MPU6050 - sa

Users » suads » Code » MPU6050

MPU6050.cpp@4:df70fe9d6635, 2018-11-22 (annotated)

Committer:: suads
Date:: Thu Nov 22 17:46:45 2018 +0000
Revision:: 4:df70fe9d6635
Parent:: 3:3c0727618a3b

seismo

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;
suads	4:df70fe9d6635	71	#define useDebugSerial 0
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
suads	4:df70fe9d6635	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
suads	4:df70fe9d6635	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
suads	4:df70fe9d6635	159	//debugSerial.printf("MPU6050::testConnection start\n");
garfieldsg	0:662207e34fba	160	#endif
garfieldsg	0:662207e34fba	161	uint8_t deviceId = getDeviceID();
suads	4:df70fe9d6635	162	//debugSerial.printf("\n\n____%d___\n",deviceId);
garfieldsg	0:662207e34fba	163	#ifdef useDebugSerial
suads	4:df70fe9d6635	164	//debugSerial.printf("DeviceId = %d\n",deviceId);
garfieldsg	0:662207e34fba	165	#endif
garfieldsg	0:662207e34fba	166	return deviceId == 0x34;
garfieldsg	0:662207e34fba	167	}
garfieldsg	0:662207e34fba	168
OsmanKameric	2:e2081d9de7af	169	void MPU6050::calibrate(float* dest1, float* dest2){
OsmanKameric	2:e2081d9de7af	170	uint8_t data[12]; // data array to hold acc and gyro x,y,z data
OsmanKameric	2:e2081d9de7af	171	uint16_t fifo_count, packet_count, count;
OsmanKameric	2:e2081d9de7af	172	int32_t accel_bias[3] = {0,0,0};
OsmanKameric	2:e2081d9de7af	173	int32_t gyro_bias[3] = {0,0,0};
OsmanKameric	2:e2081d9de7af	174	float aRes = 2.0/32768.0;
OsmanKameric	2:e2081d9de7af	175	float gRes = 250.0/32768.0;
OsmanKameric	2:e2081d9de7af	176	uint16_t accelsensitivity = 16384; // = 1/aRes = 16384 LSB/g
OsmanKameric	2:e2081d9de7af	177	//uint16_t gyrosensitivity = 131; // = 1/gRes = 131 LSB/dps
OsmanKameric	2:e2081d9de7af	178
OsmanKameric	2:e2081d9de7af	179	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, 0x80); // set bit7 to reset the device
OsmanKameric	2:e2081d9de7af	180	wait_ms(100);
OsmanKameric	2:e2081d9de7af	181
OsmanKameric	2:e2081d9de7af	182	/Get stable time source /
OsmanKameric	2:e2081d9de7af	183	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	184	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_2, 0x00); // Disable accel only low power mode
OsmanKameric	2:e2081d9de7af	185	wait(0.2);
OsmanKameric	2:e2081d9de7af	186
OsmanKameric	2:e2081d9de7af	187	/* Configure device for bias calculation */
OsmanKameric	2:e2081d9de7af	188	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_INT_ENABLE, 0x00); // Disable all interrupts
OsmanKameric	2:e2081d9de7af	189	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_FIFO_EN, 0x00); // Disable FIFO
OsmanKameric	2:e2081d9de7af	190	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, 0x00); // Turn on internal clock source
OsmanKameric	2:e2081d9de7af	191	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_I2C_MST_CTRL, 0x00); // Disable I2C master
OsmanKameric	2:e2081d9de7af	192	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_USER_CTRL, 0x00); // Disable FIFO and I2C master modes
OsmanKameric	2:e2081d9de7af	193	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_USER_CTRL, 0x04); // Reset FIFO
OsmanKameric	2:e2081d9de7af	194	wait(0.015);
OsmanKameric	2:e2081d9de7af	195
OsmanKameric	2:e2081d9de7af	196
OsmanKameric	2:e2081d9de7af	197	/* Configure accel and gyro for bias calculation */
OsmanKameric	2:e2081d9de7af	198	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_CONFIG, 0x01); // Set low-pass filter to 188 Hz
OsmanKameric	2:e2081d9de7af	199	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz
OsmanKameric	2:e2081d9de7af	200	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity
OsmanKameric	2:e2081d9de7af	201	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity
OsmanKameric	2:e2081d9de7af	202
OsmanKameric	2:e2081d9de7af	203	/* Configure FIFO to capture accelerometer and gyro data for bias calculation */
OsmanKameric	2:e2081d9de7af	204	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_USER_CTRL, 0x40); // Enable FIFO
OsmanKameric	2:e2081d9de7af	205	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	206	wait(0.08); // Sample rate is 1 kHz, accumulates 80 samples in 80 milliseconds.
OsmanKameric	2:e2081d9de7af	207	// 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	208
OsmanKameric	2:e2081d9de7af	209
OsmanKameric	2:e2081d9de7af	210	/* At end of sample accumulation, turn off FIFO sensor read */
OsmanKameric	2:e2081d9de7af	211	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_FIFO_EN, 0x00); // Disable FIFO
OsmanKameric	2:e2081d9de7af	212	i2Cdev.readBytes(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_FIFO_COUNTH, 2, &data[0]); // Read FIFO sample count
OsmanKameric	2:e2081d9de7af	213	fifo_count = ((uint16_t)data[0] << 8) \| data[1];
OsmanKameric	2:e2081d9de7af	214	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	215
OsmanKameric	2:e2081d9de7af	216	for(count=0; count<packet_count; count++)
OsmanKameric	2:e2081d9de7af	217	{
OsmanKameric	2:e2081d9de7af	218	int16_t accel_temp[3]={0,0,0};
OsmanKameric	2:e2081d9de7af	219	int16_t gyro_temp[3]={0,0,0};
OsmanKameric	2:e2081d9de7af	220	i2Cdev.readBytes(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_FIFO_R_W, 12, &data[0]); // read data for averaging
OsmanKameric	2:e2081d9de7af	221
OsmanKameric	2:e2081d9de7af	222	/* Form signed 16-bit integer for each sample in FIFO */
OsmanKameric	2:e2081d9de7af	223	accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) \| data[1] ) ;
OsmanKameric	2:e2081d9de7af	224	accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) \| data[3] ) ;
OsmanKameric	2:e2081d9de7af	225	accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) \| data[5] ) ;
OsmanKameric	2:e2081d9de7af	226	gyro_temp[0] = (int16_t) (((int16_t)data[6] << 8) \| data[7] ) ;
OsmanKameric	2:e2081d9de7af	227	gyro_temp[1] = (int16_t) (((int16_t)data[8] << 8) \| data[9] ) ;
OsmanKameric	2:e2081d9de7af	228	gyro_temp[2] = (int16_t) (((int16_t)data[10] << 8) \| data[11]) ;
OsmanKameric	2:e2081d9de7af	229
OsmanKameric	2:e2081d9de7af	230	/* Sum individual signed 16-bit biases to get accumulated signed 32-bit biases */
OsmanKameric	2:e2081d9de7af	231	accel_bias[0] += (int32_t) accel_temp[0];
OsmanKameric	2:e2081d9de7af	232	accel_bias[1] += (int32_t) accel_temp[1];
OsmanKameric	2:e2081d9de7af	233	accel_bias[2] += (int32_t) accel_temp[2];
OsmanKameric	2:e2081d9de7af	234	gyro_bias[0] += (int32_t) gyro_temp[0];
OsmanKameric	2:e2081d9de7af	235	gyro_bias[1] += (int32_t) gyro_temp[1];
OsmanKameric	2:e2081d9de7af	236	gyro_bias[2] += (int32_t) gyro_temp[2];
OsmanKameric	2:e2081d9de7af	237	}
OsmanKameric	2:e2081d9de7af	238	/* Normalize sums to get average count biases */
OsmanKameric	2:e2081d9de7af	239	accel_bias[0] /= (int32_t) packet_count;
OsmanKameric	2:e2081d9de7af	240	accel_bias[1] /= (int32_t) packet_count;
OsmanKameric	2:e2081d9de7af	241	accel_bias[2] /= (int32_t) packet_count;
OsmanKameric	2:e2081d9de7af	242	gyro_bias[0] /= (int32_t) packet_count;
OsmanKameric	2:e2081d9de7af	243	gyro_bias[1] /= (int32_t) packet_count;
OsmanKameric	2:e2081d9de7af	244	gyro_bias[2] /= (int32_t) packet_count;
OsmanKameric	2:e2081d9de7af	245
OsmanKameric	2:e2081d9de7af	246	/* Remove gravity from the z-axis accelerometer bias calculation */
OsmanKameric	2:e2081d9de7af	247	if(accel_bias[2] > 0) {accel_bias[2] -= (int32_t) accelsensitivity;}
OsmanKameric	2:e2081d9de7af	248	else {accel_bias[2] += (int32_t) accelsensitivity;}
OsmanKameric	2:e2081d9de7af	249
OsmanKameric	2:e2081d9de7af	250	/* Output scaled accelerometer biases for manual subtraction in the main program */
OsmanKameric	2:e2081d9de7af	251	dest1[0] = accel_bias[0]*aRes;
OsmanKameric	2:e2081d9de7af	252	dest1[1] = accel_bias[1]*aRes;
OsmanKameric	2:e2081d9de7af	253	dest1[2] = accel_bias[2]*aRes;
OsmanKameric	2:e2081d9de7af	254
OsmanKameric	2:e2081d9de7af	255	/* Construct the gyro biases for push to the hardware gyro bias registers, which are reset to zero upon device startup */
OsmanKameric	2:e2081d9de7af	256	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	257	data[1] = (-gyro_bias[0]/4) & 0xFF; // Biases are additive, so change sign on calculated average gyro biases
OsmanKameric	2:e2081d9de7af	258	data[2] = (-gyro_bias[1]/4 >> 8) & 0xFF;
OsmanKameric	2:e2081d9de7af	259	data[3] = (-gyro_bias[1]/4) & 0xFF;
OsmanKameric	2:e2081d9de7af	260	data[4] = (-gyro_bias[2]/4 >> 8) & 0xFF;
OsmanKameric	2:e2081d9de7af	261	data[5] = (-gyro_bias[2]/4) & 0xFF;
OsmanKameric	2:e2081d9de7af	262
OsmanKameric	2:e2081d9de7af	263	/* Push gyro biases to hardware registers */
OsmanKameric	2:e2081d9de7af	264	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_XG_OFFS_USRH, data[0]);
OsmanKameric	2:e2081d9de7af	265	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_XG_OFFS_USRL, data[1]);
OsmanKameric	2:e2081d9de7af	266	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_YG_OFFS_USRH, data[2]);
OsmanKameric	2:e2081d9de7af	267	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_YG_OFFS_USRL, data[3]);
OsmanKameric	2:e2081d9de7af	268	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ZG_OFFS_USRH, data[4]);
OsmanKameric	2:e2081d9de7af	269	i2Cdev.writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ZG_OFFS_USRL, data[5]);
OsmanKameric	2:e2081d9de7af	270
OsmanKameric	2:e2081d9de7af	271	/* Construct gyro bias in deg/s for later manual subtraction */
OsmanKameric	2:e2081d9de7af	272	dest2[0] = gyro_bias[0]*gRes;
OsmanKameric	2:e2081d9de7af	273	dest2[1] = gyro_bias[1]*gRes;
OsmanKameric	2:e2081d9de7af	274	dest2[2] = gyro_bias[2]*gRes;
OsmanKameric	2:e2081d9de7af	275	}
OsmanKameric	2:e2081d9de7af	276	void MPU6050::readAccelData(int16_t* dest)
OsmanKameric	2:e2081d9de7af	277	{
OsmanKameric	2:e2081d9de7af	278	uint8_t rawData[6]; // x,y,z acc data
OsmanKameric	2:e2081d9de7af	279	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	280
OsmanKameric	2:e2081d9de7af	281	/* Turn the MSB LSB into signed 16-bit value */
OsmanKameric	2:e2081d9de7af	282	dest[0] = (int16_t)(((int16_t)rawData[0]<<8) \| rawData[1]); // ACCEL_XOUT
OsmanKameric	2:e2081d9de7af	283	dest[1] = (int16_t)(((int16_t)rawData[2]<<8) \| rawData[3]); // ACCEL_YOUT
OsmanKameric	2:e2081d9de7af	284	dest[2] = (int16_t)(((int16_t)rawData[4]<<8) \| rawData[5]); // ACCEL_ZOUT
OsmanKameric	2:e2081d9de7af	285	}
OsmanKameric	2:e2081d9de7af	286	void MPU6050::readGyroData(int16_t* dest)
OsmanKameric	2:e2081d9de7af	287	{
OsmanKameric	2:e2081d9de7af	288	uint8_t rawData[6]; // x,y,z gyro data
OsmanKameric	2:e2081d9de7af	289	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	290
OsmanKameric	2:e2081d9de7af	291	/* Turn the MSB LSB into signed 16-bit value */
OsmanKameric	2:e2081d9de7af	292	dest[0] = (int16_t)(((int16_t)rawData[0]<<8) \| rawData[1]); // GYRO_XOUT
OsmanKameric	2:e2081d9de7af	293	dest[1] = (int16_t)(((int16_t)rawData[2]<<8) \| rawData[3]); // GYRO_YOUT
OsmanKameric	2:e2081d9de7af	294	dest[2] = (int16_t)(((int16_t)rawData[4]<<8) \| rawData[5]); // GYRO_ZOUT
OsmanKameric	2:e2081d9de7af	295	}
OsmanKameric	2:e2081d9de7af	296	void MPU6050::getGres()
OsmanKameric	2:e2081d9de7af	297	{
OsmanKameric	2:e2081d9de7af	298	switch(Gscale)
OsmanKameric	2:e2081d9de7af	299	{
OsmanKameric	2:e2081d9de7af	300	case GFS_250DPS:
OsmanKameric	2:e2081d9de7af	301	gRes = 250.0/32768.0;
OsmanKameric	2:e2081d9de7af	302	break;
OsmanKameric	2:e2081d9de7af	303	case GFS_500DPS:
OsmanKameric	2:e2081d9de7af	304	gRes = 500.0/32768.0;
OsmanKameric	2:e2081d9de7af	305	break;
OsmanKameric	2:e2081d9de7af	306	case GFS_1000DPS:
OsmanKameric	2:e2081d9de7af	307	gRes = 1000.0/32768.0;
OsmanKameric	2:e2081d9de7af	308	break;
OsmanKameric	2:e2081d9de7af	309	case GFS_2000DPS:
OsmanKameric	2:e2081d9de7af	310	gRes = 2000.0/32768.0;
OsmanKameric	2:e2081d9de7af	311	break;
OsmanKameric	2:e2081d9de7af	312	}
OsmanKameric	2:e2081d9de7af	313	}
OsmanKameric	2:e2081d9de7af	314	void MPU6050::getAres()
OsmanKameric	2:e2081d9de7af	315	{
OsmanKameric	2:e2081d9de7af	316	switch(Ascale)
OsmanKameric	2:e2081d9de7af	317	{
OsmanKameric	2:e2081d9de7af	318	case AFS_2G:
OsmanKameric	2:e2081d9de7af	319	aRes = 2.0/32768.0;
OsmanKameric	2:e2081d9de7af	320	break;
OsmanKameric	2:e2081d9de7af	321	case AFS_4G:
OsmanKameric	2:e2081d9de7af	322	aRes = 4.0/32768.0;
OsmanKameric	2:e2081d9de7af	323	break;
OsmanKameric	2:e2081d9de7af	324	case AFS_8G:
OsmanKameric	2:e2081d9de7af	325	aRes = 8.0/32768.0;
OsmanKameric	2:e2081d9de7af	326	break;
OsmanKameric	2:e2081d9de7af	327	case AFS_16G:
OsmanKameric	2:e2081d9de7af	328	aRes = 16.0/32768.0;
OsmanKameric	2:e2081d9de7af	329	break;
OsmanKameric	2:e2081d9de7af	330	}
OsmanKameric	2:e2081d9de7af	331	}
garfieldsg	0:662207e34fba	332	// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
garfieldsg	0:662207e34fba	333
garfieldsg	0:662207e34fba	334	/** Get the auxiliary I2C supply voltage level.
garfieldsg	0:662207e34fba	335	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
garfieldsg	0:662207e34fba	336	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
garfieldsg	0:662207e34fba	337	* the MPU-6000, which does not have a VLOGIC pin.
garfieldsg	0:662207e34fba	338	* @return I2C supply voltage level (0=VLOGIC, 1=VDD)
garfieldsg	0:662207e34fba	339	*/
garfieldsg	0:662207e34fba	340	uint8_t MPU6050::getAuxVDDIOLevel()
garfieldsg	0:662207e34fba	341	{
garfieldsg	0:662207e34fba	342	i2Cdev.readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
garfieldsg	0:662207e34fba	343	return buffer[0];
garfieldsg	0:662207e34fba	344	}
garfieldsg	0:662207e34fba	345	/** Set the auxiliary I2C supply voltage level.
garfieldsg	0:662207e34fba	346	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
garfieldsg	0:662207e34fba	347	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
garfieldsg	0:662207e34fba	348	* the MPU-6000, which does not have a VLOGIC pin.
garfieldsg	0:662207e34fba	349	* @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
garfieldsg	0:662207e34fba	350	*/
garfieldsg	0:662207e34fba	351	void MPU6050::setAuxVDDIOLevel(uint8_t level)
garfieldsg	0:662207e34fba	352	{
garfieldsg	0:662207e34fba	353	i2Cdev.writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
garfieldsg	0:662207e34fba	354	}
garfieldsg	0:662207e34fba	355
garfieldsg	0:662207e34fba	356	// SMPLRT_DIV register
garfieldsg	0:662207e34fba	357
garfieldsg	0:662207e34fba	358	/** Get gyroscope output rate divider.
garfieldsg	0:662207e34fba	359	* The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
garfieldsg	0:662207e34fba	360	* Motion detection, and Free Fall detection are all based on the Sample Rate.
garfieldsg	0:662207e34fba	361	* The Sample Rate is generated by dividing the gyroscope output rate by
garfieldsg	0:662207e34fba	362	* SMPLRT_DIV:
garfieldsg	0:662207e34fba	363	*
garfieldsg	0:662207e34fba	364	* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
garfieldsg	0:662207e34fba	365	*
garfieldsg	0:662207e34fba	366	* where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
garfieldsg	0:662207e34fba	367	* 7), and 1kHz when the DLPF is enabled (see Register 26).
garfieldsg	0:662207e34fba	368	*
garfieldsg	0:662207e34fba	369	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
garfieldsg	0:662207e34fba	370	* Rate greater than 1kHz, the same accelerometer sample may be output to the
garfieldsg	0:662207e34fba	371	* FIFO, DMP, and sensor registers more than once.
garfieldsg	0:662207e34fba	372	*
garfieldsg	0:662207e34fba	373	* For a diagram of the gyroscope and accelerometer signal paths, see Section 8
garfieldsg	0:662207e34fba	374	* of the MPU-6000/MPU-6050 Product Specification document.
garfieldsg	0:662207e34fba	375	*
garfieldsg	0:662207e34fba	376	* @return Current sample rate
garfieldsg	0:662207e34fba	377	* @see MPU6050_RA_SMPLRT_DIV
garfieldsg	0:662207e34fba	378	*/
garfieldsg	0:662207e34fba	379	uint8_t MPU6050::getRate()
garfieldsg	0:662207e34fba	380	{
garfieldsg	0:662207e34fba	381	i2Cdev.readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
garfieldsg	0:662207e34fba	382	return buffer[0];
garfieldsg	0:662207e34fba	383	}
garfieldsg	0:662207e34fba	384	/** Set gyroscope sample rate divider.
garfieldsg	0:662207e34fba	385	* @param rate New sample rate divider
garfieldsg	0:662207e34fba	386	* @see getRate()
garfieldsg	0:662207e34fba	387	* @see MPU6050_RA_SMPLRT_DIV
garfieldsg	0:662207e34fba	388	*/
garfieldsg	0:662207e34fba	389	void MPU6050::setRate(uint8_t rate)
garfieldsg	0:662207e34fba	390	{
garfieldsg	0:662207e34fba	391	i2Cdev.writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
garfieldsg	0:662207e34fba	392	}
garfieldsg	0:662207e34fba	393
garfieldsg	0:662207e34fba	394	// CONFIG register
garfieldsg	0:662207e34fba	395
garfieldsg	0:662207e34fba	396	/** Get external FSYNC configuration.
garfieldsg	0:662207e34fba	397	* Configures the external Frame Synchronization (FSYNC) pin sampling. An
garfieldsg	0:662207e34fba	398	* external signal connected to the FSYNC pin can be sampled by configuring
garfieldsg	0:662207e34fba	399	* EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
garfieldsg	0:662207e34fba	400	* strobes may be captured. The latched FSYNC signal will be sampled at the
garfieldsg	0:662207e34fba	401	* Sampling Rate, as defined in register 25. After sampling, the latch will
garfieldsg	0:662207e34fba	402	* reset to the current FSYNC signal state.
garfieldsg	0:662207e34fba	403	*
garfieldsg	0:662207e34fba	404	* The sampled value will be reported in place of the least significant bit in
garfieldsg	0:662207e34fba	405	* a sensor data register determined by the value of EXT_SYNC_SET according to
garfieldsg	0:662207e34fba	406	* the following table.
garfieldsg	0:662207e34fba	407	*
garfieldsg	0:662207e34fba	408	* <pre>
garfieldsg	0:662207e34fba	409	* EXT_SYNC_SET \| FSYNC Bit Location
garfieldsg	0:662207e34fba	410	* -------------+-------------------
garfieldsg	0:662207e34fba	411	* 0 \| Input disabled
garfieldsg	0:662207e34fba	412	* 1 \| TEMP_OUT_L[0]
garfieldsg	0:662207e34fba	413	* 2 \| GYRO_XOUT_L[0]
garfieldsg	0:662207e34fba	414	* 3 \| GYRO_YOUT_L[0]
garfieldsg	0:662207e34fba	415	* 4 \| GYRO_ZOUT_L[0]
garfieldsg	0:662207e34fba	416	* 5 \| ACCEL_XOUT_L[0]
garfieldsg	0:662207e34fba	417	* 6 \| ACCEL_YOUT_L[0]
garfieldsg	0:662207e34fba	418	* 7 \| ACCEL_ZOUT_L[0]
garfieldsg	0:662207e34fba	419	* </pre>
garfieldsg	0:662207e34fba	420	*
garfieldsg	0:662207e34fba	421	* @return FSYNC configuration value
garfieldsg	0:662207e34fba	422	*/
garfieldsg	0:662207e34fba	423	uint8_t MPU6050::getExternalFrameSync()
garfieldsg	0:662207e34fba	424	{
garfieldsg	0:662207e34fba	425	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
garfieldsg	0:662207e34fba	426	return buffer[0];
garfieldsg	0:662207e34fba	427	}
garfieldsg	0:662207e34fba	428	/** Set external FSYNC configuration.
garfieldsg	0:662207e34fba	429	* @see getExternalFrameSync()
garfieldsg	0:662207e34fba	430	* @see MPU6050_RA_CONFIG
garfieldsg	0:662207e34fba	431	* @param sync New FSYNC configuration value
garfieldsg	0:662207e34fba	432	*/
garfieldsg	0:662207e34fba	433	void MPU6050::setExternalFrameSync(uint8_t sync)
garfieldsg	0:662207e34fba	434	{
garfieldsg	0:662207e34fba	435	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
garfieldsg	0:662207e34fba	436	}
garfieldsg	0:662207e34fba	437	/** Get digital low-pass filter configuration.
garfieldsg	0:662207e34fba	438	* The DLPF_CFG parameter sets the digital low pass filter configuration. It
garfieldsg	0:662207e34fba	439	* also determines the internal sampling rate used by the device as shown in
garfieldsg	0:662207e34fba	440	* the table below.
garfieldsg	0:662207e34fba	441	*
garfieldsg	0:662207e34fba	442	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
garfieldsg	0:662207e34fba	443	* Rate greater than 1kHz, the same accelerometer sample may be output to the
garfieldsg	0:662207e34fba	444	* FIFO, DMP, and sensor registers more than once.
garfieldsg	0:662207e34fba	445	*
garfieldsg	0:662207e34fba	446	* <pre>
garfieldsg	0:662207e34fba	447	* \| ACCELEROMETER \| GYROSCOPE
garfieldsg	0:662207e34fba	448	* DLPF_CFG \| Bandwidth \| Delay \| Bandwidth \| Delay \| Sample Rate
garfieldsg	0:662207e34fba	449	* ---------+-----------+--------+-----------+--------+-------------
garfieldsg	0:662207e34fba	450	* 0 \| 260Hz \| 0ms \| 256Hz \| 0.98ms \| 8kHz
garfieldsg	0:662207e34fba	451	* 1 \| 184Hz \| 2.0ms \| 188Hz \| 1.9ms \| 1kHz
garfieldsg	0:662207e34fba	452	* 2 \| 94Hz \| 3.0ms \| 98Hz \| 2.8ms \| 1kHz
garfieldsg	0:662207e34fba	453	* 3 \| 44Hz \| 4.9ms \| 42Hz \| 4.8ms \| 1kHz
garfieldsg	0:662207e34fba	454	* 4 \| 21Hz \| 8.5ms \| 20Hz \| 8.3ms \| 1kHz
garfieldsg	0:662207e34fba	455	* 5 \| 10Hz \| 13.8ms \| 10Hz \| 13.4ms \| 1kHz
garfieldsg	0:662207e34fba	456	* 6 \| 5Hz \| 19.0ms \| 5Hz \| 18.6ms \| 1kHz
garfieldsg	0:662207e34fba	457	* 7 \| -- Reserved -- \| -- Reserved -- \| Reserved
garfieldsg	0:662207e34fba	458	* </pre>
garfieldsg	0:662207e34fba	459	*
garfieldsg	0:662207e34fba	460	* @return DLFP configuration
garfieldsg	0:662207e34fba	461	* @see MPU6050_RA_CONFIG
garfieldsg	0:662207e34fba	462	* @see MPU6050_CFG_DLPF_CFG_BIT
garfieldsg	0:662207e34fba	463	* @see MPU6050_CFG_DLPF_CFG_LENGTH
garfieldsg	0:662207e34fba	464	*/
garfieldsg	0:662207e34fba	465	uint8_t MPU6050::getDLPFMode()
garfieldsg	0:662207e34fba	466	{
garfieldsg	0:662207e34fba	467	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
garfieldsg	0:662207e34fba	468	return buffer[0];
garfieldsg	0:662207e34fba	469	}
garfieldsg	0:662207e34fba	470	/** Set digital low-pass filter configuration.
garfieldsg	0:662207e34fba	471	* @param mode New DLFP configuration setting
garfieldsg	0:662207e34fba	472	* @see getDLPFBandwidth()
garfieldsg	0:662207e34fba	473	* @see MPU6050_DLPF_BW_256
garfieldsg	0:662207e34fba	474	* @see MPU6050_RA_CONFIG
garfieldsg	0:662207e34fba	475	* @see MPU6050_CFG_DLPF_CFG_BIT
garfieldsg	0:662207e34fba	476	* @see MPU6050_CFG_DLPF_CFG_LENGTH
garfieldsg	0:662207e34fba	477	*/
garfieldsg	0:662207e34fba	478	void MPU6050::setDLPFMode(uint8_t mode)
garfieldsg	0:662207e34fba	479	{
garfieldsg	0:662207e34fba	480	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
garfieldsg	0:662207e34fba	481	}
garfieldsg	0:662207e34fba	482
garfieldsg	0:662207e34fba	483	// GYRO_CONFIG register
garfieldsg	0:662207e34fba	484
garfieldsg	0:662207e34fba	485	/** Get full-scale gyroscope range.
garfieldsg	0:662207e34fba	486	* The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
garfieldsg	0:662207e34fba	487	* as described in the table below.
garfieldsg	0:662207e34fba	488	*
garfieldsg	0:662207e34fba	489	* <pre>
garfieldsg	0:662207e34fba	490	* 0 = +/- 250 degrees/sec
garfieldsg	0:662207e34fba	491	* 1 = +/- 500 degrees/sec
garfieldsg	0:662207e34fba	492	* 2 = +/- 1000 degrees/sec
garfieldsg	0:662207e34fba	493	* 3 = +/- 2000 degrees/sec
garfieldsg	0:662207e34fba	494	* </pre>
garfieldsg	0:662207e34fba	495	*
garfieldsg	0:662207e34fba	496	* @return Current full-scale gyroscope range setting
garfieldsg	0:662207e34fba	497	* @see MPU6050_GYRO_FS_250
garfieldsg	0:662207e34fba	498	* @see MPU6050_RA_GYRO_CONFIG
garfieldsg	0:662207e34fba	499	* @see MPU6050_GCONFIG_FS_SEL_BIT
garfieldsg	0:662207e34fba	500	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
garfieldsg	0:662207e34fba	501	*/
garfieldsg	0:662207e34fba	502	uint8_t MPU6050::getFullScaleGyroRange()
garfieldsg	0:662207e34fba	503	{
garfieldsg	0:662207e34fba	504	i2Cdev.readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
garfieldsg	0:662207e34fba	505	return buffer[0];
garfieldsg	0:662207e34fba	506	}
garfieldsg	0:662207e34fba	507	/** Set full-scale gyroscope range.
