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MPU6050.cpp@3:3c0727618a3b, 2017-08-23 (annotated)

Committer:: OsmanKameric
Date:: Wed Aug 23 17:25:27 2017 +0000
Revision:: 3:3c0727618a3b
Parent:: 2:e2081d9de7af
Child:: 4:df70fe9d6635

First

Who changed what in which revision?

User	Revision	Line number	New contents of line
garfieldsg	0:662207e34fba	1	//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
garfieldsg	0:662207e34fba	2	//written by szymon gaertig (email: szymon@gaertig.com.pl)
garfieldsg	0:662207e34fba	3	//
garfieldsg	0:662207e34fba	4	//Changelog:
garfieldsg	0:662207e34fba	5	//2013-01-08 - first beta release
garfieldsg	0:662207e34fba	6
garfieldsg	0:662207e34fba	7	// I2Cdev library collection - MPU6050 I2C device class
garfieldsg	0:662207e34fba	8	// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
garfieldsg	0:662207e34fba	9	// 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
garfieldsg	0:662207e34fba	10	// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
garfieldsg	0:662207e34fba	11	//
garfieldsg	0:662207e34fba	12	// Changelog:
garfieldsg	0:662207e34fba	13	// ... - ongoing debug release
garfieldsg	0:662207e34fba	14
garfieldsg	0:662207e34fba	15	// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
garfieldsg	0:662207e34fba	16	// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
garfieldsg	0:662207e34fba	17	// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
garfieldsg	0:662207e34fba	18
garfieldsg	0:662207e34fba	19	/* ============================================
garfieldsg	0:662207e34fba	20	I2Cdev device library code is placed under the MIT license
garfieldsg	0:662207e34fba	21	Copyright (c) 2012 Jeff Rowberg
garfieldsg	0:662207e34fba	22
garfieldsg	0:662207e34fba	23	Permission is hereby granted, free of charge, to any person obtaining a copy
garfieldsg	0:662207e34fba	24	of this software and associated documentation files (the "Software"), to deal
garfieldsg	0:662207e34fba	25	in the Software without restriction, including without limitation the rights
garfieldsg	0:662207e34fba	26	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
garfieldsg	0:662207e34fba	27	copies of the Software, and to permit persons to whom the Software is
garfieldsg	0:662207e34fba	28	furnished to do so, subject to the following conditions:
garfieldsg	0:662207e34fba	29
garfieldsg	0:662207e34fba	30	The above copyright notice and this permission notice shall be included in
garfieldsg	0:662207e34fba	31	all copies or substantial portions of the Software.
garfieldsg	0:662207e34fba	32
garfieldsg	0:662207e34fba	33	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
garfieldsg	0:662207e34fba	34	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
garfieldsg	0:662207e34fba	35	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
garfieldsg	0:662207e34fba	36	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
garfieldsg	0:662207e34fba	37	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
garfieldsg	0:662207e34fba	38	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
garfieldsg	0:662207e34fba	39	THE SOFTWARE.
garfieldsg	0:662207e34fba	40	===============================================
garfieldsg	0:662207e34fba	41	*/
garfieldsg	0:662207e34fba	42
garfieldsg	0:662207e34fba	43	#include "MPU6050.h"
OsmanKameric	2:e2081d9de7af	44	int16_t accelData[3],gyroData[3],tempData;
OsmanKameric	2:e2081d9de7af	45	float accelBias[3] = {0, 0, 0}; // Bias corrections for acc
OsmanKameric	2:e2081d9de7af	46	float gyroBias[3] = {0, 0, 0}; // Bias corrections for gyro
OsmanKameric	2:e2081d9de7af	47	enum Ascale
OsmanKameric	2:e2081d9de7af	48	{
OsmanKameric	2:e2081d9de7af	49	AFS_2G=0,
OsmanKameric	2:e2081d9de7af	50	AFS_4G,
OsmanKameric	2:e2081d9de7af	51	AFS_8G,
OsmanKameric	2:e2081d9de7af	52	AFS_16G
OsmanKameric	2:e2081d9de7af	53	};
OsmanKameric	2:e2081d9de7af	54	enum Gscale
OsmanKameric	2:e2081d9de7af	55	{
OsmanKameric	2:e2081d9de7af	56	GFS_250DPS=0,
OsmanKameric	2:e2081d9de7af	57	GFS_500DPS,
OsmanKameric	2:e2081d9de7af	58	GFS_1000DPS,
OsmanKameric	2:e2081d9de7af	59	GFS_2000DPS
OsmanKameric	2:e2081d9de7af	60	};
OsmanKameric	2:e2081d9de7af	61	int Gscale = GFS_250DPS;
OsmanKameric	2:e2081d9de7af	62	float aRes;
OsmanKameric	2:e2081d9de7af	63	float gRes;
OsmanKameric	2:e2081d9de7af	64	int Ascale = AFS_2G;
OsmanKameric	3:3c0727618a3b	65
OsmanKameric	3:3c0727618a3b	66	//int16_t ax,ay,az;
OsmanKameric	3:3c0727618a3b	67	//int16_t gx,gy,gz;
OsmanKameric	3:3c0727618a3b	68
OsmanKameric	2:e2081d9de7af	69	float ax,ay,az;
OsmanKameric	3:3c0727618a3b	70	float gx,gy,gz;
OsmanKameric	3:3c0727618a3b	71	//#define useDebugSerial
garfieldsg	0:662207e34fba	72
garfieldsg	0:662207e34fba	73	//instead of using pgmspace.h
garfieldsg	0:662207e34fba	74	typedef const unsigned char prog_uchar;
garfieldsg	0:662207e34fba	75	#define pgm_read_byte_near(x) ((prog_uchar)x)
garfieldsg	0:662207e34fba	76	#define pgm_read_byte(x) ((prog_uchar)x)
garfieldsg	0:662207e34fba	77
garfieldsg	0:662207e34fba	78	/** Default constructor, uses default I2C address.
garfieldsg	0:662207e34fba	79	* @see MPU6050_DEFAULT_ADDRESS
garfieldsg	0:662207e34fba	80	*/
OsmanKameric	3:3c0727618a3b	81	MPU6050::MPU6050()
garfieldsg	0:662207e34fba	82	{
garfieldsg	0:662207e34fba	83	devAddr = MPU6050_DEFAULT_ADDRESS;
garfieldsg	0:662207e34fba	84	}
garfieldsg	0:662207e34fba	85
garfieldsg	0:662207e34fba	86	/** Specific address constructor.
garfieldsg	0:662207e34fba	87	* @param address I2C address
garfieldsg	0:662207e34fba	88	* @see MPU6050_DEFAULT_ADDRESS
garfieldsg	0:662207e34fba	89	* @see MPU6050_ADDRESS_AD0_LOW
garfieldsg	0:662207e34fba	90	* @see MPU6050_ADDRESS_AD0_HIGH
garfieldsg	0:662207e34fba	91	*/
OsmanKameric	3:3c0727618a3b	92	MPU6050::MPU6050(uint8_t address)
garfieldsg	0:662207e34fba	93	{
garfieldsg	0:662207e34fba	94	devAddr = address;
garfieldsg	0:662207e34fba	95	}
garfieldsg	0:662207e34fba	96
garfieldsg	0:662207e34fba	97	/** Power on and prepare for general usage.
garfieldsg	0:662207e34fba	98	* This will activate the device and take it out of sleep mode (which must be done
garfieldsg	0:662207e34fba	99	* after start-up). This function also sets both the accelerometer and the gyroscope
garfieldsg	0:662207e34fba	100	* to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
garfieldsg	0:662207e34fba	101	* the clock source to use the X Gyro for reference, which is slightly better than
garfieldsg	0:662207e34fba	102	* the default internal clock source.
garfieldsg	0:662207e34fba	103	*/
garfieldsg	0:662207e34fba	104	void MPU6050::initialize()
garfieldsg	0:662207e34fba	105	{
garfieldsg	0:662207e34fba	106
garfieldsg	0:662207e34fba	107	#ifdef useDebugSerial
garfieldsg	0:662207e34fba	108	debugSerial.printf("MPU6050::initialize start\n");
garfieldsg	0:662207e34fba	109	#endif
OsmanKameric	2:e2081d9de7af	110	//i2Cdev.frequency(400000); // fast i2c: 400 kHz
OsmanKameric	2:e2081d9de7af	111
OsmanKameric	2:e2081d9de7af	112	/* Wake up the device */
OsmanKameric	2:e2081d9de7af	113	//i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, 0x00); // wake up the device by clearing the sleep bit (bit6)
OsmanKameric	2:e2081d9de7af	114	//wait_ms(100); // wait 100 ms to stabilize
OsmanKameric	2:e2081d9de7af	115
OsmanKameric	2:e2081d9de7af	116	/* Get stable time source */
OsmanKameric	2:e2081d9de7af	117	// PLL with X axis gyroscope reference is used to improve stability
OsmanKameric	2:e2081d9de7af	118	//i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, 0x01);
OsmanKameric	2:e2081d9de7af	119
OsmanKameric	2:e2081d9de7af	120	/* Configure Gyroscope and Accelerometer */
OsmanKameric	2:e2081d9de7af	121	// Disable FSYNC, acc bandwidth: 44 Hz, gyro bandwidth: 42 Hz
OsmanKameric	2:e2081d9de7af	122	// Sample rates: 1kHz, maximum delay: 4.9ms (which is pretty good for a 200 Hz maximum rate)
OsmanKameric	2:e2081d9de7af	123	//i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_CONFIG, 0x03);
OsmanKameric	2:e2081d9de7af	124
OsmanKameric	2:e2081d9de7af	125	/* Set sample rate = gyroscope output rate/(1+SMPLRT_DIV) */
OsmanKameric	2:e2081d9de7af	126	// SMPLRT_DIV=4 and sample rate=200 Hz (compatible with config above)
OsmanKameric	2:e2081d9de7af	127	//i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_SMPLRT_DIV, 0x04);
OsmanKameric	2:e2081d9de7af	128
OsmanKameric	2:e2081d9de7af	129	/* Accelerometer configuration */
OsmanKameric	2:e2081d9de7af	130	//uint8_t temp;
OsmanKameric	2:e2081d9de7af	131	//i2Cdev.readByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_CONFIG,&temp);
OsmanKameric	2:e2081d9de7af	132	//i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_CONFIG, temp & ~0xE0); // Clear self-test bits [7:5]
OsmanKameric	2:e2081d9de7af	133	//i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_CONFIG, temp & ~0x18); // Clear AFS bits [4:3]
OsmanKameric	2:e2081d9de7af	134	//i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_CONFIG, temp \| Ascale<<3); // Set full scale range
OsmanKameric	2:e2081d9de7af	135
OsmanKameric	2:e2081d9de7af	136	/* Gyroscope configuration */
OsmanKameric	2:e2081d9de7af	137	//i2Cdev.readByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_GYRO_CONFIG, &temp);
OsmanKameric	2:e2081d9de7af	138	//i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_GYRO_CONFIG, temp & ~0xE0); // Clear self-test bits [7:5]
OsmanKameric	2:e2081d9de7af	139	//i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_GYRO_CONFIG, temp & ~0x18); // Clear FS bits [4:3]
OsmanKameric	2:e2081d9de7af	140	//i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_GYRO_CONFIG, temp \| Gscale<<3); // Set full scale range
garfieldsg	0:662207e34fba	141	setClockSource(MPU6050_CLOCK_PLL_XGYRO);
garfieldsg	0:662207e34fba	142	setFullScaleGyroRange(MPU6050_GYRO_FS_250);
garfieldsg	0:662207e34fba	143	setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
garfieldsg	0:662207e34fba	144	setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
OsmanKameric	3:3c0727618a3b	145
garfieldsg	0:662207e34fba	146
garfieldsg	0:662207e34fba	147	#ifdef useDebugSerial
garfieldsg	0:662207e34fba	148	debugSerial.printf("MPU6050::initialize end\n");
garfieldsg	0:662207e34fba	149	#endif
garfieldsg	0:662207e34fba	150	}
garfieldsg	0:662207e34fba	151
garfieldsg	0:662207e34fba	152	/** Verify the I2C connection.
garfieldsg	0:662207e34fba	153	* Make sure the device is connected and responds as expected.
garfieldsg	0:662207e34fba	154	* @return True if connection is valid, false otherwise
garfieldsg	0:662207e34fba	155	*/
garfieldsg	0:662207e34fba	156	bool MPU6050::testConnection()
garfieldsg	0:662207e34fba	157	{
garfieldsg	0:662207e34fba	158	#ifdef useDebugSerial
garfieldsg	0:662207e34fba	159	debugSerial.printf("MPU6050::testConnection start\n");
garfieldsg	0:662207e34fba	160	#endif
garfieldsg	0:662207e34fba	161	uint8_t deviceId = getDeviceID();
garfieldsg	0:662207e34fba	162	#ifdef useDebugSerial
garfieldsg	0:662207e34fba	163	debugSerial.printf("DeviceId = %d\n",deviceId);
garfieldsg	0:662207e34fba	164	#endif
garfieldsg	0:662207e34fba	165	return deviceId == 0x34;
garfieldsg	0:662207e34fba	166	}
garfieldsg	0:662207e34fba	167
OsmanKameric	2:e2081d9de7af	168	void MPU6050::calibrate(float* dest1, float* dest2){
OsmanKameric	2:e2081d9de7af	169	uint8_t data[12]; // data array to hold acc and gyro x,y,z data
OsmanKameric	2:e2081d9de7af	170	uint16_t fifo_count, packet_count, count;
OsmanKameric	2:e2081d9de7af	171	int32_t accel_bias[3] = {0,0,0};
OsmanKameric	2:e2081d9de7af	172	int32_t gyro_bias[3] = {0,0,0};
OsmanKameric	2:e2081d9de7af	173	float aRes = 2.0/32768.0;
OsmanKameric	2:e2081d9de7af	174	float gRes = 250.0/32768.0;
OsmanKameric	2:e2081d9de7af	175	uint16_t accelsensitivity = 16384; // = 1/aRes = 16384 LSB/g
OsmanKameric	2:e2081d9de7af	176	//uint16_t gyrosensitivity = 131; // = 1/gRes = 131 LSB/dps
OsmanKameric	2:e2081d9de7af	177
OsmanKameric	2:e2081d9de7af	178	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, 0x80); // set bit7 to reset the device
OsmanKameric	2:e2081d9de7af	179	wait_ms(100);
OsmanKameric	2:e2081d9de7af	180
OsmanKameric	2:e2081d9de7af	181	/Get stable time source /
OsmanKameric	2:e2081d9de7af	182	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, 0x01); // PLL with X axis gyroscope reference is used to improve stability
OsmanKameric	2:e2081d9de7af	183	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_2, 0x00); // Disable accel only low power mode
OsmanKameric	2:e2081d9de7af	184	wait(0.2);
OsmanKameric	2:e2081d9de7af	185
OsmanKameric	2:e2081d9de7af	186	/* Configure device for bias calculation */
OsmanKameric	2:e2081d9de7af	187	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_INT_ENABLE, 0x00); // Disable all interrupts
OsmanKameric	2:e2081d9de7af	188	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_FIFO_EN, 0x00); // Disable FIFO
OsmanKameric	2:e2081d9de7af	189	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, 0x00); // Turn on internal clock source
OsmanKameric	2:e2081d9de7af	190	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_I2C_MST_CTRL, 0x00); // Disable I2C master
OsmanKameric	2:e2081d9de7af	191	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_USER_CTRL, 0x00); // Disable FIFO and I2C master modes
OsmanKameric	2:e2081d9de7af	192	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_USER_CTRL, 0x04); // Reset FIFO
OsmanKameric	2:e2081d9de7af	193	wait(0.015);
OsmanKameric	2:e2081d9de7af	194
OsmanKameric	2:e2081d9de7af	195
OsmanKameric	2:e2081d9de7af	196	/* Configure accel and gyro for bias calculation */
OsmanKameric	2:e2081d9de7af	197	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_CONFIG, 0x01); // Set low-pass filter to 188 Hz
OsmanKameric	2:e2081d9de7af	198	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz
OsmanKameric	2:e2081d9de7af	199	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity
OsmanKameric	2:e2081d9de7af	200	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity
OsmanKameric	2:e2081d9de7af	201
OsmanKameric	2:e2081d9de7af	202	/* Configure FIFO to capture accelerometer and gyro data for bias calculation */
OsmanKameric	2:e2081d9de7af	203	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_USER_CTRL, 0x40); // Enable FIFO
OsmanKameric	2:e2081d9de7af	204	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_FIFO_EN, 0x78); // Enable accelerometer and gyro for FIFO (max size 1024 bytes in MPU-6050)
OsmanKameric	2:e2081d9de7af	205	wait(0.08); // Sample rate is 1 kHz, accumulates 80 samples in 80 milliseconds.
OsmanKameric	2:e2081d9de7af	206	// accX: 2 byte, accY: 2 byte, accZ: 2 byte. gyroX: 2 byte, gyroY: 2 byte, gyroZ: 2 byte. 12*80=960 byte < 1024 byte
OsmanKameric	2:e2081d9de7af	207
OsmanKameric	2:e2081d9de7af	208
OsmanKameric	2:e2081d9de7af	209	/* At end of sample accumulation, turn off FIFO sensor read */
OsmanKameric	2:e2081d9de7af	210	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_FIFO_EN, 0x00); // Disable FIFO
OsmanKameric	2:e2081d9de7af	211	i2Cdev.readBytes(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_FIFO_COUNTH, 2, &data[0]); // Read FIFO sample count
OsmanKameric	2:e2081d9de7af	212	fifo_count = ((uint16_t)data[0] << 8) \| data[1];
OsmanKameric	2:e2081d9de7af	213	packet_count = fifo_count/12; // The number of sets of full acc and gyro data for averaging. packet_count = 80 in this case
OsmanKameric	2:e2081d9de7af	214
OsmanKameric	2:e2081d9de7af	215	for(count=0; count<packet_count; count++)
OsmanKameric	2:e2081d9de7af	216	{
OsmanKameric	2:e2081d9de7af	217	int16_t accel_temp[3]={0,0,0};
OsmanKameric	2:e2081d9de7af	218	int16_t gyro_temp[3]={0,0,0};
OsmanKameric	2:e2081d9de7af	219	i2Cdev.readBytes(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_FIFO_R_W, 12, &data[0]); // read data for averaging
OsmanKameric	2:e2081d9de7af	220
OsmanKameric	2:e2081d9de7af	221	/* Form signed 16-bit integer for each sample in FIFO */
OsmanKameric	2:e2081d9de7af	222	accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) \| data[1] ) ;
OsmanKameric	2:e2081d9de7af	223	accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) \| data[3] ) ;
OsmanKameric	2:e2081d9de7af	224	accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) \| data[5] ) ;
OsmanKameric	2:e2081d9de7af	225	gyro_temp[0] = (int16_t) (((int16_t)data[6] << 8) \| data[7] ) ;
OsmanKameric	2:e2081d9de7af	226	gyro_temp[1] = (int16_t) (((int16_t)data[8] << 8) \| data[9] ) ;
OsmanKameric	2:e2081d9de7af	227	gyro_temp[2] = (int16_t) (((int16_t)data[10] << 8) \| data[11]) ;
OsmanKameric	2:e2081d9de7af	228
OsmanKameric	2:e2081d9de7af	229	/* Sum individual signed 16-bit biases to get accumulated signed 32-bit biases */
OsmanKameric	2:e2081d9de7af	230	accel_bias[0] += (int32_t) accel_temp[0];
OsmanKameric	2:e2081d9de7af	231	accel_bias[1] += (int32_t) accel_temp[1];
OsmanKameric	2:e2081d9de7af	232	accel_bias[2] += (int32_t) accel_temp[2];
OsmanKameric	2:e2081d9de7af	233	gyro_bias[0] += (int32_t) gyro_temp[0];
OsmanKameric	2:e2081d9de7af	234	gyro_bias[1] += (int32_t) gyro_temp[1];
OsmanKameric	2:e2081d9de7af	235	gyro_bias[2] += (int32_t) gyro_temp[2];
OsmanKameric	2:e2081d9de7af	236	}
OsmanKameric	2:e2081d9de7af	237	/* Normalize sums to get average count biases */
OsmanKameric	2:e2081d9de7af	238	accel_bias[0] /= (int32_t) packet_count;
OsmanKameric	2:e2081d9de7af	239	accel_bias[1] /= (int32_t) packet_count;
OsmanKameric	2:e2081d9de7af	240	accel_bias[2] /= (int32_t) packet_count;
OsmanKameric	2:e2081d9de7af	241	gyro_bias[0] /= (int32_t) packet_count;
OsmanKameric	2:e2081d9de7af	242	gyro_bias[1] /= (int32_t) packet_count;
OsmanKameric	2:e2081d9de7af	243	gyro_bias[2] /= (int32_t) packet_count;
OsmanKameric	2:e2081d9de7af	244
OsmanKameric	2:e2081d9de7af	245	/* Remove gravity from the z-axis accelerometer bias calculation */
OsmanKameric	2:e2081d9de7af	246	if(accel_bias[2] > 0) {accel_bias[2] -= (int32_t) accelsensitivity;}
OsmanKameric	2:e2081d9de7af	247	else {accel_bias[2] += (int32_t) accelsensitivity;}
OsmanKameric	2:e2081d9de7af	248
OsmanKameric	2:e2081d9de7af	249	/* Output scaled accelerometer biases for manual subtraction in the main program */
OsmanKameric	2:e2081d9de7af	250	dest1[0] = accel_bias[0]*aRes;
OsmanKameric	2:e2081d9de7af	251	dest1[1] = accel_bias[1]*aRes;
OsmanKameric	2:e2081d9de7af	252	dest1[2] = accel_bias[2]*aRes;
OsmanKameric	2:e2081d9de7af	253
OsmanKameric	2:e2081d9de7af	254	/* Construct the gyro biases for push to the hardware gyro bias registers, which are reset to zero upon device startup */
OsmanKameric	2:e2081d9de7af	255	data[0] = (-gyro_bias[0]/4 >> 8) & 0xFF; // Divide by 4 to get 32.9 LSB per deg/s to conform to expected bias input format
OsmanKameric	2:e2081d9de7af	256	data[1] = (-gyro_bias[0]/4) & 0xFF; // Biases are additive, so change sign on calculated average gyro biases
OsmanKameric	2:e2081d9de7af	257	data[2] = (-gyro_bias[1]/4 >> 8) & 0xFF;
OsmanKameric	2:e2081d9de7af	258	data[3] = (-gyro_bias[1]/4) & 0xFF;
OsmanKameric	2:e2081d9de7af	259	data[4] = (-gyro_bias[2]/4 >> 8) & 0xFF;
OsmanKameric	2:e2081d9de7af	260	data[5] = (-gyro_bias[2]/4) & 0xFF;
OsmanKameric	2:e2081d9de7af	261
OsmanKameric	2:e2081d9de7af	262	/* Push gyro biases to hardware registers */
OsmanKameric	2:e2081d9de7af	263	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_XG_OFFS_USRH, data[0]);
OsmanKameric	2:e2081d9de7af	264	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_XG_OFFS_USRL, data[1]);
OsmanKameric	2:e2081d9de7af	265	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_YG_OFFS_USRH, data[2]);
OsmanKameric	2:e2081d9de7af	266	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_YG_OFFS_USRL, data[3]);
OsmanKameric	2:e2081d9de7af	267	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ZG_OFFS_USRH, data[4]);
OsmanKameric	2:e2081d9de7af	268	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ZG_OFFS_USRL, data[5]);
OsmanKameric	2:e2081d9de7af	269
OsmanKameric	2:e2081d9de7af	270	/* Construct gyro bias in deg/s for later manual subtraction */
OsmanKameric	2:e2081d9de7af	271	dest2[0] = gyro_bias[0]*gRes;
OsmanKameric	2:e2081d9de7af	272	dest2[1] = gyro_bias[1]*gRes;
OsmanKameric	2:e2081d9de7af	273	dest2[2] = gyro_bias[2]*gRes;
OsmanKameric	2:e2081d9de7af	274	}
OsmanKameric	2:e2081d9de7af	275	void MPU6050::readAccelData(int16_t* dest)
OsmanKameric	2:e2081d9de7af	276	{
OsmanKameric	2:e2081d9de7af	277	uint8_t rawData[6]; // x,y,z acc data
OsmanKameric	2:e2081d9de7af	278	i2Cdev.readBytes(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_XOUT_H, 6, &rawData[0]); // read six raw data registers sequentially and write them into data array
OsmanKameric	2:e2081d9de7af	279
OsmanKameric	2:e2081d9de7af	280	/* Turn the MSB LSB into signed 16-bit value */
OsmanKameric	2:e2081d9de7af	281	dest[0] = (int16_t)(((int16_t)rawData[0]<<8) \| rawData[1]); // ACCEL_XOUT
OsmanKameric	2:e2081d9de7af	282	dest[1] = (int16_t)(((int16_t)rawData[2]<<8) \| rawData[3]); // ACCEL_YOUT
OsmanKameric	2:e2081d9de7af	283	dest[2] = (int16_t)(((int16_t)rawData[4]<<8) \| rawData[5]); // ACCEL_ZOUT
OsmanKameric	2:e2081d9de7af	284	}
OsmanKameric	2:e2081d9de7af	285	void MPU6050::readGyroData(int16_t* dest)
OsmanKameric	2:e2081d9de7af	286	{
OsmanKameric	2:e2081d9de7af	287	uint8_t rawData[6]; // x,y,z gyro data
OsmanKameric	2:e2081d9de7af	288	i2Cdev.readBytes(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_GYRO_XOUT_H, 6, &rawData[0]); // read the six raw data registers sequentially and write them into data array
OsmanKameric	2:e2081d9de7af	289
OsmanKameric	2:e2081d9de7af	290	/* Turn the MSB LSB into signed 16-bit value */
OsmanKameric	2:e2081d9de7af	291	dest[0] = (int16_t)(((int16_t)rawData[0]<<8) \| rawData[1]); // GYRO_XOUT
OsmanKameric	2:e2081d9de7af	292	dest[1] = (int16_t)(((int16_t)rawData[2]<<8) \| rawData[3]); // GYRO_YOUT
OsmanKameric	2:e2081d9de7af	293	dest[2] = (int16_t)(((int16_t)rawData[4]<<8) \| rawData[5]); // GYRO_ZOUT
OsmanKameric	2:e2081d9de7af	294	}
OsmanKameric	2:e2081d9de7af	295	void MPU6050::getGres()
OsmanKameric	2:e2081d9de7af	296	{
OsmanKameric	2:e2081d9de7af	297	switch(Gscale)
OsmanKameric	2:e2081d9de7af	298	{
OsmanKameric	2:e2081d9de7af	299	case GFS_250DPS:
OsmanKameric	2:e2081d9de7af	300	gRes = 250.0/32768.0;
OsmanKameric	2:e2081d9de7af	301	break;
OsmanKameric	2:e2081d9de7af	302	case GFS_500DPS:
OsmanKameric	2:e2081d9de7af	303	gRes = 500.0/32768.0;
OsmanKameric	2:e2081d9de7af	304	break;
OsmanKameric	2:e2081d9de7af	305	case GFS_1000DPS:
OsmanKameric	2:e2081d9de7af	306	gRes = 1000.0/32768.0;
OsmanKameric	2:e2081d9de7af	307	break;
OsmanKameric	2:e2081d9de7af	308	case GFS_2000DPS:
OsmanKameric	2:e2081d9de7af	309	gRes = 2000.0/32768.0;
OsmanKameric	2:e2081d9de7af	310	break;
OsmanKameric	2:e2081d9de7af	311	}
OsmanKameric	2:e2081d9de7af	312	}
OsmanKameric	2:e2081d9de7af	313	void MPU6050::getAres()
OsmanKameric	2:e2081d9de7af	314	{
OsmanKameric	2:e2081d9de7af	315	switch(Ascale)
OsmanKameric	2:e2081d9de7af	316	{
OsmanKameric	2:e2081d9de7af	317	case AFS_2G:
OsmanKameric	2:e2081d9de7af	318	aRes = 2.0/32768.0;
OsmanKameric	2:e2081d9de7af	319	break;
OsmanKameric	2:e2081d9de7af	320	case AFS_4G:
OsmanKameric	2:e2081d9de7af	321	aRes = 4.0/32768.0;
OsmanKameric	2:e2081d9de7af	322	break;
OsmanKameric	2:e2081d9de7af	323	case AFS_8G:
OsmanKameric	2:e2081d9de7af	324	aRes = 8.0/32768.0;
OsmanKameric	2:e2081d9de7af	325	break;
OsmanKameric	2:e2081d9de7af	326	case AFS_16G:
OsmanKameric	2:e2081d9de7af	327	aRes = 16.0/32768.0;
OsmanKameric	2:e2081d9de7af	328	break;
OsmanKameric	2:e2081d9de7af	329	}
OsmanKameric	2:e2081d9de7af	330	}
garfieldsg	0:662207e34fba	331	// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
garfieldsg	0:662207e34fba	332
garfieldsg	0:662207e34fba	333	/** Get the auxiliary I2C supply voltage level.
garfieldsg	0:662207e34fba	334	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
garfieldsg	0:662207e34fba	335	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
garfieldsg	0:662207e34fba	336	* the MPU-6000, which does not have a VLOGIC pin.
garfieldsg	0:662207e34fba	337	* @return I2C supply voltage level (0=VLOGIC, 1=VDD)
garfieldsg	0:662207e34fba	338	*/
garfieldsg	0:662207e34fba	339	uint8_t MPU6050::getAuxVDDIOLevel()
garfieldsg	0:662207e34fba	340	{
garfieldsg	0:662207e34fba	341	i2Cdev.readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
garfieldsg	0:662207e34fba	342	return buffer[0];
garfieldsg	0:662207e34fba	343	}
garfieldsg	0:662207e34fba	344	/** Set the auxiliary I2C supply voltage level.
garfieldsg	0:662207e34fba	345	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
garfieldsg	0:662207e34fba	346	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
garfieldsg	0:662207e34fba	347	* the MPU-6000, which does not have a VLOGIC pin.
garfieldsg	0:662207e34fba	348	* @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
garfieldsg	0:662207e34fba	349	*/
garfieldsg	0:662207e34fba	350	void MPU6050::setAuxVDDIOLevel(uint8_t level)
garfieldsg	0:662207e34fba	351	{
garfieldsg	0:662207e34fba	352	i2Cdev.writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
garfieldsg	0:662207e34fba	353	}
garfieldsg	0:662207e34fba	354
garfieldsg	0:662207e34fba	355	// SMPLRT_DIV register
garfieldsg	0:662207e34fba	356
garfieldsg	0:662207e34fba	357	/** Get gyroscope output rate divider.
garfieldsg	0:662207e34fba	358	* The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
garfieldsg	0:662207e34fba	359	* Motion detection, and Free Fall detection are all based on the Sample Rate.
garfieldsg	0:662207e34fba	360	* The Sample Rate is generated by dividing the gyroscope output rate by
garfieldsg	0:662207e34fba	361	* SMPLRT_DIV:
garfieldsg	0:662207e34fba	362	*
garfieldsg	0:662207e34fba	363	* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
garfieldsg	0:662207e34fba	364	*
garfieldsg	0:662207e34fba	365	* where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
garfieldsg	0:662207e34fba	366	* 7), and 1kHz when the DLPF is enabled (see Register 26).
