MPU6050.cpp

00001 //ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
00002 //written by szymon gaertig (email: szymon@gaertig.com.pl)
00003 //
00004 //Changelog:
00005 //2013-01-08 - first beta release
00006  
00007 // I2Cdev library collection - MPU6050 I2C device class
00008 // Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
00009 // 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
00010 // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
00011 //
00012 // Changelog:
00013 //     ... - ongoing debug release
00014  
00015 // NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
00016 // DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
00017 // YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
00018  
00019 /* ============================================
00020 I2Cdev device library code is placed under the MIT license
00021 Copyright (c) 2012 Jeff Rowberg
00022  
00023 Permission is hereby granted, free of charge, to any person obtaining a copy
00024 of this software and associated documentation files (the "Software"), to deal
00025 in the Software without restriction, including without limitation the rights
00026 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00027 copies of the Software, and to permit persons to whom the Software is
00028 furnished to do so, subject to the following conditions:
00029  
00030 The above copyright notice and this permission notice shall be included in
00031 all copies or substantial portions of the Software.
00032  
00033 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00034 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00035 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00036 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00037 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00038 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00039 THE SOFTWARE.
00040 ===============================================
00041 */
00042 
00043 #include "MPU6050.h"
00044 
00045 #define useDebugSerial
00046 
00047 //instead of using pgmspace.h
00048 typedef const unsigned char prog_uchar;
00049 #define pgm_read_byte_near(x) (*(prog_uchar*)(x))//<- I modified here
00050 #define pgm_read_byte(x) (*(prog_uchar*)(x))//<- I modified here
00051 
00052 /** Default constructor, uses default I2C address.
00053  * @see MPU6050_DEFAULT_ADDRESS
00054  */
00055 MPU6050::MPU6050() : debugSerial(USBTX, USBRX)
00056 {
00057     devAddr = MPU6050_DEFAULT_ADDRESS;
00058 }
00059 
00060 MPU6050::MPU6050(PinName i2cSDA, PinName i2cSCL) : i2Cdev(i2cSDA, i2cSCL), debugSerial(USBTX, USBRX)
00061 {
00062     devAddr = MPU6050_DEFAULT_ADDRESS;
00063 }
00064 
00065 /** Specific address constructor.
00066  * @param address I2C address
00067  * @see MPU6050_DEFAULT_ADDRESS
00068  * @see MPU6050_ADDRESS_AD0_LOW
00069  * @see MPU6050_ADDRESS_AD0_HIGH
00070  */
00071 MPU6050::MPU6050(uint8_t address) : debugSerial(USBTX, USBRX)
00072 {
00073     devAddr = address;
00074 }
00075 
00076 /** Power on and prepare for general usage.
00077  * This will activate the device and take it out of sleep mode (which must be done
00078  * after start-up). This function also sets both the accelerometer and the gyroscope
00079  * to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
00080  * the clock source to use the X Gyro for reference, which is slightly better than
00081  * the default internal clock source.
00082  */
00083 void MPU6050::initialize()
00084 {
00085 #ifdef useDebugSerial
00086     debugSerial.printf("MPU6050::initialize start\n");
00087 #endif
00088 
00089     setClockSource(MPU6050_CLOCK_PLL_XGYRO);
00090     setFullScaleGyroRange(MPU6050_GYRO_FS_250);
00091     setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
00092     setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
00093 
00094 #ifdef useDebugSerial
00095     debugSerial.printf("MPU6050::initialize end\n");
00096 #endif
00097 }
00098 
00099 /** Verify the I2C connection.
00100  * Make sure the device is connected and responds as expected.
00101  * @return True if connection is valid, false otherwise
00102  */
00103 bool MPU6050::testConnection()
00104 {
00105 #ifdef useDebugSerial
00106     debugSerial.printf("MPU6050::testConnection start\n");
00107 #endif
00108     uint8_t deviceId = getDeviceID();
00109 #ifdef useDebugSerial
00110     debugSerial.printf("DeviceId = %d\n",deviceId);
00111 #endif
00112     return deviceId == 0x34;
00113 }
00114 
00115 // AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
00116 
00117 /** Get the auxiliary I2C supply voltage level.
00118  * When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
00119  * 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
00120  * the MPU-6000, which does not have a VLOGIC pin.
00121  * @return I2C supply voltage level (0=VLOGIC, 1=VDD)
00122  */
00123 uint8_t MPU6050::getAuxVDDIOLevel()
00124 {
00125     i2Cdev.readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
00126     return buffer[0];
00127 }
00128 /** Set the auxiliary I2C supply voltage level.
00129  * When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
00130  * 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
00131  * the MPU-6000, which does not have a VLOGIC pin.
00132  * @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
00133  */
00134 void MPU6050::setAuxVDDIOLevel(uint8_t level)
00135 {
00136     i2Cdev.writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
00137 }
00138 
00139 // SMPLRT_DIV register
00140 
00141 /** Get gyroscope output rate divider.
00142  * The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
00143  * Motion detection, and Free Fall detection are all based on the Sample Rate.
00144  * The Sample Rate is generated by dividing the gyroscope output rate by
00145  * SMPLRT_DIV:
00146  *
00147  * Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
00148  *
00149  * where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
00150  * 7), and 1kHz when the DLPF is enabled (see Register 26).
00151  *
00152  * Note: The accelerometer output rate is 1kHz. This means that for a Sample
00153  * Rate greater than 1kHz, the same accelerometer sample may be output to the
00154  * FIFO, DMP, and sensor registers more than once.
00155  *
00156  * For a diagram of the gyroscope and accelerometer signal paths, see Section 8
00157  * of the MPU-6000/MPU-6050 Product Specification document.
00158  *
00159  * @return Current sample rate
00160  * @see MPU6050_RA_SMPLRT_DIV
00161  */
00162 uint8_t MPU6050::getRate()
00163 {
00164     i2Cdev.readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
00165     return buffer[0];
00166 }
00167 /** Set gyroscope sample rate divider.
00168  * @param rate New sample rate divider
00169  * @see getRate()
00170  * @see MPU6050_RA_SMPLRT_DIV
00171  */
00172 void MPU6050::setRate(uint8_t rate)
00173 {
00174     i2Cdev.writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
00175 }
00176 
00177 // CONFIG register
00178 
00179 /** Get external FSYNC configuration.
00180  * Configures the external Frame Synchronization (FSYNC) pin sampling. An
00181  * external signal connected to the FSYNC pin can be sampled by configuring
00182  * EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
00183  * strobes may be captured. The latched FSYNC signal will be sampled at the
00184  * Sampling Rate, as defined in register 25. After sampling, the latch will
00185  * reset to the current FSYNC signal state.
00186  *
00187  * The sampled value will be reported in place of the least significant bit in
00188  * a sensor data register determined by the value of EXT_SYNC_SET according to
00189  * the following table.
00190  *
00191  * <pre>
00192  * EXT_SYNC_SET | FSYNC Bit Location
00193  * -------------+-------------------
00194  * 0            | Input disabled
00195  * 1            | TEMP_OUT_L[0]
00196  * 2            | GYRO_XOUT_L[0]
00197  * 3            | GYRO_YOUT_L[0]
00198  * 4            | GYRO_ZOUT_L[0]
00199  * 5            | ACCEL_XOUT_L[0]
00200  * 6            | ACCEL_YOUT_L[0]
00201  * 7            | ACCEL_ZOUT_L[0]
00202  * </pre>
00203  *
00204  * @return FSYNC configuration value
00205  */
00206 uint8_t MPU6050::getExternalFrameSync()
00207 {
00208     i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
00209     return buffer[0];
00210 }
00211 /** Set external FSYNC configuration.
00212  * @see getExternalFrameSync()
00213  * @see MPU6050_RA_CONFIG
00214  * @param sync New FSYNC configuration value
00215  */
00216 void MPU6050::setExternalFrameSync(uint8_t sync)
00217 {
00218     i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
00219 }
00220 /** Get digital low-pass filter configuration.
00221  * The DLPF_CFG parameter sets the digital low pass filter configuration. It
00222  * also determines the internal sampling rate used by the device as shown in
00223  * the table below.
00224  *
00225  * Note: The accelerometer output rate is 1kHz. This means that for a Sample
00226  * Rate greater than 1kHz, the same accelerometer sample may be output to the
00227  * FIFO, DMP, and sensor registers more than once.
00228  *
00229  * <pre>
00230  *          |   ACCELEROMETER    |           GYROSCOPE
00231  * DLPF_CFG | Bandwidth | Delay  | Bandwidth | Delay  | Sample Rate
00232  * ---------+-----------+--------+-----------+--------+-------------
00233  * 0        | 260Hz     | 0ms    | 256Hz     | 0.98ms | 8kHz
00234  * 1        | 184Hz     | 2.0ms  | 188Hz     | 1.9ms  | 1kHz
00235  * 2        | 94Hz      | 3.0ms  | 98Hz      | 2.8ms  | 1kHz
00236  * 3        | 44Hz      | 4.9ms  | 42Hz      | 4.8ms  | 1kHz
00237  * 4        | 21Hz      | 8.5ms  | 20Hz      | 8.3ms  | 1kHz
00238  * 5        | 10Hz      | 13.8ms | 10Hz      | 13.4ms | 1kHz
00239  * 6        | 5Hz       | 19.0ms | 5Hz       | 18.6ms | 1kHz
00240  * 7        |   -- Reserved --   |   -- Reserved --   | Reserved
00241  * </pre>
00242  *
00243  * @return DLFP configuration
00244  * @see MPU6050_RA_CONFIG
00245  * @see MPU6050_CFG_DLPF_CFG_BIT
00246  * @see MPU6050_CFG_DLPF_CFG_LENGTH
00247  */
00248 uint8_t MPU6050::getDLPFMode()
00249 {
00250     i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
00251     return buffer[0];
00252 }
00253 /** Set digital low-pass filter configuration.
00254  * @param mode New DLFP configuration setting
00255  * @see getDLPFBandwidth()
00256  * @see MPU6050_DLPF_BW_256
00257  * @see MPU6050_RA_CONFIG
00258  * @see MPU6050_CFG_DLPF_CFG_BIT
00259  * @see MPU6050_CFG_DLPF_CFG_LENGTH
00260  */
00261 void MPU6050::setDLPFMode(uint8_t mode)
00262 {
00263     i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
00264 }
00265 
00266 // GYRO_CONFIG register
00267 
00268 /** Get full-scale gyroscope range.
00269  * The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
00270  * as described in the table below.
00271  *
00272  * <pre>
00273  * 0 = +/- 250 degrees/sec
00274  * 1 = +/- 500 degrees/sec
00275  * 2 = +/- 1000 degrees/sec
00276  * 3 = +/- 2000 degrees/sec
00277  * </pre>
00278  *
00279  * @return Current full-scale gyroscope range setting
00280  * @see MPU6050_GYRO_FS_250
00281  * @see MPU6050_RA_GYRO_CONFIG
00282  * @see MPU6050_GCONFIG_FS_SEL_BIT
00283  * @see MPU6050_GCONFIG_FS_SEL_LENGTH
00284  */
00285 uint8_t MPU6050::getFullScaleGyroRange()
00286 {
00287     i2Cdev.readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
00288     return buffer[0];
00289 }
00290 /** Set full-scale gyroscope range.
00291  * @param range New full-scale gyroscope range value
00292  * @see getFullScaleRange()
00293  * @see MPU6050_GYRO_FS_250
00294  * @see MPU6050_RA_GYRO_CONFIG
00295  * @see MPU6050_GCONFIG_FS_SEL_BIT
00296  * @see MPU6050_GCONFIG_FS_SEL_LENGTH
00297  */
00298 void MPU6050::setFullScaleGyroRange(uint8_t range)
00299 {
00300     i2Cdev.writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
00301 }
00302 
00303 // ACCEL_CONFIG register
00304 
00305 /** Get self-test enabled setting for accelerometer X axis.
00306  * @return Self-test enabled value
00307  * @see MPU6050_RA_ACCEL_CONFIG
00308  */
00309 bool MPU6050::getAccelXSelfTest()
00310 {
00311     i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
00312     return buffer[0];
00313 }
00314 /** Get self-test enabled setting for accelerometer X axis.
00315  * @param enabled Self-test enabled value
00316  * @see MPU6050_RA_ACCEL_CONFIG
00317  */
00318 void MPU6050::setAccelXSelfTest(bool enabled)
00319 {
00320     i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
00321 }
00322 /** Get self-test enabled value for accelerometer Y axis.
00323  * @return Self-test enabled value
00324  * @see MPU6050_RA_ACCEL_CONFIG
00325  */
00326 bool MPU6050::getAccelYSelfTest()
00327 {
00328     i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
00329     return buffer[0];
00330 }
00331 /** Get self-test enabled value for accelerometer Y axis.
00332  * @param enabled Self-test enabled value
00333  * @see MPU6050_RA_ACCEL_CONFIG
00334  */
00335 void MPU6050::setAccelYSelfTest(bool enabled)
00336 {
00337     i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
00338 }
00339 /** Get self-test enabled value for accelerometer Z axis.
00340  * @return Self-test enabled value
00341  * @see MPU6050_RA_ACCEL_CONFIG
00342  */
00343 bool MPU6050::getAccelZSelfTest()
00344 {
00345     i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
00346     return buffer[0];
00347 }
00348 /** Set self-test enabled value for accelerometer Z axis.
00349  * @param enabled Self-test enabled value
00350  * @see MPU6050_RA_ACCEL_CONFIG
00351  */
00352 void MPU6050::setAccelZSelfTest(bool enabled)
00353 {
00354     i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
00355 }
00356 /** Get full-scale accelerometer range.
00357  * The FS_SEL parameter allows setting the full-scale range of the accelerometer
00358  * sensors, as described in the table below.
00359  *
00360  * <pre>
00361  * 0 = +/- 2g
00362  * 1 = +/- 4g
00363  * 2 = +/- 8g
00364  * 3 = +/- 16g
00365  * </pre>
00366  *
00367  * @return Current full-scale accelerometer range setting
00368  * @see MPU6050_ACCEL_FS_2
00369  * @see MPU6050_RA_ACCEL_CONFIG
00370  * @see MPU6050_ACONFIG_AFS_SEL_BIT
00371  * @see MPU6050_ACONFIG_AFS_SEL_LENGTH
00372  */
00373 uint8_t MPU6050::getFullScaleAccelRange()
00374 {
00375     i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
00376     return buffer[0];
00377 }
00378 /** Set full-scale accelerometer range.
00379  * @param range New full-scale accelerometer range setting
00380  * @see getFullScaleAccelRange()
00381  */
00382 void MPU6050::setFullScaleAccelRange(uint8_t range)
00383 {
00384     i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
00385 }
00386 /** Get the high-pass filter configuration.
00387  * The DHPF is a filter module in the path leading to motion detectors (Free
00388  * Fall, Motion threshold, and Zero Motion). The high pass filter output is not
00389  * available to the data registers (see Figure in Section 8 of the MPU-6000/
00390  * MPU-6050 Product Specification document).
00391  *
00392  * The high pass filter has three modes:
00393  *
00394  * <pre>
00395  *    Reset: The filter output settles to zero within one sample. This
00396  *           effectively disables the high pass filter. This mode may be toggled
00397  *           to quickly settle the filter.
00398  *
00399  *    On:    The high pass filter will pass signals above the cut off frequency.
00400  *
00401  *    Hold:  When triggered, the filter holds the present sample. The filter
00402  *           output will be the difference between the input sample and the held
00403  *           sample.
00404  * </pre>
00405  *
00406  * <pre>
00407  * ACCEL_HPF | Filter Mode | Cut-off Frequency
00408  * ----------+-------------+------------------
00409  * 0         | Reset       | None
00410  * 1         | On          | 5Hz
00411  * 2         | On          | 2.5Hz
00412  * 3         | On          | 1.25Hz
00413  * 4         | On          | 0.63Hz
00414  * 7         | Hold        | None
00415  * </pre>
00416  *
00417  * @return Current high-pass filter configuration
00418  * @see MPU6050_DHPF_RESET
00419  * @see MPU6050_RA_ACCEL_CONFIG
00420  */
00421 uint8_t MPU6050::getDHPFMode()
00422 {
00423     i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
00424     return buffer[0];
00425 }
00426 /** Set the high-pass filter configuration.
