019d94ad33	1327	{
majik	0:21019d94ad33	1328	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
majik	0:21019d94ad33	1329	return buffer[0];
majik	0:21019d94ad33	1330	}
majik	0:21019d94ad33	1331
majik	0:21019d94ad33	1332	// I2C_MST_STATUS register
majik	0:21019d94ad33	1333
majik	0:21019d94ad33	1334	/** Get FSYNC interrupt status.
majik	0:21019d94ad33	1335	* This bit reflects the status of the FSYNC interrupt from an external device
majik	0:21019d94ad33	1336	* into the MPU-60X0. This is used as a way to pass an external interrupt
majik	0:21019d94ad33	1337	* through the MPU-60X0 to the host application processor. When set to 1, this
majik	0:21019d94ad33	1338	* bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
majik	0:21019d94ad33	1339	* (Register 55).
majik	0:21019d94ad33	1340	* @return FSYNC interrupt status
majik	0:21019d94ad33	1341	* @see MPU6050_RA_I2C_MST_STATUS
majik	0:21019d94ad33	1342	*/
majik	0:21019d94ad33	1343	bool MPU6050::getPassthroughStatus()
majik	0:21019d94ad33	1344	{
majik	0:21019d94ad33	1345	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
majik	0:21019d94ad33	1346	return buffer[0];
majik	0:21019d94ad33	1347	}
majik	0:21019d94ad33	1348	/** Get Slave 4 transaction done status.
majik	0:21019d94ad33	1349	* Automatically sets to 1 when a Slave 4 transaction has completed. This
majik	0:21019d94ad33	1350	* triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
majik	0:21019d94ad33	1351	* (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
majik	0:21019d94ad33	1352	* I2C_SLV4_CTRL register (Register 52).
majik	0:21019d94ad33	1353	* @return Slave 4 transaction done status
majik	0:21019d94ad33	1354	* @see MPU6050_RA_I2C_MST_STATUS
majik	0:21019d94ad33	1355	*/
majik	0:21019d94ad33	1356	bool MPU6050::getSlave4IsDone()
majik	0:21019d94ad33	1357	{
majik	0:21019d94ad33	1358	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
majik	0:21019d94ad33	1359	return buffer[0];
majik	0:21019d94ad33	1360	}
majik	0:21019d94ad33	1361	/** Get master arbitration lost status.
majik	0:21019d94ad33	1362	* This bit automatically sets to 1 when the I2C Master has lost arbitration of
majik	0:21019d94ad33	1363	* the auxiliary I2C bus (an error condition). This triggers an interrupt if the
majik	0:21019d94ad33	1364	* I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
majik	0:21019d94ad33	1365	* @return Master arbitration lost status
majik	0:21019d94ad33	1366	* @see MPU6050_RA_I2C_MST_STATUS
majik	0:21019d94ad33	1367	*/
majik	0:21019d94ad33	1368	bool MPU6050::getLostArbitration()
majik	0:21019d94ad33	1369	{
majik	0:21019d94ad33	1370	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
majik	0:21019d94ad33	1371	return buffer[0];
majik	0:21019d94ad33	1372	}
majik	0:21019d94ad33	1373	/** Get Slave 4 NACK status.
majik	0:21019d94ad33	1374	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
majik	0:21019d94ad33	1375	* transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
majik	0:21019d94ad33	1376	* bit in the INT_ENABLE register (Register 56) is asserted.
majik	0:21019d94ad33	1377	* @return Slave 4 NACK interrupt status
majik	0:21019d94ad33	1378	* @see MPU6050_RA_I2C_MST_STATUS
majik	0:21019d94ad33	1379	*/
majik	0:21019d94ad33	1380	bool MPU6050::getSlave4Nack()
majik	0:21019d94ad33	1381	{
majik	0:21019d94ad33	1382	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
majik	0:21019d94ad33	1383	return buffer[0];
majik	0:21019d94ad33	1384	}
majik	0:21019d94ad33	1385	/** Get Slave 3 NACK status.
majik	0:21019d94ad33	1386	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
majik	0:21019d94ad33	1387	* transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
majik	0:21019d94ad33	1388	* bit in the INT_ENABLE register (Register 56) is asserted.
majik	0:21019d94ad33	1389	* @return Slave 3 NACK interrupt status
majik	0:21019d94ad33	1390	* @see MPU6050_RA_I2C_MST_STATUS
majik	0:21019d94ad33	1391	*/
majik	0:21019d94ad33	1392	bool MPU6050::getSlave3Nack()
majik	0:21019d94ad33	1393	{
majik	0:21019d94ad33	1394	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
majik	0:21019d94ad33	1395	return buffer[0];
majik	0:21019d94ad33	1396	}
majik	0:21019d94ad33	1397	/** Get Slave 2 NACK status.
majik	0:21019d94ad33	1398	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
majik	0:21019d94ad33	1399	* transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
majik	0:21019d94ad33	1400	* bit in the INT_ENABLE register (Register 56) is asserted.
majik	0:21019d94ad33	1401	* @return Slave 2 NACK interrupt status
majik	0:21019d94ad33	1402	* @see MPU6050_RA_I2C_MST_STATUS
majik	0:21019d94ad33	1403	*/
majik	0:21019d94ad33	1404	bool MPU6050::getSlave2Nack()
majik	0:21019d94ad33	1405	{
majik	0:21019d94ad33	1406	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
majik	0:21019d94ad33	1407	return buffer[0];
majik	0:21019d94ad33	1408	}
majik	0:21019d94ad33	1409	/** Get Slave 1 NACK status.
majik	0:21019d94ad33	1410	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
majik	0:21019d94ad33	1411	* transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
majik	0:21019d94ad33	1412	* bit in the INT_ENABLE register (Register 56) is asserted.
majik	0:21019d94ad33	1413	* @return Slave 1 NACK interrupt status
majik	0:21019d94ad33	1414	* @see MPU6050_RA_I2C_MST_STATUS
majik	0:21019d94ad33	1415	*/
majik	0:21019d94ad33	1416	bool MPU6050::getSlave1Nack()
majik	0:21019d94ad33	1417	{
majik	0:21019d94ad33	1418	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
majik	0:21019d94ad33	1419	return buffer[0];
majik	0:21019d94ad33	1420	}
majik	0:21019d94ad33	1421	/** Get Slave 0 NACK status.
majik	0:21019d94ad33	1422	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
majik	0:21019d94ad33	1423	* transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
majik	0:21019d94ad33	1424	* bit in the INT_ENABLE register (Register 56) is asserted.
majik	0:21019d94ad33	1425	* @return Slave 0 NACK interrupt status
majik	0:21019d94ad33	1426	* @see MPU6050_RA_I2C_MST_STATUS
majik	0:21019d94ad33	1427	*/
majik	0:21019d94ad33	1428	bool MPU6050::getSlave0Nack()
majik	0:21019d94ad33	1429	{
majik	0:21019d94ad33	1430	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
majik	0:21019d94ad33	1431	return buffer[0];
majik	0:21019d94ad33	1432	}
majik	0:21019d94ad33	1433
majik	0:21019d94ad33	1434	// INT_PIN_CFG register
majik	0:21019d94ad33	1435
majik	0:21019d94ad33	1436	/** Get interrupt logic level mode.
majik	0:21019d94ad33	1437	* Will be set 0 for active-high, 1 for active-low.
majik	0:21019d94ad33	1438	* @return Current interrupt mode (0=active-high, 1=active-low)
majik	0:21019d94ad33	1439	* @see MPU6050_RA_INT_PIN_CFG
majik	0:21019d94ad33	1440	* @see MPU6050_INTCFG_INT_LEVEL_BIT
majik	0:21019d94ad33	1441	*/
majik	0:21019d94ad33	1442	bool MPU6050::getInterruptMode()
majik	0:21019d94ad33	1443	{
majik	0:21019d94ad33	1444	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
majik	0:21019d94ad33	1445	return buffer[0];
majik	0:21019d94ad33	1446	}
majik	0:21019d94ad33	1447	/** Set interrupt logic level mode.
majik	0:21019d94ad33	1448	* @param mode New interrupt mode (0=active-high, 1=active-low)
majik	0:21019d94ad33	1449	* @see getInterruptMode()
majik	0:21019d94ad33	1450	* @see MPU6050_RA_INT_PIN_CFG
majik	0:21019d94ad33	1451	* @see MPU6050_INTCFG_INT_LEVEL_BIT
majik	0:21019d94ad33	1452	*/
majik	0:21019d94ad33	1453	void MPU6050::setInterruptMode(bool mode)
majik	0:21019d94ad33	1454	{
majik	0:21019d94ad33	1455	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
majik	0:21019d94ad33	1456	}
majik	0:21019d94ad33	1457	/** Get interrupt drive mode.
majik	0:21019d94ad33	1458	* Will be set 0 for push-pull, 1 for open-drain.
majik	0:21019d94ad33	1459	* @return Current interrupt drive mode (0=push-pull, 1=open-drain)
majik	0:21019d94ad33	1460	* @see MPU6050_RA_INT_PIN_CFG
majik	0:21019d94ad33	1461	* @see MPU6050_INTCFG_INT_OPEN_BIT
majik	0:21019d94ad33	1462	*/
majik	0:21019d94ad33	1463	bool MPU6050::getInterruptDrive()
majik	0:21019d94ad33	1464	{
majik	0:21019d94ad33	1465	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
majik	0:21019d94ad33	1466	return buffer[0];
majik	0:21019d94ad33	1467	}
majik	0:21019d94ad33	1468	/** Set interrupt drive mode.
majik	0:21019d94ad33	1469	* @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
majik	0:21019d94ad33	1470	* @see getInterruptDrive()
majik	0:21019d94ad33	1471	* @see MPU6050_RA_INT_PIN_CFG
majik	0:21019d94ad33	1472	* @see MPU6050_INTCFG_INT_OPEN_BIT
majik	0:21019d94ad33	1473	*/
majik	0:21019d94ad33	1474	void MPU6050::setInterruptDrive(bool drive)
majik	0:21019d94ad33	1475	{
majik	0:21019d94ad33	1476	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
majik	0:21019d94ad33	1477	}
majik	0:21019d94ad33	1478	/** Get interrupt latch mode.
majik	0:21019d94ad33	1479	* Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
majik	0:21019d94ad33	1480	* @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
majik	0:21019d94ad33	1481	* @see MPU6050_RA_INT_PIN_CFG
majik	0:21019d94ad33	1482	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
majik	0:21019d94ad33	1483	*/
majik	0:21019d94ad33	1484	bool MPU6050::getInterruptLatch()
majik	0:21019d94ad33	1485	{
majik	0:21019d94ad33	1486	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
majik	0:21019d94ad33	1487	return buffer[0];
majik	0:21019d94ad33	1488	}
majik	0:21019d94ad33	1489	/** Set interrupt latch mode.
majik	0:21019d94ad33	1490	* @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
majik	0:21019d94ad33	1491	* @see getInterruptLatch()
majik	0:21019d94ad33	1492	* @see MPU6050_RA_INT_PIN_CFG
majik	0:21019d94ad33	1493	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
majik	0:21019d94ad33	1494	*/
majik	0:21019d94ad33	1495	void MPU6050::setInterruptLatch(bool latch)
majik	0:21019d94ad33	1496	{
majik	0:21019d94ad33	1497	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
majik	0:21019d94ad33	1498	}
majik	0:21019d94ad33	1499	/** Get interrupt latch clear mode.
majik	0:21019d94ad33	1500	* Will be set 0 for status-read-only, 1 for any-register-read.
majik	0:21019d94ad33	1501	* @return Current latch clear mode (0=status-read-only, 1=any-register-read)
majik	0:21019d94ad33	1502	* @see MPU6050_RA_INT_PIN_CFG
majik	0:21019d94ad33	1503	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
majik	0:21019d94ad33	1504	*/
majik	0:21019d94ad33	1505	bool MPU6050::getInterruptLatchClear()
majik	0:21019d94ad33	1506	{
majik	0:21019d94ad33	1507	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
majik	0:21019d94ad33	1508	return buffer[0];
majik	0:21019d94ad33	1509	}
majik	0:21019d94ad33	1510	/** Set interrupt latch clear mode.
majik	0:21019d94ad33	1511	* @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
majik	0:21019d94ad33	1512	* @see getInterruptLatchClear()
majik	0:21019d94ad33	1513	* @see MPU6050_RA_INT_PIN_CFG
majik	0:21019d94ad33	1514	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
majik	0:21019d94ad33	1515	*/
majik	0:21019d94ad33	1516	void MPU6050::setInterruptLatchClear(bool clear)
majik	0:21019d94ad33	1517	{
majik	0:21019d94ad33	1518	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
majik	0:21019d94ad33	1519	}
majik	0:21019d94ad33	1520	/** Get FSYNC interrupt logic level mode.
majik	0:21019d94ad33	1521	* @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
majik	0:21019d94ad33	1522	* @see getFSyncInterruptMode()
majik	0:21019d94ad33	1523	* @see MPU6050_RA_INT_PIN_CFG
majik	0:21019d94ad33	1524	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
majik	0:21019d94ad33	1525	*/
majik	0:21019d94ad33	1526	bool MPU6050::getFSyncInterruptLevel()
majik	0:21019d94ad33	1527	{
majik	0:21019d94ad33	1528	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
majik	0:21019d94ad33	1529	return buffer[0];
majik	0:21019d94ad33	1530	}
majik	0:21019d94ad33	1531	/** Set FSYNC interrupt logic level mode.
majik	0:21019d94ad33	1532	* @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
majik	0:21019d94ad33	1533	* @see getFSyncInterruptMode()
majik	0:21019d94ad33	1534	* @see MPU6050_RA_INT_PIN_CFG
majik	0:21019d94ad33	1535	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
majik	0:21019d94ad33	1536	*/
majik	0:21019d94ad33	1537	void MPU6050::setFSyncInterruptLevel(bool level)
majik	0:21019d94ad33	1538	{
majik	0:21019d94ad33	1539	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
majik	0:21019d94ad33	1540	}
majik	0:21019d94ad33	1541	/** Get FSYNC pin interrupt enabled setting.
majik	0:21019d94ad33	1542	* Will be set 0 for disabled, 1 for enabled.
majik	0:21019d94ad33	1543	* @return Current interrupt enabled setting
majik	0:21019d94ad33	1544	* @see MPU6050_RA_INT_PIN_CFG
majik	0:21019d94ad33	1545	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
majik	0:21019d94ad33	1546	*/
majik	0:21019d94ad33	1547	bool MPU6050::getFSyncInterruptEnabled()
majik	0:21019d94ad33	1548	{
majik	0:21019d94ad33	1549	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
majik	0:21019d94ad33	1550	return buffer[0];
majik	0:21019d94ad33	1551	}
majik	0:21019d94ad33	1552	/** Set FSYNC pin interrupt enabled setting.
majik	0:21019d94ad33	1553	* @param enabled New FSYNC pin interrupt enabled setting
majik	0:21019d94ad33	1554	* @see getFSyncInterruptEnabled()
majik	0:21019d94ad33	1555	* @see MPU6050_RA_INT_PIN_CFG
majik	0:21019d94ad33	1556	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
majik	0:21019d94ad33	1557	*/
majik	0:21019d94ad33	1558	void MPU6050::setFSyncInterruptEnabled(bool enabled)
majik	0:21019d94ad33	1559	{
majik	0:21019d94ad33	1560	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
majik	0:21019d94ad33	1561	}
majik	0:21019d94ad33	1562	/** Get I2C bypass enabled status.
majik	0:21019d94ad33	1563	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
majik	0:21019d94ad33	1564	* 0, the host application processor will be able to directly access the
majik	0:21019d94ad33	1565	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
majik	0:21019d94ad33	1566	* application processor will not be able to directly access the auxiliary I2C
majik	0:21019d94ad33	1567	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
majik	0:21019d94ad33	1568	* bit[5]).
majik	0:21019d94ad33	1569	* @return Current I2C bypass enabled status
majik	0:21019d94ad33	1570	* @see MPU6050_RA_INT_PIN_CFG
majik	0:21019d94ad33	1571	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
majik	0:21019d94ad33	1572	*/
majik	0:21019d94ad33	1573	bool MPU6050::getI2CBypassEnabled()
majik	0:21019d94ad33	1574	{
majik	0:21019d94ad33	1575	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
majik	0:21019d94ad33	1576	return buffer[0];
majik	0:21019d94ad33	1577	}
majik	0:21019d94ad33	1578	/** Set I2C bypass enabled status.
majik	0:21019d94ad33	1579	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
majik	0:21019d94ad33	1580	* 0, the host application processor will be able to directly access the
majik	0:21019d94ad33	1581	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
majik	0:21019d94ad33	1582	* application processor will not be able to directly access the auxiliary I2C
majik	0:21019d94ad33	1583	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
majik	0:21019d94ad33	1584	* bit[5]).
majik	0:21019d94ad33	1585	* @param enabled New I2C bypass enabled status
majik	0:21019d94ad33	1586	* @see MPU6050_RA_INT_PIN_CFG
majik	0:21019d94ad33	1587	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
majik	0:21019d94ad33	1588	*/
majik	0:21019d94ad33	1589	void MPU6050::setI2CBypassEnabled(bool enabled)
majik	0:21019d94ad33	1590	{
majik	0:21019d94ad33	1591	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
majik	0:21019d94ad33	1592	}
majik	0:21019d94ad33	1593	/** Get reference clock output enabled status.
majik	0:21019d94ad33	1594	* When this bit is equal to 1, a reference clock output is provided at the
majik	0:21019d94ad33	1595	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
majik	0:21019d94ad33	1596	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
majik	0:21019d94ad33	1597	* Specification document.