garfieldsg	0:662207e34fba	367	*
garfieldsg	0:662207e34fba	368	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
garfieldsg	0:662207e34fba	369	* Rate greater than 1kHz, the same accelerometer sample may be output to the
garfieldsg	0:662207e34fba	370	* FIFO, DMP, and sensor registers more than once.
garfieldsg	0:662207e34fba	371	*
garfieldsg	0:662207e34fba	372	* For a diagram of the gyroscope and accelerometer signal paths, see Section 8
garfieldsg	0:662207e34fba	373	* of the MPU-6000/MPU-6050 Product Specification document.
garfieldsg	0:662207e34fba	374	*
garfieldsg	0:662207e34fba	375	* @return Current sample rate
garfieldsg	0:662207e34fba	376	* @see MPU6050_RA_SMPLRT_DIV
garfieldsg	0:662207e34fba	377	*/
garfieldsg	0:662207e34fba	378	uint8_t MPU6050::getRate()
garfieldsg	0:662207e34fba	379	{
garfieldsg	0:662207e34fba	380	i2Cdev.readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
garfieldsg	0:662207e34fba	381	return buffer[0];
garfieldsg	0:662207e34fba	382	}
garfieldsg	0:662207e34fba	383	/** Set gyroscope sample rate divider.
garfieldsg	0:662207e34fba	384	* @param rate New sample rate divider
garfieldsg	0:662207e34fba	385	* @see getRate()
garfieldsg	0:662207e34fba	386	* @see MPU6050_RA_SMPLRT_DIV
garfieldsg	0:662207e34fba	387	*/
garfieldsg	0:662207e34fba	388	void MPU6050::setRate(uint8_t rate)
garfieldsg	0:662207e34fba	389	{
garfieldsg	0:662207e34fba	390	i2Cdev.writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
garfieldsg	0:662207e34fba	391	}
garfieldsg	0:662207e34fba	392
garfieldsg	0:662207e34fba	393	// CONFIG register
garfieldsg	0:662207e34fba	394
garfieldsg	0:662207e34fba	395	/** Get external FSYNC configuration.
garfieldsg	0:662207e34fba	396	* Configures the external Frame Synchronization (FSYNC) pin sampling. An
garfieldsg	0:662207e34fba	397	* external signal connected to the FSYNC pin can be sampled by configuring
garfieldsg	0:662207e34fba	398	* EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
garfieldsg	0:662207e34fba	399	* strobes may be captured. The latched FSYNC signal will be sampled at the
garfieldsg	0:662207e34fba	400	* Sampling Rate, as defined in register 25. After sampling, the latch will
garfieldsg	0:662207e34fba	401	* reset to the current FSYNC signal state.
garfieldsg	0:662207e34fba	402	*
garfieldsg	0:662207e34fba	403	* The sampled value will be reported in place of the least significant bit in
garfieldsg	0:662207e34fba	404	* a sensor data register determined by the value of EXT_SYNC_SET according to
garfieldsg	0:662207e34fba	405	* the following table.
garfieldsg	0:662207e34fba	406	*
garfieldsg	0:662207e34fba	407	* <pre>
garfieldsg	0:662207e34fba	408	* EXT_SYNC_SET \| FSYNC Bit Location
garfieldsg	0:662207e34fba	409	* -------------+-------------------
garfieldsg	0:662207e34fba	410	* 0 \| Input disabled
garfieldsg	0:662207e34fba	411	* 1 \| TEMP_OUT_L[0]
garfieldsg	0:662207e34fba	412	* 2 \| GYRO_XOUT_L[0]
garfieldsg	0:662207e34fba	413	* 3 \| GYRO_YOUT_L[0]
garfieldsg	0:662207e34fba	414	* 4 \| GYRO_ZOUT_L[0]
garfieldsg	0:662207e34fba	415	* 5 \| ACCEL_XOUT_L[0]
garfieldsg	0:662207e34fba	416	* 6 \| ACCEL_YOUT_L[0]
garfieldsg	0:662207e34fba	417	* 7 \| ACCEL_ZOUT_L[0]
garfieldsg	0:662207e34fba	418	* </pre>
garfieldsg	0:662207e34fba	419	*
garfieldsg	0:662207e34fba	420	* @return FSYNC configuration value
garfieldsg	0:662207e34fba	421	*/
garfieldsg	0:662207e34fba	422	uint8_t MPU6050::getExternalFrameSync()
garfieldsg	0:662207e34fba	423	{
garfieldsg	0:662207e34fba	424	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
garfieldsg	0:662207e34fba	425	return buffer[0];
garfieldsg	0:662207e34fba	426	}
garfieldsg	0:662207e34fba	427	/** Set external FSYNC configuration.
garfieldsg	0:662207e34fba	428	* @see getExternalFrameSync()
garfieldsg	0:662207e34fba	429	* @see MPU6050_RA_CONFIG
garfieldsg	0:662207e34fba	430	* @param sync New FSYNC configuration value
garfieldsg	0:662207e34fba	431	*/
garfieldsg	0:662207e34fba	432	void MPU6050::setExternalFrameSync(uint8_t sync)
garfieldsg	0:662207e34fba	433	{
garfieldsg	0:662207e34fba	434	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
garfieldsg	0:662207e34fba	435	}
garfieldsg	0:662207e34fba	436	/** Get digital low-pass filter configuration.
garfieldsg	0:662207e34fba	437	* The DLPF_CFG parameter sets the digital low pass filter configuration. It
garfieldsg	0:662207e34fba	438	* also determines the internal sampling rate used by the device as shown in
garfieldsg	0:662207e34fba	439	* the table below.
garfieldsg	0:662207e34fba	440	*
garfieldsg	0:662207e34fba	441	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
garfieldsg	0:662207e34fba	442	* Rate greater than 1kHz, the same accelerometer sample may be output to the
garfieldsg	0:662207e34fba	443	* FIFO, DMP, and sensor registers more than once.
garfieldsg	0:662207e34fba	444	*
garfieldsg	0:662207e34fba	445	* <pre>
garfieldsg	0:662207e34fba	446	* \| ACCELEROMETER \| GYROSCOPE
garfieldsg	0:662207e34fba	447	* DLPF_CFG \| Bandwidth \| Delay \| Bandwidth \| Delay \| Sample Rate
garfieldsg	0:662207e34fba	448	* ---------+-----------+--------+-----------+--------+-------------
garfieldsg	0:662207e34fba	449	* 0 \| 260Hz \| 0ms \| 256Hz \| 0.98ms \| 8kHz
garfieldsg	0:662207e34fba	450	* 1 \| 184Hz \| 2.0ms \| 188Hz \| 1.9ms \| 1kHz
garfieldsg	0:662207e34fba	451	* 2 \| 94Hz \| 3.0ms \| 98Hz \| 2.8ms \| 1kHz
garfieldsg	0:662207e34fba	452	* 3 \| 44Hz \| 4.9ms \| 42Hz \| 4.8ms \| 1kHz
garfieldsg	0:662207e34fba	453	* 4 \| 21Hz \| 8.5ms \| 20Hz \| 8.3ms \| 1kHz
garfieldsg	0:662207e34fba	454	* 5 \| 10Hz \| 13.8ms \| 10Hz \| 13.4ms \| 1kHz
garfieldsg	0:662207e34fba	455	* 6 \| 5Hz \| 19.0ms \| 5Hz \| 18.6ms \| 1kHz
garfieldsg	0:662207e34fba	456	* 7 \| -- Reserved -- \| -- Reserved -- \| Reserved
garfieldsg	0:662207e34fba	457	* </pre>
garfieldsg	0:662207e34fba	458	*
garfieldsg	0:662207e34fba	459	* @return DLFP configuration
garfieldsg	0:662207e34fba	460	* @see MPU6050_RA_CONFIG
garfieldsg	0:662207e34fba	461	* @see MPU6050_CFG_DLPF_CFG_BIT
garfieldsg	0:662207e34fba	462	* @see MPU6050_CFG_DLPF_CFG_LENGTH
garfieldsg	0:662207e34fba	463	*/
garfieldsg	0:662207e34fba	464	uint8_t MPU6050::getDLPFMode()
garfieldsg	0:662207e34fba	465	{
garfieldsg	0:662207e34fba	466	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
garfieldsg	0:662207e34fba	467	return buffer[0];
garfieldsg	0:662207e34fba	468	}
garfieldsg	0:662207e34fba	469	/** Set digital low-pass filter configuration.
garfieldsg	0:662207e34fba	470	* @param mode New DLFP configuration setting
garfieldsg	0:662207e34fba	471	* @see getDLPFBandwidth()
garfieldsg	0:662207e34fba	472	* @see MPU6050_DLPF_BW_256
garfieldsg	0:662207e34fba	473	* @see MPU6050_RA_CONFIG
garfieldsg	0:662207e34fba	474	* @see MPU6050_CFG_DLPF_CFG_BIT
garfieldsg	0:662207e34fba	475	* @see MPU6050_CFG_DLPF_CFG_LENGTH
garfieldsg	0:662207e34fba	476	*/
garfieldsg	0:662207e34fba	477	void MPU6050::setDLPFMode(uint8_t mode)
garfieldsg	0:662207e34fba	478	{
garfieldsg	0:662207e34fba	479	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
garfieldsg	0:662207e34fba	480	}
garfieldsg	0:662207e34fba	481
garfieldsg	0:662207e34fba	482	// GYRO_CONFIG register
garfieldsg	0:662207e34fba	483
garfieldsg	0:662207e34fba	484	/** Get full-scale gyroscope range.
garfieldsg	0:662207e34fba	485	* The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
garfieldsg	0:662207e34fba	486	* as described in the table below.
garfieldsg	0:662207e34fba	487	*
garfieldsg	0:662207e34fba	488	* <pre>
garfieldsg	0:662207e34fba	489	* 0 = +/- 250 degrees/sec
garfieldsg	0:662207e34fba	490	* 1 = +/- 500 degrees/sec
garfieldsg	0:662207e34fba	491	* 2 = +/- 1000 degrees/sec
garfieldsg	0:662207e34fba	492	* 3 = +/- 2000 degrees/sec
garfieldsg	0:662207e34fba	493	* </pre>
garfieldsg	0:662207e34fba	494	*
garfieldsg	0:662207e34fba	495	* @return Current full-scale gyroscope range setting
garfieldsg	0:662207e34fba	496	* @see MPU6050_GYRO_FS_250
garfieldsg	0:662207e34fba	497	* @see MPU6050_RA_GYRO_CONFIG
garfieldsg	0:662207e34fba	498	* @see MPU6050_GCONFIG_FS_SEL_BIT
garfieldsg	0:662207e34fba	499	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
garfieldsg	0:662207e34fba	500	*/
garfieldsg	0:662207e34fba	501	uint8_t MPU6050::getFullScaleGyroRange()
garfieldsg	0:662207e34fba	502	{
garfieldsg	0:662207e34fba	503	i2Cdev.readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
garfieldsg	0:662207e34fba	504	return buffer[0];
garfieldsg	0:662207e34fba	505	}
garfieldsg	0:662207e34fba	506	/** Set full-scale gyroscope range.
garfieldsg	0:662207e34fba	507	* @param range New full-scale gyroscope range value
garfieldsg	0:662207e34fba	508	* @see getFullScaleRange()
garfieldsg	0:662207e34fba	509	* @see MPU6050_GYRO_FS_250
garfieldsg	0:662207e34fba	510	* @see MPU6050_RA_GYRO_CONFIG
garfieldsg	0:662207e34fba	511	* @see MPU6050_GCONFIG_FS_SEL_BIT
garfieldsg	0:662207e34fba	512	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
garfieldsg	0:662207e34fba	513	*/
garfieldsg	0:662207e34fba	514	void MPU6050::setFullScaleGyroRange(uint8_t range)
garfieldsg	0:662207e34fba	515	{
garfieldsg	0:662207e34fba	516	i2Cdev.writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
garfieldsg	0:662207e34fba	517	}
garfieldsg	0:662207e34fba	518
garfieldsg	0:662207e34fba	519	// ACCEL_CONFIG register
garfieldsg	0:662207e34fba	520
garfieldsg	0:662207e34fba	521	/** Get self-test enabled setting for accelerometer X axis.
garfieldsg	0:662207e34fba	522	* @return Self-test enabled value
garfieldsg	0:662207e34fba	523	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	524	*/
garfieldsg	0:662207e34fba	525	bool MPU6050::getAccelXSelfTest()
garfieldsg	0:662207e34fba	526	{
garfieldsg	0:662207e34fba	527	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
garfieldsg	0:662207e34fba	528	return buffer[0];
garfieldsg	0:662207e34fba	529	}
garfieldsg	0:662207e34fba	530	/** Get self-test enabled setting for accelerometer X axis.
garfieldsg	0:662207e34fba	531	* @param enabled Self-test enabled value
garfieldsg	0:662207e34fba	532	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	533	*/
garfieldsg	0:662207e34fba	534	void MPU6050::setAccelXSelfTest(bool enabled)
garfieldsg	0:662207e34fba	535	{
garfieldsg	0:662207e34fba	536	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
garfieldsg	0:662207e34fba	537	}
garfieldsg	0:662207e34fba	538	/** Get self-test enabled value for accelerometer Y axis.
garfieldsg	0:662207e34fba	539	* @return Self-test enabled value
garfieldsg	0:662207e34fba	540	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	541	*/
garfieldsg	0:662207e34fba	542	bool MPU6050::getAccelYSelfTest()
garfieldsg	0:662207e34fba	543	{
garfieldsg	0:662207e34fba	544	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
garfieldsg	0:662207e34fba	545	return buffer[0];
garfieldsg	0:662207e34fba	546	}
garfieldsg	0:662207e34fba	547	/** Get self-test enabled value for accelerometer Y axis.
garfieldsg	0:662207e34fba	548	* @param enabled Self-test enabled value
garfieldsg	0:662207e34fba	549	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	550	*/
garfieldsg	0:662207e34fba	551	void MPU6050::setAccelYSelfTest(bool enabled)
garfieldsg	0:662207e34fba	552	{
garfieldsg	0:662207e34fba	553	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
garfieldsg	0:662207e34fba	554	}
garfieldsg	0:662207e34fba	555	/** Get self-test enabled value for accelerometer Z axis.
garfieldsg	0:662207e34fba	556	* @return Self-test enabled value
garfieldsg	0:662207e34fba	557	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	558	*/
garfieldsg	0:662207e34fba	559	bool MPU6050::getAccelZSelfTest()
garfieldsg	0:662207e34fba	560	{
garfieldsg	0:662207e34fba	561	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
garfieldsg	0:662207e34fba	562	return buffer[0];
garfieldsg	0:662207e34fba	563	}
garfieldsg	0:662207e34fba	564	/** Set self-test enabled value for accelerometer Z axis.
garfieldsg	0:662207e34fba	565	* @param enabled Self-test enabled value
garfieldsg	0:662207e34fba	566	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	567	*/
garfieldsg	0:662207e34fba	568	void MPU6050::setAccelZSelfTest(bool enabled)
garfieldsg	0:662207e34fba	569	{
garfieldsg	0:662207e34fba	570	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
garfieldsg	0:662207e34fba	571	}
garfieldsg	0:662207e34fba	572	/** Get full-scale accelerometer range.
garfieldsg	0:662207e34fba	573	* The FS_SEL parameter allows setting the full-scale range of the accelerometer
garfieldsg	0:662207e34fba	574	* sensors, as described in the table below.
garfieldsg	0:662207e34fba	575	*
garfieldsg	0:662207e34fba	576	* <pre>
garfieldsg	0:662207e34fba	577	* 0 = +/- 2g
garfieldsg	0:662207e34fba	578	* 1 = +/- 4g
garfieldsg	0:662207e34fba	579	* 2 = +/- 8g
garfieldsg	0:662207e34fba	580	* 3 = +/- 16g
garfieldsg	0:662207e34fba	581	* </pre>
garfieldsg	0:662207e34fba	582	*
garfieldsg	0:662207e34fba	583	* @return Current full-scale accelerometer range setting
garfieldsg	0:662207e34fba	584	* @see MPU6050_ACCEL_FS_2
garfieldsg	0:662207e34fba	585	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	586	* @see MPU6050_ACONFIG_AFS_SEL_BIT
garfieldsg	0:662207e34fba	587	* @see MPU6050_ACONFIG_AFS_SEL_LENGTH
garfieldsg	0:662207e34fba	588	*/
garfieldsg	0:662207e34fba	589	uint8_t MPU6050::getFullScaleAccelRange()
garfieldsg	0:662207e34fba	590	{
garfieldsg	0:662207e34fba	591	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
garfieldsg	0:662207e34fba	592	return buffer[0];
garfieldsg	0:662207e34fba	593	}
garfieldsg	0:662207e34fba	594	/** Set full-scale accelerometer range.
garfieldsg	0:662207e34fba	595	* @param range New full-scale accelerometer range setting
garfieldsg	0:662207e34fba	596	* @see getFullScaleAccelRange()
garfieldsg	0:662207e34fba	597	*/
garfieldsg	0:662207e34fba	598	void MPU6050::setFullScaleAccelRange(uint8_t range)
garfieldsg	0:662207e34fba	599	{
garfieldsg	0:662207e34fba	600	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
garfieldsg	0:662207e34fba	601	}
garfieldsg	0:662207e34fba	602	/** Get the high-pass filter configuration.
garfieldsg	0:662207e34fba	603	* The DHPF is a filter module in the path leading to motion detectors (Free
garfieldsg	0:662207e34fba	604	* Fall, Motion threshold, and Zero Motion). The high pass filter output is not
garfieldsg	0:662207e34fba	605	* available to the data registers (see Figure in Section 8 of the MPU-6000/
garfieldsg	0:662207e34fba	606	* MPU-6050 Product Specification document).
garfieldsg	0:662207e34fba	607	*
garfieldsg	0:662207e34fba	608	* The high pass filter has three modes:
garfieldsg	0:662207e34fba	609	*
garfieldsg	0:662207e34fba	610	* <pre>
garfieldsg	0:662207e34fba	611	* Reset: The filter output settles to zero within one sample. This
garfieldsg	0:662207e34fba	612	* effectively disables the high pass filter. This mode may be toggled
garfieldsg	0:662207e34fba	613	* to quickly settle the filter.
garfieldsg	0:662207e34fba	614	*
garfieldsg	0:662207e34fba	615	* On: The high pass filter will pass signals above the cut off frequency.
garfieldsg	0:662207e34fba	616	*
garfieldsg	0:662207e34fba	617	* Hold: When triggered, the filter holds the present sample. The filter
garfieldsg	0:662207e34fba	618	* output will be the difference between the input sample and the held
garfieldsg	0:662207e34fba	619	* sample.
garfieldsg	0:662207e34fba	620	* </pre>
garfieldsg	0:662207e34fba	621	*
garfieldsg	0:662207e34fba	622	* <pre>
garfieldsg	0:662207e34fba	623	* ACCEL_HPF \| Filter Mode \| Cut-off Frequency
garfieldsg	0:662207e34fba	624	* ----------+-------------+------------------
garfieldsg	0:662207e34fba	625	* 0 \| Reset \| None
garfieldsg	0:662207e34fba	626	* 1 \| On \| 5Hz
garfieldsg	0:662207e34fba	627	* 2 \| On \| 2.5Hz
garfieldsg	0:662207e34fba	628	* 3 \| On \| 1.25Hz
garfieldsg	0:662207e34fba	629	* 4 \| On \| 0.63Hz
garfieldsg	0:662207e34fba	630	* 7 \| Hold \| None
garfieldsg	0:662207e34fba	631	* </pre>
garfieldsg	0:662207e34fba	632	*
garfieldsg	0:662207e34fba	633	* @return Current high-pass filter configuration
garfieldsg	0:662207e34fba	634	* @see MPU6050_DHPF_RESET
garfieldsg	0:662207e34fba	635	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	636	*/
garfieldsg	0:662207e34fba	637	uint8_t MPU6050::getDHPFMode()
garfieldsg	0:662207e34fba	638	{
garfieldsg	0:662207e34fba	639	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
garfieldsg	0:662207e34fba	640	return buffer[0];
garfieldsg	0:662207e34fba	641	}
garfieldsg	0:662207e34fba	642	/** Set the high-pass filter configuration.
garfieldsg	0:662207e34fba	643	* @param bandwidth New high-pass filter configuration
garfieldsg	0:662207e34fba	644	* @see setDHPFMode()
garfieldsg	0:662207e34fba	645	* @see MPU6050_DHPF_RESET
garfieldsg	0:662207e34fba	646	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	647	*/
garfieldsg	0:662207e34fba	648	void MPU6050::setDHPFMode(uint8_t bandwidth)
garfieldsg	0:662207e34fba	649	{
garfieldsg	0:662207e34fba	650	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
garfieldsg	0:662207e34fba	651	}
garfieldsg	0:662207e34fba	652
garfieldsg	0:662207e34fba	653	// FF_THR register
garfieldsg	0:662207e34fba	654
garfieldsg	0:662207e34fba	655	/** Get free-fall event acceleration threshold.
garfieldsg	0:662207e34fba	656	* This register configures the detection threshold for Free Fall event
garfieldsg	0:662207e34fba	657	* detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
garfieldsg	0:662207e34fba	658	* absolute value of the accelerometer measurements for the three axes are each
garfieldsg	0:662207e34fba	659	* less than the detection threshold. This condition increments the Free Fall
garfieldsg	0:662207e34fba	660	* duration counter (Register 30). The Free Fall interrupt is triggered when the
garfieldsg	0:662207e34fba	661	* Free Fall duration counter reaches the time specified in FF_DUR.
garfieldsg	0:662207e34fba	662	*
garfieldsg	0:662207e34fba	663	* For more details on the Free Fall detection interrupt, see Section 8.2 of the
garfieldsg	0:662207e34fba	664	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
garfieldsg	0:662207e34fba	665	* 58 of this document.
garfieldsg	0:662207e34fba	666	*
garfieldsg	0:662207e34fba	667	* @return Current free-fall acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	668	* @see MPU6050_RA_FF_THR
garfieldsg	0:662207e34fba	669	*/
garfieldsg	0:662207e34fba	670	uint8_t MPU6050::getFreefallDetectionThreshold()
garfieldsg	0:662207e34fba	671	{
garfieldsg	0:662207e34fba	672	i2Cdev.readByte(devAddr, MPU6050_RA_FF_THR, buffer);
garfieldsg	0:662207e34fba	673	return buffer[0];
garfieldsg	0:662207e34fba	674	}
garfieldsg	0:662207e34fba	675	/** Get free-fall event acceleration threshold.
garfieldsg	0:662207e34fba	676	* @param threshold New free-fall acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	677	* @see getFreefallDetectionThreshold()
garfieldsg	0:662207e34fba	678	* @see MPU6050_RA_FF_THR
garfieldsg	0:662207e34fba	679	*/
garfieldsg	0:662207e34fba	680	void MPU6050::setFreefallDetectionThreshold(uint8_t threshold)
garfieldsg	0:662207e34fba	681	{
garfieldsg	0:662207e34fba	682	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
garfieldsg	0:662207e34fba	683	}
garfieldsg	0:662207e34fba	684
garfieldsg	0:662207e34fba	685	// FF_DUR register
garfieldsg	0:662207e34fba	686
garfieldsg	0:662207e34fba	687	/** Get free-fall event duration threshold.
garfieldsg	0:662207e34fba	688	* This register configures the duration counter threshold for Free Fall event
garfieldsg	0:662207e34fba	689	* detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
garfieldsg	0:662207e34fba	690	* of 1 LSB = 1 ms.
garfieldsg	0:662207e34fba	691	*
garfieldsg	0:662207e34fba	692	* The Free Fall duration counter increments while the absolute value of the
garfieldsg	0:662207e34fba	693	* accelerometer measurements are each less than the detection threshold
garfieldsg	0:662207e34fba	694	* (Register 29). The Free Fall interrupt is triggered when the Free Fall
garfieldsg	0:662207e34fba	695	* duration counter reaches the time specified in this register.
garfieldsg	0:662207e34fba	696	*
garfieldsg	0:662207e34fba	697	* For more details on the Free Fall detection interrupt, see Section 8.2 of
garfieldsg	0:662207e34fba	698	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
garfieldsg	0:662207e34fba	699	* and 58 of this document.
garfieldsg	0:662207e34fba	700	*
garfieldsg	0:662207e34fba	701	* @return Current free-fall duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	702	* @see MPU6050_RA_FF_DUR
garfieldsg	0:662207e34fba	703	*/
garfieldsg	0:662207e34fba	704	uint8_t MPU6050::getFreefallDetectionDuration()
garfieldsg	0:662207e34fba	705	{
garfieldsg	0:662207e34fba	706	i2Cdev.readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
garfieldsg	0:662207e34fba	707	return buffer[0];
garfieldsg	0:662207e34fba	708	}
garfieldsg	0:662207e34fba	709	/** Get free-fall event duration threshold.
garfieldsg	0:662207e34fba	710	* @param duration New free-fall duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	711	* @see getFreefallDetectionDuration()
garfieldsg	0:662207e34fba	712	* @see MPU6050_RA_FF_DUR
garfieldsg	0:662207e34fba	713	*/
garfieldsg	0:662207e34fba	714	void MPU6050::setFreefallDetectionDuration(uint8_t duration)
garfieldsg	0:662207e34fba	715	{
garfieldsg	0:662207e34fba	716	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
garfieldsg	0:662207e34fba	717	}
garfieldsg	0:662207e34fba	718
garfieldsg	0:662207e34fba	719	// MOT_THR register
garfieldsg	0:662207e34fba	720
garfieldsg	0:662207e34fba	721	/** Get motion detection event acceleration threshold.
garfieldsg	0:662207e34fba	722	* This register configures the detection threshold for Motion interrupt
garfieldsg	0:662207e34fba	723	* generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
garfieldsg	0:662207e34fba	724	* absolute value of any of the accelerometer measurements exceeds this Motion
garfieldsg	0:662207e34fba	725	* detection threshold. This condition increments the Motion detection duration
garfieldsg	0:662207e34fba	726	* counter (Register 32). The Motion detection interrupt is triggered when the
garfieldsg	0:662207e34fba	727	* Motion Detection counter reaches the time count specified in MOT_DUR
garfieldsg	0:662207e34fba	728	* (Register 32).
garfieldsg	0:662207e34fba	729	*
garfieldsg	0:662207e34fba	730	* The Motion interrupt will indicate the axis and polarity of detected motion
garfieldsg	0:662207e34fba	731	* in MOT_DETECT_STATUS (Register 97).
garfieldsg	0:662207e34fba	732	*
garfieldsg	0:662207e34fba	733	* For more details on the Motion detection interrupt, see Section 8.3 of the
garfieldsg	0:662207e34fba	734	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
garfieldsg	0:662207e34fba	735	* 58 of this document.
garfieldsg	0:662207e34fba	736	*
garfieldsg	0:662207e34fba	737	* @return Current motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	738	* @see MPU6050_RA_MOT_THR
garfieldsg	0:662207e34fba	739	*/
garfieldsg	0:662207e34fba	740	uint8_t MPU6050::getMotionDetectionThreshold()
garfieldsg	0:662207e34fba	741	{
garfieldsg	0:662207e34fba	742	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
garfieldsg	0:662207e34fba	743	return buffer[0];
garfieldsg	0:662207e34fba	744	}
garfieldsg	0:662207e34fba	745	/** Set free-fall event acceleration threshold.
garfieldsg	0:662207e34fba	746	* @param threshold New motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	747	* @see getMotionDetectionThreshold()
garfieldsg	0:662207e34fba	748	* @see MPU6050_RA_MOT_THR
garfieldsg	0:662207e34fba	749	*/
garfieldsg	0:662207e34fba	750	void MPU6050::setMotionDetectionThreshold(uint8_t threshold)
garfieldsg	0:662207e34fba	751	{
garfieldsg	0:662207e34fba	752	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
garfieldsg	0:662207e34fba	753	}
garfieldsg	0:662207e34fba	754
OsmanKameric	2:e2081d9de7af	755	// register
garfieldsg	0:662207e34fba	756
garfieldsg	0:662207e34fba	757	/** Get motion detection event duration threshold.
garfieldsg	0:662207e34fba	758	* This register configures the duration counter threshold for Motion interrupt
garfieldsg	0:662207e34fba	759	* generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
garfieldsg	0:662207e34fba	760	* of 1LSB = 1ms. The Motion detection duration counter increments when the
garfieldsg	0:662207e34fba	761	* absolute value of any of the accelerometer measurements exceeds the Motion
garfieldsg	0:662207e34fba	762	* detection threshold (Register 31). The Motion detection interrupt is
garfieldsg	0:662207e34fba	763	* triggered when the Motion detection counter reaches the time count specified
garfieldsg	0:662207e34fba	764	* in this register.
garfieldsg	0:662207e34fba	765	*
garfieldsg	0:662207e34fba	766	* For more details on the Motion detection interrupt, see Section 8.3 of the
garfieldsg	0:662207e34fba	767	* MPU-6000/MPU-6050 Product Specification document.
garfieldsg	0:662207e34fba	768	*
garfieldsg	0:662207e34fba	769	* @return Current motion detection duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	770	* @see MPU6050_RA_MOT_DUR
garfieldsg	0:662207e34fba	771	*/
garfieldsg	0:662207e34fba	772	uint8_t MPU6050::getMotionDetectionDuration()
garfieldsg	0:662207e34fba	773	{
garfieldsg	0:662207e34fba	774	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
garfieldsg	0:662207e34fba	775	return buffer[0];
garfieldsg	0:662207e34fba	776	}
garfieldsg	0:662207e34fba	777	/** Set motion detection event duration threshold.
garfieldsg	0:662207e34fba	778	* @param duration New motion detection duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	779	* @see getMotionDetectionDuration()
garfieldsg	0:662207e34fba	780	* @see MPU6050_RA_MOT_DUR
garfieldsg	0:662207e34fba	781	*/
garfieldsg	0:662207e34fba	782	void MPU6050::setMotionDetectionDuration(uint8_t duration)
garfieldsg	0:662207e34fba	783	{
garfieldsg	0:662207e34fba	784	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
garfieldsg	0:662207e34fba	785	}
garfieldsg	0:662207e34fba	786
garfieldsg	0:662207e34fba	787	// ZRMOT_THR register
garfieldsg	0:662207e34fba	788
garfieldsg	0:662207e34fba	789	/** Get zero motion detection event acceleration threshold.
garfieldsg	0:662207e34fba	790	* This register configures the detection threshold for Zero Motion interrupt
garfieldsg	0:662207e34fba	791	* generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
garfieldsg	0:662207e34fba	792	* the absolute value of the accelerometer measurements for the 3 axes are each
garfieldsg	0:662207e34fba	793	* less than the detection threshold. This condition increments the Zero Motion
garfieldsg	0:662207e34fba	794	* duration counter (Register 34). The Zero Motion interrupt is triggered when
garfieldsg	0:662207e34fba	795	* the Zero Motion duration counter reaches the time count specified in
garfieldsg	0:662207e34fba	796	* ZRMOT_DUR (Register 34).