garfieldsg	0:662207e34fba	508	* @param range New full-scale gyroscope range value
garfieldsg	0:662207e34fba	509	* @see getFullScaleRange()
garfieldsg	0:662207e34fba	510	* @see MPU6050_GYRO_FS_250
garfieldsg	0:662207e34fba	511	* @see MPU6050_RA_GYRO_CONFIG
garfieldsg	0:662207e34fba	512	* @see MPU6050_GCONFIG_FS_SEL_BIT
garfieldsg	0:662207e34fba	513	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
garfieldsg	0:662207e34fba	514	*/
garfieldsg	0:662207e34fba	515	void MPU6050::setFullScaleGyroRange(uint8_t range)
garfieldsg	0:662207e34fba	516	{
garfieldsg	0:662207e34fba	517	i2Cdev.writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
garfieldsg	0:662207e34fba	518	}
garfieldsg	0:662207e34fba	519
garfieldsg	0:662207e34fba	520	// ACCEL_CONFIG register
garfieldsg	0:662207e34fba	521
garfieldsg	0:662207e34fba	522	/** Get self-test enabled setting for accelerometer X axis.
garfieldsg	0:662207e34fba	523	* @return Self-test enabled value
garfieldsg	0:662207e34fba	524	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	525	*/
garfieldsg	0:662207e34fba	526	bool MPU6050::getAccelXSelfTest()
garfieldsg	0:662207e34fba	527	{
garfieldsg	0:662207e34fba	528	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
garfieldsg	0:662207e34fba	529	return buffer[0];
garfieldsg	0:662207e34fba	530	}
garfieldsg	0:662207e34fba	531	/** Get self-test enabled setting for accelerometer X axis.
garfieldsg	0:662207e34fba	532	* @param enabled Self-test enabled value
garfieldsg	0:662207e34fba	533	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	534	*/
garfieldsg	0:662207e34fba	535	void MPU6050::setAccelXSelfTest(bool enabled)
garfieldsg	0:662207e34fba	536	{
garfieldsg	0:662207e34fba	537	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
garfieldsg	0:662207e34fba	538	}
garfieldsg	0:662207e34fba	539	/** Get self-test enabled value for accelerometer Y axis.
garfieldsg	0:662207e34fba	540	* @return Self-test enabled value
garfieldsg	0:662207e34fba	541	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	542	*/
garfieldsg	0:662207e34fba	543	bool MPU6050::getAccelYSelfTest()
garfieldsg	0:662207e34fba	544	{
garfieldsg	0:662207e34fba	545	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
garfieldsg	0:662207e34fba	546	return buffer[0];
garfieldsg	0:662207e34fba	547	}
garfieldsg	0:662207e34fba	548	/** Get self-test enabled value for accelerometer Y axis.
garfieldsg	0:662207e34fba	549	* @param enabled Self-test enabled value
garfieldsg	0:662207e34fba	550	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	551	*/
garfieldsg	0:662207e34fba	552	void MPU6050::setAccelYSelfTest(bool enabled)
garfieldsg	0:662207e34fba	553	{
garfieldsg	0:662207e34fba	554	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
garfieldsg	0:662207e34fba	555	}
garfieldsg	0:662207e34fba	556	/** Get self-test enabled value for accelerometer Z axis.
garfieldsg	0:662207e34fba	557	* @return Self-test enabled value
garfieldsg	0:662207e34fba	558	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	559	*/
garfieldsg	0:662207e34fba	560	bool MPU6050::getAccelZSelfTest()
garfieldsg	0:662207e34fba	561	{
garfieldsg	0:662207e34fba	562	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
garfieldsg	0:662207e34fba	563	return buffer[0];
garfieldsg	0:662207e34fba	564	}
garfieldsg	0:662207e34fba	565	/** Set self-test enabled value for accelerometer Z axis.
garfieldsg	0:662207e34fba	566	* @param enabled Self-test enabled value
garfieldsg	0:662207e34fba	567	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	568	*/
garfieldsg	0:662207e34fba	569	void MPU6050::setAccelZSelfTest(bool enabled)
garfieldsg	0:662207e34fba	570	{
garfieldsg	0:662207e34fba	571	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
garfieldsg	0:662207e34fba	572	}
garfieldsg	0:662207e34fba	573	/** Get full-scale accelerometer range.
garfieldsg	0:662207e34fba	574	* The FS_SEL parameter allows setting the full-scale range of the accelerometer
garfieldsg	0:662207e34fba	575	* sensors, as described in the table below.
garfieldsg	0:662207e34fba	576	*
garfieldsg	0:662207e34fba	577	* <pre>
garfieldsg	0:662207e34fba	578	* 0 = +/- 2g
garfieldsg	0:662207e34fba	579	* 1 = +/- 4g
garfieldsg	0:662207e34fba	580	* 2 = +/- 8g
garfieldsg	0:662207e34fba	581	* 3 = +/- 16g
garfieldsg	0:662207e34fba	582	* </pre>
garfieldsg	0:662207e34fba	583	*
garfieldsg	0:662207e34fba	584	* @return Current full-scale accelerometer range setting
garfieldsg	0:662207e34fba	585	* @see MPU6050_ACCEL_FS_2
garfieldsg	0:662207e34fba	586	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	587	* @see MPU6050_ACONFIG_AFS_SEL_BIT
garfieldsg	0:662207e34fba	588	* @see MPU6050_ACONFIG_AFS_SEL_LENGTH
garfieldsg	0:662207e34fba	589	*/
garfieldsg	0:662207e34fba	590	uint8_t MPU6050::getFullScaleAccelRange()
garfieldsg	0:662207e34fba	591	{
garfieldsg	0:662207e34fba	592	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
garfieldsg	0:662207e34fba	593	return buffer[0];
garfieldsg	0:662207e34fba	594	}
garfieldsg	0:662207e34fba	595	/** Set full-scale accelerometer range.
garfieldsg	0:662207e34fba	596	* @param range New full-scale accelerometer range setting
garfieldsg	0:662207e34fba	597	* @see getFullScaleAccelRange()
garfieldsg	0:662207e34fba	598	*/
garfieldsg	0:662207e34fba	599	void MPU6050::setFullScaleAccelRange(uint8_t range)
garfieldsg	0:662207e34fba	600	{
garfieldsg	0:662207e34fba	601	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
garfieldsg	0:662207e34fba	602	}
garfieldsg	0:662207e34fba	603	/** Get the high-pass filter configuration.
garfieldsg	0:662207e34fba	604	* The DHPF is a filter module in the path leading to motion detectors (Free
garfieldsg	0:662207e34fba	605	* Fall, Motion threshold, and Zero Motion). The high pass filter output is not
garfieldsg	0:662207e34fba	606	* available to the data registers (see Figure in Section 8 of the MPU-6000/
garfieldsg	0:662207e34fba	607	* MPU-6050 Product Specification document).
garfieldsg	0:662207e34fba	608	*
garfieldsg	0:662207e34fba	609	* The high pass filter has three modes:
garfieldsg	0:662207e34fba	610	*
garfieldsg	0:662207e34fba	611	* <pre>
garfieldsg	0:662207e34fba	612	* Reset: The filter output settles to zero within one sample. This
garfieldsg	0:662207e34fba	613	* effectively disables the high pass filter. This mode may be toggled
garfieldsg	0:662207e34fba	614	* to quickly settle the filter.
garfieldsg	0:662207e34fba	615	*
garfieldsg	0:662207e34fba	616	* On: The high pass filter will pass signals above the cut off frequency.
garfieldsg	0:662207e34fba	617	*
garfieldsg	0:662207e34fba	618	* Hold: When triggered, the filter holds the present sample. The filter
garfieldsg	0:662207e34fba	619	* output will be the difference between the input sample and the held
garfieldsg	0:662207e34fba	620	* sample.
garfieldsg	0:662207e34fba	621	* </pre>
garfieldsg	0:662207e34fba	622	*
garfieldsg	0:662207e34fba	623	* <pre>
garfieldsg	0:662207e34fba	624	* ACCEL_HPF \| Filter Mode \| Cut-off Frequency
garfieldsg	0:662207e34fba	625	* ----------+-------------+------------------
garfieldsg	0:662207e34fba	626	* 0 \| Reset \| None
garfieldsg	0:662207e34fba	627	* 1 \| On \| 5Hz
garfieldsg	0:662207e34fba	628	* 2 \| On \| 2.5Hz
garfieldsg	0:662207e34fba	629	* 3 \| On \| 1.25Hz
garfieldsg	0:662207e34fba	630	* 4 \| On \| 0.63Hz
garfieldsg	0:662207e34fba	631	* 7 \| Hold \| None
garfieldsg	0:662207e34fba	632	* </pre>
garfieldsg	0:662207e34fba	633	*
garfieldsg	0:662207e34fba	634	* @return Current high-pass filter configuration
garfieldsg	0:662207e34fba	635	* @see MPU6050_DHPF_RESET
garfieldsg	0:662207e34fba	636	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	637	*/
garfieldsg	0:662207e34fba	638	uint8_t MPU6050::getDHPFMode()
garfieldsg	0:662207e34fba	639	{
garfieldsg	0:662207e34fba	640	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
garfieldsg	0:662207e34fba	641	return buffer[0];
garfieldsg	0:662207e34fba	642	}
garfieldsg	0:662207e34fba	643	/** Set the high-pass filter configuration.
garfieldsg	0:662207e34fba	644	* @param bandwidth New high-pass filter configuration
garfieldsg	0:662207e34fba	645	* @see setDHPFMode()
garfieldsg	0:662207e34fba	646	* @see MPU6050_DHPF_RESET
garfieldsg	0:662207e34fba	647	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	648	*/
garfieldsg	0:662207e34fba	649	void MPU6050::setDHPFMode(uint8_t bandwidth)
garfieldsg	0:662207e34fba	650	{
garfieldsg	0:662207e34fba	651	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
garfieldsg	0:662207e34fba	652	}
garfieldsg	0:662207e34fba	653
garfieldsg	0:662207e34fba	654	// FF_THR register
garfieldsg	0:662207e34fba	655
garfieldsg	0:662207e34fba	656	/** Get free-fall event acceleration threshold.
garfieldsg	0:662207e34fba	657	* This register configures the detection threshold for Free Fall event
garfieldsg	0:662207e34fba	658	* detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
garfieldsg	0:662207e34fba	659	* absolute value of the accelerometer measurements for the three axes are each
garfieldsg	0:662207e34fba	660	* less than the detection threshold. This condition increments the Free Fall
garfieldsg	0:662207e34fba	661	* duration counter (Register 30). The Free Fall interrupt is triggered when the
garfieldsg	0:662207e34fba	662	* Free Fall duration counter reaches the time specified in FF_DUR.
garfieldsg	0:662207e34fba	663	*
garfieldsg	0:662207e34fba	664	* For more details on the Free Fall detection interrupt, see Section 8.2 of the
garfieldsg	0:662207e34fba	665	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
garfieldsg	0:662207e34fba	666	* 58 of this document.
garfieldsg	0:662207e34fba	667	*
garfieldsg	0:662207e34fba	668	* @return Current free-fall acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	669	* @see MPU6050_RA_FF_THR
garfieldsg	0:662207e34fba	670	*/
garfieldsg	0:662207e34fba	671	uint8_t MPU6050::getFreefallDetectionThreshold()
garfieldsg	0:662207e34fba	672	{
garfieldsg	0:662207e34fba	673	i2Cdev.readByte(devAddr, MPU6050_RA_FF_THR, buffer);
garfieldsg	0:662207e34fba	674	return buffer[0];
garfieldsg	0:662207e34fba	675	}
garfieldsg	0:662207e34fba	676	/** Get free-fall event acceleration threshold.
garfieldsg	0:662207e34fba	677	* @param threshold New free-fall acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	678	* @see getFreefallDetectionThreshold()
garfieldsg	0:662207e34fba	679	* @see MPU6050_RA_FF_THR
garfieldsg	0:662207e34fba	680	*/
garfieldsg	0:662207e34fba	681	void MPU6050::setFreefallDetectionThreshold(uint8_t threshold)
garfieldsg	0:662207e34fba	682	{
garfieldsg	0:662207e34fba	683	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
garfieldsg	0:662207e34fba	684	}
garfieldsg	0:662207e34fba	685
garfieldsg	0:662207e34fba	686	// FF_DUR register
garfieldsg	0:662207e34fba	687
garfieldsg	0:662207e34fba	688	/** Get free-fall event duration threshold.
garfieldsg	0:662207e34fba	689	* This register configures the duration counter threshold for Free Fall event
garfieldsg	0:662207e34fba	690	* detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
garfieldsg	0:662207e34fba	691	* of 1 LSB = 1 ms.
garfieldsg	0:662207e34fba	692	*
garfieldsg	0:662207e34fba	693	* The Free Fall duration counter increments while the absolute value of the
garfieldsg	0:662207e34fba	694	* accelerometer measurements are each less than the detection threshold
garfieldsg	0:662207e34fba	695	* (Register 29). The Free Fall interrupt is triggered when the Free Fall
garfieldsg	0:662207e34fba	696	* duration counter reaches the time specified in this register.
garfieldsg	0:662207e34fba	697	*
garfieldsg	0:662207e34fba	698	* For more details on the Free Fall detection interrupt, see Section 8.2 of
garfieldsg	0:662207e34fba	699	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
garfieldsg	0:662207e34fba	700	* and 58 of this document.
garfieldsg	0:662207e34fba	701	*
garfieldsg	0:662207e34fba	702	* @return Current free-fall duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	703	* @see MPU6050_RA_FF_DUR
garfieldsg	0:662207e34fba	704	*/
garfieldsg	0:662207e34fba	705	uint8_t MPU6050::getFreefallDetectionDuration()
garfieldsg	0:662207e34fba	706	{
garfieldsg	0:662207e34fba	707	i2Cdev.readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
garfieldsg	0:662207e34fba	708	return buffer[0];
garfieldsg	0:662207e34fba	709	}
garfieldsg	0:662207e34fba	710	/** Get free-fall event duration threshold.
garfieldsg	0:662207e34fba	711	* @param duration New free-fall duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	712	* @see getFreefallDetectionDuration()
garfieldsg	0:662207e34fba	713	* @see MPU6050_RA_FF_DUR
garfieldsg	0:662207e34fba	714	*/
garfieldsg	0:662207e34fba	715	void MPU6050::setFreefallDetectionDuration(uint8_t duration)
garfieldsg	0:662207e34fba	716	{
garfieldsg	0:662207e34fba	717	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
garfieldsg	0:662207e34fba	718	}
garfieldsg	0:662207e34fba	719
garfieldsg	0:662207e34fba	720	// MOT_THR register
garfieldsg	0:662207e34fba	721
garfieldsg	0:662207e34fba	722	/** Get motion detection event acceleration threshold.
garfieldsg	0:662207e34fba	723	* This register configures the detection threshold for Motion interrupt
garfieldsg	0:662207e34fba	724	* generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
garfieldsg	0:662207e34fba	725	* absolute value of any of the accelerometer measurements exceeds this Motion
garfieldsg	0:662207e34fba	726	* detection threshold. This condition increments the Motion detection duration
garfieldsg	0:662207e34fba	727	* counter (Register 32). The Motion detection interrupt is triggered when the
garfieldsg	0:662207e34fba	728	* Motion Detection counter reaches the time count specified in MOT_DUR
garfieldsg	0:662207e34fba	729	* (Register 32).
garfieldsg	0:662207e34fba	730	*
garfieldsg	0:662207e34fba	731	* The Motion interrupt will indicate the axis and polarity of detected motion
garfieldsg	0:662207e34fba	732	* in MOT_DETECT_STATUS (Register 97).
garfieldsg	0:662207e34fba	733	*
garfieldsg	0:662207e34fba	734	* For more details on the Motion detection interrupt, see Section 8.3 of the
garfieldsg	0:662207e34fba	735	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
garfieldsg	0:662207e34fba	736	* 58 of this document.
garfieldsg	0:662207e34fba	737	*
garfieldsg	0:662207e34fba	738	* @return Current motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	739	* @see MPU6050_RA_MOT_THR
garfieldsg	0:662207e34fba	740	*/
garfieldsg	0:662207e34fba	741	uint8_t MPU6050::getMotionDetectionThreshold()
garfieldsg	0:662207e34fba	742	{
garfieldsg	0:662207e34fba	743	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
garfieldsg	0:662207e34fba	744	return buffer[0];
garfieldsg	0:662207e34fba	745	}
garfieldsg	0:662207e34fba	746	/** Set free-fall event acceleration threshold.
garfieldsg	0:662207e34fba	747	* @param threshold New motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	748	* @see getMotionDetectionThreshold()
garfieldsg	0:662207e34fba	749	* @see MPU6050_RA_MOT_THR
garfieldsg	0:662207e34fba	750	*/
garfieldsg	0:662207e34fba	751	void MPU6050::setMotionDetectionThreshold(uint8_t threshold)
garfieldsg	0:662207e34fba	752	{
garfieldsg	0:662207e34fba	753	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
garfieldsg	0:662207e34fba	754	}
garfieldsg	0:662207e34fba	755
OsmanKameric	2:e2081d9de7af	756	// register
garfieldsg	0:662207e34fba	757
garfieldsg	0:662207e34fba	758	/** Get motion detection event duration threshold.
garfieldsg	0:662207e34fba	759	* This register configures the duration counter threshold for Motion interrupt
garfieldsg	0:662207e34fba	760	* generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
garfieldsg	0:662207e34fba	761	* of 1LSB = 1ms. The Motion detection duration counter increments when the
garfieldsg	0:662207e34fba	762	* absolute value of any of the accelerometer measurements exceeds the Motion
garfieldsg	0:662207e34fba	763	* detection threshold (Register 31). The Motion detection interrupt is
garfieldsg	0:662207e34fba	764	* triggered when the Motion detection counter reaches the time count specified
garfieldsg	0:662207e34fba	765	* in this register.
garfieldsg	0:662207e34fba	766	*
garfieldsg	0:662207e34fba	767	* For more details on the Motion detection interrupt, see Section 8.3 of the
garfieldsg	0:662207e34fba	768	* MPU-6000/MPU-6050 Product Specification document.
garfieldsg	0:662207e34fba	769	*
garfieldsg	0:662207e34fba	770	* @return Current motion detection duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	771	* @see MPU6050_RA_MOT_DUR
garfieldsg	0:662207e34fba	772	*/
garfieldsg	0:662207e34fba	773	uint8_t MPU6050::getMotionDetectionDuration()
garfieldsg	0:662207e34fba	774	{
garfieldsg	0:662207e34fba	775	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
garfieldsg	0:662207e34fba	776	return buffer[0];
garfieldsg	0:662207e34fba	777	}
garfieldsg	0:662207e34fba	778	/** Set motion detection event duration threshold.
garfieldsg	0:662207e34fba	779	* @param duration New motion detection duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	780	* @see getMotionDetectionDuration()
garfieldsg	0:662207e34fba	781	* @see MPU6050_RA_MOT_DUR
garfieldsg	0:662207e34fba	782	*/
garfieldsg	0:662207e34fba	783	void MPU6050::setMotionDetectionDuration(uint8_t duration)
garfieldsg	0:662207e34fba	784	{
garfieldsg	0:662207e34fba	785	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
garfieldsg	0:662207e34fba	786	}
garfieldsg	0:662207e34fba	787
garfieldsg	0:662207e34fba	788	// ZRMOT_THR register
garfieldsg	0:662207e34fba	789
garfieldsg	0:662207e34fba	790	/** Get zero motion detection event acceleration threshold.
garfieldsg	0:662207e34fba	791	* This register configures the detection threshold for Zero Motion interrupt
garfieldsg	0:662207e34fba	792	* generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
garfieldsg	0:662207e34fba	793	* the absolute value of the accelerometer measurements for the 3 axes are each
garfieldsg	0:662207e34fba	794	* less than the detection threshold. This condition increments the Zero Motion
garfieldsg	0:662207e34fba	795	* duration counter (Register 34). The Zero Motion interrupt is triggered when
garfieldsg	0:662207e34fba	796	* the Zero Motion duration counter reaches the time count specified in
garfieldsg	0:662207e34fba	797	* ZRMOT_DUR (Register 34).
garfieldsg	0:662207e34fba	798	*
garfieldsg	0:662207e34fba	799	* Unlike Free Fall or Motion detection, Zero Motion detection triggers an
garfieldsg	0:662207e34fba	800	* interrupt both when Zero Motion is first detected and when Zero Motion is no
garfieldsg	0:662207e34fba	801	* longer detected.
garfieldsg	0:662207e34fba	802	*
garfieldsg	0:662207e34fba	803	* When a zero motion event is detected, a Zero Motion Status will be indicated
garfieldsg	0:662207e34fba	804	* in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
garfieldsg	0:662207e34fba	805	* condition is detected, the status bit is set to 1. When a zero-motion-to-
garfieldsg	0:662207e34fba	806	* motion condition is detected, the status bit is set to 0.
garfieldsg	0:662207e34fba	807	*
garfieldsg	0:662207e34fba	808	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
garfieldsg	0:662207e34fba	809	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
garfieldsg	0:662207e34fba	810	* and 58 of this document.
garfieldsg	0:662207e34fba	811	*
garfieldsg	0:662207e34fba	812	* @return Current zero motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	813	* @see MPU6050_RA_ZRMOT_THR
garfieldsg	0:662207e34fba	814	*/
garfieldsg	0:662207e34fba	815	uint8_t MPU6050::getZeroMotionDetectionThreshold()
garfieldsg	0:662207e34fba	816	{
garfieldsg	0:662207e34fba	817	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
garfieldsg	0:662207e34fba	818	return buffer[0];
garfieldsg	0:662207e34fba	819	}
garfieldsg	0:662207e34fba	820	/** Set zero motion detection event acceleration threshold.
garfieldsg	0:662207e34fba	821	* @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	822	* @see getZeroMotionDetectionThreshold()
garfieldsg	0:662207e34fba	823	* @see MPU6050_RA_ZRMOT_THR
garfieldsg	0:662207e34fba	824	*/
garfieldsg	0:662207e34fba	825	void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold)
garfieldsg	0:662207e34fba	826	{
garfieldsg	0:662207e34fba	827	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
garfieldsg	0:662207e34fba	828	}
garfieldsg	0:662207e34fba	829
garfieldsg	0:662207e34fba	830	// ZRMOT_DUR register
garfieldsg	0:662207e34fba	831
garfieldsg	0:662207e34fba	832	/** Get zero motion detection event duration threshold.
garfieldsg	0:662207e34fba	833	* This register configures the duration counter threshold for Zero Motion
garfieldsg	0:662207e34fba	834	* interrupt generation. The duration counter ticks at 16 Hz, therefore
garfieldsg	0:662207e34fba	835	* ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
garfieldsg	0:662207e34fba	836	* increments while the absolute value of the accelerometer measurements are
garfieldsg	0:662207e34fba	837	* each less than the detection threshold (Register 33). The Zero Motion
garfieldsg	0:662207e34fba	838	* interrupt is triggered when the Zero Motion duration counter reaches the time
garfieldsg	0:662207e34fba	839	* count specified in this register.
garfieldsg	0:662207e34fba	840	*
garfieldsg	0:662207e34fba	841	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
garfieldsg	0:662207e34fba	842	* the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
garfieldsg	0:662207e34fba	843	* and 58 of this document.
garfieldsg	0:662207e34fba	844	*
garfieldsg	0:662207e34fba	845	* @return Current zero motion detection duration threshold value (LSB = 64ms)
garfieldsg	0:662207e34fba	846	* @see MPU6050_RA_ZRMOT_DUR
garfieldsg	0:662207e34fba	847	*/
garfieldsg	0:662207e34fba	848	uint8_t MPU6050::getZeroMotionDetectionDuration()
garfieldsg	0:662207e34fba	849	{
garfieldsg	0:662207e34fba	850	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
garfieldsg	0:662207e34fba	851	return buffer[0];
garfieldsg	0:662207e34fba	852	}
garfieldsg	0:662207e34fba	853	/** Set zero motion detection event duration threshold.
garfieldsg	0:662207e34fba	854	* @param duration New zero motion detection duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	855	* @see getZeroMotionDetectionDuration()
garfieldsg	0:662207e34fba	856	* @see MPU6050_RA_ZRMOT_DUR
garfieldsg	0:662207e34fba	857	*/
garfieldsg	0:662207e34fba	858	void MPU6050::setZeroMotionDetectionDuration(uint8_t duration)
garfieldsg	0:662207e34fba	859	{
garfieldsg	0:662207e34fba	860	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
garfieldsg	0:662207e34fba	861	}
garfieldsg	0:662207e34fba	862
garfieldsg	0:662207e34fba	863	// FIFO_EN register
garfieldsg	0:662207e34fba	864
garfieldsg	0:662207e34fba	865	/** Get temperature FIFO enabled value.
garfieldsg	0:662207e34fba	866	* When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
garfieldsg	0:662207e34fba	867	* 66) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	868	* @return Current temperature FIFO enabled value
garfieldsg	0:662207e34fba	869	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	870	*/
garfieldsg	0:662207e34fba	871	bool MPU6050::getTempFIFOEnabled()
garfieldsg	0:662207e34fba	872	{
garfieldsg	0:662207e34fba	873	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	874	return buffer[0];
garfieldsg	0:662207e34fba	875	}
garfieldsg	0:662207e34fba	876	/** Set temperature FIFO enabled value.
garfieldsg	0:662207e34fba	877	* @param enabled New temperature FIFO enabled value
garfieldsg	0:662207e34fba	878	* @see getTempFIFOEnabled()
garfieldsg	0:662207e34fba	879	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	880	*/
garfieldsg	0:662207e34fba	881	void MPU6050::setTempFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	882	{
garfieldsg	0:662207e34fba	883	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	884	}
garfieldsg	0:662207e34fba	885	/** Get gyroscope X-axis FIFO enabled value.
garfieldsg	0:662207e34fba	886	* When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
garfieldsg	0:662207e34fba	887	* 68) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	888	* @return Current gyroscope X-axis FIFO enabled value
garfieldsg	0:662207e34fba	889	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	890	*/
garfieldsg	0:662207e34fba	891	bool MPU6050::getXGyroFIFOEnabled()
garfieldsg	0:662207e34fba	892	{
garfieldsg	0:662207e34fba	893	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	894	return buffer[0];
garfieldsg	0:662207e34fba	895	}
garfieldsg	0:662207e34fba	896	/** Set gyroscope X-axis FIFO enabled value.
garfieldsg	0:662207e34fba	897	* @param enabled New gyroscope X-axis FIFO enabled value
garfieldsg	0:662207e34fba	898	* @see getXGyroFIFOEnabled()
garfieldsg	0:662207e34fba	899	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	900	*/
garfieldsg	0:662207e34fba	901	void MPU6050::setXGyroFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	902	{
garfieldsg	0:662207e34fba	903	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	904	}
garfieldsg	0:662207e34fba	905	/** Get gyroscope Y-axis FIFO enabled value.
garfieldsg	0:662207e34fba	906	* When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
garfieldsg	0:662207e34fba	907	* 70) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	908	* @return Current gyroscope Y-axis FIFO enabled value
garfieldsg	0:662207e34fba	909	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	910	*/
garfieldsg	0:662207e34fba	911	bool MPU6050::getYGyroFIFOEnabled()
garfieldsg	0:662207e34fba	912	{
garfieldsg	0:662207e34fba	913	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	914	return buffer[0];
garfieldsg	0:662207e34fba	915	}
garfieldsg	0:662207e34fba	916	/** Set gyroscope Y-axis FIFO enabled value.
garfieldsg	0:662207e34fba	917	* @param enabled New gyroscope Y-axis FIFO enabled value
garfieldsg	0:662207e34fba	918	* @see getYGyroFIFOEnabled()
garfieldsg	0:662207e34fba	919	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	920	*/
garfieldsg	0:662207e34fba	921	void MPU6050::setYGyroFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	922	{
garfieldsg	0:662207e34fba	923	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	924	}
garfieldsg	0:662207e34fba	925	/** Get gyroscope Z-axis FIFO enabled value.
garfieldsg	0:662207e34fba	926	* When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
garfieldsg	0:662207e34fba	927	* 72) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	928	* @return Current gyroscope Z-axis FIFO enabled value
garfieldsg	0:662207e34fba	929	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	930	*/
garfieldsg	0:662207e34fba	931	bool MPU6050::getZGyroFIFOEnabled()
garfieldsg	0:662207e34fba	932	{
garfieldsg	0:662207e34fba	933	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	934	return buffer[0];
garfieldsg	0:662207e34fba	935	}
garfieldsg	0:662207e34fba	936	/** Set gyroscope Z-axis FIFO enabled value.
garfieldsg	0:662207e34fba	937	* @param enabled New gyroscope Z-axis FIFO enabled value
garfieldsg	0:662207e34fba	938	* @see getZGyroFIFOEnabled()
garfieldsg	0:662207e34fba	939	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	940	*/
garfieldsg	0:662207e34fba	941	void MPU6050::setZGyroFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	942	{
garfieldsg	0:662207e34fba	943	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	944	}
garfieldsg	0:662207e34fba	945	/** Get accelerometer FIFO enabled value.
garfieldsg	0:662207e34fba	946	* When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
garfieldsg	0:662207e34fba	947	* ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
garfieldsg	0:662207e34fba	948	* written into the FIFO buffer.
garfieldsg	0:662207e34fba	949	* @return Current accelerometer FIFO enabled value
garfieldsg	0:662207e34fba	950	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	951	*/
garfieldsg	0:662207e34fba	952	bool MPU6050::getAccelFIFOEnabled()
garfieldsg	0:662207e34fba	953	{
garfieldsg	0:662207e34fba	954	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	955	return buffer[0];
garfieldsg	0:662207e34fba	956	}
garfieldsg	0:662207e34fba	957	/** Set accelerometer FIFO enabled value.
