MPU6050-DMP - MPU6050 library modified so I can use 2 IMUs

Users » majik » Code » MPU6050-DMP

MPU6050 library modified so I can use 2 IMUs

MPU6051.cpp@6:d348c3cad7c7, 2015-03-18 (annotated)

Committer:: majik
Date:: Wed Mar 18 22:18:55 2015 +0000
Revision:: 6:d348c3cad7c7

This was modified so I can use 2 MPU6050 IMUs.; I just made a copy of the mpu6050 files under a different name. There is probably a better way to do this.

Who changed what in which revision?

User	Revision	Line number	New contents of line
majik	6:d348c3cad7c7	1	//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
majik	6:d348c3cad7c7	2	//written by szymon gaertig (email: szymon@gaertig.com.pl)
majik	6:d348c3cad7c7	3	//
majik	6:d348c3cad7c7	4	//Changelog:
majik	6:d348c3cad7c7	5	//2013-01-08 - first beta release
majik	6:d348c3cad7c7	6
majik	6:d348c3cad7c7	7	// I2Cdev library collection - MPU6050 I2C device class
majik	6:d348c3cad7c7	8	// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
majik	6:d348c3cad7c7	9	// 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
majik	6:d348c3cad7c7	10	// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
majik	6:d348c3cad7c7	11	//
majik	6:d348c3cad7c7	12	// Changelog:
majik	6:d348c3cad7c7	13	// ... - ongoing debug release
majik	6:d348c3cad7c7	14
majik	6:d348c3cad7c7	15	// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
majik	6:d348c3cad7c7	16	// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
majik	6:d348c3cad7c7	17	// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
majik	6:d348c3cad7c7	18
majik	6:d348c3cad7c7	19	/* ============================================
majik	6:d348c3cad7c7	20	I2Cdev device library code is placed under the MIT license
majik	6:d348c3cad7c7	21	Copyright (c) 2012 Jeff Rowberg
majik	6:d348c3cad7c7	22
majik	6:d348c3cad7c7	23	Permission is hereby granted, free of charge, to any person obtaining a copy
majik	6:d348c3cad7c7	24	of this software and associated documentation files (the "Software"), to deal
majik	6:d348c3cad7c7	25	in the Software without restriction, including without limitation the rights
majik	6:d348c3cad7c7	26	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
majik	6:d348c3cad7c7	27	copies of the Software, and to permit persons to whom the Software is
majik	6:d348c3cad7c7	28	furnished to do so, subject to the following conditions:
majik	6:d348c3cad7c7	29
majik	6:d348c3cad7c7	30	The above copyright notice and this permission notice shall be included in
majik	6:d348c3cad7c7	31	all copies or substantial portions of the Software.
majik	6:d348c3cad7c7	32
majik	6:d348c3cad7c7	33	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
majik	6:d348c3cad7c7	34	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
majik	6:d348c3cad7c7	35	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
majik	6:d348c3cad7c7	36	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
majik	6:d348c3cad7c7	37	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
majik	6:d348c3cad7c7	38	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
majik	6:d348c3cad7c7	39	THE SOFTWARE.
majik	6:d348c3cad7c7	40	===============================================
majik	6:d348c3cad7c7	41	*/
majik	6:d348c3cad7c7	42
majik	6:d348c3cad7c7	43	#include "MPU6051.h"
majik	6:d348c3cad7c7	44
majik	6:d348c3cad7c7	45	#define useDebugSerial
majik	6:d348c3cad7c7	46
majik	6:d348c3cad7c7	47	//instead of using pgmspace.h
majik	6:d348c3cad7c7	48	typedef const unsigned char prog_uchar;
majik	6:d348c3cad7c7	49	#define pgm_read_byte_near(x) ((prog_uchar)(x))//<- I modified here
majik	6:d348c3cad7c7	50	#define pgm_read_byte(x) ((prog_uchar)(x))//<- I modified here
majik	6:d348c3cad7c7	51
majik	6:d348c3cad7c7	52	/** Default constructor, uses default I2C address.
majik	6:d348c3cad7c7	53	* @see MPU6050_DEFAULT_ADDRESS
majik	6:d348c3cad7c7	54	*/
majik	6:d348c3cad7c7	55	MPU6051::MPU6051() : debugSerial(USBTX, USBRX)
majik	6:d348c3cad7c7	56	{
majik	6:d348c3cad7c7	57	devAddr = MPU6050_DEFAULT_ADDRESS;
majik	6:d348c3cad7c7	58	}
majik	6:d348c3cad7c7	59
majik	6:d348c3cad7c7	60	/** Specific address constructor.
majik	6:d348c3cad7c7	61	* @param address I2C address
majik	6:d348c3cad7c7	62	* @see MPU6050_DEFAULT_ADDRESS
majik	6:d348c3cad7c7	63	* @see MPU6050_ADDRESS_AD0_LOW
majik	6:d348c3cad7c7	64	* @see MPU6050_ADDRESS_AD0_HIGH
majik	6:d348c3cad7c7	65	*/
majik	6:d348c3cad7c7	66	MPU6051::MPU6051(uint8_t address) : debugSerial(USBTX, USBRX)
majik	6:d348c3cad7c7	67	{
majik	6:d348c3cad7c7	68	devAddr = address;
majik	6:d348c3cad7c7	69	}
majik	6:d348c3cad7c7	70
majik	6:d348c3cad7c7	71	/** Power on and prepare for general usage.
majik	6:d348c3cad7c7	72	* This will activate the device and take it out of sleep mode (which must be done
majik	6:d348c3cad7c7	73	* after start-up). This function also sets both the accelerometer and the gyroscope
majik	6:d348c3cad7c7	74	* to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
majik	6:d348c3cad7c7	75	* the clock source to use the X Gyro for reference, which is slightly better than
majik	6:d348c3cad7c7	76	* the default internal clock source.
majik	6:d348c3cad7c7	77	*/
majik	6:d348c3cad7c7	78	void MPU6051::initialize()
majik	6:d348c3cad7c7	79	{
majik	6:d348c3cad7c7	80
majik	6:d348c3cad7c7	81	#ifdef useDebugSerial
majik	6:d348c3cad7c7	82	debugSerial.printf("MPU6051::initialize start\n");
majik	6:d348c3cad7c7	83	#endif
majik	6:d348c3cad7c7	84
majik	6:d348c3cad7c7	85	setClockSource(MPU6050_CLOCK_PLL_XGYRO);
majik	6:d348c3cad7c7	86	//setMasterClockSpeed(13); //MARK PUT THIS LINE IN. Changes I2C to 400khz?
majik	6:d348c3cad7c7	87	setFullScaleGyroRange(MPU6050_GYRO_FS_250);
majik	6:d348c3cad7c7	88	setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
majik	6:d348c3cad7c7	89	setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
majik	6:d348c3cad7c7	90
majik	6:d348c3cad7c7	91	#ifdef useDebugSerial
majik	6:d348c3cad7c7	92	debugSerial.printf("MPU6051::initialize end\n");
majik	6:d348c3cad7c7	93	#endif
majik	6:d348c3cad7c7	94	}
majik	6:d348c3cad7c7	95
majik	6:d348c3cad7c7	96	/** Verify the I2C connection.
majik	6:d348c3cad7c7	97	* Make sure the device is connected and responds as expected.
majik	6:d348c3cad7c7	98	* @return True if connection is valid, false otherwise
majik	6:d348c3cad7c7	99	*/
majik	6:d348c3cad7c7	100	bool MPU6051::testConnection()
majik	6:d348c3cad7c7	101	{
majik	6:d348c3cad7c7	102	#ifdef useDebugSerial
majik	6:d348c3cad7c7	103	debugSerial.printf("MPU6051::testConnection start\n");
majik	6:d348c3cad7c7	104	#endif
majik	6:d348c3cad7c7	105	uint8_t deviceId = getDeviceID();
majik	6:d348c3cad7c7	106	#ifdef useDebugSerial
majik	6:d348c3cad7c7	107	debugSerial.printf("DeviceId = %d\n",deviceId);
majik	6:d348c3cad7c7	108	#endif
majik	6:d348c3cad7c7	109	return deviceId == 0x34;
majik	6:d348c3cad7c7	110	}
majik	6:d348c3cad7c7	111
majik	6:d348c3cad7c7	112	// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
majik	6:d348c3cad7c7	113
majik	6:d348c3cad7c7	114	/** Get the auxiliary I2C supply voltage level.
majik	6:d348c3cad7c7	115	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
majik	6:d348c3cad7c7	116	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
majik	6:d348c3cad7c7	117	* the MPU-6000, which does not have a VLOGIC pin.
majik	6:d348c3cad7c7	118	* @return I2C supply voltage level (0=VLOGIC, 1=VDD)
majik	6:d348c3cad7c7	119	*/
majik	6:d348c3cad7c7	120	uint8_t MPU6051::getAuxVDDIOLevel()
majik	6:d348c3cad7c7	121	{
majik	6:d348c3cad7c7	122	i2Cdev.readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
majik	6:d348c3cad7c7	123	return buffer[0];
majik	6:d348c3cad7c7	124	}
majik	6:d348c3cad7c7	125	/** Set the auxiliary I2C supply voltage level.
majik	6:d348c3cad7c7	126	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
majik	6:d348c3cad7c7	127	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
majik	6:d348c3cad7c7	128	* the MPU-6000, which does not have a VLOGIC pin.
majik	6:d348c3cad7c7	129	* @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
majik	6:d348c3cad7c7	130	*/
majik	6:d348c3cad7c7	131	void MPU6051::setAuxVDDIOLevel(uint8_t level)
majik	6:d348c3cad7c7	132	{
majik	6:d348c3cad7c7	133	i2Cdev.writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
majik	6:d348c3cad7c7	134	}
majik	6:d348c3cad7c7	135
majik	6:d348c3cad7c7	136	// SMPLRT_DIV register
majik	6:d348c3cad7c7	137
majik	6:d348c3cad7c7	138	/** Get gyroscope output rate divider.
majik	6:d348c3cad7c7	139	* The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
majik	6:d348c3cad7c7	140	* Motion detection, and Free Fall detection are all based on the Sample Rate.
majik	6:d348c3cad7c7	141	* The Sample Rate is generated by dividing the gyroscope output rate by
majik	6:d348c3cad7c7	142	* SMPLRT_DIV:
majik	6:d348c3cad7c7	143	*
majik	6:d348c3cad7c7	144	* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
majik	6:d348c3cad7c7	145	*
majik	6:d348c3cad7c7	146	* where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
majik	6:d348c3cad7c7	147	* 7), and 1kHz when the DLPF is enabled (see Register 26).
majik	6:d348c3cad7c7	148	*
majik	6:d348c3cad7c7	149	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
majik	6:d348c3cad7c7	150	* Rate greater than 1kHz, the same accelerometer sample may be output to the
majik	6:d348c3cad7c7	151	* FIFO, DMP, and sensor registers more than once.
majik	6:d348c3cad7c7	152	*
majik	6:d348c3cad7c7	153	* For a diagram of the gyroscope and accelerometer signal paths, see Section 8
majik	6:d348c3cad7c7	154	* of the MPU-6000/MPU-6050 Product Specification document.
majik	6:d348c3cad7c7	155	*
majik	6:d348c3cad7c7	156	* @return Current sample rate
majik	6:d348c3cad7c7	157	* @see MPU6050_RA_SMPLRT_DIV
majik	6:d348c3cad7c7	158	*/
majik	6:d348c3cad7c7	159	uint8_t MPU6051::getRate()
majik	6:d348c3cad7c7	160	{
majik	6:d348c3cad7c7	161	i2Cdev.readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
majik	6:d348c3cad7c7	162	return buffer[0];
majik	6:d348c3cad7c7	163	}
majik	6:d348c3cad7c7	164	/** Set gyroscope sample rate divider.
majik	6:d348c3cad7c7	165	* @param rate New sample rate divider
majik	6:d348c3cad7c7	166	* @see getRate()
majik	6:d348c3cad7c7	167	* @see MPU6050_RA_SMPLRT_DIV
majik	6:d348c3cad7c7	168	*/
majik	6:d348c3cad7c7	169	void MPU6051::setRate(uint8_t rate)
majik	6:d348c3cad7c7	170	{
majik	6:d348c3cad7c7	171	i2Cdev.writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
majik	6:d348c3cad7c7	172	}
majik	6:d348c3cad7c7	173
majik	6:d348c3cad7c7	174	// CONFIG register
majik	6:d348c3cad7c7	175
majik	6:d348c3cad7c7	176	/** Get external FSYNC configuration.
majik	6:d348c3cad7c7	177	* Configures the external Frame Synchronization (FSYNC) pin sampling. An
majik	6:d348c3cad7c7	178	* external signal connected to the FSYNC pin can be sampled by configuring
majik	6:d348c3cad7c7	179	* EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
majik	6:d348c3cad7c7	180	* strobes may be captured. The latched FSYNC signal will be sampled at the
majik	6:d348c3cad7c7	181	* Sampling Rate, as defined in register 25. After sampling, the latch will
majik	6:d348c3cad7c7	182	* reset to the current FSYNC signal state.
majik	6:d348c3cad7c7	183	*
majik	6:d348c3cad7c7	184	* The sampled value will be reported in place of the least significant bit in
majik	6:d348c3cad7c7	185	* a sensor data register determined by the value of EXT_SYNC_SET according to
majik	6:d348c3cad7c7	186	* the following table.
majik	6:d348c3cad7c7	187	*
majik	6:d348c3cad7c7	188	* <pre>
majik	6:d348c3cad7c7	189	* EXT_SYNC_SET \| FSYNC Bit Location
majik	6:d348c3cad7c7	190	* -------------+-------------------
majik	6:d348c3cad7c7	191	* 0 \| Input disabled
majik	6:d348c3cad7c7	192	* 1 \| TEMP_OUT_L[0]
majik	6:d348c3cad7c7	193	* 2 \| GYRO_XOUT_L[0]
majik	6:d348c3cad7c7	194	* 3 \| GYRO_YOUT_L[0]
majik	6:d348c3cad7c7	195	* 4 \| GYRO_ZOUT_L[0]
majik	6:d348c3cad7c7	196	* 5 \| ACCEL_XOUT_L[0]
majik	6:d348c3cad7c7	197	* 6 \| ACCEL_YOUT_L[0]
majik	6:d348c3cad7c7	198	* 7 \| ACCEL_ZOUT_L[0]
majik	6:d348c3cad7c7	199	* </pre>
majik	6:d348c3cad7c7	200	*
majik	6:d348c3cad7c7	201	* @return FSYNC configuration value
majik	6:d348c3cad7c7	202	*/
majik	6:d348c3cad7c7	203	uint8_t MPU6051::getExternalFrameSync()
majik	6:d348c3cad7c7	204	{
majik	6:d348c3cad7c7	205	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
majik	6:d348c3cad7c7	206	return buffer[0];
majik	6:d348c3cad7c7	207	}
majik	6:d348c3cad7c7	208	/** Set external FSYNC configuration.
majik	6:d348c3cad7c7	209	* @see getExternalFrameSync()
majik	6:d348c3cad7c7	210	* @see MPU6050_RA_CONFIG
majik	6:d348c3cad7c7	211	* @param sync New FSYNC configuration value
majik	6:d348c3cad7c7	212	*/
majik	6:d348c3cad7c7	213	void MPU6051::setExternalFrameSync(uint8_t sync)
majik	6:d348c3cad7c7	214	{
majik	6:d348c3cad7c7	215	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
majik	6:d348c3cad7c7	216	}
majik	6:d348c3cad7c7	217	/** Get digital low-pass filter configuration.
majik	6:d348c3cad7c7	218	* The DLPF_CFG parameter sets the digital low pass filter configuration. It
majik	6:d348c3cad7c7	219	* also determines the internal sampling rate used by the device as shown in
majik	6:d348c3cad7c7	220	* the table below.
majik	6:d348c3cad7c7	221	*
majik	6:d348c3cad7c7	222	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
majik	6:d348c3cad7c7	223	* Rate greater than 1kHz, the same accelerometer sample may be output to the
majik	6:d348c3cad7c7	224	* FIFO, DMP, and sensor registers more than once.
majik	6:d348c3cad7c7	225	*
majik	6:d348c3cad7c7	226	* <pre>
majik	6:d348c3cad7c7	227	* \| ACCELEROMETER \| GYROSCOPE
majik	6:d348c3cad7c7	228	* DLPF_CFG \| Bandwidth \| Delay \| Bandwidth \| Delay \| Sample Rate
majik	6:d348c3cad7c7	229	* ---------+-----------+--------+-----------+--------+-------------
majik	6:d348c3cad7c7	230	* 0 \| 260Hz \| 0ms \| 256Hz \| 0.98ms \| 8kHz
majik	6:d348c3cad7c7	231	* 1 \| 184Hz \| 2.0ms \| 188Hz \| 1.9ms \| 1kHz
majik	6:d348c3cad7c7	232	* 2 \| 94Hz \| 3.0ms \| 98Hz \| 2.8ms \| 1kHz
majik	6:d348c3cad7c7	233	* 3 \| 44Hz \| 4.9ms \| 42Hz \| 4.8ms \| 1kHz
majik	6:d348c3cad7c7	234	* 4 \| 21Hz \| 8.5ms \| 20Hz \| 8.3ms \| 1kHz
majik	6:d348c3cad7c7	235	* 5 \| 10Hz \| 13.8ms \| 10Hz \| 13.4ms \| 1kHz
majik	6:d348c3cad7c7	236	* 6 \| 5Hz \| 19.0ms \| 5Hz \| 18.6ms \| 1kHz
majik	6:d348c3cad7c7	237	* 7 \| -- Reserved -- \| -- Reserved -- \| Reserved
majik	6:d348c3cad7c7	238	* </pre>
majik	6:d348c3cad7c7	239	*
majik	6:d348c3cad7c7	240	* @return DLFP configuration
majik	6:d348c3cad7c7	241	* @see MPU6050_RA_CONFIG
majik	6:d348c3cad7c7	242	* @see MPU6050_CFG_DLPF_CFG_BIT
majik	6:d348c3cad7c7	243	* @see MPU6050_CFG_DLPF_CFG_LENGTH
majik	6:d348c3cad7c7	244	*/
majik	6:d348c3cad7c7	245	uint8_t MPU6051::getDLPFMode()
majik	6:d348c3cad7c7	246	{
majik	6:d348c3cad7c7	247	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
majik	6:d348c3cad7c7	248	return buffer[0];
majik	6:d348c3cad7c7	249	}
majik	6:d348c3cad7c7	250	/** Set digital low-pass filter configuration.
majik	6:d348c3cad7c7	251	* @param mode New DLFP configuration setting
majik	6:d348c3cad7c7	252	* @see getDLPFBandwidth()
majik	6:d348c3cad7c7	253	* @see MPU6050_DLPF_BW_256
majik	6:d348c3cad7c7	254	* @see MPU6050_RA_CONFIG
majik	6:d348c3cad7c7	255	* @see MPU6050_CFG_DLPF_CFG_BIT
majik	6:d348c3cad7c7	256	* @see MPU6050_CFG_DLPF_CFG_LENGTH
majik	6:d348c3cad7c7	257	*/
majik	6:d348c3cad7c7	258	void MPU6051::setDLPFMode(uint8_t mode)
majik	6:d348c3cad7c7	259	{
majik	6:d348c3cad7c7	260	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
majik	6:d348c3cad7c7	261	}
majik	6:d348c3cad7c7	262
majik	6:d348c3cad7c7	263	// GYRO_CONFIG register
majik	6:d348c3cad7c7	264
majik	6:d348c3cad7c7	265	/** Get full-scale gyroscope range.
majik	6:d348c3cad7c7	266	* The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
majik	6:d348c3cad7c7	267	* as described in the table below.
majik	6:d348c3cad7c7	268	*
majik	6:d348c3cad7c7	269	* <pre>
majik	6:d348c3cad7c7	270	* 0 = +/- 250 degrees/sec
majik	6:d348c3cad7c7	271	* 1 = +/- 500 degrees/sec
majik	6:d348c3cad7c7	272	* 2 = +/- 1000 degrees/sec
majik	6:d348c3cad7c7	273	* 3 = +/- 2000 degrees/sec
majik	6:d348c3cad7c7	274	* </pre>
majik	6:d348c3cad7c7	275	*
majik	6:d348c3cad7c7	276	* @return Current full-scale gyroscope range setting
majik	6:d348c3cad7c7	277	* @see MPU6050_GYRO_FS_250
majik	6:d348c3cad7c7	278	* @see MPU6050_RA_GYRO_CONFIG
majik	6:d348c3cad7c7	279	* @see MPU6050_GCONFIG_FS_SEL_BIT
majik	6:d348c3cad7c7	280	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
majik	6:d348c3cad7c7	281	*/
majik	6:d348c3cad7c7	282	uint8_t MPU6051::getFullScaleGyroRange()
majik	6:d348c3cad7c7	283	{
majik	6:d348c3cad7c7	284	i2Cdev.readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
majik	6:d348c3cad7c7	285	return buffer[0];
majik	6:d348c3cad7c7	286	}
majik	6:d348c3cad7c7	287	/** Set full-scale gyroscope range.
majik	6:d348c3cad7c7	288	* @param range New full-scale gyroscope range value
majik	6:d348c3cad7c7	289	* @see getFullScaleRange()
majik	6:d348c3cad7c7	290	* @see MPU6050_GYRO_FS_250
majik	6:d348c3cad7c7	291	* @see MPU6050_RA_GYRO_CONFIG
majik	6:d348c3cad7c7	292	* @see MPU6050_GCONFIG_FS_SEL_BIT
majik	6:d348c3cad7c7	293	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
majik	6:d348c3cad7c7	294	*/
majik	6:d348c3cad7c7	295	void MPU6051::setFullScaleGyroRange(uint8_t range)
majik	6:d348c3cad7c7	296	{
majik	6:d348c3cad7c7	297	i2Cdev.writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
majik	6:d348c3cad7c7	298	}
majik	6:d348c3cad7c7	299
majik	6:d348c3cad7c7	300	// ACCEL_CONFIG register
majik	6:d348c3cad7c7	301
majik	6:d348c3cad7c7	302	/** Get self-test enabled setting for accelerometer X axis.
majik	6:d348c3cad7c7	303	* @return Self-test enabled value
majik	6:d348c3cad7c7	304	* @see MPU6050_RA_ACCEL_CONFIG
majik	6:d348c3cad7c7	305	*/
majik	6:d348c3cad7c7	306	bool MPU6051::getAccelXSelfTest()
majik	6:d348c3cad7c7	307	{
majik	6:d348c3cad7c7	308	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
majik	6:d348c3cad7c7	309	return buffer[0];
majik	6:d348c3cad7c7	310	}
majik	6:d348c3cad7c7	311	/** Get self-test enabled setting for accelerometer X axis.
majik	6:d348c3cad7c7	312	* @param enabled Self-test enabled value
majik	6:d348c3cad7c7	313	* @see MPU6050_RA_ACCEL_CONFIG
majik	6:d348c3cad7c7	314	*/
majik	6:d348c3cad7c7	315	void MPU6051::setAccelXSelfTest(bool enabled)
majik	6:d348c3cad7c7	316	{
majik	6:d348c3cad7c7	317	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
majik	6:d348c3cad7c7	318	}
majik	6:d348c3cad7c7	319	/** Get self-test enabled value for accelerometer Y axis.
majik	6:d348c3cad7c7	320	* @return Self-test enabled value
majik	6:d348c3cad7c7	321	* @see MPU6050_RA_ACCEL_CONFIG
majik	6:d348c3cad7c7	322	*/
majik	6:d348c3cad7c7	323	bool MPU6051::getAccelYSelfTest()
majik	6:d348c3cad7c7	324	{
majik	6:d348c3cad7c7	325	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
majik	6:d348c3cad7c7	326	return buffer[0];
majik	6:d348c3cad7c7	327	}
majik	6:d348c3cad7c7	328	/** Get self-test enabled value for accelerometer Y axis.
majik	6:d348c3cad7c7	329	* @param enabled Self-test enabled value
majik	6:d348c3cad7c7	330	* @see MPU6050_RA_ACCEL_CONFIG
majik	6:d348c3cad7c7	331	*/
majik	6:d348c3cad7c7	332	void MPU6051::setAccelYSelfTest(bool enabled)
majik	6:d348c3cad7c7	333	{
majik	6:d348c3cad7c7	334	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
majik	6:d348c3cad7c7	335	}
majik	6:d348c3cad7c7	336	/** Get self-test enabled value for accelerometer Z axis.
majik	6:d348c3cad7c7	337	* @return Self-test enabled value
majik	6:d348c3cad7c7	338	* @see MPU6050_RA_ACCEL_CONFIG
majik	6:d348c3cad7c7	339	*/
majik	6:d348c3cad7c7	340	bool MPU6051::getAccelZSelfTest()
majik	6:d348c3cad7c7	341	{
majik	6:d348c3cad7c7	342	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
majik	6:d348c3cad7c7	343	return buffer[0];
majik	6:d348c3cad7c7	344	}
majik	6:d348c3cad7c7	345	/** Set self-test enabled value for accelerometer Z axis.
majik	6:d348c3cad7c7	346	* @param enabled Self-test enabled value
majik	6:d348c3cad7c7	347	* @see MPU6050_RA_ACCEL_CONFIG
majik	6:d348c3cad7c7	348	*/
majik	6:d348c3cad7c7	349	void MPU6051::setAccelZSelfTest(bool enabled)
majik	6:d348c3cad7c7	350	{
majik	6:d348c3cad7c7	351	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
majik	6:d348c3cad7c7	352	}
majik	6:d348c3cad7c7	353	/** Get full-scale accelerometer range.
majik	6:d348c3cad7c7	354	* The FS_SEL parameter allows setting the full-scale range of the accelerometer
majik	6:d348c3cad7c7	355	* sensors, as described in the table below.
majik	6:d348c3cad7c7	356	*
majik	6:d348c3cad7c7	357	* <pre>
majik	6:d348c3cad7c7	358	* 0 = +/- 2g
majik	6:d348c3cad7c7	359	* 1 = +/- 4g
majik	6:d348c3cad7c7	360	* 2 = +/- 8g
majik	6:d348c3cad7c7	361	* 3 = +/- 16g
majik	6:d348c3cad7c7	362	* </pre>
majik	6:d348c3cad7c7	363	*
majik	6:d348c3cad7c7	364	* @return Current full-scale accelerometer range setting
majik	6:d348c3cad7c7	365	* @see MPU6050_ACCEL_FS_2
majik	6:d348c3cad7c7	366	* @see MPU6050_RA_ACCEL_CONFIG
majik	6:d348c3cad7c7	367	* @see MPU6050_ACONFIG_AFS_SEL_BIT
majik	6:d348c3cad7c7	368	* @see MPU6050_ACONFIG_AFS_SEL_LENGTH
majik	6:d348c3cad7c7	369	*/
majik	6:d348c3cad7c7	370	uint8_t MPU6051::getFullScaleAccelRange()
majik	6:d348c3cad7c7	371	{
majik	6:d348c3cad7c7	372	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
majik	6:d348c3cad7c7	373	return buffer[0];
majik	6:d348c3cad7c7	374	}
majik	6:d348c3cad7c7	375	/** Set full-scale accelerometer range.
majik	6:d348c3cad7c7	376	* @param range New full-scale accelerometer range setting
majik	6:d348c3cad7c7	377	* @see getFullScaleAccelRange()
majik	6:d348c3cad7c7	378	*/
majik	6:d348c3cad7c7	379	void MPU6051::setFullScaleAccelRange(uint8_t range)
majik	6:d348c3cad7c7	380	{
majik	6:d348c3cad7c7	381	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
majik	6:d348c3cad7c7	382	}
majik	6:d348c3cad7c7	383	/** Get the high-pass filter configuration.
majik	6:d348c3cad7c7	384	* The DHPF is a filter module in the path leading to motion detectors (Free
majik	6:d348c3cad7c7	385	* Fall, Motion threshold, and Zero Motion). The high pass filter output is not
majik	6:d348c3cad7c7	386	* available to the data registers (see Figure in Section 8 of the MPU-6000/
majik	6:d348c3cad7c7	387	* MPU-6050 Product Specification document).
majik	6:d348c3cad7c7	388	*
majik	6:d348c3cad7c7	389	* The high pass filter has three modes:
majik	6:d348c3cad7c7	390	*
majik	6:d348c3cad7c7	391	* <pre>
majik	6:d348c3cad7c7	392	* Reset: The filter output settles to zero within one sample. This
majik	6:d348c3cad7c7	393	* effectively disables the high pass filter. This mode may be toggled
majik	6:d348c3cad7c7	394	* to quickly settle the filter.
majik	6:d348c3cad7c7	395	*
majik	6:d348c3cad7c7	396	* On: The high pass filter will pass signals above the cut off frequency.
majik	6:d348c3cad7c7	397	*
majik	6:d348c3cad7c7	398	* Hold: When triggered, the filter holds the present sample. The filter
majik	6:d348c3cad7c7	399	* output will be the difference between the input sample and the held
majik	6:d348c3cad7c7	400	* sample.
majik	6:d348c3cad7c7	401	* </pre>
majik	6:d348c3cad7c7	402	*
majik	6:d348c3cad7c7	403	* <pre>
majik	6:d348c3cad7c7	404	* ACCEL_HPF \| Filter Mode \| Cut-off Frequency
majik	6:d348c3cad7c7	405	* ----------+-------------+------------------
majik	6:d348c3cad7c7	406	* 0 \| Reset \| None
majik	6:d348c3cad7c7	407	* 1 \| On \| 5Hz
majik	6:d348c3cad7c7	408	* 2 \| On \| 2.5Hz
majik	6:d348c3cad7c7	409	* 3 \| On \| 1.25Hz
majik	6:d348c3cad7c7	410	* 4 \| On \| 0.63Hz
majik	6:d348c3cad7c7	411	* 7 \| Hold \| None
majik	6:d348c3cad7c7	412	* </pre>
majik	6:d348c3cad7c7	413	*
majik	6:d348c3cad7c7	414	* @return Current high-pass filter configuration
majik	6:d348c3cad7c7	415	* @see MPU6050_DHPF_RESET
majik	6:d348c3cad7c7	416	* @see MPU6050_RA_ACCEL_CONFIG
majik	6:d348c3cad7c7	417	*/
majik	6:d348c3cad7c7	418	uint8_t MPU6051::getDHPFMode()
majik	6:d348c3cad7c7	419	{
majik	6:d348c3cad7c7	420	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
majik	6:d348c3cad7c7	421	return buffer[0];
majik	6:d348c3cad7c7	422	}
majik	6:d348c3cad7c7	423	/** Set the high-pass filter configuration.
majik	6:d348c3cad7c7	424	* @param bandwidth New high-pass filter configuration
majik	6:d348c3cad7c7	425	* @see setDHPFMode()
majik	6:d348c3cad7c7	426	* @see MPU6050_DHPF_RESET
majik	6:d348c3cad7c7	427	* @see MPU6050_RA_ACCEL_CONFIG
majik	6:d348c3cad7c7	428	*/
majik	6:d348c3cad7c7	429	void MPU6051::setDHPFMode(uint8_t bandwidth)
majik	6:d348c3cad7c7	430	{
majik	6:d348c3cad7c7	431	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
majik	6:d348c3cad7c7	432	}
majik	6:d348c3cad7c7	433
majik	6:d348c3cad7c7	434	// FF_THR register
majik	6:d348c3cad7c7	435
majik	6:d348c3cad7c7	436	/** Get free-fall event acceleration threshold.