garfieldsg	0:662207e34fba	797	*
garfieldsg	0:662207e34fba	798	* Unlike Free Fall or Motion detection, Zero Motion detection triggers an
garfieldsg	0:662207e34fba	799	* interrupt both when Zero Motion is first detected and when Zero Motion is no
garfieldsg	0:662207e34fba	800	* longer detected.
garfieldsg	0:662207e34fba	801	*
garfieldsg	0:662207e34fba	802	* When a zero motion event is detected, a Zero Motion Status will be indicated
garfieldsg	0:662207e34fba	803	* in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
garfieldsg	0:662207e34fba	804	* condition is detected, the status bit is set to 1. When a zero-motion-to-
garfieldsg	0:662207e34fba	805	* motion condition is detected, the status bit is set to 0.
garfieldsg	0:662207e34fba	806	*
garfieldsg	0:662207e34fba	807	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
garfieldsg	0:662207e34fba	808	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
garfieldsg	0:662207e34fba	809	* and 58 of this document.
garfieldsg	0:662207e34fba	810	*
garfieldsg	0:662207e34fba	811	* @return Current zero motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	812	* @see MPU6050_RA_ZRMOT_THR
garfieldsg	0:662207e34fba	813	*/
garfieldsg	0:662207e34fba	814	uint8_t MPU6050::getZeroMotionDetectionThreshold()
garfieldsg	0:662207e34fba	815	{
garfieldsg	0:662207e34fba	816	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
garfieldsg	0:662207e34fba	817	return buffer[0];
garfieldsg	0:662207e34fba	818	}
garfieldsg	0:662207e34fba	819	/** Set zero motion detection event acceleration threshold.
garfieldsg	0:662207e34fba	820	* @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	821	* @see getZeroMotionDetectionThreshold()
garfieldsg	0:662207e34fba	822	* @see MPU6050_RA_ZRMOT_THR
garfieldsg	0:662207e34fba	823	*/
garfieldsg	0:662207e34fba	824	void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold)
garfieldsg	0:662207e34fba	825	{
garfieldsg	0:662207e34fba	826	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
garfieldsg	0:662207e34fba	827	}
garfieldsg	0:662207e34fba	828
garfieldsg	0:662207e34fba	829	// ZRMOT_DUR register
garfieldsg	0:662207e34fba	830
garfieldsg	0:662207e34fba	831	/** Get zero motion detection event duration threshold.
garfieldsg	0:662207e34fba	832	* This register configures the duration counter threshold for Zero Motion
garfieldsg	0:662207e34fba	833	* interrupt generation. The duration counter ticks at 16 Hz, therefore
garfieldsg	0:662207e34fba	834	* ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
garfieldsg	0:662207e34fba	835	* increments while the absolute value of the accelerometer measurements are
garfieldsg	0:662207e34fba	836	* each less than the detection threshold (Register 33). The Zero Motion
garfieldsg	0:662207e34fba	837	* interrupt is triggered when the Zero Motion duration counter reaches the time
garfieldsg	0:662207e34fba	838	* count specified in this register.
garfieldsg	0:662207e34fba	839	*
garfieldsg	0:662207e34fba	840	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
garfieldsg	0:662207e34fba	841	* the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
garfieldsg	0:662207e34fba	842	* and 58 of this document.
garfieldsg	0:662207e34fba	843	*
garfieldsg	0:662207e34fba	844	* @return Current zero motion detection duration threshold value (LSB = 64ms)
garfieldsg	0:662207e34fba	845	* @see MPU6050_RA_ZRMOT_DUR
garfieldsg	0:662207e34fba	846	*/
garfieldsg	0:662207e34fba	847	uint8_t MPU6050::getZeroMotionDetectionDuration()
garfieldsg	0:662207e34fba	848	{
garfieldsg	0:662207e34fba	849	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
garfieldsg	0:662207e34fba	850	return buffer[0];
garfieldsg	0:662207e34fba	851	}
garfieldsg	0:662207e34fba	852	/** Set zero motion detection event duration threshold.
garfieldsg	0:662207e34fba	853	* @param duration New zero motion detection duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	854	* @see getZeroMotionDetectionDuration()
garfieldsg	0:662207e34fba	855	* @see MPU6050_RA_ZRMOT_DUR
garfieldsg	0:662207e34fba	856	*/
garfieldsg	0:662207e34fba	857	void MPU6050::setZeroMotionDetectionDuration(uint8_t duration)
garfieldsg	0:662207e34fba	858	{
garfieldsg	0:662207e34fba	859	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
garfieldsg	0:662207e34fba	860	}
garfieldsg	0:662207e34fba	861
garfieldsg	0:662207e34fba	862	// FIFO_EN register
garfieldsg	0:662207e34fba	863
garfieldsg	0:662207e34fba	864	/** Get temperature FIFO enabled value.
garfieldsg	0:662207e34fba	865	* When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
garfieldsg	0:662207e34fba	866	* 66) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	867	* @return Current temperature FIFO enabled value
garfieldsg	0:662207e34fba	868	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	869	*/
garfieldsg	0:662207e34fba	870	bool MPU6050::getTempFIFOEnabled()
garfieldsg	0:662207e34fba	871	{
garfieldsg	0:662207e34fba	872	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	873	return buffer[0];
garfieldsg	0:662207e34fba	874	}
garfieldsg	0:662207e34fba	875	/** Set temperature FIFO enabled value.
garfieldsg	0:662207e34fba	876	* @param enabled New temperature FIFO enabled value
garfieldsg	0:662207e34fba	877	* @see getTempFIFOEnabled()
garfieldsg	0:662207e34fba	878	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	879	*/
garfieldsg	0:662207e34fba	880	void MPU6050::setTempFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	881	{
garfieldsg	0:662207e34fba	882	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	883	}
garfieldsg	0:662207e34fba	884	/** Get gyroscope X-axis FIFO enabled value.
garfieldsg	0:662207e34fba	885	* When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
garfieldsg	0:662207e34fba	886	* 68) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	887	* @return Current gyroscope X-axis FIFO enabled value
garfieldsg	0:662207e34fba	888	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	889	*/
garfieldsg	0:662207e34fba	890	bool MPU6050::getXGyroFIFOEnabled()
garfieldsg	0:662207e34fba	891	{
garfieldsg	0:662207e34fba	892	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	893	return buffer[0];
garfieldsg	0:662207e34fba	894	}
garfieldsg	0:662207e34fba	895	/** Set gyroscope X-axis FIFO enabled value.
garfieldsg	0:662207e34fba	896	* @param enabled New gyroscope X-axis FIFO enabled value
garfieldsg	0:662207e34fba	897	* @see getXGyroFIFOEnabled()
garfieldsg	0:662207e34fba	898	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	899	*/
garfieldsg	0:662207e34fba	900	void MPU6050::setXGyroFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	901	{
garfieldsg	0:662207e34fba	902	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	903	}
garfieldsg	0:662207e34fba	904	/** Get gyroscope Y-axis FIFO enabled value.
garfieldsg	0:662207e34fba	905	* When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
garfieldsg	0:662207e34fba	906	* 70) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	907	* @return Current gyroscope Y-axis FIFO enabled value
garfieldsg	0:662207e34fba	908	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	909	*/
garfieldsg	0:662207e34fba	910	bool MPU6050::getYGyroFIFOEnabled()
garfieldsg	0:662207e34fba	911	{
garfieldsg	0:662207e34fba	912	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	913	return buffer[0];
garfieldsg	0:662207e34fba	914	}
garfieldsg	0:662207e34fba	915	/** Set gyroscope Y-axis FIFO enabled value.
garfieldsg	0:662207e34fba	916	* @param enabled New gyroscope Y-axis FIFO enabled value
garfieldsg	0:662207e34fba	917	* @see getYGyroFIFOEnabled()
garfieldsg	0:662207e34fba	918	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	919	*/
garfieldsg	0:662207e34fba	920	void MPU6050::setYGyroFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	921	{
garfieldsg	0:662207e34fba	922	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	923	}
garfieldsg	0:662207e34fba	924	/** Get gyroscope Z-axis FIFO enabled value.
garfieldsg	0:662207e34fba	925	* When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
garfieldsg	0:662207e34fba	926	* 72) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	927	* @return Current gyroscope Z-axis FIFO enabled value
garfieldsg	0:662207e34fba	928	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	929	*/
garfieldsg	0:662207e34fba	930	bool MPU6050::getZGyroFIFOEnabled()
garfieldsg	0:662207e34fba	931	{
garfieldsg	0:662207e34fba	932	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	933	return buffer[0];
garfieldsg	0:662207e34fba	934	}
garfieldsg	0:662207e34fba	935	/** Set gyroscope Z-axis FIFO enabled value.
garfieldsg	0:662207e34fba	936	* @param enabled New gyroscope Z-axis FIFO enabled value
garfieldsg	0:662207e34fba	937	* @see getZGyroFIFOEnabled()
garfieldsg	0:662207e34fba	938	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	939	*/
garfieldsg	0:662207e34fba	940	void MPU6050::setZGyroFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	941	{
garfieldsg	0:662207e34fba	942	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	943	}
garfieldsg	0:662207e34fba	944	/** Get accelerometer FIFO enabled value.
garfieldsg	0:662207e34fba	945	* When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
garfieldsg	0:662207e34fba	946	* ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
garfieldsg	0:662207e34fba	947	* written into the FIFO buffer.
garfieldsg	0:662207e34fba	948	* @return Current accelerometer FIFO enabled value
garfieldsg	0:662207e34fba	949	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	950	*/
garfieldsg	0:662207e34fba	951	bool MPU6050::getAccelFIFOEnabled()
garfieldsg	0:662207e34fba	952	{
garfieldsg	0:662207e34fba	953	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	954	return buffer[0];
garfieldsg	0:662207e34fba	955	}
garfieldsg	0:662207e34fba	956	/** Set accelerometer FIFO enabled value.
garfieldsg	0:662207e34fba	957	* @param enabled New accelerometer FIFO enabled value
garfieldsg	0:662207e34fba	958	* @see getAccelFIFOEnabled()
garfieldsg	0:662207e34fba	959	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	960	*/
garfieldsg	0:662207e34fba	961	void MPU6050::setAccelFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	962	{
garfieldsg	0:662207e34fba	963	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	964	}
garfieldsg	0:662207e34fba	965	/** Get Slave 2 FIFO enabled value.
garfieldsg	0:662207e34fba	966	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	967	* associated with Slave 2 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	968	* @return Current Slave 2 FIFO enabled value
garfieldsg	0:662207e34fba	969	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	970	*/
garfieldsg	0:662207e34fba	971	bool MPU6050::getSlave2FIFOEnabled()
garfieldsg	0:662207e34fba	972	{
garfieldsg	0:662207e34fba	973	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	974	return buffer[0];
garfieldsg	0:662207e34fba	975	}
garfieldsg	0:662207e34fba	976	/** Set Slave 2 FIFO enabled value.
garfieldsg	0:662207e34fba	977	* @param enabled New Slave 2 FIFO enabled value
garfieldsg	0:662207e34fba	978	* @see getSlave2FIFOEnabled()
garfieldsg	0:662207e34fba	979	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	980	*/
garfieldsg	0:662207e34fba	981	void MPU6050::setSlave2FIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	982	{
garfieldsg	0:662207e34fba	983	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	984	}
garfieldsg	0:662207e34fba	985	/** Get Slave 1 FIFO enabled value.
garfieldsg	0:662207e34fba	986	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	987	* associated with Slave 1 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	988	* @return Current Slave 1 FIFO enabled value
garfieldsg	0:662207e34fba	989	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	990	*/
garfieldsg	0:662207e34fba	991	bool MPU6050::getSlave1FIFOEnabled()
garfieldsg	0:662207e34fba	992	{
garfieldsg	0:662207e34fba	993	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	994	return buffer[0];
garfieldsg	0:662207e34fba	995	}
garfieldsg	0:662207e34fba	996	/** Set Slave 1 FIFO enabled value.
garfieldsg	0:662207e34fba	997	* @param enabled New Slave 1 FIFO enabled value
garfieldsg	0:662207e34fba	998	* @see getSlave1FIFOEnabled()
garfieldsg	0:662207e34fba	999	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	1000	*/
garfieldsg	0:662207e34fba	1001	void MPU6050::setSlave1FIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	1002	{
garfieldsg	0:662207e34fba	1003	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1004	}
garfieldsg	0:662207e34fba	1005	/** Get Slave 0 FIFO enabled value.
garfieldsg	0:662207e34fba	1006	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	1007	* associated with Slave 0 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	1008	* @return Current Slave 0 FIFO enabled value
garfieldsg	0:662207e34fba	1009	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	1010	*/
garfieldsg	0:662207e34fba	1011	bool MPU6050::getSlave0FIFOEnabled()
garfieldsg	0:662207e34fba	1012	{
garfieldsg	0:662207e34fba	1013	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1014	return buffer[0];
garfieldsg	0:662207e34fba	1015	}
garfieldsg	0:662207e34fba	1016	/** Set Slave 0 FIFO enabled value.
garfieldsg	0:662207e34fba	1017	* @param enabled New Slave 0 FIFO enabled value
garfieldsg	0:662207e34fba	1018	* @see getSlave0FIFOEnabled()
garfieldsg	0:662207e34fba	1019	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	1020	*/
garfieldsg	0:662207e34fba	1021	void MPU6050::setSlave0FIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	1022	{
garfieldsg	0:662207e34fba	1023	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1024	}
garfieldsg	0:662207e34fba	1025
garfieldsg	0:662207e34fba	1026	// I2C_MST_CTRL register
garfieldsg	0:662207e34fba	1027
garfieldsg	0:662207e34fba	1028	/** Get multi-master enabled value.
garfieldsg	0:662207e34fba	1029	* Multi-master capability allows multiple I2C masters to operate on the same
garfieldsg	0:662207e34fba	1030	* bus. In circuits where multi-master capability is required, set MULT_MST_EN
garfieldsg	0:662207e34fba	1031	* to 1. This will increase current drawn by approximately 30uA.
garfieldsg	0:662207e34fba	1032	*
garfieldsg	0:662207e34fba	1033	* In circuits where multi-master capability is required, the state of the I2C
garfieldsg	0:662207e34fba	1034	* bus must always be monitored by each separate I2C Master. Before an I2C
garfieldsg	0:662207e34fba	1035	* Master can assume arbitration of the bus, it must first confirm that no other
garfieldsg	0:662207e34fba	1036	* I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
garfieldsg	0:662207e34fba	1037	* MPU-60X0's bus arbitration detection logic is turned on, enabling it to
garfieldsg	0:662207e34fba	1038	* detect when the bus is available.
garfieldsg	0:662207e34fba	1039	*
garfieldsg	0:662207e34fba	1040	* @return Current multi-master enabled value
garfieldsg	0:662207e34fba	1041	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	1042	*/
garfieldsg	0:662207e34fba	1043	bool MPU6050::getMultiMasterEnabled()
garfieldsg	0:662207e34fba	1044	{
garfieldsg	0:662207e34fba	1045	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1046	return buffer[0];
garfieldsg	0:662207e34fba	1047	}
garfieldsg	0:662207e34fba	1048	/** Set multi-master enabled value.
garfieldsg	0:662207e34fba	1049	* @param enabled New multi-master enabled value
garfieldsg	0:662207e34fba	1050	* @see getMultiMasterEnabled()
garfieldsg	0:662207e34fba	1051	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	1052	*/
garfieldsg	0:662207e34fba	1053	void MPU6050::setMultiMasterEnabled(bool enabled)
garfieldsg	0:662207e34fba	1054	{
garfieldsg	0:662207e34fba	1055	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1056	}
garfieldsg	0:662207e34fba	1057	/** Get wait-for-external-sensor-data enabled value.
garfieldsg	0:662207e34fba	1058	* When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
garfieldsg	0:662207e34fba	1059	* delayed until External Sensor data from the Slave Devices are loaded into the
garfieldsg	0:662207e34fba	1060	* EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
garfieldsg	0:662207e34fba	1061	* data (i.e. from gyro and accel) and external sensor data have been loaded to
garfieldsg	0:662207e34fba	1062	* their respective data registers (i.e. the data is synced) when the Data Ready
garfieldsg	0:662207e34fba	1063	* interrupt is triggered.
garfieldsg	0:662207e34fba	1064	*
garfieldsg	0:662207e34fba	1065	* @return Current wait-for-external-sensor-data enabled value
garfieldsg	0:662207e34fba	1066	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	1067	*/
garfieldsg	0:662207e34fba	1068	bool MPU6050::getWaitForExternalSensorEnabled()
garfieldsg	0:662207e34fba	1069	{
garfieldsg	0:662207e34fba	1070	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
garfieldsg	0:662207e34fba	1071	return buffer[0];
garfieldsg	0:662207e34fba	1072	}
garfieldsg	0:662207e34fba	1073	/** Set wait-for-external-sensor-data enabled value.
garfieldsg	0:662207e34fba	1074	* @param enabled New wait-for-external-sensor-data enabled value
garfieldsg	0:662207e34fba	1075	* @see getWaitForExternalSensorEnabled()
garfieldsg	0:662207e34fba	1076	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	1077	*/
garfieldsg	0:662207e34fba	1078	void MPU6050::setWaitForExternalSensorEnabled(bool enabled)
garfieldsg	0:662207e34fba	1079	{
garfieldsg	0:662207e34fba	1080	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
garfieldsg	0:662207e34fba	1081	}
garfieldsg	0:662207e34fba	1082	/** Get Slave 3 FIFO enabled value.
garfieldsg	0:662207e34fba	1083	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	1084	* associated with Slave 3 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	1085	* @return Current Slave 3 FIFO enabled value
garfieldsg	0:662207e34fba	1086	* @see MPU6050_RA_MST_CTRL
garfieldsg	0:662207e34fba	1087	*/
garfieldsg	0:662207e34fba	1088	bool MPU6050::getSlave3FIFOEnabled()
garfieldsg	0:662207e34fba	1089	{
garfieldsg	0:662207e34fba	1090	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1091	return buffer[0];
garfieldsg	0:662207e34fba	1092	}
garfieldsg	0:662207e34fba	1093	/** Set Slave 3 FIFO enabled value.
garfieldsg	0:662207e34fba	1094	* @param enabled New Slave 3 FIFO enabled value
garfieldsg	0:662207e34fba	1095	* @see getSlave3FIFOEnabled()
garfieldsg	0:662207e34fba	1096	* @see MPU6050_RA_MST_CTRL
garfieldsg	0:662207e34fba	1097	*/
garfieldsg	0:662207e34fba	1098	void MPU6050::setSlave3FIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	1099	{
garfieldsg	0:662207e34fba	1100	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1101	}
garfieldsg	0:662207e34fba	1102	/** Get slave read/write transition enabled value.
garfieldsg	0:662207e34fba	1103	* The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
garfieldsg	0:662207e34fba	1104	* read to the next slave read. If the bit equals 0, there will be a restart
garfieldsg	0:662207e34fba	1105	* between reads. If the bit equals 1, there will be a stop followed by a start
garfieldsg	0:662207e34fba	1106	* of the following read. When a write transaction follows a read transaction,
garfieldsg	0:662207e34fba	1107	* the stop followed by a start of the successive write will be always used.
garfieldsg	0:662207e34fba	1108	*
garfieldsg	0:662207e34fba	1109	* @return Current slave read/write transition enabled value
garfieldsg	0:662207e34fba	1110	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	1111	*/
garfieldsg	0:662207e34fba	1112	bool MPU6050::getSlaveReadWriteTransitionEnabled()
garfieldsg	0:662207e34fba	1113	{
garfieldsg	0:662207e34fba	1114	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
garfieldsg	0:662207e34fba	1115	return buffer[0];
garfieldsg	0:662207e34fba	1116	}
garfieldsg	0:662207e34fba	1117	/** Set slave read/write transition enabled value.
garfieldsg	0:662207e34fba	1118	* @param enabled New slave read/write transition enabled value
garfieldsg	0:662207e34fba	1119	* @see getSlaveReadWriteTransitionEnabled()
garfieldsg	0:662207e34fba	1120	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	1121	*/
garfieldsg	0:662207e34fba	1122	void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled)
garfieldsg	0:662207e34fba	1123	{
garfieldsg	0:662207e34fba	1124	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
garfieldsg	0:662207e34fba	1125	}
garfieldsg	0:662207e34fba	1126	/** Get I2C master clock speed.
garfieldsg	0:662207e34fba	1127	* I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
garfieldsg	0:662207e34fba	1128	* MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
garfieldsg	0:662207e34fba	1129	* the following table:
garfieldsg	0:662207e34fba	1130	*
garfieldsg	0:662207e34fba	1131	* <pre>
garfieldsg	0:662207e34fba	1132	* I2C_MST_CLK \| I2C Master Clock Speed \| 8MHz Clock Divider
garfieldsg	0:662207e34fba	1133	* ------------+------------------------+-------------------
garfieldsg	0:662207e34fba	1134	* 0 \| 348kHz \| 23
garfieldsg	0:662207e34fba	1135	* 1 \| 333kHz \| 24
garfieldsg	0:662207e34fba	1136	* 2 \| 320kHz \| 25
garfieldsg	0:662207e34fba	1137	* 3 \| 308kHz \| 26
garfieldsg	0:662207e34fba	1138	* 4 \| 296kHz \| 27
garfieldsg	0:662207e34fba	1139	* 5 \| 286kHz \| 28
garfieldsg	0:662207e34fba	1140	* 6 \| 276kHz \| 29
garfieldsg	0:662207e34fba	1141	* 7 \| 267kHz \| 30
garfieldsg	0:662207e34fba	1142	* 8 \| 258kHz \| 31
garfieldsg	0:662207e34fba	1143	* 9 \| 500kHz \| 16
garfieldsg	0:662207e34fba	1144	* 10 \| 471kHz \| 17
garfieldsg	0:662207e34fba	1145	* 11 \| 444kHz \| 18
garfieldsg	0:662207e34fba	1146	* 12 \| 421kHz \| 19
garfieldsg	0:662207e34fba	1147	* 13 \| 400kHz \| 20
garfieldsg	0:662207e34fba	1148	* 14 \| 381kHz \| 21
garfieldsg	0:662207e34fba	1149	* 15 \| 364kHz \| 22
garfieldsg	0:662207e34fba	1150	* </pre>
garfieldsg	0:662207e34fba	1151	*
garfieldsg	0:662207e34fba	1152	* @return Current I2C master clock speed
garfieldsg	0:662207e34fba	1153	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	1154	*/
garfieldsg	0:662207e34fba	1155	uint8_t MPU6050::getMasterClockSpeed()
garfieldsg	0:662207e34fba	1156	{
garfieldsg	0:662207e34fba	1157	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
garfieldsg	0:662207e34fba	1158	return buffer[0];
garfieldsg	0:662207e34fba	1159	}
garfieldsg	0:662207e34fba	1160	/** Set I2C master clock speed.
garfieldsg	0:662207e34fba	1161	* @reparam speed Current I2C master clock speed
garfieldsg	0:662207e34fba	1162	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	1163	*/
garfieldsg	0:662207e34fba	1164	void MPU6050::setMasterClockSpeed(uint8_t speed)
garfieldsg	0:662207e34fba	1165	{
garfieldsg	0:662207e34fba	1166	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
garfieldsg	0:662207e34fba	1167	}
garfieldsg	0:662207e34fba	1168
garfieldsg	0:662207e34fba	1169	// I2C_SLV* registers (Slave 0-3)
garfieldsg	0:662207e34fba	1170
garfieldsg	0:662207e34fba	1171	/** Get the I2C address of the specified slave (0-3).
garfieldsg	0:662207e34fba	1172	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
garfieldsg	0:662207e34fba	1173	* operation, and if it is cleared, then it's a write operation. The remaining
garfieldsg	0:662207e34fba	1174	* bits (6-0) are the 7-bit device address of the slave device.
garfieldsg	0:662207e34fba	1175	*
garfieldsg	0:662207e34fba	1176	* In read mode, the result of the read is placed in the lowest available
garfieldsg	0:662207e34fba	1177	* EXT_SENS_DATA register. For further information regarding the allocation of
garfieldsg	0:662207e34fba	1178	* read results, please refer to the EXT_SENS_DATA register description
garfieldsg	0:662207e34fba	1179	* (Registers 73 - 96).
garfieldsg	0:662207e34fba	1180	*
garfieldsg	0:662207e34fba	1181	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
garfieldsg	0:662207e34fba	1182	* characteristics, and so it has its own functions (getSlave4* and setSlave4*).
garfieldsg	0:662207e34fba	1183	*
garfieldsg	0:662207e34fba	1184	* I2C data transactions are performed at the Sample Rate, as defined in
garfieldsg	0:662207e34fba	1185	* Register 25. The user is responsible for ensuring that I2C data transactions
garfieldsg	0:662207e34fba	1186	* to and from each enabled Slave can be completed within a single period of the
garfieldsg	0:662207e34fba	1187	* Sample Rate.
garfieldsg	0:662207e34fba	1188	*
garfieldsg	0:662207e34fba	1189	* The I2C slave access rate can be reduced relative to the Sample Rate. This
garfieldsg	0:662207e34fba	1190	* reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
garfieldsg	0:662207e34fba	1191	* slave's access rate is reduced relative to the Sample Rate is determined by
garfieldsg	0:662207e34fba	1192	* I2C_MST_DELAY_CTRL (Register 103).
garfieldsg	0:662207e34fba	1193	*
garfieldsg	0:662207e34fba	1194	* The processing order for the slaves is fixed. The sequence followed for
garfieldsg	0:662207e34fba	1195	* processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
garfieldsg	0:662207e34fba	1196	* particular Slave is disabled it will be skipped.
garfieldsg	0:662207e34fba	1197	*
garfieldsg	0:662207e34fba	1198	* Each slave can either be accessed at the sample rate or at a reduced sample
garfieldsg	0:662207e34fba	1199	* rate. In a case where some slaves are accessed at the Sample Rate and some
garfieldsg	0:662207e34fba	1200	* slaves are accessed at the reduced rate, the sequence of accessing the slaves
garfieldsg	0:662207e34fba	1201	* (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
garfieldsg	0:662207e34fba	1202	* be skipped if their access rate dictates that they should not be accessed
garfieldsg	0:662207e34fba	1203	* during that particular cycle. For further information regarding the reduced
garfieldsg	0:662207e34fba	1204	* access rate, please refer to Register 52. Whether a slave is accessed at the
garfieldsg	0:662207e34fba	1205	* Sample Rate or at the reduced rate is determined by the Delay Enable bits in
garfieldsg	0:662207e34fba	1206	* Register 103.
garfieldsg	0:662207e34fba	1207	*
garfieldsg	0:662207e34fba	1208	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1209	* @return Current address for specified slave
garfieldsg	0:662207e34fba	1210	* @see MPU6050_RA_I2C_SLV0_ADDR
garfieldsg	0:662207e34fba	1211	*/
garfieldsg	0:662207e34fba	1212	uint8_t MPU6050::getSlaveAddress(uint8_t num)
garfieldsg	0:662207e34fba	1213	{
garfieldsg	0:662207e34fba	1214	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1215	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
garfieldsg	0:662207e34fba	1216	return buffer[0];
garfieldsg	0:662207e34fba	1217	}
garfieldsg	0:662207e34fba	1218	/** Set the I2C address of the specified slave (0-3).
garfieldsg	0:662207e34fba	1219	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1220	* @param address New address for specified slave
garfieldsg	0:662207e34fba	1221	* @see getSlaveAddress()
garfieldsg	0:662207e34fba	1222	* @see MPU6050_RA_I2C_SLV0_ADDR
garfieldsg	0:662207e34fba	1223	*/
garfieldsg	0:662207e34fba	1224	void MPU6050::setSlaveAddress(uint8_t num, uint8_t address)
garfieldsg	0:662207e34fba	1225	{
garfieldsg	0:662207e34fba	1226	if (num > 3) return;
garfieldsg	0:662207e34fba	1227	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
garfieldsg	0:662207e34fba	1228	}
garfieldsg	0:662207e34fba	1229	/** Get the active internal register for the specified slave (0-3).
garfieldsg	0:662207e34fba	1230	* Read/write operations for this slave will be done to whatever internal
garfieldsg	0:662207e34fba	1231	* register address is stored in this MPU register.
garfieldsg	0:662207e34fba	1232	*
garfieldsg	0:662207e34fba	1233	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
garfieldsg	0:662207e34fba	1234	* characteristics, and so it has its own functions.
garfieldsg	0:662207e34fba	1235	*
garfieldsg	0:662207e34fba	1236	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1237	* @return Current active register for specified slave
garfieldsg	0:662207e34fba	1238	* @see MPU6050_RA_I2C_SLV0_REG
garfieldsg	0:662207e34fba	1239	*/
garfieldsg	0:662207e34fba	1240	uint8_t MPU6050::getSlaveRegister(uint8_t num)
garfieldsg	0:662207e34fba	1241	{
garfieldsg	0:662207e34fba	1242	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1243	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
garfieldsg	0:662207e34fba	1244	return buffer[0];
garfieldsg	0:662207e34fba	1245	}
garfieldsg	0:662207e34fba	1246	/** Set the active internal register for the specified slave (0-3).
garfieldsg	0:662207e34fba	1247	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1248	* @param reg New active register for specified slave
garfieldsg	0:662207e34fba	1249	* @see getSlaveRegister()
garfieldsg	0:662207e34fba	1250	* @see MPU6050_RA_I2C_SLV0_REG
garfieldsg	0:662207e34fba	1251	*/
garfieldsg	0:662207e34fba	1252	void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg)
garfieldsg	0:662207e34fba	1253	{
garfieldsg	0:662207e34fba	1254	if (num > 3) return;
garfieldsg	0:662207e34fba	1255	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
garfieldsg	0:662207e34fba	1256	}
garfieldsg	0:662207e34fba	1257	/** Get the enabled value for the specified slave (0-3).
garfieldsg	0:662207e34fba	1258	* When set to 1, this bit enables Slave 0 for data transfer operations. When
garfieldsg	0:662207e34fba	1259	* cleared to 0, this bit disables Slave 0 from data transfer operations.
garfieldsg	0:662207e34fba	1260	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1261	* @return Current enabled value for specified slave
garfieldsg	0:662207e34fba	1262	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1263	*/
garfieldsg	0:662207e34fba	1264	bool MPU6050::getSlaveEnabled(uint8_t num)
garfieldsg	0:662207e34fba	1265	{
garfieldsg	0:662207e34fba	1266	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1267	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1268	return buffer[0];
garfieldsg	0:662207e34fba	1269	}
garfieldsg	0:662207e34fba	1270	/** Set the enabled value for the specified slave (0-3).
garfieldsg	0:662207e34fba	1271	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1272	* @param enabled New enabled value for specified slave
garfieldsg	0:662207e34fba	1273	* @see getSlaveEnabled()
garfieldsg	0:662207e34fba	1274	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1275	*/
garfieldsg	0:662207e34fba	1276	void MPU6050::setSlaveEnabled(uint8_t num, bool enabled)
garfieldsg	0:662207e34fba	1277	{
garfieldsg	0:662207e34fba	1278	if (num > 3) return;
garfieldsg	0:662207e34fba	1279	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1280	}
garfieldsg	0:662207e34fba	1281	/** Get word pair byte-swapping enabled for the specified slave (0-3).