garfieldsg	0:662207e34fba	958	* @param enabled New accelerometer FIFO enabled value
garfieldsg	0:662207e34fba	959	* @see getAccelFIFOEnabled()
garfieldsg	0:662207e34fba	960	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	961	*/
garfieldsg	0:662207e34fba	962	void MPU6050::setAccelFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	963	{
garfieldsg	0:662207e34fba	964	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	965	}
garfieldsg	0:662207e34fba	966	/** Get Slave 2 FIFO enabled value.
garfieldsg	0:662207e34fba	967	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	968	* associated with Slave 2 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	969	* @return Current Slave 2 FIFO enabled value
garfieldsg	0:662207e34fba	970	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	971	*/
garfieldsg	0:662207e34fba	972	bool MPU6050::getSlave2FIFOEnabled()
garfieldsg	0:662207e34fba	973	{
garfieldsg	0:662207e34fba	974	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	975	return buffer[0];
garfieldsg	0:662207e34fba	976	}
garfieldsg	0:662207e34fba	977	/** Set Slave 2 FIFO enabled value.
garfieldsg	0:662207e34fba	978	* @param enabled New Slave 2 FIFO enabled value
garfieldsg	0:662207e34fba	979	* @see getSlave2FIFOEnabled()
garfieldsg	0:662207e34fba	980	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	981	*/
garfieldsg	0:662207e34fba	982	void MPU6050::setSlave2FIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	983	{
garfieldsg	0:662207e34fba	984	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	985	}
garfieldsg	0:662207e34fba	986	/** Get Slave 1 FIFO enabled value.
garfieldsg	0:662207e34fba	987	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	988	* associated with Slave 1 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	989	* @return Current Slave 1 FIFO enabled value
garfieldsg	0:662207e34fba	990	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	991	*/
garfieldsg	0:662207e34fba	992	bool MPU6050::getSlave1FIFOEnabled()
garfieldsg	0:662207e34fba	993	{
garfieldsg	0:662207e34fba	994	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	995	return buffer[0];
garfieldsg	0:662207e34fba	996	}
garfieldsg	0:662207e34fba	997	/** Set Slave 1 FIFO enabled value.
garfieldsg	0:662207e34fba	998	* @param enabled New Slave 1 FIFO enabled value
garfieldsg	0:662207e34fba	999	* @see getSlave1FIFOEnabled()
garfieldsg	0:662207e34fba	1000	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	1001	*/
garfieldsg	0:662207e34fba	1002	void MPU6050::setSlave1FIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	1003	{
garfieldsg	0:662207e34fba	1004	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1005	}
garfieldsg	0:662207e34fba	1006	/** Get Slave 0 FIFO enabled value.
garfieldsg	0:662207e34fba	1007	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	1008	* associated with Slave 0 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	1009	* @return Current Slave 0 FIFO enabled value
garfieldsg	0:662207e34fba	1010	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	1011	*/
garfieldsg	0:662207e34fba	1012	bool MPU6050::getSlave0FIFOEnabled()
garfieldsg	0:662207e34fba	1013	{
garfieldsg	0:662207e34fba	1014	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1015	return buffer[0];
garfieldsg	0:662207e34fba	1016	}
garfieldsg	0:662207e34fba	1017	/** Set Slave 0 FIFO enabled value.
garfieldsg	0:662207e34fba	1018	* @param enabled New Slave 0 FIFO enabled value
garfieldsg	0:662207e34fba	1019	* @see getSlave0FIFOEnabled()
garfieldsg	0:662207e34fba	1020	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	1021	*/
garfieldsg	0:662207e34fba	1022	void MPU6050::setSlave0FIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	1023	{
garfieldsg	0:662207e34fba	1024	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1025	}
garfieldsg	0:662207e34fba	1026
garfieldsg	0:662207e34fba	1027	// I2C_MST_CTRL register
garfieldsg	0:662207e34fba	1028
garfieldsg	0:662207e34fba	1029	/** Get multi-master enabled value.
garfieldsg	0:662207e34fba	1030	* Multi-master capability allows multiple I2C masters to operate on the same
garfieldsg	0:662207e34fba	1031	* bus. In circuits where multi-master capability is required, set MULT_MST_EN
garfieldsg	0:662207e34fba	1032	* to 1. This will increase current drawn by approximately 30uA.
garfieldsg	0:662207e34fba	1033	*
garfieldsg	0:662207e34fba	1034	* In circuits where multi-master capability is required, the state of the I2C
garfieldsg	0:662207e34fba	1035	* bus must always be monitored by each separate I2C Master. Before an I2C
garfieldsg	0:662207e34fba	1036	* Master can assume arbitration of the bus, it must first confirm that no other
garfieldsg	0:662207e34fba	1037	* I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
garfieldsg	0:662207e34fba	1038	* MPU-60X0's bus arbitration detection logic is turned on, enabling it to
garfieldsg	0:662207e34fba	1039	* detect when the bus is available.
garfieldsg	0:662207e34fba	1040	*
garfieldsg	0:662207e34fba	1041	* @return Current multi-master enabled value
garfieldsg	0:662207e34fba	1042	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	1043	*/
garfieldsg	0:662207e34fba	1044	bool MPU6050::getMultiMasterEnabled()
garfieldsg	0:662207e34fba	1045	{
garfieldsg	0:662207e34fba	1046	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1047	return buffer[0];
garfieldsg	0:662207e34fba	1048	}
garfieldsg	0:662207e34fba	1049	/** Set multi-master enabled value.
garfieldsg	0:662207e34fba	1050	* @param enabled New multi-master enabled value
garfieldsg	0:662207e34fba	1051	* @see getMultiMasterEnabled()
garfieldsg	0:662207e34fba	1052	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	1053	*/
garfieldsg	0:662207e34fba	1054	void MPU6050::setMultiMasterEnabled(bool enabled)
garfieldsg	0:662207e34fba	1055	{
garfieldsg	0:662207e34fba	1056	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1057	}
garfieldsg	0:662207e34fba	1058	/** Get wait-for-external-sensor-data enabled value.
garfieldsg	0:662207e34fba	1059	* When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
garfieldsg	0:662207e34fba	1060	* delayed until External Sensor data from the Slave Devices are loaded into the
garfieldsg	0:662207e34fba	1061	* EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
garfieldsg	0:662207e34fba	1062	* data (i.e. from gyro and accel) and external sensor data have been loaded to
garfieldsg	0:662207e34fba	1063	* their respective data registers (i.e. the data is synced) when the Data Ready
garfieldsg	0:662207e34fba	1064	* interrupt is triggered.
garfieldsg	0:662207e34fba	1065	*
garfieldsg	0:662207e34fba	1066	* @return Current wait-for-external-sensor-data enabled value
garfieldsg	0:662207e34fba	1067	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	1068	*/
garfieldsg	0:662207e34fba	1069	bool MPU6050::getWaitForExternalSensorEnabled()
garfieldsg	0:662207e34fba	1070	{
garfieldsg	0:662207e34fba	1071	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
garfieldsg	0:662207e34fba	1072	return buffer[0];
garfieldsg	0:662207e34fba	1073	}
garfieldsg	0:662207e34fba	1074	/** Set wait-for-external-sensor-data enabled value.
garfieldsg	0:662207e34fba	1075	* @param enabled New wait-for-external-sensor-data enabled value
garfieldsg	0:662207e34fba	1076	* @see getWaitForExternalSensorEnabled()
garfieldsg	0:662207e34fba	1077	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	1078	*/
garfieldsg	0:662207e34fba	1079	void MPU6050::setWaitForExternalSensorEnabled(bool enabled)
garfieldsg	0:662207e34fba	1080	{
garfieldsg	0:662207e34fba	1081	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
garfieldsg	0:662207e34fba	1082	}
garfieldsg	0:662207e34fba	1083	/** Get Slave 3 FIFO enabled value.
garfieldsg	0:662207e34fba	1084	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	1085	* associated with Slave 3 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	1086	* @return Current Slave 3 FIFO enabled value
garfieldsg	0:662207e34fba	1087	* @see MPU6050_RA_MST_CTRL
garfieldsg	0:662207e34fba	1088	*/
garfieldsg	0:662207e34fba	1089	bool MPU6050::getSlave3FIFOEnabled()
garfieldsg	0:662207e34fba	1090	{
garfieldsg	0:662207e34fba	1091	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1092	return buffer[0];
garfieldsg	0:662207e34fba	1093	}
garfieldsg	0:662207e34fba	1094	/** Set Slave 3 FIFO enabled value.
garfieldsg	0:662207e34fba	1095	* @param enabled New Slave 3 FIFO enabled value
garfieldsg	0:662207e34fba	1096	* @see getSlave3FIFOEnabled()
garfieldsg	0:662207e34fba	1097	* @see MPU6050_RA_MST_CTRL
garfieldsg	0:662207e34fba	1098	*/
garfieldsg	0:662207e34fba	1099	void MPU6050::setSlave3FIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	1100	{
garfieldsg	0:662207e34fba	1101	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1102	}
garfieldsg	0:662207e34fba	1103	/** Get slave read/write transition enabled value.
garfieldsg	0:662207e34fba	1104	* The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
garfieldsg	0:662207e34fba	1105	* read to the next slave read. If the bit equals 0, there will be a restart
garfieldsg	0:662207e34fba	1106	* between reads. If the bit equals 1, there will be a stop followed by a start
garfieldsg	0:662207e34fba	1107	* of the following read. When a write transaction follows a read transaction,
garfieldsg	0:662207e34fba	1108	* the stop followed by a start of the successive write will be always used.
garfieldsg	0:662207e34fba	1109	*
garfieldsg	0:662207e34fba	1110	* @return Current slave read/write transition enabled value
garfieldsg	0:662207e34fba	1111	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	1112	*/
garfieldsg	0:662207e34fba	1113	bool MPU6050::getSlaveReadWriteTransitionEnabled()
garfieldsg	0:662207e34fba	1114	{
garfieldsg	0:662207e34fba	1115	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
garfieldsg	0:662207e34fba	1116	return buffer[0];
garfieldsg	0:662207e34fba	1117	}
garfieldsg	0:662207e34fba	1118	/** Set slave read/write transition enabled value.
garfieldsg	0:662207e34fba	1119	* @param enabled New slave read/write transition enabled value
garfieldsg	0:662207e34fba	1120	* @see getSlaveReadWriteTransitionEnabled()
garfieldsg	0:662207e34fba	1121	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	1122	*/
garfieldsg	0:662207e34fba	1123	void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled)
garfieldsg	0:662207e34fba	1124	{
garfieldsg	0:662207e34fba	1125	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
garfieldsg	0:662207e34fba	1126	}
garfieldsg	0:662207e34fba	1127	/** Get I2C master clock speed.
garfieldsg	0:662207e34fba	1128	* I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
garfieldsg	0:662207e34fba	1129	* MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
garfieldsg	0:662207e34fba	1130	* the following table:
garfieldsg	0:662207e34fba	1131	*
garfieldsg	0:662207e34fba	1132	* <pre>
garfieldsg	0:662207e34fba	1133	* I2C_MST_CLK \| I2C Master Clock Speed \| 8MHz Clock Divider
garfieldsg	0:662207e34fba	1134	* ------------+------------------------+-------------------
garfieldsg	0:662207e34fba	1135	* 0 \| 348kHz \| 23
garfieldsg	0:662207e34fba	1136	* 1 \| 333kHz \| 24
garfieldsg	0:662207e34fba	1137	* 2 \| 320kHz \| 25
garfieldsg	0:662207e34fba	1138	* 3 \| 308kHz \| 26
garfieldsg	0:662207e34fba	1139	* 4 \| 296kHz \| 27
garfieldsg	0:662207e34fba	1140	* 5 \| 286kHz \| 28
garfieldsg	0:662207e34fba	1141	* 6 \| 276kHz \| 29
garfieldsg	0:662207e34fba	1142	* 7 \| 267kHz \| 30
garfieldsg	0:662207e34fba	1143	* 8 \| 258kHz \| 31
garfieldsg	0:662207e34fba	1144	* 9 \| 500kHz \| 16
garfieldsg	0:662207e34fba	1145	* 10 \| 471kHz \| 17
garfieldsg	0:662207e34fba	1146	* 11 \| 444kHz \| 18
garfieldsg	0:662207e34fba	1147	* 12 \| 421kHz \| 19
garfieldsg	0:662207e34fba	1148	* 13 \| 400kHz \| 20
garfieldsg	0:662207e34fba	1149	* 14 \| 381kHz \| 21
garfieldsg	0:662207e34fba	1150	* 15 \| 364kHz \| 22
garfieldsg	0:662207e34fba	1151	* </pre>
garfieldsg	0:662207e34fba	1152	*
garfieldsg	0:662207e34fba	1153	* @return Current I2C master clock speed
garfieldsg	0:662207e34fba	1154	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	1155	*/
garfieldsg	0:662207e34fba	1156	uint8_t MPU6050::getMasterClockSpeed()
garfieldsg	0:662207e34fba	1157	{
garfieldsg	0:662207e34fba	1158	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
garfieldsg	0:662207e34fba	1159	return buffer[0];
garfieldsg	0:662207e34fba	1160	}
garfieldsg	0:662207e34fba	1161	/** Set I2C master clock speed.
garfieldsg	0:662207e34fba	1162	* @reparam speed Current I2C master clock speed
garfieldsg	0:662207e34fba	1163	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	1164	*/
garfieldsg	0:662207e34fba	1165	void MPU6050::setMasterClockSpeed(uint8_t speed)
garfieldsg	0:662207e34fba	1166	{
garfieldsg	0:662207e34fba	1167	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
garfieldsg	0:662207e34fba	1168	}
garfieldsg	0:662207e34fba	1169
garfieldsg	0:662207e34fba	1170	// I2C_SLV* registers (Slave 0-3)
garfieldsg	0:662207e34fba	1171
garfieldsg	0:662207e34fba	1172	/** Get the I2C address of the specified slave (0-3).
garfieldsg	0:662207e34fba	1173	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
garfieldsg	0:662207e34fba	1174	* operation, and if it is cleared, then it's a write operation. The remaining
garfieldsg	0:662207e34fba	1175	* bits (6-0) are the 7-bit device address of the slave device.
garfieldsg	0:662207e34fba	1176	*
garfieldsg	0:662207e34fba	1177	* In read mode, the result of the read is placed in the lowest available
garfieldsg	0:662207e34fba	1178	* EXT_SENS_DATA register. For further information regarding the allocation of
garfieldsg	0:662207e34fba	1179	* read results, please refer to the EXT_SENS_DATA register description
garfieldsg	0:662207e34fba	1180	* (Registers 73 - 96).
garfieldsg	0:662207e34fba	1181	*
garfieldsg	0:662207e34fba	1182	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
garfieldsg	0:662207e34fba	1183	* characteristics, and so it has its own functions (getSlave4* and setSlave4*).
garfieldsg	0:662207e34fba	1184	*
garfieldsg	0:662207e34fba	1185	* I2C data transactions are performed at the Sample Rate, as defined in
garfieldsg	0:662207e34fba	1186	* Register 25. The user is responsible for ensuring that I2C data transactions
garfieldsg	0:662207e34fba	1187	* to and from each enabled Slave can be completed within a single period of the
garfieldsg	0:662207e34fba	1188	* Sample Rate.
garfieldsg	0:662207e34fba	1189	*
garfieldsg	0:662207e34fba	1190	* The I2C slave access rate can be reduced relative to the Sample Rate. This
garfieldsg	0:662207e34fba	1191	* reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
garfieldsg	0:662207e34fba	1192	* slave's access rate is reduced relative to the Sample Rate is determined by
garfieldsg	0:662207e34fba	1193	* I2C_MST_DELAY_CTRL (Register 103).
garfieldsg	0:662207e34fba	1194	*
garfieldsg	0:662207e34fba	1195	* The processing order for the slaves is fixed. The sequence followed for
garfieldsg	0:662207e34fba	1196	* processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
garfieldsg	0:662207e34fba	1197	* particular Slave is disabled it will be skipped.
garfieldsg	0:662207e34fba	1198	*
garfieldsg	0:662207e34fba	1199	* Each slave can either be accessed at the sample rate or at a reduced sample
garfieldsg	0:662207e34fba	1200	* rate. In a case where some slaves are accessed at the Sample Rate and some
garfieldsg	0:662207e34fba	1201	* slaves are accessed at the reduced rate, the sequence of accessing the slaves
garfieldsg	0:662207e34fba	1202	* (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
garfieldsg	0:662207e34fba	1203	* be skipped if their access rate dictates that they should not be accessed
garfieldsg	0:662207e34fba	1204	* during that particular cycle. For further information regarding the reduced
garfieldsg	0:662207e34fba	1205	* access rate, please refer to Register 52. Whether a slave is accessed at the
garfieldsg	0:662207e34fba	1206	* Sample Rate or at the reduced rate is determined by the Delay Enable bits in
garfieldsg	0:662207e34fba	1207	* Register 103.
garfieldsg	0:662207e34fba	1208	*
garfieldsg	0:662207e34fba	1209	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1210	* @return Current address for specified slave
garfieldsg	0:662207e34fba	1211	* @see MPU6050_RA_I2C_SLV0_ADDR
garfieldsg	0:662207e34fba	1212	*/
garfieldsg	0:662207e34fba	1213	uint8_t MPU6050::getSlaveAddress(uint8_t num)
garfieldsg	0:662207e34fba	1214	{
garfieldsg	0:662207e34fba	1215	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1216	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
garfieldsg	0:662207e34fba	1217	return buffer[0];
garfieldsg	0:662207e34fba	1218	}
garfieldsg	0:662207e34fba	1219	/** Set the I2C address of the specified slave (0-3).
garfieldsg	0:662207e34fba	1220	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1221	* @param address New address for specified slave
garfieldsg	0:662207e34fba	1222	* @see getSlaveAddress()
garfieldsg	0:662207e34fba	1223	* @see MPU6050_RA_I2C_SLV0_ADDR
garfieldsg	0:662207e34fba	1224	*/
garfieldsg	0:662207e34fba	1225	void MPU6050::setSlaveAddress(uint8_t num, uint8_t address)
garfieldsg	0:662207e34fba	1226	{
garfieldsg	0:662207e34fba	1227	if (num > 3) return;
garfieldsg	0:662207e34fba	1228	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
garfieldsg	0:662207e34fba	1229	}
garfieldsg	0:662207e34fba	1230	/** Get the active internal register for the specified slave (0-3).
garfieldsg	0:662207e34fba	1231	* Read/write operations for this slave will be done to whatever internal
garfieldsg	0:662207e34fba	1232	* register address is stored in this MPU register.
garfieldsg	0:662207e34fba	1233	*
garfieldsg	0:662207e34fba	1234	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
garfieldsg	0:662207e34fba	1235	* characteristics, and so it has its own functions.
garfieldsg	0:662207e34fba	1236	*
garfieldsg	0:662207e34fba	1237	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1238	* @return Current active register for specified slave
garfieldsg	0:662207e34fba	1239	* @see MPU6050_RA_I2C_SLV0_REG
garfieldsg	0:662207e34fba	1240	*/
garfieldsg	0:662207e34fba	1241	uint8_t MPU6050::getSlaveRegister(uint8_t num)
garfieldsg	0:662207e34fba	1242	{
garfieldsg	0:662207e34fba	1243	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1244	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
garfieldsg	0:662207e34fba	1245	return buffer[0];
garfieldsg	0:662207e34fba	1246	}
garfieldsg	0:662207e34fba	1247	/** Set the active internal register for the specified slave (0-3).
garfieldsg	0:662207e34fba	1248	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1249	* @param reg New active register for specified slave
garfieldsg	0:662207e34fba	1250	* @see getSlaveRegister()
garfieldsg	0:662207e34fba	1251	* @see MPU6050_RA_I2C_SLV0_REG
garfieldsg	0:662207e34fba	1252	*/
garfieldsg	0:662207e34fba	1253	void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg)
garfieldsg	0:662207e34fba	1254	{
garfieldsg	0:662207e34fba	1255	if (num > 3) return;
garfieldsg	0:662207e34fba	1256	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
garfieldsg	0:662207e34fba	1257	}
garfieldsg	0:662207e34fba	1258	/** Get the enabled value for the specified slave (0-3).
garfieldsg	0:662207e34fba	1259	* When set to 1, this bit enables Slave 0 for data transfer operations. When
garfieldsg	0:662207e34fba	1260	* cleared to 0, this bit disables Slave 0 from data transfer operations.
garfieldsg	0:662207e34fba	1261	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1262	* @return Current enabled value for specified slave
garfieldsg	0:662207e34fba	1263	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1264	*/
garfieldsg	0:662207e34fba	1265	bool MPU6050::getSlaveEnabled(uint8_t num)
garfieldsg	0:662207e34fba	1266	{
garfieldsg	0:662207e34fba	1267	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1268	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1269	return buffer[0];
garfieldsg	0:662207e34fba	1270	}
garfieldsg	0:662207e34fba	1271	/** Set the enabled value for the specified slave (0-3).
garfieldsg	0:662207e34fba	1272	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1273	* @param enabled New enabled value for specified slave
garfieldsg	0:662207e34fba	1274	* @see getSlaveEnabled()
garfieldsg	0:662207e34fba	1275	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1276	*/
garfieldsg	0:662207e34fba	1277	void MPU6050::setSlaveEnabled(uint8_t num, bool enabled)
garfieldsg	0:662207e34fba	1278	{
garfieldsg	0:662207e34fba	1279	if (num > 3) return;
garfieldsg	0:662207e34fba	1280	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1281	}
garfieldsg	0:662207e34fba	1282	/** Get word pair byte-swapping enabled for the specified slave (0-3).
garfieldsg	0:662207e34fba	1283	* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
garfieldsg	0:662207e34fba	1284	* the high and low bytes of a word pair are swapped. Please refer to
garfieldsg	0:662207e34fba	1285	* I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
garfieldsg	0:662207e34fba	1286	* bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
garfieldsg	0:662207e34fba	1287	* registers in the order they were transferred.
garfieldsg	0:662207e34fba	1288	*
garfieldsg	0:662207e34fba	1289	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1290	* @return Current word pair byte-swapping enabled value for specified slave
garfieldsg	0:662207e34fba	1291	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1292	*/
garfieldsg	0:662207e34fba	1293	bool MPU6050::getSlaveWordByteSwap(uint8_t num)
garfieldsg	0:662207e34fba	1294	{
garfieldsg	0:662207e34fba	1295	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1296	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
garfieldsg	0:662207e34fba	1297	return buffer[0];
garfieldsg	0:662207e34fba	1298	}
garfieldsg	0:662207e34fba	1299	/** Set word pair byte-swapping enabled for the specified slave (0-3).
garfieldsg	0:662207e34fba	1300	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1301	* @param enabled New word pair byte-swapping enabled value for specified slave
garfieldsg	0:662207e34fba	1302	* @see getSlaveWordByteSwap()
garfieldsg	0:662207e34fba	1303	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1304	*/
garfieldsg	0:662207e34fba	1305	void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled)
garfieldsg	0:662207e34fba	1306	{
garfieldsg	0:662207e34fba	1307	if (num > 3) return;
garfieldsg	0:662207e34fba	1308	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
garfieldsg	0:662207e34fba	1309	}
garfieldsg	0:662207e34fba	1310	/** Get write mode for the specified slave (0-3).
garfieldsg	0:662207e34fba	1311	* When set to 1, the transaction will read or write data only. When cleared to
garfieldsg	0:662207e34fba	1312	* 0, the transaction will write a register address prior to reading or writing
garfieldsg	0:662207e34fba	1313	* data. This should equal 0 when specifying the register address within the
garfieldsg	0:662207e34fba	1314	* Slave device to/from which the ensuing data transaction will take place.
garfieldsg	0:662207e34fba	1315	*
garfieldsg	0:662207e34fba	1316	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1317	* @return Current write mode for specified slave (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	1318	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1319	*/
garfieldsg	0:662207e34fba	1320	bool MPU6050::getSlaveWriteMode(uint8_t num)
garfieldsg	0:662207e34fba	1321	{
garfieldsg	0:662207e34fba	1322	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1323	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
garfieldsg	0:662207e34fba	1324	return buffer[0];
garfieldsg	0:662207e34fba	1325	}
garfieldsg	0:662207e34fba	1326	/** Set write mode for the specified slave (0-3).
garfieldsg	0:662207e34fba	1327	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1328	* @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	1329	* @see getSlaveWriteMode()
garfieldsg	0:662207e34fba	1330	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1331	*/
garfieldsg	0:662207e34fba	1332	void MPU6050::setSlaveWriteMode(uint8_t num, bool mode)
garfieldsg	0:662207e34fba	1333	{
garfieldsg	0:662207e34fba	1334	if (num > 3) return;
garfieldsg	0:662207e34fba	1335	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
garfieldsg	0:662207e34fba	1336	}
garfieldsg	0:662207e34fba	1337	/** Get word pair grouping order offset for the specified slave (0-3).
garfieldsg	0:662207e34fba	1338	* This sets specifies the grouping order of word pairs received from registers.
garfieldsg	0:662207e34fba	1339	* When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
garfieldsg	0:662207e34fba	1340	* then odd register addresses) are paired to form a word. When set to 1, bytes
garfieldsg	0:662207e34fba	1341	* from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
garfieldsg	0:662207e34fba	1342	* register addresses) are paired to form a word.
garfieldsg	0:662207e34fba	1343	*
garfieldsg	0:662207e34fba	1344	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1345	* @return Current word pair grouping order offset for specified slave
garfieldsg	0:662207e34fba	1346	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1347	*/
garfieldsg	0:662207e34fba	1348	bool MPU6050::getSlaveWordGroupOffset(uint8_t num)
garfieldsg	0:662207e34fba	1349	{
garfieldsg	0:662207e34fba	1350	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1351	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
garfieldsg	0:662207e34fba	1352	return buffer[0];
garfieldsg	0:662207e34fba	1353	}
garfieldsg	0:662207e34fba	1354	/** Set word pair grouping order offset for the specified slave (0-3).
garfieldsg	0:662207e34fba	1355	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1356	* @param enabled New word pair grouping order offset for specified slave
garfieldsg	0:662207e34fba	1357	* @see getSlaveWordGroupOffset()
garfieldsg	0:662207e34fba	1358	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1359	*/
garfieldsg	0:662207e34fba	1360	void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled)
garfieldsg	0:662207e34fba	1361	{
garfieldsg	0:662207e34fba	1362	if (num > 3) return;
garfieldsg	0:662207e34fba	1363	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
garfieldsg	0:662207e34fba	1364	}
garfieldsg	0:662207e34fba	1365	/** Get number of bytes to read for the specified slave (0-3).
garfieldsg	0:662207e34fba	1366	* Specifies the number of bytes transferred to and from Slave 0. Clearing this
garfieldsg	0:662207e34fba	1367	* bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
garfieldsg	0:662207e34fba	1368	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1369	* @return Number of bytes to read for specified slave
garfieldsg	0:662207e34fba	1370	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1371	*/
garfieldsg	0:662207e34fba	1372	uint8_t MPU6050::getSlaveDataLength(uint8_t num)
garfieldsg	0:662207e34fba	1373	{
garfieldsg	0:662207e34fba	1374	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1375	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
garfieldsg	0:662207e34fba	1376	return buffer[0];
garfieldsg	0:662207e34fba	1377	}
garfieldsg	0:662207e34fba	1378	/** Set number of bytes to read for the specified slave (0-3).
garfieldsg	0:662207e34fba	1379	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1380	* @param length Number of bytes to read for specified slave
garfieldsg	0:662207e34fba	1381	* @see getSlaveDataLength()
garfieldsg	0:662207e34fba	1382	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1383	*/
garfieldsg	0:662207e34fba	1384	void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length)
garfieldsg	0:662207e34fba	1385	{
garfieldsg	0:662207e34fba	1386	if (num > 3) return;
garfieldsg	0:662207e34fba	1387	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
garfieldsg	0:662207e34fba	1388	}
garfieldsg	0:662207e34fba	1389
garfieldsg	0:662207e34fba	1390	// I2C_SLV* registers (Slave 4)
garfieldsg	0:662207e34fba	1391
garfieldsg	0:662207e34fba	1392	/** Get the I2C address of Slave 4.
garfieldsg	0:662207e34fba	1393	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
garfieldsg	0:662207e34fba	1394	* operation, and if it is cleared, then it's a write operation. The remaining
garfieldsg	0:662207e34fba	1395	* bits (6-0) are the 7-bit device address of the slave device.
garfieldsg	0:662207e34fba	1396	*
garfieldsg	0:662207e34fba	1397	* @return Current address for Slave 4
garfieldsg	0:662207e34fba	1398	* @see getSlaveAddress()
garfieldsg	0:662207e34fba	1399	* @see MPU6050_RA_I2C_SLV4_ADDR
garfieldsg	0:662207e34fba	1400	*/
garfieldsg	0:662207e34fba	1401	uint8_t MPU6050::getSlave4Address()
garfieldsg	0:662207e34fba	1402	{
garfieldsg	0:662207e34fba	1403	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
garfieldsg	0:662207e34fba	1404	return buffer[0];
garfieldsg	0:662207e34fba	1405	}
garfieldsg	0:662207e34fba	1406	/** Set the I2C address of Slave 4.