00427  * @param bandwidth New high-pass filter configuration
00428  * @see setDHPFMode()
00429  * @see MPU6050_DHPF_RESET
00430  * @see MPU6050_RA_ACCEL_CONFIG
00431  */
00432 void MPU6050::setDHPFMode(uint8_t bandwidth)
00433 {
00434     i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
00435 }
00436 
00437 // FF_THR register
00438 
00439 /** Get free-fall event acceleration threshold.
00440  * This register configures the detection threshold for Free Fall event
00441  * detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
00442  * absolute value of the accelerometer measurements for the three axes are each
00443  * less than the detection threshold. This condition increments the Free Fall
00444  * duration counter (Register 30). The Free Fall interrupt is triggered when the
00445  * Free Fall duration counter reaches the time specified in FF_DUR.
00446  *
00447  * For more details on the Free Fall detection interrupt, see Section 8.2 of the
00448  * MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
00449  * 58 of this document.
00450  *
00451  * @return Current free-fall acceleration threshold value (LSB = 2mg)
00452  * @see MPU6050_RA_FF_THR
00453  */
00454 uint8_t MPU6050::getFreefallDetectionThreshold()
00455 {
00456     i2Cdev.readByte(devAddr, MPU6050_RA_FF_THR, buffer);
00457     return buffer[0];
00458 }
00459 /** Get free-fall event acceleration threshold.
00460  * @param threshold New free-fall acceleration threshold value (LSB = 2mg)
00461  * @see getFreefallDetectionThreshold()
00462  * @see MPU6050_RA_FF_THR
00463  */
00464 void MPU6050::setFreefallDetectionThreshold(uint8_t threshold)
00465 {
00466     i2Cdev.writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
00467 }
00468 
00469 // FF_DUR register
00470 
00471 /** Get free-fall event duration threshold.
00472  * This register configures the duration counter threshold for Free Fall event
00473  * detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
00474  * of 1 LSB = 1 ms.
00475  *
00476  * The Free Fall duration counter increments while the absolute value of the
00477  * accelerometer measurements are each less than the detection threshold
00478  * (Register 29). The Free Fall interrupt is triggered when the Free Fall
00479  * duration counter reaches the time specified in this register.
00480  *
00481  * For more details on the Free Fall detection interrupt, see Section 8.2 of
00482  * the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
00483  * and 58 of this document.
00484  *
00485  * @return Current free-fall duration threshold value (LSB = 1ms)
00486  * @see MPU6050_RA_FF_DUR
00487  */
00488 uint8_t MPU6050::getFreefallDetectionDuration()
00489 {
00490     i2Cdev.readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
00491     return buffer[0];
00492 }
00493 /** Get free-fall event duration threshold.
00494  * @param duration New free-fall duration threshold value (LSB = 1ms)
00495  * @see getFreefallDetectionDuration()
00496  * @see MPU6050_RA_FF_DUR
00497  */
00498 void MPU6050::setFreefallDetectionDuration(uint8_t duration)
00499 {
00500     i2Cdev.writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
00501 }
00502 
00503 // MOT_THR register
00504 
00505 /** Get motion detection event acceleration threshold.
00506  * This register configures the detection threshold for Motion interrupt
00507  * generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
00508  * absolute value of any of the accelerometer measurements exceeds this Motion
00509  * detection threshold. This condition increments the Motion detection duration
00510  * counter (Register 32). The Motion detection interrupt is triggered when the
00511  * Motion Detection counter reaches the time count specified in MOT_DUR
00512  * (Register 32).
00513  *
00514  * The Motion interrupt will indicate the axis and polarity of detected motion
00515  * in MOT_DETECT_STATUS (Register 97).
00516  *
00517  * For more details on the Motion detection interrupt, see Section 8.3 of the
00518  * MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
00519  * 58 of this document.
00520  *
00521  * @return Current motion detection acceleration threshold value (LSB = 2mg)
00522  * @see MPU6050_RA_MOT_THR
00523  */
00524 uint8_t MPU6050::getMotionDetectionThreshold()
00525 {
00526     i2Cdev.readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
00527     return buffer[0];
00528 }
00529 /** Set free-fall event acceleration threshold.
00530  * @param threshold New motion detection acceleration threshold value (LSB = 2mg)
00531  * @see getMotionDetectionThreshold()
00532  * @see MPU6050_RA_MOT_THR
00533  */
00534 void MPU6050::setMotionDetectionThreshold(uint8_t threshold)
00535 {
00536     i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
00537 }
00538 
00539 // MOT_DUR register
00540 
00541 /** Get motion detection event duration threshold.
00542  * This register configures the duration counter threshold for Motion interrupt
00543  * generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
00544  * of 1LSB = 1ms. The Motion detection duration counter increments when the
00545  * absolute value of any of the accelerometer measurements exceeds the Motion
00546  * detection threshold (Register 31). The Motion detection interrupt is
00547  * triggered when the Motion detection counter reaches the time count specified
00548  * in this register.
00549  *
00550  * For more details on the Motion detection interrupt, see Section 8.3 of the
00551  * MPU-6000/MPU-6050 Product Specification document.
00552  *
00553  * @return Current motion detection duration threshold value (LSB = 1ms)
00554  * @see MPU6050_RA_MOT_DUR
00555  */
00556 uint8_t MPU6050::getMotionDetectionDuration()
00557 {
00558     i2Cdev.readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
00559     return buffer[0];
00560 }
00561 /** Set motion detection event duration threshold.
00562  * @param duration New motion detection duration threshold value (LSB = 1ms)
00563  * @see getMotionDetectionDuration()
00564  * @see MPU6050_RA_MOT_DUR
00565  */
00566 void MPU6050::setMotionDetectionDuration(uint8_t duration)
00567 {
00568     i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
00569 }
00570 
00571 // ZRMOT_THR register
00572 
00573 /** Get zero motion detection event acceleration threshold.
00574  * This register configures the detection threshold for Zero Motion interrupt
00575  * generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
00576  * the absolute value of the accelerometer measurements for the 3 axes are each
00577  * less than the detection threshold. This condition increments the Zero Motion
00578  * duration counter (Register 34). The Zero Motion interrupt is triggered when
00579  * the Zero Motion duration counter reaches the time count specified in
00580  * ZRMOT_DUR (Register 34).
00581  *
00582  * Unlike Free Fall or Motion detection, Zero Motion detection triggers an
00583  * interrupt both when Zero Motion is first detected and when Zero Motion is no
00584  * longer detected.
00585  *
00586  * When a zero motion event is detected, a Zero Motion Status will be indicated
00587  * in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
00588  * condition is detected, the status bit is set to 1. When a zero-motion-to-
00589  * motion condition is detected, the status bit is set to 0.
00590  *
00591  * For more details on the Zero Motion detection interrupt, see Section 8.4 of
00592  * the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
00593  * and 58 of this document.
00594  *
00595  * @return Current zero motion detection acceleration threshold value (LSB = 2mg)
00596  * @see MPU6050_RA_ZRMOT_THR
00597  */
00598 uint8_t MPU6050::getZeroMotionDetectionThreshold()
00599 {
00600     i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
00601     return buffer[0];
00602 }
00603 /** Set zero motion detection event acceleration threshold.
00604  * @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
00605  * @see getZeroMotionDetectionThreshold()
00606  * @see MPU6050_RA_ZRMOT_THR
00607  */
00608 void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold)
00609 {
00610     i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
00611 }
00612 
00613 // ZRMOT_DUR register
00614 
00615 /** Get zero motion detection event duration threshold.
00616  * This register configures the duration counter threshold for Zero Motion
00617  * interrupt generation. The duration counter ticks at 16 Hz, therefore
00618  * ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
00619  * increments while the absolute value of the accelerometer measurements are
00620  * each less than the detection threshold (Register 33). The Zero Motion
00621  * interrupt is triggered when the Zero Motion duration counter reaches the time
00622  * count specified in this register.
00623  *
00624  * For more details on the Zero Motion detection interrupt, see Section 8.4 of
00625  * the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
00626  * and 58 of this document.
00627  *
00628  * @return Current zero motion detection duration threshold value (LSB = 64ms)
00629  * @see MPU6050_RA_ZRMOT_DUR
00630  */
00631 uint8_t MPU6050::getZeroMotionDetectionDuration()
00632 {
00633     i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
00634     return buffer[0];
00635 }
00636 /** Set zero motion detection event duration threshold.
00637  * @param duration New zero motion detection duration threshold value (LSB = 1ms)
00638  * @see getZeroMotionDetectionDuration()
00639  * @see MPU6050_RA_ZRMOT_DUR
00640  */
00641 void MPU6050::setZeroMotionDetectionDuration(uint8_t duration)
00642 {
00643     i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
00644 }
00645 
00646 // FIFO_EN register
00647 
00648 /** Get temperature FIFO enabled value.
00649  * When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
00650  * 66) to be written into the FIFO buffer.
00651  * @return Current temperature FIFO enabled value
00652  * @see MPU6050_RA_FIFO_EN
00653  */
00654 bool MPU6050::getTempFIFOEnabled()
00655 {
00656     i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
00657     return buffer[0];
00658 }
00659 /** Set temperature FIFO enabled value.
00660  * @param enabled New temperature FIFO enabled value
00661  * @see getTempFIFOEnabled()
00662  * @see MPU6050_RA_FIFO_EN
00663  */
00664 void MPU6050::setTempFIFOEnabled(bool enabled)
00665 {
00666     i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
00667 }
00668 /** Get gyroscope X-axis FIFO enabled value.
00669  * When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
00670  * 68) to be written into the FIFO buffer.
00671  * @return Current gyroscope X-axis FIFO enabled value
00672  * @see MPU6050_RA_FIFO_EN
00673  */
00674 bool MPU6050::getXGyroFIFOEnabled()
00675 {
00676     i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
00677     return buffer[0];
00678 }
00679 /** Set gyroscope X-axis FIFO enabled value.
00680  * @param enabled New gyroscope X-axis FIFO enabled value
00681  * @see getXGyroFIFOEnabled()
00682  * @see MPU6050_RA_FIFO_EN
00683  */
00684 void MPU6050::setXGyroFIFOEnabled(bool enabled)
00685 {
00686     i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
00687 }
00688 /** Get gyroscope Y-axis FIFO enabled value.
00689  * When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
00690  * 70) to be written into the FIFO buffer.
00691  * @return Current gyroscope Y-axis FIFO enabled value
00692  * @see MPU6050_RA_FIFO_EN
00693  */
00694 bool MPU6050::getYGyroFIFOEnabled()
00695 {
00696     i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
00697     return buffer[0];
00698 }
00699 /** Set gyroscope Y-axis FIFO enabled value.
00700  * @param enabled New gyroscope Y-axis FIFO enabled value
00701  * @see getYGyroFIFOEnabled()
00702  * @see MPU6050_RA_FIFO_EN
00703  */
00704 void MPU6050::setYGyroFIFOEnabled(bool enabled)
00705 {
00706     i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
00707 }
00708 /** Get gyroscope Z-axis FIFO enabled value.
00709  * When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
00710  * 72) to be written into the FIFO buffer.
00711  * @return Current gyroscope Z-axis FIFO enabled value
00712  * @see MPU6050_RA_FIFO_EN
00713  */
00714 bool MPU6050::getZGyroFIFOEnabled()
00715 {
00716     i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
00717     return buffer[0];
00718 }
00719 /** Set gyroscope Z-axis FIFO enabled value.
00720  * @param enabled New gyroscope Z-axis FIFO enabled value
00721  * @see getZGyroFIFOEnabled()
00722  * @see MPU6050_RA_FIFO_EN
00723  */
00724 void MPU6050::setZGyroFIFOEnabled(bool enabled)
00725 {
00726     i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
00727 }
00728 /** Get accelerometer FIFO enabled value.
00729  * When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
00730  * ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
00731  * written into the FIFO buffer.
00732  * @return Current accelerometer FIFO enabled value
00733  * @see MPU6050_RA_FIFO_EN
00734  */
00735 bool MPU6050::getAccelFIFOEnabled()
00736 {
00737     i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
00738     return buffer[0];
00739 }
00740 /** Set accelerometer FIFO enabled value.
00741  * @param enabled New accelerometer FIFO enabled value
00742  * @see getAccelFIFOEnabled()
00743  * @see MPU6050_RA_FIFO_EN
00744  */
00745 void MPU6050::setAccelFIFOEnabled(bool enabled)
00746 {
00747     i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
00748 }
00749 /** Get Slave 2 FIFO enabled value.
00750  * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
00751  * associated with Slave 2 to be written into the FIFO buffer.
00752  * @return Current Slave 2 FIFO enabled value
00753  * @see MPU6050_RA_FIFO_EN
00754  */
00755 bool MPU6050::getSlave2FIFOEnabled()
00756 {
00757     i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
00758     return buffer[0];
00759 }
00760 /** Set Slave 2 FIFO enabled value.
00761  * @param enabled New Slave 2 FIFO enabled value
00762  * @see getSlave2FIFOEnabled()
00763  * @see MPU6050_RA_FIFO_EN
00764  */
00765 void MPU6050::setSlave2FIFOEnabled(bool enabled)
00766 {
00767     i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
00768 }
00769 /** Get Slave 1 FIFO enabled value.
00770  * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
00771  * associated with Slave 1 to be written into the FIFO buffer.
00772  * @return Current Slave 1 FIFO enabled value
00773  * @see MPU6050_RA_FIFO_EN
00774  */
00775 bool MPU6050::getSlave1FIFOEnabled()
00776 {
00777     i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
00778     return buffer[0];
00779 }
00780 /** Set Slave 1 FIFO enabled value.
00781  * @param enabled New Slave 1 FIFO enabled value
00782  * @see getSlave1FIFOEnabled()
00783  * @see MPU6050_RA_FIFO_EN
00784  */
00785 void MPU6050::setSlave1FIFOEnabled(bool enabled)
00786 {
00787     i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
00788 }
00789 /** Get Slave 0 FIFO enabled value.
00790  * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
00791  * associated with Slave 0 to be written into the FIFO buffer.
00792  * @return Current Slave 0 FIFO enabled value
00793  * @see MPU6050_RA_FIFO_EN
00794  */
00795 bool MPU6050::getSlave0FIFOEnabled()
00796 {
00797     i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
00798     return buffer[0];
00799 }
00800 /** Set Slave 0 FIFO enabled value.
00801  * @param enabled New Slave 0 FIFO enabled value
00802  * @see getSlave0FIFOEnabled()
00803  * @see MPU6050_RA_FIFO_EN
00804  */
00805 void MPU6050::setSlave0FIFOEnabled(bool enabled)
00806 {
00807     i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
00808 }
00809 
00810 // I2C_MST_CTRL register
00811 
00812 /** Get multi-master enabled value.
00813  * Multi-master capability allows multiple I2C masters to operate on the same
00814  * bus. In circuits where multi-master capability is required, set MULT_MST_EN
00815  * to 1. This will increase current drawn by approximately 30uA.
00816  *
00817  * In circuits where multi-master capability is required, the state of the I2C
00818  * bus must always be monitored by each separate I2C Master. Before an I2C
00819  * Master can assume arbitration of the bus, it must first confirm that no other
00820  * I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
00821  * MPU-60X0's bus arbitration detection logic is turned on, enabling it to
00822  * detect when the bus is available.
00823  *
00824  * @return Current multi-master enabled value
00825  * @see MPU6050_RA_I2C_MST_CTRL
00826  */
00827 bool MPU6050::getMultiMasterEnabled()
00828 {
00829     i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
00830     return buffer[0];
00831 }
00832 /** Set multi-master enabled value.
00833  * @param enabled New multi-master enabled value
00834  * @see getMultiMasterEnabled()
00835  * @see MPU6050_RA_I2C_MST_CTRL
00836  */
00837 void MPU6050::setMultiMasterEnabled(bool enabled)
00838 {
00839     i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
00840 }
00841 /** Get wait-for-external-sensor-data enabled value.
00842  * When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
00843  * delayed until External Sensor data from the Slave Devices are loaded into the
00844  * EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
00845  * data (i.e. from gyro and accel) and external sensor data have been loaded to
00846  * their respective data registers (i.e. the data is synced) when the Data Ready
00847  * interrupt is triggered.