garfieldsg	0:662207e34fba	1282	* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
garfieldsg	0:662207e34fba	1283	* the high and low bytes of a word pair are swapped. Please refer to
garfieldsg	0:662207e34fba	1284	* I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
garfieldsg	0:662207e34fba	1285	* bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
garfieldsg	0:662207e34fba	1286	* registers in the order they were transferred.
garfieldsg	0:662207e34fba	1287	*
garfieldsg	0:662207e34fba	1288	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1289	* @return Current word pair byte-swapping enabled value for specified slave
garfieldsg	0:662207e34fba	1290	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1291	*/
garfieldsg	0:662207e34fba	1292	bool MPU6050::getSlaveWordByteSwap(uint8_t num)
garfieldsg	0:662207e34fba	1293	{
garfieldsg	0:662207e34fba	1294	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1295	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
garfieldsg	0:662207e34fba	1296	return buffer[0];
garfieldsg	0:662207e34fba	1297	}
garfieldsg	0:662207e34fba	1298	/** Set word pair byte-swapping enabled for the specified slave (0-3).
garfieldsg	0:662207e34fba	1299	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1300	* @param enabled New word pair byte-swapping enabled value for specified slave
garfieldsg	0:662207e34fba	1301	* @see getSlaveWordByteSwap()
garfieldsg	0:662207e34fba	1302	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1303	*/
garfieldsg	0:662207e34fba	1304	void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled)
garfieldsg	0:662207e34fba	1305	{
garfieldsg	0:662207e34fba	1306	if (num > 3) return;
garfieldsg	0:662207e34fba	1307	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
garfieldsg	0:662207e34fba	1308	}
garfieldsg	0:662207e34fba	1309	/** Get write mode for the specified slave (0-3).
garfieldsg	0:662207e34fba	1310	* When set to 1, the transaction will read or write data only. When cleared to
garfieldsg	0:662207e34fba	1311	* 0, the transaction will write a register address prior to reading or writing
garfieldsg	0:662207e34fba	1312	* data. This should equal 0 when specifying the register address within the
garfieldsg	0:662207e34fba	1313	* Slave device to/from which the ensuing data transaction will take place.
garfieldsg	0:662207e34fba	1314	*
garfieldsg	0:662207e34fba	1315	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1316	* @return Current write mode for specified slave (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	1317	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1318	*/
garfieldsg	0:662207e34fba	1319	bool MPU6050::getSlaveWriteMode(uint8_t num)
garfieldsg	0:662207e34fba	1320	{
garfieldsg	0:662207e34fba	1321	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1322	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
garfieldsg	0:662207e34fba	1323	return buffer[0];
garfieldsg	0:662207e34fba	1324	}
garfieldsg	0:662207e34fba	1325	/** Set write mode for the specified slave (0-3).
garfieldsg	0:662207e34fba	1326	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1327	* @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	1328	* @see getSlaveWriteMode()
garfieldsg	0:662207e34fba	1329	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1330	*/
garfieldsg	0:662207e34fba	1331	void MPU6050::setSlaveWriteMode(uint8_t num, bool mode)
garfieldsg	0:662207e34fba	1332	{
garfieldsg	0:662207e34fba	1333	if (num > 3) return;
garfieldsg	0:662207e34fba	1334	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
garfieldsg	0:662207e34fba	1335	}
garfieldsg	0:662207e34fba	1336	/** Get word pair grouping order offset for the specified slave (0-3).
garfieldsg	0:662207e34fba	1337	* This sets specifies the grouping order of word pairs received from registers.
garfieldsg	0:662207e34fba	1338	* When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
garfieldsg	0:662207e34fba	1339	* then odd register addresses) are paired to form a word. When set to 1, bytes
garfieldsg	0:662207e34fba	1340	* from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
garfieldsg	0:662207e34fba	1341	* register addresses) are paired to form a word.
garfieldsg	0:662207e34fba	1342	*
garfieldsg	0:662207e34fba	1343	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1344	* @return Current word pair grouping order offset for specified slave
garfieldsg	0:662207e34fba	1345	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1346	*/
garfieldsg	0:662207e34fba	1347	bool MPU6050::getSlaveWordGroupOffset(uint8_t num)
garfieldsg	0:662207e34fba	1348	{
garfieldsg	0:662207e34fba	1349	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1350	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
garfieldsg	0:662207e34fba	1351	return buffer[0];
garfieldsg	0:662207e34fba	1352	}
garfieldsg	0:662207e34fba	1353	/** Set word pair grouping order offset for the specified slave (0-3).
garfieldsg	0:662207e34fba	1354	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1355	* @param enabled New word pair grouping order offset for specified slave
garfieldsg	0:662207e34fba	1356	* @see getSlaveWordGroupOffset()
garfieldsg	0:662207e34fba	1357	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1358	*/
garfieldsg	0:662207e34fba	1359	void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled)
garfieldsg	0:662207e34fba	1360	{
garfieldsg	0:662207e34fba	1361	if (num > 3) return;
garfieldsg	0:662207e34fba	1362	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
garfieldsg	0:662207e34fba	1363	}
garfieldsg	0:662207e34fba	1364	/** Get number of bytes to read for the specified slave (0-3).
garfieldsg	0:662207e34fba	1365	* Specifies the number of bytes transferred to and from Slave 0. Clearing this
garfieldsg	0:662207e34fba	1366	* bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
garfieldsg	0:662207e34fba	1367	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1368	* @return Number of bytes to read for specified slave
garfieldsg	0:662207e34fba	1369	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1370	*/
garfieldsg	0:662207e34fba	1371	uint8_t MPU6050::getSlaveDataLength(uint8_t num)
garfieldsg	0:662207e34fba	1372	{
garfieldsg	0:662207e34fba	1373	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1374	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
garfieldsg	0:662207e34fba	1375	return buffer[0];
garfieldsg	0:662207e34fba	1376	}
garfieldsg	0:662207e34fba	1377	/** Set number of bytes to read for the specified slave (0-3).
garfieldsg	0:662207e34fba	1378	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1379	* @param length Number of bytes to read for specified slave
garfieldsg	0:662207e34fba	1380	* @see getSlaveDataLength()
garfieldsg	0:662207e34fba	1381	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1382	*/
garfieldsg	0:662207e34fba	1383	void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length)
garfieldsg	0:662207e34fba	1384	{
garfieldsg	0:662207e34fba	1385	if (num > 3) return;
garfieldsg	0:662207e34fba	1386	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
garfieldsg	0:662207e34fba	1387	}
garfieldsg	0:662207e34fba	1388
garfieldsg	0:662207e34fba	1389	// I2C_SLV* registers (Slave 4)
garfieldsg	0:662207e34fba	1390
garfieldsg	0:662207e34fba	1391	/** Get the I2C address of Slave 4.
garfieldsg	0:662207e34fba	1392	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
garfieldsg	0:662207e34fba	1393	* operation, and if it is cleared, then it's a write operation. The remaining
garfieldsg	0:662207e34fba	1394	* bits (6-0) are the 7-bit device address of the slave device.
garfieldsg	0:662207e34fba	1395	*
garfieldsg	0:662207e34fba	1396	* @return Current address for Slave 4
garfieldsg	0:662207e34fba	1397	* @see getSlaveAddress()
garfieldsg	0:662207e34fba	1398	* @see MPU6050_RA_I2C_SLV4_ADDR
garfieldsg	0:662207e34fba	1399	*/
garfieldsg	0:662207e34fba	1400	uint8_t MPU6050::getSlave4Address()
garfieldsg	0:662207e34fba	1401	{
garfieldsg	0:662207e34fba	1402	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
garfieldsg	0:662207e34fba	1403	return buffer[0];
garfieldsg	0:662207e34fba	1404	}
garfieldsg	0:662207e34fba	1405	/** Set the I2C address of Slave 4.
garfieldsg	0:662207e34fba	1406	* @param address New address for Slave 4
garfieldsg	0:662207e34fba	1407	* @see getSlave4Address()
garfieldsg	0:662207e34fba	1408	* @see MPU6050_RA_I2C_SLV4_ADDR
garfieldsg	0:662207e34fba	1409	*/
garfieldsg	0:662207e34fba	1410	void MPU6050::setSlave4Address(uint8_t address)
garfieldsg	0:662207e34fba	1411	{
garfieldsg	0:662207e34fba	1412	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
garfieldsg	0:662207e34fba	1413	}
garfieldsg	0:662207e34fba	1414	/** Get the active internal register for the Slave 4.
garfieldsg	0:662207e34fba	1415	* Read/write operations for this slave will be done to whatever internal
garfieldsg	0:662207e34fba	1416	* register address is stored in this MPU register.
garfieldsg	0:662207e34fba	1417	*
garfieldsg	0:662207e34fba	1418	* @return Current active register for Slave 4
garfieldsg	0:662207e34fba	1419	* @see MPU6050_RA_I2C_SLV4_REG
garfieldsg	0:662207e34fba	1420	*/
garfieldsg	0:662207e34fba	1421	uint8_t MPU6050::getSlave4Register()
garfieldsg	0:662207e34fba	1422	{
garfieldsg	0:662207e34fba	1423	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
garfieldsg	0:662207e34fba	1424	return buffer[0];
garfieldsg	0:662207e34fba	1425	}
garfieldsg	0:662207e34fba	1426	/** Set the active internal register for Slave 4.
garfieldsg	0:662207e34fba	1427	* @param reg New active register for Slave 4
garfieldsg	0:662207e34fba	1428	* @see getSlave4Register()
garfieldsg	0:662207e34fba	1429	* @see MPU6050_RA_I2C_SLV4_REG
garfieldsg	0:662207e34fba	1430	*/
garfieldsg	0:662207e34fba	1431	void MPU6050::setSlave4Register(uint8_t reg)
garfieldsg	0:662207e34fba	1432	{
garfieldsg	0:662207e34fba	1433	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
garfieldsg	0:662207e34fba	1434	}
garfieldsg	0:662207e34fba	1435	/** Set new byte to write to Slave 4.
garfieldsg	0:662207e34fba	1436	* This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
garfieldsg	0:662207e34fba	1437	* is set 1 (set to read), this register has no effect.
garfieldsg	0:662207e34fba	1438	* @param data New byte to write to Slave 4
garfieldsg	0:662207e34fba	1439	* @see MPU6050_RA_I2C_SLV4_DO
garfieldsg	0:662207e34fba	1440	*/
garfieldsg	0:662207e34fba	1441	void MPU6050::setSlave4OutputByte(uint8_t data)
garfieldsg	0:662207e34fba	1442	{
garfieldsg	0:662207e34fba	1443	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
garfieldsg	0:662207e34fba	1444	}
garfieldsg	0:662207e34fba	1445	/** Get the enabled value for the Slave 4.
garfieldsg	0:662207e34fba	1446	* When set to 1, this bit enables Slave 4 for data transfer operations. When
garfieldsg	0:662207e34fba	1447	* cleared to 0, this bit disables Slave 4 from data transfer operations.
garfieldsg	0:662207e34fba	1448	* @return Current enabled value for Slave 4
garfieldsg	0:662207e34fba	1449	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1450	*/
garfieldsg	0:662207e34fba	1451	bool MPU6050::getSlave4Enabled()
garfieldsg	0:662207e34fba	1452	{
garfieldsg	0:662207e34fba	1453	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1454	return buffer[0];
garfieldsg	0:662207e34fba	1455	}
garfieldsg	0:662207e34fba	1456	/** Set the enabled value for Slave 4.
garfieldsg	0:662207e34fba	1457	* @param enabled New enabled value for Slave 4
garfieldsg	0:662207e34fba	1458	* @see getSlave4Enabled()
garfieldsg	0:662207e34fba	1459	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1460	*/
garfieldsg	0:662207e34fba	1461	void MPU6050::setSlave4Enabled(bool enabled)
garfieldsg	0:662207e34fba	1462	{
garfieldsg	0:662207e34fba	1463	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1464	}
garfieldsg	0:662207e34fba	1465	/** Get the enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1466	* When set to 1, this bit enables the generation of an interrupt signal upon
garfieldsg	0:662207e34fba	1467	* completion of a Slave 4 transaction. When cleared to 0, this bit disables the
garfieldsg	0:662207e34fba	1468	* generation of an interrupt signal upon completion of a Slave 4 transaction.
garfieldsg	0:662207e34fba	1469	* The interrupt status can be observed in Register 54.
garfieldsg	0:662207e34fba	1470	*
garfieldsg	0:662207e34fba	1471	* @return Current enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1472	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1473	*/
garfieldsg	0:662207e34fba	1474	bool MPU6050::getSlave4InterruptEnabled()
garfieldsg	0:662207e34fba	1475	{
garfieldsg	0:662207e34fba	1476	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1477	return buffer[0];
garfieldsg	0:662207e34fba	1478	}
garfieldsg	0:662207e34fba	1479	/** Set the enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1480	* @param enabled New enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1481	* @see getSlave4InterruptEnabled()
garfieldsg	0:662207e34fba	1482	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1483	*/
garfieldsg	0:662207e34fba	1484	void MPU6050::setSlave4InterruptEnabled(bool enabled)
garfieldsg	0:662207e34fba	1485	{
garfieldsg	0:662207e34fba	1486	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1487	}
garfieldsg	0:662207e34fba	1488	/** Get write mode for Slave 4.
garfieldsg	0:662207e34fba	1489	* When set to 1, the transaction will read or write data only. When cleared to
garfieldsg	0:662207e34fba	1490	* 0, the transaction will write a register address prior to reading or writing
garfieldsg	0:662207e34fba	1491	* data. This should equal 0 when specifying the register address within the
garfieldsg	0:662207e34fba	1492	* Slave device to/from which the ensuing data transaction will take place.
garfieldsg	0:662207e34fba	1493	*
garfieldsg	0:662207e34fba	1494	* @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	1495	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1496	*/
garfieldsg	0:662207e34fba	1497	bool MPU6050::getSlave4WriteMode()
garfieldsg	0:662207e34fba	1498	{
garfieldsg	0:662207e34fba	1499	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
garfieldsg	0:662207e34fba	1500	return buffer[0];
garfieldsg	0:662207e34fba	1501	}
garfieldsg	0:662207e34fba	1502	/** Set write mode for the Slave 4.
garfieldsg	0:662207e34fba	1503	* @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	1504	* @see getSlave4WriteMode()
garfieldsg	0:662207e34fba	1505	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1506	*/
garfieldsg	0:662207e34fba	1507	void MPU6050::setSlave4WriteMode(bool mode)
garfieldsg	0:662207e34fba	1508	{
garfieldsg	0:662207e34fba	1509	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
garfieldsg	0:662207e34fba	1510	}
garfieldsg	0:662207e34fba	1511	/** Get Slave 4 master delay value.
garfieldsg	0:662207e34fba	1512	* This configures the reduced access rate of I2C slaves relative to the Sample
garfieldsg	0:662207e34fba	1513	* Rate. When a slave's access rate is decreased relative to the Sample Rate,
garfieldsg	0:662207e34fba	1514	* the slave is accessed every:
garfieldsg	0:662207e34fba	1515	*
garfieldsg	0:662207e34fba	1516	* 1 / (1 + I2C_MST_DLY) samples
garfieldsg	0:662207e34fba	1517	*
garfieldsg	0:662207e34fba	1518	* This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
garfieldsg	0:662207e34fba	1519	* DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
garfieldsg	0:662207e34fba	1520	* the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
garfieldsg	0:662207e34fba	1521	* further information regarding the Sample Rate, please refer to register 25.
garfieldsg	0:662207e34fba	1522	*
garfieldsg	0:662207e34fba	1523	* @return Current Slave 4 master delay value
garfieldsg	0:662207e34fba	1524	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1525	*/
garfieldsg	0:662207e34fba	1526	uint8_t MPU6050::getSlave4MasterDelay()
garfieldsg	0:662207e34fba	1527	{
garfieldsg	0:662207e34fba	1528	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
garfieldsg	0:662207e34fba	1529	return buffer[0];
garfieldsg	0:662207e34fba	1530	}
garfieldsg	0:662207e34fba	1531	/** Set Slave 4 master delay value.
garfieldsg	0:662207e34fba	1532	* @param delay New Slave 4 master delay value
garfieldsg	0:662207e34fba	1533	* @see getSlave4MasterDelay()
garfieldsg	0:662207e34fba	1534	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1535	*/
garfieldsg	0:662207e34fba	1536	void MPU6050::setSlave4MasterDelay(uint8_t delay)
garfieldsg	0:662207e34fba	1537	{
garfieldsg	0:662207e34fba	1538	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
garfieldsg	0:662207e34fba	1539	}
garfieldsg	0:662207e34fba	1540	/** Get last available byte read from Slave 4.
garfieldsg	0:662207e34fba	1541	* This register stores the data read from Slave 4. This field is populated
garfieldsg	0:662207e34fba	1542	* after a read transaction.
garfieldsg	0:662207e34fba	1543	* @return Last available byte read from to Slave 4
garfieldsg	0:662207e34fba	1544	* @see MPU6050_RA_I2C_SLV4_DI
garfieldsg	0:662207e34fba	1545	*/
garfieldsg	0:662207e34fba	1546	uint8_t MPU6050::getSlate4InputByte()
garfieldsg	0:662207e34fba	1547	{
garfieldsg	0:662207e34fba	1548	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
garfieldsg	0:662207e34fba	1549	return buffer[0];
garfieldsg	0:662207e34fba	1550	}
garfieldsg	0:662207e34fba	1551
garfieldsg	0:662207e34fba	1552	// I2C_MST_STATUS register
garfieldsg	0:662207e34fba	1553
garfieldsg	0:662207e34fba	1554	/** Get FSYNC interrupt status.
garfieldsg	0:662207e34fba	1555	* This bit reflects the status of the FSYNC interrupt from an external device
garfieldsg	0:662207e34fba	1556	* into the MPU-60X0. This is used as a way to pass an external interrupt
garfieldsg	0:662207e34fba	1557	* through the MPU-60X0 to the host application processor. When set to 1, this
garfieldsg	0:662207e34fba	1558	* bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
garfieldsg	0:662207e34fba	1559	* (Register 55).
garfieldsg	0:662207e34fba	1560	* @return FSYNC interrupt status
garfieldsg	0:662207e34fba	1561	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1562	*/
garfieldsg	0:662207e34fba	1563	bool MPU6050::getPassthroughStatus()
garfieldsg	0:662207e34fba	1564	{
garfieldsg	0:662207e34fba	1565	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
garfieldsg	0:662207e34fba	1566	return buffer[0];
garfieldsg	0:662207e34fba	1567	}
garfieldsg	0:662207e34fba	1568	/** Get Slave 4 transaction done status.
garfieldsg	0:662207e34fba	1569	* Automatically sets to 1 when a Slave 4 transaction has completed. This
garfieldsg	0:662207e34fba	1570	* triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
garfieldsg	0:662207e34fba	1571	* (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
garfieldsg	0:662207e34fba	1572	* I2C_SLV4_CTRL register (Register 52).
garfieldsg	0:662207e34fba	1573	* @return Slave 4 transaction done status
garfieldsg	0:662207e34fba	1574	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1575	*/
garfieldsg	0:662207e34fba	1576	bool MPU6050::getSlave4IsDone()
garfieldsg	0:662207e34fba	1577	{
garfieldsg	0:662207e34fba	1578	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
garfieldsg	0:662207e34fba	1579	return buffer[0];
garfieldsg	0:662207e34fba	1580	}
garfieldsg	0:662207e34fba	1581	/** Get master arbitration lost status.
garfieldsg	0:662207e34fba	1582	* This bit automatically sets to 1 when the I2C Master has lost arbitration of
garfieldsg	0:662207e34fba	1583	* the auxiliary I2C bus (an error condition). This triggers an interrupt if the
garfieldsg	0:662207e34fba	1584	* I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1585	* @return Master arbitration lost status
garfieldsg	0:662207e34fba	1586	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1587	*/
garfieldsg	0:662207e34fba	1588	bool MPU6050::getLostArbitration()
garfieldsg	0:662207e34fba	1589	{
garfieldsg	0:662207e34fba	1590	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
garfieldsg	0:662207e34fba	1591	return buffer[0];
garfieldsg	0:662207e34fba	1592	}
garfieldsg	0:662207e34fba	1593	/** Get Slave 4 NACK status.
garfieldsg	0:662207e34fba	1594	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1595	* transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1596	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1597	* @return Slave 4 NACK interrupt status
garfieldsg	0:662207e34fba	1598	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1599	*/
garfieldsg	0:662207e34fba	1600	bool MPU6050::getSlave4Nack()
garfieldsg	0:662207e34fba	1601	{
garfieldsg	0:662207e34fba	1602	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1603	return buffer[0];
garfieldsg	0:662207e34fba	1604	}
garfieldsg	0:662207e34fba	1605	/** Get Slave 3 NACK status.
garfieldsg	0:662207e34fba	1606	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1607	* transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1608	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1609	* @return Slave 3 NACK interrupt status
garfieldsg	0:662207e34fba	1610	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1611	*/
garfieldsg	0:662207e34fba	1612	bool MPU6050::getSlave3Nack()
garfieldsg	0:662207e34fba	1613	{
garfieldsg	0:662207e34fba	1614	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1615	return buffer[0];
garfieldsg	0:662207e34fba	1616	}
garfieldsg	0:662207e34fba	1617	/** Get Slave 2 NACK status.
garfieldsg	0:662207e34fba	1618	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1619	* transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1620	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1621	* @return Slave 2 NACK interrupt status
garfieldsg	0:662207e34fba	1622	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1623	*/
garfieldsg	0:662207e34fba	1624	bool MPU6050::getSlave2Nack()
garfieldsg	0:662207e34fba	1625	{
garfieldsg	0:662207e34fba	1626	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1627	return buffer[0];
garfieldsg	0:662207e34fba	1628	}
garfieldsg	0:662207e34fba	1629	/** Get Slave 1 NACK status.
garfieldsg	0:662207e34fba	1630	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1631	* transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1632	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1633	* @return Slave 1 NACK interrupt status
garfieldsg	0:662207e34fba	1634	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1635	*/
garfieldsg	0:662207e34fba	1636	bool MPU6050::getSlave1Nack()
garfieldsg	0:662207e34fba	1637	{
garfieldsg	0:662207e34fba	1638	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1639	return buffer[0];
garfieldsg	0:662207e34fba	1640	}
garfieldsg	0:662207e34fba	1641	/** Get Slave 0 NACK status.
garfieldsg	0:662207e34fba	1642	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1643	* transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1644	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1645	* @return Slave 0 NACK interrupt status
garfieldsg	0:662207e34fba	1646	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1647	*/
garfieldsg	0:662207e34fba	1648	bool MPU6050::getSlave0Nack()
garfieldsg	0:662207e34fba	1649	{
garfieldsg	0:662207e34fba	1650	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1651	return buffer[0];
garfieldsg	0:662207e34fba	1652	}
garfieldsg	0:662207e34fba	1653
garfieldsg	0:662207e34fba	1654	// INT_PIN_CFG register
garfieldsg	0:662207e34fba	1655
garfieldsg	0:662207e34fba	1656	/** Get interrupt logic level mode.
garfieldsg	0:662207e34fba	1657	* Will be set 0 for active-high, 1 for active-low.
garfieldsg	0:662207e34fba	1658	* @return Current interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1659	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1660	* @see MPU6050_INTCFG_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1661	*/
garfieldsg	0:662207e34fba	1662	bool MPU6050::getInterruptMode()
garfieldsg	0:662207e34fba	1663	{
garfieldsg	0:662207e34fba	1664	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
garfieldsg	0:662207e34fba	1665	return buffer[0];
garfieldsg	0:662207e34fba	1666	}
garfieldsg	0:662207e34fba	1667	/** Set interrupt logic level mode.
garfieldsg	0:662207e34fba	1668	* @param mode New interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1669	* @see getInterruptMode()
garfieldsg	0:662207e34fba	1670	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1671	* @see MPU6050_INTCFG_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1672	*/
garfieldsg	0:662207e34fba	1673	void MPU6050::setInterruptMode(bool mode)
garfieldsg	0:662207e34fba	1674	{
garfieldsg	0:662207e34fba	1675	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
garfieldsg	0:662207e34fba	1676	}
garfieldsg	0:662207e34fba	1677	/** Get interrupt drive mode.
garfieldsg	0:662207e34fba	1678	* Will be set 0 for push-pull, 1 for open-drain.
garfieldsg	0:662207e34fba	1679	* @return Current interrupt drive mode (0=push-pull, 1=open-drain)
garfieldsg	0:662207e34fba	1680	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1681	* @see MPU6050_INTCFG_INT_OPEN_BIT
garfieldsg	0:662207e34fba	1682	*/
garfieldsg	0:662207e34fba	1683	bool MPU6050::getInterruptDrive()
garfieldsg	0:662207e34fba	1684	{
garfieldsg	0:662207e34fba	1685	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
garfieldsg	0:662207e34fba	1686	return buffer[0];
garfieldsg	0:662207e34fba	1687	}
garfieldsg	0:662207e34fba	1688	/** Set interrupt drive mode.
garfieldsg	0:662207e34fba	1689	* @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
garfieldsg	0:662207e34fba	1690	* @see getInterruptDrive()
garfieldsg	0:662207e34fba	1691	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1692	* @see MPU6050_INTCFG_INT_OPEN_BIT
garfieldsg	0:662207e34fba	1693	*/
garfieldsg	0:662207e34fba	1694	void MPU6050::setInterruptDrive(bool drive)
garfieldsg	0:662207e34fba	1695	{
garfieldsg	0:662207e34fba	1696	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
garfieldsg	0:662207e34fba	1697	}
garfieldsg	0:662207e34fba	1698	/** Get interrupt latch mode.
garfieldsg	0:662207e34fba	1699	* Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
garfieldsg	0:662207e34fba	1700	* @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
garfieldsg	0:662207e34fba	1701	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1702	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
garfieldsg	0:662207e34fba	1703	*/
garfieldsg	0:662207e34fba	1704	bool MPU6050::getInterruptLatch()
garfieldsg	0:662207e34fba	1705	{
garfieldsg	0:662207e34fba	1706	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1707	return buffer[0];
garfieldsg	0:662207e34fba	1708	}
garfieldsg	0:662207e34fba	1709	/** Set interrupt latch mode.
garfieldsg	0:662207e34fba	1710	* @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
garfieldsg	0:662207e34fba	1711	* @see getInterruptLatch()
garfieldsg	0:662207e34fba	1712	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1713	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
garfieldsg	0:662207e34fba	1714	*/
garfieldsg	0:662207e34fba	1715	void MPU6050::setInterruptLatch(bool latch)
garfieldsg	0:662207e34fba	1716	{
garfieldsg	0:662207e34fba	1717	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
garfieldsg	0:662207e34fba	1718	}
garfieldsg	0:662207e34fba	1719	/** Get interrupt latch clear mode.
garfieldsg	0:662207e34fba	1720	* Will be set 0 for status-read-only, 1 for any-register-read.
garfieldsg	0:662207e34fba	1721	* @return Current latch clear mode (0=status-read-only, 1=any-register-read)
garfieldsg	0:662207e34fba	1722	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1723	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
garfieldsg	0:662207e34fba	1724	*/
garfieldsg	0:662207e34fba	1725	bool MPU6050::getInterruptLatchClear()
garfieldsg	0:662207e34fba	1726	{
garfieldsg	0:662207e34fba	1727	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
garfieldsg	0:662207e34fba	1728	return buffer[0];
garfieldsg	0:662207e34fba	1729	}
garfieldsg	0:662207e34fba	1730	/** Set interrupt latch clear mode.
garfieldsg	0:662207e34fba	1731	* @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
garfieldsg	0:662207e34fba	1732	* @see getInterruptLatchClear()
garfieldsg	0:662207e34fba	1733	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1734	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
garfieldsg	0:662207e34fba	1735	*/
garfieldsg	0:662207e34fba	1736	void MPU6050::setInterruptLatchClear(bool clear)
garfieldsg	0:662207e34fba	1737	{
garfieldsg	0:662207e34fba	1738	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
garfieldsg	0:662207e34fba	1739	}
garfieldsg	0:662207e34fba	1740	/** Get FSYNC interrupt logic level mode.
garfieldsg	0:662207e34fba	1741	* @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1742	* @see getFSyncInterruptMode()
garfieldsg	0:662207e34fba	1743	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1744	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1745	*/
garfieldsg	0:662207e34fba	1746	bool MPU6050::getFSyncInterruptLevel()
garfieldsg	0:662207e34fba	1747	{
garfieldsg	0:662207e34fba	1748	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
garfieldsg	0:662207e34fba	1749	return buffer[0];
garfieldsg	0:662207e34fba	1750	}
garfieldsg	0:662207e34fba	1751	/** Set FSYNC interrupt logic level mode.
garfieldsg	0:662207e34fba	1752	* @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1753	* @see getFSyncInterruptMode()
garfieldsg	0:662207e34fba	1754	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1755	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1756	*/
garfieldsg	0:662207e34fba	1757	void MPU6050::setFSyncInterruptLevel(bool level)
garfieldsg	0:662207e34fba	1758	{
garfieldsg	0:662207e34fba	1759	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
garfieldsg	0:662207e34fba	1760	}
garfieldsg	0:662207e34fba	1761	/** Get FSYNC pin interrupt enabled setting.
garfieldsg	0:662207e34fba	1762	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1763	* @return Current interrupt enabled setting
garfieldsg	0:662207e34fba	1764	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1765	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
garfieldsg	0:662207e34fba	1766	*/
garfieldsg	0:662207e34fba	1767	bool MPU6050::getFSyncInterruptEnabled()
garfieldsg	0:662207e34fba	1768	{
garfieldsg	0:662207e34fba	1769	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1770	return buffer[0];
garfieldsg	0:662207e34fba	1771	}
garfieldsg	0:662207e34fba	1772	/** Set FSYNC pin interrupt enabled setting.
garfieldsg	0:662207e34fba	1773	* @param enabled New FSYNC pin interrupt enabled setting
garfieldsg	0:662207e34fba	1774	* @see getFSyncInterruptEnabled()
garfieldsg	0:662207e34fba	1775	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1776	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
garfieldsg	0:662207e34fba	1777	*/
garfieldsg	0:662207e34fba	1778	void MPU6050::setFSyncInterruptEnabled(bool enabled)
garfieldsg	0:662207e34fba	1779	{
garfieldsg	0:662207e34fba	1780	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1781	}
garfieldsg	0:662207e34fba	1782	/** Get I2C bypass enabled status.
garfieldsg	0:662207e34fba	1783	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
garfieldsg	0:662207e34fba	1784	* 0, the host application processor will be able to directly access the
garfieldsg	0:662207e34fba	1785	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
garfieldsg	0:662207e34fba	1786	* application processor will not be able to directly access the auxiliary I2C
garfieldsg	0:662207e34fba	1787	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
garfieldsg	0:662207e34fba	1788	* bit[5]).