majik	0:21019d94ad33	1598	* @return Current reference clock output enabled status
majik	0:21019d94ad33	1599	* @see MPU6050_RA_INT_PIN_CFG
majik	0:21019d94ad33	1600	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
majik	0:21019d94ad33	1601	*/
majik	0:21019d94ad33	1602	bool MPU6050::getClockOutputEnabled()
majik	0:21019d94ad33	1603	{
majik	0:21019d94ad33	1604	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
majik	0:21019d94ad33	1605	return buffer[0];
majik	0:21019d94ad33	1606	}
majik	0:21019d94ad33	1607	/** Set reference clock output enabled status.
majik	0:21019d94ad33	1608	* When this bit is equal to 1, a reference clock output is provided at the
majik	0:21019d94ad33	1609	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
majik	0:21019d94ad33	1610	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
majik	0:21019d94ad33	1611	* Specification document.
majik	0:21019d94ad33	1612	* @param enabled New reference clock output enabled status
majik	0:21019d94ad33	1613	* @see MPU6050_RA_INT_PIN_CFG
majik	0:21019d94ad33	1614	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
majik	0:21019d94ad33	1615	*/
majik	0:21019d94ad33	1616	void MPU6050::setClockOutputEnabled(bool enabled)
majik	0:21019d94ad33	1617	{
majik	0:21019d94ad33	1618	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
majik	0:21019d94ad33	1619	}
majik	0:21019d94ad33	1620
majik	0:21019d94ad33	1621	// INT_ENABLE register
majik	0:21019d94ad33	1622
majik	0:21019d94ad33	1623	/** Get full interrupt enabled status.
majik	0:21019d94ad33	1624	* Full register byte for all interrupts, for quick reading. Each bit will be
majik	0:21019d94ad33	1625	* set 0 for disabled, 1 for enabled.
majik	0:21019d94ad33	1626	* @return Current interrupt enabled status
majik	0:21019d94ad33	1627	* @see MPU6050_RA_INT_ENABLE
majik	0:21019d94ad33	1628	* @see MPU6050_INTERRUPT_FF_BIT
majik	0:21019d94ad33	1629	**/
majik	0:21019d94ad33	1630	uint8_t MPU6050::getIntEnabled()
majik	0:21019d94ad33	1631	{
majik	0:21019d94ad33	1632	i2Cdev.readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
majik	0:21019d94ad33	1633	return buffer[0];
majik	0:21019d94ad33	1634	}
majik	0:21019d94ad33	1635	/** Set full interrupt enabled status.
majik	0:21019d94ad33	1636	* Full register byte for all interrupts, for quick reading. Each bit should be
majik	0:21019d94ad33	1637	* set 0 for disabled, 1 for enabled.
majik	0:21019d94ad33	1638	* @param enabled New interrupt enabled status
majik	0:21019d94ad33	1639	* @see getIntFreefallEnabled()
majik	0:21019d94ad33	1640	* @see MPU6050_RA_INT_ENABLE
majik	0:21019d94ad33	1641	* @see MPU6050_INTERRUPT_FF_BIT
majik	0:21019d94ad33	1642	**/
majik	0:21019d94ad33	1643	void MPU6050::setIntEnabled(uint8_t enabled)
majik	0:21019d94ad33	1644	{
majik	0:21019d94ad33	1645	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
majik	0:21019d94ad33	1646	}
majik	0:21019d94ad33	1647	/** Get Free Fall interrupt enabled status.
majik	0:21019d94ad33	1648	* Will be set 0 for disabled, 1 for enabled.
majik	0:21019d94ad33	1649	* @return Current interrupt enabled status
majik	0:21019d94ad33	1650	* @see MPU6050_RA_INT_ENABLE
majik	0:21019d94ad33	1651	* @see MPU6050_INTERRUPT_FF_BIT
majik	0:21019d94ad33	1652	**/
majik	0:21019d94ad33	1653	bool MPU6050::getIntFreefallEnabled()
majik	0:21019d94ad33	1654	{
majik	0:21019d94ad33	1655	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
majik	0:21019d94ad33	1656	return buffer[0];
majik	0:21019d94ad33	1657	}
majik	0:21019d94ad33	1658	/** Set Free Fall interrupt enabled status.
majik	0:21019d94ad33	1659	* @param enabled New interrupt enabled status
majik	0:21019d94ad33	1660	* @see getIntFreefallEnabled()
majik	0:21019d94ad33	1661	* @see MPU6050_RA_INT_ENABLE
majik	0:21019d94ad33	1662	* @see MPU6050_INTERRUPT_FF_BIT
majik	0:21019d94ad33	1663	**/
majik	0:21019d94ad33	1664	void MPU6050::setIntFreefallEnabled(bool enabled)
majik	0:21019d94ad33	1665	{
majik	0:21019d94ad33	1666	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
majik	0:21019d94ad33	1667	}
majik	0:21019d94ad33	1668	/** Get Motion Detection interrupt enabled status.
majik	0:21019d94ad33	1669	* Will be set 0 for disabled, 1 for enabled.
majik	0:21019d94ad33	1670	* @return Current interrupt enabled status
majik	0:21019d94ad33	1671	* @see MPU6050_RA_INT_ENABLE
majik	0:21019d94ad33	1672	* @see MPU6050_INTERRUPT_MOT_BIT
majik	0:21019d94ad33	1673	**/
majik	0:21019d94ad33	1674	bool MPU6050::getIntMotionEnabled()
majik	0:21019d94ad33	1675	{
majik	0:21019d94ad33	1676	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
majik	0:21019d94ad33	1677	return buffer[0];
majik	0:21019d94ad33	1678	}
majik	0:21019d94ad33	1679	/** Set Motion Detection interrupt enabled status.
majik	0:21019d94ad33	1680	* @param enabled New interrupt enabled status
majik	0:21019d94ad33	1681	* @see getIntMotionEnabled()
majik	0:21019d94ad33	1682	* @see MPU6050_RA_INT_ENABLE
majik	0:21019d94ad33	1683	* @see MPU6050_INTERRUPT_MOT_BIT
majik	0:21019d94ad33	1684	**/
majik	0:21019d94ad33	1685	void MPU6050::setIntMotionEnabled(bool enabled)
majik	0:21019d94ad33	1686	{
majik	0:21019d94ad33	1687	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
majik	0:21019d94ad33	1688	}
majik	0:21019d94ad33	1689	/** Get Zero Motion Detection interrupt enabled status.
majik	0:21019d94ad33	1690	* Will be set 0 for disabled, 1 for enabled.
majik	0:21019d94ad33	1691	* @return Current interrupt enabled status
majik	0:21019d94ad33	1692	* @see MPU6050_RA_INT_ENABLE
majik	0:21019d94ad33	1693	* @see MPU6050_INTERRUPT_ZMOT_BIT
majik	0:21019d94ad33	1694	**/
majik	0:21019d94ad33	1695	bool MPU6050::getIntZeroMotionEnabled()
majik	0:21019d94ad33	1696	{
majik	0:21019d94ad33	1697	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
majik	0:21019d94ad33	1698	return buffer[0];
majik	0:21019d94ad33	1699	}
majik	0:21019d94ad33	1700	/** Set Zero Motion Detection interrupt enabled status.
majik	0:21019d94ad33	1701	* @param enabled New interrupt enabled status
majik	0:21019d94ad33	1702	* @see getIntZeroMotionEnabled()
majik	0:21019d94ad33	1703	* @see MPU6050_RA_INT_ENABLE
majik	0:21019d94ad33	1704	* @see MPU6050_INTERRUPT_ZMOT_BIT
majik	0:21019d94ad33	1705	**/
majik	0:21019d94ad33	1706	void MPU6050::setIntZeroMotionEnabled(bool enabled)
majik	0:21019d94ad33	1707	{
majik	0:21019d94ad33	1708	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
majik	0:21019d94ad33	1709	}
majik	0:21019d94ad33	1710	/** Get FIFO Buffer Overflow interrupt enabled status.
majik	0:21019d94ad33	1711	* Will be set 0 for disabled, 1 for enabled.
majik	0:21019d94ad33	1712	* @return Current interrupt enabled status
majik	0:21019d94ad33	1713	* @see MPU6050_RA_INT_ENABLE
majik	0:21019d94ad33	1714	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
majik	0:21019d94ad33	1715	**/
majik	0:21019d94ad33	1716	bool MPU6050::getIntFIFOBufferOverflowEnabled()
majik	0:21019d94ad33	1717	{
majik	0:21019d94ad33	1718	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
majik	0:21019d94ad33	1719	return buffer[0];
majik	0:21019d94ad33	1720	}
majik	0:21019d94ad33	1721	/** Set FIFO Buffer Overflow interrupt enabled status.
majik	0:21019d94ad33	1722	* @param enabled New interrupt enabled status
majik	0:21019d94ad33	1723	* @see getIntFIFOBufferOverflowEnabled()
majik	0:21019d94ad33	1724	* @see MPU6050_RA_INT_ENABLE
majik	0:21019d94ad33	1725	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
majik	0:21019d94ad33	1726	**/
majik	0:21019d94ad33	1727	void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled)
majik	0:21019d94ad33	1728	{
majik	0:21019d94ad33	1729	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
majik	0:21019d94ad33	1730	}
majik	0:21019d94ad33	1731	/** Get I2C Master interrupt enabled status.
majik	0:21019d94ad33	1732	* This enables any of the I2C Master interrupt sources to generate an
majik	0:21019d94ad33	1733	* interrupt. Will be set 0 for disabled, 1 for enabled.
majik	0:21019d94ad33	1734	* @return Current interrupt enabled status
majik	0:21019d94ad33	1735	* @see MPU6050_RA_INT_ENABLE
majik	0:21019d94ad33	1736	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
majik	0:21019d94ad33	1737	**/
majik	0:21019d94ad33	1738	bool MPU6050::getIntI2CMasterEnabled()
majik	0:21019d94ad33	1739	{
majik	0:21019d94ad33	1740	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
majik	0:21019d94ad33	1741	return buffer[0];
majik	0:21019d94ad33	1742	}
majik	0:21019d94ad33	1743	/** Set I2C Master interrupt enabled status.
majik	0:21019d94ad33	1744	* @param enabled New interrupt enabled status
majik	0:21019d94ad33	1745	* @see getIntI2CMasterEnabled()
majik	0:21019d94ad33	1746	* @see MPU6050_RA_INT_ENABLE
majik	0:21019d94ad33	1747	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
majik	0:21019d94ad33	1748	**/
majik	0:21019d94ad33	1749	void MPU6050::setIntI2CMasterEnabled(bool enabled)
majik	0:21019d94ad33	1750	{
majik	0:21019d94ad33	1751	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
majik	0:21019d94ad33	1752	}
majik	0:21019d94ad33	1753	/** Get Data Ready interrupt enabled setting.
majik	0:21019d94ad33	1754	* This event occurs each time a write operation to all of the sensor registers
majik	0:21019d94ad33	1755	* has been completed. Will be set 0 for disabled, 1 for enabled.
majik	0:21019d94ad33	1756	* @return Current interrupt enabled status
majik	0:21019d94ad33	1757	* @see MPU6050_RA_INT_ENABLE
majik	0:21019d94ad33	1758	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
majik	0:21019d94ad33	1759	*/
majik	0:21019d94ad33	1760	bool MPU6050::getIntDataReadyEnabled()
majik	0:21019d94ad33	1761	{
majik	0:21019d94ad33	1762	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
majik	0:21019d94ad33	1763	return buffer[0];
majik	0:21019d94ad33	1764	}
majik	0:21019d94ad33	1765	/** Set Data Ready interrupt enabled status.
majik	0:21019d94ad33	1766	* @param enabled New interrupt enabled status
majik	0:21019d94ad33	1767	* @see getIntDataReadyEnabled()
majik	0:21019d94ad33	1768	* @see MPU6050_RA_INT_CFG
majik	0:21019d94ad33	1769	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
majik	0:21019d94ad33	1770	*/
majik	0:21019d94ad33	1771	void MPU6050::setIntDataReadyEnabled(bool enabled)
majik	0:21019d94ad33	1772	{
majik	0:21019d94ad33	1773	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
majik	0:21019d94ad33	1774	}
majik	0:21019d94ad33	1775
majik	0:21019d94ad33	1776	// INT_STATUS register
majik	0:21019d94ad33	1777
majik	0:21019d94ad33	1778	/** Get full set of interrupt status bits.
majik	0:21019d94ad33	1779	* These bits clear to 0 after the register has been read. Very useful
majik	0:21019d94ad33	1780	* for getting multiple INT statuses, since each single bit read clears
majik	0:21019d94ad33	1781	* all of them because it has to read the whole byte.
majik	0:21019d94ad33	1782	* @return Current interrupt status
majik	0:21019d94ad33	1783	* @see MPU6050_RA_INT_STATUS
majik	0:21019d94ad33	1784	*/
majik	0:21019d94ad33	1785	uint8_t MPU6050::getIntStatus()
majik	0:21019d94ad33	1786	{
majik	0:21019d94ad33	1787	i2Cdev.readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
majik	0:21019d94ad33	1788	return buffer[0];
majik	0:21019d94ad33	1789	}
majik	0:21019d94ad33	1790	/** Get Free Fall interrupt status.
majik	0:21019d94ad33	1791	* This bit automatically sets to 1 when a Free Fall interrupt has been
majik	0:21019d94ad33	1792	* generated. The bit clears to 0 after the register has been read.
majik	0:21019d94ad33	1793	* @return Current interrupt status
majik	0:21019d94ad33	1794	* @see MPU6050_RA_INT_STATUS
majik	0:21019d94ad33	1795	* @see MPU6050_INTERRUPT_FF_BIT
majik	0:21019d94ad33	1796	*/
majik	0:21019d94ad33	1797	bool MPU6050::getIntFreefallStatus()
majik	0:21019d94ad33	1798	{
majik	0:21019d94ad33	1799	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
majik	0:21019d94ad33	1800	return buffer[0];
majik	0:21019d94ad33	1801	}
majik	0:21019d94ad33	1802	/** Get Motion Detection interrupt status.
majik	0:21019d94ad33	1803	* This bit automatically sets to 1 when a Motion Detection interrupt has been
majik	0:21019d94ad33	1804	* generated. The bit clears to 0 after the register has been read.
majik	0:21019d94ad33	1805	* @return Current interrupt status
majik	0:21019d94ad33	1806	* @see MPU6050_RA_INT_STATUS
majik	0:21019d94ad33	1807	* @see MPU6050_INTERRUPT_MOT_BIT
majik	0:21019d94ad33	1808	*/
majik	0:21019d94ad33	1809	bool MPU6050::getIntMotionStatus()
majik	0:21019d94ad33	1810	{
majik	0:21019d94ad33	1811	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
majik	0:21019d94ad33	1812	return buffer[0];
majik	0:21019d94ad33	1813	}
majik	0:21019d94ad33	1814	/** Get Zero Motion Detection interrupt status.
majik	0:21019d94ad33	1815	* This bit automatically sets to 1 when a Zero Motion Detection interrupt has
majik	0:21019d94ad33	1816	* been generated. The bit clears to 0 after the register has been read.
majik	0:21019d94ad33	1817	* @return Current interrupt status
majik	0:21019d94ad33	1818	* @see MPU6050_RA_INT_STATUS
majik	0:21019d94ad33	1819	* @see MPU6050_INTERRUPT_ZMOT_BIT
majik	0:21019d94ad33	1820	*/
majik	0:21019d94ad33	1821	bool MPU6050::getIntZeroMotionStatus()
majik	0:21019d94ad33	1822	{
majik	0:21019d94ad33	1823	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
majik	0:21019d94ad33	1824	return buffer[0];
majik	0:21019d94ad33	1825	}
majik	0:21019d94ad33	1826	/** Get FIFO Buffer Overflow interrupt status.
majik	0:21019d94ad33	1827	* This bit automatically sets to 1 when a Free Fall interrupt has been
majik	0:21019d94ad33	1828	* generated. The bit clears to 0 after the register has been read.
majik	0:21019d94ad33	1829	* @return Current interrupt status
majik	0:21019d94ad33	1830	* @see MPU6050_RA_INT_STATUS
majik	0:21019d94ad33	1831	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
majik	0:21019d94ad33	1832	*/
majik	0:21019d94ad33	1833	bool MPU6050::getIntFIFOBufferOverflowStatus()
majik	0:21019d94ad33	1834	{
majik	0:21019d94ad33	1835	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
majik	0:21019d94ad33	1836	return buffer[0];
majik	0:21019d94ad33	1837	}
majik	0:21019d94ad33	1838	/** Get I2C Master interrupt status.
majik	0:21019d94ad33	1839	* This bit automatically sets to 1 when an I2C Master interrupt has been
majik	0:21019d94ad33	1840	* generated. For a list of I2C Master interrupts, please refer to Register 54.
majik	0:21019d94ad33	1841	* The bit clears to 0 after the register has been read.
majik	0:21019d94ad33	1842	* @return Current interrupt status
majik	0:21019d94ad33	1843	* @see MPU6050_RA_INT_STATUS
majik	0:21019d94ad33	1844	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
majik	0:21019d94ad33	1845	*/
majik	0:21019d94ad33	1846	bool MPU6050::getIntI2CMasterStatus()
majik	0:21019d94ad33	1847	{
majik	0:21019d94ad33	1848	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
majik	0:21019d94ad33	1849	return buffer[0];
majik	0:21019d94ad33	1850	}
majik	0:21019d94ad33	1851	/** Get Data Ready interrupt status.
majik	0:21019d94ad33	1852	* This bit automatically sets to 1 when a Data Ready interrupt has been
majik	0:21019d94ad33	1853	* generated. The bit clears to 0 after the register has been read.