00848  *
00849  * @return Current wait-for-external-sensor-data enabled value
00850  * @see MPU6050_RA_I2C_MST_CTRL
00851  */
00852 bool MPU6050::getWaitForExternalSensorEnabled()
00853 {
00854     i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
00855     return buffer[0];
00856 }
00857 /** Set wait-for-external-sensor-data enabled value.
00858  * @param enabled New wait-for-external-sensor-data enabled value
00859  * @see getWaitForExternalSensorEnabled()
00860  * @see MPU6050_RA_I2C_MST_CTRL
00861  */
00862 void MPU6050::setWaitForExternalSensorEnabled(bool enabled)
00863 {
00864     i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
00865 }
00866 /** Get Slave 3 FIFO enabled value.
00867  * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
00868  * associated with Slave 3 to be written into the FIFO buffer.
00869  * @return Current Slave 3 FIFO enabled value
00870  * @see MPU6050_RA_MST_CTRL
00871  */
00872 bool MPU6050::getSlave3FIFOEnabled()
00873 {
00874     i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
00875     return buffer[0];
00876 }
00877 /** Set Slave 3 FIFO enabled value.
00878  * @param enabled New Slave 3 FIFO enabled value
00879  * @see getSlave3FIFOEnabled()
00880  * @see MPU6050_RA_MST_CTRL
00881  */
00882 void MPU6050::setSlave3FIFOEnabled(bool enabled)
00883 {
00884     i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
00885 }
00886 /** Get slave read/write transition enabled value.
00887  * The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
00888  * read to the next slave read. If the bit equals 0, there will be a restart
00889  * between reads. If the bit equals 1, there will be a stop followed by a start
00890  * of the following read. When a write transaction follows a read transaction,
00891  * the stop followed by a start of the successive write will be always used.
00892  *
00893  * @return Current slave read/write transition enabled value
00894  * @see MPU6050_RA_I2C_MST_CTRL
00895  */
00896 bool MPU6050::getSlaveReadWriteTransitionEnabled()
00897 {
00898     i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
00899     return buffer[0];
00900 }
00901 /** Set slave read/write transition enabled value.
00902  * @param enabled New slave read/write transition enabled value
00903  * @see getSlaveReadWriteTransitionEnabled()
00904  * @see MPU6050_RA_I2C_MST_CTRL
00905  */
00906 void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled)
00907 {
00908     i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
00909 }
00910 /** Get I2C master clock speed.
00911  * I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
00912  * MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
00913  * the following table:
00914  *
00915  * <pre>
00916  * I2C_MST_CLK | I2C Master Clock Speed | 8MHz Clock Divider
00917  * ------------+------------------------+-------------------
00918  * 0           | 348kHz                 | 23
00919  * 1           | 333kHz                 | 24
00920  * 2           | 320kHz                 | 25
00921  * 3           | 308kHz                 | 26
00922  * 4           | 296kHz                 | 27
00923  * 5           | 286kHz                 | 28
00924  * 6           | 276kHz                 | 29
00925  * 7           | 267kHz                 | 30
00926  * 8           | 258kHz                 | 31
00927  * 9           | 500kHz                 | 16
00928  * 10          | 471kHz                 | 17
00929  * 11          | 444kHz                 | 18
00930  * 12          | 421kHz                 | 19
00931  * 13          | 400kHz                 | 20
00932  * 14          | 381kHz                 | 21
00933  * 15          | 364kHz                 | 22
00934  * </pre>
00935  *
00936  * @return Current I2C master clock speed
00937  * @see MPU6050_RA_I2C_MST_CTRL
00938  */
00939 uint8_t MPU6050::getMasterClockSpeed()
00940 {
00941     i2Cdev.readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
00942     return buffer[0];
00943 }
00944 /** Set I2C master clock speed.
00945  * @reparam speed Current I2C master clock speed
00946  * @see MPU6050_RA_I2C_MST_CTRL
00947  */
00948 void MPU6050::setMasterClockSpeed(uint8_t speed)
00949 {
00950     i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
00951 }
00952 
00953 // I2C_SLV* registers (Slave 0-3)
00954 
00955 /** Get the I2C address of the specified slave (0-3).
00956  * Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
00957  * operation, and if it is cleared, then it's a write operation. The remaining
00958  * bits (6-0) are the 7-bit device address of the slave device.
00959  *
00960  * In read mode, the result of the read is placed in the lowest available
00961  * EXT_SENS_DATA register. For further information regarding the allocation of
00962  * read results, please refer to the EXT_SENS_DATA register description
00963  * (Registers 73 - 96).
00964  *
00965  * The MPU-6050 supports a total of five slaves, but Slave 4 has unique
00966  * characteristics, and so it has its own functions (getSlave4* and setSlave4*).
00967  *
00968  * I2C data transactions are performed at the Sample Rate, as defined in
00969  * Register 25. The user is responsible for ensuring that I2C data transactions
00970  * to and from each enabled Slave can be completed within a single period of the
00971  * Sample Rate.
00972  *
00973  * The I2C slave access rate can be reduced relative to the Sample Rate. This
00974  * reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
00975  * slave's access rate is reduced relative to the Sample Rate is determined by
00976  * I2C_MST_DELAY_CTRL (Register 103).
00977  *
00978  * The processing order for the slaves is fixed. The sequence followed for
00979  * processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
00980  * particular Slave is disabled it will be skipped.
00981  *
00982  * Each slave can either be accessed at the sample rate or at a reduced sample
00983  * rate. In a case where some slaves are accessed at the Sample Rate and some
00984  * slaves are accessed at the reduced rate, the sequence of accessing the slaves
00985  * (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
00986  * be skipped if their access rate dictates that they should not be accessed
00987  * during that particular cycle. For further information regarding the reduced
00988  * access rate, please refer to Register 52. Whether a slave is accessed at the
00989  * Sample Rate or at the reduced rate is determined by the Delay Enable bits in
00990  * Register 103.
00991  *
00992  * @param num Slave number (0-3)
00993  * @return Current address for specified slave
00994  * @see MPU6050_RA_I2C_SLV0_ADDR
00995  */
00996 uint8_t MPU6050::getSlaveAddress(uint8_t num)
00997 {
00998     if (num > 3) return 0;
00999     i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
01000     return buffer[0];
01001 }
01002 /** Set the I2C address of the specified slave (0-3).
01003  * @param num Slave number (0-3)
01004  * @param address New address for specified slave
01005  * @see getSlaveAddress()
01006  * @see MPU6050_RA_I2C_SLV0_ADDR
01007  */
01008 void MPU6050::setSlaveAddress(uint8_t num, uint8_t address)
01009 {
01010     if (num > 3) return;
01011     i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
01012 }
01013 /** Get the active internal register for the specified slave (0-3).
01014  * Read/write operations for this slave will be done to whatever internal
01015  * register address is stored in this MPU register.
01016  *
01017  * The MPU-6050 supports a total of five slaves, but Slave 4 has unique
01018  * characteristics, and so it has its own functions.
01019  *
01020  * @param num Slave number (0-3)
01021  * @return Current active register for specified slave
01022  * @see MPU6050_RA_I2C_SLV0_REG
01023  */
01024 uint8_t MPU6050::getSlaveRegister(uint8_t num)
01025 {
01026     if (num > 3) return 0;
01027     i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
01028     return buffer[0];
01029 }
01030 /** Set the active internal register for the specified slave (0-3).
01031  * @param num Slave number (0-3)
01032  * @param reg New active register for specified slave
01033  * @see getSlaveRegister()
01034  * @see MPU6050_RA_I2C_SLV0_REG
01035  */
01036 void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg)
01037 {
01038     if (num > 3) return;
01039     i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
01040 }
01041 /** Get the enabled value for the specified slave (0-3).
01042  * When set to 1, this bit enables Slave 0 for data transfer operations. When
01043  * cleared to 0, this bit disables Slave 0 from data transfer operations.
01044  * @param num Slave number (0-3)
01045  * @return Current enabled value for specified slave
01046  * @see MPU6050_RA_I2C_SLV0_CTRL
01047  */
01048 bool MPU6050::getSlaveEnabled(uint8_t num)
01049 {
01050     if (num > 3) return 0;
01051     i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
01052     return buffer[0];
01053 }
01054 /** Set the enabled value for the specified slave (0-3).
01055  * @param num Slave number (0-3)
01056  * @param enabled New enabled value for specified slave
01057  * @see getSlaveEnabled()
01058  * @see MPU6050_RA_I2C_SLV0_CTRL
01059  */
01060 void MPU6050::setSlaveEnabled(uint8_t num, bool enabled)
01061 {
01062     if (num > 3) return;
01063     i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
01064 }
01065 /** Get word pair byte-swapping enabled for the specified slave (0-3).
01066  * When set to 1, this bit enables byte swapping. When byte swapping is enabled,
01067  * the high and low bytes of a word pair are swapped. Please refer to
01068  * I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
01069  * bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
01070  * registers in the order they were transferred.
01071  *
01072  * @param num Slave number (0-3)
01073  * @return Current word pair byte-swapping enabled value for specified slave
01074  * @see MPU6050_RA_I2C_SLV0_CTRL
01075  */
01076 bool MPU6050::getSlaveWordByteSwap(uint8_t num)
01077 {
01078     if (num > 3) return 0;
01079     i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
01080     return buffer[0];
01081 }
01082 /** Set word pair byte-swapping enabled for the specified slave (0-3).
01083  * @param num Slave number (0-3)
01084  * @param enabled New word pair byte-swapping enabled value for specified slave
01085  * @see getSlaveWordByteSwap()
01086  * @see MPU6050_RA_I2C_SLV0_CTRL
01087  */
01088 void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled)
01089 {
01090     if (num > 3) return;
01091     i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
01092 }
01093 /** Get write mode for the specified slave (0-3).
01094  * When set to 1, the transaction will read or write data only. When cleared to
01095  * 0, the transaction will write a register address prior to reading or writing
01096  * data. This should equal 0 when specifying the register address within the
01097  * Slave device to/from which the ensuing data transaction will take place.
01098  *
01099  * @param num Slave number (0-3)
01100  * @return Current write mode for specified slave (0 = register address + data, 1 = data only)
01101  * @see MPU6050_RA_I2C_SLV0_CTRL
01102  */
01103 bool MPU6050::getSlaveWriteMode(uint8_t num)
01104 {
01105     if (num > 3) return 0;
01106     i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
01107     return buffer[0];
01108 }
01109 /** Set write mode for the specified slave (0-3).
01110  * @param num Slave number (0-3)
01111  * @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
01112  * @see getSlaveWriteMode()
01113  * @see MPU6050_RA_I2C_SLV0_CTRL
01114  */
01115 void MPU6050::setSlaveWriteMode(uint8_t num, bool mode)
01116 {
01117     if (num > 3) return;
01118     i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
01119 }
01120 /** Get word pair grouping order offset for the specified slave (0-3).
01121  * This sets specifies the grouping order of word pairs received from registers.
01122  * When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
01123  * then odd register addresses) are paired to form a word. When set to 1, bytes
01124  * from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
01125  * register addresses) are paired to form a word.
01126  *
01127  * @param num Slave number (0-3)
01128  * @return Current word pair grouping order offset for specified slave
01129  * @see MPU6050_RA_I2C_SLV0_CTRL
01130  */
01131 bool MPU6050::getSlaveWordGroupOffset(uint8_t num)
01132 {
01133     if (num > 3) return 0;
01134     i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
01135     return buffer[0];
01136 }
01137 /** Set word pair grouping order offset for the specified slave (0-3).
01138  * @param num Slave number (0-3)
01139  * @param enabled New word pair grouping order offset for specified slave
01140  * @see getSlaveWordGroupOffset()
01141  * @see MPU6050_RA_I2C_SLV0_CTRL
01142  */
01143 void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled)
01144 {
01145     if (num > 3) return;
01146     i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
01147 }
01148 /** Get number of bytes to read for the specified slave (0-3).
01149  * Specifies the number of bytes transferred to and from Slave 0. Clearing this
01150  * bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
01151  * @param num Slave number (0-3)
01152  * @return Number of bytes to read for specified slave
01153  * @see MPU6050_RA_I2C_SLV0_CTRL
01154  */
01155 uint8_t MPU6050::getSlaveDataLength(uint8_t num)
01156 {
01157     if (num > 3) return 0;
01158     i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
01159     return buffer[0];
01160 }
01161 /** Set number of bytes to read for the specified slave (0-3).
01162  * @param num Slave number (0-3)
01163  * @param length Number of bytes to read for specified slave
01164  * @see getSlaveDataLength()
01165  * @see MPU6050_RA_I2C_SLV0_CTRL
01166  */
01167 void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length)
01168 {
01169     if (num > 3) return;
01170     i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
01171 }
01172 
01173 // I2C_SLV* registers (Slave 4)
01174 
01175 /** Get the I2C address of Slave 4.
01176  * Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
01177  * operation, and if it is cleared, then it's a write operation. The remaining
01178  * bits (6-0) are the 7-bit device address of the slave device.
01179  *
01180  * @return Current address for Slave 4
01181  * @see getSlaveAddress()
01182  * @see MPU6050_RA_I2C_SLV4_ADDR
01183  */
01184 uint8_t MPU6050::getSlave4Address()
01185 {
01186     i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
01187     return buffer[0];
01188 }
01189 /** Set the I2C address of Slave 4.
01190  * @param address New address for Slave 4
01191  * @see getSlave4Address()
01192  * @see MPU6050_RA_I2C_SLV4_ADDR
01193  */
01194 void MPU6050::setSlave4Address(uint8_t address)
01195 {
01196     i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
01197 }
01198 /** Get the active internal register for the Slave 4.
01199  * Read/write operations for this slave will be done to whatever internal
01200  * register address is stored in this MPU register.
01201  *
01202  * @return Current active register for Slave 4
01203  * @see MPU6050_RA_I2C_SLV4_REG
01204  */
01205 uint8_t MPU6050::getSlave4Register()
01206 {
01207     i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
01208     return buffer[0];
01209 }
01210 /** Set the active internal register for Slave 4.
01211  * @param reg New active register for Slave 4
01212  * @see getSlave4Register()
01213  * @see MPU6050_RA_I2C_SLV4_REG
01214  */
01215 void MPU6050::setSlave4Register(uint8_t reg)
01216 {
01217     i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
01218 }
01219 /** Set new byte to write to Slave 4.
01220  * This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
01221  * is set 1 (set to read), this register has no effect.
01222  * @param data New byte to write to Slave 4
01223  * @see MPU6050_RA_I2C_SLV4_DO
01224  */
01225 void MPU6050::setSlave4OutputByte(uint8_t data)
01226 {
01227     i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
01228 }
01229 /** Get the enabled value for the Slave 4.
01230  * When set to 1, this bit enables Slave 4 for data transfer operations. When
01231  * cleared to 0, this bit disables Slave 4 from data transfer operations.
01232  * @return Current enabled value for Slave 4
01233  * @see MPU6050_RA_I2C_SLV4_CTRL
01234  */
01235 bool MPU6050::getSlave4Enabled()
01236 {
01237     i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
01238     return buffer[0];
01239 }
01240 /** Set the enabled value for Slave 4.
01241  * @param enabled New enabled value for Slave 4
01242  * @see getSlave4Enabled()
01243  * @see MPU6050_RA_I2C_SLV4_CTRL
01244  */
01245 void MPU6050::setSlave4Enabled(bool enabled)
01246 {
01247     i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
01248 }
01249 /** Get the enabled value for Slave 4 transaction interrupts.
01250  * When set to 1, this bit enables the generation of an interrupt signal upon
01251  * completion of a Slave 4 transaction. When cleared to 0, this bit disables the
01252  * generation of an interrupt signal upon completion of a Slave 4 transaction.
01253  * The interrupt status can be observed in Register 54.
01254  *
01255  * @return Current enabled value for Slave 4 transaction interrupts.
01256  * @see MPU6050_RA_I2C_SLV4_CTRL
01257  */
01258 bool MPU6050::getSlave4InterruptEnabled()
01259 {
01260     i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
01261     return buffer[0];
01262 }
01263 /** Set the enabled value for Slave 4 transaction interrupts.