majik	6:d348c3cad7c7	437	* This register configures the detection threshold for Free Fall event
majik	6:d348c3cad7c7	438	* detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
majik	6:d348c3cad7c7	439	* absolute value of the accelerometer measurements for the three axes are each
majik	6:d348c3cad7c7	440	* less than the detection threshold. This condition increments the Free Fall
majik	6:d348c3cad7c7	441	* duration counter (Register 30). The Free Fall interrupt is triggered when the
majik	6:d348c3cad7c7	442	* Free Fall duration counter reaches the time specified in FF_DUR.
majik	6:d348c3cad7c7	443	*
majik	6:d348c3cad7c7	444	* For more details on the Free Fall detection interrupt, see Section 8.2 of the
majik	6:d348c3cad7c7	445	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
majik	6:d348c3cad7c7	446	* 58 of this document.
majik	6:d348c3cad7c7	447	*
majik	6:d348c3cad7c7	448	* @return Current free-fall acceleration threshold value (LSB = 2mg)
majik	6:d348c3cad7c7	449	* @see MPU6050_RA_FF_THR
majik	6:d348c3cad7c7	450	*/
majik	6:d348c3cad7c7	451	uint8_t MPU6051::getFreefallDetectionThreshold()
majik	6:d348c3cad7c7	452	{
majik	6:d348c3cad7c7	453	i2Cdev.readByte(devAddr, MPU6050_RA_FF_THR, buffer);
majik	6:d348c3cad7c7	454	return buffer[0];
majik	6:d348c3cad7c7	455	}
majik	6:d348c3cad7c7	456	/** Get free-fall event acceleration threshold.
majik	6:d348c3cad7c7	457	* @param threshold New free-fall acceleration threshold value (LSB = 2mg)
majik	6:d348c3cad7c7	458	* @see getFreefallDetectionThreshold()
majik	6:d348c3cad7c7	459	* @see MPU6050_RA_FF_THR
majik	6:d348c3cad7c7	460	*/
majik	6:d348c3cad7c7	461	void MPU6051::setFreefallDetectionThreshold(uint8_t threshold)
majik	6:d348c3cad7c7	462	{
majik	6:d348c3cad7c7	463	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
majik	6:d348c3cad7c7	464	}
majik	6:d348c3cad7c7	465
majik	6:d348c3cad7c7	466	// FF_DUR register
majik	6:d348c3cad7c7	467
majik	6:d348c3cad7c7	468	/** Get free-fall event duration threshold.
majik	6:d348c3cad7c7	469	* This register configures the duration counter threshold for Free Fall event
majik	6:d348c3cad7c7	470	* detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
majik	6:d348c3cad7c7	471	* of 1 LSB = 1 ms.
majik	6:d348c3cad7c7	472	*
majik	6:d348c3cad7c7	473	* The Free Fall duration counter increments while the absolute value of the
majik	6:d348c3cad7c7	474	* accelerometer measurements are each less than the detection threshold
majik	6:d348c3cad7c7	475	* (Register 29). The Free Fall interrupt is triggered when the Free Fall
majik	6:d348c3cad7c7	476	* duration counter reaches the time specified in this register.
majik	6:d348c3cad7c7	477	*
majik	6:d348c3cad7c7	478	* For more details on the Free Fall detection interrupt, see Section 8.2 of
majik	6:d348c3cad7c7	479	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
majik	6:d348c3cad7c7	480	* and 58 of this document.
majik	6:d348c3cad7c7	481	*
majik	6:d348c3cad7c7	482	* @return Current free-fall duration threshold value (LSB = 1ms)
majik	6:d348c3cad7c7	483	* @see MPU6050_RA_FF_DUR
majik	6:d348c3cad7c7	484	*/
majik	6:d348c3cad7c7	485	uint8_t MPU6051::getFreefallDetectionDuration()
majik	6:d348c3cad7c7	486	{
majik	6:d348c3cad7c7	487	i2Cdev.readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
majik	6:d348c3cad7c7	488	return buffer[0];
majik	6:d348c3cad7c7	489	}
majik	6:d348c3cad7c7	490	/** Get free-fall event duration threshold.
majik	6:d348c3cad7c7	491	* @param duration New free-fall duration threshold value (LSB = 1ms)
majik	6:d348c3cad7c7	492	* @see getFreefallDetectionDuration()
majik	6:d348c3cad7c7	493	* @see MPU6050_RA_FF_DUR
majik	6:d348c3cad7c7	494	*/
majik	6:d348c3cad7c7	495	void MPU6051::setFreefallDetectionDuration(uint8_t duration)
majik	6:d348c3cad7c7	496	{
majik	6:d348c3cad7c7	497	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
majik	6:d348c3cad7c7	498	}
majik	6:d348c3cad7c7	499
majik	6:d348c3cad7c7	500	// MOT_THR register
majik	6:d348c3cad7c7	501
majik	6:d348c3cad7c7	502	/** Get motion detection event acceleration threshold.
majik	6:d348c3cad7c7	503	* This register configures the detection threshold for Motion interrupt
majik	6:d348c3cad7c7	504	* generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
majik	6:d348c3cad7c7	505	* absolute value of any of the accelerometer measurements exceeds this Motion
majik	6:d348c3cad7c7	506	* detection threshold. This condition increments the Motion detection duration
majik	6:d348c3cad7c7	507	* counter (Register 32). The Motion detection interrupt is triggered when the
majik	6:d348c3cad7c7	508	* Motion Detection counter reaches the time count specified in MOT_DUR
majik	6:d348c3cad7c7	509	* (Register 32).
majik	6:d348c3cad7c7	510	*
majik	6:d348c3cad7c7	511	* The Motion interrupt will indicate the axis and polarity of detected motion
majik	6:d348c3cad7c7	512	* in MOT_DETECT_STATUS (Register 97).
majik	6:d348c3cad7c7	513	*
majik	6:d348c3cad7c7	514	* For more details on the Motion detection interrupt, see Section 8.3 of the
majik	6:d348c3cad7c7	515	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
majik	6:d348c3cad7c7	516	* 58 of this document.
majik	6:d348c3cad7c7	517	*
majik	6:d348c3cad7c7	518	* @return Current motion detection acceleration threshold value (LSB = 2mg)
majik	6:d348c3cad7c7	519	* @see MPU6050_RA_MOT_THR
majik	6:d348c3cad7c7	520	*/
majik	6:d348c3cad7c7	521	uint8_t MPU6051::getMotionDetectionThreshold()
majik	6:d348c3cad7c7	522	{
majik	6:d348c3cad7c7	523	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
majik	6:d348c3cad7c7	524	return buffer[0];
majik	6:d348c3cad7c7	525	}
majik	6:d348c3cad7c7	526	/** Set free-fall event acceleration threshold.
majik	6:d348c3cad7c7	527	* @param threshold New motion detection acceleration threshold value (LSB = 2mg)
majik	6:d348c3cad7c7	528	* @see getMotionDetectionThreshold()
majik	6:d348c3cad7c7	529	* @see MPU6050_RA_MOT_THR
majik	6:d348c3cad7c7	530	*/
majik	6:d348c3cad7c7	531	void MPU6051::setMotionDetectionThreshold(uint8_t threshold)
majik	6:d348c3cad7c7	532	{
majik	6:d348c3cad7c7	533	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
majik	6:d348c3cad7c7	534	}
majik	6:d348c3cad7c7	535
majik	6:d348c3cad7c7	536	// MOT_DUR register
majik	6:d348c3cad7c7	537
majik	6:d348c3cad7c7	538	/** Get motion detection event duration threshold.
majik	6:d348c3cad7c7	539	* This register configures the duration counter threshold for Motion interrupt
majik	6:d348c3cad7c7	540	* generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
majik	6:d348c3cad7c7	541	* of 1LSB = 1ms. The Motion detection duration counter increments when the
majik	6:d348c3cad7c7	542	* absolute value of any of the accelerometer measurements exceeds the Motion
majik	6:d348c3cad7c7	543	* detection threshold (Register 31). The Motion detection interrupt is
majik	6:d348c3cad7c7	544	* triggered when the Motion detection counter reaches the time count specified
majik	6:d348c3cad7c7	545	* in this register.
majik	6:d348c3cad7c7	546	*
majik	6:d348c3cad7c7	547	* For more details on the Motion detection interrupt, see Section 8.3 of the
majik	6:d348c3cad7c7	548	* MPU-6000/MPU-6050 Product Specification document.
majik	6:d348c3cad7c7	549	*
majik	6:d348c3cad7c7	550	* @return Current motion detection duration threshold value (LSB = 1ms)
majik	6:d348c3cad7c7	551	* @see MPU6050_RA_MOT_DUR
majik	6:d348c3cad7c7	552	*/
majik	6:d348c3cad7c7	553	uint8_t MPU6051::getMotionDetectionDuration()
majik	6:d348c3cad7c7	554	{
majik	6:d348c3cad7c7	555	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
majik	6:d348c3cad7c7	556	return buffer[0];
majik	6:d348c3cad7c7	557	}
majik	6:d348c3cad7c7	558	/** Set motion detection event duration threshold.
majik	6:d348c3cad7c7	559	* @param duration New motion detection duration threshold value (LSB = 1ms)
majik	6:d348c3cad7c7	560	* @see getMotionDetectionDuration()
majik	6:d348c3cad7c7	561	* @see MPU6050_RA_MOT_DUR
majik	6:d348c3cad7c7	562	*/
majik	6:d348c3cad7c7	563	void MPU6051::setMotionDetectionDuration(uint8_t duration)
majik	6:d348c3cad7c7	564	{
majik	6:d348c3cad7c7	565	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
majik	6:d348c3cad7c7	566	}
majik	6:d348c3cad7c7	567
majik	6:d348c3cad7c7	568	// ZRMOT_THR register
majik	6:d348c3cad7c7	569
majik	6:d348c3cad7c7	570	/** Get zero motion detection event acceleration threshold.
majik	6:d348c3cad7c7	571	* This register configures the detection threshold for Zero Motion interrupt
majik	6:d348c3cad7c7	572	* generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
majik	6:d348c3cad7c7	573	* the absolute value of the accelerometer measurements for the 3 axes are each
majik	6:d348c3cad7c7	574	* less than the detection threshold. This condition increments the Zero Motion
majik	6:d348c3cad7c7	575	* duration counter (Register 34). The Zero Motion interrupt is triggered when
majik	6:d348c3cad7c7	576	* the Zero Motion duration counter reaches the time count specified in
majik	6:d348c3cad7c7	577	* ZRMOT_DUR (Register 34).
majik	6:d348c3cad7c7	578	*
majik	6:d348c3cad7c7	579	* Unlike Free Fall or Motion detection, Zero Motion detection triggers an
majik	6:d348c3cad7c7	580	* interrupt both when Zero Motion is first detected and when Zero Motion is no
majik	6:d348c3cad7c7	581	* longer detected.
majik	6:d348c3cad7c7	582	*
majik	6:d348c3cad7c7	583	* When a zero motion event is detected, a Zero Motion Status will be indicated
majik	6:d348c3cad7c7	584	* in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
majik	6:d348c3cad7c7	585	* condition is detected, the status bit is set to 1. When a zero-motion-to-
majik	6:d348c3cad7c7	586	* motion condition is detected, the status bit is set to 0.
majik	6:d348c3cad7c7	587	*
majik	6:d348c3cad7c7	588	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
majik	6:d348c3cad7c7	589	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
majik	6:d348c3cad7c7	590	* and 58 of this document.
majik	6:d348c3cad7c7	591	*
majik	6:d348c3cad7c7	592	* @return Current zero motion detection acceleration threshold value (LSB = 2mg)
majik	6:d348c3cad7c7	593	* @see MPU6050_RA_ZRMOT_THR
majik	6:d348c3cad7c7	594	*/
majik	6:d348c3cad7c7	595	uint8_t MPU6051::getZeroMotionDetectionThreshold()
majik	6:d348c3cad7c7	596	{
majik	6:d348c3cad7c7	597	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
majik	6:d348c3cad7c7	598	return buffer[0];
majik	6:d348c3cad7c7	599	}
majik	6:d348c3cad7c7	600	/** Set zero motion detection event acceleration threshold.
majik	6:d348c3cad7c7	601	* @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
majik	6:d348c3cad7c7	602	* @see getZeroMotionDetectionThreshold()
majik	6:d348c3cad7c7	603	* @see MPU6050_RA_ZRMOT_THR
majik	6:d348c3cad7c7	604	*/
majik	6:d348c3cad7c7	605	void MPU6051::setZeroMotionDetectionThreshold(uint8_t threshold)
majik	6:d348c3cad7c7	606	{
majik	6:d348c3cad7c7	607	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
majik	6:d348c3cad7c7	608	}
majik	6:d348c3cad7c7	609
majik	6:d348c3cad7c7	610	// ZRMOT_DUR register
majik	6:d348c3cad7c7	611
majik	6:d348c3cad7c7	612	/** Get zero motion detection event duration threshold.
majik	6:d348c3cad7c7	613	* This register configures the duration counter threshold for Zero Motion
majik	6:d348c3cad7c7	614	* interrupt generation. The duration counter ticks at 16 Hz, therefore
majik	6:d348c3cad7c7	615	* ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
majik	6:d348c3cad7c7	616	* increments while the absolute value of the accelerometer measurements are
majik	6:d348c3cad7c7	617	* each less than the detection threshold (Register 33). The Zero Motion
majik	6:d348c3cad7c7	618	* interrupt is triggered when the Zero Motion duration counter reaches the time
majik	6:d348c3cad7c7	619	* count specified in this register.
majik	6:d348c3cad7c7	620	*
majik	6:d348c3cad7c7	621	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
majik	6:d348c3cad7c7	622	* the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
majik	6:d348c3cad7c7	623	* and 58 of this document.
majik	6:d348c3cad7c7	624	*
majik	6:d348c3cad7c7	625	* @return Current zero motion detection duration threshold value (LSB = 64ms)
majik	6:d348c3cad7c7	626	* @see MPU6050_RA_ZRMOT_DUR
majik	6:d348c3cad7c7	627	*/
majik	6:d348c3cad7c7	628	uint8_t MPU6051::getZeroMotionDetectionDuration()
majik	6:d348c3cad7c7	629	{
majik	6:d348c3cad7c7	630	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
majik	6:d348c3cad7c7	631	return buffer[0];
majik	6:d348c3cad7c7	632	}
majik	6:d348c3cad7c7	633	/** Set zero motion detection event duration threshold.
majik	6:d348c3cad7c7	634	* @param duration New zero motion detection duration threshold value (LSB = 1ms)
majik	6:d348c3cad7c7	635	* @see getZeroMotionDetectionDuration()
majik	6:d348c3cad7c7	636	* @see MPU6050_RA_ZRMOT_DUR
majik	6:d348c3cad7c7	637	*/
majik	6:d348c3cad7c7	638	void MPU6051::setZeroMotionDetectionDuration(uint8_t duration)
majik	6:d348c3cad7c7	639	{
majik	6:d348c3cad7c7	640	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
majik	6:d348c3cad7c7	641	}
majik	6:d348c3cad7c7	642
majik	6:d348c3cad7c7	643	// FIFO_EN register
majik	6:d348c3cad7c7	644
majik	6:d348c3cad7c7	645	/** Get temperature FIFO enabled value.
majik	6:d348c3cad7c7	646	* When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
majik	6:d348c3cad7c7	647	* 66) to be written into the FIFO buffer.
majik	6:d348c3cad7c7	648	* @return Current temperature FIFO enabled value
majik	6:d348c3cad7c7	649	* @see MPU6050_RA_FIFO_EN
majik	6:d348c3cad7c7	650	*/
majik	6:d348c3cad7c7	651	bool MPU6051::getTempFIFOEnabled()
majik	6:d348c3cad7c7	652	{
majik	6:d348c3cad7c7	653	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
majik	6:d348c3cad7c7	654	return buffer[0];
majik	6:d348c3cad7c7	655	}
majik	6:d348c3cad7c7	656	/** Set temperature FIFO enabled value.
majik	6:d348c3cad7c7	657	* @param enabled New temperature FIFO enabled value
majik	6:d348c3cad7c7	658	* @see getTempFIFOEnabled()
majik	6:d348c3cad7c7	659	* @see MPU6050_RA_FIFO_EN
majik	6:d348c3cad7c7	660	*/
majik	6:d348c3cad7c7	661	void MPU6051::setTempFIFOEnabled(bool enabled)
majik	6:d348c3cad7c7	662	{
majik	6:d348c3cad7c7	663	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
majik	6:d348c3cad7c7	664	}
majik	6:d348c3cad7c7	665	/** Get gyroscope X-axis FIFO enabled value.
majik	6:d348c3cad7c7	666	* When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
majik	6:d348c3cad7c7	667	* 68) to be written into the FIFO buffer.
majik	6:d348c3cad7c7	668	* @return Current gyroscope X-axis FIFO enabled value
majik	6:d348c3cad7c7	669	* @see MPU6050_RA_FIFO_EN
majik	6:d348c3cad7c7	670	*/
majik	6:d348c3cad7c7	671	bool MPU6051::getXGyroFIFOEnabled()
majik	6:d348c3cad7c7	672	{
majik	6:d348c3cad7c7	673	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
majik	6:d348c3cad7c7	674	return buffer[0];
majik	6:d348c3cad7c7	675	}
majik	6:d348c3cad7c7	676	/** Set gyroscope X-axis FIFO enabled value.
majik	6:d348c3cad7c7	677	* @param enabled New gyroscope X-axis FIFO enabled value
majik	6:d348c3cad7c7	678	* @see getXGyroFIFOEnabled()
majik	6:d348c3cad7c7	679	* @see MPU6050_RA_FIFO_EN
majik	6:d348c3cad7c7	680	*/
majik	6:d348c3cad7c7	681	void MPU6051::setXGyroFIFOEnabled(bool enabled)
majik	6:d348c3cad7c7	682	{
majik	6:d348c3cad7c7	683	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
majik	6:d348c3cad7c7	684	}
majik	6:d348c3cad7c7	685	/** Get gyroscope Y-axis FIFO enabled value.
majik	6:d348c3cad7c7	686	* When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
majik	6:d348c3cad7c7	687	* 70) to be written into the FIFO buffer.
majik	6:d348c3cad7c7	688	* @return Current gyroscope Y-axis FIFO enabled value
majik	6:d348c3cad7c7	689	* @see MPU6050_RA_FIFO_EN
majik	6:d348c3cad7c7	690	*/
majik	6:d348c3cad7c7	691	bool MPU6051::getYGyroFIFOEnabled()
majik	6:d348c3cad7c7	692	{
majik	6:d348c3cad7c7	693	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
majik	6:d348c3cad7c7	694	return buffer[0];
majik	6:d348c3cad7c7	695	}
majik	6:d348c3cad7c7	696	/** Set gyroscope Y-axis FIFO enabled value.
majik	6:d348c3cad7c7	697	* @param enabled New gyroscope Y-axis FIFO enabled value
majik	6:d348c3cad7c7	698	* @see getYGyroFIFOEnabled()
majik	6:d348c3cad7c7	699	* @see MPU6050_RA_FIFO_EN
majik	6:d348c3cad7c7	700	*/
majik	6:d348c3cad7c7	701	void MPU6051::setYGyroFIFOEnabled(bool enabled)
majik	6:d348c3cad7c7	702	{
majik	6:d348c3cad7c7	703	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
majik	6:d348c3cad7c7	704	}
majik	6:d348c3cad7c7	705	/** Get gyroscope Z-axis FIFO enabled value.
majik	6:d348c3cad7c7	706	* When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
majik	6:d348c3cad7c7	707	* 72) to be written into the FIFO buffer.
majik	6:d348c3cad7c7	708	* @return Current gyroscope Z-axis FIFO enabled value
majik	6:d348c3cad7c7	709	* @see MPU6050_RA_FIFO_EN
majik	6:d348c3cad7c7	710	*/
majik	6:d348c3cad7c7	711	bool MPU6051::getZGyroFIFOEnabled()
majik	6:d348c3cad7c7	712	{
majik	6:d348c3cad7c7	713	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
majik	6:d348c3cad7c7	714	return buffer[0];
majik	6:d348c3cad7c7	715	}
majik	6:d348c3cad7c7	716	/** Set gyroscope Z-axis FIFO enabled value.
majik	6:d348c3cad7c7	717	* @param enabled New gyroscope Z-axis FIFO enabled value
majik	6:d348c3cad7c7	718	* @see getZGyroFIFOEnabled()
majik	6:d348c3cad7c7	719	* @see MPU6050_RA_FIFO_EN
majik	6:d348c3cad7c7	720	*/
majik	6:d348c3cad7c7	721	void MPU6051::setZGyroFIFOEnabled(bool enabled)
majik	6:d348c3cad7c7	722	{
majik	6:d348c3cad7c7	723	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
majik	6:d348c3cad7c7	724	}
majik	6:d348c3cad7c7	725	/** Get accelerometer FIFO enabled value.
majik	6:d348c3cad7c7	726	* When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
majik	6:d348c3cad7c7	727	* ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
majik	6:d348c3cad7c7	728	* written into the FIFO buffer.
majik	6:d348c3cad7c7	729	* @return Current accelerometer FIFO enabled value
majik	6:d348c3cad7c7	730	* @see MPU6050_RA_FIFO_EN
majik	6:d348c3cad7c7	731	*/
majik	6:d348c3cad7c7	732	bool MPU6051::getAccelFIFOEnabled()
majik	6:d348c3cad7c7	733	{
majik	6:d348c3cad7c7	734	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
majik	6:d348c3cad7c7	735	return buffer[0];
majik	6:d348c3cad7c7	736	}
majik	6:d348c3cad7c7	737	/** Set accelerometer FIFO enabled value.
majik	6:d348c3cad7c7	738	* @param enabled New accelerometer FIFO enabled value
majik	6:d348c3cad7c7	739	* @see getAccelFIFOEnabled()
majik	6:d348c3cad7c7	740	* @see MPU6050_RA_FIFO_EN
majik	6:d348c3cad7c7	741	*/
majik	6:d348c3cad7c7	742	void MPU6051::setAccelFIFOEnabled(bool enabled)
majik	6:d348c3cad7c7	743	{
majik	6:d348c3cad7c7	744	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
majik	6:d348c3cad7c7	745	}
majik	6:d348c3cad7c7	746	/** Get Slave 2 FIFO enabled value.
majik	6:d348c3cad7c7	747	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
majik	6:d348c3cad7c7	748	* associated with Slave 2 to be written into the FIFO buffer.
majik	6:d348c3cad7c7	749	* @return Current Slave 2 FIFO enabled value
majik	6:d348c3cad7c7	750	* @see MPU6050_RA_FIFO_EN
majik	6:d348c3cad7c7	751	*/
majik	6:d348c3cad7c7	752	bool MPU6051::getSlave2FIFOEnabled()
majik	6:d348c3cad7c7	753	{
majik	6:d348c3cad7c7	754	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
majik	6:d348c3cad7c7	755	return buffer[0];
majik	6:d348c3cad7c7	756	}
majik	6:d348c3cad7c7	757	/** Set Slave 2 FIFO enabled value.
majik	6:d348c3cad7c7	758	* @param enabled New Slave 2 FIFO enabled value
majik	6:d348c3cad7c7	759	* @see getSlave2FIFOEnabled()
majik	6:d348c3cad7c7	760	* @see MPU6050_RA_FIFO_EN
majik	6:d348c3cad7c7	761	*/
majik	6:d348c3cad7c7	762	void MPU6051::setSlave2FIFOEnabled(bool enabled)
majik	6:d348c3cad7c7	763	{
majik	6:d348c3cad7c7	764	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
majik	6:d348c3cad7c7	765	}
majik	6:d348c3cad7c7	766	/** Get Slave 1 FIFO enabled value.
majik	6:d348c3cad7c7	767	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
majik	6:d348c3cad7c7	768	* associated with Slave 1 to be written into the FIFO buffer.
majik	6:d348c3cad7c7	769	* @return Current Slave 1 FIFO enabled value
majik	6:d348c3cad7c7	770	* @see MPU6050_RA_FIFO_EN
majik	6:d348c3cad7c7	771	*/
majik	6:d348c3cad7c7	772	bool MPU6051::getSlave1FIFOEnabled()
majik	6:d348c3cad7c7	773	{
majik	6:d348c3cad7c7	774	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
majik	6:d348c3cad7c7	775	return buffer[0];
majik	6:d348c3cad7c7	776	}
majik	6:d348c3cad7c7	777	/** Set Slave 1 FIFO enabled value.
majik	6:d348c3cad7c7	778	* @param enabled New Slave 1 FIFO enabled value
majik	6:d348c3cad7c7	779	* @see getSlave1FIFOEnabled()
majik	6:d348c3cad7c7	780	* @see MPU6050_RA_FIFO_EN
majik	6:d348c3cad7c7	781	*/
majik	6:d348c3cad7c7	782	void MPU6051::setSlave1FIFOEnabled(bool enabled)
majik	6:d348c3cad7c7	783	{
majik	6:d348c3cad7c7	784	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
majik	6:d348c3cad7c7	785	}
majik	6:d348c3cad7c7	786	/** Get Slave 0 FIFO enabled value.
majik	6:d348c3cad7c7	787	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
majik	6:d348c3cad7c7	788	* associated with Slave 0 to be written into the FIFO buffer.
majik	6:d348c3cad7c7	789	* @return Current Slave 0 FIFO enabled value
majik	6:d348c3cad7c7	790	* @see MPU6050_RA_FIFO_EN
majik	6:d348c3cad7c7	791	*/
majik	6:d348c3cad7c7	792	bool MPU6051::getSlave0FIFOEnabled()
majik	6:d348c3cad7c7	793	{
majik	6:d348c3cad7c7	794	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
majik	6:d348c3cad7c7	795	return buffer[0];
majik	6:d348c3cad7c7	796	}
majik	6:d348c3cad7c7	797	/** Set Slave 0 FIFO enabled value.
majik	6:d348c3cad7c7	798	* @param enabled New Slave 0 FIFO enabled value
majik	6:d348c3cad7c7	799	* @see getSlave0FIFOEnabled()
majik	6:d348c3cad7c7	800	* @see MPU6050_RA_FIFO_EN
majik	6:d348c3cad7c7	801	*/
majik	6:d348c3cad7c7	802	void MPU6051::setSlave0FIFOEnabled(bool enabled)
majik	6:d348c3cad7c7	803	{
majik	6:d348c3cad7c7	804	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
majik	6:d348c3cad7c7	805	}
majik	6:d348c3cad7c7	806
majik	6:d348c3cad7c7	807	// I2C_MST_CTRL register
majik	6:d348c3cad7c7	808
majik	6:d348c3cad7c7	809	/** Get multi-master enabled value.
majik	6:d348c3cad7c7	810	* Multi-master capability allows multiple I2C masters to operate on the same
majik	6:d348c3cad7c7	811	* bus. In circuits where multi-master capability is required, set MULT_MST_EN
majik	6:d348c3cad7c7	812	* to 1. This will increase current drawn by approximately 30uA.
majik	6:d348c3cad7c7	813	*
majik	6:d348c3cad7c7	814	* In circuits where multi-master capability is required, the state of the I2C
majik	6:d348c3cad7c7	815	* bus must always be monitored by each separate I2C Master. Before an I2C
majik	6:d348c3cad7c7	816	* Master can assume arbitration of the bus, it must first confirm that no other
majik	6:d348c3cad7c7	817	* I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
majik	6:d348c3cad7c7	818	* MPU-60X0's bus arbitration detection logic is turned on, enabling it to
majik	6:d348c3cad7c7	819	* detect when the bus is available.
majik	6:d348c3cad7c7	820	*
majik	6:d348c3cad7c7	821	* @return Current multi-master enabled value
majik	6:d348c3cad7c7	822	* @see MPU6050_RA_I2C_MST_CTRL
majik	6:d348c3cad7c7	823	*/
majik	6:d348c3cad7c7	824	bool MPU6051::getMultiMasterEnabled()
majik	6:d348c3cad7c7	825	{
majik	6:d348c3cad7c7	826	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
majik	6:d348c3cad7c7	827	return buffer[0];
majik	6:d348c3cad7c7	828	}
majik	6:d348c3cad7c7	829	/** Set multi-master enabled value.
majik	6:d348c3cad7c7	830	* @param enabled New multi-master enabled value
majik	6:d348c3cad7c7	831	* @see getMultiMasterEnabled()
majik	6:d348c3cad7c7	832	* @see MPU6050_RA_I2C_MST_CTRL
majik	6:d348c3cad7c7	833	*/
majik	6:d348c3cad7c7	834	void MPU6051::setMultiMasterEnabled(bool enabled)
majik	6:d348c3cad7c7	835	{
majik	6:d348c3cad7c7	836	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
majik	6:d348c3cad7c7	837	}
majik	6:d348c3cad7c7	838	/** Get wait-for-external-sensor-data enabled value.
majik	6:d348c3cad7c7	839	* When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
majik	6:d348c3cad7c7	840	* delayed until External Sensor data from the Slave Devices are loaded into the
majik	6:d348c3cad7c7	841	* EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
majik	6:d348c3cad7c7	842	* data (i.e. from gyro and accel) and external sensor data have been loaded to
majik	6:d348c3cad7c7	843	* their respective data registers (i.e. the data is synced) when the Data Ready
majik	6:d348c3cad7c7	844	* interrupt is triggered.
majik	6:d348c3cad7c7	845	*
majik	6:d348c3cad7c7	846	* @return Current wait-for-external-sensor-data enabled value
majik	6:d348c3cad7c7	847	* @see MPU6050_RA_I2C_MST_CTRL
majik	6:d348c3cad7c7	848	*/
majik	6:d348c3cad7c7	849	bool MPU6051::getWaitForExternalSensorEnabled()
majik	6:d348c3cad7c7	850	{
majik	6:d348c3cad7c7	851	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
majik	6:d348c3cad7c7	852	return buffer[0];
majik	6:d348c3cad7c7	853	}
majik	6:d348c3cad7c7	854	/** Set wait-for-external-sensor-data enabled value.
majik	6:d348c3cad7c7	855	* @param enabled New wait-for-external-sensor-data enabled value
majik	6:d348c3cad7c7	856	* @see getWaitForExternalSensorEnabled()
majik	6:d348c3cad7c7	857	* @see MPU6050_RA_I2C_MST_CTRL
majik	6:d348c3cad7c7	858	*/
majik	6:d348c3cad7c7	859	void MPU6051::setWaitForExternalSensorEnabled(bool enabled)
majik	6:d348c3cad7c7	860	{
majik	6:d348c3cad7c7	861	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
majik	6:d348c3cad7c7	862	}
majik	6:d348c3cad7c7	863	/** Get Slave 3 FIFO enabled value.