majik	0:21019d94ad33	1854	* @return Current interrupt status
majik	0:21019d94ad33	1855	* @see MPU6050_RA_INT_STATUS
majik	0:21019d94ad33	1856	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
majik	0:21019d94ad33	1857	*/
majik	0:21019d94ad33	1858	bool MPU6050::getIntDataReadyStatus()
majik	0:21019d94ad33	1859	{
majik	0:21019d94ad33	1860	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
majik	0:21019d94ad33	1861	return buffer[0];
majik	0:21019d94ad33	1862	}
majik	0:21019d94ad33	1863
majik	0:21019d94ad33	1864	// ACCEL_OUT_ registers
majik	0:21019d94ad33	1865
majik	0:21019d94ad33	1866	/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
majik	0:21019d94ad33	1867	* FUNCTION NOT FULLY IMPLEMENTED YET.
majik	0:21019d94ad33	1868	* @param ax 16-bit signed integer container for accelerometer X-axis value
majik	0:21019d94ad33	1869	* @param ay 16-bit signed integer container for accelerometer Y-axis value
majik	0:21019d94ad33	1870	* @param az 16-bit signed integer container for accelerometer Z-axis value
majik	0:21019d94ad33	1871	* @param gx 16-bit signed integer container for gyroscope X-axis value
majik	0:21019d94ad33	1872	* @param gy 16-bit signed integer container for gyroscope Y-axis value
majik	0:21019d94ad33	1873	* @param gz 16-bit signed integer container for gyroscope Z-axis value
majik	0:21019d94ad33	1874	* @param mx 16-bit signed integer container for magnetometer X-axis value
majik	0:21019d94ad33	1875	* @param my 16-bit signed integer container for magnetometer Y-axis value
majik	0:21019d94ad33	1876	* @param mz 16-bit signed integer container for magnetometer Z-axis value
majik	0:21019d94ad33	1877	* @see getMotion6()
majik	0:21019d94ad33	1878	* @see getAcceleration()
majik	0:21019d94ad33	1879	* @see getRotation()
majik	0:21019d94ad33	1880	* @see MPU6050_RA_ACCEL_XOUT_H
majik	0:21019d94ad33	1881	*/
majik	0:21019d94ad33	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)
majik	0:21019d94ad33	1883	{
majik	0:21019d94ad33	1884	getMotion6(ax, ay, az, gx, gy, gz);
majik	0:21019d94ad33	1885
majik	0:21019d94ad33	1886	// magnetometer reading
majik	0:21019d94ad33	1887	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_PIN_CFG, 0x02); //set i2c bypass enable pin to true to access magnetometer
majik	0:21019d94ad33	1888	wait_ms(10); // necessary wait >=6ms
majik	0:21019d94ad33	1889	i2Cdev.writeByte(MPU9150_RA_MAG_ADDRESS, 0x0A, 0x01); // enable the magnetometer
majik	0:21019d94ad33	1890	wait_ms(10); // necessary wait >=6ms
majik	0:21019d94ad33	1891	i2Cdev.readBytes(MPU9150_RA_MAG_ADDRESS, MPU9150_RA_MAG_XOUT_L, 6, buffer);
majik	0:21019d94ad33	1892	*mx = (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	0:21019d94ad33	1893	*my = (((int16_t)buffer[2]) << 8) \| buffer[3];
majik	0:21019d94ad33	1894	*mz = (((int16_t)buffer[4]) << 8) \| buffer[5];
majik	0:21019d94ad33	1895	}
majik	0:21019d94ad33	1896	/** Get raw 6-axis motion sensor readings (accel/gyro).
majik	0:21019d94ad33	1897	* Retrieves all currently available motion sensor values.
majik	0:21019d94ad33	1898	* @param ax 16-bit signed integer container for accelerometer X-axis value
majik	0:21019d94ad33	1899	* @param ay 16-bit signed integer container for accelerometer Y-axis value
majik	0:21019d94ad33	1900	* @param az 16-bit signed integer container for accelerometer Z-axis value
majik	0:21019d94ad33	1901	* @param gx 16-bit signed integer container for gyroscope X-axis value
majik	0:21019d94ad33	1902	* @param gy 16-bit signed integer container for gyroscope Y-axis value
majik	0:21019d94ad33	1903	* @param gz 16-bit signed integer container for gyroscope Z-axis value
majik	0:21019d94ad33	1904	* @see getAcceleration()
majik	0:21019d94ad33	1905	* @see getRotation()
majik	0:21019d94ad33	1906	* @see MPU6050_RA_ACCEL_XOUT_H
majik	0:21019d94ad33	1907	*/
majik	0:21019d94ad33	1908	void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
majik	0:21019d94ad33	1909	{
majik	0:21019d94ad33	1910	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
majik	0:21019d94ad33	1911	*ax = (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	0:21019d94ad33	1912	*ay = (((int16_t)buffer[2]) << 8) \| buffer[3];
majik	0:21019d94ad33	1913	*az = (((int16_t)buffer[4]) << 8) \| buffer[5];
majik	0:21019d94ad33	1914	*gx = (((int16_t)buffer[8]) << 8) \| buffer[9];
majik	0:21019d94ad33	1915	*gy = (((int16_t)buffer[10]) << 8) \| buffer[11];
majik	0:21019d94ad33	1916	*gz = (((int16_t)buffer[12]) << 8) \| buffer[13];
majik	0:21019d94ad33	1917	}
majik	0:21019d94ad33	1918	/** Get 3-axis accelerometer readings.
majik	0:21019d94ad33	1919	* These registers store the most recent accelerometer measurements.
majik	0:21019d94ad33	1920	* Accelerometer measurements are written to these registers at the Sample Rate
majik	0:21019d94ad33	1921	* as defined in Register 25.
majik	0:21019d94ad33	1922	*
majik	0:21019d94ad33	1923	* The accelerometer measurement registers, along with the temperature
majik	0:21019d94ad33	1924	* measurement registers, gyroscope measurement registers, and external sensor
majik	0:21019d94ad33	1925	* data registers, are composed of two sets of registers: an internal register
majik	0:21019d94ad33	1926	* set and a user-facing read register set.
majik	0:21019d94ad33	1927	*
majik	0:21019d94ad33	1928	* The data within the accelerometer sensors' internal register set is always
majik	0:21019d94ad33	1929	* updated at the Sample Rate. Meanwhile, the user-facing read register set
majik	0:21019d94ad33	1930	* duplicates the internal register set's data values whenever the serial
majik	0:21019d94ad33	1931	* interface is idle. This guarantees that a burst read of sensor registers will
majik	0:21019d94ad33	1932	* read measurements from the same sampling instant. Note that if burst reads
majik	0:21019d94ad33	1933	* are not used, the user is responsible for ensuring a set of single byte reads
majik	0:21019d94ad33	1934	* correspond to a single sampling instant by checking the Data Ready interrupt.
majik	0:21019d94ad33	1935	*
majik	0:21019d94ad33	1936	* Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
majik	0:21019d94ad33	1937	* (Register 28). For each full scale setting, the accelerometers' sensitivity
majik	0:21019d94ad33	1938	* per LSB in ACCEL_xOUT is shown in the table below:
majik	0:21019d94ad33	1939	*
majik	0:21019d94ad33	1940	* <pre>
majik	0:21019d94ad33	1941	* AFS_SEL \| Full Scale Range \| LSB Sensitivity
majik	0:21019d94ad33	1942	* --------+------------------+----------------
majik	0:21019d94ad33	1943	* 0 \| +/- 2g \| 8192 LSB/mg
majik	0:21019d94ad33	1944	* 1 \| +/- 4g \| 4096 LSB/mg
majik	0:21019d94ad33	1945	* 2 \| +/- 8g \| 2048 LSB/mg
majik	0:21019d94ad33	1946	* 3 \| +/- 16g \| 1024 LSB/mg
majik	0:21019d94ad33	1947	* </pre>
majik	0:21019d94ad33	1948	*
majik	0:21019d94ad33	1949	* @param x 16-bit signed integer container for X-axis acceleration
majik	0:21019d94ad33	1950	* @param y 16-bit signed integer container for Y-axis acceleration
majik	0:21019d94ad33	1951	* @param z 16-bit signed integer container for Z-axis acceleration
majik	0:21019d94ad33	1952	* @see MPU6050_RA_GYRO_XOUT_H
majik	0:21019d94ad33	1953	*/
majik	0:21019d94ad33	1954	void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z)
majik	0:21019d94ad33	1955	{
majik	0:21019d94ad33	1956	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
majik	0:21019d94ad33	1957	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	0:21019d94ad33	1958	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
majik	0:21019d94ad33	1959	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
majik	0:21019d94ad33	1960	}
majik	0:21019d94ad33	1961	/** Get X-axis accelerometer reading.
majik	0:21019d94ad33	1962	* @return X-axis acceleration measurement in 16-bit 2's complement format
majik	0:21019d94ad33	1963	* @see getMotion6()
majik	0:21019d94ad33	1964	* @see MPU6050_RA_ACCEL_XOUT_H
majik	0:21019d94ad33	1965	*/
majik	0:21019d94ad33	1966	int16_t MPU6050::getAccelerationX()
majik	0:21019d94ad33	1967	{
majik	0:21019d94ad33	1968	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
majik	0:21019d94ad33	1969	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	0:21019d94ad33	1970	}
majik	0:21019d94ad33	1971	/** Get Y-axis accelerometer reading.
majik	0:21019d94ad33	1972	* @return Y-axis acceleration measurement in 16-bit 2's complement format
majik	0:21019d94ad33	1973	* @see getMotion6()
majik	0:21019d94ad33	1974	* @see MPU6050_RA_ACCEL_YOUT_H
majik	0:21019d94ad33	1975	*/
majik	0:21019d94ad33	1976	int16_t MPU6050::getAccelerationY()
majik	0:21019d94ad33	1977	{
majik	0:21019d94ad33	1978	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
majik	0:21019d94ad33	1979	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	0:21019d94ad33	1980	}
majik	0:21019d94ad33	1981	/** Get Z-axis accelerometer reading.
majik	0:21019d94ad33	1982	* @return Z-axis acceleration measurement in 16-bit 2's complement format
majik	0:21019d94ad33	1983	* @see getMotion6()
majik	0:21019d94ad33	1984	* @see MPU6050_RA_ACCEL_ZOUT_H
majik	0:21019d94ad33	1985	*/
majik	0:21019d94ad33	1986	int16_t MPU6050::getAccelerationZ()
majik	0:21019d94ad33	1987	{
majik	0:21019d94ad33	1988	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
majik	0:21019d94ad33	1989	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	0:21019d94ad33	1990	}
majik	0:21019d94ad33	1991
majik	0:21019d94ad33	1992	// TEMP_OUT_* registers
majik	0:21019d94ad33	1993
majik	0:21019d94ad33	1994	/** Get current internal temperature.
majik	0:21019d94ad33	1995	* @return Temperature reading in 16-bit 2's complement format
majik	0:21019d94ad33	1996	* @see MPU6050_RA_TEMP_OUT_H
majik	0:21019d94ad33	1997	*/
majik	0:21019d94ad33	1998	int16_t MPU6050::getTemperature()
majik	0:21019d94ad33	1999	{
majik	0:21019d94ad33	2000	i2Cdev.readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
majik	0:21019d94ad33	2001	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	0:21019d94ad33	2002	}
majik	0:21019d94ad33	2003
majik	0:21019d94ad33	2004	// GYRO_OUT_ registers
majik	0:21019d94ad33	2005
majik	0:21019d94ad33	2006	/** Get 3-axis gyroscope readings.
majik	0:21019d94ad33	2007	* These gyroscope measurement registers, along with the accelerometer
majik	0:21019d94ad33	2008	* measurement registers, temperature measurement registers, and external sensor
majik	0:21019d94ad33	2009	* data registers, are composed of two sets of registers: an internal register
majik	0:21019d94ad33	2010	* set and a user-facing read register set.
majik	0:21019d94ad33	2011	* The data within the gyroscope sensors' internal register set is always
majik	0:21019d94ad33	2012	* updated at the Sample Rate. Meanwhile, the user-facing read register set
majik	0:21019d94ad33	2013	* duplicates the internal register set's data values whenever the serial
majik	0:21019d94ad33	2014	* interface is idle. This guarantees that a burst read of sensor registers will
majik	0:21019d94ad33	2015	* read measurements from the same sampling instant. Note that if burst reads
majik	0:21019d94ad33	2016	* are not used, the user is responsible for ensuring a set of single byte reads
majik	0:21019d94ad33	2017	* correspond to a single sampling instant by checking the Data Ready interrupt.
majik	0:21019d94ad33	2018	*
majik	0:21019d94ad33	2019	* Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
majik	0:21019d94ad33	2020	* (Register 27). For each full scale setting, the gyroscopes' sensitivity per
majik	0:21019d94ad33	2021	* LSB in GYRO_xOUT is shown in the table below:
majik	0:21019d94ad33	2022	*
majik	0:21019d94ad33	2023	* <pre>
majik	0:21019d94ad33	2024	* FS_SEL \| Full Scale Range \| LSB Sensitivity
majik	0:21019d94ad33	2025	* -------+--------------------+----------------
majik	0:21019d94ad33	2026	* 0 \| +/- 250 degrees/s \| 131 LSB/deg/s
majik	0:21019d94ad33	2027	* 1 \| +/- 500 degrees/s \| 65.5 LSB/deg/s
majik	0:21019d94ad33	2028	* 2 \| +/- 1000 degrees/s \| 32.8 LSB/deg/s
majik	0:21019d94ad33	2029	* 3 \| +/- 2000 degrees/s \| 16.4 LSB/deg/s
majik	0:21019d94ad33	2030	* </pre>
majik	0:21019d94ad33	2031	*
majik	0:21019d94ad33	2032	* @param x 16-bit signed integer container for X-axis rotation
majik	0:21019d94ad33	2033	* @param y 16-bit signed integer container for Y-axis rotation
majik	0:21019d94ad33	2034	* @param z 16-bit signed integer container for Z-axis rotation
majik	0:21019d94ad33	2035	* @see getMotion6()
majik	0:21019d94ad33	2036	* @see MPU6050_RA_GYRO_XOUT_H
majik	0:21019d94ad33	2037	*/
majik	0:21019d94ad33	2038	void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z)
majik	0:21019d94ad33	2039	{
majik	0:21019d94ad33	2040	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
majik	0:21019d94ad33	2041	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	0:21019d94ad33	2042	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
majik	0:21019d94ad33	2043	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
majik	0:21019d94ad33	2044	}
majik	0:21019d94ad33	2045	/** Get X-axis gyroscope reading.
majik	0:21019d94ad33	2046	* @return X-axis rotation measurement in 16-bit 2's complement format
majik	0:21019d94ad33	2047	* @see getMotion6()
majik	0:21019d94ad33	2048	* @see MPU6050_RA_GYRO_XOUT_H
majik	0:21019d94ad33	2049	*/
majik	0:21019d94ad33	2050	int16_t MPU6050::getRotationX()
majik	0:21019d94ad33	2051	{
majik	0:21019d94ad33	2052	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
majik	0:21019d94ad33	2053	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	0:21019d94ad33	2054	}
majik	0:21019d94ad33	2055	/** Get Y-axis gyroscope reading.
majik	0:21019d94ad33	2056	* @return Y-axis rotation measurement in 16-bit 2's complement format
majik	0:21019d94ad33	2057	* @see getMotion6()
majik	0:21019d94ad33	2058	* @see MPU6050_RA_GYRO_YOUT_H
majik	0:21019d94ad33	2059	*/
majik	0:21019d94ad33	2060	int16_t MPU6050::getRotationY()
majik	0:21019d94ad33	2061	{
majik	0:21019d94ad33	2062	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
majik	0:21019d94ad33	2063	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	0:21019d94ad33	2064	}
majik	0:21019d94ad33	2065	/** Get Z-axis gyroscope reading.
majik	0:21019d94ad33	2066	* @return Z-axis rotation measurement in 16-bit 2's complement format
majik	0:21019d94ad33	2067	* @see getMotion6()
majik	0:21019d94ad33	2068	* @see MPU6050_RA_GYRO_ZOUT_H
majik	0:21019d94ad33	2069	*/
majik	0:21019d94ad33	2070	int16_t MPU6050::getRotationZ()
majik	0:21019d94ad33	2071	{
majik	0:21019d94ad33	2072	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
majik	0:21019d94ad33	2073	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	0:21019d94ad33	2074	}
majik	0:21019d94ad33	2075
majik	0:21019d94ad33	2076	// EXT_SENS_DATA_* registers
majik	0:21019d94ad33	2077
majik	0:21019d94ad33	2078	/** Read single byte from external sensor data register.
majik	0:21019d94ad33	2079	* These registers store data read from external sensors by the Slave 0, 1, 2,
majik	0:21019d94ad33	2080	* and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
majik	0:21019d94ad33	2081	* I2C_SLV4_DI (Register 53).
majik	0:21019d94ad33	2082	*
majik	0:21019d94ad33	2083	* External sensor data is written to these registers at the Sample Rate as
majik	0:21019d94ad33	2084	* defined in Register 25. This access rate can be reduced by using the Slave
majik	0:21019d94ad33	2085	* Delay Enable registers (Register 103).
majik	0:21019d94ad33	2086	*
majik	0:21019d94ad33	2087	* External sensor data registers, along with the gyroscope measurement
majik	0:21019d94ad33	2088	* registers, accelerometer measurement registers, and temperature measurement
majik	0:21019d94ad33	2089	* registers, are composed of two sets of registers: an internal register set
majik	0:21019d94ad33	2090	* and a user-facing read register set.
majik	0:21019d94ad33	2091	*
majik	0:21019d94ad33	2092	* The data within the external sensors' internal register set is always updated
majik	0:21019d94ad33	2093	* at the Sample Rate (or the reduced access rate) whenever the serial interface
majik	0:21019d94ad33	2094	* is idle. This guarantees that a burst read of sensor registers will read
majik	0:21019d94ad33	2095	* measurements from the same sampling instant. Note that if burst reads are not
majik	0:21019d94ad33	2096	* used, the user is responsible for ensuring a set of single byte reads
majik	0:21019d94ad33	2097	* correspond to a single sampling instant by checking the Data Ready interrupt.