garfieldsg	0:662207e34fba	1407	* @param address New address for Slave 4
garfieldsg	0:662207e34fba	1408	* @see getSlave4Address()
garfieldsg	0:662207e34fba	1409	* @see MPU6050_RA_I2C_SLV4_ADDR
garfieldsg	0:662207e34fba	1410	*/
garfieldsg	0:662207e34fba	1411	void MPU6050::setSlave4Address(uint8_t address)
garfieldsg	0:662207e34fba	1412	{
garfieldsg	0:662207e34fba	1413	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
garfieldsg	0:662207e34fba	1414	}
garfieldsg	0:662207e34fba	1415	/** Get the active internal register for the Slave 4.
garfieldsg	0:662207e34fba	1416	* Read/write operations for this slave will be done to whatever internal
garfieldsg	0:662207e34fba	1417	* register address is stored in this MPU register.
garfieldsg	0:662207e34fba	1418	*
garfieldsg	0:662207e34fba	1419	* @return Current active register for Slave 4
garfieldsg	0:662207e34fba	1420	* @see MPU6050_RA_I2C_SLV4_REG
garfieldsg	0:662207e34fba	1421	*/
garfieldsg	0:662207e34fba	1422	uint8_t MPU6050::getSlave4Register()
garfieldsg	0:662207e34fba	1423	{
garfieldsg	0:662207e34fba	1424	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
garfieldsg	0:662207e34fba	1425	return buffer[0];
garfieldsg	0:662207e34fba	1426	}
garfieldsg	0:662207e34fba	1427	/** Set the active internal register for Slave 4.
garfieldsg	0:662207e34fba	1428	* @param reg New active register for Slave 4
garfieldsg	0:662207e34fba	1429	* @see getSlave4Register()
garfieldsg	0:662207e34fba	1430	* @see MPU6050_RA_I2C_SLV4_REG
garfieldsg	0:662207e34fba	1431	*/
garfieldsg	0:662207e34fba	1432	void MPU6050::setSlave4Register(uint8_t reg)
garfieldsg	0:662207e34fba	1433	{
garfieldsg	0:662207e34fba	1434	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
garfieldsg	0:662207e34fba	1435	}
garfieldsg	0:662207e34fba	1436	/** Set new byte to write to Slave 4.
garfieldsg	0:662207e34fba	1437	* This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
garfieldsg	0:662207e34fba	1438	* is set 1 (set to read), this register has no effect.
garfieldsg	0:662207e34fba	1439	* @param data New byte to write to Slave 4
garfieldsg	0:662207e34fba	1440	* @see MPU6050_RA_I2C_SLV4_DO
garfieldsg	0:662207e34fba	1441	*/
garfieldsg	0:662207e34fba	1442	void MPU6050::setSlave4OutputByte(uint8_t data)
garfieldsg	0:662207e34fba	1443	{
garfieldsg	0:662207e34fba	1444	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
garfieldsg	0:662207e34fba	1445	}
garfieldsg	0:662207e34fba	1446	/** Get the enabled value for the Slave 4.
garfieldsg	0:662207e34fba	1447	* When set to 1, this bit enables Slave 4 for data transfer operations. When
garfieldsg	0:662207e34fba	1448	* cleared to 0, this bit disables Slave 4 from data transfer operations.
garfieldsg	0:662207e34fba	1449	* @return Current enabled value for Slave 4
garfieldsg	0:662207e34fba	1450	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1451	*/
garfieldsg	0:662207e34fba	1452	bool MPU6050::getSlave4Enabled()
garfieldsg	0:662207e34fba	1453	{
garfieldsg	0:662207e34fba	1454	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1455	return buffer[0];
garfieldsg	0:662207e34fba	1456	}
garfieldsg	0:662207e34fba	1457	/** Set the enabled value for Slave 4.
garfieldsg	0:662207e34fba	1458	* @param enabled New enabled value for Slave 4
garfieldsg	0:662207e34fba	1459	* @see getSlave4Enabled()
garfieldsg	0:662207e34fba	1460	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1461	*/
garfieldsg	0:662207e34fba	1462	void MPU6050::setSlave4Enabled(bool enabled)
garfieldsg	0:662207e34fba	1463	{
garfieldsg	0:662207e34fba	1464	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1465	}
garfieldsg	0:662207e34fba	1466	/** Get the enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1467	* When set to 1, this bit enables the generation of an interrupt signal upon
garfieldsg	0:662207e34fba	1468	* completion of a Slave 4 transaction. When cleared to 0, this bit disables the
garfieldsg	0:662207e34fba	1469	* generation of an interrupt signal upon completion of a Slave 4 transaction.
garfieldsg	0:662207e34fba	1470	* The interrupt status can be observed in Register 54.
garfieldsg	0:662207e34fba	1471	*
garfieldsg	0:662207e34fba	1472	* @return Current enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1473	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1474	*/
garfieldsg	0:662207e34fba	1475	bool MPU6050::getSlave4InterruptEnabled()
garfieldsg	0:662207e34fba	1476	{
garfieldsg	0:662207e34fba	1477	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1478	return buffer[0];
garfieldsg	0:662207e34fba	1479	}
garfieldsg	0:662207e34fba	1480	/** Set the enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1481	* @param enabled New enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1482	* @see getSlave4InterruptEnabled()
garfieldsg	0:662207e34fba	1483	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1484	*/
garfieldsg	0:662207e34fba	1485	void MPU6050::setSlave4InterruptEnabled(bool enabled)
garfieldsg	0:662207e34fba	1486	{
garfieldsg	0:662207e34fba	1487	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1488	}
garfieldsg	0:662207e34fba	1489	/** Get write mode for Slave 4.
garfieldsg	0:662207e34fba	1490	* When set to 1, the transaction will read or write data only. When cleared to
garfieldsg	0:662207e34fba	1491	* 0, the transaction will write a register address prior to reading or writing
garfieldsg	0:662207e34fba	1492	* data. This should equal 0 when specifying the register address within the
garfieldsg	0:662207e34fba	1493	* Slave device to/from which the ensuing data transaction will take place.
garfieldsg	0:662207e34fba	1494	*
garfieldsg	0:662207e34fba	1495	* @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	1496	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1497	*/
garfieldsg	0:662207e34fba	1498	bool MPU6050::getSlave4WriteMode()
garfieldsg	0:662207e34fba	1499	{
garfieldsg	0:662207e34fba	1500	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
garfieldsg	0:662207e34fba	1501	return buffer[0];
garfieldsg	0:662207e34fba	1502	}
garfieldsg	0:662207e34fba	1503	/** Set write mode for the Slave 4.
garfieldsg	0:662207e34fba	1504	* @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	1505	* @see getSlave4WriteMode()
garfieldsg	0:662207e34fba	1506	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1507	*/
garfieldsg	0:662207e34fba	1508	void MPU6050::setSlave4WriteMode(bool mode)
garfieldsg	0:662207e34fba	1509	{
garfieldsg	0:662207e34fba	1510	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
garfieldsg	0:662207e34fba	1511	}
garfieldsg	0:662207e34fba	1512	/** Get Slave 4 master delay value.
garfieldsg	0:662207e34fba	1513	* This configures the reduced access rate of I2C slaves relative to the Sample
garfieldsg	0:662207e34fba	1514	* Rate. When a slave's access rate is decreased relative to the Sample Rate,
garfieldsg	0:662207e34fba	1515	* the slave is accessed every:
garfieldsg	0:662207e34fba	1516	*
garfieldsg	0:662207e34fba	1517	* 1 / (1 + I2C_MST_DLY) samples
garfieldsg	0:662207e34fba	1518	*
garfieldsg	0:662207e34fba	1519	* This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
garfieldsg	0:662207e34fba	1520	* DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
garfieldsg	0:662207e34fba	1521	* the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
garfieldsg	0:662207e34fba	1522	* further information regarding the Sample Rate, please refer to register 25.
garfieldsg	0:662207e34fba	1523	*
garfieldsg	0:662207e34fba	1524	* @return Current Slave 4 master delay value
garfieldsg	0:662207e34fba	1525	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1526	*/
garfieldsg	0:662207e34fba	1527	uint8_t MPU6050::getSlave4MasterDelay()
garfieldsg	0:662207e34fba	1528	{
garfieldsg	0:662207e34fba	1529	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
garfieldsg	0:662207e34fba	1530	return buffer[0];
garfieldsg	0:662207e34fba	1531	}
garfieldsg	0:662207e34fba	1532	/** Set Slave 4 master delay value.
garfieldsg	0:662207e34fba	1533	* @param delay New Slave 4 master delay value
garfieldsg	0:662207e34fba	1534	* @see getSlave4MasterDelay()
garfieldsg	0:662207e34fba	1535	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1536	*/
garfieldsg	0:662207e34fba	1537	void MPU6050::setSlave4MasterDelay(uint8_t delay)
garfieldsg	0:662207e34fba	1538	{
garfieldsg	0:662207e34fba	1539	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
garfieldsg	0:662207e34fba	1540	}
garfieldsg	0:662207e34fba	1541	/** Get last available byte read from Slave 4.
garfieldsg	0:662207e34fba	1542	* This register stores the data read from Slave 4. This field is populated
garfieldsg	0:662207e34fba	1543	* after a read transaction.
garfieldsg	0:662207e34fba	1544	* @return Last available byte read from to Slave 4
garfieldsg	0:662207e34fba	1545	* @see MPU6050_RA_I2C_SLV4_DI
garfieldsg	0:662207e34fba	1546	*/
garfieldsg	0:662207e34fba	1547	uint8_t MPU6050::getSlate4InputByte()
garfieldsg	0:662207e34fba	1548	{
garfieldsg	0:662207e34fba	1549	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
garfieldsg	0:662207e34fba	1550	return buffer[0];
garfieldsg	0:662207e34fba	1551	}
garfieldsg	0:662207e34fba	1552
garfieldsg	0:662207e34fba	1553	// I2C_MST_STATUS register
garfieldsg	0:662207e34fba	1554
garfieldsg	0:662207e34fba	1555	/** Get FSYNC interrupt status.
garfieldsg	0:662207e34fba	1556	* This bit reflects the status of the FSYNC interrupt from an external device
garfieldsg	0:662207e34fba	1557	* into the MPU-60X0. This is used as a way to pass an external interrupt
garfieldsg	0:662207e34fba	1558	* through the MPU-60X0 to the host application processor. When set to 1, this
garfieldsg	0:662207e34fba	1559	* bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
garfieldsg	0:662207e34fba	1560	* (Register 55).
garfieldsg	0:662207e34fba	1561	* @return FSYNC interrupt status
garfieldsg	0:662207e34fba	1562	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1563	*/
garfieldsg	0:662207e34fba	1564	bool MPU6050::getPassthroughStatus()
garfieldsg	0:662207e34fba	1565	{
garfieldsg	0:662207e34fba	1566	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
garfieldsg	0:662207e34fba	1567	return buffer[0];
garfieldsg	0:662207e34fba	1568	}
garfieldsg	0:662207e34fba	1569	/** Get Slave 4 transaction done status.
garfieldsg	0:662207e34fba	1570	* Automatically sets to 1 when a Slave 4 transaction has completed. This
garfieldsg	0:662207e34fba	1571	* triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
garfieldsg	0:662207e34fba	1572	* (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
garfieldsg	0:662207e34fba	1573	* I2C_SLV4_CTRL register (Register 52).
garfieldsg	0:662207e34fba	1574	* @return Slave 4 transaction done status
garfieldsg	0:662207e34fba	1575	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1576	*/
garfieldsg	0:662207e34fba	1577	bool MPU6050::getSlave4IsDone()
garfieldsg	0:662207e34fba	1578	{
garfieldsg	0:662207e34fba	1579	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
garfieldsg	0:662207e34fba	1580	return buffer[0];
garfieldsg	0:662207e34fba	1581	}
garfieldsg	0:662207e34fba	1582	/** Get master arbitration lost status.
garfieldsg	0:662207e34fba	1583	* This bit automatically sets to 1 when the I2C Master has lost arbitration of
garfieldsg	0:662207e34fba	1584	* the auxiliary I2C bus (an error condition). This triggers an interrupt if the
garfieldsg	0:662207e34fba	1585	* I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1586	* @return Master arbitration lost status
garfieldsg	0:662207e34fba	1587	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1588	*/
garfieldsg	0:662207e34fba	1589	bool MPU6050::getLostArbitration()
garfieldsg	0:662207e34fba	1590	{
garfieldsg	0:662207e34fba	1591	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
garfieldsg	0:662207e34fba	1592	return buffer[0];
garfieldsg	0:662207e34fba	1593	}
garfieldsg	0:662207e34fba	1594	/** Get Slave 4 NACK status.
garfieldsg	0:662207e34fba	1595	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1596	* transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1597	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1598	* @return Slave 4 NACK interrupt status
garfieldsg	0:662207e34fba	1599	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1600	*/
garfieldsg	0:662207e34fba	1601	bool MPU6050::getSlave4Nack()
garfieldsg	0:662207e34fba	1602	{
garfieldsg	0:662207e34fba	1603	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1604	return buffer[0];
garfieldsg	0:662207e34fba	1605	}
garfieldsg	0:662207e34fba	1606	/** Get Slave 3 NACK status.
garfieldsg	0:662207e34fba	1607	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1608	* transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1609	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1610	* @return Slave 3 NACK interrupt status
garfieldsg	0:662207e34fba	1611	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1612	*/
garfieldsg	0:662207e34fba	1613	bool MPU6050::getSlave3Nack()
garfieldsg	0:662207e34fba	1614	{
garfieldsg	0:662207e34fba	1615	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1616	return buffer[0];
garfieldsg	0:662207e34fba	1617	}
garfieldsg	0:662207e34fba	1618	/** Get Slave 2 NACK status.
garfieldsg	0:662207e34fba	1619	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1620	* transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1621	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1622	* @return Slave 2 NACK interrupt status
garfieldsg	0:662207e34fba	1623	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1624	*/
garfieldsg	0:662207e34fba	1625	bool MPU6050::getSlave2Nack()
garfieldsg	0:662207e34fba	1626	{
garfieldsg	0:662207e34fba	1627	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1628	return buffer[0];
garfieldsg	0:662207e34fba	1629	}
garfieldsg	0:662207e34fba	1630	/** Get Slave 1 NACK status.
garfieldsg	0:662207e34fba	1631	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1632	* transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1633	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1634	* @return Slave 1 NACK interrupt status
garfieldsg	0:662207e34fba	1635	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1636	*/
garfieldsg	0:662207e34fba	1637	bool MPU6050::getSlave1Nack()
garfieldsg	0:662207e34fba	1638	{
garfieldsg	0:662207e34fba	1639	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1640	return buffer[0];
garfieldsg	0:662207e34fba	1641	}
garfieldsg	0:662207e34fba	1642	/** Get Slave 0 NACK status.
garfieldsg	0:662207e34fba	1643	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1644	* transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1645	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1646	* @return Slave 0 NACK interrupt status
garfieldsg	0:662207e34fba	1647	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1648	*/
garfieldsg	0:662207e34fba	1649	bool MPU6050::getSlave0Nack()
garfieldsg	0:662207e34fba	1650	{
garfieldsg	0:662207e34fba	1651	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1652	return buffer[0];
garfieldsg	0:662207e34fba	1653	}
garfieldsg	0:662207e34fba	1654
garfieldsg	0:662207e34fba	1655	// INT_PIN_CFG register
garfieldsg	0:662207e34fba	1656
garfieldsg	0:662207e34fba	1657	/** Get interrupt logic level mode.
garfieldsg	0:662207e34fba	1658	* Will be set 0 for active-high, 1 for active-low.
garfieldsg	0:662207e34fba	1659	* @return Current interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1660	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1661	* @see MPU6050_INTCFG_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1662	*/
garfieldsg	0:662207e34fba	1663	bool MPU6050::getInterruptMode()
garfieldsg	0:662207e34fba	1664	{
garfieldsg	0:662207e34fba	1665	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
garfieldsg	0:662207e34fba	1666	return buffer[0];
garfieldsg	0:662207e34fba	1667	}
garfieldsg	0:662207e34fba	1668	/** Set interrupt logic level mode.
garfieldsg	0:662207e34fba	1669	* @param mode New interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1670	* @see getInterruptMode()
garfieldsg	0:662207e34fba	1671	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1672	* @see MPU6050_INTCFG_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1673	*/
garfieldsg	0:662207e34fba	1674	void MPU6050::setInterruptMode(bool mode)
garfieldsg	0:662207e34fba	1675	{
garfieldsg	0:662207e34fba	1676	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
garfieldsg	0:662207e34fba	1677	}
garfieldsg	0:662207e34fba	1678	/** Get interrupt drive mode.
garfieldsg	0:662207e34fba	1679	* Will be set 0 for push-pull, 1 for open-drain.
garfieldsg	0:662207e34fba	1680	* @return Current interrupt drive mode (0=push-pull, 1=open-drain)
garfieldsg	0:662207e34fba	1681	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1682	* @see MPU6050_INTCFG_INT_OPEN_BIT
garfieldsg	0:662207e34fba	1683	*/
garfieldsg	0:662207e34fba	1684	bool MPU6050::getInterruptDrive()
garfieldsg	0:662207e34fba	1685	{
garfieldsg	0:662207e34fba	1686	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
garfieldsg	0:662207e34fba	1687	return buffer[0];
garfieldsg	0:662207e34fba	1688	}
garfieldsg	0:662207e34fba	1689	/** Set interrupt drive mode.
garfieldsg	0:662207e34fba	1690	* @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
garfieldsg	0:662207e34fba	1691	* @see getInterruptDrive()
garfieldsg	0:662207e34fba	1692	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1693	* @see MPU6050_INTCFG_INT_OPEN_BIT
garfieldsg	0:662207e34fba	1694	*/
garfieldsg	0:662207e34fba	1695	void MPU6050::setInterruptDrive(bool drive)
garfieldsg	0:662207e34fba	1696	{
garfieldsg	0:662207e34fba	1697	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
garfieldsg	0:662207e34fba	1698	}
garfieldsg	0:662207e34fba	1699	/** Get interrupt latch mode.
garfieldsg	0:662207e34fba	1700	* Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
garfieldsg	0:662207e34fba	1701	* @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
garfieldsg	0:662207e34fba	1702	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1703	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
garfieldsg	0:662207e34fba	1704	*/
garfieldsg	0:662207e34fba	1705	bool MPU6050::getInterruptLatch()
garfieldsg	0:662207e34fba	1706	{
garfieldsg	0:662207e34fba	1707	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1708	return buffer[0];
garfieldsg	0:662207e34fba	1709	}
garfieldsg	0:662207e34fba	1710	/** Set interrupt latch mode.
garfieldsg	0:662207e34fba	1711	* @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
garfieldsg	0:662207e34fba	1712	* @see getInterruptLatch()
garfieldsg	0:662207e34fba	1713	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1714	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
garfieldsg	0:662207e34fba	1715	*/
garfieldsg	0:662207e34fba	1716	void MPU6050::setInterruptLatch(bool latch)
garfieldsg	0:662207e34fba	1717	{
garfieldsg	0:662207e34fba	1718	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
garfieldsg	0:662207e34fba	1719	}
garfieldsg	0:662207e34fba	1720	/** Get interrupt latch clear mode.
garfieldsg	0:662207e34fba	1721	* Will be set 0 for status-read-only, 1 for any-register-read.
garfieldsg	0:662207e34fba	1722	* @return Current latch clear mode (0=status-read-only, 1=any-register-read)
garfieldsg	0:662207e34fba	1723	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1724	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
garfieldsg	0:662207e34fba	1725	*/
garfieldsg	0:662207e34fba	1726	bool MPU6050::getInterruptLatchClear()
garfieldsg	0:662207e34fba	1727	{
garfieldsg	0:662207e34fba	1728	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
garfieldsg	0:662207e34fba	1729	return buffer[0];
garfieldsg	0:662207e34fba	1730	}
garfieldsg	0:662207e34fba	1731	/** Set interrupt latch clear mode.
garfieldsg	0:662207e34fba	1732	* @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
garfieldsg	0:662207e34fba	1733	* @see getInterruptLatchClear()
garfieldsg	0:662207e34fba	1734	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1735	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
garfieldsg	0:662207e34fba	1736	*/
garfieldsg	0:662207e34fba	1737	void MPU6050::setInterruptLatchClear(bool clear)
garfieldsg	0:662207e34fba	1738	{
garfieldsg	0:662207e34fba	1739	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
garfieldsg	0:662207e34fba	1740	}
garfieldsg	0:662207e34fba	1741	/** Get FSYNC interrupt logic level mode.
garfieldsg	0:662207e34fba	1742	* @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1743	* @see getFSyncInterruptMode()
garfieldsg	0:662207e34fba	1744	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1745	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1746	*/
garfieldsg	0:662207e34fba	1747	bool MPU6050::getFSyncInterruptLevel()
garfieldsg	0:662207e34fba	1748	{
garfieldsg	0:662207e34fba	1749	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
garfieldsg	0:662207e34fba	1750	return buffer[0];
garfieldsg	0:662207e34fba	1751	}
garfieldsg	0:662207e34fba	1752	/** Set FSYNC interrupt logic level mode.
garfieldsg	0:662207e34fba	1753	* @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1754	* @see getFSyncInterruptMode()
garfieldsg	0:662207e34fba	1755	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1756	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1757	*/
garfieldsg	0:662207e34fba	1758	void MPU6050::setFSyncInterruptLevel(bool level)
garfieldsg	0:662207e34fba	1759	{
garfieldsg	0:662207e34fba	1760	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
garfieldsg	0:662207e34fba	1761	}
garfieldsg	0:662207e34fba	1762	/** Get FSYNC pin interrupt enabled setting.
garfieldsg	0:662207e34fba	1763	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1764	* @return Current interrupt enabled setting
garfieldsg	0:662207e34fba	1765	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1766	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
garfieldsg	0:662207e34fba	1767	*/
garfieldsg	0:662207e34fba	1768	bool MPU6050::getFSyncInterruptEnabled()
garfieldsg	0:662207e34fba	1769	{
garfieldsg	0:662207e34fba	1770	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1771	return buffer[0];
garfieldsg	0:662207e34fba	1772	}
garfieldsg	0:662207e34fba	1773	/** Set FSYNC pin interrupt enabled setting.
garfieldsg	0:662207e34fba	1774	* @param enabled New FSYNC pin interrupt enabled setting
garfieldsg	0:662207e34fba	1775	* @see getFSyncInterruptEnabled()
garfieldsg	0:662207e34fba	1776	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1777	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
garfieldsg	0:662207e34fba	1778	*/
garfieldsg	0:662207e34fba	1779	void MPU6050::setFSyncInterruptEnabled(bool enabled)
garfieldsg	0:662207e34fba	1780	{
garfieldsg	0:662207e34fba	1781	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1782	}
garfieldsg	0:662207e34fba	1783	/** Get I2C bypass enabled status.
garfieldsg	0:662207e34fba	1784	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
garfieldsg	0:662207e34fba	1785	* 0, the host application processor will be able to directly access the
garfieldsg	0:662207e34fba	1786	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
garfieldsg	0:662207e34fba	1787	* application processor will not be able to directly access the auxiliary I2C
garfieldsg	0:662207e34fba	1788	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
garfieldsg	0:662207e34fba	1789	* bit[5]).
garfieldsg	0:662207e34fba	1790	* @return Current I2C bypass enabled status
garfieldsg	0:662207e34fba	1791	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1792	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
garfieldsg	0:662207e34fba	1793	*/
garfieldsg	0:662207e34fba	1794	bool MPU6050::getI2CBypassEnabled()
garfieldsg	0:662207e34fba	1795	{
garfieldsg	0:662207e34fba	1796	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1797	return buffer[0];
garfieldsg	0:662207e34fba	1798	}
garfieldsg	0:662207e34fba	1799	/** Set I2C bypass enabled status.
garfieldsg	0:662207e34fba	1800	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
garfieldsg	0:662207e34fba	1801	* 0, the host application processor will be able to directly access the
garfieldsg	0:662207e34fba	1802	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
garfieldsg	0:662207e34fba	1803	* application processor will not be able to directly access the auxiliary I2C
garfieldsg	0:662207e34fba	1804	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
garfieldsg	0:662207e34fba	1805	* bit[5]).
garfieldsg	0:662207e34fba	1806	* @param enabled New I2C bypass enabled status
garfieldsg	0:662207e34fba	1807	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1808	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
garfieldsg	0:662207e34fba	1809	*/
garfieldsg	0:662207e34fba	1810	void MPU6050::setI2CBypassEnabled(bool enabled)
garfieldsg	0:662207e34fba	1811	{
garfieldsg	0:662207e34fba	1812	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1813	}
garfieldsg	0:662207e34fba	1814	/** Get reference clock output enabled status.
garfieldsg	0:662207e34fba	1815	* When this bit is equal to 1, a reference clock output is provided at the
garfieldsg	0:662207e34fba	1816	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
garfieldsg	0:662207e34fba	1817	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
garfieldsg	0:662207e34fba	1818	* Specification document.
garfieldsg	0:662207e34fba	1819	* @return Current reference clock output enabled status
garfieldsg	0:662207e34fba	1820	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1821	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
garfieldsg	0:662207e34fba	1822	*/
garfieldsg	0:662207e34fba	1823	bool MPU6050::getClockOutputEnabled()
garfieldsg	0:662207e34fba	1824	{
garfieldsg	0:662207e34fba	1825	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1826	return buffer[0];
garfieldsg	0:662207e34fba	1827	}
garfieldsg	0:662207e34fba	1828	/** Set reference clock output enabled status.
garfieldsg	0:662207e34fba	1829	* When this bit is equal to 1, a reference clock output is provided at the
garfieldsg	0:662207e34fba	1830	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
garfieldsg	0:662207e34fba	1831	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
garfieldsg	0:662207e34fba	1832	* Specification document.
garfieldsg	0:662207e34fba	1833	* @param enabled New reference clock output enabled status
garfieldsg	0:662207e34fba	1834	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1835	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
garfieldsg	0:662207e34fba	1836	*/
garfieldsg	0:662207e34fba	1837	void MPU6050::setClockOutputEnabled(bool enabled)
garfieldsg	0:662207e34fba	1838	{
garfieldsg	0:662207e34fba	1839	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1840	}
garfieldsg	0:662207e34fba	1841
garfieldsg	0:662207e34fba	1842	// INT_ENABLE register
garfieldsg	0:662207e34fba	1843
garfieldsg	0:662207e34fba	1844	/** Get full interrupt enabled status.
garfieldsg	0:662207e34fba	1845	* Full register byte for all interrupts, for quick reading. Each bit will be
garfieldsg	0:662207e34fba	1846	* set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1847	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1848	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1849	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1850	**/
garfieldsg	0:662207e34fba	1851	uint8_t MPU6050::getIntEnabled()
garfieldsg	0:662207e34fba	1852	{
garfieldsg	0:662207e34fba	1853	i2Cdev.readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
garfieldsg	0:662207e34fba	1854	return buffer[0];
garfieldsg	0:662207e34fba	1855	}
garfieldsg	0:662207e34fba	1856	/** Set full interrupt enabled status.
garfieldsg	0:662207e34fba	1857	* Full register byte for all interrupts, for quick reading. Each bit should be
garfieldsg	0:662207e34fba	1858	* set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1859	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1860	* @see getIntFreefallEnabled()
garfieldsg	0:662207e34fba	1861	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1862	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1863	**/
garfieldsg	0:662207e34fba	1864	void MPU6050::setIntEnabled(uint8_t enabled)
garfieldsg	0:662207e34fba	1865	{
garfieldsg	0:662207e34fba	1866	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
garfieldsg	0:662207e34fba	1867	}
garfieldsg	0:662207e34fba	1868	/** Get Free Fall interrupt enabled status.
garfieldsg	0:662207e34fba	1869	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1870	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1871	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1872	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1873	**/
garfieldsg	0:662207e34fba	1874	bool MPU6050::getIntFreefallEnabled()
garfieldsg	0:662207e34fba	1875	{
garfieldsg	0:662207e34fba	1876	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
garfieldsg	0:662207e34fba	1877	return buffer[0];
garfieldsg	0:662207e34fba	1878	}
garfieldsg	0:662207e34fba	1879	/** Set Free Fall interrupt enabled status.
garfieldsg	0:662207e34fba	1880	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1881	* @see getIntFreefallEnabled()
garfieldsg	0:662207e34fba	1882	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1883	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1884	**/
garfieldsg	0:662207e34fba	1885	void MPU6050::setIntFreefallEnabled(bool enabled)
garfieldsg	0:662207e34fba	1886	{
garfieldsg	0:662207e34fba	1887	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
garfieldsg	0:662207e34fba	1888	}
garfieldsg	0:662207e34fba	1889	/** Get Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1890	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1891	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1892	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1893	* @see MPU6050_INTERRUPT_MOT_BIT
garfieldsg	0:662207e34fba	1894	**/
garfieldsg	0:662207e34fba	1895	bool MPU6050::getIntMotionEnabled()
garfieldsg	0:662207e34fba	1896	{
garfieldsg	0:662207e34fba	1897	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
garfieldsg	0:662207e34fba	1898	return buffer[0];
garfieldsg	0:662207e34fba	1899	}
garfieldsg	0:662207e34fba	1900	/** Set Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1901	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1902	* @see getIntMotionEnabled()
garfieldsg	0:662207e34fba	1903	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1904	* @see MPU6050_INTERRUPT_MOT_BIT
garfieldsg	0:662207e34fba	1905	**/
garfieldsg	0:662207e34fba	1906	void MPU6050::setIntMotionEnabled(bool enabled)
garfieldsg	0:662207e34fba	1907	{
garfieldsg	0:662207e34fba	1908	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
garfieldsg	0:662207e34fba	1909	}
garfieldsg	0:662207e34fba	1910	/** Get Zero Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1911	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1912	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1913	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1914	* @see MPU6050_INTERRUPT_ZMOT_BIT
garfieldsg	0:662207e34fba	1915	**/
garfieldsg	0:662207e34fba	1916	bool MPU6050::getIntZeroMotionEnabled()
garfieldsg	0:662207e34fba	1917	{
garfieldsg	0:662207e34fba	1918	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
garfieldsg	0:662207e34fba	1919	return buffer[0];
garfieldsg	0:662207e34fba	1920	}
garfieldsg	0:662207e34fba	1921	/** Set Zero Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1922	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1923	* @see getIntZeroMotionEnabled()
garfieldsg	0:662207e34fba	1924	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1925	* @see MPU6050_INTERRUPT_ZMOT_BIT
garfieldsg	0:662207e34fba	1926	**/
garfieldsg	0:662207e34fba	1927	void MPU6050::setIntZeroMotionEnabled(bool enabled)
garfieldsg	0:662207e34fba	1928	{
garfieldsg	0:662207e34fba	1929	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
garfieldsg	0:662207e34fba	1930	}
garfieldsg	0:662207e34fba	1931	/** Get FIFO Buffer Overflow interrupt enabled status.