majik	6:d348c3cad7c7	864	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
majik	6:d348c3cad7c7	865	* associated with Slave 3 to be written into the FIFO buffer.
majik	6:d348c3cad7c7	866	* @return Current Slave 3 FIFO enabled value
majik	6:d348c3cad7c7	867	* @see MPU6050_RA_MST_CTRL
majik	6:d348c3cad7c7	868	*/
majik	6:d348c3cad7c7	869	bool MPU6051::getSlave3FIFOEnabled()
majik	6:d348c3cad7c7	870	{
majik	6:d348c3cad7c7	871	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
majik	6:d348c3cad7c7	872	return buffer[0];
majik	6:d348c3cad7c7	873	}
majik	6:d348c3cad7c7	874	/** Set Slave 3 FIFO enabled value.
majik	6:d348c3cad7c7	875	* @param enabled New Slave 3 FIFO enabled value
majik	6:d348c3cad7c7	876	* @see getSlave3FIFOEnabled()
majik	6:d348c3cad7c7	877	* @see MPU6050_RA_MST_CTRL
majik	6:d348c3cad7c7	878	*/
majik	6:d348c3cad7c7	879	void MPU6051::setSlave3FIFOEnabled(bool enabled)
majik	6:d348c3cad7c7	880	{
majik	6:d348c3cad7c7	881	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
majik	6:d348c3cad7c7	882	}
majik	6:d348c3cad7c7	883	/** Get slave read/write transition enabled value.
majik	6:d348c3cad7c7	884	* The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
majik	6:d348c3cad7c7	885	* read to the next slave read. If the bit equals 0, there will be a restart
majik	6:d348c3cad7c7	886	* between reads. If the bit equals 1, there will be a stop followed by a start
majik	6:d348c3cad7c7	887	* of the following read. When a write transaction follows a read transaction,
majik	6:d348c3cad7c7	888	* the stop followed by a start of the successive write will be always used.
majik	6:d348c3cad7c7	889	*
majik	6:d348c3cad7c7	890	* @return Current slave read/write transition enabled value
majik	6:d348c3cad7c7	891	* @see MPU6050_RA_I2C_MST_CTRL
majik	6:d348c3cad7c7	892	*/
majik	6:d348c3cad7c7	893	bool MPU6051::getSlaveReadWriteTransitionEnabled()
majik	6:d348c3cad7c7	894	{
majik	6:d348c3cad7c7	895	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
majik	6:d348c3cad7c7	896	return buffer[0];
majik	6:d348c3cad7c7	897	}
majik	6:d348c3cad7c7	898	/** Set slave read/write transition enabled value.
majik	6:d348c3cad7c7	899	* @param enabled New slave read/write transition enabled value
majik	6:d348c3cad7c7	900	* @see getSlaveReadWriteTransitionEnabled()
majik	6:d348c3cad7c7	901	* @see MPU6050_RA_I2C_MST_CTRL
majik	6:d348c3cad7c7	902	*/
majik	6:d348c3cad7c7	903	void MPU6051::setSlaveReadWriteTransitionEnabled(bool enabled)
majik	6:d348c3cad7c7	904	{
majik	6:d348c3cad7c7	905	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
majik	6:d348c3cad7c7	906	}
majik	6:d348c3cad7c7	907	/** Get I2C master clock speed.
majik	6:d348c3cad7c7	908	* I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
majik	6:d348c3cad7c7	909	* MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
majik	6:d348c3cad7c7	910	* the following table:
majik	6:d348c3cad7c7	911	*
majik	6:d348c3cad7c7	912	* <pre>
majik	6:d348c3cad7c7	913	* I2C_MST_CLK \| I2C Master Clock Speed \| 8MHz Clock Divider
majik	6:d348c3cad7c7	914	* ------------+------------------------+-------------------
majik	6:d348c3cad7c7	915	* 0 \| 348kHz \| 23
majik	6:d348c3cad7c7	916	* 1 \| 333kHz \| 24
majik	6:d348c3cad7c7	917	* 2 \| 320kHz \| 25
majik	6:d348c3cad7c7	918	* 3 \| 308kHz \| 26
majik	6:d348c3cad7c7	919	* 4 \| 296kHz \| 27
majik	6:d348c3cad7c7	920	* 5 \| 286kHz \| 28
majik	6:d348c3cad7c7	921	* 6 \| 276kHz \| 29
majik	6:d348c3cad7c7	922	* 7 \| 267kHz \| 30
majik	6:d348c3cad7c7	923	* 8 \| 258kHz \| 31
majik	6:d348c3cad7c7	924	* 9 \| 500kHz \| 16
majik	6:d348c3cad7c7	925	* 10 \| 471kHz \| 17
majik	6:d348c3cad7c7	926	* 11 \| 444kHz \| 18
majik	6:d348c3cad7c7	927	* 12 \| 421kHz \| 19
majik	6:d348c3cad7c7	928	* 13 \| 400kHz \| 20
majik	6:d348c3cad7c7	929	* 14 \| 381kHz \| 21
majik	6:d348c3cad7c7	930	* 15 \| 364kHz \| 22
majik	6:d348c3cad7c7	931	* </pre>
majik	6:d348c3cad7c7	932	*
majik	6:d348c3cad7c7	933	* @return Current I2C master clock speed
majik	6:d348c3cad7c7	934	* @see MPU6050_RA_I2C_MST_CTRL
majik	6:d348c3cad7c7	935	*/
majik	6:d348c3cad7c7	936	uint8_t MPU6051::getMasterClockSpeed()
majik	6:d348c3cad7c7	937	{
majik	6:d348c3cad7c7	938	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
majik	6:d348c3cad7c7	939	return buffer[0];
majik	6:d348c3cad7c7	940	}
majik	6:d348c3cad7c7	941	/** Set I2C master clock speed.
majik	6:d348c3cad7c7	942	* @reparam speed Current I2C master clock speed
majik	6:d348c3cad7c7	943	* @see MPU6050_RA_I2C_MST_CTRL
majik	6:d348c3cad7c7	944	*/
majik	6:d348c3cad7c7	945	void MPU6051::setMasterClockSpeed(uint8_t speed)
majik	6:d348c3cad7c7	946	{
majik	6:d348c3cad7c7	947	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
majik	6:d348c3cad7c7	948	}
majik	6:d348c3cad7c7	949
majik	6:d348c3cad7c7	950	// I2C_SLV* registers (Slave 0-3)
majik	6:d348c3cad7c7	951
majik	6:d348c3cad7c7	952	/** Get the I2C address of the specified slave (0-3).
majik	6:d348c3cad7c7	953	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
majik	6:d348c3cad7c7	954	* operation, and if it is cleared, then it's a write operation. The remaining
majik	6:d348c3cad7c7	955	* bits (6-0) are the 7-bit device address of the slave device.
majik	6:d348c3cad7c7	956	*
majik	6:d348c3cad7c7	957	* In read mode, the result of the read is placed in the lowest available
majik	6:d348c3cad7c7	958	* EXT_SENS_DATA register. For further information regarding the allocation of
majik	6:d348c3cad7c7	959	* read results, please refer to the EXT_SENS_DATA register description
majik	6:d348c3cad7c7	960	* (Registers 73 - 96).
majik	6:d348c3cad7c7	961	*
majik	6:d348c3cad7c7	962	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
majik	6:d348c3cad7c7	963	* characteristics, and so it has its own functions (getSlave4* and setSlave4*).
majik	6:d348c3cad7c7	964	*
majik	6:d348c3cad7c7	965	* I2C data transactions are performed at the Sample Rate, as defined in
majik	6:d348c3cad7c7	966	* Register 25. The user is responsible for ensuring that I2C data transactions
majik	6:d348c3cad7c7	967	* to and from each enabled Slave can be completed within a single period of the
majik	6:d348c3cad7c7	968	* Sample Rate.
majik	6:d348c3cad7c7	969	*
majik	6:d348c3cad7c7	970	* The I2C slave access rate can be reduced relative to the Sample Rate. This
majik	6:d348c3cad7c7	971	* reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
majik	6:d348c3cad7c7	972	* slave's access rate is reduced relative to the Sample Rate is determined by
majik	6:d348c3cad7c7	973	* I2C_MST_DELAY_CTRL (Register 103).
majik	6:d348c3cad7c7	974	*
majik	6:d348c3cad7c7	975	* The processing order for the slaves is fixed. The sequence followed for
majik	6:d348c3cad7c7	976	* processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
majik	6:d348c3cad7c7	977	* particular Slave is disabled it will be skipped.
majik	6:d348c3cad7c7	978	*
majik	6:d348c3cad7c7	979	* Each slave can either be accessed at the sample rate or at a reduced sample
majik	6:d348c3cad7c7	980	* rate. In a case where some slaves are accessed at the Sample Rate and some
majik	6:d348c3cad7c7	981	* slaves are accessed at the reduced rate, the sequence of accessing the slaves
majik	6:d348c3cad7c7	982	* (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
majik	6:d348c3cad7c7	983	* be skipped if their access rate dictates that they should not be accessed
majik	6:d348c3cad7c7	984	* during that particular cycle. For further information regarding the reduced
majik	6:d348c3cad7c7	985	* access rate, please refer to Register 52. Whether a slave is accessed at the
majik	6:d348c3cad7c7	986	* Sample Rate or at the reduced rate is determined by the Delay Enable bits in
majik	6:d348c3cad7c7	987	* Register 103.
majik	6:d348c3cad7c7	988	*
majik	6:d348c3cad7c7	989	* @param num Slave number (0-3)
majik	6:d348c3cad7c7	990	* @return Current address for specified slave
majik	6:d348c3cad7c7	991	* @see MPU6050_RA_I2C_SLV0_ADDR
majik	6:d348c3cad7c7	992	*/
majik	6:d348c3cad7c7	993	uint8_t MPU6051::getSlaveAddress(uint8_t num)
majik	6:d348c3cad7c7	994	{
majik	6:d348c3cad7c7	995	if (num > 3) return 0;
majik	6:d348c3cad7c7	996	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
majik	6:d348c3cad7c7	997	return buffer[0];
majik	6:d348c3cad7c7	998	}
majik	6:d348c3cad7c7	999	/** Set the I2C address of the specified slave (0-3).
majik	6:d348c3cad7c7	1000	* @param num Slave number (0-3)
majik	6:d348c3cad7c7	1001	* @param address New address for specified slave
majik	6:d348c3cad7c7	1002	* @see getSlaveAddress()
majik	6:d348c3cad7c7	1003	* @see MPU6050_RA_I2C_SLV0_ADDR
majik	6:d348c3cad7c7	1004	*/
majik	6:d348c3cad7c7	1005	void MPU6051::setSlaveAddress(uint8_t num, uint8_t address)
majik	6:d348c3cad7c7	1006	{
majik	6:d348c3cad7c7	1007	if (num > 3) return;
majik	6:d348c3cad7c7	1008	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
majik	6:d348c3cad7c7	1009	}
majik	6:d348c3cad7c7	1010	/** Get the active internal register for the specified slave (0-3).
majik	6:d348c3cad7c7	1011	* Read/write operations for this slave will be done to whatever internal
majik	6:d348c3cad7c7	1012	* register address is stored in this MPU register.
majik	6:d348c3cad7c7	1013	*
majik	6:d348c3cad7c7	1014	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
majik	6:d348c3cad7c7	1015	* characteristics, and so it has its own functions.
majik	6:d348c3cad7c7	1016	*
majik	6:d348c3cad7c7	1017	* @param num Slave number (0-3)
majik	6:d348c3cad7c7	1018	* @return Current active register for specified slave
majik	6:d348c3cad7c7	1019	* @see MPU6050_RA_I2C_SLV0_REG
majik	6:d348c3cad7c7	1020	*/
majik	6:d348c3cad7c7	1021	uint8_t MPU6051::getSlaveRegister(uint8_t num)
majik	6:d348c3cad7c7	1022	{
majik	6:d348c3cad7c7	1023	if (num > 3) return 0;
majik	6:d348c3cad7c7	1024	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
majik	6:d348c3cad7c7	1025	return buffer[0];
majik	6:d348c3cad7c7	1026	}
majik	6:d348c3cad7c7	1027	/** Set the active internal register for the specified slave (0-3).
majik	6:d348c3cad7c7	1028	* @param num Slave number (0-3)
majik	6:d348c3cad7c7	1029	* @param reg New active register for specified slave
majik	6:d348c3cad7c7	1030	* @see getSlaveRegister()
majik	6:d348c3cad7c7	1031	* @see MPU6050_RA_I2C_SLV0_REG
majik	6:d348c3cad7c7	1032	*/
majik	6:d348c3cad7c7	1033	void MPU6051::setSlaveRegister(uint8_t num, uint8_t reg)
majik	6:d348c3cad7c7	1034	{
majik	6:d348c3cad7c7	1035	if (num > 3) return;
majik	6:d348c3cad7c7	1036	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
majik	6:d348c3cad7c7	1037	}
majik	6:d348c3cad7c7	1038	/** Get the enabled value for the specified slave (0-3).
majik	6:d348c3cad7c7	1039	* When set to 1, this bit enables Slave 0 for data transfer operations. When
majik	6:d348c3cad7c7	1040	* cleared to 0, this bit disables Slave 0 from data transfer operations.
majik	6:d348c3cad7c7	1041	* @param num Slave number (0-3)
majik	6:d348c3cad7c7	1042	* @return Current enabled value for specified slave
majik	6:d348c3cad7c7	1043	* @see MPU6050_RA_I2C_SLV0_CTRL
majik	6:d348c3cad7c7	1044	*/
majik	6:d348c3cad7c7	1045	bool MPU6051::getSlaveEnabled(uint8_t num)
majik	6:d348c3cad7c7	1046	{
majik	6:d348c3cad7c7	1047	if (num > 3) return 0;
majik	6:d348c3cad7c7	1048	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
majik	6:d348c3cad7c7	1049	return buffer[0];
majik	6:d348c3cad7c7	1050	}
majik	6:d348c3cad7c7	1051	/** Set the enabled value for the specified slave (0-3).
majik	6:d348c3cad7c7	1052	* @param num Slave number (0-3)
majik	6:d348c3cad7c7	1053	* @param enabled New enabled value for specified slave
majik	6:d348c3cad7c7	1054	* @see getSlaveEnabled()
majik	6:d348c3cad7c7	1055	* @see MPU6050_RA_I2C_SLV0_CTRL
majik	6:d348c3cad7c7	1056	*/
majik	6:d348c3cad7c7	1057	void MPU6051::setSlaveEnabled(uint8_t num, bool enabled)
majik	6:d348c3cad7c7	1058	{
majik	6:d348c3cad7c7	1059	if (num > 3) return;
majik	6:d348c3cad7c7	1060	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
majik	6:d348c3cad7c7	1061	}
majik	6:d348c3cad7c7	1062	/** Get word pair byte-swapping enabled for the specified slave (0-3).
majik	6:d348c3cad7c7	1063	* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
majik	6:d348c3cad7c7	1064	* the high and low bytes of a word pair are swapped. Please refer to
majik	6:d348c3cad7c7	1065	* I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
majik	6:d348c3cad7c7	1066	* bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
majik	6:d348c3cad7c7	1067	* registers in the order they were transferred.
majik	6:d348c3cad7c7	1068	*
majik	6:d348c3cad7c7	1069	* @param num Slave number (0-3)
majik	6:d348c3cad7c7	1070	* @return Current word pair byte-swapping enabled value for specified slave
majik	6:d348c3cad7c7	1071	* @see MPU6050_RA_I2C_SLV0_CTRL
majik	6:d348c3cad7c7	1072	*/
majik	6:d348c3cad7c7	1073	bool MPU6051::getSlaveWordByteSwap(uint8_t num)
majik	6:d348c3cad7c7	1074	{
majik	6:d348c3cad7c7	1075	if (num > 3) return 0;
majik	6:d348c3cad7c7	1076	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
majik	6:d348c3cad7c7	1077	return buffer[0];
majik	6:d348c3cad7c7	1078	}
majik	6:d348c3cad7c7	1079	/** Set word pair byte-swapping enabled for the specified slave (0-3).
majik	6:d348c3cad7c7	1080	* @param num Slave number (0-3)
majik	6:d348c3cad7c7	1081	* @param enabled New word pair byte-swapping enabled value for specified slave
majik	6:d348c3cad7c7	1082	* @see getSlaveWordByteSwap()
majik	6:d348c3cad7c7	1083	* @see MPU6050_RA_I2C_SLV0_CTRL
majik	6:d348c3cad7c7	1084	*/
majik	6:d348c3cad7c7	1085	void MPU6051::setSlaveWordByteSwap(uint8_t num, bool enabled)
majik	6:d348c3cad7c7	1086	{
majik	6:d348c3cad7c7	1087	if (num > 3) return;
majik	6:d348c3cad7c7	1088	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
majik	6:d348c3cad7c7	1089	}
majik	6:d348c3cad7c7	1090	/** Get write mode for the specified slave (0-3).
majik	6:d348c3cad7c7	1091	* When set to 1, the transaction will read or write data only. When cleared to
majik	6:d348c3cad7c7	1092	* 0, the transaction will write a register address prior to reading or writing
majik	6:d348c3cad7c7	1093	* data. This should equal 0 when specifying the register address within the
majik	6:d348c3cad7c7	1094	* Slave device to/from which the ensuing data transaction will take place.
majik	6:d348c3cad7c7	1095	*
majik	6:d348c3cad7c7	1096	* @param num Slave number (0-3)
majik	6:d348c3cad7c7	1097	* @return Current write mode for specified slave (0 = register address + data, 1 = data only)
majik	6:d348c3cad7c7	1098	* @see MPU6050_RA_I2C_SLV0_CTRL
majik	6:d348c3cad7c7	1099	*/
majik	6:d348c3cad7c7	1100	bool MPU6051::getSlaveWriteMode(uint8_t num)
majik	6:d348c3cad7c7	1101	{
majik	6:d348c3cad7c7	1102	if (num > 3) return 0;
majik	6:d348c3cad7c7	1103	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
majik	6:d348c3cad7c7	1104	return buffer[0];
majik	6:d348c3cad7c7	1105	}
majik	6:d348c3cad7c7	1106	/** Set write mode for the specified slave (0-3).
majik	6:d348c3cad7c7	1107	* @param num Slave number (0-3)
majik	6:d348c3cad7c7	1108	* @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
majik	6:d348c3cad7c7	1109	* @see getSlaveWriteMode()
majik	6:d348c3cad7c7	1110	* @see MPU6050_RA_I2C_SLV0_CTRL
majik	6:d348c3cad7c7	1111	*/
majik	6:d348c3cad7c7	1112	void MPU6051::setSlaveWriteMode(uint8_t num, bool mode)
majik	6:d348c3cad7c7	1113	{
majik	6:d348c3cad7c7	1114	if (num > 3) return;
majik	6:d348c3cad7c7	1115	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
majik	6:d348c3cad7c7	1116	}
majik	6:d348c3cad7c7	1117	/** Get word pair grouping order offset for the specified slave (0-3).
majik	6:d348c3cad7c7	1118	* This sets specifies the grouping order of word pairs received from registers.
majik	6:d348c3cad7c7	1119	* When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
majik	6:d348c3cad7c7	1120	* then odd register addresses) are paired to form a word. When set to 1, bytes
majik	6:d348c3cad7c7	1121	* from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
majik	6:d348c3cad7c7	1122	* register addresses) are paired to form a word.
majik	6:d348c3cad7c7	1123	*
majik	6:d348c3cad7c7	1124	* @param num Slave number (0-3)
majik	6:d348c3cad7c7	1125	* @return Current word pair grouping order offset for specified slave
majik	6:d348c3cad7c7	1126	* @see MPU6050_RA_I2C_SLV0_CTRL
majik	6:d348c3cad7c7	1127	*/
majik	6:d348c3cad7c7	1128	bool MPU6051::getSlaveWordGroupOffset(uint8_t num)
majik	6:d348c3cad7c7	1129	{
majik	6:d348c3cad7c7	1130	if (num > 3) return 0;
majik	6:d348c3cad7c7	1131	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
majik	6:d348c3cad7c7	1132	return buffer[0];
majik	6:d348c3cad7c7	1133	}
majik	6:d348c3cad7c7	1134	/** Set word pair grouping order offset for the specified slave (0-3).
majik	6:d348c3cad7c7	1135	* @param num Slave number (0-3)
majik	6:d348c3cad7c7	1136	* @param enabled New word pair grouping order offset for specified slave
majik	6:d348c3cad7c7	1137	* @see getSlaveWordGroupOffset()
majik	6:d348c3cad7c7	1138	* @see MPU6050_RA_I2C_SLV0_CTRL
majik	6:d348c3cad7c7	1139	*/
majik	6:d348c3cad7c7	1140	void MPU6051::setSlaveWordGroupOffset(uint8_t num, bool enabled)
majik	6:d348c3cad7c7	1141	{
majik	6:d348c3cad7c7	1142	if (num > 3) return;
majik	6:d348c3cad7c7	1143	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
majik	6:d348c3cad7c7	1144	}
majik	6:d348c3cad7c7	1145	/** Get number of bytes to read for the specified slave (0-3).
majik	6:d348c3cad7c7	1146	* Specifies the number of bytes transferred to and from Slave 0. Clearing this
majik	6:d348c3cad7c7	1147	* bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
majik	6:d348c3cad7c7	1148	* @param num Slave number (0-3)
majik	6:d348c3cad7c7	1149	* @return Number of bytes to read for specified slave
majik	6:d348c3cad7c7	1150	* @see MPU6050_RA_I2C_SLV0_CTRL
majik	6:d348c3cad7c7	1151	*/
majik	6:d348c3cad7c7	1152	uint8_t MPU6051::getSlaveDataLength(uint8_t num)
majik	6:d348c3cad7c7	1153	{
majik	6:d348c3cad7c7	1154	if (num > 3) return 0;
majik	6:d348c3cad7c7	1155	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
majik	6:d348c3cad7c7	1156	return buffer[0];
majik	6:d348c3cad7c7	1157	}
majik	6:d348c3cad7c7	1158	/** Set number of bytes to read for the specified slave (0-3).
majik	6:d348c3cad7c7	1159	* @param num Slave number (0-3)
majik	6:d348c3cad7c7	1160	* @param length Number of bytes to read for specified slave
majik	6:d348c3cad7c7	1161	* @see getSlaveDataLength()
majik	6:d348c3cad7c7	1162	* @see MPU6050_RA_I2C_SLV0_CTRL
majik	6:d348c3cad7c7	1163	*/
majik	6:d348c3cad7c7	1164	void MPU6051::setSlaveDataLength(uint8_t num, uint8_t length)
majik	6:d348c3cad7c7	1165	{
majik	6:d348c3cad7c7	1166	if (num > 3) return;
majik	6:d348c3cad7c7	1167	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
majik	6:d348c3cad7c7	1168	}
majik	6:d348c3cad7c7	1169
majik	6:d348c3cad7c7	1170	// I2C_SLV* registers (Slave 4)
majik	6:d348c3cad7c7	1171
majik	6:d348c3cad7c7	1172	/** Get the I2C address of Slave 4.
majik	6:d348c3cad7c7	1173	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
majik	6:d348c3cad7c7	1174	* operation, and if it is cleared, then it's a write operation. The remaining
majik	6:d348c3cad7c7	1175	* bits (6-0) are the 7-bit device address of the slave device.
majik	6:d348c3cad7c7	1176	*
majik	6:d348c3cad7c7	1177	* @return Current address for Slave 4
majik	6:d348c3cad7c7	1178	* @see getSlaveAddress()
majik	6:d348c3cad7c7	1179	* @see MPU6050_RA_I2C_SLV4_ADDR
majik	6:d348c3cad7c7	1180	*/
majik	6:d348c3cad7c7	1181	uint8_t MPU6051::getSlave4Address()
majik	6:d348c3cad7c7	1182	{
majik	6:d348c3cad7c7	1183	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
majik	6:d348c3cad7c7	1184	return buffer[0];
majik	6:d348c3cad7c7	1185	}
majik	6:d348c3cad7c7	1186	/** Set the I2C address of Slave 4.
majik	6:d348c3cad7c7	1187	* @param address New address for Slave 4
majik	6:d348c3cad7c7	1188	* @see getSlave4Address()
majik	6:d348c3cad7c7	1189	* @see MPU6050_RA_I2C_SLV4_ADDR
majik	6:d348c3cad7c7	1190	*/
majik	6:d348c3cad7c7	1191	void MPU6051::setSlave4Address(uint8_t address)
majik	6:d348c3cad7c7	1192	{
majik	6:d348c3cad7c7	1193	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
majik	6:d348c3cad7c7	1194	}
majik	6:d348c3cad7c7	1195	/** Get the active internal register for the Slave 4.
majik	6:d348c3cad7c7	1196	* Read/write operations for this slave will be done to whatever internal
majik	6:d348c3cad7c7	1197	* register address is stored in this MPU register.
majik	6:d348c3cad7c7	1198	*
majik	6:d348c3cad7c7	1199	* @return Current active register for Slave 4
majik	6:d348c3cad7c7	1200	* @see MPU6050_RA_I2C_SLV4_REG
majik	6:d348c3cad7c7	1201	*/
majik	6:d348c3cad7c7	1202	uint8_t MPU6051::getSlave4Register()
majik	6:d348c3cad7c7	1203	{
majik	6:d348c3cad7c7	1204	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
majik	6:d348c3cad7c7	1205	return buffer[0];
majik	6:d348c3cad7c7	1206	}
majik	6:d348c3cad7c7	1207	/** Set the active internal register for Slave 4.
majik	6:d348c3cad7c7	1208	* @param reg New active register for Slave 4
majik	6:d348c3cad7c7	1209	* @see getSlave4Register()
majik	6:d348c3cad7c7	1210	* @see MPU6050_RA_I2C_SLV4_REG
majik	6:d348c3cad7c7	1211	*/
majik	6:d348c3cad7c7	1212	void MPU6051::setSlave4Register(uint8_t reg)
majik	6:d348c3cad7c7	1213	{
majik	6:d348c3cad7c7	1214	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
majik	6:d348c3cad7c7	1215	}
majik	6:d348c3cad7c7	1216	/** Set new byte to write to Slave 4.
majik	6:d348c3cad7c7	1217	* This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
majik	6:d348c3cad7c7	1218	* is set 1 (set to read), this register has no effect.
majik	6:d348c3cad7c7	1219	* @param data New byte to write to Slave 4
majik	6:d348c3cad7c7	1220	* @see MPU6050_RA_I2C_SLV4_DO
majik	6:d348c3cad7c7	1221	*/
majik	6:d348c3cad7c7	1222	void MPU6051::setSlave4OutputByte(uint8_t data)
majik	6:d348c3cad7c7	1223	{
majik	6:d348c3cad7c7	1224	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
majik	6:d348c3cad7c7	1225	}
majik	6:d348c3cad7c7	1226	/** Get the enabled value for the Slave 4.
majik	6:d348c3cad7c7	1227	* When set to 1, this bit enables Slave 4 for data transfer operations. When
majik	6:d348c3cad7c7	1228	* cleared to 0, this bit disables Slave 4 from data transfer operations.
majik	6:d348c3cad7c7	1229	* @return Current enabled value for Slave 4
majik	6:d348c3cad7c7	1230	* @see MPU6050_RA_I2C_SLV4_CTRL
majik	6:d348c3cad7c7	1231	*/
majik	6:d348c3cad7c7	1232	bool MPU6051::getSlave4Enabled()
majik	6:d348c3cad7c7	1233	{
majik	6:d348c3cad7c7	1234	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
majik	6:d348c3cad7c7	1235	return buffer[0];
majik	6:d348c3cad7c7	1236	}
majik	6:d348c3cad7c7	1237	/** Set the enabled value for Slave 4.
majik	6:d348c3cad7c7	1238	* @param enabled New enabled value for Slave 4
majik	6:d348c3cad7c7	1239	* @see getSlave4Enabled()
majik	6:d348c3cad7c7	1240	* @see MPU6050_RA_I2C_SLV4_CTRL
majik	6:d348c3cad7c7	1241	*/
majik	6:d348c3cad7c7	1242	void MPU6051::setSlave4Enabled(bool enabled)
majik	6:d348c3cad7c7	1243	{
majik	6:d348c3cad7c7	1244	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
majik	6:d348c3cad7c7	1245	}
majik	6:d348c3cad7c7	1246	/** Get the enabled value for Slave 4 transaction interrupts.
majik	6:d348c3cad7c7	1247	* When set to 1, this bit enables the generation of an interrupt signal upon
majik	6:d348c3cad7c7	1248	* completion of a Slave 4 transaction. When cleared to 0, this bit disables the
majik	6:d348c3cad7c7	1249	* generation of an interrupt signal upon completion of a Slave 4 transaction.
majik	6:d348c3cad7c7	1250	* The interrupt status can be observed in Register 54.
majik	6:d348c3cad7c7	1251	*
majik	6:d348c3cad7c7	1252	* @return Current enabled value for Slave 4 transaction interrupts.
majik	6:d348c3cad7c7	1253	* @see MPU6050_RA_I2C_SLV4_CTRL
majik	6:d348c3cad7c7	1254	*/
majik	6:d348c3cad7c7	1255	bool MPU6051::getSlave4InterruptEnabled()
majik	6:d348c3cad7c7	1256	{
majik	6:d348c3cad7c7	1257	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
majik	6:d348c3cad7c7	1258	return buffer[0];
majik	6:d348c3cad7c7	1259	}
majik	6:d348c3cad7c7	1260	/** Set the enabled value for Slave 4 transaction interrupts.
majik	6:d348c3cad7c7	1261	* @param enabled New enabled value for Slave 4 transaction interrupts.
majik	6:d348c3cad7c7	1262	* @see getSlave4InterruptEnabled()
majik	6:d348c3cad7c7	1263	* @see MPU6050_RA_I2C_SLV4_CTRL
majik	6:d348c3cad7c7	1264	*/
majik	6:d348c3cad7c7	1265	void MPU6051::setSlave4InterruptEnabled(bool enabled)
majik	6:d348c3cad7c7	1266	{
majik	6:d348c3cad7c7	1267	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
majik	6:d348c3cad7c7	1268	}
majik	6:d348c3cad7c7	1269	/** Get write mode for Slave 4.
majik	6:d348c3cad7c7	1270	* When set to 1, the transaction will read or write data only. When cleared to
majik	6:d348c3cad7c7	1271	* 0, the transaction will write a register address prior to reading or writing
majik	6:d348c3cad7c7	1272	* data. This should equal 0 when specifying the register address within the
majik	6:d348c3cad7c7	1273	* Slave device to/from which the ensuing data transaction will take place.
majik	6:d348c3cad7c7	1274	*
majik	6:d348c3cad7c7	1275	* @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
majik	6:d348c3cad7c7	1276	* @see MPU6050_RA_I2C_SLV4_CTRL
majik	6:d348c3cad7c7	1277	*/
majik	6:d348c3cad7c7	1278	bool MPU6051::getSlave4WriteMode()
majik	6:d348c3cad7c7	1279	{
majik	6:d348c3cad7c7	1280	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
majik	6:d348c3cad7c7	1281	return buffer[0];
majik	6:d348c3cad7c7	1282	}
majik	6:d348c3cad7c7	1283	/** Set write mode for the Slave 4.