majik	0:21019d94ad33	2098	*
majik	0:21019d94ad33	2099	* Data is placed in these external sensor data registers according to
majik	0:21019d94ad33	2100	* I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
majik	0:21019d94ad33	2101	* 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
majik	0:21019d94ad33	2102	* an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
majik	0:21019d94ad33	2103	* defined in Register 25) or delayed rate (if specified in Register 52 and
majik	0:21019d94ad33	2104	* 103). During each Sample cycle, slave reads are performed in order of Slave
majik	0:21019d94ad33	2105	* number. If all slaves are enabled with more than zero bytes to be read, the
majik	0:21019d94ad33	2106	* order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
majik	0:21019d94ad33	2107	*
majik	0:21019d94ad33	2108	* Each enabled slave will have EXT_SENS_DATA registers associated with it by
majik	0:21019d94ad33	2109	* number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
majik	0:21019d94ad33	2110	* EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
majik	0:21019d94ad33	2111	* change the higher numbered slaves' associated registers. Furthermore, if
majik	0:21019d94ad33	2112	* fewer total bytes are being read from the external sensors as a result of
majik	0:21019d94ad33	2113	* such a change, then the data remaining in the registers which no longer have
majik	0:21019d94ad33	2114	* an associated slave device (i.e. high numbered registers) will remain in
majik	0:21019d94ad33	2115	* these previously allocated registers unless reset.
majik	0:21019d94ad33	2116	*
majik	0:21019d94ad33	2117	* If the sum of the read lengths of all SLVx transactions exceed the number of
majik	0:21019d94ad33	2118	* available EXT_SENS_DATA registers, the excess bytes will be dropped. There
majik	0:21019d94ad33	2119	* are 24 EXT_SENS_DATA registers and hence the total read lengths between all
majik	0:21019d94ad33	2120	* the slaves cannot be greater than 24 or some bytes will be lost.
majik	0:21019d94ad33	2121	*
majik	0:21019d94ad33	2122	* Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
majik	0:21019d94ad33	2123	* information regarding the characteristics of Slave 4, please refer to
majik	0:21019d94ad33	2124	* Registers 49 to 53.
majik	0:21019d94ad33	2125	*
majik	0:21019d94ad33	2126	* EXAMPLE:
majik	0:21019d94ad33	2127	* Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
majik	0:21019d94ad33	2128	* I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
majik	0:21019d94ad33	2129	* I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
majik	0:21019d94ad33	2130	* through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
majik	0:21019d94ad33	2131	* will be associated with Slave 1. If Slave 2 is enabled as well, registers
majik	0:21019d94ad33	2132	* starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
majik	0:21019d94ad33	2133	*
majik	0:21019d94ad33	2134	* If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
majik	0:21019d94ad33	2135	* registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
majik	0:21019d94ad33	2136	* instead.
majik	0:21019d94ad33	2137	*
majik	0:21019d94ad33	2138	* REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
majik	0:21019d94ad33	2139	* If a slave is disabled at any time, the space initially allocated to the
majik	0:21019d94ad33	2140	* slave in the EXT_SENS_DATA register, will remain associated with that slave.
majik	0:21019d94ad33	2141	* This is to avoid dynamic adjustment of the register allocation.
majik	0:21019d94ad33	2142	*
majik	0:21019d94ad33	2143	* The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
majik	0:21019d94ad33	2144	* slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
majik	0:21019d94ad33	2145	*
majik	0:21019d94ad33	2146	* This above is also true if one of the slaves gets NACKed and stops
majik	0:21019d94ad33	2147	* functioning.
majik	0:21019d94ad33	2148	*
majik	0:21019d94ad33	2149	* @param position Starting position (0-23)
majik	0:21019d94ad33	2150	* @return Byte read from register
majik	0:21019d94ad33	2151	*/
majik	0:21019d94ad33	2152	uint8_t MPU6050::getExternalSensorByte(int position)
majik	0:21019d94ad33	2153	{
majik	0:21019d94ad33	2154	i2Cdev.readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
majik	0:21019d94ad33	2155	return buffer[0];
majik	0:21019d94ad33	2156	}
majik	0:21019d94ad33	2157	/** Read word (2 bytes) from external sensor data registers.
majik	0:21019d94ad33	2158	* @param position Starting position (0-21)
majik	0:21019d94ad33	2159	* @return Word read from register
majik	0:21019d94ad33	2160	* @see getExternalSensorByte()
majik	0:21019d94ad33	2161	*/
majik	0:21019d94ad33	2162	uint16_t MPU6050::getExternalSensorWord(int position)
majik	0:21019d94ad33	2163	{
majik	0:21019d94ad33	2164	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
majik	0:21019d94ad33	2165	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
majik	0:21019d94ad33	2166	}
majik	0:21019d94ad33	2167	/** Read double word (4 bytes) from external sensor data registers.
majik	0:21019d94ad33	2168	* @param position Starting position (0-20)
majik	0:21019d94ad33	2169	* @return Double word read from registers
majik	0:21019d94ad33	2170	* @see getExternalSensorByte()
majik	0:21019d94ad33	2171	*/
majik	0:21019d94ad33	2172	uint32_t MPU6050::getExternalSensorDWord(int position)
majik	0:21019d94ad33	2173	{
majik	0:21019d94ad33	2174	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
majik	0:21019d94ad33	2175	return (((uint32_t)buffer[0]) << 24) \| (((uint32_t)buffer[1]) << 16) \| (((uint16_t)buffer[2]) << 8) \| buffer[3];
majik	0:21019d94ad33	2176	}
majik	0:21019d94ad33	2177
majik	0:21019d94ad33	2178	// MOT_DETECT_STATUS register
majik	0:21019d94ad33	2179
majik	0:21019d94ad33	2180	/** Get X-axis negative motion detection interrupt status.
majik	0:21019d94ad33	2181	* @return Motion detection status
majik	0:21019d94ad33	2182	* @see MPU6050_RA_MOT_DETECT_STATUS
majik	0:21019d94ad33	2183	* @see MPU6050_MOTION_MOT_XNEG_BIT
majik	0:21019d94ad33	2184	*/
majik	0:21019d94ad33	2185	bool MPU6050::getXNegMotionDetected()
majik	0:21019d94ad33	2186	{
majik	0:21019d94ad33	2187	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
majik	0:21019d94ad33	2188	return buffer[0];
majik	0:21019d94ad33	2189	}
majik	0:21019d94ad33	2190	/** Get X-axis positive motion detection interrupt status.
majik	0:21019d94ad33	2191	* @return Motion detection status
majik	0:21019d94ad33	2192	* @see MPU6050_RA_MOT_DETECT_STATUS
majik	0:21019d94ad33	2193	* @see MPU6050_MOTION_MOT_XPOS_BIT
majik	0:21019d94ad33	2194	*/
majik	0:21019d94ad33	2195	bool MPU6050::getXPosMotionDetected()
majik	0:21019d94ad33	2196	{
majik	0:21019d94ad33	2197	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
majik	0:21019d94ad33	2198	return buffer[0];
majik	0:21019d94ad33	2199	}
majik	0:21019d94ad33	2200	/** Get Y-axis negative motion detection interrupt status.
majik	0:21019d94ad33	2201	* @return Motion detection status
majik	0:21019d94ad33	2202	* @see MPU6050_RA_MOT_DETECT_STATUS
majik	0:21019d94ad33	2203	* @see MPU6050_MOTION_MOT_YNEG_BIT
majik	0:21019d94ad33	2204	*/
majik	0:21019d94ad33	2205	bool MPU6050::getYNegMotionDetected()
majik	0:21019d94ad33	2206	{
majik	0:21019d94ad33	2207	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
majik	0:21019d94ad33	2208	return buffer[0];
majik	0:21019d94ad33	2209	}
majik	0:21019d94ad33	2210	/** Get Y-axis positive motion detection interrupt status.
majik	0:21019d94ad33	2211	* @return Motion detection status
majik	0:21019d94ad33	2212	* @see MPU6050_RA_MOT_DETECT_STATUS
majik	0:21019d94ad33	2213	* @see MPU6050_MOTION_MOT_YPOS_BIT
majik	0:21019d94ad33	2214	*/
majik	0:21019d94ad33	2215	bool MPU6050::getYPosMotionDetected()
majik	0:21019d94ad33	2216	{
majik	0:21019d94ad33	2217	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
majik	0:21019d94ad33	2218	return buffer[0];
majik	0:21019d94ad33	2219	}
majik	0:21019d94ad33	2220	/** Get Z-axis negative motion detection interrupt status.
majik	0:21019d94ad33	2221	* @return Motion detection status
majik	0:21019d94ad33	2222	* @see MPU6050_RA_MOT_DETECT_STATUS
majik	0:21019d94ad33	2223	* @see MPU6050_MOTION_MOT_ZNEG_BIT
majik	0:21019d94ad33	2224	*/
majik	0:21019d94ad33	2225	bool MPU6050::getZNegMotionDetected()
majik	0:21019d94ad33	2226	{
majik	0:21019d94ad33	2227	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
majik	0:21019d94ad33	2228	return buffer[0];
majik	0:21019d94ad33	2229	}
majik	0:21019d94ad33	2230	/** Get Z-axis positive motion detection interrupt status.
majik	0:21019d94ad33	2231	* @return Motion detection status
majik	0:21019d94ad33	2232	* @see MPU6050_RA_MOT_DETECT_STATUS
majik	0:21019d94ad33	2233	* @see MPU6050_MOTION_MOT_ZPOS_BIT
majik	0:21019d94ad33	2234	*/
majik	0:21019d94ad33	2235	bool MPU6050::getZPosMotionDetected()
majik	0:21019d94ad33	2236	{
majik	0:21019d94ad33	2237	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
majik	0:21019d94ad33	2238	return buffer[0];
majik	0:21019d94ad33	2239	}
majik	0:21019d94ad33	2240	/** Get zero motion detection interrupt status.
majik	0:21019d94ad33	2241	* @return Motion detection status
majik	0:21019d94ad33	2242	* @see MPU6050_RA_MOT_DETECT_STATUS
majik	0:21019d94ad33	2243	* @see MPU6050_MOTION_MOT_ZRMOT_BIT
majik	0:21019d94ad33	2244	*/
majik	0:21019d94ad33	2245	bool MPU6050::getZeroMotionDetected()
majik	0:21019d94ad33	2246	{
majik	0:21019d94ad33	2247	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
majik	0:21019d94ad33	2248	return buffer[0];
majik	0:21019d94ad33	2249	}
majik	0:21019d94ad33	2250
majik	0:21019d94ad33	2251	// I2C_SLV*_DO register
majik	0:21019d94ad33	2252
majik	0:21019d94ad33	2253	/** Write byte to Data Output container for specified slave.
majik	0:21019d94ad33	2254	* This register holds the output data written into Slave when Slave is set to
majik	0:21019d94ad33	2255	* write mode. For further information regarding Slave control, please
majik	0:21019d94ad33	2256	* refer to Registers 37 to 39 and immediately following.
majik	0:21019d94ad33	2257	* @param num Slave number (0-3)
majik	0:21019d94ad33	2258	* @param data Byte to write
majik	0:21019d94ad33	2259	* @see MPU6050_RA_I2C_SLV0_DO
majik	0:21019d94ad33	2260	*/
majik	0:21019d94ad33	2261	void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data)
majik	0:21019d94ad33	2262	{
majik	0:21019d94ad33	2263	if (num > 3) return;
majik	0:21019d94ad33	2264	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
majik	0:21019d94ad33	2265	}
majik	0:21019d94ad33	2266
majik	0:21019d94ad33	2267	// I2C_MST_DELAY_CTRL register
majik	0:21019d94ad33	2268
majik	0:21019d94ad33	2269	/** Get external data shadow delay enabled status.
majik	0:21019d94ad33	2270	* This register is used to specify the timing of external sensor data
majik	0:21019d94ad33	2271	* shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
majik	0:21019d94ad33	2272	* sensor data is delayed until all data has been received.
majik	0:21019d94ad33	2273	* @return Current external data shadow delay enabled status.
majik	0:21019d94ad33	2274	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
majik	0:21019d94ad33	2275	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
majik	0:21019d94ad33	2276	*/
majik	0:21019d94ad33	2277	bool MPU6050::getExternalShadowDelayEnabled()
majik	0:21019d94ad33	2278	{
majik	0:21019d94ad33	2279	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
majik	0:21019d94ad33	2280	return buffer[0];
majik	0:21019d94ad33	2281	}
majik	0:21019d94ad33	2282	/** Set external data shadow delay enabled status.
majik	0:21019d94ad33	2283	* @param enabled New external data shadow delay enabled status.
majik	0:21019d94ad33	2284	* @see getExternalShadowDelayEnabled()
majik	0:21019d94ad33	2285	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
majik	0:21019d94ad33	2286	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
majik	0:21019d94ad33	2287	*/
majik	0:21019d94ad33	2288	void MPU6050::setExternalShadowDelayEnabled(bool enabled)
majik	0:21019d94ad33	2289	{
majik	0:21019d94ad33	2290	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
majik	0:21019d94ad33	2291	}
majik	0:21019d94ad33	2292	/** Get slave delay enabled status.
majik	0:21019d94ad33	2293	* When a particular slave delay is enabled, the rate of access for the that
majik	0:21019d94ad33	2294	* slave device is reduced. When a slave's access rate is decreased relative to
majik	0:21019d94ad33	2295	* the Sample Rate, the slave is accessed every:
majik	0:21019d94ad33	2296	*
majik	0:21019d94ad33	2297	* 1 / (1 + I2C_MST_DLY) Samples
majik	0:21019d94ad33	2298	*
majik	0:21019d94ad33	2299	* This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25)
majik	0:21019d94ad33	2300	* and DLPF_CFG (register 26).
majik	0:21019d94ad33	2301	*
majik	0:21019d94ad33	2302	* For further information regarding I2C_MST_DLY, please refer to register 52.
majik	0:21019d94ad33	2303	* For further information regarding the Sample Rate, please refer to register 25.
majik	0:21019d94ad33	2304	*
majik	0:21019d94ad33	2305	* @param num Slave number (0-4)
majik	0:21019d94ad33	2306	* @return Current slave delay enabled status.
majik	0:21019d94ad33	2307	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
majik	0:21019d94ad33	2308	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
majik	0:21019d94ad33	2309	*/
majik	0:21019d94ad33	2310	bool MPU6050::getSlaveDelayEnabled(uint8_t num)
majik	0:21019d94ad33	2311	{
majik	0:21019d94ad33	2312	// MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
majik	0:21019d94ad33	2313	if (num > 4) return 0;
majik	0:21019d94ad33	2314	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
majik	0:21019d94ad33	2315	return buffer[0];
majik	0:21019d94ad33	2316	}
majik	0:21019d94ad33	2317	/** Set slave delay enabled status.
majik	0:21019d94ad33	2318	* @param num Slave number (0-4)
majik	0:21019d94ad33	2319	* @param enabled New slave delay enabled status.
majik	0:21019d94ad33	2320	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
majik	0:21019d94ad33	2321	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
majik	0:21019d94ad33	2322	*/
majik	0:21019d94ad33	2323	void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled)
majik	0:21019d94ad33	2324	{
majik	0:21019d94ad33	2325	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
majik	0:21019d94ad33	2326	}
majik	0:21019d94ad33	2327
majik	0:21019d94ad33	2328	// SIGNAL_PATH_RESET register
majik	0:21019d94ad33	2329
majik	0:21019d94ad33	2330	/** Reset gyroscope signal path.
majik	0:21019d94ad33	2331	* The reset will revert the signal path analog to digital converters and
majik	0:21019d94ad33	2332	* filters to their power up configurations.
majik	0:21019d94ad33	2333	* @see MPU6050_RA_SIGNAL_PATH_RESET
majik	0:21019d94ad33	2334	* @see MPU6050_PATHRESET_GYRO_RESET_BIT
majik	0:21019d94ad33	2335	*/
majik	0:21019d94ad33	2336	void MPU6050::resetGyroscopePath()
majik	0:21019d94ad33	2337	{
majik	0:21019d94ad33	2338	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
majik	0:21019d94ad33	2339	}
majik	0:21019d94ad33	2340	/** Reset accelerometer signal path.
majik	0:21019d94ad33	2341	* The reset will revert the signal path analog to digital converters and
majik	0:21019d94ad33	2342	* filters to their power up configurations.
majik	0:21019d94ad33	2343	* @see MPU6050_RA_SIGNAL_PATH_RESET
majik	0:21019d94ad33	2344	* @see MPU6050_PATHRESET_ACCEL_RESET_BIT
majik	0:21019d94ad33	2345	*/
majik	0:21019d94ad33	2346	void MPU6050::resetAccelerometerPath()
majik	0:21019d94ad33	2347	{
majik	0:21019d94ad33	2348	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
majik	0:21019d94ad33	2349	}
majik	0:21019d94ad33	2350	/** Reset temperature sensor signal path.
majik	0:21019d94ad33	2351	* The reset will revert the signal path analog to digital converters and
majik	0:21019d94ad33	2352	* filters to their power up configurations.
majik	0:21019d94ad33	2353	* @see MPU6050_RA_SIGNAL_PATH_RESET
majik	0:21019d94ad33	2354	* @see MPU6050_PATHRESET_TEMP_RESET_BIT
majik	0:21019d94ad33	2355	*/
majik	0:21019d94ad33	2356	void MPU6050::resetTemperaturePath()
majik	0:21019d94ad33	2357	{
majik	0:21019d94ad33	2358	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
majik	0:21019d94ad33	2359	}
majik	0:21019d94ad33	2360
majik	0:21019d94ad33	2361	// MOT_DETECT_CTRL register
majik	0:21019d94ad33	2362
majik	0:21019d94ad33	2363	/** Get accelerometer power-on delay.