garfieldsg	0:662207e34fba	1932	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1933	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1934	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1935	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
garfieldsg	0:662207e34fba	1936	**/
garfieldsg	0:662207e34fba	1937	bool MPU6050::getIntFIFOBufferOverflowEnabled()
garfieldsg	0:662207e34fba	1938	{
garfieldsg	0:662207e34fba	1939	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
garfieldsg	0:662207e34fba	1940	return buffer[0];
garfieldsg	0:662207e34fba	1941	}
garfieldsg	0:662207e34fba	1942	/** Set FIFO Buffer Overflow interrupt enabled status.
garfieldsg	0:662207e34fba	1943	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1944	* @see getIntFIFOBufferOverflowEnabled()
garfieldsg	0:662207e34fba	1945	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1946	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
garfieldsg	0:662207e34fba	1947	**/
garfieldsg	0:662207e34fba	1948	void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled)
garfieldsg	0:662207e34fba	1949	{
garfieldsg	0:662207e34fba	1950	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
garfieldsg	0:662207e34fba	1951	}
garfieldsg	0:662207e34fba	1952	/** Get I2C Master interrupt enabled status.
garfieldsg	0:662207e34fba	1953	* This enables any of the I2C Master interrupt sources to generate an
garfieldsg	0:662207e34fba	1954	* interrupt. Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1955	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1956	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1957	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
garfieldsg	0:662207e34fba	1958	**/
garfieldsg	0:662207e34fba	1959	bool MPU6050::getIntI2CMasterEnabled()
garfieldsg	0:662207e34fba	1960	{
garfieldsg	0:662207e34fba	1961	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
garfieldsg	0:662207e34fba	1962	return buffer[0];
garfieldsg	0:662207e34fba	1963	}
garfieldsg	0:662207e34fba	1964	/** Set I2C Master interrupt enabled status.
garfieldsg	0:662207e34fba	1965	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1966	* @see getIntI2CMasterEnabled()
garfieldsg	0:662207e34fba	1967	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1968	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
garfieldsg	0:662207e34fba	1969	**/
garfieldsg	0:662207e34fba	1970	void MPU6050::setIntI2CMasterEnabled(bool enabled)
garfieldsg	0:662207e34fba	1971	{
garfieldsg	0:662207e34fba	1972	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
garfieldsg	0:662207e34fba	1973	}
garfieldsg	0:662207e34fba	1974	/** Get Data Ready interrupt enabled setting.
garfieldsg	0:662207e34fba	1975	* This event occurs each time a write operation to all of the sensor registers
garfieldsg	0:662207e34fba	1976	* has been completed. Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1977	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1978	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1979	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
garfieldsg	0:662207e34fba	1980	*/
garfieldsg	0:662207e34fba	1981	bool MPU6050::getIntDataReadyEnabled()
garfieldsg	0:662207e34fba	1982	{
garfieldsg	0:662207e34fba	1983	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
garfieldsg	0:662207e34fba	1984	return buffer[0];
garfieldsg	0:662207e34fba	1985	}
garfieldsg	0:662207e34fba	1986	/** Set Data Ready interrupt enabled status.
garfieldsg	0:662207e34fba	1987	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1988	* @see getIntDataReadyEnabled()
garfieldsg	0:662207e34fba	1989	* @see MPU6050_RA_INT_CFG
garfieldsg	0:662207e34fba	1990	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
garfieldsg	0:662207e34fba	1991	*/
garfieldsg	0:662207e34fba	1992	void MPU6050::setIntDataReadyEnabled(bool enabled)
garfieldsg	0:662207e34fba	1993	{
garfieldsg	0:662207e34fba	1994	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
garfieldsg	0:662207e34fba	1995	}
garfieldsg	0:662207e34fba	1996
garfieldsg	0:662207e34fba	1997	// INT_STATUS register
garfieldsg	0:662207e34fba	1998
garfieldsg	0:662207e34fba	1999	/** Get full set of interrupt status bits.
garfieldsg	0:662207e34fba	2000	* These bits clear to 0 after the register has been read. Very useful
garfieldsg	0:662207e34fba	2001	* for getting multiple INT statuses, since each single bit read clears
garfieldsg	0:662207e34fba	2002	* all of them because it has to read the whole byte.
garfieldsg	0:662207e34fba	2003	* @return Current interrupt status
garfieldsg	0:662207e34fba	2004	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	2005	*/
garfieldsg	0:662207e34fba	2006	uint8_t MPU6050::getIntStatus()
garfieldsg	0:662207e34fba	2007	{
garfieldsg	0:662207e34fba	2008	i2Cdev.readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
garfieldsg	0:662207e34fba	2009	return buffer[0];
garfieldsg	0:662207e34fba	2010	}
garfieldsg	0:662207e34fba	2011	/** Get Free Fall interrupt status.
garfieldsg	0:662207e34fba	2012	* This bit automatically sets to 1 when a Free Fall interrupt has been
garfieldsg	0:662207e34fba	2013	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	2014	* @return Current interrupt status
garfieldsg	0:662207e34fba	2015	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	2016	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	2017	*/
garfieldsg	0:662207e34fba	2018	bool MPU6050::getIntFreefallStatus()
garfieldsg	0:662207e34fba	2019	{
garfieldsg	0:662207e34fba	2020	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
garfieldsg	0:662207e34fba	2021	return buffer[0];
garfieldsg	0:662207e34fba	2022	}
garfieldsg	0:662207e34fba	2023	/** Get Motion Detection interrupt status.
garfieldsg	0:662207e34fba	2024	* This bit automatically sets to 1 when a Motion Detection interrupt has been
garfieldsg	0:662207e34fba	2025	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	2026	* @return Current interrupt status
garfieldsg	0:662207e34fba	2027	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	2028	* @see MPU6050_INTERRUPT_MOT_BIT
garfieldsg	0:662207e34fba	2029	*/
garfieldsg	0:662207e34fba	2030	bool MPU6050::getIntMotionStatus()
garfieldsg	0:662207e34fba	2031	{
garfieldsg	0:662207e34fba	2032	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
garfieldsg	0:662207e34fba	2033	return buffer[0];
garfieldsg	0:662207e34fba	2034	}
garfieldsg	0:662207e34fba	2035	/** Get Zero Motion Detection interrupt status.
garfieldsg	0:662207e34fba	2036	* This bit automatically sets to 1 when a Zero Motion Detection interrupt has
garfieldsg	0:662207e34fba	2037	* been generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	2038	* @return Current interrupt status
garfieldsg	0:662207e34fba	2039	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	2040	* @see MPU6050_INTERRUPT_ZMOT_BIT
garfieldsg	0:662207e34fba	2041	*/
garfieldsg	0:662207e34fba	2042	bool MPU6050::getIntZeroMotionStatus()
garfieldsg	0:662207e34fba	2043	{
garfieldsg	0:662207e34fba	2044	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
garfieldsg	0:662207e34fba	2045	return buffer[0];
garfieldsg	0:662207e34fba	2046	}
garfieldsg	0:662207e34fba	2047	/** Get FIFO Buffer Overflow interrupt status.
garfieldsg	0:662207e34fba	2048	* This bit automatically sets to 1 when a Free Fall interrupt has been
garfieldsg	0:662207e34fba	2049	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	2050	* @return Current interrupt status
garfieldsg	0:662207e34fba	2051	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	2052	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
garfieldsg	0:662207e34fba	2053	*/
garfieldsg	0:662207e34fba	2054	bool MPU6050::getIntFIFOBufferOverflowStatus()
garfieldsg	0:662207e34fba	2055	{
garfieldsg	0:662207e34fba	2056	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
garfieldsg	0:662207e34fba	2057	return buffer[0];
garfieldsg	0:662207e34fba	2058	}
garfieldsg	0:662207e34fba	2059	/** Get I2C Master interrupt status.
garfieldsg	0:662207e34fba	2060	* This bit automatically sets to 1 when an I2C Master interrupt has been
garfieldsg	0:662207e34fba	2061	* generated. For a list of I2C Master interrupts, please refer to Register 54.
garfieldsg	0:662207e34fba	2062	* The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	2063	* @return Current interrupt status
garfieldsg	0:662207e34fba	2064	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	2065	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
garfieldsg	0:662207e34fba	2066	*/
garfieldsg	0:662207e34fba	2067	bool MPU6050::getIntI2CMasterStatus()
garfieldsg	0:662207e34fba	2068	{
garfieldsg	0:662207e34fba	2069	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
garfieldsg	0:662207e34fba	2070	return buffer[0];
garfieldsg	0:662207e34fba	2071	}
garfieldsg	0:662207e34fba	2072	/** Get Data Ready interrupt status.
garfieldsg	0:662207e34fba	2073	* This bit automatically sets to 1 when a Data Ready interrupt has been
garfieldsg	0:662207e34fba	2074	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	2075	* @return Current interrupt status
garfieldsg	0:662207e34fba	2076	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	2077	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
garfieldsg	0:662207e34fba	2078	*/
garfieldsg	0:662207e34fba	2079	bool MPU6050::getIntDataReadyStatus()
garfieldsg	0:662207e34fba	2080	{
garfieldsg	0:662207e34fba	2081	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
garfieldsg	0:662207e34fba	2082	return buffer[0];
garfieldsg	0:662207e34fba	2083	}
garfieldsg	0:662207e34fba	2084
garfieldsg	0:662207e34fba	2085	// ACCEL_OUT_ registers
garfieldsg	0:662207e34fba	2086
garfieldsg	0:662207e34fba	2087	/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
garfieldsg	0:662207e34fba	2088	* FUNCTION NOT FULLY IMPLEMENTED YET.
garfieldsg	0:662207e34fba	2089	* @param ax 16-bit signed integer container for accelerometer X-axis value
garfieldsg	0:662207e34fba	2090	* @param ay 16-bit signed integer container for accelerometer Y-axis value
garfieldsg	0:662207e34fba	2091	* @param az 16-bit signed integer container for accelerometer Z-axis value
garfieldsg	0:662207e34fba	2092	* @param gx 16-bit signed integer container for gyroscope X-axis value
garfieldsg	0:662207e34fba	2093	* @param gy 16-bit signed integer container for gyroscope Y-axis value
garfieldsg	0:662207e34fba	2094	* @param gz 16-bit signed integer container for gyroscope Z-axis value
garfieldsg	0:662207e34fba	2095	* @param mx 16-bit signed integer container for magnetometer X-axis value
garfieldsg	0:662207e34fba	2096	* @param my 16-bit signed integer container for magnetometer Y-axis value
garfieldsg	0:662207e34fba	2097	* @param mz 16-bit signed integer container for magnetometer Z-axis value
garfieldsg	0:662207e34fba	2098	* @see getMotion6()
garfieldsg	0:662207e34fba	2099	* @see getAcceleration()
garfieldsg	0:662207e34fba	2100	* @see getRotation()
garfieldsg	0:662207e34fba	2101	* @see MPU6050_RA_ACCEL_XOUT_H
garfieldsg	0:662207e34fba	2102	*/
garfieldsg	0:662207e34fba	2103	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	2104	{
garfieldsg	0:662207e34fba	2105	getMotion6(ax, ay, az, gx, gy, gz);
garfieldsg	0:662207e34fba	2106	// TODO: magnetometer integration
garfieldsg	0:662207e34fba	2107	}
garfieldsg	0:662207e34fba	2108	/** Get raw 6-axis motion sensor readings (accel/gyro).
garfieldsg	0:662207e34fba	2109	* Retrieves all currently available motion sensor values.
garfieldsg	0:662207e34fba	2110	* @param ax 16-bit signed integer container for accelerometer X-axis value
garfieldsg	0:662207e34fba	2111	* @param ay 16-bit signed integer container for accelerometer Y-axis value
garfieldsg	0:662207e34fba	2112	* @param az 16-bit signed integer container for accelerometer Z-axis value
garfieldsg	0:662207e34fba	2113	* @param gx 16-bit signed integer container for gyroscope X-axis value
garfieldsg	0:662207e34fba	2114	* @param gy 16-bit signed integer container for gyroscope Y-axis value
garfieldsg	0:662207e34fba	2115	* @param gz 16-bit signed integer container for gyroscope Z-axis value
garfieldsg	0:662207e34fba	2116	* @see getAcceleration()
garfieldsg	0:662207e34fba	2117	* @see getRotation()
garfieldsg	0:662207e34fba	2118	* @see MPU6050_RA_ACCEL_XOUT_H
garfieldsg	0:662207e34fba	2119	*/
garfieldsg	0:662207e34fba	2120	void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
garfieldsg	0:662207e34fba	2121	{
garfieldsg	0:662207e34fba	2122	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
garfieldsg	0:662207e34fba	2123	*ax = (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2124	*ay = (((int16_t)buffer[2]) << 8) \| buffer[3];
garfieldsg	0:662207e34fba	2125	*az = (((int16_t)buffer[4]) << 8) \| buffer[5];
garfieldsg	0:662207e34fba	2126	*gx = (((int16_t)buffer[8]) << 8) \| buffer[9];
garfieldsg	0:662207e34fba	2127	*gy = (((int16_t)buffer[10]) << 8) \| buffer[11];
garfieldsg	0:662207e34fba	2128	*gz = (((int16_t)buffer[12]) << 8) \| buffer[13];
garfieldsg	0:662207e34fba	2129	}
garfieldsg	0:662207e34fba	2130	/** Get 3-axis accelerometer readings.
garfieldsg	0:662207e34fba	2131	* These registers store the most recent accelerometer measurements.
garfieldsg	0:662207e34fba	2132	* Accelerometer measurements are written to these registers at the Sample Rate
garfieldsg	0:662207e34fba	2133	* as defined in Register 25.
garfieldsg	0:662207e34fba	2134	*
garfieldsg	0:662207e34fba	2135	* The accelerometer measurement registers, along with the temperature
garfieldsg	0:662207e34fba	2136	* measurement registers, gyroscope measurement registers, and external sensor
garfieldsg	0:662207e34fba	2137	* data registers, are composed of two sets of registers: an internal register
garfieldsg	0:662207e34fba	2138	* set and a user-facing read register set.
garfieldsg	0:662207e34fba	2139	*
garfieldsg	0:662207e34fba	2140	* The data within the accelerometer sensors' internal register set is always
garfieldsg	0:662207e34fba	2141	* updated at the Sample Rate. Meanwhile, the user-facing read register set
garfieldsg	0:662207e34fba	2142	* duplicates the internal register set's data values whenever the serial
garfieldsg	0:662207e34fba	2143	* interface is idle. This guarantees that a burst read of sensor registers will
garfieldsg	0:662207e34fba	2144	* read measurements from the same sampling instant. Note that if burst reads
garfieldsg	0:662207e34fba	2145	* are not used, the user is responsible for ensuring a set of single byte reads
garfieldsg	0:662207e34fba	2146	* correspond to a single sampling instant by checking the Data Ready interrupt.
garfieldsg	0:662207e34fba	2147	*
garfieldsg	0:662207e34fba	2148	* Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
garfieldsg	0:662207e34fba	2149	* (Register 28). For each full scale setting, the accelerometers' sensitivity
garfieldsg	0:662207e34fba	2150	* per LSB in ACCEL_xOUT is shown in the table below:
garfieldsg	0:662207e34fba	2151	*
garfieldsg	0:662207e34fba	2152	* <pre>
garfieldsg	0:662207e34fba	2153	* AFS_SEL \| Full Scale Range \| LSB Sensitivity
garfieldsg	0:662207e34fba	2154	* --------+------------------+----------------
garfieldsg	0:662207e34fba	2155	* 0 \| +/- 2g \| 8192 LSB/mg
garfieldsg	0:662207e34fba	2156	* 1 \| +/- 4g \| 4096 LSB/mg
garfieldsg	0:662207e34fba	2157	* 2 \| +/- 8g \| 2048 LSB/mg
garfieldsg	0:662207e34fba	2158	* 3 \| +/- 16g \| 1024 LSB/mg
garfieldsg	0:662207e34fba	2159	* </pre>
garfieldsg	0:662207e34fba	2160	*
garfieldsg	0:662207e34fba	2161	* @param x 16-bit signed integer container for X-axis acceleration
garfieldsg	0:662207e34fba	2162	* @param y 16-bit signed integer container for Y-axis acceleration
garfieldsg	0:662207e34fba	2163	* @param z 16-bit signed integer container for Z-axis acceleration
garfieldsg	0:662207e34fba	2164	* @see MPU6050_RA_GYRO_XOUT_H
garfieldsg	0:662207e34fba	2165	*/
garfieldsg	0:662207e34fba	2166	void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z)
garfieldsg	0:662207e34fba	2167	{
garfieldsg	0:662207e34fba	2168	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
garfieldsg	0:662207e34fba	2169	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2170	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
garfieldsg	0:662207e34fba	2171	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
garfieldsg	0:662207e34fba	2172	}
garfieldsg	0:662207e34fba	2173	/** Get X-axis accelerometer reading.
garfieldsg	0:662207e34fba	2174	* @return X-axis acceleration measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2175	* @see getMotion6()
garfieldsg	0:662207e34fba	2176	* @see MPU6050_RA_ACCEL_XOUT_H
garfieldsg	0:662207e34fba	2177	*/
garfieldsg	0:662207e34fba	2178	int16_t MPU6050::getAccelerationX()
garfieldsg	0:662207e34fba	2179	{
garfieldsg	0:662207e34fba	2180	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2181	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2182	}
garfieldsg	0:662207e34fba	2183	/** Get Y-axis accelerometer reading.
garfieldsg	0:662207e34fba	2184	* @return Y-axis acceleration measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2185	* @see getMotion6()
garfieldsg	0:662207e34fba	2186	* @see MPU6050_RA_ACCEL_YOUT_H
garfieldsg	0:662207e34fba	2187	*/
garfieldsg	0:662207e34fba	2188	int16_t MPU6050::getAccelerationY()
garfieldsg	0:662207e34fba	2189	{
garfieldsg	0:662207e34fba	2190	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2191	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2192	}
garfieldsg	0:662207e34fba	2193	/** Get Z-axis accelerometer reading.
garfieldsg	0:662207e34fba	2194	* @return Z-axis acceleration measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2195	* @see getMotion6()
garfieldsg	0:662207e34fba	2196	* @see MPU6050_RA_ACCEL_ZOUT_H
garfieldsg	0:662207e34fba	2197	*/
garfieldsg	0:662207e34fba	2198	int16_t MPU6050::getAccelerationZ()
garfieldsg	0:662207e34fba	2199	{
garfieldsg	0:662207e34fba	2200	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2201	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2202	}
garfieldsg	0:662207e34fba	2203
garfieldsg	0:662207e34fba	2204	// TEMP_OUT_* registers
garfieldsg	0:662207e34fba	2205
garfieldsg	0:662207e34fba	2206	/** Get current internal temperature.
garfieldsg	0:662207e34fba	2207	* @return Temperature reading in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2208	* @see MPU6050_RA_TEMP_OUT_H
garfieldsg	0:662207e34fba	2209	*/
garfieldsg	0:662207e34fba	2210	int16_t MPU6050::getTemperature()
garfieldsg	0:662207e34fba	2211	{
garfieldsg	0:662207e34fba	2212	i2Cdev.readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2213	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2214	}
garfieldsg	0:662207e34fba	2215
garfieldsg	0:662207e34fba	2216	// GYRO_OUT_ registers
garfieldsg	0:662207e34fba	2217
garfieldsg	0:662207e34fba	2218	/** Get 3-axis gyroscope readings.
garfieldsg	0:662207e34fba	2219	* These gyroscope measurement registers, along with the accelerometer
garfieldsg	0:662207e34fba	2220	* measurement registers, temperature measurement registers, and external sensor
garfieldsg	0:662207e34fba	2221	* data registers, are composed of two sets of registers: an internal register
garfieldsg	0:662207e34fba	2222	* set and a user-facing read register set.
garfieldsg	0:662207e34fba	2223	* The data within the gyroscope sensors' internal register set is always
garfieldsg	0:662207e34fba	2224	* updated at the Sample Rate. Meanwhile, the user-facing read register set
garfieldsg	0:662207e34fba	2225	* duplicates the internal register set's data values whenever the serial
garfieldsg	0:662207e34fba	2226	* interface is idle. This guarantees that a burst read of sensor registers will
garfieldsg	0:662207e34fba	2227	* read measurements from the same sampling instant. Note that if burst reads
garfieldsg	0:662207e34fba	2228	* are not used, the user is responsible for ensuring a set of single byte reads
garfieldsg	0:662207e34fba	2229	* correspond to a single sampling instant by checking the Data Ready interrupt.
garfieldsg	0:662207e34fba	2230	*
garfieldsg	0:662207e34fba	2231	* Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
garfieldsg	0:662207e34fba	2232	* (Register 27). For each full scale setting, the gyroscopes' sensitivity per
garfieldsg	0:662207e34fba	2233	* LSB in GYRO_xOUT is shown in the table below:
garfieldsg	0:662207e34fba	2234	*
garfieldsg	0:662207e34fba	2235	* <pre>
garfieldsg	0:662207e34fba	2236	* FS_SEL \| Full Scale Range \| LSB Sensitivity
garfieldsg	0:662207e34fba	2237	* -------+--------------------+----------------
garfieldsg	0:662207e34fba	2238	* 0 \| +/- 250 degrees/s \| 131 LSB/deg/s
garfieldsg	0:662207e34fba	2239	* 1 \| +/- 500 degrees/s \| 65.5 LSB/deg/s
garfieldsg	0:662207e34fba	2240	* 2 \| +/- 1000 degrees/s \| 32.8 LSB/deg/s
garfieldsg	0:662207e34fba	2241	* 3 \| +/- 2000 degrees/s \| 16.4 LSB/deg/s
garfieldsg	0:662207e34fba	2242	* </pre>
garfieldsg	0:662207e34fba	2243	*
garfieldsg	0:662207e34fba	2244	* @param x 16-bit signed integer container for X-axis rotation
garfieldsg	0:662207e34fba	2245	* @param y 16-bit signed integer container for Y-axis rotation
garfieldsg	0:662207e34fba	2246	* @param z 16-bit signed integer container for Z-axis rotation
garfieldsg	0:662207e34fba	2247	* @see getMotion6()
garfieldsg	0:662207e34fba	2248	* @see MPU6050_RA_GYRO_XOUT_H
garfieldsg	0:662207e34fba	2249	*/
garfieldsg	0:662207e34fba	2250	void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z)
garfieldsg	0:662207e34fba	2251	{
garfieldsg	0:662207e34fba	2252	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
garfieldsg	0:662207e34fba	2253	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2254	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
garfieldsg	0:662207e34fba	2255	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
garfieldsg	0:662207e34fba	2256	}
garfieldsg	0:662207e34fba	2257	/** Get X-axis gyroscope reading.
garfieldsg	0:662207e34fba	2258	* @return X-axis rotation measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2259	* @see getMotion6()
garfieldsg	0:662207e34fba	2260	* @see MPU6050_RA_GYRO_XOUT_H
garfieldsg	0:662207e34fba	2261	*/
garfieldsg	0:662207e34fba	2262	int16_t MPU6050::getRotationX()
garfieldsg	0:662207e34fba	2263	{
garfieldsg	0:662207e34fba	2264	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2265	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2266	}
garfieldsg	0:662207e34fba	2267	/** Get Y-axis gyroscope reading.
garfieldsg	0:662207e34fba	2268	* @return Y-axis rotation measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2269	* @see getMotion6()
garfieldsg	0:662207e34fba	2270	* @see MPU6050_RA_GYRO_YOUT_H
garfieldsg	0:662207e34fba	2271	*/
garfieldsg	0:662207e34fba	2272	int16_t MPU6050::getRotationY()
garfieldsg	0:662207e34fba	2273	{
garfieldsg	0:662207e34fba	2274	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2275	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2276	}
garfieldsg	0:662207e34fba	2277	/** Get Z-axis gyroscope reading.
garfieldsg	0:662207e34fba	2278	* @return Z-axis rotation measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2279	* @see getMotion6()
garfieldsg	0:662207e34fba	2280	* @see MPU6050_RA_GYRO_ZOUT_H
garfieldsg	0:662207e34fba	2281	*/
garfieldsg	0:662207e34fba	2282	int16_t MPU6050::getRotationZ()
garfieldsg	0:662207e34fba	2283	{
garfieldsg	0:662207e34fba	2284	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2285	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2286	}
garfieldsg	0:662207e34fba	2287
garfieldsg	0:662207e34fba	2288	// EXT_SENS_DATA_* registers
garfieldsg	0:662207e34fba	2289
garfieldsg	0:662207e34fba	2290	/** Read single byte from external sensor data register.
garfieldsg	0:662207e34fba	2291	* These registers store data read from external sensors by the Slave 0, 1, 2,
garfieldsg	0:662207e34fba	2292	* and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
garfieldsg	0:662207e34fba	2293	* I2C_SLV4_DI (Register 53).
garfieldsg	0:662207e34fba	2294	*
garfieldsg	0:662207e34fba	2295	* External sensor data is written to these registers at the Sample Rate as
garfieldsg	0:662207e34fba	2296	* defined in Register 25. This access rate can be reduced by using the Slave
garfieldsg	0:662207e34fba	2297	* Delay Enable registers (Register 103).
garfieldsg	0:662207e34fba	2298	*
garfieldsg	0:662207e34fba	2299	* External sensor data registers, along with the gyroscope measurement
garfieldsg	0:662207e34fba	2300	* registers, accelerometer measurement registers, and temperature measurement
garfieldsg	0:662207e34fba	2301	* registers, are composed of two sets of registers: an internal register set
garfieldsg	0:662207e34fba	2302	* and a user-facing read register set.
garfieldsg	0:662207e34fba	2303	*
garfieldsg	0:662207e34fba	2304	* The data within the external sensors' internal register set is always updated
garfieldsg	0:662207e34fba	2305	* at the Sample Rate (or the reduced access rate) whenever the serial interface
garfieldsg	0:662207e34fba	2306	* is idle. This guarantees that a burst read of sensor registers will read
garfieldsg	0:662207e34fba	2307	* measurements from the same sampling instant. Note that if burst reads are not
garfieldsg	0:662207e34fba	2308	* used, the user is responsible for ensuring a set of single byte reads
garfieldsg	0:662207e34fba	2309	* correspond to a single sampling instant by checking the Data Ready interrupt.
garfieldsg	0:662207e34fba	2310	*
garfieldsg	0:662207e34fba	2311	* Data is placed in these external sensor data registers according to
garfieldsg	0:662207e34fba	2312	* I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
garfieldsg	0:662207e34fba	2313	* 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
garfieldsg	0:662207e34fba	2314	* an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
garfieldsg	0:662207e34fba	2315	* defined in Register 25) or delayed rate (if specified in Register 52 and
garfieldsg	0:662207e34fba	2316	* 103). During each Sample cycle, slave reads are performed in order of Slave
garfieldsg	0:662207e34fba	2317	* number. If all slaves are enabled with more than zero bytes to be read, the
garfieldsg	0:662207e34fba	2318	* order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
garfieldsg	0:662207e34fba	2319	*
garfieldsg	0:662207e34fba	2320	* Each enabled slave will have EXT_SENS_DATA registers associated with it by
garfieldsg	0:662207e34fba	2321	* number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
garfieldsg	0:662207e34fba	2322	* EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
garfieldsg	0:662207e34fba	2323	* change the higher numbered slaves' associated registers. Furthermore, if
garfieldsg	0:662207e34fba	2324	* fewer total bytes are being read from the external sensors as a result of
garfieldsg	0:662207e34fba	2325	* such a change, then the data remaining in the registers which no longer have
garfieldsg	0:662207e34fba	2326	* an associated slave device (i.e. high numbered registers) will remain in
garfieldsg	0:662207e34fba	2327	* these previously allocated registers unless reset.
garfieldsg	0:662207e34fba	2328	*
garfieldsg	0:662207e34fba	2329	* If the sum of the read lengths of all SLVx transactions exceed the number of
garfieldsg	0:662207e34fba	2330	* available EXT_SENS_DATA registers, the excess bytes will be dropped. There
garfieldsg	0:662207e34fba	2331	* are 24 EXT_SENS_DATA registers and hence the total read lengths between all
garfieldsg	0:662207e34fba	2332	* the slaves cannot be greater than 24 or some bytes will be lost.