majik	6:d348c3cad7c7	1284	* @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
majik	6:d348c3cad7c7	1285	* @see getSlave4WriteMode()
majik	6:d348c3cad7c7	1286	* @see MPU6050_RA_I2C_SLV4_CTRL
majik	6:d348c3cad7c7	1287	*/
majik	6:d348c3cad7c7	1288	void MPU6051::setSlave4WriteMode(bool mode)
majik	6:d348c3cad7c7	1289	{
majik	6:d348c3cad7c7	1290	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
majik	6:d348c3cad7c7	1291	}
majik	6:d348c3cad7c7	1292	/** Get Slave 4 master delay value.
majik	6:d348c3cad7c7	1293	* This configures the reduced access rate of I2C slaves relative to the Sample
majik	6:d348c3cad7c7	1294	* Rate. When a slave's access rate is decreased relative to the Sample Rate,
majik	6:d348c3cad7c7	1295	* the slave is accessed every:
majik	6:d348c3cad7c7	1296	*
majik	6:d348c3cad7c7	1297	* 1 / (1 + I2C_MST_DLY) samples
majik	6:d348c3cad7c7	1298	*
majik	6:d348c3cad7c7	1299	* This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
majik	6:d348c3cad7c7	1300	* DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
majik	6:d348c3cad7c7	1301	* the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
majik	6:d348c3cad7c7	1302	* further information regarding the Sample Rate, please refer to register 25.
majik	6:d348c3cad7c7	1303	*
majik	6:d348c3cad7c7	1304	* @return Current Slave 4 master delay value
majik	6:d348c3cad7c7	1305	* @see MPU6050_RA_I2C_SLV4_CTRL
majik	6:d348c3cad7c7	1306	*/
majik	6:d348c3cad7c7	1307	uint8_t MPU6051::getSlave4MasterDelay()
majik	6:d348c3cad7c7	1308	{
majik	6:d348c3cad7c7	1309	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
majik	6:d348c3cad7c7	1310	return buffer[0];
majik	6:d348c3cad7c7	1311	}
majik	6:d348c3cad7c7	1312	/** Set Slave 4 master delay value.
majik	6:d348c3cad7c7	1313	* @param delay New Slave 4 master delay value
majik	6:d348c3cad7c7	1314	* @see getSlave4MasterDelay()
majik	6:d348c3cad7c7	1315	* @see MPU6050_RA_I2C_SLV4_CTRL
majik	6:d348c3cad7c7	1316	*/
majik	6:d348c3cad7c7	1317	void MPU6051::setSlave4MasterDelay(uint8_t delay)
majik	6:d348c3cad7c7	1318	{
majik	6:d348c3cad7c7	1319	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
majik	6:d348c3cad7c7	1320	}
majik	6:d348c3cad7c7	1321	/** Get last available byte read from Slave 4.
majik	6:d348c3cad7c7	1322	* This register stores the data read from Slave 4. This field is populated
majik	6:d348c3cad7c7	1323	* after a read transaction.
majik	6:d348c3cad7c7	1324	* @return Last available byte read from to Slave 4
majik	6:d348c3cad7c7	1325	* @see MPU6050_RA_I2C_SLV4_DI
majik	6:d348c3cad7c7	1326	*/
majik	6:d348c3cad7c7	1327	uint8_t MPU6051::getSlate4InputByte()
majik	6:d348c3cad7c7	1328	{
majik	6:d348c3cad7c7	1329	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
majik	6:d348c3cad7c7	1330	return buffer[0];
majik	6:d348c3cad7c7	1331	}
majik	6:d348c3cad7c7	1332
majik	6:d348c3cad7c7	1333	// I2C_MST_STATUS register
majik	6:d348c3cad7c7	1334
majik	6:d348c3cad7c7	1335	/** Get FSYNC interrupt status.
majik	6:d348c3cad7c7	1336	* This bit reflects the status of the FSYNC interrupt from an external device
majik	6:d348c3cad7c7	1337	* into the MPU-60X0. This is used as a way to pass an external interrupt
majik	6:d348c3cad7c7	1338	* through the MPU-60X0 to the host application processor. When set to 1, this
majik	6:d348c3cad7c7	1339	* bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
majik	6:d348c3cad7c7	1340	* (Register 55).
majik	6:d348c3cad7c7	1341	* @return FSYNC interrupt status
majik	6:d348c3cad7c7	1342	* @see MPU6050_RA_I2C_MST_STATUS
majik	6:d348c3cad7c7	1343	*/
majik	6:d348c3cad7c7	1344	bool MPU6051::getPassthroughStatus()
majik	6:d348c3cad7c7	1345	{
majik	6:d348c3cad7c7	1346	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
majik	6:d348c3cad7c7	1347	return buffer[0];
majik	6:d348c3cad7c7	1348	}
majik	6:d348c3cad7c7	1349	/** Get Slave 4 transaction done status.
majik	6:d348c3cad7c7	1350	* Automatically sets to 1 when a Slave 4 transaction has completed. This
majik	6:d348c3cad7c7	1351	* triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
majik	6:d348c3cad7c7	1352	* (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
majik	6:d348c3cad7c7	1353	* I2C_SLV4_CTRL register (Register 52).
majik	6:d348c3cad7c7	1354	* @return Slave 4 transaction done status
majik	6:d348c3cad7c7	1355	* @see MPU6050_RA_I2C_MST_STATUS
majik	6:d348c3cad7c7	1356	*/
majik	6:d348c3cad7c7	1357	bool MPU6051::getSlave4IsDone()
majik	6:d348c3cad7c7	1358	{
majik	6:d348c3cad7c7	1359	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
majik	6:d348c3cad7c7	1360	return buffer[0];
majik	6:d348c3cad7c7	1361	}
majik	6:d348c3cad7c7	1362	/** Get master arbitration lost status.
majik	6:d348c3cad7c7	1363	* This bit automatically sets to 1 when the I2C Master has lost arbitration of
majik	6:d348c3cad7c7	1364	* the auxiliary I2C bus (an error condition). This triggers an interrupt if the
majik	6:d348c3cad7c7	1365	* I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
majik	6:d348c3cad7c7	1366	* @return Master arbitration lost status
majik	6:d348c3cad7c7	1367	* @see MPU6050_RA_I2C_MST_STATUS
majik	6:d348c3cad7c7	1368	*/
majik	6:d348c3cad7c7	1369	bool MPU6051::getLostArbitration()
majik	6:d348c3cad7c7	1370	{
majik	6:d348c3cad7c7	1371	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
majik	6:d348c3cad7c7	1372	return buffer[0];
majik	6:d348c3cad7c7	1373	}
majik	6:d348c3cad7c7	1374	/** Get Slave 4 NACK status.
majik	6:d348c3cad7c7	1375	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
majik	6:d348c3cad7c7	1376	* transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
majik	6:d348c3cad7c7	1377	* bit in the INT_ENABLE register (Register 56) is asserted.
majik	6:d348c3cad7c7	1378	* @return Slave 4 NACK interrupt status
majik	6:d348c3cad7c7	1379	* @see MPU6050_RA_I2C_MST_STATUS
majik	6:d348c3cad7c7	1380	*/
majik	6:d348c3cad7c7	1381	bool MPU6051::getSlave4Nack()
majik	6:d348c3cad7c7	1382	{
majik	6:d348c3cad7c7	1383	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
majik	6:d348c3cad7c7	1384	return buffer[0];
majik	6:d348c3cad7c7	1385	}
majik	6:d348c3cad7c7	1386	/** Get Slave 3 NACK status.
majik	6:d348c3cad7c7	1387	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
majik	6:d348c3cad7c7	1388	* transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
majik	6:d348c3cad7c7	1389	* bit in the INT_ENABLE register (Register 56) is asserted.
majik	6:d348c3cad7c7	1390	* @return Slave 3 NACK interrupt status
majik	6:d348c3cad7c7	1391	* @see MPU6050_RA_I2C_MST_STATUS
majik	6:d348c3cad7c7	1392	*/
majik	6:d348c3cad7c7	1393	bool MPU6051::getSlave3Nack()
majik	6:d348c3cad7c7	1394	{
majik	6:d348c3cad7c7	1395	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
majik	6:d348c3cad7c7	1396	return buffer[0];
majik	6:d348c3cad7c7	1397	}
majik	6:d348c3cad7c7	1398	/** Get Slave 2 NACK status.
majik	6:d348c3cad7c7	1399	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
majik	6:d348c3cad7c7	1400	* transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
majik	6:d348c3cad7c7	1401	* bit in the INT_ENABLE register (Register 56) is asserted.
majik	6:d348c3cad7c7	1402	* @return Slave 2 NACK interrupt status
majik	6:d348c3cad7c7	1403	* @see MPU6050_RA_I2C_MST_STATUS
majik	6:d348c3cad7c7	1404	*/
majik	6:d348c3cad7c7	1405	bool MPU6051::getSlave2Nack()
majik	6:d348c3cad7c7	1406	{
majik	6:d348c3cad7c7	1407	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
majik	6:d348c3cad7c7	1408	return buffer[0];
majik	6:d348c3cad7c7	1409	}
majik	6:d348c3cad7c7	1410	/** Get Slave 1 NACK status.
majik	6:d348c3cad7c7	1411	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
majik	6:d348c3cad7c7	1412	* transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
majik	6:d348c3cad7c7	1413	* bit in the INT_ENABLE register (Register 56) is asserted.
majik	6:d348c3cad7c7	1414	* @return Slave 1 NACK interrupt status
majik	6:d348c3cad7c7	1415	* @see MPU6050_RA_I2C_MST_STATUS
majik	6:d348c3cad7c7	1416	*/
majik	6:d348c3cad7c7	1417	bool MPU6051::getSlave1Nack()
majik	6:d348c3cad7c7	1418	{
majik	6:d348c3cad7c7	1419	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
majik	6:d348c3cad7c7	1420	return buffer[0];
majik	6:d348c3cad7c7	1421	}
majik	6:d348c3cad7c7	1422	/** Get Slave 0 NACK status.
majik	6:d348c3cad7c7	1423	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
majik	6:d348c3cad7c7	1424	* transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
majik	6:d348c3cad7c7	1425	* bit in the INT_ENABLE register (Register 56) is asserted.
majik	6:d348c3cad7c7	1426	* @return Slave 0 NACK interrupt status
majik	6:d348c3cad7c7	1427	* @see MPU6050_RA_I2C_MST_STATUS
majik	6:d348c3cad7c7	1428	*/
majik	6:d348c3cad7c7	1429	bool MPU6051::getSlave0Nack()
majik	6:d348c3cad7c7	1430	{
majik	6:d348c3cad7c7	1431	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
majik	6:d348c3cad7c7	1432	return buffer[0];
majik	6:d348c3cad7c7	1433	}
majik	6:d348c3cad7c7	1434
majik	6:d348c3cad7c7	1435	// INT_PIN_CFG register
majik	6:d348c3cad7c7	1436
majik	6:d348c3cad7c7	1437	/** Get interrupt logic level mode.
majik	6:d348c3cad7c7	1438	* Will be set 0 for active-high, 1 for active-low.
majik	6:d348c3cad7c7	1439	* @return Current interrupt mode (0=active-high, 1=active-low)
majik	6:d348c3cad7c7	1440	* @see MPU6050_RA_INT_PIN_CFG
majik	6:d348c3cad7c7	1441	* @see MPU6050_INTCFG_INT_LEVEL_BIT
majik	6:d348c3cad7c7	1442	*/
majik	6:d348c3cad7c7	1443	bool MPU6051::getInterruptMode()
majik	6:d348c3cad7c7	1444	{
majik	6:d348c3cad7c7	1445	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
majik	6:d348c3cad7c7	1446	return buffer[0];
majik	6:d348c3cad7c7	1447	}
majik	6:d348c3cad7c7	1448	/** Set interrupt logic level mode.
majik	6:d348c3cad7c7	1449	* @param mode New interrupt mode (0=active-high, 1=active-low)
majik	6:d348c3cad7c7	1450	* @see getInterruptMode()
majik	6:d348c3cad7c7	1451	* @see MPU6050_RA_INT_PIN_CFG
majik	6:d348c3cad7c7	1452	* @see MPU6050_INTCFG_INT_LEVEL_BIT
majik	6:d348c3cad7c7	1453	*/
majik	6:d348c3cad7c7	1454	void MPU6051::setInterruptMode(bool mode)
majik	6:d348c3cad7c7	1455	{
majik	6:d348c3cad7c7	1456	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
majik	6:d348c3cad7c7	1457	}
majik	6:d348c3cad7c7	1458	/** Get interrupt drive mode.
majik	6:d348c3cad7c7	1459	* Will be set 0 for push-pull, 1 for open-drain.
majik	6:d348c3cad7c7	1460	* @return Current interrupt drive mode (0=push-pull, 1=open-drain)
majik	6:d348c3cad7c7	1461	* @see MPU6050_RA_INT_PIN_CFG
majik	6:d348c3cad7c7	1462	* @see MPU6050_INTCFG_INT_OPEN_BIT
majik	6:d348c3cad7c7	1463	*/
majik	6:d348c3cad7c7	1464	bool MPU6051::getInterruptDrive()
majik	6:d348c3cad7c7	1465	{
majik	6:d348c3cad7c7	1466	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
majik	6:d348c3cad7c7	1467	return buffer[0];
majik	6:d348c3cad7c7	1468	}
majik	6:d348c3cad7c7	1469	/** Set interrupt drive mode.
majik	6:d348c3cad7c7	1470	* @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
majik	6:d348c3cad7c7	1471	* @see getInterruptDrive()
majik	6:d348c3cad7c7	1472	* @see MPU6050_RA_INT_PIN_CFG
majik	6:d348c3cad7c7	1473	* @see MPU6050_INTCFG_INT_OPEN_BIT
majik	6:d348c3cad7c7	1474	*/
majik	6:d348c3cad7c7	1475	void MPU6051::setInterruptDrive(bool drive)
majik	6:d348c3cad7c7	1476	{
majik	6:d348c3cad7c7	1477	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
majik	6:d348c3cad7c7	1478	}
majik	6:d348c3cad7c7	1479	/** Get interrupt latch mode.
majik	6:d348c3cad7c7	1480	* Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
majik	6:d348c3cad7c7	1481	* @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
majik	6:d348c3cad7c7	1482	* @see MPU6050_RA_INT_PIN_CFG
majik	6:d348c3cad7c7	1483	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
majik	6:d348c3cad7c7	1484	*/
majik	6:d348c3cad7c7	1485	bool MPU6051::getInterruptLatch()
majik	6:d348c3cad7c7	1486	{
majik	6:d348c3cad7c7	1487	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
majik	6:d348c3cad7c7	1488	return buffer[0];
majik	6:d348c3cad7c7	1489	}
majik	6:d348c3cad7c7	1490	/** Set interrupt latch mode.
majik	6:d348c3cad7c7	1491	* @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
majik	6:d348c3cad7c7	1492	* @see getInterruptLatch()
majik	6:d348c3cad7c7	1493	* @see MPU6050_RA_INT_PIN_CFG
majik	6:d348c3cad7c7	1494	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
majik	6:d348c3cad7c7	1495	*/
majik	6:d348c3cad7c7	1496	void MPU6051::setInterruptLatch(bool latch)
majik	6:d348c3cad7c7	1497	{
majik	6:d348c3cad7c7	1498	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
majik	6:d348c3cad7c7	1499	}
majik	6:d348c3cad7c7	1500	/** Get interrupt latch clear mode.
majik	6:d348c3cad7c7	1501	* Will be set 0 for status-read-only, 1 for any-register-read.
majik	6:d348c3cad7c7	1502	* @return Current latch clear mode (0=status-read-only, 1=any-register-read)
majik	6:d348c3cad7c7	1503	* @see MPU6050_RA_INT_PIN_CFG
majik	6:d348c3cad7c7	1504	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
majik	6:d348c3cad7c7	1505	*/
majik	6:d348c3cad7c7	1506	bool MPU6051::getInterruptLatchClear()
majik	6:d348c3cad7c7	1507	{
majik	6:d348c3cad7c7	1508	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
majik	6:d348c3cad7c7	1509	return buffer[0];
majik	6:d348c3cad7c7	1510	}
majik	6:d348c3cad7c7	1511	/** Set interrupt latch clear mode.
majik	6:d348c3cad7c7	1512	* @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
majik	6:d348c3cad7c7	1513	* @see getInterruptLatchClear()
majik	6:d348c3cad7c7	1514	* @see MPU6050_RA_INT_PIN_CFG
majik	6:d348c3cad7c7	1515	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
majik	6:d348c3cad7c7	1516	*/
majik	6:d348c3cad7c7	1517	void MPU6051::setInterruptLatchClear(bool clear)
majik	6:d348c3cad7c7	1518	{
majik	6:d348c3cad7c7	1519	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
majik	6:d348c3cad7c7	1520	}
majik	6:d348c3cad7c7	1521	/** Get FSYNC interrupt logic level mode.
majik	6:d348c3cad7c7	1522	* @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
majik	6:d348c3cad7c7	1523	* @see getFSyncInterruptMode()
majik	6:d348c3cad7c7	1524	* @see MPU6050_RA_INT_PIN_CFG
majik	6:d348c3cad7c7	1525	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
majik	6:d348c3cad7c7	1526	*/
majik	6:d348c3cad7c7	1527	bool MPU6051::getFSyncInterruptLevel()
majik	6:d348c3cad7c7	1528	{
majik	6:d348c3cad7c7	1529	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
majik	6:d348c3cad7c7	1530	return buffer[0];
majik	6:d348c3cad7c7	1531	}
majik	6:d348c3cad7c7	1532	/** Set FSYNC interrupt logic level mode.
majik	6:d348c3cad7c7	1533	* @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
majik	6:d348c3cad7c7	1534	* @see getFSyncInterruptMode()
majik	6:d348c3cad7c7	1535	* @see MPU6050_RA_INT_PIN_CFG
majik	6:d348c3cad7c7	1536	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
majik	6:d348c3cad7c7	1537	*/
majik	6:d348c3cad7c7	1538	void MPU6051::setFSyncInterruptLevel(bool level)
majik	6:d348c3cad7c7	1539	{
majik	6:d348c3cad7c7	1540	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
majik	6:d348c3cad7c7	1541	}
majik	6:d348c3cad7c7	1542	/** Get FSYNC pin interrupt enabled setting.
majik	6:d348c3cad7c7	1543	* Will be set 0 for disabled, 1 for enabled.
majik	6:d348c3cad7c7	1544	* @return Current interrupt enabled setting
majik	6:d348c3cad7c7	1545	* @see MPU6050_RA_INT_PIN_CFG
majik	6:d348c3cad7c7	1546	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
majik	6:d348c3cad7c7	1547	*/
majik	6:d348c3cad7c7	1548	bool MPU6051::getFSyncInterruptEnabled()
majik	6:d348c3cad7c7	1549	{
majik	6:d348c3cad7c7	1550	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
majik	6:d348c3cad7c7	1551	return buffer[0];
majik	6:d348c3cad7c7	1552	}
majik	6:d348c3cad7c7	1553	/** Set FSYNC pin interrupt enabled setting.
majik	6:d348c3cad7c7	1554	* @param enabled New FSYNC pin interrupt enabled setting
majik	6:d348c3cad7c7	1555	* @see getFSyncInterruptEnabled()
majik	6:d348c3cad7c7	1556	* @see MPU6050_RA_INT_PIN_CFG
majik	6:d348c3cad7c7	1557	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
majik	6:d348c3cad7c7	1558	*/
majik	6:d348c3cad7c7	1559	void MPU6051::setFSyncInterruptEnabled(bool enabled)
majik	6:d348c3cad7c7	1560	{
majik	6:d348c3cad7c7	1561	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
majik	6:d348c3cad7c7	1562	}
majik	6:d348c3cad7c7	1563	/** Get I2C bypass enabled status.
majik	6:d348c3cad7c7	1564	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
majik	6:d348c3cad7c7	1565	* 0, the host application processor will be able to directly access the
majik	6:d348c3cad7c7	1566	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
majik	6:d348c3cad7c7	1567	* application processor will not be able to directly access the auxiliary I2C
majik	6:d348c3cad7c7	1568	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
majik	6:d348c3cad7c7	1569	* bit[5]).
majik	6:d348c3cad7c7	1570	* @return Current I2C bypass enabled status
majik	6:d348c3cad7c7	1571	* @see MPU6050_RA_INT_PIN_CFG
majik	6:d348c3cad7c7	1572	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
majik	6:d348c3cad7c7	1573	*/
majik	6:d348c3cad7c7	1574	bool MPU6051::getI2CBypassEnabled()
majik	6:d348c3cad7c7	1575	{
majik	6:d348c3cad7c7	1576	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
majik	6:d348c3cad7c7	1577	return buffer[0];
majik	6:d348c3cad7c7	1578	}
majik	6:d348c3cad7c7	1579	/** Set I2C bypass enabled status.
majik	6:d348c3cad7c7	1580	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
majik	6:d348c3cad7c7	1581	* 0, the host application processor will be able to directly access the
majik	6:d348c3cad7c7	1582	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
majik	6:d348c3cad7c7	1583	* application processor will not be able to directly access the auxiliary I2C
majik	6:d348c3cad7c7	1584	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
majik	6:d348c3cad7c7	1585	* bit[5]).
majik	6:d348c3cad7c7	1586	* @param enabled New I2C bypass enabled status
majik	6:d348c3cad7c7	1587	* @see MPU6050_RA_INT_PIN_CFG
majik	6:d348c3cad7c7	1588	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
majik	6:d348c3cad7c7	1589	*/
majik	6:d348c3cad7c7	1590	void MPU6051::setI2CBypassEnabled(bool enabled)
majik	6:d348c3cad7c7	1591	{
majik	6:d348c3cad7c7	1592	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
majik	6:d348c3cad7c7	1593	}
majik	6:d348c3cad7c7	1594	/** Get reference clock output enabled status.
majik	6:d348c3cad7c7	1595	* When this bit is equal to 1, a reference clock output is provided at the
majik	6:d348c3cad7c7	1596	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
majik	6:d348c3cad7c7	1597	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
majik	6:d348c3cad7c7	1598	* Specification document.
majik	6:d348c3cad7c7	1599	* @return Current reference clock output enabled status
majik	6:d348c3cad7c7	1600	* @see MPU6050_RA_INT_PIN_CFG
majik	6:d348c3cad7c7	1601	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
majik	6:d348c3cad7c7	1602	*/
majik	6:d348c3cad7c7	1603	bool MPU6051::getClockOutputEnabled()
majik	6:d348c3cad7c7	1604	{
majik	6:d348c3cad7c7	1605	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
majik	6:d348c3cad7c7	1606	return buffer[0];
majik	6:d348c3cad7c7	1607	}
majik	6:d348c3cad7c7	1608	/** Set reference clock output enabled status.
majik	6:d348c3cad7c7	1609	* When this bit is equal to 1, a reference clock output is provided at the
majik	6:d348c3cad7c7	1610	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
majik	6:d348c3cad7c7	1611	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
majik	6:d348c3cad7c7	1612	* Specification document.
majik	6:d348c3cad7c7	1613	* @param enabled New reference clock output enabled status
majik	6:d348c3cad7c7	1614	* @see MPU6050_RA_INT_PIN_CFG
majik	6:d348c3cad7c7	1615	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
majik	6:d348c3cad7c7	1616	*/
majik	6:d348c3cad7c7	1617	void MPU6051::setClockOutputEnabled(bool enabled)
majik	6:d348c3cad7c7	1618	{
majik	6:d348c3cad7c7	1619	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
majik	6:d348c3cad7c7	1620	}
majik	6:d348c3cad7c7	1621
majik	6:d348c3cad7c7	1622	// INT_ENABLE register
majik	6:d348c3cad7c7	1623
majik	6:d348c3cad7c7	1624	/** Get full interrupt enabled status.
majik	6:d348c3cad7c7	1625	* Full register byte for all interrupts, for quick reading. Each bit will be
majik	6:d348c3cad7c7	1626	* set 0 for disabled, 1 for enabled.
majik	6:d348c3cad7c7	1627	* @return Current interrupt enabled status
majik	6:d348c3cad7c7	1628	* @see MPU6050_RA_INT_ENABLE
majik	6:d348c3cad7c7	1629	* @see MPU6050_INTERRUPT_FF_BIT
majik	6:d348c3cad7c7	1630	**/
majik	6:d348c3cad7c7	1631	uint8_t MPU6051::getIntEnabled()
majik	6:d348c3cad7c7	1632	{
majik	6:d348c3cad7c7	1633	i2Cdev.readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
majik	6:d348c3cad7c7	1634	return buffer[0];
majik	6:d348c3cad7c7	1635	}
majik	6:d348c3cad7c7	1636	/** Set full interrupt enabled status.
majik	6:d348c3cad7c7	1637	* Full register byte for all interrupts, for quick reading. Each bit should be
majik	6:d348c3cad7c7	1638	* set 0 for disabled, 1 for enabled.
majik	6:d348c3cad7c7	1639	* @param enabled New interrupt enabled status
majik	6:d348c3cad7c7	1640	* @see getIntFreefallEnabled()
majik	6:d348c3cad7c7	1641	* @see MPU6050_RA_INT_ENABLE
majik	6:d348c3cad7c7	1642	* @see MPU6050_INTERRUPT_FF_BIT
majik	6:d348c3cad7c7	1643	**/
majik	6:d348c3cad7c7	1644	void MPU6051::setIntEnabled(uint8_t enabled)
majik	6:d348c3cad7c7	1645	{
majik	6:d348c3cad7c7	1646	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
majik	6:d348c3cad7c7	1647	}
majik	6:d348c3cad7c7	1648	/** Get Free Fall interrupt enabled status.
majik	6:d348c3cad7c7	1649	* Will be set 0 for disabled, 1 for enabled.
majik	6:d348c3cad7c7	1650	* @return Current interrupt enabled status
majik	6:d348c3cad7c7	1651	* @see MPU6050_RA_INT_ENABLE
majik	6:d348c3cad7c7	1652	* @see MPU6050_INTERRUPT_FF_BIT
majik	6:d348c3cad7c7	1653	**/
majik	6:d348c3cad7c7	1654	bool MPU6051::getIntFreefallEnabled()
majik	6:d348c3cad7c7	1655	{
majik	6:d348c3cad7c7	1656	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
majik	6:d348c3cad7c7	1657	return buffer[0];
majik	6:d348c3cad7c7	1658	}
majik	6:d348c3cad7c7	1659	/** Set Free Fall interrupt enabled status.
majik	6:d348c3cad7c7	1660	* @param enabled New interrupt enabled status
majik	6:d348c3cad7c7	1661	* @see getIntFreefallEnabled()
majik	6:d348c3cad7c7	1662	* @see MPU6050_RA_INT_ENABLE
majik	6:d348c3cad7c7	1663	* @see MPU6050_INTERRUPT_FF_BIT
majik	6:d348c3cad7c7	1664	**/
majik	6:d348c3cad7c7	1665	void MPU6051::setIntFreefallEnabled(bool enabled)
majik	6:d348c3cad7c7	1666	{
majik	6:d348c3cad7c7	1667	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
majik	6:d348c3cad7c7	1668	}
majik	6:d348c3cad7c7	1669	/** Get Motion Detection interrupt enabled status.
majik	6:d348c3cad7c7	1670	* Will be set 0 for disabled, 1 for enabled.
majik	6:d348c3cad7c7	1671	* @return Current interrupt enabled status
majik	6:d348c3cad7c7	1672	* @see MPU6050_RA_INT_ENABLE
majik	6:d348c3cad7c7	1673	* @see MPU6050_INTERRUPT_MOT_BIT
majik	6:d348c3cad7c7	1674	**/
majik	6:d348c3cad7c7	1675	bool MPU6051::getIntMotionEnabled()
majik	6:d348c3cad7c7	1676	{
majik	6:d348c3cad7c7	1677	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
majik	6:d348c3cad7c7	1678	return buffer[0];
majik	6:d348c3cad7c7	1679	}
majik	6:d348c3cad7c7	1680	/** Set Motion Detection interrupt enabled status.
majik	6:d348c3cad7c7	1681	* @param enabled New interrupt enabled status
majik	6:d348c3cad7c7	1682	* @see getIntMotionEnabled()
majik	6:d348c3cad7c7	1683	* @see MPU6050_RA_INT_ENABLE
majik	6:d348c3cad7c7	1684	* @see MPU6050_INTERRUPT_MOT_BIT
majik	6:d348c3cad7c7	1685	**/
majik	6:d348c3cad7c7	1686	void MPU6051::setIntMotionEnabled(bool enabled)
majik	6:d348c3cad7c7	1687	{
majik	6:d348c3cad7c7	1688	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
majik	6:d348c3cad7c7	1689	}
majik	6:d348c3cad7c7	1690	/** Get Zero Motion Detection interrupt enabled status.
majik	6:d348c3cad7c7	1691	* Will be set 0 for disabled, 1 for enabled.
majik	6:d348c3cad7c7	1692	* @return Current interrupt enabled status
majik	6:d348c3cad7c7	1693	* @see MPU6050_RA_INT_ENABLE
majik	6:d348c3cad7c7	1694	* @see MPU6050_INTERRUPT_ZMOT_BIT
majik	6:d348c3cad7c7	1695	**/
majik	6:d348c3cad7c7	1696	bool MPU6051::getIntZeroMotionEnabled()
majik	6:d348c3cad7c7	1697	{
majik	6:d348c3cad7c7	1698	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
majik	6:d348c3cad7c7	1699	return buffer[0];
majik	6:d348c3cad7c7	1700	}
majik	6:d348c3cad7c7	1701	/** Set Zero Motion Detection interrupt enabled status.
majik	6:d348c3cad7c7	1702	* @param enabled New interrupt enabled status
majik	6:d348c3cad7c7	1703	* @see getIntZeroMotionEnabled()
majik	6:d348c3cad7c7	1704	* @see MPU6050_RA_INT_ENABLE
majik	6:d348c3cad7c7	1705	* @see MPU6050_INTERRUPT_ZMOT_BIT
majik	6:d348c3cad7c7	1706	**/
majik	6:d348c3cad7c7	1707	void MPU6051::setIntZeroMotionEnabled(bool enabled)
majik	6:d348c3cad7c7	1708	{
majik	6:d348c3cad7c7	1709	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
majik	6:d348c3cad7c7	1710	}
majik	6:d348c3cad7c7	1711	/** Get FIFO Buffer Overflow interrupt enabled status.
majik	6:d348c3cad7c7	1712	* Will be set 0 for disabled, 1 for enabled.
majik	6:d348c3cad7c7	1713	* @return Current interrupt enabled status
majik	6:d348c3cad7c7	1714	* @see MPU6050_RA_INT_ENABLE
majik	6:d348c3cad7c7	1715	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
majik	6:d348c3cad7c7	1716	**/
majik	6:d348c3cad7c7	1717	bool MPU6051::getIntFIFOBufferOverflowEnabled()
majik	6:d348c3cad7c7	1718	{
majik	6:d348c3cad7c7	1719	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
majik	6:d348c3cad7c7	1720	return buffer[0];
majik	6:d348c3cad7c7	1721	}
majik	6:d348c3cad7c7	1722	/** Set FIFO Buffer Overflow interrupt enabled status.