garfieldsg	0:662207e34fba	1789	* @return Current I2C bypass enabled status
garfieldsg	0:662207e34fba	1790	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1791	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
garfieldsg	0:662207e34fba	1792	*/
garfieldsg	0:662207e34fba	1793	bool MPU6050::getI2CBypassEnabled()
garfieldsg	0:662207e34fba	1794	{
garfieldsg	0:662207e34fba	1795	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1796	return buffer[0];
garfieldsg	0:662207e34fba	1797	}
garfieldsg	0:662207e34fba	1798	/** Set I2C bypass enabled status.
garfieldsg	0:662207e34fba	1799	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
garfieldsg	0:662207e34fba	1800	* 0, the host application processor will be able to directly access the
garfieldsg	0:662207e34fba	1801	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
garfieldsg	0:662207e34fba	1802	* application processor will not be able to directly access the auxiliary I2C
garfieldsg	0:662207e34fba	1803	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
garfieldsg	0:662207e34fba	1804	* bit[5]).
garfieldsg	0:662207e34fba	1805	* @param enabled New I2C bypass enabled status
garfieldsg	0:662207e34fba	1806	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1807	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
garfieldsg	0:662207e34fba	1808	*/
garfieldsg	0:662207e34fba	1809	void MPU6050::setI2CBypassEnabled(bool enabled)
garfieldsg	0:662207e34fba	1810	{
garfieldsg	0:662207e34fba	1811	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1812	}
garfieldsg	0:662207e34fba	1813	/** Get reference clock output enabled status.
garfieldsg	0:662207e34fba	1814	* When this bit is equal to 1, a reference clock output is provided at the
garfieldsg	0:662207e34fba	1815	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
garfieldsg	0:662207e34fba	1816	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
garfieldsg	0:662207e34fba	1817	* Specification document.
garfieldsg	0:662207e34fba	1818	* @return Current reference clock output enabled status
garfieldsg	0:662207e34fba	1819	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1820	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
garfieldsg	0:662207e34fba	1821	*/
garfieldsg	0:662207e34fba	1822	bool MPU6050::getClockOutputEnabled()
garfieldsg	0:662207e34fba	1823	{
garfieldsg	0:662207e34fba	1824	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1825	return buffer[0];
garfieldsg	0:662207e34fba	1826	}
garfieldsg	0:662207e34fba	1827	/** Set reference clock output enabled status.
garfieldsg	0:662207e34fba	1828	* When this bit is equal to 1, a reference clock output is provided at the
garfieldsg	0:662207e34fba	1829	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
garfieldsg	0:662207e34fba	1830	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
garfieldsg	0:662207e34fba	1831	* Specification document.
garfieldsg	0:662207e34fba	1832	* @param enabled New reference clock output enabled status
garfieldsg	0:662207e34fba	1833	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1834	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
garfieldsg	0:662207e34fba	1835	*/
garfieldsg	0:662207e34fba	1836	void MPU6050::setClockOutputEnabled(bool enabled)
garfieldsg	0:662207e34fba	1837	{
garfieldsg	0:662207e34fba	1838	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1839	}
garfieldsg	0:662207e34fba	1840
garfieldsg	0:662207e34fba	1841	// INT_ENABLE register
garfieldsg	0:662207e34fba	1842
garfieldsg	0:662207e34fba	1843	/** Get full interrupt enabled status.
garfieldsg	0:662207e34fba	1844	* Full register byte for all interrupts, for quick reading. Each bit will be
garfieldsg	0:662207e34fba	1845	* set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1846	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1847	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1848	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1849	**/
garfieldsg	0:662207e34fba	1850	uint8_t MPU6050::getIntEnabled()
garfieldsg	0:662207e34fba	1851	{
garfieldsg	0:662207e34fba	1852	i2Cdev.readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
garfieldsg	0:662207e34fba	1853	return buffer[0];
garfieldsg	0:662207e34fba	1854	}
garfieldsg	0:662207e34fba	1855	/** Set full interrupt enabled status.
garfieldsg	0:662207e34fba	1856	* Full register byte for all interrupts, for quick reading. Each bit should be
garfieldsg	0:662207e34fba	1857	* set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1858	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1859	* @see getIntFreefallEnabled()
garfieldsg	0:662207e34fba	1860	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1861	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1862	**/
garfieldsg	0:662207e34fba	1863	void MPU6050::setIntEnabled(uint8_t enabled)
garfieldsg	0:662207e34fba	1864	{
garfieldsg	0:662207e34fba	1865	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
garfieldsg	0:662207e34fba	1866	}
garfieldsg	0:662207e34fba	1867	/** Get Free Fall interrupt enabled status.
garfieldsg	0:662207e34fba	1868	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1869	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1870	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1871	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1872	**/
garfieldsg	0:662207e34fba	1873	bool MPU6050::getIntFreefallEnabled()
garfieldsg	0:662207e34fba	1874	{
garfieldsg	0:662207e34fba	1875	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
garfieldsg	0:662207e34fba	1876	return buffer[0];
garfieldsg	0:662207e34fba	1877	}
garfieldsg	0:662207e34fba	1878	/** Set Free Fall interrupt enabled status.
garfieldsg	0:662207e34fba	1879	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1880	* @see getIntFreefallEnabled()
garfieldsg	0:662207e34fba	1881	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1882	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1883	**/
garfieldsg	0:662207e34fba	1884	void MPU6050::setIntFreefallEnabled(bool enabled)
garfieldsg	0:662207e34fba	1885	{
garfieldsg	0:662207e34fba	1886	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
garfieldsg	0:662207e34fba	1887	}
garfieldsg	0:662207e34fba	1888	/** Get Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1889	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1890	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1891	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1892	* @see MPU6050_INTERRUPT_MOT_BIT
garfieldsg	0:662207e34fba	1893	**/
garfieldsg	0:662207e34fba	1894	bool MPU6050::getIntMotionEnabled()
garfieldsg	0:662207e34fba	1895	{
garfieldsg	0:662207e34fba	1896	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
garfieldsg	0:662207e34fba	1897	return buffer[0];
garfieldsg	0:662207e34fba	1898	}
garfieldsg	0:662207e34fba	1899	/** Set Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1900	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1901	* @see getIntMotionEnabled()
garfieldsg	0:662207e34fba	1902	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1903	* @see MPU6050_INTERRUPT_MOT_BIT
garfieldsg	0:662207e34fba	1904	**/
garfieldsg	0:662207e34fba	1905	void MPU6050::setIntMotionEnabled(bool enabled)
garfieldsg	0:662207e34fba	1906	{
garfieldsg	0:662207e34fba	1907	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
garfieldsg	0:662207e34fba	1908	}
garfieldsg	0:662207e34fba	1909	/** Get Zero Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1910	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1911	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1912	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1913	* @see MPU6050_INTERRUPT_ZMOT_BIT
garfieldsg	0:662207e34fba	1914	**/
garfieldsg	0:662207e34fba	1915	bool MPU6050::getIntZeroMotionEnabled()
garfieldsg	0:662207e34fba	1916	{
garfieldsg	0:662207e34fba	1917	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
garfieldsg	0:662207e34fba	1918	return buffer[0];
garfieldsg	0:662207e34fba	1919	}
garfieldsg	0:662207e34fba	1920	/** Set Zero Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1921	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1922	* @see getIntZeroMotionEnabled()
garfieldsg	0:662207e34fba	1923	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1924	* @see MPU6050_INTERRUPT_ZMOT_BIT
garfieldsg	0:662207e34fba	1925	**/
garfieldsg	0:662207e34fba	1926	void MPU6050::setIntZeroMotionEnabled(bool enabled)
garfieldsg	0:662207e34fba	1927	{
garfieldsg	0:662207e34fba	1928	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
garfieldsg	0:662207e34fba	1929	}
garfieldsg	0:662207e34fba	1930	/** Get FIFO Buffer Overflow interrupt enabled status.
garfieldsg	0:662207e34fba	1931	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1932	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1933	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1934	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
garfieldsg	0:662207e34fba	1935	**/
garfieldsg	0:662207e34fba	1936	bool MPU6050::getIntFIFOBufferOverflowEnabled()
garfieldsg	0:662207e34fba	1937	{
garfieldsg	0:662207e34fba	1938	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
garfieldsg	0:662207e34fba	1939	return buffer[0];
garfieldsg	0:662207e34fba	1940	}
garfieldsg	0:662207e34fba	1941	/** Set FIFO Buffer Overflow interrupt enabled status.
garfieldsg	0:662207e34fba	1942	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1943	* @see getIntFIFOBufferOverflowEnabled()
garfieldsg	0:662207e34fba	1944	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1945	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
garfieldsg	0:662207e34fba	1946	**/
garfieldsg	0:662207e34fba	1947	void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled)
garfieldsg	0:662207e34fba	1948	{
garfieldsg	0:662207e34fba	1949	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
garfieldsg	0:662207e34fba	1950	}
garfieldsg	0:662207e34fba	1951	/** Get I2C Master interrupt enabled status.
garfieldsg	0:662207e34fba	1952	* This enables any of the I2C Master interrupt sources to generate an
garfieldsg	0:662207e34fba	1953	* interrupt. Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1954	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1955	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1956	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
garfieldsg	0:662207e34fba	1957	**/
garfieldsg	0:662207e34fba	1958	bool MPU6050::getIntI2CMasterEnabled()
garfieldsg	0:662207e34fba	1959	{
garfieldsg	0:662207e34fba	1960	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
garfieldsg	0:662207e34fba	1961	return buffer[0];
garfieldsg	0:662207e34fba	1962	}
garfieldsg	0:662207e34fba	1963	/** Set I2C Master interrupt enabled status.
garfieldsg	0:662207e34fba	1964	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1965	* @see getIntI2CMasterEnabled()
garfieldsg	0:662207e34fba	1966	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1967	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
garfieldsg	0:662207e34fba	1968	**/
garfieldsg	0:662207e34fba	1969	void MPU6050::setIntI2CMasterEnabled(bool enabled)
garfieldsg	0:662207e34fba	1970	{
garfieldsg	0:662207e34fba	1971	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
garfieldsg	0:662207e34fba	1972	}
garfieldsg	0:662207e34fba	1973	/** Get Data Ready interrupt enabled setting.
garfieldsg	0:662207e34fba	1974	* This event occurs each time a write operation to all of the sensor registers
garfieldsg	0:662207e34fba	1975	* has been completed. Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1976	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1977	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1978	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
garfieldsg	0:662207e34fba	1979	*/
garfieldsg	0:662207e34fba	1980	bool MPU6050::getIntDataReadyEnabled()
garfieldsg	0:662207e34fba	1981	{
garfieldsg	0:662207e34fba	1982	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
garfieldsg	0:662207e34fba	1983	return buffer[0];
garfieldsg	0:662207e34fba	1984	}
garfieldsg	0:662207e34fba	1985	/** Set Data Ready interrupt enabled status.
garfieldsg	0:662207e34fba	1986	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1987	* @see getIntDataReadyEnabled()
garfieldsg	0:662207e34fba	1988	* @see MPU6050_RA_INT_CFG
garfieldsg	0:662207e34fba	1989	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
garfieldsg	0:662207e34fba	1990	*/
garfieldsg	0:662207e34fba	1991	void MPU6050::setIntDataReadyEnabled(bool enabled)
garfieldsg	0:662207e34fba	1992	{
garfieldsg	0:662207e34fba	1993	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
garfieldsg	0:662207e34fba	1994	}
garfieldsg	0:662207e34fba	1995
garfieldsg	0:662207e34fba	1996	// INT_STATUS register
garfieldsg	0:662207e34fba	1997
garfieldsg	0:662207e34fba	1998	/** Get full set of interrupt status bits.
garfieldsg	0:662207e34fba	1999	* These bits clear to 0 after the register has been read. Very useful
garfieldsg	0:662207e34fba	2000	* for getting multiple INT statuses, since each single bit read clears
garfieldsg	0:662207e34fba	2001	* all of them because it has to read the whole byte.
garfieldsg	0:662207e34fba	2002	* @return Current interrupt status
garfieldsg	0:662207e34fba	2003	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	2004	*/
garfieldsg	0:662207e34fba	2005	uint8_t MPU6050::getIntStatus()
garfieldsg	0:662207e34fba	2006	{
garfieldsg	0:662207e34fba	2007	i2Cdev.readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
garfieldsg	0:662207e34fba	2008	return buffer[0];
garfieldsg	0:662207e34fba	2009	}
garfieldsg	0:662207e34fba	2010	/** Get Free Fall interrupt status.
garfieldsg	0:662207e34fba	2011	* This bit automatically sets to 1 when a Free Fall interrupt has been
garfieldsg	0:662207e34fba	2012	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	2013	* @return Current interrupt status
garfieldsg	0:662207e34fba	2014	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	2015	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	2016	*/
garfieldsg	0:662207e34fba	2017	bool MPU6050::getIntFreefallStatus()
garfieldsg	0:662207e34fba	2018	{
garfieldsg	0:662207e34fba	2019	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
garfieldsg	0:662207e34fba	2020	return buffer[0];
garfieldsg	0:662207e34fba	2021	}
garfieldsg	0:662207e34fba	2022	/** Get Motion Detection interrupt status.
garfieldsg	0:662207e34fba	2023	* This bit automatically sets to 1 when a Motion Detection interrupt has been
garfieldsg	0:662207e34fba	2024	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	2025	* @return Current interrupt status
garfieldsg	0:662207e34fba	2026	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	2027	* @see MPU6050_INTERRUPT_MOT_BIT
garfieldsg	0:662207e34fba	2028	*/
garfieldsg	0:662207e34fba	2029	bool MPU6050::getIntMotionStatus()
garfieldsg	0:662207e34fba	2030	{
garfieldsg	0:662207e34fba	2031	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
garfieldsg	0:662207e34fba	2032	return buffer[0];
garfieldsg	0:662207e34fba	2033	}
garfieldsg	0:662207e34fba	2034	/** Get Zero Motion Detection interrupt status.
garfieldsg	0:662207e34fba	2035	* This bit automatically sets to 1 when a Zero Motion Detection interrupt has
garfieldsg	0:662207e34fba	2036	* been generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	2037	* @return Current interrupt status
garfieldsg	0:662207e34fba	2038	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	2039	* @see MPU6050_INTERRUPT_ZMOT_BIT
garfieldsg	0:662207e34fba	2040	*/
garfieldsg	0:662207e34fba	2041	bool MPU6050::getIntZeroMotionStatus()
garfieldsg	0:662207e34fba	2042	{
garfieldsg	0:662207e34fba	2043	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
garfieldsg	0:662207e34fba	2044	return buffer[0];
garfieldsg	0:662207e34fba	2045	}
garfieldsg	0:662207e34fba	2046	/** Get FIFO Buffer Overflow interrupt status.
garfieldsg	0:662207e34fba	2047	* This bit automatically sets to 1 when a Free Fall interrupt has been
garfieldsg	0:662207e34fba	2048	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	2049	* @return Current interrupt status
garfieldsg	0:662207e34fba	2050	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	2051	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
garfieldsg	0:662207e34fba	2052	*/
garfieldsg	0:662207e34fba	2053	bool MPU6050::getIntFIFOBufferOverflowStatus()
garfieldsg	0:662207e34fba	2054	{
garfieldsg	0:662207e34fba	2055	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
garfieldsg	0:662207e34fba	2056	return buffer[0];
garfieldsg	0:662207e34fba	2057	}
garfieldsg	0:662207e34fba	2058	/** Get I2C Master interrupt status.
garfieldsg	0:662207e34fba	2059	* This bit automatically sets to 1 when an I2C Master interrupt has been
garfieldsg	0:662207e34fba	2060	* generated. For a list of I2C Master interrupts, please refer to Register 54.
garfieldsg	0:662207e34fba	2061	* The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	2062	* @return Current interrupt status
garfieldsg	0:662207e34fba	2063	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	2064	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
garfieldsg	0:662207e34fba	2065	*/
garfieldsg	0:662207e34fba	2066	bool MPU6050::getIntI2CMasterStatus()
garfieldsg	0:662207e34fba	2067	{
garfieldsg	0:662207e34fba	2068	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
garfieldsg	0:662207e34fba	2069	return buffer[0];
garfieldsg	0:662207e34fba	2070	}
garfieldsg	0:662207e34fba	2071	/** Get Data Ready interrupt status.
garfieldsg	0:662207e34fba	2072	* This bit automatically sets to 1 when a Data Ready interrupt has been
garfieldsg	0:662207e34fba	2073	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	2074	* @return Current interrupt status
garfieldsg	0:662207e34fba	2075	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	2076	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
garfieldsg	0:662207e34fba	2077	*/
garfieldsg	0:662207e34fba	2078	bool MPU6050::getIntDataReadyStatus()
garfieldsg	0:662207e34fba	2079	{
garfieldsg	0:662207e34fba	2080	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
garfieldsg	0:662207e34fba	2081	return buffer[0];
garfieldsg	0:662207e34fba	2082	}
garfieldsg	0:662207e34fba	2083
garfieldsg	0:662207e34fba	2084	// ACCEL_OUT_ registers
garfieldsg	0:662207e34fba	2085
garfieldsg	0:662207e34fba	2086	/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
garfieldsg	0:662207e34fba	2087	* FUNCTION NOT FULLY IMPLEMENTED YET.
garfieldsg	0:662207e34fba	2088	* @param ax 16-bit signed integer container for accelerometer X-axis value
garfieldsg	0:662207e34fba	2089	* @param ay 16-bit signed integer container for accelerometer Y-axis value
garfieldsg	0:662207e34fba	2090	* @param az 16-bit signed integer container for accelerometer Z-axis value
garfieldsg	0:662207e34fba	2091	* @param gx 16-bit signed integer container for gyroscope X-axis value
garfieldsg	0:662207e34fba	2092	* @param gy 16-bit signed integer container for gyroscope Y-axis value
garfieldsg	0:662207e34fba	2093	* @param gz 16-bit signed integer container for gyroscope Z-axis value
garfieldsg	0:662207e34fba	2094	* @param mx 16-bit signed integer container for magnetometer X-axis value
garfieldsg	0:662207e34fba	2095	* @param my 16-bit signed integer container for magnetometer Y-axis value
garfieldsg	0:662207e34fba	2096	* @param mz 16-bit signed integer container for magnetometer Z-axis value
garfieldsg	0:662207e34fba	2097	* @see getMotion6()
garfieldsg	0:662207e34fba	2098	* @see getAcceleration()
garfieldsg	0:662207e34fba	2099	* @see getRotation()
garfieldsg	0:662207e34fba	2100	* @see MPU6050_RA_ACCEL_XOUT_H
garfieldsg	0:662207e34fba	2101	*/
garfieldsg	0:662207e34fba	2102	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)
garfieldsg	0:662207e34fba	2103	{
garfieldsg	0:662207e34fba	2104	getMotion6(ax, ay, az, gx, gy, gz);
garfieldsg	0:662207e34fba	2105	// TODO: magnetometer integration
garfieldsg	0:662207e34fba	2106	}
garfieldsg	0:662207e34fba	2107	/** Get raw 6-axis motion sensor readings (accel/gyro).
garfieldsg	0:662207e34fba	2108	* Retrieves all currently available motion sensor values.
garfieldsg	0:662207e34fba	2109	* @param ax 16-bit signed integer container for accelerometer X-axis value
garfieldsg	0:662207e34fba	2110	* @param ay 16-bit signed integer container for accelerometer Y-axis value
garfieldsg	0:662207e34fba	2111	* @param az 16-bit signed integer container for accelerometer Z-axis value
garfieldsg	0:662207e34fba	2112	* @param gx 16-bit signed integer container for gyroscope X-axis value
garfieldsg	0:662207e34fba	2113	* @param gy 16-bit signed integer container for gyroscope Y-axis value
garfieldsg	0:662207e34fba	2114	* @param gz 16-bit signed integer container for gyroscope Z-axis value
garfieldsg	0:662207e34fba	2115	* @see getAcceleration()
garfieldsg	0:662207e34fba	2116	* @see getRotation()
garfieldsg	0:662207e34fba	2117	* @see MPU6050_RA_ACCEL_XOUT_H
garfieldsg	0:662207e34fba	2118	*/
garfieldsg	0:662207e34fba	2119	void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
garfieldsg	0:662207e34fba	2120	{
garfieldsg	0:662207e34fba	2121	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
garfieldsg	0:662207e34fba	2122	*ax = (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2123	*ay = (((int16_t)buffer[2]) << 8) \| buffer[3];
garfieldsg	0:662207e34fba	2124	*az = (((int16_t)buffer[4]) << 8) \| buffer[5];
garfieldsg	0:662207e34fba	2125	*gx = (((int16_t)buffer[8]) << 8) \| buffer[9];
garfieldsg	0:662207e34fba	2126	*gy = (((int16_t)buffer[10]) << 8) \| buffer[11];
garfieldsg	0:662207e34fba	2127	*gz = (((int16_t)buffer[12]) << 8) \| buffer[13];
garfieldsg	0:662207e34fba	2128	}
garfieldsg	0:662207e34fba	2129	/** Get 3-axis accelerometer readings.
garfieldsg	0:662207e34fba	2130	* These registers store the most recent accelerometer measurements.
garfieldsg	0:662207e34fba	2131	* Accelerometer measurements are written to these registers at the Sample Rate
garfieldsg	0:662207e34fba	2132	* as defined in Register 25.
garfieldsg	0:662207e34fba	2133	*
garfieldsg	0:662207e34fba	2134	* The accelerometer measurement registers, along with the temperature
garfieldsg	0:662207e34fba	2135	* measurement registers, gyroscope measurement registers, and external sensor
garfieldsg	0:662207e34fba	2136	* data registers, are composed of two sets of registers: an internal register
garfieldsg	0:662207e34fba	2137	* set and a user-facing read register set.
garfieldsg	0:662207e34fba	2138	*
garfieldsg	0:662207e34fba	2139	* The data within the accelerometer sensors' internal register set is always
garfieldsg	0:662207e34fba	2140	* updated at the Sample Rate. Meanwhile, the user-facing read register set
garfieldsg	0:662207e34fba	2141	* duplicates the internal register set's data values whenever the serial
garfieldsg	0:662207e34fba	2142	* interface is idle. This guarantees that a burst read of sensor registers will
garfieldsg	0:662207e34fba	2143	* read measurements from the same sampling instant. Note that if burst reads
garfieldsg	0:662207e34fba	2144	* are not used, the user is responsible for ensuring a set of single byte reads
garfieldsg	0:662207e34fba	2145	* correspond to a single sampling instant by checking the Data Ready interrupt.
garfieldsg	0:662207e34fba	2146	*
garfieldsg	0:662207e34fba	2147	* Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
garfieldsg	0:662207e34fba	2148	* (Register 28). For each full scale setting, the accelerometers' sensitivity
garfieldsg	0:662207e34fba	2149	* per LSB in ACCEL_xOUT is shown in the table below:
garfieldsg	0:662207e34fba	2150	*
garfieldsg	0:662207e34fba	2151	* <pre>
garfieldsg	0:662207e34fba	2152	* AFS_SEL \| Full Scale Range \| LSB Sensitivity
garfieldsg	0:662207e34fba	2153	* --------+------------------+----------------
garfieldsg	0:662207e34fba	2154	* 0 \| +/- 2g \| 8192 LSB/mg
garfieldsg	0:662207e34fba	2155	* 1 \| +/- 4g \| 4096 LSB/mg
garfieldsg	0:662207e34fba	2156	* 2 \| +/- 8g \| 2048 LSB/mg
garfieldsg	0:662207e34fba	2157	* 3 \| +/- 16g \| 1024 LSB/mg
garfieldsg	0:662207e34fba	2158	* </pre>
garfieldsg	0:662207e34fba	2159	*
garfieldsg	0:662207e34fba	2160	* @param x 16-bit signed integer container for X-axis acceleration
garfieldsg	0:662207e34fba	2161	* @param y 16-bit signed integer container for Y-axis acceleration
garfieldsg	0:662207e34fba	2162	* @param z 16-bit signed integer container for Z-axis acceleration
garfieldsg	0:662207e34fba	2163	* @see MPU6050_RA_GYRO_XOUT_H
garfieldsg	0:662207e34fba	2164	*/
garfieldsg	0:662207e34fba	2165	void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z)
garfieldsg	0:662207e34fba	2166	{
garfieldsg	0:662207e34fba	2167	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
garfieldsg	0:662207e34fba	2168	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2169	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
garfieldsg	0:662207e34fba	2170	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
garfieldsg	0:662207e34fba	2171	}
garfieldsg	0:662207e34fba	2172	/** Get X-axis accelerometer reading.
garfieldsg	0:662207e34fba	2173	* @return X-axis acceleration measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2174	* @see getMotion6()
garfieldsg	0:662207e34fba	2175	* @see MPU6050_RA_ACCEL_XOUT_H
garfieldsg	0:662207e34fba	2176	*/
garfieldsg	0:662207e34fba	2177	int16_t MPU6050::getAccelerationX()
garfieldsg	0:662207e34fba	2178	{
garfieldsg	0:662207e34fba	2179	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2180	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2181	}
garfieldsg	0:662207e34fba	2182	/** Get Y-axis accelerometer reading.
garfieldsg	0:662207e34fba	2183	* @return Y-axis acceleration measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2184	* @see getMotion6()
garfieldsg	0:662207e34fba	2185	* @see MPU6050_RA_ACCEL_YOUT_H
garfieldsg	0:662207e34fba	2186	*/
garfieldsg	0:662207e34fba	2187	int16_t MPU6050::getAccelerationY()
garfieldsg	0:662207e34fba	2188	{
garfieldsg	0:662207e34fba	2189	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2190	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2191	}
garfieldsg	0:662207e34fba	2192	/** Get Z-axis accelerometer reading.
garfieldsg	0:662207e34fba	2193	* @return Z-axis acceleration measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2194	* @see getMotion6()
garfieldsg	0:662207e34fba	2195	* @see MPU6050_RA_ACCEL_ZOUT_H
garfieldsg	0:662207e34fba	2196	*/
garfieldsg	0:662207e34fba	2197	int16_t MPU6050::getAccelerationZ()
garfieldsg	0:662207e34fba	2198	{
garfieldsg	0:662207e34fba	2199	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2200	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2201	}
garfieldsg	0:662207e34fba	2202
garfieldsg	0:662207e34fba	2203	// TEMP_OUT_* registers
garfieldsg	0:662207e34fba	2204
garfieldsg	0:662207e34fba	2205	/** Get current internal temperature.
garfieldsg	0:662207e34fba	2206	* @return Temperature reading in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2207	* @see MPU6050_RA_TEMP_OUT_H
garfieldsg	0:662207e34fba	2208	*/
garfieldsg	0:662207e34fba	2209	int16_t MPU6050::getTemperature()
garfieldsg	0:662207e34fba	2210	{
garfieldsg	0:662207e34fba	2211	i2Cdev.readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2212	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2213	}
garfieldsg	0:662207e34fba	2214
garfieldsg	0:662207e34fba	2215	// GYRO_OUT_ registers
garfieldsg	0:662207e34fba	2216
garfieldsg	0:662207e34fba	2217	/** Get 3-axis gyroscope readings.
garfieldsg	0:662207e34fba	2218	* These gyroscope measurement registers, along with the accelerometer
garfieldsg	0:662207e34fba	2219	* measurement registers, temperature measurement registers, and external sensor
garfieldsg	0:662207e34fba	2220	* data registers, are composed of two sets of registers: an internal register
garfieldsg	0:662207e34fba	2221	* set and a user-facing read register set.
garfieldsg	0:662207e34fba	2222	* The data within the gyroscope sensors' internal register set is always
garfieldsg	0:662207e34fba	2223	* updated at the Sample Rate. Meanwhile, the user-facing read register set
garfieldsg	0:662207e34fba	2224	* duplicates the internal register set's data values whenever the serial
garfieldsg	0:662207e34fba	2225	* interface is idle. This guarantees that a burst read of sensor registers will
garfieldsg	0:662207e34fba	2226	* read measurements from the same sampling instant. Note that if burst reads
garfieldsg	0:662207e34fba	2227	* are not used, the user is responsible for ensuring a set of single byte reads
garfieldsg	0:662207e34fba	2228	* correspond to a single sampling instant by checking the Data Ready interrupt.
garfieldsg	0:662207e34fba	2229	*
garfieldsg	0:662207e34fba	2230	* Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
garfieldsg	0:662207e34fba	2231	* (Register 27). For each full scale setting, the gyroscopes' sensitivity per
garfieldsg	0:662207e34fba	2232	* LSB in GYRO_xOUT is shown in the table below:
garfieldsg	0:662207e34fba	2233	*
garfieldsg	0:662207e34fba	2234	* <pre>
garfieldsg	0:662207e34fba	2235	* FS_SEL \| Full Scale Range \| LSB Sensitivity
garfieldsg	0:662207e34fba	2236	* -------+--------------------+----------------
garfieldsg	0:662207e34fba	2237	* 0 \| +/- 250 degrees/s \| 131 LSB/deg/s
garfieldsg	0:662207e34fba	2238	* 1 \| +/- 500 degrees/s \| 65.5 LSB/deg/s
garfieldsg	0:662207e34fba	2239	* 2 \| +/- 1000 degrees/s \| 32.8 LSB/deg/s
garfieldsg	0:662207e34fba	2240	* 3 \| +/- 2000 degrees/s \| 16.4 LSB/deg/s
garfieldsg	0:662207e34fba	2241	* </pre>
garfieldsg	0:662207e34fba	2242	*
garfieldsg	0:662207e34fba	2243	* @param x 16-bit signed integer container for X-axis rotation
garfieldsg	0:662207e34fba	2244	* @param y 16-bit signed integer container for Y-axis rotation
garfieldsg	0:662207e34fba	2245	* @param z 16-bit signed integer container for Z-axis rotation
garfieldsg	0:662207e34fba	2246	* @see getMotion6()
garfieldsg	0:662207e34fba	2247	* @see MPU6050_RA_GYRO_XOUT_H
garfieldsg	0:662207e34fba	2248	*/
garfieldsg	0:662207e34fba	2249	void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z)
garfieldsg	0:662207e34fba	2250	{
garfieldsg	0:662207e34fba	2251	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
garfieldsg	0:662207e34fba	2252	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2253	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
garfieldsg	0:662207e34fba	2254	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
garfieldsg	0:662207e34fba	2255	}
garfieldsg	0:662207e34fba	2256	/** Get X-axis gyroscope reading.
garfieldsg	0:662207e34fba	2257	* @return X-axis rotation measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2258	* @see getMotion6()
garfieldsg	0:662207e34fba	2259	* @see MPU6050_RA_GYRO_XOUT_H
garfieldsg	0:662207e34fba	2260	*/
garfieldsg	0:662207e34fba	2261	int16_t MPU6050::getRotationX()
garfieldsg	0:662207e34fba	2262	{
garfieldsg	0:662207e34fba	2263	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2264	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2265	}
garfieldsg	0:662207e34fba	2266	/** Get Y-axis gyroscope reading.
