sa

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

Who changed what in which revision?

UserRevisionLine numberNew 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()