majik	0:21019d94ad33	2364	* The accelerometer data path provides samples to the sensor registers, Motion
majik	0:21019d94ad33	2365	* detection, Zero Motion detection, and Free Fall detection modules. The
majik	0:21019d94ad33	2366	* signal path contains filters which must be flushed on wake-up with new
majik	0:21019d94ad33	2367	* samples before the detection modules begin operations. The default wake-up
majik	0:21019d94ad33	2368	* delay, of 4ms can be lengthened by up to 3ms. This additional delay is
majik	0:21019d94ad33	2369	* specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
majik	0:21019d94ad33	2370	* any value above zero unless instructed otherwise by InvenSense. Please refer
majik	0:21019d94ad33	2371	* to Section 8 of the MPU-6000/MPU-6050 Product Specification document for
majik	0:21019d94ad33	2372	* further information regarding the detection modules.
majik	0:21019d94ad33	2373	* @return Current accelerometer power-on delay
majik	0:21019d94ad33	2374	* @see MPU6050_RA_MOT_DETECT_CTRL
majik	0:21019d94ad33	2375	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
majik	0:21019d94ad33	2376	*/
majik	0:21019d94ad33	2377	uint8_t MPU6050::getAccelerometerPowerOnDelay()
majik	0:21019d94ad33	2378	{
majik	0:21019d94ad33	2379	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
majik	0:21019d94ad33	2380	return buffer[0];
majik	0:21019d94ad33	2381	}
majik	0:21019d94ad33	2382	/** Set accelerometer power-on delay.
majik	0:21019d94ad33	2383	* @param delay New accelerometer power-on delay (0-3)
majik	0:21019d94ad33	2384	* @see getAccelerometerPowerOnDelay()
majik	0:21019d94ad33	2385	* @see MPU6050_RA_MOT_DETECT_CTRL
majik	0:21019d94ad33	2386	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
majik	0:21019d94ad33	2387	*/
majik	0:21019d94ad33	2388	void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay)
majik	0:21019d94ad33	2389	{
majik	0:21019d94ad33	2390	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
majik	0:21019d94ad33	2391	}
majik	0:21019d94ad33	2392	/** Get Free Fall detection counter decrement configuration.
majik	0:21019d94ad33	2393	* Detection is registered by the Free Fall detection module after accelerometer
majik	0:21019d94ad33	2394	* measurements meet their respective threshold conditions over a specified
majik	0:21019d94ad33	2395	* number of samples. When the threshold conditions are met, the corresponding
majik	0:21019d94ad33	2396	* detection counter increments by 1. The user may control the rate at which the
majik	0:21019d94ad33	2397	* detection counter decrements when the threshold condition is not met by
majik	0:21019d94ad33	2398	* configuring FF_COUNT. The decrement rate can be set according to the
majik	0:21019d94ad33	2399	* following table:
majik	0:21019d94ad33	2400	*
majik	0:21019d94ad33	2401	* <pre>
majik	0:21019d94ad33	2402	* FF_COUNT \| Counter Decrement
majik	0:21019d94ad33	2403	* ---------+------------------
majik	0:21019d94ad33	2404	* 0 \| Reset
majik	0:21019d94ad33	2405	* 1 \| 1
majik	0:21019d94ad33	2406	* 2 \| 2
majik	0:21019d94ad33	2407	* 3 \| 4
majik	0:21019d94ad33	2408	* </pre>
majik	0:21019d94ad33	2409	*
majik	0:21019d94ad33	2410	* When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
majik	0:21019d94ad33	2411	* reset the counter to 0. For further information on Free Fall detection,
majik	0:21019d94ad33	2412	* please refer to Registers 29 to 32.
majik	0:21019d94ad33	2413	*
majik	0:21019d94ad33	2414	* @return Current decrement configuration
majik	0:21019d94ad33	2415	* @see MPU6050_RA_MOT_DETECT_CTRL
majik	0:21019d94ad33	2416	* @see MPU6050_DETECT_FF_COUNT_BIT
majik	0:21019d94ad33	2417	*/
majik	0:21019d94ad33	2418	uint8_t MPU6050::getFreefallDetectionCounterDecrement()
majik	0:21019d94ad33	2419	{
majik	0:21019d94ad33	2420	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
majik	0:21019d94ad33	2421	return buffer[0];
majik	0:21019d94ad33	2422	}
majik	0:21019d94ad33	2423	/** Set Free Fall detection counter decrement configuration.
majik	0:21019d94ad33	2424	* @param decrement New decrement configuration value
majik	0:21019d94ad33	2425	* @see getFreefallDetectionCounterDecrement()
majik	0:21019d94ad33	2426	* @see MPU6050_RA_MOT_DETECT_CTRL
majik	0:21019d94ad33	2427	* @see MPU6050_DETECT_FF_COUNT_BIT
majik	0:21019d94ad33	2428	*/
majik	0:21019d94ad33	2429	void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement)
majik	0:21019d94ad33	2430	{
majik	0:21019d94ad33	2431	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
majik	0:21019d94ad33	2432	}
majik	0:21019d94ad33	2433	/** Get Motion detection counter decrement configuration.
majik	0:21019d94ad33	2434	* Detection is registered by the Motion detection module after accelerometer
majik	0:21019d94ad33	2435	* measurements meet their respective threshold conditions over a specified
majik	0:21019d94ad33	2436	* number of samples. When the threshold conditions are met, the corresponding
majik	0:21019d94ad33	2437	* detection counter increments by 1. The user may control the rate at which the
majik	0:21019d94ad33	2438	* detection counter decrements when the threshold condition is not met by
majik	0:21019d94ad33	2439	* configuring MOT_COUNT. The decrement rate can be set according to the
majik	0:21019d94ad33	2440	* following table:
majik	0:21019d94ad33	2441	*
majik	0:21019d94ad33	2442	* <pre>
majik	0:21019d94ad33	2443	* MOT_COUNT \| Counter Decrement
majik	0:21019d94ad33	2444	* ----------+------------------
majik	0:21019d94ad33	2445	* 0 \| Reset
majik	0:21019d94ad33	2446	* 1 \| 1
majik	0:21019d94ad33	2447	* 2 \| 2
majik	0:21019d94ad33	2448	* 3 \| 4
majik	0:21019d94ad33	2449	* </pre>
majik	0:21019d94ad33	2450	*
majik	0:21019d94ad33	2451	* When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
majik	0:21019d94ad33	2452	* reset the counter to 0. For further information on Motion detection,
majik	0:21019d94ad33	2453	* please refer to Registers 29 to 32.
majik	0:21019d94ad33	2454	*
majik	0:21019d94ad33	2455	*/
majik	0:21019d94ad33	2456	uint8_t MPU6050::getMotionDetectionCounterDecrement()
majik	0:21019d94ad33	2457	{
majik	0:21019d94ad33	2458	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
majik	0:21019d94ad33	2459	return buffer[0];
majik	0:21019d94ad33	2460	}
majik	0:21019d94ad33	2461	/** Set Motion detection counter decrement configuration.
majik	0:21019d94ad33	2462	* @param decrement New decrement configuration value
majik	0:21019d94ad33	2463	* @see getMotionDetectionCounterDecrement()
majik	0:21019d94ad33	2464	* @see MPU6050_RA_MOT_DETECT_CTRL
majik	0:21019d94ad33	2465	* @see MPU6050_DETECT_MOT_COUNT_BIT
majik	0:21019d94ad33	2466	*/
majik	0:21019d94ad33	2467	void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement)
majik	0:21019d94ad33	2468	{
majik	0:21019d94ad33	2469	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
majik	0:21019d94ad33	2470	}
majik	0:21019d94ad33	2471
majik	0:21019d94ad33	2472	// USER_CTRL register
majik	0:21019d94ad33	2473
majik	0:21019d94ad33	2474	/** Get FIFO enabled status.
majik	0:21019d94ad33	2475	* When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
majik	0:21019d94ad33	2476	* cannot be written to or read from while disabled. The FIFO buffer's state
majik	0:21019d94ad33	2477	* does not change unless the MPU-60X0 is power cycled.
majik	0:21019d94ad33	2478	* @return Current FIFO enabled status
majik	0:21019d94ad33	2479	* @see MPU6050_RA_USER_CTRL
majik	0:21019d94ad33	2480	* @see MPU6050_USERCTRL_FIFO_EN_BIT
majik	0:21019d94ad33	2481	*/
majik	0:21019d94ad33	2482	bool MPU6050::getFIFOEnabled()
majik	0:21019d94ad33	2483	{
majik	0:21019d94ad33	2484	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
majik	0:21019d94ad33	2485	return buffer[0];
majik	0:21019d94ad33	2486	}
majik	0:21019d94ad33	2487	/** Set FIFO enabled status.
majik	0:21019d94ad33	2488	* @param enabled New FIFO enabled status
majik	0:21019d94ad33	2489	* @see getFIFOEnabled()
majik	0:21019d94ad33	2490	* @see MPU6050_RA_USER_CTRL
majik	0:21019d94ad33	2491	* @see MPU6050_USERCTRL_FIFO_EN_BIT
majik	0:21019d94ad33	2492	*/
majik	0:21019d94ad33	2493	void MPU6050::setFIFOEnabled(bool enabled)
majik	0:21019d94ad33	2494	{
majik	0:21019d94ad33	2495	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
majik	0:21019d94ad33	2496	}
majik	0:21019d94ad33	2497	/** Get I2C Master Mode enabled status.
majik	0:21019d94ad33	2498	* When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
majik	0:21019d94ad33	2499	* external sensor slave devices on the auxiliary I2C bus. When this bit is
majik	0:21019d94ad33	2500	* cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
majik	0:21019d94ad33	2501	* driven by the primary I2C bus (SDA and SCL). This is a precondition to
majik	0:21019d94ad33	2502	* enabling Bypass Mode. For further information regarding Bypass Mode, please
majik	0:21019d94ad33	2503	* refer to Register 55.
majik	0:21019d94ad33	2504	* @return Current I2C Master Mode enabled status
majik	0:21019d94ad33	2505	* @see MPU6050_RA_USER_CTRL
majik	0:21019d94ad33	2506	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
majik	0:21019d94ad33	2507	*/
majik	0:21019d94ad33	2508	bool MPU6050::getI2CMasterModeEnabled()
majik	0:21019d94ad33	2509	{
majik	0:21019d94ad33	2510	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
majik	0:21019d94ad33	2511	return buffer[0];
majik	0:21019d94ad33	2512	}
majik	0:21019d94ad33	2513	/** Set I2C Master Mode enabled status.
majik	0:21019d94ad33	2514	* @param enabled New I2C Master Mode enabled status
majik	0:21019d94ad33	2515	* @see getI2CMasterModeEnabled()
majik	0:21019d94ad33	2516	* @see MPU6050_RA_USER_CTRL
majik	0:21019d94ad33	2517	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
majik	0:21019d94ad33	2518	*/
majik	0:21019d94ad33	2519	void MPU6050::setI2CMasterModeEnabled(bool enabled)
majik	0:21019d94ad33	2520	{
majik	0:21019d94ad33	2521	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
majik	0:21019d94ad33	2522	}
majik	0:21019d94ad33	2523	/** Switch from I2C to SPI mode (MPU-6000 only)
majik	0:21019d94ad33	2524	* If this is set, the primary SPI interface will be enabled in place of the
majik	0:21019d94ad33	2525	* disabled primary I2C interface.
majik	0:21019d94ad33	2526	*/
majik	0:21019d94ad33	2527	void MPU6050::switchSPIEnabled(bool enabled)
majik	0:21019d94ad33	2528	{
majik	0:21019d94ad33	2529	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
majik	0:21019d94ad33	2530	}
majik	0:21019d94ad33	2531	/** Reset the FIFO.
majik	0:21019d94ad33	2532	* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
majik	0:21019d94ad33	2533	* bit automatically clears to 0 after the reset has been triggered.
majik	0:21019d94ad33	2534	* @see MPU6050_RA_USER_CTRL
majik	0:21019d94ad33	2535	* @see MPU6050_USERCTRL_FIFO_RESET_BIT
majik	0:21019d94ad33	2536	*/
majik	0:21019d94ad33	2537	void MPU6050::resetFIFO()
majik	0:21019d94ad33	2538	{
majik	0:21019d94ad33	2539	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
majik	0:21019d94ad33	2540	}
majik	0:21019d94ad33	2541	/** Reset the I2C Master.
majik	0:21019d94ad33	2542	* This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
majik	0:21019d94ad33	2543	* This bit automatically clears to 0 after the reset has been triggered.
majik	0:21019d94ad33	2544	* @see MPU6050_RA_USER_CTRL
majik	0:21019d94ad33	2545	* @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
majik	0:21019d94ad33	2546	*/
majik	0:21019d94ad33	2547	void MPU6050::resetI2CMaster()
majik	0:21019d94ad33	2548	{
majik	0:21019d94ad33	2549	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
majik	0:21019d94ad33	2550	}
majik	0:21019d94ad33	2551	/** Reset all sensor registers and signal paths.
majik	0:21019d94ad33	2552	* When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
majik	0:21019d94ad33	2553	* accelerometers, and temperature sensor). This operation will also clear the
majik	0:21019d94ad33	2554	* sensor registers. This bit automatically clears to 0 after the reset has been
majik	0:21019d94ad33	2555	* triggered.
majik	0:21019d94ad33	2556	*
majik	0:21019d94ad33	2557	* When resetting only the signal path (and not the sensor registers), please
majik	0:21019d94ad33	2558	* use Register 104, SIGNAL_PATH_RESET.
majik	0:21019d94ad33	2559	*
majik	0:21019d94ad33	2560	* @see MPU6050_RA_USER_CTRL
majik	0:21019d94ad33	2561	* @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
majik	0:21019d94ad33	2562	*/
majik	0:21019d94ad33	2563	void MPU6050::resetSensors()
majik	0:21019d94ad33	2564	{
majik	0:21019d94ad33	2565	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
majik	0:21019d94ad33	2566	}
majik	0:21019d94ad33	2567
majik	0:21019d94ad33	2568	// PWR_MGMT_1 register
majik	0:21019d94ad33	2569
majik	0:21019d94ad33	2570	/** Trigger a full device reset.
majik	0:21019d94ad33	2571	* A small delay of ~50ms may be desirable after triggering a reset.
majik	0:21019d94ad33	2572	* @see MPU6050_RA_PWR_MGMT_1
majik	0:21019d94ad33	2573	* @see MPU6050_PWR1_DEVICE_RESET_BIT
majik	0:21019d94ad33	2574	*/
majik	0:21019d94ad33	2575	void MPU6050::reset()
majik	0:21019d94ad33	2576	{
majik	0:21019d94ad33	2577	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
majik	0:21019d94ad33	2578	}
majik	0:21019d94ad33	2579	/** Get sleep mode status.
majik	0:21019d94ad33	2580	* Setting the SLEEP bit in the register puts the device into very low power
majik	0:21019d94ad33	2581	* sleep mode. In this mode, only the serial interface and internal registers
majik	0:21019d94ad33	2582	* remain active, allowing for a very low standby current. Clearing this bit
majik	0:21019d94ad33	2583	* puts the device back into normal mode. To save power, the individual standby
majik	0:21019d94ad33	2584	* selections for each of the gyros should be used if any gyro axis is not used
majik	0:21019d94ad33	2585	* by the application.
majik	0:21019d94ad33	2586	* @return Current sleep mode enabled status
majik	0:21019d94ad33	2587	* @see MPU6050_RA_PWR_MGMT_1
majik	0:21019d94ad33	2588	* @see MPU6050_PWR1_SLEEP_BIT
majik	0:21019d94ad33	2589	*/
majik	0:21019d94ad33	2590	bool MPU6050::getSleepEnabled()
majik	0:21019d94ad33	2591	{
majik	0:21019d94ad33	2592	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
majik	0:21019d94ad33	2593	return buffer[0];
majik	0:21019d94ad33	2594	}
majik	0:21019d94ad33	2595	/** Set sleep mode status.
majik	0:21019d94ad33	2596	* @param enabled New sleep mode enabled status
majik	0:21019d94ad33	2597	* @see getSleepEnabled()
majik	0:21019d94ad33	2598	* @see MPU6050_RA_PWR_MGMT_1
majik	0:21019d94ad33	2599	* @see MPU6050_PWR1_SLEEP_BIT
majik	0:21019d94ad33	2600	*/
majik	0:21019d94ad33	2601	void MPU6050::setSleepEnabled(bool enabled)
majik	0:21019d94ad33	2602	{
majik	0:21019d94ad33	2603	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
majik	0:21019d94ad33	2604	}
majik	0:21019d94ad33	2605	/** Get wake cycle enabled status.
majik	0:21019d94ad33	2606	* When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
majik	0:21019d94ad33	2607	* between sleep mode and waking up to take a single sample of data from active
majik	0:21019d94ad33	2608	* sensors at a rate determined by LP_WAKE_CTRL (register 108).
majik	0:21019d94ad33	2609	* @return Current sleep mode enabled status
majik	0:21019d94ad33	2610	* @see MPU6050_RA_PWR_MGMT_1
majik	0:21019d94ad33	2611	* @see MPU6050_PWR1_CYCLE_BIT
majik	0:21019d94ad33	2612	*/
majik	0:21019d94ad33	2613	bool MPU6050::getWakeCycleEnabled()
majik	0:21019d94ad33	2614	{
majik	0:21019d94ad33	2615	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
majik	0:21019d94ad33	2616	return buffer[0];
majik	0:21019d94ad33	2617	}
majik	0:21019d94ad33	2618	/** Set wake cycle enabled status.