garfieldsg	0:662207e34fba	2267	* @return Y-axis rotation measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2268	* @see getMotion6()
garfieldsg	0:662207e34fba	2269	* @see MPU6050_RA_GYRO_YOUT_H
garfieldsg	0:662207e34fba	2270	*/
garfieldsg	0:662207e34fba	2271	int16_t MPU6050::getRotationY()
garfieldsg	0:662207e34fba	2272	{
garfieldsg	0:662207e34fba	2273	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2274	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2275	}
garfieldsg	0:662207e34fba	2276	/** Get Z-axis gyroscope reading.
garfieldsg	0:662207e34fba	2277	* @return Z-axis rotation measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2278	* @see getMotion6()
garfieldsg	0:662207e34fba	2279	* @see MPU6050_RA_GYRO_ZOUT_H
garfieldsg	0:662207e34fba	2280	*/
garfieldsg	0:662207e34fba	2281	int16_t MPU6050::getRotationZ()
garfieldsg	0:662207e34fba	2282	{
garfieldsg	0:662207e34fba	2283	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2284	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2285	}
garfieldsg	0:662207e34fba	2286
garfieldsg	0:662207e34fba	2287	// EXT_SENS_DATA_* registers
garfieldsg	0:662207e34fba	2288
garfieldsg	0:662207e34fba	2289	/** Read single byte from external sensor data register.
garfieldsg	0:662207e34fba	2290	* These registers store data read from external sensors by the Slave 0, 1, 2,
garfieldsg	0:662207e34fba	2291	* and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
garfieldsg	0:662207e34fba	2292	* I2C_SLV4_DI (Register 53).
garfieldsg	0:662207e34fba	2293	*
garfieldsg	0:662207e34fba	2294	* External sensor data is written to these registers at the Sample Rate as
garfieldsg	0:662207e34fba	2295	* defined in Register 25. This access rate can be reduced by using the Slave
garfieldsg	0:662207e34fba	2296	* Delay Enable registers (Register 103).
garfieldsg	0:662207e34fba	2297	*
garfieldsg	0:662207e34fba	2298	* External sensor data registers, along with the gyroscope measurement
garfieldsg	0:662207e34fba	2299	* registers, accelerometer measurement registers, and temperature measurement
garfieldsg	0:662207e34fba	2300	* registers, are composed of two sets of registers: an internal register set
garfieldsg	0:662207e34fba	2301	* and a user-facing read register set.
garfieldsg	0:662207e34fba	2302	*
garfieldsg	0:662207e34fba	2303	* The data within the external sensors' internal register set is always updated
garfieldsg	0:662207e34fba	2304	* at the Sample Rate (or the reduced access rate) whenever the serial interface
garfieldsg	0:662207e34fba	2305	* is idle. This guarantees that a burst read of sensor registers will read
garfieldsg	0:662207e34fba	2306	* measurements from the same sampling instant. Note that if burst reads are not
garfieldsg	0:662207e34fba	2307	* used, the user is responsible for ensuring a set of single byte reads
garfieldsg	0:662207e34fba	2308	* correspond to a single sampling instant by checking the Data Ready interrupt.
garfieldsg	0:662207e34fba	2309	*
garfieldsg	0:662207e34fba	2310	* Data is placed in these external sensor data registers according to
garfieldsg	0:662207e34fba	2311	* I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
garfieldsg	0:662207e34fba	2312	* 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
garfieldsg	0:662207e34fba	2313	* an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
garfieldsg	0:662207e34fba	2314	* defined in Register 25) or delayed rate (if specified in Register 52 and
garfieldsg	0:662207e34fba	2315	* 103). During each Sample cycle, slave reads are performed in order of Slave
garfieldsg	0:662207e34fba	2316	* number. If all slaves are enabled with more than zero bytes to be read, the
garfieldsg	0:662207e34fba	2317	* order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
garfieldsg	0:662207e34fba	2318	*
garfieldsg	0:662207e34fba	2319	* Each enabled slave will have EXT_SENS_DATA registers associated with it by
garfieldsg	0:662207e34fba	2320	* number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
garfieldsg	0:662207e34fba	2321	* EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
garfieldsg	0:662207e34fba	2322	* change the higher numbered slaves' associated registers. Furthermore, if
garfieldsg	0:662207e34fba	2323	* fewer total bytes are being read from the external sensors as a result of
garfieldsg	0:662207e34fba	2324	* such a change, then the data remaining in the registers which no longer have
garfieldsg	0:662207e34fba	2325	* an associated slave device (i.e. high numbered registers) will remain in
garfieldsg	0:662207e34fba	2326	* these previously allocated registers unless reset.
garfieldsg	0:662207e34fba	2327	*
garfieldsg	0:662207e34fba	2328	* If the sum of the read lengths of all SLVx transactions exceed the number of
garfieldsg	0:662207e34fba	2329	* available EXT_SENS_DATA registers, the excess bytes will be dropped. There
garfieldsg	0:662207e34fba	2330	* are 24 EXT_SENS_DATA registers and hence the total read lengths between all
garfieldsg	0:662207e34fba	2331	* the slaves cannot be greater than 24 or some bytes will be lost.
garfieldsg	0:662207e34fba	2332	*
garfieldsg	0:662207e34fba	2333	* Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
garfieldsg	0:662207e34fba	2334	* information regarding the characteristics of Slave 4, please refer to
garfieldsg	0:662207e34fba	2335	* Registers 49 to 53.
garfieldsg	0:662207e34fba	2336	*
garfieldsg	0:662207e34fba	2337	* EXAMPLE:
garfieldsg	0:662207e34fba	2338	* Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
garfieldsg	0:662207e34fba	2339	* I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
garfieldsg	0:662207e34fba	2340	* I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
garfieldsg	0:662207e34fba	2341	* through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
garfieldsg	0:662207e34fba	2342	* will be associated with Slave 1. If Slave 2 is enabled as well, registers
garfieldsg	0:662207e34fba	2343	* starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
garfieldsg	0:662207e34fba	2344	*
garfieldsg	0:662207e34fba	2345	* If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
garfieldsg	0:662207e34fba	2346	* registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
garfieldsg	0:662207e34fba	2347	* instead.
garfieldsg	0:662207e34fba	2348	*
garfieldsg	0:662207e34fba	2349	* REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
garfieldsg	0:662207e34fba	2350	* If a slave is disabled at any time, the space initially allocated to the
garfieldsg	0:662207e34fba	2351	* slave in the EXT_SENS_DATA register, will remain associated with that slave.
garfieldsg	0:662207e34fba	2352	* This is to avoid dynamic adjustment of the register allocation.
garfieldsg	0:662207e34fba	2353	*
garfieldsg	0:662207e34fba	2354	* The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
garfieldsg	0:662207e34fba	2355	* slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
garfieldsg	0:662207e34fba	2356	*
garfieldsg	0:662207e34fba	2357	* This above is also true if one of the slaves gets NACKed and stops
garfieldsg	0:662207e34fba	2358	* functioning.
garfieldsg	0:662207e34fba	2359	*
garfieldsg	0:662207e34fba	2360	* @param position Starting position (0-23)
garfieldsg	0:662207e34fba	2361	* @return Byte read from register
garfieldsg	0:662207e34fba	2362	*/
garfieldsg	0:662207e34fba	2363	uint8_t MPU6050::getExternalSensorByte(int position)
garfieldsg	0:662207e34fba	2364	{
garfieldsg	0:662207e34fba	2365	i2Cdev.readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
garfieldsg	0:662207e34fba	2366	return buffer[0];
garfieldsg	0:662207e34fba	2367	}
garfieldsg	0:662207e34fba	2368	/** Read word (2 bytes) from external sensor data registers.
garfieldsg	0:662207e34fba	2369	* @param position Starting position (0-21)
garfieldsg	0:662207e34fba	2370	* @return Word read from register
garfieldsg	0:662207e34fba	2371	* @see getExternalSensorByte()
garfieldsg	0:662207e34fba	2372	*/
garfieldsg	0:662207e34fba	2373	uint16_t MPU6050::getExternalSensorWord(int position)
garfieldsg	0:662207e34fba	2374	{
garfieldsg	0:662207e34fba	2375	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
garfieldsg	0:662207e34fba	2376	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2377	}
garfieldsg	0:662207e34fba	2378	/** Read double word (4 bytes) from external sensor data registers.
garfieldsg	0:662207e34fba	2379	* @param position Starting position (0-20)
garfieldsg	0:662207e34fba	2380	* @return Double word read from registers
garfieldsg	0:662207e34fba	2381	* @see getExternalSensorByte()
garfieldsg	0:662207e34fba	2382	*/
garfieldsg	0:662207e34fba	2383	uint32_t MPU6050::getExternalSensorDWord(int position)
garfieldsg	0:662207e34fba	2384	{
garfieldsg	0:662207e34fba	2385	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
garfieldsg	0:662207e34fba	2386	return (((uint32_t)buffer[0]) << 24) \| (((uint32_t)buffer[1]) << 16) \| (((uint16_t)buffer[2]) << 8) \| buffer[3];
garfieldsg	0:662207e34fba	2387	}
garfieldsg	0:662207e34fba	2388
garfieldsg	0:662207e34fba	2389	// MOT_DETECT_STATUS register
garfieldsg	0:662207e34fba	2390
garfieldsg	0:662207e34fba	2391	/** Get X-axis negative motion detection interrupt status.
garfieldsg	0:662207e34fba	2392	* @return Motion detection status
garfieldsg	0:662207e34fba	2393	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2394	* @see MPU6050_MOTION_MOT_XNEG_BIT
garfieldsg	0:662207e34fba	2395	*/
garfieldsg	0:662207e34fba	2396	bool MPU6050::getXNegMotionDetected()
garfieldsg	0:662207e34fba	2397	{
garfieldsg	0:662207e34fba	2398	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
garfieldsg	0:662207e34fba	2399	return buffer[0];
garfieldsg	0:662207e34fba	2400	}
garfieldsg	0:662207e34fba	2401	/** Get X-axis positive motion detection interrupt status.
garfieldsg	0:662207e34fba	2402	* @return Motion detection status
garfieldsg	0:662207e34fba	2403	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2404	* @see MPU6050_MOTION_MOT_XPOS_BIT
garfieldsg	0:662207e34fba	2405	*/
garfieldsg	0:662207e34fba	2406	bool MPU6050::getXPosMotionDetected()
garfieldsg	0:662207e34fba	2407	{
garfieldsg	0:662207e34fba	2408	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
garfieldsg	0:662207e34fba	2409	return buffer[0];
garfieldsg	0:662207e34fba	2410	}
garfieldsg	0:662207e34fba	2411	/** Get Y-axis negative motion detection interrupt status.
garfieldsg	0:662207e34fba	2412	* @return Motion detection status
garfieldsg	0:662207e34fba	2413	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2414	* @see MPU6050_MOTION_MOT_YNEG_BIT
garfieldsg	0:662207e34fba	2415	*/
garfieldsg	0:662207e34fba	2416	bool MPU6050::getYNegMotionDetected()
garfieldsg	0:662207e34fba	2417	{
garfieldsg	0:662207e34fba	2418	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
garfieldsg	0:662207e34fba	2419	return buffer[0];
garfieldsg	0:662207e34fba	2420	}
garfieldsg	0:662207e34fba	2421	/** Get Y-axis positive motion detection interrupt status.
garfieldsg	0:662207e34fba	2422	* @return Motion detection status
garfieldsg	0:662207e34fba	2423	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2424	* @see MPU6050_MOTION_MOT_YPOS_BIT
garfieldsg	0:662207e34fba	2425	*/
garfieldsg	0:662207e34fba	2426	bool MPU6050::getYPosMotionDetected()
garfieldsg	0:662207e34fba	2427	{
garfieldsg	0:662207e34fba	2428	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
garfieldsg	0:662207e34fba	2429	return buffer[0];
garfieldsg	0:662207e34fba	2430	}
garfieldsg	0:662207e34fba	2431	/** Get Z-axis negative motion detection interrupt status.
garfieldsg	0:662207e34fba	2432	* @return Motion detection status
garfieldsg	0:662207e34fba	2433	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2434	* @see MPU6050_MOTION_MOT_ZNEG_BIT
garfieldsg	0:662207e34fba	2435	*/
garfieldsg	0:662207e34fba	2436	bool MPU6050::getZNegMotionDetected()
garfieldsg	0:662207e34fba	2437	{
garfieldsg	0:662207e34fba	2438	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
garfieldsg	0:662207e34fba	2439	return buffer[0];
garfieldsg	0:662207e34fba	2440	}
garfieldsg	0:662207e34fba	2441	/** Get Z-axis positive motion detection interrupt status.
garfieldsg	0:662207e34fba	2442	* @return Motion detection status
garfieldsg	0:662207e34fba	2443	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2444	* @see MPU6050_MOTION_MOT_ZPOS_BIT
garfieldsg	0:662207e34fba	2445	*/
garfieldsg	0:662207e34fba	2446	bool MPU6050::getZPosMotionDetected()
garfieldsg	0:662207e34fba	2447	{
garfieldsg	0:662207e34fba	2448	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
garfieldsg	0:662207e34fba	2449	return buffer[0];
garfieldsg	0:662207e34fba	2450	}
garfieldsg	0:662207e34fba	2451	/** Get zero motion detection interrupt status.
garfieldsg	0:662207e34fba	2452	* @return Motion detection status
garfieldsg	0:662207e34fba	2453	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2454	* @see MPU6050_MOTION_MOT_ZRMOT_BIT
garfieldsg	0:662207e34fba	2455	*/
garfieldsg	0:662207e34fba	2456	bool MPU6050::getZeroMotionDetected()
garfieldsg	0:662207e34fba	2457	{
garfieldsg	0:662207e34fba	2458	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
garfieldsg	0:662207e34fba	2459	return buffer[0];
garfieldsg	0:662207e34fba	2460	}
garfieldsg	0:662207e34fba	2461
garfieldsg	0:662207e34fba	2462	// I2C_SLV*_DO register
garfieldsg	0:662207e34fba	2463
garfieldsg	0:662207e34fba	2464	/** Write byte to Data Output container for specified slave.
garfieldsg	0:662207e34fba	2465	* This register holds the output data written into Slave when Slave is set to
garfieldsg	0:662207e34fba	2466	* write mode. For further information regarding Slave control, please
garfieldsg	0:662207e34fba	2467	* refer to Registers 37 to 39 and immediately following.
garfieldsg	0:662207e34fba	2468	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	2469	* @param data Byte to write
garfieldsg	0:662207e34fba	2470	* @see MPU6050_RA_I2C_SLV0_DO
garfieldsg	0:662207e34fba	2471	*/
garfieldsg	0:662207e34fba	2472	void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data)
garfieldsg	0:662207e34fba	2473	{
garfieldsg	0:662207e34fba	2474	if (num > 3) return;
garfieldsg	0:662207e34fba	2475	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
garfieldsg	0:662207e34fba	2476	}
garfieldsg	0:662207e34fba	2477
garfieldsg	0:662207e34fba	2478	// I2C_MST_DELAY_CTRL register
garfieldsg	0:662207e34fba	2479
garfieldsg	0:662207e34fba	2480	/** Get external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2481	* This register is used to specify the timing of external sensor data
garfieldsg	0:662207e34fba	2482	* shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
garfieldsg	0:662207e34fba	2483	* sensor data is delayed until all data has been received.
garfieldsg	0:662207e34fba	2484	* @return Current external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2485	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2486	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
garfieldsg	0:662207e34fba	2487	*/
garfieldsg	0:662207e34fba	2488	bool MPU6050::getExternalShadowDelayEnabled()
garfieldsg	0:662207e34fba	2489	{
garfieldsg	0:662207e34fba	2490	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
garfieldsg	0:662207e34fba	2491	return buffer[0];
garfieldsg	0:662207e34fba	2492	}
garfieldsg	0:662207e34fba	2493	/** Set external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2494	* @param enabled New external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2495	* @see getExternalShadowDelayEnabled()
garfieldsg	0:662207e34fba	2496	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2497	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
garfieldsg	0:662207e34fba	2498	*/
garfieldsg	0:662207e34fba	2499	void MPU6050::setExternalShadowDelayEnabled(bool enabled)
garfieldsg	0:662207e34fba	2500	{
garfieldsg	0:662207e34fba	2501	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
garfieldsg	0:662207e34fba	2502	}
garfieldsg	0:662207e34fba	2503	/** Get slave delay enabled status.
garfieldsg	0:662207e34fba	2504	* When a particular slave delay is enabled, the rate of access for the that
garfieldsg	0:662207e34fba	2505	* slave device is reduced. When a slave's access rate is decreased relative to
garfieldsg	0:662207e34fba	2506	* the Sample Rate, the slave is accessed every:
garfieldsg	0:662207e34fba	2507	*
garfieldsg	0:662207e34fba	2508	* 1 / (1 + I2C_MST_DLY) Samples
garfieldsg	0:662207e34fba	2509	*
garfieldsg	0:662207e34fba	2510	* This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25)
garfieldsg	0:662207e34fba	2511	* and DLPF_CFG (register 26).
garfieldsg	0:662207e34fba	2512	*
garfieldsg	0:662207e34fba	2513	* For further information regarding I2C_MST_DLY, please refer to register 52.
garfieldsg	0:662207e34fba	2514	* For further information regarding the Sample Rate, please refer to register 25.
garfieldsg	0:662207e34fba	2515	*
garfieldsg	0:662207e34fba	2516	* @param num Slave number (0-4)
garfieldsg	0:662207e34fba	2517	* @return Current slave delay enabled status.
garfieldsg	0:662207e34fba	2518	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2519	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
garfieldsg	0:662207e34fba	2520	*/
garfieldsg	0:662207e34fba	2521	bool MPU6050::getSlaveDelayEnabled(uint8_t num)
garfieldsg	0:662207e34fba	2522	{
garfieldsg	0:662207e34fba	2523	// MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
garfieldsg	0:662207e34fba	2524	if (num > 4) return 0;
garfieldsg	0:662207e34fba	2525	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
garfieldsg	0:662207e34fba	2526	return buffer[0];
garfieldsg	0:662207e34fba	2527	}
garfieldsg	0:662207e34fba	2528	/** Set slave delay enabled status.
garfieldsg	0:662207e34fba	2529	* @param num Slave number (0-4)
garfieldsg	0:662207e34fba	2530	* @param enabled New slave delay enabled status.
garfieldsg	0:662207e34fba	2531	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2532	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
garfieldsg	0:662207e34fba	2533	*/
garfieldsg	0:662207e34fba	2534	void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled)
garfieldsg	0:662207e34fba	2535	{
garfieldsg	0:662207e34fba	2536	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
garfieldsg	0:662207e34fba	2537	}
garfieldsg	0:662207e34fba	2538
garfieldsg	0:662207e34fba	2539	// SIGNAL_PATH_RESET register
garfieldsg	0:662207e34fba	2540
garfieldsg	0:662207e34fba	2541	/** Reset gyroscope signal path.
garfieldsg	0:662207e34fba	2542	* The reset will revert the signal path analog to digital converters and
garfieldsg	0:662207e34fba	2543	* filters to their power up configurations.
garfieldsg	0:662207e34fba	2544	* @see MPU6050_RA_SIGNAL_PATH_RESET
garfieldsg	0:662207e34fba	2545	* @see MPU6050_PATHRESET_GYRO_RESET_BIT
garfieldsg	0:662207e34fba	2546	*/
garfieldsg	0:662207e34fba	2547	void MPU6050::resetGyroscopePath()
garfieldsg	0:662207e34fba	2548	{
garfieldsg	0:662207e34fba	2549	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
garfieldsg	0:662207e34fba	2550	}
garfieldsg	0:662207e34fba	2551	/** Reset accelerometer signal path.
garfieldsg	0:662207e34fba	2552	* The reset will revert the signal path analog to digital converters and
garfieldsg	0:662207e34fba	2553	* filters to their power up configurations.
garfieldsg	0:662207e34fba	2554	* @see MPU6050_RA_SIGNAL_PATH_RESET
garfieldsg	0:662207e34fba	2555	* @see MPU6050_PATHRESET_ACCEL_RESET_BIT
garfieldsg	0:662207e34fba	2556	*/
garfieldsg	0:662207e34fba	2557	void MPU6050::resetAccelerometerPath()
garfieldsg	0:662207e34fba	2558	{
garfieldsg	0:662207e34fba	2559	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
garfieldsg	0:662207e34fba	2560	}
garfieldsg	0:662207e34fba	2561	/** Reset temperature sensor signal path.
garfieldsg	0:662207e34fba	2562	* The reset will revert the signal path analog to digital converters and
garfieldsg	0:662207e34fba	2563	* filters to their power up configurations.
garfieldsg	0:662207e34fba	2564	* @see MPU6050_RA_SIGNAL_PATH_RESET
garfieldsg	0:662207e34fba	2565	* @see MPU6050_PATHRESET_TEMP_RESET_BIT
garfieldsg	0:662207e34fba	2566	*/
garfieldsg	0:662207e34fba	2567	void MPU6050::resetTemperaturePath()
garfieldsg	0:662207e34fba	2568	{
garfieldsg	0:662207e34fba	2569	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
garfieldsg	0:662207e34fba	2570	}
garfieldsg	0:662207e34fba	2571
garfieldsg	0:662207e34fba	2572	// MOT_DETECT_CTRL register
garfieldsg	0:662207e34fba	2573
garfieldsg	0:662207e34fba	2574	/** Get accelerometer power-on delay.
garfieldsg	0:662207e34fba	2575	* The accelerometer data path provides samples to the sensor registers, Motion
garfieldsg	0:662207e34fba	2576	* detection, Zero Motion detection, and Free Fall detection modules. The
garfieldsg	0:662207e34fba	2577	* signal path contains filters which must be flushed on wake-up with new
garfieldsg	0:662207e34fba	2578	* samples before the detection modules begin operations. The default wake-up
garfieldsg	0:662207e34fba	2579	* delay, of 4ms can be lengthened by up to 3ms. This additional delay is
garfieldsg	0:662207e34fba	2580	* specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
garfieldsg	0:662207e34fba	2581	* any value above zero unless instructed otherwise by InvenSense. Please refer
garfieldsg	0:662207e34fba	2582	* to Section 8 of the MPU-6000/MPU-6050 Product Specification document for
garfieldsg	0:662207e34fba	2583	* further information regarding the detection modules.
garfieldsg	0:662207e34fba	2584	* @return Current accelerometer power-on delay
garfieldsg	0:662207e34fba	2585	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2586	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
garfieldsg	0:662207e34fba	2587	*/
garfieldsg	0:662207e34fba	2588	uint8_t MPU6050::getAccelerometerPowerOnDelay()
garfieldsg	0:662207e34fba	2589	{
garfieldsg	0:662207e34fba	2590	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
garfieldsg	0:662207e34fba	2591	return buffer[0];
garfieldsg	0:662207e34fba	2592	}
garfieldsg	0:662207e34fba	2593	/** Set accelerometer power-on delay.
garfieldsg	0:662207e34fba	2594	* @param delay New accelerometer power-on delay (0-3)
garfieldsg	0:662207e34fba	2595	* @see getAccelerometerPowerOnDelay()
garfieldsg	0:662207e34fba	2596	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2597	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
garfieldsg	0:662207e34fba	2598	*/
garfieldsg	0:662207e34fba	2599	void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay)
garfieldsg	0:662207e34fba	2600	{
garfieldsg	0:662207e34fba	2601	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
garfieldsg	0:662207e34fba	2602	}
garfieldsg	0:662207e34fba	2603	/** Get Free Fall detection counter decrement configuration.
garfieldsg	0:662207e34fba	2604	* Detection is registered by the Free Fall detection module after accelerometer
garfieldsg	0:662207e34fba	2605	* measurements meet their respective threshold conditions over a specified
garfieldsg	0:662207e34fba	2606	* number of samples. When the threshold conditions are met, the corresponding
garfieldsg	0:662207e34fba	2607	* detection counter increments by 1. The user may control the rate at which the
garfieldsg	0:662207e34fba	2608	* detection counter decrements when the threshold condition is not met by
garfieldsg	0:662207e34fba	2609	* configuring FF_COUNT. The decrement rate can be set according to the
garfieldsg	0:662207e34fba	2610	* following table:
garfieldsg	0:662207e34fba	2611	*
garfieldsg	0:662207e34fba	2612	* <pre>
garfieldsg	0:662207e34fba	2613	* FF_COUNT \| Counter Decrement
garfieldsg	0:662207e34fba	2614	* ---------+------------------
garfieldsg	0:662207e34fba	2615	* 0 \| Reset
garfieldsg	0:662207e34fba	2616	* 1 \| 1
garfieldsg	0:662207e34fba	2617	* 2 \| 2
garfieldsg	0:662207e34fba	2618	* 3 \| 4
garfieldsg	0:662207e34fba	2619	* </pre>
garfieldsg	0:662207e34fba	2620	*
garfieldsg	0:662207e34fba	2621	* When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
garfieldsg	0:662207e34fba	2622	* reset the counter to 0. For further information on Free Fall detection,
garfieldsg	0:662207e34fba	2623	* please refer to Registers 29 to 32.
garfieldsg	0:662207e34fba	2624	*
garfieldsg	0:662207e34fba	2625	* @return Current decrement configuration
garfieldsg	0:662207e34fba	2626	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2627	* @see MPU6050_DETECT_FF_COUNT_BIT
garfieldsg	0:662207e34fba	2628	*/
garfieldsg	0:662207e34fba	2629	uint8_t MPU6050::getFreefallDetectionCounterDecrement()
garfieldsg	0:662207e34fba	2630	{
garfieldsg	0:662207e34fba	2631	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
garfieldsg	0:662207e34fba	2632	return buffer[0];
garfieldsg	0:662207e34fba	2633	}
garfieldsg	0:662207e34fba	2634	/** Set Free Fall detection counter decrement configuration.
garfieldsg	0:662207e34fba	2635	* @param decrement New decrement configuration value
garfieldsg	0:662207e34fba	2636	* @see getFreefallDetectionCounterDecrement()
garfieldsg	0:662207e34fba	2637	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2638	* @see MPU6050_DETECT_FF_COUNT_BIT
garfieldsg	0:662207e34fba	2639	*/
garfieldsg	0:662207e34fba	2640	void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement)
garfieldsg	0:662207e34fba	2641	{
garfieldsg	0:662207e34fba	2642	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
garfieldsg	0:662207e34fba	2643	}
garfieldsg	0:662207e34fba	2644	/** Get Motion detection counter decrement configuration.
garfieldsg	0:662207e34fba	2645	* Detection is registered by the Motion detection module after accelerometer
garfieldsg	0:662207e34fba	2646	* measurements meet their respective threshold conditions over a specified
garfieldsg	0:662207e34fba	2647	* number of samples. When the threshold conditions are met, the corresponding
garfieldsg	0:662207e34fba	2648	* detection counter increments by 1. The user may control the rate at which the
garfieldsg	0:662207e34fba	2649	* detection counter decrements when the threshold condition is not met by
garfieldsg	0:662207e34fba	2650	* configuring MOT_COUNT. The decrement rate can be set according to the
garfieldsg	0:662207e34fba	2651	* following table:
garfieldsg	0:662207e34fba	2652	*
garfieldsg	0:662207e34fba	2653	* <pre>
garfieldsg	0:662207e34fba	2654	* MOT_COUNT \| Counter Decrement
garfieldsg	0:662207e34fba	2655	* ----------+------------------
garfieldsg	0:662207e34fba	2656	* 0 \| Reset
garfieldsg	0:662207e34fba	2657	* 1 \| 1
garfieldsg	0:662207e34fba	2658	* 2 \| 2
garfieldsg	0:662207e34fba	2659	* 3 \| 4
garfieldsg	0:662207e34fba	2660	* </pre>
garfieldsg	0:662207e34fba	2661	*
garfieldsg	0:662207e34fba	2662	* When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
garfieldsg	0:662207e34fba	2663	* reset the counter to 0. For further information on Motion detection,
garfieldsg	0:662207e34fba	2664	* please refer to Registers 29 to 32.
garfieldsg	0:662207e34fba	2665	*
garfieldsg	0:662207e34fba	2666	*/
garfieldsg	0:662207e34fba	2667	uint8_t MPU6050::getMotionDetectionCounterDecrement()
garfieldsg	0:662207e34fba	2668	{
garfieldsg	0:662207e34fba	2669	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
garfieldsg	0:662207e34fba	2670	return buffer[0];
garfieldsg	0:662207e34fba	2671	}
garfieldsg	0:662207e34fba	2672	/** Set Motion detection counter decrement configuration.
garfieldsg	0:662207e34fba	2673	* @param decrement New decrement configuration value
garfieldsg	0:662207e34fba	2674	* @see getMotionDetectionCounterDecrement()
garfieldsg	0:662207e34fba	2675	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2676	* @see MPU6050_DETECT_MOT_COUNT_BIT
garfieldsg	0:662207e34fba	2677	*/
garfieldsg	0:662207e34fba	2678	void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement)
garfieldsg	0:662207e34fba	2679	{
garfieldsg	0:662207e34fba	2680	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
garfieldsg	0:662207e34fba	2681	}
garfieldsg	0:662207e34fba	2682
garfieldsg	0:662207e34fba	2683	// USER_CTRL register
garfieldsg	0:662207e34fba	2684
garfieldsg	0:662207e34fba	2685	/** Get FIFO enabled status.
garfieldsg	0:662207e34fba	2686	* When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
garfieldsg	0:662207e34fba	2687	* cannot be written to or read from while disabled. The FIFO buffer's state
garfieldsg	0:662207e34fba	2688	* does not change unless the MPU-60X0 is power cycled.
garfieldsg	0:662207e34fba	2689	* @return Current FIFO enabled status
garfieldsg	0:662207e34fba	2690	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2691	* @see MPU6050_USERCTRL_FIFO_EN_BIT
garfieldsg	0:662207e34fba	2692	*/
garfieldsg	0:662207e34fba	2693	bool MPU6050::getFIFOEnabled()
garfieldsg	0:662207e34fba	2694	{
garfieldsg	0:662207e34fba	2695	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	2696	return buffer[0];
garfieldsg	0:662207e34fba	2697	}
garfieldsg	0:662207e34fba	2698	/** Set FIFO enabled status.
garfieldsg	0:662207e34fba	2699	* @param enabled New FIFO enabled status
garfieldsg	0:662207e34fba	2700	* @see getFIFOEnabled()
garfieldsg	0:662207e34fba	2701	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2702	* @see MPU6050_USERCTRL_FIFO_EN_BIT
garfieldsg	0:662207e34fba	2703	*/
garfieldsg	0:662207e34fba	2704	void MPU6050::setFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	2705	{
garfieldsg	0:662207e34fba	2706	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	2707	}
garfieldsg	0:662207e34fba	2708	/** Get I2C Master Mode enabled status.
garfieldsg	0:662207e34fba	2709	* When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
garfieldsg	0:662207e34fba	2710	* external sensor slave devices on the auxiliary I2C bus. When this bit is
garfieldsg	0:662207e34fba	2711	* cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
garfieldsg	0:662207e34fba	2712	* driven by the primary I2C bus (SDA and SCL). This is a precondition to
garfieldsg	0:662207e34fba	2713	* enabling Bypass Mode. For further information regarding Bypass Mode, please
garfieldsg	0:662207e34fba	2714	* refer to Register 55.