majik	6:d348c3cad7c7	1723	* @param enabled New interrupt enabled status
majik	6:d348c3cad7c7	1724	* @see getIntFIFOBufferOverflowEnabled()
majik	6:d348c3cad7c7	1725	* @see MPU6050_RA_INT_ENABLE
majik	6:d348c3cad7c7	1726	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
majik	6:d348c3cad7c7	1727	**/
majik	6:d348c3cad7c7	1728	void MPU6051::setIntFIFOBufferOverflowEnabled(bool enabled)
majik	6:d348c3cad7c7	1729	{
majik	6:d348c3cad7c7	1730	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
majik	6:d348c3cad7c7	1731	}
majik	6:d348c3cad7c7	1732	/** Get I2C Master interrupt enabled status.
majik	6:d348c3cad7c7	1733	* This enables any of the I2C Master interrupt sources to generate an
majik	6:d348c3cad7c7	1734	* interrupt. Will be set 0 for disabled, 1 for enabled.
majik	6:d348c3cad7c7	1735	* @return Current interrupt enabled status
majik	6:d348c3cad7c7	1736	* @see MPU6050_RA_INT_ENABLE
majik	6:d348c3cad7c7	1737	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
majik	6:d348c3cad7c7	1738	**/
majik	6:d348c3cad7c7	1739	bool MPU6051::getIntI2CMasterEnabled()
majik	6:d348c3cad7c7	1740	{
majik	6:d348c3cad7c7	1741	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
majik	6:d348c3cad7c7	1742	return buffer[0];
majik	6:d348c3cad7c7	1743	}
majik	6:d348c3cad7c7	1744	/** Set I2C Master interrupt enabled status.
majik	6:d348c3cad7c7	1745	* @param enabled New interrupt enabled status
majik	6:d348c3cad7c7	1746	* @see getIntI2CMasterEnabled()
majik	6:d348c3cad7c7	1747	* @see MPU6050_RA_INT_ENABLE
majik	6:d348c3cad7c7	1748	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
majik	6:d348c3cad7c7	1749	**/
majik	6:d348c3cad7c7	1750	void MPU6051::setIntI2CMasterEnabled(bool enabled)
majik	6:d348c3cad7c7	1751	{
majik	6:d348c3cad7c7	1752	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
majik	6:d348c3cad7c7	1753	}
majik	6:d348c3cad7c7	1754	/** Get Data Ready interrupt enabled setting.
majik	6:d348c3cad7c7	1755	* This event occurs each time a write operation to all of the sensor registers
majik	6:d348c3cad7c7	1756	* has been completed. Will be set 0 for disabled, 1 for enabled.
majik	6:d348c3cad7c7	1757	* @return Current interrupt enabled status
majik	6:d348c3cad7c7	1758	* @see MPU6050_RA_INT_ENABLE
majik	6:d348c3cad7c7	1759	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
majik	6:d348c3cad7c7	1760	*/
majik	6:d348c3cad7c7	1761	bool MPU6051::getIntDataReadyEnabled()
majik	6:d348c3cad7c7	1762	{
majik	6:d348c3cad7c7	1763	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
majik	6:d348c3cad7c7	1764	return buffer[0];
majik	6:d348c3cad7c7	1765	}
majik	6:d348c3cad7c7	1766	/** Set Data Ready interrupt enabled status.
majik	6:d348c3cad7c7	1767	* @param enabled New interrupt enabled status
majik	6:d348c3cad7c7	1768	* @see getIntDataReadyEnabled()
majik	6:d348c3cad7c7	1769	* @see MPU6050_RA_INT_CFG
majik	6:d348c3cad7c7	1770	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
majik	6:d348c3cad7c7	1771	*/
majik	6:d348c3cad7c7	1772	void MPU6051::setIntDataReadyEnabled(bool enabled)
majik	6:d348c3cad7c7	1773	{
majik	6:d348c3cad7c7	1774	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
majik	6:d348c3cad7c7	1775	}
majik	6:d348c3cad7c7	1776
majik	6:d348c3cad7c7	1777	// INT_STATUS register
majik	6:d348c3cad7c7	1778
majik	6:d348c3cad7c7	1779	/** Get full set of interrupt status bits.
majik	6:d348c3cad7c7	1780	* These bits clear to 0 after the register has been read. Very useful
majik	6:d348c3cad7c7	1781	* for getting multiple INT statuses, since each single bit read clears
majik	6:d348c3cad7c7	1782	* all of them because it has to read the whole byte.
majik	6:d348c3cad7c7	1783	* @return Current interrupt status
majik	6:d348c3cad7c7	1784	* @see MPU6050_RA_INT_STATUS
majik	6:d348c3cad7c7	1785	*/
majik	6:d348c3cad7c7	1786	uint8_t MPU6051::getIntStatus()
majik	6:d348c3cad7c7	1787	{
majik	6:d348c3cad7c7	1788	i2Cdev.readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
majik	6:d348c3cad7c7	1789	return buffer[0];
majik	6:d348c3cad7c7	1790	}
majik	6:d348c3cad7c7	1791	/** Get Free Fall interrupt status.
majik	6:d348c3cad7c7	1792	* This bit automatically sets to 1 when a Free Fall interrupt has been
majik	6:d348c3cad7c7	1793	* generated. The bit clears to 0 after the register has been read.
majik	6:d348c3cad7c7	1794	* @return Current interrupt status
majik	6:d348c3cad7c7	1795	* @see MPU6050_RA_INT_STATUS
majik	6:d348c3cad7c7	1796	* @see MPU6050_INTERRUPT_FF_BIT
majik	6:d348c3cad7c7	1797	*/
majik	6:d348c3cad7c7	1798	bool MPU6051::getIntFreefallStatus()
majik	6:d348c3cad7c7	1799	{
majik	6:d348c3cad7c7	1800	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
majik	6:d348c3cad7c7	1801	return buffer[0];
majik	6:d348c3cad7c7	1802	}
majik	6:d348c3cad7c7	1803	/** Get Motion Detection interrupt status.
majik	6:d348c3cad7c7	1804	* This bit automatically sets to 1 when a Motion Detection interrupt has been
majik	6:d348c3cad7c7	1805	* generated. The bit clears to 0 after the register has been read.
majik	6:d348c3cad7c7	1806	* @return Current interrupt status
majik	6:d348c3cad7c7	1807	* @see MPU6050_RA_INT_STATUS
majik	6:d348c3cad7c7	1808	* @see MPU6050_INTERRUPT_MOT_BIT
majik	6:d348c3cad7c7	1809	*/
majik	6:d348c3cad7c7	1810	bool MPU6051::getIntMotionStatus()
majik	6:d348c3cad7c7	1811	{
majik	6:d348c3cad7c7	1812	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
majik	6:d348c3cad7c7	1813	return buffer[0];
majik	6:d348c3cad7c7	1814	}
majik	6:d348c3cad7c7	1815	/** Get Zero Motion Detection interrupt status.
majik	6:d348c3cad7c7	1816	* This bit automatically sets to 1 when a Zero Motion Detection interrupt has
majik	6:d348c3cad7c7	1817	* been generated. The bit clears to 0 after the register has been read.
majik	6:d348c3cad7c7	1818	* @return Current interrupt status
majik	6:d348c3cad7c7	1819	* @see MPU6050_RA_INT_STATUS
majik	6:d348c3cad7c7	1820	* @see MPU6050_INTERRUPT_ZMOT_BIT
majik	6:d348c3cad7c7	1821	*/
majik	6:d348c3cad7c7	1822	bool MPU6051::getIntZeroMotionStatus()
majik	6:d348c3cad7c7	1823	{
majik	6:d348c3cad7c7	1824	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
majik	6:d348c3cad7c7	1825	return buffer[0];
majik	6:d348c3cad7c7	1826	}
majik	6:d348c3cad7c7	1827	/** Get FIFO Buffer Overflow interrupt status.
majik	6:d348c3cad7c7	1828	* This bit automatically sets to 1 when a Free Fall interrupt has been
majik	6:d348c3cad7c7	1829	* generated. The bit clears to 0 after the register has been read.
majik	6:d348c3cad7c7	1830	* @return Current interrupt status
majik	6:d348c3cad7c7	1831	* @see MPU6050_RA_INT_STATUS
majik	6:d348c3cad7c7	1832	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
majik	6:d348c3cad7c7	1833	*/
majik	6:d348c3cad7c7	1834	bool MPU6051::getIntFIFOBufferOverflowStatus()
majik	6:d348c3cad7c7	1835	{
majik	6:d348c3cad7c7	1836	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
majik	6:d348c3cad7c7	1837	return buffer[0];
majik	6:d348c3cad7c7	1838	}
majik	6:d348c3cad7c7	1839	/** Get I2C Master interrupt status.
majik	6:d348c3cad7c7	1840	* This bit automatically sets to 1 when an I2C Master interrupt has been
majik	6:d348c3cad7c7	1841	* generated. For a list of I2C Master interrupts, please refer to Register 54.
majik	6:d348c3cad7c7	1842	* The bit clears to 0 after the register has been read.
majik	6:d348c3cad7c7	1843	* @return Current interrupt status
majik	6:d348c3cad7c7	1844	* @see MPU6050_RA_INT_STATUS
majik	6:d348c3cad7c7	1845	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
majik	6:d348c3cad7c7	1846	*/
majik	6:d348c3cad7c7	1847	bool MPU6051::getIntI2CMasterStatus()
majik	6:d348c3cad7c7	1848	{
majik	6:d348c3cad7c7	1849	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
majik	6:d348c3cad7c7	1850	return buffer[0];
majik	6:d348c3cad7c7	1851	}
majik	6:d348c3cad7c7	1852	/** Get Data Ready interrupt status.
majik	6:d348c3cad7c7	1853	* This bit automatically sets to 1 when a Data Ready interrupt has been
majik	6:d348c3cad7c7	1854	* generated. The bit clears to 0 after the register has been read.
majik	6:d348c3cad7c7	1855	* @return Current interrupt status
majik	6:d348c3cad7c7	1856	* @see MPU6050_RA_INT_STATUS
majik	6:d348c3cad7c7	1857	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
majik	6:d348c3cad7c7	1858	*/
majik	6:d348c3cad7c7	1859	bool MPU6051::getIntDataReadyStatus()
majik	6:d348c3cad7c7	1860	{
majik	6:d348c3cad7c7	1861	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
majik	6:d348c3cad7c7	1862	return buffer[0];
majik	6:d348c3cad7c7	1863	}
majik	6:d348c3cad7c7	1864
majik	6:d348c3cad7c7	1865	// ACCEL_OUT_ registers
majik	6:d348c3cad7c7	1866
majik	6:d348c3cad7c7	1867	/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
majik	6:d348c3cad7c7	1868	* FUNCTION NOT FULLY IMPLEMENTED YET.
majik	6:d348c3cad7c7	1869	* @param ax 16-bit signed integer container for accelerometer X-axis value
majik	6:d348c3cad7c7	1870	* @param ay 16-bit signed integer container for accelerometer Y-axis value
majik	6:d348c3cad7c7	1871	* @param az 16-bit signed integer container for accelerometer Z-axis value
majik	6:d348c3cad7c7	1872	* @param gx 16-bit signed integer container for gyroscope X-axis value
majik	6:d348c3cad7c7	1873	* @param gy 16-bit signed integer container for gyroscope Y-axis value
majik	6:d348c3cad7c7	1874	* @param gz 16-bit signed integer container for gyroscope Z-axis value
majik	6:d348c3cad7c7	1875	* @param mx 16-bit signed integer container for magnetometer X-axis value
majik	6:d348c3cad7c7	1876	* @param my 16-bit signed integer container for magnetometer Y-axis value
majik	6:d348c3cad7c7	1877	* @param mz 16-bit signed integer container for magnetometer Z-axis value
majik	6:d348c3cad7c7	1878	* @see getMotion6()
majik	6:d348c3cad7c7	1879	* @see getAcceleration()
majik	6:d348c3cad7c7	1880	* @see getRotation()
majik	6:d348c3cad7c7	1881	* @see MPU6050_RA_ACCEL_XOUT_H
majik	6:d348c3cad7c7	1882	*/
majik	6:d348c3cad7c7	1883	void MPU6051::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	6:d348c3cad7c7	1884	{
majik	6:d348c3cad7c7	1885	getMotion6(ax, ay, az, gx, gy, gz);
majik	6:d348c3cad7c7	1886
majik	6:d348c3cad7c7	1887	// magnetometer reading
majik	6:d348c3cad7c7	1888	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_PIN_CFG, 0x02); //set i2c bypass enable pin to true to access magnetometer
majik	6:d348c3cad7c7	1889	wait_ms(10); // necessary wait >=6ms
majik	6:d348c3cad7c7	1890	i2Cdev.writeByte(MPU9150_RA_MAG_ADDRESS, 0x0A, 0x01); // enable the magnetometer
majik	6:d348c3cad7c7	1891	wait_ms(10); // necessary wait >=6ms
majik	6:d348c3cad7c7	1892	i2Cdev.readBytes(MPU9150_RA_MAG_ADDRESS, MPU9150_RA_MAG_XOUT_L, 6, buffer);
majik	6:d348c3cad7c7	1893	*mx = (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	6:d348c3cad7c7	1894	*my = (((int16_t)buffer[2]) << 8) \| buffer[3];
majik	6:d348c3cad7c7	1895	*mz = (((int16_t)buffer[4]) << 8) \| buffer[5];
majik	6:d348c3cad7c7	1896	}
majik	6:d348c3cad7c7	1897	/** Get raw 6-axis motion sensor readings (accel/gyro).
majik	6:d348c3cad7c7	1898	* Retrieves all currently available motion sensor values.
majik	6:d348c3cad7c7	1899	* @param ax 16-bit signed integer container for accelerometer X-axis value
majik	6:d348c3cad7c7	1900	* @param ay 16-bit signed integer container for accelerometer Y-axis value
majik	6:d348c3cad7c7	1901	* @param az 16-bit signed integer container for accelerometer Z-axis value
majik	6:d348c3cad7c7	1902	* @param gx 16-bit signed integer container for gyroscope X-axis value
majik	6:d348c3cad7c7	1903	* @param gy 16-bit signed integer container for gyroscope Y-axis value
majik	6:d348c3cad7c7	1904	* @param gz 16-bit signed integer container for gyroscope Z-axis value
majik	6:d348c3cad7c7	1905	* @see getAcceleration()
majik	6:d348c3cad7c7	1906	* @see getRotation()
majik	6:d348c3cad7c7	1907	* @see MPU6050_RA_ACCEL_XOUT_H
majik	6:d348c3cad7c7	1908	*/
majik	6:d348c3cad7c7	1909	void MPU6051::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
majik	6:d348c3cad7c7	1910	{
majik	6:d348c3cad7c7	1911	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
majik	6:d348c3cad7c7	1912	*ax = (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	6:d348c3cad7c7	1913	*ay = (((int16_t)buffer[2]) << 8) \| buffer[3];
majik	6:d348c3cad7c7	1914	*az = (((int16_t)buffer[4]) << 8) \| buffer[5];
majik	6:d348c3cad7c7	1915	*gx = (((int16_t)buffer[8]) << 8) \| buffer[9];
majik	6:d348c3cad7c7	1916	*gy = (((int16_t)buffer[10]) << 8) \| buffer[11];
majik	6:d348c3cad7c7	1917	*gz = (((int16_t)buffer[12]) << 8) \| buffer[13];
majik	6:d348c3cad7c7	1918	}
majik	6:d348c3cad7c7	1919	/** Get 3-axis accelerometer readings.
majik	6:d348c3cad7c7	1920	* These registers store the most recent accelerometer measurements.
majik	6:d348c3cad7c7	1921	* Accelerometer measurements are written to these registers at the Sample Rate
majik	6:d348c3cad7c7	1922	* as defined in Register 25.
majik	6:d348c3cad7c7	1923	*
majik	6:d348c3cad7c7	1924	* The accelerometer measurement registers, along with the temperature
majik	6:d348c3cad7c7	1925	* measurement registers, gyroscope measurement registers, and external sensor
majik	6:d348c3cad7c7	1926	* data registers, are composed of two sets of registers: an internal register
majik	6:d348c3cad7c7	1927	* set and a user-facing read register set.
majik	6:d348c3cad7c7	1928	*
majik	6:d348c3cad7c7	1929	* The data within the accelerometer sensors' internal register set is always
majik	6:d348c3cad7c7	1930	* updated at the Sample Rate. Meanwhile, the user-facing read register set
majik	6:d348c3cad7c7	1931	* duplicates the internal register set's data values whenever the serial
majik	6:d348c3cad7c7	1932	* interface is idle. This guarantees that a burst read of sensor registers will
majik	6:d348c3cad7c7	1933	* read measurements from the same sampling instant. Note that if burst reads
majik	6:d348c3cad7c7	1934	* are not used, the user is responsible for ensuring a set of single byte reads
majik	6:d348c3cad7c7	1935	* correspond to a single sampling instant by checking the Data Ready interrupt.
majik	6:d348c3cad7c7	1936	*
majik	6:d348c3cad7c7	1937	* Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
majik	6:d348c3cad7c7	1938	* (Register 28). For each full scale setting, the accelerometers' sensitivity
majik	6:d348c3cad7c7	1939	* per LSB in ACCEL_xOUT is shown in the table below:
majik	6:d348c3cad7c7	1940	*
majik	6:d348c3cad7c7	1941	* <pre>
majik	6:d348c3cad7c7	1942	* AFS_SEL \| Full Scale Range \| LSB Sensitivity
majik	6:d348c3cad7c7	1943	* --------+------------------+----------------
majik	6:d348c3cad7c7	1944	* 0 \| +/- 2g \| 8192 LSB/mg
majik	6:d348c3cad7c7	1945	* 1 \| +/- 4g \| 4096 LSB/mg
majik	6:d348c3cad7c7	1946	* 2 \| +/- 8g \| 2048 LSB/mg
majik	6:d348c3cad7c7	1947	* 3 \| +/- 16g \| 1024 LSB/mg
majik	6:d348c3cad7c7	1948	* </pre>
majik	6:d348c3cad7c7	1949	*
majik	6:d348c3cad7c7	1950	* @param x 16-bit signed integer container for X-axis acceleration
majik	6:d348c3cad7c7	1951	* @param y 16-bit signed integer container for Y-axis acceleration
majik	6:d348c3cad7c7	1952	* @param z 16-bit signed integer container for Z-axis acceleration
majik	6:d348c3cad7c7	1953	* @see MPU6050_RA_GYRO_XOUT_H
majik	6:d348c3cad7c7	1954	*/
majik	6:d348c3cad7c7	1955	void MPU6051::getAcceleration(int16_t* x, int16_t* y, int16_t* z)
majik	6:d348c3cad7c7	1956	{
majik	6:d348c3cad7c7	1957	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
majik	6:d348c3cad7c7	1958	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	6:d348c3cad7c7	1959	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
majik	6:d348c3cad7c7	1960	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
majik	6:d348c3cad7c7	1961	}
majik	6:d348c3cad7c7	1962	/** Get X-axis accelerometer reading.
majik	6:d348c3cad7c7	1963	* @return X-axis acceleration measurement in 16-bit 2's complement format
majik	6:d348c3cad7c7	1964	* @see getMotion6()
majik	6:d348c3cad7c7	1965	* @see MPU6050_RA_ACCEL_XOUT_H
majik	6:d348c3cad7c7	1966	*/
majik	6:d348c3cad7c7	1967	int16_t MPU6051::getAccelerationX()
majik	6:d348c3cad7c7	1968	{
majik	6:d348c3cad7c7	1969	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
majik	6:d348c3cad7c7	1970	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	6:d348c3cad7c7	1971	}
majik	6:d348c3cad7c7	1972	/** Get Y-axis accelerometer reading.
majik	6:d348c3cad7c7	1973	* @return Y-axis acceleration measurement in 16-bit 2's complement format
majik	6:d348c3cad7c7	1974	* @see getMotion6()
majik	6:d348c3cad7c7	1975	* @see MPU6050_RA_ACCEL_YOUT_H
majik	6:d348c3cad7c7	1976	*/
majik	6:d348c3cad7c7	1977	int16_t MPU6051::getAccelerationY()
majik	6:d348c3cad7c7	1978	{
majik	6:d348c3cad7c7	1979	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
majik	6:d348c3cad7c7	1980	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	6:d348c3cad7c7	1981	}
majik	6:d348c3cad7c7	1982	/** Get Z-axis accelerometer reading.
majik	6:d348c3cad7c7	1983	* @return Z-axis acceleration measurement in 16-bit 2's complement format
majik	6:d348c3cad7c7	1984	* @see getMotion6()
majik	6:d348c3cad7c7	1985	* @see MPU6050_RA_ACCEL_ZOUT_H
majik	6:d348c3cad7c7	1986	*/
majik	6:d348c3cad7c7	1987	int16_t MPU6051::getAccelerationZ()
majik	6:d348c3cad7c7	1988	{
majik	6:d348c3cad7c7	1989	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
majik	6:d348c3cad7c7	1990	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	6:d348c3cad7c7	1991	}
majik	6:d348c3cad7c7	1992
majik	6:d348c3cad7c7	1993	// TEMP_OUT_* registers
majik	6:d348c3cad7c7	1994
majik	6:d348c3cad7c7	1995	/** Get current internal temperature.
majik	6:d348c3cad7c7	1996	* @return Temperature reading in 16-bit 2's complement format
majik	6:d348c3cad7c7	1997	* @see MPU6050_RA_TEMP_OUT_H
majik	6:d348c3cad7c7	1998	*/
majik	6:d348c3cad7c7	1999	int16_t MPU6051::getTemperature()
majik	6:d348c3cad7c7	2000	{
majik	6:d348c3cad7c7	2001	i2Cdev.readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
majik	6:d348c3cad7c7	2002	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	6:d348c3cad7c7	2003	}
majik	6:d348c3cad7c7	2004
majik	6:d348c3cad7c7	2005	// GYRO_OUT_ registers
majik	6:d348c3cad7c7	2006
majik	6:d348c3cad7c7	2007	/** Get 3-axis gyroscope readings.
majik	6:d348c3cad7c7	2008	* These gyroscope measurement registers, along with the accelerometer
majik	6:d348c3cad7c7	2009	* measurement registers, temperature measurement registers, and external sensor
majik	6:d348c3cad7c7	2010	* data registers, are composed of two sets of registers: an internal register
majik	6:d348c3cad7c7	2011	* set and a user-facing read register set.
majik	6:d348c3cad7c7	2012	* The data within the gyroscope sensors' internal register set is always
majik	6:d348c3cad7c7	2013	* updated at the Sample Rate. Meanwhile, the user-facing read register set
majik	6:d348c3cad7c7	2014	* duplicates the internal register set's data values whenever the serial
majik	6:d348c3cad7c7	2015	* interface is idle. This guarantees that a burst read of sensor registers will
majik	6:d348c3cad7c7	2016	* read measurements from the same sampling instant. Note that if burst reads
majik	6:d348c3cad7c7	2017	* are not used, the user is responsible for ensuring a set of single byte reads
majik	6:d348c3cad7c7	2018	* correspond to a single sampling instant by checking the Data Ready interrupt.
majik	6:d348c3cad7c7	2019	*
majik	6:d348c3cad7c7	2020	* Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
majik	6:d348c3cad7c7	2021	* (Register 27). For each full scale setting, the gyroscopes' sensitivity per
majik	6:d348c3cad7c7	2022	* LSB in GYRO_xOUT is shown in the table below:
majik	6:d348c3cad7c7	2023	*
majik	6:d348c3cad7c7	2024	* <pre>
majik	6:d348c3cad7c7	2025	* FS_SEL \| Full Scale Range \| LSB Sensitivity
majik	6:d348c3cad7c7	2026	* -------+--------------------+----------------
majik	6:d348c3cad7c7	2027	* 0 \| +/- 250 degrees/s \| 131 LSB/deg/s
majik	6:d348c3cad7c7	2028	* 1 \| +/- 500 degrees/s \| 65.5 LSB/deg/s
majik	6:d348c3cad7c7	2029	* 2 \| +/- 1000 degrees/s \| 32.8 LSB/deg/s
majik	6:d348c3cad7c7	2030	* 3 \| +/- 2000 degrees/s \| 16.4 LSB/deg/s
majik	6:d348c3cad7c7	2031	* </pre>
majik	6:d348c3cad7c7	2032	*
majik	6:d348c3cad7c7	2033	* @param x 16-bit signed integer container for X-axis rotation
majik	6:d348c3cad7c7	2034	* @param y 16-bit signed integer container for Y-axis rotation
majik	6:d348c3cad7c7	2035	* @param z 16-bit signed integer container for Z-axis rotation
majik	6:d348c3cad7c7	2036	* @see getMotion6()
majik	6:d348c3cad7c7	2037	* @see MPU6050_RA_GYRO_XOUT_H
majik	6:d348c3cad7c7	2038	*/
majik	6:d348c3cad7c7	2039	void MPU6051::getRotation(int16_t* x, int16_t* y, int16_t* z)
majik	6:d348c3cad7c7	2040	{
majik	6:d348c3cad7c7	2041	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
majik	6:d348c3cad7c7	2042	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	6:d348c3cad7c7	2043	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
majik	6:d348c3cad7c7	2044	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
majik	6:d348c3cad7c7	2045	}
majik	6:d348c3cad7c7	2046	/** Get X-axis gyroscope reading.
majik	6:d348c3cad7c7	2047	* @return X-axis rotation measurement in 16-bit 2's complement format
majik	6:d348c3cad7c7	2048	* @see getMotion6()
majik	6:d348c3cad7c7	2049	* @see MPU6050_RA_GYRO_XOUT_H
majik	6:d348c3cad7c7	2050	*/
majik	6:d348c3cad7c7	2051	int16_t MPU6051::getRotationX()
majik	6:d348c3cad7c7	2052	{
majik	6:d348c3cad7c7	2053	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
majik	6:d348c3cad7c7	2054	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	6:d348c3cad7c7	2055	}
majik	6:d348c3cad7c7	2056	/** Get Y-axis gyroscope reading.
majik	6:d348c3cad7c7	2057	* @return Y-axis rotation measurement in 16-bit 2's complement format
majik	6:d348c3cad7c7	2058	* @see getMotion6()
majik	6:d348c3cad7c7	2059	* @see MPU6050_RA_GYRO_YOUT_H
majik	6:d348c3cad7c7	2060	*/
majik	6:d348c3cad7c7	2061	int16_t MPU6051::getRotationY()
majik	6:d348c3cad7c7	2062	{
majik	6:d348c3cad7c7	2063	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
majik	6:d348c3cad7c7	2064	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	6:d348c3cad7c7	2065	}
majik	6:d348c3cad7c7	2066	/** Get Z-axis gyroscope reading.
majik	6:d348c3cad7c7	2067	* @return Z-axis rotation measurement in 16-bit 2's complement format
majik	6:d348c3cad7c7	2068	* @see getMotion6()
majik	6:d348c3cad7c7	2069	* @see MPU6050_RA_GYRO_ZOUT_H
majik	6:d348c3cad7c7	2070	*/
majik	6:d348c3cad7c7	2071	int16_t MPU6051::getRotationZ()
majik	6:d348c3cad7c7	2072	{
majik	6:d348c3cad7c7	2073	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
majik	6:d348c3cad7c7	2074	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	6:d348c3cad7c7	2075	}
majik	6:d348c3cad7c7	2076
majik	6:d348c3cad7c7	2077	// EXT_SENS_DATA_* registers
majik	6:d348c3cad7c7	2078
majik	6:d348c3cad7c7	2079	/** Read single byte from external sensor data register.
majik	6:d348c3cad7c7	2080	* These registers store data read from external sensors by the Slave 0, 1, 2,
majik	6:d348c3cad7c7	2081	* and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
majik	6:d348c3cad7c7	2082	* I2C_SLV4_DI (Register 53).
majik	6:d348c3cad7c7	2083	*
majik	6:d348c3cad7c7	2084	* External sensor data is written to these registers at the Sample Rate as
majik	6:d348c3cad7c7	2085	* defined in Register 25. This access rate can be reduced by using the Slave
majik	6:d348c3cad7c7	2086	* Delay Enable registers (Register 103).
majik	6:d348c3cad7c7	2087	*
majik	6:d348c3cad7c7	2088	* External sensor data registers, along with the gyroscope measurement
majik	6:d348c3cad7c7	2089	* registers, accelerometer measurement registers, and temperature measurement
majik	6:d348c3cad7c7	2090	* registers, are composed of two sets of registers: an internal register set
majik	6:d348c3cad7c7	2091	* and a user-facing read register set.
majik	6:d348c3cad7c7	2092	*
majik	6:d348c3cad7c7	2093	* The data within the external sensors' internal register set is always updated
majik	6:d348c3cad7c7	2094	* at the Sample Rate (or the reduced access rate) whenever the serial interface
majik	6:d348c3cad7c7	2095	* is idle. This guarantees that a burst read of sensor registers will read
majik	6:d348c3cad7c7	2096	* measurements from the same sampling instant. Note that if burst reads are not
majik	6:d348c3cad7c7	2097	* used, the user is responsible for ensuring a set of single byte reads
majik	6:d348c3cad7c7	2098	* correspond to a single sampling instant by checking the Data Ready interrupt.
majik	6:d348c3cad7c7	2099	*
majik	6:d348c3cad7c7	2100	* Data is placed in these external sensor data registers according to
majik	6:d348c3cad7c7	2101	* I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
majik	6:d348c3cad7c7	2102	* 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
majik	6:d348c3cad7c7	2103	* an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
majik	6:d348c3cad7c7	2104	* defined in Register 25) or delayed rate (if specified in Register 52 and
majik	6:d348c3cad7c7	2105	* 103). During each Sample cycle, slave reads are performed in order of Slave
majik	6:d348c3cad7c7	2106	* number. If all slaves are enabled with more than zero bytes to be read, the
majik	6:d348c3cad7c7	2107	* order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
majik	6:d348c3cad7c7	2108	*
majik	6:d348c3cad7c7	2109	* Each enabled slave will have EXT_SENS_DATA registers associated with it by
majik	6:d348c3cad7c7	2110	* number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
majik	6:d348c3cad7c7	2111	* EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
majik	6:d348c3cad7c7	2112	* change the higher numbered slaves' associated registers. Furthermore, if
majik	6:d348c3cad7c7	2113	* fewer total bytes are being read from the external sensors as a result of
majik	6:d348c3cad7c7	2114	* such a change, then the data remaining in the registers which no longer have
majik	6:d348c3cad7c7	2115	* an associated slave device (i.e. high numbered registers) will remain in
majik	6:d348c3cad7c7	2116	* these previously allocated registers unless reset.