01264  * @param enabled New enabled value for Slave 4 transaction interrupts.
01265  * @see getSlave4InterruptEnabled()
01266  * @see MPU6050_RA_I2C_SLV4_CTRL
01267  */
01268 void MPU6050::setSlave4InterruptEnabled(bool enabled)
01269 {
01270     i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
01271 }
01272 /** Get write mode for Slave 4.
01273  * When set to 1, the transaction will read or write data only. When cleared to
01274  * 0, the transaction will write a register address prior to reading or writing
01275  * data. This should equal 0 when specifying the register address within the
01276  * Slave device to/from which the ensuing data transaction will take place.
01277  *
01278  * @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
01279  * @see MPU6050_RA_I2C_SLV4_CTRL
01280  */
01281 bool MPU6050::getSlave4WriteMode()
01282 {
01283     i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
01284     return buffer[0];
01285 }
01286 /** Set write mode for the Slave 4.
01287  * @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
01288  * @see getSlave4WriteMode()
01289  * @see MPU6050_RA_I2C_SLV4_CTRL
01290  */
01291 void MPU6050::setSlave4WriteMode(bool mode)
01292 {
01293     i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
01294 }
01295 /** Get Slave 4 master delay value.
01296  * This configures the reduced access rate of I2C slaves relative to the Sample
01297  * Rate. When a slave's access rate is decreased relative to the Sample Rate,
01298  * the slave is accessed every:
01299  *
01300  *     1 / (1 + I2C_MST_DLY) samples
01301  *
01302  * This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
01303  * DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
01304  * the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
01305  * further information regarding the Sample Rate, please refer to register 25.
01306  *
01307  * @return Current Slave 4 master delay value
01308  * @see MPU6050_RA_I2C_SLV4_CTRL
01309  */
01310 uint8_t MPU6050::getSlave4MasterDelay()
01311 {
01312     i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
01313     return buffer[0];
01314 }
01315 /** Set Slave 4 master delay value.
01316  * @param delay New Slave 4 master delay value
01317  * @see getSlave4MasterDelay()
01318  * @see MPU6050_RA_I2C_SLV4_CTRL
01319  */
01320 void MPU6050::setSlave4MasterDelay(uint8_t delay)
01321 {
01322     i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
01323 }
01324 /** Get last available byte read from Slave 4.
01325  * This register stores the data read from Slave 4. This field is populated
01326  * after a read transaction.
01327  * @return Last available byte read from to Slave 4
01328  * @see MPU6050_RA_I2C_SLV4_DI
01329  */
01330 uint8_t MPU6050::getSlate4InputByte()
01331 {
01332     i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
01333     return buffer[0];
01334 }
01335 
01336 // I2C_MST_STATUS register
01337 
01338 /** Get FSYNC interrupt status.
01339  * This bit reflects the status of the FSYNC interrupt from an external device
01340  * into the MPU-60X0. This is used as a way to pass an external interrupt
01341  * through the MPU-60X0 to the host application processor. When set to 1, this
01342  * bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
01343  * (Register 55).
01344  * @return FSYNC interrupt status
01345  * @see MPU6050_RA_I2C_MST_STATUS
01346  */
01347 bool MPU6050::getPassthroughStatus()
01348 {
01349     i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
01350     return buffer[0];
01351 }
01352 /** Get Slave 4 transaction done status.
01353  * Automatically sets to 1 when a Slave 4 transaction has completed. This
01354  * triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
01355  * (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
01356  * I2C_SLV4_CTRL register (Register 52).
01357  * @return Slave 4 transaction done status
01358  * @see MPU6050_RA_I2C_MST_STATUS
01359  */
01360 bool MPU6050::getSlave4IsDone()
01361 {
01362     i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
01363     return buffer[0];
01364 }
01365 /** Get master arbitration lost status.
01366  * This bit automatically sets to 1 when the I2C Master has lost arbitration of
01367  * the auxiliary I2C bus (an error condition). This triggers an interrupt if the
01368  * I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
01369  * @return Master arbitration lost status
01370  * @see MPU6050_RA_I2C_MST_STATUS
01371  */
01372 bool MPU6050::getLostArbitration()
01373 {
01374     i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
01375     return buffer[0];
01376 }
01377 /** Get Slave 4 NACK status.
01378  * This bit automatically sets to 1 when the I2C Master receives a NACK in a
01379  * transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
01380  * bit in the INT_ENABLE register (Register 56) is asserted.
01381  * @return Slave 4 NACK interrupt status
01382  * @see MPU6050_RA_I2C_MST_STATUS
01383  */
01384 bool MPU6050::getSlave4Nack()
01385 {
01386     i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
01387     return buffer[0];
01388 }
01389 /** Get Slave 3 NACK status.
01390  * This bit automatically sets to 1 when the I2C Master receives a NACK in a
01391  * transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
01392  * bit in the INT_ENABLE register (Register 56) is asserted.
01393  * @return Slave 3 NACK interrupt status
01394  * @see MPU6050_RA_I2C_MST_STATUS
01395  */
01396 bool MPU6050::getSlave3Nack()
01397 {
01398     i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
01399     return buffer[0];
01400 }
01401 /** Get Slave 2 NACK status.
01402  * This bit automatically sets to 1 when the I2C Master receives a NACK in a
01403  * transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
01404  * bit in the INT_ENABLE register (Register 56) is asserted.
01405  * @return Slave 2 NACK interrupt status
01406  * @see MPU6050_RA_I2C_MST_STATUS
01407  */
01408 bool MPU6050::getSlave2Nack()
01409 {
01410     i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
01411     return buffer[0];
01412 }
01413 /** Get Slave 1 NACK status.
01414  * This bit automatically sets to 1 when the I2C Master receives a NACK in a
01415  * transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
01416  * bit in the INT_ENABLE register (Register 56) is asserted.
01417  * @return Slave 1 NACK interrupt status
01418  * @see MPU6050_RA_I2C_MST_STATUS
01419  */
01420 bool MPU6050::getSlave1Nack()
01421 {
01422     i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
01423     return buffer[0];
01424 }
01425 /** Get Slave 0 NACK status.
01426  * This bit automatically sets to 1 when the I2C Master receives a NACK in a
01427  * transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
01428  * bit in the INT_ENABLE register (Register 56) is asserted.
01429  * @return Slave 0 NACK interrupt status
01430  * @see MPU6050_RA_I2C_MST_STATUS
01431  */
01432 bool MPU6050::getSlave0Nack()
01433 {
01434     i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
01435     return buffer[0];
01436 }
01437 
01438 // INT_PIN_CFG register
01439 
01440 /** Get interrupt logic level mode.
01441  * Will be set 0 for active-high, 1 for active-low.
01442  * @return Current interrupt mode (0=active-high, 1=active-low)
01443  * @see MPU6050_RA_INT_PIN_CFG
01444  * @see MPU6050_INTCFG_INT_LEVEL_BIT
01445  */
01446 bool MPU6050::getInterruptMode()
01447 {
01448     i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
01449     return buffer[0];
01450 }
01451 /** Set interrupt logic level mode.
01452  * @param mode New interrupt mode (0=active-high, 1=active-low)
01453  * @see getInterruptMode()
01454  * @see MPU6050_RA_INT_PIN_CFG
01455  * @see MPU6050_INTCFG_INT_LEVEL_BIT
01456  */
01457 void MPU6050::setInterruptMode(bool mode)
01458 {
01459     i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
01460 }
01461 /** Get interrupt drive mode.
01462  * Will be set 0 for push-pull, 1 for open-drain.
01463  * @return Current interrupt drive mode (0=push-pull, 1=open-drain)
01464  * @see MPU6050_RA_INT_PIN_CFG
01465  * @see MPU6050_INTCFG_INT_OPEN_BIT
01466  */
01467 bool MPU6050::getInterruptDrive()
01468 {
01469     i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
01470     return buffer[0];
01471 }
01472 /** Set interrupt drive mode.
01473  * @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
01474  * @see getInterruptDrive()
01475  * @see MPU6050_RA_INT_PIN_CFG
01476  * @see MPU6050_INTCFG_INT_OPEN_BIT
01477  */
01478 void MPU6050::setInterruptDrive(bool drive)
01479 {
01480     i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
01481 }
01482 /** Get interrupt latch mode.
01483  * Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
01484  * @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
01485  * @see MPU6050_RA_INT_PIN_CFG
01486  * @see MPU6050_INTCFG_LATCH_INT_EN_BIT
01487  */
01488 bool MPU6050::getInterruptLatch()
01489 {
01490     i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
01491     return buffer[0];
01492 }
01493 /** Set interrupt latch mode.
01494  * @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
01495  * @see getInterruptLatch()
01496  * @see MPU6050_RA_INT_PIN_CFG
01497  * @see MPU6050_INTCFG_LATCH_INT_EN_BIT
01498  */
01499 void MPU6050::setInterruptLatch(bool latch)
01500 {
01501     i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
01502 }
01503 /** Get interrupt latch clear mode.
01504  * Will be set 0 for status-read-only, 1 for any-register-read.
01505  * @return Current latch clear mode (0=status-read-only, 1=any-register-read)
01506  * @see MPU6050_RA_INT_PIN_CFG
01507  * @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
01508  */
01509 bool MPU6050::getInterruptLatchClear()
01510 {
01511     i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
01512     return buffer[0];
01513 }
01514 /** Set interrupt latch clear mode.
01515  * @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
01516  * @see getInterruptLatchClear()
01517  * @see MPU6050_RA_INT_PIN_CFG
01518  * @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
01519  */
01520 void MPU6050::setInterruptLatchClear(bool clear)
01521 {
01522     i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
01523 }
01524 /** Get FSYNC interrupt logic level mode.
01525  * @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
01526  * @see getFSyncInterruptMode()
01527  * @see MPU6050_RA_INT_PIN_CFG
01528  * @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
01529  */
01530 bool MPU6050::getFSyncInterruptLevel()
01531 {
01532     i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
01533     return buffer[0];
01534 }
01535 /** Set FSYNC interrupt logic level mode.
01536  * @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
01537  * @see getFSyncInterruptMode()
01538  * @see MPU6050_RA_INT_PIN_CFG
01539  * @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
01540  */
01541 void MPU6050::setFSyncInterruptLevel(bool level)
01542 {
01543     i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
01544 }
01545 /** Get FSYNC pin interrupt enabled setting.
01546  * Will be set 0 for disabled, 1 for enabled.
01547  * @return Current interrupt enabled setting
01548  * @see MPU6050_RA_INT_PIN_CFG
01549  * @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
01550  */
01551 bool MPU6050::getFSyncInterruptEnabled()
01552 {
01553     i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
01554     return buffer[0];
01555 }
01556 /** Set FSYNC pin interrupt enabled setting.
01557  * @param enabled New FSYNC pin interrupt enabled setting
01558  * @see getFSyncInterruptEnabled()
01559  * @see MPU6050_RA_INT_PIN_CFG
01560  * @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
01561  */
01562 void MPU6050::setFSyncInterruptEnabled(bool enabled)
01563 {
01564     i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
01565 }
01566 /** Get I2C bypass enabled status.
01567  * When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
01568  * 0, the host application processor will be able to directly access the
01569  * auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
01570  * application processor will not be able to directly access the auxiliary I2C
01571  * bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
01572  * bit[5]).
01573  * @return Current I2C bypass enabled status
01574  * @see MPU6050_RA_INT_PIN_CFG
01575  * @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
01576  */
01577 bool MPU6050::getI2CBypassEnabled()
01578 {
01579     i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
01580     return buffer[0];
01581 }
01582 /** Set I2C bypass enabled status.
01583  * When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
01584  * 0, the host application processor will be able to directly access the
01585  * auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
01586  * application processor will not be able to directly access the auxiliary I2C
01587  * bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
01588  * bit[5]).
01589  * @param enabled New I2C bypass enabled status
01590  * @see MPU6050_RA_INT_PIN_CFG
01591  * @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
01592  */
01593 void MPU6050::setI2CBypassEnabled(bool enabled)
01594 {
01595     i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
01596 }
01597 /** Get reference clock output enabled status.
01598  * When this bit is equal to 1, a reference clock output is provided at the
01599  * CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
01600  * further information regarding CLKOUT, please refer to the MPU-60X0 Product
01601  * Specification document.
01602  * @return Current reference clock output enabled status
01603  * @see MPU6050_RA_INT_PIN_CFG
01604  * @see MPU6050_INTCFG_CLKOUT_EN_BIT
01605  */
01606 bool MPU6050::getClockOutputEnabled()
01607 {
01608     i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
01609     return buffer[0];
01610 }
01611 /** Set reference clock output enabled status.
01612  * When this bit is equal to 1, a reference clock output is provided at the
01613  * CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
01614  * further information regarding CLKOUT, please refer to the MPU-60X0 Product
01615  * Specification document.
01616  * @param enabled New reference clock output enabled status
01617  * @see MPU6050_RA_INT_PIN_CFG
01618  * @see MPU6050_INTCFG_CLKOUT_EN_BIT
01619  */
01620 void MPU6050::setClockOutputEnabled(bool enabled)
01621 {
01622     i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
01623 }
01624 
01625 // INT_ENABLE register
01626 
01627 /** Get full interrupt enabled status.
01628  * Full register byte for all interrupts, for quick reading. Each bit will be
01629  * set 0 for disabled, 1 for enabled.
01630  * @return Current interrupt enabled status
01631  * @see MPU6050_RA_INT_ENABLE
01632  * @see MPU6050_INTERRUPT_FF_BIT
01633  **/
01634 uint8_t MPU6050::getIntEnabled()
01635 {
01636     i2Cdev.readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
01637     return buffer[0];
01638 }
01639 /** Set full interrupt enabled status.
01640  * Full register byte for all interrupts, for quick reading. Each bit should be
01641  * set 0 for disabled, 1 for enabled.
01642  * @param enabled New interrupt enabled status
01643  * @see getIntFreefallEnabled()
01644  * @see MPU6050_RA_INT_ENABLE
01645  * @see MPU6050_INTERRUPT_FF_BIT
01646  **/
01647 void MPU6050::setIntEnabled(uint8_t enabled)
01648 {
01649     i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
01650 }
01651 /** Get Free Fall interrupt enabled status.
01652  * Will be set 0 for disabled, 1 for enabled.
01653  * @return Current interrupt enabled status
01654  * @see MPU6050_RA_INT_ENABLE
01655  * @see MPU6050_INTERRUPT_FF_BIT
01656  **/
01657 bool MPU6050::getIntFreefallEnabled()
01658 {
01659     i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
01660     return buffer[0];
01661 }
01662 /** Set Free Fall interrupt enabled status.
01663  * @param enabled New interrupt enabled status
01664  * @see getIntFreefallEnabled()
01665  * @see MPU6050_RA_INT_ENABLE
01666  * @see MPU6050_INTERRUPT_FF_BIT
01667  **/
01668 void MPU6050::setIntFreefallEnabled(bool enabled)
01669 {
01670     i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
01671 }
01672 /** Get Motion Detection interrupt enabled status.
01673  * Will be set 0 for disabled, 1 for enabled.
01674  * @return Current interrupt enabled status
01675  * @see MPU6050_RA_INT_ENABLE
01676  * @see MPU6050_INTERRUPT_MOT_BIT
01677  **/
01678 bool MPU6050::getIntMotionEnabled()
01679 {
01680     i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
01681     return buffer[0];
01682 }
01683 /** Set Motion Detection interrupt enabled status.
01684  * @param enabled New interrupt enabled status
01685  * @see getIntMotionEnabled()
01686  * @see MPU6050_RA_INT_ENABLE
01687  * @see MPU6050_INTERRUPT_MOT_BIT
01688  **/
01689 void MPU6050::setIntMotionEnabled(bool enabled)
01690 {
01691     i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
01692 }
01693 /** Get Zero Motion Detection interrupt enabled status.
01694  * Will be set 0 for disabled, 1 for enabled.
01695  * @return Current interrupt enabled status
01696  * @see MPU6050_RA_INT_ENABLE
01697  * @see MPU6050_INTERRUPT_ZMOT_BIT
01698  **/
01699 bool MPU6050::getIntZeroMotionEnabled()
01700 {
01701     i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
01702     return buffer[0];
01703 }
01704 /** Set Zero Motion Detection interrupt enabled status.