majik	0:21019d94ad33	2619	* @param enabled New sleep mode enabled status
majik	0:21019d94ad33	2620	* @see getWakeCycleEnabled()
majik	0:21019d94ad33	2621	* @see MPU6050_RA_PWR_MGMT_1
majik	0:21019d94ad33	2622	* @see MPU6050_PWR1_CYCLE_BIT
majik	0:21019d94ad33	2623	*/
majik	0:21019d94ad33	2624	void MPU6050::setWakeCycleEnabled(bool enabled)
majik	0:21019d94ad33	2625	{
majik	0:21019d94ad33	2626	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
majik	0:21019d94ad33	2627	}
majik	0:21019d94ad33	2628	/** Get temperature sensor enabled status.
majik	0:21019d94ad33	2629	* Control the usage of the internal temperature sensor.
majik	0:21019d94ad33	2630	*
majik	0:21019d94ad33	2631	* Note: this register stores the disabled value, but for consistency with the
majik	0:21019d94ad33	2632	* rest of the code, the function is named and used with standard true/false
majik	0:21019d94ad33	2633	* values to indicate whether the sensor is enabled or disabled, respectively.
majik	0:21019d94ad33	2634	*
majik	0:21019d94ad33	2635	* @return Current temperature sensor enabled status
majik	0:21019d94ad33	2636	* @see MPU6050_RA_PWR_MGMT_1
majik	0:21019d94ad33	2637	* @see MPU6050_PWR1_TEMP_DIS_BIT
majik	0:21019d94ad33	2638	*/
majik	0:21019d94ad33	2639	bool MPU6050::getTempSensorEnabled()
majik	0:21019d94ad33	2640	{
majik	0:21019d94ad33	2641	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
majik	0:21019d94ad33	2642	return buffer[0] == 0; // 1 is actually disabled here
majik	0:21019d94ad33	2643	}
majik	0:21019d94ad33	2644	/** Set temperature sensor enabled status.
majik	0:21019d94ad33	2645	* Note: this register stores the disabled value, but for consistency with the
majik	0:21019d94ad33	2646	* rest of the code, the function is named and used with standard true/false
majik	0:21019d94ad33	2647	* values to indicate whether the sensor is enabled or disabled, respectively.
majik	0:21019d94ad33	2648	*
majik	0:21019d94ad33	2649	* @param enabled New temperature sensor enabled status
majik	0:21019d94ad33	2650	* @see getTempSensorEnabled()
majik	0:21019d94ad33	2651	* @see MPU6050_RA_PWR_MGMT_1
majik	0:21019d94ad33	2652	* @see MPU6050_PWR1_TEMP_DIS_BIT
majik	0:21019d94ad33	2653	*/
majik	0:21019d94ad33	2654	void MPU6050::setTempSensorEnabled(bool enabled)
majik	0:21019d94ad33	2655	{
majik	0:21019d94ad33	2656	// 1 is actually disabled here
majik	0:21019d94ad33	2657	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
majik	0:21019d94ad33	2658	}
majik	0:21019d94ad33	2659	/** Get clock source setting.
majik	0:21019d94ad33	2660	* @return Current clock source setting
majik	0:21019d94ad33	2661	* @see MPU6050_RA_PWR_MGMT_1
majik	0:21019d94ad33	2662	* @see MPU6050_PWR1_CLKSEL_BIT
majik	0:21019d94ad33	2663	* @see MPU6050_PWR1_CLKSEL_LENGTH
majik	0:21019d94ad33	2664	*/
majik	0:21019d94ad33	2665	uint8_t MPU6050::getClockSource()
majik	0:21019d94ad33	2666	{
majik	0:21019d94ad33	2667	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
majik	0:21019d94ad33	2668	return buffer[0];
majik	0:21019d94ad33	2669	}
majik	0:21019d94ad33	2670	/** Set clock source setting.
majik	0:21019d94ad33	2671	* An internal 8MHz oscillator, gyroscope based clock, or external sources can
majik	0:21019d94ad33	2672	* be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
majik	0:21019d94ad33	2673	* or an external source is chosen as the clock source, the MPU-60X0 can operate
majik	0:21019d94ad33	2674	* in low power modes with the gyroscopes disabled.
majik	0:21019d94ad33	2675	*
majik	0:21019d94ad33	2676	* Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
majik	0:21019d94ad33	2677	* However, it is highly recommended that the device be configured to use one of
majik	0:21019d94ad33	2678	* the gyroscopes (or an external clock source) as the clock reference for
majik	0:21019d94ad33	2679	* improved stability. The clock source can be selected according to the following table:
majik	0:21019d94ad33	2680	*
majik	0:21019d94ad33	2681	* <pre>
majik	0:21019d94ad33	2682	* CLK_SEL \| Clock Source
majik	0:21019d94ad33	2683	* --------+--------------------------------------
majik	0:21019d94ad33	2684	* 0 \| Internal oscillator
majik	0:21019d94ad33	2685	* 1 \| PLL with X Gyro reference
majik	0:21019d94ad33	2686	* 2 \| PLL with Y Gyro reference
majik	0:21019d94ad33	2687	* 3 \| PLL with Z Gyro reference
majik	0:21019d94ad33	2688	* 4 \| PLL with external 32.768kHz reference
majik	0:21019d94ad33	2689	* 5 \| PLL with external 19.2MHz reference
majik	0:21019d94ad33	2690	* 6 \| Reserved
majik	0:21019d94ad33	2691	* 7 \| Stops the clock and keeps the timing generator in reset
majik	0:21019d94ad33	2692	* </pre>
majik	0:21019d94ad33	2693	*
majik	0:21019d94ad33	2694	* @param source New clock source setting
majik	0:21019d94ad33	2695	* @see getClockSource()
majik	0:21019d94ad33	2696	* @see MPU6050_RA_PWR_MGMT_1
majik	0:21019d94ad33	2697	* @see MPU6050_PWR1_CLKSEL_BIT
majik	0:21019d94ad33	2698	* @see MPU6050_PWR1_CLKSEL_LENGTH
majik	0:21019d94ad33	2699	*/
majik	0:21019d94ad33	2700	void MPU6050::setClockSource(uint8_t source)
majik	0:21019d94ad33	2701	{
majik	0:21019d94ad33	2702	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
majik	0:21019d94ad33	2703	}
majik	0:21019d94ad33	2704
majik	0:21019d94ad33	2705	// PWR_MGMT_2 register
majik	0:21019d94ad33	2706
majik	0:21019d94ad33	2707	/** Get wake frequency in Accel-Only Low Power Mode.
majik	0:21019d94ad33	2708	* The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
majik	0:21019d94ad33	2709	* PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
majik	0:21019d94ad33	2710	* the device will power off all devices except for the primary I2C interface,
majik	0:21019d94ad33	2711	* waking only the accelerometer at fixed intervals to take a single
majik	0:21019d94ad33	2712	* measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
majik	0:21019d94ad33	2713	* as shown below:
majik	0:21019d94ad33	2714	*
majik	0:21019d94ad33	2715	* <pre>
majik	0:21019d94ad33	2716	* LP_WAKE_CTRL \| Wake-up Frequency
majik	0:21019d94ad33	2717	* -------------+------------------
majik	0:21019d94ad33	2718	* 0 \| 1.25 Hz
majik	0:21019d94ad33	2719	* 1 \| 2.5 Hz
majik	0:21019d94ad33	2720	* 2 \| 5 Hz
majik	0:21019d94ad33	2721	* 3 \| 10 Hz
majik	0:21019d94ad33	2722	* <pre>
majik	0:21019d94ad33	2723	*
majik	0:21019d94ad33	2724	* For further information regarding the MPU-60X0's power modes, please refer to
majik	0:21019d94ad33	2725	* Register 107.
majik	0:21019d94ad33	2726	*
majik	0:21019d94ad33	2727	* @return Current wake frequency
majik	0:21019d94ad33	2728	* @see MPU6050_RA_PWR_MGMT_2
majik	0:21019d94ad33	2729	*/
majik	0:21019d94ad33	2730	uint8_t MPU6050::getWakeFrequency()
majik	0:21019d94ad33	2731	{
majik	0:21019d94ad33	2732	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
majik	0:21019d94ad33	2733	return buffer[0];
majik	0:21019d94ad33	2734	}
majik	0:21019d94ad33	2735	/** Set wake frequency in Accel-Only Low Power Mode.
majik	0:21019d94ad33	2736	* @param frequency New wake frequency
majik	0:21019d94ad33	2737	* @see MPU6050_RA_PWR_MGMT_2
majik	0:21019d94ad33	2738	*/
majik	0:21019d94ad33	2739	void MPU6050::setWakeFrequency(uint8_t frequency)
majik	0:21019d94ad33	2740	{
majik	0:21019d94ad33	2741	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
majik	0:21019d94ad33	2742	}
majik	0:21019d94ad33	2743
majik	0:21019d94ad33	2744	/** Get X-axis accelerometer standby enabled status.
majik	0:21019d94ad33	2745	* If enabled, the X-axis will not gather or report data (or use power).
majik	0:21019d94ad33	2746	* @return Current X-axis standby enabled status
majik	0:21019d94ad33	2747	* @see MPU6050_RA_PWR_MGMT_2
majik	0:21019d94ad33	2748	* @see MPU6050_PWR2_STBY_XA_BIT
majik	0:21019d94ad33	2749	*/
majik	0:21019d94ad33	2750	bool MPU6050::getStandbyXAccelEnabled()
majik	0:21019d94ad33	2751	{
majik	0:21019d94ad33	2752	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
majik	0:21019d94ad33	2753	return buffer[0];
majik	0:21019d94ad33	2754	}
majik	0:21019d94ad33	2755	/** Set X-axis accelerometer standby enabled status.
majik	0:21019d94ad33	2756	* @param New X-axis standby enabled status
majik	0:21019d94ad33	2757	* @see getStandbyXAccelEnabled()
majik	0:21019d94ad33	2758	* @see MPU6050_RA_PWR_MGMT_2
majik	0:21019d94ad33	2759	* @see MPU6050_PWR2_STBY_XA_BIT
majik	0:21019d94ad33	2760	*/
majik	0:21019d94ad33	2761	void MPU6050::setStandbyXAccelEnabled(bool enabled)
majik	0:21019d94ad33	2762	{
majik	0:21019d94ad33	2763	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
majik	0:21019d94ad33	2764	}
majik	0:21019d94ad33	2765	/** Get Y-axis accelerometer standby enabled status.
majik	0:21019d94ad33	2766	* If enabled, the Y-axis will not gather or report data (or use power).
majik	0:21019d94ad33	2767	* @return Current Y-axis standby enabled status
majik	0:21019d94ad33	2768	* @see MPU6050_RA_PWR_MGMT_2
majik	0:21019d94ad33	2769	* @see MPU6050_PWR2_STBY_YA_BIT
majik	0:21019d94ad33	2770	*/
majik	0:21019d94ad33	2771	bool MPU6050::getStandbyYAccelEnabled()
majik	0:21019d94ad33	2772	{
majik	0:21019d94ad33	2773	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
majik	0:21019d94ad33	2774	return buffer[0];
majik	0:21019d94ad33	2775	}
majik	0:21019d94ad33	2776	/** Set Y-axis accelerometer standby enabled status.
majik	0:21019d94ad33	2777	* @param New Y-axis standby enabled status
majik	0:21019d94ad33	2778	* @see getStandbyYAccelEnabled()
majik	0:21019d94ad33	2779	* @see MPU6050_RA_PWR_MGMT_2
majik	0:21019d94ad33	2780	* @see MPU6050_PWR2_STBY_YA_BIT
majik	0:21019d94ad33	2781	*/
majik	0:21019d94ad33	2782	void MPU6050::setStandbyYAccelEnabled(bool enabled)
majik	0:21019d94ad33	2783	{
majik	0:21019d94ad33	2784	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
majik	0:21019d94ad33	2785	}
majik	0:21019d94ad33	2786	/** Get Z-axis accelerometer standby enabled status.
majik	0:21019d94ad33	2787	* If enabled, the Z-axis will not gather or report data (or use power).
majik	0:21019d94ad33	2788	* @return Current Z-axis standby enabled status
majik	0:21019d94ad33	2789	* @see MPU6050_RA_PWR_MGMT_2
majik	0:21019d94ad33	2790	* @see MPU6050_PWR2_STBY_ZA_BIT
majik	0:21019d94ad33	2791	*/
majik	0:21019d94ad33	2792	bool MPU6050::getStandbyZAccelEnabled()
majik	0:21019d94ad33	2793	{
majik	0:21019d94ad33	2794	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
majik	0:21019d94ad33	2795	return buffer[0];
majik	0:21019d94ad33	2796	}
majik	0:21019d94ad33	2797	/** Set Z-axis accelerometer standby enabled status.
majik	0:21019d94ad33	2798	* @param New Z-axis standby enabled status
majik	0:21019d94ad33	2799	* @see getStandbyZAccelEnabled()
majik	0:21019d94ad33	2800	* @see MPU6050_RA_PWR_MGMT_2
majik	0:21019d94ad33	2801	* @see MPU6050_PWR2_STBY_ZA_BIT
majik	0:21019d94ad33	2802	*/
majik	0:21019d94ad33	2803	void MPU6050::setStandbyZAccelEnabled(bool enabled)
majik	0:21019d94ad33	2804	{
majik	0:21019d94ad33	2805	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
majik	0:21019d94ad33	2806	}
majik	0:21019d94ad33	2807	/** Get X-axis gyroscope standby enabled status.
majik	0:21019d94ad33	2808	* If enabled, the X-axis will not gather or report data (or use power).
majik	0:21019d94ad33	2809	* @return Current X-axis standby enabled status
majik	0:21019d94ad33	2810	* @see MPU6050_RA_PWR_MGMT_2
majik	0:21019d94ad33	2811	* @see MPU6050_PWR2_STBY_XG_BIT
majik	0:21019d94ad33	2812	*/
majik	0:21019d94ad33	2813	bool MPU6050::getStandbyXGyroEnabled()
majik	0:21019d94ad33	2814	{
majik	0:21019d94ad33	2815	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
majik	0:21019d94ad33	2816	return buffer[0];
majik	0:21019d94ad33	2817	}
majik	0:21019d94ad33	2818	/** Set X-axis gyroscope standby enabled status.
majik	0:21019d94ad33	2819	* @param New X-axis standby enabled status
majik	0:21019d94ad33	2820	* @see getStandbyXGyroEnabled()
majik	0:21019d94ad33	2821	* @see MPU6050_RA_PWR_MGMT_2
majik	0:21019d94ad33	2822	* @see MPU6050_PWR2_STBY_XG_BIT
majik	0:21019d94ad33	2823	*/
majik	0:21019d94ad33	2824	void MPU6050::setStandbyXGyroEnabled(bool enabled)
majik	0:21019d94ad33	2825	{
majik	0:21019d94ad33	2826	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
majik	0:21019d94ad33	2827	}
majik	0:21019d94ad33	2828	/** Get Y-axis gyroscope standby enabled status.
majik	0:21019d94ad33	2829	* If enabled, the Y-axis will not gather or report data (or use power).
majik	0:21019d94ad33	2830	* @return Current Y-axis standby enabled status
majik	0:21019d94ad33	2831	* @see MPU6050_RA_PWR_MGMT_2
majik	0:21019d94ad33	2832	* @see MPU6050_PWR2_STBY_YG_BIT
majik	0:21019d94ad33	2833	*/
majik	0:21019d94ad33	2834	bool MPU6050::getStandbyYGyroEnabled()
majik	0:21019d94ad33	2835	{
majik	0:21019d94ad33	2836	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
majik	0:21019d94ad33	2837	return buffer[0];
majik	0:21019d94ad33	2838	}
majik	0:21019d94ad33	2839	/** Set Y-axis gyroscope standby enabled status.
majik	0:21019d94ad33	2840	* @param New Y-axis standby enabled status
majik	0:21019d94ad33	2841	* @see getStandbyYGyroEnabled()
majik	0:21019d94ad33	2842	* @see MPU6050_RA_PWR_MGMT_2
majik	0:21019d94ad33	2843	* @see MPU6050_PWR2_STBY_YG_BIT
majik	0:21019d94ad33	2844	*/
majik	0:21019d94ad33	2845	void MPU6050::setStandbyYGyroEnabled(bool enabled)
majik	0:21019d94ad33	2846	{
majik	0:21019d94ad33	2847	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
majik	0:21019d94ad33	2848	}
majik	0:21019d94ad33	2849	/** Get Z-axis gyroscope standby enabled status.
majik	0:21019d94ad33	2850	* If enabled, the Z-axis will not gather or report data (or use power).
majik	0:21019d94ad33	2851	* @return Current Z-axis standby enabled status
majik	0:21019d94ad33	2852	* @see MPU6050_RA_PWR_MGMT_2
majik	0:21019d94ad33	2853	* @see MPU6050_PWR2_STBY_ZG_BIT
majik	0:21019d94ad33	2854	*/
majik	0:21019d94ad33	2855	bool MPU6050::getStandbyZGyroEnabled()
majik	0:21019d94ad33	2856	{
majik	0:21019d94ad33	2857	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
majik	0:21019d94ad33	2858	return buffer[0];
majik	0:21019d94ad33	2859	}
majik	0:21019d94ad33	2860	/** Set Z-axis gyroscope standby enabled status.