garfieldsg	0:662207e34fba	2333	*
garfieldsg	0:662207e34fba	2334	* Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
garfieldsg	0:662207e34fba	2335	* information regarding the characteristics of Slave 4, please refer to
garfieldsg	0:662207e34fba	2336	* Registers 49 to 53.
garfieldsg	0:662207e34fba	2337	*
garfieldsg	0:662207e34fba	2338	* EXAMPLE:
garfieldsg	0:662207e34fba	2339	* Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
garfieldsg	0:662207e34fba	2340	* I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
garfieldsg	0:662207e34fba	2341	* I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
garfieldsg	0:662207e34fba	2342	* through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
garfieldsg	0:662207e34fba	2343	* will be associated with Slave 1. If Slave 2 is enabled as well, registers
garfieldsg	0:662207e34fba	2344	* starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
garfieldsg	0:662207e34fba	2345	*
garfieldsg	0:662207e34fba	2346	* If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
garfieldsg	0:662207e34fba	2347	* registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
garfieldsg	0:662207e34fba	2348	* instead.
garfieldsg	0:662207e34fba	2349	*
garfieldsg	0:662207e34fba	2350	* REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
garfieldsg	0:662207e34fba	2351	* If a slave is disabled at any time, the space initially allocated to the
garfieldsg	0:662207e34fba	2352	* slave in the EXT_SENS_DATA register, will remain associated with that slave.
garfieldsg	0:662207e34fba	2353	* This is to avoid dynamic adjustment of the register allocation.
garfieldsg	0:662207e34fba	2354	*
garfieldsg	0:662207e34fba	2355	* The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
garfieldsg	0:662207e34fba	2356	* slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
garfieldsg	0:662207e34fba	2357	*
garfieldsg	0:662207e34fba	2358	* This above is also true if one of the slaves gets NACKed and stops
garfieldsg	0:662207e34fba	2359	* functioning.
garfieldsg	0:662207e34fba	2360	*
garfieldsg	0:662207e34fba	2361	* @param position Starting position (0-23)
garfieldsg	0:662207e34fba	2362	* @return Byte read from register
garfieldsg	0:662207e34fba	2363	*/
garfieldsg	0:662207e34fba	2364	uint8_t MPU6050::getExternalSensorByte(int position)
garfieldsg	0:662207e34fba	2365	{
garfieldsg	0:662207e34fba	2366	i2Cdev.readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
garfieldsg	0:662207e34fba	2367	return buffer[0];
garfieldsg	0:662207e34fba	2368	}
garfieldsg	0:662207e34fba	2369	/** Read word (2 bytes) from external sensor data registers.
garfieldsg	0:662207e34fba	2370	* @param position Starting position (0-21)
garfieldsg	0:662207e34fba	2371	* @return Word read from register
garfieldsg	0:662207e34fba	2372	* @see getExternalSensorByte()
garfieldsg	0:662207e34fba	2373	*/
garfieldsg	0:662207e34fba	2374	uint16_t MPU6050::getExternalSensorWord(int position)
garfieldsg	0:662207e34fba	2375	{
garfieldsg	0:662207e34fba	2376	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
garfieldsg	0:662207e34fba	2377	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2378	}
garfieldsg	0:662207e34fba	2379	/** Read double word (4 bytes) from external sensor data registers.
garfieldsg	0:662207e34fba	2380	* @param position Starting position (0-20)
garfieldsg	0:662207e34fba	2381	* @return Double word read from registers
garfieldsg	0:662207e34fba	2382	* @see getExternalSensorByte()
garfieldsg	0:662207e34fba	2383	*/
garfieldsg	0:662207e34fba	2384	uint32_t MPU6050::getExternalSensorDWord(int position)
garfieldsg	0:662207e34fba	2385	{
garfieldsg	0:662207e34fba	2386	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
garfieldsg	0:662207e34fba	2387	return (((uint32_t)buffer[0]) << 24) \| (((uint32_t)buffer[1]) << 16) \| (((uint16_t)buffer[2]) << 8) \| buffer[3];
garfieldsg	0:662207e34fba	2388	}
garfieldsg	0:662207e34fba	2389
garfieldsg	0:662207e34fba	2390	// MOT_DETECT_STATUS register
garfieldsg	0:662207e34fba	2391
garfieldsg	0:662207e34fba	2392	/** Get X-axis negative motion detection interrupt status.
garfieldsg	0:662207e34fba	2393	* @return Motion detection status
garfieldsg	0:662207e34fba	2394	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2395	* @see MPU6050_MOTION_MOT_XNEG_BIT
garfieldsg	0:662207e34fba	2396	*/
garfieldsg	0:662207e34fba	2397	bool MPU6050::getXNegMotionDetected()
garfieldsg	0:662207e34fba	2398	{
garfieldsg	0:662207e34fba	2399	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
garfieldsg	0:662207e34fba	2400	return buffer[0];
garfieldsg	0:662207e34fba	2401	}
garfieldsg	0:662207e34fba	2402	/** Get X-axis positive motion detection interrupt status.
garfieldsg	0:662207e34fba	2403	* @return Motion detection status
garfieldsg	0:662207e34fba	2404	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2405	* @see MPU6050_MOTION_MOT_XPOS_BIT
garfieldsg	0:662207e34fba	2406	*/
garfieldsg	0:662207e34fba	2407	bool MPU6050::getXPosMotionDetected()
garfieldsg	0:662207e34fba	2408	{
garfieldsg	0:662207e34fba	2409	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
garfieldsg	0:662207e34fba	2410	return buffer[0];
garfieldsg	0:662207e34fba	2411	}
garfieldsg	0:662207e34fba	2412	/** Get Y-axis negative motion detection interrupt status.
garfieldsg	0:662207e34fba	2413	* @return Motion detection status
garfieldsg	0:662207e34fba	2414	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2415	* @see MPU6050_MOTION_MOT_YNEG_BIT
garfieldsg	0:662207e34fba	2416	*/
garfieldsg	0:662207e34fba	2417	bool MPU6050::getYNegMotionDetected()
garfieldsg	0:662207e34fba	2418	{
garfieldsg	0:662207e34fba	2419	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
garfieldsg	0:662207e34fba	2420	return buffer[0];
garfieldsg	0:662207e34fba	2421	}
garfieldsg	0:662207e34fba	2422	/** Get Y-axis positive motion detection interrupt status.
garfieldsg	0:662207e34fba	2423	* @return Motion detection status
garfieldsg	0:662207e34fba	2424	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2425	* @see MPU6050_MOTION_MOT_YPOS_BIT
garfieldsg	0:662207e34fba	2426	*/
garfieldsg	0:662207e34fba	2427	bool MPU6050::getYPosMotionDetected()
garfieldsg	0:662207e34fba	2428	{
garfieldsg	0:662207e34fba	2429	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
garfieldsg	0:662207e34fba	2430	return buffer[0];
garfieldsg	0:662207e34fba	2431	}
garfieldsg	0:662207e34fba	2432	/** Get Z-axis negative motion detection interrupt status.
garfieldsg	0:662207e34fba	2433	* @return Motion detection status
garfieldsg	0:662207e34fba	2434	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2435	* @see MPU6050_MOTION_MOT_ZNEG_BIT
garfieldsg	0:662207e34fba	2436	*/
garfieldsg	0:662207e34fba	2437	bool MPU6050::getZNegMotionDetected()
garfieldsg	0:662207e34fba	2438	{
garfieldsg	0:662207e34fba	2439	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
garfieldsg	0:662207e34fba	2440	return buffer[0];
garfieldsg	0:662207e34fba	2441	}
garfieldsg	0:662207e34fba	2442	/** Get Z-axis positive motion detection interrupt status.
garfieldsg	0:662207e34fba	2443	* @return Motion detection status
garfieldsg	0:662207e34fba	2444	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2445	* @see MPU6050_MOTION_MOT_ZPOS_BIT
garfieldsg	0:662207e34fba	2446	*/
garfieldsg	0:662207e34fba	2447	bool MPU6050::getZPosMotionDetected()
garfieldsg	0:662207e34fba	2448	{
garfieldsg	0:662207e34fba	2449	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
garfieldsg	0:662207e34fba	2450	return buffer[0];
garfieldsg	0:662207e34fba	2451	}
garfieldsg	0:662207e34fba	2452	/** Get zero motion detection interrupt status.
garfieldsg	0:662207e34fba	2453	* @return Motion detection status
garfieldsg	0:662207e34fba	2454	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2455	* @see MPU6050_MOTION_MOT_ZRMOT_BIT
garfieldsg	0:662207e34fba	2456	*/
garfieldsg	0:662207e34fba	2457	bool MPU6050::getZeroMotionDetected()
garfieldsg	0:662207e34fba	2458	{
garfieldsg	0:662207e34fba	2459	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
garfieldsg	0:662207e34fba	2460	return buffer[0];
garfieldsg	0:662207e34fba	2461	}
garfieldsg	0:662207e34fba	2462
garfieldsg	0:662207e34fba	2463	// I2C_SLV*_DO register
garfieldsg	0:662207e34fba	2464
garfieldsg	0:662207e34fba	2465	/** Write byte to Data Output container for specified slave.
garfieldsg	0:662207e34fba	2466	* This register holds the output data written into Slave when Slave is set to
garfieldsg	0:662207e34fba	2467	* write mode. For further information regarding Slave control, please
garfieldsg	0:662207e34fba	2468	* refer to Registers 37 to 39 and immediately following.
garfieldsg	0:662207e34fba	2469	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	2470	* @param data Byte to write
garfieldsg	0:662207e34fba	2471	* @see MPU6050_RA_I2C_SLV0_DO
garfieldsg	0:662207e34fba	2472	*/
garfieldsg	0:662207e34fba	2473	void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data)
garfieldsg	0:662207e34fba	2474	{
garfieldsg	0:662207e34fba	2475	if (num > 3) return;
garfieldsg	0:662207e34fba	2476	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
garfieldsg	0:662207e34fba	2477	}
garfieldsg	0:662207e34fba	2478
garfieldsg	0:662207e34fba	2479	// I2C_MST_DELAY_CTRL register
garfieldsg	0:662207e34fba	2480
garfieldsg	0:662207e34fba	2481	/** Get external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2482	* This register is used to specify the timing of external sensor data
garfieldsg	0:662207e34fba	2483	* shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
garfieldsg	0:662207e34fba	2484	* sensor data is delayed until all data has been received.
garfieldsg	0:662207e34fba	2485	* @return Current external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2486	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2487	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
garfieldsg	0:662207e34fba	2488	*/
garfieldsg	0:662207e34fba	2489	bool MPU6050::getExternalShadowDelayEnabled()
garfieldsg	0:662207e34fba	2490	{
garfieldsg	0:662207e34fba	2491	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
garfieldsg	0:662207e34fba	2492	return buffer[0];
garfieldsg	0:662207e34fba	2493	}
garfieldsg	0:662207e34fba	2494	/** Set external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2495	* @param enabled New external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2496	* @see getExternalShadowDelayEnabled()
garfieldsg	0:662207e34fba	2497	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2498	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
garfieldsg	0:662207e34fba	2499	*/
garfieldsg	0:662207e34fba	2500	void MPU6050::setExternalShadowDelayEnabled(bool enabled)
garfieldsg	0:662207e34fba	2501	{
garfieldsg	0:662207e34fba	2502	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
garfieldsg	0:662207e34fba	2503	}
garfieldsg	0:662207e34fba	2504	/** Get slave delay enabled status.
garfieldsg	0:662207e34fba	2505	* When a particular slave delay is enabled, the rate of access for the that
garfieldsg	0:662207e34fba	2506	* slave device is reduced. When a slave's access rate is decreased relative to
garfieldsg	0:662207e34fba	2507	* the Sample Rate, the slave is accessed every:
garfieldsg	0:662207e34fba	2508	*
garfieldsg	0:662207e34fba	2509	* 1 / (1 + I2C_MST_DLY) Samples
garfieldsg	0:662207e34fba	2510	*
garfieldsg	0:662207e34fba	2511	* This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25)
garfieldsg	0:662207e34fba	2512	* and DLPF_CFG (register 26).
garfieldsg	0:662207e34fba	2513	*
garfieldsg	0:662207e34fba	2514	* For further information regarding I2C_MST_DLY, please refer to register 52.
garfieldsg	0:662207e34fba	2515	* For further information regarding the Sample Rate, please refer to register 25.
garfieldsg	0:662207e34fba	2516	*
garfieldsg	0:662207e34fba	2517	* @param num Slave number (0-4)
garfieldsg	0:662207e34fba	2518	* @return Current slave delay enabled status.
garfieldsg	0:662207e34fba	2519	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2520	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
garfieldsg	0:662207e34fba	2521	*/
garfieldsg	0:662207e34fba	2522	bool MPU6050::getSlaveDelayEnabled(uint8_t num)
garfieldsg	0:662207e34fba	2523	{
garfieldsg	0:662207e34fba	2524	// MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
garfieldsg	0:662207e34fba	2525	if (num > 4) return 0;
garfieldsg	0:662207e34fba	2526	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
garfieldsg	0:662207e34fba	2527	return buffer[0];
garfieldsg	0:662207e34fba	2528	}
garfieldsg	0:662207e34fba	2529	/** Set slave delay enabled status.
garfieldsg	0:662207e34fba	2530	* @param num Slave number (0-4)
garfieldsg	0:662207e34fba	2531	* @param enabled New slave delay enabled status.
garfieldsg	0:662207e34fba	2532	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2533	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
garfieldsg	0:662207e34fba	2534	*/
garfieldsg	0:662207e34fba	2535	void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled)
garfieldsg	0:662207e34fba	2536	{
garfieldsg	0:662207e34fba	2537	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
garfieldsg	0:662207e34fba	2538	}
garfieldsg	0:662207e34fba	2539
garfieldsg	0:662207e34fba	2540	// SIGNAL_PATH_RESET register
garfieldsg	0:662207e34fba	2541
garfieldsg	0:662207e34fba	2542	/** Reset gyroscope signal path.
garfieldsg	0:662207e34fba	2543	* The reset will revert the signal path analog to digital converters and
garfieldsg	0:662207e34fba	2544	* filters to their power up configurations.
garfieldsg	0:662207e34fba	2545	* @see MPU6050_RA_SIGNAL_PATH_RESET
garfieldsg	0:662207e34fba	2546	* @see MPU6050_PATHRESET_GYRO_RESET_BIT
garfieldsg	0:662207e34fba	2547	*/
garfieldsg	0:662207e34fba	2548	void MPU6050::resetGyroscopePath()
garfieldsg	0:662207e34fba	2549	{
garfieldsg	0:662207e34fba	2550	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
garfieldsg	0:662207e34fba	2551	}
garfieldsg	0:662207e34fba	2552	/** Reset accelerometer signal path.
garfieldsg	0:662207e34fba	2553	* The reset will revert the signal path analog to digital converters and
garfieldsg	0:662207e34fba	2554	* filters to their power up configurations.
garfieldsg	0:662207e34fba	2555	* @see MPU6050_RA_SIGNAL_PATH_RESET
garfieldsg	0:662207e34fba	2556	* @see MPU6050_PATHRESET_ACCEL_RESET_BIT
garfieldsg	0:662207e34fba	2557	*/
garfieldsg	0:662207e34fba	2558	void MPU6050::resetAccelerometerPath()
garfieldsg	0:662207e34fba	2559	{
garfieldsg	0:662207e34fba	2560	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
garfieldsg	0:662207e34fba	2561	}
garfieldsg	0:662207e34fba	2562	/** Reset temperature sensor signal path.
garfieldsg	0:662207e34fba	2563	* The reset will revert the signal path analog to digital converters and
garfieldsg	0:662207e34fba	2564	* filters to their power up configurations.
garfieldsg	0:662207e34fba	2565	* @see MPU6050_RA_SIGNAL_PATH_RESET
garfieldsg	0:662207e34fba	2566	* @see MPU6050_PATHRESET_TEMP_RESET_BIT
garfieldsg	0:662207e34fba	2567	*/
garfieldsg	0:662207e34fba	2568	void MPU6050::resetTemperaturePath()
garfieldsg	0:662207e34fba	2569	{
garfieldsg	0:662207e34fba	2570	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
garfieldsg	0:662207e34fba	2571	}
garfieldsg	0:662207e34fba	2572
garfieldsg	0:662207e34fba	2573	// MOT_DETECT_CTRL register
garfieldsg	0:662207e34fba	2574
garfieldsg	0:662207e34fba	2575	/** Get accelerometer power-on delay.
garfieldsg	0:662207e34fba	2576	* The accelerometer data path provides samples to the sensor registers, Motion
garfieldsg	0:662207e34fba	2577	* detection, Zero Motion detection, and Free Fall detection modules. The
garfieldsg	0:662207e34fba	2578	* signal path contains filters which must be flushed on wake-up with new
garfieldsg	0:662207e34fba	2579	* samples before the detection modules begin operations. The default wake-up
garfieldsg	0:662207e34fba	2580	* delay, of 4ms can be lengthened by up to 3ms. This additional delay is
garfieldsg	0:662207e34fba	2581	* specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
garfieldsg	0:662207e34fba	2582	* any value above zero unless instructed otherwise by InvenSense. Please refer
garfieldsg	0:662207e34fba	2583	* to Section 8 of the MPU-6000/MPU-6050 Product Specification document for
garfieldsg	0:662207e34fba	2584	* further information regarding the detection modules.
garfieldsg	0:662207e34fba	2585	* @return Current accelerometer power-on delay
garfieldsg	0:662207e34fba	2586	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2587	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
garfieldsg	0:662207e34fba	2588	*/
garfieldsg	0:662207e34fba	2589	uint8_t MPU6050::getAccelerometerPowerOnDelay()
garfieldsg	0:662207e34fba	2590	{
garfieldsg	0:662207e34fba	2591	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
garfieldsg	0:662207e34fba	2592	return buffer[0];
garfieldsg	0:662207e34fba	2593	}
garfieldsg	0:662207e34fba	2594	/** Set accelerometer power-on delay.
garfieldsg	0:662207e34fba	2595	* @param delay New accelerometer power-on delay (0-3)
garfieldsg	0:662207e34fba	2596	* @see getAccelerometerPowerOnDelay()
garfieldsg	0:662207e34fba	2597	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2598	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
garfieldsg	0:662207e34fba	2599	*/
garfieldsg	0:662207e34fba	2600	void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay)
garfieldsg	0:662207e34fba	2601	{
garfieldsg	0:662207e34fba	2602	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
garfieldsg	0:662207e34fba	2603	}
garfieldsg	0:662207e34fba	2604	/** Get Free Fall detection counter decrement configuration.
garfieldsg	0:662207e34fba	2605	* Detection is registered by the Free Fall detection module after accelerometer
garfieldsg	0:662207e34fba	2606	* measurements meet their respective threshold conditions over a specified
garfieldsg	0:662207e34fba	2607	* number of samples. When the threshold conditions are met, the corresponding
garfieldsg	0:662207e34fba	2608	* detection counter increments by 1. The user may control the rate at which the
garfieldsg	0:662207e34fba	2609	* detection counter decrements when the threshold condition is not met by
garfieldsg	0:662207e34fba	2610	* configuring FF_COUNT. The decrement rate can be set according to the
garfieldsg	0:662207e34fba	2611	* following table:
garfieldsg	0:662207e34fba	2612	*
garfieldsg	0:662207e34fba	2613	* <pre>
garfieldsg	0:662207e34fba	2614	* FF_COUNT \| Counter Decrement
garfieldsg	0:662207e34fba	2615	* ---------+------------------
garfieldsg	0:662207e34fba	2616	* 0 \| Reset
garfieldsg	0:662207e34fba	2617	* 1 \| 1
garfieldsg	0:662207e34fba	2618	* 2 \| 2
garfieldsg	0:662207e34fba	2619	* 3 \| 4
garfieldsg	0:662207e34fba	2620	* </pre>
garfieldsg	0:662207e34fba	2621	*
garfieldsg	0:662207e34fba	2622	* When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
garfieldsg	0:662207e34fba	2623	* reset the counter to 0. For further information on Free Fall detection,
garfieldsg	0:662207e34fba	2624	* please refer to Registers 29 to 32.
garfieldsg	0:662207e34fba	2625	*
garfieldsg	0:662207e34fba	2626	* @return Current decrement configuration
garfieldsg	0:662207e34fba	2627	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2628	* @see MPU6050_DETECT_FF_COUNT_BIT
garfieldsg	0:662207e34fba	2629	*/
garfieldsg	0:662207e34fba	2630	uint8_t MPU6050::getFreefallDetectionCounterDecrement()
garfieldsg	0:662207e34fba	2631	{
garfieldsg	0:662207e34fba	2632	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
garfieldsg	0:662207e34fba	2633	return buffer[0];
garfieldsg	0:662207e34fba	2634	}
garfieldsg	0:662207e34fba	2635	/** Set Free Fall detection counter decrement configuration.
garfieldsg	0:662207e34fba	2636	* @param decrement New decrement configuration value
garfieldsg	0:662207e34fba	2637	* @see getFreefallDetectionCounterDecrement()
garfieldsg	0:662207e34fba	2638	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2639	* @see MPU6050_DETECT_FF_COUNT_BIT
garfieldsg	0:662207e34fba	2640	*/
garfieldsg	0:662207e34fba	2641	void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement)
garfieldsg	0:662207e34fba	2642	{
garfieldsg	0:662207e34fba	2643	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
garfieldsg	0:662207e34fba	2644	}
garfieldsg	0:662207e34fba	2645	/** Get Motion detection counter decrement configuration.
garfieldsg	0:662207e34fba	2646	* Detection is registered by the Motion detection module after accelerometer
garfieldsg	0:662207e34fba	2647	* measurements meet their respective threshold conditions over a specified
garfieldsg	0:662207e34fba	2648	* number of samples. When the threshold conditions are met, the corresponding
garfieldsg	0:662207e34fba	2649	* detection counter increments by 1. The user may control the rate at which the
garfieldsg	0:662207e34fba	2650	* detection counter decrements when the threshold condition is not met by
garfieldsg	0:662207e34fba	2651	* configuring MOT_COUNT. The decrement rate can be set according to the
garfieldsg	0:662207e34fba	2652	* following table:
garfieldsg	0:662207e34fba	2653	*
garfieldsg	0:662207e34fba	2654	* <pre>
garfieldsg	0:662207e34fba	2655	* MOT_COUNT \| Counter Decrement
garfieldsg	0:662207e34fba	2656	* ----------+------------------
garfieldsg	0:662207e34fba	2657	* 0 \| Reset
garfieldsg	0:662207e34fba	2658	* 1 \| 1
garfieldsg	0:662207e34fba	2659	* 2 \| 2
garfieldsg	0:662207e34fba	2660	* 3 \| 4
garfieldsg	0:662207e34fba	2661	* </pre>
garfieldsg	0:662207e34fba	2662	*
garfieldsg	0:662207e34fba	2663	* When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
garfieldsg	0:662207e34fba	2664	* reset the counter to 0. For further information on Motion detection,
garfieldsg	0:662207e34fba	2665	* please refer to Registers 29 to 32.
garfieldsg	0:662207e34fba	2666	*
garfieldsg	0:662207e34fba	2667	*/
garfieldsg	0:662207e34fba	2668	uint8_t MPU6050::getMotionDetectionCounterDecrement()
garfieldsg	0:662207e34fba	2669	{
garfieldsg	0:662207e34fba	2670	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
garfieldsg	0:662207e34fba	2671	return buffer[0];
garfieldsg	0:662207e34fba	2672	}
garfieldsg	0:662207e34fba	2673	/** Set Motion detection counter decrement configuration.
garfieldsg	0:662207e34fba	2674	* @param decrement New decrement configuration value
garfieldsg	0:662207e34fba	2675	* @see getMotionDetectionCounterDecrement()
garfieldsg	0:662207e34fba	2676	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2677	* @see MPU6050_DETECT_MOT_COUNT_BIT
garfieldsg	0:662207e34fba	2678	*/
garfieldsg	0:662207e34fba	2679	void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement)
garfieldsg	0:662207e34fba	2680	{
garfieldsg	0:662207e34fba	2681	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
garfieldsg	0:662207e34fba	2682	}
garfieldsg	0:662207e34fba	2683
garfieldsg	0:662207e34fba	2684	// USER_CTRL register
garfieldsg	0:662207e34fba	2685
garfieldsg	0:662207e34fba	2686	/** Get FIFO enabled status.
garfieldsg	0:662207e34fba	2687	* When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
garfieldsg	0:662207e34fba	2688	* cannot be written to or read from while disabled. The FIFO buffer's state
garfieldsg	0:662207e34fba	2689	* does not change unless the MPU-60X0 is power cycled.
garfieldsg	0:662207e34fba	2690	* @return Current FIFO enabled status
garfieldsg	0:662207e34fba	2691	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2692	* @see MPU6050_USERCTRL_FIFO_EN_BIT
garfieldsg	0:662207e34fba	2693	*/
garfieldsg	0:662207e34fba	2694	bool MPU6050::getFIFOEnabled()
garfieldsg	0:662207e34fba	2695	{
garfieldsg	0:662207e34fba	2696	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	2697	return buffer[0];
garfieldsg	0:662207e34fba	2698	}
garfieldsg	0:662207e34fba	2699	/** Set FIFO enabled status.
garfieldsg	0:662207e34fba	2700	* @param enabled New FIFO enabled status
garfieldsg	0:662207e34fba	2701	* @see getFIFOEnabled()
garfieldsg	0:662207e34fba	2702	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2703	* @see MPU6050_USERCTRL_FIFO_EN_BIT
garfieldsg	0:662207e34fba	2704	*/
garfieldsg	0:662207e34fba	2705	void MPU6050::setFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	2706	{
garfieldsg	0:662207e34fba	2707	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	2708	}
garfieldsg	0:662207e34fba	2709	/** Get I2C Master Mode enabled status.
garfieldsg	0:662207e34fba	2710	* When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
garfieldsg	0:662207e34fba	2711	* external sensor slave devices on the auxiliary I2C bus. When this bit is
garfieldsg	0:662207e34fba	2712	* cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
garfieldsg	0:662207e34fba	2713	* driven by the primary I2C bus (SDA and SCL). This is a precondition to
garfieldsg	0:662207e34fba	2714	* enabling Bypass Mode. For further information regarding Bypass Mode, please
garfieldsg	0:662207e34fba	2715	* refer to Register 55.
garfieldsg	0:662207e34fba	2716	* @return Current I2C Master Mode enabled status
garfieldsg	0:662207e34fba	2717	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2718	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
garfieldsg	0:662207e34fba	2719	*/
garfieldsg	0:662207e34fba	2720	bool MPU6050::getI2CMasterModeEnabled()
garfieldsg	0:662207e34fba	2721	{
garfieldsg	0:662207e34fba	2722	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
garfieldsg	0:662207e34fba	2723	return buffer[0];
garfieldsg	0:662207e34fba	2724	}
garfieldsg	0:662207e34fba	2725	/** Set I2C Master Mode enabled status.
garfieldsg	0:662207e34fba	2726	* @param enabled New I2C Master Mode enabled status
garfieldsg	0:662207e34fba	2727	* @see getI2CMasterModeEnabled()
garfieldsg	0:662207e34fba	2728	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2729	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
garfieldsg	0:662207e34fba	2730	*/
garfieldsg	0:662207e34fba	2731	void MPU6050::setI2CMasterModeEnabled(bool enabled)
garfieldsg	0:662207e34fba	2732	{
garfieldsg	0:662207e34fba	2733	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
garfieldsg	0:662207e34fba	2734	}
garfieldsg	0:662207e34fba	2735	/** Switch from I2C to SPI mode (MPU-6000 only)
garfieldsg	0:662207e34fba	2736	* If this is set, the primary SPI interface will be enabled in place of the
garfieldsg	0:662207e34fba	2737	* disabled primary I2C interface.
garfieldsg	0:662207e34fba	2738	*/
garfieldsg	0:662207e34fba	2739	void MPU6050::switchSPIEnabled(bool enabled)
garfieldsg	0:662207e34fba	2740	{
garfieldsg	0:662207e34fba	2741	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
garfieldsg	0:662207e34fba	2742	}
garfieldsg	0:662207e34fba	2743	/** Reset the FIFO.
garfieldsg	0:662207e34fba	2744	* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
garfieldsg	0:662207e34fba	2745	* bit automatically clears to 0 after the reset has been triggered.
garfieldsg	0:662207e34fba	2746	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2747	* @see MPU6050_USERCTRL_FIFO_RESET_BIT
garfieldsg	0:662207e34fba	2748	*/
garfieldsg	0:662207e34fba	2749	void MPU6050::resetFIFO()
garfieldsg	0:662207e34fba	2750	{
garfieldsg	0:662207e34fba	2751	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
garfieldsg	0:662207e34fba	2752	}
garfieldsg	0:662207e34fba	2753	/** Reset the I2C Master.
garfieldsg	0:662207e34fba	2754	* This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
garfieldsg	0:662207e34fba	2755	* This bit automatically clears to 0 after the reset has been triggered.
garfieldsg	0:662207e34fba	2756	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2757	* @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
garfieldsg	0:662207e34fba	2758	*/
garfieldsg	0:662207e34fba	2759	void MPU6050::resetI2CMaster()
garfieldsg	0:662207e34fba	2760	{
garfieldsg	0:662207e34fba	2761	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
garfieldsg	0:662207e34fba	2762	}
garfieldsg	0:662207e34fba	2763	/** Reset all sensor registers and signal paths.