01705  * @param enabled New interrupt enabled status
01706  * @see getIntZeroMotionEnabled()
01707  * @see MPU6050_RA_INT_ENABLE
01708  * @see MPU6050_INTERRUPT_ZMOT_BIT
01709  **/
01710 void MPU6050::setIntZeroMotionEnabled(bool enabled)
01711 {
01712     i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
01713 }
01714 /** Get FIFO Buffer Overflow interrupt enabled status.
01715  * Will be set 0 for disabled, 1 for enabled.
01716  * @return Current interrupt enabled status
01717  * @see MPU6050_RA_INT_ENABLE
01718  * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
01719  **/
01720 bool MPU6050::getIntFIFOBufferOverflowEnabled()
01721 {
01722     i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
01723     return buffer[0];
01724 }
01725 /** Set FIFO Buffer Overflow interrupt enabled status.
01726  * @param enabled New interrupt enabled status
01727  * @see getIntFIFOBufferOverflowEnabled()
01728  * @see MPU6050_RA_INT_ENABLE
01729  * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
01730  **/
01731 void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled)
01732 {
01733     i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
01734 }
01735 /** Get I2C Master interrupt enabled status.
01736  * This enables any of the I2C Master interrupt sources to generate an
01737  * interrupt. Will be set 0 for disabled, 1 for enabled.
01738  * @return Current interrupt enabled status
01739  * @see MPU6050_RA_INT_ENABLE
01740  * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
01741  **/
01742 bool MPU6050::getIntI2CMasterEnabled()
01743 {
01744     i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
01745     return buffer[0];
01746 }
01747 /** Set I2C Master interrupt enabled status.
01748  * @param enabled New interrupt enabled status
01749  * @see getIntI2CMasterEnabled()
01750  * @see MPU6050_RA_INT_ENABLE
01751  * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
01752  **/
01753 void MPU6050::setIntI2CMasterEnabled(bool enabled)
01754 {
01755     i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
01756 }
01757 /** Get Data Ready interrupt enabled setting.
01758  * This event occurs each time a write operation to all of the sensor registers
01759  * has been completed. Will be set 0 for disabled, 1 for enabled.
01760  * @return Current interrupt enabled status
01761  * @see MPU6050_RA_INT_ENABLE
01762  * @see MPU6050_INTERRUPT_DATA_RDY_BIT
01763  */
01764 bool MPU6050::getIntDataReadyEnabled()
01765 {
01766     i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
01767     return buffer[0];
01768 }
01769 /** Set Data Ready interrupt enabled status.
01770  * @param enabled New interrupt enabled status
01771  * @see getIntDataReadyEnabled()
01772  * @see MPU6050_RA_INT_CFG
01773  * @see MPU6050_INTERRUPT_DATA_RDY_BIT
01774  */
01775 void MPU6050::setIntDataReadyEnabled(bool enabled)
01776 {
01777     i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
01778 }
01779 
01780 // INT_STATUS register
01781 
01782 /** Get full set of interrupt status bits.
01783  * These bits clear to 0 after the register has been read. Very useful
01784  * for getting multiple INT statuses, since each single bit read clears
01785  * all of them because it has to read the whole byte.
01786  * @return Current interrupt status
01787  * @see MPU6050_RA_INT_STATUS
01788  */
01789 uint8_t MPU6050::getIntStatus()
01790 {
01791     i2Cdev.readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
01792     return buffer[0];
01793 }
01794 /** Get Free Fall interrupt status.
01795  * This bit automatically sets to 1 when a Free Fall interrupt has been
01796  * generated. The bit clears to 0 after the register has been read.
01797  * @return Current interrupt status
01798  * @see MPU6050_RA_INT_STATUS
01799  * @see MPU6050_INTERRUPT_FF_BIT
01800  */
01801 bool MPU6050::getIntFreefallStatus()
01802 {
01803     i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
01804     return buffer[0];
01805 }
01806 /** Get Motion Detection interrupt status.
01807  * This bit automatically sets to 1 when a Motion Detection interrupt has been
01808  * generated. The bit clears to 0 after the register has been read.
01809  * @return Current interrupt status
01810  * @see MPU6050_RA_INT_STATUS
01811  * @see MPU6050_INTERRUPT_MOT_BIT
01812  */
01813 bool MPU6050::getIntMotionStatus()
01814 {
01815     i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
01816     return buffer[0];
01817 }
01818 /** Get Zero Motion Detection interrupt status.
01819  * This bit automatically sets to 1 when a Zero Motion Detection interrupt has
01820  * been generated. The bit clears to 0 after the register has been read.
01821  * @return Current interrupt status
01822  * @see MPU6050_RA_INT_STATUS
01823  * @see MPU6050_INTERRUPT_ZMOT_BIT
01824  */
01825 bool MPU6050::getIntZeroMotionStatus()
01826 {
01827     i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
01828     return buffer[0];
01829 }
01830 /** Get FIFO Buffer Overflow interrupt status.
01831  * This bit automatically sets to 1 when a Free Fall interrupt has been
01832  * generated. The bit clears to 0 after the register has been read.
01833  * @return Current interrupt status
01834  * @see MPU6050_RA_INT_STATUS
01835  * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
01836  */
01837 bool MPU6050::getIntFIFOBufferOverflowStatus()
01838 {
01839     i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
01840     return buffer[0];
01841 }
01842 /** Get I2C Master interrupt status.
01843  * This bit automatically sets to 1 when an I2C Master interrupt has been
01844  * generated. For a list of I2C Master interrupts, please refer to Register 54.
01845  * The bit clears to 0 after the register has been read.
01846  * @return Current interrupt status
01847  * @see MPU6050_RA_INT_STATUS
01848  * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
01849  */
01850 bool MPU6050::getIntI2CMasterStatus()
01851 {
01852     i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
01853     return buffer[0];
01854 }
01855 /** Get Data Ready interrupt status.
01856  * This bit automatically sets to 1 when a Data Ready interrupt has been
01857  * generated. The bit clears to 0 after the register has been read.
01858  * @return Current interrupt status
01859  * @see MPU6050_RA_INT_STATUS
01860  * @see MPU6050_INTERRUPT_DATA_RDY_BIT
01861  */
01862 bool MPU6050::getIntDataReadyStatus()
01863 {
01864     i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
01865     return buffer[0];
01866 }
01867 
01868 // ACCEL_*OUT_* registers
01869 
01870 /** Get raw 9-axis motion sensor readings (accel/gyro/compass).
01871  * FUNCTION NOT FULLY IMPLEMENTED YET.
01872  * @param ax 16-bit signed integer container for accelerometer X-axis value
01873  * @param ay 16-bit signed integer container for accelerometer Y-axis value
01874  * @param az 16-bit signed integer container for accelerometer Z-axis value
01875  * @param gx 16-bit signed integer container for gyroscope X-axis value
01876  * @param gy 16-bit signed integer container for gyroscope Y-axis value
01877  * @param gz 16-bit signed integer container for gyroscope Z-axis value
01878  * @param mx 16-bit signed integer container for magnetometer X-axis value
01879  * @param my 16-bit signed integer container for magnetometer Y-axis value
01880  * @param mz 16-bit signed integer container for magnetometer Z-axis value
01881  * @see getMotion6()
01882  * @see getAcceleration()
01883  * @see getRotation()
01884  * @see MPU6050_RA_ACCEL_XOUT_H
01885  */
01886 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)
01887 {
01888     getMotion6(ax, ay, az, gx, gy, gz);
01889 
01890     // magnetometer reading
01891     i2Cdev.writeByte(devAddr, MPU6050_RA_INT_PIN_CFG, 0x02); //set i2c bypass enable pin to true to access magnetometer
01892     wait_ms(10); // necessary wait >=6ms
01893     i2Cdev.writeByte(MPU9150_RA_MAG_ADDRESS, 0x0A, 0x01); // enable the magnetometer
01894     wait_ms(10); // necessary wait >=6ms
01895     i2Cdev.readBytes(MPU9150_RA_MAG_ADDRESS, MPU9150_RA_MAG_XOUT_L, 6, buffer);
01896     *mx = (((int16_t)buffer[0]) << 8) | buffer[1];
01897     *my = (((int16_t)buffer[2]) << 8) | buffer[3];
01898     *mz = (((int16_t)buffer[4]) << 8) | buffer[5];
01899 }
01900 /** Get raw 6-axis motion sensor readings (accel/gyro).
01901  * Retrieves all currently available motion sensor values.
01902  * @param ax 16-bit signed integer container for accelerometer X-axis value
01903  * @param ay 16-bit signed integer container for accelerometer Y-axis value
01904  * @param az 16-bit signed integer container for accelerometer Z-axis value
01905  * @param gx 16-bit signed integer container for gyroscope X-axis value
01906  * @param gy 16-bit signed integer container for gyroscope Y-axis value
01907  * @param gz 16-bit signed integer container for gyroscope Z-axis value
01908  * @see getAcceleration()
01909  * @see getRotation()
01910  * @see MPU6050_RA_ACCEL_XOUT_H
01911  */
01912 void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
01913 {
01914     i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
01915     *ax = (((int16_t)buffer[0]) << 8) | buffer[1];
01916     *ay = (((int16_t)buffer[2]) << 8) | buffer[3];
01917     *az = (((int16_t)buffer[4]) << 8) | buffer[5];
01918     *gx = (((int16_t)buffer[8]) << 8) | buffer[9];
01919     *gy = (((int16_t)buffer[10]) << 8) | buffer[11];
01920     *gz = (((int16_t)buffer[12]) << 8) | buffer[13];
01921 }
01922 /** Get 3-axis accelerometer readings.
01923  * These registers store the most recent accelerometer measurements.
01924  * Accelerometer measurements are written to these registers at the Sample Rate
01925  * as defined in Register 25.
01926  *
01927  * The accelerometer measurement registers, along with the temperature
01928  * measurement registers, gyroscope measurement registers, and external sensor
01929  * data registers, are composed of two sets of registers: an internal register
01930  * set and a user-facing read register set.
01931  *
01932  * The data within the accelerometer sensors' internal register set is always
01933  * updated at the Sample Rate. Meanwhile, the user-facing read register set
01934  * duplicates the internal register set's data values whenever the serial
01935  * interface is idle. This guarantees that a burst read of sensor registers will
01936  * read measurements from the same sampling instant. Note that if burst reads
01937  * are not used, the user is responsible for ensuring a set of single byte reads
01938  * correspond to a single sampling instant by checking the Data Ready interrupt.
01939  *
01940  * Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
01941  * (Register 28). For each full scale setting, the accelerometers' sensitivity
01942  * per LSB in ACCEL_xOUT is shown in the table below:
01943  *
01944  * <pre>
01945  * AFS_SEL | Full Scale Range | LSB Sensitivity
01946  * --------+------------------+----------------
01947  * 0       | +/- 2g           | 8192 LSB/mg
01948  * 1       | +/- 4g           | 4096 LSB/mg
01949  * 2       | +/- 8g           | 2048 LSB/mg
01950  * 3       | +/- 16g          | 1024 LSB/mg
01951  * </pre>
01952  *
01953  * @param x 16-bit signed integer container for X-axis acceleration
01954  * @param y 16-bit signed integer container for Y-axis acceleration
01955  * @param z 16-bit signed integer container for Z-axis acceleration
01956  * @see MPU6050_RA_GYRO_XOUT_H
01957  */
01958 void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z)
01959 {
01960     i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
01961     *x = (((int16_t)buffer[0]) << 8) | buffer[1];
01962     *y = (((int16_t)buffer[2]) << 8) | buffer[3];
01963     *z = (((int16_t)buffer[4]) << 8) | buffer[5];
01964 }
01965 /** Get X-axis accelerometer reading.
01966  * @return X-axis acceleration measurement in 16-bit 2's complement format
01967  * @see getMotion6()
01968  * @see MPU6050_RA_ACCEL_XOUT_H
01969  */
01970 int16_t MPU6050::getAccelerationX()
01971 {
01972     i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
01973     return (((int16_t)buffer[0]) << 8) | buffer[1];
01974 }
01975 /** Get Y-axis accelerometer reading.
01976  * @return Y-axis acceleration measurement in 16-bit 2's complement format
01977  * @see getMotion6()
01978  * @see MPU6050_RA_ACCEL_YOUT_H
01979  */
01980 int16_t MPU6050::getAccelerationY()
01981 {
01982     i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
01983     return (((int16_t)buffer[0]) << 8) | buffer[1];
01984 }
01985 /** Get Z-axis accelerometer reading.
01986  * @return Z-axis acceleration measurement in 16-bit 2's complement format
01987  * @see getMotion6()
01988  * @see MPU6050_RA_ACCEL_ZOUT_H
01989  */
01990 int16_t MPU6050::getAccelerationZ()
01991 {
01992     i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
01993     return (((int16_t)buffer[0]) << 8) | buffer[1];
01994 }
01995 
01996 // TEMP_OUT_* registers
01997 
01998 /** Get current internal temperature.
01999  * @return Temperature reading in 16-bit 2's complement format
02000  * @see MPU6050_RA_TEMP_OUT_H
02001  */
02002 int16_t MPU6050::getTemperature()
02003 {
02004     i2Cdev.readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
02005     return (((int16_t)buffer[0]) << 8) | buffer[1];
02006 }
02007 
02008 // GYRO_*OUT_* registers
02009 
02010 /** Get 3-axis gyroscope readings.
02011  * These gyroscope measurement registers, along with the accelerometer
02012  * measurement registers, temperature measurement registers, and external sensor
02013  * data registers, are composed of two sets of registers: an internal register
02014  * set and a user-facing read register set.
02015  * The data within the gyroscope sensors' internal register set is always
02016  * updated at the Sample Rate. Meanwhile, the user-facing read register set
02017  * duplicates the internal register set's data values whenever the serial
02018  * interface is idle. This guarantees that a burst read of sensor registers will
02019  * read measurements from the same sampling instant. Note that if burst reads
02020  * are not used, the user is responsible for ensuring a set of single byte reads
02021  * correspond to a single sampling instant by checking the Data Ready interrupt.
02022  *
02023  * Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
02024  * (Register 27). For each full scale setting, the gyroscopes' sensitivity per
02025  * LSB in GYRO_xOUT is shown in the table below:
02026  *
02027  * <pre>
02028  * FS_SEL | Full Scale Range   | LSB Sensitivity
02029  * -------+--------------------+----------------
02030  * 0      | +/- 250 degrees/s  | 131 LSB/deg/s
02031  * 1      | +/- 500 degrees/s  | 65.5 LSB/deg/s
02032  * 2      | +/- 1000 degrees/s | 32.8 LSB/deg/s
02033  * 3      | +/- 2000 degrees/s | 16.4 LSB/deg/s
02034  * </pre>
02035  *
02036  * @param x 16-bit signed integer container for X-axis rotation
02037  * @param y 16-bit signed integer container for Y-axis rotation
02038  * @param z 16-bit signed integer container for Z-axis rotation
02039  * @see getMotion6()
02040  * @see MPU6050_RA_GYRO_XOUT_H
02041  */
02042 void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z)
02043 {
02044     i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
02045     *x = (((int16_t)buffer[0]) << 8) | buffer[1];
02046     *y = (((int16_t)buffer[2]) << 8) | buffer[3];
02047     *z = (((int16_t)buffer[4]) << 8) | buffer[5];
02048 }
02049 /** Get X-axis gyroscope reading.
02050  * @return X-axis rotation measurement in 16-bit 2's complement format
02051  * @see getMotion6()
02052  * @see MPU6050_RA_GYRO_XOUT_H
02053  */
02054 int16_t MPU6050::getRotationX()
02055 {
02056     i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
02057     return (((int16_t)buffer[0]) << 8) | buffer[1];
02058 }
02059 /** Get Y-axis gyroscope reading.
02060  * @return Y-axis rotation measurement in 16-bit 2's complement format
02061  * @see getMotion6()
02062  * @see MPU6050_RA_GYRO_YOUT_H
02063  */
02064 int16_t MPU6050::getRotationY()
02065 {
02066     i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
02067     return (((int16_t)buffer[0]) << 8) | buffer[1];
02068 }
02069 /** Get Z-axis gyroscope reading.