garfieldsg	0:662207e34fba	2715	* @return Current I2C Master Mode enabled status
garfieldsg	0:662207e34fba	2716	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2717	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
garfieldsg	0:662207e34fba	2718	*/
garfieldsg	0:662207e34fba	2719	bool MPU6050::getI2CMasterModeEnabled()
garfieldsg	0:662207e34fba	2720	{
garfieldsg	0:662207e34fba	2721	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
garfieldsg	0:662207e34fba	2722	return buffer[0];
garfieldsg	0:662207e34fba	2723	}
garfieldsg	0:662207e34fba	2724	/** Set I2C Master Mode enabled status.
garfieldsg	0:662207e34fba	2725	* @param enabled New I2C Master Mode enabled status
garfieldsg	0:662207e34fba	2726	* @see getI2CMasterModeEnabled()
garfieldsg	0:662207e34fba	2727	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2728	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
garfieldsg	0:662207e34fba	2729	*/
garfieldsg	0:662207e34fba	2730	void MPU6050::setI2CMasterModeEnabled(bool enabled)
garfieldsg	0:662207e34fba	2731	{
garfieldsg	0:662207e34fba	2732	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
garfieldsg	0:662207e34fba	2733	}
garfieldsg	0:662207e34fba	2734	/** Switch from I2C to SPI mode (MPU-6000 only)
garfieldsg	0:662207e34fba	2735	* If this is set, the primary SPI interface will be enabled in place of the
garfieldsg	0:662207e34fba	2736	* disabled primary I2C interface.
garfieldsg	0:662207e34fba	2737	*/
garfieldsg	0:662207e34fba	2738	void MPU6050::switchSPIEnabled(bool enabled)
garfieldsg	0:662207e34fba	2739	{
garfieldsg	0:662207e34fba	2740	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
garfieldsg	0:662207e34fba	2741	}
garfieldsg	0:662207e34fba	2742	/** Reset the FIFO.
garfieldsg	0:662207e34fba	2743	* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
garfieldsg	0:662207e34fba	2744	* bit automatically clears to 0 after the reset has been triggered.
garfieldsg	0:662207e34fba	2745	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2746	* @see MPU6050_USERCTRL_FIFO_RESET_BIT
garfieldsg	0:662207e34fba	2747	*/
garfieldsg	0:662207e34fba	2748	void MPU6050::resetFIFO()
garfieldsg	0:662207e34fba	2749	{
garfieldsg	0:662207e34fba	2750	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
garfieldsg	0:662207e34fba	2751	}
garfieldsg	0:662207e34fba	2752	/** Reset the I2C Master.
garfieldsg	0:662207e34fba	2753	* This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
garfieldsg	0:662207e34fba	2754	* This bit automatically clears to 0 after the reset has been triggered.
garfieldsg	0:662207e34fba	2755	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2756	* @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
garfieldsg	0:662207e34fba	2757	*/
garfieldsg	0:662207e34fba	2758	void MPU6050::resetI2CMaster()
garfieldsg	0:662207e34fba	2759	{
garfieldsg	0:662207e34fba	2760	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
garfieldsg	0:662207e34fba	2761	}
garfieldsg	0:662207e34fba	2762	/** Reset all sensor registers and signal paths.
garfieldsg	0:662207e34fba	2763	* When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
garfieldsg	0:662207e34fba	2764	* accelerometers, and temperature sensor). This operation will also clear the
garfieldsg	0:662207e34fba	2765	* sensor registers. This bit automatically clears to 0 after the reset has been
garfieldsg	0:662207e34fba	2766	* triggered.
garfieldsg	0:662207e34fba	2767	*
garfieldsg	0:662207e34fba	2768	* When resetting only the signal path (and not the sensor registers), please
garfieldsg	0:662207e34fba	2769	* use Register 104, SIGNAL_PATH_RESET.
garfieldsg	0:662207e34fba	2770	*
garfieldsg	0:662207e34fba	2771	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2772	* @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
garfieldsg	0:662207e34fba	2773	*/
garfieldsg	0:662207e34fba	2774	void MPU6050::resetSensors()
garfieldsg	0:662207e34fba	2775	{
garfieldsg	0:662207e34fba	2776	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
garfieldsg	0:662207e34fba	2777	}
garfieldsg	0:662207e34fba	2778
garfieldsg	0:662207e34fba	2779	// PWR_MGMT_1 register
garfieldsg	0:662207e34fba	2780
garfieldsg	0:662207e34fba	2781	/** Trigger a full device reset.
garfieldsg	0:662207e34fba	2782	* A small delay of ~50ms may be desirable after triggering a reset.
garfieldsg	0:662207e34fba	2783	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2784	* @see MPU6050_PWR1_DEVICE_RESET_BIT
garfieldsg	0:662207e34fba	2785	*/
garfieldsg	0:662207e34fba	2786	void MPU6050::reset()
garfieldsg	0:662207e34fba	2787	{
garfieldsg	0:662207e34fba	2788	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
garfieldsg	0:662207e34fba	2789	}
garfieldsg	0:662207e34fba	2790	/** Get sleep mode status.
garfieldsg	0:662207e34fba	2791	* Setting the SLEEP bit in the register puts the device into very low power
garfieldsg	0:662207e34fba	2792	* sleep mode. In this mode, only the serial interface and internal registers
garfieldsg	0:662207e34fba	2793	* remain active, allowing for a very low standby current. Clearing this bit
garfieldsg	0:662207e34fba	2794	* puts the device back into normal mode. To save power, the individual standby
garfieldsg	0:662207e34fba	2795	* selections for each of the gyros should be used if any gyro axis is not used
garfieldsg	0:662207e34fba	2796	* by the application.
garfieldsg	0:662207e34fba	2797	* @return Current sleep mode enabled status
garfieldsg	0:662207e34fba	2798	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2799	* @see MPU6050_PWR1_SLEEP_BIT
garfieldsg	0:662207e34fba	2800	*/
garfieldsg	0:662207e34fba	2801	bool MPU6050::getSleepEnabled()
garfieldsg	0:662207e34fba	2802	{
garfieldsg	0:662207e34fba	2803	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
garfieldsg	0:662207e34fba	2804	return buffer[0];
garfieldsg	0:662207e34fba	2805	}
garfieldsg	0:662207e34fba	2806	/** Set sleep mode status.
garfieldsg	0:662207e34fba	2807	* @param enabled New sleep mode enabled status
garfieldsg	0:662207e34fba	2808	* @see getSleepEnabled()
garfieldsg	0:662207e34fba	2809	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2810	* @see MPU6050_PWR1_SLEEP_BIT
garfieldsg	0:662207e34fba	2811	*/
garfieldsg	0:662207e34fba	2812	void MPU6050::setSleepEnabled(bool enabled)
garfieldsg	0:662207e34fba	2813	{
garfieldsg	0:662207e34fba	2814	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
garfieldsg	0:662207e34fba	2815	}
garfieldsg	0:662207e34fba	2816	/** Get wake cycle enabled status.
garfieldsg	0:662207e34fba	2817	* When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
garfieldsg	0:662207e34fba	2818	* between sleep mode and waking up to take a single sample of data from active
garfieldsg	0:662207e34fba	2819	* sensors at a rate determined by LP_WAKE_CTRL (register 108).
garfieldsg	0:662207e34fba	2820	* @return Current sleep mode enabled status
garfieldsg	0:662207e34fba	2821	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2822	* @see MPU6050_PWR1_CYCLE_BIT
garfieldsg	0:662207e34fba	2823	*/
garfieldsg	0:662207e34fba	2824	bool MPU6050::getWakeCycleEnabled()
garfieldsg	0:662207e34fba	2825	{
garfieldsg	0:662207e34fba	2826	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
garfieldsg	0:662207e34fba	2827	return buffer[0];
garfieldsg	0:662207e34fba	2828	}
garfieldsg	0:662207e34fba	2829	/** Set wake cycle enabled status.
garfieldsg	0:662207e34fba	2830	* @param enabled New sleep mode enabled status
garfieldsg	0:662207e34fba	2831	* @see getWakeCycleEnabled()
garfieldsg	0:662207e34fba	2832	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2833	* @see MPU6050_PWR1_CYCLE_BIT
garfieldsg	0:662207e34fba	2834	*/
garfieldsg	0:662207e34fba	2835	void MPU6050::setWakeCycleEnabled(bool enabled)
garfieldsg	0:662207e34fba	2836	{
garfieldsg	0:662207e34fba	2837	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
garfieldsg	0:662207e34fba	2838	}
garfieldsg	0:662207e34fba	2839	/** Get temperature sensor enabled status.
garfieldsg	0:662207e34fba	2840	* Control the usage of the internal temperature sensor.
garfieldsg	0:662207e34fba	2841	*
garfieldsg	0:662207e34fba	2842	* Note: this register stores the disabled value, but for consistency with the
garfieldsg	0:662207e34fba	2843	* rest of the code, the function is named and used with standard true/false
garfieldsg	0:662207e34fba	2844	* values to indicate whether the sensor is enabled or disabled, respectively.
garfieldsg	0:662207e34fba	2845	*
garfieldsg	0:662207e34fba	2846	* @return Current temperature sensor enabled status
garfieldsg	0:662207e34fba	2847	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2848	* @see MPU6050_PWR1_TEMP_DIS_BIT
garfieldsg	0:662207e34fba	2849	*/
garfieldsg	0:662207e34fba	2850	bool MPU6050::getTempSensorEnabled()
garfieldsg	0:662207e34fba	2851	{
garfieldsg	0:662207e34fba	2852	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
garfieldsg	0:662207e34fba	2853	return buffer[0] == 0; // 1 is actually disabled here
garfieldsg	0:662207e34fba	2854	}
garfieldsg	0:662207e34fba	2855	/** Set temperature sensor enabled status.
garfieldsg	0:662207e34fba	2856	* Note: this register stores the disabled value, but for consistency with the
garfieldsg	0:662207e34fba	2857	* rest of the code, the function is named and used with standard true/false
garfieldsg	0:662207e34fba	2858	* values to indicate whether the sensor is enabled or disabled, respectively.
garfieldsg	0:662207e34fba	2859	*
garfieldsg	0:662207e34fba	2860	* @param enabled New temperature sensor enabled status
garfieldsg	0:662207e34fba	2861	* @see getTempSensorEnabled()
garfieldsg	0:662207e34fba	2862	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2863	* @see MPU6050_PWR1_TEMP_DIS_BIT
garfieldsg	0:662207e34fba	2864	*/
garfieldsg	0:662207e34fba	2865	void MPU6050::setTempSensorEnabled(bool enabled)
garfieldsg	0:662207e34fba	2866	{
garfieldsg	0:662207e34fba	2867	// 1 is actually disabled here
garfieldsg	0:662207e34fba	2868	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
garfieldsg	0:662207e34fba	2869	}
garfieldsg	0:662207e34fba	2870	/** Get clock source setting.
garfieldsg	0:662207e34fba	2871	* @return Current clock source setting
garfieldsg	0:662207e34fba	2872	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2873	* @see MPU6050_PWR1_CLKSEL_BIT
garfieldsg	0:662207e34fba	2874	* @see MPU6050_PWR1_CLKSEL_LENGTH
garfieldsg	0:662207e34fba	2875	*/
garfieldsg	0:662207e34fba	2876	uint8_t MPU6050::getClockSource()
garfieldsg	0:662207e34fba	2877	{
garfieldsg	0:662207e34fba	2878	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
garfieldsg	0:662207e34fba	2879	return buffer[0];
garfieldsg	0:662207e34fba	2880	}
garfieldsg	0:662207e34fba	2881	/** Set clock source setting.
garfieldsg	0:662207e34fba	2882	* An internal 8MHz oscillator, gyroscope based clock, or external sources can
garfieldsg	0:662207e34fba	2883	* be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
garfieldsg	0:662207e34fba	2884	* or an external source is chosen as the clock source, the MPU-60X0 can operate
garfieldsg	0:662207e34fba	2885	* in low power modes with the gyroscopes disabled.
garfieldsg	0:662207e34fba	2886	*
garfieldsg	0:662207e34fba	2887	* Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
garfieldsg	0:662207e34fba	2888	* However, it is highly recommended that the device be configured to use one of
garfieldsg	0:662207e34fba	2889	* the gyroscopes (or an external clock source) as the clock reference for
garfieldsg	0:662207e34fba	2890	* improved stability. The clock source can be selected according to the following table:
garfieldsg	0:662207e34fba	2891	*
garfieldsg	0:662207e34fba	2892	* <pre>
garfieldsg	0:662207e34fba	2893	* CLK_SEL \| Clock Source
garfieldsg	0:662207e34fba	2894	* --------+--------------------------------------
garfieldsg	0:662207e34fba	2895	* 0 \| Internal oscillator
garfieldsg	0:662207e34fba	2896	* 1 \| PLL with X Gyro reference
garfieldsg	0:662207e34fba	2897	* 2 \| PLL with Y Gyro reference
garfieldsg	0:662207e34fba	2898	* 3 \| PLL with Z Gyro reference
garfieldsg	0:662207e34fba	2899	* 4 \| PLL with external 32.768kHz reference
garfieldsg	0:662207e34fba	2900	* 5 \| PLL with external 19.2MHz reference
garfieldsg	0:662207e34fba	2901	* 6 \| Reserved
garfieldsg	0:662207e34fba	2902	* 7 \| Stops the clock and keeps the timing generator in reset
garfieldsg	0:662207e34fba	2903	* </pre>
garfieldsg	0:662207e34fba	2904	*
garfieldsg	0:662207e34fba	2905	* @param source New clock source setting
garfieldsg	0:662207e34fba	2906	* @see getClockSource()
garfieldsg	0:662207e34fba	2907	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2908	* @see MPU6050_PWR1_CLKSEL_BIT
garfieldsg	0:662207e34fba	2909	* @see MPU6050_PWR1_CLKSEL_LENGTH
garfieldsg	0:662207e34fba	2910	*/
garfieldsg	0:662207e34fba	2911	void MPU6050::setClockSource(uint8_t source)
garfieldsg	0:662207e34fba	2912	{
garfieldsg	0:662207e34fba	2913	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
garfieldsg	0:662207e34fba	2914	}
garfieldsg	0:662207e34fba	2915
garfieldsg	0:662207e34fba	2916	// PWR_MGMT_2 register
garfieldsg	0:662207e34fba	2917
garfieldsg	0:662207e34fba	2918	/** Get wake frequency in Accel-Only Low Power Mode.
garfieldsg	0:662207e34fba	2919	* The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
garfieldsg	0:662207e34fba	2920	* PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
garfieldsg	0:662207e34fba	2921	* the device will power off all devices except for the primary I2C interface,
garfieldsg	0:662207e34fba	2922	* waking only the accelerometer at fixed intervals to take a single
garfieldsg	0:662207e34fba	2923	* measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
garfieldsg	0:662207e34fba	2924	* as shown below:
garfieldsg	0:662207e34fba	2925	*
garfieldsg	0:662207e34fba	2926	* <pre>
garfieldsg	0:662207e34fba	2927	* LP_WAKE_CTRL \| Wake-up Frequency
garfieldsg	0:662207e34fba	2928	* -------------+------------------
garfieldsg	0:662207e34fba	2929	* 0 \| 1.25 Hz
garfieldsg	0:662207e34fba	2930	* 1 \| 2.5 Hz
garfieldsg	0:662207e34fba	2931	* 2 \| 5 Hz
garfieldsg	0:662207e34fba	2932	* 3 \| 10 Hz
garfieldsg	0:662207e34fba	2933	* <pre>
garfieldsg	0:662207e34fba	2934	*
garfieldsg	0:662207e34fba	2935	* For further information regarding the MPU-60X0's power modes, please refer to
garfieldsg	0:662207e34fba	2936	* Register 107.
garfieldsg	0:662207e34fba	2937	*
garfieldsg	0:662207e34fba	2938	* @return Current wake frequency
garfieldsg	0:662207e34fba	2939	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2940	*/
garfieldsg	0:662207e34fba	2941	uint8_t MPU6050::getWakeFrequency()
garfieldsg	0:662207e34fba	2942	{
garfieldsg	0:662207e34fba	2943	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
garfieldsg	0:662207e34fba	2944	return buffer[0];
garfieldsg	0:662207e34fba	2945	}
garfieldsg	0:662207e34fba	2946	/** Set wake frequency in Accel-Only Low Power Mode.
garfieldsg	0:662207e34fba	2947	* @param frequency New wake frequency
garfieldsg	0:662207e34fba	2948	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2949	*/
garfieldsg	0:662207e34fba	2950	void MPU6050::setWakeFrequency(uint8_t frequency)
garfieldsg	0:662207e34fba	2951	{
garfieldsg	0:662207e34fba	2952	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
garfieldsg	0:662207e34fba	2953	}
garfieldsg	0:662207e34fba	2954
garfieldsg	0:662207e34fba	2955	/** Get X-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2956	* If enabled, the X-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2957	* @return Current X-axis standby enabled status
garfieldsg	0:662207e34fba	2958	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2959	* @see MPU6050_PWR2_STBY_XA_BIT
garfieldsg	0:662207e34fba	2960	*/
garfieldsg	0:662207e34fba	2961	bool MPU6050::getStandbyXAccelEnabled()
garfieldsg	0:662207e34fba	2962	{
garfieldsg	0:662207e34fba	2963	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
garfieldsg	0:662207e34fba	2964	return buffer[0];
garfieldsg	0:662207e34fba	2965	}
garfieldsg	0:662207e34fba	2966	/** Set X-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2967	* @param New X-axis standby enabled status
garfieldsg	0:662207e34fba	2968	* @see getStandbyXAccelEnabled()
garfieldsg	0:662207e34fba	2969	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2970	* @see MPU6050_PWR2_STBY_XA_BIT
garfieldsg	0:662207e34fba	2971	*/
garfieldsg	0:662207e34fba	2972	void MPU6050::setStandbyXAccelEnabled(bool enabled)
garfieldsg	0:662207e34fba	2973	{
garfieldsg	0:662207e34fba	2974	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
garfieldsg	0:662207e34fba	2975	}
garfieldsg	0:662207e34fba	2976	/** Get Y-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2977	* If enabled, the Y-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2978	* @return Current Y-axis standby enabled status
garfieldsg	0:662207e34fba	2979	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2980	* @see MPU6050_PWR2_STBY_YA_BIT
garfieldsg	0:662207e34fba	2981	*/
garfieldsg	0:662207e34fba	2982	bool MPU6050::getStandbyYAccelEnabled()
garfieldsg	0:662207e34fba	2983	{
garfieldsg	0:662207e34fba	2984	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
garfieldsg	0:662207e34fba	2985	return buffer[0];
garfieldsg	0:662207e34fba	2986	}
garfieldsg	0:662207e34fba	2987	/** Set Y-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2988	* @param New Y-axis standby enabled status
garfieldsg	0:662207e34fba	2989	* @see getStandbyYAccelEnabled()
garfieldsg	0:662207e34fba	2990	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2991	* @see MPU6050_PWR2_STBY_YA_BIT
garfieldsg	0:662207e34fba	2992	*/
garfieldsg	0:662207e34fba	2993	void MPU6050::setStandbyYAccelEnabled(bool enabled)
garfieldsg	0:662207e34fba	2994	{
garfieldsg	0:662207e34fba	2995	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
garfieldsg	0:662207e34fba	2996	}
garfieldsg	0:662207e34fba	2997	/** Get Z-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2998	* If enabled, the Z-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2999	* @return Current Z-axis standby enabled status
garfieldsg	0:662207e34fba	3000	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	3001	* @see MPU6050_PWR2_STBY_ZA_BIT
garfieldsg	0:662207e34fba	3002	*/
garfieldsg	0:662207e34fba	3003	bool MPU6050::getStandbyZAccelEnabled()
garfieldsg	0:662207e34fba	3004	{
garfieldsg	0:662207e34fba	3005	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
garfieldsg	0:662207e34fba	3006	return buffer[0];
garfieldsg	0:662207e34fba	3007	}
garfieldsg	0:662207e34fba	3008	/** Set Z-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	3009	* @param New Z-axis standby enabled status
garfieldsg	0:662207e34fba	3010	* @see getStandbyZAccelEnabled()
garfieldsg	0:662207e34fba	3011	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	3012	* @see MPU6050_PWR2_STBY_ZA_BIT
garfieldsg	0:662207e34fba	3013	*/
garfieldsg	0:662207e34fba	3014	void MPU6050::setStandbyZAccelEnabled(bool enabled)
garfieldsg	0:662207e34fba	3015	{
garfieldsg	0:662207e34fba	3016	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
garfieldsg	0:662207e34fba	3017	}
garfieldsg	0:662207e34fba	3018	/** Get X-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	3019	* If enabled, the X-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	3020	* @return Current X-axis standby enabled status
garfieldsg	0:662207e34fba	3021	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	3022	* @see MPU6050_PWR2_STBY_XG_BIT
garfieldsg	0:662207e34fba	3023	*/
garfieldsg	0:662207e34fba	3024	bool MPU6050::getStandbyXGyroEnabled()
garfieldsg	0:662207e34fba	3025	{
garfieldsg	0:662207e34fba	3026	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
garfieldsg	0:662207e34fba	3027	return buffer[0];
garfieldsg	0:662207e34fba	3028	}
garfieldsg	0:662207e34fba	3029	/** Set X-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	3030	* @param New X-axis standby enabled status
garfieldsg	0:662207e34fba	3031	* @see getStandbyXGyroEnabled()
garfieldsg	0:662207e34fba	3032	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	3033	* @see MPU6050_PWR2_STBY_XG_BIT
garfieldsg	0:662207e34fba	3034	*/
garfieldsg	0:662207e34fba	3035	void MPU6050::setStandbyXGyroEnabled(bool enabled)
garfieldsg	0:662207e34fba	3036	{
garfieldsg	0:662207e34fba	3037	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
garfieldsg	0:662207e34fba	3038	}
garfieldsg	0:662207e34fba	3039	/** Get Y-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	3040	* If enabled, the Y-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	3041	* @return Current Y-axis standby enabled status
garfieldsg	0:662207e34fba	3042	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	3043	* @see MPU6050_PWR2_STBY_YG_BIT
garfieldsg	0:662207e34fba	3044	*/
garfieldsg	0:662207e34fba	3045	bool MPU6050::getStandbyYGyroEnabled()
garfieldsg	0:662207e34fba	3046	{
garfieldsg	0:662207e34fba	3047	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
garfieldsg	0:662207e34fba	3048	return buffer[0];
garfieldsg	0:662207e34fba	3049	}
garfieldsg	0:662207e34fba	3050	/** Set Y-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	3051	* @param New Y-axis standby enabled status
garfieldsg	0:662207e34fba	3052	* @see getStandbyYGyroEnabled()
garfieldsg	0:662207e34fba	3053	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	3054	* @see MPU6050_PWR2_STBY_YG_BIT
garfieldsg	0:662207e34fba	3055	*/
garfieldsg	0:662207e34fba	3056	void MPU6050::setStandbyYGyroEnabled(bool enabled)
garfieldsg	0:662207e34fba	3057	{
garfieldsg	0:662207e34fba	3058	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
garfieldsg	0:662207e34fba	3059	}
garfieldsg	0:662207e34fba	3060	/** Get Z-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	3061	* If enabled, the Z-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	3062	* @return Current Z-axis standby enabled status
garfieldsg	0:662207e34fba	3063	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	3064	* @see MPU6050_PWR2_STBY_ZG_BIT
garfieldsg	0:662207e34fba	3065	*/
garfieldsg	0:662207e34fba	3066	bool MPU6050::getStandbyZGyroEnabled()
garfieldsg	0:662207e34fba	3067	{
garfieldsg	0:662207e34fba	3068	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
garfieldsg	0:662207e34fba	3069	return buffer[0];
garfieldsg	0:662207e34fba	3070	}
garfieldsg	0:662207e34fba	3071	/** Set Z-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	3072	* @param New Z-axis standby enabled status
garfieldsg	0:662207e34fba	3073	* @see getStandbyZGyroEnabled()
garfieldsg	0:662207e34fba	3074	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	3075	* @see MPU6050_PWR2_STBY_ZG_BIT
garfieldsg	0:662207e34fba	3076	*/
garfieldsg	0:662207e34fba	3077	void MPU6050::setStandbyZGyroEnabled(bool enabled)
garfieldsg	0:662207e34fba	3078	{
garfieldsg	0:662207e34fba	3079	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
garfieldsg	0:662207e34fba	3080	}
garfieldsg	0:662207e34fba	3081
garfieldsg	0:662207e34fba	3082	// FIFO_COUNT* registers
garfieldsg	0:662207e34fba	3083
garfieldsg	0:662207e34fba	3084	/** Get current FIFO buffer size.
garfieldsg	0:662207e34fba	3085	* This value indicates the number of bytes stored in the FIFO buffer. This
garfieldsg	0:662207e34fba	3086	* number is in turn the number of bytes that can be read from the FIFO buffer
garfieldsg	0:662207e34fba	3087	* and it is directly proportional to the number of samples available given the
garfieldsg	0:662207e34fba	3088	* set of sensor data bound to be stored in the FIFO (register 35 and 36).
garfieldsg	0:662207e34fba	3089	* @return Current FIFO buffer size
garfieldsg	0:662207e34fba	3090	*/
garfieldsg	0:662207e34fba	3091	uint16_t MPU6050::getFIFOCount()
garfieldsg	0:662207e34fba	3092	{
garfieldsg	0:662207e34fba	3093	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
garfieldsg	0:662207e34fba	3094	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3095	}
garfieldsg	0:662207e34fba	3096
garfieldsg	0:662207e34fba	3097	// FIFO_R_W register
garfieldsg	0:662207e34fba	3098
garfieldsg	0:662207e34fba	3099	/** Get byte from FIFO buffer.
garfieldsg	0:662207e34fba	3100	* This register is used to read and write data from the FIFO buffer. Data is
garfieldsg	0:662207e34fba	3101	* written to the FIFO in order of register number (from lowest to highest). If
garfieldsg	0:662207e34fba	3102	* all the FIFO enable flags (see below) are enabled and all External Sensor
garfieldsg	0:662207e34fba	3103	* Data registers (Registers 73 to 96) are associated with a Slave device, the
garfieldsg	0:662207e34fba	3104	* contents of registers 59 through 96 will be written in order at the Sample
garfieldsg	0:662207e34fba	3105	* Rate.
garfieldsg	0:662207e34fba	3106	*
garfieldsg	0:662207e34fba	3107	* The contents of the sensor data registers (Registers 59 to 96) are written
garfieldsg	0:662207e34fba	3108	* into the FIFO buffer when their corresponding FIFO enable flags are set to 1
garfieldsg	0:662207e34fba	3109	* in FIFO_EN (Register 35). An additional flag for the sensor data registers
garfieldsg	0:662207e34fba	3110	* associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
garfieldsg	0:662207e34fba	3111	*
garfieldsg	0:662207e34fba	3112	* If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
garfieldsg	0:662207e34fba	3113	* automatically set to 1. This bit is located in INT_STATUS (Register 58).
garfieldsg	0:662207e34fba	3114	* When the FIFO buffer has overflowed, the oldest data will be lost and new
garfieldsg	0:662207e34fba	3115	* data will be written to the FIFO.
garfieldsg	0:662207e34fba	3116	*
garfieldsg	0:662207e34fba	3117	* If the FIFO buffer is empty, reading this register will return the last byte
garfieldsg	0:662207e34fba	3118	* that was previously read from the FIFO until new data is available. The user
garfieldsg	0:662207e34fba	3119	* should check FIFO_COUNT to ensure that the FIFO buffer is not read when
garfieldsg	0:662207e34fba	3120	* empty.
garfieldsg	0:662207e34fba	3121	*
garfieldsg	0:662207e34fba	3122	* @return Byte from FIFO buffer
garfieldsg	0:662207e34fba	3123	*/
garfieldsg	0:662207e34fba	3124	uint8_t MPU6050::getFIFOByte()
garfieldsg	0:662207e34fba	3125	{
garfieldsg	0:662207e34fba	3126	i2Cdev.readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
garfieldsg	0:662207e34fba	3127	return buffer[0];
garfieldsg	0:662207e34fba	3128	}
garfieldsg	0:662207e34fba	3129	void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length)
garfieldsg	0:662207e34fba	3130	{
garfieldsg	0:662207e34fba	3131	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
garfieldsg	0:662207e34fba	3132	}
garfieldsg	0:662207e34fba	3133	/** Write byte to FIFO buffer.
garfieldsg	0:662207e34fba	3134	* @see getFIFOByte()
garfieldsg	0:662207e34fba	3135	* @see MPU6050_RA_FIFO_R_W
garfieldsg	0:662207e34fba	3136	*/
garfieldsg	0:662207e34fba	3137	void MPU6050::setFIFOByte(uint8_t data)
garfieldsg	0:662207e34fba	3138	{
garfieldsg	0:662207e34fba	3139	i2Cdev.writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
garfieldsg	0:662207e34fba	3140	}
garfieldsg	0:662207e34fba	3141
garfieldsg	0:662207e34fba	3142	// WHO_AM_I register
garfieldsg	0:662207e34fba	3143
garfieldsg	0:662207e34fba	3144	/** Get Device ID.
garfieldsg	0:662207e34fba	3145	* This register is used to verify the identity of the device (0b110100, 0x34).
garfieldsg	0:662207e34fba	3146	* @return Device ID (6 bits only! should be 0x34)
garfieldsg	0:662207e34fba	3147	* @see MPU6050_RA_WHO_AM_I
garfieldsg	0:662207e34fba	3148	* @see MPU6050_WHO_AM_I_BIT
garfieldsg	0:662207e34fba	3149	* @see MPU6050_WHO_AM_I_LENGTH
garfieldsg	0:662207e34fba	3150	*/
garfieldsg	0:662207e34fba	3151	uint8_t MPU6050::getDeviceID()
garfieldsg	0:662207e34fba	3152	{
garfieldsg	0:662207e34fba	3153	i2Cdev.readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
garfieldsg	0:662207e34fba	3154	return buffer[0];
garfieldsg	0:662207e34fba	3155	}
garfieldsg	0:662207e34fba	3156	/** Set Device ID.
garfieldsg	0:662207e34fba	3157	* Write a new ID into the WHO_AM_I register (no idea why this should ever be
garfieldsg	0:662207e34fba	3158	* necessary though).
garfieldsg	0:662207e34fba	3159	* @param id New device ID to set.