majik	0:21019d94ad33	2861	* @param New Z-axis standby enabled status
majik	0:21019d94ad33	2862	* @see getStandbyZGyroEnabled()
majik	0:21019d94ad33	2863	* @see MPU6050_RA_PWR_MGMT_2
majik	0:21019d94ad33	2864	* @see MPU6050_PWR2_STBY_ZG_BIT
majik	0:21019d94ad33	2865	*/
majik	0:21019d94ad33	2866	void MPU6050::setStandbyZGyroEnabled(bool enabled)
majik	0:21019d94ad33	2867	{
majik	0:21019d94ad33	2868	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
majik	0:21019d94ad33	2869	}
majik	0:21019d94ad33	2870
majik	0:21019d94ad33	2871	// FIFO_COUNT* registers
majik	0:21019d94ad33	2872
majik	0:21019d94ad33	2873	/** Get current FIFO buffer size.
majik	0:21019d94ad33	2874	* This value indicates the number of bytes stored in the FIFO buffer. This
majik	0:21019d94ad33	2875	* number is in turn the number of bytes that can be read from the FIFO buffer
majik	0:21019d94ad33	2876	* and it is directly proportional to the number of samples available given the
majik	0:21019d94ad33	2877	* set of sensor data bound to be stored in the FIFO (register 35 and 36).
majik	0:21019d94ad33	2878	* @return Current FIFO buffer size
majik	0:21019d94ad33	2879	*/
majik	0:21019d94ad33	2880	uint16_t MPU6050::getFIFOCount()
majik	0:21019d94ad33	2881	{
majik	0:21019d94ad33	2882	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
majik	0:21019d94ad33	2883	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
majik	0:21019d94ad33	2884	}
majik	0:21019d94ad33	2885
majik	0:21019d94ad33	2886	// FIFO_R_W register
majik	0:21019d94ad33	2887
majik	0:21019d94ad33	2888	/** Get byte from FIFO buffer.
majik	0:21019d94ad33	2889	* This register is used to read and write data from the FIFO buffer. Data is
majik	0:21019d94ad33	2890	* written to the FIFO in order of register number (from lowest to highest). If
majik	0:21019d94ad33	2891	* all the FIFO enable flags (see below) are enabled and all External Sensor
majik	0:21019d94ad33	2892	* Data registers (Registers 73 to 96) are associated with a Slave device, the
majik	0:21019d94ad33	2893	* contents of registers 59 through 96 will be written in order at the Sample
majik	0:21019d94ad33	2894	* Rate.
majik	0:21019d94ad33	2895	*
majik	0:21019d94ad33	2896	* The contents of the sensor data registers (Registers 59 to 96) are written
majik	0:21019d94ad33	2897	* into the FIFO buffer when their corresponding FIFO enable flags are set to 1
majik	0:21019d94ad33	2898	* in FIFO_EN (Register 35). An additional flag for the sensor data registers
majik	0:21019d94ad33	2899	* associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
majik	0:21019d94ad33	2900	*
majik	0:21019d94ad33	2901	* If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
majik	0:21019d94ad33	2902	* automatically set to 1. This bit is located in INT_STATUS (Register 58).
majik	0:21019d94ad33	2903	* When the FIFO buffer has overflowed, the oldest data will be lost and new
majik	0:21019d94ad33	2904	* data will be written to the FIFO.
majik	0:21019d94ad33	2905	*
majik	0:21019d94ad33	2906	* If the FIFO buffer is empty, reading this register will return the last byte
majik	0:21019d94ad33	2907	* that was previously read from the FIFO until new data is available. The user
majik	0:21019d94ad33	2908	* should check FIFO_COUNT to ensure that the FIFO buffer is not read when
majik	0:21019d94ad33	2909	* empty.
majik	0:21019d94ad33	2910	*
majik	0:21019d94ad33	2911	* @return Byte from FIFO buffer
majik	0:21019d94ad33	2912	*/
majik	0:21019d94ad33	2913	uint8_t MPU6050::getFIFOByte()
majik	0:21019d94ad33	2914	{
majik	0:21019d94ad33	2915	i2Cdev.readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
majik	0:21019d94ad33	2916	return buffer[0];
majik	0:21019d94ad33	2917	}
majik	0:21019d94ad33	2918	void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length)
majik	0:21019d94ad33	2919	{
majik	0:21019d94ad33	2920	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
majik	0:21019d94ad33	2921	}
majik	0:21019d94ad33	2922	/** Write byte to FIFO buffer.
majik	0:21019d94ad33	2923	* @see getFIFOByte()
majik	0:21019d94ad33	2924	* @see MPU6050_RA_FIFO_R_W
majik	0:21019d94ad33	2925	*/
majik	0:21019d94ad33	2926	void MPU6050::setFIFOByte(uint8_t data)
majik	0:21019d94ad33	2927	{
majik	0:21019d94ad33	2928	i2Cdev.writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
majik	0:21019d94ad33	2929	}
majik	0:21019d94ad33	2930
majik	0:21019d94ad33	2931	// WHO_AM_I register
majik	0:21019d94ad33	2932
majik	0:21019d94ad33	2933	/** Get Device ID.
majik	0:21019d94ad33	2934	* This register is used to verify the identity of the device (0b110100, 0x34).
majik	0:21019d94ad33	2935	* @return Device ID (6 bits only! should be 0x34)
majik	0:21019d94ad33	2936	* @see MPU6050_RA_WHO_AM_I
majik	0:21019d94ad33	2937	* @see MPU6050_WHO_AM_I_BIT
majik	0:21019d94ad33	2938	* @see MPU6050_WHO_AM_I_LENGTH
majik	0:21019d94ad33	2939	*/
majik	0:21019d94ad33	2940	uint8_t MPU6050::getDeviceID()
majik	0:21019d94ad33	2941	{
majik	0:21019d94ad33	2942	i2Cdev.readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
majik	0:21019d94ad33	2943	return buffer[0];
majik	0:21019d94ad33	2944	}
majik	0:21019d94ad33	2945	/** Set Device ID.
majik	0:21019d94ad33	2946	* Write a new ID into the WHO_AM_I register (no idea why this should ever be
majik	0:21019d94ad33	2947	* necessary though).
majik	0:21019d94ad33	2948	* @param id New device ID to set.
majik	0:21019d94ad33	2949	* @see getDeviceID()
majik	0:21019d94ad33	2950	* @see MPU6050_RA_WHO_AM_I
majik	0:21019d94ad33	2951	* @see MPU6050_WHO_AM_I_BIT
majik	0:21019d94ad33	2952	* @see MPU6050_WHO_AM_I_LENGTH
majik	0:21019d94ad33	2953	*/
majik	0:21019d94ad33	2954	void MPU6050::setDeviceID(uint8_t id)
majik	0:21019d94ad33	2955	{
majik	0:21019d94ad33	2956	i2Cdev.writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
majik	0:21019d94ad33	2957	}
majik	0:21019d94ad33	2958
majik	0:21019d94ad33	2959	// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
majik	0:21019d94ad33	2960
majik	0:21019d94ad33	2961	// XG_OFFS_TC register
majik	0:21019d94ad33	2962
majik	0:21019d94ad33	2963	uint8_t MPU6050::getOTPBankValid()
majik	0:21019d94ad33	2964	{
majik	0:21019d94ad33	2965	i2Cdev.readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
majik	0:21019d94ad33	2966	return buffer[0];
majik	0:21019d94ad33	2967	}
majik	0:21019d94ad33	2968	void MPU6050::setOTPBankValid(bool enabled)
majik	0:21019d94ad33	2969	{
majik	0:21019d94ad33	2970	i2Cdev.writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
majik	0:21019d94ad33	2971	}
majik	0:21019d94ad33	2972	int8_t MPU6050::getXGyroOffset()
majik	0:21019d94ad33	2973	{
majik	0:21019d94ad33	2974	i2Cdev.readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
majik	0:21019d94ad33	2975	return buffer[0];
majik	0:21019d94ad33	2976	}
majik	0:21019d94ad33	2977	void MPU6050::setXGyroOffset(int8_t offset)
majik	0:21019d94ad33	2978	{
majik	0:21019d94ad33	2979	i2Cdev.writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
majik	0:21019d94ad33	2980	}
majik	0:21019d94ad33	2981
majik	0:21019d94ad33	2982	// YG_OFFS_TC register
majik	0:21019d94ad33	2983
majik	0:21019d94ad33	2984	int8_t MPU6050::getYGyroOffset()
majik	0:21019d94ad33	2985	{
majik	0:21019d94ad33	2986	i2Cdev.readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
majik	0:21019d94ad33	2987	return buffer[0];
majik	0:21019d94ad33	2988	}
majik	0:21019d94ad33	2989	void MPU6050::setYGyroOffset(int8_t offset)
majik	0:21019d94ad33	2990	{
majik	0:21019d94ad33	2991	i2Cdev.writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
majik	0:21019d94ad33	2992	}
majik	0:21019d94ad33	2993
majik	0:21019d94ad33	2994	// ZG_OFFS_TC register
majik	0:21019d94ad33	2995
majik	0:21019d94ad33	2996	int8_t MPU6050::getZGyroOffset()
majik	0:21019d94ad33	2997	{
majik	0:21019d94ad33	2998	i2Cdev.readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
majik	0:21019d94ad33	2999	return buffer[0];
majik	0:21019d94ad33	3000	}
majik	0:21019d94ad33	3001	void MPU6050::setZGyroOffset(int8_t offset)
majik	0:21019d94ad33	3002	{
majik	0:21019d94ad33	3003	i2Cdev.writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
majik	0:21019d94ad33	3004	}
majik	0:21019d94ad33	3005
majik	0:21019d94ad33	3006	// X_FINE_GAIN register
majik	0:21019d94ad33	3007
majik	0:21019d94ad33	3008	int8_t MPU6050::getXFineGain()
majik	0:21019d94ad33	3009	{
majik	0:21019d94ad33	3010	i2Cdev.readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
majik	0:21019d94ad33	3011	return buffer[0];
majik	0:21019d94ad33	3012	}
majik	0:21019d94ad33	3013	void MPU6050::setXFineGain(int8_t gain)
majik	0:21019d94ad33	3014	{
majik	0:21019d94ad33	3015	i2Cdev.writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
majik	0:21019d94ad33	3016	}
majik	0:21019d94ad33	3017
majik	0:21019d94ad33	3018	// Y_FINE_GAIN register
majik	0:21019d94ad33	3019
majik	0:21019d94ad33	3020	int8_t MPU6050::getYFineGain()
majik	0:21019d94ad33	3021	{
majik	0:21019d94ad33	3022	i2Cdev.readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
majik	0:21019d94ad33	3023	return buffer[0];
majik	0:21019d94ad33	3024	}
majik	0:21019d94ad33	3025	void MPU6050::setYFineGain(int8_t gain)
majik	0:21019d94ad33	3026	{
majik	0:21019d94ad33	3027	i2Cdev.writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
majik	0:21019d94ad33	3028	}
majik	0:21019d94ad33	3029
majik	0:21019d94ad33	3030	// Z_FINE_GAIN register
majik	0:21019d94ad33	3031
majik	0:21019d94ad33	3032	int8_t MPU6050::getZFineGain()
majik	0:21019d94ad33	3033	{
majik	0:21019d94ad33	3034	i2Cdev.readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
majik	0:21019d94ad33	3035	return buffer[0];
majik	0:21019d94ad33	3036	}
majik	0:21019d94ad33	3037	void MPU6050::setZFineGain(int8_t gain)
majik	0:21019d94ad33	3038	{
majik	0:21019d94ad33	3039	i2Cdev.writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
majik	0:21019d94ad33	3040	}
majik	0:21019d94ad33	3041
majik	0:21019d94ad33	3042	// XA_OFFS_* registers
majik	0:21019d94ad33	3043
majik	0:21019d94ad33	3044	int16_t MPU6050::getXAccelOffset()
majik	0:21019d94ad33	3045	{
majik	0:21019d94ad33	3046	i2Cdev.readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
majik	0:21019d94ad33	3047	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	0:21019d94ad33	3048	}
majik	0:21019d94ad33	3049	void MPU6050::setXAccelOffset(int16_t offset)
majik	0:21019d94ad33	3050	{
majik	0:21019d94ad33	3051	i2Cdev.writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
majik	0:21019d94ad33	3052	}
majik	0:21019d94ad33	3053
majik	0:21019d94ad33	3054	// YA_OFFS_* register
majik	0:21019d94ad33	3055
majik	0:21019d94ad33	3056	int16_t MPU6050::getYAccelOffset()
majik	0:21019d94ad33	3057	{
majik	0:21019d94ad33	3058	i2Cdev.readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
majik	0:21019d94ad33	3059	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	0:21019d94ad33	3060	}
majik	0:21019d94ad33	3061	void MPU6050::setYAccelOffset(int16_t offset)
majik	0:21019d94ad33	3062	{
majik	0:21019d94ad33	3063	i2Cdev.writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
majik	0:21019d94ad33	3064	}
majik	0:21019d94ad33	3065
majik	0:21019d94ad33	3066	// ZA_OFFS_* register
majik	0:21019d94ad33	3067
majik	0:21019d94ad33	3068	int16_t MPU6050::getZAccelOffset()
majik	0:21019d94ad33	3069	{
majik	0:21019d94ad33	3070	i2Cdev.readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
majik	0:21019d94ad33	3071	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	0:21019d94ad33	3072	}
majik	0:21019d94ad33	3073	void MPU6050::setZAccelOffset(int16_t offset)
majik	0:21019d94ad33	3074	{
majik	0:21019d94ad33	3075	i2Cdev.writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
majik	0:21019d94ad33	3076	}
majik	0:21019d94ad33	3077
majik	0:21019d94ad33	3078	// XG_OFFS_USR* registers
majik	0:21019d94ad33	3079
majik	0:21019d94ad33	3080	int16_t MPU6050::getXGyroOffsetUser()
majik	0:21019d94ad33	3081	{
majik	0:21019d94ad33	3082	i2Cdev.readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
majik	0:21019d94ad33	3083	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	0:21019d94ad33	3084	}
majik	0:21019d94ad33	3085	void MPU6050::setXGyroOffsetUser(int16_t offset)
majik	0:21019d94ad33	3086	{
majik	0:21019d94ad33	3087	i2Cdev.writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
majik	0:21019d94ad33	3088	}
majik	0:21019d94ad33	3089
majik	0:21019d94ad33	3090	// YG_OFFS_USR* register
majik	0:21019d94ad33	3091
majik	0:21019d94ad33	3092	int16_t MPU6050::getYGyroOffsetUser()
majik	0:21019d94ad33	3093	{
majik	0:21019d94ad33	3094	i2Cdev.readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
majik	0:21019d94ad33	3095	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	0:21019d94ad33	3096	}
majik	0:21019d94ad33	3097	void MPU6050::setYGyroOffsetUser(int16_t offset)
majik	0:21019d94ad33	3098	{
majik	0:21019d94ad33	3099	i2Cdev.writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
majik	0:21019d94ad33	3100	}
majik	0:21019d94ad33	3101
majik	0:21019d94ad33	3102	// ZG_OFFS_USR* register
majik	0:21019d94ad33	3103
majik	0:21019d94ad33	3104	int16_t MPU6050::getZGyroOffsetUser()
majik	0:21019d94ad33	3105	{
majik	0:21019d94ad33	3106	i2Cdev.readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
majik	0:21019d94ad33	3107	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	0:21019d94ad33	3108	}
majik	0:21019d94ad33	3109	void MPU6050::setZGyroOffsetUser(int16_t offset)
majik	0:21019d94ad33	3110	{
majik	0:21019d94ad33	3111	i2Cdev.writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
majik	0:21019d94ad33	3112	}
majik	0:21019d94ad33	3113
majik	0:21019d94ad33	3114	// INT_ENABLE register (DMP functions)
majik	0:21019d94ad33	3115
majik	0:21019d94ad33	3116	bool MPU6050::getIntPLLReadyEnabled()
majik	0:21019d94ad33	3117	{
majik	0:21019d94ad33	3118	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
majik	0:21019d94ad33	3119	return buffer[0];
majik	0:21019d94ad33	3120	}
majik	0:21019d94ad33	3121	void MPU6050::setIntPLLReadyEnabled(bool enabled)
majik	0:21019d94ad33	3122	{
majik	0:21019d94ad33	3123	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
majik	0:21019d94ad33	3124	}
majik	0:21019d94ad33	3125	bool MPU6050::getIntDMPEnabled()
majik	0:21019d94ad33	3126	{
majik	0:21019d94ad33	3127	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
majik	0:21019d94ad33	3128	return buffer[0];
majik	0:21019d94ad33	3129	}
majik	0:21019d94ad33	3130	void MPU6050::setIntDMPEnabled(bool enabled)
majik	0:21019d94ad33	3131	{
majik	0:21019d94ad33	3132	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
majik	0:21019d94ad33	3133	}
majik	0:21019d94ad33	3134
majik	0:21019d94ad33	3135	// DMP_INT_STATUS
majik	0:21019d94ad33	3136
majik	0:21019d94ad33	3137	bool MPU6050::getDMPInt5Status()
majik	0:21019d94ad33	3138	{
majik	0:21019d94ad33	3139	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
majik	0:21019d94ad33	3140	return buffer[0];
majik	0:21019d94ad33	3141	}
majik	0:21019d94ad33	3142	bool MPU6050::getDMPInt4Status()
majik	0:21019d94ad33	3143	{
majik	0:21019d94ad33	3144	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
majik	0:21019d94ad33	3145	return buffer[0];
majik	0:21019d94ad33	3146	}
majik	0:21019d94ad33	3147	bool MPU6050::getDMPInt3Status()
majik	0:21019d94ad33	3148	{
majik	0:21019d94ad33	3149	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
majik	0:21019d94ad33	3150	return buffer[0];