02070  * @return Z-axis rotation measurement in 16-bit 2's complement format
02071  * @see getMotion6()
02072  * @see MPU6050_RA_GYRO_ZOUT_H
02073  */
02074 int16_t MPU6050::getRotationZ()
02075 {
02076     i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
02077     return (((int16_t)buffer[0]) << 8) | buffer[1];
02078 }
02079 
02080 // EXT_SENS_DATA_* registers
02081 
02082 /** Read single byte from external sensor data register.
02083  * These registers store data read from external sensors by the Slave 0, 1, 2,
02084  * and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
02085  * I2C_SLV4_DI (Register 53).
02086  *
02087  * External sensor data is written to these registers at the Sample Rate as
02088  * defined in Register 25. This access rate can be reduced by using the Slave
02089  * Delay Enable registers (Register 103).
02090  *
02091  * External sensor data registers, along with the gyroscope measurement
02092  * registers, accelerometer measurement registers, and temperature measurement
02093  * registers, are composed of two sets of registers: an internal register set
02094  * and a user-facing read register set.
02095  *
02096  * The data within the external sensors' internal register set is always updated
02097  * at the Sample Rate (or the reduced access rate) whenever the serial interface
02098  * is idle. This guarantees that a burst read of sensor registers will read
02099  * measurements from the same sampling instant. Note that if burst reads are not
02100  * used, the user is responsible for ensuring a set of single byte reads
02101  * correspond to a single sampling instant by checking the Data Ready interrupt.
02102  *
02103  * Data is placed in these external sensor data registers according to
02104  * I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
02105  * 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
02106  * an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
02107  * defined in Register 25) or delayed rate (if specified in Register 52 and
02108  * 103). During each Sample cycle, slave reads are performed in order of Slave
02109  * number. If all slaves are enabled with more than zero bytes to be read, the
02110  * order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
02111  *
02112  * Each enabled slave will have EXT_SENS_DATA registers associated with it by
02113  * number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
02114  * EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
02115  * change the higher numbered slaves' associated registers. Furthermore, if
02116  * fewer total bytes are being read from the external sensors as a result of
02117  * such a change, then the data remaining in the registers which no longer have
02118  * an associated slave device (i.e. high numbered registers) will remain in
02119  * these previously allocated registers unless reset.
02120  *
02121  * If the sum of the read lengths of all SLVx transactions exceed the number of
02122  * available EXT_SENS_DATA registers, the excess bytes will be dropped. There
02123  * are 24 EXT_SENS_DATA registers and hence the total read lengths between all
02124  * the slaves cannot be greater than 24 or some bytes will be lost.
02125  *
02126  * Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
02127  * information regarding the characteristics of Slave 4, please refer to
02128  * Registers 49 to 53.
02129  *
02130  * EXAMPLE:
02131  * Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
02132  * I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
02133  * I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
02134  * through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
02135  * will be associated with Slave 1. If Slave 2 is enabled as well, registers
02136  * starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
02137  *
02138  * If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
02139  * registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
02140  * instead.
02141  *
02142  * REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
02143  * If a slave is disabled at any time, the space initially allocated to the
02144  * slave in the EXT_SENS_DATA register, will remain associated with that slave.
02145  * This is to avoid dynamic adjustment of the register allocation.
02146  *
02147  * The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
02148  * slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
02149  *
02150  * This above is also true if one of the slaves gets NACKed and stops
02151  * functioning.
02152  *
02153  * @param position Starting position (0-23)
02154  * @return Byte read from register
02155  */
02156 uint8_t MPU6050::getExternalSensorByte(int position)
02157 {
02158     i2Cdev.readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
02159     return buffer[0];
02160 }
02161 /** Read word (2 bytes) from external sensor data registers.
02162  * @param position Starting position (0-21)
02163  * @return Word read from register
02164  * @see getExternalSensorByte()
02165  */
02166 uint16_t MPU6050::getExternalSensorWord(int position)
02167 {
02168     i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
02169     return (((uint16_t)buffer[0]) << 8) | buffer[1];
02170 }
02171 /** Read double word (4 bytes) from external sensor data registers.
02172  * @param position Starting position (0-20)
02173  * @return Double word read from registers
02174  * @see getExternalSensorByte()
02175  */
02176 uint32_t MPU6050::getExternalSensorDWord(int position)
02177 {
02178     i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
02179     return (((uint32_t)buffer[0]) << 24) | (((uint32_t)buffer[1]) << 16) | (((uint16_t)buffer[2]) << 8) | buffer[3];
02180 }
02181 
02182 // MOT_DETECT_STATUS register
02183 
02184 /** Get X-axis negative motion detection interrupt status.
02185  * @return Motion detection status
02186  * @see MPU6050_RA_MOT_DETECT_STATUS
02187  * @see MPU6050_MOTION_MOT_XNEG_BIT
02188  */
02189 bool MPU6050::getXNegMotionDetected()
02190 {
02191     i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
02192     return buffer[0];
02193 }
02194 /** Get X-axis positive motion detection interrupt status.
02195  * @return Motion detection status
02196  * @see MPU6050_RA_MOT_DETECT_STATUS
02197  * @see MPU6050_MOTION_MOT_XPOS_BIT
02198  */
02199 bool MPU6050::getXPosMotionDetected()
02200 {
02201     i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
02202     return buffer[0];
02203 }
02204 /** Get Y-axis negative motion detection interrupt status.
02205  * @return Motion detection status
02206  * @see MPU6050_RA_MOT_DETECT_STATUS
02207  * @see MPU6050_MOTION_MOT_YNEG_BIT
02208  */
02209 bool MPU6050::getYNegMotionDetected()
02210 {
02211     i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
02212     return buffer[0];
02213 }
02214 /** Get Y-axis positive motion detection interrupt status.
02215  * @return Motion detection status
02216  * @see MPU6050_RA_MOT_DETECT_STATUS
02217  * @see MPU6050_MOTION_MOT_YPOS_BIT
02218  */
02219 bool MPU6050::getYPosMotionDetected()
02220 {
02221     i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
02222     return buffer[0];
02223 }
02224 /** Get Z-axis negative motion detection interrupt status.
02225  * @return Motion detection status
02226  * @see MPU6050_RA_MOT_DETECT_STATUS
02227  * @see MPU6050_MOTION_MOT_ZNEG_BIT
02228  */
02229 bool MPU6050::getZNegMotionDetected()
02230 {
02231     i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
02232     return buffer[0];
02233 }
02234 /** Get Z-axis positive motion detection interrupt status.
02235  * @return Motion detection status
02236  * @see MPU6050_RA_MOT_DETECT_STATUS
02237  * @see MPU6050_MOTION_MOT_ZPOS_BIT
02238  */
02239 bool MPU6050::getZPosMotionDetected()
02240 {
02241     i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
02242     return buffer[0];
02243 }
02244 /** Get zero motion detection interrupt status.
02245  * @return Motion detection status
02246  * @see MPU6050_RA_MOT_DETECT_STATUS
02247  * @see MPU6050_MOTION_MOT_ZRMOT_BIT
02248  */
02249 bool MPU6050::getZeroMotionDetected()
02250 {
02251     i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
02252     return buffer[0];
02253 }
02254 
02255 // I2C_SLV*_DO register
02256 
02257 /** Write byte to Data Output container for specified slave.
02258  * This register holds the output data written into Slave when Slave is set to
02259  * write mode. For further information regarding Slave control, please
02260  * refer to Registers 37 to 39 and immediately following.
02261  * @param num Slave number (0-3)
02262  * @param data Byte to write
02263  * @see MPU6050_RA_I2C_SLV0_DO
02264  */
02265 void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data)
02266 {
02267     if (num > 3) return;
02268     i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
02269 }
02270 
02271 // I2C_MST_DELAY_CTRL register
02272 
02273 /** Get external data shadow delay enabled status.
02274  * This register is used to specify the timing of external sensor data
02275  * shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
02276  * sensor data is delayed until all data has been received.
02277  * @return Current external data shadow delay enabled status.
02278  * @see MPU6050_RA_I2C_MST_DELAY_CTRL
02279  * @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
02280  */
02281 bool MPU6050::getExternalShadowDelayEnabled()
02282 {
02283     i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
02284     return buffer[0];
02285 }
02286 /** Set external data shadow delay enabled status.
02287  * @param enabled New external data shadow delay enabled status.
02288  * @see getExternalShadowDelayEnabled()
02289  * @see MPU6050_RA_I2C_MST_DELAY_CTRL
02290  * @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
02291  */
02292 void MPU6050::setExternalShadowDelayEnabled(bool enabled)
02293 {
02294     i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
02295 }
02296 /** Get slave delay enabled status.
02297  * When a particular slave delay is enabled, the rate of access for the that
02298  * slave device is reduced. When a slave's access rate is decreased relative to
02299  * the Sample Rate, the slave is accessed every:
02300  *
02301  *     1 / (1 + I2C_MST_DLY) Samples
02302  *
02303  * This base Sample Rate in turn is determined by SMPLRT_DIV (register  * 25)
02304  * and DLPF_CFG (register 26).
02305  *
02306  * For further information regarding I2C_MST_DLY, please refer to register 52.
02307  * For further information regarding the Sample Rate, please refer to register 25.
02308  *
02309  * @param num Slave number (0-4)
02310  * @return Current slave delay enabled status.
02311  * @see MPU6050_RA_I2C_MST_DELAY_CTRL
02312  * @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
02313  */
02314 bool MPU6050::getSlaveDelayEnabled(uint8_t num)
02315 {
02316     // MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
02317     if (num > 4) return 0;
02318     i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
02319     return buffer[0];
02320 }
02321 /** Set slave delay enabled status.
02322  * @param num Slave number (0-4)
02323  * @param enabled New slave delay enabled status.
02324  * @see MPU6050_RA_I2C_MST_DELAY_CTRL
02325  * @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
02326  */
02327 void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled)
02328 {
02329     i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
02330 }
02331 
02332 // SIGNAL_PATH_RESET register
02333 
02334 /** Reset gyroscope signal path.
02335  * The reset will revert the signal path analog to digital converters and
02336  * filters to their power up configurations.
02337  * @see MPU6050_RA_SIGNAL_PATH_RESET
02338  * @see MPU6050_PATHRESET_GYRO_RESET_BIT
02339  */
02340 void MPU6050::resetGyroscopePath()
02341 {
02342     i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
02343 }
02344 /** Reset accelerometer signal path.
02345  * The reset will revert the signal path analog to digital converters and
02346  * filters to their power up configurations.
02347  * @see MPU6050_RA_SIGNAL_PATH_RESET
02348  * @see MPU6050_PATHRESET_ACCEL_RESET_BIT
02349  */
02350 void MPU6050::resetAccelerometerPath()
02351 {
02352     i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
02353 }
02354 /** Reset temperature sensor signal path.
02355  * The reset will revert the signal path analog to digital converters and
02356  * filters to their power up configurations.
02357  * @see MPU6050_RA_SIGNAL_PATH_RESET
02358  * @see MPU6050_PATHRESET_TEMP_RESET_BIT
02359  */
02360 void MPU6050::resetTemperaturePath()
02361 {
02362     i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
02363 }
02364 
02365 // MOT_DETECT_CTRL register
02366 
02367 /** Get accelerometer power-on delay.
02368  * The accelerometer data path provides samples to the sensor registers, Motion
02369  * detection, Zero Motion detection, and Free Fall detection modules. The
02370  * signal path contains filters which must be flushed on wake-up with new
02371  * samples before the detection modules begin operations. The default wake-up
02372  * delay, of 4ms can be lengthened by up to 3ms. This additional delay is
02373  * specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
02374  * any value above zero unless instructed otherwise by InvenSense. Please refer
02375  * to Section 8 of the MPU-6000/MPU-6050 Product Specification document for
02376  * further information regarding the detection modules.
02377  * @return Current accelerometer power-on delay
02378  * @see MPU6050_RA_MOT_DETECT_CTRL
02379  * @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
02380  */
02381 uint8_t MPU6050::getAccelerometerPowerOnDelay()
02382 {
02383     i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
02384     return buffer[0];
02385 }
02386 /** Set accelerometer power-on delay.
02387  * @param delay New accelerometer power-on delay (0-3)
02388  * @see getAccelerometerPowerOnDelay()
02389  * @see MPU6050_RA_MOT_DETECT_CTRL
02390  * @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
02391  */
02392 void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay)
02393 {
02394     i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
02395 }
02396 /** Get Free Fall detection counter decrement configuration.
02397  * Detection is registered by the Free Fall detection module after accelerometer
02398  * measurements meet their respective threshold conditions over a specified
02399  * number of samples. When the threshold conditions are met, the corresponding
02400  * detection counter increments by 1. The user may control the rate at which the
02401  * detection counter decrements when the threshold condition is not met by
02402  * configuring FF_COUNT. The decrement rate can be set according to the
02403  * following table:
02404  *
02405  * <pre>
02406  * FF_COUNT | Counter Decrement
02407  * ---------+------------------
02408  * 0        | Reset
02409  * 1        | 1
02410  * 2        | 2
02411  * 3        | 4
02412  * </pre>
02413  *
02414  * When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
02415  * reset the counter to 0. For further information on Free Fall detection,
02416  * please refer to Registers 29 to 32.
02417  *
02418  * @return Current decrement configuration
02419  * @see MPU6050_RA_MOT_DETECT_CTRL
02420  * @see MPU6050_DETECT_FF_COUNT_BIT
02421  */
02422 uint8_t MPU6050::getFreefallDetectionCounterDecrement()
02423 {
02424     i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
02425     return buffer[0];
02426 }
02427 /** Set Free Fall detection counter decrement configuration.
02428  * @param decrement New decrement configuration value
02429  * @see getFreefallDetectionCounterDecrement()
02430  * @see MPU6050_RA_MOT_DETECT_CTRL
02431  * @see MPU6050_DETECT_FF_COUNT_BIT
02432  */
02433 void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement)
02434 {
02435     i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
02436 }
02437 /** Get Motion detection counter decrement configuration.
02438  * Detection is registered by the Motion detection module after accelerometer
02439  * measurements meet their respective threshold conditions over a specified
02440  * number of samples. When the threshold conditions are met, the corresponding
02441  * detection counter increments by 1. The user may control the rate at which the
02442  * detection counter decrements when the threshold condition is not met by
02443  * configuring MOT_COUNT. The decrement rate can be set according to the
02444  * following table:
02445  *
02446  * <pre>
02447  * MOT_COUNT | Counter Decrement
02448  * ----------+------------------
02449  * 0         | Reset
02450  * 1         | 1
02451  * 2         | 2
02452  * 3         | 4
02453  * </pre>
02454  *
02455  * When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
02456  * reset the counter to 0. For further information on Motion detection,
02457  * please refer to Registers 29 to 32.
02458  *
02459  */
02460 uint8_t MPU6050::getMotionDetectionCounterDecrement()
02461 {
02462     i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
02463     return buffer[0];
02464 }
02465 /** Set Motion detection counter decrement configuration.
02466  * @param decrement New decrement configuration value
02467  * @see getMotionDetectionCounterDecrement()
02468  * @see MPU6050_RA_MOT_DETECT_CTRL
02469  * @see MPU6050_DETECT_MOT_COUNT_BIT
02470  */
02471 void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement)
02472 {
02473     i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
02474 }
02475 
02476 // USER_CTRL register
02477 
02478 /** Get FIFO enabled status.
02479  * When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
02480  * cannot be written to or read from while disabled. The FIFO buffer's state
02481  * does not change unless the MPU-60X0 is power cycled.
02482  * @return Current FIFO enabled status
02483  * @see MPU6050_RA_USER_CTRL
02484  * @see MPU6050_USERCTRL_FIFO_EN_BIT
02485  */
02486 bool MPU6050::getFIFOEnabled()
02487 {
02488     i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
02489     return buffer[0];
02490 }
02491 /** Set FIFO enabled status.
