DISCO-F746NG_Projet_Interfacage - USSRII Mathieu DUCROCQ

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Mathieu Ducrocq / Mbed 2 deprecated DISCO-F746NG_Projet_Interfacage

USSRII Mathieu DUCROCQ

MPU6050.cpp@0:11a51c9ebb09, 2021-06-15 (annotated)

Committer:: mducrocq
Date:: Tue Jun 15 10:10:18 2021 +0000
Revision:: 0:11a51c9ebb09

USRRII Mathieu Ducrocq

Who changed what in which revision?

User	Revision	Line number	New contents of line
mducrocq	0:11a51c9ebb09	1	//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
mducrocq	0:11a51c9ebb09	2	//written by szymon gaertig (email: szymon@gaertig.com.pl)
mducrocq	0:11a51c9ebb09	3	//
mducrocq	0:11a51c9ebb09	4	//Changelog:
mducrocq	0:11a51c9ebb09	5	//2013-01-08 - first beta release
mducrocq	0:11a51c9ebb09	6
mducrocq	0:11a51c9ebb09	7	// I2Cdev library collection - MPU6050 I2C device class
mducrocq	0:11a51c9ebb09	8	// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
mducrocq	0:11a51c9ebb09	9	// 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
mducrocq	0:11a51c9ebb09	10	// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
mducrocq	0:11a51c9ebb09	11	//
mducrocq	0:11a51c9ebb09	12	// Changelog:
mducrocq	0:11a51c9ebb09	13	// ... - ongoing debug release
mducrocq	0:11a51c9ebb09	14
mducrocq	0:11a51c9ebb09	15	// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
mducrocq	0:11a51c9ebb09	16	// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
mducrocq	0:11a51c9ebb09	17	// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
mducrocq	0:11a51c9ebb09	18
mducrocq	0:11a51c9ebb09	19	/* ============================================
mducrocq	0:11a51c9ebb09	20	I2Cdev device library code is placed under the MIT license
mducrocq	0:11a51c9ebb09	21	Copyright (c) 2012 Jeff Rowberg
mducrocq	0:11a51c9ebb09	22
mducrocq	0:11a51c9ebb09	23	Permission is hereby granted, free of charge, to any person obtaining a copy
mducrocq	0:11a51c9ebb09	24	of this software and associated documentation files (the "Software"), to deal
mducrocq	0:11a51c9ebb09	25	in the Software without restriction, including without limitation the rights
mducrocq	0:11a51c9ebb09	26	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
mducrocq	0:11a51c9ebb09	27	copies of the Software, and to permit persons to whom the Software is
mducrocq	0:11a51c9ebb09	28	furnished to do so, subject to the following conditions:
mducrocq	0:11a51c9ebb09	29
mducrocq	0:11a51c9ebb09	30	The above copyright notice and this permission notice shall be included in
mducrocq	0:11a51c9ebb09	31	all copies or substantial portions of the Software.
mducrocq	0:11a51c9ebb09	32
mducrocq	0:11a51c9ebb09	33	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
mducrocq	0:11a51c9ebb09	34	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
mducrocq	0:11a51c9ebb09	35	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
mducrocq	0:11a51c9ebb09	36	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
mducrocq	0:11a51c9ebb09	37	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
mducrocq	0:11a51c9ebb09	38	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
mducrocq	0:11a51c9ebb09	39	THE SOFTWARE.
mducrocq	0:11a51c9ebb09	40	===============================================
mducrocq	0:11a51c9ebb09	41	*/
mducrocq	0:11a51c9ebb09	42
mducrocq	0:11a51c9ebb09	43	#include "MPU6050.h"
mducrocq	0:11a51c9ebb09	44
mducrocq	0:11a51c9ebb09	45	#define LOG(args...) // printf(args)
mducrocq	0:11a51c9ebb09	46
mducrocq	0:11a51c9ebb09	47	//instead of using pgmspace.h
mducrocq	0:11a51c9ebb09	48	typedef const unsigned char prog_uchar;
mducrocq	0:11a51c9ebb09	49	#define pgm_read_byte_near(x) ((prog_uchar)x)
mducrocq	0:11a51c9ebb09	50	#define pgm_read_byte(x) ((prog_uchar)x)
mducrocq	0:11a51c9ebb09	51
mducrocq	0:11a51c9ebb09	52	/** Specific address constructor.
mducrocq	0:11a51c9ebb09	53	* @param address I2C address
mducrocq	0:11a51c9ebb09	54	* @see MPU6050_DEFAULT_ADDRESS
mducrocq	0:11a51c9ebb09	55	* @see MPU6050_ADDRESS_AD0_LOW
mducrocq	0:11a51c9ebb09	56	* @see MPU6050_ADDRESS_AD0_HIGH
mducrocq	0:11a51c9ebb09	57	*/
mducrocq	0:11a51c9ebb09	58	MPU6050::MPU6050(I2C &i2c, uint8_t address) : i2Cdev(i2c)
mducrocq	0:11a51c9ebb09	59	{
mducrocq	0:11a51c9ebb09	60	devAddr = address;
mducrocq	0:11a51c9ebb09	61	}
mducrocq	0:11a51c9ebb09	62
mducrocq	0:11a51c9ebb09	63	/** Power on and prepare for general usage.
mducrocq	0:11a51c9ebb09	64	* This will activate the device and take it out of sleep mode (which must be done
mducrocq	0:11a51c9ebb09	65	* after start-up). This function also sets both the accelerometer and the gyroscope
mducrocq	0:11a51c9ebb09	66	* to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
mducrocq	0:11a51c9ebb09	67	* the clock source to use the X Gyro for reference, which is slightly better than
mducrocq	0:11a51c9ebb09	68	* the default internal clock source.
mducrocq	0:11a51c9ebb09	69	*/
mducrocq	0:11a51c9ebb09	70	void MPU6050::initialize()
mducrocq	0:11a51c9ebb09	71	{
mducrocq	0:11a51c9ebb09	72	LOG("MPU6050::initialize start\n");
mducrocq	0:11a51c9ebb09	73
mducrocq	0:11a51c9ebb09	74	setClockSource(MPU6050_CLOCK_PLL_XGYRO);
mducrocq	0:11a51c9ebb09	75	setFullScaleGyroRange(MPU6050_GYRO_FS_250);
mducrocq	0:11a51c9ebb09	76	setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
mducrocq	0:11a51c9ebb09	77	setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
mducrocq	0:11a51c9ebb09	78
mducrocq	0:11a51c9ebb09	79	LOG("MPU6050::initialize end\n");
mducrocq	0:11a51c9ebb09	80	}
mducrocq	0:11a51c9ebb09	81
mducrocq	0:11a51c9ebb09	82	/** Verify the I2C connection.
mducrocq	0:11a51c9ebb09	83	* Make sure the device is connected and responds as expected.
mducrocq	0:11a51c9ebb09	84	* @return True if connection is valid, false otherwise
mducrocq	0:11a51c9ebb09	85	*/
mducrocq	0:11a51c9ebb09	86	bool MPU6050::testConnection()
mducrocq	0:11a51c9ebb09	87	{
mducrocq	0:11a51c9ebb09	88	LOG("MPU6050::testConnection start\n");
mducrocq	0:11a51c9ebb09	89
mducrocq	0:11a51c9ebb09	90	uint8_t deviceId = getDeviceID();
mducrocq	0:11a51c9ebb09	91
mducrocq	0:11a51c9ebb09	92	LOG("DeviceId = %d\n",deviceId);
mducrocq	0:11a51c9ebb09	93
mducrocq	0:11a51c9ebb09	94	return deviceId == 0x34;
mducrocq	0:11a51c9ebb09	95	}
mducrocq	0:11a51c9ebb09	96
mducrocq	0:11a51c9ebb09	97	// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
mducrocq	0:11a51c9ebb09	98
mducrocq	0:11a51c9ebb09	99	/** Get the auxiliary I2C supply voltage level.
mducrocq	0:11a51c9ebb09	100	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
mducrocq	0:11a51c9ebb09	101	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
mducrocq	0:11a51c9ebb09	102	* the MPU-6000, which does not have a VLOGIC pin.
mducrocq	0:11a51c9ebb09	103	* @return I2C supply voltage level (0=VLOGIC, 1=VDD)
mducrocq	0:11a51c9ebb09	104	*/
mducrocq	0:11a51c9ebb09	105	uint8_t MPU6050::getAuxVDDIOLevel()
mducrocq	0:11a51c9ebb09	106	{
mducrocq	0:11a51c9ebb09	107	i2Cdev.readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
mducrocq	0:11a51c9ebb09	108	return buffer[0];
mducrocq	0:11a51c9ebb09	109	}
mducrocq	0:11a51c9ebb09	110	/** Set the auxiliary I2C supply voltage level.
mducrocq	0:11a51c9ebb09	111	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
mducrocq	0:11a51c9ebb09	112	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
mducrocq	0:11a51c9ebb09	113	* the MPU-6000, which does not have a VLOGIC pin.
mducrocq	0:11a51c9ebb09	114	* @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
mducrocq	0:11a51c9ebb09	115	*/
mducrocq	0:11a51c9ebb09	116	void MPU6050::setAuxVDDIOLevel(uint8_t level)
mducrocq	0:11a51c9ebb09	117	{
mducrocq	0:11a51c9ebb09	118	i2Cdev.writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
mducrocq	0:11a51c9ebb09	119	}
mducrocq	0:11a51c9ebb09	120
mducrocq	0:11a51c9ebb09	121	// SMPLRT_DIV register
mducrocq	0:11a51c9ebb09	122
mducrocq	0:11a51c9ebb09	123	/** Get gyroscope output rate divider.
mducrocq	0:11a51c9ebb09	124	* The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
mducrocq	0:11a51c9ebb09	125	* Motion detection, and Free Fall detection are all based on the Sample Rate.
mducrocq	0:11a51c9ebb09	126	* The Sample Rate is generated by dividing the gyroscope output rate by
mducrocq	0:11a51c9ebb09	127	* SMPLRT_DIV:
mducrocq	0:11a51c9ebb09	128	*
mducrocq	0:11a51c9ebb09	129	* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
mducrocq	0:11a51c9ebb09	130	*
mducrocq	0:11a51c9ebb09	131	* where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
mducrocq	0:11a51c9ebb09	132	* 7), and 1kHz when the DLPF is enabled (see Register 26).
mducrocq	0:11a51c9ebb09	133	*
mducrocq	0:11a51c9ebb09	134	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
mducrocq	0:11a51c9ebb09	135	* Rate greater than 1kHz, the same accelerometer sample may be output to the
mducrocq	0:11a51c9ebb09	136	* FIFO, DMP, and sensor registers more than once.
mducrocq	0:11a51c9ebb09	137	*
mducrocq	0:11a51c9ebb09	138	* For a diagram of the gyroscope and accelerometer signal paths, see Section 8
mducrocq	0:11a51c9ebb09	139	* of the MPU-6000/MPU-6050 Product Specification document.
mducrocq	0:11a51c9ebb09	140	*
mducrocq	0:11a51c9ebb09	141	* @return Current sample rate
mducrocq	0:11a51c9ebb09	142	* @see MPU6050_RA_SMPLRT_DIV
mducrocq	0:11a51c9ebb09	143	*/
mducrocq	0:11a51c9ebb09	144	uint8_t MPU6050::getRate()
mducrocq	0:11a51c9ebb09	145	{
mducrocq	0:11a51c9ebb09	146	i2Cdev.readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
mducrocq	0:11a51c9ebb09	147	return buffer[0];
mducrocq	0:11a51c9ebb09	148	}
mducrocq	0:11a51c9ebb09	149	/** Set gyroscope sample rate divider.
mducrocq	0:11a51c9ebb09	150	* @param rate New sample rate divider
mducrocq	0:11a51c9ebb09	151	* @see getRate()
mducrocq	0:11a51c9ebb09	152	* @see MPU6050_RA_SMPLRT_DIV
mducrocq	0:11a51c9ebb09	153	*/
mducrocq	0:11a51c9ebb09	154	void MPU6050::setRate(uint8_t rate)
mducrocq	0:11a51c9ebb09	155	{
mducrocq	0:11a51c9ebb09	156	i2Cdev.writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
mducrocq	0:11a51c9ebb09	157	}
mducrocq	0:11a51c9ebb09	158
mducrocq	0:11a51c9ebb09	159	// CONFIG register
mducrocq	0:11a51c9ebb09	160
mducrocq	0:11a51c9ebb09	161	/** Get external FSYNC configuration.
mducrocq	0:11a51c9ebb09	162	* Configures the external Frame Synchronization (FSYNC) pin sampling. An
mducrocq	0:11a51c9ebb09	163	* external signal connected to the FSYNC pin can be sampled by configuring
mducrocq	0:11a51c9ebb09	164	* EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
mducrocq	0:11a51c9ebb09	165	* strobes may be captured. The latched FSYNC signal will be sampled at the
mducrocq	0:11a51c9ebb09	166	* Sampling Rate, as defined in register 25. After sampling, the latch will
mducrocq	0:11a51c9ebb09	167	* reset to the current FSYNC signal state.
mducrocq	0:11a51c9ebb09	168	*
mducrocq	0:11a51c9ebb09	169	* The sampled value will be reported in place of the least significant bit in
mducrocq	0:11a51c9ebb09	170	* a sensor data register determined by the value of EXT_SYNC_SET according to
mducrocq	0:11a51c9ebb09	171	* the following table.
mducrocq	0:11a51c9ebb09	172	*
mducrocq	0:11a51c9ebb09	173	* <pre>
mducrocq	0:11a51c9ebb09	174	* EXT_SYNC_SET \| FSYNC Bit Location
mducrocq	0:11a51c9ebb09	175	* -------------+-------------------
mducrocq	0:11a51c9ebb09	176	* 0 \| Input disabled
mducrocq	0:11a51c9ebb09	177	* 1 \| TEMP_OUT_L[0]
mducrocq	0:11a51c9ebb09	178	* 2 \| GYRO_XOUT_L[0]
mducrocq	0:11a51c9ebb09	179	* 3 \| GYRO_YOUT_L[0]
mducrocq	0:11a51c9ebb09	180	* 4 \| GYRO_ZOUT_L[0]
mducrocq	0:11a51c9ebb09	181	* 5 \| ACCEL_XOUT_L[0]
mducrocq	0:11a51c9ebb09	182	* 6 \| ACCEL_YOUT_L[0]
mducrocq	0:11a51c9ebb09	183	* 7 \| ACCEL_ZOUT_L[0]
mducrocq	0:11a51c9ebb09	184	* </pre>
mducrocq	0:11a51c9ebb09	185	*
mducrocq	0:11a51c9ebb09	186	* @return FSYNC configuration value
mducrocq	0:11a51c9ebb09	187	*/
mducrocq	0:11a51c9ebb09	188	uint8_t MPU6050::getExternalFrameSync()
mducrocq	0:11a51c9ebb09	189	{
mducrocq	0:11a51c9ebb09	190	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
mducrocq	0:11a51c9ebb09	191	return buffer[0];
mducrocq	0:11a51c9ebb09	192	}
mducrocq	0:11a51c9ebb09	193	/** Set external FSYNC configuration.
mducrocq	0:11a51c9ebb09	194	* @see getExternalFrameSync()
mducrocq	0:11a51c9ebb09	195	* @see MPU6050_RA_CONFIG
mducrocq	0:11a51c9ebb09	196	* @param sync New FSYNC configuration value
mducrocq	0:11a51c9ebb09	197	*/
mducrocq	0:11a51c9ebb09	198	void MPU6050::setExternalFrameSync(uint8_t sync)
mducrocq	0:11a51c9ebb09	199	{
mducrocq	0:11a51c9ebb09	200	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
mducrocq	0:11a51c9ebb09	201	}
mducrocq	0:11a51c9ebb09	202	/** Get digital low-pass filter configuration.
mducrocq	0:11a51c9ebb09	203	* The DLPF_CFG parameter sets the digital low pass filter configuration. It
mducrocq	0:11a51c9ebb09	204	* also determines the internal sampling rate used by the device as shown in
mducrocq	0:11a51c9ebb09	205	* the table below.
mducrocq	0:11a51c9ebb09	206	*
mducrocq	0:11a51c9ebb09	207	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
mducrocq	0:11a51c9ebb09	208	* Rate greater than 1kHz, the same accelerometer sample may be output to the
mducrocq	0:11a51c9ebb09	209	* FIFO, DMP, and sensor registers more than once.
mducrocq	0:11a51c9ebb09	210	*
mducrocq	0:11a51c9ebb09	211	* <pre>
mducrocq	0:11a51c9ebb09	212	* \| ACCELEROMETER \| GYROSCOPE
mducrocq	0:11a51c9ebb09	213	* DLPF_CFG \| Bandwidth \| Delay \| Bandwidth \| Delay \| Sample Rate
mducrocq	0:11a51c9ebb09	214	* ---------+-----------+--------+-----------+--------+-------------
mducrocq	0:11a51c9ebb09	215	* 0 \| 260Hz \| 0ms \| 256Hz \| 0.98ms \| 8kHz
mducrocq	0:11a51c9ebb09	216	* 1 \| 184Hz \| 2.0ms \| 188Hz \| 1.9ms \| 1kHz
mducrocq	0:11a51c9ebb09	217	* 2 \| 94Hz \| 3.0ms \| 98Hz \| 2.8ms \| 1kHz
mducrocq	0:11a51c9ebb09	218	* 3 \| 44Hz \| 4.9ms \| 42Hz \| 4.8ms \| 1kHz
mducrocq	0:11a51c9ebb09	219	* 4 \| 21Hz \| 8.5ms \| 20Hz \| 8.3ms \| 1kHz
mducrocq	0:11a51c9ebb09	220	* 5 \| 10Hz \| 13.8ms \| 10Hz \| 13.4ms \| 1kHz
mducrocq	0:11a51c9ebb09	221	* 6 \| 5Hz \| 19.0ms \| 5Hz \| 18.6ms \| 1kHz
mducrocq	0:11a51c9ebb09	222	* 7 \| -- Reserved -- \| -- Reserved -- \| Reserved
mducrocq	0:11a51c9ebb09	223	* </pre>
mducrocq	0:11a51c9ebb09	224	*
mducrocq	0:11a51c9ebb09	225	* @return DLFP configuration
mducrocq	0:11a51c9ebb09	226	* @see MPU6050_RA_CONFIG
mducrocq	0:11a51c9ebb09	227	* @see MPU6050_CFG_DLPF_CFG_BIT
mducrocq	0:11a51c9ebb09	228	* @see MPU6050_CFG_DLPF_CFG_LENGTH
mducrocq	0:11a51c9ebb09	229	*/
mducrocq	0:11a51c9ebb09	230	uint8_t MPU6050::getDLPFMode()
mducrocq	0:11a51c9ebb09	231	{
mducrocq	0:11a51c9ebb09	232	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
mducrocq	0:11a51c9ebb09	233	return buffer[0];
mducrocq	0:11a51c9ebb09	234	}
mducrocq	0:11a51c9ebb09	235	/** Set digital low-pass filter configuration.
mducrocq	0:11a51c9ebb09	236	* @param mode New DLFP configuration setting
mducrocq	0:11a51c9ebb09	237	* @see getDLPFBandwidth()
mducrocq	0:11a51c9ebb09	238	* @see MPU6050_DLPF_BW_256
mducrocq	0:11a51c9ebb09	239	* @see MPU6050_RA_CONFIG
mducrocq	0:11a51c9ebb09	240	* @see MPU6050_CFG_DLPF_CFG_BIT
mducrocq	0:11a51c9ebb09	241	* @see MPU6050_CFG_DLPF_CFG_LENGTH
mducrocq	0:11a51c9ebb09	242	*/
mducrocq	0:11a51c9ebb09	243	void MPU6050::setDLPFMode(uint8_t mode)
mducrocq	0:11a51c9ebb09	244	{
mducrocq	0:11a51c9ebb09	245	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
mducrocq	0:11a51c9ebb09	246	}
mducrocq	0:11a51c9ebb09	247
mducrocq	0:11a51c9ebb09	248	// GYRO_CONFIG register
mducrocq	0:11a51c9ebb09	249
mducrocq	0:11a51c9ebb09	250	/** Get full-scale gyroscope range.
mducrocq	0:11a51c9ebb09	251	* The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
mducrocq	0:11a51c9ebb09	252	* as described in the table below.
mducrocq	0:11a51c9ebb09	253	*
mducrocq	0:11a51c9ebb09	254	* <pre>
mducrocq	0:11a51c9ebb09	255	* 0 = +/- 250 degrees/sec
mducrocq	0:11a51c9ebb09	256	* 1 = +/- 500 degrees/sec
mducrocq	0:11a51c9ebb09	257	* 2 = +/- 1000 degrees/sec
mducrocq	0:11a51c9ebb09	258	* 3 = +/- 2000 degrees/sec
mducrocq	0:11a51c9ebb09	259	* </pre>
mducrocq	0:11a51c9ebb09	260	*
mducrocq	0:11a51c9ebb09	261	* @return Current full-scale gyroscope range setting
mducrocq	0:11a51c9ebb09	262	* @see MPU6050_GYRO_FS_250
mducrocq	0:11a51c9ebb09	263	* @see MPU6050_RA_GYRO_CONFIG
mducrocq	0:11a51c9ebb09	264	* @see MPU6050_GCONFIG_FS_SEL_BIT
mducrocq	0:11a51c9ebb09	265	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
mducrocq	0:11a51c9ebb09	266	*/
mducrocq	0:11a51c9ebb09	267	uint8_t MPU6050::getFullScaleGyroRange()
mducrocq	0:11a51c9ebb09	268	{
mducrocq	0:11a51c9ebb09	269	i2Cdev.readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
mducrocq	0:11a51c9ebb09	270	return buffer[0];
mducrocq	0:11a51c9ebb09	271	}
mducrocq	0:11a51c9ebb09	272	/** Set full-scale gyroscope range.
mducrocq	0:11a51c9ebb09	273	* @param range New full-scale gyroscope range value
mducrocq	0:11a51c9ebb09	274	* @see getFullScaleRange()
mducrocq	0:11a51c9ebb09	275	* @see MPU6050_GYRO_FS_250
mducrocq	0:11a51c9ebb09	276	* @see MPU6050_RA_GYRO_CONFIG
mducrocq	0:11a51c9ebb09	277	* @see MPU6050_GCONFIG_FS_SEL_BIT
mducrocq	0:11a51c9ebb09	278	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
mducrocq	0:11a51c9ebb09	279	*/
mducrocq	0:11a51c9ebb09	280	void MPU6050::setFullScaleGyroRange(uint8_t range)
mducrocq	0:11a51c9ebb09	281	{
mducrocq	0:11a51c9ebb09	282	i2Cdev.writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
mducrocq	0:11a51c9ebb09	283	}
mducrocq	0:11a51c9ebb09	284
mducrocq	0:11a51c9ebb09	285	// ACCEL_CONFIG register
mducrocq	0:11a51c9ebb09	286
mducrocq	0:11a51c9ebb09	287	/** Get self-test enabled setting for accelerometer X axis.
mducrocq	0:11a51c9ebb09	288	* @return Self-test enabled value
mducrocq	0:11a51c9ebb09	289	* @see MPU6050_RA_ACCEL_CONFIG
mducrocq	0:11a51c9ebb09	290	*/
mducrocq	0:11a51c9ebb09	291	bool MPU6050::getAccelXSelfTest()
mducrocq	0:11a51c9ebb09	292	{
mducrocq	0:11a51c9ebb09	293	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
mducrocq	0:11a51c9ebb09	294	return buffer[0];
mducrocq	0:11a51c9ebb09	295	}
mducrocq	0:11a51c9ebb09	296	/** Get self-test enabled setting for accelerometer X axis.
mducrocq	0:11a51c9ebb09	297	* @param enabled Self-test enabled value
mducrocq	0:11a51c9ebb09	298	* @see MPU6050_RA_ACCEL_CONFIG
mducrocq	0:11a51c9ebb09	299	*/
mducrocq	0:11a51c9ebb09	300	void MPU6050::setAccelXSelfTest(bool enabled)
mducrocq	0:11a51c9ebb09	301	{
mducrocq	0:11a51c9ebb09	302	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
mducrocq	0:11a51c9ebb09	303	}
mducrocq	0:11a51c9ebb09	304	/** Get self-test enabled value for accelerometer Y axis.
mducrocq	0:11a51c9ebb09	305	* @return Self-test enabled value
mducrocq	0:11a51c9ebb09	306	* @see MPU6050_RA_ACCEL_CONFIG
mducrocq	0:11a51c9ebb09	307	*/
mducrocq	0:11a51c9ebb09	308	bool MPU6050::getAccelYSelfTest()
mducrocq	0:11a51c9ebb09	309	{
mducrocq	0:11a51c9ebb09	310	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
mducrocq	0:11a51c9ebb09	311	return buffer[0];
mducrocq	0:11a51c9ebb09	312	}
mducrocq	0:11a51c9ebb09	313	/** Get self-test enabled value for accelerometer Y axis.
mducrocq	0:11a51c9ebb09	314	* @param enabled Self-test enabled value
mducrocq	0:11a51c9ebb09	315	* @see MPU6050_RA_ACCEL_CONFIG
mducrocq	0:11a51c9ebb09	316	*/
mducrocq	0:11a51c9ebb09	317	void MPU6050::setAccelYSelfTest(bool enabled)
mducrocq	0:11a51c9ebb09	318	{
mducrocq	0:11a51c9ebb09	319	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
mducrocq	0:11a51c9ebb09	320	}
mducrocq	0:11a51c9ebb09	321	/** Get self-test enabled value for accelerometer Z axis.
mducrocq	0:11a51c9ebb09	322	* @return Self-test enabled value
mducrocq	0:11a51c9ebb09	323	* @see MPU6050_RA_ACCEL_CONFIG
mducrocq	0:11a51c9ebb09	324	*/
mducrocq	0:11a51c9ebb09	325	bool MPU6050::getAccelZSelfTest()
mducrocq	0:11a51c9ebb09	326	{
mducrocq	0:11a51c9ebb09	327	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
mducrocq	0:11a51c9ebb09	328	return buffer[0];
mducrocq	0:11a51c9ebb09	329	}
mducrocq	0:11a51c9ebb09	330	/** Set self-test enabled value for accelerometer Z axis.
mducrocq	0:11a51c9ebb09	331	* @param enabled Self-test enabled value
mducrocq	0:11a51c9ebb09	332	* @see MPU6050_RA_ACCEL_CONFIG
mducrocq	0:11a51c9ebb09	333	*/
mducrocq	0:11a51c9ebb09	334	void MPU6050::setAccelZSelfTest(bool enabled)
mducrocq	0:11a51c9ebb09	335	{
mducrocq	0:11a51c9ebb09	336	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
mducrocq	0:11a51c9ebb09	337	}
mducrocq	0:11a51c9ebb09	338	/** Get full-scale accelerometer range.
mducrocq	0:11a51c9ebb09	339	* The FS_SEL parameter allows setting the full-scale range of the accelerometer
mducrocq	0:11a51c9ebb09	340	* sensors, as described in the table below.
mducrocq	0:11a51c9ebb09	341	*
mducrocq	0:11a51c9ebb09	342	* <pre>
mducrocq	0:11a51c9ebb09	343	* 0 = +/- 2g
mducrocq	0:11a51c9ebb09	344	* 1 = +/- 4g
mducrocq	0:11a51c9ebb09	345	* 2 = +/- 8g
mducrocq	0:11a51c9ebb09	346	* 3 = +/- 16g
mducrocq	0:11a51c9ebb09	347	* </pre>
mducrocq	0:11a51c9ebb09	348	*
mducrocq	0:11a51c9ebb09	349	* @return Current full-scale accelerometer range setting
mducrocq	0:11a51c9ebb09	350	* @see MPU6050_ACCEL_FS_2
mducrocq	0:11a51c9ebb09	351	* @see MPU6050_RA_ACCEL_CONFIG
mducrocq	0:11a51c9ebb09	352	* @see MPU6050_ACONFIG_AFS_SEL_BIT
mducrocq	0:11a51c9ebb09	353	* @see MPU6050_ACONFIG_AFS_SEL_LENGTH
mducrocq	0:11a51c9ebb09	354	*/
mducrocq	0:11a51c9ebb09	355	uint8_t MPU6050::getFullScaleAccelRange()
mducrocq	0:11a51c9ebb09	356	{
mducrocq	0:11a51c9ebb09	357	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
mducrocq	0:11a51c9ebb09	358	return buffer[0];
mducrocq	0:11a51c9ebb09	359	}
mducrocq	0:11a51c9ebb09	360	/** Set full-scale accelerometer range.
mducrocq	0:11a51c9ebb09	361	* @param range New full-scale accelerometer range setting
mducrocq	0:11a51c9ebb09	362	* @see getFullScaleAccelRange()
mducrocq	0:11a51c9ebb09	363	*/
mducrocq	0:11a51c9ebb09	364	void MPU6050::setFullScaleAccelRange(uint8_t range)
mducrocq	0:11a51c9ebb09	365	{
mducrocq	0:11a51c9ebb09	366	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
mducrocq	0:11a51c9ebb09	367	}
mducrocq	0:11a51c9ebb09	368	/** Get the high-pass filter configuration.
mducrocq	0:11a51c9ebb09	369	* The DHPF is a filter module in the path leading to motion detectors (Free
mducrocq	0:11a51c9ebb09	370	* Fall, Motion threshold, and Zero Motion). The high pass filter output is not
mducrocq	0:11a51c9ebb09	371	* available to the data registers (see Figure in Section 8 of the MPU-6000/
mducrocq	0:11a51c9ebb09	372	* MPU-6050 Product Specification document).
mducrocq	0:11a51c9ebb09	373	*
mducrocq	0:11a51c9ebb09	374	* The high pass filter has three modes:
mducrocq	0:11a51c9ebb09	375	*
mducrocq	0:11a51c9ebb09	376	* <pre>
mducrocq	0:11a51c9ebb09	377	* Reset: The filter output settles to zero within one sample. This
mducrocq	0:11a51c9ebb09	378	* effectively disables the high pass filter. This mode may be toggled
mducrocq	0:11a51c9ebb09	379	* to quickly settle the filter.
mducrocq	0:11a51c9ebb09	380	*
mducrocq	0:11a51c9ebb09	381	* On: The high pass filter will pass signals above the cut off frequency.
mducrocq	0:11a51c9ebb09	382	*
mducrocq	0:11a51c9ebb09	383	* Hold: When triggered, the filter holds the present sample. The filter
mducrocq	0:11a51c9ebb09	384	* output will be the difference between the input sample and the held
mducrocq	0:11a51c9ebb09	385	* sample.
mducrocq	0:11a51c9ebb09	386	* </pre>
mducrocq	0:11a51c9ebb09	387	*
mducrocq	0:11a51c9ebb09	388	* <pre>
mducrocq	0:11a51c9ebb09	389	* ACCEL_HPF \| Filter Mode \| Cut-off Frequency
mducrocq	0:11a51c9ebb09	390	* ----------+-------------+------------------
mducrocq	0:11a51c9ebb09	391	* 0 \| Reset \| None
mducrocq	0:11a51c9ebb09	392	* 1 \| On \| 5Hz
mducrocq	0:11a51c9ebb09	393	* 2 \| On \| 2.5Hz
mducrocq	0:11a51c9ebb09	394	* 3 \| On \| 1.25Hz
mducrocq	0:11a51c9ebb09	395	* 4 \| On \| 0.63Hz
mducrocq	0:11a51c9ebb09	396	* 7 \| Hold \| None
mducrocq	0:11a51c9ebb09	397	* </pre>
mducrocq	0:11a51c9ebb09	398	*
mducrocq	0:11a51c9ebb09	399	* @return Current high-pass filter configuration
mducrocq	0:11a51c9ebb09	400	* @see MPU6050_DHPF_RESET
mducrocq	0:11a51c9ebb09	401	* @see MPU6050_RA_ACCEL_CONFIG
mducrocq	0:11a51c9ebb09	402	*/
mducrocq	0:11a51c9ebb09	403	uint8_t MPU6050::getDHPFMode()
mducrocq	0:11a51c9ebb09	404	{
mducrocq	0:11a51c9ebb09	405	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
mducrocq	0:11a51c9ebb09	406	return buffer[0];
mducrocq	0:11a51c9ebb09	407	}
mducrocq	0:11a51c9ebb09	408	/** Set the high-pass filter configuration.
mducrocq	0:11a51c9ebb09	409	* @param bandwidth New high-pass filter configuration
mducrocq	0:11a51c9ebb09	410	* @see setDHPFMode()
mducrocq	0:11a51c9ebb09	411	* @see MPU6050_DHPF_RESET
mducrocq	0:11a51c9ebb09	412	* @see MPU6050_RA_ACCEL_CONFIG
mducrocq	0:11a51c9ebb09	413	*/
mducrocq	0:11a51c9ebb09	414	void MPU6050::setDHPFMode(uint8_t bandwidth)
mducrocq	0:11a51c9ebb09	415	{
mducrocq	0:11a51c9ebb09	416	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
mducrocq	0:11a51c9ebb09	417	}
mducrocq	0:11a51c9ebb09	418
mducrocq	0:11a51c9ebb09	419	// FF_THR register
mducrocq	0:11a51c9ebb09	420
mducrocq	0:11a51c9ebb09	421	/** Get free-fall event acceleration threshold.