garfieldsg	0:662207e34fba	2764	* When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
garfieldsg	0:662207e34fba	2765	* accelerometers, and temperature sensor). This operation will also clear the
garfieldsg	0:662207e34fba	2766	* sensor registers. This bit automatically clears to 0 after the reset has been
garfieldsg	0:662207e34fba	2767	* triggered.
garfieldsg	0:662207e34fba	2768	*
garfieldsg	0:662207e34fba	2769	* When resetting only the signal path (and not the sensor registers), please
garfieldsg	0:662207e34fba	2770	* use Register 104, SIGNAL_PATH_RESET.
garfieldsg	0:662207e34fba	2771	*
garfieldsg	0:662207e34fba	2772	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2773	* @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
garfieldsg	0:662207e34fba	2774	*/
garfieldsg	0:662207e34fba	2775	void MPU6050::resetSensors()
garfieldsg	0:662207e34fba	2776	{
garfieldsg	0:662207e34fba	2777	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
garfieldsg	0:662207e34fba	2778	}
garfieldsg	0:662207e34fba	2779
garfieldsg	0:662207e34fba	2780	// PWR_MGMT_1 register
garfieldsg	0:662207e34fba	2781
garfieldsg	0:662207e34fba	2782	/** Trigger a full device reset.
garfieldsg	0:662207e34fba	2783	* A small delay of ~50ms may be desirable after triggering a reset.
garfieldsg	0:662207e34fba	2784	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2785	* @see MPU6050_PWR1_DEVICE_RESET_BIT
garfieldsg	0:662207e34fba	2786	*/
garfieldsg	0:662207e34fba	2787	void MPU6050::reset()
garfieldsg	0:662207e34fba	2788	{
garfieldsg	0:662207e34fba	2789	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
garfieldsg	0:662207e34fba	2790	}
garfieldsg	0:662207e34fba	2791	/** Get sleep mode status.
garfieldsg	0:662207e34fba	2792	* Setting the SLEEP bit in the register puts the device into very low power
garfieldsg	0:662207e34fba	2793	* sleep mode. In this mode, only the serial interface and internal registers
garfieldsg	0:662207e34fba	2794	* remain active, allowing for a very low standby current. Clearing this bit
garfieldsg	0:662207e34fba	2795	* puts the device back into normal mode. To save power, the individual standby
garfieldsg	0:662207e34fba	2796	* selections for each of the gyros should be used if any gyro axis is not used
garfieldsg	0:662207e34fba	2797	* by the application.
garfieldsg	0:662207e34fba	2798	* @return Current sleep mode enabled status
garfieldsg	0:662207e34fba	2799	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2800	* @see MPU6050_PWR1_SLEEP_BIT
garfieldsg	0:662207e34fba	2801	*/
garfieldsg	0:662207e34fba	2802	bool MPU6050::getSleepEnabled()
garfieldsg	0:662207e34fba	2803	{
garfieldsg	0:662207e34fba	2804	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
garfieldsg	0:662207e34fba	2805	return buffer[0];
garfieldsg	0:662207e34fba	2806	}
garfieldsg	0:662207e34fba	2807	/** Set sleep mode status.
garfieldsg	0:662207e34fba	2808	* @param enabled New sleep mode enabled status
garfieldsg	0:662207e34fba	2809	* @see getSleepEnabled()
garfieldsg	0:662207e34fba	2810	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2811	* @see MPU6050_PWR1_SLEEP_BIT
garfieldsg	0:662207e34fba	2812	*/
garfieldsg	0:662207e34fba	2813	void MPU6050::setSleepEnabled(bool enabled)
garfieldsg	0:662207e34fba	2814	{
garfieldsg	0:662207e34fba	2815	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
garfieldsg	0:662207e34fba	2816	}
garfieldsg	0:662207e34fba	2817	/** Get wake cycle enabled status.
garfieldsg	0:662207e34fba	2818	* When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
garfieldsg	0:662207e34fba	2819	* between sleep mode and waking up to take a single sample of data from active
garfieldsg	0:662207e34fba	2820	* sensors at a rate determined by LP_WAKE_CTRL (register 108).
garfieldsg	0:662207e34fba	2821	* @return Current sleep mode enabled status
garfieldsg	0:662207e34fba	2822	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2823	* @see MPU6050_PWR1_CYCLE_BIT
garfieldsg	0:662207e34fba	2824	*/
garfieldsg	0:662207e34fba	2825	bool MPU6050::getWakeCycleEnabled()
garfieldsg	0:662207e34fba	2826	{
garfieldsg	0:662207e34fba	2827	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
garfieldsg	0:662207e34fba	2828	return buffer[0];
garfieldsg	0:662207e34fba	2829	}
garfieldsg	0:662207e34fba	2830	/** Set wake cycle enabled status.
garfieldsg	0:662207e34fba	2831	* @param enabled New sleep mode enabled status
garfieldsg	0:662207e34fba	2832	* @see getWakeCycleEnabled()
garfieldsg	0:662207e34fba	2833	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2834	* @see MPU6050_PWR1_CYCLE_BIT
garfieldsg	0:662207e34fba	2835	*/
garfieldsg	0:662207e34fba	2836	void MPU6050::setWakeCycleEnabled(bool enabled)
garfieldsg	0:662207e34fba	2837	{
garfieldsg	0:662207e34fba	2838	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
garfieldsg	0:662207e34fba	2839	}
garfieldsg	0:662207e34fba	2840	/** Get temperature sensor enabled status.
garfieldsg	0:662207e34fba	2841	* Control the usage of the internal temperature sensor.
garfieldsg	0:662207e34fba	2842	*
garfieldsg	0:662207e34fba	2843	* Note: this register stores the disabled value, but for consistency with the
garfieldsg	0:662207e34fba	2844	* rest of the code, the function is named and used with standard true/false
garfieldsg	0:662207e34fba	2845	* values to indicate whether the sensor is enabled or disabled, respectively.
garfieldsg	0:662207e34fba	2846	*
garfieldsg	0:662207e34fba	2847	* @return Current temperature sensor enabled status
garfieldsg	0:662207e34fba	2848	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2849	* @see MPU6050_PWR1_TEMP_DIS_BIT
garfieldsg	0:662207e34fba	2850	*/
garfieldsg	0:662207e34fba	2851	bool MPU6050::getTempSensorEnabled()
garfieldsg	0:662207e34fba	2852	{
garfieldsg	0:662207e34fba	2853	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
garfieldsg	0:662207e34fba	2854	return buffer[0] == 0; // 1 is actually disabled here
garfieldsg	0:662207e34fba	2855	}
garfieldsg	0:662207e34fba	2856	/** Set temperature sensor enabled status.
garfieldsg	0:662207e34fba	2857	* Note: this register stores the disabled value, but for consistency with the
garfieldsg	0:662207e34fba	2858	* rest of the code, the function is named and used with standard true/false
garfieldsg	0:662207e34fba	2859	* values to indicate whether the sensor is enabled or disabled, respectively.
garfieldsg	0:662207e34fba	2860	*
garfieldsg	0:662207e34fba	2861	* @param enabled New temperature sensor enabled status
garfieldsg	0:662207e34fba	2862	* @see getTempSensorEnabled()
garfieldsg	0:662207e34fba	2863	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2864	* @see MPU6050_PWR1_TEMP_DIS_BIT
garfieldsg	0:662207e34fba	2865	*/
garfieldsg	0:662207e34fba	2866	void MPU6050::setTempSensorEnabled(bool enabled)
garfieldsg	0:662207e34fba	2867	{
garfieldsg	0:662207e34fba	2868	// 1 is actually disabled here
garfieldsg	0:662207e34fba	2869	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
garfieldsg	0:662207e34fba	2870	}
garfieldsg	0:662207e34fba	2871	/** Get clock source setting.
garfieldsg	0:662207e34fba	2872	* @return Current clock source setting
garfieldsg	0:662207e34fba	2873	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2874	* @see MPU6050_PWR1_CLKSEL_BIT
garfieldsg	0:662207e34fba	2875	* @see MPU6050_PWR1_CLKSEL_LENGTH
garfieldsg	0:662207e34fba	2876	*/
garfieldsg	0:662207e34fba	2877	uint8_t MPU6050::getClockSource()
garfieldsg	0:662207e34fba	2878	{
garfieldsg	0:662207e34fba	2879	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
garfieldsg	0:662207e34fba	2880	return buffer[0];
garfieldsg	0:662207e34fba	2881	}
garfieldsg	0:662207e34fba	2882	/** Set clock source setting.
garfieldsg	0:662207e34fba	2883	* An internal 8MHz oscillator, gyroscope based clock, or external sources can
garfieldsg	0:662207e34fba	2884	* be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
garfieldsg	0:662207e34fba	2885	* or an external source is chosen as the clock source, the MPU-60X0 can operate
garfieldsg	0:662207e34fba	2886	* in low power modes with the gyroscopes disabled.
garfieldsg	0:662207e34fba	2887	*
garfieldsg	0:662207e34fba	2888	* Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
garfieldsg	0:662207e34fba	2889	* However, it is highly recommended that the device be configured to use one of
garfieldsg	0:662207e34fba	2890	* the gyroscopes (or an external clock source) as the clock reference for
garfieldsg	0:662207e34fba	2891	* improved stability. The clock source can be selected according to the following table:
garfieldsg	0:662207e34fba	2892	*
garfieldsg	0:662207e34fba	2893	* <pre>
garfieldsg	0:662207e34fba	2894	* CLK_SEL \| Clock Source
garfieldsg	0:662207e34fba	2895	* --------+--------------------------------------
garfieldsg	0:662207e34fba	2896	* 0 \| Internal oscillator
garfieldsg	0:662207e34fba	2897	* 1 \| PLL with X Gyro reference
garfieldsg	0:662207e34fba	2898	* 2 \| PLL with Y Gyro reference
garfieldsg	0:662207e34fba	2899	* 3 \| PLL with Z Gyro reference
garfieldsg	0:662207e34fba	2900	* 4 \| PLL with external 32.768kHz reference
garfieldsg	0:662207e34fba	2901	* 5 \| PLL with external 19.2MHz reference
garfieldsg	0:662207e34fba	2902	* 6 \| Reserved
garfieldsg	0:662207e34fba	2903	* 7 \| Stops the clock and keeps the timing generator in reset
garfieldsg	0:662207e34fba	2904	* </pre>
garfieldsg	0:662207e34fba	2905	*
garfieldsg	0:662207e34fba	2906	* @param source New clock source setting
garfieldsg	0:662207e34fba	2907	* @see getClockSource()
garfieldsg	0:662207e34fba	2908	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2909	* @see MPU6050_PWR1_CLKSEL_BIT
garfieldsg	0:662207e34fba	2910	* @see MPU6050_PWR1_CLKSEL_LENGTH
garfieldsg	0:662207e34fba	2911	*/
garfieldsg	0:662207e34fba	2912	void MPU6050::setClockSource(uint8_t source)
garfieldsg	0:662207e34fba	2913	{
garfieldsg	0:662207e34fba	2914	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
garfieldsg	0:662207e34fba	2915	}
garfieldsg	0:662207e34fba	2916
garfieldsg	0:662207e34fba	2917	// PWR_MGMT_2 register
garfieldsg	0:662207e34fba	2918
garfieldsg	0:662207e34fba	2919	/** Get wake frequency in Accel-Only Low Power Mode.
garfieldsg	0:662207e34fba	2920	* The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
garfieldsg	0:662207e34fba	2921	* PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
garfieldsg	0:662207e34fba	2922	* the device will power off all devices except for the primary I2C interface,
garfieldsg	0:662207e34fba	2923	* waking only the accelerometer at fixed intervals to take a single
garfieldsg	0:662207e34fba	2924	* measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
garfieldsg	0:662207e34fba	2925	* as shown below:
garfieldsg	0:662207e34fba	2926	*
garfieldsg	0:662207e34fba	2927	* <pre>
garfieldsg	0:662207e34fba	2928	* LP_WAKE_CTRL \| Wake-up Frequency
garfieldsg	0:662207e34fba	2929	* -------------+------------------
garfieldsg	0:662207e34fba	2930	* 0 \| 1.25 Hz
garfieldsg	0:662207e34fba	2931	* 1 \| 2.5 Hz
garfieldsg	0:662207e34fba	2932	* 2 \| 5 Hz
garfieldsg	0:662207e34fba	2933	* 3 \| 10 Hz
garfieldsg	0:662207e34fba	2934	* <pre>
garfieldsg	0:662207e34fba	2935	*
garfieldsg	0:662207e34fba	2936	* For further information regarding the MPU-60X0's power modes, please refer to
garfieldsg	0:662207e34fba	2937	* Register 107.
garfieldsg	0:662207e34fba	2938	*
garfieldsg	0:662207e34fba	2939	* @return Current wake frequency
garfieldsg	0:662207e34fba	2940	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2941	*/
garfieldsg	0:662207e34fba	2942	uint8_t MPU6050::getWakeFrequency()
garfieldsg	0:662207e34fba	2943	{
garfieldsg	0:662207e34fba	2944	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
garfieldsg	0:662207e34fba	2945	return buffer[0];
garfieldsg	0:662207e34fba	2946	}
garfieldsg	0:662207e34fba	2947	/** Set wake frequency in Accel-Only Low Power Mode.
garfieldsg	0:662207e34fba	2948	* @param frequency New wake frequency
garfieldsg	0:662207e34fba	2949	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2950	*/
garfieldsg	0:662207e34fba	2951	void MPU6050::setWakeFrequency(uint8_t frequency)
garfieldsg	0:662207e34fba	2952	{
garfieldsg	0:662207e34fba	2953	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
garfieldsg	0:662207e34fba	2954	}
garfieldsg	0:662207e34fba	2955
garfieldsg	0:662207e34fba	2956	/** Get X-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2957	* If enabled, the X-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2958	* @return Current X-axis standby enabled status
garfieldsg	0:662207e34fba	2959	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2960	* @see MPU6050_PWR2_STBY_XA_BIT
garfieldsg	0:662207e34fba	2961	*/
garfieldsg	0:662207e34fba	2962	bool MPU6050::getStandbyXAccelEnabled()
garfieldsg	0:662207e34fba	2963	{
garfieldsg	0:662207e34fba	2964	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
garfieldsg	0:662207e34fba	2965	return buffer[0];
garfieldsg	0:662207e34fba	2966	}
garfieldsg	0:662207e34fba	2967	/** Set X-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2968	* @param New X-axis standby enabled status
garfieldsg	0:662207e34fba	2969	* @see getStandbyXAccelEnabled()
garfieldsg	0:662207e34fba	2970	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2971	* @see MPU6050_PWR2_STBY_XA_BIT
garfieldsg	0:662207e34fba	2972	*/
garfieldsg	0:662207e34fba	2973	void MPU6050::setStandbyXAccelEnabled(bool enabled)
garfieldsg	0:662207e34fba	2974	{
garfieldsg	0:662207e34fba	2975	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
garfieldsg	0:662207e34fba	2976	}
garfieldsg	0:662207e34fba	2977	/** Get Y-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2978	* If enabled, the Y-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2979	* @return Current Y-axis standby enabled status
garfieldsg	0:662207e34fba	2980	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2981	* @see MPU6050_PWR2_STBY_YA_BIT
garfieldsg	0:662207e34fba	2982	*/
garfieldsg	0:662207e34fba	2983	bool MPU6050::getStandbyYAccelEnabled()
garfieldsg	0:662207e34fba	2984	{
garfieldsg	0:662207e34fba	2985	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
garfieldsg	0:662207e34fba	2986	return buffer[0];
garfieldsg	0:662207e34fba	2987	}
garfieldsg	0:662207e34fba	2988	/** Set Y-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2989	* @param New Y-axis standby enabled status
garfieldsg	0:662207e34fba	2990	* @see getStandbyYAccelEnabled()
garfieldsg	0:662207e34fba	2991	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2992	* @see MPU6050_PWR2_STBY_YA_BIT
garfieldsg	0:662207e34fba	2993	*/
garfieldsg	0:662207e34fba	2994	void MPU6050::setStandbyYAccelEnabled(bool enabled)
garfieldsg	0:662207e34fba	2995	{
garfieldsg	0:662207e34fba	2996	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
garfieldsg	0:662207e34fba	2997	}
garfieldsg	0:662207e34fba	2998	/** Get Z-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2999	* If enabled, the Z-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	3000	* @return Current Z-axis standby enabled status
garfieldsg	0:662207e34fba	3001	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	3002	* @see MPU6050_PWR2_STBY_ZA_BIT
garfieldsg	0:662207e34fba	3003	*/
garfieldsg	0:662207e34fba	3004	bool MPU6050::getStandbyZAccelEnabled()
garfieldsg	0:662207e34fba	3005	{
garfieldsg	0:662207e34fba	3006	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
garfieldsg	0:662207e34fba	3007	return buffer[0];
garfieldsg	0:662207e34fba	3008	}
garfieldsg	0:662207e34fba	3009	/** Set Z-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	3010	* @param New Z-axis standby enabled status
garfieldsg	0:662207e34fba	3011	* @see getStandbyZAccelEnabled()
garfieldsg	0:662207e34fba	3012	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	3013	* @see MPU6050_PWR2_STBY_ZA_BIT
garfieldsg	0:662207e34fba	3014	*/
garfieldsg	0:662207e34fba	3015	void MPU6050::setStandbyZAccelEnabled(bool enabled)
garfieldsg	0:662207e34fba	3016	{
garfieldsg	0:662207e34fba	3017	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
garfieldsg	0:662207e34fba	3018	}
garfieldsg	0:662207e34fba	3019	/** Get X-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	3020	* If enabled, the X-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	3021	* @return Current X-axis standby enabled status
garfieldsg	0:662207e34fba	3022	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	3023	* @see MPU6050_PWR2_STBY_XG_BIT
garfieldsg	0:662207e34fba	3024	*/
garfieldsg	0:662207e34fba	3025	bool MPU6050::getStandbyXGyroEnabled()
garfieldsg	0:662207e34fba	3026	{
garfieldsg	0:662207e34fba	3027	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
garfieldsg	0:662207e34fba	3028	return buffer[0];
garfieldsg	0:662207e34fba	3029	}
garfieldsg	0:662207e34fba	3030	/** Set X-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	3031	* @param New X-axis standby enabled status
garfieldsg	0:662207e34fba	3032	* @see getStandbyXGyroEnabled()
garfieldsg	0:662207e34fba	3033	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	3034	* @see MPU6050_PWR2_STBY_XG_BIT
garfieldsg	0:662207e34fba	3035	*/
garfieldsg	0:662207e34fba	3036	void MPU6050::setStandbyXGyroEnabled(bool enabled)
garfieldsg	0:662207e34fba	3037	{
garfieldsg	0:662207e34fba	3038	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
garfieldsg	0:662207e34fba	3039	}
garfieldsg	0:662207e34fba	3040	/** Get Y-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	3041	* If enabled, the Y-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	3042	* @return Current Y-axis standby enabled status
garfieldsg	0:662207e34fba	3043	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	3044	* @see MPU6050_PWR2_STBY_YG_BIT
garfieldsg	0:662207e34fba	3045	*/
garfieldsg	0:662207e34fba	3046	bool MPU6050::getStandbyYGyroEnabled()
garfieldsg	0:662207e34fba	3047	{
garfieldsg	0:662207e34fba	3048	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
garfieldsg	0:662207e34fba	3049	return buffer[0];
garfieldsg	0:662207e34fba	3050	}
garfieldsg	0:662207e34fba	3051	/** Set Y-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	3052	* @param New Y-axis standby enabled status
garfieldsg	0:662207e34fba	3053	* @see getStandbyYGyroEnabled()
garfieldsg	0:662207e34fba	3054	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	3055	* @see MPU6050_PWR2_STBY_YG_BIT
garfieldsg	0:662207e34fba	3056	*/
garfieldsg	0:662207e34fba	3057	void MPU6050::setStandbyYGyroEnabled(bool enabled)
garfieldsg	0:662207e34fba	3058	{
garfieldsg	0:662207e34fba	3059	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
garfieldsg	0:662207e34fba	3060	}
garfieldsg	0:662207e34fba	3061	/** Get Z-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	3062	* If enabled, the Z-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	3063	* @return Current Z-axis standby enabled status
garfieldsg	0:662207e34fba	3064	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	3065	* @see MPU6050_PWR2_STBY_ZG_BIT
garfieldsg	0:662207e34fba	3066	*/
garfieldsg	0:662207e34fba	3067	bool MPU6050::getStandbyZGyroEnabled()
garfieldsg	0:662207e34fba	3068	{
garfieldsg	0:662207e34fba	3069	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
garfieldsg	0:662207e34fba	3070	return buffer[0];
garfieldsg	0:662207e34fba	3071	}
garfieldsg	0:662207e34fba	3072	/** Set Z-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	3073	* @param New Z-axis standby enabled status
garfieldsg	0:662207e34fba	3074	* @see getStandbyZGyroEnabled()
garfieldsg	0:662207e34fba	3075	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	3076	* @see MPU6050_PWR2_STBY_ZG_BIT
garfieldsg	0:662207e34fba	3077	*/
garfieldsg	0:662207e34fba	3078	void MPU6050::setStandbyZGyroEnabled(bool enabled)
garfieldsg	0:662207e34fba	3079	{
garfieldsg	0:662207e34fba	3080	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
garfieldsg	0:662207e34fba	3081	}
garfieldsg	0:662207e34fba	3082
garfieldsg	0:662207e34fba	3083	// FIFO_COUNT* registers
garfieldsg	0:662207e34fba	3084
garfieldsg	0:662207e34fba	3085	/** Get current FIFO buffer size.
garfieldsg	0:662207e34fba	3086	* This value indicates the number of bytes stored in the FIFO buffer. This
garfieldsg	0:662207e34fba	3087	* number is in turn the number of bytes that can be read from the FIFO buffer
garfieldsg	0:662207e34fba	3088	* and it is directly proportional to the number of samples available given the
garfieldsg	0:662207e34fba	3089	* set of sensor data bound to be stored in the FIFO (register 35 and 36).
garfieldsg	0:662207e34fba	3090	* @return Current FIFO buffer size
garfieldsg	0:662207e34fba	3091	*/
garfieldsg	0:662207e34fba	3092	uint16_t MPU6050::getFIFOCount()
garfieldsg	0:662207e34fba	3093	{
garfieldsg	0:662207e34fba	3094	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
garfieldsg	0:662207e34fba	3095	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3096	}
garfieldsg	0:662207e34fba	3097
garfieldsg	0:662207e34fba	3098	// FIFO_R_W register
garfieldsg	0:662207e34fba	3099
garfieldsg	0:662207e34fba	3100	/** Get byte from FIFO buffer.
garfieldsg	0:662207e34fba	3101	* This register is used to read and write data from the FIFO buffer. Data is
garfieldsg	0:662207e34fba	3102	* written to the FIFO in order of register number (from lowest to highest). If
garfieldsg	0:662207e34fba	3103	* all the FIFO enable flags (see below) are enabled and all External Sensor
garfieldsg	0:662207e34fba	3104	* Data registers (Registers 73 to 96) are associated with a Slave device, the
garfieldsg	0:662207e34fba	3105	* contents of registers 59 through 96 will be written in order at the Sample
garfieldsg	0:662207e34fba	3106	* Rate.
garfieldsg	0:662207e34fba	3107	*
garfieldsg	0:662207e34fba	3108	* The contents of the sensor data registers (Registers 59 to 96) are written
garfieldsg	0:662207e34fba	3109	* into the FIFO buffer when their corresponding FIFO enable flags are set to 1
garfieldsg	0:662207e34fba	3110	* in FIFO_EN (Register 35). An additional flag for the sensor data registers
garfieldsg	0:662207e34fba	3111	* associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
garfieldsg	0:662207e34fba	3112	*
garfieldsg	0:662207e34fba	3113	* If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
garfieldsg	0:662207e34fba	3114	* automatically set to 1. This bit is located in INT_STATUS (Register 58).
garfieldsg	0:662207e34fba	3115	* When the FIFO buffer has overflowed, the oldest data will be lost and new
garfieldsg	0:662207e34fba	3116	* data will be written to the FIFO.
garfieldsg	0:662207e34fba	3117	*
garfieldsg	0:662207e34fba	3118	* If the FIFO buffer is empty, reading this register will return the last byte
garfieldsg	0:662207e34fba	3119	* that was previously read from the FIFO until new data is available. The user
garfieldsg	0:662207e34fba	3120	* should check FIFO_COUNT to ensure that the FIFO buffer is not read when
garfieldsg	0:662207e34fba	3121	* empty.
garfieldsg	0:662207e34fba	3122	*
garfieldsg	0:662207e34fba	3123	* @return Byte from FIFO buffer
garfieldsg	0:662207e34fba	3124	*/
garfieldsg	0:662207e34fba	3125	uint8_t MPU6050::getFIFOByte()
garfieldsg	0:662207e34fba	3126	{
garfieldsg	0:662207e34fba	3127	i2Cdev.readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
garfieldsg	0:662207e34fba	3128	return buffer[0];
garfieldsg	0:662207e34fba	3129	}
garfieldsg	0:662207e34fba	3130	void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length)
garfieldsg	0:662207e34fba	3131	{
garfieldsg	0:662207e34fba	3132	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
garfieldsg	0:662207e34fba	3133	}
garfieldsg	0:662207e34fba	3134	/** Write byte to FIFO buffer.
garfieldsg	0:662207e34fba	3135	* @see getFIFOByte()
garfieldsg	0:662207e34fba	3136	* @see MPU6050_RA_FIFO_R_W
garfieldsg	0:662207e34fba	3137	*/
garfieldsg	0:662207e34fba	3138	void MPU6050::setFIFOByte(uint8_t data)
garfieldsg	0:662207e34fba	3139	{
garfieldsg	0:662207e34fba	3140	i2Cdev.writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
garfieldsg	0:662207e34fba	3141	}
garfieldsg	0:662207e34fba	3142
garfieldsg	0:662207e34fba	3143	// WHO_AM_I register
garfieldsg	0:662207e34fba	3144
garfieldsg	0:662207e34fba	3145	/** Get Device ID.
garfieldsg	0:662207e34fba	3146	* This register is used to verify the identity of the device (0b110100, 0x34).
garfieldsg	0:662207e34fba	3147	* @return Device ID (6 bits only! should be 0x34)
garfieldsg	0:662207e34fba	3148	* @see MPU6050_RA_WHO_AM_I
garfieldsg	0:662207e34fba	3149	* @see MPU6050_WHO_AM_I_BIT
garfieldsg	0:662207e34fba	3150	* @see MPU6050_WHO_AM_I_LENGTH
garfieldsg	0:662207e34fba	3151	*/
garfieldsg	0:662207e34fba	3152	uint8_t MPU6050::getDeviceID()
garfieldsg	0:662207e34fba	3153	{
garfieldsg	0:662207e34fba	3154	i2Cdev.readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
garfieldsg	0:662207e34fba	3155	return buffer[0];
garfieldsg	0:662207e34fba	3156	}
garfieldsg	0:662207e34fba	3157	/** Set Device ID.
garfieldsg	0:662207e34fba	3158	* Write a new ID into the WHO_AM_I register (no idea why this should ever be
garfieldsg	0:662207e34fba	3159	* necessary though).
garfieldsg	0:662207e34fba	3160	* @param id New device ID to set.