02492  * @param enabled New FIFO enabled status
02493  * @see getFIFOEnabled()
02494  * @see MPU6050_RA_USER_CTRL
02495  * @see MPU6050_USERCTRL_FIFO_EN_BIT
02496  */
02497 void MPU6050::setFIFOEnabled(bool enabled)
02498 {
02499     i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
02500 }
02501 /** Get I2C Master Mode enabled status.
02502  * When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
02503  * external sensor slave devices on the auxiliary I2C bus. When this bit is
02504  * cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
02505  * driven by the primary I2C bus (SDA and SCL). This is a precondition to
02506  * enabling Bypass Mode. For further information regarding Bypass Mode, please
02507  * refer to Register 55.
02508  * @return Current I2C Master Mode enabled status
02509  * @see MPU6050_RA_USER_CTRL
02510  * @see MPU6050_USERCTRL_I2C_MST_EN_BIT
02511  */
02512 bool MPU6050::getI2CMasterModeEnabled()
02513 {
02514     i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
02515     return buffer[0];
02516 }
02517 /** Set I2C Master Mode enabled status.
02518  * @param enabled New I2C Master Mode enabled status
02519  * @see getI2CMasterModeEnabled()
02520  * @see MPU6050_RA_USER_CTRL
02521  * @see MPU6050_USERCTRL_I2C_MST_EN_BIT
02522  */
02523 void MPU6050::setI2CMasterModeEnabled(bool enabled)
02524 {
02525     i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
02526 }
02527 /** Switch from I2C to SPI mode (MPU-6000 only)
02528  * If this is set, the primary SPI interface will be enabled in place of the
02529  * disabled primary I2C interface.
02530  */
02531 void MPU6050::switchSPIEnabled(bool enabled)
02532 {
02533     i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
02534 }
02535 /** Reset the FIFO.
02536  * This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
02537  * bit automatically clears to 0 after the reset has been triggered.
02538  * @see MPU6050_RA_USER_CTRL
02539  * @see MPU6050_USERCTRL_FIFO_RESET_BIT
02540  */
02541 void MPU6050::resetFIFO()
02542 {
02543     i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
02544 }
02545 /** Reset the I2C Master.
02546  * This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
02547  * This bit automatically clears to 0 after the reset has been triggered.
02548  * @see MPU6050_RA_USER_CTRL
02549  * @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
02550  */
02551 void MPU6050::resetI2CMaster()
02552 {
02553     i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
02554 }
02555 /** Reset all sensor registers and signal paths.
02556  * When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
02557  * accelerometers, and temperature sensor). This operation will also clear the
02558  * sensor registers. This bit automatically clears to 0 after the reset has been
02559  * triggered.
02560  *
02561  * When resetting only the signal path (and not the sensor registers), please
02562  * use Register 104, SIGNAL_PATH_RESET.
02563  *
02564  * @see MPU6050_RA_USER_CTRL
02565  * @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
02566  */
02567 void MPU6050::resetSensors()
02568 {
02569     i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
02570 }
02571 
02572 // PWR_MGMT_1 register
02573 
02574 /** Trigger a full device reset.
02575  * A small delay of ~50ms may be desirable after triggering a reset.
02576  * @see MPU6050_RA_PWR_MGMT_1
02577  * @see MPU6050_PWR1_DEVICE_RESET_BIT
02578  */
02579 void MPU6050::reset()
02580 {
02581     i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
02582 }
02583 /** Get sleep mode status.
02584  * Setting the SLEEP bit in the register puts the device into very low power
02585  * sleep mode. In this mode, only the serial interface and internal registers
02586  * remain active, allowing for a very low standby current. Clearing this bit
02587  * puts the device back into normal mode. To save power, the individual standby
02588  * selections for each of the gyros should be used if any gyro axis is not used
02589  * by the application.
02590  * @return Current sleep mode enabled status
02591  * @see MPU6050_RA_PWR_MGMT_1
02592  * @see MPU6050_PWR1_SLEEP_BIT
02593  */
02594 bool MPU6050::getSleepEnabled()
02595 {
02596     i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
02597     return buffer[0];
02598 }
02599 /** Set sleep mode status.
02600  * @param enabled New sleep mode enabled status
02601  * @see getSleepEnabled()
02602  * @see MPU6050_RA_PWR_MGMT_1
02603  * @see MPU6050_PWR1_SLEEP_BIT
02604  */
02605 void MPU6050::setSleepEnabled(bool enabled)
02606 {
02607     i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
02608 }
02609 /** Get wake cycle enabled status.
02610  * When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
02611  * between sleep mode and waking up to take a single sample of data from active
02612  * sensors at a rate determined by LP_WAKE_CTRL (register 108).
02613  * @return Current sleep mode enabled status
02614  * @see MPU6050_RA_PWR_MGMT_1
02615  * @see MPU6050_PWR1_CYCLE_BIT
02616  */
02617 bool MPU6050::getWakeCycleEnabled()
02618 {
02619     i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
02620     return buffer[0];
02621 }
02622 /** Set wake cycle enabled status.
02623  * @param enabled New sleep mode enabled status
02624  * @see getWakeCycleEnabled()
02625  * @see MPU6050_RA_PWR_MGMT_1
02626  * @see MPU6050_PWR1_CYCLE_BIT
02627  */
02628 void MPU6050::setWakeCycleEnabled(bool enabled)
02629 {
02630     i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
02631 }
02632 /** Get temperature sensor enabled status.
02633  * Control the usage of the internal temperature sensor.
02634  *
02635  * Note: this register stores the *disabled* value, but for consistency with the
02636  * rest of the code, the function is named and used with standard true/false
02637  * values to indicate whether the sensor is enabled or disabled, respectively.
02638  *
02639  * @return Current temperature sensor enabled status
02640  * @see MPU6050_RA_PWR_MGMT_1
02641  * @see MPU6050_PWR1_TEMP_DIS_BIT
02642  */
02643 bool MPU6050::getTempSensorEnabled()
02644 {
02645     i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
02646     return buffer[0] == 0; // 1 is actually disabled here
02647 }
02648 /** Set temperature sensor enabled status.
02649  * Note: this register stores the *disabled* value, but for consistency with the
02650  * rest of the code, the function is named and used with standard true/false
02651  * values to indicate whether the sensor is enabled or disabled, respectively.
02652  *
02653  * @param enabled New temperature sensor enabled status
02654  * @see getTempSensorEnabled()
02655  * @see MPU6050_RA_PWR_MGMT_1
02656  * @see MPU6050_PWR1_TEMP_DIS_BIT
02657  */
02658 void MPU6050::setTempSensorEnabled(bool enabled)
02659 {
02660     // 1 is actually disabled here
02661     i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
02662 }
02663 /** Get clock source setting.
02664  * @return Current clock source setting
02665  * @see MPU6050_RA_PWR_MGMT_1
02666  * @see MPU6050_PWR1_CLKSEL_BIT
02667  * @see MPU6050_PWR1_CLKSEL_LENGTH
02668  */
02669 uint8_t MPU6050::getClockSource()
02670 {
02671     i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
02672     return buffer[0];
02673 }
02674 /** Set clock source setting.
02675  * An internal 8MHz oscillator, gyroscope based clock, or external sources can
02676  * be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
02677  * or an external source is chosen as the clock source, the MPU-60X0 can operate
02678  * in low power modes with the gyroscopes disabled.
02679  *
02680  * Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
02681  * However, it is highly recommended that the device be configured to use one of
02682  * the gyroscopes (or an external clock source) as the clock reference for
02683  * improved stability. The clock source can be selected according to the following table:
02684  *
02685  * <pre>
02686  * CLK_SEL | Clock Source
02687  * --------+--------------------------------------
02688  * 0       | Internal oscillator
02689  * 1       | PLL with X Gyro reference
02690  * 2       | PLL with Y Gyro reference
02691  * 3       | PLL with Z Gyro reference
02692  * 4       | PLL with external 32.768kHz reference
02693  * 5       | PLL with external 19.2MHz reference
02694  * 6       | Reserved
02695  * 7       | Stops the clock and keeps the timing generator in reset
02696  * </pre>
02697  *
02698  * @param source New clock source setting
02699  * @see getClockSource()
02700  * @see MPU6050_RA_PWR_MGMT_1
02701  * @see MPU6050_PWR1_CLKSEL_BIT
02702  * @see MPU6050_PWR1_CLKSEL_LENGTH
02703  */
02704 void MPU6050::setClockSource(uint8_t source)
02705 {
02706     i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
02707 }
02708 
02709 // PWR_MGMT_2 register
02710 
02711 /** Get wake frequency in Accel-Only Low Power Mode.
02712  * The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
02713  * PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
02714  * the device will power off all devices except for the primary I2C interface,
02715  * waking only the accelerometer at fixed intervals to take a single
02716  * measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
02717  * as shown below:
02718  *
02719  * <pre>
02720  * LP_WAKE_CTRL | Wake-up Frequency
02721  * -------------+------------------
02722  * 0            | 1.25 Hz
02723  * 1            | 2.5 Hz
02724  * 2            | 5 Hz
02725  * 3            | 10 Hz
02726  * <pre>
02727  *
02728  * For further information regarding the MPU-60X0's power modes, please refer to
02729  * Register 107.
02730  *
02731  * @return Current wake frequency
02732  * @see MPU6050_RA_PWR_MGMT_2
02733  */
02734 uint8_t MPU6050::getWakeFrequency()
02735 {
02736     i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
02737     return buffer[0];
02738 }
02739 /** Set wake frequency in Accel-Only Low Power Mode.
02740  * @param frequency New wake frequency
02741  * @see MPU6050_RA_PWR_MGMT_2
02742  */
02743 void MPU6050::setWakeFrequency(uint8_t frequency)
02744 {
02745     i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
02746 }
02747 
02748 /** Get X-axis accelerometer standby enabled status.
02749  * If enabled, the X-axis will not gather or report data (or use power).
02750  * @return Current X-axis standby enabled status
02751  * @see MPU6050_RA_PWR_MGMT_2
02752  * @see MPU6050_PWR2_STBY_XA_BIT
02753  */
02754 bool MPU6050::getStandbyXAccelEnabled()
02755 {
02756     i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
02757     return buffer[0];
02758 }
02759 /** Set X-axis accelerometer standby enabled status.
02760  * @param New X-axis standby enabled status
02761  * @see getStandbyXAccelEnabled()
02762  * @see MPU6050_RA_PWR_MGMT_2
02763  * @see MPU6050_PWR2_STBY_XA_BIT
02764  */
02765 void MPU6050::setStandbyXAccelEnabled(bool enabled)
02766 {
02767     i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
02768 }
02769 /** Get Y-axis accelerometer standby enabled status.
02770  * If enabled, the Y-axis will not gather or report data (or use power).
02771  * @return Current Y-axis standby enabled status
02772  * @see MPU6050_RA_PWR_MGMT_2
02773  * @see MPU6050_PWR2_STBY_YA_BIT
02774  */
02775 bool MPU6050::getStandbyYAccelEnabled()
02776 {
02777     i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
02778     return buffer[0];
02779 }
02780 /** Set Y-axis accelerometer standby enabled status.
02781  * @param New Y-axis standby enabled status
02782  * @see getStandbyYAccelEnabled()
02783  * @see MPU6050_RA_PWR_MGMT_2
02784  * @see MPU6050_PWR2_STBY_YA_BIT
02785  */
02786 void MPU6050::setStandbyYAccelEnabled(bool enabled)
02787 {
02788     i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
02789 }
02790 /** Get Z-axis accelerometer standby enabled status.
02791  * If enabled, the Z-axis will not gather or report data (or use power).
02792  * @return Current Z-axis standby enabled status
02793  * @see MPU6050_RA_PWR_MGMT_2
02794  * @see MPU6050_PWR2_STBY_ZA_BIT
02795  */
02796 bool MPU6050::getStandbyZAccelEnabled()
02797 {
02798     i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
02799     return buffer[0];
02800 }
02801 /** Set Z-axis accelerometer standby enabled status.
02802  * @param New Z-axis standby enabled status
02803  * @see getStandbyZAccelEnabled()
02804  * @see MPU6050_RA_PWR_MGMT_2
02805  * @see MPU6050_PWR2_STBY_ZA_BIT
02806  */
02807 void MPU6050::setStandbyZAccelEnabled(bool enabled)
02808 {
02809     i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
02810 }
02811 /** Get X-axis gyroscope standby enabled status.
02812  * If enabled, the X-axis will not gather or report data (or use power).
02813  * @return Current X-axis standby enabled status
02814  * @see MPU6050_RA_PWR_MGMT_2
02815  * @see MPU6050_PWR2_STBY_XG_BIT
02816  */
02817 bool MPU6050::getStandbyXGyroEnabled()
02818 {
02819     i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
02820     return buffer[0];
02821 }
02822 /** Set X-axis gyroscope standby enabled status.
02823  * @param New X-axis standby enabled status
02824  * @see getStandbyXGyroEnabled()
02825  * @see MPU6050_RA_PWR_MGMT_2
02826  * @see MPU6050_PWR2_STBY_XG_BIT
02827  */
02828 void MPU6050::setStandbyXGyroEnabled(bool enabled)
02829 {
02830     i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
02831 }
02832 /** Get Y-axis gyroscope standby enabled status.
02833  * If enabled, the Y-axis will not gather or report data (or use power).
02834  * @return Current Y-axis standby enabled status
02835  * @see MPU6050_RA_PWR_MGMT_2
02836  * @see MPU6050_PWR2_STBY_YG_BIT
02837  */
02838 bool MPU6050::getStandbyYGyroEnabled()
02839 {
02840     i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
02841     return buffer[0];
02842 }
02843 /** Set Y-axis gyroscope standby enabled status.
02844  * @param New Y-axis standby enabled status
02845  * @see getStandbyYGyroEnabled()
02846  * @see MPU6050_RA_PWR_MGMT_2
02847  * @see MPU6050_PWR2_STBY_YG_BIT
02848  */
02849 void MPU6050::setStandbyYGyroEnabled(bool enabled)
02850 {
02851     i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
02852 }
02853 /** Get Z-axis gyroscope standby enabled status.
02854  * If enabled, the Z-axis will not gather or report data (or use power).
02855  * @return Current Z-axis standby enabled status
02856  * @see MPU6050_RA_PWR_MGMT_2
02857  * @see MPU6050_PWR2_STBY_ZG_BIT
02858  */
02859 bool MPU6050::getStandbyZGyroEnabled()
02860 {
02861     i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
02862     return buffer[0];
02863 }
02864 /** Set Z-axis gyroscope standby enabled status.
02865  * @param New Z-axis standby enabled status
02866  * @see getStandbyZGyroEnabled()
02867  * @see MPU6050_RA_PWR_MGMT_2
02868  * @see MPU6050_PWR2_STBY_ZG_BIT
02869  */
02870 void MPU6050::setStandbyZGyroEnabled(bool enabled)
02871 {
02872     i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
02873 }
02874 
02875 // FIFO_COUNT* registers
02876 
02877 /** Get current FIFO buffer size.
02878  * This value indicates the number of bytes stored in the FIFO buffer. This
02879  * number is in turn the number of bytes that can be read from the FIFO buffer
02880  * and it is directly proportional to the number of samples available given the
02881  * set of sensor data bound to be stored in the FIFO (register 35 and 36).
02882  * @return Current FIFO buffer size
02883  */
02884 uint16_t MPU6050::getFIFOCount()
02885 {
02886     i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
02887     return (((uint16_t)buffer[0]) << 8) | buffer[1];
02888 }
02889 
02890 // FIFO_R_W register
02891 
02892 /** Get byte from FIFO buffer.
02893  * This register is used to read and write data from the FIFO buffer. Data is
02894  * written to the FIFO in order of register number (from lowest to highest). If
02895  * all the FIFO enable flags (see below) are enabled and all External Sensor
02896  * Data registers (Registers 73 to 96) are associated with a Slave device, the
02897  * contents of registers 59 through 96 will be written in order at the Sample
02898  * Rate.
02899  *
02900  * The contents of the sensor data registers (Registers 59 to 96) are written
02901  * into the FIFO buffer when their corresponding FIFO enable flags are set to 1
02902  * in FIFO_EN (Register 35). An additional flag for the sensor data registers
02903  * associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
02904  *
02905  * If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
02906  * automatically set to 1. This bit is located in INT_STATUS (Register 58).