majik	0:21019d94ad33	3151	}
majik	0:21019d94ad33	3152	bool MPU6050::getDMPInt2Status()
majik	0:21019d94ad33	3153	{
majik	0:21019d94ad33	3154	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
majik	0:21019d94ad33	3155	return buffer[0];
majik	0:21019d94ad33	3156	}
majik	0:21019d94ad33	3157	bool MPU6050::getDMPInt1Status()
majik	0:21019d94ad33	3158	{
majik	0:21019d94ad33	3159	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
majik	0:21019d94ad33	3160	return buffer[0];
majik	0:21019d94ad33	3161	}
majik	0:21019d94ad33	3162	bool MPU6050::getDMPInt0Status()
majik	0:21019d94ad33	3163	{
majik	0:21019d94ad33	3164	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
majik	0:21019d94ad33	3165	return buffer[0];
majik	0:21019d94ad33	3166	}
majik	0:21019d94ad33	3167
majik	0:21019d94ad33	3168	// INT_STATUS register (DMP functions)
majik	0:21019d94ad33	3169
majik	0:21019d94ad33	3170	bool MPU6050::getIntPLLReadyStatus()
majik	0:21019d94ad33	3171	{
majik	0:21019d94ad33	3172	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
majik	0:21019d94ad33	3173	return buffer[0];
majik	0:21019d94ad33	3174	}
majik	0:21019d94ad33	3175	bool MPU6050::getIntDMPStatus()
majik	0:21019d94ad33	3176	{
majik	0:21019d94ad33	3177	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
majik	0:21019d94ad33	3178	return buffer[0];
majik	0:21019d94ad33	3179	}
majik	0:21019d94ad33	3180
majik	0:21019d94ad33	3181	// USER_CTRL register (DMP functions)
majik	0:21019d94ad33	3182
majik	0:21019d94ad33	3183	bool MPU6050::getDMPEnabled()
majik	0:21019d94ad33	3184	{
majik	0:21019d94ad33	3185	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
majik	0:21019d94ad33	3186	return buffer[0];
majik	0:21019d94ad33	3187	}
majik	0:21019d94ad33	3188	void MPU6050::setDMPEnabled(bool enabled)
majik	0:21019d94ad33	3189	{
majik	0:21019d94ad33	3190	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
majik	0:21019d94ad33	3191	}
majik	0:21019d94ad33	3192	void MPU6050::resetDMP()
majik	0:21019d94ad33	3193	{
majik	0:21019d94ad33	3194	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
majik	0:21019d94ad33	3195	}
majik	0:21019d94ad33	3196
majik	0:21019d94ad33	3197	// BANK_SEL register
majik	0:21019d94ad33	3198
majik	0:21019d94ad33	3199	void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank)
majik	0:21019d94ad33	3200	{
majik	0:21019d94ad33	3201	bank &= 0x1F;
majik	0:21019d94ad33	3202	if (userBank) bank \|= 0x20;
majik	0:21019d94ad33	3203	if (prefetchEnabled) bank \|= 0x40;
majik	0:21019d94ad33	3204	i2Cdev.writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
majik	0:21019d94ad33	3205	}
majik	0:21019d94ad33	3206
majik	0:21019d94ad33	3207	// MEM_START_ADDR register
majik	0:21019d94ad33	3208
majik	0:21019d94ad33	3209	void MPU6050::setMemoryStartAddress(uint8_t address)
majik	0:21019d94ad33	3210	{
majik	0:21019d94ad33	3211	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
majik	0:21019d94ad33	3212	}
majik	0:21019d94ad33	3213
majik	0:21019d94ad33	3214	// MEM_R_W register
majik	0:21019d94ad33	3215
majik	0:21019d94ad33	3216	uint8_t MPU6050::readMemoryByte()
majik	0:21019d94ad33	3217	{
majik	0:21019d94ad33	3218	i2Cdev.readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
majik	0:21019d94ad33	3219	return buffer[0];
majik	0:21019d94ad33	3220	}
majik	0:21019d94ad33	3221	void MPU6050::writeMemoryByte(uint8_t data)
majik	0:21019d94ad33	3222	{
majik	0:21019d94ad33	3223	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
majik	0:21019d94ad33	3224	}
majik	0:21019d94ad33	3225	void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address)
majik	0:21019d94ad33	3226	{
majik	0:21019d94ad33	3227	setMemoryBank(bank);
majik	0:21019d94ad33	3228	setMemoryStartAddress(address);
majik	0:21019d94ad33	3229	uint8_t chunkSize;
majik	0:21019d94ad33	3230	for (uint16_t i = 0; i < dataSize;) {
majik	0:21019d94ad33	3231	// determine correct chunk size according to bank position and data size
majik	0:21019d94ad33	3232	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
majik	0:21019d94ad33	3233
majik	0:21019d94ad33	3234	// make sure we don't go past the data size
majik	0:21019d94ad33	3235	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
majik	0:21019d94ad33	3236
majik	0:21019d94ad33	3237	// make sure this chunk doesn't go past the bank boundary (256 bytes)
majik	0:21019d94ad33	3238	if (chunkSize > 256 - address) chunkSize = 256 - address;
majik	0:21019d94ad33	3239
majik	0:21019d94ad33	3240	// read the chunk of data as specified
majik	0:21019d94ad33	3241	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
majik	0:21019d94ad33	3242
majik	0:21019d94ad33	3243	// increase byte index by [chunkSize]
majik	0:21019d94ad33	3244	i += chunkSize;
majik	0:21019d94ad33	3245
majik	0:21019d94ad33	3246	// uint8_t automatically wraps to 0 at 256
majik	0:21019d94ad33	3247	address += chunkSize;
majik	0:21019d94ad33	3248
majik	0:21019d94ad33	3249	// if we aren't done, update bank (if necessary) and address
majik	0:21019d94ad33	3250	if (i < dataSize) {
majik	0:21019d94ad33	3251	if (address == 0) bank++;
majik	0:21019d94ad33	3252	setMemoryBank(bank);
majik	0:21019d94ad33	3253	setMemoryStartAddress(address);
majik	0:21019d94ad33	3254	}
majik	0:21019d94ad33	3255	}
majik	0:21019d94ad33	3256	}
majik	0:21019d94ad33	3257	bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem)
majik	0:21019d94ad33	3258	{
majik	0:21019d94ad33	3259	setMemoryBank(bank);
majik	0:21019d94ad33	3260	setMemoryStartAddress(address);
majik	0:21019d94ad33	3261	uint8_t chunkSize;
majik	0:21019d94ad33	3262	uint8_t *verifyBuffer = NULL;
majik	0:21019d94ad33	3263	uint8_t *progBuffer = NULL;
majik	0:21019d94ad33	3264	uint16_t i;
majik	0:21019d94ad33	3265	uint8_t j;
majik	0:21019d94ad33	3266	if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
majik	0:21019d94ad33	3267	if (useProgMem) progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
majik	0:21019d94ad33	3268	for (i = 0; i < dataSize;) {
majik	0:21019d94ad33	3269	// determine correct chunk size according to bank position and data size
majik	0:21019d94ad33	3270	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
majik	0:21019d94ad33	3271
majik	0:21019d94ad33	3272	// make sure we don't go past the data size
majik	0:21019d94ad33	3273	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
majik	0:21019d94ad33	3274
majik	0:21019d94ad33	3275	// make sure this chunk doesn't go past the bank boundary (256 bytes)
majik	0:21019d94ad33	3276	if (chunkSize > 256 - address) chunkSize = 256 - address;
majik	0:21019d94ad33	3277
majik	0:21019d94ad33	3278	if (useProgMem) {
majik	0:21019d94ad33	3279	// write the chunk of data as specified
majik	0:21019d94ad33	3280	for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
majik	0:21019d94ad33	3281	} else {
majik	0:21019d94ad33	3282	// write the chunk of data as specified
majik	0:21019d94ad33	3283	progBuffer = (uint8_t *)data + i;
majik	0:21019d94ad33	3284	}
majik	0:21019d94ad33	3285
majik	0:21019d94ad33	3286	i2Cdev.writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
majik	0:21019d94ad33	3287
majik	0:21019d94ad33	3288	// verify data if needed
majik	0:21019d94ad33	3289	if (verify && verifyBuffer) {
majik	0:21019d94ad33	3290	setMemoryBank(bank);
majik	0:21019d94ad33	3291	setMemoryStartAddress(address);
majik	0:21019d94ad33	3292	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
majik	0:21019d94ad33	3293	if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
majik	0:21019d94ad33	3294	/*Serial.print("Block write verification error, bank ");
majik	0:21019d94ad33	3295	Serial.print(bank, DEC);
majik	0:21019d94ad33	3296	Serial.print(", address ");
majik	0:21019d94ad33	3297	Serial.print(address, DEC);
majik	0:21019d94ad33	3298	Serial.print("!\nExpected:");
majik	0:21019d94ad33	3299	for (j = 0; j < chunkSize; j++) {
majik	0:21019d94ad33	3300	Serial.print(" 0x");
majik	0:21019d94ad33	3301	if (progBuffer[j] < 16) Serial.print("0");
majik	0:21019d94ad33	3302	Serial.print(progBuffer[j], HEX);
majik	0:21019d94ad33	3303	}
majik	0:21019d94ad33	3304	Serial.print("\nReceived:");
majik	0:21019d94ad33	3305	for (uint8_t j = 0; j < chunkSize; j++) {
majik	0:21019d94ad33	3306	Serial.print(" 0x");
majik	0:21019d94ad33	3307	if (verifyBuffer[i + j] < 16) Serial.print("0");
majik	0:21019d94ad33	3308	Serial.print(verifyBuffer[i + j], HEX);
majik	0:21019d94ad33	3309	}
majik	0:21019d94ad33	3310	Serial.print("\n");*/
majik	0:21019d94ad33	3311	free(verifyBuffer);
majik	0:21019d94ad33	3312	if (useProgMem) free(progBuffer);
majik	0:21019d94ad33	3313	return false; // uh oh.
majik	0:21019d94ad33	3314	}
majik	0:21019d94ad33	3315	}
majik	0:21019d94ad33	3316
majik	0:21019d94ad33	3317	// increase byte index by [chunkSize]
majik	0:21019d94ad33	3318	i += chunkSize;
majik	0:21019d94ad33	3319
majik	0:21019d94ad33	3320	// uint8_t automatically wraps to 0 at 256
majik	0:21019d94ad33	3321	address += chunkSize;
majik	0:21019d94ad33	3322
majik	0:21019d94ad33	3323	// if we aren't done, update bank (if necessary) and address
majik	0:21019d94ad33	3324	if (i < dataSize) {
majik	0:21019d94ad33	3325	if (address == 0) bank++;
majik	0:21019d94ad33	3326	setMemoryBank(bank);
majik	0:21019d94ad33	3327	setMemoryStartAddress(address);
majik	0:21019d94ad33	3328	}
majik	0:21019d94ad33	3329	}
majik	0:21019d94ad33	3330	if (verify) free(verifyBuffer);
majik	0:21019d94ad33	3331	if (useProgMem) free(progBuffer);
majik	0:21019d94ad33	3332	return true;
majik	0:21019d94ad33	3333	}
majik	0:21019d94ad33	3334	bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify)
majik	0:21019d94ad33	3335	{
majik	0:21019d94ad33	3336	return writeMemoryBlock(data, dataSize, bank, address, verify, true);
majik	0:21019d94ad33	3337	}
majik	0:21019d94ad33	3338	bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem)
majik	0:21019d94ad33	3339	{
majik	0:21019d94ad33	3340	uint8_t success, special;
majik	0:21019d94ad33	3341	uint8_t *progBuffer = NULL;
majik	0:21019d94ad33	3342	uint16_t i, j;
majik	0:21019d94ad33	3343	if (useProgMem) {
majik	0:21019d94ad33	3344	progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
majik	0:21019d94ad33	3345	}
majik	0:21019d94ad33	3346
majik	0:21019d94ad33	3347	// config set data is a long string of blocks with the following structure:
majik	0:21019d94ad33	3348	// [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
majik	0:21019d94ad33	3349	uint8_t bank, offset, length;
majik	0:21019d94ad33	3350	for (i = 0; i < dataSize;) {
majik	0:21019d94ad33	3351	if (useProgMem) {
majik	0:21019d94ad33	3352	bank = pgm_read_byte(data + i++);
majik	0:21019d94ad33	3353	offset = pgm_read_byte(data + i++);
majik	0:21019d94ad33	3354	length = pgm_read_byte(data + i++);
majik	0:21019d94ad33	3355	} else {
majik	0:21019d94ad33	3356	bank = data[i++];
majik	0:21019d94ad33	3357	offset = data[i++];
majik	0:21019d94ad33	3358	length = data[i++];
majik	0:21019d94ad33	3359	}
majik	0:21019d94ad33	3360
majik	0:21019d94ad33	3361	// write data or perform special action
majik	0:21019d94ad33	3362	if (length > 0) {
majik	0:21019d94ad33	3363	// regular block of data to write
majik	0:21019d94ad33	3364	/*Serial.print("Writing config block to bank ");
majik	0:21019d94ad33	3365	Serial.print(bank);
majik	0:21019d94ad33	3366	Serial.print(", offset ");
majik	0:21019d94ad33	3367	Serial.print(offset);
majik	0:21019d94ad33	3368	Serial.print(", length=");
majik	0:21019d94ad33	3369	Serial.println(length);*/
majik	0:21019d94ad33	3370	if (useProgMem) {
majik	0:21019d94ad33	3371	if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length);
majik	0:21019d94ad33	3372	for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j);
majik	0:21019d94ad33	3373	} else {
majik	0:21019d94ad33	3374	progBuffer = (uint8_t *)data + i;
majik	0:21019d94ad33	3375	}
majik	0:21019d94ad33	3376	success = writeMemoryBlock(progBuffer, length, bank, offset, true);
majik	0:21019d94ad33	3377	i += length;
majik	0:21019d94ad33	3378	} else {
majik	0:21019d94ad33	3379	// special instruction
majik	0:21019d94ad33	3380	// NOTE: this kind of behavior (what and when to do certain things)
majik	0:21019d94ad33	3381	// is totally undocumented. This code is in here based on observed
majik	0:21019d94ad33	3382	// behavior only, and exactly why (or even whether) it has to be here
majik	0:21019d94ad33	3383	// is anybody's guess for now.
majik	0:21019d94ad33	3384	if (useProgMem) {
majik	0:21019d94ad33	3385	special = pgm_read_byte(data + i++);
majik	0:21019d94ad33	3386	} else {
majik	0:21019d94ad33	3387	special = data[i++];
majik	0:21019d94ad33	3388	}
majik	0:21019d94ad33	3389	/*Serial.print("Special command code ");
majik	0:21019d94ad33	3390	Serial.print(special, HEX);
majik	0:21019d94ad33	3391	Serial.println(" found...");*/
majik	0:21019d94ad33	3392	if (special == 0x01) {
majik	0:21019d94ad33	3393	// enable DMP-related interrupts
majik	0:21019d94ad33	3394
majik	0:21019d94ad33	3395	//setIntZeroMotionEnabled(true);
majik	0:21019d94ad33	3396	//setIntFIFOBufferOverflowEnabled(true);
majik	0:21019d94ad33	3397	//setIntDMPEnabled(true);
majik	0:21019d94ad33	3398	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
majik	0:21019d94ad33	3399
majik	0:21019d94ad33	3400	success = true;
majik	0:21019d94ad33	3401	} else {
majik	0:21019d94ad33	3402	// unknown special command
majik	0:21019d94ad33	3403	success = false;
majik	0:21019d94ad33	3404	}
majik	0:21019d94ad33	3405	}
majik	0:21019d94ad33	3406
majik	0:21019d94ad33	3407	if (!success) {
majik	0:21019d94ad33	3408	if (useProgMem) free(progBuffer);
majik	0:21019d94ad33	3409	return false; // uh oh
majik	0:21019d94ad33	3410	}
majik	0:21019d94ad33	3411	}
majik	0:21019d94ad33	3412	if (useProgMem) free(progBuffer);
majik	0:21019d94ad33	3413	return true;
majik	0:21019d94ad33	3414	}
majik	0:21019d94ad33	3415	bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
majik	0:21019d94ad33	3416	{
majik	0:21019d94ad33	3417	return writeDMPConfigurationSet(data, dataSize, false);
majik	0:21019d94ad33	3418	}
majik	0:21019d94ad33	3419
majik	0:21019d94ad33	3420	// DMP_CFG_1 register
majik	0:21019d94ad33	3421
majik	0:21019d94ad33	3422	uint8_t MPU6050::getDMPConfig1()
majik	0:21019d94ad33	3423	{
majik	0:21019d94ad33	3424	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
majik	0:21019d94ad33	3425	return buffer[0];
majik	0:21019d94ad33	3426	}
majik	0:21019d94ad33	3427	void MPU6050::setDMPConfig1(uint8_t config)
majik	0:21019d94ad33	3428	{
majik	0:21019d94ad33	3429	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
majik	0:21019d94ad33	3430	}
majik	0:21019d94ad33	3431
majik	0:21019d94ad33	3432	// DMP_CFG_2 register
majik	0:21019d94ad33	3433
majik	0:21019d94ad33	3434	uint8_t MPU6050::getDMPConfig2()
majik	0:21019d94ad33	3435	{
majik	0:21019d94ad33	3436	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
majik	0:21019d94ad33	3437	return buffer[0];
majik	0:21019d94ad33	3438	}
majik	0:21019d94ad33	3439	void MPU6050::setDMPConfig2(uint8_t config)
majik	0:21019d94ad33	3440	{
majik	0:21019d94ad33	3441	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
majik	0:21019d94ad33	3442	}

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Type:	Program
Created:	21 Mar 2015
Imports:	22
Forks:	1
Commits:	5
Dependents:	0
Dependencies:	2
Followers:	1

drivers/MPU6050-DMP-Ian/MPU/src/MPU6050.cpp@4:05484073a641, 2015-03-22 (annotated)

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