garfieldsg	0:662207e34fba	3160	* @see getDeviceID()
garfieldsg	0:662207e34fba	3161	* @see MPU6050_RA_WHO_AM_I
garfieldsg	0:662207e34fba	3162	* @see MPU6050_WHO_AM_I_BIT
garfieldsg	0:662207e34fba	3163	* @see MPU6050_WHO_AM_I_LENGTH
garfieldsg	0:662207e34fba	3164	*/
garfieldsg	0:662207e34fba	3165	void MPU6050::setDeviceID(uint8_t id)
garfieldsg	0:662207e34fba	3166	{
garfieldsg	0:662207e34fba	3167	i2Cdev.writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
garfieldsg	0:662207e34fba	3168	}
garfieldsg	0:662207e34fba	3169
garfieldsg	0:662207e34fba	3170	// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
garfieldsg	0:662207e34fba	3171
garfieldsg	0:662207e34fba	3172	// XG_OFFS_TC register
garfieldsg	0:662207e34fba	3173
garfieldsg	0:662207e34fba	3174	uint8_t MPU6050::getOTPBankValid()
garfieldsg	0:662207e34fba	3175	{
garfieldsg	0:662207e34fba	3176	i2Cdev.readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
garfieldsg	0:662207e34fba	3177	return buffer[0];
garfieldsg	0:662207e34fba	3178	}
garfieldsg	0:662207e34fba	3179	void MPU6050::setOTPBankValid(bool enabled)
garfieldsg	0:662207e34fba	3180	{
garfieldsg	0:662207e34fba	3181	i2Cdev.writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
garfieldsg	0:662207e34fba	3182	}
garfieldsg	0:662207e34fba	3183	int8_t MPU6050::getXGyroOffset()
garfieldsg	0:662207e34fba	3184	{
garfieldsg	0:662207e34fba	3185	i2Cdev.readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
garfieldsg	0:662207e34fba	3186	return buffer[0];
garfieldsg	0:662207e34fba	3187	}
garfieldsg	0:662207e34fba	3188	void MPU6050::setXGyroOffset(int8_t offset)
garfieldsg	0:662207e34fba	3189	{
garfieldsg	0:662207e34fba	3190	i2Cdev.writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
garfieldsg	0:662207e34fba	3191	}
garfieldsg	0:662207e34fba	3192
garfieldsg	0:662207e34fba	3193	// YG_OFFS_TC register
garfieldsg	0:662207e34fba	3194
garfieldsg	0:662207e34fba	3195	int8_t MPU6050::getYGyroOffset()
garfieldsg	0:662207e34fba	3196	{
garfieldsg	0:662207e34fba	3197	i2Cdev.readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
garfieldsg	0:662207e34fba	3198	return buffer[0];
garfieldsg	0:662207e34fba	3199	}
garfieldsg	0:662207e34fba	3200	void MPU6050::setYGyroOffset(int8_t offset)
garfieldsg	0:662207e34fba	3201	{
garfieldsg	0:662207e34fba	3202	i2Cdev.writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
garfieldsg	0:662207e34fba	3203	}
garfieldsg	0:662207e34fba	3204
garfieldsg	0:662207e34fba	3205	// ZG_OFFS_TC register
garfieldsg	0:662207e34fba	3206
garfieldsg	0:662207e34fba	3207	int8_t MPU6050::getZGyroOffset()
garfieldsg	0:662207e34fba	3208	{
garfieldsg	0:662207e34fba	3209	i2Cdev.readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
garfieldsg	0:662207e34fba	3210	return buffer[0];
garfieldsg	0:662207e34fba	3211	}
garfieldsg	0:662207e34fba	3212	void MPU6050::setZGyroOffset(int8_t offset)
garfieldsg	0:662207e34fba	3213	{
garfieldsg	0:662207e34fba	3214	i2Cdev.writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
garfieldsg	0:662207e34fba	3215	}
garfieldsg	0:662207e34fba	3216
garfieldsg	0:662207e34fba	3217	// X_FINE_GAIN register
garfieldsg	0:662207e34fba	3218
garfieldsg	0:662207e34fba	3219	int8_t MPU6050::getXFineGain()
garfieldsg	0:662207e34fba	3220	{
garfieldsg	0:662207e34fba	3221	i2Cdev.readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
garfieldsg	0:662207e34fba	3222	return buffer[0];
garfieldsg	0:662207e34fba	3223	}
garfieldsg	0:662207e34fba	3224	void MPU6050::setXFineGain(int8_t gain)
garfieldsg	0:662207e34fba	3225	{
garfieldsg	0:662207e34fba	3226	i2Cdev.writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
garfieldsg	0:662207e34fba	3227	}
garfieldsg	0:662207e34fba	3228
garfieldsg	0:662207e34fba	3229	// Y_FINE_GAIN register
garfieldsg	0:662207e34fba	3230
garfieldsg	0:662207e34fba	3231	int8_t MPU6050::getYFineGain()
garfieldsg	0:662207e34fba	3232	{
garfieldsg	0:662207e34fba	3233	i2Cdev.readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
garfieldsg	0:662207e34fba	3234	return buffer[0];
garfieldsg	0:662207e34fba	3235	}
garfieldsg	0:662207e34fba	3236	void MPU6050::setYFineGain(int8_t gain)
garfieldsg	0:662207e34fba	3237	{
garfieldsg	0:662207e34fba	3238	i2Cdev.writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
garfieldsg	0:662207e34fba	3239	}
garfieldsg	0:662207e34fba	3240
garfieldsg	0:662207e34fba	3241	// Z_FINE_GAIN register
garfieldsg	0:662207e34fba	3242
garfieldsg	0:662207e34fba	3243	int8_t MPU6050::getZFineGain()
garfieldsg	0:662207e34fba	3244	{
garfieldsg	0:662207e34fba	3245	i2Cdev.readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
garfieldsg	0:662207e34fba	3246	return buffer[0];
garfieldsg	0:662207e34fba	3247	}
garfieldsg	0:662207e34fba	3248	void MPU6050::setZFineGain(int8_t gain)
garfieldsg	0:662207e34fba	3249	{
garfieldsg	0:662207e34fba	3250	i2Cdev.writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
garfieldsg	0:662207e34fba	3251	}
garfieldsg	0:662207e34fba	3252
garfieldsg	0:662207e34fba	3253	// XA_OFFS_* registers
garfieldsg	0:662207e34fba	3254
garfieldsg	0:662207e34fba	3255	int16_t MPU6050::getXAccelOffset()
garfieldsg	0:662207e34fba	3256	{
garfieldsg	0:662207e34fba	3257	i2Cdev.readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
garfieldsg	0:662207e34fba	3258	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3259	}
garfieldsg	0:662207e34fba	3260	void MPU6050::setXAccelOffset(int16_t offset)
garfieldsg	0:662207e34fba	3261	{
garfieldsg	0:662207e34fba	3262	i2Cdev.writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
garfieldsg	0:662207e34fba	3263	}
garfieldsg	0:662207e34fba	3264
garfieldsg	0:662207e34fba	3265	// YA_OFFS_* register
garfieldsg	0:662207e34fba	3266
garfieldsg	0:662207e34fba	3267	int16_t MPU6050::getYAccelOffset()
garfieldsg	0:662207e34fba	3268	{
garfieldsg	0:662207e34fba	3269	i2Cdev.readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
garfieldsg	0:662207e34fba	3270	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3271	}
garfieldsg	0:662207e34fba	3272	void MPU6050::setYAccelOffset(int16_t offset)
garfieldsg	0:662207e34fba	3273	{
garfieldsg	0:662207e34fba	3274	i2Cdev.writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
garfieldsg	0:662207e34fba	3275	}
garfieldsg	0:662207e34fba	3276
garfieldsg	0:662207e34fba	3277	// ZA_OFFS_* register
garfieldsg	0:662207e34fba	3278
garfieldsg	0:662207e34fba	3279	int16_t MPU6050::getZAccelOffset()
garfieldsg	0:662207e34fba	3280	{
garfieldsg	0:662207e34fba	3281	i2Cdev.readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
garfieldsg	0:662207e34fba	3282	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3283	}
garfieldsg	0:662207e34fba	3284	void MPU6050::setZAccelOffset(int16_t offset)
garfieldsg	0:662207e34fba	3285	{
garfieldsg	0:662207e34fba	3286	i2Cdev.writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
garfieldsg	0:662207e34fba	3287	}
garfieldsg	0:662207e34fba	3288
garfieldsg	0:662207e34fba	3289	// XG_OFFS_USR* registers
garfieldsg	0:662207e34fba	3290
garfieldsg	0:662207e34fba	3291	int16_t MPU6050::getXGyroOffsetUser()
garfieldsg	0:662207e34fba	3292	{
garfieldsg	0:662207e34fba	3293	i2Cdev.readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
garfieldsg	0:662207e34fba	3294	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3295	}
garfieldsg	0:662207e34fba	3296	void MPU6050::setXGyroOffsetUser(int16_t offset)
garfieldsg	0:662207e34fba	3297	{
garfieldsg	0:662207e34fba	3298	i2Cdev.writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
garfieldsg	0:662207e34fba	3299	}
garfieldsg	0:662207e34fba	3300
garfieldsg	0:662207e34fba	3301	// YG_OFFS_USR* register
garfieldsg	0:662207e34fba	3302
garfieldsg	0:662207e34fba	3303	int16_t MPU6050::getYGyroOffsetUser()
garfieldsg	0:662207e34fba	3304	{
garfieldsg	0:662207e34fba	3305	i2Cdev.readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
garfieldsg	0:662207e34fba	3306	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3307	}
garfieldsg	0:662207e34fba	3308	void MPU6050::setYGyroOffsetUser(int16_t offset)
garfieldsg	0:662207e34fba	3309	{
garfieldsg	0:662207e34fba	3310	i2Cdev.writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
garfieldsg	0:662207e34fba	3311	}
garfieldsg	0:662207e34fba	3312
garfieldsg	0:662207e34fba	3313	// ZG_OFFS_USR* register
garfieldsg	0:662207e34fba	3314
garfieldsg	0:662207e34fba	3315	int16_t MPU6050::getZGyroOffsetUser()
garfieldsg	0:662207e34fba	3316	{
garfieldsg	0:662207e34fba	3317	i2Cdev.readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
garfieldsg	0:662207e34fba	3318	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3319	}
garfieldsg	0:662207e34fba	3320	void MPU6050::setZGyroOffsetUser(int16_t offset)
garfieldsg	0:662207e34fba	3321	{
garfieldsg	0:662207e34fba	3322	i2Cdev.writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
garfieldsg	0:662207e34fba	3323	}
garfieldsg	0:662207e34fba	3324
garfieldsg	0:662207e34fba	3325	// INT_ENABLE register (DMP functions)
garfieldsg	0:662207e34fba	3326
garfieldsg	0:662207e34fba	3327	bool MPU6050::getIntPLLReadyEnabled()
garfieldsg	0:662207e34fba	3328	{
garfieldsg	0:662207e34fba	3329	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
garfieldsg	0:662207e34fba	3330	return buffer[0];
garfieldsg	0:662207e34fba	3331	}
garfieldsg	0:662207e34fba	3332	void MPU6050::setIntPLLReadyEnabled(bool enabled)
garfieldsg	0:662207e34fba	3333	{
garfieldsg	0:662207e34fba	3334	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
garfieldsg	0:662207e34fba	3335	}
garfieldsg	0:662207e34fba	3336	bool MPU6050::getIntDMPEnabled()
garfieldsg	0:662207e34fba	3337	{
garfieldsg	0:662207e34fba	3338	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
garfieldsg	0:662207e34fba	3339	return buffer[0];
garfieldsg	0:662207e34fba	3340	}
garfieldsg	0:662207e34fba	3341	void MPU6050::setIntDMPEnabled(bool enabled)
garfieldsg	0:662207e34fba	3342	{
garfieldsg	0:662207e34fba	3343	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
garfieldsg	0:662207e34fba	3344	}
garfieldsg	0:662207e34fba	3345
garfieldsg	0:662207e34fba	3346	// DMP_INT_STATUS
garfieldsg	0:662207e34fba	3347
garfieldsg	0:662207e34fba	3348	bool MPU6050::getDMPInt5Status()
garfieldsg	0:662207e34fba	3349	{
garfieldsg	0:662207e34fba	3350	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
garfieldsg	0:662207e34fba	3351	return buffer[0];
garfieldsg	0:662207e34fba	3352	}
garfieldsg	0:662207e34fba	3353	bool MPU6050::getDMPInt4Status()
garfieldsg	0:662207e34fba	3354	{
garfieldsg	0:662207e34fba	3355	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
garfieldsg	0:662207e34fba	3356	return buffer[0];
garfieldsg	0:662207e34fba	3357	}
garfieldsg	0:662207e34fba	3358	bool MPU6050::getDMPInt3Status()
garfieldsg	0:662207e34fba	3359	{
garfieldsg	0:662207e34fba	3360	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
garfieldsg	0:662207e34fba	3361	return buffer[0];
garfieldsg	0:662207e34fba	3362	}
garfieldsg	0:662207e34fba	3363	bool MPU6050::getDMPInt2Status()
garfieldsg	0:662207e34fba	3364	{
garfieldsg	0:662207e34fba	3365	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
garfieldsg	0:662207e34fba	3366	return buffer[0];
garfieldsg	0:662207e34fba	3367	}
garfieldsg	0:662207e34fba	3368	bool MPU6050::getDMPInt1Status()
garfieldsg	0:662207e34fba	3369	{
garfieldsg	0:662207e34fba	3370	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
garfieldsg	0:662207e34fba	3371	return buffer[0];
garfieldsg	0:662207e34fba	3372	}
garfieldsg	0:662207e34fba	3373	bool MPU6050::getDMPInt0Status()
garfieldsg	0:662207e34fba	3374	{
garfieldsg	0:662207e34fba	3375	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
garfieldsg	0:662207e34fba	3376	return buffer[0];
garfieldsg	0:662207e34fba	3377	}
garfieldsg	0:662207e34fba	3378
garfieldsg	0:662207e34fba	3379	// INT_STATUS register (DMP functions)
garfieldsg	0:662207e34fba	3380
garfieldsg	0:662207e34fba	3381	bool MPU6050::getIntPLLReadyStatus()
garfieldsg	0:662207e34fba	3382	{
garfieldsg	0:662207e34fba	3383	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
garfieldsg	0:662207e34fba	3384	return buffer[0];
garfieldsg	0:662207e34fba	3385	}
garfieldsg	0:662207e34fba	3386	bool MPU6050::getIntDMPStatus()
garfieldsg	0:662207e34fba	3387	{
garfieldsg	0:662207e34fba	3388	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
garfieldsg	0:662207e34fba	3389	return buffer[0];
garfieldsg	0:662207e34fba	3390	}
garfieldsg	0:662207e34fba	3391
garfieldsg	0:662207e34fba	3392	// USER_CTRL register (DMP functions)
garfieldsg	0:662207e34fba	3393
garfieldsg	0:662207e34fba	3394	bool MPU6050::getDMPEnabled()
garfieldsg	0:662207e34fba	3395	{
garfieldsg	0:662207e34fba	3396	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
garfieldsg	0:662207e34fba	3397	return buffer[0];
garfieldsg	0:662207e34fba	3398	}
garfieldsg	0:662207e34fba	3399	void MPU6050::setDMPEnabled(bool enabled)
garfieldsg	0:662207e34fba	3400	{
garfieldsg	0:662207e34fba	3401	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
garfieldsg	0:662207e34fba	3402	}
garfieldsg	0:662207e34fba	3403	void MPU6050::resetDMP()
garfieldsg	0:662207e34fba	3404	{
garfieldsg	0:662207e34fba	3405	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
garfieldsg	0:662207e34fba	3406	}
garfieldsg	0:662207e34fba	3407
garfieldsg	0:662207e34fba	3408	// BANK_SEL register
garfieldsg	0:662207e34fba	3409
garfieldsg	0:662207e34fba	3410	void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank)
garfieldsg	0:662207e34fba	3411	{
garfieldsg	0:662207e34fba	3412	bank &= 0x1F;
garfieldsg	0:662207e34fba	3413	if (userBank) bank \|= 0x20;
garfieldsg	0:662207e34fba	3414	if (prefetchEnabled) bank \|= 0x40;
garfieldsg	0:662207e34fba	3415	i2Cdev.writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
garfieldsg	0:662207e34fba	3416	}
OsmanKameric	2:e2081d9de7af	3417	//Read certain register
OsmanKameric	2:e2081d9de7af	3418	uint8_t MPU6050::readThisByte(uint8_t address)
OsmanKameric	2:e2081d9de7af	3419	{
OsmanKameric	2:e2081d9de7af	3420	i2Cdev.readByte(devAddr, address, buffer);
OsmanKameric	2:e2081d9de7af	3421	return buffer[0];
OsmanKameric	2:e2081d9de7af	3422	}
garfieldsg	0:662207e34fba	3423	// MEM_START_ADDR register
garfieldsg	0:662207e34fba	3424
garfieldsg	0:662207e34fba	3425	void MPU6050::setMemoryStartAddress(uint8_t address)
garfieldsg	0:662207e34fba	3426	{
garfieldsg	0:662207e34fba	3427	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
garfieldsg	0:662207e34fba	3428	}
garfieldsg	0:662207e34fba	3429
garfieldsg	0:662207e34fba	3430	// MEM_R_W register
garfieldsg	0:662207e34fba	3431
garfieldsg	0:662207e34fba	3432	uint8_t MPU6050::readMemoryByte()
garfieldsg	0:662207e34fba	3433	{
garfieldsg	0:662207e34fba	3434	i2Cdev.readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
garfieldsg	0:662207e34fba	3435	return buffer[0];
garfieldsg	0:662207e34fba	3436	}
garfieldsg	0:662207e34fba	3437	void MPU6050::writeMemoryByte(uint8_t data)
garfieldsg	0:662207e34fba	3438	{
garfieldsg	0:662207e34fba	3439	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
garfieldsg	0:662207e34fba	3440	}
garfieldsg	0:662207e34fba	3441	void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address)
garfieldsg	0:662207e34fba	3442	{
garfieldsg	0:662207e34fba	3443	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3444	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3445	uint8_t chunkSize;
garfieldsg	0:662207e34fba	3446	for (uint16_t i = 0; i < dataSize;) {
garfieldsg	0:662207e34fba	3447	// determine correct chunk size according to bank position and data size
garfieldsg	0:662207e34fba	3448	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
garfieldsg	0:662207e34fba	3449
garfieldsg	0:662207e34fba	3450	// make sure we don't go past the data size
garfieldsg	0:662207e34fba	3451	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
garfieldsg	0:662207e34fba	3452
garfieldsg	0:662207e34fba	3453	// make sure this chunk doesn't go past the bank boundary (256 bytes)
garfieldsg	0:662207e34fba	3454	if (chunkSize > 256 - address) chunkSize = 256 - address;
garfieldsg	0:662207e34fba	3455
garfieldsg	0:662207e34fba	3456	// read the chunk of data as specified
garfieldsg	0:662207e34fba	3457	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
garfieldsg	0:662207e34fba	3458
garfieldsg	0:662207e34fba	3459	// increase byte index by [chunkSize]
garfieldsg	0:662207e34fba	3460	i += chunkSize;
garfieldsg	0:662207e34fba	3461
garfieldsg	0:662207e34fba	3462	// uint8_t automatically wraps to 0 at 256
garfieldsg	0:662207e34fba	3463	address += chunkSize;
garfieldsg	0:662207e34fba	3464
garfieldsg	0:662207e34fba	3465	// if we aren't done, update bank (if necessary) and address
garfieldsg	0:662207e34fba	3466	if (i < dataSize) {
garfieldsg	0:662207e34fba	3467	if (address == 0) bank++;
garfieldsg	0:662207e34fba	3468	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3469	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3470	}
garfieldsg	0:662207e34fba	3471	}
garfieldsg	0:662207e34fba	3472	}
garfieldsg	0:662207e34fba	3473	bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem)
garfieldsg	0:662207e34fba	3474	{
garfieldsg	0:662207e34fba	3475	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3476	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3477	uint8_t chunkSize;
garfieldsg	0:662207e34fba	3478	uint8_t *verifyBuffer;
garfieldsg	0:662207e34fba	3479	uint8_t *progBuffer;
garfieldsg	0:662207e34fba	3480	uint16_t i;
garfieldsg	0:662207e34fba	3481	uint8_t j;
garfieldsg	0:662207e34fba	3482	if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
garfieldsg	0:662207e34fba	3483	if (useProgMem) progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
garfieldsg	0:662207e34fba	3484	for (i = 0; i < dataSize;) {
garfieldsg	0:662207e34fba	3485	// determine correct chunk size according to bank position and data size
garfieldsg	0:662207e34fba	3486	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
garfieldsg	0:662207e34fba	3487
garfieldsg	0:662207e34fba	3488	// make sure we don't go past the data size
garfieldsg	0:662207e34fba	3489	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
garfieldsg	0:662207e34fba	3490
garfieldsg	0:662207e34fba	3491	// make sure this chunk doesn't go past the bank boundary (256 bytes)
garfieldsg	0:662207e34fba	3492	if (chunkSize > 256 - address) chunkSize = 256 - address;
garfieldsg	0:662207e34fba	3493
garfieldsg	0:662207e34fba	3494	if (useProgMem) {
garfieldsg	0:662207e34fba	3495	// write the chunk of data as specified
garfieldsg	0:662207e34fba	3496	for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
garfieldsg	0:662207e34fba	3497	} else {
garfieldsg	0:662207e34fba	3498	// write the chunk of data as specified
garfieldsg	0:662207e34fba	3499	progBuffer = (uint8_t *)data + i;
garfieldsg	0:662207e34fba	3500	}
garfieldsg	0:662207e34fba	3501
garfieldsg	0:662207e34fba	3502	i2Cdev.writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
garfieldsg	0:662207e34fba	3503
garfieldsg	0:662207e34fba	3504	// verify data if needed
garfieldsg	0:662207e34fba	3505	if (verify && verifyBuffer) {
garfieldsg	0:662207e34fba	3506	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3507	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3508	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
garfieldsg	0:662207e34fba	3509	if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
garfieldsg	0:662207e34fba	3510	/*Serial.print("Block write verification error, bank ");
garfieldsg	0:662207e34fba	3511	Serial.print(bank, DEC);
garfieldsg	0:662207e34fba	3512	Serial.print(", address ");
garfieldsg	0:662207e34fba	3513	Serial.print(address, DEC);
garfieldsg	0:662207e34fba	3514	Serial.print("!\nExpected:");
garfieldsg	0:662207e34fba	3515	for (j = 0; j < chunkSize; j++) {
garfieldsg	0:662207e34fba	3516	Serial.print(" 0x");
garfieldsg	0:662207e34fba	3517	if (progBuffer[j] < 16) Serial.print("0");
garfieldsg	0:662207e34fba	3518	Serial.print(progBuffer[j], HEX);
garfieldsg	0:662207e34fba	3519	}
garfieldsg	0:662207e34fba	3520	Serial.print("\nReceived:");
garfieldsg	0:662207e34fba	3521	for (uint8_t j = 0; j < chunkSize; j++) {
garfieldsg	0:662207e34fba	3522	Serial.print(" 0x");
garfieldsg	0:662207e34fba	3523	if (verifyBuffer[i + j] < 16) Serial.print("0");
garfieldsg	0:662207e34fba	3524	Serial.print(verifyBuffer[i + j], HEX);
garfieldsg	0:662207e34fba	3525	}
garfieldsg	0:662207e34fba	3526	Serial.print("\n");*/
garfieldsg	0:662207e34fba	3527	free(verifyBuffer);
garfieldsg	0:662207e34fba	3528	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3529	return false; // uh oh.
garfieldsg	0:662207e34fba	3530	}
garfieldsg	0:662207e34fba	3531	}
garfieldsg	0:662207e34fba	3532
garfieldsg	0:662207e34fba	3533	// increase byte index by [chunkSize]
garfieldsg	0:662207e34fba	3534	i += chunkSize;
garfieldsg	0:662207e34fba	3535
garfieldsg	0:662207e34fba	3536	// uint8_t automatically wraps to 0 at 256
garfieldsg	0:662207e34fba	3537	address += chunkSize;
garfieldsg	0:662207e34fba	3538
garfieldsg	0:662207e34fba	3539	// if we aren't done, update bank (if necessary) and address
garfieldsg	0:662207e34fba	3540	if (i < dataSize) {
garfieldsg	0:662207e34fba	3541	if (address == 0) bank++;
garfieldsg	0:662207e34fba	3542	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3543	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3544	}
garfieldsg	0:662207e34fba	3545	}
garfieldsg	0:662207e34fba	3546	if (verify) free(verifyBuffer);
garfieldsg	0:662207e34fba	3547	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3548	return true;
garfieldsg	0:662207e34fba	3549	}
garfieldsg	0:662207e34fba	3550	bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify)
garfieldsg	0:662207e34fba	3551	{
garfieldsg	0:662207e34fba	3552	return writeMemoryBlock(data, dataSize, bank, address, verify, true);
garfieldsg	0:662207e34fba	3553	}
garfieldsg	0:662207e34fba	3554	bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem)
garfieldsg	0:662207e34fba	3555	{
garfieldsg	0:662207e34fba	3556	uint8_t *progBuffer, success, special;
garfieldsg	0:662207e34fba	3557	uint16_t i, j;
garfieldsg	0:662207e34fba	3558	if (useProgMem) {
garfieldsg	0:662207e34fba	3559	progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
garfieldsg	0:662207e34fba	3560	}
garfieldsg	0:662207e34fba	3561
garfieldsg	0:662207e34fba	3562	// config set data is a long string of blocks with the following structure:
garfieldsg	0:662207e34fba	3563	// [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
garfieldsg	0:662207e34fba	3564	uint8_t bank, offset, length;
garfieldsg	0:662207e34fba	3565	for (i = 0; i < dataSize;) {
garfieldsg	0:662207e34fba	3566	if (useProgMem) {
garfieldsg	0:662207e34fba	3567	bank = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3568	offset = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3569	length = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3570	} else {
garfieldsg	0:662207e34fba	3571	bank = data[i++];
garfieldsg	0:662207e34fba	3572	offset = data[i++];
garfieldsg	0:662207e34fba	3573	length = data[i++];
garfieldsg	0:662207e34fba	3574	}
garfieldsg	0:662207e34fba	3575
garfieldsg	0:662207e34fba	3576	// write data or perform special action
garfieldsg	0:662207e34fba	3577	if (length > 0) {
garfieldsg	0:662207e34fba	3578	// regular block of data to write
garfieldsg	0:662207e34fba	3579	/*Serial.print("Writing config block to bank ");
garfieldsg	0:662207e34fba	3580	Serial.print(bank);
garfieldsg	0:662207e34fba	3581	Serial.print(", offset ");
garfieldsg	0:662207e34fba	3582	Serial.print(offset);
garfieldsg	0:662207e34fba	3583	Serial.print(", length=");
garfieldsg	0:662207e34fba	3584	Serial.println(length);*/
garfieldsg	0:662207e34fba	3585	if (useProgMem) {
garfieldsg	0:662207e34fba	3586	if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length);
garfieldsg	0:662207e34fba	3587	for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j);
garfieldsg	0:662207e34fba	3588	} else {
garfieldsg	0:662207e34fba	3589	progBuffer = (uint8_t *)data + i;
garfieldsg	0:662207e34fba	3590	}
garfieldsg	0:662207e34fba	3591	success = writeMemoryBlock(progBuffer, length, bank, offset, true);
garfieldsg	0:662207e34fba	3592	i += length;
garfieldsg	0:662207e34fba	3593	} else {
garfieldsg	0:662207e34fba	3594	// special instruction
garfieldsg	0:662207e34fba	3595	// NOTE: this kind of behavior (what and when to do certain things)
garfieldsg	0:662207e34fba	3596	// is totally undocumented. This code is in here based on observed
garfieldsg	0:662207e34fba	3597	// behavior only, and exactly why (or even whether) it has to be here
garfieldsg	0:662207e34fba	3598	// is anybody's guess for now.
garfieldsg	0:662207e34fba	3599	if (useProgMem) {
garfieldsg	0:662207e34fba	3600	special = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3601	} else {
garfieldsg	0:662207e34fba	3602	special = data[i++];
garfieldsg	0:662207e34fba	3603	}
garfieldsg	0:662207e34fba	3604	/*Serial.print("Special command code ");
garfieldsg	0:662207e34fba	3605	Serial.print(special, HEX);
garfieldsg	0:662207e34fba	3606	Serial.println(" found...");*/
garfieldsg	0:662207e34fba	3607	if (special == 0x01) {
garfieldsg	0:662207e34fba	3608	// enable DMP-related interrupts
garfieldsg	0:662207e34fba	3609
garfieldsg	0:662207e34fba	3610	//setIntZeroMotionEnabled(true);
garfieldsg	0:662207e34fba	3611	//setIntFIFOBufferOverflowEnabled(true);
garfieldsg	0:662207e34fba	3612	//setIntDMPEnabled(true);
garfieldsg	0:662207e34fba	3613	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
garfieldsg	0:662207e34fba	3614
garfieldsg	0:662207e34fba	3615	success = true;
garfieldsg	0:662207e34fba	3616	} else {
garfieldsg	0:662207e34fba	3617	// unknown special command
garfieldsg	0:662207e34fba	3618	success = false;
garfieldsg	0:662207e34fba	3619	}
garfieldsg	0:662207e34fba	3620	}
garfieldsg	0:662207e34fba	3621
garfieldsg	0:662207e34fba	3622	if (!success) {
garfieldsg	0:662207e34fba	3623	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3624	return false; // uh oh
garfieldsg	0:662207e34fba	3625	}
garfieldsg	0:662207e34fba	3626	}
garfieldsg	0:662207e34fba	3627	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3628	return true;
garfieldsg	0:662207e34fba	3629	}
garfieldsg	0:662207e34fba	3630	bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
garfieldsg	0:662207e34fba	3631	{
garfieldsg	0:662207e34fba	3632	return writeDMPConfigurationSet(data, dataSize, false);
garfieldsg	0:662207e34fba	3633	}
garfieldsg	0:662207e34fba	3634
garfieldsg	0:662207e34fba	3635	// DMP_CFG_1 register
garfieldsg	0:662207e34fba	3636
garfieldsg	0:662207e34fba	3637	uint8_t MPU6050::getDMPConfig1()
garfieldsg	0:662207e34fba	3638	{
garfieldsg	0:662207e34fba	3639	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
garfieldsg	0:662207e34fba	3640	return buffer[0];
garfieldsg	0:662207e34fba	3641	}
garfieldsg	0:662207e34fba	3642	void MPU6050::setDMPConfig1(uint8_t config)
garfieldsg	0:662207e34fba	3643	{
garfieldsg	0:662207e34fba	3644	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
garfieldsg	0:662207e34fba	3645	}
garfieldsg	0:662207e34fba	3646
garfieldsg	0:662207e34fba	3647	// DMP_CFG_2 register
garfieldsg	0:662207e34fba	3648
garfieldsg	0:662207e34fba	3649	uint8_t MPU6050::getDMPConfig2()
garfieldsg	0:662207e34fba	3650	{
garfieldsg	0:662207e34fba	3651	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
garfieldsg	0:662207e34fba	3652	return buffer[0];
garfieldsg	0:662207e34fba	3653	}
garfieldsg	0:662207e34fba	3654	void MPU6050::setDMPConfig2(uint8_t config)
garfieldsg	0:662207e34fba	3655	{
garfieldsg	0:662207e34fba	3656	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
garfieldsg	0:662207e34fba	3657	}

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Type:	Library
Created:	22 Nov 2018
Imports:	0
Forks:	0
Commits:	5
Dependents:	0
Dependencies:	0
Followers:	1

MPU6050.cpp@3:3c0727618a3b, 2017-08-23 (annotated)

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