majik	6:d348c3cad7c7	2117	*
majik	6:d348c3cad7c7	2118	* If the sum of the read lengths of all SLVx transactions exceed the number of
majik	6:d348c3cad7c7	2119	* available EXT_SENS_DATA registers, the excess bytes will be dropped. There
majik	6:d348c3cad7c7	2120	* are 24 EXT_SENS_DATA registers and hence the total read lengths between all
majik	6:d348c3cad7c7	2121	* the slaves cannot be greater than 24 or some bytes will be lost.
majik	6:d348c3cad7c7	2122	*
majik	6:d348c3cad7c7	2123	* Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
majik	6:d348c3cad7c7	2124	* information regarding the characteristics of Slave 4, please refer to
majik	6:d348c3cad7c7	2125	* Registers 49 to 53.
majik	6:d348c3cad7c7	2126	*
majik	6:d348c3cad7c7	2127	* EXAMPLE:
majik	6:d348c3cad7c7	2128	* Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
majik	6:d348c3cad7c7	2129	* I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
majik	6:d348c3cad7c7	2130	* I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
majik	6:d348c3cad7c7	2131	* through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
majik	6:d348c3cad7c7	2132	* will be associated with Slave 1. If Slave 2 is enabled as well, registers
majik	6:d348c3cad7c7	2133	* starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
majik	6:d348c3cad7c7	2134	*
majik	6:d348c3cad7c7	2135	* If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
majik	6:d348c3cad7c7	2136	* registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
majik	6:d348c3cad7c7	2137	* instead.
majik	6:d348c3cad7c7	2138	*
majik	6:d348c3cad7c7	2139	* REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
majik	6:d348c3cad7c7	2140	* If a slave is disabled at any time, the space initially allocated to the
majik	6:d348c3cad7c7	2141	* slave in the EXT_SENS_DATA register, will remain associated with that slave.
majik	6:d348c3cad7c7	2142	* This is to avoid dynamic adjustment of the register allocation.
majik	6:d348c3cad7c7	2143	*
majik	6:d348c3cad7c7	2144	* The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
majik	6:d348c3cad7c7	2145	* slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
majik	6:d348c3cad7c7	2146	*
majik	6:d348c3cad7c7	2147	* This above is also true if one of the slaves gets NACKed and stops
majik	6:d348c3cad7c7	2148	* functioning.
majik	6:d348c3cad7c7	2149	*
majik	6:d348c3cad7c7	2150	* @param position Starting position (0-23)
majik	6:d348c3cad7c7	2151	* @return Byte read from register
majik	6:d348c3cad7c7	2152	*/
majik	6:d348c3cad7c7	2153	uint8_t MPU6051::getExternalSensorByte(int position)
majik	6:d348c3cad7c7	2154	{
majik	6:d348c3cad7c7	2155	i2Cdev.readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
majik	6:d348c3cad7c7	2156	return buffer[0];
majik	6:d348c3cad7c7	2157	}
majik	6:d348c3cad7c7	2158	/** Read word (2 bytes) from external sensor data registers.
majik	6:d348c3cad7c7	2159	* @param position Starting position (0-21)
majik	6:d348c3cad7c7	2160	* @return Word read from register
majik	6:d348c3cad7c7	2161	* @see getExternalSensorByte()
majik	6:d348c3cad7c7	2162	*/
majik	6:d348c3cad7c7	2163	uint16_t MPU6051::getExternalSensorWord(int position)
majik	6:d348c3cad7c7	2164	{
majik	6:d348c3cad7c7	2165	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
majik	6:d348c3cad7c7	2166	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
majik	6:d348c3cad7c7	2167	}
majik	6:d348c3cad7c7	2168	/** Read double word (4 bytes) from external sensor data registers.
majik	6:d348c3cad7c7	2169	* @param position Starting position (0-20)
majik	6:d348c3cad7c7	2170	* @return Double word read from registers
majik	6:d348c3cad7c7	2171	* @see getExternalSensorByte()
majik	6:d348c3cad7c7	2172	*/
majik	6:d348c3cad7c7	2173	uint32_t MPU6051::getExternalSensorDWord(int position)
majik	6:d348c3cad7c7	2174	{
majik	6:d348c3cad7c7	2175	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
majik	6:d348c3cad7c7	2176	return (((uint32_t)buffer[0]) << 24) \| (((uint32_t)buffer[1]) << 16) \| (((uint16_t)buffer[2]) << 8) \| buffer[3];
majik	6:d348c3cad7c7	2177	}
majik	6:d348c3cad7c7	2178
majik	6:d348c3cad7c7	2179	// MOT_DETECT_STATUS register
majik	6:d348c3cad7c7	2180
majik	6:d348c3cad7c7	2181	/** Get X-axis negative motion detection interrupt status.
majik	6:d348c3cad7c7	2182	* @return Motion detection status
majik	6:d348c3cad7c7	2183	* @see MPU6050_RA_MOT_DETECT_STATUS
majik	6:d348c3cad7c7	2184	* @see MPU6050_MOTION_MOT_XNEG_BIT
majik	6:d348c3cad7c7	2185	*/
majik	6:d348c3cad7c7	2186	bool MPU6051::getXNegMotionDetected()
majik	6:d348c3cad7c7	2187	{
majik	6:d348c3cad7c7	2188	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
majik	6:d348c3cad7c7	2189	return buffer[0];
majik	6:d348c3cad7c7	2190	}
majik	6:d348c3cad7c7	2191	/** Get X-axis positive motion detection interrupt status.
majik	6:d348c3cad7c7	2192	* @return Motion detection status
majik	6:d348c3cad7c7	2193	* @see MPU6050_RA_MOT_DETECT_STATUS
majik	6:d348c3cad7c7	2194	* @see MPU6050_MOTION_MOT_XPOS_BIT
majik	6:d348c3cad7c7	2195	*/
majik	6:d348c3cad7c7	2196	bool MPU6051::getXPosMotionDetected()
majik	6:d348c3cad7c7	2197	{
majik	6:d348c3cad7c7	2198	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
majik	6:d348c3cad7c7	2199	return buffer[0];
majik	6:d348c3cad7c7	2200	}
majik	6:d348c3cad7c7	2201	/** Get Y-axis negative motion detection interrupt status.
majik	6:d348c3cad7c7	2202	* @return Motion detection status
majik	6:d348c3cad7c7	2203	* @see MPU6050_RA_MOT_DETECT_STATUS
majik	6:d348c3cad7c7	2204	* @see MPU6050_MOTION_MOT_YNEG_BIT
majik	6:d348c3cad7c7	2205	*/
majik	6:d348c3cad7c7	2206	bool MPU6051::getYNegMotionDetected()
majik	6:d348c3cad7c7	2207	{
majik	6:d348c3cad7c7	2208	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
majik	6:d348c3cad7c7	2209	return buffer[0];
majik	6:d348c3cad7c7	2210	}
majik	6:d348c3cad7c7	2211	/** Get Y-axis positive motion detection interrupt status.
majik	6:d348c3cad7c7	2212	* @return Motion detection status
majik	6:d348c3cad7c7	2213	* @see MPU6050_RA_MOT_DETECT_STATUS
majik	6:d348c3cad7c7	2214	* @see MPU6050_MOTION_MOT_YPOS_BIT
majik	6:d348c3cad7c7	2215	*/
majik	6:d348c3cad7c7	2216	bool MPU6051::getYPosMotionDetected()
majik	6:d348c3cad7c7	2217	{
majik	6:d348c3cad7c7	2218	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
majik	6:d348c3cad7c7	2219	return buffer[0];
majik	6:d348c3cad7c7	2220	}
majik	6:d348c3cad7c7	2221	/** Get Z-axis negative motion detection interrupt status.
majik	6:d348c3cad7c7	2222	* @return Motion detection status
majik	6:d348c3cad7c7	2223	* @see MPU6050_RA_MOT_DETECT_STATUS
majik	6:d348c3cad7c7	2224	* @see MPU6050_MOTION_MOT_ZNEG_BIT
majik	6:d348c3cad7c7	2225	*/
majik	6:d348c3cad7c7	2226	bool MPU6051::getZNegMotionDetected()
majik	6:d348c3cad7c7	2227	{
majik	6:d348c3cad7c7	2228	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
majik	6:d348c3cad7c7	2229	return buffer[0];
majik	6:d348c3cad7c7	2230	}
majik	6:d348c3cad7c7	2231	/** Get Z-axis positive motion detection interrupt status.
majik	6:d348c3cad7c7	2232	* @return Motion detection status
majik	6:d348c3cad7c7	2233	* @see MPU6050_RA_MOT_DETECT_STATUS
majik	6:d348c3cad7c7	2234	* @see MPU6050_MOTION_MOT_ZPOS_BIT
majik	6:d348c3cad7c7	2235	*/
majik	6:d348c3cad7c7	2236	bool MPU6051::getZPosMotionDetected()
majik	6:d348c3cad7c7	2237	{
majik	6:d348c3cad7c7	2238	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
majik	6:d348c3cad7c7	2239	return buffer[0];
majik	6:d348c3cad7c7	2240	}
majik	6:d348c3cad7c7	2241	/** Get zero motion detection interrupt status.
majik	6:d348c3cad7c7	2242	* @return Motion detection status
majik	6:d348c3cad7c7	2243	* @see MPU6050_RA_MOT_DETECT_STATUS
majik	6:d348c3cad7c7	2244	* @see MPU6050_MOTION_MOT_ZRMOT_BIT
majik	6:d348c3cad7c7	2245	*/
majik	6:d348c3cad7c7	2246	bool MPU6051::getZeroMotionDetected()
majik	6:d348c3cad7c7	2247	{
majik	6:d348c3cad7c7	2248	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
majik	6:d348c3cad7c7	2249	return buffer[0];
majik	6:d348c3cad7c7	2250	}
majik	6:d348c3cad7c7	2251
majik	6:d348c3cad7c7	2252	// I2C_SLV*_DO register
majik	6:d348c3cad7c7	2253
majik	6:d348c3cad7c7	2254	/** Write byte to Data Output container for specified slave.
majik	6:d348c3cad7c7	2255	* This register holds the output data written into Slave when Slave is set to
majik	6:d348c3cad7c7	2256	* write mode. For further information regarding Slave control, please
majik	6:d348c3cad7c7	2257	* refer to Registers 37 to 39 and immediately following.
majik	6:d348c3cad7c7	2258	* @param num Slave number (0-3)
majik	6:d348c3cad7c7	2259	* @param data Byte to write
majik	6:d348c3cad7c7	2260	* @see MPU6050_RA_I2C_SLV0_DO
majik	6:d348c3cad7c7	2261	*/
majik	6:d348c3cad7c7	2262	void MPU6051::setSlaveOutputByte(uint8_t num, uint8_t data)
majik	6:d348c3cad7c7	2263	{
majik	6:d348c3cad7c7	2264	if (num > 3) return;
majik	6:d348c3cad7c7	2265	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
majik	6:d348c3cad7c7	2266	}
majik	6:d348c3cad7c7	2267
majik	6:d348c3cad7c7	2268	// I2C_MST_DELAY_CTRL register
majik	6:d348c3cad7c7	2269
majik	6:d348c3cad7c7	2270	/** Get external data shadow delay enabled status.
majik	6:d348c3cad7c7	2271	* This register is used to specify the timing of external sensor data
majik	6:d348c3cad7c7	2272	* shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
majik	6:d348c3cad7c7	2273	* sensor data is delayed until all data has been received.
majik	6:d348c3cad7c7	2274	* @return Current external data shadow delay enabled status.
majik	6:d348c3cad7c7	2275	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
majik	6:d348c3cad7c7	2276	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
majik	6:d348c3cad7c7	2277	*/
majik	6:d348c3cad7c7	2278	bool MPU6051::getExternalShadowDelayEnabled()
majik	6:d348c3cad7c7	2279	{
majik	6:d348c3cad7c7	2280	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
majik	6:d348c3cad7c7	2281	return buffer[0];
majik	6:d348c3cad7c7	2282	}
majik	6:d348c3cad7c7	2283	/** Set external data shadow delay enabled status.
majik	6:d348c3cad7c7	2284	* @param enabled New external data shadow delay enabled status.
majik	6:d348c3cad7c7	2285	* @see getExternalShadowDelayEnabled()
majik	6:d348c3cad7c7	2286	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
majik	6:d348c3cad7c7	2287	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
majik	6:d348c3cad7c7	2288	*/
majik	6:d348c3cad7c7	2289	void MPU6051::setExternalShadowDelayEnabled(bool enabled)
majik	6:d348c3cad7c7	2290	{
majik	6:d348c3cad7c7	2291	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
majik	6:d348c3cad7c7	2292	}
majik	6:d348c3cad7c7	2293	/** Get slave delay enabled status.
majik	6:d348c3cad7c7	2294	* When a particular slave delay is enabled, the rate of access for the that
majik	6:d348c3cad7c7	2295	* slave device is reduced. When a slave's access rate is decreased relative to
majik	6:d348c3cad7c7	2296	* the Sample Rate, the slave is accessed every:
majik	6:d348c3cad7c7	2297	*
majik	6:d348c3cad7c7	2298	* 1 / (1 + I2C_MST_DLY) Samples
majik	6:d348c3cad7c7	2299	*
majik	6:d348c3cad7c7	2300	* This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25)
majik	6:d348c3cad7c7	2301	* and DLPF_CFG (register 26).
majik	6:d348c3cad7c7	2302	*
majik	6:d348c3cad7c7	2303	* For further information regarding I2C_MST_DLY, please refer to register 52.
majik	6:d348c3cad7c7	2304	* For further information regarding the Sample Rate, please refer to register 25.
majik	6:d348c3cad7c7	2305	*
majik	6:d348c3cad7c7	2306	* @param num Slave number (0-4)
majik	6:d348c3cad7c7	2307	* @return Current slave delay enabled status.
majik	6:d348c3cad7c7	2308	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
majik	6:d348c3cad7c7	2309	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
majik	6:d348c3cad7c7	2310	*/
majik	6:d348c3cad7c7	2311	bool MPU6051::getSlaveDelayEnabled(uint8_t num)
majik	6:d348c3cad7c7	2312	{
majik	6:d348c3cad7c7	2313	// MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
majik	6:d348c3cad7c7	2314	if (num > 4) return 0;
majik	6:d348c3cad7c7	2315	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
majik	6:d348c3cad7c7	2316	return buffer[0];
majik	6:d348c3cad7c7	2317	}
majik	6:d348c3cad7c7	2318	/** Set slave delay enabled status.
majik	6:d348c3cad7c7	2319	* @param num Slave number (0-4)
majik	6:d348c3cad7c7	2320	* @param enabled New slave delay enabled status.
majik	6:d348c3cad7c7	2321	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
majik	6:d348c3cad7c7	2322	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
majik	6:d348c3cad7c7	2323	*/
majik	6:d348c3cad7c7	2324	void MPU6051::setSlaveDelayEnabled(uint8_t num, bool enabled)
majik	6:d348c3cad7c7	2325	{
majik	6:d348c3cad7c7	2326	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
majik	6:d348c3cad7c7	2327	}
majik	6:d348c3cad7c7	2328
majik	6:d348c3cad7c7	2329	// SIGNAL_PATH_RESET register
majik	6:d348c3cad7c7	2330
majik	6:d348c3cad7c7	2331	/** Reset gyroscope signal path.
majik	6:d348c3cad7c7	2332	* The reset will revert the signal path analog to digital converters and
majik	6:d348c3cad7c7	2333	* filters to their power up configurations.
majik	6:d348c3cad7c7	2334	* @see MPU6050_RA_SIGNAL_PATH_RESET
majik	6:d348c3cad7c7	2335	* @see MPU6050_PATHRESET_GYRO_RESET_BIT
majik	6:d348c3cad7c7	2336	*/
majik	6:d348c3cad7c7	2337	void MPU6051::resetGyroscopePath()
majik	6:d348c3cad7c7	2338	{
majik	6:d348c3cad7c7	2339	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
majik	6:d348c3cad7c7	2340	}
majik	6:d348c3cad7c7	2341	/** Reset accelerometer signal path.
majik	6:d348c3cad7c7	2342	* The reset will revert the signal path analog to digital converters and
majik	6:d348c3cad7c7	2343	* filters to their power up configurations.
majik	6:d348c3cad7c7	2344	* @see MPU6050_RA_SIGNAL_PATH_RESET
majik	6:d348c3cad7c7	2345	* @see MPU6050_PATHRESET_ACCEL_RESET_BIT
majik	6:d348c3cad7c7	2346	*/
majik	6:d348c3cad7c7	2347	void MPU6051::resetAccelerometerPath()
majik	6:d348c3cad7c7	2348	{
majik	6:d348c3cad7c7	2349	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
majik	6:d348c3cad7c7	2350	}
majik	6:d348c3cad7c7	2351	/** Reset temperature sensor signal path.
majik	6:d348c3cad7c7	2352	* The reset will revert the signal path analog to digital converters and
majik	6:d348c3cad7c7	2353	* filters to their power up configurations.
majik	6:d348c3cad7c7	2354	* @see MPU6050_RA_SIGNAL_PATH_RESET
majik	6:d348c3cad7c7	2355	* @see MPU6050_PATHRESET_TEMP_RESET_BIT
majik	6:d348c3cad7c7	2356	*/
majik	6:d348c3cad7c7	2357	void MPU6051::resetTemperaturePath()
majik	6:d348c3cad7c7	2358	{
majik	6:d348c3cad7c7	2359	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
majik	6:d348c3cad7c7	2360	}
majik	6:d348c3cad7c7	2361
majik	6:d348c3cad7c7	2362	// MOT_DETECT_CTRL register
majik	6:d348c3cad7c7	2363
majik	6:d348c3cad7c7	2364	/** Get accelerometer power-on delay.
majik	6:d348c3cad7c7	2365	* The accelerometer data path provides samples to the sensor registers, Motion
majik	6:d348c3cad7c7	2366	* detection, Zero Motion detection, and Free Fall detection modules. The
majik	6:d348c3cad7c7	2367	* signal path contains filters which must be flushed on wake-up with new
majik	6:d348c3cad7c7	2368	* samples before the detection modules begin operations. The default wake-up
majik	6:d348c3cad7c7	2369	* delay, of 4ms can be lengthened by up to 3ms. This additional delay is
majik	6:d348c3cad7c7	2370	* specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
majik	6:d348c3cad7c7	2371	* any value above zero unless instructed otherwise by InvenSense. Please refer
majik	6:d348c3cad7c7	2372	* to Section 8 of the MPU-6000/MPU-6050 Product Specification document for
majik	6:d348c3cad7c7	2373	* further information regarding the detection modules.
majik	6:d348c3cad7c7	2374	* @return Current accelerometer power-on delay
majik	6:d348c3cad7c7	2375	* @see MPU6050_RA_MOT_DETECT_CTRL
majik	6:d348c3cad7c7	2376	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
majik	6:d348c3cad7c7	2377	*/
majik	6:d348c3cad7c7	2378	uint8_t MPU6051::getAccelerometerPowerOnDelay()
majik	6:d348c3cad7c7	2379	{
majik	6:d348c3cad7c7	2380	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
majik	6:d348c3cad7c7	2381	return buffer[0];
majik	6:d348c3cad7c7	2382	}
majik	6:d348c3cad7c7	2383	/** Set accelerometer power-on delay.
majik	6:d348c3cad7c7	2384	* @param delay New accelerometer power-on delay (0-3)
majik	6:d348c3cad7c7	2385	* @see getAccelerometerPowerOnDelay()
majik	6:d348c3cad7c7	2386	* @see MPU6050_RA_MOT_DETECT_CTRL
majik	6:d348c3cad7c7	2387	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
majik	6:d348c3cad7c7	2388	*/
majik	6:d348c3cad7c7	2389	void MPU6051::setAccelerometerPowerOnDelay(uint8_t delay)
majik	6:d348c3cad7c7	2390	{
majik	6:d348c3cad7c7	2391	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
majik	6:d348c3cad7c7	2392	}
majik	6:d348c3cad7c7	2393	/** Get Free Fall detection counter decrement configuration.
majik	6:d348c3cad7c7	2394	* Detection is registered by the Free Fall detection module after accelerometer
majik	6:d348c3cad7c7	2395	* measurements meet their respective threshold conditions over a specified
majik	6:d348c3cad7c7	2396	* number of samples. When the threshold conditions are met, the corresponding
majik	6:d348c3cad7c7	2397	* detection counter increments by 1. The user may control the rate at which the
majik	6:d348c3cad7c7	2398	* detection counter decrements when the threshold condition is not met by
majik	6:d348c3cad7c7	2399	* configuring FF_COUNT. The decrement rate can be set according to the
majik	6:d348c3cad7c7	2400	* following table:
majik	6:d348c3cad7c7	2401	*
majik	6:d348c3cad7c7	2402	* <pre>
majik	6:d348c3cad7c7	2403	* FF_COUNT \| Counter Decrement
majik	6:d348c3cad7c7	2404	* ---------+------------------
majik	6:d348c3cad7c7	2405	* 0 \| Reset
majik	6:d348c3cad7c7	2406	* 1 \| 1
majik	6:d348c3cad7c7	2407	* 2 \| 2
majik	6:d348c3cad7c7	2408	* 3 \| 4
majik	6:d348c3cad7c7	2409	* </pre>
majik	6:d348c3cad7c7	2410	*
majik	6:d348c3cad7c7	2411	* When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
majik	6:d348c3cad7c7	2412	* reset the counter to 0. For further information on Free Fall detection,
majik	6:d348c3cad7c7	2413	* please refer to Registers 29 to 32.
majik	6:d348c3cad7c7	2414	*
majik	6:d348c3cad7c7	2415	* @return Current decrement configuration
majik	6:d348c3cad7c7	2416	* @see MPU6050_RA_MOT_DETECT_CTRL
majik	6:d348c3cad7c7	2417	* @see MPU6050_DETECT_FF_COUNT_BIT
majik	6:d348c3cad7c7	2418	*/
majik	6:d348c3cad7c7	2419	uint8_t MPU6051::getFreefallDetectionCounterDecrement()
majik	6:d348c3cad7c7	2420	{
majik	6:d348c3cad7c7	2421	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
majik	6:d348c3cad7c7	2422	return buffer[0];
majik	6:d348c3cad7c7	2423	}
majik	6:d348c3cad7c7	2424	/** Set Free Fall detection counter decrement configuration.
majik	6:d348c3cad7c7	2425	* @param decrement New decrement configuration value
majik	6:d348c3cad7c7	2426	* @see getFreefallDetectionCounterDecrement()
majik	6:d348c3cad7c7	2427	* @see MPU6050_RA_MOT_DETECT_CTRL
majik	6:d348c3cad7c7	2428	* @see MPU6050_DETECT_FF_COUNT_BIT
majik	6:d348c3cad7c7	2429	*/
majik	6:d348c3cad7c7	2430	void MPU6051::setFreefallDetectionCounterDecrement(uint8_t decrement)
majik	6:d348c3cad7c7	2431	{
majik	6:d348c3cad7c7	2432	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
majik	6:d348c3cad7c7	2433	}
majik	6:d348c3cad7c7	2434	/** Get Motion detection counter decrement configuration.
majik	6:d348c3cad7c7	2435	* Detection is registered by the Motion detection module after accelerometer
majik	6:d348c3cad7c7	2436	* measurements meet their respective threshold conditions over a specified
majik	6:d348c3cad7c7	2437	* number of samples. When the threshold conditions are met, the corresponding
majik	6:d348c3cad7c7	2438	* detection counter increments by 1. The user may control the rate at which the
majik	6:d348c3cad7c7	2439	* detection counter decrements when the threshold condition is not met by
majik	6:d348c3cad7c7	2440	* configuring MOT_COUNT. The decrement rate can be set according to the
majik	6:d348c3cad7c7	2441	* following table:
majik	6:d348c3cad7c7	2442	*
majik	6:d348c3cad7c7	2443	* <pre>
majik	6:d348c3cad7c7	2444	* MOT_COUNT \| Counter Decrement
majik	6:d348c3cad7c7	2445	* ----------+------------------
majik	6:d348c3cad7c7	2446	* 0 \| Reset
majik	6:d348c3cad7c7	2447	* 1 \| 1
majik	6:d348c3cad7c7	2448	* 2 \| 2
majik	6:d348c3cad7c7	2449	* 3 \| 4
majik	6:d348c3cad7c7	2450	* </pre>
majik	6:d348c3cad7c7	2451	*
majik	6:d348c3cad7c7	2452	* When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
majik	6:d348c3cad7c7	2453	* reset the counter to 0. For further information on Motion detection,
majik	6:d348c3cad7c7	2454	* please refer to Registers 29 to 32.
majik	6:d348c3cad7c7	2455	*
majik	6:d348c3cad7c7	2456	*/
majik	6:d348c3cad7c7	2457	uint8_t MPU6051::getMotionDetectionCounterDecrement()
majik	6:d348c3cad7c7	2458	{
majik	6:d348c3cad7c7	2459	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
majik	6:d348c3cad7c7	2460	return buffer[0];
majik	6:d348c3cad7c7	2461	}
majik	6:d348c3cad7c7	2462	/** Set Motion detection counter decrement configuration.
majik	6:d348c3cad7c7	2463	* @param decrement New decrement configuration value
majik	6:d348c3cad7c7	2464	* @see getMotionDetectionCounterDecrement()
majik	6:d348c3cad7c7	2465	* @see MPU6050_RA_MOT_DETECT_CTRL
majik	6:d348c3cad7c7	2466	* @see MPU6050_DETECT_MOT_COUNT_BIT
majik	6:d348c3cad7c7	2467	*/
majik	6:d348c3cad7c7	2468	void MPU6051::setMotionDetectionCounterDecrement(uint8_t decrement)
majik	6:d348c3cad7c7	2469	{
majik	6:d348c3cad7c7	2470	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
majik	6:d348c3cad7c7	2471	}
majik	6:d348c3cad7c7	2472
majik	6:d348c3cad7c7	2473	// USER_CTRL register
majik	6:d348c3cad7c7	2474
majik	6:d348c3cad7c7	2475	/** Get FIFO enabled status.
majik	6:d348c3cad7c7	2476	* When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
majik	6:d348c3cad7c7	2477	* cannot be written to or read from while disabled. The FIFO buffer's state
majik	6:d348c3cad7c7	2478	* does not change unless the MPU-60X0 is power cycled.
majik	6:d348c3cad7c7	2479	* @return Current FIFO enabled status
majik	6:d348c3cad7c7	2480	* @see MPU6050_RA_USER_CTRL
majik	6:d348c3cad7c7	2481	* @see MPU6050_USERCTRL_FIFO_EN_BIT
majik	6:d348c3cad7c7	2482	*/
majik	6:d348c3cad7c7	2483	bool MPU6051::getFIFOEnabled()
majik	6:d348c3cad7c7	2484	{
majik	6:d348c3cad7c7	2485	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
majik	6:d348c3cad7c7	2486	return buffer[0];
majik	6:d348c3cad7c7	2487	}
majik	6:d348c3cad7c7	2488	/** Set FIFO enabled status.
majik	6:d348c3cad7c7	2489	* @param enabled New FIFO enabled status
majik	6:d348c3cad7c7	2490	* @see getFIFOEnabled()
majik	6:d348c3cad7c7	2491	* @see MPU6050_RA_USER_CTRL
majik	6:d348c3cad7c7	2492	* @see MPU6050_USERCTRL_FIFO_EN_BIT
majik	6:d348c3cad7c7	2493	*/
majik	6:d348c3cad7c7	2494	void MPU6051::setFIFOEnabled(bool enabled)
majik	6:d348c3cad7c7	2495	{
majik	6:d348c3cad7c7	2496	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
majik	6:d348c3cad7c7	2497	}
majik	6:d348c3cad7c7	2498	/** Get I2C Master Mode enabled status.
majik	6:d348c3cad7c7	2499	* When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
majik	6:d348c3cad7c7	2500	* external sensor slave devices on the auxiliary I2C bus. When this bit is
majik	6:d348c3cad7c7	2501	* cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
majik	6:d348c3cad7c7	2502	* driven by the primary I2C bus (SDA and SCL). This is a precondition to
majik	6:d348c3cad7c7	2503	* enabling Bypass Mode. For further information regarding Bypass Mode, please
majik	6:d348c3cad7c7	2504	* refer to Register 55.
majik	6:d348c3cad7c7	2505	* @return Current I2C Master Mode enabled status
majik	6:d348c3cad7c7	2506	* @see MPU6050_RA_USER_CTRL
majik	6:d348c3cad7c7	2507	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
majik	6:d348c3cad7c7	2508	*/
majik	6:d348c3cad7c7	2509	bool MPU6051::getI2CMasterModeEnabled()
majik	6:d348c3cad7c7	2510	{
majik	6:d348c3cad7c7	2511	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
majik	6:d348c3cad7c7	2512	return buffer[0];
majik	6:d348c3cad7c7	2513	}
majik	6:d348c3cad7c7	2514	/** Set I2C Master Mode enabled status.
majik	6:d348c3cad7c7	2515	* @param enabled New I2C Master Mode enabled status
majik	6:d348c3cad7c7	2516	* @see getI2CMasterModeEnabled()
majik	6:d348c3cad7c7	2517	* @see MPU6050_RA_USER_CTRL
majik	6:d348c3cad7c7	2518	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
majik	6:d348c3cad7c7	2519	*/
majik	6:d348c3cad7c7	2520	void MPU6051::setI2CMasterModeEnabled(bool enabled)
majik	6:d348c3cad7c7	2521	{
majik	6:d348c3cad7c7	2522	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
majik	6:d348c3cad7c7	2523	}
majik	6:d348c3cad7c7	2524	/** Switch from I2C to SPI mode (MPU-6000 only)
majik	6:d348c3cad7c7	2525	* If this is set, the primary SPI interface will be enabled in place of the
majik	6:d348c3cad7c7	2526	* disabled primary I2C interface.
majik	6:d348c3cad7c7	2527	*/
majik	6:d348c3cad7c7	2528	void MPU6051::switchSPIEnabled(bool enabled)
majik	6:d348c3cad7c7	2529	{
majik	6:d348c3cad7c7	2530	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
majik	6:d348c3cad7c7	2531	}
majik	6:d348c3cad7c7	2532	/** Reset the FIFO.
majik	6:d348c3cad7c7	2533	* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
majik	6:d348c3cad7c7	2534	* bit automatically clears to 0 after the reset has been triggered.
majik	6:d348c3cad7c7	2535	* @see MPU6050_RA_USER_CTRL
majik	6:d348c3cad7c7	2536	* @see MPU6050_USERCTRL_FIFO_RESET_BIT
majik	6:d348c3cad7c7	2537	*/
majik	6:d348c3cad7c7	2538	void MPU6051::resetFIFO()
majik	6:d348c3cad7c7	2539	{
majik	6:d348c3cad7c7	2540	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
majik	6:d348c3cad7c7	2541	}
majik	6:d348c3cad7c7	2542	/** Reset the I2C Master.
majik	6:d348c3cad7c7	2543	* This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
majik	6:d348c3cad7c7	2544	* This bit automatically clears to 0 after the reset has been triggered.