02907  * When the FIFO buffer has overflowed, the oldest data will be lost and new
02908  * data will be written to the FIFO.
02909  *
02910  * If the FIFO buffer is empty, reading this register will return the last byte
02911  * that was previously read from the FIFO until new data is available. The user
02912  * should check FIFO_COUNT to ensure that the FIFO buffer is not read when
02913  * empty.
02914  *
02915  * @return Byte from FIFO buffer
02916  */
02917 uint8_t MPU6050::getFIFOByte()
02918 {
02919     i2Cdev.readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
02920     return buffer[0];
02921 }
02922 void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length)
02923 {
02924     i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
02925 }
02926 /** Write byte to FIFO buffer.
02927  * @see getFIFOByte()
02928  * @see MPU6050_RA_FIFO_R_W
02929  */
02930 void MPU6050::setFIFOByte(uint8_t data)
02931 {
02932     i2Cdev.writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
02933 }
02934 
02935 // WHO_AM_I register
02936 
02937 /** Get Device ID.
02938  * This register is used to verify the identity of the device (0b110100, 0x34).
02939  * @return Device ID (6 bits only! should be 0x34)
02940  * @see MPU6050_RA_WHO_AM_I
02941  * @see MPU6050_WHO_AM_I_BIT
02942  * @see MPU6050_WHO_AM_I_LENGTH
02943  */
02944 uint8_t MPU6050::getDeviceID()
02945 {
02946     i2Cdev.readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
02947     return buffer[0];
02948 }
02949 /** Set Device ID.
02950  * Write a new ID into the WHO_AM_I register (no idea why this should ever be
02951  * necessary though).
02952  * @param id New device ID to set.
02953  * @see getDeviceID()
02954  * @see MPU6050_RA_WHO_AM_I
02955  * @see MPU6050_WHO_AM_I_BIT
02956  * @see MPU6050_WHO_AM_I_LENGTH
02957  */
02958 void MPU6050::setDeviceID(uint8_t id)
02959 {
02960     i2Cdev.writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
02961 }
02962 
02963 // ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
02964 
02965 // XG_OFFS_TC register
02966 
02967 uint8_t MPU6050::getOTPBankValid()
02968 {
02969     i2Cdev.readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
02970     return buffer[0];
02971 }
02972 void MPU6050::setOTPBankValid(bool enabled)
02973 {
02974     i2Cdev.writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
02975 }
02976 int8_t MPU6050::getXGyroOffset()
02977 {
02978     i2Cdev.readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
02979     return buffer[0];
02980 }
02981 void MPU6050::setXGyroOffset(int8_t offset)
02982 {
02983     i2Cdev.writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
02984 }
02985 
02986 // YG_OFFS_TC register
02987 
02988 int8_t MPU6050::getYGyroOffset()
02989 {
02990     i2Cdev.readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
02991     return buffer[0];
02992 }
02993 void MPU6050::setYGyroOffset(int8_t offset)
02994 {
02995     i2Cdev.writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
02996 }
02997 
02998 // ZG_OFFS_TC register
02999 
03000 int8_t MPU6050::getZGyroOffset()
03001 {
03002     i2Cdev.readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
03003     return buffer[0];
03004 }
03005 void MPU6050::setZGyroOffset(int8_t offset)
03006 {
03007     i2Cdev.writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
03008 }
03009 
03010 // X_FINE_GAIN register
03011 
03012 int8_t MPU6050::getXFineGain()
03013 {
03014     i2Cdev.readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
03015     return buffer[0];
03016 }
03017 void MPU6050::setXFineGain(int8_t gain)
03018 {
03019     i2Cdev.writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
03020 }
03021 
03022 // Y_FINE_GAIN register
03023 
03024 int8_t MPU6050::getYFineGain()
03025 {
03026     i2Cdev.readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
03027     return buffer[0];
03028 }
03029 void MPU6050::setYFineGain(int8_t gain)
03030 {
03031     i2Cdev.writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
03032 }
03033 
03034 // Z_FINE_GAIN register
03035 
03036 int8_t MPU6050::getZFineGain()
03037 {
03038     i2Cdev.readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
03039     return buffer[0];
03040 }
03041 void MPU6050::setZFineGain(int8_t gain)
03042 {
03043     i2Cdev.writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
03044 }
03045 
03046 // XA_OFFS_* registers
03047 
03048 int16_t MPU6050::getXAccelOffset()
03049 {
03050     i2Cdev.readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
03051     return (((int16_t)buffer[0]) << 8) | buffer[1];
03052 }
03053 void MPU6050::setXAccelOffset(int16_t offset)
03054 {
03055     i2Cdev.writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
03056 }
03057 
03058 // YA_OFFS_* register
03059 
03060 int16_t MPU6050::getYAccelOffset()
03061 {
03062     i2Cdev.readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
03063     return (((int16_t)buffer[0]) << 8) | buffer[1];
03064 }
03065 void MPU6050::setYAccelOffset(int16_t offset)
03066 {
03067     i2Cdev.writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
03068 }
03069 
03070 // ZA_OFFS_* register
03071 
03072 int16_t MPU6050::getZAccelOffset()
03073 {
03074     i2Cdev.readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
03075     return (((int16_t)buffer[0]) << 8) | buffer[1];
03076 }
03077 void MPU6050::setZAccelOffset(int16_t offset)
03078 {
03079     i2Cdev.writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
03080 }
03081 
03082 // XG_OFFS_USR* registers
03083 
03084 int16_t MPU6050::getXGyroOffsetUser()
03085 {
03086     i2Cdev.readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
03087     return (((int16_t)buffer[0]) << 8) | buffer[1];
03088 }
03089 void MPU6050::setXGyroOffsetUser(int16_t offset)
03090 {
03091     i2Cdev.writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
03092 }
03093 
03094 // YG_OFFS_USR* register
03095 
03096 int16_t MPU6050::getYGyroOffsetUser()
03097 {
03098     i2Cdev.readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
03099     return (((int16_t)buffer[0]) << 8) | buffer[1];
03100 }
03101 void MPU6050::setYGyroOffsetUser(int16_t offset)
03102 {
03103     i2Cdev.writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
03104 }
03105 
03106 // ZG_OFFS_USR* register
03107 
03108 int16_t MPU6050::getZGyroOffsetUser()
03109 {
03110     i2Cdev.readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
03111     return (((int16_t)buffer[0]) << 8) | buffer[1];
03112 }
03113 void MPU6050::setZGyroOffsetUser(int16_t offset)
03114 {
03115     i2Cdev.writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
03116 }
03117 
03118 // INT_ENABLE register (DMP functions)
03119 
03120 bool MPU6050::getIntPLLReadyEnabled()
03121 {
03122     i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
03123     return buffer[0];
03124 }
03125 void MPU6050::setIntPLLReadyEnabled(bool enabled)
03126 {
03127     i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
03128 }
03129 bool MPU6050::getIntDMPEnabled()
03130 {
03131     i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
03132     return buffer[0];
03133 }
03134 void MPU6050::setIntDMPEnabled(bool enabled)
03135 {
03136     i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
03137 }
03138 
03139 // DMP_INT_STATUS
03140 
03141 bool MPU6050::getDMPInt5Status()
03142 {
03143     i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
03144     return buffer[0];
03145 }
03146 bool MPU6050::getDMPInt4Status()
03147 {
03148     i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
03149     return buffer[0];
03150 }
03151 bool MPU6050::getDMPInt3Status()
03152 {
03153     i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
03154     return buffer[0];
03155 }
03156 bool MPU6050::getDMPInt2Status()
03157 {
03158     i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
03159     return buffer[0];
03160 }
03161 bool MPU6050::getDMPInt1Status()
03162 {
03163     i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
03164     return buffer[0];
03165 }
03166 bool MPU6050::getDMPInt0Status()
03167 {
03168     i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
03169     return buffer[0];
03170 }
03171 
03172 // INT_STATUS register (DMP functions)
03173 
03174 bool MPU6050::getIntPLLReadyStatus()
03175 {
03176     i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
03177     return buffer[0];
03178 }
03179 bool MPU6050::getIntDMPStatus()
03180 {
03181     i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
03182     return buffer[0];
03183 }
03184 
03185 // USER_CTRL register (DMP functions)
03186 
03187 bool MPU6050::getDMPEnabled()
03188 {
03189     i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
03190     return buffer[0];
03191 }
03192 void MPU6050::setDMPEnabled(bool enabled)
03193 {
03194     i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
03195 }
03196 void MPU6050::resetDMP()
03197 {
03198     i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
03199 }
03200 
03201 // BANK_SEL register
03202 
03203 void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank)
03204 {
03205     bank &= 0x1F;
03206     if (userBank) bank |= 0x20;
03207     if (prefetchEnabled) bank |= 0x40;
03208     i2Cdev.writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
03209 }
03210 
03211 // MEM_START_ADDR register
03212 
03213 void MPU6050::setMemoryStartAddress(uint8_t address)
03214 {
03215     i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
03216 }
03217 
03218 // MEM_R_W register
03219 
03220 uint8_t MPU6050::readMemoryByte()
03221 {
03222     i2Cdev.readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
03223     return buffer[0];
03224 }
03225 void MPU6050::writeMemoryByte(uint8_t data)
03226 {
03227     i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
03228 }
03229 void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address)
03230 {
03231     setMemoryBank(bank);
03232     setMemoryStartAddress(address);
03233     uint8_t chunkSize;
03234     for (uint16_t i = 0; i < dataSize;) {
03235         // determine correct chunk size according to bank position and data size
03236         chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
03237 
03238         // make sure we don't go past the data size
03239         if (i + chunkSize > dataSize) chunkSize = dataSize - i;
03240 
03241         // make sure this chunk doesn't go past the bank boundary (256 bytes)
03242         if (chunkSize > 256 - address) chunkSize = 256 - address;
03243 
03244         // read the chunk of data as specified
03245         i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
03246 
03247         // increase byte index by [chunkSize]
03248         i += chunkSize;
03249 
03250         // uint8_t automatically wraps to 0 at 256
03251         address += chunkSize;
03252 
03253         // if we aren't done, update bank (if necessary) and address
03254         if (i < dataSize) {
03255             if (address == 0) bank++;
03256             setMemoryBank(bank);
03257             setMemoryStartAddress(address);
03258         }
03259     }
03260 }
03261 bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem)
03262 {
03263     setMemoryBank(bank);
03264     setMemoryStartAddress(address);
03265     uint8_t chunkSize;
03266     uint8_t *verifyBuffer = NULL;
03267     uint8_t *progBuffer = NULL;
03268     uint16_t i;
03269     uint8_t j;
03270     if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
03271     if (useProgMem) progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
03272     for (i = 0; i < dataSize;) {
03273         // determine correct chunk size according to bank position and data size
03274         chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
03275 
03276         // make sure we don't go past the data size
03277         if (i + chunkSize > dataSize) chunkSize = dataSize - i;
03278 
03279         // make sure this chunk doesn't go past the bank boundary (256 bytes)
03280         if (chunkSize > 256 - address) chunkSize = 256 - address;
03281 
03282         if (useProgMem) {
03283             // write the chunk of data as specified
03284             for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
03285         } else {
03286             // write the chunk of data as specified
03287             progBuffer = (uint8_t *)data + i;
03288         }
03289 
03290         i2Cdev.writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
03291 
03292         // verify data if needed
03293         if (verify && verifyBuffer) {
03294             setMemoryBank(bank);
03295             setMemoryStartAddress(address);
03296             i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
03297             if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
03298                 /*Serial.print("Block write verification error, bank ");
03299                 Serial.print(bank, DEC);
03300                 Serial.print(", address ");
03301                 Serial.print(address, DEC);
03302                 Serial.print("!\nExpected:");
03303                 for (j = 0; j < chunkSize; j++) {
03304                     Serial.print(" 0x");
03305                     if (progBuffer[j] < 16) Serial.print("0");
03306                     Serial.print(progBuffer[j], HEX);
03307                 }
03308                 Serial.print("\nReceived:");
03309                 for (uint8_t j = 0; j < chunkSize; j++) {
03310                     Serial.print(" 0x");
03311                     if (verifyBuffer[i + j] < 16) Serial.print("0");
03312                     Serial.print(verifyBuffer[i + j], HEX);
03313                 }
03314                 Serial.print("\n");*/
03315                 free(verifyBuffer);
03316                 if (useProgMem) free(progBuffer);
03317                 return false; // uh oh.
03318             }
03319         }
03320 
03321         // increase byte index by [chunkSize]
03322         i += chunkSize;
03323 
03324         // uint8_t automatically wraps to 0 at 256
03325         address += chunkSize;
03326 
03327         // if we aren't done, update bank (if necessary) and address
03328         if (i < dataSize) {
03329             if (address == 0) bank++;
03330             setMemoryBank(bank);
03331             setMemoryStartAddress(address);
03332         }
03333     }
03334     if (verify) free(verifyBuffer);
03335     if (useProgMem) free(progBuffer);
03336     return true;
03337 }
03338 bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify)
03339 {
03340     return writeMemoryBlock(data, dataSize, bank, address, verify, true);
03341 }
03342 bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem)
03343 {
03344     uint8_t success, special;
03345     uint8_t *progBuffer = NULL;
03346     uint16_t i, j;
03347     if (useProgMem) {
03348         progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
03349     }
03350 
03351     // config set data is a long string of blocks with the following structure:
03352     // [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
03353     uint8_t bank, offset, length;
03354     for (i = 0; i < dataSize;) {
03355         if (useProgMem) {
03356             bank = pgm_read_byte(data + i++);
03357             offset = pgm_read_byte(data + i++);
03358             length = pgm_read_byte(data + i++);
03359         } else {
03360             bank = data[i++];
03361             offset = data[i++];
03362             length = data[i++];
03363         }
03364 
03365         // write data or perform special action
03366         if (length > 0) {
03367             // regular block of data to write
03368             /*Serial.print("Writing config block to bank ");
03369             Serial.print(bank);
03370             Serial.print(", offset ");
03371             Serial.print(offset);
03372             Serial.print(", length=");
03373             Serial.println(length);*/
03374             if (useProgMem) {
03375                 if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length);
03376                 for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j);
03377             } else {
03378                 progBuffer = (uint8_t *)data + i;
03379             }
03380             success = writeMemoryBlock(progBuffer, length, bank, offset, true);
03381             i += length;
03382         } else {
03383             // special instruction
03384             // NOTE: this kind of behavior (what and when to do certain things)
03385             // is totally undocumented. This code is in here based on observed
03386             // behavior only, and exactly why (or even whether) it has to be here
03387             // is anybody's guess for now.
03388             if (useProgMem) {
03389                 special = pgm_read_byte(data + i++);
03390             } else {
03391                 special = data[i++];
03392             }
03393             /*Serial.print("Special command code ");
03394             Serial.print(special, HEX);
03395             Serial.println(" found...");*/
03396             if (special == 0x01) {
03397                 // enable DMP-related interrupts
03398 
03399                 //setIntZeroMotionEnabled(true);
03400                 //setIntFIFOBufferOverflowEnabled(true);
03401                 //setIntDMPEnabled(true);
03402                 i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32);  // single operation
03403 
03404                 success = true;
03405             } else {
03406                 // unknown special command
03407                 success = false;
03408             }
03409         }
03410 
03411         if (!success) {
03412             if (useProgMem) free(progBuffer);
03413             return false; // uh oh
03414         }
03415     }
03416     if (useProgMem) free(progBuffer);
03417     return true;
03418 }
03419 bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
03420 {
03421     return writeDMPConfigurationSet(data, dataSize, false);
03422 }
03423 
03424 // DMP_CFG_1 register
03425 
03426 uint8_t MPU6050::getDMPConfig1()
03427 {
03428     i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
03429     return buffer[0];
03430 }
03431 void MPU6050::setDMPConfig1(uint8_t config)
03432 {
03433     i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
03434 }
03435 
03436 // DMP_CFG_2 register
03437 
03438 uint8_t MPU6050::getDMPConfig2()
03439 {
03440     i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
03441     return buffer[0];
03442 }
03443 void MPU6050::setDMPConfig2(uint8_t config)
03444 {
03445     i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
03446 }