mducrocq	0:11a51c9ebb09	422	* This register configures the detection threshold for Free Fall event
mducrocq	0:11a51c9ebb09	423	* detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
mducrocq	0:11a51c9ebb09	424	* absolute value of the accelerometer measurements for the three axes are each
mducrocq	0:11a51c9ebb09	425	* less than the detection threshold. This condition increments the Free Fall
mducrocq	0:11a51c9ebb09	426	* duration counter (Register 30). The Free Fall interrupt is triggered when the
mducrocq	0:11a51c9ebb09	427	* Free Fall duration counter reaches the time specified in FF_DUR.
mducrocq	0:11a51c9ebb09	428	*
mducrocq	0:11a51c9ebb09	429	* For more details on the Free Fall detection interrupt, see Section 8.2 of the
mducrocq	0:11a51c9ebb09	430	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
mducrocq	0:11a51c9ebb09	431	* 58 of this document.
mducrocq	0:11a51c9ebb09	432	*
mducrocq	0:11a51c9ebb09	433	* @return Current free-fall acceleration threshold value (LSB = 2mg)
mducrocq	0:11a51c9ebb09	434	* @see MPU6050_RA_FF_THR
mducrocq	0:11a51c9ebb09	435	*/
mducrocq	0:11a51c9ebb09	436	uint8_t MPU6050::getFreefallDetectionThreshold()
mducrocq	0:11a51c9ebb09	437	{
mducrocq	0:11a51c9ebb09	438	i2Cdev.readByte(devAddr, MPU6050_RA_FF_THR, buffer);
mducrocq	0:11a51c9ebb09	439	return buffer[0];
mducrocq	0:11a51c9ebb09	440	}
mducrocq	0:11a51c9ebb09	441	/** Get free-fall event acceleration threshold.
mducrocq	0:11a51c9ebb09	442	* @param threshold New free-fall acceleration threshold value (LSB = 2mg)
mducrocq	0:11a51c9ebb09	443	* @see getFreefallDetectionThreshold()
mducrocq	0:11a51c9ebb09	444	* @see MPU6050_RA_FF_THR
mducrocq	0:11a51c9ebb09	445	*/
mducrocq	0:11a51c9ebb09	446	void MPU6050::setFreefallDetectionThreshold(uint8_t threshold)
mducrocq	0:11a51c9ebb09	447	{
mducrocq	0:11a51c9ebb09	448	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
mducrocq	0:11a51c9ebb09	449	}
mducrocq	0:11a51c9ebb09	450
mducrocq	0:11a51c9ebb09	451	// FF_DUR register
mducrocq	0:11a51c9ebb09	452
mducrocq	0:11a51c9ebb09	453	/** Get free-fall event duration threshold.
mducrocq	0:11a51c9ebb09	454	* This register configures the duration counter threshold for Free Fall event
mducrocq	0:11a51c9ebb09	455	* detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
mducrocq	0:11a51c9ebb09	456	* of 1 LSB = 1 ms.
mducrocq	0:11a51c9ebb09	457	*
mducrocq	0:11a51c9ebb09	458	* The Free Fall duration counter increments while the absolute value of the
mducrocq	0:11a51c9ebb09	459	* accelerometer measurements are each less than the detection threshold
mducrocq	0:11a51c9ebb09	460	* (Register 29). The Free Fall interrupt is triggered when the Free Fall
mducrocq	0:11a51c9ebb09	461	* duration counter reaches the time specified in this register.
mducrocq	0:11a51c9ebb09	462	*
mducrocq	0:11a51c9ebb09	463	* For more details on the Free Fall detection interrupt, see Section 8.2 of
mducrocq	0:11a51c9ebb09	464	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
mducrocq	0:11a51c9ebb09	465	* and 58 of this document.
mducrocq	0:11a51c9ebb09	466	*
mducrocq	0:11a51c9ebb09	467	* @return Current free-fall duration threshold value (LSB = 1ms)
mducrocq	0:11a51c9ebb09	468	* @see MPU6050_RA_FF_DUR
mducrocq	0:11a51c9ebb09	469	*/
mducrocq	0:11a51c9ebb09	470	uint8_t MPU6050::getFreefallDetectionDuration()
mducrocq	0:11a51c9ebb09	471	{
mducrocq	0:11a51c9ebb09	472	i2Cdev.readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
mducrocq	0:11a51c9ebb09	473	return buffer[0];
mducrocq	0:11a51c9ebb09	474	}
mducrocq	0:11a51c9ebb09	475	/** Get free-fall event duration threshold.
mducrocq	0:11a51c9ebb09	476	* @param duration New free-fall duration threshold value (LSB = 1ms)
mducrocq	0:11a51c9ebb09	477	* @see getFreefallDetectionDuration()
mducrocq	0:11a51c9ebb09	478	* @see MPU6050_RA_FF_DUR
mducrocq	0:11a51c9ebb09	479	*/
mducrocq	0:11a51c9ebb09	480	void MPU6050::setFreefallDetectionDuration(uint8_t duration)
mducrocq	0:11a51c9ebb09	481	{
mducrocq	0:11a51c9ebb09	482	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
mducrocq	0:11a51c9ebb09	483	}
mducrocq	0:11a51c9ebb09	484
mducrocq	0:11a51c9ebb09	485	// MOT_THR register
mducrocq	0:11a51c9ebb09	486
mducrocq	0:11a51c9ebb09	487	/** Get motion detection event acceleration threshold.
mducrocq	0:11a51c9ebb09	488	* This register configures the detection threshold for Motion interrupt
mducrocq	0:11a51c9ebb09	489	* generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
mducrocq	0:11a51c9ebb09	490	* absolute value of any of the accelerometer measurements exceeds this Motion
mducrocq	0:11a51c9ebb09	491	* detection threshold. This condition increments the Motion detection duration
mducrocq	0:11a51c9ebb09	492	* counter (Register 32). The Motion detection interrupt is triggered when the
mducrocq	0:11a51c9ebb09	493	* Motion Detection counter reaches the time count specified in MOT_DUR
mducrocq	0:11a51c9ebb09	494	* (Register 32).
mducrocq	0:11a51c9ebb09	495	*
mducrocq	0:11a51c9ebb09	496	* The Motion interrupt will indicate the axis and polarity of detected motion
mducrocq	0:11a51c9ebb09	497	* in MOT_DETECT_STATUS (Register 97).
mducrocq	0:11a51c9ebb09	498	*
mducrocq	0:11a51c9ebb09	499	* For more details on the Motion detection interrupt, see Section 8.3 of the
mducrocq	0:11a51c9ebb09	500	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
mducrocq	0:11a51c9ebb09	501	* 58 of this document.
mducrocq	0:11a51c9ebb09	502	*
mducrocq	0:11a51c9ebb09	503	* @return Current motion detection acceleration threshold value (LSB = 2mg)
mducrocq	0:11a51c9ebb09	504	* @see MPU6050_RA_MOT_THR
mducrocq	0:11a51c9ebb09	505	*/
mducrocq	0:11a51c9ebb09	506	uint8_t MPU6050::getMotionDetectionThreshold()
mducrocq	0:11a51c9ebb09	507	{
mducrocq	0:11a51c9ebb09	508	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
mducrocq	0:11a51c9ebb09	509	return buffer[0];
mducrocq	0:11a51c9ebb09	510	}
mducrocq	0:11a51c9ebb09	511	/** Set free-fall event acceleration threshold.
mducrocq	0:11a51c9ebb09	512	* @param threshold New motion detection acceleration threshold value (LSB = 2mg)
mducrocq	0:11a51c9ebb09	513	* @see getMotionDetectionThreshold()
mducrocq	0:11a51c9ebb09	514	* @see MPU6050_RA_MOT_THR
mducrocq	0:11a51c9ebb09	515	*/
mducrocq	0:11a51c9ebb09	516	void MPU6050::setMotionDetectionThreshold(uint8_t threshold)
mducrocq	0:11a51c9ebb09	517	{
mducrocq	0:11a51c9ebb09	518	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
mducrocq	0:11a51c9ebb09	519	}
mducrocq	0:11a51c9ebb09	520
mducrocq	0:11a51c9ebb09	521	// MOT_DUR register
mducrocq	0:11a51c9ebb09	522
mducrocq	0:11a51c9ebb09	523	/** Get motion detection event duration threshold.
mducrocq	0:11a51c9ebb09	524	* This register configures the duration counter threshold for Motion interrupt
mducrocq	0:11a51c9ebb09	525	* generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
mducrocq	0:11a51c9ebb09	526	* of 1LSB = 1ms. The Motion detection duration counter increments when the
mducrocq	0:11a51c9ebb09	527	* absolute value of any of the accelerometer measurements exceeds the Motion
mducrocq	0:11a51c9ebb09	528	* detection threshold (Register 31). The Motion detection interrupt is
mducrocq	0:11a51c9ebb09	529	* triggered when the Motion detection counter reaches the time count specified
mducrocq	0:11a51c9ebb09	530	* in this register.
mducrocq	0:11a51c9ebb09	531	*
mducrocq	0:11a51c9ebb09	532	* For more details on the Motion detection interrupt, see Section 8.3 of the
mducrocq	0:11a51c9ebb09	533	* MPU-6000/MPU-6050 Product Specification document.
mducrocq	0:11a51c9ebb09	534	*
mducrocq	0:11a51c9ebb09	535	* @return Current motion detection duration threshold value (LSB = 1ms)
mducrocq	0:11a51c9ebb09	536	* @see MPU6050_RA_MOT_DUR
mducrocq	0:11a51c9ebb09	537	*/
mducrocq	0:11a51c9ebb09	538	uint8_t MPU6050::getMotionDetectionDuration()
mducrocq	0:11a51c9ebb09	539	{
mducrocq	0:11a51c9ebb09	540	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
mducrocq	0:11a51c9ebb09	541	return buffer[0];
mducrocq	0:11a51c9ebb09	542	}
mducrocq	0:11a51c9ebb09	543	/** Set motion detection event duration threshold.
mducrocq	0:11a51c9ebb09	544	* @param duration New motion detection duration threshold value (LSB = 1ms)
mducrocq	0:11a51c9ebb09	545	* @see getMotionDetectionDuration()
mducrocq	0:11a51c9ebb09	546	* @see MPU6050_RA_MOT_DUR
mducrocq	0:11a51c9ebb09	547	*/
mducrocq	0:11a51c9ebb09	548	void MPU6050::setMotionDetectionDuration(uint8_t duration)
mducrocq	0:11a51c9ebb09	549	{
mducrocq	0:11a51c9ebb09	550	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
mducrocq	0:11a51c9ebb09	551	}
mducrocq	0:11a51c9ebb09	552
mducrocq	0:11a51c9ebb09	553	// ZRMOT_THR register
mducrocq	0:11a51c9ebb09	554
mducrocq	0:11a51c9ebb09	555	/** Get zero motion detection event acceleration threshold.
mducrocq	0:11a51c9ebb09	556	* This register configures the detection threshold for Zero Motion interrupt
mducrocq	0:11a51c9ebb09	557	* generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
mducrocq	0:11a51c9ebb09	558	* the absolute value of the accelerometer measurements for the 3 axes are each
mducrocq	0:11a51c9ebb09	559	* less than the detection threshold. This condition increments the Zero Motion
mducrocq	0:11a51c9ebb09	560	* duration counter (Register 34). The Zero Motion interrupt is triggered when
mducrocq	0:11a51c9ebb09	561	* the Zero Motion duration counter reaches the time count specified in
mducrocq	0:11a51c9ebb09	562	* ZRMOT_DUR (Register 34).
mducrocq	0:11a51c9ebb09	563	*
mducrocq	0:11a51c9ebb09	564	* Unlike Free Fall or Motion detection, Zero Motion detection triggers an
mducrocq	0:11a51c9ebb09	565	* interrupt both when Zero Motion is first detected and when Zero Motion is no
mducrocq	0:11a51c9ebb09	566	* longer detected.
mducrocq	0:11a51c9ebb09	567	*
mducrocq	0:11a51c9ebb09	568	* When a zero motion event is detected, a Zero Motion Status will be indicated
mducrocq	0:11a51c9ebb09	569	* in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
mducrocq	0:11a51c9ebb09	570	* condition is detected, the status bit is set to 1. When a zero-motion-to-
mducrocq	0:11a51c9ebb09	571	* motion condition is detected, the status bit is set to 0.
mducrocq	0:11a51c9ebb09	572	*
mducrocq	0:11a51c9ebb09	573	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
mducrocq	0:11a51c9ebb09	574	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
mducrocq	0:11a51c9ebb09	575	* and 58 of this document.
mducrocq	0:11a51c9ebb09	576	*
mducrocq	0:11a51c9ebb09	577	* @return Current zero motion detection acceleration threshold value (LSB = 2mg)
mducrocq	0:11a51c9ebb09	578	* @see MPU6050_RA_ZRMOT_THR
mducrocq	0:11a51c9ebb09	579	*/
mducrocq	0:11a51c9ebb09	580	uint8_t MPU6050::getZeroMotionDetectionThreshold()
mducrocq	0:11a51c9ebb09	581	{
mducrocq	0:11a51c9ebb09	582	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
mducrocq	0:11a51c9ebb09	583	return buffer[0];
mducrocq	0:11a51c9ebb09	584	}
mducrocq	0:11a51c9ebb09	585	/** Set zero motion detection event acceleration threshold.
mducrocq	0:11a51c9ebb09	586	* @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
mducrocq	0:11a51c9ebb09	587	* @see getZeroMotionDetectionThreshold()
mducrocq	0:11a51c9ebb09	588	* @see MPU6050_RA_ZRMOT_THR
mducrocq	0:11a51c9ebb09	589	*/
mducrocq	0:11a51c9ebb09	590	void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold)
mducrocq	0:11a51c9ebb09	591	{
mducrocq	0:11a51c9ebb09	592	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
mducrocq	0:11a51c9ebb09	593	}
mducrocq	0:11a51c9ebb09	594
mducrocq	0:11a51c9ebb09	595	// ZRMOT_DUR register
mducrocq	0:11a51c9ebb09	596
mducrocq	0:11a51c9ebb09	597	/** Get zero motion detection event duration threshold.
mducrocq	0:11a51c9ebb09	598	* This register configures the duration counter threshold for Zero Motion
mducrocq	0:11a51c9ebb09	599	* interrupt generation. The duration counter ticks at 16 Hz, therefore
mducrocq	0:11a51c9ebb09	600	* ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
mducrocq	0:11a51c9ebb09	601	* increments while the absolute value of the accelerometer measurements are
mducrocq	0:11a51c9ebb09	602	* each less than the detection threshold (Register 33). The Zero Motion
mducrocq	0:11a51c9ebb09	603	* interrupt is triggered when the Zero Motion duration counter reaches the time
mducrocq	0:11a51c9ebb09	604	* count specified in this register.
mducrocq	0:11a51c9ebb09	605	*
mducrocq	0:11a51c9ebb09	606	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
mducrocq	0:11a51c9ebb09	607	* the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
mducrocq	0:11a51c9ebb09	608	* and 58 of this document.
mducrocq	0:11a51c9ebb09	609	*
mducrocq	0:11a51c9ebb09	610	* @return Current zero motion detection duration threshold value (LSB = 64ms)
mducrocq	0:11a51c9ebb09	611	* @see MPU6050_RA_ZRMOT_DUR
mducrocq	0:11a51c9ebb09	612	*/
mducrocq	0:11a51c9ebb09	613	uint8_t MPU6050::getZeroMotionDetectionDuration()
mducrocq	0:11a51c9ebb09	614	{
mducrocq	0:11a51c9ebb09	615	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
mducrocq	0:11a51c9ebb09	616	return buffer[0];
mducrocq	0:11a51c9ebb09	617	}
mducrocq	0:11a51c9ebb09	618	/** Set zero motion detection event duration threshold.
mducrocq	0:11a51c9ebb09	619	* @param duration New zero motion detection duration threshold value (LSB = 1ms)
mducrocq	0:11a51c9ebb09	620	* @see getZeroMotionDetectionDuration()
mducrocq	0:11a51c9ebb09	621	* @see MPU6050_RA_ZRMOT_DUR
mducrocq	0:11a51c9ebb09	622	*/
mducrocq	0:11a51c9ebb09	623	void MPU6050::setZeroMotionDetectionDuration(uint8_t duration)
mducrocq	0:11a51c9ebb09	624	{
mducrocq	0:11a51c9ebb09	625	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
mducrocq	0:11a51c9ebb09	626	}
mducrocq	0:11a51c9ebb09	627
mducrocq	0:11a51c9ebb09	628	// FIFO_EN register
mducrocq	0:11a51c9ebb09	629
mducrocq	0:11a51c9ebb09	630	/** Get temperature FIFO enabled value.
mducrocq	0:11a51c9ebb09	631	* When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
mducrocq	0:11a51c9ebb09	632	* 66) to be written into the FIFO buffer.
mducrocq	0:11a51c9ebb09	633	* @return Current temperature FIFO enabled value
mducrocq	0:11a51c9ebb09	634	* @see MPU6050_RA_FIFO_EN
mducrocq	0:11a51c9ebb09	635	*/
mducrocq	0:11a51c9ebb09	636	bool MPU6050::getTempFIFOEnabled()
mducrocq	0:11a51c9ebb09	637	{
mducrocq	0:11a51c9ebb09	638	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
mducrocq	0:11a51c9ebb09	639	return buffer[0];
mducrocq	0:11a51c9ebb09	640	}
mducrocq	0:11a51c9ebb09	641	/** Set temperature FIFO enabled value.
mducrocq	0:11a51c9ebb09	642	* @param enabled New temperature FIFO enabled value
mducrocq	0:11a51c9ebb09	643	* @see getTempFIFOEnabled()
mducrocq	0:11a51c9ebb09	644	* @see MPU6050_RA_FIFO_EN
mducrocq	0:11a51c9ebb09	645	*/
mducrocq	0:11a51c9ebb09	646	void MPU6050::setTempFIFOEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	647	{
mducrocq	0:11a51c9ebb09	648	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
mducrocq	0:11a51c9ebb09	649	}
mducrocq	0:11a51c9ebb09	650	/** Get gyroscope X-axis FIFO enabled value.
mducrocq	0:11a51c9ebb09	651	* When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
mducrocq	0:11a51c9ebb09	652	* 68) to be written into the FIFO buffer.
mducrocq	0:11a51c9ebb09	653	* @return Current gyroscope X-axis FIFO enabled value
mducrocq	0:11a51c9ebb09	654	* @see MPU6050_RA_FIFO_EN
mducrocq	0:11a51c9ebb09	655	*/
mducrocq	0:11a51c9ebb09	656	bool MPU6050::getXGyroFIFOEnabled()
mducrocq	0:11a51c9ebb09	657	{
mducrocq	0:11a51c9ebb09	658	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
mducrocq	0:11a51c9ebb09	659	return buffer[0];
mducrocq	0:11a51c9ebb09	660	}
mducrocq	0:11a51c9ebb09	661	/** Set gyroscope X-axis FIFO enabled value.
mducrocq	0:11a51c9ebb09	662	* @param enabled New gyroscope X-axis FIFO enabled value
mducrocq	0:11a51c9ebb09	663	* @see getXGyroFIFOEnabled()
mducrocq	0:11a51c9ebb09	664	* @see MPU6050_RA_FIFO_EN
mducrocq	0:11a51c9ebb09	665	*/
mducrocq	0:11a51c9ebb09	666	void MPU6050::setXGyroFIFOEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	667	{
mducrocq	0:11a51c9ebb09	668	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
mducrocq	0:11a51c9ebb09	669	}
mducrocq	0:11a51c9ebb09	670	/** Get gyroscope Y-axis FIFO enabled value.
mducrocq	0:11a51c9ebb09	671	* When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
mducrocq	0:11a51c9ebb09	672	* 70) to be written into the FIFO buffer.
mducrocq	0:11a51c9ebb09	673	* @return Current gyroscope Y-axis FIFO enabled value
mducrocq	0:11a51c9ebb09	674	* @see MPU6050_RA_FIFO_EN
mducrocq	0:11a51c9ebb09	675	*/
mducrocq	0:11a51c9ebb09	676	bool MPU6050::getYGyroFIFOEnabled()
mducrocq	0:11a51c9ebb09	677	{
mducrocq	0:11a51c9ebb09	678	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
mducrocq	0:11a51c9ebb09	679	return buffer[0];
mducrocq	0:11a51c9ebb09	680	}
mducrocq	0:11a51c9ebb09	681	/** Set gyroscope Y-axis FIFO enabled value.
mducrocq	0:11a51c9ebb09	682	* @param enabled New gyroscope Y-axis FIFO enabled value
mducrocq	0:11a51c9ebb09	683	* @see getYGyroFIFOEnabled()
mducrocq	0:11a51c9ebb09	684	* @see MPU6050_RA_FIFO_EN
mducrocq	0:11a51c9ebb09	685	*/
mducrocq	0:11a51c9ebb09	686	void MPU6050::setYGyroFIFOEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	687	{
mducrocq	0:11a51c9ebb09	688	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
mducrocq	0:11a51c9ebb09	689	}
mducrocq	0:11a51c9ebb09	690	/** Get gyroscope Z-axis FIFO enabled value.
mducrocq	0:11a51c9ebb09	691	* When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
mducrocq	0:11a51c9ebb09	692	* 72) to be written into the FIFO buffer.
mducrocq	0:11a51c9ebb09	693	* @return Current gyroscope Z-axis FIFO enabled value
mducrocq	0:11a51c9ebb09	694	* @see MPU6050_RA_FIFO_EN
mducrocq	0:11a51c9ebb09	695	*/
mducrocq	0:11a51c9ebb09	696	bool MPU6050::getZGyroFIFOEnabled()
mducrocq	0:11a51c9ebb09	697	{
mducrocq	0:11a51c9ebb09	698	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
mducrocq	0:11a51c9ebb09	699	return buffer[0];
mducrocq	0:11a51c9ebb09	700	}
mducrocq	0:11a51c9ebb09	701	/** Set gyroscope Z-axis FIFO enabled value.
mducrocq	0:11a51c9ebb09	702	* @param enabled New gyroscope Z-axis FIFO enabled value
mducrocq	0:11a51c9ebb09	703	* @see getZGyroFIFOEnabled()
mducrocq	0:11a51c9ebb09	704	* @see MPU6050_RA_FIFO_EN
mducrocq	0:11a51c9ebb09	705	*/
mducrocq	0:11a51c9ebb09	706	void MPU6050::setZGyroFIFOEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	707	{
mducrocq	0:11a51c9ebb09	708	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
mducrocq	0:11a51c9ebb09	709	}
mducrocq	0:11a51c9ebb09	710	/** Get accelerometer FIFO enabled value.
mducrocq	0:11a51c9ebb09	711	* When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
mducrocq	0:11a51c9ebb09	712	* ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
mducrocq	0:11a51c9ebb09	713	* written into the FIFO buffer.
mducrocq	0:11a51c9ebb09	714	* @return Current accelerometer FIFO enabled value
mducrocq	0:11a51c9ebb09	715	* @see MPU6050_RA_FIFO_EN
mducrocq	0:11a51c9ebb09	716	*/
mducrocq	0:11a51c9ebb09	717	bool MPU6050::getAccelFIFOEnabled()
mducrocq	0:11a51c9ebb09	718	{
mducrocq	0:11a51c9ebb09	719	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
mducrocq	0:11a51c9ebb09	720	return buffer[0];
mducrocq	0:11a51c9ebb09	721	}
mducrocq	0:11a51c9ebb09	722	/** Set accelerometer FIFO enabled value.
mducrocq	0:11a51c9ebb09	723	* @param enabled New accelerometer FIFO enabled value
mducrocq	0:11a51c9ebb09	724	* @see getAccelFIFOEnabled()
mducrocq	0:11a51c9ebb09	725	* @see MPU6050_RA_FIFO_EN
mducrocq	0:11a51c9ebb09	726	*/
mducrocq	0:11a51c9ebb09	727	void MPU6050::setAccelFIFOEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	728	{
mducrocq	0:11a51c9ebb09	729	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
mducrocq	0:11a51c9ebb09	730	}
mducrocq	0:11a51c9ebb09	731	/** Get Slave 2 FIFO enabled value.
mducrocq	0:11a51c9ebb09	732	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
mducrocq	0:11a51c9ebb09	733	* associated with Slave 2 to be written into the FIFO buffer.
mducrocq	0:11a51c9ebb09	734	* @return Current Slave 2 FIFO enabled value
mducrocq	0:11a51c9ebb09	735	* @see MPU6050_RA_FIFO_EN
mducrocq	0:11a51c9ebb09	736	*/
mducrocq	0:11a51c9ebb09	737	bool MPU6050::getSlave2FIFOEnabled()
mducrocq	0:11a51c9ebb09	738	{
mducrocq	0:11a51c9ebb09	739	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
mducrocq	0:11a51c9ebb09	740	return buffer[0];
mducrocq	0:11a51c9ebb09	741	}
mducrocq	0:11a51c9ebb09	742	/** Set Slave 2 FIFO enabled value.
mducrocq	0:11a51c9ebb09	743	* @param enabled New Slave 2 FIFO enabled value
mducrocq	0:11a51c9ebb09	744	* @see getSlave2FIFOEnabled()
mducrocq	0:11a51c9ebb09	745	* @see MPU6050_RA_FIFO_EN
mducrocq	0:11a51c9ebb09	746	*/
mducrocq	0:11a51c9ebb09	747	void MPU6050::setSlave2FIFOEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	748	{
mducrocq	0:11a51c9ebb09	749	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
mducrocq	0:11a51c9ebb09	750	}
mducrocq	0:11a51c9ebb09	751	/** Get Slave 1 FIFO enabled value.
mducrocq	0:11a51c9ebb09	752	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
mducrocq	0:11a51c9ebb09	753	* associated with Slave 1 to be written into the FIFO buffer.
mducrocq	0:11a51c9ebb09	754	* @return Current Slave 1 FIFO enabled value
mducrocq	0:11a51c9ebb09	755	* @see MPU6050_RA_FIFO_EN
mducrocq	0:11a51c9ebb09	756	*/
mducrocq	0:11a51c9ebb09	757	bool MPU6050::getSlave1FIFOEnabled()
mducrocq	0:11a51c9ebb09	758	{
mducrocq	0:11a51c9ebb09	759	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
mducrocq	0:11a51c9ebb09	760	return buffer[0];
mducrocq	0:11a51c9ebb09	761	}
mducrocq	0:11a51c9ebb09	762	/** Set Slave 1 FIFO enabled value.
mducrocq	0:11a51c9ebb09	763	* @param enabled New Slave 1 FIFO enabled value
mducrocq	0:11a51c9ebb09	764	* @see getSlave1FIFOEnabled()
mducrocq	0:11a51c9ebb09	765	* @see MPU6050_RA_FIFO_EN
mducrocq	0:11a51c9ebb09	766	*/
mducrocq	0:11a51c9ebb09	767	void MPU6050::setSlave1FIFOEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	768	{
mducrocq	0:11a51c9ebb09	769	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
mducrocq	0:11a51c9ebb09	770	}
mducrocq	0:11a51c9ebb09	771	/** Get Slave 0 FIFO enabled value.
mducrocq	0:11a51c9ebb09	772	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
mducrocq	0:11a51c9ebb09	773	* associated with Slave 0 to be written into the FIFO buffer.
mducrocq	0:11a51c9ebb09	774	* @return Current Slave 0 FIFO enabled value
mducrocq	0:11a51c9ebb09	775	* @see MPU6050_RA_FIFO_EN
mducrocq	0:11a51c9ebb09	776	*/
mducrocq	0:11a51c9ebb09	777	bool MPU6050::getSlave0FIFOEnabled()
mducrocq	0:11a51c9ebb09	778	{
mducrocq	0:11a51c9ebb09	779	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
mducrocq	0:11a51c9ebb09	780	return buffer[0];
mducrocq	0:11a51c9ebb09	781	}
mducrocq	0:11a51c9ebb09	782	/** Set Slave 0 FIFO enabled value.
mducrocq	0:11a51c9ebb09	783	* @param enabled New Slave 0 FIFO enabled value
mducrocq	0:11a51c9ebb09	784	* @see getSlave0FIFOEnabled()
mducrocq	0:11a51c9ebb09	785	* @see MPU6050_RA_FIFO_EN
mducrocq	0:11a51c9ebb09	786	*/
mducrocq	0:11a51c9ebb09	787	void MPU6050::setSlave0FIFOEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	788	{
mducrocq	0:11a51c9ebb09	789	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
mducrocq	0:11a51c9ebb09	790	}
mducrocq	0:11a51c9ebb09	791
mducrocq	0:11a51c9ebb09	792	// I2C_MST_CTRL register
mducrocq	0:11a51c9ebb09	793
mducrocq	0:11a51c9ebb09	794	/** Get multi-master enabled value.
mducrocq	0:11a51c9ebb09	795	* Multi-master capability allows multiple I2C masters to operate on the same
mducrocq	0:11a51c9ebb09	796	* bus. In circuits where multi-master capability is required, set MULT_MST_EN
mducrocq	0:11a51c9ebb09	797	* to 1. This will increase current drawn by approximately 30uA.
mducrocq	0:11a51c9ebb09	798	*
mducrocq	0:11a51c9ebb09	799	* In circuits where multi-master capability is required, the state of the I2C
mducrocq	0:11a51c9ebb09	800	* bus must always be monitored by each separate I2C Master. Before an I2C
mducrocq	0:11a51c9ebb09	801	* Master can assume arbitration of the bus, it must first confirm that no other
mducrocq	0:11a51c9ebb09	802	* I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
mducrocq	0:11a51c9ebb09	803	* MPU-60X0's bus arbitration detection logic is turned on, enabling it to
mducrocq	0:11a51c9ebb09	804	* detect when the bus is available.
mducrocq	0:11a51c9ebb09	805	*
mducrocq	0:11a51c9ebb09	806	* @return Current multi-master enabled value
mducrocq	0:11a51c9ebb09	807	* @see MPU6050_RA_I2C_MST_CTRL
mducrocq	0:11a51c9ebb09	808	*/
mducrocq	0:11a51c9ebb09	809	bool MPU6050::getMultiMasterEnabled()
mducrocq	0:11a51c9ebb09	810	{
mducrocq	0:11a51c9ebb09	811	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
mducrocq	0:11a51c9ebb09	812	return buffer[0];
mducrocq	0:11a51c9ebb09	813	}
mducrocq	0:11a51c9ebb09	814	/** Set multi-master enabled value.
mducrocq	0:11a51c9ebb09	815	* @param enabled New multi-master enabled value
mducrocq	0:11a51c9ebb09	816	* @see getMultiMasterEnabled()
mducrocq	0:11a51c9ebb09	817	* @see MPU6050_RA_I2C_MST_CTRL
mducrocq	0:11a51c9ebb09	818	*/
mducrocq	0:11a51c9ebb09	819	void MPU6050::setMultiMasterEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	820	{
mducrocq	0:11a51c9ebb09	821	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
mducrocq	0:11a51c9ebb09	822	}
mducrocq	0:11a51c9ebb09	823	/** Get wait-for-external-sensor-data enabled value.
mducrocq	0:11a51c9ebb09	824	* When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
mducrocq	0:11a51c9ebb09	825	* delayed until External Sensor data from the Slave Devices are loaded into the
mducrocq	0:11a51c9ebb09	826	* EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
mducrocq	0:11a51c9ebb09	827	* data (i.e. from gyro and accel) and external sensor data have been loaded to
mducrocq	0:11a51c9ebb09	828	* their respective data registers (i.e. the data is synced) when the Data Ready
mducrocq	0:11a51c9ebb09	829	* interrupt is triggered.
mducrocq	0:11a51c9ebb09	830	*
mducrocq	0:11a51c9ebb09	831	* @return Current wait-for-external-sensor-data enabled value
mducrocq	0:11a51c9ebb09	832	* @see MPU6050_RA_I2C_MST_CTRL
mducrocq	0:11a51c9ebb09	833	*/
mducrocq	0:11a51c9ebb09	834	bool MPU6050::getWaitForExternalSensorEnabled()
mducrocq	0:11a51c9ebb09	835	{
mducrocq	0:11a51c9ebb09	836	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
mducrocq	0:11a51c9ebb09	837	return buffer[0];
mducrocq	0:11a51c9ebb09	838	}
mducrocq	0:11a51c9ebb09	839	/** Set wait-for-external-sensor-data enabled value.
mducrocq	0:11a51c9ebb09	840	* @param enabled New wait-for-external-sensor-data enabled value
mducrocq	0:11a51c9ebb09	841	* @see getWaitForExternalSensorEnabled()
mducrocq	0:11a51c9ebb09	842	* @see MPU6050_RA_I2C_MST_CTRL
mducrocq	0:11a51c9ebb09	843	*/
mducrocq	0:11a51c9ebb09	844	void MPU6050::setWaitForExternalSensorEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	845	{
mducrocq	0:11a51c9ebb09	846	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
mducrocq	0:11a51c9ebb09	847	}
mducrocq	0:11a51c9ebb09	848	/** Get Slave 3 FIFO enabled value.
mducrocq	0:11a51c9ebb09	849	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
mducrocq	0:11a51c9ebb09	850	* associated with Slave 3 to be written into the FIFO buffer.
mducrocq	0:11a51c9ebb09	851	* @return Current Slave 3 FIFO enabled value
mducrocq	0:11a51c9ebb09	852	* @see MPU6050_RA_MST_CTRL
mducrocq	0:11a51c9ebb09	853	*/
mducrocq	0:11a51c9ebb09	854	bool MPU6050::getSlave3FIFOEnabled()
mducrocq	0:11a51c9ebb09	855	{
mducrocq	0:11a51c9ebb09	856	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
mducrocq	0:11a51c9ebb09	857	return buffer[0];
mducrocq	0:11a51c9ebb09	858	}
mducrocq	0:11a51c9ebb09	859	/** Set Slave 3 FIFO enabled value.
mducrocq	0:11a51c9ebb09	860	* @param enabled New Slave 3 FIFO enabled value
mducrocq	0:11a51c9ebb09	861	* @see getSlave3FIFOEnabled()
mducrocq	0:11a51c9ebb09	862	* @see MPU6050_RA_MST_CTRL
mducrocq	0:11a51c9ebb09	863	*/
mducrocq	0:11a51c9ebb09	864	void MPU6050::setSlave3FIFOEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	865	{
mducrocq	0:11a51c9ebb09	866	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
mducrocq	0:11a51c9ebb09	867	}
mducrocq	0:11a51c9ebb09	868	/** Get slave read/write transition enabled value.
mducrocq	0:11a51c9ebb09	869	* The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
mducrocq	0:11a51c9ebb09	870	* read to the next slave read. If the bit equals 0, there will be a restart
mducrocq	0:11a51c9ebb09	871	* between reads. If the bit equals 1, there will be a stop followed by a start
mducrocq	0:11a51c9ebb09	872	* of the following read. When a write transaction follows a read transaction,
mducrocq	0:11a51c9ebb09	873	* the stop followed by a start of the successive write will be always used.
mducrocq	0:11a51c9ebb09	874	*
mducrocq	0:11a51c9ebb09	875	* @return Current slave read/write transition enabled value
mducrocq	0:11a51c9ebb09	876	* @see MPU6050_RA_I2C_MST_CTRL
mducrocq	0:11a51c9ebb09	877	*/
mducrocq	0:11a51c9ebb09	878	bool MPU6050::getSlaveReadWriteTransitionEnabled()
mducrocq	0:11a51c9ebb09	879	{
mducrocq	0:11a51c9ebb09	880	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
mducrocq	0:11a51c9ebb09	881	return buffer[0];
mducrocq	0:11a51c9ebb09	882	}
mducrocq	0:11a51c9ebb09	883	/** Set slave read/write transition enabled value.
mducrocq	0:11a51c9ebb09	884	* @param enabled New slave read/write transition enabled value
mducrocq	0:11a51c9ebb09	885	* @see getSlaveReadWriteTransitionEnabled()
mducrocq	0:11a51c9ebb09	886	* @see MPU6050_RA_I2C_MST_CTRL
mducrocq	0:11a51c9ebb09	887	*/
mducrocq	0:11a51c9ebb09	888	void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	889	{
mducrocq	0:11a51c9ebb09	890	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
mducrocq	0:11a51c9ebb09	891	}
mducrocq	0:11a51c9ebb09	892	/** Get I2C master clock speed.
mducrocq	0:11a51c9ebb09	893	* I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
mducrocq	0:11a51c9ebb09	894	* MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
mducrocq	0:11a51c9ebb09	895	* the following table:
mducrocq	0:11a51c9ebb09	896	*
mducrocq	0:11a51c9ebb09	897	* <pre>
mducrocq	0:11a51c9ebb09	898	* I2C_MST_CLK \| I2C Master Clock Speed \| 8MHz Clock Divider
mducrocq	0:11a51c9ebb09	899	* ------------+------------------------+-------------------
mducrocq	0:11a51c9ebb09	900	* 0 \| 348kHz \| 23
mducrocq	0:11a51c9ebb09	901	* 1 \| 333kHz \| 24
mducrocq	0:11a51c9ebb09	902	* 2 \| 320kHz \| 25
mducrocq	0:11a51c9ebb09	903	* 3 \| 308kHz \| 26
mducrocq	0:11a51c9ebb09	904	* 4 \| 296kHz \| 27
mducrocq	0:11a51c9ebb09	905	* 5 \| 286kHz \| 28
mducrocq	0:11a51c9ebb09	906	* 6 \| 276kHz \| 29
mducrocq	0:11a51c9ebb09	907	* 7 \| 267kHz \| 30
mducrocq	0:11a51c9ebb09	908	* 8 \| 258kHz \| 31
mducrocq	0:11a51c9ebb09	909	* 9 \| 500kHz \| 16
mducrocq	0:11a51c9ebb09	910	* 10 \| 471kHz \| 17
mducrocq	0:11a51c9ebb09	911	* 11 \| 444kHz \| 18
mducrocq	0:11a51c9ebb09	912	* 12 \| 421kHz \| 19
mducrocq	0:11a51c9ebb09	913	* 13 \| 400kHz \| 20
mducrocq	0:11a51c9ebb09	914	* 14 \| 381kHz \| 21
mducrocq	0:11a51c9ebb09	915	* 15 \| 364kHz \| 22
mducrocq	0:11a51c9ebb09	916	* </pre>
mducrocq	0:11a51c9ebb09	917	*
mducrocq	0:11a51c9ebb09	918	* @return Current I2C master clock speed
mducrocq	0:11a51c9ebb09	919	* @see MPU6050_RA_I2C_MST_CTRL
mducrocq	0:11a51c9ebb09	920	*/
mducrocq	0:11a51c9ebb09	921	uint8_t MPU6050::getMasterClockSpeed()
mducrocq	0:11a51c9ebb09	922	{
mducrocq	0:11a51c9ebb09	923	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
mducrocq	0:11a51c9ebb09	924	return buffer[0];
mducrocq	0:11a51c9ebb09	925	}
mducrocq	0:11a51c9ebb09	926	/** Set I2C master clock speed.
mducrocq	0:11a51c9ebb09	927	* @reparam speed Current I2C master clock speed
mducrocq	0:11a51c9ebb09	928	* @see MPU6050_RA_I2C_MST_CTRL
mducrocq	0:11a51c9ebb09	929	*/
mducrocq	0:11a51c9ebb09	930	void MPU6050::setMasterClockSpeed(uint8_t speed)
mducrocq	0:11a51c9ebb09	931	{
mducrocq	0:11a51c9ebb09	932	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
mducrocq	0:11a51c9ebb09	933	}
mducrocq	0:11a51c9ebb09	934
mducrocq	0:11a51c9ebb09	935	// I2C_SLV* registers (Slave 0-3)
mducrocq	0:11a51c9ebb09	936
mducrocq	0:11a51c9ebb09	937	/** Get the I2C address of the specified slave (0-3).
mducrocq	0:11a51c9ebb09	938	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
mducrocq	0:11a51c9ebb09	939	* operation, and if it is cleared, then it's a write operation. The remaining
mducrocq	0:11a51c9ebb09	940	* bits (6-0) are the 7-bit device address of the slave device.
mducrocq	0:11a51c9ebb09	941	*
mducrocq	0:11a51c9ebb09	942	* In read mode, the result of the read is placed in the lowest available
mducrocq	0:11a51c9ebb09	943	* EXT_SENS_DATA register. For further information regarding the allocation of
mducrocq	0:11a51c9ebb09	944	* read results, please refer to the EXT_SENS_DATA register description
mducrocq	0:11a51c9ebb09	945	* (Registers 73 - 96).
mducrocq	0:11a51c9ebb09	946	*
mducrocq	0:11a51c9ebb09	947	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
mducrocq	0:11a51c9ebb09	948	* characteristics, and so it has its own functions (getSlave4* and setSlave4*).
mducrocq	0:11a51c9ebb09	949	*
mducrocq	0:11a51c9ebb09	950	* I2C data transactions are performed at the Sample Rate, as defined in
mducrocq	0:11a51c9ebb09	951	* Register 25. The user is responsible for ensuring that I2C data transactions
mducrocq	0:11a51c9ebb09	952	* to and from each enabled Slave can be completed within a single period of the
mducrocq	0:11a51c9ebb09	953	* Sample Rate.
mducrocq	0:11a51c9ebb09	954	*
mducrocq	0:11a51c9ebb09	955	* The I2C slave access rate can be reduced relative to the Sample Rate. This
mducrocq	0:11a51c9ebb09	956	* reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
mducrocq	0:11a51c9ebb09	957	* slave's access rate is reduced relative to the Sample Rate is determined by
mducrocq	0:11a51c9ebb09	958	* I2C_MST_DELAY_CTRL (Register 103).
mducrocq	0:11a51c9ebb09	959	*
mducrocq	0:11a51c9ebb09	960	* The processing order for the slaves is fixed. The sequence followed for
mducrocq	0:11a51c9ebb09	961	* processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
mducrocq	0:11a51c9ebb09	962	* particular Slave is disabled it will be skipped.
mducrocq	0:11a51c9ebb09	963	*
mducrocq	0:11a51c9ebb09	964	* Each slave can either be accessed at the sample rate or at a reduced sample
mducrocq	0:11a51c9ebb09	965	* rate. In a case where some slaves are accessed at the Sample Rate and some
mducrocq	0:11a51c9ebb09	966	* slaves are accessed at the reduced rate, the sequence of accessing the slaves
mducrocq	0:11a51c9ebb09	967	* (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
mducrocq	0:11a51c9ebb09	968	* be skipped if their access rate dictates that they should not be accessed
mducrocq	0:11a51c9ebb09	969	* during that particular cycle. For further information regarding the reduced
mducrocq	0:11a51c9ebb09	970	* access rate, please refer to Register 52. Whether a slave is accessed at the
mducrocq	0:11a51c9ebb09	971	* Sample Rate or at the reduced rate is determined by the Delay Enable bits in
mducrocq	0:11a51c9ebb09	972	* Register 103.
mducrocq	0:11a51c9ebb09	973	*
mducrocq	0:11a51c9ebb09	974	* @param num Slave number (0-3)
mducrocq	0:11a51c9ebb09	975	* @return Current address for specified slave
mducrocq	0:11a51c9ebb09	976	* @see MPU6050_RA_I2C_SLV0_ADDR
mducrocq	0:11a51c9ebb09	977	*/
mducrocq	0:11a51c9ebb09	978	uint8_t MPU6050::getSlaveAddress(uint8_t num)
mducrocq	0:11a51c9ebb09	979	{
mducrocq	0:11a51c9ebb09	980	if (num > 3) return 0;
mducrocq	0:11a51c9ebb09	981	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
mducrocq	0:11a51c9ebb09	982	return buffer[0];
mducrocq	0:11a51c9ebb09	983	}
mducrocq	0:11a51c9ebb09	984	/** Set the I2C address of the specified slave (0-3).
mducrocq	0:11a51c9ebb09	985	* @param num Slave number (0-3)
mducrocq	0:11a51c9ebb09	986	* @param address New address for specified slave
mducrocq	0:11a51c9ebb09	987	* @see getSlaveAddress()
mducrocq	0:11a51c9ebb09	988	* @see MPU6050_RA_I2C_SLV0_ADDR
mducrocq	0:11a51c9ebb09	989	*/
mducrocq	0:11a51c9ebb09	990	void MPU6050::setSlaveAddress(uint8_t num, uint8_t address)
mducrocq	0:11a51c9ebb09	991	{
mducrocq	0:11a51c9ebb09	992	if (num > 3) return;
mducrocq	0:11a51c9ebb09	993	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
mducrocq	0:11a51c9ebb09	994	}
mducrocq	0:11a51c9ebb09	995	/** Get the active internal register for the specified slave (0-3).
mducrocq	0:11a51c9ebb09	996	* Read/write operations for this slave will be done to whatever internal
mducrocq	0:11a51c9ebb09	997	* register address is stored in this MPU register.
mducrocq	0:11a51c9ebb09	998	*
mducrocq	0:11a51c9ebb09	999	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
mducrocq	0:11a51c9ebb09	1000	* characteristics, and so it has its own functions.
mducrocq	0:11a51c9ebb09	1001	*
mducrocq	0:11a51c9ebb09	1002	* @param num Slave number (0-3)
mducrocq	0:11a51c9ebb09	1003	* @return Current active register for specified slave
mducrocq	0:11a51c9ebb09	1004	* @see MPU6050_RA_I2C_SLV0_REG
mducrocq	0:11a51c9ebb09	1005	*/
mducrocq	0:11a51c9ebb09	1006	uint8_t MPU6050::getSlaveRegister(uint8_t num)
mducrocq	0:11a51c9ebb09	1007	{
mducrocq	0:11a51c9ebb09	1008	if (num > 3) return 0;
mducrocq	0:11a51c9ebb09	1009	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
mducrocq	0:11a51c9ebb09	1010	return buffer[0];
mducrocq	0:11a51c9ebb09	1011	}
mducrocq	0:11a51c9ebb09	1012	/** Set the active internal register for the specified slave (0-3).
mducrocq	0:11a51c9ebb09	1013	* @param num Slave number (0-3)
mducrocq	0:11a51c9ebb09	1014	* @param reg New active register for specified slave
mducrocq	0:11a51c9ebb09	1015	* @see getSlaveRegister()
mducrocq	0:11a51c9ebb09	1016	* @see MPU6050_RA_I2C_SLV0_REG
mducrocq	0:11a51c9ebb09	1017	*/
mducrocq	0:11a51c9ebb09	1018	void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg)
mducrocq	0:11a51c9ebb09	1019	{
mducrocq	0:11a51c9ebb09	1020	if (num > 3) return;
mducrocq	0:11a51c9ebb09	1021	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
mducrocq	0:11a51c9ebb09	1022	}
mducrocq	0:11a51c9ebb09	1023	/** Get the enabled value for the specified slave (0-3).
mducrocq	0:11a51c9ebb09	1024	* When set to 1, this bit enables Slave 0 for data transfer operations. When
mducrocq	0:11a51c9ebb09	1025	* cleared to 0, this bit disables Slave 0 from data transfer operations.
mducrocq	0:11a51c9ebb09	1026	* @param num Slave number (0-3)
mducrocq	0:11a51c9ebb09	1027	* @return Current enabled value for specified slave
mducrocq	0:11a51c9ebb09	1028	* @see MPU6050_RA_I2C_SLV0_CTRL
mducrocq	0:11a51c9ebb09	1029	*/
mducrocq	0:11a51c9ebb09	1030	bool MPU6050::getSlaveEnabled(uint8_t num)
mducrocq	0:11a51c9ebb09	1031	{
mducrocq	0:11a51c9ebb09	1032	if (num > 3) return 0;
mducrocq	0:11a51c9ebb09	1033	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
mducrocq	0:11a51c9ebb09	1034	return buffer[0];
mducrocq	0:11a51c9ebb09	1035	}
mducrocq	0:11a51c9ebb09	1036	/** Set the enabled value for the specified slave (0-3).
mducrocq	0:11a51c9ebb09	1037	* @param num Slave number (0-3)
mducrocq	0:11a51c9ebb09	1038	* @param enabled New enabled value for specified slave
mducrocq	0:11a51c9ebb09	1039	* @see getSlaveEnabled()
mducrocq	0:11a51c9ebb09	1040	* @see MPU6050_RA_I2C_SLV0_CTRL
mducrocq	0:11a51c9ebb09	1041	*/
mducrocq	0:11a51c9ebb09	1042	void MPU6050::setSlaveEnabled(uint8_t num, bool enabled)
mducrocq	0:11a51c9ebb09	1043	{
mducrocq	0:11a51c9ebb09	1044	if (num > 3) return;
mducrocq	0:11a51c9ebb09	1045	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
mducrocq	0:11a51c9ebb09	1046	}
mducrocq	0:11a51c9ebb09	1047	/** Get word pair byte-swapping enabled for the specified slave (0-3).
mducrocq	0:11a51c9ebb09	1048	* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
mducrocq	0:11a51c9ebb09	1049	* the high and low bytes of a word pair are swapped. Please refer to
mducrocq	0:11a51c9ebb09	1050	* I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
mducrocq	0:11a51c9ebb09	1051	* bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
mducrocq	0:11a51c9ebb09	1052	* registers in the order they were transferred.
mducrocq	0:11a51c9ebb09	1053	*
mducrocq	0:11a51c9ebb09	1054	* @param num Slave number (0-3)
mducrocq	0:11a51c9ebb09	1055	* @return Current word pair byte-swapping enabled value for specified slave
mducrocq	0:11a51c9ebb09	1056	* @see MPU6050_RA_I2C_SLV0_CTRL
mducrocq	0:11a51c9ebb09	1057	*/
mducrocq	0:11a51c9ebb09	1058	bool MPU6050::getSlaveWordByteSwap(uint8_t num)
mducrocq	0:11a51c9ebb09	1059	{
mducrocq	0:11a51c9ebb09	1060	if (num > 3) return 0;
mducrocq	0:11a51c9ebb09	1061	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
mducrocq	0:11a51c9ebb09	1062	return buffer[0];
mducrocq	0:11a51c9ebb09	1063	}
mducrocq	0:11a51c9ebb09	1064	/** Set word pair byte-swapping enabled for the specified slave (0-3).
mducrocq	0:11a51c9ebb09	1065	* @param num Slave number (0-3)
mducrocq	0:11a51c9ebb09	1066	* @param enabled New word pair byte-swapping enabled value for specified slave
mducrocq	0:11a51c9ebb09	1067	* @see getSlaveWordByteSwap()
mducrocq	0:11a51c9ebb09	1068	* @see MPU6050_RA_I2C_SLV0_CTRL
mducrocq	0:11a51c9ebb09	1069	*/
mducrocq	0:11a51c9ebb09	1070	void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled)
mducrocq	0:11a51c9ebb09	1071	{
mducrocq	0:11a51c9ebb09	1072	if (num > 3) return;
mducrocq	0:11a51c9ebb09	1073	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
mducrocq	0:11a51c9ebb09	1074	}
mducrocq	0:11a51c9ebb09	1075	/** Get write mode for the specified slave (0-3).
mducrocq	0:11a51c9ebb09	1076	* When set to 1, the transaction will read or write data only. When cleared to
mducrocq	0:11a51c9ebb09	1077	* 0, the transaction will write a register address prior to reading or writing
mducrocq	0:11a51c9ebb09	1078	* data. This should equal 0 when specifying the register address within the
mducrocq	0:11a51c9ebb09	1079	* Slave device to/from which the ensuing data transaction will take place.
mducrocq	0:11a51c9ebb09	1080	*
mducrocq	0:11a51c9ebb09	1081	* @param num Slave number (0-3)
mducrocq	0:11a51c9ebb09	1082	* @return Current write mode for specified slave (0 = register address + data, 1 = data only)
mducrocq	0:11a51c9ebb09	1083	* @see MPU6050_RA_I2C_SLV0_CTRL
mducrocq	0:11a51c9ebb09	1084	*/
mducrocq	0:11a51c9ebb09	1085	bool MPU6050::getSlaveWriteMode(uint8_t num)
mducrocq	0:11a51c9ebb09	1086	{
mducrocq	0:11a51c9ebb09	1087	if (num > 3) return 0;
mducrocq	0:11a51c9ebb09	1088	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
mducrocq	0:11a51c9ebb09	1089	return buffer[0];
mducrocq	0:11a51c9ebb09	1090	}
mducrocq	0:11a51c9ebb09	1091	/** Set write mode for the specified slave (0-3).
mducrocq	0:11a51c9ebb09	1092	* @param num Slave number (0-3)
mducrocq	0:11a51c9ebb09	1093	* @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
mducrocq	0:11a51c9ebb09	1094	* @see getSlaveWriteMode()
mducrocq	0:11a51c9ebb09	1095	* @see MPU6050_RA_I2C_SLV0_CTRL
mducrocq	0:11a51c9ebb09	1096	*/
mducrocq	0:11a51c9ebb09	1097	void MPU6050::setSlaveWriteMode(uint8_t num, bool mode)
mducrocq	0:11a51c9ebb09	1098	{
mducrocq	0:11a51c9ebb09	1099	if (num > 3) return;
mducrocq	0:11a51c9ebb09	1100	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
mducrocq	0:11a51c9ebb09	1101	}
mducrocq	0:11a51c9ebb09	1102	/** Get word pair grouping order offset for the specified slave (0-3).
mducrocq	0:11a51c9ebb09	1103	* This sets specifies the grouping order of word pairs received from registers.
mducrocq	0:11a51c9ebb09	1104	* When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
mducrocq	0:11a51c9ebb09	1105	* then odd register addresses) are paired to form a word. When set to 1, bytes
mducrocq	0:11a51c9ebb09	1106	* from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
mducrocq	0:11a51c9ebb09	1107	* register addresses) are paired to form a word.
mducrocq	0:11a51c9ebb09	1108	*
mducrocq	0:11a51c9ebb09	1109	* @param num Slave number (0-3)
mducrocq	0:11a51c9ebb09	1110	* @return Current word pair grouping order offset for specified slave
mducrocq	0:11a51c9ebb09	1111	* @see MPU6050_RA_I2C_SLV0_CTRL
mducrocq	0:11a51c9ebb09	1112	*/
mducrocq	0:11a51c9ebb09	1113	bool MPU6050::getSlaveWordGroupOffset(uint8_t num)
mducrocq	0:11a51c9ebb09	1114	{
mducrocq	0:11a51c9ebb09	1115	if (num > 3) return 0;
mducrocq	0:11a51c9ebb09	1116	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
mducrocq	0:11a51c9ebb09	1117	return buffer[0];
mducrocq	0:11a51c9ebb09	1118	}
mducrocq	0:11a51c9ebb09	1119	/** Set word pair grouping order offset for the specified slave (0-3).
mducrocq	0:11a51c9ebb09	1120	* @param num Slave number (0-3)
mducrocq	0:11a51c9ebb09	1121	* @param enabled New word pair grouping order offset for specified slave
mducrocq	0:11a51c9ebb09	1122	* @see getSlaveWordGroupOffset()
mducrocq	0:11a51c9ebb09	1123	* @see MPU6050_RA_I2C_SLV0_CTRL
mducrocq	0:11a51c9ebb09	1124	*/
mducrocq	0:11a51c9ebb09	1125	void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled)
mducrocq	0:11a51c9ebb09	1126	{
mducrocq	0:11a51c9ebb09	1127	if (num > 3) return;
mducrocq	0:11a51c9ebb09	1128	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
mducrocq	0:11a51c9ebb09	1129	}
mducrocq	0:11a51c9ebb09	1130	/** Get number of bytes to read for the specified slave (0-3).
mducrocq	0:11a51c9ebb09	1131	* Specifies the number of bytes transferred to and from Slave 0. Clearing this
mducrocq	0:11a51c9ebb09	1132	* bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
mducrocq	0:11a51c9ebb09	1133	* @param num Slave number (0-3)
mducrocq	0:11a51c9ebb09	1134	* @return Number of bytes to read for specified slave
mducrocq	0:11a51c9ebb09	1135	* @see MPU6050_RA_I2C_SLV0_CTRL
mducrocq	0:11a51c9ebb09	1136	*/
mducrocq	0:11a51c9ebb09	1137	uint8_t MPU6050::getSlaveDataLength(uint8_t num)
mducrocq	0:11a51c9ebb09	1138	{
mducrocq	0:11a51c9ebb09	1139	if (num > 3) return 0;
mducrocq	0:11a51c9ebb09	1140	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
mducrocq	0:11a51c9ebb09	1141	return buffer[0];
mducrocq	0:11a51c9ebb09	1142	}
mducrocq	0:11a51c9ebb09	1143	/** Set number of bytes to read for the specified slave (0-3).
mducrocq	0:11a51c9ebb09	1144	* @param num Slave number (0-3)
mducrocq	0:11a51c9ebb09	1145	* @param length Number of bytes to read for specified slave
mducrocq	0:11a51c9ebb09	1146	* @see getSlaveDataLength()
mducrocq	0:11a51c9ebb09	1147	* @see MPU6050_RA_I2C_SLV0_CTRL
mducrocq	0:11a51c9ebb09	1148	*/
mducrocq	0:11a51c9ebb09	1149	void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length)
mducrocq	0:11a51c9ebb09	1150	{
mducrocq	0:11a51c9ebb09	1151	if (num > 3) return;
mducrocq	0:11a51c9ebb09	1152	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
mducrocq	0:11a51c9ebb09	1153	}
mducrocq	0:11a51c9ebb09	1154
mducrocq	0:11a51c9ebb09	1155	// I2C_SLV* registers (Slave 4)
mducrocq	0:11a51c9ebb09	1156
mducrocq	0:11a51c9ebb09	1157	/** Get the I2C address of Slave 4.
mducrocq	0:11a51c9ebb09	1158	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
mducrocq	0:11a51c9ebb09	1159	* operation, and if it is cleared, then it's a write operation. The remaining
mducrocq	0:11a51c9ebb09	1160	* bits (6-0) are the 7-bit device address of the slave device.
mducrocq	0:11a51c9ebb09	1161	*
mducrocq	0:11a51c9ebb09	1162	* @return Current address for Slave 4
mducrocq	0:11a51c9ebb09	1163	* @see getSlaveAddress()
mducrocq	0:11a51c9ebb09	1164	* @see MPU6050_RA_I2C_SLV4_ADDR
mducrocq	0:11a51c9ebb09	1165	*/
mducrocq	0:11a51c9ebb09	1166	uint8_t MPU6050::getSlave4Address()
mducrocq	0:11a51c9ebb09	1167	{
mducrocq	0:11a51c9ebb09	1168	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
mducrocq	0:11a51c9ebb09	1169	return buffer[0];
mducrocq	0:11a51c9ebb09	1170	}
mducrocq	0:11a51c9ebb09	1171	/** Set the I2C address of Slave 4.
mducrocq	0:11a51c9ebb09	1172	* @param address New address for Slave 4
mducrocq	0:11a51c9ebb09	1173	* @see getSlave4Address()
mducrocq	0:11a51c9ebb09	1174	* @see MPU6050_RA_I2C_SLV4_ADDR
mducrocq	0:11a51c9ebb09	1175	*/
mducrocq	0:11a51c9ebb09	1176	void MPU6050::setSlave4Address(uint8_t address)
mducrocq	0:11a51c9ebb09	1177	{
mducrocq	0:11a51c9ebb09	1178	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
mducrocq	0:11a51c9ebb09	1179	}
mducrocq	0:11a51c9ebb09	1180	/** Get the active internal register for the Slave 4.
mducrocq	0:11a51c9ebb09	1181	* Read/write operations for this slave will be done to whatever internal
mducrocq	0:11a51c9ebb09	1182	* register address is stored in this MPU register.
mducrocq	0:11a51c9ebb09	1183	*
mducrocq	0:11a51c9ebb09	1184	* @return Current active register for Slave 4
mducrocq	0:11a51c9ebb09	1185	* @see MPU6050_RA_I2C_SLV4_REG
mducrocq	0:11a51c9ebb09	1186	*/
mducrocq	0:11a51c9ebb09	1187	uint8_t MPU6050::getSlave4Register()
mducrocq	0:11a51c9ebb09	1188	{
mducrocq	0:11a51c9ebb09	1189	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
mducrocq	0:11a51c9ebb09	1190	return buffer[0];
mducrocq	0:11a51c9ebb09	1191	}
mducrocq	0:11a51c9ebb09	1192	/** Set the active internal register for Slave 4.
mducrocq	0:11a51c9ebb09	1193	* @param reg New active register for Slave 4
mducrocq	0:11a51c9ebb09	1194	* @see getSlave4Register()
mducrocq	0:11a51c9ebb09	1195	* @see MPU6050_RA_I2C_SLV4_REG
mducrocq	0:11a51c9ebb09	1196	*/
mducrocq	0:11a51c9ebb09	1197	void MPU6050::setSlave4Register(uint8_t reg)
mducrocq	0:11a51c9ebb09	1198	{
mducrocq	0:11a51c9ebb09	1199	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
mducrocq	0:11a51c9ebb09	1200	}
mducrocq	0:11a51c9ebb09	1201	/** Set new byte to write to Slave 4.
mducrocq	0:11a51c9ebb09	1202	* This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
mducrocq	0:11a51c9ebb09	1203	* is set 1 (set to read), this register has no effect.
mducrocq	0:11a51c9ebb09	1204	* @param data New byte to write to Slave 4
mducrocq	0:11a51c9ebb09	1205	* @see MPU6050_RA_I2C_SLV4_DO
mducrocq	0:11a51c9ebb09	1206	*/
mducrocq	0:11a51c9ebb09	1207	void MPU6050::setSlave4OutputByte(uint8_t data)
mducrocq	0:11a51c9ebb09	1208	{
mducrocq	0:11a51c9ebb09	1209	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
mducrocq	0:11a51c9ebb09	1210	}
mducrocq	0:11a51c9ebb09	1211	/** Get the enabled value for the Slave 4.
mducrocq	0:11a51c9ebb09	1212	* When set to 1, this bit enables Slave 4 for data transfer operations. When
mducrocq	0:11a51c9ebb09	1213	* cleared to 0, this bit disables Slave 4 from data transfer operations.
mducrocq	0:11a51c9ebb09	1214	* @return Current enabled value for Slave 4
mducrocq	0:11a51c9ebb09	1215	* @see MPU6050_RA_I2C_SLV4_CTRL
mducrocq	0:11a51c9ebb09	1216	*/
mducrocq	0:11a51c9ebb09	1217	bool MPU6050::getSlave4Enabled()
mducrocq	0:11a51c9ebb09	1218	{
mducrocq	0:11a51c9ebb09	1219	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
mducrocq	0:11a51c9ebb09	1220	return buffer[0];
mducrocq	0:11a51c9ebb09	1221	}
mducrocq	0:11a51c9ebb09	1222	/** Set the enabled value for Slave 4.
mducrocq	0:11a51c9ebb09	1223	* @param enabled New enabled value for Slave 4
mducrocq	0:11a51c9ebb09	1224	* @see getSlave4Enabled()
mducrocq	0:11a51c9ebb09	1225	* @see MPU6050_RA_I2C_SLV4_CTRL
mducrocq	0:11a51c9ebb09	1226	*/
mducrocq	0:11a51c9ebb09	1227	void MPU6050::setSlave4Enabled(bool enabled)
mducrocq	0:11a51c9ebb09	1228	{
mducrocq	0:11a51c9ebb09	1229	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
mducrocq	0:11a51c9ebb09	1230	}
mducrocq	0:11a51c9ebb09	1231	/** Get the enabled value for Slave 4 transaction interrupts.
mducrocq	0:11a51c9ebb09	1232	* When set to 1, this bit enables the generation of an interrupt signal upon
mducrocq	0:11a51c9ebb09	1233	* completion of a Slave 4 transaction. When cleared to 0, this bit disables the
mducrocq	0:11a51c9ebb09	1234	* generation of an interrupt signal upon completion of a Slave 4 transaction.
mducrocq	0:11a51c9ebb09	1235	* The interrupt status can be observed in Register 54.
mducrocq	0:11a51c9ebb09	1236	*
mducrocq	0:11a51c9ebb09	1237	* @return Current enabled value for Slave 4 transaction interrupts.
mducrocq	0:11a51c9ebb09	1238	* @see MPU6050_RA_I2C_SLV4_CTRL
mducrocq	0:11a51c9ebb09	1239	*/
mducrocq	0:11a51c9ebb09	1240	bool MPU6050::getSlave4InterruptEnabled()
mducrocq	0:11a51c9ebb09	1241	{
mducrocq	0:11a51c9ebb09	1242	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
mducrocq	0:11a51c9ebb09	1243	return buffer[0];
mducrocq	0:11a51c9ebb09	1244	}
mducrocq	0:11a51c9ebb09	1245	/** Set the enabled value for Slave 4 transaction interrupts.
mducrocq	0:11a51c9ebb09	1246	* @param enabled New enabled value for Slave 4 transaction interrupts.
mducrocq	0:11a51c9ebb09	1247	* @see getSlave4InterruptEnabled()
mducrocq	0:11a51c9ebb09	1248	* @see MPU6050_RA_I2C_SLV4_CTRL
mducrocq	0:11a51c9ebb09	1249	*/
mducrocq	0:11a51c9ebb09	1250	void MPU6050::setSlave4InterruptEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	1251	{
mducrocq	0:11a51c9ebb09	1252	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
mducrocq	0:11a51c9ebb09	1253	}
mducrocq	0:11a51c9ebb09	1254	/** Get write mode for Slave 4.
mducrocq	0:11a51c9ebb09	1255	* When set to 1, the transaction will read or write data only. When cleared to
mducrocq	0:11a51c9ebb09	1256	* 0, the transaction will write a register address prior to reading or writing
mducrocq	0:11a51c9ebb09	1257	* data. This should equal 0 when specifying the register address within the
mducrocq	0:11a51c9ebb09	1258	* Slave device to/from which the ensuing data transaction will take place.
mducrocq	0:11a51c9ebb09	1259	*
mducrocq	0:11a51c9ebb09	1260	* @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
mducrocq	0:11a51c9ebb09	1261	* @see MPU6050_RA_I2C_SLV4_CTRL
mducrocq	0:11a51c9ebb09	1262	*/
mducrocq	0:11a51c9ebb09	1263	bool MPU6050::getSlave4WriteMode()
mducrocq	0:11a51c9ebb09	1264	{
mducrocq	0:11a51c9ebb09	1265	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
mducrocq	0:11a51c9ebb09	1266	return buffer[0];
mducrocq	0:11a51c9ebb09	1267	}
mducrocq	0:11a51c9ebb09	1268	/** Set write mode for the Slave 4.
mducrocq	0:11a51c9ebb09	1269	* @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
mducrocq	0:11a51c9ebb09	1270	* @see getSlave4WriteMode()
mducrocq	0:11a51c9ebb09	1271	* @see MPU6050_RA_I2C_SLV4_CTRL
mducrocq	0:11a51c9ebb09	1272	*/
mducrocq	0:11a51c9ebb09	1273	void MPU6050::setSlave4WriteMode(bool mode)
mducrocq	0:11a51c9ebb09	1274	{
mducrocq	0:11a51c9ebb09	1275	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
mducrocq	0:11a51c9ebb09	1276	}
mducrocq	0:11a51c9ebb09	1277	/** Get Slave 4 master delay value.
mducrocq	0:11a51c9ebb09	1278	* This configures the reduced access rate of I2C slaves relative to the Sample
mducrocq	0:11a51c9ebb09	1279	* Rate. When a slave's access rate is decreased relative to the Sample Rate,
mducrocq	0:11a51c9ebb09	1280	* the slave is accessed every:
mducrocq	0:11a51c9ebb09	1281	*
mducrocq	0:11a51c9ebb09	1282	* 1 / (1 + I2C_MST_DLY) samples
mducrocq	0:11a51c9ebb09	1283	*
mducrocq	0:11a51c9ebb09	1284	* This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
mducrocq	0:11a51c9ebb09	1285	* DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
mducrocq	0:11a51c9ebb09	1286	* the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
mducrocq	0:11a51c9ebb09	1287	* further information regarding the Sample Rate, please refer to register 25.
mducrocq	0:11a51c9ebb09	1288	*
mducrocq	0:11a51c9ebb09	1289	* @return Current Slave 4 master delay value
mducrocq	0:11a51c9ebb09	1290	* @see MPU6050_RA_I2C_SLV4_CTRL
mducrocq	0:11a51c9ebb09	1291	*/
mducrocq	0:11a51c9ebb09	1292	uint8_t MPU6050::getSlave4MasterDelay()
mducrocq	0:11a51c9ebb09	1293	{
mducrocq	0:11a51c9ebb09	1294	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
mducrocq	0:11a51c9ebb09	1295	return buffer[0];
mducrocq	0:11a51c9ebb09	1296	}
mducrocq	0:11a51c9ebb09	1297	/** Set Slave 4 master delay value.
mducrocq	0:11a51c9ebb09	1298	* @param delay New Slave 4 master delay value
mducrocq	0:11a51c9ebb09	1299	* @see getSlave4MasterDelay()
mducrocq	0:11a51c9ebb09	1300	* @see MPU6050_RA_I2C_SLV4_CTRL
mducrocq	0:11a51c9ebb09	1301	*/
mducrocq	0:11a51c9ebb09	1302	void MPU6050::setSlave4MasterDelay(uint8_t delay)
mducrocq	0:11a51c9ebb09	1303	{
mducrocq	0:11a51c9ebb09	1304	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
mducrocq	0:11a51c9ebb09	1305	}
mducrocq	0:11a51c9ebb09	1306	/** Get last available byte read from Slave 4.
mducrocq	0:11a51c9ebb09	1307	* This register stores the data read from Slave 4. This field is populated
mducrocq	0:11a51c9ebb09	1308	* after a read transaction.
mducrocq	0:11a51c9ebb09	1309	* @return Last available byte read from to Slave 4
mducrocq	0:11a51c9ebb09	1310	* @see MPU6050_RA_I2C_SLV4_DI
mducrocq	0:11a51c9ebb09	1311	*/
mducrocq	0:11a51c9ebb09	1312	uint8_t MPU6050::getSlate4InputByte()
mducrocq	0:11a51c9ebb09	1313	{
mducrocq	0:11a51c9ebb09	1314	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
mducrocq	0:11a51c9ebb09	1315	return buffer[0];
mducrocq	0:11a51c9ebb09	1316	}
mducrocq	0:11a51c9ebb09	1317
mducrocq	0:11a51c9ebb09	1318	// I2C_MST_STATUS register
mducrocq	0:11a51c9ebb09	1319
mducrocq	0:11a51c9ebb09	1320	/** Get FSYNC interrupt status.
mducrocq	0:11a51c9ebb09	1321	* This bit reflects the status of the FSYNC interrupt from an external device
mducrocq	0:11a51c9ebb09	1322	* into the MPU-60X0. This is used as a way to pass an external interrupt
mducrocq	0:11a51c9ebb09	1323	* through the MPU-60X0 to the host application processor. When set to 1, this
mducrocq	0:11a51c9ebb09	1324	* bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
mducrocq	0:11a51c9ebb09	1325	* (Register 55).
mducrocq	0:11a51c9ebb09	1326	* @return FSYNC interrupt status
mducrocq	0:11a51c9ebb09	1327	* @see MPU6050_RA_I2C_MST_STATUS
mducrocq	0:11a51c9ebb09	1328	*/
mducrocq	0:11a51c9ebb09	1329	bool MPU6050::getPassthroughStatus()
mducrocq	0:11a51c9ebb09	1330	{
mducrocq	0:11a51c9ebb09	1331	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
mducrocq	0:11a51c9ebb09	1332	return buffer[0];
mducrocq	0:11a51c9ebb09	1333	}
mducrocq	0:11a51c9ebb09	1334	/** Get Slave 4 transaction done status.
mducrocq	0:11a51c9ebb09	1335	* Automatically sets to 1 when a Slave 4 transaction has completed. This
mducrocq	0:11a51c9ebb09	1336	* triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
mducrocq	0:11a51c9ebb09	1337	* (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
mducrocq	0:11a51c9ebb09	1338	* I2C_SLV4_CTRL register (Register 52).
mducrocq	0:11a51c9ebb09	1339	* @return Slave 4 transaction done status
mducrocq	0:11a51c9ebb09	1340	* @see MPU6050_RA_I2C_MST_STATUS
mducrocq	0:11a51c9ebb09	1341	*/
mducrocq	0:11a51c9ebb09	1342	bool MPU6050::getSlave4IsDone()
mducrocq	0:11a51c9ebb09	1343	{
mducrocq	0:11a51c9ebb09	1344	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
mducrocq	0:11a51c9ebb09	1345	return buffer[0];
mducrocq	0:11a51c9ebb09	1346	}
mducrocq	0:11a51c9ebb09	1347	/** Get master arbitration lost status.
mducrocq	0:11a51c9ebb09	1348	* This bit automatically sets to 1 when the I2C Master has lost arbitration of
mducrocq	0:11a51c9ebb09	1349	* the auxiliary I2C bus (an error condition). This triggers an interrupt if the
mducrocq	0:11a51c9ebb09	1350	* I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
mducrocq	0:11a51c9ebb09	1351	* @return Master arbitration lost status
mducrocq	0:11a51c9ebb09	1352	* @see MPU6050_RA_I2C_MST_STATUS
mducrocq	0:11a51c9ebb09	1353	*/
mducrocq	0:11a51c9ebb09	1354	bool MPU6050::getLostArbitration()
mducrocq	0:11a51c9ebb09	1355	{
mducrocq	0:11a51c9ebb09	1356	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
mducrocq	0:11a51c9ebb09	1357	return buffer[0];
mducrocq	0:11a51c9ebb09	1358	}
mducrocq	0:11a51c9ebb09	1359	/** Get Slave 4 NACK status.
mducrocq	0:11a51c9ebb09	1360	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
mducrocq	0:11a51c9ebb09	1361	* transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
mducrocq	0:11a51c9ebb09	1362	* bit in the INT_ENABLE register (Register 56) is asserted.
mducrocq	0:11a51c9ebb09	1363	* @return Slave 4 NACK interrupt status
mducrocq	0:11a51c9ebb09	1364	* @see MPU6050_RA_I2C_MST_STATUS
mducrocq	0:11a51c9ebb09	1365	*/
mducrocq	0:11a51c9ebb09	1366	bool MPU6050::getSlave4Nack()
mducrocq	0:11a51c9ebb09	1367	{
mducrocq	0:11a51c9ebb09	1368	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
mducrocq	0:11a51c9ebb09	1369	return buffer[0];
mducrocq	0:11a51c9ebb09	1370	}
mducrocq	0:11a51c9ebb09	1371	/** Get Slave 3 NACK status.
mducrocq	0:11a51c9ebb09	1372	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
mducrocq	0:11a51c9ebb09	1373	* transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
mducrocq	0:11a51c9ebb09	1374	* bit in the INT_ENABLE register (Register 56) is asserted.
mducrocq	0:11a51c9ebb09	1375	* @return Slave 3 NACK interrupt status
mducrocq	0:11a51c9ebb09	1376	* @see MPU6050_RA_I2C_MST_STATUS
mducrocq	0:11a51c9ebb09	1377	*/
mducrocq	0:11a51c9ebb09	1378	bool MPU6050::getSlave3Nack()
mducrocq	0:11a51c9ebb09	1379	{
mducrocq	0:11a51c9ebb09	1380	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
mducrocq	0:11a51c9ebb09	1381	return buffer[0];
mducrocq	0:11a51c9ebb09	1382	}
mducrocq	0:11a51c9ebb09	1383	/** Get Slave 2 NACK status.
mducrocq	0:11a51c9ebb09	1384	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
mducrocq	0:11a51c9ebb09	1385	* transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
mducrocq	0:11a51c9ebb09	1386	* bit in the INT_ENABLE register (Register 56) is asserted.
mducrocq	0:11a51c9ebb09	1387	* @return Slave 2 NACK interrupt status
mducrocq	0:11a51c9ebb09	1388	* @see MPU6050_RA_I2C_MST_STATUS
mducrocq	0:11a51c9ebb09	1389	*/
mducrocq	0:11a51c9ebb09	1390	bool MPU6050::getSlave2Nack()
mducrocq	0:11a51c9ebb09	1391	{
mducrocq	0:11a51c9ebb09	1392	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
mducrocq	0:11a51c9ebb09	1393	return buffer[0];
mducrocq	0:11a51c9ebb09	1394	}
mducrocq	0:11a51c9ebb09	1395	/** Get Slave 1 NACK status.
mducrocq	0:11a51c9ebb09	1396	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
mducrocq	0:11a51c9ebb09	1397	* transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
mducrocq	0:11a51c9ebb09	1398	* bit in the INT_ENABLE register (Register 56) is asserted.
mducrocq	0:11a51c9ebb09	1399	* @return Slave 1 NACK interrupt status
mducrocq	0:11a51c9ebb09	1400	* @see MPU6050_RA_I2C_MST_STATUS
mducrocq	0:11a51c9ebb09	1401	*/
mducrocq	0:11a51c9ebb09	1402	bool MPU6050::getSlave1Nack()
mducrocq	0:11a51c9ebb09	1403	{
mducrocq	0:11a51c9ebb09	1404	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
mducrocq	0:11a51c9ebb09	1405	return buffer[0];
mducrocq	0:11a51c9ebb09	1406	}
mducrocq	0:11a51c9ebb09	1407	/** Get Slave 0 NACK status.
mducrocq	0:11a51c9ebb09	1408	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
mducrocq	0:11a51c9ebb09	1409	* transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
mducrocq	0:11a51c9ebb09	1410	* bit in the INT_ENABLE register (Register 56) is asserted.
mducrocq	0:11a51c9ebb09	1411	* @return Slave 0 NACK interrupt status
mducrocq	0:11a51c9ebb09	1412	* @see MPU6050_RA_I2C_MST_STATUS
mducrocq	0:11a51c9ebb09	1413	*/
mducrocq	0:11a51c9ebb09	1414	bool MPU6050::getSlave0Nack()
mducrocq	0:11a51c9ebb09	1415	{
mducrocq	0:11a51c9ebb09	1416	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
mducrocq	0:11a51c9ebb09	1417	return buffer[0];
mducrocq	0:11a51c9ebb09	1418	}
mducrocq	0:11a51c9ebb09	1419
mducrocq	0:11a51c9ebb09	1420	// INT_PIN_CFG register
mducrocq	0:11a51c9ebb09	1421
mducrocq	0:11a51c9ebb09	1422	/** Get interrupt logic level mode.
mducrocq	0:11a51c9ebb09	1423	* Will be set 0 for active-high, 1 for active-low.
mducrocq	0:11a51c9ebb09	1424	* @return Current interrupt mode (0=active-high, 1=active-low)
mducrocq	0:11a51c9ebb09	1425	* @see MPU6050_RA_INT_PIN_CFG
mducrocq	0:11a51c9ebb09	1426	* @see MPU6050_INTCFG_INT_LEVEL_BIT
mducrocq	0:11a51c9ebb09	1427	*/
mducrocq	0:11a51c9ebb09	1428	bool MPU6050::getInterruptMode()
mducrocq	0:11a51c9ebb09	1429	{
mducrocq	0:11a51c9ebb09	1430	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
mducrocq	0:11a51c9ebb09	1431	return buffer[0];
mducrocq	0:11a51c9ebb09	1432	}
mducrocq	0:11a51c9ebb09	1433	/** Set interrupt logic level mode.
mducrocq	0:11a51c9ebb09	1434	* @param mode New interrupt mode (0=active-high, 1=active-low)
mducrocq	0:11a51c9ebb09	1435	* @see getInterruptMode()
mducrocq	0:11a51c9ebb09	1436	* @see MPU6050_RA_INT_PIN_CFG
mducrocq	0:11a51c9ebb09	1437	* @see MPU6050_INTCFG_INT_LEVEL_BIT
mducrocq	0:11a51c9ebb09	1438	*/
mducrocq	0:11a51c9ebb09	1439	void MPU6050::setInterruptMode(bool mode)
mducrocq	0:11a51c9ebb09	1440	{
mducrocq	0:11a51c9ebb09	1441	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
mducrocq	0:11a51c9ebb09	1442	}
mducrocq	0:11a51c9ebb09	1443	/** Get interrupt drive mode.
mducrocq	0:11a51c9ebb09	1444	* Will be set 0 for push-pull, 1 for open-drain.
mducrocq	0:11a51c9ebb09	1445	* @return Current interrupt drive mode (0=push-pull, 1=open-drain)
mducrocq	0:11a51c9ebb09	1446	* @see MPU6050_RA_INT_PIN_CFG
mducrocq	0:11a51c9ebb09	1447	* @see MPU6050_INTCFG_INT_OPEN_BIT
mducrocq	0:11a51c9ebb09	1448	*/
mducrocq	0:11a51c9ebb09	1449	bool MPU6050::getInterruptDrive()
mducrocq	0:11a51c9ebb09	1450	{
mducrocq	0:11a51c9ebb09	1451	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
mducrocq	0:11a51c9ebb09	1452	return buffer[0];
mducrocq	0:11a51c9ebb09	1453	}
mducrocq	0:11a51c9ebb09	1454	/** Set interrupt drive mode.
mducrocq	0:11a51c9ebb09	1455	* @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
mducrocq	0:11a51c9ebb09	1456	* @see getInterruptDrive()
mducrocq	0:11a51c9ebb09	1457	* @see MPU6050_RA_INT_PIN_CFG
mducrocq	0:11a51c9ebb09	1458	* @see MPU6050_INTCFG_INT_OPEN_BIT
mducrocq	0:11a51c9ebb09	1459	*/
mducrocq	0:11a51c9ebb09	1460	void MPU6050::setInterruptDrive(bool drive)
mducrocq	0:11a51c9ebb09	1461	{
mducrocq	0:11a51c9ebb09	1462	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
mducrocq	0:11a51c9ebb09	1463	}
mducrocq	0:11a51c9ebb09	1464	/** Get interrupt latch mode.
mducrocq	0:11a51c9ebb09	1465	* Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
mducrocq	0:11a51c9ebb09	1466	* @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
mducrocq	0:11a51c9ebb09	1467	* @see MPU6050_RA_INT_PIN_CFG
mducrocq	0:11a51c9ebb09	1468	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
mducrocq	0:11a51c9ebb09	1469	*/
mducrocq	0:11a51c9ebb09	1470	bool MPU6050::getInterruptLatch()
mducrocq	0:11a51c9ebb09	1471	{
mducrocq	0:11a51c9ebb09	1472	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
mducrocq	0:11a51c9ebb09	1473	return buffer[0];
mducrocq	0:11a51c9ebb09	1474	}
mducrocq	0:11a51c9ebb09	1475	/** Set interrupt latch mode.
mducrocq	0:11a51c9ebb09	1476	* @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
mducrocq	0:11a51c9ebb09	1477	* @see getInterruptLatch()
mducrocq	0:11a51c9ebb09	1478	* @see MPU6050_RA_INT_PIN_CFG
mducrocq	0:11a51c9ebb09	1479	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
mducrocq	0:11a51c9ebb09	1480	*/
mducrocq	0:11a51c9ebb09	1481	void MPU6050::setInterruptLatch(bool latch)
mducrocq	0:11a51c9ebb09	1482	{
mducrocq	0:11a51c9ebb09	1483	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
mducrocq	0:11a51c9ebb09	1484	}
mducrocq	0:11a51c9ebb09	1485	/** Get interrupt latch clear mode.
mducrocq	0:11a51c9ebb09	1486	* Will be set 0 for status-read-only, 1 for any-register-read.
mducrocq	0:11a51c9ebb09	1487	* @return Current latch clear mode (0=status-read-only, 1=any-register-read)
mducrocq	0:11a51c9ebb09	1488	* @see MPU6050_RA_INT_PIN_CFG
mducrocq	0:11a51c9ebb09	1489	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
mducrocq	0:11a51c9ebb09	1490	*/
mducrocq	0:11a51c9ebb09	1491	bool MPU6050::getInterruptLatchClear()
mducrocq	0:11a51c9ebb09	1492	{
mducrocq	0:11a51c9ebb09	1493	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
mducrocq	0:11a51c9ebb09	1494	return buffer[0];
mducrocq	0:11a51c9ebb09	1495	}
mducrocq	0:11a51c9ebb09	1496	/** Set interrupt latch clear mode.
mducrocq	0:11a51c9ebb09	1497	* @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
mducrocq	0:11a51c9ebb09	1498	* @see getInterruptLatchClear()
mducrocq	0:11a51c9ebb09	1499	* @see MPU6050_RA_INT_PIN_CFG
mducrocq	0:11a51c9ebb09	1500	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
mducrocq	0:11a51c9ebb09	1501	*/
mducrocq	0:11a51c9ebb09	1502	void MPU6050::setInterruptLatchClear(bool clear)
mducrocq	0:11a51c9ebb09	1503	{
mducrocq	0:11a51c9ebb09	1504	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
mducrocq	0:11a51c9ebb09	1505	}
mducrocq	0:11a51c9ebb09	1506	/** Get FSYNC interrupt logic level mode.
mducrocq	0:11a51c9ebb09	1507	* @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
mducrocq	0:11a51c9ebb09	1508	* @see getFSyncInterruptMode()
mducrocq	0:11a51c9ebb09	1509	* @see MPU6050_RA_INT_PIN_CFG
mducrocq	0:11a51c9ebb09	1510	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
mducrocq	0:11a51c9ebb09	1511	*/
mducrocq	0:11a51c9ebb09	1512	bool MPU6050::getFSyncInterruptLevel()
mducrocq	0:11a51c9ebb09	1513	{
mducrocq	0:11a51c9ebb09	1514	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
mducrocq	0:11a51c9ebb09	1515	return buffer[0];
mducrocq	0:11a51c9ebb09	1516	}
mducrocq	0:11a51c9ebb09	1517	/** Set FSYNC interrupt logic level mode.
mducrocq	0:11a51c9ebb09	1518	* @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
mducrocq	0:11a51c9ebb09	1519	* @see getFSyncInterruptMode()
mducrocq	0:11a51c9ebb09	1520	* @see MPU6050_RA_INT_PIN_CFG
mducrocq	0:11a51c9ebb09	1521	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
mducrocq	0:11a51c9ebb09	1522	*/
mducrocq	0:11a51c9ebb09	1523	void MPU6050::setFSyncInterruptLevel(bool level)
mducrocq	0:11a51c9ebb09	1524	{
mducrocq	0:11a51c9ebb09	1525	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
mducrocq	0:11a51c9ebb09	1526	}
mducrocq	0:11a51c9ebb09	1527	/** Get FSYNC pin interrupt enabled setting.
mducrocq	0:11a51c9ebb09	1528	* Will be set 0 for disabled, 1 for enabled.
mducrocq	0:11a51c9ebb09	1529	* @return Current interrupt enabled setting
mducrocq	0:11a51c9ebb09	1530	* @see MPU6050_RA_INT_PIN_CFG
mducrocq	0:11a51c9ebb09	1531	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
mducrocq	0:11a51c9ebb09	1532	*/
mducrocq	0:11a51c9ebb09	1533	bool MPU6050::getFSyncInterruptEnabled()
mducrocq	0:11a51c9ebb09	1534	{
mducrocq	0:11a51c9ebb09	1535	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
mducrocq	0:11a51c9ebb09	1536	return buffer[0];
mducrocq	0:11a51c9ebb09	1537	}
mducrocq	0:11a51c9ebb09	1538	/** Set FSYNC pin interrupt enabled setting.
mducrocq	0:11a51c9ebb09	1539	* @param enabled New FSYNC pin interrupt enabled setting
mducrocq	0:11a51c9ebb09	1540	* @see getFSyncInterruptEnabled()
mducrocq	0:11a51c9ebb09	1541	* @see MPU6050_RA_INT_PIN_CFG
mducrocq	0:11a51c9ebb09	1542	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
mducrocq	0:11a51c9ebb09	1543	*/
mducrocq	0:11a51c9ebb09	1544	void MPU6050::setFSyncInterruptEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	1545	{
mducrocq	0:11a51c9ebb09	1546	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
mducrocq	0:11a51c9ebb09	1547	}
mducrocq	0:11a51c9ebb09	1548	/** Get I2C bypass enabled status.
mducrocq	0:11a51c9ebb09	1549	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
mducrocq	0:11a51c9ebb09	1550	* 0, the host application processor will be able to directly access the
mducrocq	0:11a51c9ebb09	1551	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
mducrocq	0:11a51c9ebb09	1552	* application processor will not be able to directly access the auxiliary I2C
mducrocq	0:11a51c9ebb09	1553	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
mducrocq	0:11a51c9ebb09	1554	* bit[5]).
mducrocq	0:11a51c9ebb09	1555	* @return Current I2C bypass enabled status
mducrocq	0:11a51c9ebb09	1556	* @see MPU6050_RA_INT_PIN_CFG
mducrocq	0:11a51c9ebb09	1557	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
mducrocq	0:11a51c9ebb09	1558	*/
mducrocq	0:11a51c9ebb09	1559	bool MPU6050::getI2CBypassEnabled()
mducrocq	0:11a51c9ebb09	1560	{
mducrocq	0:11a51c9ebb09	1561	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
mducrocq	0:11a51c9ebb09	1562	return buffer[0];
mducrocq	0:11a51c9ebb09	1563	}
mducrocq	0:11a51c9ebb09	1564	/** Set I2C bypass enabled status.
mducrocq	0:11a51c9ebb09	1565	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
mducrocq	0:11a51c9ebb09	1566	* 0, the host application processor will be able to directly access the
mducrocq	0:11a51c9ebb09	1567	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
mducrocq	0:11a51c9ebb09	1568	* application processor will not be able to directly access the auxiliary I2C
mducrocq	0:11a51c9ebb09	1569	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
mducrocq	0:11a51c9ebb09	1570	* bit[5]).
mducrocq	0:11a51c9ebb09	1571	* @param enabled New I2C bypass enabled status
mducrocq	0:11a51c9ebb09	1572	* @see MPU6050_RA_INT_PIN_CFG
mducrocq	0:11a51c9ebb09	1573	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
mducrocq	0:11a51c9ebb09	1574	*/
mducrocq	0:11a51c9ebb09	1575	void MPU6050::setI2CBypassEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	1576	{
mducrocq	0:11a51c9ebb09	1577	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
mducrocq	0:11a51c9ebb09	1578	}
mducrocq	0:11a51c9ebb09	1579	/** Get reference clock output enabled status.
mducrocq	0:11a51c9ebb09	1580	* When this bit is equal to 1, a reference clock output is provided at the
mducrocq	0:11a51c9ebb09	1581	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
mducrocq	0:11a51c9ebb09	1582	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
mducrocq	0:11a51c9ebb09	1583	* Specification document.
mducrocq	0:11a51c9ebb09	1584	* @return Current reference clock output enabled status
mducrocq	0:11a51c9ebb09	1585	* @see MPU6050_RA_INT_PIN_CFG
mducrocq	0:11a51c9ebb09	1586	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
mducrocq	0:11a51c9ebb09	1587	*/
mducrocq	0:11a51c9ebb09	1588	bool MPU6050::getClockOutputEnabled()
mducrocq	0:11a51c9ebb09	1589	{
mducrocq	0:11a51c9ebb09	1590	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
mducrocq	0:11a51c9ebb09	1591	return buffer[0];
mducrocq	0:11a51c9ebb09	1592	}
mducrocq	0:11a51c9ebb09	1593	/** Set reference clock output enabled status.
mducrocq	0:11a51c9ebb09	1594	* When this bit is equal to 1, a reference clock output is provided at the
mducrocq	0:11a51c9ebb09	1595	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
mducrocq	0:11a51c9ebb09	1596	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
mducrocq	0:11a51c9ebb09	1597	* Specification document.
mducrocq	0:11a51c9ebb09	1598	* @param enabled New reference clock output enabled status
mducrocq	0:11a51c9ebb09	1599	* @see MPU6050_RA_INT_PIN_CFG
mducrocq	0:11a51c9ebb09	1600	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
mducrocq	0:11a51c9ebb09	1601	*/
mducrocq	0:11a51c9ebb09	1602	void MPU6050::setClockOutputEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	1603	{
mducrocq	0:11a51c9ebb09	1604	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
mducrocq	0:11a51c9ebb09	1605	}
mducrocq	0:11a51c9ebb09	1606
mducrocq	0:11a51c9ebb09	1607	// INT_ENABLE register
mducrocq	0:11a51c9ebb09	1608
mducrocq	0:11a51c9ebb09	1609	/** Get full interrupt enabled status.
mducrocq	0:11a51c9ebb09	1610	* Full register byte for all interrupts, for quick reading. Each bit will be
mducrocq	0:11a51c9ebb09	1611	* set 0 for disabled, 1 for enabled.
mducrocq	0:11a51c9ebb09	1612	* @return Current interrupt enabled status
mducrocq	0:11a51c9ebb09	1613	* @see MPU6050_RA_INT_ENABLE
mducrocq	0:11a51c9ebb09	1614	* @see MPU6050_INTERRUPT_FF_BIT
mducrocq	0:11a51c9ebb09	1615	**/
mducrocq	0:11a51c9ebb09	1616	uint8_t MPU6050::getIntEnabled()
mducrocq	0:11a51c9ebb09	1617	{
mducrocq	0:11a51c9ebb09	1618	i2Cdev.readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
mducrocq	0:11a51c9ebb09	1619	return buffer[0];
mducrocq	0:11a51c9ebb09	1620	}
mducrocq	0:11a51c9ebb09	1621	/** Set full interrupt enabled status.
mducrocq	0:11a51c9ebb09	1622	* Full register byte for all interrupts, for quick reading. Each bit should be
mducrocq	0:11a51c9ebb09	1623	* set 0 for disabled, 1 for enabled.
mducrocq	0:11a51c9ebb09	1624	* @param enabled New interrupt enabled status
mducrocq	0:11a51c9ebb09	1625	* @see getIntFreefallEnabled()
mducrocq	0:11a51c9ebb09	1626	* @see MPU6050_RA_INT_ENABLE
mducrocq	0:11a51c9ebb09	1627	* @see MPU6050_INTERRUPT_FF_BIT
mducrocq	0:11a51c9ebb09	1628	**/
mducrocq	0:11a51c9ebb09	1629	void MPU6050::setIntEnabled(uint8_t enabled)
mducrocq	0:11a51c9ebb09	1630	{
mducrocq	0:11a51c9ebb09	1631	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
mducrocq	0:11a51c9ebb09	1632	}
mducrocq	0:11a51c9ebb09	1633	/** Get Free Fall interrupt enabled status.
mducrocq	0:11a51c9ebb09	1634	* Will be set 0 for disabled, 1 for enabled.
mducrocq	0:11a51c9ebb09	1635	* @return Current interrupt enabled status
mducrocq	0:11a51c9ebb09	1636	* @see MPU6050_RA_INT_ENABLE
mducrocq	0:11a51c9ebb09	1637	* @see MPU6050_INTERRUPT_FF_BIT
mducrocq	0:11a51c9ebb09	1638	**/
mducrocq	0:11a51c9ebb09	1639	bool MPU6050::getIntFreefallEnabled()
mducrocq	0:11a51c9ebb09	1640	{
mducrocq	0:11a51c9ebb09	1641	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
mducrocq	0:11a51c9ebb09	1642	return buffer[0];
mducrocq	0:11a51c9ebb09	1643	}
mducrocq	0:11a51c9ebb09	1644	/** Set Free Fall interrupt enabled status.
mducrocq	0:11a51c9ebb09	1645	* @param enabled New interrupt enabled status
mducrocq	0:11a51c9ebb09	1646	* @see getIntFreefallEnabled()
mducrocq	0:11a51c9ebb09	1647	* @see MPU6050_RA_INT_ENABLE
mducrocq	0:11a51c9ebb09	1648	* @see MPU6050_INTERRUPT_FF_BIT
mducrocq	0:11a51c9ebb09	1649	**/
mducrocq	0:11a51c9ebb09	1650	void MPU6050::setIntFreefallEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	1651	{
mducrocq	0:11a51c9ebb09	1652	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
mducrocq	0:11a51c9ebb09	1653	}
mducrocq	0:11a51c9ebb09	1654	/** Get Motion Detection interrupt enabled status.
mducrocq	0:11a51c9ebb09	1655	* Will be set 0 for disabled, 1 for enabled.
mducrocq	0:11a51c9ebb09	1656	* @return Current interrupt enabled status
mducrocq	0:11a51c9ebb09	1657	* @see MPU6050_RA_INT_ENABLE
mducrocq	0:11a51c9ebb09	1658	* @see MPU6050_INTERRUPT_MOT_BIT
mducrocq	0:11a51c9ebb09	1659	**/
mducrocq	0:11a51c9ebb09	1660	bool MPU6050::getIntMotionEnabled()
mducrocq	0:11a51c9ebb09	1661	{
mducrocq	0:11a51c9ebb09	1662	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
mducrocq	0:11a51c9ebb09	1663	return buffer[0];
mducrocq	0:11a51c9ebb09	1664	}
mducrocq	0:11a51c9ebb09	1665	/** Set Motion Detection interrupt enabled status.
mducrocq	0:11a51c9ebb09	1666	* @param enabled New interrupt enabled status
mducrocq	0:11a51c9ebb09	1667	* @see getIntMotionEnabled()
mducrocq	0:11a51c9ebb09	1668	* @see MPU6050_RA_INT_ENABLE
mducrocq	0:11a51c9ebb09	1669	* @see MPU6050_INTERRUPT_MOT_BIT
mducrocq	0:11a51c9ebb09	1670	**/
mducrocq	0:11a51c9ebb09	1671	void MPU6050::setIntMotionEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	1672	{
mducrocq	0:11a51c9ebb09	1673	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
mducrocq	0:11a51c9ebb09	1674	}
mducrocq	0:11a51c9ebb09	1675	/** Get Zero Motion Detection interrupt enabled status.
mducrocq	0:11a51c9ebb09	1676	* Will be set 0 for disabled, 1 for enabled.
mducrocq	0:11a51c9ebb09	1677	* @return Current interrupt enabled status
mducrocq	0:11a51c9ebb09	1678	* @see MPU6050_RA_INT_ENABLE
mducrocq	0:11a51c9ebb09	1679	* @see MPU6050_INTERRUPT_ZMOT_BIT
mducrocq	0:11a51c9ebb09	1680	**/
mducrocq	0:11a51c9ebb09	1681	bool MPU6050::getIntZeroMotionEnabled()
mducrocq	0:11a51c9ebb09	1682	{
mducrocq	0:11a51c9ebb09	1683	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
mducrocq	0:11a51c9ebb09	1684	return buffer[0];
mducrocq	0:11a51c9ebb09	1685	}
mducrocq	0:11a51c9ebb09	1686	/** Set Zero Motion Detection interrupt enabled status.
mducrocq	0:11a51c9ebb09	1687	* @param enabled New interrupt enabled status
mducrocq	0:11a51c9ebb09	1688	* @see getIntZeroMotionEnabled()
mducrocq	0:11a51c9ebb09	1689	* @see MPU6050_RA_INT_ENABLE
mducrocq	0:11a51c9ebb09	1690	* @see MPU6050_INTERRUPT_ZMOT_BIT
mducrocq	0:11a51c9ebb09	1691	**/
mducrocq	0:11a51c9ebb09	1692	void MPU6050::setIntZeroMotionEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	1693	{
mducrocq	0:11a51c9ebb09	1694	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
mducrocq	0:11a51c9ebb09	1695	}
mducrocq	0:11a51c9ebb09	1696	/** Get FIFO Buffer Overflow interrupt enabled status.
mducrocq	0:11a51c9ebb09	1697	* Will be set 0 for disabled, 1 for enabled.
mducrocq	0:11a51c9ebb09	1698	* @return Current interrupt enabled status
mducrocq	0:11a51c9ebb09	1699	* @see MPU6050_RA_INT_ENABLE
mducrocq	0:11a51c9ebb09	1700	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
mducrocq	0:11a51c9ebb09	1701	**/
mducrocq	0:11a51c9ebb09	1702	bool MPU6050::getIntFIFOBufferOverflowEnabled()
mducrocq	0:11a51c9ebb09	1703	{
mducrocq	0:11a51c9ebb09	1704	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
mducrocq	0:11a51c9ebb09	1705	return buffer[0];
mducrocq	0:11a51c9ebb09	1706	}
mducrocq	0:11a51c9ebb09	1707	/** Set FIFO Buffer Overflow interrupt enabled status.
mducrocq	0:11a51c9ebb09	1708	* @param enabled New interrupt enabled status
mducrocq	0:11a51c9ebb09	1709	* @see getIntFIFOBufferOverflowEnabled()
mducrocq	0:11a51c9ebb09	1710	* @see MPU6050_RA_INT_ENABLE
mducrocq	0:11a51c9ebb09	1711	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
mducrocq	0:11a51c9ebb09	1712	**/
mducrocq	0:11a51c9ebb09	1713	void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	1714	{
mducrocq	0:11a51c9ebb09	1715	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
mducrocq	0:11a51c9ebb09	1716	}
mducrocq	0:11a51c9ebb09	1717	/** Get I2C Master interrupt enabled status.
mducrocq	0:11a51c9ebb09	1718	* This enables any of the I2C Master interrupt sources to generate an
mducrocq	0:11a51c9ebb09	1719	* interrupt. Will be set 0 for disabled, 1 for enabled.
mducrocq	0:11a51c9ebb09	1720	* @return Current interrupt enabled status
mducrocq	0:11a51c9ebb09	1721	* @see MPU6050_RA_INT_ENABLE
mducrocq	0:11a51c9ebb09	1722	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
mducrocq	0:11a51c9ebb09	1723	**/
mducrocq	0:11a51c9ebb09	1724	bool MPU6050::getIntI2CMasterEnabled()
mducrocq	0:11a51c9ebb09	1725	{
mducrocq	0:11a51c9ebb09	1726	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
mducrocq	0:11a51c9ebb09	1727	return buffer[0];
mducrocq	0:11a51c9ebb09	1728	}
mducrocq	0:11a51c9ebb09	1729	/** Set I2C Master interrupt enabled status.
mducrocq	0:11a51c9ebb09	1730	* @param enabled New interrupt enabled status
mducrocq	0:11a51c9ebb09	1731	* @see getIntI2CMasterEnabled()
mducrocq	0:11a51c9ebb09	1732	* @see MPU6050_RA_INT_ENABLE
mducrocq	0:11a51c9ebb09	1733	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
mducrocq	0:11a51c9ebb09	1734	**/
mducrocq	0:11a51c9ebb09	1735	void MPU6050::setIntI2CMasterEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	1736	{
mducrocq	0:11a51c9ebb09	1737	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
mducrocq	0:11a51c9ebb09	1738	}
mducrocq	0:11a51c9ebb09	1739	/** Get Data Ready interrupt enabled setting.
mducrocq	0:11a51c9ebb09	1740	* This event occurs each time a write operation to all of the sensor registers
mducrocq	0:11a51c9ebb09	1741	* has been completed. Will be set 0 for disabled, 1 for enabled.
mducrocq	0:11a51c9ebb09	1742	* @return Current interrupt enabled status
mducrocq	0:11a51c9ebb09	1743	* @see MPU6050_RA_INT_ENABLE
mducrocq	0:11a51c9ebb09	1744	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
mducrocq	0:11a51c9ebb09	1745	*/
mducrocq	0:11a51c9ebb09	1746	bool MPU6050::getIntDataReadyEnabled()
mducrocq	0:11a51c9ebb09	1747	{
mducrocq	0:11a51c9ebb09	1748	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
mducrocq	0:11a51c9ebb09	1749	return buffer[0];
mducrocq	0:11a51c9ebb09	1750	}
mducrocq	0:11a51c9ebb09	1751	/** Set Data Ready interrupt enabled status.
mducrocq	0:11a51c9ebb09	1752	* @param enabled New interrupt enabled status
mducrocq	0:11a51c9ebb09	1753	* @see getIntDataReadyEnabled()
mducrocq	0:11a51c9ebb09	1754	* @see MPU6050_RA_INT_CFG
mducrocq	0:11a51c9ebb09	1755	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
mducrocq	0:11a51c9ebb09	1756	*/
mducrocq	0:11a51c9ebb09	1757	void MPU6050::setIntDataReadyEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	1758	{
mducrocq	0:11a51c9ebb09	1759	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
mducrocq	0:11a51c9ebb09	1760	}
mducrocq	0:11a51c9ebb09	1761
mducrocq	0:11a51c9ebb09	1762	// INT_STATUS register
mducrocq	0:11a51c9ebb09	1763
mducrocq	0:11a51c9ebb09	1764	/** Get full set of interrupt status bits.
mducrocq	0:11a51c9ebb09	1765	* These bits clear to 0 after the register has been read. Very useful
mducrocq	0:11a51c9ebb09	1766	* for getting multiple INT statuses, since each single bit read clears
mducrocq	0:11a51c9ebb09	1767	* all of them because it has to read the whole byte.
mducrocq	0:11a51c9ebb09	1768	* @return Current interrupt status
mducrocq	0:11a51c9ebb09	1769	* @see MPU6050_RA_INT_STATUS
mducrocq	0:11a51c9ebb09	1770	*/
mducrocq	0:11a51c9ebb09	1771	uint8_t MPU6050::getIntStatus()
mducrocq	0:11a51c9ebb09	1772	{
mducrocq	0:11a51c9ebb09	1773	i2Cdev.readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
mducrocq	0:11a51c9ebb09	1774	return buffer[0];
mducrocq	0:11a51c9ebb09	1775	}
mducrocq	0:11a51c9ebb09	1776	/** Get Free Fall interrupt status.
mducrocq	0:11a51c9ebb09	1777	* This bit automatically sets to 1 when a Free Fall interrupt has been
mducrocq	0:11a51c9ebb09	1778	* generated. The bit clears to 0 after the register has been read.
mducrocq	0:11a51c9ebb09	1779	* @return Current interrupt status
mducrocq	0:11a51c9ebb09	1780	* @see MPU6050_RA_INT_STATUS
mducrocq	0:11a51c9ebb09	1781	* @see MPU6050_INTERRUPT_FF_BIT
mducrocq	0:11a51c9ebb09	1782	*/
mducrocq	0:11a51c9ebb09	1783	bool MPU6050::getIntFreefallStatus()
mducrocq	0:11a51c9ebb09	1784	{
mducrocq	0:11a51c9ebb09	1785	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
mducrocq	0:11a51c9ebb09	1786	return buffer[0];
mducrocq	0:11a51c9ebb09	1787	}
mducrocq	0:11a51c9ebb09	1788	/** Get Motion Detection interrupt status.
mducrocq	0:11a51c9ebb09	1789	* This bit automatically sets to 1 when a Motion Detection interrupt has been
mducrocq	0:11a51c9ebb09	1790	* generated. The bit clears to 0 after the register has been read.
mducrocq	0:11a51c9ebb09	1791	* @return Current interrupt status
mducrocq	0:11a51c9ebb09	1792	* @see MPU6050_RA_INT_STATUS
mducrocq	0:11a51c9ebb09	1793	* @see MPU6050_INTERRUPT_MOT_BIT
mducrocq	0:11a51c9ebb09	1794	*/
mducrocq	0:11a51c9ebb09	1795	bool MPU6050::getIntMotionStatus()
mducrocq	0:11a51c9ebb09	1796	{
mducrocq	0:11a51c9ebb09	1797	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
mducrocq	0:11a51c9ebb09	1798	return buffer[0];
mducrocq	0:11a51c9ebb09	1799	}
mducrocq	0:11a51c9ebb09	1800	/** Get Zero Motion Detection interrupt status.
mducrocq	0:11a51c9ebb09	1801	* This bit automatically sets to 1 when a Zero Motion Detection interrupt has
mducrocq	0:11a51c9ebb09	1802	* been generated. The bit clears to 0 after the register has been read.
mducrocq	0:11a51c9ebb09	1803	* @return Current interrupt status
mducrocq	0:11a51c9ebb09	1804	* @see MPU6050_RA_INT_STATUS
mducrocq	0:11a51c9ebb09	1805	* @see MPU6050_INTERRUPT_ZMOT_BIT
mducrocq	0:11a51c9ebb09	1806	*/
mducrocq	0:11a51c9ebb09	1807	bool MPU6050::getIntZeroMotionStatus()
mducrocq	0:11a51c9ebb09	1808	{
mducrocq	0:11a51c9ebb09	1809	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
mducrocq	0:11a51c9ebb09	1810	return buffer[0];
mducrocq	0:11a51c9ebb09	1811	}
mducrocq	0:11a51c9ebb09	1812	/** Get FIFO Buffer Overflow interrupt status.
mducrocq	0:11a51c9ebb09	1813	* This bit automatically sets to 1 when a Free Fall interrupt has been
mducrocq	0:11a51c9ebb09	1814	* generated. The bit clears to 0 after the register has been read.
mducrocq	0:11a51c9ebb09	1815	* @return Current interrupt status
mducrocq	0:11a51c9ebb09	1816	* @see MPU6050_RA_INT_STATUS
mducrocq	0:11a51c9ebb09	1817	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
mducrocq	0:11a51c9ebb09	1818	*/
mducrocq	0:11a51c9ebb09	1819	bool MPU6050::getIntFIFOBufferOverflowStatus()
mducrocq	0:11a51c9ebb09	1820	{
mducrocq	0:11a51c9ebb09	1821	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
mducrocq	0:11a51c9ebb09	1822	return buffer[0];
mducrocq	0:11a51c9ebb09	1823	}
mducrocq	0:11a51c9ebb09	1824	/** Get I2C Master interrupt status.
mducrocq	0:11a51c9ebb09	1825	* This bit automatically sets to 1 when an I2C Master interrupt has been
mducrocq	0:11a51c9ebb09	1826	* generated. For a list of I2C Master interrupts, please refer to Register 54.
mducrocq	0:11a51c9ebb09	1827	* The bit clears to 0 after the register has been read.
mducrocq	0:11a51c9ebb09	1828	* @return Current interrupt status
mducrocq	0:11a51c9ebb09	1829	* @see MPU6050_RA_INT_STATUS
mducrocq	0:11a51c9ebb09	1830	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
mducrocq	0:11a51c9ebb09	1831	*/
mducrocq	0:11a51c9ebb09	1832	bool MPU6050::getIntI2CMasterStatus()
mducrocq	0:11a51c9ebb09	1833	{
mducrocq	0:11a51c9ebb09	1834	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
mducrocq	0:11a51c9ebb09	1835	return buffer[0];
mducrocq	0:11a51c9ebb09	1836	}
mducrocq	0:11a51c9ebb09	1837	/** Get Data Ready interrupt status.
mducrocq	0:11a51c9ebb09	1838	* This bit automatically sets to 1 when a Data Ready interrupt has been
mducrocq	0:11a51c9ebb09	1839	* generated. The bit clears to 0 after the register has been read.
mducrocq	0:11a51c9ebb09	1840	* @return Current interrupt status
mducrocq	0:11a51c9ebb09	1841	* @see MPU6050_RA_INT_STATUS
mducrocq	0:11a51c9ebb09	1842	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
mducrocq	0:11a51c9ebb09	1843	*/
mducrocq	0:11a51c9ebb09	1844	bool MPU6050::getIntDataReadyStatus()
mducrocq	0:11a51c9ebb09	1845	{
mducrocq	0:11a51c9ebb09	1846	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
mducrocq	0:11a51c9ebb09	1847	return buffer[0];
mducrocq	0:11a51c9ebb09	1848	}
mducrocq	0:11a51c9ebb09	1849
mducrocq	0:11a51c9ebb09	1850	// ACCEL_OUT_ registers
mducrocq	0:11a51c9ebb09	1851
mducrocq	0:11a51c9ebb09	1852	/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
mducrocq	0:11a51c9ebb09	1853	* FUNCTION NOT FULLY IMPLEMENTED YET.
mducrocq	0:11a51c9ebb09	1854	* @param ax 16-bit signed integer container for accelerometer X-axis value
mducrocq	0:11a51c9ebb09	1855	* @param ay 16-bit signed integer container for accelerometer Y-axis value
mducrocq	0:11a51c9ebb09	1856	* @param az 16-bit signed integer container for accelerometer Z-axis value
mducrocq	0:11a51c9ebb09	1857	* @param gx 16-bit signed integer container for gyroscope X-axis value
mducrocq	0:11a51c9ebb09	1858	* @param gy 16-bit signed integer container for gyroscope Y-axis value
mducrocq	0:11a51c9ebb09	1859	* @param gz 16-bit signed integer container for gyroscope Z-axis value
mducrocq	0:11a51c9ebb09	1860	* @param mx 16-bit signed integer container for magnetometer X-axis value
mducrocq	0:11a51c9ebb09	1861	* @param my 16-bit signed integer container for magnetometer Y-axis value
mducrocq	0:11a51c9ebb09	1862	* @param mz 16-bit signed integer container for magnetometer Z-axis value
mducrocq	0:11a51c9ebb09	1863	* @see getMotion6()
mducrocq	0:11a51c9ebb09	1864	* @see getAcceleration()
mducrocq	0:11a51c9ebb09	1865	* @see getRotation()
mducrocq	0:11a51c9ebb09	1866	* @see MPU6050_RA_ACCEL_XOUT_H
mducrocq	0:11a51c9ebb09	1867	*/
mducrocq	0:11a51c9ebb09	1868	void MPU6050::getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz)
mducrocq	0:11a51c9ebb09	1869	{
mducrocq	0:11a51c9ebb09	1870	getMotion6(ax, ay, az, gx, gy, gz);
mducrocq	0:11a51c9ebb09	1871	// TODO: magnetometer integration
mducrocq	0:11a51c9ebb09	1872	}
mducrocq	0:11a51c9ebb09	1873	/** Get raw 6-axis motion sensor readings (accel/gyro).
mducrocq	0:11a51c9ebb09	1874	* Retrieves all currently available motion sensor values.
mducrocq	0:11a51c9ebb09	1875	* @param ax 16-bit signed integer container for accelerometer X-axis value
mducrocq	0:11a51c9ebb09	1876	* @param ay 16-bit signed integer container for accelerometer Y-axis value
mducrocq	0:11a51c9ebb09	1877	* @param az 16-bit signed integer container for accelerometer Z-axis value
mducrocq	0:11a51c9ebb09	1878	* @param gx 16-bit signed integer container for gyroscope X-axis value
mducrocq	0:11a51c9ebb09	1879	* @param gy 16-bit signed integer container for gyroscope Y-axis value
mducrocq	0:11a51c9ebb09	1880	* @param gz 16-bit signed integer container for gyroscope Z-axis value
mducrocq	0:11a51c9ebb09	1881	* @see getAcceleration()
mducrocq	0:11a51c9ebb09	1882	* @see getRotation()
mducrocq	0:11a51c9ebb09	1883	* @see MPU6050_RA_ACCEL_XOUT_H
mducrocq	0:11a51c9ebb09	1884	*/
mducrocq	0:11a51c9ebb09	1885	void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
mducrocq	0:11a51c9ebb09	1886	{
mducrocq	0:11a51c9ebb09	1887	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
mducrocq	0:11a51c9ebb09	1888	*ax = (((int16_t)buffer[0]) << 8) \| buffer[1];
mducrocq	0:11a51c9ebb09	1889	*ay = (((int16_t)buffer[2]) << 8) \| buffer[3];
mducrocq	0:11a51c9ebb09	1890	*az = (((int16_t)buffer[4]) << 8) \| buffer[5];
mducrocq	0:11a51c9ebb09	1891	*gx = (((int16_t)buffer[8]) << 8) \| buffer[9];
mducrocq	0:11a51c9ebb09	1892	*gy = (((int16_t)buffer[10]) << 8) \| buffer[11];
mducrocq	0:11a51c9ebb09	1893	*gz = (((int16_t)buffer[12]) << 8) \| buffer[13];
mducrocq	0:11a51c9ebb09	1894	}
mducrocq	0:11a51c9ebb09	1895	/** Get 3-axis accelerometer readings.
mducrocq	0:11a51c9ebb09	1896	* These registers store the most recent accelerometer measurements.
mducrocq	0:11a51c9ebb09	1897	* Accelerometer measurements are written to these registers at the Sample Rate
mducrocq	0:11a51c9ebb09	1898	* as defined in Register 25.
mducrocq	0:11a51c9ebb09	1899	*
mducrocq	0:11a51c9ebb09	1900	* The accelerometer measurement registers, along with the temperature
mducrocq	0:11a51c9ebb09	1901	* measurement registers, gyroscope measurement registers, and external sensor
mducrocq	0:11a51c9ebb09	1902	* data registers, are composed of two sets of registers: an internal register
mducrocq	0:11a51c9ebb09	1903	* set and a user-facing read register set.
mducrocq	0:11a51c9ebb09	1904	*
mducrocq	0:11a51c9ebb09	1905	* The data within the accelerometer sensors' internal register set is always
mducrocq	0:11a51c9ebb09	1906	* updated at the Sample Rate. Meanwhile, the user-facing read register set
mducrocq	0:11a51c9ebb09	1907	* duplicates the internal register set's data values whenever the serial
mducrocq	0:11a51c9ebb09	1908	* interface is idle. This guarantees that a burst read of sensor registers will
mducrocq	0:11a51c9ebb09	1909	* read measurements from the same sampling instant. Note that if burst reads
mducrocq	0:11a51c9ebb09	1910	* are not used, the user is responsible for ensuring a set of single byte reads
mducrocq	0:11a51c9ebb09	1911	* correspond to a single sampling instant by checking the Data Ready interrupt.
mducrocq	0:11a51c9ebb09	1912	*
mducrocq	0:11a51c9ebb09	1913	* Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
mducrocq	0:11a51c9ebb09	1914	* (Register 28). For each full scale setting, the accelerometers' sensitivity
mducrocq	0:11a51c9ebb09	1915	* per LSB in ACCEL_xOUT is shown in the table below:
mducrocq	0:11a51c9ebb09	1916	*
mducrocq	0:11a51c9ebb09	1917	* <pre>
mducrocq	0:11a51c9ebb09	1918	* AFS_SEL \| Full Scale Range \| LSB Sensitivity
mducrocq	0:11a51c9ebb09	1919	* --------+------------------+----------------
mducrocq	0:11a51c9ebb09	1920	* 0 \| +/- 2g \| 8192 LSB/mg
mducrocq	0:11a51c9ebb09	1921	* 1 \| +/- 4g \| 4096 LSB/mg
mducrocq	0:11a51c9ebb09	1922	* 2 \| +/- 8g \| 2048 LSB/mg
mducrocq	0:11a51c9ebb09	1923	* 3 \| +/- 16g \| 1024 LSB/mg
mducrocq	0:11a51c9ebb09	1924	* </pre>
mducrocq	0:11a51c9ebb09	1925	*
mducrocq	0:11a51c9ebb09	1926	* @param x 16-bit signed integer container for X-axis acceleration
mducrocq	0:11a51c9ebb09	1927	* @param y 16-bit signed integer container for Y-axis acceleration
mducrocq	0:11a51c9ebb09	1928	* @param z 16-bit signed integer container for Z-axis acceleration
mducrocq	0:11a51c9ebb09	1929	* @see MPU6050_RA_GYRO_XOUT_H
mducrocq	0:11a51c9ebb09	1930	*/
mducrocq	0:11a51c9ebb09	1931	void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z)
mducrocq	0:11a51c9ebb09	1932	{
mducrocq	0:11a51c9ebb09	1933	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
mducrocq	0:11a51c9ebb09	1934	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
mducrocq	0:11a51c9ebb09	1935	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
mducrocq	0:11a51c9ebb09	1936	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
mducrocq	0:11a51c9ebb09	1937	}
mducrocq	0:11a51c9ebb09	1938	/** Get X-axis accelerometer reading.
mducrocq	0:11a51c9ebb09	1939	* @return X-axis acceleration measurement in 16-bit 2's complement format
mducrocq	0:11a51c9ebb09	1940	* @see getMotion6()
mducrocq	0:11a51c9ebb09	1941	* @see MPU6050_RA_ACCEL_XOUT_H
mducrocq	0:11a51c9ebb09	1942	*/
mducrocq	0:11a51c9ebb09	1943	int16_t MPU6050::getAccelerationX()
mducrocq	0:11a51c9ebb09	1944	{
mducrocq	0:11a51c9ebb09	1945	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
mducrocq	0:11a51c9ebb09	1946	return (((int16_t)buffer[0]) << 8) \| buffer[1];
mducrocq	0:11a51c9ebb09	1947	}
mducrocq	0:11a51c9ebb09	1948	/** Get Y-axis accelerometer reading.
mducrocq	0:11a51c9ebb09	1949	* @return Y-axis acceleration measurement in 16-bit 2's complement format
mducrocq	0:11a51c9ebb09	1950	* @see getMotion6()
mducrocq	0:11a51c9ebb09	1951	* @see MPU6050_RA_ACCEL_YOUT_H
mducrocq	0:11a51c9ebb09	1952	*/
mducrocq	0:11a51c9ebb09	1953	int16_t MPU6050::getAccelerationY()
mducrocq	0:11a51c9ebb09	1954	{
mducrocq	0:11a51c9ebb09	1955	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
mducrocq	0:11a51c9ebb09	1956	return (((int16_t)buffer[0]) << 8) \| buffer[1];
mducrocq	0:11a51c9ebb09	1957	}
mducrocq	0:11a51c9ebb09	1958	/** Get Z-axis accelerometer reading.
mducrocq	0:11a51c9ebb09	1959	* @return Z-axis acceleration measurement in 16-bit 2's complement format
mducrocq	0:11a51c9ebb09	1960	* @see getMotion6()
mducrocq	0:11a51c9ebb09	1961	* @see MPU6050_RA_ACCEL_ZOUT_H
mducrocq	0:11a51c9ebb09	1962	*/
mducrocq	0:11a51c9ebb09	1963	int16_t MPU6050::getAccelerationZ()
mducrocq	0:11a51c9ebb09	1964	{
mducrocq	0:11a51c9ebb09	1965	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
mducrocq	0:11a51c9ebb09	1966	return (((int16_t)buffer[0]) << 8) \| buffer[1];
mducrocq	0:11a51c9ebb09	1967	}
mducrocq	0:11a51c9ebb09	1968
mducrocq	0:11a51c9ebb09	1969	// TEMP_OUT_* registers
mducrocq	0:11a51c9ebb09	1970
mducrocq	0:11a51c9ebb09	1971	/** Get current internal temperature.
mducrocq	0:11a51c9ebb09	1972	* @return Temperature reading in 16-bit 2's complement format
mducrocq	0:11a51c9ebb09	1973	* @see MPU6050_RA_TEMP_OUT_H
mducrocq	0:11a51c9ebb09	1974	*/
mducrocq	0:11a51c9ebb09	1975	int16_t MPU6050::getTemperature()
mducrocq	0:11a51c9ebb09	1976	{
mducrocq	0:11a51c9ebb09	1977	i2Cdev.readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
mducrocq	0:11a51c9ebb09	1978	return (((int16_t)buffer[0]) << 8) \| buffer[1];
mducrocq	0:11a51c9ebb09	1979	}
mducrocq	0:11a51c9ebb09	1980
mducrocq	0:11a51c9ebb09	1981	// GYRO_OUT_ registers
mducrocq	0:11a51c9ebb09	1982
mducrocq	0:11a51c9ebb09	1983	/** Get 3-axis gyroscope readings.
mducrocq	0:11a51c9ebb09	1984	* These gyroscope measurement registers, along with the accelerometer
mducrocq	0:11a51c9ebb09	1985	* measurement registers, temperature measurement registers, and external sensor
mducrocq	0:11a51c9ebb09	1986	* data registers, are composed of two sets of registers: an internal register
mducrocq	0:11a51c9ebb09	1987	* set and a user-facing read register set.
mducrocq	0:11a51c9ebb09	1988	* The data within the gyroscope sensors' internal register set is always
mducrocq	0:11a51c9ebb09	1989	* updated at the Sample Rate. Meanwhile, the user-facing read register set
mducrocq	0:11a51c9ebb09	1990	* duplicates the internal register set's data values whenever the serial
mducrocq	0:11a51c9ebb09	1991	* interface is idle. This guarantees that a burst read of sensor registers will
mducrocq	0:11a51c9ebb09	1992	* read measurements from the same sampling instant. Note that if burst reads
mducrocq	0:11a51c9ebb09	1993	* are not used, the user is responsible for ensuring a set of single byte reads
mducrocq	0:11a51c9ebb09	1994	* correspond to a single sampling instant by checking the Data Ready interrupt.
mducrocq	0:11a51c9ebb09	1995	*
mducrocq	0:11a51c9ebb09	1996	* Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
mducrocq	0:11a51c9ebb09	1997	* (Register 27). For each full scale setting, the gyroscopes' sensitivity per
mducrocq	0:11a51c9ebb09	1998	* LSB in GYRO_xOUT is shown in the table below:
mducrocq	0:11a51c9ebb09	1999	*
mducrocq	0:11a51c9ebb09	2000	* <pre>
mducrocq	0:11a51c9ebb09	2001	* FS_SEL \| Full Scale Range \| LSB Sensitivity
mducrocq	0:11a51c9ebb09	2002	* -------+--------------------+----------------
mducrocq	0:11a51c9ebb09	2003	* 0 \| +/- 250 degrees/s \| 131 LSB/deg/s
mducrocq	0:11a51c9ebb09	2004	* 1 \| +/- 500 degrees/s \| 65.5 LSB/deg/s
mducrocq	0:11a51c9ebb09	2005	* 2 \| +/- 1000 degrees/s \| 32.8 LSB/deg/s
mducrocq	0:11a51c9ebb09	2006	* 3 \| +/- 2000 degrees/s \| 16.4 LSB/deg/s
mducrocq	0:11a51c9ebb09	2007	* </pre>
mducrocq	0:11a51c9ebb09	2008	*
mducrocq	0:11a51c9ebb09	2009	* @param x 16-bit signed integer container for X-axis rotation
mducrocq	0:11a51c9ebb09	2010	* @param y 16-bit signed integer container for Y-axis rotation
mducrocq	0:11a51c9ebb09	2011	* @param z 16-bit signed integer container for Z-axis rotation
mducrocq	0:11a51c9ebb09	2012	* @see getMotion6()
mducrocq	0:11a51c9ebb09	2013	* @see MPU6050_RA_GYRO_XOUT_H
mducrocq	0:11a51c9ebb09	2014	*/
mducrocq	0:11a51c9ebb09	2015	void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z)
mducrocq	0:11a51c9ebb09	2016	{
mducrocq	0:11a51c9ebb09	2017	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
mducrocq	0:11a51c9ebb09	2018	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
mducrocq	0:11a51c9ebb09	2019	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
mducrocq	0:11a51c9ebb09	2020	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
mducrocq	0:11a51c9ebb09	2021	}
mducrocq	0:11a51c9ebb09	2022	/** Get X-axis gyroscope reading.
mducrocq	0:11a51c9ebb09	2023	* @return X-axis rotation measurement in 16-bit 2's complement format
mducrocq	0:11a51c9ebb09	2024	* @see getMotion6()
mducrocq	0:11a51c9ebb09	2025	* @see MPU6050_RA_GYRO_XOUT_H
mducrocq	0:11a51c9ebb09	2026	*/
mducrocq	0:11a51c9ebb09	2027	int16_t MPU6050::getRotationX()
mducrocq	0:11a51c9ebb09	2028	{
mducrocq	0:11a51c9ebb09	2029	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
mducrocq	0:11a51c9ebb09	2030	return (((int16_t)buffer[0]) << 8) \| buffer[1];
mducrocq	0:11a51c9ebb09	2031	}
mducrocq	0:11a51c9ebb09	2032	/** Get Y-axis gyroscope reading.
mducrocq	0:11a51c9ebb09	2033	* @return Y-axis rotation measurement in 16-bit 2's complement format
mducrocq	0:11a51c9ebb09	2034	* @see getMotion6()
mducrocq	0:11a51c9ebb09	2035	* @see MPU6050_RA_GYRO_YOUT_H
mducrocq	0:11a51c9ebb09	2036	*/
mducrocq	0:11a51c9ebb09	2037	int16_t MPU6050::getRotationY()
mducrocq	0:11a51c9ebb09	2038	{
mducrocq	0:11a51c9ebb09	2039	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
mducrocq	0:11a51c9ebb09	2040	return (((int16_t)buffer[0]) << 8) \| buffer[1];
mducrocq	0:11a51c9ebb09	2041	}
mducrocq	0:11a51c9ebb09	2042	/** Get Z-axis gyroscope reading.
mducrocq	0:11a51c9ebb09	2043	* @return Z-axis rotation measurement in 16-bit 2's complement format
mducrocq	0:11a51c9ebb09	2044	* @see getMotion6()
mducrocq	0:11a51c9ebb09	2045	* @see MPU6050_RA_GYRO_ZOUT_H
mducrocq	0:11a51c9ebb09	2046	*/
mducrocq	0:11a51c9ebb09	2047	int16_t MPU6050::getRotationZ()
mducrocq	0:11a51c9ebb09	2048	{
mducrocq	0:11a51c9ebb09	2049	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
mducrocq	0:11a51c9ebb09	2050	return (((int16_t)buffer[0]) << 8) \| buffer[1];
mducrocq	0:11a51c9ebb09	2051	}
mducrocq	0:11a51c9ebb09	2052
mducrocq	0:11a51c9ebb09	2053	// EXT_SENS_DATA_* registers
mducrocq	0:11a51c9ebb09	2054
mducrocq	0:11a51c9ebb09	2055	/** Read single byte from external sensor data register.
mducrocq	0:11a51c9ebb09	2056	* These registers store data read from external sensors by the Slave 0, 1, 2,
mducrocq	0:11a51c9ebb09	2057	* and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
mducrocq	0:11a51c9ebb09	2058	* I2C_SLV4_DI (Register 53).
mducrocq	0:11a51c9ebb09	2059	*
mducrocq	0:11a51c9ebb09	2060	* External sensor data is written to these registers at the Sample Rate as
mducrocq	0:11a51c9ebb09	2061	* defined in Register 25. This access rate can be reduced by using the Slave
mducrocq	0:11a51c9ebb09	2062	* Delay Enable registers (Register 103).
mducrocq	0:11a51c9ebb09	2063	*
mducrocq	0:11a51c9ebb09	2064	* External sensor data registers, along with the gyroscope measurement
mducrocq	0:11a51c9ebb09	2065	* registers, accelerometer measurement registers, and temperature measurement
mducrocq	0:11a51c9ebb09	2066	* registers, are composed of two sets of registers: an internal register set
mducrocq	0:11a51c9ebb09	2067	* and a user-facing read register set.
mducrocq	0:11a51c9ebb09	2068	*
mducrocq	0:11a51c9ebb09	2069	* The data within the external sensors' internal register set is always updated
mducrocq	0:11a51c9ebb09	2070	* at the Sample Rate (or the reduced access rate) whenever the serial interface
mducrocq	0:11a51c9ebb09	2071	* is idle. This guarantees that a burst read of sensor registers will read
mducrocq	0:11a51c9ebb09	2072	* measurements from the same sampling instant. Note that if burst reads are not
mducrocq	0:11a51c9ebb09	2073	* used, the user is responsible for ensuring a set of single byte reads
mducrocq	0:11a51c9ebb09	2074	* correspond to a single sampling instant by checking the Data Ready interrupt.
mducrocq	0:11a51c9ebb09	2075	*
mducrocq	0:11a51c9ebb09	2076	* Data is placed in these external sensor data registers according to
mducrocq	0:11a51c9ebb09	2077	* I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
mducrocq	0:11a51c9ebb09	2078	* 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
mducrocq	0:11a51c9ebb09	2079	* an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
mducrocq	0:11a51c9ebb09	2080	* defined in Register 25) or delayed rate (if specified in Register 52 and
mducrocq	0:11a51c9ebb09	2081	* 103). During each Sample cycle, slave reads are performed in order of Slave
mducrocq	0:11a51c9ebb09	2082	* number. If all slaves are enabled with more than zero bytes to be read, the
mducrocq	0:11a51c9ebb09	2083	* order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
mducrocq	0:11a51c9ebb09	2084	*
mducrocq	0:11a51c9ebb09	2085	* Each enabled slave will have EXT_SENS_DATA registers associated with it by
mducrocq	0:11a51c9ebb09	2086	* number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
mducrocq	0:11a51c9ebb09	2087	* EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
mducrocq	0:11a51c9ebb09	2088	* change the higher numbered slaves' associated registers. Furthermore, if
mducrocq	0:11a51c9ebb09	2089	* fewer total bytes are being read from the external sensors as a result of
mducrocq	0:11a51c9ebb09	2090	* such a change, then the data remaining in the registers which no longer have
mducrocq	0:11a51c9ebb09	2091	* an associated slave device (i.e. high numbered registers) will remain in
mducrocq	0:11a51c9ebb09	2092	* these previously allocated registers unless reset.
mducrocq	0:11a51c9ebb09	2093	*
mducrocq	0:11a51c9ebb09	2094	* If the sum of the read lengths of all SLVx transactions exceed the number of
mducrocq	0:11a51c9ebb09	2095	* available EXT_SENS_DATA registers, the excess bytes will be dropped. There
mducrocq	0:11a51c9ebb09	2096	* are 24 EXT_SENS_DATA registers and hence the total read lengths between all
mducrocq	0:11a51c9ebb09	2097	* the slaves cannot be greater than 24 or some bytes will be lost.
mducrocq	0:11a51c9ebb09	2098	*
mducrocq	0:11a51c9ebb09	2099	* Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
mducrocq	0:11a51c9ebb09	2100	* information regarding the characteristics of Slave 4, please refer to
mducrocq	0:11a51c9ebb09	2101	* Registers 49 to 53.
mducrocq	0:11a51c9ebb09	2102	*
mducrocq	0:11a51c9ebb09	2103	* EXAMPLE:
mducrocq	0:11a51c9ebb09	2104	* Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
mducrocq	0:11a51c9ebb09	2105	* I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
mducrocq	0:11a51c9ebb09	2106	* I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
mducrocq	0:11a51c9ebb09	2107	* through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
mducrocq	0:11a51c9ebb09	2108	* will be associated with Slave 1. If Slave 2 is enabled as well, registers
mducrocq	0:11a51c9ebb09	2109	* starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
mducrocq	0:11a51c9ebb09	2110	*
mducrocq	0:11a51c9ebb09	2111	* If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
mducrocq	0:11a51c9ebb09	2112	* registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
mducrocq	0:11a51c9ebb09	2113	* instead.
mducrocq	0:11a51c9ebb09	2114	*
mducrocq	0:11a51c9ebb09	2115	* REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
mducrocq	0:11a51c9ebb09	2116	* If a slave is disabled at any time, the space initially allocated to the
mducrocq	0:11a51c9ebb09	2117	* slave in the EXT_SENS_DATA register, will remain associated with that slave.
mducrocq	0:11a51c9ebb09	2118	* This is to avoid dynamic adjustment of the register allocation.
mducrocq	0:11a51c9ebb09	2119	*
mducrocq	0:11a51c9ebb09	2120	* The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
mducrocq	0:11a51c9ebb09	2121	* slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
mducrocq	0:11a51c9ebb09	2122	*
mducrocq	0:11a51c9ebb09	2123	* This above is also true if one of the slaves gets NACKed and stops
mducrocq	0:11a51c9ebb09	2124	* functioning.
mducrocq	0:11a51c9ebb09	2125	*
mducrocq	0:11a51c9ebb09	2126	* @param position Starting position (0-23)
mducrocq	0:11a51c9ebb09	2127	* @return Byte read from register
mducrocq	0:11a51c9ebb09	2128	*/
mducrocq	0:11a51c9ebb09	2129	uint8_t MPU6050::getExternalSensorByte(int position)
mducrocq	0:11a51c9ebb09	2130	{
mducrocq	0:11a51c9ebb09	2131	i2Cdev.readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
mducrocq	0:11a51c9ebb09	2132	return buffer[0];
mducrocq	0:11a51c9ebb09	2133	}
mducrocq	0:11a51c9ebb09	2134	/** Read word (2 bytes) from external sensor data registers.
mducrocq	0:11a51c9ebb09	2135	* @param position Starting position (0-21)
mducrocq	0:11a51c9ebb09	2136	* @return Word read from register
mducrocq	0:11a51c9ebb09	2137	* @see getExternalSensorByte()
mducrocq	0:11a51c9ebb09	2138	*/
mducrocq	0:11a51c9ebb09	2139	uint16_t MPU6050::getExternalSensorWord(int position)
mducrocq	0:11a51c9ebb09	2140	{
mducrocq	0:11a51c9ebb09	2141	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
mducrocq	0:11a51c9ebb09	2142	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
mducrocq	0:11a51c9ebb09	2143	}
mducrocq	0:11a51c9ebb09	2144	/** Read double word (4 bytes) from external sensor data registers.
mducrocq	0:11a51c9ebb09	2145	* @param position Starting position (0-20)
mducrocq	0:11a51c9ebb09	2146	* @return Double word read from registers
mducrocq	0:11a51c9ebb09	2147	* @see getExternalSensorByte()
mducrocq	0:11a51c9ebb09	2148	*/
mducrocq	0:11a51c9ebb09	2149	uint32_t MPU6050::getExternalSensorDWord(int position)
mducrocq	0:11a51c9ebb09	2150	{
mducrocq	0:11a51c9ebb09	2151	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
mducrocq	0:11a51c9ebb09	2152	return (((uint32_t)buffer[0]) << 24) \| (((uint32_t)buffer[1]) << 16) \| (((uint16_t)buffer[2]) << 8) \| buffer[3];
mducrocq	0:11a51c9ebb09	2153	}
mducrocq	0:11a51c9ebb09	2154
mducrocq	0:11a51c9ebb09	2155	// MOT_DETECT_STATUS register
mducrocq	0:11a51c9ebb09	2156
mducrocq	0:11a51c9ebb09	2157	/** Get X-axis negative motion detection interrupt status.
mducrocq	0:11a51c9ebb09	2158	* @return Motion detection status
mducrocq	0:11a51c9ebb09	2159	* @see MPU6050_RA_MOT_DETECT_STATUS
mducrocq	0:11a51c9ebb09	2160	* @see MPU6050_MOTION_MOT_XNEG_BIT
mducrocq	0:11a51c9ebb09	2161	*/
mducrocq	0:11a51c9ebb09	2162	bool MPU6050::getXNegMotionDetected()
mducrocq	0:11a51c9ebb09	2163	{
mducrocq	0:11a51c9ebb09	2164	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
mducrocq	0:11a51c9ebb09	2165	return buffer[0];
mducrocq	0:11a51c9ebb09	2166	}
mducrocq	0:11a51c9ebb09	2167	/** Get X-axis positive motion detection interrupt status.
mducrocq	0:11a51c9ebb09	2168	* @return Motion detection status
mducrocq	0:11a51c9ebb09	2169	* @see MPU6050_RA_MOT_DETECT_STATUS
mducrocq	0:11a51c9ebb09	2170	* @see MPU6050_MOTION_MOT_XPOS_BIT
mducrocq	0:11a51c9ebb09	2171	*/
mducrocq	0:11a51c9ebb09	2172	bool MPU6050::getXPosMotionDetected()
mducrocq	0:11a51c9ebb09	2173	{
mducrocq	0:11a51c9ebb09	2174	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
mducrocq	0:11a51c9ebb09	2175	return buffer[0];
mducrocq	0:11a51c9ebb09	2176	}
mducrocq	0:11a51c9ebb09	2177	/** Get Y-axis negative motion detection interrupt status.
mducrocq	0:11a51c9ebb09	2178	* @return Motion detection status
mducrocq	0:11a51c9ebb09	2179	* @see MPU6050_RA_MOT_DETECT_STATUS
mducrocq	0:11a51c9ebb09	2180	* @see MPU6050_MOTION_MOT_YNEG_BIT
mducrocq	0:11a51c9ebb09	2181	*/
mducrocq	0:11a51c9ebb09	2182	bool MPU6050::getYNegMotionDetected()
mducrocq	0:11a51c9ebb09	2183	{
mducrocq	0:11a51c9ebb09	2184	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
mducrocq	0:11a51c9ebb09	2185	return buffer[0];
mducrocq	0:11a51c9ebb09	2186	}
mducrocq	0:11a51c9ebb09	2187	/** Get Y-axis positive motion detection interrupt status.
mducrocq	0:11a51c9ebb09	2188	* @return Motion detection status
mducrocq	0:11a51c9ebb09	2189	* @see MPU6050_RA_MOT_DETECT_STATUS
mducrocq	0:11a51c9ebb09	2190	* @see MPU6050_MOTION_MOT_YPOS_BIT
mducrocq	0:11a51c9ebb09	2191	*/
mducrocq	0:11a51c9ebb09	2192	bool MPU6050::getYPosMotionDetected()
mducrocq	0:11a51c9ebb09	2193	{
mducrocq	0:11a51c9ebb09	2194	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
mducrocq	0:11a51c9ebb09	2195	return buffer[0];
mducrocq	0:11a51c9ebb09	2196	}
mducrocq	0:11a51c9ebb09	2197	/** Get Z-axis negative motion detection interrupt status.
mducrocq	0:11a51c9ebb09	2198	* @return Motion detection status
mducrocq	0:11a51c9ebb09	2199	* @see MPU6050_RA_MOT_DETECT_STATUS
mducrocq	0:11a51c9ebb09	2200	* @see MPU6050_MOTION_MOT_ZNEG_BIT
mducrocq	0:11a51c9ebb09	2201	*/
mducrocq	0:11a51c9ebb09	2202	bool MPU6050::getZNegMotionDetected()
mducrocq	0:11a51c9ebb09	2203	{
mducrocq	0:11a51c9ebb09	2204	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
mducrocq	0:11a51c9ebb09	2205	return buffer[0];
mducrocq	0:11a51c9ebb09	2206	}
mducrocq	0:11a51c9ebb09	2207	/** Get Z-axis positive motion detection interrupt status.
mducrocq	0:11a51c9ebb09	2208	* @return Motion detection status
mducrocq	0:11a51c9ebb09	2209	* @see MPU6050_RA_MOT_DETECT_STATUS
mducrocq	0:11a51c9ebb09	2210	* @see MPU6050_MOTION_MOT_ZPOS_BIT
mducrocq	0:11a51c9ebb09	2211	*/
mducrocq	0:11a51c9ebb09	2212	bool MPU6050::getZPosMotionDetected()
mducrocq	0:11a51c9ebb09	2213	{
mducrocq	0:11a51c9ebb09	2214	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
mducrocq	0:11a51c9ebb09	2215	return buffer[0];
mducrocq	0:11a51c9ebb09	2216	}
mducrocq	0:11a51c9ebb09	2217	/** Get zero motion detection interrupt status.
mducrocq	0:11a51c9ebb09	2218	* @return Motion detection status
mducrocq	0:11a51c9ebb09	2219	* @see MPU6050_RA_MOT_DETECT_STATUS
mducrocq	0:11a51c9ebb09	2220	* @see MPU6050_MOTION_MOT_ZRMOT_BIT
mducrocq	0:11a51c9ebb09	2221	*/
mducrocq	0:11a51c9ebb09	2222	bool MPU6050::getZeroMotionDetected()
mducrocq	0:11a51c9ebb09	2223	{
mducrocq	0:11a51c9ebb09	2224	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
mducrocq	0:11a51c9ebb09	2225	return buffer[0];
mducrocq	0:11a51c9ebb09	2226	}
mducrocq	0:11a51c9ebb09	2227
mducrocq	0:11a51c9ebb09	2228	// I2C_SLV*_DO register
mducrocq	0:11a51c9ebb09	2229
mducrocq	0:11a51c9ebb09	2230	/** Write byte to Data Output container for specified slave.
mducrocq	0:11a51c9ebb09	2231	* This register holds the output data written into Slave when Slave is set to
mducrocq	0:11a51c9ebb09	2232	* write mode. For further information regarding Slave control, please
mducrocq	0:11a51c9ebb09	2233	* refer to Registers 37 to 39 and immediately following.
mducrocq	0:11a51c9ebb09	2234	* @param num Slave number (0-3)
mducrocq	0:11a51c9ebb09	2235	* @param data Byte to write
mducrocq	0:11a51c9ebb09	2236	* @see MPU6050_RA_I2C_SLV0_DO
mducrocq	0:11a51c9ebb09	2237	*/
mducrocq	0:11a51c9ebb09	2238	void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data)
mducrocq	0:11a51c9ebb09	2239	{
mducrocq	0:11a51c9ebb09	2240	if (num > 3) return;
mducrocq	0:11a51c9ebb09	2241	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
mducrocq	0:11a51c9ebb09	2242	}
mducrocq	0:11a51c9ebb09	2243
mducrocq	0:11a51c9ebb09	2244	// I2C_MST_DELAY_CTRL register
mducrocq	0:11a51c9ebb09	2245
mducrocq	0:11a51c9ebb09	2246	/** Get external data shadow delay enabled status.
mducrocq	0:11a51c9ebb09	2247	* This register is used to specify the timing of external sensor data
mducrocq	0:11a51c9ebb09	2248	* shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
mducrocq	0:11a51c9ebb09	2249	* sensor data is delayed until all data has been received.
mducrocq	0:11a51c9ebb09	2250	* @return Current external data shadow delay enabled status.
mducrocq	0:11a51c9ebb09	2251	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
mducrocq	0:11a51c9ebb09	2252	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
mducrocq	0:11a51c9ebb09	2253	*/
mducrocq	0:11a51c9ebb09	2254	bool MPU6050::getExternalShadowDelayEnabled()
mducrocq	0:11a51c9ebb09	2255	{
mducrocq	0:11a51c9ebb09	2256	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
mducrocq	0:11a51c9ebb09	2257	return buffer[0];
mducrocq	0:11a51c9ebb09	2258	}
mducrocq	0:11a51c9ebb09	2259	/** Set external data shadow delay enabled status.
mducrocq	0:11a51c9ebb09	2260	* @param enabled New external data shadow delay enabled status.
mducrocq	0:11a51c9ebb09	2261	* @see getExternalShadowDelayEnabled()
mducrocq	0:11a51c9ebb09	2262	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
mducrocq	0:11a51c9ebb09	2263	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
mducrocq	0:11a51c9ebb09	2264	*/
mducrocq	0:11a51c9ebb09	2265	void MPU6050::setExternalShadowDelayEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	2266	{
mducrocq	0:11a51c9ebb09	2267	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
mducrocq	0:11a51c9ebb09	2268	}
mducrocq	0:11a51c9ebb09	2269	/** Get slave delay enabled status.
mducrocq	0:11a51c9ebb09	2270	* When a particular slave delay is enabled, the rate of access for the that
mducrocq	0:11a51c9ebb09	2271	* slave device is reduced. When a slave's access rate is decreased relative to
mducrocq	0:11a51c9ebb09	2272	* the Sample Rate, the slave is accessed every:
mducrocq	0:11a51c9ebb09	2273	*
mducrocq	0:11a51c9ebb09	2274	* 1 / (1 + I2C_MST_DLY) Samples
mducrocq	0:11a51c9ebb09	2275	*
mducrocq	0:11a51c9ebb09	2276	* This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25)
mducrocq	0:11a51c9ebb09	2277	* and DLPF_CFG (register 26).
mducrocq	0:11a51c9ebb09	2278	*
mducrocq	0:11a51c9ebb09	2279	* For further information regarding I2C_MST_DLY, please refer to register 52.
mducrocq	0:11a51c9ebb09	2280	* For further information regarding the Sample Rate, please refer to register 25.
mducrocq	0:11a51c9ebb09	2281	*
mducrocq	0:11a51c9ebb09	2282	* @param num Slave number (0-4)
mducrocq	0:11a51c9ebb09	2283	* @return Current slave delay enabled status.
mducrocq	0:11a51c9ebb09	2284	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
mducrocq	0:11a51c9ebb09	2285	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
mducrocq	0:11a51c9ebb09	2286	*/
mducrocq	0:11a51c9ebb09	2287	bool MPU6050::getSlaveDelayEnabled(uint8_t num)
mducrocq	0:11a51c9ebb09	2288	{
mducrocq	0:11a51c9ebb09	2289	// MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
mducrocq	0:11a51c9ebb09	2290	if (num > 4) return 0;
mducrocq	0:11a51c9ebb09	2291	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
mducrocq	0:11a51c9ebb09	2292	return buffer[0];
mducrocq	0:11a51c9ebb09	2293	}
mducrocq	0:11a51c9ebb09	2294	/** Set slave delay enabled status.
mducrocq	0:11a51c9ebb09	2295	* @param num Slave number (0-4)
mducrocq	0:11a51c9ebb09	2296	* @param enabled New slave delay enabled status.
mducrocq	0:11a51c9ebb09	2297	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
mducrocq	0:11a51c9ebb09	2298	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
mducrocq	0:11a51c9ebb09	2299	*/
mducrocq	0:11a51c9ebb09	2300	void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled)
mducrocq	0:11a51c9ebb09	2301	{
mducrocq	0:11a51c9ebb09	2302	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
mducrocq	0:11a51c9ebb09	2303	}
mducrocq	0:11a51c9ebb09	2304
mducrocq	0:11a51c9ebb09	2305	// SIGNAL_PATH_RESET register
mducrocq	0:11a51c9ebb09	2306
mducrocq	0:11a51c9ebb09	2307	/** Reset gyroscope signal path.
mducrocq	0:11a51c9ebb09	2308	* The reset will revert the signal path analog to digital converters and
mducrocq	0:11a51c9ebb09	2309	* filters to their power up configurations.
mducrocq	0:11a51c9ebb09	2310	* @see MPU6050_RA_SIGNAL_PATH_RESET
mducrocq	0:11a51c9ebb09	2311	* @see MPU6050_PATHRESET_GYRO_RESET_BIT
mducrocq	0:11a51c9ebb09	2312	*/
mducrocq	0:11a51c9ebb09	2313	void MPU6050::resetGyroscopePath()
mducrocq	0:11a51c9ebb09	2314	{
mducrocq	0:11a51c9ebb09	2315	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
mducrocq	0:11a51c9ebb09	2316	}
mducrocq	0:11a51c9ebb09	2317	/** Reset accelerometer signal path.
mducrocq	0:11a51c9ebb09	2318	* The reset will revert the signal path analog to digital converters and
mducrocq	0:11a51c9ebb09	2319	* filters to their power up configurations.
mducrocq	0:11a51c9ebb09	2320	* @see MPU6050_RA_SIGNAL_PATH_RESET
mducrocq	0:11a51c9ebb09	2321	* @see MPU6050_PATHRESET_ACCEL_RESET_BIT
mducrocq	0:11a51c9ebb09	2322	*/
mducrocq	0:11a51c9ebb09	2323	void MPU6050::resetAccelerometerPath()
mducrocq	0:11a51c9ebb09	2324	{
mducrocq	0:11a51c9ebb09	2325	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
mducrocq	0:11a51c9ebb09	2326	}
mducrocq	0:11a51c9ebb09	2327	/** Reset temperature sensor signal path.
mducrocq	0:11a51c9ebb09	2328	* The reset will revert the signal path analog to digital converters and
mducrocq	0:11a51c9ebb09	2329	* filters to their power up configurations.
mducrocq	0:11a51c9ebb09	2330	* @see MPU6050_RA_SIGNAL_PATH_RESET
mducrocq	0:11a51c9ebb09	2331	* @see MPU6050_PATHRESET_TEMP_RESET_BIT
mducrocq	0:11a51c9ebb09	2332	*/
mducrocq	0:11a51c9ebb09	2333	void MPU6050::resetTemperaturePath()
mducrocq	0:11a51c9ebb09	2334	{
mducrocq	0:11a51c9ebb09	2335	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
mducrocq	0:11a51c9ebb09	2336	}
mducrocq	0:11a51c9ebb09	2337
mducrocq	0:11a51c9ebb09	2338	// MOT_DETECT_CTRL register
mducrocq	0:11a51c9ebb09	2339
mducrocq	0:11a51c9ebb09	2340	/** Get accelerometer power-on delay.
mducrocq	0:11a51c9ebb09	2341	* The accelerometer data path provides samples to the sensor registers, Motion
mducrocq	0:11a51c9ebb09	2342	* detection, Zero Motion detection, and Free Fall detection modules. The
mducrocq	0:11a51c9ebb09	2343	* signal path contains filters which must be flushed on wake-up with new
mducrocq	0:11a51c9ebb09	2344	* samples before the detection modules begin operations. The default wake-up
mducrocq	0:11a51c9ebb09	2345	* delay, of 4ms can be lengthened by up to 3ms. This additional delay is
mducrocq	0:11a51c9ebb09	2346	* specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
mducrocq	0:11a51c9ebb09	2347	* any value above zero unless instructed otherwise by InvenSense. Please refer
mducrocq	0:11a51c9ebb09	2348	* to Section 8 of the MPU-6000/MPU-6050 Product Specification document for
mducrocq	0:11a51c9ebb09	2349	* further information regarding the detection modules.
mducrocq	0:11a51c9ebb09	2350	* @return Current accelerometer power-on delay
mducrocq	0:11a51c9ebb09	2351	* @see MPU6050_RA_MOT_DETECT_CTRL
mducrocq	0:11a51c9ebb09	2352	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
mducrocq	0:11a51c9ebb09	2353	*/
mducrocq	0:11a51c9ebb09	2354	uint8_t MPU6050::getAccelerometerPowerOnDelay()
mducrocq	0:11a51c9ebb09	2355	{
mducrocq	0:11a51c9ebb09	2356	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
mducrocq	0:11a51c9ebb09	2357	return buffer[0];
mducrocq	0:11a51c9ebb09	2358	}
mducrocq	0:11a51c9ebb09	2359	/** Set accelerometer power-on delay.
mducrocq	0:11a51c9ebb09	2360	* @param delay New accelerometer power-on delay (0-3)
mducrocq	0:11a51c9ebb09	2361	* @see getAccelerometerPowerOnDelay()
mducrocq	0:11a51c9ebb09	2362	* @see MPU6050_RA_MOT_DETECT_CTRL
mducrocq	0:11a51c9ebb09	2363	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
mducrocq	0:11a51c9ebb09	2364	*/
mducrocq	0:11a51c9ebb09	2365	void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay)
mducrocq	0:11a51c9ebb09	2366	{
mducrocq	0:11a51c9ebb09	2367	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
mducrocq	0:11a51c9ebb09	2368	}
mducrocq	0:11a51c9ebb09	2369	/** Get Free Fall detection counter decrement configuration.
mducrocq	0:11a51c9ebb09	2370	* Detection is registered by the Free Fall detection module after accelerometer
mducrocq	0:11a51c9ebb09	2371	* measurements meet their respective threshold conditions over a specified
mducrocq	0:11a51c9ebb09	2372	* number of samples. When the threshold conditions are met, the corresponding
mducrocq	0:11a51c9ebb09	2373	* detection counter increments by 1. The user may control the rate at which the
mducrocq	0:11a51c9ebb09	2374	* detection counter decrements when the threshold condition is not met by
mducrocq	0:11a51c9ebb09	2375	* configuring FF_COUNT. The decrement rate can be set according to the
mducrocq	0:11a51c9ebb09	2376	* following table:
mducrocq	0:11a51c9ebb09	2377	*
mducrocq	0:11a51c9ebb09	2378	* <pre>
mducrocq	0:11a51c9ebb09	2379	* FF_COUNT \| Counter Decrement
mducrocq	0:11a51c9ebb09	2380	* ---------+------------------
mducrocq	0:11a51c9ebb09	2381	* 0 \| Reset
mducrocq	0:11a51c9ebb09	2382	* 1 \| 1
mducrocq	0:11a51c9ebb09	2383	* 2 \| 2
mducrocq	0:11a51c9ebb09	2384	* 3 \| 4
mducrocq	0:11a51c9ebb09	2385	* </pre>
mducrocq	0:11a51c9ebb09	2386	*
mducrocq	0:11a51c9ebb09	2387	* When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
mducrocq	0:11a51c9ebb09	2388	* reset the counter to 0. For further information on Free Fall detection,
mducrocq	0:11a51c9ebb09	2389	* please refer to Registers 29 to 32.
mducrocq	0:11a51c9ebb09	2390	*
mducrocq	0:11a51c9ebb09	2391	* @return Current decrement configuration
mducrocq	0:11a51c9ebb09	2392	* @see MPU6050_RA_MOT_DETECT_CTRL
mducrocq	0:11a51c9ebb09	2393	* @see MPU6050_DETECT_FF_COUNT_BIT
mducrocq	0:11a51c9ebb09	2394	*/
mducrocq	0:11a51c9ebb09	2395	uint8_t MPU6050::getFreefallDetectionCounterDecrement()
mducrocq	0:11a51c9ebb09	2396	{
mducrocq	0:11a51c9ebb09	2397	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
mducrocq	0:11a51c9ebb09	2398	return buffer[0];
mducrocq	0:11a51c9ebb09	2399	}
mducrocq	0:11a51c9ebb09	2400	/** Set Free Fall detection counter decrement configuration.
mducrocq	0:11a51c9ebb09	2401	* @param decrement New decrement configuration value
mducrocq	0:11a51c9ebb09	2402	* @see getFreefallDetectionCounterDecrement()
mducrocq	0:11a51c9ebb09	2403	* @see MPU6050_RA_MOT_DETECT_CTRL
mducrocq	0:11a51c9ebb09	2404	* @see MPU6050_DETECT_FF_COUNT_BIT
mducrocq	0:11a51c9ebb09	2405	*/
mducrocq	0:11a51c9ebb09	2406	void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement)
mducrocq	0:11a51c9ebb09	2407	{
mducrocq	0:11a51c9ebb09	2408	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
mducrocq	0:11a51c9ebb09	2409	}
mducrocq	0:11a51c9ebb09	2410	/** Get Motion detection counter decrement configuration.
mducrocq	0:11a51c9ebb09	2411	* Detection is registered by the Motion detection module after accelerometer
mducrocq	0:11a51c9ebb09	2412	* measurements meet their respective threshold conditions over a specified
mducrocq	0:11a51c9ebb09	2413	* number of samples. When the threshold conditions are met, the corresponding
mducrocq	0:11a51c9ebb09	2414	* detection counter increments by 1. The user may control the rate at which the
mducrocq	0:11a51c9ebb09	2415	* detection counter decrements when the threshold condition is not met by
mducrocq	0:11a51c9ebb09	2416	* configuring MOT_COUNT. The decrement rate can be set according to the
mducrocq	0:11a51c9ebb09	2417	* following table:
mducrocq	0:11a51c9ebb09	2418	*
mducrocq	0:11a51c9ebb09	2419	* <pre>
mducrocq	0:11a51c9ebb09	2420	* MOT_COUNT \| Counter Decrement
mducrocq	0:11a51c9ebb09	2421	* ----------+------------------
mducrocq	0:11a51c9ebb09	2422	* 0 \| Reset
mducrocq	0:11a51c9ebb09	2423	* 1 \| 1
mducrocq	0:11a51c9ebb09	2424	* 2 \| 2
mducrocq	0:11a51c9ebb09	2425	* 3 \| 4
mducrocq	0:11a51c9ebb09	2426	* </pre>
mducrocq	0:11a51c9ebb09	2427	*
mducrocq	0:11a51c9ebb09	2428	* When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
mducrocq	0:11a51c9ebb09	2429	* reset the counter to 0. For further information on Motion detection,
mducrocq	0:11a51c9ebb09	2430	* please refer to Registers 29 to 32.
mducrocq	0:11a51c9ebb09	2431	*
mducrocq	0:11a51c9ebb09	2432	*/
mducrocq	0:11a51c9ebb09	2433	uint8_t MPU6050::getMotionDetectionCounterDecrement()
mducrocq	0:11a51c9ebb09	2434	{
mducrocq	0:11a51c9ebb09	2435	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
mducrocq	0:11a51c9ebb09	2436	return buffer[0];
mducrocq	0:11a51c9ebb09	2437	}
mducrocq	0:11a51c9ebb09	2438	/** Set Motion detection counter decrement configuration.
mducrocq	0:11a51c9ebb09	2439	* @param decrement New decrement configuration value
mducrocq	0:11a51c9ebb09	2440	* @see getMotionDetectionCounterDecrement()
mducrocq	0:11a51c9ebb09	2441	* @see MPU6050_RA_MOT_DETECT_CTRL
mducrocq	0:11a51c9ebb09	2442	* @see MPU6050_DETECT_MOT_COUNT_BIT
mducrocq	0:11a51c9ebb09	2443	*/
mducrocq	0:11a51c9ebb09	2444	void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement)
mducrocq	0:11a51c9ebb09	2445	{
mducrocq	0:11a51c9ebb09	2446	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
mducrocq	0:11a51c9ebb09	2447	}
mducrocq	0:11a51c9ebb09	2448
mducrocq	0:11a51c9ebb09	2449	// USER_CTRL register
mducrocq	0:11a51c9ebb09	2450
mducrocq	0:11a51c9ebb09	2451	/** Get FIFO enabled status.
mducrocq	0:11a51c9ebb09	2452	* When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
mducrocq	0:11a51c9ebb09	2453	* cannot be written to or read from while disabled. The FIFO buffer's state
mducrocq	0:11a51c9ebb09	2454	* does not change unless the MPU-60X0 is power cycled.
mducrocq	0:11a51c9ebb09	2455	* @return Current FIFO enabled status
mducrocq	0:11a51c9ebb09	2456	* @see MPU6050_RA_USER_CTRL
mducrocq	0:11a51c9ebb09	2457	* @see MPU6050_USERCTRL_FIFO_EN_BIT
mducrocq	0:11a51c9ebb09	2458	*/
mducrocq	0:11a51c9ebb09	2459	bool MPU6050::getFIFOEnabled()
mducrocq	0:11a51c9ebb09	2460	{
mducrocq	0:11a51c9ebb09	2461	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
mducrocq	0:11a51c9ebb09	2462	return buffer[0];
mducrocq	0:11a51c9ebb09	2463	}
mducrocq	0:11a51c9ebb09	2464	/** Set FIFO enabled status.
mducrocq	0:11a51c9ebb09	2465	* @param enabled New FIFO enabled status
mducrocq	0:11a51c9ebb09	2466	* @see getFIFOEnabled()
mducrocq	0:11a51c9ebb09	2467	* @see MPU6050_RA_USER_CTRL
mducrocq	0:11a51c9ebb09	2468	* @see MPU6050_USERCTRL_FIFO_EN_BIT
mducrocq	0:11a51c9ebb09	2469	*/
mducrocq	0:11a51c9ebb09	2470	void MPU6050::setFIFOEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	2471	{
mducrocq	0:11a51c9ebb09	2472	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
mducrocq	0:11a51c9ebb09	2473	}
mducrocq	0:11a51c9ebb09	2474	/** Get I2C Master Mode enabled status.
mducrocq	0:11a51c9ebb09	2475	* When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
mducrocq	0:11a51c9ebb09	2476	* external sensor slave devices on the auxiliary I2C bus. When this bit is
mducrocq	0:11a51c9ebb09	2477	* cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
mducrocq	0:11a51c9ebb09	2478	* driven by the primary I2C bus (SDA and SCL). This is a precondition to
mducrocq	0:11a51c9ebb09	2479	* enabling Bypass Mode. For further information regarding Bypass Mode, please
mducrocq	0:11a51c9ebb09	2480	* refer to Register 55.
mducrocq	0:11a51c9ebb09	2481	* @return Current I2C Master Mode enabled status
mducrocq	0:11a51c9ebb09	2482	* @see MPU6050_RA_USER_CTRL
mducrocq	0:11a51c9ebb09	2483	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
mducrocq	0:11a51c9ebb09	2484	*/
mducrocq	0:11a51c9ebb09	2485	bool MPU6050::getI2CMasterModeEnabled()
mducrocq	0:11a51c9ebb09	2486	{
mducrocq	0:11a51c9ebb09	2487	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
mducrocq	0:11a51c9ebb09	2488	return buffer[0];
mducrocq	0:11a51c9ebb09	2489	}
mducrocq	0:11a51c9ebb09	2490	/** Set I2C Master Mode enabled status.
mducrocq	0:11a51c9ebb09	2491	* @param enabled New I2C Master Mode enabled status
mducrocq	0:11a51c9ebb09	2492	* @see getI2CMasterModeEnabled()
mducrocq	0:11a51c9ebb09	2493	* @see MPU6050_RA_USER_CTRL
mducrocq	0:11a51c9ebb09	2494	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
mducrocq	0:11a51c9ebb09	2495	*/
mducrocq	0:11a51c9ebb09	2496	void MPU6050::setI2CMasterModeEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	2497	{
mducrocq	0:11a51c9ebb09	2498	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
mducrocq	0:11a51c9ebb09	2499	}
mducrocq	0:11a51c9ebb09	2500	/** Switch from I2C to SPI mode (MPU-6000 only)
mducrocq	0:11a51c9ebb09	2501	* If this is set, the primary SPI interface will be enabled in place of the
mducrocq	0:11a51c9ebb09	2502	* disabled primary I2C interface.
mducrocq	0:11a51c9ebb09	2503	*/
mducrocq	0:11a51c9ebb09	2504	void MPU6050::switchSPIEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	2505	{
mducrocq	0:11a51c9ebb09	2506	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
mducrocq	0:11a51c9ebb09	2507	}
mducrocq	0:11a51c9ebb09	2508	/** Reset the FIFO.
mducrocq	0:11a51c9ebb09	2509	* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
mducrocq	0:11a51c9ebb09	2510	* bit automatically clears to 0 after the reset has been triggered.
mducrocq	0:11a51c9ebb09	2511	* @see MPU6050_RA_USER_CTRL
mducrocq	0:11a51c9ebb09	2512	* @see MPU6050_USERCTRL_FIFO_RESET_BIT
mducrocq	0:11a51c9ebb09	2513	*/
mducrocq	0:11a51c9ebb09	2514	void MPU6050::resetFIFO()
mducrocq	0:11a51c9ebb09	2515	{
mducrocq	0:11a51c9ebb09	2516	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
mducrocq	0:11a51c9ebb09	2517	}
mducrocq	0:11a51c9ebb09	2518	/** Reset the I2C Master.
mducrocq	0:11a51c9ebb09	2519	* This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
mducrocq	0:11a51c9ebb09	2520	* This bit automatically clears to 0 after the reset has been triggered.
mducrocq	0:11a51c9ebb09	2521	* @see MPU6050_RA_USER_CTRL
mducrocq	0:11a51c9ebb09	2522	* @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
mducrocq	0:11a51c9ebb09	2523	*/
mducrocq	0:11a51c9ebb09	2524	void MPU6050::resetI2CMaster()
mducrocq	0:11a51c9ebb09	2525	{
mducrocq	0:11a51c9ebb09	2526	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
mducrocq	0:11a51c9ebb09	2527	}
mducrocq	0:11a51c9ebb09	2528	/** Reset all sensor registers and signal paths.
mducrocq	0:11a51c9ebb09	2529	* When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
mducrocq	0:11a51c9ebb09	2530	* accelerometers, and temperature sensor). This operation will also clear the
mducrocq	0:11a51c9ebb09	2531	* sensor registers. This bit automatically clears to 0 after the reset has been
mducrocq	0:11a51c9ebb09	2532	* triggered.
mducrocq	0:11a51c9ebb09	2533	*
mducrocq	0:11a51c9ebb09	2534	* When resetting only the signal path (and not the sensor registers), please
mducrocq	0:11a51c9ebb09	2535	* use Register 104, SIGNAL_PATH_RESET.
mducrocq	0:11a51c9ebb09	2536	*
mducrocq	0:11a51c9ebb09	2537	* @see MPU6050_RA_USER_CTRL
mducrocq	0:11a51c9ebb09	2538	* @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
mducrocq	0:11a51c9ebb09	2539	*/
mducrocq	0:11a51c9ebb09	2540	void MPU6050::resetSensors()
mducrocq	0:11a51c9ebb09	2541	{
mducrocq	0:11a51c9ebb09	2542	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
mducrocq	0:11a51c9ebb09	2543	}
mducrocq	0:11a51c9ebb09	2544
mducrocq	0:11a51c9ebb09	2545	// PWR_MGMT_1 register
mducrocq	0:11a51c9ebb09	2546
mducrocq	0:11a51c9ebb09	2547	/** Trigger a full device reset.
mducrocq	0:11a51c9ebb09	2548	* A small delay of ~50ms may be desirable after triggering a reset.
mducrocq	0:11a51c9ebb09	2549	* @see MPU6050_RA_PWR_MGMT_1
mducrocq	0:11a51c9ebb09	2550	* @see MPU6050_PWR1_DEVICE_RESET_BIT
mducrocq	0:11a51c9ebb09	2551	*/
mducrocq	0:11a51c9ebb09	2552	void MPU6050::reset()
mducrocq	0:11a51c9ebb09	2553	{
mducrocq	0:11a51c9ebb09	2554	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
mducrocq	0:11a51c9ebb09	2555	}
mducrocq	0:11a51c9ebb09	2556	/** Get sleep mode status.
mducrocq	0:11a51c9ebb09	2557	* Setting the SLEEP bit in the register puts the device into very low power
mducrocq	0:11a51c9ebb09	2558	* sleep mode. In this mode, only the serial interface and internal registers
mducrocq	0:11a51c9ebb09	2559	* remain active, allowing for a very low standby current. Clearing this bit
mducrocq	0:11a51c9ebb09	2560	* puts the device back into normal mode. To save power, the individual standby
mducrocq	0:11a51c9ebb09	2561	* selections for each of the gyros should be used if any gyro axis is not used
mducrocq	0:11a51c9ebb09	2562	* by the application.
mducrocq	0:11a51c9ebb09	2563	* @return Current sleep mode enabled status
mducrocq	0:11a51c9ebb09	2564	* @see MPU6050_RA_PWR_MGMT_1
mducrocq	0:11a51c9ebb09	2565	* @see MPU6050_PWR1_SLEEP_BIT
mducrocq	0:11a51c9ebb09	2566	*/
mducrocq	0:11a51c9ebb09	2567	bool MPU6050::getSleepEnabled()
mducrocq	0:11a51c9ebb09	2568	{
mducrocq	0:11a51c9ebb09	2569	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
mducrocq	0:11a51c9ebb09	2570	return buffer[0];
mducrocq	0:11a51c9ebb09	2571	}
mducrocq	0:11a51c9ebb09	2572	/** Set sleep mode status.
mducrocq	0:11a51c9ebb09	2573	* @param enabled New sleep mode enabled status
mducrocq	0:11a51c9ebb09	2574	* @see getSleepEnabled()
mducrocq	0:11a51c9ebb09	2575	* @see MPU6050_RA_PWR_MGMT_1
mducrocq	0:11a51c9ebb09	2576	* @see MPU6050_PWR1_SLEEP_BIT
mducrocq	0:11a51c9ebb09	2577	*/
mducrocq	0:11a51c9ebb09	2578	void MPU6050::setSleepEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	2579	{
mducrocq	0:11a51c9ebb09	2580	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
mducrocq	0:11a51c9ebb09	2581	}
mducrocq	0:11a51c9ebb09	2582	/** Get wake cycle enabled status.
mducrocq	0:11a51c9ebb09	2583	* When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
mducrocq	0:11a51c9ebb09	2584	* between sleep mode and waking up to take a single sample of data from active
mducrocq	0:11a51c9ebb09	2585	* sensors at a rate determined by LP_WAKE_CTRL (register 108).
mducrocq	0:11a51c9ebb09	2586	* @return Current sleep mode enabled status
mducrocq	0:11a51c9ebb09	2587	* @see MPU6050_RA_PWR_MGMT_1
mducrocq	0:11a51c9ebb09	2588	* @see MPU6050_PWR1_CYCLE_BIT
mducrocq	0:11a51c9ebb09	2589	*/
mducrocq	0:11a51c9ebb09	2590	bool MPU6050::getWakeCycleEnabled()
mducrocq	0:11a51c9ebb09	2591	{
mducrocq	0:11a51c9ebb09	2592	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
mducrocq	0:11a51c9ebb09	2593	return buffer[0];
mducrocq	0:11a51c9ebb09	2594	}
mducrocq	0:11a51c9ebb09	2595	/** Set wake cycle enabled status.
mducrocq	0:11a51c9ebb09	2596	* @param enabled New sleep mode enabled status
mducrocq	0:11a51c9ebb09	2597	* @see getWakeCycleEnabled()
mducrocq	0:11a51c9ebb09	2598	* @see MPU6050_RA_PWR_MGMT_1
mducrocq	0:11a51c9ebb09	2599	* @see MPU6050_PWR1_CYCLE_BIT
mducrocq	0:11a51c9ebb09	2600	*/
mducrocq	0:11a51c9ebb09	2601	void MPU6050::setWakeCycleEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	2602	{
mducrocq	0:11a51c9ebb09	2603	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
mducrocq	0:11a51c9ebb09	2604	}
mducrocq	0:11a51c9ebb09	2605	/** Get temperature sensor enabled status.
mducrocq	0:11a51c9ebb09	2606	* Control the usage of the internal temperature sensor.
mducrocq	0:11a51c9ebb09	2607	*
mducrocq	0:11a51c9ebb09	2608	* Note: this register stores the disabled value, but for consistency with the
mducrocq	0:11a51c9ebb09	2609	* rest of the code, the function is named and used with standard true/false
mducrocq	0:11a51c9ebb09	2610	* values to indicate whether the sensor is enabled or disabled, respectively.
mducrocq	0:11a51c9ebb09	2611	*
mducrocq	0:11a51c9ebb09	2612	* @return Current temperature sensor enabled status
mducrocq	0:11a51c9ebb09	2613	* @see MPU6050_RA_PWR_MGMT_1
mducrocq	0:11a51c9ebb09	2614	* @see MPU6050_PWR1_TEMP_DIS_BIT
mducrocq	0:11a51c9ebb09	2615	*/
mducrocq	0:11a51c9ebb09	2616	bool MPU6050::getTempSensorEnabled()
mducrocq	0:11a51c9ebb09	2617	{
mducrocq	0:11a51c9ebb09	2618	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
mducrocq	0:11a51c9ebb09	2619	return buffer[0] == 0; // 1 is actually disabled here
mducrocq	0:11a51c9ebb09	2620	}
mducrocq	0:11a51c9ebb09	2621	/** Set temperature sensor enabled status.
mducrocq	0:11a51c9ebb09	2622	* Note: this register stores the disabled value, but for consistency with the
mducrocq	0:11a51c9ebb09	2623	* rest of the code, the function is named and used with standard true/false
mducrocq	0:11a51c9ebb09	2624	* values to indicate whether the sensor is enabled or disabled, respectively.
mducrocq	0:11a51c9ebb09	2625	*
mducrocq	0:11a51c9ebb09	2626	* @param enabled New temperature sensor enabled status
mducrocq	0:11a51c9ebb09	2627	* @see getTempSensorEnabled()
mducrocq	0:11a51c9ebb09	2628	* @see MPU6050_RA_PWR_MGMT_1
mducrocq	0:11a51c9ebb09	2629	* @see MPU6050_PWR1_TEMP_DIS_BIT
mducrocq	0:11a51c9ebb09	2630	*/
mducrocq	0:11a51c9ebb09	2631	void MPU6050::setTempSensorEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	2632	{
mducrocq	0:11a51c9ebb09	2633	// 1 is actually disabled here
mducrocq	0:11a51c9ebb09	2634	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
mducrocq	0:11a51c9ebb09	2635	}
mducrocq	0:11a51c9ebb09	2636	/** Get clock source setting.
mducrocq	0:11a51c9ebb09	2637	* @return Current clock source setting
mducrocq	0:11a51c9ebb09	2638	* @see MPU6050_RA_PWR_MGMT_1
mducrocq	0:11a51c9ebb09	2639	* @see MPU6050_PWR1_CLKSEL_BIT
mducrocq	0:11a51c9ebb09	2640	* @see MPU6050_PWR1_CLKSEL_LENGTH
mducrocq	0:11a51c9ebb09	2641	*/
mducrocq	0:11a51c9ebb09	2642	uint8_t MPU6050::getClockSource()
mducrocq	0:11a51c9ebb09	2643	{
mducrocq	0:11a51c9ebb09	2644	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
mducrocq	0:11a51c9ebb09	2645	return buffer[0];
mducrocq	0:11a51c9ebb09	2646	}
mducrocq	0:11a51c9ebb09	2647	/** Set clock source setting.
mducrocq	0:11a51c9ebb09	2648	* An internal 8MHz oscillator, gyroscope based clock, or external sources can
mducrocq	0:11a51c9ebb09	2649	* be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
mducrocq	0:11a51c9ebb09	2650	* or an external source is chosen as the clock source, the MPU-60X0 can operate
mducrocq	0:11a51c9ebb09	2651	* in low power modes with the gyroscopes disabled.
mducrocq	0:11a51c9ebb09	2652	*
mducrocq	0:11a51c9ebb09	2653	* Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
mducrocq	0:11a51c9ebb09	2654	* However, it is highly recommended that the device be configured to use one of
mducrocq	0:11a51c9ebb09	2655	* the gyroscopes (or an external clock source) as the clock reference for
mducrocq	0:11a51c9ebb09	2656	* improved stability. The clock source can be selected according to the following table:
mducrocq	0:11a51c9ebb09	2657	*
mducrocq	0:11a51c9ebb09	2658	* <pre>
mducrocq	0:11a51c9ebb09	2659	* CLK_SEL \| Clock Source
mducrocq	0:11a51c9ebb09	2660	* --------+--------------------------------------
mducrocq	0:11a51c9ebb09	2661	* 0 \| Internal oscillator
mducrocq	0:11a51c9ebb09	2662	* 1 \| PLL with X Gyro reference
mducrocq	0:11a51c9ebb09	2663	* 2 \| PLL with Y Gyro reference
mducrocq	0:11a51c9ebb09	2664	* 3 \| PLL with Z Gyro reference
mducrocq	0:11a51c9ebb09	2665	* 4 \| PLL with external 32.768kHz reference
mducrocq	0:11a51c9ebb09	2666	* 5 \| PLL with external 19.2MHz reference
mducrocq	0:11a51c9ebb09	2667	* 6 \| Reserved
mducrocq	0:11a51c9ebb09	2668	* 7 \| Stops the clock and keeps the timing generator in reset
mducrocq	0:11a51c9ebb09	2669	* </pre>
mducrocq	0:11a51c9ebb09	2670	*
mducrocq	0:11a51c9ebb09	2671	* @param source New clock source setting
mducrocq	0:11a51c9ebb09	2672	* @see getClockSource()
mducrocq	0:11a51c9ebb09	2673	* @see MPU6050_RA_PWR_MGMT_1
mducrocq	0:11a51c9ebb09	2674	* @see MPU6050_PWR1_CLKSEL_BIT
mducrocq	0:11a51c9ebb09	2675	* @see MPU6050_PWR1_CLKSEL_LENGTH
mducrocq	0:11a51c9ebb09	2676	*/
mducrocq	0:11a51c9ebb09	2677	void MPU6050::setClockSource(uint8_t source)
mducrocq	0:11a51c9ebb09	2678	{
mducrocq	0:11a51c9ebb09	2679	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
mducrocq	0:11a51c9ebb09	2680	}
mducrocq	0:11a51c9ebb09	2681
mducrocq	0:11a51c9ebb09	2682	// PWR_MGMT_2 register
mducrocq	0:11a51c9ebb09	2683
mducrocq	0:11a51c9ebb09	2684	/** Get wake frequency in Accel-Only Low Power Mode.
mducrocq	0:11a51c9ebb09	2685	* The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
mducrocq	0:11a51c9ebb09	2686	* PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
mducrocq	0:11a51c9ebb09	2687	* the device will power off all devices except for the primary I2C interface,
mducrocq	0:11a51c9ebb09	2688	* waking only the accelerometer at fixed intervals to take a single
mducrocq	0:11a51c9ebb09	2689	* measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
mducrocq	0:11a51c9ebb09	2690	* as shown below:
mducrocq	0:11a51c9ebb09	2691	*
mducrocq	0:11a51c9ebb09	2692	* <pre>
mducrocq	0:11a51c9ebb09	2693	* LP_WAKE_CTRL \| Wake-up Frequency
mducrocq	0:11a51c9ebb09	2694	* -------------+------------------
mducrocq	0:11a51c9ebb09	2695	* 0 \| 1.25 Hz
mducrocq	0:11a51c9ebb09	2696	* 1 \| 2.5 Hz
mducrocq	0:11a51c9ebb09	2697	* 2 \| 5 Hz
mducrocq	0:11a51c9ebb09	2698	* 3 \| 10 Hz
mducrocq	0:11a51c9ebb09	2699	* <pre>
mducrocq	0:11a51c9ebb09	2700	*
mducrocq	0:11a51c9ebb09	2701	* For further information regarding the MPU-60X0's power modes, please refer to
mducrocq	0:11a51c9ebb09	2702	* Register 107.
mducrocq	0:11a51c9ebb09	2703	*
mducrocq	0:11a51c9ebb09	2704	* @return Current wake frequency
mducrocq	0:11a51c9ebb09	2705	* @see MPU6050_RA_PWR_MGMT_2
mducrocq	0:11a51c9ebb09	2706	*/
mducrocq	0:11a51c9ebb09	2707	uint8_t MPU6050::getWakeFrequency()
mducrocq	0:11a51c9ebb09	2708	{
mducrocq	0:11a51c9ebb09	2709	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
mducrocq	0:11a51c9ebb09	2710	return buffer[0];
mducrocq	0:11a51c9ebb09	2711	}
mducrocq	0:11a51c9ebb09	2712	/** Set wake frequency in Accel-Only Low Power Mode.
mducrocq	0:11a51c9ebb09	2713	* @param frequency New wake frequency
mducrocq	0:11a51c9ebb09	2714	* @see MPU6050_RA_PWR_MGMT_2
mducrocq	0:11a51c9ebb09	2715	*/
mducrocq	0:11a51c9ebb09	2716	void MPU6050::setWakeFrequency(uint8_t frequency)
mducrocq	0:11a51c9ebb09	2717	{
mducrocq	0:11a51c9ebb09	2718	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
mducrocq	0:11a51c9ebb09	2719	}
mducrocq	0:11a51c9ebb09	2720
mducrocq	0:11a51c9ebb09	2721	/** Get X-axis accelerometer standby enabled status.
mducrocq	0:11a51c9ebb09	2722	* If enabled, the X-axis will not gather or report data (or use power).
mducrocq	0:11a51c9ebb09	2723	* @return Current X-axis standby enabled status
mducrocq	0:11a51c9ebb09	2724	* @see MPU6050_RA_PWR_MGMT_2
mducrocq	0:11a51c9ebb09	2725	* @see MPU6050_PWR2_STBY_XA_BIT
mducrocq	0:11a51c9ebb09	2726	*/
mducrocq	0:11a51c9ebb09	2727	bool MPU6050::getStandbyXAccelEnabled()
mducrocq	0:11a51c9ebb09	2728	{
mducrocq	0:11a51c9ebb09	2729	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
mducrocq	0:11a51c9ebb09	2730	return buffer[0];
mducrocq	0:11a51c9ebb09	2731	}
mducrocq	0:11a51c9ebb09	2732	/** Set X-axis accelerometer standby enabled status.
mducrocq	0:11a51c9ebb09	2733	* @param New X-axis standby enabled status
mducrocq	0:11a51c9ebb09	2734	* @see getStandbyXAccelEnabled()
mducrocq	0:11a51c9ebb09	2735	* @see MPU6050_RA_PWR_MGMT_2
mducrocq	0:11a51c9ebb09	2736	* @see MPU6050_PWR2_STBY_XA_BIT
mducrocq	0:11a51c9ebb09	2737	*/
mducrocq	0:11a51c9ebb09	2738	void MPU6050::setStandbyXAccelEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	2739	{
mducrocq	0:11a51c9ebb09	2740	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
mducrocq	0:11a51c9ebb09	2741	}
mducrocq	0:11a51c9ebb09	2742	/** Get Y-axis accelerometer standby enabled status.
mducrocq	0:11a51c9ebb09	2743	* If enabled, the Y-axis will not gather or report data (or use power).
mducrocq	0:11a51c9ebb09	2744	* @return Current Y-axis standby enabled status
mducrocq	0:11a51c9ebb09	2745	* @see MPU6050_RA_PWR_MGMT_2
mducrocq	0:11a51c9ebb09	2746	* @see MPU6050_PWR2_STBY_YA_BIT
mducrocq	0:11a51c9ebb09	2747	*/
mducrocq	0:11a51c9ebb09	2748	bool MPU6050::getStandbyYAccelEnabled()
mducrocq	0:11a51c9ebb09	2749	{
mducrocq	0:11a51c9ebb09	2750	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
mducrocq	0:11a51c9ebb09	2751	return buffer[0];
mducrocq	0:11a51c9ebb09	2752	}
mducrocq	0:11a51c9ebb09	2753	/** Set Y-axis accelerometer standby enabled status.
mducrocq	0:11a51c9ebb09	2754	* @param New Y-axis standby enabled status
mducrocq	0:11a51c9ebb09	2755	* @see getStandbyYAccelEnabled()
mducrocq	0:11a51c9ebb09	2756	* @see MPU6050_RA_PWR_MGMT_2
mducrocq	0:11a51c9ebb09	2757	* @see MPU6050_PWR2_STBY_YA_BIT
mducrocq	0:11a51c9ebb09	2758	*/
mducrocq	0:11a51c9ebb09	2759	void MPU6050::setStandbyYAccelEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	2760	{
mducrocq	0:11a51c9ebb09	2761	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
mducrocq	0:11a51c9ebb09	2762	}
mducrocq	0:11a51c9ebb09	2763	/** Get Z-axis accelerometer standby enabled status.
mducrocq	0:11a51c9ebb09	2764	* If enabled, the Z-axis will not gather or report data (or use power).
mducrocq	0:11a51c9ebb09	2765	* @return Current Z-axis standby enabled status
mducrocq	0:11a51c9ebb09	2766	* @see MPU6050_RA_PWR_MGMT_2
mducrocq	0:11a51c9ebb09	2767	* @see MPU6050_PWR2_STBY_ZA_BIT
mducrocq	0:11a51c9ebb09	2768	*/
mducrocq	0:11a51c9ebb09	2769	bool MPU6050::getStandbyZAccelEnabled()
mducrocq	0:11a51c9ebb09	2770	{
mducrocq	0:11a51c9ebb09	2771	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
mducrocq	0:11a51c9ebb09	2772	return buffer[0];
mducrocq	0:11a51c9ebb09	2773	}
mducrocq	0:11a51c9ebb09	2774	/** Set Z-axis accelerometer standby enabled status.
mducrocq	0:11a51c9ebb09	2775	* @param New Z-axis standby enabled status
mducrocq	0:11a51c9ebb09	2776	* @see getStandbyZAccelEnabled()
mducrocq	0:11a51c9ebb09	2777	* @see MPU6050_RA_PWR_MGMT_2
mducrocq	0:11a51c9ebb09	2778	* @see MPU6050_PWR2_STBY_ZA_BIT
mducrocq	0:11a51c9ebb09	2779	*/
mducrocq	0:11a51c9ebb09	2780	void MPU6050::setStandbyZAccelEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	2781	{
mducrocq	0:11a51c9ebb09	2782	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
mducrocq	0:11a51c9ebb09	2783	}
mducrocq	0:11a51c9ebb09	2784	/** Get X-axis gyroscope standby enabled status.
mducrocq	0:11a51c9ebb09	2785	* If enabled, the X-axis will not gather or report data (or use power).
mducrocq	0:11a51c9ebb09	2786	* @return Current X-axis standby enabled status
mducrocq	0:11a51c9ebb09	2787	* @see MPU6050_RA_PWR_MGMT_2
mducrocq	0:11a51c9ebb09	2788	* @see MPU6050_PWR2_STBY_XG_BIT
mducrocq	0:11a51c9ebb09	2789	*/
mducrocq	0:11a51c9ebb09	2790	bool MPU6050::getStandbyXGyroEnabled()
mducrocq	0:11a51c9ebb09	2791	{
mducrocq	0:11a51c9ebb09	2792	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
mducrocq	0:11a51c9ebb09	2793	return buffer[0];
mducrocq	0:11a51c9ebb09	2794	}
mducrocq	0:11a51c9ebb09	2795	/** Set X-axis gyroscope standby enabled status.
mducrocq	0:11a51c9ebb09	2796	* @param New X-axis standby enabled status
mducrocq	0:11a51c9ebb09	2797	* @see getStandbyXGyroEnabled()
mducrocq	0:11a51c9ebb09	2798	* @see MPU6050_RA_PWR_MGMT_2
mducrocq	0:11a51c9ebb09	2799	* @see MPU6050_PWR2_STBY_XG_BIT
mducrocq	0:11a51c9ebb09	2800	*/
mducrocq	0:11a51c9ebb09	2801	void MPU6050::setStandbyXGyroEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	2802	{
mducrocq	0:11a51c9ebb09	2803	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
mducrocq	0:11a51c9ebb09	2804	}
mducrocq	0:11a51c9ebb09	2805	/** Get Y-axis gyroscope standby enabled status.
mducrocq	0:11a51c9ebb09	2806	* If enabled, the Y-axis will not gather or report data (or use power).
mducrocq	0:11a51c9ebb09	2807	* @return Current Y-axis standby enabled status
mducrocq	0:11a51c9ebb09	2808	* @see MPU6050_RA_PWR_MGMT_2
mducrocq	0:11a51c9ebb09	2809	* @see MPU6050_PWR2_STBY_YG_BIT
mducrocq	0:11a51c9ebb09	2810	*/
mducrocq	0:11a51c9ebb09	2811	bool MPU6050::getStandbyYGyroEnabled()
mducrocq	0:11a51c9ebb09	2812	{
mducrocq	0:11a51c9ebb09	2813	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
mducrocq	0:11a51c9ebb09	2814	return buffer[0];
mducrocq	0:11a51c9ebb09	2815	}
mducrocq	0:11a51c9ebb09	2816	/** Set Y-axis gyroscope standby enabled status.
mducrocq	0:11a51c9ebb09	2817	* @param New Y-axis standby enabled status
mducrocq	0:11a51c9ebb09	2818	* @see getStandbyYGyroEnabled()
mducrocq	0:11a51c9ebb09	2819	* @see MPU6050_RA_PWR_MGMT_2
mducrocq	0:11a51c9ebb09	2820	* @see MPU6050_PWR2_STBY_YG_BIT
mducrocq	0:11a51c9ebb09	2821	*/
mducrocq	0:11a51c9ebb09	2822	void MPU6050::setStandbyYGyroEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	2823	{
mducrocq	0:11a51c9ebb09	2824	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
mducrocq	0:11a51c9ebb09	2825	}
mducrocq	0:11a51c9ebb09	2826	/** Get Z-axis gyroscope standby enabled status.
mducrocq	0:11a51c9ebb09	2827	* If enabled, the Z-axis will not gather or report data (or use power).
mducrocq	0:11a51c9ebb09	2828	* @return Current Z-axis standby enabled status
mducrocq	0:11a51c9ebb09	2829	* @see MPU6050_RA_PWR_MGMT_2
mducrocq	0:11a51c9ebb09	2830	* @see MPU6050_PWR2_STBY_ZG_BIT
mducrocq	0:11a51c9ebb09	2831	*/
mducrocq	0:11a51c9ebb09	2832	bool MPU6050::getStandbyZGyroEnabled()
mducrocq	0:11a51c9ebb09	2833	{
mducrocq	0:11a51c9ebb09	2834	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
mducrocq	0:11a51c9ebb09	2835	return buffer[0];
mducrocq	0:11a51c9ebb09	2836	}
mducrocq	0:11a51c9ebb09	2837	/** Set Z-axis gyroscope standby enabled status.
mducrocq	0:11a51c9ebb09	2838	* @param New Z-axis standby enabled status
mducrocq	0:11a51c9ebb09	2839	* @see getStandbyZGyroEnabled()
mducrocq	0:11a51c9ebb09	2840	* @see MPU6050_RA_PWR_MGMT_2
mducrocq	0:11a51c9ebb09	2841	* @see MPU6050_PWR2_STBY_ZG_BIT
mducrocq	0:11a51c9ebb09	2842	*/
mducrocq	0:11a51c9ebb09	2843	void MPU6050::setStandbyZGyroEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	2844	{
mducrocq	0:11a51c9ebb09	2845	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
mducrocq	0:11a51c9ebb09	2846	}
mducrocq	0:11a51c9ebb09	2847
mducrocq	0:11a51c9ebb09	2848	// FIFO_COUNT* registers
mducrocq	0:11a51c9ebb09	2849
mducrocq	0:11a51c9ebb09	2850	/** Get current FIFO buffer size.
mducrocq	0:11a51c9ebb09	2851	* This value indicates the number of bytes stored in the FIFO buffer. This
mducrocq	0:11a51c9ebb09	2852	* number is in turn the number of bytes that can be read from the FIFO buffer
mducrocq	0:11a51c9ebb09	2853	* and it is directly proportional to the number of samples available given the
mducrocq	0:11a51c9ebb09	2854	* set of sensor data bound to be stored in the FIFO (register 35 and 36).
mducrocq	0:11a51c9ebb09	2855	* @return Current FIFO buffer size
mducrocq	0:11a51c9ebb09	2856	*/
mducrocq	0:11a51c9ebb09	2857	uint16_t MPU6050::getFIFOCount()
mducrocq	0:11a51c9ebb09	2858	{
mducrocq	0:11a51c9ebb09	2859	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
mducrocq	0:11a51c9ebb09	2860	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
mducrocq	0:11a51c9ebb09	2861	}
mducrocq	0:11a51c9ebb09	2862
mducrocq	0:11a51c9ebb09	2863	// FIFO_R_W register
mducrocq	0:11a51c9ebb09	2864
mducrocq	0:11a51c9ebb09	2865	/** Get byte from FIFO buffer.
mducrocq	0:11a51c9ebb09	2866	* This register is used to read and write data from the FIFO buffer. Data is
mducrocq	0:11a51c9ebb09	2867	* written to the FIFO in order of register number (from lowest to highest). If
mducrocq	0:11a51c9ebb09	2868	* all the FIFO enable flags (see below) are enabled and all External Sensor
mducrocq	0:11a51c9ebb09	2869	* Data registers (Registers 73 to 96) are associated with a Slave device, the
mducrocq	0:11a51c9ebb09	2870	* contents of registers 59 through 96 will be written in order at the Sample
mducrocq	0:11a51c9ebb09	2871	* Rate.
mducrocq	0:11a51c9ebb09	2872	*
mducrocq	0:11a51c9ebb09	2873	* The contents of the sensor data registers (Registers 59 to 96) are written
mducrocq	0:11a51c9ebb09	2874	* into the FIFO buffer when their corresponding FIFO enable flags are set to 1
mducrocq	0:11a51c9ebb09	2875	* in FIFO_EN (Register 35). An additional flag for the sensor data registers
mducrocq	0:11a51c9ebb09	2876	* associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
mducrocq	0:11a51c9ebb09	2877	*
mducrocq	0:11a51c9ebb09	2878	* If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
mducrocq	0:11a51c9ebb09	2879	* automatically set to 1. This bit is located in INT_STATUS (Register 58).
mducrocq	0:11a51c9ebb09	2880	* When the FIFO buffer has overflowed, the oldest data will be lost and new
mducrocq	0:11a51c9ebb09	2881	* data will be written to the FIFO.
mducrocq	0:11a51c9ebb09	2882	*
mducrocq	0:11a51c9ebb09	2883	* If the FIFO buffer is empty, reading this register will return the last byte
mducrocq	0:11a51c9ebb09	2884	* that was previously read from the FIFO until new data is available. The user
mducrocq	0:11a51c9ebb09	2885	* should check FIFO_COUNT to ensure that the FIFO buffer is not read when
mducrocq	0:11a51c9ebb09	2886	* empty.
mducrocq	0:11a51c9ebb09	2887	*
mducrocq	0:11a51c9ebb09	2888	* @return Byte from FIFO buffer
mducrocq	0:11a51c9ebb09	2889	*/
mducrocq	0:11a51c9ebb09	2890	uint8_t MPU6050::getFIFOByte()
mducrocq	0:11a51c9ebb09	2891	{
mducrocq	0:11a51c9ebb09	2892	i2Cdev.readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
mducrocq	0:11a51c9ebb09	2893	return buffer[0];
mducrocq	0:11a51c9ebb09	2894	}
mducrocq	0:11a51c9ebb09	2895	void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length)
mducrocq	0:11a51c9ebb09	2896	{
mducrocq	0:11a51c9ebb09	2897	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
mducrocq	0:11a51c9ebb09	2898	}
mducrocq	0:11a51c9ebb09	2899	/** Write byte to FIFO buffer.
mducrocq	0:11a51c9ebb09	2900	* @see getFIFOByte()
mducrocq	0:11a51c9ebb09	2901	* @see MPU6050_RA_FIFO_R_W
mducrocq	0:11a51c9ebb09	2902	*/
mducrocq	0:11a51c9ebb09	2903	void MPU6050::setFIFOByte(uint8_t data)
mducrocq	0:11a51c9ebb09	2904	{
mducrocq	0:11a51c9ebb09	2905	i2Cdev.writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
mducrocq	0:11a51c9ebb09	2906	}
mducrocq	0:11a51c9ebb09	2907
mducrocq	0:11a51c9ebb09	2908	// WHO_AM_I register
mducrocq	0:11a51c9ebb09	2909
mducrocq	0:11a51c9ebb09	2910	/** Get Device ID.
mducrocq	0:11a51c9ebb09	2911	* This register is used to verify the identity of the device (0b110100, 0x34).
mducrocq	0:11a51c9ebb09	2912	* @return Device ID (6 bits only! should be 0x34)
mducrocq	0:11a51c9ebb09	2913	* @see MPU6050_RA_WHO_AM_I
mducrocq	0:11a51c9ebb09	2914	* @see MPU6050_WHO_AM_I_BIT
mducrocq	0:11a51c9ebb09	2915	* @see MPU6050_WHO_AM_I_LENGTH
mducrocq	0:11a51c9ebb09	2916	*/
mducrocq	0:11a51c9ebb09	2917	uint8_t MPU6050::getDeviceID()
mducrocq	0:11a51c9ebb09	2918	{
mducrocq	0:11a51c9ebb09	2919	i2Cdev.readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
mducrocq	0:11a51c9ebb09	2920	return buffer[0];
mducrocq	0:11a51c9ebb09	2921	}
mducrocq	0:11a51c9ebb09	2922	/** Set Device ID.
mducrocq	0:11a51c9ebb09	2923	* Write a new ID into the WHO_AM_I register (no idea why this should ever be
mducrocq	0:11a51c9ebb09	2924	* necessary though).
mducrocq	0:11a51c9ebb09	2925	* @param id New device ID to set.
mducrocq	0:11a51c9ebb09	2926	* @see getDeviceID()
mducrocq	0:11a51c9ebb09	2927	* @see MPU6050_RA_WHO_AM_I
mducrocq	0:11a51c9ebb09	2928	* @see MPU6050_WHO_AM_I_BIT
mducrocq	0:11a51c9ebb09	2929	* @see MPU6050_WHO_AM_I_LENGTH
mducrocq	0:11a51c9ebb09	2930	*/
mducrocq	0:11a51c9ebb09	2931	void MPU6050::setDeviceID(uint8_t id)
mducrocq	0:11a51c9ebb09	2932	{
mducrocq	0:11a51c9ebb09	2933	i2Cdev.writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
mducrocq	0:11a51c9ebb09	2934	}
mducrocq	0:11a51c9ebb09	2935
mducrocq	0:11a51c9ebb09	2936	// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
mducrocq	0:11a51c9ebb09	2937
mducrocq	0:11a51c9ebb09	2938	// XG_OFFS_TC register
mducrocq	0:11a51c9ebb09	2939
mducrocq	0:11a51c9ebb09	2940	uint8_t MPU6050::getOTPBankValid()
mducrocq	0:11a51c9ebb09	2941	{
mducrocq	0:11a51c9ebb09	2942	i2Cdev.readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
mducrocq	0:11a51c9ebb09	2943	return buffer[0];
mducrocq	0:11a51c9ebb09	2944	}
mducrocq	0:11a51c9ebb09	2945	void MPU6050::setOTPBankValid(bool enabled)
mducrocq	0:11a51c9ebb09	2946	{
mducrocq	0:11a51c9ebb09	2947	i2Cdev.writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
mducrocq	0:11a51c9ebb09	2948	}
mducrocq	0:11a51c9ebb09	2949	int8_t MPU6050::getXGyroOffset()
mducrocq	0:11a51c9ebb09	2950	{
mducrocq	0:11a51c9ebb09	2951	i2Cdev.readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
mducrocq	0:11a51c9ebb09	2952	return buffer[0];
mducrocq	0:11a51c9ebb09	2953	}
mducrocq	0:11a51c9ebb09	2954	void MPU6050::setXGyroOffset(int8_t offset)
mducrocq	0:11a51c9ebb09	2955	{
mducrocq	0:11a51c9ebb09	2956	i2Cdev.writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
mducrocq	0:11a51c9ebb09	2957	}
mducrocq	0:11a51c9ebb09	2958
mducrocq	0:11a51c9ebb09	2959	// YG_OFFS_TC register
mducrocq	0:11a51c9ebb09	2960
mducrocq	0:11a51c9ebb09	2961	int8_t MPU6050::getYGyroOffset()
mducrocq	0:11a51c9ebb09	2962	{
mducrocq	0:11a51c9ebb09	2963	i2Cdev.readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
mducrocq	0:11a51c9ebb09	2964	return buffer[0];
mducrocq	0:11a51c9ebb09	2965	}
mducrocq	0:11a51c9ebb09	2966	void MPU6050::setYGyroOffset(int8_t offset)
mducrocq	0:11a51c9ebb09	2967	{
mducrocq	0:11a51c9ebb09	2968	i2Cdev.writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
mducrocq	0:11a51c9ebb09	2969	}
mducrocq	0:11a51c9ebb09	2970
mducrocq	0:11a51c9ebb09	2971	// ZG_OFFS_TC register
mducrocq	0:11a51c9ebb09	2972
mducrocq	0:11a51c9ebb09	2973	int8_t MPU6050::getZGyroOffset()
mducrocq	0:11a51c9ebb09	2974	{
mducrocq	0:11a51c9ebb09	2975	i2Cdev.readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
mducrocq	0:11a51c9ebb09	2976	return buffer[0];
mducrocq	0:11a51c9ebb09	2977	}
mducrocq	0:11a51c9ebb09	2978	void MPU6050::setZGyroOffset(int8_t offset)
mducrocq	0:11a51c9ebb09	2979	{
mducrocq	0:11a51c9ebb09	2980	i2Cdev.writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
mducrocq	0:11a51c9ebb09	2981	}
mducrocq	0:11a51c9ebb09	2982
mducrocq	0:11a51c9ebb09	2983	// X_FINE_GAIN register
mducrocq	0:11a51c9ebb09	2984
mducrocq	0:11a51c9ebb09	2985	int8_t MPU6050::getXFineGain()
mducrocq	0:11a51c9ebb09	2986	{
mducrocq	0:11a51c9ebb09	2987	i2Cdev.readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
mducrocq	0:11a51c9ebb09	2988	return buffer[0];
mducrocq	0:11a51c9ebb09	2989	}
mducrocq	0:11a51c9ebb09	2990	void MPU6050::setXFineGain(int8_t gain)
mducrocq	0:11a51c9ebb09	2991	{
mducrocq	0:11a51c9ebb09	2992	i2Cdev.writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
mducrocq	0:11a51c9ebb09	2993	}
mducrocq	0:11a51c9ebb09	2994
mducrocq	0:11a51c9ebb09	2995	// Y_FINE_GAIN register
mducrocq	0:11a51c9ebb09	2996
mducrocq	0:11a51c9ebb09	2997	int8_t MPU6050::getYFineGain()
mducrocq	0:11a51c9ebb09	2998	{
mducrocq	0:11a51c9ebb09	2999	i2Cdev.readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
mducrocq	0:11a51c9ebb09	3000	return buffer[0];
mducrocq	0:11a51c9ebb09	3001	}
mducrocq	0:11a51c9ebb09	3002	void MPU6050::setYFineGain(int8_t gain)
mducrocq	0:11a51c9ebb09	3003	{
mducrocq	0:11a51c9ebb09	3004	i2Cdev.writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
mducrocq	0:11a51c9ebb09	3005	}
mducrocq	0:11a51c9ebb09	3006
mducrocq	0:11a51c9ebb09	3007	// Z_FINE_GAIN register
mducrocq	0:11a51c9ebb09	3008
mducrocq	0:11a51c9ebb09	3009	int8_t MPU6050::getZFineGain()
mducrocq	0:11a51c9ebb09	3010	{
mducrocq	0:11a51c9ebb09	3011	i2Cdev.readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
mducrocq	0:11a51c9ebb09	3012	return buffer[0];
mducrocq	0:11a51c9ebb09	3013	}
mducrocq	0:11a51c9ebb09	3014	void MPU6050::setZFineGain(int8_t gain)
mducrocq	0:11a51c9ebb09	3015	{
mducrocq	0:11a51c9ebb09	3016	i2Cdev.writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
mducrocq	0:11a51c9ebb09	3017	}
mducrocq	0:11a51c9ebb09	3018
mducrocq	0:11a51c9ebb09	3019	// XA_OFFS_* registers
mducrocq	0:11a51c9ebb09	3020
mducrocq	0:11a51c9ebb09	3021	int16_t MPU6050::getXAccelOffset()
mducrocq	0:11a51c9ebb09	3022	{
mducrocq	0:11a51c9ebb09	3023	i2Cdev.readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
mducrocq	0:11a51c9ebb09	3024	return (((int16_t)buffer[0]) << 8) \| buffer[1];
mducrocq	0:11a51c9ebb09	3025	}
mducrocq	0:11a51c9ebb09	3026	void MPU6050::setXAccelOffset(int16_t offset)
mducrocq	0:11a51c9ebb09	3027	{
mducrocq	0:11a51c9ebb09	3028	i2Cdev.writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
mducrocq	0:11a51c9ebb09	3029	}
mducrocq	0:11a51c9ebb09	3030
mducrocq	0:11a51c9ebb09	3031	// YA_OFFS_* register
mducrocq	0:11a51c9ebb09	3032
mducrocq	0:11a51c9ebb09	3033	int16_t MPU6050::getYAccelOffset()
mducrocq	0:11a51c9ebb09	3034	{
mducrocq	0:11a51c9ebb09	3035	i2Cdev.readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
mducrocq	0:11a51c9ebb09	3036	return (((int16_t)buffer[0]) << 8) \| buffer[1];
mducrocq	0:11a51c9ebb09	3037	}
mducrocq	0:11a51c9ebb09	3038	void MPU6050::setYAccelOffset(int16_t offset)
mducrocq	0:11a51c9ebb09	3039	{
mducrocq	0:11a51c9ebb09	3040	i2Cdev.writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
mducrocq	0:11a51c9ebb09	3041	}
mducrocq	0:11a51c9ebb09	3042
mducrocq	0:11a51c9ebb09	3043	// ZA_OFFS_* register
mducrocq	0:11a51c9ebb09	3044
mducrocq	0:11a51c9ebb09	3045	int16_t MPU6050::getZAccelOffset()
mducrocq	0:11a51c9ebb09	3046	{
mducrocq	0:11a51c9ebb09	3047	i2Cdev.readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
mducrocq	0:11a51c9ebb09	3048	return (((int16_t)buffer[0]) << 8) \| buffer[1];
mducrocq	0:11a51c9ebb09	3049	}
mducrocq	0:11a51c9ebb09	3050	void MPU6050::setZAccelOffset(int16_t offset)
mducrocq	0:11a51c9ebb09	3051	{
mducrocq	0:11a51c9ebb09	3052	i2Cdev.writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
mducrocq	0:11a51c9ebb09	3053	}
mducrocq	0:11a51c9ebb09	3054
mducrocq	0:11a51c9ebb09	3055	// XG_OFFS_USR* registers
mducrocq	0:11a51c9ebb09	3056
mducrocq	0:11a51c9ebb09	3057	int16_t MPU6050::getXGyroOffsetUser()
mducrocq	0:11a51c9ebb09	3058	{
mducrocq	0:11a51c9ebb09	3059	i2Cdev.readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
mducrocq	0:11a51c9ebb09	3060	return (((int16_t)buffer[0]) << 8) \| buffer[1];
mducrocq	0:11a51c9ebb09	3061	}
mducrocq	0:11a51c9ebb09	3062	void MPU6050::setXGyroOffsetUser(int16_t offset)
mducrocq	0:11a51c9ebb09	3063	{
mducrocq	0:11a51c9ebb09	3064	i2Cdev.writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
mducrocq	0:11a51c9ebb09	3065	}
mducrocq	0:11a51c9ebb09	3066
mducrocq	0:11a51c9ebb09	3067	// YG_OFFS_USR* register
mducrocq	0:11a51c9ebb09	3068
mducrocq	0:11a51c9ebb09	3069	int16_t MPU6050::getYGyroOffsetUser()
mducrocq	0:11a51c9ebb09	3070	{
mducrocq	0:11a51c9ebb09	3071	i2Cdev.readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
mducrocq	0:11a51c9ebb09	3072	return (((int16_t)buffer[0]) << 8) \| buffer[1];
mducrocq	0:11a51c9ebb09	3073	}
mducrocq	0:11a51c9ebb09	3074	void MPU6050::setYGyroOffsetUser(int16_t offset)
mducrocq	0:11a51c9ebb09	3075	{
mducrocq	0:11a51c9ebb09	3076	i2Cdev.writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
mducrocq	0:11a51c9ebb09	3077	}
mducrocq	0:11a51c9ebb09	3078
mducrocq	0:11a51c9ebb09	3079	// ZG_OFFS_USR* register
mducrocq	0:11a51c9ebb09	3080
mducrocq	0:11a51c9ebb09	3081	int16_t MPU6050::getZGyroOffsetUser()
mducrocq	0:11a51c9ebb09	3082	{
mducrocq	0:11a51c9ebb09	3083	i2Cdev.readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
mducrocq	0:11a51c9ebb09	3084	return (((int16_t)buffer[0]) << 8) \| buffer[1];
mducrocq	0:11a51c9ebb09	3085	}
mducrocq	0:11a51c9ebb09	3086	void MPU6050::setZGyroOffsetUser(int16_t offset)
mducrocq	0:11a51c9ebb09	3087	{
mducrocq	0:11a51c9ebb09	3088	i2Cdev.writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
mducrocq	0:11a51c9ebb09	3089	}
mducrocq	0:11a51c9ebb09	3090
mducrocq	0:11a51c9ebb09	3091	// INT_ENABLE register (DMP functions)
mducrocq	0:11a51c9ebb09	3092
mducrocq	0:11a51c9ebb09	3093	bool MPU6050::getIntPLLReadyEnabled()
mducrocq	0:11a51c9ebb09	3094	{
mducrocq	0:11a51c9ebb09	3095	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
mducrocq	0:11a51c9ebb09	3096	return buffer[0];
mducrocq	0:11a51c9ebb09	3097	}
mducrocq	0:11a51c9ebb09	3098	void MPU6050::setIntPLLReadyEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	3099	{
mducrocq	0:11a51c9ebb09	3100	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
mducrocq	0:11a51c9ebb09	3101	}
mducrocq	0:11a51c9ebb09	3102	bool MPU6050::getIntDMPEnabled()
mducrocq	0:11a51c9ebb09	3103	{
mducrocq	0:11a51c9ebb09	3104	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
mducrocq	0:11a51c9ebb09	3105	return buffer[0];
mducrocq	0:11a51c9ebb09	3106	}
mducrocq	0:11a51c9ebb09	3107	void MPU6050::setIntDMPEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	3108	{
mducrocq	0:11a51c9ebb09	3109	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
mducrocq	0:11a51c9ebb09	3110	}
mducrocq	0:11a51c9ebb09	3111
mducrocq	0:11a51c9ebb09	3112	// DMP_INT_STATUS
mducrocq	0:11a51c9ebb09	3113
mducrocq	0:11a51c9ebb09	3114	bool MPU6050::getDMPInt5Status()
mducrocq	0:11a51c9ebb09	3115	{
mducrocq	0:11a51c9ebb09	3116	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
mducrocq	0:11a51c9ebb09	3117	return buffer[0];
mducrocq	0:11a51c9ebb09	3118	}
mducrocq	0:11a51c9ebb09	3119	bool MPU6050::getDMPInt4Status()
mducrocq	0:11a51c9ebb09	3120	{
mducrocq	0:11a51c9ebb09	3121	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
mducrocq	0:11a51c9ebb09	3122	return buffer[0];
mducrocq	0:11a51c9ebb09	3123	}
mducrocq	0:11a51c9ebb09	3124	bool MPU6050::getDMPInt3Status()
mducrocq	0:11a51c9ebb09	3125	{
mducrocq	0:11a51c9ebb09	3126	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
mducrocq	0:11a51c9ebb09	3127	return buffer[0];
mducrocq	0:11a51c9ebb09	3128	}
mducrocq	0:11a51c9ebb09	3129	bool MPU6050::getDMPInt2Status()
mducrocq	0:11a51c9ebb09	3130	{
mducrocq	0:11a51c9ebb09	3131	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
mducrocq	0:11a51c9ebb09	3132	return buffer[0];
mducrocq	0:11a51c9ebb09	3133	}
mducrocq	0:11a51c9ebb09	3134	bool MPU6050::getDMPInt1Status()
mducrocq	0:11a51c9ebb09	3135	{
mducrocq	0:11a51c9ebb09	3136	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
mducrocq	0:11a51c9ebb09	3137	return buffer[0];
mducrocq	0:11a51c9ebb09	3138	}
mducrocq	0:11a51c9ebb09	3139	bool MPU6050::getDMPInt0Status()
mducrocq	0:11a51c9ebb09	3140	{
mducrocq	0:11a51c9ebb09	3141	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
mducrocq	0:11a51c9ebb09	3142	return buffer[0];
mducrocq	0:11a51c9ebb09	3143	}
mducrocq	0:11a51c9ebb09	3144
mducrocq	0:11a51c9ebb09	3145	// INT_STATUS register (DMP functions)
mducrocq	0:11a51c9ebb09	3146
mducrocq	0:11a51c9ebb09	3147	bool MPU6050::getIntPLLReadyStatus()
mducrocq	0:11a51c9ebb09	3148	{
mducrocq	0:11a51c9ebb09	3149	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
mducrocq	0:11a51c9ebb09	3150	return buffer[0];
mducrocq	0:11a51c9ebb09	3151	}
mducrocq	0:11a51c9ebb09	3152	bool MPU6050::getIntDMPStatus()
mducrocq	0:11a51c9ebb09	3153	{
mducrocq	0:11a51c9ebb09	3154	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
mducrocq	0:11a51c9ebb09	3155	return buffer[0];
mducrocq	0:11a51c9ebb09	3156	}
mducrocq	0:11a51c9ebb09	3157
mducrocq	0:11a51c9ebb09	3158	// USER_CTRL register (DMP functions)
mducrocq	0:11a51c9ebb09	3159
mducrocq	0:11a51c9ebb09	3160	bool MPU6050::getDMPEnabled()
mducrocq	0:11a51c9ebb09	3161	{
mducrocq	0:11a51c9ebb09	3162	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
mducrocq	0:11a51c9ebb09	3163	return buffer[0];
mducrocq	0:11a51c9ebb09	3164	}
mducrocq	0:11a51c9ebb09	3165	void MPU6050::setDMPEnabled(bool enabled)
mducrocq	0:11a51c9ebb09	3166	{
mducrocq	0:11a51c9ebb09	3167	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
mducrocq	0:11a51c9ebb09	3168	}
mducrocq	0:11a51c9ebb09	3169	void MPU6050::resetDMP()
mducrocq	0:11a51c9ebb09	3170	{
mducrocq	0:11a51c9ebb09	3171	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
mducrocq	0:11a51c9ebb09	3172	}
mducrocq	0:11a51c9ebb09	3173
mducrocq	0:11a51c9ebb09	3174	// BANK_SEL register
mducrocq	0:11a51c9ebb09	3175
mducrocq	0:11a51c9ebb09	3176	void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank)
mducrocq	0:11a51c9ebb09	3177	{
mducrocq	0:11a51c9ebb09	3178	bank &= 0x1F;
mducrocq	0:11a51c9ebb09	3179	if (userBank) bank \|= 0x20;
mducrocq	0:11a51c9ebb09	3180	if (prefetchEnabled) bank \|= 0x40;
mducrocq	0:11a51c9ebb09	3181	i2Cdev.writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
mducrocq	0:11a51c9ebb09	3182	}
mducrocq	0:11a51c9ebb09	3183
mducrocq	0:11a51c9ebb09	3184	// MEM_START_ADDR register
mducrocq	0:11a51c9ebb09	3185
mducrocq	0:11a51c9ebb09	3186	void MPU6050::setMemoryStartAddress(uint8_t address)
mducrocq	0:11a51c9ebb09	3187	{
mducrocq	0:11a51c9ebb09	3188	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
mducrocq	0:11a51c9ebb09	3189	}
mducrocq	0:11a51c9ebb09	3190
mducrocq	0:11a51c9ebb09	3191	// MEM_R_W register
mducrocq	0:11a51c9ebb09	3192
mducrocq	0:11a51c9ebb09	3193	uint8_t MPU6050::readMemoryByte()
mducrocq	0:11a51c9ebb09	3194	{
mducrocq	0:11a51c9ebb09	3195	i2Cdev.readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
mducrocq	0:11a51c9ebb09	3196	return buffer[0];
mducrocq	0:11a51c9ebb09	3197	}
mducrocq	0:11a51c9ebb09	3198	void MPU6050::writeMemoryByte(uint8_t data)
mducrocq	0:11a51c9ebb09	3199	{
mducrocq	0:11a51c9ebb09	3200	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
mducrocq	0:11a51c9ebb09	3201	}
mducrocq	0:11a51c9ebb09	3202	void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address)
mducrocq	0:11a51c9ebb09	3203	{
mducrocq	0:11a51c9ebb09	3204	setMemoryBank(bank);
mducrocq	0:11a51c9ebb09	3205	setMemoryStartAddress(address);
mducrocq	0:11a51c9ebb09	3206	uint8_t chunkSize;
mducrocq	0:11a51c9ebb09	3207	for (uint16_t i = 0; i < dataSize;) {
mducrocq	0:11a51c9ebb09	3208	// determine correct chunk size according to bank position and data size
mducrocq	0:11a51c9ebb09	3209	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
mducrocq	0:11a51c9ebb09	3210
mducrocq	0:11a51c9ebb09	3211	// make sure we don't go past the data size
mducrocq	0:11a51c9ebb09	3212	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
mducrocq	0:11a51c9ebb09	3213
mducrocq	0:11a51c9ebb09	3214	// make sure this chunk doesn't go past the bank boundary (256 bytes)
mducrocq	0:11a51c9ebb09	3215	if (chunkSize > 256 - address) chunkSize = 256 - address;
mducrocq	0:11a51c9ebb09	3216
mducrocq	0:11a51c9ebb09	3217	// read the chunk of data as specified
mducrocq	0:11a51c9ebb09	3218	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
mducrocq	0:11a51c9ebb09	3219
mducrocq	0:11a51c9ebb09	3220	// increase byte index by [chunkSize]
mducrocq	0:11a51c9ebb09	3221	i += chunkSize;
mducrocq	0:11a51c9ebb09	3222
mducrocq	0:11a51c9ebb09	3223	// uint8_t automatically wraps to 0 at 256
mducrocq	0:11a51c9ebb09	3224	address += chunkSize;
mducrocq	0:11a51c9ebb09	3225
mducrocq	0:11a51c9ebb09	3226	// if we aren't done, update bank (if necessary) and address
mducrocq	0:11a51c9ebb09	3227	if (i < dataSize) {
mducrocq	0:11a51c9ebb09	3228	if (address == 0) bank++;
mducrocq	0:11a51c9ebb09	3229	setMemoryBank(bank);
mducrocq	0:11a51c9ebb09	3230	setMemoryStartAddress(address);
mducrocq	0:11a51c9ebb09	3231	}
mducrocq	0:11a51c9ebb09	3232	}
mducrocq	0:11a51c9ebb09	3233	}
mducrocq	0:11a51c9ebb09	3234	bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem)
mducrocq	0:11a51c9ebb09	3235	{
mducrocq	0:11a51c9ebb09	3236	setMemoryBank(bank);
mducrocq	0:11a51c9ebb09	3237	setMemoryStartAddress(address);
mducrocq	0:11a51c9ebb09	3238	uint8_t chunkSize;
mducrocq	0:11a51c9ebb09	3239	uint8_t *verifyBuffer;
mducrocq	0:11a51c9ebb09	3240	uint8_t *progBuffer;
mducrocq	0:11a51c9ebb09	3241	uint16_t i;
mducrocq	0:11a51c9ebb09	3242	uint8_t j;
mducrocq	0:11a51c9ebb09	3243	if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
mducrocq	0:11a51c9ebb09	3244	if (useProgMem) progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
mducrocq	0:11a51c9ebb09	3245	for (i = 0; i < dataSize;) {
mducrocq	0:11a51c9ebb09	3246	// determine correct chunk size according to bank position and data size
mducrocq	0:11a51c9ebb09	3247	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
mducrocq	0:11a51c9ebb09	3248
mducrocq	0:11a51c9ebb09	3249	// make sure we don't go past the data size
mducrocq	0:11a51c9ebb09	3250	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
mducrocq	0:11a51c9ebb09	3251
mducrocq	0:11a51c9ebb09	3252	// make sure this chunk doesn't go past the bank boundary (256 bytes)
mducrocq	0:11a51c9ebb09	3253	if (chunkSize > 256 - address) chunkSize = 256 - address;
mducrocq	0:11a51c9ebb09	3254
mducrocq	0:11a51c9ebb09	3255	if (useProgMem) {
mducrocq	0:11a51c9ebb09	3256	// write the chunk of data as specified
mducrocq	0:11a51c9ebb09	3257	for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
mducrocq	0:11a51c9ebb09	3258	} else {
mducrocq	0:11a51c9ebb09	3259	// write the chunk of data as specified
mducrocq	0:11a51c9ebb09	3260	progBuffer = (uint8_t *)data + i;
mducrocq	0:11a51c9ebb09	3261	}
mducrocq	0:11a51c9ebb09	3262
mducrocq	0:11a51c9ebb09	3263	i2Cdev.writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
mducrocq	0:11a51c9ebb09	3264
mducrocq	0:11a51c9ebb09	3265	// verify data if needed
mducrocq	0:11a51c9ebb09	3266	if (verify && verifyBuffer) {
mducrocq	0:11a51c9ebb09	3267	setMemoryBank(bank);
mducrocq	0:11a51c9ebb09	3268	setMemoryStartAddress(address);
mducrocq	0:11a51c9ebb09	3269	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
mducrocq	0:11a51c9ebb09	3270	if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
mducrocq	0:11a51c9ebb09	3271	/*Serial.print("Block write verification error, bank ");
mducrocq	0:11a51c9ebb09	3272	Serial.print(bank, DEC);
mducrocq	0:11a51c9ebb09	3273	Serial.print(", address ");
mducrocq	0:11a51c9ebb09	3274	Serial.print(address, DEC);
mducrocq	0:11a51c9ebb09	3275	Serial.print("!\nExpected:");
mducrocq	0:11a51c9ebb09	3276	for (j = 0; j < chunkSize; j++) {
mducrocq	0:11a51c9ebb09	3277	Serial.print(" 0x");
mducrocq	0:11a51c9ebb09	3278	if (progBuffer[j] < 16) Serial.print("0");
mducrocq	0:11a51c9ebb09	3279	Serial.print(progBuffer[j], HEX);
mducrocq	0:11a51c9ebb09	3280	}
mducrocq	0:11a51c9ebb09	3281	Serial.print("\nReceived:");
mducrocq	0:11a51c9ebb09	3282	for (uint8_t j = 0; j < chunkSize; j++) {
mducrocq	0:11a51c9ebb09	3283	Serial.print(" 0x");
mducrocq	0:11a51c9ebb09	3284	if (verifyBuffer[i + j] < 16) Serial.print("0");
mducrocq	0:11a51c9ebb09	3285	Serial.print(verifyBuffer[i + j], HEX);
mducrocq	0:11a51c9ebb09	3286	}
mducrocq	0:11a51c9ebb09	3287	Serial.print("\n");*/
mducrocq	0:11a51c9ebb09	3288	free(verifyBuffer);
mducrocq	0:11a51c9ebb09	3289	if (useProgMem) free(progBuffer);
mducrocq	0:11a51c9ebb09	3290	return false; // uh oh.
mducrocq	0:11a51c9ebb09	3291	}
mducrocq	0:11a51c9ebb09	3292	}
mducrocq	0:11a51c9ebb09	3293
mducrocq	0:11a51c9ebb09	3294	// increase byte index by [chunkSize]
mducrocq	0:11a51c9ebb09	3295	i += chunkSize;
mducrocq	0:11a51c9ebb09	3296
mducrocq	0:11a51c9ebb09	3297	// uint8_t automatically wraps to 0 at 256
mducrocq	0:11a51c9ebb09	3298	address += chunkSize;
mducrocq	0:11a51c9ebb09	3299
mducrocq	0:11a51c9ebb09	3300	// if we aren't done, update bank (if necessary) and address
mducrocq	0:11a51c9ebb09	3301	if (i < dataSize) {
mducrocq	0:11a51c9ebb09	3302	if (address == 0) bank++;
mducrocq	0:11a51c9ebb09	3303	setMemoryBank(bank);
mducrocq	0:11a51c9ebb09	3304	setMemoryStartAddress(address);
mducrocq	0:11a51c9ebb09	3305	}
mducrocq	0:11a51c9ebb09	3306	}
mducrocq	0:11a51c9ebb09	3307	if (verify) free(verifyBuffer);
mducrocq	0:11a51c9ebb09	3308	if (useProgMem) free(progBuffer);
mducrocq	0:11a51c9ebb09	3309	return true;
mducrocq	0:11a51c9ebb09	3310	}
mducrocq	0:11a51c9ebb09	3311	bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify)
mducrocq	0:11a51c9ebb09	3312	{
mducrocq	0:11a51c9ebb09	3313	return writeMemoryBlock(data, dataSize, bank, address, verify, true);
mducrocq	0:11a51c9ebb09	3314	}
mducrocq	0:11a51c9ebb09	3315	bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem)
mducrocq	0:11a51c9ebb09	3316	{
mducrocq	0:11a51c9ebb09	3317	uint8_t *progBuffer, success, special;
mducrocq	0:11a51c9ebb09	3318	uint16_t i, j;
mducrocq	0:11a51c9ebb09	3319	if (useProgMem) {
mducrocq	0:11a51c9ebb09	3320	progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
mducrocq	0:11a51c9ebb09	3321	}
mducrocq	0:11a51c9ebb09	3322
mducrocq	0:11a51c9ebb09	3323	// config set data is a long string of blocks with the following structure:
mducrocq	0:11a51c9ebb09	3324	// [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
mducrocq	0:11a51c9ebb09	3325	uint8_t bank, offset, length;
mducrocq	0:11a51c9ebb09	3326	for (i = 0; i < dataSize;) {
mducrocq	0:11a51c9ebb09	3327	if (useProgMem) {
mducrocq	0:11a51c9ebb09	3328	bank = pgm_read_byte(data + i++);
mducrocq	0:11a51c9ebb09	3329	offset = pgm_read_byte(data + i++);
mducrocq	0:11a51c9ebb09	3330	length = pgm_read_byte(data + i++);
mducrocq	0:11a51c9ebb09	3331	} else {
mducrocq	0:11a51c9ebb09	3332	bank = data[i++];
mducrocq	0:11a51c9ebb09	3333	offset = data[i++];
mducrocq	0:11a51c9ebb09	3334	length = data[i++];
mducrocq	0:11a51c9ebb09	3335	}
mducrocq	0:11a51c9ebb09	3336
mducrocq	0:11a51c9ebb09	3337	// write data or perform special action
mducrocq	0:11a51c9ebb09	3338	if (length > 0) {
mducrocq	0:11a51c9ebb09	3339	// regular block of data to write
mducrocq	0:11a51c9ebb09	3340	/*Serial.print("Writing config block to bank ");
mducrocq	0:11a51c9ebb09	3341	Serial.print(bank);
mducrocq	0:11a51c9ebb09	3342	Serial.print(", offset ");
mducrocq	0:11a51c9ebb09	3343	Serial.print(offset);
mducrocq	0:11a51c9ebb09	3344	Serial.print(", length=");
mducrocq	0:11a51c9ebb09	3345	Serial.println(length);*/
mducrocq	0:11a51c9ebb09	3346	if (useProgMem) {
mducrocq	0:11a51c9ebb09	3347	if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length);
mducrocq	0:11a51c9ebb09	3348	for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j);
mducrocq	0:11a51c9ebb09	3349	} else {
mducrocq	0:11a51c9ebb09	3350	progBuffer = (uint8_t *)data + i;
mducrocq	0:11a51c9ebb09	3351	}
mducrocq	0:11a51c9ebb09	3352	success = writeMemoryBlock(progBuffer, length, bank, offset, true);
mducrocq	0:11a51c9ebb09	3353	i += length;
mducrocq	0:11a51c9ebb09	3354	} else {
mducrocq	0:11a51c9ebb09	3355	// special instruction
mducrocq	0:11a51c9ebb09	3356	// NOTE: this kind of behavior (what and when to do certain things)
mducrocq	0:11a51c9ebb09	3357	// is totally undocumented. This code is in here based on observed
mducrocq	0:11a51c9ebb09	3358	// behavior only, and exactly why (or even whether) it has to be here
mducrocq	0:11a51c9ebb09	3359	// is anybody's guess for now.
mducrocq	0:11a51c9ebb09	3360	if (useProgMem) {
mducrocq	0:11a51c9ebb09	3361	special = pgm_read_byte(data + i++);
mducrocq	0:11a51c9ebb09	3362	} else {
mducrocq	0:11a51c9ebb09	3363	special = data[i++];
mducrocq	0:11a51c9ebb09	3364	}
mducrocq	0:11a51c9ebb09	3365	/*Serial.print("Special command code ");
mducrocq	0:11a51c9ebb09	3366	Serial.print(special, HEX);
mducrocq	0:11a51c9ebb09	3367	Serial.println(" found...");*/
mducrocq	0:11a51c9ebb09	3368	if (special == 0x01) {
mducrocq	0:11a51c9ebb09	3369	// enable DMP-related interrupts
mducrocq	0:11a51c9ebb09	3370
mducrocq	0:11a51c9ebb09	3371	//setIntZeroMotionEnabled(true);
mducrocq	0:11a51c9ebb09	3372	//setIntFIFOBufferOverflowEnabled(true);
mducrocq	0:11a51c9ebb09	3373	//setIntDMPEnabled(true);
mducrocq	0:11a51c9ebb09	3374	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
mducrocq	0:11a51c9ebb09	3375
mducrocq	0:11a51c9ebb09	3376	success = true;
mducrocq	0:11a51c9ebb09	3377	} else {
mducrocq	0:11a51c9ebb09	3378	// unknown special command
mducrocq	0:11a51c9ebb09	3379	success = false;
mducrocq	0:11a51c9ebb09	3380	}
mducrocq	0:11a51c9ebb09	3381	}
mducrocq	0:11a51c9ebb09	3382
mducrocq	0:11a51c9ebb09	3383	if (!success) {
mducrocq	0:11a51c9ebb09	3384	if (useProgMem) free(progBuffer);
mducrocq	0:11a51c9ebb09	3385	return false; // uh oh
mducrocq	0:11a51c9ebb09	3386	}
mducrocq	0:11a51c9ebb09	3387	}
mducrocq	0:11a51c9ebb09	3388	if (useProgMem) free(progBuffer);
mducrocq	0:11a51c9ebb09	3389	return true;
mducrocq	0:11a51c9ebb09	3390	}
mducrocq	0:11a51c9ebb09	3391	bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
mducrocq	0:11a51c9ebb09	3392	{
mducrocq	0:11a51c9ebb09	3393	return writeDMPConfigurationSet(data, dataSize, false);
mducrocq	0:11a51c9ebb09	3394	}
mducrocq	0:11a51c9ebb09	3395
mducrocq	0:11a51c9ebb09	3396	// DMP_CFG_1 register
mducrocq	0:11a51c9ebb09	3397
mducrocq	0:11a51c9ebb09	3398	uint8_t MPU6050::getDMPConfig1()
mducrocq	0:11a51c9ebb09	3399	{
mducrocq	0:11a51c9ebb09	3400	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
mducrocq	0:11a51c9ebb09	3401	return buffer[0];
mducrocq	0:11a51c9ebb09	3402	}
mducrocq	0:11a51c9ebb09	3403	void MPU6050::setDMPConfig1(uint8_t config)
mducrocq	0:11a51c9ebb09	3404	{
mducrocq	0:11a51c9ebb09	3405	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
mducrocq	0:11a51c9ebb09	3406	}
mducrocq	0:11a51c9ebb09	3407
mducrocq	0:11a51c9ebb09	3408	// DMP_CFG_2 register
mducrocq	0:11a51c9ebb09	3409
mducrocq	0:11a51c9ebb09	3410	uint8_t MPU6050::getDMPConfig2()
mducrocq	0:11a51c9ebb09	3411	{
mducrocq	0:11a51c9ebb09	3412	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
mducrocq	0:11a51c9ebb09	3413	return buffer[0];
mducrocq	0:11a51c9ebb09	3414	}
mducrocq	0:11a51c9ebb09	3415	void MPU6050::setDMPConfig2(uint8_t config)
mducrocq	0:11a51c9ebb09	3416	{
mducrocq	0:11a51c9ebb09	3417	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
mducrocq	0:11a51c9ebb09	3418	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	15 Jun 2021
Imports:	2
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	2
Followers:	1

MPU6050.cpp@0:11a51c9ebb09, 2021-06-15 (annotated)

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