majik	6:d348c3cad7c7	2545	* @see MPU6050_RA_USER_CTRL
majik	6:d348c3cad7c7	2546	* @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
majik	6:d348c3cad7c7	2547	*/
majik	6:d348c3cad7c7	2548	void MPU6051::resetI2CMaster()
majik	6:d348c3cad7c7	2549	{
majik	6:d348c3cad7c7	2550	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
majik	6:d348c3cad7c7	2551	}
majik	6:d348c3cad7c7	2552	/** Reset all sensor registers and signal paths.
majik	6:d348c3cad7c7	2553	* When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
majik	6:d348c3cad7c7	2554	* accelerometers, and temperature sensor). This operation will also clear the
majik	6:d348c3cad7c7	2555	* sensor registers. This bit automatically clears to 0 after the reset has been
majik	6:d348c3cad7c7	2556	* triggered.
majik	6:d348c3cad7c7	2557	*
majik	6:d348c3cad7c7	2558	* When resetting only the signal path (and not the sensor registers), please
majik	6:d348c3cad7c7	2559	* use Register 104, SIGNAL_PATH_RESET.
majik	6:d348c3cad7c7	2560	*
majik	6:d348c3cad7c7	2561	* @see MPU6050_RA_USER_CTRL
majik	6:d348c3cad7c7	2562	* @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
majik	6:d348c3cad7c7	2563	*/
majik	6:d348c3cad7c7	2564	void MPU6051::resetSensors()
majik	6:d348c3cad7c7	2565	{
majik	6:d348c3cad7c7	2566	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
majik	6:d348c3cad7c7	2567	}
majik	6:d348c3cad7c7	2568
majik	6:d348c3cad7c7	2569	// PWR_MGMT_1 register
majik	6:d348c3cad7c7	2570
majik	6:d348c3cad7c7	2571	/** Trigger a full device reset.
majik	6:d348c3cad7c7	2572	* A small delay of ~50ms may be desirable after triggering a reset.
majik	6:d348c3cad7c7	2573	* @see MPU6050_RA_PWR_MGMT_1
majik	6:d348c3cad7c7	2574	* @see MPU6050_PWR1_DEVICE_RESET_BIT
majik	6:d348c3cad7c7	2575	*/
majik	6:d348c3cad7c7	2576	void MPU6051::reset()
majik	6:d348c3cad7c7	2577	{
majik	6:d348c3cad7c7	2578	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
majik	6:d348c3cad7c7	2579	}
majik	6:d348c3cad7c7	2580	/** Get sleep mode status.
majik	6:d348c3cad7c7	2581	* Setting the SLEEP bit in the register puts the device into very low power
majik	6:d348c3cad7c7	2582	* sleep mode. In this mode, only the serial interface and internal registers
majik	6:d348c3cad7c7	2583	* remain active, allowing for a very low standby current. Clearing this bit
majik	6:d348c3cad7c7	2584	* puts the device back into normal mode. To save power, the individual standby
majik	6:d348c3cad7c7	2585	* selections for each of the gyros should be used if any gyro axis is not used
majik	6:d348c3cad7c7	2586	* by the application.
majik	6:d348c3cad7c7	2587	* @return Current sleep mode enabled status
majik	6:d348c3cad7c7	2588	* @see MPU6050_RA_PWR_MGMT_1
majik	6:d348c3cad7c7	2589	* @see MPU6050_PWR1_SLEEP_BIT
majik	6:d348c3cad7c7	2590	*/
majik	6:d348c3cad7c7	2591	bool MPU6051::getSleepEnabled()
majik	6:d348c3cad7c7	2592	{
majik	6:d348c3cad7c7	2593	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
majik	6:d348c3cad7c7	2594	return buffer[0];
majik	6:d348c3cad7c7	2595	}
majik	6:d348c3cad7c7	2596	/** Set sleep mode status.
majik	6:d348c3cad7c7	2597	* @param enabled New sleep mode enabled status
majik	6:d348c3cad7c7	2598	* @see getSleepEnabled()
majik	6:d348c3cad7c7	2599	* @see MPU6050_RA_PWR_MGMT_1
majik	6:d348c3cad7c7	2600	* @see MPU6050_PWR1_SLEEP_BIT
majik	6:d348c3cad7c7	2601	*/
majik	6:d348c3cad7c7	2602	void MPU6051::setSleepEnabled(bool enabled)
majik	6:d348c3cad7c7	2603	{
majik	6:d348c3cad7c7	2604	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
majik	6:d348c3cad7c7	2605	}
majik	6:d348c3cad7c7	2606	/** Get wake cycle enabled status.
majik	6:d348c3cad7c7	2607	* When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
majik	6:d348c3cad7c7	2608	* between sleep mode and waking up to take a single sample of data from active
majik	6:d348c3cad7c7	2609	* sensors at a rate determined by LP_WAKE_CTRL (register 108).
majik	6:d348c3cad7c7	2610	* @return Current sleep mode enabled status
majik	6:d348c3cad7c7	2611	* @see MPU6050_RA_PWR_MGMT_1
majik	6:d348c3cad7c7	2612	* @see MPU6050_PWR1_CYCLE_BIT
majik	6:d348c3cad7c7	2613	*/
majik	6:d348c3cad7c7	2614	bool MPU6051::getWakeCycleEnabled()
majik	6:d348c3cad7c7	2615	{
majik	6:d348c3cad7c7	2616	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
majik	6:d348c3cad7c7	2617	return buffer[0];
majik	6:d348c3cad7c7	2618	}
majik	6:d348c3cad7c7	2619	/** Set wake cycle enabled status.
majik	6:d348c3cad7c7	2620	* @param enabled New sleep mode enabled status
majik	6:d348c3cad7c7	2621	* @see getWakeCycleEnabled()
majik	6:d348c3cad7c7	2622	* @see MPU6050_RA_PWR_MGMT_1
majik	6:d348c3cad7c7	2623	* @see MPU6050_PWR1_CYCLE_BIT
majik	6:d348c3cad7c7	2624	*/
majik	6:d348c3cad7c7	2625	void MPU6051::setWakeCycleEnabled(bool enabled)
majik	6:d348c3cad7c7	2626	{
majik	6:d348c3cad7c7	2627	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
majik	6:d348c3cad7c7	2628	}
majik	6:d348c3cad7c7	2629	/** Get temperature sensor enabled status.
majik	6:d348c3cad7c7	2630	* Control the usage of the internal temperature sensor.
majik	6:d348c3cad7c7	2631	*
majik	6:d348c3cad7c7	2632	* Note: this register stores the disabled value, but for consistency with the
majik	6:d348c3cad7c7	2633	* rest of the code, the function is named and used with standard true/false
majik	6:d348c3cad7c7	2634	* values to indicate whether the sensor is enabled or disabled, respectively.
majik	6:d348c3cad7c7	2635	*
majik	6:d348c3cad7c7	2636	* @return Current temperature sensor enabled status
majik	6:d348c3cad7c7	2637	* @see MPU6050_RA_PWR_MGMT_1
majik	6:d348c3cad7c7	2638	* @see MPU6050_PWR1_TEMP_DIS_BIT
majik	6:d348c3cad7c7	2639	*/
majik	6:d348c3cad7c7	2640	bool MPU6051::getTempSensorEnabled()
majik	6:d348c3cad7c7	2641	{
majik	6:d348c3cad7c7	2642	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
majik	6:d348c3cad7c7	2643	return buffer[0] == 0; // 1 is actually disabled here
majik	6:d348c3cad7c7	2644	}
majik	6:d348c3cad7c7	2645	/** Set temperature sensor enabled status.
majik	6:d348c3cad7c7	2646	* Note: this register stores the disabled value, but for consistency with the
majik	6:d348c3cad7c7	2647	* rest of the code, the function is named and used with standard true/false
majik	6:d348c3cad7c7	2648	* values to indicate whether the sensor is enabled or disabled, respectively.
majik	6:d348c3cad7c7	2649	*
majik	6:d348c3cad7c7	2650	* @param enabled New temperature sensor enabled status
majik	6:d348c3cad7c7	2651	* @see getTempSensorEnabled()
majik	6:d348c3cad7c7	2652	* @see MPU6050_RA_PWR_MGMT_1
majik	6:d348c3cad7c7	2653	* @see MPU6050_PWR1_TEMP_DIS_BIT
majik	6:d348c3cad7c7	2654	*/
majik	6:d348c3cad7c7	2655	void MPU6051::setTempSensorEnabled(bool enabled)
majik	6:d348c3cad7c7	2656	{
majik	6:d348c3cad7c7	2657	// 1 is actually disabled here
majik	6:d348c3cad7c7	2658	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
majik	6:d348c3cad7c7	2659	}
majik	6:d348c3cad7c7	2660	/** Get clock source setting.
majik	6:d348c3cad7c7	2661	* @return Current clock source setting
majik	6:d348c3cad7c7	2662	* @see MPU6050_RA_PWR_MGMT_1
majik	6:d348c3cad7c7	2663	* @see MPU6050_PWR1_CLKSEL_BIT
majik	6:d348c3cad7c7	2664	* @see MPU6050_PWR1_CLKSEL_LENGTH
majik	6:d348c3cad7c7	2665	*/
majik	6:d348c3cad7c7	2666	uint8_t MPU6051::getClockSource()
majik	6:d348c3cad7c7	2667	{
majik	6:d348c3cad7c7	2668	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
majik	6:d348c3cad7c7	2669	return buffer[0];
majik	6:d348c3cad7c7	2670	}
majik	6:d348c3cad7c7	2671	/** Set clock source setting.
majik	6:d348c3cad7c7	2672	* An internal 8MHz oscillator, gyroscope based clock, or external sources can
majik	6:d348c3cad7c7	2673	* be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
majik	6:d348c3cad7c7	2674	* or an external source is chosen as the clock source, the MPU-60X0 can operate
majik	6:d348c3cad7c7	2675	* in low power modes with the gyroscopes disabled.
majik	6:d348c3cad7c7	2676	*
majik	6:d348c3cad7c7	2677	* Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
majik	6:d348c3cad7c7	2678	* However, it is highly recommended that the device be configured to use one of
majik	6:d348c3cad7c7	2679	* the gyroscopes (or an external clock source) as the clock reference for
majik	6:d348c3cad7c7	2680	* improved stability. The clock source can be selected according to the following table:
majik	6:d348c3cad7c7	2681	*
majik	6:d348c3cad7c7	2682	* <pre>
majik	6:d348c3cad7c7	2683	* CLK_SEL \| Clock Source
majik	6:d348c3cad7c7	2684	* --------+--------------------------------------
majik	6:d348c3cad7c7	2685	* 0 \| Internal oscillator
majik	6:d348c3cad7c7	2686	* 1 \| PLL with X Gyro reference
majik	6:d348c3cad7c7	2687	* 2 \| PLL with Y Gyro reference
majik	6:d348c3cad7c7	2688	* 3 \| PLL with Z Gyro reference
majik	6:d348c3cad7c7	2689	* 4 \| PLL with external 32.768kHz reference
majik	6:d348c3cad7c7	2690	* 5 \| PLL with external 19.2MHz reference
majik	6:d348c3cad7c7	2691	* 6 \| Reserved
majik	6:d348c3cad7c7	2692	* 7 \| Stops the clock and keeps the timing generator in reset
majik	6:d348c3cad7c7	2693	* </pre>
majik	6:d348c3cad7c7	2694	*
majik	6:d348c3cad7c7	2695	* @param source New clock source setting
majik	6:d348c3cad7c7	2696	* @see getClockSource()
majik	6:d348c3cad7c7	2697	* @see MPU6050_RA_PWR_MGMT_1
majik	6:d348c3cad7c7	2698	* @see MPU6050_PWR1_CLKSEL_BIT
majik	6:d348c3cad7c7	2699	* @see MPU6050_PWR1_CLKSEL_LENGTH
majik	6:d348c3cad7c7	2700	*/
majik	6:d348c3cad7c7	2701	void MPU6051::setClockSource(uint8_t source)
majik	6:d348c3cad7c7	2702	{
majik	6:d348c3cad7c7	2703	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
majik	6:d348c3cad7c7	2704	}
majik	6:d348c3cad7c7	2705
majik	6:d348c3cad7c7	2706	// PWR_MGMT_2 register
majik	6:d348c3cad7c7	2707
majik	6:d348c3cad7c7	2708	/** Get wake frequency in Accel-Only Low Power Mode.
majik	6:d348c3cad7c7	2709	* The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
majik	6:d348c3cad7c7	2710	* PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
majik	6:d348c3cad7c7	2711	* the device will power off all devices except for the primary I2C interface,
majik	6:d348c3cad7c7	2712	* waking only the accelerometer at fixed intervals to take a single
majik	6:d348c3cad7c7	2713	* measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
majik	6:d348c3cad7c7	2714	* as shown below:
majik	6:d348c3cad7c7	2715	*
majik	6:d348c3cad7c7	2716	* <pre>
majik	6:d348c3cad7c7	2717	* LP_WAKE_CTRL \| Wake-up Frequency
majik	6:d348c3cad7c7	2718	* -------------+------------------
majik	6:d348c3cad7c7	2719	* 0 \| 1.25 Hz
majik	6:d348c3cad7c7	2720	* 1 \| 2.5 Hz
majik	6:d348c3cad7c7	2721	* 2 \| 5 Hz
majik	6:d348c3cad7c7	2722	* 3 \| 10 Hz
majik	6:d348c3cad7c7	2723	* <pre>
majik	6:d348c3cad7c7	2724	*
majik	6:d348c3cad7c7	2725	* For further information regarding the MPU-60X0's power modes, please refer to
majik	6:d348c3cad7c7	2726	* Register 107.
majik	6:d348c3cad7c7	2727	*
majik	6:d348c3cad7c7	2728	* @return Current wake frequency
majik	6:d348c3cad7c7	2729	* @see MPU6050_RA_PWR_MGMT_2
majik	6:d348c3cad7c7	2730	*/
majik	6:d348c3cad7c7	2731	uint8_t MPU6051::getWakeFrequency()
majik	6:d348c3cad7c7	2732	{
majik	6:d348c3cad7c7	2733	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
majik	6:d348c3cad7c7	2734	return buffer[0];
majik	6:d348c3cad7c7	2735	}
majik	6:d348c3cad7c7	2736	/** Set wake frequency in Accel-Only Low Power Mode.
majik	6:d348c3cad7c7	2737	* @param frequency New wake frequency
majik	6:d348c3cad7c7	2738	* @see MPU6050_RA_PWR_MGMT_2
majik	6:d348c3cad7c7	2739	*/
majik	6:d348c3cad7c7	2740	void MPU6051::setWakeFrequency(uint8_t frequency)
majik	6:d348c3cad7c7	2741	{
majik	6:d348c3cad7c7	2742	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
majik	6:d348c3cad7c7	2743	}
majik	6:d348c3cad7c7	2744
majik	6:d348c3cad7c7	2745	/** Get X-axis accelerometer standby enabled status.
majik	6:d348c3cad7c7	2746	* If enabled, the X-axis will not gather or report data (or use power).
majik	6:d348c3cad7c7	2747	* @return Current X-axis standby enabled status
majik	6:d348c3cad7c7	2748	* @see MPU6050_RA_PWR_MGMT_2
majik	6:d348c3cad7c7	2749	* @see MPU6050_PWR2_STBY_XA_BIT
majik	6:d348c3cad7c7	2750	*/
majik	6:d348c3cad7c7	2751	bool MPU6051::getStandbyXAccelEnabled()
majik	6:d348c3cad7c7	2752	{
majik	6:d348c3cad7c7	2753	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
majik	6:d348c3cad7c7	2754	return buffer[0];
majik	6:d348c3cad7c7	2755	}
majik	6:d348c3cad7c7	2756	/** Set X-axis accelerometer standby enabled status.
majik	6:d348c3cad7c7	2757	* @param New X-axis standby enabled status
majik	6:d348c3cad7c7	2758	* @see getStandbyXAccelEnabled()
majik	6:d348c3cad7c7	2759	* @see MPU6050_RA_PWR_MGMT_2
majik	6:d348c3cad7c7	2760	* @see MPU6050_PWR2_STBY_XA_BIT
majik	6:d348c3cad7c7	2761	*/
majik	6:d348c3cad7c7	2762	void MPU6051::setStandbyXAccelEnabled(bool enabled)
majik	6:d348c3cad7c7	2763	{
majik	6:d348c3cad7c7	2764	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
majik	6:d348c3cad7c7	2765	}
majik	6:d348c3cad7c7	2766	/** Get Y-axis accelerometer standby enabled status.
majik	6:d348c3cad7c7	2767	* If enabled, the Y-axis will not gather or report data (or use power).
majik	6:d348c3cad7c7	2768	* @return Current Y-axis standby enabled status
majik	6:d348c3cad7c7	2769	* @see MPU6050_RA_PWR_MGMT_2
majik	6:d348c3cad7c7	2770	* @see MPU6050_PWR2_STBY_YA_BIT
majik	6:d348c3cad7c7	2771	*/
majik	6:d348c3cad7c7	2772	bool MPU6051::getStandbyYAccelEnabled()
majik	6:d348c3cad7c7	2773	{
majik	6:d348c3cad7c7	2774	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
majik	6:d348c3cad7c7	2775	return buffer[0];
majik	6:d348c3cad7c7	2776	}
majik	6:d348c3cad7c7	2777	/** Set Y-axis accelerometer standby enabled status.
majik	6:d348c3cad7c7	2778	* @param New Y-axis standby enabled status
majik	6:d348c3cad7c7	2779	* @see getStandbyYAccelEnabled()
majik	6:d348c3cad7c7	2780	* @see MPU6050_RA_PWR_MGMT_2
majik	6:d348c3cad7c7	2781	* @see MPU6050_PWR2_STBY_YA_BIT
majik	6:d348c3cad7c7	2782	*/
majik	6:d348c3cad7c7	2783	void MPU6051::setStandbyYAccelEnabled(bool enabled)
majik	6:d348c3cad7c7	2784	{
majik	6:d348c3cad7c7	2785	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
majik	6:d348c3cad7c7	2786	}
majik	6:d348c3cad7c7	2787	/** Get Z-axis accelerometer standby enabled status.
majik	6:d348c3cad7c7	2788	* If enabled, the Z-axis will not gather or report data (or use power).
majik	6:d348c3cad7c7	2789	* @return Current Z-axis standby enabled status
majik	6:d348c3cad7c7	2790	* @see MPU6050_RA_PWR_MGMT_2
majik	6:d348c3cad7c7	2791	* @see MPU6050_PWR2_STBY_ZA_BIT
majik	6:d348c3cad7c7	2792	*/
majik	6:d348c3cad7c7	2793	bool MPU6051::getStandbyZAccelEnabled()
majik	6:d348c3cad7c7	2794	{
majik	6:d348c3cad7c7	2795	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
majik	6:d348c3cad7c7	2796	return buffer[0];
majik	6:d348c3cad7c7	2797	}
majik	6:d348c3cad7c7	2798	/** Set Z-axis accelerometer standby enabled status.
majik	6:d348c3cad7c7	2799	* @param New Z-axis standby enabled status
majik	6:d348c3cad7c7	2800	* @see getStandbyZAccelEnabled()
majik	6:d348c3cad7c7	2801	* @see MPU6050_RA_PWR_MGMT_2
majik	6:d348c3cad7c7	2802	* @see MPU6050_PWR2_STBY_ZA_BIT
majik	6:d348c3cad7c7	2803	*/
majik	6:d348c3cad7c7	2804	void MPU6051::setStandbyZAccelEnabled(bool enabled)
majik	6:d348c3cad7c7	2805	{
majik	6:d348c3cad7c7	2806	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
majik	6:d348c3cad7c7	2807	}
majik	6:d348c3cad7c7	2808	/** Get X-axis gyroscope standby enabled status.
majik	6:d348c3cad7c7	2809	* If enabled, the X-axis will not gather or report data (or use power).
majik	6:d348c3cad7c7	2810	* @return Current X-axis standby enabled status
majik	6:d348c3cad7c7	2811	* @see MPU6050_RA_PWR_MGMT_2
majik	6:d348c3cad7c7	2812	* @see MPU6050_PWR2_STBY_XG_BIT
majik	6:d348c3cad7c7	2813	*/
majik	6:d348c3cad7c7	2814	bool MPU6051::getStandbyXGyroEnabled()
majik	6:d348c3cad7c7	2815	{
majik	6:d348c3cad7c7	2816	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
majik	6:d348c3cad7c7	2817	return buffer[0];
majik	6:d348c3cad7c7	2818	}
majik	6:d348c3cad7c7	2819	/** Set X-axis gyroscope standby enabled status.
majik	6:d348c3cad7c7	2820	* @param New X-axis standby enabled status
majik	6:d348c3cad7c7	2821	* @see getStandbyXGyroEnabled()
majik	6:d348c3cad7c7	2822	* @see MPU6050_RA_PWR_MGMT_2
majik	6:d348c3cad7c7	2823	* @see MPU6050_PWR2_STBY_XG_BIT
majik	6:d348c3cad7c7	2824	*/
majik	6:d348c3cad7c7	2825	void MPU6051::setStandbyXGyroEnabled(bool enabled)
majik	6:d348c3cad7c7	2826	{
majik	6:d348c3cad7c7	2827	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
majik	6:d348c3cad7c7	2828	}
majik	6:d348c3cad7c7	2829	/** Get Y-axis gyroscope standby enabled status.
majik	6:d348c3cad7c7	2830	* If enabled, the Y-axis will not gather or report data (or use power).
majik	6:d348c3cad7c7	2831	* @return Current Y-axis standby enabled status
majik	6:d348c3cad7c7	2832	* @see MPU6050_RA_PWR_MGMT_2
majik	6:d348c3cad7c7	2833	* @see MPU6050_PWR2_STBY_YG_BIT
majik	6:d348c3cad7c7	2834	*/
majik	6:d348c3cad7c7	2835	bool MPU6051::getStandbyYGyroEnabled()
majik	6:d348c3cad7c7	2836	{
majik	6:d348c3cad7c7	2837	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
majik	6:d348c3cad7c7	2838	return buffer[0];
majik	6:d348c3cad7c7	2839	}
majik	6:d348c3cad7c7	2840	/** Set Y-axis gyroscope standby enabled status.
majik	6:d348c3cad7c7	2841	* @param New Y-axis standby enabled status
majik	6:d348c3cad7c7	2842	* @see getStandbyYGyroEnabled()
majik	6:d348c3cad7c7	2843	* @see MPU6050_RA_PWR_MGMT_2
majik	6:d348c3cad7c7	2844	* @see MPU6050_PWR2_STBY_YG_BIT
majik	6:d348c3cad7c7	2845	*/
majik	6:d348c3cad7c7	2846	void MPU6051::setStandbyYGyroEnabled(bool enabled)
majik	6:d348c3cad7c7	2847	{
majik	6:d348c3cad7c7	2848	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
majik	6:d348c3cad7c7	2849	}
majik	6:d348c3cad7c7	2850	/** Get Z-axis gyroscope standby enabled status.
majik	6:d348c3cad7c7	2851	* If enabled, the Z-axis will not gather or report data (or use power).
majik	6:d348c3cad7c7	2852	* @return Current Z-axis standby enabled status
majik	6:d348c3cad7c7	2853	* @see MPU6050_RA_PWR_MGMT_2
majik	6:d348c3cad7c7	2854	* @see MPU6050_PWR2_STBY_ZG_BIT
majik	6:d348c3cad7c7	2855	*/
majik	6:d348c3cad7c7	2856	bool MPU6051::getStandbyZGyroEnabled()
majik	6:d348c3cad7c7	2857	{
majik	6:d348c3cad7c7	2858	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
majik	6:d348c3cad7c7	2859	return buffer[0];
majik	6:d348c3cad7c7	2860	}
majik	6:d348c3cad7c7	2861	/** Set Z-axis gyroscope standby enabled status.
majik	6:d348c3cad7c7	2862	* @param New Z-axis standby enabled status
majik	6:d348c3cad7c7	2863	* @see getStandbyZGyroEnabled()
majik	6:d348c3cad7c7	2864	* @see MPU6050_RA_PWR_MGMT_2
majik	6:d348c3cad7c7	2865	* @see MPU6050_PWR2_STBY_ZG_BIT
majik	6:d348c3cad7c7	2866	*/
majik	6:d348c3cad7c7	2867	void MPU6051::setStandbyZGyroEnabled(bool enabled)
majik	6:d348c3cad7c7	2868	{
majik	6:d348c3cad7c7	2869	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
majik	6:d348c3cad7c7	2870	}
majik	6:d348c3cad7c7	2871
majik	6:d348c3cad7c7	2872	// FIFO_COUNT* registers
majik	6:d348c3cad7c7	2873
majik	6:d348c3cad7c7	2874	/** Get current FIFO buffer size.
majik	6:d348c3cad7c7	2875	* This value indicates the number of bytes stored in the FIFO buffer. This
majik	6:d348c3cad7c7	2876	* number is in turn the number of bytes that can be read from the FIFO buffer
majik	6:d348c3cad7c7	2877	* and it is directly proportional to the number of samples available given the
majik	6:d348c3cad7c7	2878	* set of sensor data bound to be stored in the FIFO (register 35 and 36).
majik	6:d348c3cad7c7	2879	* @return Current FIFO buffer size
majik	6:d348c3cad7c7	2880	*/
majik	6:d348c3cad7c7	2881	uint16_t MPU6051::getFIFOCount()
majik	6:d348c3cad7c7	2882	{
majik	6:d348c3cad7c7	2883	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
majik	6:d348c3cad7c7	2884	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
majik	6:d348c3cad7c7	2885	}
majik	6:d348c3cad7c7	2886
majik	6:d348c3cad7c7	2887	// FIFO_R_W register
majik	6:d348c3cad7c7	2888
majik	6:d348c3cad7c7	2889	/** Get byte from FIFO buffer.
majik	6:d348c3cad7c7	2890	* This register is used to read and write data from the FIFO buffer. Data is
majik	6:d348c3cad7c7	2891	* written to the FIFO in order of register number (from lowest to highest). If
majik	6:d348c3cad7c7	2892	* all the FIFO enable flags (see below) are enabled and all External Sensor
majik	6:d348c3cad7c7	2893	* Data registers (Registers 73 to 96) are associated with a Slave device, the
majik	6:d348c3cad7c7	2894	* contents of registers 59 through 96 will be written in order at the Sample
majik	6:d348c3cad7c7	2895	* Rate.
majik	6:d348c3cad7c7	2896	*
majik	6:d348c3cad7c7	2897	* The contents of the sensor data registers (Registers 59 to 96) are written
majik	6:d348c3cad7c7	2898	* into the FIFO buffer when their corresponding FIFO enable flags are set to 1
majik	6:d348c3cad7c7	2899	* in FIFO_EN (Register 35). An additional flag for the sensor data registers
majik	6:d348c3cad7c7	2900	* associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
majik	6:d348c3cad7c7	2901	*
majik	6:d348c3cad7c7	2902	* If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
majik	6:d348c3cad7c7	2903	* automatically set to 1. This bit is located in INT_STATUS (Register 58).
majik	6:d348c3cad7c7	2904	* When the FIFO buffer has overflowed, the oldest data will be lost and new
majik	6:d348c3cad7c7	2905	* data will be written to the FIFO.
majik	6:d348c3cad7c7	2906	*
majik	6:d348c3cad7c7	2907	* If the FIFO buffer is empty, reading this register will return the last byte
majik	6:d348c3cad7c7	2908	* that was previously read from the FIFO until new data is available. The user
majik	6:d348c3cad7c7	2909	* should check FIFO_COUNT to ensure that the FIFO buffer is not read when
majik	6:d348c3cad7c7	2910	* empty.
majik	6:d348c3cad7c7	2911	*
majik	6:d348c3cad7c7	2912	* @return Byte from FIFO buffer
majik	6:d348c3cad7c7	2913	*/
majik	6:d348c3cad7c7	2914	uint8_t MPU6051::getFIFOByte()
majik	6:d348c3cad7c7	2915	{
majik	6:d348c3cad7c7	2916	i2Cdev.readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
majik	6:d348c3cad7c7	2917	return buffer[0];
majik	6:d348c3cad7c7	2918	}
majik	6:d348c3cad7c7	2919	void MPU6051::getFIFOBytes(uint8_t *data, uint8_t length)
majik	6:d348c3cad7c7	2920	{
majik	6:d348c3cad7c7	2921	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
majik	6:d348c3cad7c7	2922	}
majik	6:d348c3cad7c7	2923	/** Write byte to FIFO buffer.
majik	6:d348c3cad7c7	2924	* @see getFIFOByte()
majik	6:d348c3cad7c7	2925	* @see MPU6050_RA_FIFO_R_W
majik	6:d348c3cad7c7	2926	*/
majik	6:d348c3cad7c7	2927	void MPU6051::setFIFOByte(uint8_t data)
majik	6:d348c3cad7c7	2928	{
majik	6:d348c3cad7c7	2929	i2Cdev.writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
majik	6:d348c3cad7c7	2930	}
majik	6:d348c3cad7c7	2931
majik	6:d348c3cad7c7	2932	// WHO_AM_I register
majik	6:d348c3cad7c7	2933
majik	6:d348c3cad7c7	2934	/** Get Device ID.
majik	6:d348c3cad7c7	2935	* This register is used to verify the identity of the device (0b110100, 0x34).
majik	6:d348c3cad7c7	2936	* @return Device ID (6 bits only! should be 0x34)
majik	6:d348c3cad7c7	2937	* @see MPU6050_RA_WHO_AM_I
majik	6:d348c3cad7c7	2938	* @see MPU6050_WHO_AM_I_BIT
majik	6:d348c3cad7c7	2939	* @see MPU6050_WHO_AM_I_LENGTH
majik	6:d348c3cad7c7	2940	*/
majik	6:d348c3cad7c7	2941	uint8_t MPU6051::getDeviceID()
majik	6:d348c3cad7c7	2942	{
majik	6:d348c3cad7c7	2943	i2Cdev.readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
majik	6:d348c3cad7c7	2944	return buffer[0];
majik	6:d348c3cad7c7	2945	}
majik	6:d348c3cad7c7	2946	/** Set Device ID.
majik	6:d348c3cad7c7	2947	* Write a new ID into the WHO_AM_I register (no idea why this should ever be
majik	6:d348c3cad7c7	2948	* necessary though).
majik	6:d348c3cad7c7	2949	* @param id New device ID to set.
majik	6:d348c3cad7c7	2950	* @see getDeviceID()
majik	6:d348c3cad7c7	2951	* @see MPU6050_RA_WHO_AM_I
majik	6:d348c3cad7c7	2952	* @see MPU6050_WHO_AM_I_BIT
majik	6:d348c3cad7c7	2953	* @see MPU6050_WHO_AM_I_LENGTH
majik	6:d348c3cad7c7	2954	*/
majik	6:d348c3cad7c7	2955	void MPU6051::setDeviceID(uint8_t id)
majik	6:d348c3cad7c7	2956	{
majik	6:d348c3cad7c7	2957	i2Cdev.writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
majik	6:d348c3cad7c7	2958	}
majik	6:d348c3cad7c7	2959
majik	6:d348c3cad7c7	2960	// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
majik	6:d348c3cad7c7	2961
majik	6:d348c3cad7c7	2962	// XG_OFFS_TC register
majik	6:d348c3cad7c7	2963
majik	6:d348c3cad7c7	2964	uint8_t MPU6051::getOTPBankValid()
majik	6:d348c3cad7c7	2965	{
majik	6:d348c3cad7c7	2966	i2Cdev.readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
majik	6:d348c3cad7c7	2967	return buffer[0];
majik	6:d348c3cad7c7	2968	}
majik	6:d348c3cad7c7	2969	void MPU6051::setOTPBankValid(bool enabled)
majik	6:d348c3cad7c7	2970	{
majik	6:d348c3cad7c7	2971	i2Cdev.writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
majik	6:d348c3cad7c7	2972	}
majik	6:d348c3cad7c7	2973	int8_t MPU6051::getXGyroOffset()
majik	6:d348c3cad7c7	2974	{
majik	6:d348c3cad7c7	2975	i2Cdev.readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
majik	6:d348c3cad7c7	2976	return buffer[0];
majik	6:d348c3cad7c7	2977	}
majik	6:d348c3cad7c7	2978	void MPU6051::setXGyroOffset(int8_t offset)
majik	6:d348c3cad7c7	2979	{
majik	6:d348c3cad7c7	2980	i2Cdev.writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
majik	6:d348c3cad7c7	2981	}
majik	6:d348c3cad7c7	2982
majik	6:d348c3cad7c7	2983	// YG_OFFS_TC register
majik	6:d348c3cad7c7	2984
majik	6:d348c3cad7c7	2985	int8_t MPU6051::getYGyroOffset()
majik	6:d348c3cad7c7	2986	{
majik	6:d348c3cad7c7	2987	i2Cdev.readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
majik	6:d348c3cad7c7	2988	return buffer[0];
majik	6:d348c3cad7c7	2989	}
majik	6:d348c3cad7c7	2990	void MPU6051::setYGyroOffset(int8_t offset)
majik	6:d348c3cad7c7	2991	{
majik	6:d348c3cad7c7	2992	i2Cdev.writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
majik	6:d348c3cad7c7	2993	}
majik	6:d348c3cad7c7	2994
majik	6:d348c3cad7c7	2995	// ZG_OFFS_TC register
majik	6:d348c3cad7c7	2996
majik	6:d348c3cad7c7	2997	int8_t MPU6051::getZGyroOffset()
majik	6:d348c3cad7c7	2998	{
majik	6:d348c3cad7c7	2999	i2Cdev.readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
majik	6:d348c3cad7c7	3000	return buffer[0];
majik	6:d348c3cad7c7	3001	}
majik	6:d348c3cad7c7	3002	void MPU6051::setZGyroOffset(int8_t offset)
majik	6:d348c3cad7c7	3003	{
majik	6:d348c3cad7c7	3004	i2Cdev.writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
majik	6:d348c3cad7c7	3005	}
majik	6:d348c3cad7c7	3006
majik	6:d348c3cad7c7	3007	// X_FINE_GAIN register
majik	6:d348c3cad7c7	3008
majik	6:d348c3cad7c7	3009	int8_t MPU6051::getXFineGain()
majik	6:d348c3cad7c7	3010	{
majik	6:d348c3cad7c7	3011	i2Cdev.readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
majik	6:d348c3cad7c7	3012	return buffer[0];
majik	6:d348c3cad7c7	3013	}
majik	6:d348c3cad7c7	3014	void MPU6051::setXFineGain(int8_t gain)
majik	6:d348c3cad7c7	3015	{
majik	6:d348c3cad7c7	3016	i2Cdev.writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
majik	6:d348c3cad7c7	3017	}
majik	6:d348c3cad7c7	3018
majik	6:d348c3cad7c7	3019	// Y_FINE_GAIN register
majik	6:d348c3cad7c7	3020
majik	6:d348c3cad7c7	3021	int8_t MPU6051::getYFineGain()
majik	6:d348c3cad7c7	3022	{
majik	6:d348c3cad7c7	3023	i2Cdev.readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
majik	6:d348c3cad7c7	3024	return buffer[0];
majik	6:d348c3cad7c7	3025	}
majik	6:d348c3cad7c7	3026	void MPU6051::setYFineGain(int8_t gain)
majik	6:d348c3cad7c7	3027	{
majik	6:d348c3cad7c7	3028	i2Cdev.writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
majik	6:d348c3cad7c7	3029	}
majik	6:d348c3cad7c7	3030
majik	6:d348c3cad7c7	3031	// Z_FINE_GAIN register
majik	6:d348c3cad7c7	3032
majik	6:d348c3cad7c7	3033	int8_t MPU6051::getZFineGain()
majik	6:d348c3cad7c7	3034	{
majik	6:d348c3cad7c7	3035	i2Cdev.readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
majik	6:d348c3cad7c7	3036	return buffer[0];
majik	6:d348c3cad7c7	3037	}
majik	6:d348c3cad7c7	3038	void MPU6051::setZFineGain(int8_t gain)
majik	6:d348c3cad7c7	3039	{
majik	6:d348c3cad7c7	3040	i2Cdev.writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
majik	6:d348c3cad7c7	3041	}
majik	6:d348c3cad7c7	3042
majik	6:d348c3cad7c7	3043	// XA_OFFS_* registers
majik	6:d348c3cad7c7	3044
majik	6:d348c3cad7c7	3045	int16_t MPU6051::getXAccelOffset()
majik	6:d348c3cad7c7	3046	{
majik	6:d348c3cad7c7	3047	i2Cdev.readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
majik	6:d348c3cad7c7	3048	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	6:d348c3cad7c7	3049	}
majik	6:d348c3cad7c7	3050	void MPU6051::setXAccelOffset(int16_t offset)
majik	6:d348c3cad7c7	3051	{
majik	6:d348c3cad7c7	3052	i2Cdev.writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
majik	6:d348c3cad7c7	3053	}
majik	6:d348c3cad7c7	3054
majik	6:d348c3cad7c7	3055	// YA_OFFS_* register
majik	6:d348c3cad7c7	3056
majik	6:d348c3cad7c7	3057	int16_t MPU6051::getYAccelOffset()
majik	6:d348c3cad7c7	3058	{
majik	6:d348c3cad7c7	3059	i2Cdev.readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
majik	6:d348c3cad7c7	3060	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	6:d348c3cad7c7	3061	}
majik	6:d348c3cad7c7	3062	void MPU6051::setYAccelOffset(int16_t offset)
majik	6:d348c3cad7c7	3063	{
majik	6:d348c3cad7c7	3064	i2Cdev.writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
majik	6:d348c3cad7c7	3065	}
majik	6:d348c3cad7c7	3066
majik	6:d348c3cad7c7	3067	// ZA_OFFS_* register
majik	6:d348c3cad7c7	3068
majik	6:d348c3cad7c7	3069	int16_t MPU6051::getZAccelOffset()
majik	6:d348c3cad7c7	3070	{
majik	6:d348c3cad7c7	3071	i2Cdev.readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
majik	6:d348c3cad7c7	3072	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	6:d348c3cad7c7	3073	}
majik	6:d348c3cad7c7	3074	void MPU6051::setZAccelOffset(int16_t offset)
majik	6:d348c3cad7c7	3075	{
majik	6:d348c3cad7c7	3076	i2Cdev.writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
majik	6:d348c3cad7c7	3077	}
majik	6:d348c3cad7c7	3078
majik	6:d348c3cad7c7	3079	// XG_OFFS_USR* registers
majik	6:d348c3cad7c7	3080
majik	6:d348c3cad7c7	3081	int16_t MPU6051::getXGyroOffsetUser()
majik	6:d348c3cad7c7	3082	{
majik	6:d348c3cad7c7	3083	i2Cdev.readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
majik	6:d348c3cad7c7	3084	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	6:d348c3cad7c7	3085	}
majik	6:d348c3cad7c7	3086	void MPU6051::setXGyroOffsetUser(int16_t offset)
majik	6:d348c3cad7c7	3087	{
majik	6:d348c3cad7c7	3088	i2Cdev.writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
majik	6:d348c3cad7c7	3089	}
majik	6:d348c3cad7c7	3090
majik	6:d348c3cad7c7	3091	// YG_OFFS_USR* register
majik	6:d348c3cad7c7	3092
majik	6:d348c3cad7c7	3093	int16_t MPU6051::getYGyroOffsetUser()
majik	6:d348c3cad7c7	3094	{
majik	6:d348c3cad7c7	3095	i2Cdev.readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
majik	6:d348c3cad7c7	3096	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	6:d348c3cad7c7	3097	}
majik	6:d348c3cad7c7	3098	void MPU6051::setYGyroOffsetUser(int16_t offset)
majik	6:d348c3cad7c7	3099	{
majik	6:d348c3cad7c7	3100	i2Cdev.writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
majik	6:d348c3cad7c7	3101	}
majik	6:d348c3cad7c7	3102
majik	6:d348c3cad7c7	3103	// ZG_OFFS_USR* register
majik	6:d348c3cad7c7	3104
majik	6:d348c3cad7c7	3105	int16_t MPU6051::getZGyroOffsetUser()
majik	6:d348c3cad7c7	3106	{
majik	6:d348c3cad7c7	3107	i2Cdev.readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
majik	6:d348c3cad7c7	3108	return (((int16_t)buffer[0]) << 8) \| buffer[1];
majik	6:d348c3cad7c7	3109	}
majik	6:d348c3cad7c7	3110	void MPU6051::setZGyroOffsetUser(int16_t offset)
majik	6:d348c3cad7c7	3111	{
majik	6:d348c3cad7c7	3112	i2Cdev.writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
majik	6:d348c3cad7c7	3113	}
majik	6:d348c3cad7c7	3114
majik	6:d348c3cad7c7	3115	// INT_ENABLE register (DMP functions)
majik	6:d348c3cad7c7	3116
majik	6:d348c3cad7c7	3117	bool MPU6051::getIntPLLReadyEnabled()
majik	6:d348c3cad7c7	3118	{
majik	6:d348c3cad7c7	3119	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
majik	6:d348c3cad7c7	3120	return buffer[0];
majik	6:d348c3cad7c7	3121	}
majik	6:d348c3cad7c7	3122	void MPU6051::setIntPLLReadyEnabled(bool enabled)
majik	6:d348c3cad7c7	3123	{
majik	6:d348c3cad7c7	3124	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
majik	6:d348c3cad7c7	3125	}
majik	6:d348c3cad7c7	3126	bool MPU6051::getIntDMPEnabled()
majik	6:d348c3cad7c7	3127	{
majik	6:d348c3cad7c7	3128	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
majik	6:d348c3cad7c7	3129	return buffer[0];
majik	6:d348c3cad7c7	3130	}
majik	6:d348c3cad7c7	3131	void MPU6051::setIntDMPEnabled(bool enabled)
majik	6:d348c3cad7c7	3132	{
majik	6:d348c3cad7c7	3133	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
majik	6:d348c3cad7c7	3134	}
majik	6:d348c3cad7c7	3135
majik	6:d348c3cad7c7	3136	// DMP_INT_STATUS
majik	6:d348c3cad7c7	3137
majik	6:d348c3cad7c7	3138	bool MPU6051::getDMPInt5Status()
majik	6:d348c3cad7c7	3139	{
majik	6:d348c3cad7c7	3140	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
majik	6:d348c3cad7c7	3141	return buffer[0];
majik	6:d348c3cad7c7	3142	}
majik	6:d348c3cad7c7	3143	bool MPU6051::getDMPInt4Status()
majik	6:d348c3cad7c7	3144	{
majik	6:d348c3cad7c7	3145	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
majik	6:d348c3cad7c7	3146	return buffer[0];
majik	6:d348c3cad7c7	3147	}
majik	6:d348c3cad7c7	3148	bool MPU6051::getDMPInt3Status()
majik	6:d348c3cad7c7	3149	{
majik	6:d348c3cad7c7	3150	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
majik	6:d348c3cad7c7	3151	return buffer[0];
majik	6:d348c3cad7c7	3152	}
majik	6:d348c3cad7c7	3153	bool MPU6051::getDMPInt2Status()
majik	6:d348c3cad7c7	3154	{
majik	6:d348c3cad7c7	3155	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
majik	6:d348c3cad7c7	3156	return buffer[0];
majik	6:d348c3cad7c7	3157	}
majik	6:d348c3cad7c7	3158	bool MPU6051::getDMPInt1Status()
majik	6:d348c3cad7c7	3159	{
majik	6:d348c3cad7c7	3160	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
majik	6:d348c3cad7c7	3161	return buffer[0];
majik	6:d348c3cad7c7	3162	}
majik	6:d348c3cad7c7	3163	bool MPU6051::getDMPInt0Status()
majik	6:d348c3cad7c7	3164	{
majik	6:d348c3cad7c7	3165	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
majik	6:d348c3cad7c7	3166	return buffer[0];
majik	6:d348c3cad7c7	3167	}
majik	6:d348c3cad7c7	3168
majik	6:d348c3cad7c7	3169	// INT_STATUS register (DMP functions)
majik	6:d348c3cad7c7	3170
majik	6:d348c3cad7c7	3171	bool MPU6051::getIntPLLReadyStatus()
majik	6:d348c3cad7c7	3172	{
majik	6:d348c3cad7c7	3173	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
majik	6:d348c3cad7c7	3174	return buffer[0];
majik	6:d348c3cad7c7	3175	}
majik	6:d348c3cad7c7	3176	bool MPU6051::getIntDMPStatus()
majik	6:d348c3cad7c7	3177	{
majik	6:d348c3cad7c7	3178	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
majik	6:d348c3cad7c7	3179	return buffer[0];
majik	6:d348c3cad7c7	3180	}
majik	6:d348c3cad7c7	3181
majik	6:d348c3cad7c7	3182	// USER_CTRL register (DMP functions)
majik	6:d348c3cad7c7	3183
majik	6:d348c3cad7c7	3184	bool MPU6051::getDMPEnabled()
majik	6:d348c3cad7c7	3185	{
majik	6:d348c3cad7c7	3186	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
majik	6:d348c3cad7c7	3187	return buffer[0];
majik	6:d348c3cad7c7	3188	}
majik	6:d348c3cad7c7	3189	void MPU6051::setDMPEnabled(bool enabled)
majik	6:d348c3cad7c7	3190	{
majik	6:d348c3cad7c7	3191	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
majik	6:d348c3cad7c7	3192	}
majik	6:d348c3cad7c7	3193	void MPU6051::resetDMP()
majik	6:d348c3cad7c7	3194	{
majik	6:d348c3cad7c7	3195	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
majik	6:d348c3cad7c7	3196	}
majik	6:d348c3cad7c7	3197
majik	6:d348c3cad7c7	3198	// BANK_SEL register
majik	6:d348c3cad7c7	3199
majik	6:d348c3cad7c7	3200	void MPU6051::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank)
majik	6:d348c3cad7c7	3201	{
majik	6:d348c3cad7c7	3202	bank &= 0x1F;
majik	6:d348c3cad7c7	3203	if (userBank) bank \|= 0x20;
majik	6:d348c3cad7c7	3204	if (prefetchEnabled) bank \|= 0x40;
majik	6:d348c3cad7c7	3205	i2Cdev.writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
majik	6:d348c3cad7c7	3206	}
majik	6:d348c3cad7c7	3207
majik	6:d348c3cad7c7	3208	// MEM_START_ADDR register
majik	6:d348c3cad7c7	3209
majik	6:d348c3cad7c7	3210	void MPU6051::setMemoryStartAddress(uint8_t address)
majik	6:d348c3cad7c7	3211	{
majik	6:d348c3cad7c7	3212	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
majik	6:d348c3cad7c7	3213	}
majik	6:d348c3cad7c7	3214
majik	6:d348c3cad7c7	3215	// MEM_R_W register
majik	6:d348c3cad7c7	3216
majik	6:d348c3cad7c7	3217	uint8_t MPU6051::readMemoryByte()
majik	6:d348c3cad7c7	3218	{
majik	6:d348c3cad7c7	3219	i2Cdev.readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
majik	6:d348c3cad7c7	3220	return buffer[0];
majik	6:d348c3cad7c7	3221	}
majik	6:d348c3cad7c7	3222	void MPU6051::writeMemoryByte(uint8_t data)
majik	6:d348c3cad7c7	3223	{
majik	6:d348c3cad7c7	3224	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
majik	6:d348c3cad7c7	3225	}
majik	6:d348c3cad7c7	3226	void MPU6051::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address)
majik	6:d348c3cad7c7	3227	{
majik	6:d348c3cad7c7	3228	setMemoryBank(bank);
majik	6:d348c3cad7c7	3229	setMemoryStartAddress(address);
majik	6:d348c3cad7c7	3230	uint8_t chunkSize;
majik	6:d348c3cad7c7	3231	for (uint16_t i = 0; i < dataSize;) {
majik	6:d348c3cad7c7	3232	// determine correct chunk size according to bank position and data size
majik	6:d348c3cad7c7	3233	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
majik	6:d348c3cad7c7	3234
majik	6:d348c3cad7c7	3235	// make sure we don't go past the data size
majik	6:d348c3cad7c7	3236	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
majik	6:d348c3cad7c7	3237
majik	6:d348c3cad7c7	3238	// make sure this chunk doesn't go past the bank boundary (256 bytes)
majik	6:d348c3cad7c7	3239	if (chunkSize > 256 - address) chunkSize = 256 - address;
majik	6:d348c3cad7c7	3240
majik	6:d348c3cad7c7	3241	// read the chunk of data as specified
majik	6:d348c3cad7c7	3242	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
majik	6:d348c3cad7c7	3243
majik	6:d348c3cad7c7	3244	// increase byte index by [chunkSize]
majik	6:d348c3cad7c7	3245	i += chunkSize;
majik	6:d348c3cad7c7	3246
majik	6:d348c3cad7c7	3247	// uint8_t automatically wraps to 0 at 256
majik	6:d348c3cad7c7	3248	address += chunkSize;
majik	6:d348c3cad7c7	3249
majik	6:d348c3cad7c7	3250	// if we aren't done, update bank (if necessary) and address
majik	6:d348c3cad7c7	3251	if (i < dataSize) {
majik	6:d348c3cad7c7	3252	if (address == 0) bank++;
majik	6:d348c3cad7c7	3253	setMemoryBank(bank);
majik	6:d348c3cad7c7	3254	setMemoryStartAddress(address);
majik	6:d348c3cad7c7	3255	}
majik	6:d348c3cad7c7	3256	}
majik	6:d348c3cad7c7	3257	}
majik	6:d348c3cad7c7	3258	bool MPU6051::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem)
majik	6:d348c3cad7c7	3259	{
majik	6:d348c3cad7c7	3260	setMemoryBank(bank);
majik	6:d348c3cad7c7	3261	setMemoryStartAddress(address);
majik	6:d348c3cad7c7	3262	uint8_t chunkSize;
majik	6:d348c3cad7c7	3263	uint8_t *verifyBuffer = NULL;
majik	6:d348c3cad7c7	3264	uint8_t *progBuffer = NULL;
majik	6:d348c3cad7c7	3265	uint16_t i;
majik	6:d348c3cad7c7	3266	uint8_t j;
majik	6:d348c3cad7c7	3267	if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
majik	6:d348c3cad7c7	3268	if (useProgMem) progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
majik	6:d348c3cad7c7	3269	for (i = 0; i < dataSize;) {
majik	6:d348c3cad7c7	3270	// determine correct chunk size according to bank position and data size
majik	6:d348c3cad7c7	3271	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
majik	6:d348c3cad7c7	3272
majik	6:d348c3cad7c7	3273	// make sure we don't go past the data size
majik	6:d348c3cad7c7	3274	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
majik	6:d348c3cad7c7	3275
majik	6:d348c3cad7c7	3276	// make sure this chunk doesn't go past the bank boundary (256 bytes)
majik	6:d348c3cad7c7	3277	if (chunkSize > 256 - address) chunkSize = 256 - address;
majik	6:d348c3cad7c7	3278
majik	6:d348c3cad7c7	3279	if (useProgMem) {
majik	6:d348c3cad7c7	3280	// write the chunk of data as specified
majik	6:d348c3cad7c7	3281	for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
majik	6:d348c3cad7c7	3282	} else {
majik	6:d348c3cad7c7	3283	// write the chunk of data as specified
majik	6:d348c3cad7c7	3284	progBuffer = (uint8_t *)data + i;
majik	6:d348c3cad7c7	3285	}
majik	6:d348c3cad7c7	3286
majik	6:d348c3cad7c7	3287	i2Cdev.writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
majik	6:d348c3cad7c7	3288
majik	6:d348c3cad7c7	3289	// verify data if needed
majik	6:d348c3cad7c7	3290	if (verify && verifyBuffer) {
majik	6:d348c3cad7c7	3291	setMemoryBank(bank);
majik	6:d348c3cad7c7	3292	setMemoryStartAddress(address);
majik	6:d348c3cad7c7	3293	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
majik	6:d348c3cad7c7	3294	if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
majik	6:d348c3cad7c7	3295	/*Serial.print("Block write verification error, bank ");
majik	6:d348c3cad7c7	3296	Serial.print(bank, DEC);
majik	6:d348c3cad7c7	3297	Serial.print(", address ");
majik	6:d348c3cad7c7	3298	Serial.print(address, DEC);
majik	6:d348c3cad7c7	3299	Serial.print("!\nExpected:");
majik	6:d348c3cad7c7	3300	for (j = 0; j < chunkSize; j++) {
majik	6:d348c3cad7c7	3301	Serial.print(" 0x");
majik	6:d348c3cad7c7	3302	if (progBuffer[j] < 16) Serial.print("0");
majik	6:d348c3cad7c7	3303	Serial.print(progBuffer[j], HEX);
majik	6:d348c3cad7c7	3304	}
majik	6:d348c3cad7c7	3305	Serial.print("\nReceived:");
majik	6:d348c3cad7c7	3306	for (uint8_t j = 0; j < chunkSize; j++) {
majik	6:d348c3cad7c7	3307	Serial.print(" 0x");
majik	6:d348c3cad7c7	3308	if (verifyBuffer[i + j] < 16) Serial.print("0");
majik	6:d348c3cad7c7	3309	Serial.print(verifyBuffer[i + j], HEX);
majik	6:d348c3cad7c7	3310	}
majik	6:d348c3cad7c7	3311	Serial.print("\n");*/
majik	6:d348c3cad7c7	3312	free(verifyBuffer);
majik	6:d348c3cad7c7	3313	if (useProgMem) free(progBuffer);
majik	6:d348c3cad7c7	3314	return false; // uh oh.
majik	6:d348c3cad7c7	3315	}
majik	6:d348c3cad7c7	3316	}
majik	6:d348c3cad7c7	3317
majik	6:d348c3cad7c7	3318	// increase byte index by [chunkSize]
majik	6:d348c3cad7c7	3319	i += chunkSize;
majik	6:d348c3cad7c7	3320
majik	6:d348c3cad7c7	3321	// uint8_t automatically wraps to 0 at 256
majik	6:d348c3cad7c7	3322	address += chunkSize;
majik	6:d348c3cad7c7	3323
majik	6:d348c3cad7c7	3324	// if we aren't done, update bank (if necessary) and address
majik	6:d348c3cad7c7	3325	if (i < dataSize) {
majik	6:d348c3cad7c7	3326	if (address == 0) bank++;
majik	6:d348c3cad7c7	3327	setMemoryBank(bank);
majik	6:d348c3cad7c7	3328	setMemoryStartAddress(address);
majik	6:d348c3cad7c7	3329	}
majik	6:d348c3cad7c7	3330	}
majik	6:d348c3cad7c7	3331	if (verify) free(verifyBuffer);
majik	6:d348c3cad7c7	3332	if (useProgMem) free(progBuffer);
majik	6:d348c3cad7c7	3333	return true;
majik	6:d348c3cad7c7	3334	}
majik	6:d348c3cad7c7	3335	bool MPU6051::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify)
majik	6:d348c3cad7c7	3336	{
majik	6:d348c3cad7c7	3337	return writeMemoryBlock(data, dataSize, bank, address, verify, true);
majik	6:d348c3cad7c7	3338	}
majik	6:d348c3cad7c7	3339	bool MPU6051::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem)
majik	6:d348c3cad7c7	3340	{
majik	6:d348c3cad7c7	3341	uint8_t success, special;
majik	6:d348c3cad7c7	3342	uint8_t *progBuffer = NULL;
majik	6:d348c3cad7c7	3343	uint16_t i, j;
majik	6:d348c3cad7c7	3344	if (useProgMem) {
majik	6:d348c3cad7c7	3345	progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
majik	6:d348c3cad7c7	3346	}
majik	6:d348c3cad7c7	3347
majik	6:d348c3cad7c7	3348	// config set data is a long string of blocks with the following structure:
majik	6:d348c3cad7c7	3349	// [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
majik	6:d348c3cad7c7	3350	uint8_t bank, offset, length;
majik	6:d348c3cad7c7	3351	for (i = 0; i < dataSize;) {
majik	6:d348c3cad7c7	3352	if (useProgMem) {
majik	6:d348c3cad7c7	3353	bank = pgm_read_byte(data + i++);
majik	6:d348c3cad7c7	3354	offset = pgm_read_byte(data + i++);
majik	6:d348c3cad7c7	3355	length = pgm_read_byte(data + i++);
majik	6:d348c3cad7c7	3356	} else {
majik	6:d348c3cad7c7	3357	bank = data[i++];
majik	6:d348c3cad7c7	3358	offset = data[i++];
majik	6:d348c3cad7c7	3359	length = data[i++];
majik	6:d348c3cad7c7	3360	}
majik	6:d348c3cad7c7	3361
majik	6:d348c3cad7c7	3362	// write data or perform special action
majik	6:d348c3cad7c7	3363	if (length > 0) {
majik	6:d348c3cad7c7	3364	// regular block of data to write
majik	6:d348c3cad7c7	3365	/*Serial.print("Writing config block to bank ");
majik	6:d348c3cad7c7	3366	Serial.print(bank);
majik	6:d348c3cad7c7	3367	Serial.print(", offset ");
majik	6:d348c3cad7c7	3368	Serial.print(offset);
majik	6:d348c3cad7c7	3369	Serial.print(", length=");
majik	6:d348c3cad7c7	3370	Serial.println(length);*/
majik	6:d348c3cad7c7	3371	if (useProgMem) {
majik	6:d348c3cad7c7	3372	if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length);
majik	6:d348c3cad7c7	3373	for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j);
majik	6:d348c3cad7c7	3374	} else {
majik	6:d348c3cad7c7	3375	progBuffer = (uint8_t *)data + i;
majik	6:d348c3cad7c7	3376	}
majik	6:d348c3cad7c7	3377	success = writeMemoryBlock(progBuffer, length, bank, offset, true);
majik	6:d348c3cad7c7	3378	i += length;
majik	6:d348c3cad7c7	3379	} else {
majik	6:d348c3cad7c7	3380	// special instruction
majik	6:d348c3cad7c7	3381	// NOTE: this kind of behavior (what and when to do certain things)
majik	6:d348c3cad7c7	3382	// is totally undocumented. This code is in here based on observed
majik	6:d348c3cad7c7	3383	// behavior only, and exactly why (or even whether) it has to be here
majik	6:d348c3cad7c7	3384	// is anybody's guess for now.
majik	6:d348c3cad7c7	3385	if (useProgMem) {
majik	6:d348c3cad7c7	3386	special = pgm_read_byte(data + i++);
majik	6:d348c3cad7c7	3387	} else {
majik	6:d348c3cad7c7	3388	special = data[i++];
majik	6:d348c3cad7c7	3389	}
majik	6:d348c3cad7c7	3390	/*Serial.print("Special command code ");
majik	6:d348c3cad7c7	3391	Serial.print(special, HEX);
majik	6:d348c3cad7c7	3392	Serial.println(" found...");*/
majik	6:d348c3cad7c7	3393	if (special == 0x01) {
majik	6:d348c3cad7c7	3394	// enable DMP-related interrupts
majik	6:d348c3cad7c7	3395
majik	6:d348c3cad7c7	3396	//setIntZeroMotionEnabled(true);
majik	6:d348c3cad7c7	3397	//setIntFIFOBufferOverflowEnabled(true);
majik	6:d348c3cad7c7	3398	//setIntDMPEnabled(true);
majik	6:d348c3cad7c7	3399	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
majik	6:d348c3cad7c7	3400
majik	6:d348c3cad7c7	3401	success = true;
majik	6:d348c3cad7c7	3402	} else {
majik	6:d348c3cad7c7	3403	// unknown special command
majik	6:d348c3cad7c7	3404	success = false;
majik	6:d348c3cad7c7	3405	}
majik	6:d348c3cad7c7	3406	}
majik	6:d348c3cad7c7	3407
majik	6:d348c3cad7c7	3408	if (!success) {
majik	6:d348c3cad7c7	3409	if (useProgMem) free(progBuffer);
majik	6:d348c3cad7c7	3410	return false; // uh oh
majik	6:d348c3cad7c7	3411	}
majik	6:d348c3cad7c7	3412	}
majik	6:d348c3cad7c7	3413	if (useProgMem) free(progBuffer);
majik	6:d348c3cad7c7	3414	return true;
majik	6:d348c3cad7c7	3415	}
majik	6:d348c3cad7c7	3416	bool MPU6051::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
majik	6:d348c3cad7c7	3417	{
majik	6:d348c3cad7c7	3418	return writeDMPConfigurationSet(data, dataSize, false);
majik	6:d348c3cad7c7	3419	}
majik	6:d348c3cad7c7	3420
majik	6:d348c3cad7c7	3421	// DMP_CFG_1 register
majik	6:d348c3cad7c7	3422
majik	6:d348c3cad7c7	3423	uint8_t MPU6051::getDMPConfig1()
majik	6:d348c3cad7c7	3424	{
majik	6:d348c3cad7c7	3425	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
majik	6:d348c3cad7c7	3426	return buffer[0];
majik	6:d348c3cad7c7	3427	}
majik	6:d348c3cad7c7	3428	void MPU6051::setDMPConfig1(uint8_t config)
majik	6:d348c3cad7c7	3429	{
majik	6:d348c3cad7c7	3430	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
majik	6:d348c3cad7c7	3431	}
majik	6:d348c3cad7c7	3432
majik	6:d348c3cad7c7	3433	// DMP_CFG_2 register
majik	6:d348c3cad7c7	3434
majik	6:d348c3cad7c7	3435	uint8_t MPU6051::getDMPConfig2()
majik	6:d348c3cad7c7	3436	{
majik	6:d348c3cad7c7	3437	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
majik	6:d348c3cad7c7	3438	return buffer[0];
majik	6:d348c3cad7c7	3439	}
majik	6:d348c3cad7c7	3440	void MPU6051::setDMPConfig2(uint8_t config)
majik	6:d348c3cad7c7	3441	{
majik	6:d348c3cad7c7	3442	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
majik	6:d348c3cad7c7	3443	}

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Type:	Library
Created:	18 Mar 2015
Imports:	10
Forks:	0
Commits:	7
Dependents:	1
Dependencies:	0
Followers:	1

MPU6051.cpp@6:d348c3cad7c7, 2015-03-18 (annotated)

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