garfieldsg	0:662207e34fba	3161	* @see getDeviceID()
garfieldsg	0:662207e34fba	3162	* @see MPU6050_RA_WHO_AM_I
garfieldsg	0:662207e34fba	3163	* @see MPU6050_WHO_AM_I_BIT
garfieldsg	0:662207e34fba	3164	* @see MPU6050_WHO_AM_I_LENGTH
garfieldsg	0:662207e34fba	3165	*/
garfieldsg	0:662207e34fba	3166	void MPU6050::setDeviceID(uint8_t id)
garfieldsg	0:662207e34fba	3167	{
garfieldsg	0:662207e34fba	3168	i2Cdev.writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
garfieldsg	0:662207e34fba	3169	}
garfieldsg	0:662207e34fba	3170
garfieldsg	0:662207e34fba	3171	// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
garfieldsg	0:662207e34fba	3172
garfieldsg	0:662207e34fba	3173	// XG_OFFS_TC register
garfieldsg	0:662207e34fba	3174
garfieldsg	0:662207e34fba	3175	uint8_t MPU6050::getOTPBankValid()
garfieldsg	0:662207e34fba	3176	{
garfieldsg	0:662207e34fba	3177	i2Cdev.readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
garfieldsg	0:662207e34fba	3178	return buffer[0];
garfieldsg	0:662207e34fba	3179	}
garfieldsg	0:662207e34fba	3180	void MPU6050::setOTPBankValid(bool enabled)
garfieldsg	0:662207e34fba	3181	{
garfieldsg	0:662207e34fba	3182	i2Cdev.writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
garfieldsg	0:662207e34fba	3183	}
garfieldsg	0:662207e34fba	3184	int8_t MPU6050::getXGyroOffset()
garfieldsg	0:662207e34fba	3185	{
garfieldsg	0:662207e34fba	3186	i2Cdev.readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
garfieldsg	0:662207e34fba	3187	return buffer[0];
garfieldsg	0:662207e34fba	3188	}
garfieldsg	0:662207e34fba	3189	void MPU6050::setXGyroOffset(int8_t offset)
garfieldsg	0:662207e34fba	3190	{
garfieldsg	0:662207e34fba	3191	i2Cdev.writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
garfieldsg	0:662207e34fba	3192	}
garfieldsg	0:662207e34fba	3193
garfieldsg	0:662207e34fba	3194	// YG_OFFS_TC register
garfieldsg	0:662207e34fba	3195
garfieldsg	0:662207e34fba	3196	int8_t MPU6050::getYGyroOffset()
garfieldsg	0:662207e34fba	3197	{
garfieldsg	0:662207e34fba	3198	i2Cdev.readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
garfieldsg	0:662207e34fba	3199	return buffer[0];
garfieldsg	0:662207e34fba	3200	}
garfieldsg	0:662207e34fba	3201	void MPU6050::setYGyroOffset(int8_t offset)
garfieldsg	0:662207e34fba	3202	{
garfieldsg	0:662207e34fba	3203	i2Cdev.writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
garfieldsg	0:662207e34fba	3204	}
garfieldsg	0:662207e34fba	3205
garfieldsg	0:662207e34fba	3206	// ZG_OFFS_TC register
garfieldsg	0:662207e34fba	3207
garfieldsg	0:662207e34fba	3208	int8_t MPU6050::getZGyroOffset()
garfieldsg	0:662207e34fba	3209	{
garfieldsg	0:662207e34fba	3210	i2Cdev.readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
garfieldsg	0:662207e34fba	3211	return buffer[0];
garfieldsg	0:662207e34fba	3212	}
garfieldsg	0:662207e34fba	3213	void MPU6050::setZGyroOffset(int8_t offset)
garfieldsg	0:662207e34fba	3214	{
garfieldsg	0:662207e34fba	3215	i2Cdev.writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
garfieldsg	0:662207e34fba	3216	}
garfieldsg	0:662207e34fba	3217
garfieldsg	0:662207e34fba	3218	// X_FINE_GAIN register
garfieldsg	0:662207e34fba	3219
garfieldsg	0:662207e34fba	3220	int8_t MPU6050::getXFineGain()
garfieldsg	0:662207e34fba	3221	{
garfieldsg	0:662207e34fba	3222	i2Cdev.readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
garfieldsg	0:662207e34fba	3223	return buffer[0];
garfieldsg	0:662207e34fba	3224	}
garfieldsg	0:662207e34fba	3225	void MPU6050::setXFineGain(int8_t gain)
garfieldsg	0:662207e34fba	3226	{
garfieldsg	0:662207e34fba	3227	i2Cdev.writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
garfieldsg	0:662207e34fba	3228	}
garfieldsg	0:662207e34fba	3229
garfieldsg	0:662207e34fba	3230	// Y_FINE_GAIN register
garfieldsg	0:662207e34fba	3231
garfieldsg	0:662207e34fba	3232	int8_t MPU6050::getYFineGain()
garfieldsg	0:662207e34fba	3233	{
garfieldsg	0:662207e34fba	3234	i2Cdev.readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
garfieldsg	0:662207e34fba	3235	return buffer[0];
garfieldsg	0:662207e34fba	3236	}
garfieldsg	0:662207e34fba	3237	void MPU6050::setYFineGain(int8_t gain)
garfieldsg	0:662207e34fba	3238	{
garfieldsg	0:662207e34fba	3239	i2Cdev.writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
garfieldsg	0:662207e34fba	3240	}
garfieldsg	0:662207e34fba	3241
garfieldsg	0:662207e34fba	3242	// Z_FINE_GAIN register
garfieldsg	0:662207e34fba	3243
garfieldsg	0:662207e34fba	3244	int8_t MPU6050::getZFineGain()
garfieldsg	0:662207e34fba	3245	{
garfieldsg	0:662207e34fba	3246	i2Cdev.readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
garfieldsg	0:662207e34fba	3247	return buffer[0];
garfieldsg	0:662207e34fba	3248	}
garfieldsg	0:662207e34fba	3249	void MPU6050::setZFineGain(int8_t gain)
garfieldsg	0:662207e34fba	3250	{
garfieldsg	0:662207e34fba	3251	i2Cdev.writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
garfieldsg	0:662207e34fba	3252	}
garfieldsg	0:662207e34fba	3253
garfieldsg	0:662207e34fba	3254	// XA_OFFS_* registers
garfieldsg	0:662207e34fba	3255
garfieldsg	0:662207e34fba	3256	int16_t MPU6050::getXAccelOffset()
garfieldsg	0:662207e34fba	3257	{
garfieldsg	0:662207e34fba	3258	i2Cdev.readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
garfieldsg	0:662207e34fba	3259	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3260	}
garfieldsg	0:662207e34fba	3261	void MPU6050::setXAccelOffset(int16_t offset)
garfieldsg	0:662207e34fba	3262	{
garfieldsg	0:662207e34fba	3263	i2Cdev.writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
garfieldsg	0:662207e34fba	3264	}
garfieldsg	0:662207e34fba	3265
garfieldsg	0:662207e34fba	3266	// YA_OFFS_* register
garfieldsg	0:662207e34fba	3267
garfieldsg	0:662207e34fba	3268	int16_t MPU6050::getYAccelOffset()
garfieldsg	0:662207e34fba	3269	{
garfieldsg	0:662207e34fba	3270	i2Cdev.readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
garfieldsg	0:662207e34fba	3271	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3272	}
garfieldsg	0:662207e34fba	3273	void MPU6050::setYAccelOffset(int16_t offset)
garfieldsg	0:662207e34fba	3274	{
garfieldsg	0:662207e34fba	3275	i2Cdev.writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
garfieldsg	0:662207e34fba	3276	}
garfieldsg	0:662207e34fba	3277
garfieldsg	0:662207e34fba	3278	// ZA_OFFS_* register
garfieldsg	0:662207e34fba	3279
garfieldsg	0:662207e34fba	3280	int16_t MPU6050::getZAccelOffset()
garfieldsg	0:662207e34fba	3281	{
garfieldsg	0:662207e34fba	3282	i2Cdev.readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
garfieldsg	0:662207e34fba	3283	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3284	}
garfieldsg	0:662207e34fba	3285	void MPU6050::setZAccelOffset(int16_t offset)
garfieldsg	0:662207e34fba	3286	{
garfieldsg	0:662207e34fba	3287	i2Cdev.writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
garfieldsg	0:662207e34fba	3288	}
garfieldsg	0:662207e34fba	3289
garfieldsg	0:662207e34fba	3290	// XG_OFFS_USR* registers
garfieldsg	0:662207e34fba	3291
garfieldsg	0:662207e34fba	3292	int16_t MPU6050::getXGyroOffsetUser()
garfieldsg	0:662207e34fba	3293	{
garfieldsg	0:662207e34fba	3294	i2Cdev.readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
garfieldsg	0:662207e34fba	3295	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3296	}
garfieldsg	0:662207e34fba	3297	void MPU6050::setXGyroOffsetUser(int16_t offset)
garfieldsg	0:662207e34fba	3298	{
garfieldsg	0:662207e34fba	3299	i2Cdev.writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
garfieldsg	0:662207e34fba	3300	}
garfieldsg	0:662207e34fba	3301
garfieldsg	0:662207e34fba	3302	// YG_OFFS_USR* register
garfieldsg	0:662207e34fba	3303
garfieldsg	0:662207e34fba	3304	int16_t MPU6050::getYGyroOffsetUser()
garfieldsg	0:662207e34fba	3305	{
garfieldsg	0:662207e34fba	3306	i2Cdev.readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
garfieldsg	0:662207e34fba	3307	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3308	}
garfieldsg	0:662207e34fba	3309	void MPU6050::setYGyroOffsetUser(int16_t offset)
garfieldsg	0:662207e34fba	3310	{
garfieldsg	0:662207e34fba	3311	i2Cdev.writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
garfieldsg	0:662207e34fba	3312	}
garfieldsg	0:662207e34fba	3313
garfieldsg	0:662207e34fba	3314	// ZG_OFFS_USR* register
garfieldsg	0:662207e34fba	3315
garfieldsg	0:662207e34fba	3316	int16_t MPU6050::getZGyroOffsetUser()
garfieldsg	0:662207e34fba	3317	{
garfieldsg	0:662207e34fba	3318	i2Cdev.readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
garfieldsg	0:662207e34fba	3319	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3320	}
garfieldsg	0:662207e34fba	3321	void MPU6050::setZGyroOffsetUser(int16_t offset)
garfieldsg	0:662207e34fba	3322	{
garfieldsg	0:662207e34fba	3323	i2Cdev.writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
garfieldsg	0:662207e34fba	3324	}
garfieldsg	0:662207e34fba	3325
garfieldsg	0:662207e34fba	3326	// INT_ENABLE register (DMP functions)
garfieldsg	0:662207e34fba	3327
garfieldsg	0:662207e34fba	3328	bool MPU6050::getIntPLLReadyEnabled()
garfieldsg	0:662207e34fba	3329	{
garfieldsg	0:662207e34fba	3330	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
garfieldsg	0:662207e34fba	3331	return buffer[0];
garfieldsg	0:662207e34fba	3332	}
garfieldsg	0:662207e34fba	3333	void MPU6050::setIntPLLReadyEnabled(bool enabled)
garfieldsg	0:662207e34fba	3334	{
garfieldsg	0:662207e34fba	3335	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
garfieldsg	0:662207e34fba	3336	}
garfieldsg	0:662207e34fba	3337	bool MPU6050::getIntDMPEnabled()
garfieldsg	0:662207e34fba	3338	{
garfieldsg	0:662207e34fba	3339	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
garfieldsg	0:662207e34fba	3340	return buffer[0];
garfieldsg	0:662207e34fba	3341	}
garfieldsg	0:662207e34fba	3342	void MPU6050::setIntDMPEnabled(bool enabled)
garfieldsg	0:662207e34fba	3343	{
garfieldsg	0:662207e34fba	3344	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
garfieldsg	0:662207e34fba	3345	}
garfieldsg	0:662207e34fba	3346
garfieldsg	0:662207e34fba	3347	// DMP_INT_STATUS
garfieldsg	0:662207e34fba	3348
garfieldsg	0:662207e34fba	3349	bool MPU6050::getDMPInt5Status()
garfieldsg	0:662207e34fba	3350	{
garfieldsg	0:662207e34fba	3351	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
garfieldsg	0:662207e34fba	3352	return buffer[0];
garfieldsg	0:662207e34fba	3353	}
garfieldsg	0:662207e34fba	3354	bool MPU6050::getDMPInt4Status()
garfieldsg	0:662207e34fba	3355	{
garfieldsg	0:662207e34fba	3356	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
garfieldsg	0:662207e34fba	3357	return buffer[0];
garfieldsg	0:662207e34fba	3358	}
garfieldsg	0:662207e34fba	3359	bool MPU6050::getDMPInt3Status()
garfieldsg	0:662207e34fba	3360	{
garfieldsg	0:662207e34fba	3361	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
garfieldsg	0:662207e34fba	3362	return buffer[0];
garfieldsg	0:662207e34fba	3363	}
garfieldsg	0:662207e34fba	3364	bool MPU6050::getDMPInt2Status()
garfieldsg	0:662207e34fba	3365	{
garfieldsg	0:662207e34fba	3366	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
garfieldsg	0:662207e34fba	3367	return buffer[0];
garfieldsg	0:662207e34fba	3368	}
garfieldsg	0:662207e34fba	3369	bool MPU6050::getDMPInt1Status()
garfieldsg	0:662207e34fba	3370	{
garfieldsg	0:662207e34fba	3371	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
garfieldsg	0:662207e34fba	3372	return buffer[0];
garfieldsg	0:662207e34fba	3373	}
garfieldsg	0:662207e34fba	3374	bool MPU6050::getDMPInt0Status()
garfieldsg	0:662207e34fba	3375	{
garfieldsg	0:662207e34fba	3376	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
garfieldsg	0:662207e34fba	3377	return buffer[0];
garfieldsg	0:662207e34fba	3378	}
garfieldsg	0:662207e34fba	3379
garfieldsg	0:662207e34fba	3380	// INT_STATUS register (DMP functions)
garfieldsg	0:662207e34fba	3381
garfieldsg	0:662207e34fba	3382	bool MPU6050::getIntPLLReadyStatus()
garfieldsg	0:662207e34fba	3383	{
garfieldsg	0:662207e34fba	3384	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
garfieldsg	0:662207e34fba	3385	return buffer[0];
garfieldsg	0:662207e34fba	3386	}
garfieldsg	0:662207e34fba	3387	bool MPU6050::getIntDMPStatus()
garfieldsg	0:662207e34fba	3388	{
garfieldsg	0:662207e34fba	3389	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
garfieldsg	0:662207e34fba	3390	return buffer[0];
garfieldsg	0:662207e34fba	3391	}
garfieldsg	0:662207e34fba	3392
garfieldsg	0:662207e34fba	3393	// USER_CTRL register (DMP functions)
garfieldsg	0:662207e34fba	3394
garfieldsg	0:662207e34fba	3395	bool MPU6050::getDMPEnabled()
garfieldsg	0:662207e34fba	3396	{
garfieldsg	0:662207e34fba	3397	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
garfieldsg	0:662207e34fba	3398	return buffer[0];
garfieldsg	0:662207e34fba	3399	}
garfieldsg	0:662207e34fba	3400	void MPU6050::setDMPEnabled(bool enabled)
garfieldsg	0:662207e34fba	3401	{
garfieldsg	0:662207e34fba	3402	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
garfieldsg	0:662207e34fba	3403	}
garfieldsg	0:662207e34fba	3404	void MPU6050::resetDMP()
garfieldsg	0:662207e34fba	3405	{
garfieldsg	0:662207e34fba	3406	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
garfieldsg	0:662207e34fba	3407	}
garfieldsg	0:662207e34fba	3408
garfieldsg	0:662207e34fba	3409	// BANK_SEL register
garfieldsg	0:662207e34fba	3410
garfieldsg	0:662207e34fba	3411	void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank)
garfieldsg	0:662207e34fba	3412	{
garfieldsg	0:662207e34fba	3413	bank &= 0x1F;
garfieldsg	0:662207e34fba	3414	if (userBank) bank \|= 0x20;
garfieldsg	0:662207e34fba	3415	if (prefetchEnabled) bank \|= 0x40;
garfieldsg	0:662207e34fba	3416	i2Cdev.writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
garfieldsg	0:662207e34fba	3417	}
OsmanKameric	2:e2081d9de7af	3418	//Read certain register
OsmanKameric	2:e2081d9de7af	3419	uint8_t MPU6050::readThisByte(uint8_t address)
OsmanKameric	2:e2081d9de7af	3420	{
OsmanKameric	2:e2081d9de7af	3421	i2Cdev.readByte(devAddr, address, buffer);
OsmanKameric	2:e2081d9de7af	3422	return buffer[0];
OsmanKameric	2:e2081d9de7af	3423	}
garfieldsg	0:662207e34fba	3424	// MEM_START_ADDR register
garfieldsg	0:662207e34fba	3425
garfieldsg	0:662207e34fba	3426	void MPU6050::setMemoryStartAddress(uint8_t address)
garfieldsg	0:662207e34fba	3427	{
garfieldsg	0:662207e34fba	3428	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
garfieldsg	0:662207e34fba	3429	}
garfieldsg	0:662207e34fba	3430
garfieldsg	0:662207e34fba	3431	// MEM_R_W register
garfieldsg	0:662207e34fba	3432
garfieldsg	0:662207e34fba	3433	uint8_t MPU6050::readMemoryByte()
garfieldsg	0:662207e34fba	3434	{
garfieldsg	0:662207e34fba	3435	i2Cdev.readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
garfieldsg	0:662207e34fba	3436	return buffer[0];
garfieldsg	0:662207e34fba	3437	}
garfieldsg	0:662207e34fba	3438	void MPU6050::writeMemoryByte(uint8_t data)
garfieldsg	0:662207e34fba	3439	{
garfieldsg	0:662207e34fba	3440	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
garfieldsg	0:662207e34fba	3441	}
garfieldsg	0:662207e34fba	3442	void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address)
garfieldsg	0:662207e34fba	3443	{
garfieldsg	0:662207e34fba	3444	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3445	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3446	uint8_t chunkSize;
garfieldsg	0:662207e34fba	3447	for (uint16_t i = 0; i < dataSize;) {
garfieldsg	0:662207e34fba	3448	// determine correct chunk size according to bank position and data size
garfieldsg	0:662207e34fba	3449	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
garfieldsg	0:662207e34fba	3450
garfieldsg	0:662207e34fba	3451	// make sure we don't go past the data size
garfieldsg	0:662207e34fba	3452	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
garfieldsg	0:662207e34fba	3453
garfieldsg	0:662207e34fba	3454	// make sure this chunk doesn't go past the bank boundary (256 bytes)
garfieldsg	0:662207e34fba	3455	if (chunkSize > 256 - address) chunkSize = 256 - address;
garfieldsg	0:662207e34fba	3456
garfieldsg	0:662207e34fba	3457	// read the chunk of data as specified
garfieldsg	0:662207e34fba	3458	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
garfieldsg	0:662207e34fba	3459
garfieldsg	0:662207e34fba	3460	// increase byte index by [chunkSize]
garfieldsg	0:662207e34fba	3461	i += chunkSize;
garfieldsg	0:662207e34fba	3462
garfieldsg	0:662207e34fba	3463	// uint8_t automatically wraps to 0 at 256
garfieldsg	0:662207e34fba	3464	address += chunkSize;
garfieldsg	0:662207e34fba	3465
garfieldsg	0:662207e34fba	3466	// if we aren't done, update bank (if necessary) and address
garfieldsg	0:662207e34fba	3467	if (i < dataSize) {
garfieldsg	0:662207e34fba	3468	if (address == 0) bank++;
garfieldsg	0:662207e34fba	3469	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3470	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3471	}
garfieldsg	0:662207e34fba	3472	}
garfieldsg	0:662207e34fba	3473	}
garfieldsg	0:662207e34fba	3474	bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem)
garfieldsg	0:662207e34fba	3475	{
garfieldsg	0:662207e34fba	3476	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3477	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3478	uint8_t chunkSize;
garfieldsg	0:662207e34fba	3479	uint8_t *verifyBuffer;
garfieldsg	0:662207e34fba	3480	uint8_t *progBuffer;
garfieldsg	0:662207e34fba	3481	uint16_t i;
garfieldsg	0:662207e34fba	3482	uint8_t j;
garfieldsg	0:662207e34fba	3483	if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
garfieldsg	0:662207e34fba	3484	if (useProgMem) progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
garfieldsg	0:662207e34fba	3485	for (i = 0; i < dataSize;) {
garfieldsg	0:662207e34fba	3486	// determine correct chunk size according to bank position and data size
garfieldsg	0:662207e34fba	3487	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
garfieldsg	0:662207e34fba	3488
garfieldsg	0:662207e34fba	3489	// make sure we don't go past the data size
garfieldsg	0:662207e34fba	3490	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
garfieldsg	0:662207e34fba	3491
garfieldsg	0:662207e34fba	3492	// make sure this chunk doesn't go past the bank boundary (256 bytes)
garfieldsg	0:662207e34fba	3493	if (chunkSize > 256 - address) chunkSize = 256 - address;
garfieldsg	0:662207e34fba	3494
garfieldsg	0:662207e34fba	3495	if (useProgMem) {
garfieldsg	0:662207e34fba	3496	// write the chunk of data as specified
garfieldsg	0:662207e34fba	3497	for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
garfieldsg	0:662207e34fba	3498	} else {
garfieldsg	0:662207e34fba	3499	// write the chunk of data as specified
garfieldsg	0:662207e34fba	3500	progBuffer = (uint8_t *)data + i;
garfieldsg	0:662207e34fba	3501	}
garfieldsg	0:662207e34fba	3502
garfieldsg	0:662207e34fba	3503	i2Cdev.writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
garfieldsg	0:662207e34fba	3504
garfieldsg	0:662207e34fba	3505	// verify data if needed
garfieldsg	0:662207e34fba	3506	if (verify && verifyBuffer) {
garfieldsg	0:662207e34fba	3507	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3508	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3509	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
garfieldsg	0:662207e34fba	3510	if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
garfieldsg	0:662207e34fba	3511	/*Serial.print("Block write verification error, bank ");
garfieldsg	0:662207e34fba	3512	Serial.print(bank, DEC);
garfieldsg	0:662207e34fba	3513	Serial.print(", address ");
garfieldsg	0:662207e34fba	3514	Serial.print(address, DEC);
garfieldsg	0:662207e34fba	3515	Serial.print("!\nExpected:");
garfieldsg	0:662207e34fba	3516	for (j = 0; j < chunkSize; j++) {
garfieldsg	0:662207e34fba	3517	Serial.print(" 0x");
garfieldsg	0:662207e34fba	3518	if (progBuffer[j] < 16) Serial.print("0");
garfieldsg	0:662207e34fba	3519	Serial.print(progBuffer[j], HEX);
garfieldsg	0:662207e34fba	3520	}
garfieldsg	0:662207e34fba	3521	Serial.print("\nReceived:");
garfieldsg	0:662207e34fba	3522	for (uint8_t j = 0; j < chunkSize; j++) {
garfieldsg	0:662207e34fba	3523	Serial.print(" 0x");
garfieldsg	0:662207e34fba	3524	if (verifyBuffer[i + j] < 16) Serial.print("0");
garfieldsg	0:662207e34fba	3525	Serial.print(verifyBuffer[i + j], HEX);
garfieldsg	0:662207e34fba	3526	}
garfieldsg	0:662207e34fba	3527	Serial.print("\n");*/
garfieldsg	0:662207e34fba	3528	free(verifyBuffer);
garfieldsg	0:662207e34fba	3529	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3530	return false; // uh oh.
garfieldsg	0:662207e34fba	3531	}
garfieldsg	0:662207e34fba	3532	}
garfieldsg	0:662207e34fba	3533
garfieldsg	0:662207e34fba	3534	// increase byte index by [chunkSize]
garfieldsg	0:662207e34fba	3535	i += chunkSize;
garfieldsg	0:662207e34fba	3536
garfieldsg	0:662207e34fba	3537	// uint8_t automatically wraps to 0 at 256
garfieldsg	0:662207e34fba	3538	address += chunkSize;
garfieldsg	0:662207e34fba	3539
garfieldsg	0:662207e34fba	3540	// if we aren't done, update bank (if necessary) and address
garfieldsg	0:662207e34fba	3541	if (i < dataSize) {
garfieldsg	0:662207e34fba	3542	if (address == 0) bank++;
garfieldsg	0:662207e34fba	3543	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3544	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3545	}
garfieldsg	0:662207e34fba	3546	}
garfieldsg	0:662207e34fba	3547	if (verify) free(verifyBuffer);
garfieldsg	0:662207e34fba	3548	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3549	return true;
garfieldsg	0:662207e34fba	3550	}
garfieldsg	0:662207e34fba	3551	bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify)
garfieldsg	0:662207e34fba	3552	{
garfieldsg	0:662207e34fba	3553	return writeMemoryBlock(data, dataSize, bank, address, verify, true);
garfieldsg	0:662207e34fba	3554	}
garfieldsg	0:662207e34fba	3555	bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem)
garfieldsg	0:662207e34fba	3556	{
garfieldsg	0:662207e34fba	3557	uint8_t *progBuffer, success, special;
garfieldsg	0:662207e34fba	3558	uint16_t i, j;
garfieldsg	0:662207e34fba	3559	if (useProgMem) {
garfieldsg	0:662207e34fba	3560	progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
garfieldsg	0:662207e34fba	3561	}
garfieldsg	0:662207e34fba	3562
garfieldsg	0:662207e34fba	3563	// config set data is a long string of blocks with the following structure:
garfieldsg	0:662207e34fba	3564	// [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
garfieldsg	0:662207e34fba	3565	uint8_t bank, offset, length;
garfieldsg	0:662207e34fba	3566	for (i = 0; i < dataSize;) {
garfieldsg	0:662207e34fba	3567	if (useProgMem) {
garfieldsg	0:662207e34fba	3568	bank = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3569	offset = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3570	length = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3571	} else {
garfieldsg	0:662207e34fba	3572	bank = data[i++];
garfieldsg	0:662207e34fba	3573	offset = data[i++];
garfieldsg	0:662207e34fba	3574	length = data[i++];
garfieldsg	0:662207e34fba	3575	}
garfieldsg	0:662207e34fba	3576
garfieldsg	0:662207e34fba	3577	// write data or perform special action
garfieldsg	0:662207e34fba	3578	if (length > 0) {
garfieldsg	0:662207e34fba	3579	// regular block of data to write
garfieldsg	0:662207e34fba	3580	/*Serial.print("Writing config block to bank ");
garfieldsg	0:662207e34fba	3581	Serial.print(bank);
garfieldsg	0:662207e34fba	3582	Serial.print(", offset ");
garfieldsg	0:662207e34fba	3583	Serial.print(offset);
garfieldsg	0:662207e34fba	3584	Serial.print(", length=");
garfieldsg	0:662207e34fba	3585	Serial.println(length);*/
garfieldsg	0:662207e34fba	3586	if (useProgMem) {
garfieldsg	0:662207e34fba	3587	if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length);
garfieldsg	0:662207e34fba	3588	for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j);
garfieldsg	0:662207e34fba	3589	} else {
garfieldsg	0:662207e34fba	3590	progBuffer = (uint8_t *)data + i;
garfieldsg	0:662207e34fba	3591	}
garfieldsg	0:662207e34fba	3592	success = writeMemoryBlock(progBuffer, length, bank, offset, true);
garfieldsg	0:662207e34fba	3593	i += length;
garfieldsg	0:662207e34fba	3594	} else {
garfieldsg	0:662207e34fba	3595	// special instruction
garfieldsg	0:662207e34fba	3596	// NOTE: this kind of behavior (what and when to do certain things)
garfieldsg	0:662207e34fba	3597	// is totally undocumented. This code is in here based on observed
garfieldsg	0:662207e34fba	3598	// behavior only, and exactly why (or even whether) it has to be here
garfieldsg	0:662207e34fba	3599	// is anybody's guess for now.
garfieldsg	0:662207e34fba	3600	if (useProgMem) {
garfieldsg	0:662207e34fba	3601	special = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3602	} else {
garfieldsg	0:662207e34fba	3603	special = data[i++];
garfieldsg	0:662207e34fba	3604	}
garfieldsg	0:662207e34fba	3605	/*Serial.print("Special command code ");
garfieldsg	0:662207e34fba	3606	Serial.print(special, HEX);
garfieldsg	0:662207e34fba	3607	Serial.println(" found...");*/
garfieldsg	0:662207e34fba	3608	if (special == 0x01) {
garfieldsg	0:662207e34fba	3609	// enable DMP-related interrupts
garfieldsg	0:662207e34fba	3610
garfieldsg	0:662207e34fba	3611	//setIntZeroMotionEnabled(true);
garfieldsg	0:662207e34fba	3612	//setIntFIFOBufferOverflowEnabled(true);
garfieldsg	0:662207e34fba	3613	//setIntDMPEnabled(true);
garfieldsg	0:662207e34fba	3614	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
garfieldsg	0:662207e34fba	3615
garfieldsg	0:662207e34fba	3616	success = true;
garfieldsg	0:662207e34fba	3617	} else {
garfieldsg	0:662207e34fba	3618	// unknown special command
garfieldsg	0:662207e34fba	3619	success = false;
garfieldsg	0:662207e34fba	3620	}
garfieldsg	0:662207e34fba	3621	}
garfieldsg	0:662207e34fba	3622
garfieldsg	0:662207e34fba	3623	if (!success) {
garfieldsg	0:662207e34fba	3624	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3625	return false; // uh oh
garfieldsg	0:662207e34fba	3626	}
garfieldsg	0:662207e34fba	3627	}
garfieldsg	0:662207e34fba	3628	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3629	return true;
garfieldsg	0:662207e34fba	3630	}
garfieldsg	0:662207e34fba	3631	bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
garfieldsg	0:662207e34fba	3632	{
garfieldsg	0:662207e34fba	3633	return writeDMPConfigurationSet(data, dataSize, false);
garfieldsg	0:662207e34fba	3634	}
garfieldsg	0:662207e34fba	3635
garfieldsg	0:662207e34fba	3636	// DMP_CFG_1 register
garfieldsg	0:662207e34fba	3637
garfieldsg	0:662207e34fba	3638	uint8_t MPU6050::getDMPConfig1()
garfieldsg	0:662207e34fba	3639	{
garfieldsg	0:662207e34fba	3640	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
garfieldsg	0:662207e34fba	3641	return buffer[0];
garfieldsg	0:662207e34fba	3642	}
garfieldsg	0:662207e34fba	3643	void MPU6050::setDMPConfig1(uint8_t config)
garfieldsg	0:662207e34fba	3644	{
garfieldsg	0:662207e34fba	3645	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
garfieldsg	0:662207e34fba	3646	}
garfieldsg	0:662207e34fba	3647
garfieldsg	0:662207e34fba	3648	// DMP_CFG_2 register
garfieldsg	0:662207e34fba	3649
garfieldsg	0:662207e34fba	3650	uint8_t MPU6050::getDMPConfig2()
garfieldsg	0:662207e34fba	3651	{
garfieldsg	0:662207e34fba	3652	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
garfieldsg	0:662207e34fba	3653	return buffer[0];
garfieldsg	0:662207e34fba	3654	}
garfieldsg	0:662207e34fba	3655	void MPU6050::setDMPConfig2(uint8_t config)
garfieldsg	0:662207e34fba	3656	{
garfieldsg	0:662207e34fba	3657	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
garfieldsg	0:662207e34fba	3658	}

Repository toolbox

Export to desktop IDE

Repository details

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

MPU6050.cpp@4:df70fe9d6635, 2018-11-22 (annotated)

Who changed what in which revision?

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning