MPU6050 - ported from https://github.com/jrowberg/i2cdevlib…

Users » syundo0730 » Code » MPU6050

ported from https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050. Please refer this examples https://developer.mbed.org/users/syundo0730/code/MPU6050_Example/ to run this library in mbed.

Dependencies: ArduinoSerial I2Cdev

Dependents: MPU6050_Example

Fork of MPU6050 + MPU9150 by Andreas Kodewitz

MPU6050.cpp@6:f38dfe62d74c, 2016-01-30 (annotated)

Committer:: syundo0730
Date:: Sat Jan 30 17:12:45 2016 +0000
Revision:: 6:f38dfe62d74c
Parent:: 3:25e1a5a10e53
Child:: 7:d5845b617139

added debug print functions

Who changed what in which revision?

User	Revision	Line number	New contents of line
garfieldsg	0:662207e34fba	1	// I2Cdev library collection - MPU6050 I2C device class
garfieldsg	0:662207e34fba	2	// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
garfieldsg	0:662207e34fba	3	// 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
garfieldsg	0:662207e34fba	4	// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
garfieldsg	0:662207e34fba	5	//
garfieldsg	0:662207e34fba	6	// Changelog:
garfieldsg	0:662207e34fba	7	// ... - ongoing debug release
garfieldsg	0:662207e34fba	8
garfieldsg	0:662207e34fba	9	// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
garfieldsg	0:662207e34fba	10	// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
garfieldsg	0:662207e34fba	11	// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
garfieldsg	0:662207e34fba	12
garfieldsg	0:662207e34fba	13	/* ============================================
garfieldsg	0:662207e34fba	14	I2Cdev device library code is placed under the MIT license
garfieldsg	0:662207e34fba	15	Copyright (c) 2012 Jeff Rowberg
garfieldsg	0:662207e34fba	16
garfieldsg	0:662207e34fba	17	Permission is hereby granted, free of charge, to any person obtaining a copy
garfieldsg	0:662207e34fba	18	of this software and associated documentation files (the "Software"), to deal
garfieldsg	0:662207e34fba	19	in the Software without restriction, including without limitation the rights
garfieldsg	0:662207e34fba	20	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
garfieldsg	0:662207e34fba	21	copies of the Software, and to permit persons to whom the Software is
garfieldsg	0:662207e34fba	22	furnished to do so, subject to the following conditions:
garfieldsg	0:662207e34fba	23
garfieldsg	0:662207e34fba	24	The above copyright notice and this permission notice shall be included in
garfieldsg	0:662207e34fba	25	all copies or substantial portions of the Software.
garfieldsg	0:662207e34fba	26
garfieldsg	0:662207e34fba	27	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
garfieldsg	0:662207e34fba	28	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
garfieldsg	0:662207e34fba	29	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
garfieldsg	0:662207e34fba	30	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
garfieldsg	0:662207e34fba	31	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
garfieldsg	0:662207e34fba	32	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
garfieldsg	0:662207e34fba	33	THE SOFTWARE.
garfieldsg	0:662207e34fba	34	===============================================
garfieldsg	0:662207e34fba	35	*/
garfieldsg	0:662207e34fba	36
garfieldsg	0:662207e34fba	37	#include "MPU6050.h"
garfieldsg	0:662207e34fba	38
garfieldsg	0:662207e34fba	39	/** Default constructor, uses default I2C address.
garfieldsg	0:662207e34fba	40	* @see MPU6050_DEFAULT_ADDRESS
garfieldsg	0:662207e34fba	41	*/
syundo0730	6:f38dfe62d74c	42	MPU6050::MPU6050() {
garfieldsg	0:662207e34fba	43	devAddr = MPU6050_DEFAULT_ADDRESS;
garfieldsg	0:662207e34fba	44	}
garfieldsg	0:662207e34fba	45
garfieldsg	0:662207e34fba	46	/** Specific address constructor.
garfieldsg	0:662207e34fba	47	* @param address I2C address
garfieldsg	0:662207e34fba	48	* @see MPU6050_DEFAULT_ADDRESS
garfieldsg	0:662207e34fba	49	* @see MPU6050_ADDRESS_AD0_LOW
garfieldsg	0:662207e34fba	50	* @see MPU6050_ADDRESS_AD0_HIGH
garfieldsg	0:662207e34fba	51	*/
syundo0730	6:f38dfe62d74c	52	MPU6050::MPU6050(uint8_t address) {
garfieldsg	0:662207e34fba	53	devAddr = address;
garfieldsg	0:662207e34fba	54	}
garfieldsg	0:662207e34fba	55
garfieldsg	0:662207e34fba	56	/** Power on and prepare for general usage.
garfieldsg	0:662207e34fba	57	* This will activate the device and take it out of sleep mode (which must be done
garfieldsg	0:662207e34fba	58	* after start-up). This function also sets both the accelerometer and the gyroscope
garfieldsg	0:662207e34fba	59	* to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
garfieldsg	0:662207e34fba	60	* the clock source to use the X Gyro for reference, which is slightly better than
garfieldsg	0:662207e34fba	61	* the default internal clock source.
garfieldsg	0:662207e34fba	62	*/
syundo0730	6:f38dfe62d74c	63	void MPU6050::initialize() {
garfieldsg	0:662207e34fba	64	setClockSource(MPU6050_CLOCK_PLL_XGYRO);
garfieldsg	0:662207e34fba	65	setFullScaleGyroRange(MPU6050_GYRO_FS_250);
garfieldsg	0:662207e34fba	66	setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
garfieldsg	0:662207e34fba	67	setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
garfieldsg	0:662207e34fba	68	}
garfieldsg	0:662207e34fba	69
garfieldsg	0:662207e34fba	70	/** Verify the I2C connection.
garfieldsg	0:662207e34fba	71	* Make sure the device is connected and responds as expected.
garfieldsg	0:662207e34fba	72	* @return True if connection is valid, false otherwise
garfieldsg	0:662207e34fba	73	*/
syundo0730	6:f38dfe62d74c	74	bool MPU6050::testConnection() {
syundo0730	6:f38dfe62d74c	75	return getDeviceID() == 0x34;
garfieldsg	0:662207e34fba	76	}
garfieldsg	0:662207e34fba	77
garfieldsg	0:662207e34fba	78	// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
garfieldsg	0:662207e34fba	79
garfieldsg	0:662207e34fba	80	/** Get the auxiliary I2C supply voltage level.
garfieldsg	0:662207e34fba	81	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
garfieldsg	0:662207e34fba	82	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
garfieldsg	0:662207e34fba	83	* the MPU-6000, which does not have a VLOGIC pin.
garfieldsg	0:662207e34fba	84	* @return I2C supply voltage level (0=VLOGIC, 1=VDD)
garfieldsg	0:662207e34fba	85	*/
syundo0730	6:f38dfe62d74c	86	uint8_t MPU6050::getAuxVDDIOLevel() {
syundo0730	6:f38dfe62d74c	87	i2cdev.readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
garfieldsg	0:662207e34fba	88	return buffer[0];
garfieldsg	0:662207e34fba	89	}
garfieldsg	0:662207e34fba	90	/** Set the auxiliary I2C supply voltage level.
garfieldsg	0:662207e34fba	91	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
garfieldsg	0:662207e34fba	92	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
garfieldsg	0:662207e34fba	93	* the MPU-6000, which does not have a VLOGIC pin.
garfieldsg	0:662207e34fba	94	* @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
garfieldsg	0:662207e34fba	95	*/
syundo0730	6:f38dfe62d74c	96	void MPU6050::setAuxVDDIOLevel(uint8_t level) {
syundo0730	6:f38dfe62d74c	97	i2cdev.writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
garfieldsg	0:662207e34fba	98	}
garfieldsg	0:662207e34fba	99
garfieldsg	0:662207e34fba	100	// SMPLRT_DIV register
garfieldsg	0:662207e34fba	101
garfieldsg	0:662207e34fba	102	/** Get gyroscope output rate divider.
garfieldsg	0:662207e34fba	103	* The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
garfieldsg	0:662207e34fba	104	* Motion detection, and Free Fall detection are all based on the Sample Rate.
garfieldsg	0:662207e34fba	105	* The Sample Rate is generated by dividing the gyroscope output rate by
garfieldsg	0:662207e34fba	106	* SMPLRT_DIV:
garfieldsg	0:662207e34fba	107	*
garfieldsg	0:662207e34fba	108	* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
garfieldsg	0:662207e34fba	109	*
garfieldsg	0:662207e34fba	110	* where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
garfieldsg	0:662207e34fba	111	* 7), and 1kHz when the DLPF is enabled (see Register 26).
garfieldsg	0:662207e34fba	112	*
garfieldsg	0:662207e34fba	113	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
garfieldsg	0:662207e34fba	114	* Rate greater than 1kHz, the same accelerometer sample may be output to the
garfieldsg	0:662207e34fba	115	* FIFO, DMP, and sensor registers more than once.
garfieldsg	0:662207e34fba	116	*
garfieldsg	0:662207e34fba	117	* For a diagram of the gyroscope and accelerometer signal paths, see Section 8
garfieldsg	0:662207e34fba	118	* of the MPU-6000/MPU-6050 Product Specification document.
garfieldsg	0:662207e34fba	119	*
garfieldsg	0:662207e34fba	120	* @return Current sample rate
garfieldsg	0:662207e34fba	121	* @see MPU6050_RA_SMPLRT_DIV
garfieldsg	0:662207e34fba	122	*/
syundo0730	6:f38dfe62d74c	123	uint8_t MPU6050::getRate() {
syundo0730	6:f38dfe62d74c	124	i2cdev.readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
garfieldsg	0:662207e34fba	125	return buffer[0];
garfieldsg	0:662207e34fba	126	}
garfieldsg	0:662207e34fba	127	/** Set gyroscope sample rate divider.
garfieldsg	0:662207e34fba	128	* @param rate New sample rate divider
garfieldsg	0:662207e34fba	129	* @see getRate()
garfieldsg	0:662207e34fba	130	* @see MPU6050_RA_SMPLRT_DIV
garfieldsg	0:662207e34fba	131	*/
syundo0730	6:f38dfe62d74c	132	void MPU6050::setRate(uint8_t rate) {
syundo0730	6:f38dfe62d74c	133	i2cdev.writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
garfieldsg	0:662207e34fba	134	}
garfieldsg	0:662207e34fba	135
garfieldsg	0:662207e34fba	136	// CONFIG register
garfieldsg	0:662207e34fba	137
garfieldsg	0:662207e34fba	138	/** Get external FSYNC configuration.
garfieldsg	0:662207e34fba	139	* Configures the external Frame Synchronization (FSYNC) pin sampling. An
garfieldsg	0:662207e34fba	140	* external signal connected to the FSYNC pin can be sampled by configuring
garfieldsg	0:662207e34fba	141	* EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
garfieldsg	0:662207e34fba	142	* strobes may be captured. The latched FSYNC signal will be sampled at the
garfieldsg	0:662207e34fba	143	* Sampling Rate, as defined in register 25. After sampling, the latch will
garfieldsg	0:662207e34fba	144	* reset to the current FSYNC signal state.
garfieldsg	0:662207e34fba	145	*
garfieldsg	0:662207e34fba	146	* The sampled value will be reported in place of the least significant bit in
garfieldsg	0:662207e34fba	147	* a sensor data register determined by the value of EXT_SYNC_SET according to
garfieldsg	0:662207e34fba	148	* the following table.
garfieldsg	0:662207e34fba	149	*
garfieldsg	0:662207e34fba	150	* <pre>
garfieldsg	0:662207e34fba	151	* EXT_SYNC_SET \| FSYNC Bit Location
garfieldsg	0:662207e34fba	152	* -------------+-------------------
garfieldsg	0:662207e34fba	153	* 0 \| Input disabled
garfieldsg	0:662207e34fba	154	* 1 \| TEMP_OUT_L[0]
garfieldsg	0:662207e34fba	155	* 2 \| GYRO_XOUT_L[0]
garfieldsg	0:662207e34fba	156	* 3 \| GYRO_YOUT_L[0]
garfieldsg	0:662207e34fba	157	* 4 \| GYRO_ZOUT_L[0]
garfieldsg	0:662207e34fba	158	* 5 \| ACCEL_XOUT_L[0]
garfieldsg	0:662207e34fba	159	* 6 \| ACCEL_YOUT_L[0]
garfieldsg	0:662207e34fba	160	* 7 \| ACCEL_ZOUT_L[0]
garfieldsg	0:662207e34fba	161	* </pre>
garfieldsg	0:662207e34fba	162	*
garfieldsg	0:662207e34fba	163	* @return FSYNC configuration value
garfieldsg	0:662207e34fba	164	*/
syundo0730	6:f38dfe62d74c	165	uint8_t MPU6050::getExternalFrameSync() {
syundo0730	6:f38dfe62d74c	166	i2cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
garfieldsg	0:662207e34fba	167	return buffer[0];
garfieldsg	0:662207e34fba	168	}
garfieldsg	0:662207e34fba	169	/** Set external FSYNC configuration.
garfieldsg	0:662207e34fba	170	* @see getExternalFrameSync()
garfieldsg	0:662207e34fba	171	* @see MPU6050_RA_CONFIG
garfieldsg	0:662207e34fba	172	* @param sync New FSYNC configuration value
garfieldsg	0:662207e34fba	173	*/
syundo0730	6:f38dfe62d74c	174	void MPU6050::setExternalFrameSync(uint8_t sync) {
syundo0730	6:f38dfe62d74c	175	i2cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
garfieldsg	0:662207e34fba	176	}
garfieldsg	0:662207e34fba	177	/** Get digital low-pass filter configuration.
garfieldsg	0:662207e34fba	178	* The DLPF_CFG parameter sets the digital low pass filter configuration. It
garfieldsg	0:662207e34fba	179	* also determines the internal sampling rate used by the device as shown in
garfieldsg	0:662207e34fba	180	* the table below.
garfieldsg	0:662207e34fba	181	*
garfieldsg	0:662207e34fba	182	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
garfieldsg	0:662207e34fba	183	* Rate greater than 1kHz, the same accelerometer sample may be output to the
garfieldsg	0:662207e34fba	184	* FIFO, DMP, and sensor registers more than once.
garfieldsg	0:662207e34fba	185	*
garfieldsg	0:662207e34fba	186	* <pre>
garfieldsg	0:662207e34fba	187	* \| ACCELEROMETER \| GYROSCOPE
garfieldsg	0:662207e34fba	188	* DLPF_CFG \| Bandwidth \| Delay \| Bandwidth \| Delay \| Sample Rate
garfieldsg	0:662207e34fba	189	* ---------+-----------+--------+-----------+--------+-------------
garfieldsg	0:662207e34fba	190	* 0 \| 260Hz \| 0ms \| 256Hz \| 0.98ms \| 8kHz
garfieldsg	0:662207e34fba	191	* 1 \| 184Hz \| 2.0ms \| 188Hz \| 1.9ms \| 1kHz
garfieldsg	0:662207e34fba	192	* 2 \| 94Hz \| 3.0ms \| 98Hz \| 2.8ms \| 1kHz
garfieldsg	0:662207e34fba	193	* 3 \| 44Hz \| 4.9ms \| 42Hz \| 4.8ms \| 1kHz
garfieldsg	0:662207e34fba	194	* 4 \| 21Hz \| 8.5ms \| 20Hz \| 8.3ms \| 1kHz
garfieldsg	0:662207e34fba	195	* 5 \| 10Hz \| 13.8ms \| 10Hz \| 13.4ms \| 1kHz
garfieldsg	0:662207e34fba	196	* 6 \| 5Hz \| 19.0ms \| 5Hz \| 18.6ms \| 1kHz
garfieldsg	0:662207e34fba	197	* 7 \| -- Reserved -- \| -- Reserved -- \| Reserved
garfieldsg	0:662207e34fba	198	* </pre>
garfieldsg	0:662207e34fba	199	*
garfieldsg	0:662207e34fba	200	* @return DLFP configuration
garfieldsg	0:662207e34fba	201	* @see MPU6050_RA_CONFIG
garfieldsg	0:662207e34fba	202	* @see MPU6050_CFG_DLPF_CFG_BIT
garfieldsg	0:662207e34fba	203	* @see MPU6050_CFG_DLPF_CFG_LENGTH
garfieldsg	0:662207e34fba	204	*/
syundo0730	6:f38dfe62d74c	205	uint8_t MPU6050::getDLPFMode() {
syundo0730	6:f38dfe62d74c	206	i2cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
garfieldsg	0:662207e34fba	207	return buffer[0];
garfieldsg	0:662207e34fba	208	}
garfieldsg	0:662207e34fba	209	/** Set digital low-pass filter configuration.
garfieldsg	0:662207e34fba	210	* @param mode New DLFP configuration setting
garfieldsg	0:662207e34fba	211	* @see getDLPFBandwidth()
garfieldsg	0:662207e34fba	212	* @see MPU6050_DLPF_BW_256
garfieldsg	0:662207e34fba	213	* @see MPU6050_RA_CONFIG
garfieldsg	0:662207e34fba	214	* @see MPU6050_CFG_DLPF_CFG_BIT
garfieldsg	0:662207e34fba	215	* @see MPU6050_CFG_DLPF_CFG_LENGTH
garfieldsg	0:662207e34fba	216	*/
syundo0730	6:f38dfe62d74c	217	void MPU6050::setDLPFMode(uint8_t mode) {
syundo0730	6:f38dfe62d74c	218	i2cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
garfieldsg	0:662207e34fba	219	}
garfieldsg	0:662207e34fba	220
garfieldsg	0:662207e34fba	221	// GYRO_CONFIG register
garfieldsg	0:662207e34fba	222
garfieldsg	0:662207e34fba	223	/** Get full-scale gyroscope range.
garfieldsg	0:662207e34fba	224	* The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
garfieldsg	0:662207e34fba	225	* as described in the table below.
garfieldsg	0:662207e34fba	226	*
garfieldsg	0:662207e34fba	227	* <pre>
garfieldsg	0:662207e34fba	228	* 0 = +/- 250 degrees/sec
garfieldsg	0:662207e34fba	229	* 1 = +/- 500 degrees/sec
garfieldsg	0:662207e34fba	230	* 2 = +/- 1000 degrees/sec
garfieldsg	0:662207e34fba	231	* 3 = +/- 2000 degrees/sec
garfieldsg	0:662207e34fba	232	* </pre>
garfieldsg	0:662207e34fba	233	*
garfieldsg	0:662207e34fba	234	* @return Current full-scale gyroscope range setting
garfieldsg	0:662207e34fba	235	* @see MPU6050_GYRO_FS_250
garfieldsg	0:662207e34fba	236	* @see MPU6050_RA_GYRO_CONFIG
garfieldsg	0:662207e34fba	237	* @see MPU6050_GCONFIG_FS_SEL_BIT
garfieldsg	0:662207e34fba	238	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
garfieldsg	0:662207e34fba	239	*/
syundo0730	6:f38dfe62d74c	240	uint8_t MPU6050::getFullScaleGyroRange() {
syundo0730	6:f38dfe62d74c	241	i2cdev.readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
garfieldsg	0:662207e34fba	242	return buffer[0];
garfieldsg	0:662207e34fba	243	}
garfieldsg	0:662207e34fba	244	/** Set full-scale gyroscope range.
garfieldsg	0:662207e34fba	245	* @param range New full-scale gyroscope range value
garfieldsg	0:662207e34fba	246	* @see getFullScaleRange()
garfieldsg	0:662207e34fba	247	* @see MPU6050_GYRO_FS_250
garfieldsg	0:662207e34fba	248	* @see MPU6050_RA_GYRO_CONFIG
garfieldsg	0:662207e34fba	249	* @see MPU6050_GCONFIG_FS_SEL_BIT
garfieldsg	0:662207e34fba	250	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
garfieldsg	0:662207e34fba	251	*/
syundo0730	6:f38dfe62d74c	252	void MPU6050::setFullScaleGyroRange(uint8_t range) {
syundo0730	6:f38dfe62d74c	253	i2cdev.writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
garfieldsg	0:662207e34fba	254	}
garfieldsg	0:662207e34fba	255
garfieldsg	0:662207e34fba	256	// ACCEL_CONFIG register
garfieldsg	0:662207e34fba	257
garfieldsg	0:662207e34fba	258	/** Get self-test enabled setting for accelerometer X axis.
garfieldsg	0:662207e34fba	259	* @return Self-test enabled value
garfieldsg	0:662207e34fba	260	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	261	*/
syundo0730	6:f38dfe62d74c	262	bool MPU6050::getAccelXSelfTest() {
syundo0730	6:f38dfe62d74c	263	i2cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
garfieldsg	0:662207e34fba	264	return buffer[0];
garfieldsg	0:662207e34fba	265	}
garfieldsg	0:662207e34fba	266	/** Get self-test enabled setting for accelerometer X axis.
garfieldsg	0:662207e34fba	267	* @param enabled Self-test enabled value
garfieldsg	0:662207e34fba	268	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	269	*/
syundo0730	6:f38dfe62d74c	270	void MPU6050::setAccelXSelfTest(bool enabled) {
syundo0730	6:f38dfe62d74c	271	i2cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
garfieldsg	0:662207e34fba	272	}
garfieldsg	0:662207e34fba	273	/** Get self-test enabled value for accelerometer Y axis.
garfieldsg	0:662207e34fba	274	* @return Self-test enabled value
garfieldsg	0:662207e34fba	275	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	276	*/
syundo0730	6:f38dfe62d74c	277	bool MPU6050::getAccelYSelfTest() {
syundo0730	6:f38dfe62d74c	278	i2cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
garfieldsg	0:662207e34fba	279	return buffer[0];
garfieldsg	0:662207e34fba	280	}
garfieldsg	0:662207e34fba	281	/** Get self-test enabled value for accelerometer Y axis.
garfieldsg	0:662207e34fba	282	* @param enabled Self-test enabled value
garfieldsg	0:662207e34fba	283	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	284	*/
syundo0730	6:f38dfe62d74c	285	void MPU6050::setAccelYSelfTest(bool enabled) {
syundo0730	6:f38dfe62d74c	286	i2cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
garfieldsg	0:662207e34fba	287	}
garfieldsg	0:662207e34fba	288	/** Get self-test enabled value for accelerometer Z axis.
garfieldsg	0:662207e34fba	289	* @return Self-test enabled value
garfieldsg	0:662207e34fba	290	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	291	*/
syundo0730	6:f38dfe62d74c	292	bool MPU6050::getAccelZSelfTest() {
syundo0730	6:f38dfe62d74c	293	i2cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
garfieldsg	0:662207e34fba	294	return buffer[0];
garfieldsg	0:662207e34fba	295	}
garfieldsg	0:662207e34fba	296	/** Set self-test enabled value for accelerometer Z axis.
garfieldsg	0:662207e34fba	297	* @param enabled Self-test enabled value
garfieldsg	0:662207e34fba	298	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	299	*/
syundo0730	6:f38dfe62d74c	300	void MPU6050::setAccelZSelfTest(bool enabled) {
syundo0730	6:f38dfe62d74c	301	i2cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
garfieldsg	0:662207e34fba	302	}
garfieldsg	0:662207e34fba	303	/** Get full-scale accelerometer range.
garfieldsg	0:662207e34fba	304	* The FS_SEL parameter allows setting the full-scale range of the accelerometer
garfieldsg	0:662207e34fba	305	* sensors, as described in the table below.
garfieldsg	0:662207e34fba	306	*
garfieldsg	0:662207e34fba	307	* <pre>
garfieldsg	0:662207e34fba	308	* 0 = +/- 2g
garfieldsg	0:662207e34fba	309	* 1 = +/- 4g
garfieldsg	0:662207e34fba	310	* 2 = +/- 8g
garfieldsg	0:662207e34fba	311	* 3 = +/- 16g
garfieldsg	0:662207e34fba	312	* </pre>
garfieldsg	0:662207e34fba	313	*
garfieldsg	0:662207e34fba	314	* @return Current full-scale accelerometer range setting
garfieldsg	0:662207e34fba	315	* @see MPU6050_ACCEL_FS_2
garfieldsg	0:662207e34fba	316	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	317	* @see MPU6050_ACONFIG_AFS_SEL_BIT
garfieldsg	0:662207e34fba	318	* @see MPU6050_ACONFIG_AFS_SEL_LENGTH
garfieldsg	0:662207e34fba	319	*/
syundo0730	6:f38dfe62d74c	320	uint8_t MPU6050::getFullScaleAccelRange() {
syundo0730	6:f38dfe62d74c	321	i2cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
garfieldsg	0:662207e34fba	322	return buffer[0];
garfieldsg	0:662207e34fba	323	}
garfieldsg	0:662207e34fba	324	/** Set full-scale accelerometer range.
garfieldsg	0:662207e34fba	325	* @param range New full-scale accelerometer range setting
garfieldsg	0:662207e34fba	326	* @see getFullScaleAccelRange()
garfieldsg	0:662207e34fba	327	*/
syundo0730	6:f38dfe62d74c	328	void MPU6050::setFullScaleAccelRange(uint8_t range) {
syundo0730	6:f38dfe62d74c	329	i2cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
garfieldsg	0:662207e34fba	330	}
garfieldsg	0:662207e34fba	331	/** Get the high-pass filter configuration.
garfieldsg	0:662207e34fba	332	* The DHPF is a filter module in the path leading to motion detectors (Free
garfieldsg	0:662207e34fba	333	* Fall, Motion threshold, and Zero Motion). The high pass filter output is not
garfieldsg	0:662207e34fba	334	* available to the data registers (see Figure in Section 8 of the MPU-6000/
garfieldsg	0:662207e34fba	335	* MPU-6050 Product Specification document).
garfieldsg	0:662207e34fba	336	*
garfieldsg	0:662207e34fba	337	* The high pass filter has three modes:
garfieldsg	0:662207e34fba	338	*
garfieldsg	0:662207e34fba	339	* <pre>
garfieldsg	0:662207e34fba	340	* Reset: The filter output settles to zero within one sample. This
garfieldsg	0:662207e34fba	341	* effectively disables the high pass filter. This mode may be toggled
garfieldsg	0:662207e34fba	342	* to quickly settle the filter.
garfieldsg	0:662207e34fba	343	*
garfieldsg	0:662207e34fba	344	* On: The high pass filter will pass signals above the cut off frequency.
garfieldsg	0:662207e34fba	345	*
garfieldsg	0:662207e34fba	346	* Hold: When triggered, the filter holds the present sample. The filter
garfieldsg	0:662207e34fba	347	* output will be the difference between the input sample and the held
garfieldsg	0:662207e34fba	348	* sample.
garfieldsg	0:662207e34fba	349	* </pre>
garfieldsg	0:662207e34fba	350	*
garfieldsg	0:662207e34fba	351	* <pre>
garfieldsg	0:662207e34fba	352	* ACCEL_HPF \| Filter Mode \| Cut-off Frequency
garfieldsg	0:662207e34fba	353	* ----------+-------------+------------------
garfieldsg	0:662207e34fba	354	* 0 \| Reset \| None
garfieldsg	0:662207e34fba	355	* 1 \| On \| 5Hz
garfieldsg	0:662207e34fba	356	* 2 \| On \| 2.5Hz
garfieldsg	0:662207e34fba	357	* 3 \| On \| 1.25Hz
garfieldsg	0:662207e34fba	358	* 4 \| On \| 0.63Hz
garfieldsg	0:662207e34fba	359	* 7 \| Hold \| None
garfieldsg	0:662207e34fba	360	* </pre>
garfieldsg	0:662207e34fba	361	*
garfieldsg	0:662207e34fba	362	* @return Current high-pass filter configuration
garfieldsg	0:662207e34fba	363	* @see MPU6050_DHPF_RESET
garfieldsg	0:662207e34fba	364	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	365	*/
syundo0730	6:f38dfe62d74c	366	uint8_t MPU6050::getDHPFMode() {
syundo0730	6:f38dfe62d74c	367	i2cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
garfieldsg	0:662207e34fba	368	return buffer[0];
garfieldsg	0:662207e34fba	369	}
garfieldsg	0:662207e34fba	370	/** Set the high-pass filter configuration.
garfieldsg	0:662207e34fba	371	* @param bandwidth New high-pass filter configuration
garfieldsg	0:662207e34fba	372	* @see setDHPFMode()
garfieldsg	0:662207e34fba	373	* @see MPU6050_DHPF_RESET
garfieldsg	0:662207e34fba	374	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	375	*/
syundo0730	6:f38dfe62d74c	376	void MPU6050::setDHPFMode(uint8_t bandwidth) {
syundo0730	6:f38dfe62d74c	377	i2cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
garfieldsg	0:662207e34fba	378	}
garfieldsg	0:662207e34fba	379
garfieldsg	0:662207e34fba	380	// FF_THR register
garfieldsg	0:662207e34fba	381
garfieldsg	0:662207e34fba	382	/** Get free-fall event acceleration threshold.
garfieldsg	0:662207e34fba	383	* This register configures the detection threshold for Free Fall event
garfieldsg	0:662207e34fba	384	* detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
garfieldsg	0:662207e34fba	385	* absolute value of the accelerometer measurements for the three axes are each
garfieldsg	0:662207e34fba	386	* less than the detection threshold. This condition increments the Free Fall
garfieldsg	0:662207e34fba	387	* duration counter (Register 30). The Free Fall interrupt is triggered when the
garfieldsg	0:662207e34fba	388	* Free Fall duration counter reaches the time specified in FF_DUR.
garfieldsg	0:662207e34fba	389	*
garfieldsg	0:662207e34fba	390	* For more details on the Free Fall detection interrupt, see Section 8.2 of the
garfieldsg	0:662207e34fba	391	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
garfieldsg	0:662207e34fba	392	* 58 of this document.
garfieldsg	0:662207e34fba	393	*
garfieldsg	0:662207e34fba	394	* @return Current free-fall acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	395	* @see MPU6050_RA_FF_THR
garfieldsg	0:662207e34fba	396	*/
syundo0730	6:f38dfe62d74c	397	uint8_t MPU6050::getFreefallDetectionThreshold() {
syundo0730	6:f38dfe62d74c	398	i2cdev.readByte(devAddr, MPU6050_RA_FF_THR, buffer);
garfieldsg	0:662207e34fba	399	return buffer[0];
garfieldsg	0:662207e34fba	400	}
garfieldsg	0:662207e34fba	401	/** Get free-fall event acceleration threshold.
garfieldsg	0:662207e34fba	402	* @param threshold New free-fall acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	403	* @see getFreefallDetectionThreshold()
garfieldsg	0:662207e34fba	404	* @see MPU6050_RA_FF_THR
garfieldsg	0:662207e34fba	405	*/
syundo0730	6:f38dfe62d74c	406	void MPU6050::setFreefallDetectionThreshold(uint8_t threshold) {
syundo0730	6:f38dfe62d74c	407	i2cdev.writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
garfieldsg	0:662207e34fba	408	}
garfieldsg	0:662207e34fba	409
garfieldsg	0:662207e34fba	410	// FF_DUR register
garfieldsg	0:662207e34fba	411
garfieldsg	0:662207e34fba	412	/** Get free-fall event duration threshold.
garfieldsg	0:662207e34fba	413	* This register configures the duration counter threshold for Free Fall event
garfieldsg	0:662207e34fba	414	* detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
garfieldsg	0:662207e34fba	415	* of 1 LSB = 1 ms.
garfieldsg	0:662207e34fba	416	*
garfieldsg	0:662207e34fba	417	* The Free Fall duration counter increments while the absolute value of the
garfieldsg	0:662207e34fba	418	* accelerometer measurements are each less than the detection threshold
garfieldsg	0:662207e34fba	419	* (Register 29). The Free Fall interrupt is triggered when the Free Fall
garfieldsg	0:662207e34fba	420	* duration counter reaches the time specified in this register.
garfieldsg	0:662207e34fba	421	*
garfieldsg	0:662207e34fba	422	* For more details on the Free Fall detection interrupt, see Section 8.2 of
garfieldsg	0:662207e34fba	423	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
garfieldsg	0:662207e34fba	424	* and 58 of this document.
garfieldsg	0:662207e34fba	425	*
garfieldsg	0:662207e34fba	426	* @return Current free-fall duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	427	* @see MPU6050_RA_FF_DUR
garfieldsg	0:662207e34fba	428	*/
syundo0730	6:f38dfe62d74c	429	uint8_t MPU6050::getFreefallDetectionDuration() {
syundo0730	6:f38dfe62d74c	430	i2cdev.readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
garfieldsg	0:662207e34fba	431	return buffer[0];
garfieldsg	0:662207e34fba	432	}
garfieldsg	0:662207e34fba	433	/** Get free-fall event duration threshold.
garfieldsg	0:662207e34fba	434	* @param duration New free-fall duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	435	* @see getFreefallDetectionDuration()
garfieldsg	0:662207e34fba	436	* @see MPU6050_RA_FF_DUR
garfieldsg	0:662207e34fba	437	*/
syundo0730	6:f38dfe62d74c	438	void MPU6050::setFreefallDetectionDuration(uint8_t duration) {
syundo0730	6:f38dfe62d74c	439	i2cdev.writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
garfieldsg	0:662207e34fba	440	}
garfieldsg	0:662207e34fba	441
garfieldsg	0:662207e34fba	442	// MOT_THR register
garfieldsg	0:662207e34fba	443
garfieldsg	0:662207e34fba	444	/** Get motion detection event acceleration threshold.
garfieldsg	0:662207e34fba	445	* This register configures the detection threshold for Motion interrupt
garfieldsg	0:662207e34fba	446	* generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
garfieldsg	0:662207e34fba	447	* absolute value of any of the accelerometer measurements exceeds this Motion
garfieldsg	0:662207e34fba	448	* detection threshold. This condition increments the Motion detection duration
garfieldsg	0:662207e34fba	449	* counter (Register 32). The Motion detection interrupt is triggered when the
garfieldsg	0:662207e34fba	450	* Motion Detection counter reaches the time count specified in MOT_DUR
garfieldsg	0:662207e34fba	451	* (Register 32).
garfieldsg	0:662207e34fba	452	*
garfieldsg	0:662207e34fba	453	* The Motion interrupt will indicate the axis and polarity of detected motion
garfieldsg	0:662207e34fba	454	* in MOT_DETECT_STATUS (Register 97).
garfieldsg	0:662207e34fba	455	*
garfieldsg	0:662207e34fba	456	* For more details on the Motion detection interrupt, see Section 8.3 of the
garfieldsg	0:662207e34fba	457	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
garfieldsg	0:662207e34fba	458	* 58 of this document.
garfieldsg	0:662207e34fba	459	*
garfieldsg	0:662207e34fba	460	* @return Current motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	461	* @see MPU6050_RA_MOT_THR
garfieldsg	0:662207e34fba	462	*/
syundo0730	6:f38dfe62d74c	463	uint8_t MPU6050::getMotionDetectionThreshold() {
syundo0730	6:f38dfe62d74c	464	i2cdev.readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
garfieldsg	0:662207e34fba	465	return buffer[0];
garfieldsg	0:662207e34fba	466	}
garfieldsg	0:662207e34fba	467	/** Set free-fall event acceleration threshold.
garfieldsg	0:662207e34fba	468	* @param threshold New motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	469	* @see getMotionDetectionThreshold()
garfieldsg	0:662207e34fba	470	* @see MPU6050_RA_MOT_THR
garfieldsg	0:662207e34fba	471	*/
syundo0730	6:f38dfe62d74c	472	void MPU6050::setMotionDetectionThreshold(uint8_t threshold) {
syundo0730	6:f38dfe62d74c	473	i2cdev.writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
garfieldsg	0:662207e34fba	474	}
garfieldsg	0:662207e34fba	475
garfieldsg	0:662207e34fba	476	// MOT_DUR register
garfieldsg	0:662207e34fba	477
garfieldsg	0:662207e34fba	478	/** Get motion detection event duration threshold.
garfieldsg	0:662207e34fba	479	* This register configures the duration counter threshold for Motion interrupt
garfieldsg	0:662207e34fba	480	* generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
garfieldsg	0:662207e34fba	481	* of 1LSB = 1ms. The Motion detection duration counter increments when the
garfieldsg	0:662207e34fba	482	* absolute value of any of the accelerometer measurements exceeds the Motion
garfieldsg	0:662207e34fba	483	* detection threshold (Register 31). The Motion detection interrupt is
garfieldsg	0:662207e34fba	484	* triggered when the Motion detection counter reaches the time count specified
garfieldsg	0:662207e34fba	485	* in this register.
garfieldsg	0:662207e34fba	486	*
garfieldsg	0:662207e34fba	487	* For more details on the Motion detection interrupt, see Section 8.3 of the
garfieldsg	0:662207e34fba	488	* MPU-6000/MPU-6050 Product Specification document.
garfieldsg	0:662207e34fba	489	*
garfieldsg	0:662207e34fba	490	* @return Current motion detection duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	491	* @see MPU6050_RA_MOT_DUR
garfieldsg	0:662207e34fba	492	*/
syundo0730	6:f38dfe62d74c	493	uint8_t MPU6050::getMotionDetectionDuration() {
syundo0730	6:f38dfe62d74c	494	i2cdev.readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
garfieldsg	0:662207e34fba	495	return buffer[0];
garfieldsg	0:662207e34fba	496	}
garfieldsg	0:662207e34fba	497	/** Set motion detection event duration threshold.
garfieldsg	0:662207e34fba	498	* @param duration New motion detection duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	499	* @see getMotionDetectionDuration()
garfieldsg	0:662207e34fba	500	* @see MPU6050_RA_MOT_DUR
garfieldsg	0:662207e34fba	501	*/
syundo0730	6:f38dfe62d74c	502	void MPU6050::setMotionDetectionDuration(uint8_t duration) {
syundo0730	6:f38dfe62d74c	503	i2cdev.writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
garfieldsg	0:662207e34fba	504	}
garfieldsg	0:662207e34fba	505
garfieldsg	0:662207e34fba	506	// ZRMOT_THR register
garfieldsg	0:662207e34fba	507
garfieldsg	0:662207e34fba	508	/** Get zero motion detection event acceleration threshold.
garfieldsg	0:662207e34fba	509	* This register configures the detection threshold for Zero Motion interrupt
garfieldsg	0:662207e34fba	510	* generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
garfieldsg	0:662207e34fba	511	* the absolute value of the accelerometer measurements for the 3 axes are each
garfieldsg	0:662207e34fba	512	* less than the detection threshold. This condition increments the Zero Motion
garfieldsg	0:662207e34fba	513	* duration counter (Register 34). The Zero Motion interrupt is triggered when
garfieldsg	0:662207e34fba	514	* the Zero Motion duration counter reaches the time count specified in
garfieldsg	0:662207e34fba	515	* ZRMOT_DUR (Register 34).
garfieldsg	0:662207e34fba	516	*
garfieldsg	0:662207e34fba	517	* Unlike Free Fall or Motion detection, Zero Motion detection triggers an
garfieldsg	0:662207e34fba	518	* interrupt both when Zero Motion is first detected and when Zero Motion is no
garfieldsg	0:662207e34fba	519	* longer detected.
garfieldsg	0:662207e34fba	520	*
garfieldsg	0:662207e34fba	521	* When a zero motion event is detected, a Zero Motion Status will be indicated
garfieldsg	0:662207e34fba	522	* in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
garfieldsg	0:662207e34fba	523	* condition is detected, the status bit is set to 1. When a zero-motion-to-
garfieldsg	0:662207e34fba	524	* motion condition is detected, the status bit is set to 0.
garfieldsg	0:662207e34fba	525	*
garfieldsg	0:662207e34fba	526	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
garfieldsg	0:662207e34fba	527	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
garfieldsg	0:662207e34fba	528	* and 58 of this document.
garfieldsg	0:662207e34fba	529	*
garfieldsg	0:662207e34fba	530	* @return Current zero motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	531	* @see MPU6050_RA_ZRMOT_THR
garfieldsg	0:662207e34fba	532	*/
syundo0730	6:f38dfe62d74c	533	uint8_t MPU6050::getZeroMotionDetectionThreshold() {
syundo0730	6:f38dfe62d74c	534	i2cdev.readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
garfieldsg	0:662207e34fba	535	return buffer[0];
garfieldsg	0:662207e34fba	536	}
garfieldsg	0:662207e34fba	537	/** Set zero motion detection event acceleration threshold.
garfieldsg	0:662207e34fba	538	* @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	539	* @see getZeroMotionDetectionThreshold()
garfieldsg	0:662207e34fba	540	* @see MPU6050_RA_ZRMOT_THR
garfieldsg	0:662207e34fba	541	*/
syundo0730	6:f38dfe62d74c	542	void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold) {
syundo0730	6:f38dfe62d74c	543	i2cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
garfieldsg	0:662207e34fba	544	}
garfieldsg	0:662207e34fba	545
garfieldsg	0:662207e34fba	546	// ZRMOT_DUR register
garfieldsg	0:662207e34fba	547
garfieldsg	0:662207e34fba	548	/** Get zero motion detection event duration threshold.
garfieldsg	0:662207e34fba	549	* This register configures the duration counter threshold for Zero Motion
garfieldsg	0:662207e34fba	550	* interrupt generation. The duration counter ticks at 16 Hz, therefore
garfieldsg	0:662207e34fba	551	* ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
garfieldsg	0:662207e34fba	552	* increments while the absolute value of the accelerometer measurements are
garfieldsg	0:662207e34fba	553	* each less than the detection threshold (Register 33). The Zero Motion
garfieldsg	0:662207e34fba	554	* interrupt is triggered when the Zero Motion duration counter reaches the time
garfieldsg	0:662207e34fba	555	* count specified in this register.
garfieldsg	0:662207e34fba	556	*
garfieldsg	0:662207e34fba	557	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
garfieldsg	0:662207e34fba	558	* the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
garfieldsg	0:662207e34fba	559	* and 58 of this document.
garfieldsg	0:662207e34fba	560	*
garfieldsg	0:662207e34fba	561	* @return Current zero motion detection duration threshold value (LSB = 64ms)
garfieldsg	0:662207e34fba	562	* @see MPU6050_RA_ZRMOT_DUR
garfieldsg	0:662207e34fba	563	*/
syundo0730	6:f38dfe62d74c	564	uint8_t MPU6050::getZeroMotionDetectionDuration() {
syundo0730	6:f38dfe62d74c	565	i2cdev.readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
garfieldsg	0:662207e34fba	566	return buffer[0];
garfieldsg	0:662207e34fba	567	}
garfieldsg	0:662207e34fba	568	/** Set zero motion detection event duration threshold.
garfieldsg	0:662207e34fba	569	* @param duration New zero motion detection duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	570	* @see getZeroMotionDetectionDuration()
garfieldsg	0:662207e34fba	571	* @see MPU6050_RA_ZRMOT_DUR
garfieldsg	0:662207e34fba	572	*/
syundo0730	6:f38dfe62d74c	573	void MPU6050::setZeroMotionDetectionDuration(uint8_t duration) {
syundo0730	6:f38dfe62d74c	574	i2cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
garfieldsg	0:662207e34fba	575	}
garfieldsg	0:662207e34fba	576
garfieldsg	0:662207e34fba	577	// FIFO_EN register
garfieldsg	0:662207e34fba	578
garfieldsg	0:662207e34fba	579	/** Get temperature FIFO enabled value.
garfieldsg	0:662207e34fba	580	* When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
garfieldsg	0:662207e34fba	581	* 66) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	582	* @return Current temperature FIFO enabled value
garfieldsg	0:662207e34fba	583	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	584	*/
syundo0730	6:f38dfe62d74c	585	bool MPU6050::getTempFIFOEnabled() {
syundo0730	6:f38dfe62d74c	586	i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	587	return buffer[0];
garfieldsg	0:662207e34fba	588	}
garfieldsg	0:662207e34fba	589	/** Set temperature FIFO enabled value.
garfieldsg	0:662207e34fba	590	* @param enabled New temperature FIFO enabled value
garfieldsg	0:662207e34fba	591	* @see getTempFIFOEnabled()
garfieldsg	0:662207e34fba	592	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	593	*/
syundo0730	6:f38dfe62d74c	594	void MPU6050::setTempFIFOEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	595	i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	596	}
garfieldsg	0:662207e34fba	597	/** Get gyroscope X-axis FIFO enabled value.
garfieldsg	0:662207e34fba	598	* When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
garfieldsg	0:662207e34fba	599	* 68) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	600	* @return Current gyroscope X-axis FIFO enabled value
garfieldsg	0:662207e34fba	601	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	602	*/
syundo0730	6:f38dfe62d74c	603	bool MPU6050::getXGyroFIFOEnabled() {
syundo0730	6:f38dfe62d74c	604	i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	605	return buffer[0];
garfieldsg	0:662207e34fba	606	}
garfieldsg	0:662207e34fba	607	/** Set gyroscope X-axis FIFO enabled value.
garfieldsg	0:662207e34fba	608	* @param enabled New gyroscope X-axis FIFO enabled value
garfieldsg	0:662207e34fba	609	* @see getXGyroFIFOEnabled()
garfieldsg	0:662207e34fba	610	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	611	*/
syundo0730	6:f38dfe62d74c	612	void MPU6050::setXGyroFIFOEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	613	i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	614	}
garfieldsg	0:662207e34fba	615	/** Get gyroscope Y-axis FIFO enabled value.
garfieldsg	0:662207e34fba	616	* When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
garfieldsg	0:662207e34fba	617	* 70) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	618	* @return Current gyroscope Y-axis FIFO enabled value
garfieldsg	0:662207e34fba	619	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	620	*/
syundo0730	6:f38dfe62d74c	621	bool MPU6050::getYGyroFIFOEnabled() {
syundo0730	6:f38dfe62d74c	622	i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	623	return buffer[0];
garfieldsg	0:662207e34fba	624	}
garfieldsg	0:662207e34fba	625	/** Set gyroscope Y-axis FIFO enabled value.
garfieldsg	0:662207e34fba	626	* @param enabled New gyroscope Y-axis FIFO enabled value
garfieldsg	0:662207e34fba	627	* @see getYGyroFIFOEnabled()
garfieldsg	0:662207e34fba	628	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	629	*/
syundo0730	6:f38dfe62d74c	630	void MPU6050::setYGyroFIFOEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	631	i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	632	}
garfieldsg	0:662207e34fba	633	/** Get gyroscope Z-axis FIFO enabled value.
garfieldsg	0:662207e34fba	634	* When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
garfieldsg	0:662207e34fba	635	* 72) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	636	* @return Current gyroscope Z-axis FIFO enabled value
garfieldsg	0:662207e34fba	637	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	638	*/
syundo0730	6:f38dfe62d74c	639	bool MPU6050::getZGyroFIFOEnabled() {
syundo0730	6:f38dfe62d74c	640	i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	641	return buffer[0];
garfieldsg	0:662207e34fba	642	}
garfieldsg	0:662207e34fba	643	/** Set gyroscope Z-axis FIFO enabled value.
garfieldsg	0:662207e34fba	644	* @param enabled New gyroscope Z-axis FIFO enabled value
garfieldsg	0:662207e34fba	645	* @see getZGyroFIFOEnabled()
garfieldsg	0:662207e34fba	646	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	647	*/
syundo0730	6:f38dfe62d74c	648	void MPU6050::setZGyroFIFOEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	649	i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	650	}
garfieldsg	0:662207e34fba	651	/** Get accelerometer FIFO enabled value.
garfieldsg	0:662207e34fba	652	* When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
garfieldsg	0:662207e34fba	653	* ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
garfieldsg	0:662207e34fba	654	* written into the FIFO buffer.
garfieldsg	0:662207e34fba	655	* @return Current accelerometer FIFO enabled value
garfieldsg	0:662207e34fba	656	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	657	*/
syundo0730	6:f38dfe62d74c	658	bool MPU6050::getAccelFIFOEnabled() {
syundo0730	6:f38dfe62d74c	659	i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	660	return buffer[0];
garfieldsg	0:662207e34fba	661	}
garfieldsg	0:662207e34fba	662	/** Set accelerometer FIFO enabled value.
garfieldsg	0:662207e34fba	663	* @param enabled New accelerometer FIFO enabled value
garfieldsg	0:662207e34fba	664	* @see getAccelFIFOEnabled()
garfieldsg	0:662207e34fba	665	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	666	*/
syundo0730	6:f38dfe62d74c	667	void MPU6050::setAccelFIFOEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	668	i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	669	}
garfieldsg	0:662207e34fba	670	/** Get Slave 2 FIFO enabled value.
garfieldsg	0:662207e34fba	671	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	672	* associated with Slave 2 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	673	* @return Current Slave 2 FIFO enabled value
garfieldsg	0:662207e34fba	674	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	675	*/
syundo0730	6:f38dfe62d74c	676	bool MPU6050::getSlave2FIFOEnabled() {
syundo0730	6:f38dfe62d74c	677	i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	678	return buffer[0];
garfieldsg	0:662207e34fba	679	}
garfieldsg	0:662207e34fba	680	/** Set Slave 2 FIFO enabled value.
garfieldsg	0:662207e34fba	681	* @param enabled New Slave 2 FIFO enabled value
garfieldsg	0:662207e34fba	682	* @see getSlave2FIFOEnabled()
garfieldsg	0:662207e34fba	683	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	684	*/
syundo0730	6:f38dfe62d74c	685	void MPU6050::setSlave2FIFOEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	686	i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	687	}
garfieldsg	0:662207e34fba	688	/** Get Slave 1 FIFO enabled value.
garfieldsg	0:662207e34fba	689	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	690	* associated with Slave 1 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	691	* @return Current Slave 1 FIFO enabled value
garfieldsg	0:662207e34fba	692	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	693	*/
syundo0730	6:f38dfe62d74c	694	bool MPU6050::getSlave1FIFOEnabled() {
syundo0730	6:f38dfe62d74c	695	i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	696	return buffer[0];
garfieldsg	0:662207e34fba	697	}
garfieldsg	0:662207e34fba	698	/** Set Slave 1 FIFO enabled value.
garfieldsg	0:662207e34fba	699	* @param enabled New Slave 1 FIFO enabled value
garfieldsg	0:662207e34fba	700	* @see getSlave1FIFOEnabled()
garfieldsg	0:662207e34fba	701	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	702	*/
syundo0730	6:f38dfe62d74c	703	void MPU6050::setSlave1FIFOEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	704	i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	705	}
garfieldsg	0:662207e34fba	706	/** Get Slave 0 FIFO enabled value.
garfieldsg	0:662207e34fba	707	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	708	* associated with Slave 0 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	709	* @return Current Slave 0 FIFO enabled value
garfieldsg	0:662207e34fba	710	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	711	*/
syundo0730	6:f38dfe62d74c	712	bool MPU6050::getSlave0FIFOEnabled() {
syundo0730	6:f38dfe62d74c	713	i2cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	714	return buffer[0];
garfieldsg	0:662207e34fba	715	}
garfieldsg	0:662207e34fba	716	/** Set Slave 0 FIFO enabled value.
garfieldsg	0:662207e34fba	717	* @param enabled New Slave 0 FIFO enabled value
garfieldsg	0:662207e34fba	718	* @see getSlave0FIFOEnabled()
garfieldsg	0:662207e34fba	719	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	720	*/
syundo0730	6:f38dfe62d74c	721	void MPU6050::setSlave0FIFOEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	722	i2cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	723	}
garfieldsg	0:662207e34fba	724
garfieldsg	0:662207e34fba	725	// I2C_MST_CTRL register
garfieldsg	0:662207e34fba	726
garfieldsg	0:662207e34fba	727	/** Get multi-master enabled value.
garfieldsg	0:662207e34fba	728	* Multi-master capability allows multiple I2C masters to operate on the same
garfieldsg	0:662207e34fba	729	* bus. In circuits where multi-master capability is required, set MULT_MST_EN
garfieldsg	0:662207e34fba	730	* to 1. This will increase current drawn by approximately 30uA.
garfieldsg	0:662207e34fba	731	*
garfieldsg	0:662207e34fba	732	* In circuits where multi-master capability is required, the state of the I2C
garfieldsg	0:662207e34fba	733	* bus must always be monitored by each separate I2C Master. Before an I2C
garfieldsg	0:662207e34fba	734	* Master can assume arbitration of the bus, it must first confirm that no other
garfieldsg	0:662207e34fba	735	* I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
garfieldsg	0:662207e34fba	736	* MPU-60X0's bus arbitration detection logic is turned on, enabling it to
garfieldsg	0:662207e34fba	737	* detect when the bus is available.
garfieldsg	0:662207e34fba	738	*
garfieldsg	0:662207e34fba	739	* @return Current multi-master enabled value
garfieldsg	0:662207e34fba	740	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	741	*/
syundo0730	6:f38dfe62d74c	742	bool MPU6050::getMultiMasterEnabled() {
syundo0730	6:f38dfe62d74c	743	i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
garfieldsg	0:662207e34fba	744	return buffer[0];
garfieldsg	0:662207e34fba	745	}
garfieldsg	0:662207e34fba	746	/** Set multi-master enabled value.
garfieldsg	0:662207e34fba	747	* @param enabled New multi-master enabled value
garfieldsg	0:662207e34fba	748	* @see getMultiMasterEnabled()
garfieldsg	0:662207e34fba	749	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	750	*/
syundo0730	6:f38dfe62d74c	751	void MPU6050::setMultiMasterEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	752	i2cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
garfieldsg	0:662207e34fba	753	}
garfieldsg	0:662207e34fba	754	/** Get wait-for-external-sensor-data enabled value.
garfieldsg	0:662207e34fba	755	* When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
garfieldsg	0:662207e34fba	756	* delayed until External Sensor data from the Slave Devices are loaded into the
garfieldsg	0:662207e34fba	757	* EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
garfieldsg	0:662207e34fba	758	* data (i.e. from gyro and accel) and external sensor data have been loaded to
garfieldsg	0:662207e34fba	759	* their respective data registers (i.e. the data is synced) when the Data Ready
garfieldsg	0:662207e34fba	760	* interrupt is triggered.
garfieldsg	0:662207e34fba	761	*
garfieldsg	0:662207e34fba	762	* @return Current wait-for-external-sensor-data enabled value
garfieldsg	0:662207e34fba	763	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	764	*/
syundo0730	6:f38dfe62d74c	765	bool MPU6050::getWaitForExternalSensorEnabled() {
syundo0730	6:f38dfe62d74c	766	i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
garfieldsg	0:662207e34fba	767	return buffer[0];
garfieldsg	0:662207e34fba	768	}
garfieldsg	0:662207e34fba	769	/** Set wait-for-external-sensor-data enabled value.
garfieldsg	0:662207e34fba	770	* @param enabled New wait-for-external-sensor-data enabled value
garfieldsg	0:662207e34fba	771	* @see getWaitForExternalSensorEnabled()
garfieldsg	0:662207e34fba	772	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	773	*/
syundo0730	6:f38dfe62d74c	774	void MPU6050::setWaitForExternalSensorEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	775	i2cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
garfieldsg	0:662207e34fba	776	}
garfieldsg	0:662207e34fba	777	/** Get Slave 3 FIFO enabled value.
garfieldsg	0:662207e34fba	778	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	779	* associated with Slave 3 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	780	* @return Current Slave 3 FIFO enabled value
garfieldsg	0:662207e34fba	781	* @see MPU6050_RA_MST_CTRL
garfieldsg	0:662207e34fba	782	*/
syundo0730	6:f38dfe62d74c	783	bool MPU6050::getSlave3FIFOEnabled() {
syundo0730	6:f38dfe62d74c	784	i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	785	return buffer[0];
garfieldsg	0:662207e34fba	786	}
garfieldsg	0:662207e34fba	787	/** Set Slave 3 FIFO enabled value.
garfieldsg	0:662207e34fba	788	* @param enabled New Slave 3 FIFO enabled value
garfieldsg	0:662207e34fba	789	* @see getSlave3FIFOEnabled()
garfieldsg	0:662207e34fba	790	* @see MPU6050_RA_MST_CTRL
garfieldsg	0:662207e34fba	791	*/
syundo0730	6:f38dfe62d74c	792	void MPU6050::setSlave3FIFOEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	793	i2cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	794	}
garfieldsg	0:662207e34fba	795	/** Get slave read/write transition enabled value.
garfieldsg	0:662207e34fba	796	* The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
garfieldsg	0:662207e34fba	797	* read to the next slave read. If the bit equals 0, there will be a restart
garfieldsg	0:662207e34fba	798	* between reads. If the bit equals 1, there will be a stop followed by a start
garfieldsg	0:662207e34fba	799	* of the following read. When a write transaction follows a read transaction,
garfieldsg	0:662207e34fba	800	* the stop followed by a start of the successive write will be always used.
garfieldsg	0:662207e34fba	801	*
garfieldsg	0:662207e34fba	802	* @return Current slave read/write transition enabled value
garfieldsg	0:662207e34fba	803	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	804	*/
syundo0730	6:f38dfe62d74c	805	bool MPU6050::getSlaveReadWriteTransitionEnabled() {
syundo0730	6:f38dfe62d74c	806	i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
garfieldsg	0:662207e34fba	807	return buffer[0];
garfieldsg	0:662207e34fba	808	}
garfieldsg	0:662207e34fba	809	/** Set slave read/write transition enabled value.
garfieldsg	0:662207e34fba	810	* @param enabled New slave read/write transition enabled value
garfieldsg	0:662207e34fba	811	* @see getSlaveReadWriteTransitionEnabled()
garfieldsg	0:662207e34fba	812	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	813	*/
syundo0730	6:f38dfe62d74c	814	void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	815	i2cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
garfieldsg	0:662207e34fba	816	}
garfieldsg	0:662207e34fba	817	/** Get I2C master clock speed.
garfieldsg	0:662207e34fba	818	* I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
garfieldsg	0:662207e34fba	819	* MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
garfieldsg	0:662207e34fba	820	* the following table:
garfieldsg	0:662207e34fba	821	*
garfieldsg	0:662207e34fba	822	* <pre>
garfieldsg	0:662207e34fba	823	* I2C_MST_CLK \| I2C Master Clock Speed \| 8MHz Clock Divider
garfieldsg	0:662207e34fba	824	* ------------+------------------------+-------------------
garfieldsg	0:662207e34fba	825	* 0 \| 348kHz \| 23
garfieldsg	0:662207e34fba	826	* 1 \| 333kHz \| 24
garfieldsg	0:662207e34fba	827	* 2 \| 320kHz \| 25
garfieldsg	0:662207e34fba	828	* 3 \| 308kHz \| 26
garfieldsg	0:662207e34fba	829	* 4 \| 296kHz \| 27
garfieldsg	0:662207e34fba	830	* 5 \| 286kHz \| 28
garfieldsg	0:662207e34fba	831	* 6 \| 276kHz \| 29
garfieldsg	0:662207e34fba	832	* 7 \| 267kHz \| 30
garfieldsg	0:662207e34fba	833	* 8 \| 258kHz \| 31
garfieldsg	0:662207e34fba	834	* 9 \| 500kHz \| 16
garfieldsg	0:662207e34fba	835	* 10 \| 471kHz \| 17
garfieldsg	0:662207e34fba	836	* 11 \| 444kHz \| 18
garfieldsg	0:662207e34fba	837	* 12 \| 421kHz \| 19
garfieldsg	0:662207e34fba	838	* 13 \| 400kHz \| 20
garfieldsg	0:662207e34fba	839	* 14 \| 381kHz \| 21
garfieldsg	0:662207e34fba	840	* 15 \| 364kHz \| 22
garfieldsg	0:662207e34fba	841	* </pre>
garfieldsg	0:662207e34fba	842	*
garfieldsg	0:662207e34fba	843	* @return Current I2C master clock speed
garfieldsg	0:662207e34fba	844	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	845	*/
syundo0730	6:f38dfe62d74c	846	uint8_t MPU6050::getMasterClockSpeed() {
syundo0730	6:f38dfe62d74c	847	i2cdev.readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
garfieldsg	0:662207e34fba	848	return buffer[0];
garfieldsg	0:662207e34fba	849	}
garfieldsg	0:662207e34fba	850	/** Set I2C master clock speed.
garfieldsg	0:662207e34fba	851	* @reparam speed Current I2C master clock speed
garfieldsg	0:662207e34fba	852	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	853	*/
syundo0730	6:f38dfe62d74c	854	void MPU6050::setMasterClockSpeed(uint8_t speed) {
syundo0730	6:f38dfe62d74c	855	i2cdev.writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
garfieldsg	0:662207e34fba	856	}
garfieldsg	0:662207e34fba	857
garfieldsg	0:662207e34fba	858	// I2C_SLV* registers (Slave 0-3)
garfieldsg	0:662207e34fba	859
garfieldsg	0:662207e34fba	860	/** Get the I2C address of the specified slave (0-3).
garfieldsg	0:662207e34fba	861	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
garfieldsg	0:662207e34fba	862	* operation, and if it is cleared, then it's a write operation. The remaining
garfieldsg	0:662207e34fba	863	* bits (6-0) are the 7-bit device address of the slave device.
garfieldsg	0:662207e34fba	864	*
syundo0730	6:f38dfe62d74c	865	* In read mode, the result of the read is placed in the lowest available
garfieldsg	0:662207e34fba	866	* EXT_SENS_DATA register. For further information regarding the allocation of
garfieldsg	0:662207e34fba	867	* read results, please refer to the EXT_SENS_DATA register description
garfieldsg	0:662207e34fba	868	* (Registers 73 - 96).
garfieldsg	0:662207e34fba	869	*
garfieldsg	0:662207e34fba	870	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
garfieldsg	0:662207e34fba	871	* characteristics, and so it has its own functions (getSlave4* and setSlave4*).
garfieldsg	0:662207e34fba	872	*
garfieldsg	0:662207e34fba	873	* I2C data transactions are performed at the Sample Rate, as defined in
garfieldsg	0:662207e34fba	874	* Register 25. The user is responsible for ensuring that I2C data transactions
garfieldsg	0:662207e34fba	875	* to and from each enabled Slave can be completed within a single period of the
garfieldsg	0:662207e34fba	876	* Sample Rate.
garfieldsg	0:662207e34fba	877	*
garfieldsg	0:662207e34fba	878	* The I2C slave access rate can be reduced relative to the Sample Rate. This
garfieldsg	0:662207e34fba	879	* reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
garfieldsg	0:662207e34fba	880	* slave's access rate is reduced relative to the Sample Rate is determined by
garfieldsg	0:662207e34fba	881	* I2C_MST_DELAY_CTRL (Register 103).
garfieldsg	0:662207e34fba	882	*
garfieldsg	0:662207e34fba	883	* The processing order for the slaves is fixed. The sequence followed for
garfieldsg	0:662207e34fba	884	* processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
garfieldsg	0:662207e34fba	885	* particular Slave is disabled it will be skipped.
garfieldsg	0:662207e34fba	886	*
garfieldsg	0:662207e34fba	887	* Each slave can either be accessed at the sample rate or at a reduced sample
garfieldsg	0:662207e34fba	888	* rate. In a case where some slaves are accessed at the Sample Rate and some
garfieldsg	0:662207e34fba	889	* slaves are accessed at the reduced rate, the sequence of accessing the slaves
garfieldsg	0:662207e34fba	890	* (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
garfieldsg	0:662207e34fba	891	* be skipped if their access rate dictates that they should not be accessed
garfieldsg	0:662207e34fba	892	* during that particular cycle. For further information regarding the reduced
garfieldsg	0:662207e34fba	893	* access rate, please refer to Register 52. Whether a slave is accessed at the
garfieldsg	0:662207e34fba	894	* Sample Rate or at the reduced rate is determined by the Delay Enable bits in
garfieldsg	0:662207e34fba	895	* Register 103.
garfieldsg	0:662207e34fba	896	*
garfieldsg	0:662207e34fba	897	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	898	* @return Current address for specified slave
garfieldsg	0:662207e34fba	899	* @see MPU6050_RA_I2C_SLV0_ADDR
garfieldsg	0:662207e34fba	900	*/
syundo0730	6:f38dfe62d74c	901	uint8_t MPU6050::getSlaveAddress(uint8_t num) {
garfieldsg	0:662207e34fba	902	if (num > 3) return 0;
syundo0730	6:f38dfe62d74c	903	i2cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
garfieldsg	0:662207e34fba	904	return buffer[0];
garfieldsg	0:662207e34fba	905	}
garfieldsg	0:662207e34fba	906	/** Set the I2C address of the specified slave (0-3).
garfieldsg	0:662207e34fba	907	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	908	* @param address New address for specified slave
garfieldsg	0:662207e34fba	909	* @see getSlaveAddress()
garfieldsg	0:662207e34fba	910	* @see MPU6050_RA_I2C_SLV0_ADDR
garfieldsg	0:662207e34fba	911	*/
syundo0730	6:f38dfe62d74c	912	void MPU6050::setSlaveAddress(uint8_t num, uint8_t address) {
garfieldsg	0:662207e34fba	913	if (num > 3) return;
syundo0730	6:f38dfe62d74c	914	i2cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
garfieldsg	0:662207e34fba	915	}
garfieldsg	0:662207e34fba	916	/** Get the active internal register for the specified slave (0-3).
garfieldsg	0:662207e34fba	917	* Read/write operations for this slave will be done to whatever internal
garfieldsg	0:662207e34fba	918	* register address is stored in this MPU register.
garfieldsg	0:662207e34fba	919	*
garfieldsg	0:662207e34fba	920	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
garfieldsg	0:662207e34fba	921	* characteristics, and so it has its own functions.
garfieldsg	0:662207e34fba	922	*
garfieldsg	0:662207e34fba	923	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	924	* @return Current active register for specified slave
garfieldsg	0:662207e34fba	925	* @see MPU6050_RA_I2C_SLV0_REG
garfieldsg	0:662207e34fba	926	*/
syundo0730	6:f38dfe62d74c	927	uint8_t MPU6050::getSlaveRegister(uint8_t num) {
garfieldsg	0:662207e34fba	928	if (num > 3) return 0;
syundo0730	6:f38dfe62d74c	929	i2cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
garfieldsg	0:662207e34fba	930	return buffer[0];
garfieldsg	0:662207e34fba	931	}
garfieldsg	0:662207e34fba	932	/** Set the active internal register for the specified slave (0-3).
garfieldsg	0:662207e34fba	933	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	934	* @param reg New active register for specified slave
garfieldsg	0:662207e34fba	935	* @see getSlaveRegister()
garfieldsg	0:662207e34fba	936	* @see MPU6050_RA_I2C_SLV0_REG
garfieldsg	0:662207e34fba	937	*/
syundo0730	6:f38dfe62d74c	938	void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg) {
garfieldsg	0:662207e34fba	939	if (num > 3) return;
syundo0730	6:f38dfe62d74c	940	i2cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
garfieldsg	0:662207e34fba	941	}
garfieldsg	0:662207e34fba	942	/** Get the enabled value for the specified slave (0-3).
garfieldsg	0:662207e34fba	943	* When set to 1, this bit enables Slave 0 for data transfer operations. When
garfieldsg	0:662207e34fba	944	* cleared to 0, this bit disables Slave 0 from data transfer operations.
garfieldsg	0:662207e34fba	945	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	946	* @return Current enabled value for specified slave
garfieldsg	0:662207e34fba	947	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	948	*/
syundo0730	6:f38dfe62d74c	949	bool MPU6050::getSlaveEnabled(uint8_t num) {
garfieldsg	0:662207e34fba	950	if (num > 3) return 0;
syundo0730	6:f38dfe62d74c	951	i2cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
garfieldsg	0:662207e34fba	952	return buffer[0];
garfieldsg	0:662207e34fba	953	}
garfieldsg	0:662207e34fba	954	/** Set the enabled value for the specified slave (0-3).
garfieldsg	0:662207e34fba	955	* @param num Slave number (0-3)
syundo0730	6:f38dfe62d74c	956	* @param enabled New enabled value for specified slave
garfieldsg	0:662207e34fba	957	* @see getSlaveEnabled()
garfieldsg	0:662207e34fba	958	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	959	*/
syundo0730	6:f38dfe62d74c	960	void MPU6050::setSlaveEnabled(uint8_t num, bool enabled) {
garfieldsg	0:662207e34fba	961	if (num > 3) return;
syundo0730	6:f38dfe62d74c	962	i2cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
garfieldsg	0:662207e34fba	963	}
garfieldsg	0:662207e34fba	964	/** Get word pair byte-swapping enabled for the specified slave (0-3).
garfieldsg	0:662207e34fba	965	* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
garfieldsg	0:662207e34fba	966	* the high and low bytes of a word pair are swapped. Please refer to
garfieldsg	0:662207e34fba	967	* I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
garfieldsg	0:662207e34fba	968	* bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
garfieldsg	0:662207e34fba	969	* registers in the order they were transferred.
garfieldsg	0:662207e34fba	970	*
garfieldsg	0:662207e34fba	971	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	972	* @return Current word pair byte-swapping enabled value for specified slave
garfieldsg	0:662207e34fba	973	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	974	*/
syundo0730	6:f38dfe62d74c	975	bool MPU6050::getSlaveWordByteSwap(uint8_t num) {
garfieldsg	0:662207e34fba	976	if (num > 3) return 0;
syundo0730	6:f38dfe62d74c	977	i2cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
garfieldsg	0:662207e34fba	978	return buffer[0];
garfieldsg	0:662207e34fba	979	}
garfieldsg	0:662207e34fba	980	/** Set word pair byte-swapping enabled for the specified slave (0-3).
garfieldsg	0:662207e34fba	981	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	982	* @param enabled New word pair byte-swapping enabled value for specified slave
garfieldsg	0:662207e34fba	983	* @see getSlaveWordByteSwap()
garfieldsg	0:662207e34fba	984	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	985	*/
syundo0730	6:f38dfe62d74c	986	void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled) {
garfieldsg	0:662207e34fba	987	if (num > 3) return;
syundo0730	6:f38dfe62d74c	988	i2cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
garfieldsg	0:662207e34fba	989	}
garfieldsg	0:662207e34fba	990	/** Get write mode for the specified slave (0-3).
garfieldsg	0:662207e34fba	991	* When set to 1, the transaction will read or write data only. When cleared to
garfieldsg	0:662207e34fba	992	* 0, the transaction will write a register address prior to reading or writing
garfieldsg	0:662207e34fba	993	* data. This should equal 0 when specifying the register address within the
garfieldsg	0:662207e34fba	994	* Slave device to/from which the ensuing data transaction will take place.
garfieldsg	0:662207e34fba	995	*
garfieldsg	0:662207e34fba	996	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	997	* @return Current write mode for specified slave (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	998	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	999	*/
syundo0730	6:f38dfe62d74c	1000	bool MPU6050::getSlaveWriteMode(uint8_t num) {
garfieldsg	0:662207e34fba	1001	if (num > 3) return 0;
syundo0730	6:f38dfe62d74c	1002	i2cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
garfieldsg	0:662207e34fba	1003	return buffer[0];
garfieldsg	0:662207e34fba	1004	}
garfieldsg	0:662207e34fba	1005	/** Set write mode for the specified slave (0-3).
garfieldsg	0:662207e34fba	1006	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1007	* @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	1008	* @see getSlaveWriteMode()
garfieldsg	0:662207e34fba	1009	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1010	*/
syundo0730	6:f38dfe62d74c	1011	void MPU6050::setSlaveWriteMode(uint8_t num, bool mode) {
garfieldsg	0:662207e34fba	1012	if (num > 3) return;
syundo0730	6:f38dfe62d74c	1013	i2cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
garfieldsg	0:662207e34fba	1014	}
garfieldsg	0:662207e34fba	1015	/** Get word pair grouping order offset for the specified slave (0-3).
garfieldsg	0:662207e34fba	1016	* This sets specifies the grouping order of word pairs received from registers.
garfieldsg	0:662207e34fba	1017	* When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
garfieldsg	0:662207e34fba	1018	* then odd register addresses) are paired to form a word. When set to 1, bytes
garfieldsg	0:662207e34fba	1019	* from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
garfieldsg	0:662207e34fba	1020	* register addresses) are paired to form a word.
garfieldsg	0:662207e34fba	1021	*
garfieldsg	0:662207e34fba	1022	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1023	* @return Current word pair grouping order offset for specified slave
garfieldsg	0:662207e34fba	1024	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1025	*/
syundo0730	6:f38dfe62d74c	1026	bool MPU6050::getSlaveWordGroupOffset(uint8_t num) {
garfieldsg	0:662207e34fba	1027	if (num > 3) return 0;
syundo0730	6:f38dfe62d74c	1028	i2cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
garfieldsg	0:662207e34fba	1029	return buffer[0];
garfieldsg	0:662207e34fba	1030	}
garfieldsg	0:662207e34fba	1031	/** Set word pair grouping order offset for the specified slave (0-3).
garfieldsg	0:662207e34fba	1032	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1033	* @param enabled New word pair grouping order offset for specified slave
garfieldsg	0:662207e34fba	1034	* @see getSlaveWordGroupOffset()
garfieldsg	0:662207e34fba	1035	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1036	*/
syundo0730	6:f38dfe62d74c	1037	void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled) {
garfieldsg	0:662207e34fba	1038	if (num > 3) return;
syundo0730	6:f38dfe62d74c	1039	i2cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
garfieldsg	0:662207e34fba	1040	}
garfieldsg	0:662207e34fba	1041	/** Get number of bytes to read for the specified slave (0-3).
garfieldsg	0:662207e34fba	1042	* Specifies the number of bytes transferred to and from Slave 0. Clearing this
garfieldsg	0:662207e34fba	1043	* bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
garfieldsg	0:662207e34fba	1044	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1045	* @return Number of bytes to read for specified slave
garfieldsg	0:662207e34fba	1046	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1047	*/
syundo0730	6:f38dfe62d74c	1048	uint8_t MPU6050::getSlaveDataLength(uint8_t num) {
garfieldsg	0:662207e34fba	1049	if (num > 3) return 0;
syundo0730	6:f38dfe62d74c	1050	i2cdev.readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
garfieldsg	0:662207e34fba	1051	return buffer[0];
garfieldsg	0:662207e34fba	1052	}
garfieldsg	0:662207e34fba	1053	/** Set number of bytes to read for the specified slave (0-3).
garfieldsg	0:662207e34fba	1054	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1055	* @param length Number of bytes to read for specified slave
garfieldsg	0:662207e34fba	1056	* @see getSlaveDataLength()
garfieldsg	0:662207e34fba	1057	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1058	*/
syundo0730	6:f38dfe62d74c	1059	void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length) {
garfieldsg	0:662207e34fba	1060	if (num > 3) return;
syundo0730	6:f38dfe62d74c	1061	i2cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
garfieldsg	0:662207e34fba	1062	}
garfieldsg	0:662207e34fba	1063
garfieldsg	0:662207e34fba	1064	// I2C_SLV* registers (Slave 4)
garfieldsg	0:662207e34fba	1065
garfieldsg	0:662207e34fba	1066	/** Get the I2C address of Slave 4.
garfieldsg	0:662207e34fba	1067	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
garfieldsg	0:662207e34fba	1068	* operation, and if it is cleared, then it's a write operation. The remaining
garfieldsg	0:662207e34fba	1069	* bits (6-0) are the 7-bit device address of the slave device.
garfieldsg	0:662207e34fba	1070	*
garfieldsg	0:662207e34fba	1071	* @return Current address for Slave 4
garfieldsg	0:662207e34fba	1072	* @see getSlaveAddress()
garfieldsg	0:662207e34fba	1073	* @see MPU6050_RA_I2C_SLV4_ADDR
garfieldsg	0:662207e34fba	1074	*/
syundo0730	6:f38dfe62d74c	1075	uint8_t MPU6050::getSlave4Address() {
syundo0730	6:f38dfe62d74c	1076	i2cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
garfieldsg	0:662207e34fba	1077	return buffer[0];
garfieldsg	0:662207e34fba	1078	}
garfieldsg	0:662207e34fba	1079	/** Set the I2C address of Slave 4.
garfieldsg	0:662207e34fba	1080	* @param address New address for Slave 4
garfieldsg	0:662207e34fba	1081	* @see getSlave4Address()
garfieldsg	0:662207e34fba	1082	* @see MPU6050_RA_I2C_SLV4_ADDR
garfieldsg	0:662207e34fba	1083	*/
syundo0730	6:f38dfe62d74c	1084	void MPU6050::setSlave4Address(uint8_t address) {
syundo0730	6:f38dfe62d74c	1085	i2cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
garfieldsg	0:662207e34fba	1086	}
garfieldsg	0:662207e34fba	1087	/** Get the active internal register for the Slave 4.
garfieldsg	0:662207e34fba	1088	* Read/write operations for this slave will be done to whatever internal
garfieldsg	0:662207e34fba	1089	* register address is stored in this MPU register.
garfieldsg	0:662207e34fba	1090	*
garfieldsg	0:662207e34fba	1091	* @return Current active register for Slave 4
garfieldsg	0:662207e34fba	1092	* @see MPU6050_RA_I2C_SLV4_REG
garfieldsg	0:662207e34fba	1093	*/
syundo0730	6:f38dfe62d74c	1094	uint8_t MPU6050::getSlave4Register() {
syundo0730	6:f38dfe62d74c	1095	i2cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
garfieldsg	0:662207e34fba	1096	return buffer[0];
garfieldsg	0:662207e34fba	1097	}
garfieldsg	0:662207e34fba	1098	/** Set the active internal register for Slave 4.
garfieldsg	0:662207e34fba	1099	* @param reg New active register for Slave 4
garfieldsg	0:662207e34fba	1100	* @see getSlave4Register()
garfieldsg	0:662207e34fba	1101	* @see MPU6050_RA_I2C_SLV4_REG
garfieldsg	0:662207e34fba	1102	*/
syundo0730	6:f38dfe62d74c	1103	void MPU6050::setSlave4Register(uint8_t reg) {
syundo0730	6:f38dfe62d74c	1104	i2cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
garfieldsg	0:662207e34fba	1105	}
garfieldsg	0:662207e34fba	1106	/** Set new byte to write to Slave 4.
garfieldsg	0:662207e34fba	1107	* This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
garfieldsg	0:662207e34fba	1108	* is set 1 (set to read), this register has no effect.
garfieldsg	0:662207e34fba	1109	* @param data New byte to write to Slave 4
garfieldsg	0:662207e34fba	1110	* @see MPU6050_RA_I2C_SLV4_DO
garfieldsg	0:662207e34fba	1111	*/
syundo0730	6:f38dfe62d74c	1112	void MPU6050::setSlave4OutputByte(uint8_t data) {
syundo0730	6:f38dfe62d74c	1113	i2cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
garfieldsg	0:662207e34fba	1114	}
garfieldsg	0:662207e34fba	1115	/** Get the enabled value for the Slave 4.
garfieldsg	0:662207e34fba	1116	* When set to 1, this bit enables Slave 4 for data transfer operations. When
garfieldsg	0:662207e34fba	1117	* cleared to 0, this bit disables Slave 4 from data transfer operations.
garfieldsg	0:662207e34fba	1118	* @return Current enabled value for Slave 4
garfieldsg	0:662207e34fba	1119	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1120	*/
syundo0730	6:f38dfe62d74c	1121	bool MPU6050::getSlave4Enabled() {
syundo0730	6:f38dfe62d74c	1122	i2cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1123	return buffer[0];
garfieldsg	0:662207e34fba	1124	}
garfieldsg	0:662207e34fba	1125	/** Set the enabled value for Slave 4.
garfieldsg	0:662207e34fba	1126	* @param enabled New enabled value for Slave 4
garfieldsg	0:662207e34fba	1127	* @see getSlave4Enabled()
garfieldsg	0:662207e34fba	1128	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1129	*/
syundo0730	6:f38dfe62d74c	1130	void MPU6050::setSlave4Enabled(bool enabled) {
syundo0730	6:f38dfe62d74c	1131	i2cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1132	}
garfieldsg	0:662207e34fba	1133	/** Get the enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1134	* When set to 1, this bit enables the generation of an interrupt signal upon
garfieldsg	0:662207e34fba	1135	* completion of a Slave 4 transaction. When cleared to 0, this bit disables the
garfieldsg	0:662207e34fba	1136	* generation of an interrupt signal upon completion of a Slave 4 transaction.
garfieldsg	0:662207e34fba	1137	* The interrupt status can be observed in Register 54.
garfieldsg	0:662207e34fba	1138	*
garfieldsg	0:662207e34fba	1139	* @return Current enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1140	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1141	*/
syundo0730	6:f38dfe62d74c	1142	bool MPU6050::getSlave4InterruptEnabled() {
syundo0730	6:f38dfe62d74c	1143	i2cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1144	return buffer[0];
garfieldsg	0:662207e34fba	1145	}
garfieldsg	0:662207e34fba	1146	/** Set the enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1147	* @param enabled New enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1148	* @see getSlave4InterruptEnabled()
garfieldsg	0:662207e34fba	1149	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1150	*/
syundo0730	6:f38dfe62d74c	1151	void MPU6050::setSlave4InterruptEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	1152	i2cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1153	}
garfieldsg	0:662207e34fba	1154	/** Get write mode for Slave 4.
garfieldsg	0:662207e34fba	1155	* When set to 1, the transaction will read or write data only. When cleared to
garfieldsg	0:662207e34fba	1156	* 0, the transaction will write a register address prior to reading or writing
garfieldsg	0:662207e34fba	1157	* data. This should equal 0 when specifying the register address within the
garfieldsg	0:662207e34fba	1158	* Slave device to/from which the ensuing data transaction will take place.
garfieldsg	0:662207e34fba	1159	*
garfieldsg	0:662207e34fba	1160	* @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	1161	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1162	*/
syundo0730	6:f38dfe62d74c	1163	bool MPU6050::getSlave4WriteMode() {
syundo0730	6:f38dfe62d74c	1164	i2cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
garfieldsg	0:662207e34fba	1165	return buffer[0];
garfieldsg	0:662207e34fba	1166	}
garfieldsg	0:662207e34fba	1167	/** Set write mode for the Slave 4.
garfieldsg	0:662207e34fba	1168	* @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	1169	* @see getSlave4WriteMode()
garfieldsg	0:662207e34fba	1170	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1171	*/
syundo0730	6:f38dfe62d74c	1172	void MPU6050::setSlave4WriteMode(bool mode) {
syundo0730	6:f38dfe62d74c	1173	i2cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
garfieldsg	0:662207e34fba	1174	}
garfieldsg	0:662207e34fba	1175	/** Get Slave 4 master delay value.
garfieldsg	0:662207e34fba	1176	* This configures the reduced access rate of I2C slaves relative to the Sample
garfieldsg	0:662207e34fba	1177	* Rate. When a slave's access rate is decreased relative to the Sample Rate,
garfieldsg	0:662207e34fba	1178	* the slave is accessed every:
garfieldsg	0:662207e34fba	1179	*
garfieldsg	0:662207e34fba	1180	* 1 / (1 + I2C_MST_DLY) samples
garfieldsg	0:662207e34fba	1181	*
garfieldsg	0:662207e34fba	1182	* This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
garfieldsg	0:662207e34fba	1183	* DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
garfieldsg	0:662207e34fba	1184	* the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
garfieldsg	0:662207e34fba	1185	* further information regarding the Sample Rate, please refer to register 25.
garfieldsg	0:662207e34fba	1186	*
garfieldsg	0:662207e34fba	1187	* @return Current Slave 4 master delay value
garfieldsg	0:662207e34fba	1188	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1189	*/
syundo0730	6:f38dfe62d74c	1190	uint8_t MPU6050::getSlave4MasterDelay() {
syundo0730	6:f38dfe62d74c	1191	i2cdev.readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
garfieldsg	0:662207e34fba	1192	return buffer[0];
garfieldsg	0:662207e34fba	1193	}
garfieldsg	0:662207e34fba	1194	/** Set Slave 4 master delay value.
garfieldsg	0:662207e34fba	1195	* @param delay New Slave 4 master delay value
garfieldsg	0:662207e34fba	1196	* @see getSlave4MasterDelay()
garfieldsg	0:662207e34fba	1197	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1198	*/
syundo0730	6:f38dfe62d74c	1199	void MPU6050::setSlave4MasterDelay(uint8_t delay) {
syundo0730	6:f38dfe62d74c	1200	i2cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
garfieldsg	0:662207e34fba	1201	}
garfieldsg	0:662207e34fba	1202	/** Get last available byte read from Slave 4.
garfieldsg	0:662207e34fba	1203	* This register stores the data read from Slave 4. This field is populated
garfieldsg	0:662207e34fba	1204	* after a read transaction.
garfieldsg	0:662207e34fba	1205	* @return Last available byte read from to Slave 4
garfieldsg	0:662207e34fba	1206	* @see MPU6050_RA_I2C_SLV4_DI
garfieldsg	0:662207e34fba	1207	*/
syundo0730	6:f38dfe62d74c	1208	uint8_t MPU6050::getSlate4InputByte() {
syundo0730	6:f38dfe62d74c	1209	i2cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
garfieldsg	0:662207e34fba	1210	return buffer[0];
garfieldsg	0:662207e34fba	1211	}
garfieldsg	0:662207e34fba	1212
garfieldsg	0:662207e34fba	1213	// I2C_MST_STATUS register
garfieldsg	0:662207e34fba	1214
garfieldsg	0:662207e34fba	1215	/** Get FSYNC interrupt status.
garfieldsg	0:662207e34fba	1216	* This bit reflects the status of the FSYNC interrupt from an external device
garfieldsg	0:662207e34fba	1217	* into the MPU-60X0. This is used as a way to pass an external interrupt
garfieldsg	0:662207e34fba	1218	* through the MPU-60X0 to the host application processor. When set to 1, this
garfieldsg	0:662207e34fba	1219	* bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
garfieldsg	0:662207e34fba	1220	* (Register 55).
garfieldsg	0:662207e34fba	1221	* @return FSYNC interrupt status
garfieldsg	0:662207e34fba	1222	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1223	*/
syundo0730	6:f38dfe62d74c	1224	bool MPU6050::getPassthroughStatus() {
syundo0730	6:f38dfe62d74c	1225	i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
garfieldsg	0:662207e34fba	1226	return buffer[0];
garfieldsg	0:662207e34fba	1227	}
garfieldsg	0:662207e34fba	1228	/** Get Slave 4 transaction done status.
garfieldsg	0:662207e34fba	1229	* Automatically sets to 1 when a Slave 4 transaction has completed. This
garfieldsg	0:662207e34fba	1230	* triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
garfieldsg	0:662207e34fba	1231	* (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
garfieldsg	0:662207e34fba	1232	* I2C_SLV4_CTRL register (Register 52).
garfieldsg	0:662207e34fba	1233	* @return Slave 4 transaction done status
garfieldsg	0:662207e34fba	1234	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1235	*/
syundo0730	6:f38dfe62d74c	1236	bool MPU6050::getSlave4IsDone() {
syundo0730	6:f38dfe62d74c	1237	i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
garfieldsg	0:662207e34fba	1238	return buffer[0];
garfieldsg	0:662207e34fba	1239	}
garfieldsg	0:662207e34fba	1240	/** Get master arbitration lost status.
garfieldsg	0:662207e34fba	1241	* This bit automatically sets to 1 when the I2C Master has lost arbitration of
garfieldsg	0:662207e34fba	1242	* the auxiliary I2C bus (an error condition). This triggers an interrupt if the
garfieldsg	0:662207e34fba	1243	* I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1244	* @return Master arbitration lost status
garfieldsg	0:662207e34fba	1245	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1246	*/
syundo0730	6:f38dfe62d74c	1247	bool MPU6050::getLostArbitration() {
syundo0730	6:f38dfe62d74c	1248	i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
garfieldsg	0:662207e34fba	1249	return buffer[0];
garfieldsg	0:662207e34fba	1250	}
garfieldsg	0:662207e34fba	1251	/** Get Slave 4 NACK status.
garfieldsg	0:662207e34fba	1252	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1253	* transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1254	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1255	* @return Slave 4 NACK interrupt status
garfieldsg	0:662207e34fba	1256	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1257	*/
syundo0730	6:f38dfe62d74c	1258	bool MPU6050::getSlave4Nack() {
syundo0730	6:f38dfe62d74c	1259	i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1260	return buffer[0];
garfieldsg	0:662207e34fba	1261	}
garfieldsg	0:662207e34fba	1262	/** Get Slave 3 NACK status.
garfieldsg	0:662207e34fba	1263	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1264	* transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1265	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1266	* @return Slave 3 NACK interrupt status
garfieldsg	0:662207e34fba	1267	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1268	*/
syundo0730	6:f38dfe62d74c	1269	bool MPU6050::getSlave3Nack() {
syundo0730	6:f38dfe62d74c	1270	i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1271	return buffer[0];
garfieldsg	0:662207e34fba	1272	}
garfieldsg	0:662207e34fba	1273	/** Get Slave 2 NACK status.
garfieldsg	0:662207e34fba	1274	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1275	* transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1276	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1277	* @return Slave 2 NACK interrupt status
garfieldsg	0:662207e34fba	1278	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1279	*/
syundo0730	6:f38dfe62d74c	1280	bool MPU6050::getSlave2Nack() {
syundo0730	6:f38dfe62d74c	1281	i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1282	return buffer[0];
garfieldsg	0:662207e34fba	1283	}
garfieldsg	0:662207e34fba	1284	/** Get Slave 1 NACK status.
garfieldsg	0:662207e34fba	1285	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1286	* transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1287	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1288	* @return Slave 1 NACK interrupt status
garfieldsg	0:662207e34fba	1289	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1290	*/
syundo0730	6:f38dfe62d74c	1291	bool MPU6050::getSlave1Nack() {
syundo0730	6:f38dfe62d74c	1292	i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1293	return buffer[0];
garfieldsg	0:662207e34fba	1294	}
garfieldsg	0:662207e34fba	1295	/** Get Slave 0 NACK status.
garfieldsg	0:662207e34fba	1296	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1297	* transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1298	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1299	* @return Slave 0 NACK interrupt status
garfieldsg	0:662207e34fba	1300	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1301	*/
syundo0730	6:f38dfe62d74c	1302	bool MPU6050::getSlave0Nack() {
syundo0730	6:f38dfe62d74c	1303	i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1304	return buffer[0];
garfieldsg	0:662207e34fba	1305	}
garfieldsg	0:662207e34fba	1306
garfieldsg	0:662207e34fba	1307	// INT_PIN_CFG register
garfieldsg	0:662207e34fba	1308
garfieldsg	0:662207e34fba	1309	/** Get interrupt logic level mode.
garfieldsg	0:662207e34fba	1310	* Will be set 0 for active-high, 1 for active-low.
garfieldsg	0:662207e34fba	1311	* @return Current interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1312	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1313	* @see MPU6050_INTCFG_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1314	*/
syundo0730	6:f38dfe62d74c	1315	bool MPU6050::getInterruptMode() {
syundo0730	6:f38dfe62d74c	1316	i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
garfieldsg	0:662207e34fba	1317	return buffer[0];
garfieldsg	0:662207e34fba	1318	}
garfieldsg	0:662207e34fba	1319	/** Set interrupt logic level mode.
garfieldsg	0:662207e34fba	1320	* @param mode New interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1321	* @see getInterruptMode()
garfieldsg	0:662207e34fba	1322	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1323	* @see MPU6050_INTCFG_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1324	*/
syundo0730	6:f38dfe62d74c	1325	void MPU6050::setInterruptMode(bool mode) {
syundo0730	6:f38dfe62d74c	1326	i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
garfieldsg	0:662207e34fba	1327	}
garfieldsg	0:662207e34fba	1328	/** Get interrupt drive mode.
garfieldsg	0:662207e34fba	1329	* Will be set 0 for push-pull, 1 for open-drain.
garfieldsg	0:662207e34fba	1330	* @return Current interrupt drive mode (0=push-pull, 1=open-drain)
garfieldsg	0:662207e34fba	1331	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1332	* @see MPU6050_INTCFG_INT_OPEN_BIT
garfieldsg	0:662207e34fba	1333	*/
syundo0730	6:f38dfe62d74c	1334	bool MPU6050::getInterruptDrive() {
syundo0730	6:f38dfe62d74c	1335	i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
garfieldsg	0:662207e34fba	1336	return buffer[0];
garfieldsg	0:662207e34fba	1337	}
garfieldsg	0:662207e34fba	1338	/** Set interrupt drive mode.
garfieldsg	0:662207e34fba	1339	* @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
garfieldsg	0:662207e34fba	1340	* @see getInterruptDrive()
garfieldsg	0:662207e34fba	1341	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1342	* @see MPU6050_INTCFG_INT_OPEN_BIT
garfieldsg	0:662207e34fba	1343	*/
syundo0730	6:f38dfe62d74c	1344	void MPU6050::setInterruptDrive(bool drive) {
syundo0730	6:f38dfe62d74c	1345	i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
garfieldsg	0:662207e34fba	1346	}
garfieldsg	0:662207e34fba	1347	/** Get interrupt latch mode.
garfieldsg	0:662207e34fba	1348	* Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
garfieldsg	0:662207e34fba	1349	* @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
garfieldsg	0:662207e34fba	1350	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1351	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
garfieldsg	0:662207e34fba	1352	*/
syundo0730	6:f38dfe62d74c	1353	bool MPU6050::getInterruptLatch() {
syundo0730	6:f38dfe62d74c	1354	i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1355	return buffer[0];
garfieldsg	0:662207e34fba	1356	}
garfieldsg	0:662207e34fba	1357	/** Set interrupt latch mode.
garfieldsg	0:662207e34fba	1358	* @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
garfieldsg	0:662207e34fba	1359	* @see getInterruptLatch()
garfieldsg	0:662207e34fba	1360	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1361	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
garfieldsg	0:662207e34fba	1362	*/
syundo0730	6:f38dfe62d74c	1363	void MPU6050::setInterruptLatch(bool latch) {
syundo0730	6:f38dfe62d74c	1364	i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
garfieldsg	0:662207e34fba	1365	}
garfieldsg	0:662207e34fba	1366	/** Get interrupt latch clear mode.
garfieldsg	0:662207e34fba	1367	* Will be set 0 for status-read-only, 1 for any-register-read.
garfieldsg	0:662207e34fba	1368	* @return Current latch clear mode (0=status-read-only, 1=any-register-read)
garfieldsg	0:662207e34fba	1369	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1370	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
garfieldsg	0:662207e34fba	1371	*/
syundo0730	6:f38dfe62d74c	1372	bool MPU6050::getInterruptLatchClear() {
syundo0730	6:f38dfe62d74c	1373	i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
garfieldsg	0:662207e34fba	1374	return buffer[0];
garfieldsg	0:662207e34fba	1375	}
garfieldsg	0:662207e34fba	1376	/** Set interrupt latch clear mode.
garfieldsg	0:662207e34fba	1377	* @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
garfieldsg	0:662207e34fba	1378	* @see getInterruptLatchClear()
garfieldsg	0:662207e34fba	1379	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1380	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
garfieldsg	0:662207e34fba	1381	*/
syundo0730	6:f38dfe62d74c	1382	void MPU6050::setInterruptLatchClear(bool clear) {
syundo0730	6:f38dfe62d74c	1383	i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
garfieldsg	0:662207e34fba	1384	}
garfieldsg	0:662207e34fba	1385	/** Get FSYNC interrupt logic level mode.
garfieldsg	0:662207e34fba	1386	* @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1387	* @see getFSyncInterruptMode()
garfieldsg	0:662207e34fba	1388	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1389	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1390	*/
syundo0730	6:f38dfe62d74c	1391	bool MPU6050::getFSyncInterruptLevel() {
syundo0730	6:f38dfe62d74c	1392	i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
garfieldsg	0:662207e34fba	1393	return buffer[0];
garfieldsg	0:662207e34fba	1394	}
garfieldsg	0:662207e34fba	1395	/** Set FSYNC interrupt logic level mode.
garfieldsg	0:662207e34fba	1396	* @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1397	* @see getFSyncInterruptMode()
garfieldsg	0:662207e34fba	1398	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1399	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1400	*/
syundo0730	6:f38dfe62d74c	1401	void MPU6050::setFSyncInterruptLevel(bool level) {
syundo0730	6:f38dfe62d74c	1402	i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
garfieldsg	0:662207e34fba	1403	}
garfieldsg	0:662207e34fba	1404	/** Get FSYNC pin interrupt enabled setting.
garfieldsg	0:662207e34fba	1405	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1406	* @return Current interrupt enabled setting
garfieldsg	0:662207e34fba	1407	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1408	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
garfieldsg	0:662207e34fba	1409	*/
syundo0730	6:f38dfe62d74c	1410	bool MPU6050::getFSyncInterruptEnabled() {
syundo0730	6:f38dfe62d74c	1411	i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1412	return buffer[0];
garfieldsg	0:662207e34fba	1413	}
garfieldsg	0:662207e34fba	1414	/** Set FSYNC pin interrupt enabled setting.
garfieldsg	0:662207e34fba	1415	* @param enabled New FSYNC pin interrupt enabled setting
garfieldsg	0:662207e34fba	1416	* @see getFSyncInterruptEnabled()
garfieldsg	0:662207e34fba	1417	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1418	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
garfieldsg	0:662207e34fba	1419	*/
syundo0730	6:f38dfe62d74c	1420	void MPU6050::setFSyncInterruptEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	1421	i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1422	}
garfieldsg	0:662207e34fba	1423	/** Get I2C bypass enabled status.
garfieldsg	0:662207e34fba	1424	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
garfieldsg	0:662207e34fba	1425	* 0, the host application processor will be able to directly access the
garfieldsg	0:662207e34fba	1426	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
garfieldsg	0:662207e34fba	1427	* application processor will not be able to directly access the auxiliary I2C
garfieldsg	0:662207e34fba	1428	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
garfieldsg	0:662207e34fba	1429	* bit[5]).
garfieldsg	0:662207e34fba	1430	* @return Current I2C bypass enabled status
garfieldsg	0:662207e34fba	1431	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1432	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
garfieldsg	0:662207e34fba	1433	*/
syundo0730	6:f38dfe62d74c	1434	bool MPU6050::getI2CBypassEnabled() {
syundo0730	6:f38dfe62d74c	1435	i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1436	return buffer[0];
garfieldsg	0:662207e34fba	1437	}
garfieldsg	0:662207e34fba	1438	/** Set I2C bypass enabled status.
garfieldsg	0:662207e34fba	1439	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
garfieldsg	0:662207e34fba	1440	* 0, the host application processor will be able to directly access the
garfieldsg	0:662207e34fba	1441	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
garfieldsg	0:662207e34fba	1442	* application processor will not be able to directly access the auxiliary I2C
garfieldsg	0:662207e34fba	1443	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
garfieldsg	0:662207e34fba	1444	* bit[5]).
garfieldsg	0:662207e34fba	1445	* @param enabled New I2C bypass enabled status
garfieldsg	0:662207e34fba	1446	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1447	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
garfieldsg	0:662207e34fba	1448	*/
syundo0730	6:f38dfe62d74c	1449	void MPU6050::setI2CBypassEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	1450	i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1451	}
garfieldsg	0:662207e34fba	1452	/** Get reference clock output enabled status.
garfieldsg	0:662207e34fba	1453	* When this bit is equal to 1, a reference clock output is provided at the
garfieldsg	0:662207e34fba	1454	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
garfieldsg	0:662207e34fba	1455	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
garfieldsg	0:662207e34fba	1456	* Specification document.
garfieldsg	0:662207e34fba	1457	* @return Current reference clock output enabled status
garfieldsg	0:662207e34fba	1458	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1459	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
garfieldsg	0:662207e34fba	1460	*/
syundo0730	6:f38dfe62d74c	1461	bool MPU6050::getClockOutputEnabled() {
syundo0730	6:f38dfe62d74c	1462	i2cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1463	return buffer[0];
garfieldsg	0:662207e34fba	1464	}
garfieldsg	0:662207e34fba	1465	/** Set reference clock output enabled status.
garfieldsg	0:662207e34fba	1466	* When this bit is equal to 1, a reference clock output is provided at the
garfieldsg	0:662207e34fba	1467	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
garfieldsg	0:662207e34fba	1468	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
garfieldsg	0:662207e34fba	1469	* Specification document.
garfieldsg	0:662207e34fba	1470	* @param enabled New reference clock output enabled status
garfieldsg	0:662207e34fba	1471	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1472	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
garfieldsg	0:662207e34fba	1473	*/
syundo0730	6:f38dfe62d74c	1474	void MPU6050::setClockOutputEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	1475	i2cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1476	}
garfieldsg	0:662207e34fba	1477
garfieldsg	0:662207e34fba	1478	// INT_ENABLE register
garfieldsg	0:662207e34fba	1479
garfieldsg	0:662207e34fba	1480	/** Get full interrupt enabled status.
garfieldsg	0:662207e34fba	1481	* Full register byte for all interrupts, for quick reading. Each bit will be
garfieldsg	0:662207e34fba	1482	* set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1483	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1484	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1485	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1486	**/
syundo0730	6:f38dfe62d74c	1487	uint8_t MPU6050::getIntEnabled() {
syundo0730	6:f38dfe62d74c	1488	i2cdev.readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
garfieldsg	0:662207e34fba	1489	return buffer[0];
garfieldsg	0:662207e34fba	1490	}
garfieldsg	0:662207e34fba	1491	/** Set full interrupt enabled status.
garfieldsg	0:662207e34fba	1492	* Full register byte for all interrupts, for quick reading. Each bit should be
garfieldsg	0:662207e34fba	1493	* set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1494	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1495	* @see getIntFreefallEnabled()
garfieldsg	0:662207e34fba	1496	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1497	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1498	**/
syundo0730	6:f38dfe62d74c	1499	void MPU6050::setIntEnabled(uint8_t enabled) {
syundo0730	6:f38dfe62d74c	1500	i2cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
garfieldsg	0:662207e34fba	1501	}
garfieldsg	0:662207e34fba	1502	/** Get Free Fall interrupt enabled status.
garfieldsg	0:662207e34fba	1503	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1504	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1505	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1506	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1507	**/
syundo0730	6:f38dfe62d74c	1508	bool MPU6050::getIntFreefallEnabled() {
syundo0730	6:f38dfe62d74c	1509	i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
garfieldsg	0:662207e34fba	1510	return buffer[0];
garfieldsg	0:662207e34fba	1511	}
garfieldsg	0:662207e34fba	1512	/** Set Free Fall interrupt enabled status.
garfieldsg	0:662207e34fba	1513	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1514	* @see getIntFreefallEnabled()
garfieldsg	0:662207e34fba	1515	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1516	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1517	**/
syundo0730	6:f38dfe62d74c	1518	void MPU6050::setIntFreefallEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	1519	i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
garfieldsg	0:662207e34fba	1520	}
garfieldsg	0:662207e34fba	1521	/** Get Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1522	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1523	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1524	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1525	* @see MPU6050_INTERRUPT_MOT_BIT
garfieldsg	0:662207e34fba	1526	**/
syundo0730	6:f38dfe62d74c	1527	bool MPU6050::getIntMotionEnabled() {
syundo0730	6:f38dfe62d74c	1528	i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
garfieldsg	0:662207e34fba	1529	return buffer[0];
garfieldsg	0:662207e34fba	1530	}
garfieldsg	0:662207e34fba	1531	/** Set Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1532	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1533	* @see getIntMotionEnabled()
garfieldsg	0:662207e34fba	1534	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1535	* @see MPU6050_INTERRUPT_MOT_BIT
garfieldsg	0:662207e34fba	1536	**/
syundo0730	6:f38dfe62d74c	1537	void MPU6050::setIntMotionEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	1538	i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
garfieldsg	0:662207e34fba	1539	}
garfieldsg	0:662207e34fba	1540	/** Get Zero Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1541	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1542	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1543	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1544	* @see MPU6050_INTERRUPT_ZMOT_BIT
garfieldsg	0:662207e34fba	1545	**/
syundo0730	6:f38dfe62d74c	1546	bool MPU6050::getIntZeroMotionEnabled() {
syundo0730	6:f38dfe62d74c	1547	i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
garfieldsg	0:662207e34fba	1548	return buffer[0];
garfieldsg	0:662207e34fba	1549	}
garfieldsg	0:662207e34fba	1550	/** Set Zero Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1551	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1552	* @see getIntZeroMotionEnabled()
garfieldsg	0:662207e34fba	1553	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1554	* @see MPU6050_INTERRUPT_ZMOT_BIT
garfieldsg	0:662207e34fba	1555	**/
syundo0730	6:f38dfe62d74c	1556	void MPU6050::setIntZeroMotionEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	1557	i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
garfieldsg	0:662207e34fba	1558	}
garfieldsg	0:662207e34fba	1559	/** Get FIFO Buffer Overflow interrupt enabled status.
garfieldsg	0:662207e34fba	1560	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1561	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1562	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1563	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
garfieldsg	0:662207e34fba	1564	**/
syundo0730	6:f38dfe62d74c	1565	bool MPU6050::getIntFIFOBufferOverflowEnabled() {
syundo0730	6:f38dfe62d74c	1566	i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
garfieldsg	0:662207e34fba	1567	return buffer[0];
garfieldsg	0:662207e34fba	1568	}
garfieldsg	0:662207e34fba	1569	/** Set FIFO Buffer Overflow interrupt enabled status.
garfieldsg	0:662207e34fba	1570	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1571	* @see getIntFIFOBufferOverflowEnabled()
garfieldsg	0:662207e34fba	1572	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1573	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
garfieldsg	0:662207e34fba	1574	**/
syundo0730	6:f38dfe62d74c	1575	void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	1576	i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
garfieldsg	0:662207e34fba	1577	}
garfieldsg	0:662207e34fba	1578	/** Get I2C Master interrupt enabled status.
garfieldsg	0:662207e34fba	1579	* This enables any of the I2C Master interrupt sources to generate an
garfieldsg	0:662207e34fba	1580	* interrupt. Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1581	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1582	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1583	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
garfieldsg	0:662207e34fba	1584	**/
syundo0730	6:f38dfe62d74c	1585	bool MPU6050::getIntI2CMasterEnabled() {
syundo0730	6:f38dfe62d74c	1586	i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
garfieldsg	0:662207e34fba	1587	return buffer[0];
garfieldsg	0:662207e34fba	1588	}
garfieldsg	0:662207e34fba	1589	/** Set I2C Master interrupt enabled status.
garfieldsg	0:662207e34fba	1590	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1591	* @see getIntI2CMasterEnabled()
garfieldsg	0:662207e34fba	1592	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1593	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
garfieldsg	0:662207e34fba	1594	**/
syundo0730	6:f38dfe62d74c	1595	void MPU6050::setIntI2CMasterEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	1596	i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
garfieldsg	0:662207e34fba	1597	}
garfieldsg	0:662207e34fba	1598	/** Get Data Ready interrupt enabled setting.
garfieldsg	0:662207e34fba	1599	* This event occurs each time a write operation to all of the sensor registers
garfieldsg	0:662207e34fba	1600	* has been completed. Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1601	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1602	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1603	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
garfieldsg	0:662207e34fba	1604	*/
syundo0730	6:f38dfe62d74c	1605	bool MPU6050::getIntDataReadyEnabled() {
syundo0730	6:f38dfe62d74c	1606	i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
garfieldsg	0:662207e34fba	1607	return buffer[0];
garfieldsg	0:662207e34fba	1608	}
garfieldsg	0:662207e34fba	1609	/** Set Data Ready interrupt enabled status.
garfieldsg	0:662207e34fba	1610	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1611	* @see getIntDataReadyEnabled()
garfieldsg	0:662207e34fba	1612	* @see MPU6050_RA_INT_CFG
garfieldsg	0:662207e34fba	1613	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
garfieldsg	0:662207e34fba	1614	*/
syundo0730	6:f38dfe62d74c	1615	void MPU6050::setIntDataReadyEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	1616	i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
garfieldsg	0:662207e34fba	1617	}
garfieldsg	0:662207e34fba	1618
garfieldsg	0:662207e34fba	1619	// INT_STATUS register
garfieldsg	0:662207e34fba	1620
garfieldsg	0:662207e34fba	1621	/** Get full set of interrupt status bits.
garfieldsg	0:662207e34fba	1622	* These bits clear to 0 after the register has been read. Very useful
garfieldsg	0:662207e34fba	1623	* for getting multiple INT statuses, since each single bit read clears
garfieldsg	0:662207e34fba	1624	* all of them because it has to read the whole byte.
garfieldsg	0:662207e34fba	1625	* @return Current interrupt status
garfieldsg	0:662207e34fba	1626	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1627	*/
syundo0730	6:f38dfe62d74c	1628	uint8_t MPU6050::getIntStatus() {
syundo0730	6:f38dfe62d74c	1629	i2cdev.readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
garfieldsg	0:662207e34fba	1630	return buffer[0];
garfieldsg	0:662207e34fba	1631	}
garfieldsg	0:662207e34fba	1632	/** Get Free Fall interrupt status.
garfieldsg	0:662207e34fba	1633	* This bit automatically sets to 1 when a Free Fall interrupt has been
garfieldsg	0:662207e34fba	1634	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1635	* @return Current interrupt status
garfieldsg	0:662207e34fba	1636	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1637	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1638	*/
syundo0730	6:f38dfe62d74c	1639	bool MPU6050::getIntFreefallStatus() {
syundo0730	6:f38dfe62d74c	1640	i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
garfieldsg	0:662207e34fba	1641	return buffer[0];
garfieldsg	0:662207e34fba	1642	}
garfieldsg	0:662207e34fba	1643	/** Get Motion Detection interrupt status.
garfieldsg	0:662207e34fba	1644	* This bit automatically sets to 1 when a Motion Detection interrupt has been
garfieldsg	0:662207e34fba	1645	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1646	* @return Current interrupt status
garfieldsg	0:662207e34fba	1647	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1648	* @see MPU6050_INTERRUPT_MOT_BIT
garfieldsg	0:662207e34fba	1649	*/
syundo0730	6:f38dfe62d74c	1650	bool MPU6050::getIntMotionStatus() {
syundo0730	6:f38dfe62d74c	1651	i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
garfieldsg	0:662207e34fba	1652	return buffer[0];
garfieldsg	0:662207e34fba	1653	}
garfieldsg	0:662207e34fba	1654	/** Get Zero Motion Detection interrupt status.
garfieldsg	0:662207e34fba	1655	* This bit automatically sets to 1 when a Zero Motion Detection interrupt has
garfieldsg	0:662207e34fba	1656	* been generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1657	* @return Current interrupt status
garfieldsg	0:662207e34fba	1658	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1659	* @see MPU6050_INTERRUPT_ZMOT_BIT
garfieldsg	0:662207e34fba	1660	*/
syundo0730	6:f38dfe62d74c	1661	bool MPU6050::getIntZeroMotionStatus() {
syundo0730	6:f38dfe62d74c	1662	i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
garfieldsg	0:662207e34fba	1663	return buffer[0];
garfieldsg	0:662207e34fba	1664	}
garfieldsg	0:662207e34fba	1665	/** Get FIFO Buffer Overflow interrupt status.
garfieldsg	0:662207e34fba	1666	* This bit automatically sets to 1 when a Free Fall interrupt has been
garfieldsg	0:662207e34fba	1667	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1668	* @return Current interrupt status
garfieldsg	0:662207e34fba	1669	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1670	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
garfieldsg	0:662207e34fba	1671	*/
syundo0730	6:f38dfe62d74c	1672	bool MPU6050::getIntFIFOBufferOverflowStatus() {
syundo0730	6:f38dfe62d74c	1673	i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
garfieldsg	0:662207e34fba	1674	return buffer[0];
garfieldsg	0:662207e34fba	1675	}
garfieldsg	0:662207e34fba	1676	/** Get I2C Master interrupt status.
garfieldsg	0:662207e34fba	1677	* This bit automatically sets to 1 when an I2C Master interrupt has been
garfieldsg	0:662207e34fba	1678	* generated. For a list of I2C Master interrupts, please refer to Register 54.
garfieldsg	0:662207e34fba	1679	* The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1680	* @return Current interrupt status
garfieldsg	0:662207e34fba	1681	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1682	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
garfieldsg	0:662207e34fba	1683	*/
syundo0730	6:f38dfe62d74c	1684	bool MPU6050::getIntI2CMasterStatus() {
syundo0730	6:f38dfe62d74c	1685	i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
garfieldsg	0:662207e34fba	1686	return buffer[0];
garfieldsg	0:662207e34fba	1687	}
garfieldsg	0:662207e34fba	1688	/** Get Data Ready interrupt status.
garfieldsg	0:662207e34fba	1689	* This bit automatically sets to 1 when a Data Ready interrupt has been
garfieldsg	0:662207e34fba	1690	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1691	* @return Current interrupt status
garfieldsg	0:662207e34fba	1692	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1693	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
garfieldsg	0:662207e34fba	1694	*/
syundo0730	6:f38dfe62d74c	1695	bool MPU6050::getIntDataReadyStatus() {
syundo0730	6:f38dfe62d74c	1696	i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
garfieldsg	0:662207e34fba	1697	return buffer[0];
garfieldsg	0:662207e34fba	1698	}
garfieldsg	0:662207e34fba	1699
garfieldsg	0:662207e34fba	1700	// ACCEL_OUT_ registers
garfieldsg	0:662207e34fba	1701
garfieldsg	0:662207e34fba	1702	/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
garfieldsg	0:662207e34fba	1703	* FUNCTION NOT FULLY IMPLEMENTED YET.
garfieldsg	0:662207e34fba	1704	* @param ax 16-bit signed integer container for accelerometer X-axis value
garfieldsg	0:662207e34fba	1705	* @param ay 16-bit signed integer container for accelerometer Y-axis value
garfieldsg	0:662207e34fba	1706	* @param az 16-bit signed integer container for accelerometer Z-axis value
garfieldsg	0:662207e34fba	1707	* @param gx 16-bit signed integer container for gyroscope X-axis value
garfieldsg	0:662207e34fba	1708	* @param gy 16-bit signed integer container for gyroscope Y-axis value
garfieldsg	0:662207e34fba	1709	* @param gz 16-bit signed integer container for gyroscope Z-axis value
garfieldsg	0:662207e34fba	1710	* @param mx 16-bit signed integer container for magnetometer X-axis value
garfieldsg	0:662207e34fba	1711	* @param my 16-bit signed integer container for magnetometer Y-axis value
garfieldsg	0:662207e34fba	1712	* @param mz 16-bit signed integer container for magnetometer Z-axis value
garfieldsg	0:662207e34fba	1713	* @see getMotion6()
garfieldsg	0:662207e34fba	1714	* @see getAcceleration()
garfieldsg	0:662207e34fba	1715	* @see getRotation()
garfieldsg	0:662207e34fba	1716	* @see MPU6050_RA_ACCEL_XOUT_H
garfieldsg	0:662207e34fba	1717	*/
syundo0730	6:f38dfe62d74c	1718	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	1719	getMotion6(ax, ay, az, gx, gy, gz);
syundo0730	6:f38dfe62d74c	1720	// TODO: magnetometer integration
garfieldsg	0:662207e34fba	1721	}
garfieldsg	0:662207e34fba	1722	/** Get raw 6-axis motion sensor readings (accel/gyro).
garfieldsg	0:662207e34fba	1723	* Retrieves all currently available motion sensor values.
garfieldsg	0:662207e34fba	1724	* @param ax 16-bit signed integer container for accelerometer X-axis value
garfieldsg	0:662207e34fba	1725	* @param ay 16-bit signed integer container for accelerometer Y-axis value
garfieldsg	0:662207e34fba	1726	* @param az 16-bit signed integer container for accelerometer Z-axis value
garfieldsg	0:662207e34fba	1727	* @param gx 16-bit signed integer container for gyroscope X-axis value
garfieldsg	0:662207e34fba	1728	* @param gy 16-bit signed integer container for gyroscope Y-axis value
garfieldsg	0:662207e34fba	1729	* @param gz 16-bit signed integer container for gyroscope Z-axis value
garfieldsg	0:662207e34fba	1730	* @see getAcceleration()
garfieldsg	0:662207e34fba	1731	* @see getRotation()
garfieldsg	0:662207e34fba	1732	* @see MPU6050_RA_ACCEL_XOUT_H
garfieldsg	0:662207e34fba	1733	*/
syundo0730	6:f38dfe62d74c	1734	void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz) {
syundo0730	6:f38dfe62d74c	1735	i2cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
garfieldsg	0:662207e34fba	1736	*ax = (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	1737	*ay = (((int16_t)buffer[2]) << 8) \| buffer[3];
garfieldsg	0:662207e34fba	1738	*az = (((int16_t)buffer[4]) << 8) \| buffer[5];
garfieldsg	0:662207e34fba	1739	*gx = (((int16_t)buffer[8]) << 8) \| buffer[9];
garfieldsg	0:662207e34fba	1740	*gy = (((int16_t)buffer[10]) << 8) \| buffer[11];
garfieldsg	0:662207e34fba	1741	*gz = (((int16_t)buffer[12]) << 8) \| buffer[13];
garfieldsg	0:662207e34fba	1742	}
garfieldsg	0:662207e34fba	1743	/** Get 3-axis accelerometer readings.
garfieldsg	0:662207e34fba	1744	* These registers store the most recent accelerometer measurements.
garfieldsg	0:662207e34fba	1745	* Accelerometer measurements are written to these registers at the Sample Rate
garfieldsg	0:662207e34fba	1746	* as defined in Register 25.
garfieldsg	0:662207e34fba	1747	*
garfieldsg	0:662207e34fba	1748	* The accelerometer measurement registers, along with the temperature
garfieldsg	0:662207e34fba	1749	* measurement registers, gyroscope measurement registers, and external sensor
garfieldsg	0:662207e34fba	1750	* data registers, are composed of two sets of registers: an internal register
garfieldsg	0:662207e34fba	1751	* set and a user-facing read register set.
garfieldsg	0:662207e34fba	1752	*
garfieldsg	0:662207e34fba	1753	* The data within the accelerometer sensors' internal register set is always
garfieldsg	0:662207e34fba	1754	* updated at the Sample Rate. Meanwhile, the user-facing read register set
garfieldsg	0:662207e34fba	1755	* duplicates the internal register set's data values whenever the serial
garfieldsg	0:662207e34fba	1756	* interface is idle. This guarantees that a burst read of sensor registers will
garfieldsg	0:662207e34fba	1757	* read measurements from the same sampling instant. Note that if burst reads
garfieldsg	0:662207e34fba	1758	* are not used, the user is responsible for ensuring a set of single byte reads
garfieldsg	0:662207e34fba	1759	* correspond to a single sampling instant by checking the Data Ready interrupt.
garfieldsg	0:662207e34fba	1760	*
garfieldsg	0:662207e34fba	1761	* Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
garfieldsg	0:662207e34fba	1762	* (Register 28). For each full scale setting, the accelerometers' sensitivity
garfieldsg	0:662207e34fba	1763	* per LSB in ACCEL_xOUT is shown in the table below:
garfieldsg	0:662207e34fba	1764	*
garfieldsg	0:662207e34fba	1765	* <pre>
garfieldsg	0:662207e34fba	1766	* AFS_SEL \| Full Scale Range \| LSB Sensitivity
garfieldsg	0:662207e34fba	1767	* --------+------------------+----------------
garfieldsg	0:662207e34fba	1768	* 0 \| +/- 2g \| 8192 LSB/mg
garfieldsg	0:662207e34fba	1769	* 1 \| +/- 4g \| 4096 LSB/mg
garfieldsg	0:662207e34fba	1770	* 2 \| +/- 8g \| 2048 LSB/mg
garfieldsg	0:662207e34fba	1771	* 3 \| +/- 16g \| 1024 LSB/mg
garfieldsg	0:662207e34fba	1772	* </pre>
garfieldsg	0:662207e34fba	1773	*
garfieldsg	0:662207e34fba	1774	* @param x 16-bit signed integer container for X-axis acceleration
garfieldsg	0:662207e34fba	1775	* @param y 16-bit signed integer container for Y-axis acceleration
garfieldsg	0:662207e34fba	1776	* @param z 16-bit signed integer container for Z-axis acceleration
garfieldsg	0:662207e34fba	1777	* @see MPU6050_RA_GYRO_XOUT_H
garfieldsg	0:662207e34fba	1778	*/
syundo0730	6:f38dfe62d74c	1779	void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z) {
syundo0730	6:f38dfe62d74c	1780	i2cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
garfieldsg	0:662207e34fba	1781	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	1782	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
garfieldsg	0:662207e34fba	1783	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
garfieldsg	0:662207e34fba	1784	}
garfieldsg	0:662207e34fba	1785	/** Get X-axis accelerometer reading.
garfieldsg	0:662207e34fba	1786	* @return X-axis acceleration measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	1787	* @see getMotion6()
garfieldsg	0:662207e34fba	1788	* @see MPU6050_RA_ACCEL_XOUT_H
garfieldsg	0:662207e34fba	1789	*/
syundo0730	6:f38dfe62d74c	1790	int16_t MPU6050::getAccelerationX() {
syundo0730	6:f38dfe62d74c	1791	i2cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	1792	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	1793	}
garfieldsg	0:662207e34fba	1794	/** Get Y-axis accelerometer reading.
garfieldsg	0:662207e34fba	1795	* @return Y-axis acceleration measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	1796	* @see getMotion6()
garfieldsg	0:662207e34fba	1797	* @see MPU6050_RA_ACCEL_YOUT_H
garfieldsg	0:662207e34fba	1798	*/
syundo0730	6:f38dfe62d74c	1799	int16_t MPU6050::getAccelerationY() {
syundo0730	6:f38dfe62d74c	1800	i2cdev.readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	1801	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	1802	}
garfieldsg	0:662207e34fba	1803	/** Get Z-axis accelerometer reading.
garfieldsg	0:662207e34fba	1804	* @return Z-axis acceleration measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	1805	* @see getMotion6()
garfieldsg	0:662207e34fba	1806	* @see MPU6050_RA_ACCEL_ZOUT_H
garfieldsg	0:662207e34fba	1807	*/
syundo0730	6:f38dfe62d74c	1808	int16_t MPU6050::getAccelerationZ() {
syundo0730	6:f38dfe62d74c	1809	i2cdev.readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	1810	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	1811	}
garfieldsg	0:662207e34fba	1812
garfieldsg	0:662207e34fba	1813	// TEMP_OUT_* registers
garfieldsg	0:662207e34fba	1814
garfieldsg	0:662207e34fba	1815	/** Get current internal temperature.
garfieldsg	0:662207e34fba	1816	* @return Temperature reading in 16-bit 2's complement format
garfieldsg	0:662207e34fba	1817	* @see MPU6050_RA_TEMP_OUT_H
garfieldsg	0:662207e34fba	1818	*/
syundo0730	6:f38dfe62d74c	1819	int16_t MPU6050::getTemperature() {
syundo0730	6:f38dfe62d74c	1820	i2cdev.readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
garfieldsg	0:662207e34fba	1821	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	1822	}
garfieldsg	0:662207e34fba	1823
garfieldsg	0:662207e34fba	1824	// GYRO_OUT_ registers
garfieldsg	0:662207e34fba	1825
garfieldsg	0:662207e34fba	1826	/** Get 3-axis gyroscope readings.
garfieldsg	0:662207e34fba	1827	* These gyroscope measurement registers, along with the accelerometer
garfieldsg	0:662207e34fba	1828	* measurement registers, temperature measurement registers, and external sensor
garfieldsg	0:662207e34fba	1829	* data registers, are composed of two sets of registers: an internal register
garfieldsg	0:662207e34fba	1830	* set and a user-facing read register set.
garfieldsg	0:662207e34fba	1831	* The data within the gyroscope sensors' internal register set is always
garfieldsg	0:662207e34fba	1832	* updated at the Sample Rate. Meanwhile, the user-facing read register set
garfieldsg	0:662207e34fba	1833	* duplicates the internal register set's data values whenever the serial
garfieldsg	0:662207e34fba	1834	* interface is idle. This guarantees that a burst read of sensor registers will
garfieldsg	0:662207e34fba	1835	* read measurements from the same sampling instant. Note that if burst reads
garfieldsg	0:662207e34fba	1836	* are not used, the user is responsible for ensuring a set of single byte reads
garfieldsg	0:662207e34fba	1837	* correspond to a single sampling instant by checking the Data Ready interrupt.
garfieldsg	0:662207e34fba	1838	*
garfieldsg	0:662207e34fba	1839	* Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
garfieldsg	0:662207e34fba	1840	* (Register 27). For each full scale setting, the gyroscopes' sensitivity per
garfieldsg	0:662207e34fba	1841	* LSB in GYRO_xOUT is shown in the table below:
garfieldsg	0:662207e34fba	1842	*
garfieldsg	0:662207e34fba	1843	* <pre>
garfieldsg	0:662207e34fba	1844	* FS_SEL \| Full Scale Range \| LSB Sensitivity
garfieldsg	0:662207e34fba	1845	* -------+--------------------+----------------
garfieldsg	0:662207e34fba	1846	* 0 \| +/- 250 degrees/s \| 131 LSB/deg/s
garfieldsg	0:662207e34fba	1847	* 1 \| +/- 500 degrees/s \| 65.5 LSB/deg/s
garfieldsg	0:662207e34fba	1848	* 2 \| +/- 1000 degrees/s \| 32.8 LSB/deg/s
garfieldsg	0:662207e34fba	1849	* 3 \| +/- 2000 degrees/s \| 16.4 LSB/deg/s
garfieldsg	0:662207e34fba	1850	* </pre>
garfieldsg	0:662207e34fba	1851	*
garfieldsg	0:662207e34fba	1852	* @param x 16-bit signed integer container for X-axis rotation
garfieldsg	0:662207e34fba	1853	* @param y 16-bit signed integer container for Y-axis rotation
garfieldsg	0:662207e34fba	1854	* @param z 16-bit signed integer container for Z-axis rotation
garfieldsg	0:662207e34fba	1855	* @see getMotion6()
garfieldsg	0:662207e34fba	1856	* @see MPU6050_RA_GYRO_XOUT_H
garfieldsg	0:662207e34fba	1857	*/
syundo0730	6:f38dfe62d74c	1858	void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z) {
syundo0730	6:f38dfe62d74c	1859	i2cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
garfieldsg	0:662207e34fba	1860	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	1861	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
garfieldsg	0:662207e34fba	1862	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
garfieldsg	0:662207e34fba	1863	}
garfieldsg	0:662207e34fba	1864	/** Get X-axis gyroscope reading.
garfieldsg	0:662207e34fba	1865	* @return X-axis rotation measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	1866	* @see getMotion6()
garfieldsg	0:662207e34fba	1867	* @see MPU6050_RA_GYRO_XOUT_H
garfieldsg	0:662207e34fba	1868	*/
syundo0730	6:f38dfe62d74c	1869	int16_t MPU6050::getRotationX() {
syundo0730	6:f38dfe62d74c	1870	i2cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	1871	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	1872	}
garfieldsg	0:662207e34fba	1873	/** Get Y-axis gyroscope reading.
garfieldsg	0:662207e34fba	1874	* @return Y-axis rotation measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	1875	* @see getMotion6()
garfieldsg	0:662207e34fba	1876	* @see MPU6050_RA_GYRO_YOUT_H
garfieldsg	0:662207e34fba	1877	*/
syundo0730	6:f38dfe62d74c	1878	int16_t MPU6050::getRotationY() {
syundo0730	6:f38dfe62d74c	1879	i2cdev.readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	1880	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	1881	}
garfieldsg	0:662207e34fba	1882	/** Get Z-axis gyroscope reading.
garfieldsg	0:662207e34fba	1883	* @return Z-axis rotation measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	1884	* @see getMotion6()
garfieldsg	0:662207e34fba	1885	* @see MPU6050_RA_GYRO_ZOUT_H
garfieldsg	0:662207e34fba	1886	*/
syundo0730	6:f38dfe62d74c	1887	int16_t MPU6050::getRotationZ() {
syundo0730	6:f38dfe62d74c	1888	i2cdev.readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	1889	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	1890	}
garfieldsg	0:662207e34fba	1891
garfieldsg	0:662207e34fba	1892	// EXT_SENS_DATA_* registers
garfieldsg	0:662207e34fba	1893
garfieldsg	0:662207e34fba	1894	/** Read single byte from external sensor data register.
garfieldsg	0:662207e34fba	1895	* These registers store data read from external sensors by the Slave 0, 1, 2,
garfieldsg	0:662207e34fba	1896	* and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
garfieldsg	0:662207e34fba	1897	* I2C_SLV4_DI (Register 53).
garfieldsg	0:662207e34fba	1898	*
garfieldsg	0:662207e34fba	1899	* External sensor data is written to these registers at the Sample Rate as
garfieldsg	0:662207e34fba	1900	* defined in Register 25. This access rate can be reduced by using the Slave
garfieldsg	0:662207e34fba	1901	* Delay Enable registers (Register 103).
garfieldsg	0:662207e34fba	1902	*
garfieldsg	0:662207e34fba	1903	* External sensor data registers, along with the gyroscope measurement
garfieldsg	0:662207e34fba	1904	* registers, accelerometer measurement registers, and temperature measurement
garfieldsg	0:662207e34fba	1905	* registers, are composed of two sets of registers: an internal register set
garfieldsg	0:662207e34fba	1906	* and a user-facing read register set.
garfieldsg	0:662207e34fba	1907	*
garfieldsg	0:662207e34fba	1908	* The data within the external sensors' internal register set is always updated
garfieldsg	0:662207e34fba	1909	* at the Sample Rate (or the reduced access rate) whenever the serial interface
garfieldsg	0:662207e34fba	1910	* is idle. This guarantees that a burst read of sensor registers will read
garfieldsg	0:662207e34fba	1911	* measurements from the same sampling instant. Note that if burst reads are not
garfieldsg	0:662207e34fba	1912	* used, the user is responsible for ensuring a set of single byte reads
garfieldsg	0:662207e34fba	1913	* correspond to a single sampling instant by checking the Data Ready interrupt.
garfieldsg	0:662207e34fba	1914	*
garfieldsg	0:662207e34fba	1915	* Data is placed in these external sensor data registers according to
garfieldsg	0:662207e34fba	1916	* I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
garfieldsg	0:662207e34fba	1917	* 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
garfieldsg	0:662207e34fba	1918	* an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
garfieldsg	0:662207e34fba	1919	* defined in Register 25) or delayed rate (if specified in Register 52 and
garfieldsg	0:662207e34fba	1920	* 103). During each Sample cycle, slave reads are performed in order of Slave
garfieldsg	0:662207e34fba	1921	* number. If all slaves are enabled with more than zero bytes to be read, the
garfieldsg	0:662207e34fba	1922	* order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
garfieldsg	0:662207e34fba	1923	*
garfieldsg	0:662207e34fba	1924	* Each enabled slave will have EXT_SENS_DATA registers associated with it by
garfieldsg	0:662207e34fba	1925	* number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
garfieldsg	0:662207e34fba	1926	* EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
garfieldsg	0:662207e34fba	1927	* change the higher numbered slaves' associated registers. Furthermore, if
garfieldsg	0:662207e34fba	1928	* fewer total bytes are being read from the external sensors as a result of
garfieldsg	0:662207e34fba	1929	* such a change, then the data remaining in the registers which no longer have
garfieldsg	0:662207e34fba	1930	* an associated slave device (i.e. high numbered registers) will remain in
garfieldsg	0:662207e34fba	1931	* these previously allocated registers unless reset.
garfieldsg	0:662207e34fba	1932	*
garfieldsg	0:662207e34fba	1933	* If the sum of the read lengths of all SLVx transactions exceed the number of
garfieldsg	0:662207e34fba	1934	* available EXT_SENS_DATA registers, the excess bytes will be dropped. There
garfieldsg	0:662207e34fba	1935	* are 24 EXT_SENS_DATA registers and hence the total read lengths between all
garfieldsg	0:662207e34fba	1936	* the slaves cannot be greater than 24 or some bytes will be lost.
garfieldsg	0:662207e34fba	1937	*
garfieldsg	0:662207e34fba	1938	* Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
garfieldsg	0:662207e34fba	1939	* information regarding the characteristics of Slave 4, please refer to
garfieldsg	0:662207e34fba	1940	* Registers 49 to 53.
garfieldsg	0:662207e34fba	1941	*
garfieldsg	0:662207e34fba	1942	* EXAMPLE:
garfieldsg	0:662207e34fba	1943	* Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
garfieldsg	0:662207e34fba	1944	* I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
garfieldsg	0:662207e34fba	1945	* I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
garfieldsg	0:662207e34fba	1946	* through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
garfieldsg	0:662207e34fba	1947	* will be associated with Slave 1. If Slave 2 is enabled as well, registers
garfieldsg	0:662207e34fba	1948	* starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
garfieldsg	0:662207e34fba	1949	*
garfieldsg	0:662207e34fba	1950	* If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
garfieldsg	0:662207e34fba	1951	* registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
garfieldsg	0:662207e34fba	1952	* instead.
garfieldsg	0:662207e34fba	1953	*
garfieldsg	0:662207e34fba	1954	* REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
garfieldsg	0:662207e34fba	1955	* If a slave is disabled at any time, the space initially allocated to the
garfieldsg	0:662207e34fba	1956	* slave in the EXT_SENS_DATA register, will remain associated with that slave.
garfieldsg	0:662207e34fba	1957	* This is to avoid dynamic adjustment of the register allocation.
garfieldsg	0:662207e34fba	1958	*
garfieldsg	0:662207e34fba	1959	* The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
garfieldsg	0:662207e34fba	1960	* slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
garfieldsg	0:662207e34fba	1961	*
garfieldsg	0:662207e34fba	1962	* This above is also true if one of the slaves gets NACKed and stops
garfieldsg	0:662207e34fba	1963	* functioning.
garfieldsg	0:662207e34fba	1964	*
garfieldsg	0:662207e34fba	1965	* @param position Starting position (0-23)
garfieldsg	0:662207e34fba	1966	* @return Byte read from register
garfieldsg	0:662207e34fba	1967	*/
syundo0730	6:f38dfe62d74c	1968	uint8_t MPU6050::getExternalSensorByte(int position) {
syundo0730	6:f38dfe62d74c	1969	i2cdev.readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
garfieldsg	0:662207e34fba	1970	return buffer[0];
garfieldsg	0:662207e34fba	1971	}
garfieldsg	0:662207e34fba	1972	/** Read word (2 bytes) from external sensor data registers.
garfieldsg	0:662207e34fba	1973	* @param position Starting position (0-21)
garfieldsg	0:662207e34fba	1974	* @return Word read from register
garfieldsg	0:662207e34fba	1975	* @see getExternalSensorByte()
garfieldsg	0:662207e34fba	1976	*/
syundo0730	6:f38dfe62d74c	1977	uint16_t MPU6050::getExternalSensorWord(int position) {
syundo0730	6:f38dfe62d74c	1978	i2cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
garfieldsg	0:662207e34fba	1979	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	1980	}
garfieldsg	0:662207e34fba	1981	/** Read double word (4 bytes) from external sensor data registers.
garfieldsg	0:662207e34fba	1982	* @param position Starting position (0-20)
garfieldsg	0:662207e34fba	1983	* @return Double word read from registers
garfieldsg	0:662207e34fba	1984	* @see getExternalSensorByte()
garfieldsg	0:662207e34fba	1985	*/
syundo0730	6:f38dfe62d74c	1986	uint32_t MPU6050::getExternalSensorDWord(int position) {
syundo0730	6:f38dfe62d74c	1987	i2cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
garfieldsg	0:662207e34fba	1988	return (((uint32_t)buffer[0]) << 24) \| (((uint32_t)buffer[1]) << 16) \| (((uint16_t)buffer[2]) << 8) \| buffer[3];
garfieldsg	0:662207e34fba	1989	}
garfieldsg	0:662207e34fba	1990
garfieldsg	0:662207e34fba	1991	// MOT_DETECT_STATUS register
garfieldsg	0:662207e34fba	1992
syundo0730	6:f38dfe62d74c	1993	/** Get full motion detection status register content (all bits).
syundo0730	6:f38dfe62d74c	1994	* @return Motion detection status byte
syundo0730	6:f38dfe62d74c	1995	* @see MPU6050_RA_MOT_DETECT_STATUS
syundo0730	6:f38dfe62d74c	1996	*/
syundo0730	6:f38dfe62d74c	1997	uint8_t MPU6050::getMotionStatus() {
syundo0730	6:f38dfe62d74c	1998	i2cdev.readByte(devAddr, MPU6050_RA_MOT_DETECT_STATUS, buffer);
syundo0730	6:f38dfe62d74c	1999	return buffer[0];
syundo0730	6:f38dfe62d74c	2000	}
garfieldsg	0:662207e34fba	2001	/** Get X-axis negative motion detection interrupt status.
garfieldsg	0:662207e34fba	2002	* @return Motion detection status
garfieldsg	0:662207e34fba	2003	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2004	* @see MPU6050_MOTION_MOT_XNEG_BIT
garfieldsg	0:662207e34fba	2005	*/
syundo0730	6:f38dfe62d74c	2006	bool MPU6050::getXNegMotionDetected() {
syundo0730	6:f38dfe62d74c	2007	i2cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
garfieldsg	0:662207e34fba	2008	return buffer[0];
garfieldsg	0:662207e34fba	2009	}
garfieldsg	0:662207e34fba	2010	/** Get X-axis positive motion detection interrupt status.
garfieldsg	0:662207e34fba	2011	* @return Motion detection status
garfieldsg	0:662207e34fba	2012	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2013	* @see MPU6050_MOTION_MOT_XPOS_BIT
garfieldsg	0:662207e34fba	2014	*/
syundo0730	6:f38dfe62d74c	2015	bool MPU6050::getXPosMotionDetected() {
syundo0730	6:f38dfe62d74c	2016	i2cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
garfieldsg	0:662207e34fba	2017	return buffer[0];
garfieldsg	0:662207e34fba	2018	}
garfieldsg	0:662207e34fba	2019	/** Get Y-axis negative motion detection interrupt status.
garfieldsg	0:662207e34fba	2020	* @return Motion detection status
garfieldsg	0:662207e34fba	2021	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2022	* @see MPU6050_MOTION_MOT_YNEG_BIT
garfieldsg	0:662207e34fba	2023	*/
syundo0730	6:f38dfe62d74c	2024	bool MPU6050::getYNegMotionDetected() {
syundo0730	6:f38dfe62d74c	2025	i2cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
garfieldsg	0:662207e34fba	2026	return buffer[0];
garfieldsg	0:662207e34fba	2027	}
garfieldsg	0:662207e34fba	2028	/** Get Y-axis positive motion detection interrupt status.
garfieldsg	0:662207e34fba	2029	* @return Motion detection status
garfieldsg	0:662207e34fba	2030	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2031	* @see MPU6050_MOTION_MOT_YPOS_BIT
garfieldsg	0:662207e34fba	2032	*/
syundo0730	6:f38dfe62d74c	2033	bool MPU6050::getYPosMotionDetected() {
syundo0730	6:f38dfe62d74c	2034	i2cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
garfieldsg	0:662207e34fba	2035	return buffer[0];
garfieldsg	0:662207e34fba	2036	}
garfieldsg	0:662207e34fba	2037	/** Get Z-axis negative motion detection interrupt status.
garfieldsg	0:662207e34fba	2038	* @return Motion detection status
garfieldsg	0:662207e34fba	2039	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2040	* @see MPU6050_MOTION_MOT_ZNEG_BIT
garfieldsg	0:662207e34fba	2041	*/
syundo0730	6:f38dfe62d74c	2042	bool MPU6050::getZNegMotionDetected() {
syundo0730	6:f38dfe62d74c	2043	i2cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
garfieldsg	0:662207e34fba	2044	return buffer[0];
garfieldsg	0:662207e34fba	2045	}
garfieldsg	0:662207e34fba	2046	/** Get Z-axis positive motion detection interrupt status.
garfieldsg	0:662207e34fba	2047	* @return Motion detection status
garfieldsg	0:662207e34fba	2048	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2049	* @see MPU6050_MOTION_MOT_ZPOS_BIT
garfieldsg	0:662207e34fba	2050	*/
syundo0730	6:f38dfe62d74c	2051	bool MPU6050::getZPosMotionDetected() {
syundo0730	6:f38dfe62d74c	2052	i2cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
garfieldsg	0:662207e34fba	2053	return buffer[0];
garfieldsg	0:662207e34fba	2054	}
garfieldsg	0:662207e34fba	2055	/** Get zero motion detection interrupt status.
garfieldsg	0:662207e34fba	2056	* @return Motion detection status
garfieldsg	0:662207e34fba	2057	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2058	* @see MPU6050_MOTION_MOT_ZRMOT_BIT
garfieldsg	0:662207e34fba	2059	*/
syundo0730	6:f38dfe62d74c	2060	bool MPU6050::getZeroMotionDetected() {
syundo0730	6:f38dfe62d74c	2061	i2cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
garfieldsg	0:662207e34fba	2062	return buffer[0];
garfieldsg	0:662207e34fba	2063	}
garfieldsg	0:662207e34fba	2064
garfieldsg	0:662207e34fba	2065	// I2C_SLV*_DO register
garfieldsg	0:662207e34fba	2066
garfieldsg	0:662207e34fba	2067	/** Write byte to Data Output container for specified slave.
garfieldsg	0:662207e34fba	2068	* This register holds the output data written into Slave when Slave is set to
garfieldsg	0:662207e34fba	2069	* write mode. For further information regarding Slave control, please
garfieldsg	0:662207e34fba	2070	* refer to Registers 37 to 39 and immediately following.
garfieldsg	0:662207e34fba	2071	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	2072	* @param data Byte to write
garfieldsg	0:662207e34fba	2073	* @see MPU6050_RA_I2C_SLV0_DO
garfieldsg	0:662207e34fba	2074	*/
syundo0730	6:f38dfe62d74c	2075	void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data) {
garfieldsg	0:662207e34fba	2076	if (num > 3) return;
syundo0730	6:f38dfe62d74c	2077	i2cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
garfieldsg	0:662207e34fba	2078	}
garfieldsg	0:662207e34fba	2079
garfieldsg	0:662207e34fba	2080	// I2C_MST_DELAY_CTRL register
garfieldsg	0:662207e34fba	2081
garfieldsg	0:662207e34fba	2082	/** Get external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2083	* This register is used to specify the timing of external sensor data
garfieldsg	0:662207e34fba	2084	* shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
garfieldsg	0:662207e34fba	2085	* sensor data is delayed until all data has been received.
garfieldsg	0:662207e34fba	2086	* @return Current external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2087	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2088	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
garfieldsg	0:662207e34fba	2089	*/
syundo0730	6:f38dfe62d74c	2090	bool MPU6050::getExternalShadowDelayEnabled() {
syundo0730	6:f38dfe62d74c	2091	i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
garfieldsg	0:662207e34fba	2092	return buffer[0];
garfieldsg	0:662207e34fba	2093	}
garfieldsg	0:662207e34fba	2094	/** Set external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2095	* @param enabled New external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2096	* @see getExternalShadowDelayEnabled()
garfieldsg	0:662207e34fba	2097	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2098	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
garfieldsg	0:662207e34fba	2099	*/
syundo0730	6:f38dfe62d74c	2100	void MPU6050::setExternalShadowDelayEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	2101	i2cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
garfieldsg	0:662207e34fba	2102	}
garfieldsg	0:662207e34fba	2103	/** Get slave delay enabled status.
garfieldsg	0:662207e34fba	2104	* When a particular slave delay is enabled, the rate of access for the that
garfieldsg	0:662207e34fba	2105	* slave device is reduced. When a slave's access rate is decreased relative to
garfieldsg	0:662207e34fba	2106	* the Sample Rate, the slave is accessed every:
garfieldsg	0:662207e34fba	2107	*
garfieldsg	0:662207e34fba	2108	* 1 / (1 + I2C_MST_DLY) Samples
garfieldsg	0:662207e34fba	2109	*
garfieldsg	0:662207e34fba	2110	* This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25)
garfieldsg	0:662207e34fba	2111	* and DLPF_CFG (register 26).
garfieldsg	0:662207e34fba	2112	*
garfieldsg	0:662207e34fba	2113	* For further information regarding I2C_MST_DLY, please refer to register 52.
garfieldsg	0:662207e34fba	2114	* For further information regarding the Sample Rate, please refer to register 25.
garfieldsg	0:662207e34fba	2115	*
garfieldsg	0:662207e34fba	2116	* @param num Slave number (0-4)
garfieldsg	0:662207e34fba	2117	* @return Current slave delay enabled status.
garfieldsg	0:662207e34fba	2118	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2119	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
garfieldsg	0:662207e34fba	2120	*/
syundo0730	6:f38dfe62d74c	2121	bool MPU6050::getSlaveDelayEnabled(uint8_t num) {
garfieldsg	0:662207e34fba	2122	// MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
garfieldsg	0:662207e34fba	2123	if (num > 4) return 0;
syundo0730	6:f38dfe62d74c	2124	i2cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
garfieldsg	0:662207e34fba	2125	return buffer[0];
garfieldsg	0:662207e34fba	2126	}
garfieldsg	0:662207e34fba	2127	/** Set slave delay enabled status.
garfieldsg	0:662207e34fba	2128	* @param num Slave number (0-4)
garfieldsg	0:662207e34fba	2129	* @param enabled New slave delay enabled status.
garfieldsg	0:662207e34fba	2130	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2131	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
garfieldsg	0:662207e34fba	2132	*/
syundo0730	6:f38dfe62d74c	2133	void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled) {
syundo0730	6:f38dfe62d74c	2134	i2cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
garfieldsg	0:662207e34fba	2135	}
garfieldsg	0:662207e34fba	2136
garfieldsg	0:662207e34fba	2137	// SIGNAL_PATH_RESET register
garfieldsg	0:662207e34fba	2138
garfieldsg	0:662207e34fba	2139	/** Reset gyroscope signal path.
garfieldsg	0:662207e34fba	2140	* The reset will revert the signal path analog to digital converters and
garfieldsg	0:662207e34fba	2141	* filters to their power up configurations.
garfieldsg	0:662207e34fba	2142	* @see MPU6050_RA_SIGNAL_PATH_RESET
garfieldsg	0:662207e34fba	2143	* @see MPU6050_PATHRESET_GYRO_RESET_BIT
garfieldsg	0:662207e34fba	2144	*/
syundo0730	6:f38dfe62d74c	2145	void MPU6050::resetGyroscopePath() {
syundo0730	6:f38dfe62d74c	2146	i2cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
garfieldsg	0:662207e34fba	2147	}
garfieldsg	0:662207e34fba	2148	/** Reset accelerometer signal path.
garfieldsg	0:662207e34fba	2149	* The reset will revert the signal path analog to digital converters and
garfieldsg	0:662207e34fba	2150	* filters to their power up configurations.
garfieldsg	0:662207e34fba	2151	* @see MPU6050_RA_SIGNAL_PATH_RESET
garfieldsg	0:662207e34fba	2152	* @see MPU6050_PATHRESET_ACCEL_RESET_BIT
garfieldsg	0:662207e34fba	2153	*/
syundo0730	6:f38dfe62d74c	2154	void MPU6050::resetAccelerometerPath() {
syundo0730	6:f38dfe62d74c	2155	i2cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
garfieldsg	0:662207e34fba	2156	}
garfieldsg	0:662207e34fba	2157	/** Reset temperature sensor signal path.
garfieldsg	0:662207e34fba	2158	* The reset will revert the signal path analog to digital converters and
garfieldsg	0:662207e34fba	2159	* filters to their power up configurations.
garfieldsg	0:662207e34fba	2160	* @see MPU6050_RA_SIGNAL_PATH_RESET
garfieldsg	0:662207e34fba	2161	* @see MPU6050_PATHRESET_TEMP_RESET_BIT
garfieldsg	0:662207e34fba	2162	*/
syundo0730	6:f38dfe62d74c	2163	void MPU6050::resetTemperaturePath() {
syundo0730	6:f38dfe62d74c	2164	i2cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
garfieldsg	0:662207e34fba	2165	}
garfieldsg	0:662207e34fba	2166
garfieldsg	0:662207e34fba	2167	// MOT_DETECT_CTRL register
garfieldsg	0:662207e34fba	2168
garfieldsg	0:662207e34fba	2169	/** Get accelerometer power-on delay.
garfieldsg	0:662207e34fba	2170	* The accelerometer data path provides samples to the sensor registers, Motion
garfieldsg	0:662207e34fba	2171	* detection, Zero Motion detection, and Free Fall detection modules. The
garfieldsg	0:662207e34fba	2172	* signal path contains filters which must be flushed on wake-up with new
garfieldsg	0:662207e34fba	2173	* samples before the detection modules begin operations. The default wake-up
garfieldsg	0:662207e34fba	2174	* delay, of 4ms can be lengthened by up to 3ms. This additional delay is
garfieldsg	0:662207e34fba	2175	* specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
garfieldsg	0:662207e34fba	2176	* any value above zero unless instructed otherwise by InvenSense. Please refer
garfieldsg	0:662207e34fba	2177	* to Section 8 of the MPU-6000/MPU-6050 Product Specification document for
garfieldsg	0:662207e34fba	2178	* further information regarding the detection modules.
garfieldsg	0:662207e34fba	2179	* @return Current accelerometer power-on delay
garfieldsg	0:662207e34fba	2180	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2181	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
garfieldsg	0:662207e34fba	2182	*/
syundo0730	6:f38dfe62d74c	2183	uint8_t MPU6050::getAccelerometerPowerOnDelay() {
syundo0730	6:f38dfe62d74c	2184	i2cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
garfieldsg	0:662207e34fba	2185	return buffer[0];
garfieldsg	0:662207e34fba	2186	}
garfieldsg	0:662207e34fba	2187	/** Set accelerometer power-on delay.
garfieldsg	0:662207e34fba	2188	* @param delay New accelerometer power-on delay (0-3)
garfieldsg	0:662207e34fba	2189	* @see getAccelerometerPowerOnDelay()
garfieldsg	0:662207e34fba	2190	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2191	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
garfieldsg	0:662207e34fba	2192	*/
syundo0730	6:f38dfe62d74c	2193	void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay) {
syundo0730	6:f38dfe62d74c	2194	i2cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
garfieldsg	0:662207e34fba	2195	}
garfieldsg	0:662207e34fba	2196	/** Get Free Fall detection counter decrement configuration.
garfieldsg	0:662207e34fba	2197	* Detection is registered by the Free Fall detection module after accelerometer
garfieldsg	0:662207e34fba	2198	* measurements meet their respective threshold conditions over a specified
garfieldsg	0:662207e34fba	2199	* number of samples. When the threshold conditions are met, the corresponding
garfieldsg	0:662207e34fba	2200	* detection counter increments by 1. The user may control the rate at which the
garfieldsg	0:662207e34fba	2201	* detection counter decrements when the threshold condition is not met by
garfieldsg	0:662207e34fba	2202	* configuring FF_COUNT. The decrement rate can be set according to the
garfieldsg	0:662207e34fba	2203	* following table:
garfieldsg	0:662207e34fba	2204	*
garfieldsg	0:662207e34fba	2205	* <pre>
garfieldsg	0:662207e34fba	2206	* FF_COUNT \| Counter Decrement
garfieldsg	0:662207e34fba	2207	* ---------+------------------
garfieldsg	0:662207e34fba	2208	* 0 \| Reset
garfieldsg	0:662207e34fba	2209	* 1 \| 1
garfieldsg	0:662207e34fba	2210	* 2 \| 2
garfieldsg	0:662207e34fba	2211	* 3 \| 4
garfieldsg	0:662207e34fba	2212	* </pre>
garfieldsg	0:662207e34fba	2213	*
garfieldsg	0:662207e34fba	2214	* When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
garfieldsg	0:662207e34fba	2215	* reset the counter to 0. For further information on Free Fall detection,
garfieldsg	0:662207e34fba	2216	* please refer to Registers 29 to 32.
garfieldsg	0:662207e34fba	2217	*
garfieldsg	0:662207e34fba	2218	* @return Current decrement configuration
garfieldsg	0:662207e34fba	2219	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2220	* @see MPU6050_DETECT_FF_COUNT_BIT
garfieldsg	0:662207e34fba	2221	*/
syundo0730	6:f38dfe62d74c	2222	uint8_t MPU6050::getFreefallDetectionCounterDecrement() {
syundo0730	6:f38dfe62d74c	2223	i2cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
garfieldsg	0:662207e34fba	2224	return buffer[0];
garfieldsg	0:662207e34fba	2225	}
garfieldsg	0:662207e34fba	2226	/** Set Free Fall detection counter decrement configuration.
garfieldsg	0:662207e34fba	2227	* @param decrement New decrement configuration value
garfieldsg	0:662207e34fba	2228	* @see getFreefallDetectionCounterDecrement()
garfieldsg	0:662207e34fba	2229	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2230	* @see MPU6050_DETECT_FF_COUNT_BIT
garfieldsg	0:662207e34fba	2231	*/
syundo0730	6:f38dfe62d74c	2232	void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement) {
syundo0730	6:f38dfe62d74c	2233	i2cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
garfieldsg	0:662207e34fba	2234	}
garfieldsg	0:662207e34fba	2235	/** Get Motion detection counter decrement configuration.
garfieldsg	0:662207e34fba	2236	* Detection is registered by the Motion detection module after accelerometer
garfieldsg	0:662207e34fba	2237	* measurements meet their respective threshold conditions over a specified
garfieldsg	0:662207e34fba	2238	* number of samples. When the threshold conditions are met, the corresponding
garfieldsg	0:662207e34fba	2239	* detection counter increments by 1. The user may control the rate at which the
garfieldsg	0:662207e34fba	2240	* detection counter decrements when the threshold condition is not met by
garfieldsg	0:662207e34fba	2241	* configuring MOT_COUNT. The decrement rate can be set according to the
garfieldsg	0:662207e34fba	2242	* following table:
garfieldsg	0:662207e34fba	2243	*
garfieldsg	0:662207e34fba	2244	* <pre>
garfieldsg	0:662207e34fba	2245	* MOT_COUNT \| Counter Decrement
garfieldsg	0:662207e34fba	2246	* ----------+------------------
garfieldsg	0:662207e34fba	2247	* 0 \| Reset
garfieldsg	0:662207e34fba	2248	* 1 \| 1
garfieldsg	0:662207e34fba	2249	* 2 \| 2
garfieldsg	0:662207e34fba	2250	* 3 \| 4
garfieldsg	0:662207e34fba	2251	* </pre>
garfieldsg	0:662207e34fba	2252	*
garfieldsg	0:662207e34fba	2253	* When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
garfieldsg	0:662207e34fba	2254	* reset the counter to 0. For further information on Motion detection,
garfieldsg	0:662207e34fba	2255	* please refer to Registers 29 to 32.
garfieldsg	0:662207e34fba	2256	*
garfieldsg	0:662207e34fba	2257	*/
syundo0730	6:f38dfe62d74c	2258	uint8_t MPU6050::getMotionDetectionCounterDecrement() {
syundo0730	6:f38dfe62d74c	2259	i2cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
garfieldsg	0:662207e34fba	2260	return buffer[0];
garfieldsg	0:662207e34fba	2261	}
garfieldsg	0:662207e34fba	2262	/** Set Motion detection counter decrement configuration.
garfieldsg	0:662207e34fba	2263	* @param decrement New decrement configuration value
garfieldsg	0:662207e34fba	2264	* @see getMotionDetectionCounterDecrement()
garfieldsg	0:662207e34fba	2265	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2266	* @see MPU6050_DETECT_MOT_COUNT_BIT
garfieldsg	0:662207e34fba	2267	*/
syundo0730	6:f38dfe62d74c	2268	void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement) {
syundo0730	6:f38dfe62d74c	2269	i2cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
garfieldsg	0:662207e34fba	2270	}
garfieldsg	0:662207e34fba	2271
garfieldsg	0:662207e34fba	2272	// USER_CTRL register
garfieldsg	0:662207e34fba	2273
garfieldsg	0:662207e34fba	2274	/** Get FIFO enabled status.
garfieldsg	0:662207e34fba	2275	* When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
garfieldsg	0:662207e34fba	2276	* cannot be written to or read from while disabled. The FIFO buffer's state
garfieldsg	0:662207e34fba	2277	* does not change unless the MPU-60X0 is power cycled.
garfieldsg	0:662207e34fba	2278	* @return Current FIFO enabled status
garfieldsg	0:662207e34fba	2279	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2280	* @see MPU6050_USERCTRL_FIFO_EN_BIT
garfieldsg	0:662207e34fba	2281	*/
syundo0730	6:f38dfe62d74c	2282	bool MPU6050::getFIFOEnabled() {
syundo0730	6:f38dfe62d74c	2283	i2cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	2284	return buffer[0];
garfieldsg	0:662207e34fba	2285	}
garfieldsg	0:662207e34fba	2286	/** Set FIFO enabled status.
garfieldsg	0:662207e34fba	2287	* @param enabled New FIFO enabled status
garfieldsg	0:662207e34fba	2288	* @see getFIFOEnabled()
garfieldsg	0:662207e34fba	2289	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2290	* @see MPU6050_USERCTRL_FIFO_EN_BIT
garfieldsg	0:662207e34fba	2291	*/
syundo0730	6:f38dfe62d74c	2292	void MPU6050::setFIFOEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	2293	i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	2294	}
garfieldsg	0:662207e34fba	2295	/** Get I2C Master Mode enabled status.
garfieldsg	0:662207e34fba	2296	* When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
garfieldsg	0:662207e34fba	2297	* external sensor slave devices on the auxiliary I2C bus. When this bit is
garfieldsg	0:662207e34fba	2298	* cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
garfieldsg	0:662207e34fba	2299	* driven by the primary I2C bus (SDA and SCL). This is a precondition to
garfieldsg	0:662207e34fba	2300	* enabling Bypass Mode. For further information regarding Bypass Mode, please
garfieldsg	0:662207e34fba	2301	* refer to Register 55.
garfieldsg	0:662207e34fba	2302	* @return Current I2C Master Mode enabled status
garfieldsg	0:662207e34fba	2303	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2304	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
garfieldsg	0:662207e34fba	2305	*/
syundo0730	6:f38dfe62d74c	2306	bool MPU6050::getI2CMasterModeEnabled() {
syundo0730	6:f38dfe62d74c	2307	i2cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
garfieldsg	0:662207e34fba	2308	return buffer[0];
garfieldsg	0:662207e34fba	2309	}
garfieldsg	0:662207e34fba	2310	/** Set I2C Master Mode enabled status.
garfieldsg	0:662207e34fba	2311	* @param enabled New I2C Master Mode enabled status
garfieldsg	0:662207e34fba	2312	* @see getI2CMasterModeEnabled()
garfieldsg	0:662207e34fba	2313	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2314	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
garfieldsg	0:662207e34fba	2315	*/
syundo0730	6:f38dfe62d74c	2316	void MPU6050::setI2CMasterModeEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	2317	i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
garfieldsg	0:662207e34fba	2318	}
garfieldsg	0:662207e34fba	2319	/** Switch from I2C to SPI mode (MPU-6000 only)
garfieldsg	0:662207e34fba	2320	* If this is set, the primary SPI interface will be enabled in place of the
garfieldsg	0:662207e34fba	2321	* disabled primary I2C interface.
garfieldsg	0:662207e34fba	2322	*/
syundo0730	6:f38dfe62d74c	2323	void MPU6050::switchSPIEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	2324	i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
garfieldsg	0:662207e34fba	2325	}
garfieldsg	0:662207e34fba	2326	/** Reset the FIFO.
garfieldsg	0:662207e34fba	2327	* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
garfieldsg	0:662207e34fba	2328	* bit automatically clears to 0 after the reset has been triggered.
garfieldsg	0:662207e34fba	2329	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2330	* @see MPU6050_USERCTRL_FIFO_RESET_BIT
garfieldsg	0:662207e34fba	2331	*/
syundo0730	6:f38dfe62d74c	2332	void MPU6050::resetFIFO() {
syundo0730	6:f38dfe62d74c	2333	i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
garfieldsg	0:662207e34fba	2334	}
garfieldsg	0:662207e34fba	2335	/** Reset the I2C Master.
garfieldsg	0:662207e34fba	2336	* This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
garfieldsg	0:662207e34fba	2337	* This bit automatically clears to 0 after the reset has been triggered.
garfieldsg	0:662207e34fba	2338	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2339	* @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
garfieldsg	0:662207e34fba	2340	*/
syundo0730	6:f38dfe62d74c	2341	void MPU6050::resetI2CMaster() {
syundo0730	6:f38dfe62d74c	2342	i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
garfieldsg	0:662207e34fba	2343	}
garfieldsg	0:662207e34fba	2344	/** Reset all sensor registers and signal paths.
garfieldsg	0:662207e34fba	2345	* When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
garfieldsg	0:662207e34fba	2346	* accelerometers, and temperature sensor). This operation will also clear the
garfieldsg	0:662207e34fba	2347	* sensor registers. This bit automatically clears to 0 after the reset has been
garfieldsg	0:662207e34fba	2348	* triggered.
garfieldsg	0:662207e34fba	2349	*
garfieldsg	0:662207e34fba	2350	* When resetting only the signal path (and not the sensor registers), please
garfieldsg	0:662207e34fba	2351	* use Register 104, SIGNAL_PATH_RESET.
garfieldsg	0:662207e34fba	2352	*
garfieldsg	0:662207e34fba	2353	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2354	* @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
garfieldsg	0:662207e34fba	2355	*/
syundo0730	6:f38dfe62d74c	2356	void MPU6050::resetSensors() {
syundo0730	6:f38dfe62d74c	2357	i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
garfieldsg	0:662207e34fba	2358	}
garfieldsg	0:662207e34fba	2359
garfieldsg	0:662207e34fba	2360	// PWR_MGMT_1 register
garfieldsg	0:662207e34fba	2361
garfieldsg	0:662207e34fba	2362	/** Trigger a full device reset.
garfieldsg	0:662207e34fba	2363	* A small delay of ~50ms may be desirable after triggering a reset.
garfieldsg	0:662207e34fba	2364	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2365	* @see MPU6050_PWR1_DEVICE_RESET_BIT
garfieldsg	0:662207e34fba	2366	*/
syundo0730	6:f38dfe62d74c	2367	void MPU6050::reset() {
syundo0730	6:f38dfe62d74c	2368	i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
garfieldsg	0:662207e34fba	2369	}
garfieldsg	0:662207e34fba	2370	/** Get sleep mode status.
garfieldsg	0:662207e34fba	2371	* Setting the SLEEP bit in the register puts the device into very low power
garfieldsg	0:662207e34fba	2372	* sleep mode. In this mode, only the serial interface and internal registers
garfieldsg	0:662207e34fba	2373	* remain active, allowing for a very low standby current. Clearing this bit
garfieldsg	0:662207e34fba	2374	* puts the device back into normal mode. To save power, the individual standby
garfieldsg	0:662207e34fba	2375	* selections for each of the gyros should be used if any gyro axis is not used
garfieldsg	0:662207e34fba	2376	* by the application.
garfieldsg	0:662207e34fba	2377	* @return Current sleep mode enabled status
garfieldsg	0:662207e34fba	2378	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2379	* @see MPU6050_PWR1_SLEEP_BIT
garfieldsg	0:662207e34fba	2380	*/
syundo0730	6:f38dfe62d74c	2381	bool MPU6050::getSleepEnabled() {
syundo0730	6:f38dfe62d74c	2382	i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
garfieldsg	0:662207e34fba	2383	return buffer[0];
garfieldsg	0:662207e34fba	2384	}
garfieldsg	0:662207e34fba	2385	/** Set sleep mode status.
garfieldsg	0:662207e34fba	2386	* @param enabled New sleep mode enabled status
garfieldsg	0:662207e34fba	2387	* @see getSleepEnabled()
garfieldsg	0:662207e34fba	2388	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2389	* @see MPU6050_PWR1_SLEEP_BIT
garfieldsg	0:662207e34fba	2390	*/
syundo0730	6:f38dfe62d74c	2391	void MPU6050::setSleepEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	2392	i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
garfieldsg	0:662207e34fba	2393	}
garfieldsg	0:662207e34fba	2394	/** Get wake cycle enabled status.
garfieldsg	0:662207e34fba	2395	* When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
garfieldsg	0:662207e34fba	2396	* between sleep mode and waking up to take a single sample of data from active
garfieldsg	0:662207e34fba	2397	* sensors at a rate determined by LP_WAKE_CTRL (register 108).
garfieldsg	0:662207e34fba	2398	* @return Current sleep mode enabled status
garfieldsg	0:662207e34fba	2399	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2400	* @see MPU6050_PWR1_CYCLE_BIT
garfieldsg	0:662207e34fba	2401	*/
syundo0730	6:f38dfe62d74c	2402	bool MPU6050::getWakeCycleEnabled() {
syundo0730	6:f38dfe62d74c	2403	i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
garfieldsg	0:662207e34fba	2404	return buffer[0];
garfieldsg	0:662207e34fba	2405	}
garfieldsg	0:662207e34fba	2406	/** Set wake cycle enabled status.
garfieldsg	0:662207e34fba	2407	* @param enabled New sleep mode enabled status
garfieldsg	0:662207e34fba	2408	* @see getWakeCycleEnabled()
garfieldsg	0:662207e34fba	2409	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2410	* @see MPU6050_PWR1_CYCLE_BIT
garfieldsg	0:662207e34fba	2411	*/
syundo0730	6:f38dfe62d74c	2412	void MPU6050::setWakeCycleEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	2413	i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
garfieldsg	0:662207e34fba	2414	}
garfieldsg	0:662207e34fba	2415	/** Get temperature sensor enabled status.
garfieldsg	0:662207e34fba	2416	* Control the usage of the internal temperature sensor.
garfieldsg	0:662207e34fba	2417	*
garfieldsg	0:662207e34fba	2418	* Note: this register stores the disabled value, but for consistency with the
garfieldsg	0:662207e34fba	2419	* rest of the code, the function is named and used with standard true/false
garfieldsg	0:662207e34fba	2420	* values to indicate whether the sensor is enabled or disabled, respectively.
garfieldsg	0:662207e34fba	2421	*
garfieldsg	0:662207e34fba	2422	* @return Current temperature sensor enabled status
garfieldsg	0:662207e34fba	2423	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2424	* @see MPU6050_PWR1_TEMP_DIS_BIT
garfieldsg	0:662207e34fba	2425	*/
syundo0730	6:f38dfe62d74c	2426	bool MPU6050::getTempSensorEnabled() {
syundo0730	6:f38dfe62d74c	2427	i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
garfieldsg	0:662207e34fba	2428	return buffer[0] == 0; // 1 is actually disabled here
garfieldsg	0:662207e34fba	2429	}
garfieldsg	0:662207e34fba	2430	/** Set temperature sensor enabled status.
garfieldsg	0:662207e34fba	2431	* Note: this register stores the disabled value, but for consistency with the
garfieldsg	0:662207e34fba	2432	* rest of the code, the function is named and used with standard true/false
garfieldsg	0:662207e34fba	2433	* values to indicate whether the sensor is enabled or disabled, respectively.
garfieldsg	0:662207e34fba	2434	*
garfieldsg	0:662207e34fba	2435	* @param enabled New temperature sensor enabled status
garfieldsg	0:662207e34fba	2436	* @see getTempSensorEnabled()
garfieldsg	0:662207e34fba	2437	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2438	* @see MPU6050_PWR1_TEMP_DIS_BIT
garfieldsg	0:662207e34fba	2439	*/
syundo0730	6:f38dfe62d74c	2440	void MPU6050::setTempSensorEnabled(bool enabled) {
garfieldsg	0:662207e34fba	2441	// 1 is actually disabled here
syundo0730	6:f38dfe62d74c	2442	i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
garfieldsg	0:662207e34fba	2443	}
garfieldsg	0:662207e34fba	2444	/** Get clock source setting.
garfieldsg	0:662207e34fba	2445	* @return Current clock source setting
garfieldsg	0:662207e34fba	2446	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2447	* @see MPU6050_PWR1_CLKSEL_BIT
garfieldsg	0:662207e34fba	2448	* @see MPU6050_PWR1_CLKSEL_LENGTH
garfieldsg	0:662207e34fba	2449	*/
syundo0730	6:f38dfe62d74c	2450	uint8_t MPU6050::getClockSource() {
syundo0730	6:f38dfe62d74c	2451	i2cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
garfieldsg	0:662207e34fba	2452	return buffer[0];
garfieldsg	0:662207e34fba	2453	}
garfieldsg	0:662207e34fba	2454	/** Set clock source setting.
garfieldsg	0:662207e34fba	2455	* An internal 8MHz oscillator, gyroscope based clock, or external sources can
garfieldsg	0:662207e34fba	2456	* be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
garfieldsg	0:662207e34fba	2457	* or an external source is chosen as the clock source, the MPU-60X0 can operate
garfieldsg	0:662207e34fba	2458	* in low power modes with the gyroscopes disabled.
garfieldsg	0:662207e34fba	2459	*
garfieldsg	0:662207e34fba	2460	* Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
garfieldsg	0:662207e34fba	2461	* However, it is highly recommended that the device be configured to use one of
garfieldsg	0:662207e34fba	2462	* the gyroscopes (or an external clock source) as the clock reference for
garfieldsg	0:662207e34fba	2463	* improved stability. The clock source can be selected according to the following table:
garfieldsg	0:662207e34fba	2464	*
garfieldsg	0:662207e34fba	2465	* <pre>
garfieldsg	0:662207e34fba	2466	* CLK_SEL \| Clock Source
garfieldsg	0:662207e34fba	2467	* --------+--------------------------------------
garfieldsg	0:662207e34fba	2468	* 0 \| Internal oscillator
garfieldsg	0:662207e34fba	2469	* 1 \| PLL with X Gyro reference
garfieldsg	0:662207e34fba	2470	* 2 \| PLL with Y Gyro reference
garfieldsg	0:662207e34fba	2471	* 3 \| PLL with Z Gyro reference
garfieldsg	0:662207e34fba	2472	* 4 \| PLL with external 32.768kHz reference
garfieldsg	0:662207e34fba	2473	* 5 \| PLL with external 19.2MHz reference
garfieldsg	0:662207e34fba	2474	* 6 \| Reserved
garfieldsg	0:662207e34fba	2475	* 7 \| Stops the clock and keeps the timing generator in reset
garfieldsg	0:662207e34fba	2476	* </pre>
garfieldsg	0:662207e34fba	2477	*
garfieldsg	0:662207e34fba	2478	* @param source New clock source setting
garfieldsg	0:662207e34fba	2479	* @see getClockSource()
garfieldsg	0:662207e34fba	2480	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2481	* @see MPU6050_PWR1_CLKSEL_BIT
garfieldsg	0:662207e34fba	2482	* @see MPU6050_PWR1_CLKSEL_LENGTH
garfieldsg	0:662207e34fba	2483	*/
syundo0730	6:f38dfe62d74c	2484	void MPU6050::setClockSource(uint8_t source) {
syundo0730	6:f38dfe62d74c	2485	i2cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
garfieldsg	0:662207e34fba	2486	}
garfieldsg	0:662207e34fba	2487
garfieldsg	0:662207e34fba	2488	// PWR_MGMT_2 register
garfieldsg	0:662207e34fba	2489
garfieldsg	0:662207e34fba	2490	/** Get wake frequency in Accel-Only Low Power Mode.
garfieldsg	0:662207e34fba	2491	* The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
garfieldsg	0:662207e34fba	2492	* PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
garfieldsg	0:662207e34fba	2493	* the device will power off all devices except for the primary I2C interface,
garfieldsg	0:662207e34fba	2494	* waking only the accelerometer at fixed intervals to take a single
garfieldsg	0:662207e34fba	2495	* measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
garfieldsg	0:662207e34fba	2496	* as shown below:
garfieldsg	0:662207e34fba	2497	*
garfieldsg	0:662207e34fba	2498	* <pre>
garfieldsg	0:662207e34fba	2499	* LP_WAKE_CTRL \| Wake-up Frequency
garfieldsg	0:662207e34fba	2500	* -------------+------------------
garfieldsg	0:662207e34fba	2501	* 0 \| 1.25 Hz
garfieldsg	0:662207e34fba	2502	* 1 \| 2.5 Hz
garfieldsg	0:662207e34fba	2503	* 2 \| 5 Hz
garfieldsg	0:662207e34fba	2504	* 3 \| 10 Hz
garfieldsg	0:662207e34fba	2505	* <pre>
garfieldsg	0:662207e34fba	2506	*
garfieldsg	0:662207e34fba	2507	* For further information regarding the MPU-60X0's power modes, please refer to
garfieldsg	0:662207e34fba	2508	* Register 107.
garfieldsg	0:662207e34fba	2509	*
garfieldsg	0:662207e34fba	2510	* @return Current wake frequency
garfieldsg	0:662207e34fba	2511	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2512	*/
syundo0730	6:f38dfe62d74c	2513	uint8_t MPU6050::getWakeFrequency() {
syundo0730	6:f38dfe62d74c	2514	i2cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
garfieldsg	0:662207e34fba	2515	return buffer[0];
garfieldsg	0:662207e34fba	2516	}
garfieldsg	0:662207e34fba	2517	/** Set wake frequency in Accel-Only Low Power Mode.
garfieldsg	0:662207e34fba	2518	* @param frequency New wake frequency
garfieldsg	0:662207e34fba	2519	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2520	*/
syundo0730	6:f38dfe62d74c	2521	void MPU6050::setWakeFrequency(uint8_t frequency) {
syundo0730	6:f38dfe62d74c	2522	i2cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
garfieldsg	0:662207e34fba	2523	}
garfieldsg	0:662207e34fba	2524
garfieldsg	0:662207e34fba	2525	/** Get X-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2526	* If enabled, the X-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2527	* @return Current X-axis standby enabled status
garfieldsg	0:662207e34fba	2528	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2529	* @see MPU6050_PWR2_STBY_XA_BIT
garfieldsg	0:662207e34fba	2530	*/
syundo0730	6:f38dfe62d74c	2531	bool MPU6050::getStandbyXAccelEnabled() {
syundo0730	6:f38dfe62d74c	2532	i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
garfieldsg	0:662207e34fba	2533	return buffer[0];
garfieldsg	0:662207e34fba	2534	}
garfieldsg	0:662207e34fba	2535	/** Set X-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2536	* @param New X-axis standby enabled status
garfieldsg	0:662207e34fba	2537	* @see getStandbyXAccelEnabled()
garfieldsg	0:662207e34fba	2538	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2539	* @see MPU6050_PWR2_STBY_XA_BIT
garfieldsg	0:662207e34fba	2540	*/
syundo0730	6:f38dfe62d74c	2541	void MPU6050::setStandbyXAccelEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	2542	i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
garfieldsg	0:662207e34fba	2543	}
garfieldsg	0:662207e34fba	2544	/** Get Y-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2545	* If enabled, the Y-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2546	* @return Current Y-axis standby enabled status
garfieldsg	0:662207e34fba	2547	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2548	* @see MPU6050_PWR2_STBY_YA_BIT
garfieldsg	0:662207e34fba	2549	*/
syundo0730	6:f38dfe62d74c	2550	bool MPU6050::getStandbyYAccelEnabled() {
syundo0730	6:f38dfe62d74c	2551	i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
garfieldsg	0:662207e34fba	2552	return buffer[0];
garfieldsg	0:662207e34fba	2553	}
garfieldsg	0:662207e34fba	2554	/** Set Y-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2555	* @param New Y-axis standby enabled status
garfieldsg	0:662207e34fba	2556	* @see getStandbyYAccelEnabled()
garfieldsg	0:662207e34fba	2557	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2558	* @see MPU6050_PWR2_STBY_YA_BIT
garfieldsg	0:662207e34fba	2559	*/
syundo0730	6:f38dfe62d74c	2560	void MPU6050::setStandbyYAccelEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	2561	i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
garfieldsg	0:662207e34fba	2562	}
garfieldsg	0:662207e34fba	2563	/** Get Z-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2564	* If enabled, the Z-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2565	* @return Current Z-axis standby enabled status
garfieldsg	0:662207e34fba	2566	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2567	* @see MPU6050_PWR2_STBY_ZA_BIT
garfieldsg	0:662207e34fba	2568	*/
syundo0730	6:f38dfe62d74c	2569	bool MPU6050::getStandbyZAccelEnabled() {
syundo0730	6:f38dfe62d74c	2570	i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
garfieldsg	0:662207e34fba	2571	return buffer[0];
garfieldsg	0:662207e34fba	2572	}
garfieldsg	0:662207e34fba	2573	/** Set Z-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2574	* @param New Z-axis standby enabled status
garfieldsg	0:662207e34fba	2575	* @see getStandbyZAccelEnabled()
garfieldsg	0:662207e34fba	2576	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2577	* @see MPU6050_PWR2_STBY_ZA_BIT
garfieldsg	0:662207e34fba	2578	*/
syundo0730	6:f38dfe62d74c	2579	void MPU6050::setStandbyZAccelEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	2580	i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
garfieldsg	0:662207e34fba	2581	}
garfieldsg	0:662207e34fba	2582	/** Get X-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2583	* If enabled, the X-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2584	* @return Current X-axis standby enabled status
garfieldsg	0:662207e34fba	2585	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2586	* @see MPU6050_PWR2_STBY_XG_BIT
garfieldsg	0:662207e34fba	2587	*/
syundo0730	6:f38dfe62d74c	2588	bool MPU6050::getStandbyXGyroEnabled() {
syundo0730	6:f38dfe62d74c	2589	i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
garfieldsg	0:662207e34fba	2590	return buffer[0];
garfieldsg	0:662207e34fba	2591	}
garfieldsg	0:662207e34fba	2592	/** Set X-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2593	* @param New X-axis standby enabled status
garfieldsg	0:662207e34fba	2594	* @see getStandbyXGyroEnabled()
garfieldsg	0:662207e34fba	2595	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2596	* @see MPU6050_PWR2_STBY_XG_BIT
garfieldsg	0:662207e34fba	2597	*/
syundo0730	6:f38dfe62d74c	2598	void MPU6050::setStandbyXGyroEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	2599	i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
garfieldsg	0:662207e34fba	2600	}
garfieldsg	0:662207e34fba	2601	/** Get Y-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2602	* If enabled, the Y-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2603	* @return Current Y-axis standby enabled status
garfieldsg	0:662207e34fba	2604	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2605	* @see MPU6050_PWR2_STBY_YG_BIT
garfieldsg	0:662207e34fba	2606	*/
syundo0730	6:f38dfe62d74c	2607	bool MPU6050::getStandbyYGyroEnabled() {
syundo0730	6:f38dfe62d74c	2608	i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
garfieldsg	0:662207e34fba	2609	return buffer[0];
garfieldsg	0:662207e34fba	2610	}
garfieldsg	0:662207e34fba	2611	/** Set Y-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2612	* @param New Y-axis standby enabled status
garfieldsg	0:662207e34fba	2613	* @see getStandbyYGyroEnabled()
garfieldsg	0:662207e34fba	2614	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2615	* @see MPU6050_PWR2_STBY_YG_BIT
garfieldsg	0:662207e34fba	2616	*/
syundo0730	6:f38dfe62d74c	2617	void MPU6050::setStandbyYGyroEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	2618	i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
garfieldsg	0:662207e34fba	2619	}
garfieldsg	0:662207e34fba	2620	/** Get Z-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2621	* If enabled, the Z-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2622	* @return Current Z-axis standby enabled status
garfieldsg	0:662207e34fba	2623	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2624	* @see MPU6050_PWR2_STBY_ZG_BIT
garfieldsg	0:662207e34fba	2625	*/
syundo0730	6:f38dfe62d74c	2626	bool MPU6050::getStandbyZGyroEnabled() {
syundo0730	6:f38dfe62d74c	2627	i2cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
garfieldsg	0:662207e34fba	2628	return buffer[0];
garfieldsg	0:662207e34fba	2629	}
garfieldsg	0:662207e34fba	2630	/** Set Z-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2631	* @param New Z-axis standby enabled status
garfieldsg	0:662207e34fba	2632	* @see getStandbyZGyroEnabled()
garfieldsg	0:662207e34fba	2633	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2634	* @see MPU6050_PWR2_STBY_ZG_BIT
garfieldsg	0:662207e34fba	2635	*/
syundo0730	6:f38dfe62d74c	2636	void MPU6050::setStandbyZGyroEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	2637	i2cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
garfieldsg	0:662207e34fba	2638	}
garfieldsg	0:662207e34fba	2639
garfieldsg	0:662207e34fba	2640	// FIFO_COUNT* registers
garfieldsg	0:662207e34fba	2641
garfieldsg	0:662207e34fba	2642	/** Get current FIFO buffer size.
garfieldsg	0:662207e34fba	2643	* This value indicates the number of bytes stored in the FIFO buffer. This
garfieldsg	0:662207e34fba	2644	* number is in turn the number of bytes that can be read from the FIFO buffer
garfieldsg	0:662207e34fba	2645	* and it is directly proportional to the number of samples available given the
garfieldsg	0:662207e34fba	2646	* set of sensor data bound to be stored in the FIFO (register 35 and 36).
garfieldsg	0:662207e34fba	2647	* @return Current FIFO buffer size
garfieldsg	0:662207e34fba	2648	*/
syundo0730	6:f38dfe62d74c	2649	uint16_t MPU6050::getFIFOCount() {
syundo0730	6:f38dfe62d74c	2650	i2cdev.readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
garfieldsg	0:662207e34fba	2651	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2652	}
garfieldsg	0:662207e34fba	2653
garfieldsg	0:662207e34fba	2654	// FIFO_R_W register
garfieldsg	0:662207e34fba	2655
garfieldsg	0:662207e34fba	2656	/** Get byte from FIFO buffer.
garfieldsg	0:662207e34fba	2657	* This register is used to read and write data from the FIFO buffer. Data is
garfieldsg	0:662207e34fba	2658	* written to the FIFO in order of register number (from lowest to highest). If
garfieldsg	0:662207e34fba	2659	* all the FIFO enable flags (see below) are enabled and all External Sensor
garfieldsg	0:662207e34fba	2660	* Data registers (Registers 73 to 96) are associated with a Slave device, the
garfieldsg	0:662207e34fba	2661	* contents of registers 59 through 96 will be written in order at the Sample
garfieldsg	0:662207e34fba	2662	* Rate.
garfieldsg	0:662207e34fba	2663	*
garfieldsg	0:662207e34fba	2664	* The contents of the sensor data registers (Registers 59 to 96) are written
garfieldsg	0:662207e34fba	2665	* into the FIFO buffer when their corresponding FIFO enable flags are set to 1
garfieldsg	0:662207e34fba	2666	* in FIFO_EN (Register 35). An additional flag for the sensor data registers
garfieldsg	0:662207e34fba	2667	* associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
garfieldsg	0:662207e34fba	2668	*
garfieldsg	0:662207e34fba	2669	* If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
garfieldsg	0:662207e34fba	2670	* automatically set to 1. This bit is located in INT_STATUS (Register 58).
garfieldsg	0:662207e34fba	2671	* When the FIFO buffer has overflowed, the oldest data will be lost and new
garfieldsg	0:662207e34fba	2672	* data will be written to the FIFO.
garfieldsg	0:662207e34fba	2673	*
garfieldsg	0:662207e34fba	2674	* If the FIFO buffer is empty, reading this register will return the last byte
garfieldsg	0:662207e34fba	2675	* that was previously read from the FIFO until new data is available. The user
garfieldsg	0:662207e34fba	2676	* should check FIFO_COUNT to ensure that the FIFO buffer is not read when
garfieldsg	0:662207e34fba	2677	* empty.
garfieldsg	0:662207e34fba	2678	*
garfieldsg	0:662207e34fba	2679	* @return Byte from FIFO buffer
garfieldsg	0:662207e34fba	2680	*/
syundo0730	6:f38dfe62d74c	2681	uint8_t MPU6050::getFIFOByte() {
syundo0730	6:f38dfe62d74c	2682	i2cdev.readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
garfieldsg	0:662207e34fba	2683	return buffer[0];
garfieldsg	0:662207e34fba	2684	}
syundo0730	6:f38dfe62d74c	2685	void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) {
syundo0730	6:f38dfe62d74c	2686	i2cdev.readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
garfieldsg	0:662207e34fba	2687	}
garfieldsg	0:662207e34fba	2688	/** Write byte to FIFO buffer.
garfieldsg	0:662207e34fba	2689	* @see getFIFOByte()
garfieldsg	0:662207e34fba	2690	* @see MPU6050_RA_FIFO_R_W
garfieldsg	0:662207e34fba	2691	*/
syundo0730	6:f38dfe62d74c	2692	void MPU6050::setFIFOByte(uint8_t data) {
syundo0730	6:f38dfe62d74c	2693	i2cdev.writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
garfieldsg	0:662207e34fba	2694	}
garfieldsg	0:662207e34fba	2695
garfieldsg	0:662207e34fba	2696	// WHO_AM_I register
garfieldsg	0:662207e34fba	2697
garfieldsg	0:662207e34fba	2698	/** Get Device ID.
garfieldsg	0:662207e34fba	2699	* This register is used to verify the identity of the device (0b110100, 0x34).
garfieldsg	0:662207e34fba	2700	* @return Device ID (6 bits only! should be 0x34)
garfieldsg	0:662207e34fba	2701	* @see MPU6050_RA_WHO_AM_I
garfieldsg	0:662207e34fba	2702	* @see MPU6050_WHO_AM_I_BIT
garfieldsg	0:662207e34fba	2703	* @see MPU6050_WHO_AM_I_LENGTH
garfieldsg	0:662207e34fba	2704	*/
syundo0730	6:f38dfe62d74c	2705	uint8_t MPU6050::getDeviceID() {
syundo0730	6:f38dfe62d74c	2706	i2cdev.readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
garfieldsg	0:662207e34fba	2707	return buffer[0];
garfieldsg	0:662207e34fba	2708	}
garfieldsg	0:662207e34fba	2709	/** Set Device ID.
garfieldsg	0:662207e34fba	2710	* Write a new ID into the WHO_AM_I register (no idea why this should ever be
garfieldsg	0:662207e34fba	2711	* necessary though).
garfieldsg	0:662207e34fba	2712	* @param id New device ID to set.
garfieldsg	0:662207e34fba	2713	* @see getDeviceID()
garfieldsg	0:662207e34fba	2714	* @see MPU6050_RA_WHO_AM_I
garfieldsg	0:662207e34fba	2715	* @see MPU6050_WHO_AM_I_BIT
garfieldsg	0:662207e34fba	2716	* @see MPU6050_WHO_AM_I_LENGTH
garfieldsg	0:662207e34fba	2717	*/
syundo0730	6:f38dfe62d74c	2718	void MPU6050::setDeviceID(uint8_t id) {
syundo0730	6:f38dfe62d74c	2719	i2cdev.writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
garfieldsg	0:662207e34fba	2720	}
garfieldsg	0:662207e34fba	2721
garfieldsg	0:662207e34fba	2722	// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
garfieldsg	0:662207e34fba	2723
garfieldsg	0:662207e34fba	2724	// XG_OFFS_TC register
garfieldsg	0:662207e34fba	2725
syundo0730	6:f38dfe62d74c	2726	uint8_t MPU6050::getOTPBankValid() {
syundo0730	6:f38dfe62d74c	2727	i2cdev.readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
garfieldsg	0:662207e34fba	2728	return buffer[0];
garfieldsg	0:662207e34fba	2729	}
syundo0730	6:f38dfe62d74c	2730	void MPU6050::setOTPBankValid(bool enabled) {
syundo0730	6:f38dfe62d74c	2731	i2cdev.writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
garfieldsg	0:662207e34fba	2732	}
syundo0730	6:f38dfe62d74c	2733	int8_t MPU6050::getXGyroOffsetTC() {
syundo0730	6:f38dfe62d74c	2734	i2cdev.readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
garfieldsg	0:662207e34fba	2735	return buffer[0];
garfieldsg	0:662207e34fba	2736	}
syundo0730	6:f38dfe62d74c	2737	void MPU6050::setXGyroOffsetTC(int8_t offset) {
syundo0730	6:f38dfe62d74c	2738	i2cdev.writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
garfieldsg	0:662207e34fba	2739	}
garfieldsg	0:662207e34fba	2740
garfieldsg	0:662207e34fba	2741	// YG_OFFS_TC register
garfieldsg	0:662207e34fba	2742
syundo0730	6:f38dfe62d74c	2743	int8_t MPU6050::getYGyroOffsetTC() {
syundo0730	6:f38dfe62d74c	2744	i2cdev.readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
garfieldsg	0:662207e34fba	2745	return buffer[0];
garfieldsg	0:662207e34fba	2746	}
syundo0730	6:f38dfe62d74c	2747	void MPU6050::setYGyroOffsetTC(int8_t offset) {
syundo0730	6:f38dfe62d74c	2748	i2cdev.writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
garfieldsg	0:662207e34fba	2749	}
garfieldsg	0:662207e34fba	2750
garfieldsg	0:662207e34fba	2751	// ZG_OFFS_TC register
garfieldsg	0:662207e34fba	2752
syundo0730	6:f38dfe62d74c	2753	int8_t MPU6050::getZGyroOffsetTC() {
syundo0730	6:f38dfe62d74c	2754	i2cdev.readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
garfieldsg	0:662207e34fba	2755	return buffer[0];
garfieldsg	0:662207e34fba	2756	}
syundo0730	6:f38dfe62d74c	2757	void MPU6050::setZGyroOffsetTC(int8_t offset) {
syundo0730	6:f38dfe62d74c	2758	i2cdev.writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
garfieldsg	0:662207e34fba	2759	}
garfieldsg	0:662207e34fba	2760
garfieldsg	0:662207e34fba	2761	// X_FINE_GAIN register
garfieldsg	0:662207e34fba	2762
syundo0730	6:f38dfe62d74c	2763	int8_t MPU6050::getXFineGain() {
syundo0730	6:f38dfe62d74c	2764	i2cdev.readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
garfieldsg	0:662207e34fba	2765	return buffer[0];
garfieldsg	0:662207e34fba	2766	}
syundo0730	6:f38dfe62d74c	2767	void MPU6050::setXFineGain(int8_t gain) {
syundo0730	6:f38dfe62d74c	2768	i2cdev.writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
garfieldsg	0:662207e34fba	2769	}
garfieldsg	0:662207e34fba	2770
garfieldsg	0:662207e34fba	2771	// Y_FINE_GAIN register
garfieldsg	0:662207e34fba	2772
syundo0730	6:f38dfe62d74c	2773	int8_t MPU6050::getYFineGain() {
syundo0730	6:f38dfe62d74c	2774	i2cdev.readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
garfieldsg	0:662207e34fba	2775	return buffer[0];
garfieldsg	0:662207e34fba	2776	}
syundo0730	6:f38dfe62d74c	2777	void MPU6050::setYFineGain(int8_t gain) {
syundo0730	6:f38dfe62d74c	2778	i2cdev.writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
garfieldsg	0:662207e34fba	2779	}
garfieldsg	0:662207e34fba	2780
garfieldsg	0:662207e34fba	2781	// Z_FINE_GAIN register
garfieldsg	0:662207e34fba	2782
syundo0730	6:f38dfe62d74c	2783	int8_t MPU6050::getZFineGain() {
syundo0730	6:f38dfe62d74c	2784	i2cdev.readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
garfieldsg	0:662207e34fba	2785	return buffer[0];
garfieldsg	0:662207e34fba	2786	}
syundo0730	6:f38dfe62d74c	2787	void MPU6050::setZFineGain(int8_t gain) {
syundo0730	6:f38dfe62d74c	2788	i2cdev.writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
garfieldsg	0:662207e34fba	2789	}
garfieldsg	0:662207e34fba	2790
garfieldsg	0:662207e34fba	2791	// XA_OFFS_* registers
garfieldsg	0:662207e34fba	2792
syundo0730	6:f38dfe62d74c	2793	int16_t MPU6050::getXAccelOffset() {
syundo0730	6:f38dfe62d74c	2794	i2cdev.readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
garfieldsg	0:662207e34fba	2795	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2796	}
syundo0730	6:f38dfe62d74c	2797	void MPU6050::setXAccelOffset(int16_t offset) {
syundo0730	6:f38dfe62d74c	2798	i2cdev.writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
garfieldsg	0:662207e34fba	2799	}
garfieldsg	0:662207e34fba	2800
garfieldsg	0:662207e34fba	2801	// YA_OFFS_* register
garfieldsg	0:662207e34fba	2802
syundo0730	6:f38dfe62d74c	2803	int16_t MPU6050::getYAccelOffset() {
syundo0730	6:f38dfe62d74c	2804	i2cdev.readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
garfieldsg	0:662207e34fba	2805	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2806	}
syundo0730	6:f38dfe62d74c	2807	void MPU6050::setYAccelOffset(int16_t offset) {
syundo0730	6:f38dfe62d74c	2808	i2cdev.writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
garfieldsg	0:662207e34fba	2809	}
garfieldsg	0:662207e34fba	2810
garfieldsg	0:662207e34fba	2811	// ZA_OFFS_* register
garfieldsg	0:662207e34fba	2812
syundo0730	6:f38dfe62d74c	2813	int16_t MPU6050::getZAccelOffset() {
syundo0730	6:f38dfe62d74c	2814	i2cdev.readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
garfieldsg	0:662207e34fba	2815	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2816	}
syundo0730	6:f38dfe62d74c	2817	void MPU6050::setZAccelOffset(int16_t offset) {
syundo0730	6:f38dfe62d74c	2818	i2cdev.writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
garfieldsg	0:662207e34fba	2819	}
garfieldsg	0:662207e34fba	2820
garfieldsg	0:662207e34fba	2821	// XG_OFFS_USR* registers
garfieldsg	0:662207e34fba	2822
syundo0730	6:f38dfe62d74c	2823	int16_t MPU6050::getXGyroOffset() {
syundo0730	6:f38dfe62d74c	2824	i2cdev.readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
garfieldsg	0:662207e34fba	2825	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2826	}
syundo0730	6:f38dfe62d74c	2827	void MPU6050::setXGyroOffset(int16_t offset) {
syundo0730	6:f38dfe62d74c	2828	i2cdev.writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
garfieldsg	0:662207e34fba	2829	}
garfieldsg	0:662207e34fba	2830
garfieldsg	0:662207e34fba	2831	// YG_OFFS_USR* register
garfieldsg	0:662207e34fba	2832
syundo0730	6:f38dfe62d74c	2833	int16_t MPU6050::getYGyroOffset() {
syundo0730	6:f38dfe62d74c	2834	i2cdev.readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
garfieldsg	0:662207e34fba	2835	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2836	}
syundo0730	6:f38dfe62d74c	2837	void MPU6050::setYGyroOffset(int16_t offset) {
syundo0730	6:f38dfe62d74c	2838	i2cdev.writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
garfieldsg	0:662207e34fba	2839	}
garfieldsg	0:662207e34fba	2840
garfieldsg	0:662207e34fba	2841	// ZG_OFFS_USR* register
garfieldsg	0:662207e34fba	2842
syundo0730	6:f38dfe62d74c	2843	int16_t MPU6050::getZGyroOffset() {
syundo0730	6:f38dfe62d74c	2844	i2cdev.readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
garfieldsg	0:662207e34fba	2845	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2846	}
syundo0730	6:f38dfe62d74c	2847	void MPU6050::setZGyroOffset(int16_t offset) {
syundo0730	6:f38dfe62d74c	2848	i2cdev.writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
garfieldsg	0:662207e34fba	2849	}
garfieldsg	0:662207e34fba	2850
garfieldsg	0:662207e34fba	2851	// INT_ENABLE register (DMP functions)
garfieldsg	0:662207e34fba	2852
syundo0730	6:f38dfe62d74c	2853	bool MPU6050::getIntPLLReadyEnabled() {
syundo0730	6:f38dfe62d74c	2854	i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
garfieldsg	0:662207e34fba	2855	return buffer[0];
garfieldsg	0:662207e34fba	2856	}
syundo0730	6:f38dfe62d74c	2857	void MPU6050::setIntPLLReadyEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	2858	i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
garfieldsg	0:662207e34fba	2859	}
syundo0730	6:f38dfe62d74c	2860	bool MPU6050::getIntDMPEnabled() {
syundo0730	6:f38dfe62d74c	2861	i2cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
garfieldsg	0:662207e34fba	2862	return buffer[0];
garfieldsg	0:662207e34fba	2863	}
syundo0730	6:f38dfe62d74c	2864	void MPU6050::setIntDMPEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	2865	i2cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
garfieldsg	0:662207e34fba	2866	}
garfieldsg	0:662207e34fba	2867
garfieldsg	0:662207e34fba	2868	// DMP_INT_STATUS
garfieldsg	0:662207e34fba	2869
syundo0730	6:f38dfe62d74c	2870	bool MPU6050::getDMPInt5Status() {
syundo0730	6:f38dfe62d74c	2871	i2cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
garfieldsg	0:662207e34fba	2872	return buffer[0];
garfieldsg	0:662207e34fba	2873	}
syundo0730	6:f38dfe62d74c	2874	bool MPU6050::getDMPInt4Status() {
syundo0730	6:f38dfe62d74c	2875	i2cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
garfieldsg	0:662207e34fba	2876	return buffer[0];
garfieldsg	0:662207e34fba	2877	}
syundo0730	6:f38dfe62d74c	2878	bool MPU6050::getDMPInt3Status() {
syundo0730	6:f38dfe62d74c	2879	i2cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
garfieldsg	0:662207e34fba	2880	return buffer[0];
garfieldsg	0:662207e34fba	2881	}
syundo0730	6:f38dfe62d74c	2882	bool MPU6050::getDMPInt2Status() {
syundo0730	6:f38dfe62d74c	2883	i2cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
garfieldsg	0:662207e34fba	2884	return buffer[0];
garfieldsg	0:662207e34fba	2885	}
syundo0730	6:f38dfe62d74c	2886	bool MPU6050::getDMPInt1Status() {
syundo0730	6:f38dfe62d74c	2887	i2cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
garfieldsg	0:662207e34fba	2888	return buffer[0];
garfieldsg	0:662207e34fba	2889	}
syundo0730	6:f38dfe62d74c	2890	bool MPU6050::getDMPInt0Status() {
syundo0730	6:f38dfe62d74c	2891	i2cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
garfieldsg	0:662207e34fba	2892	return buffer[0];
garfieldsg	0:662207e34fba	2893	}
garfieldsg	0:662207e34fba	2894
garfieldsg	0:662207e34fba	2895	// INT_STATUS register (DMP functions)
garfieldsg	0:662207e34fba	2896
syundo0730	6:f38dfe62d74c	2897	bool MPU6050::getIntPLLReadyStatus() {
syundo0730	6:f38dfe62d74c	2898	i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
garfieldsg	0:662207e34fba	2899	return buffer[0];
garfieldsg	0:662207e34fba	2900	}
syundo0730	6:f38dfe62d74c	2901	bool MPU6050::getIntDMPStatus() {
syundo0730	6:f38dfe62d74c	2902	i2cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
garfieldsg	0:662207e34fba	2903	return buffer[0];
garfieldsg	0:662207e34fba	2904	}
garfieldsg	0:662207e34fba	2905
garfieldsg	0:662207e34fba	2906	// USER_CTRL register (DMP functions)
garfieldsg	0:662207e34fba	2907
syundo0730	6:f38dfe62d74c	2908	bool MPU6050::getDMPEnabled() {
syundo0730	6:f38dfe62d74c	2909	i2cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
garfieldsg	0:662207e34fba	2910	return buffer[0];
garfieldsg	0:662207e34fba	2911	}
syundo0730	6:f38dfe62d74c	2912	void MPU6050::setDMPEnabled(bool enabled) {
syundo0730	6:f38dfe62d74c	2913	i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
garfieldsg	0:662207e34fba	2914	}
syundo0730	6:f38dfe62d74c	2915	void MPU6050::resetDMP() {
syundo0730	6:f38dfe62d74c	2916	i2cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
garfieldsg	0:662207e34fba	2917	}
garfieldsg	0:662207e34fba	2918
garfieldsg	0:662207e34fba	2919	// BANK_SEL register
garfieldsg	0:662207e34fba	2920
syundo0730	6:f38dfe62d74c	2921	void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank) {
garfieldsg	0:662207e34fba	2922	bank &= 0x1F;
garfieldsg	0:662207e34fba	2923	if (userBank) bank \|= 0x20;
garfieldsg	0:662207e34fba	2924	if (prefetchEnabled) bank \|= 0x40;
syundo0730	6:f38dfe62d74c	2925	i2cdev.writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
garfieldsg	0:662207e34fba	2926	}
garfieldsg	0:662207e34fba	2927
garfieldsg	0:662207e34fba	2928	// MEM_START_ADDR register
garfieldsg	0:662207e34fba	2929
syundo0730	6:f38dfe62d74c	2930	void MPU6050::setMemoryStartAddress(uint8_t address) {
syundo0730	6:f38dfe62d74c	2931	i2cdev.writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
garfieldsg	0:662207e34fba	2932	}
garfieldsg	0:662207e34fba	2933
garfieldsg	0:662207e34fba	2934	// MEM_R_W register
garfieldsg	0:662207e34fba	2935
syundo0730	6:f38dfe62d74c	2936	uint8_t MPU6050::readMemoryByte() {
syundo0730	6:f38dfe62d74c	2937	i2cdev.readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
garfieldsg	0:662207e34fba	2938	return buffer[0];
garfieldsg	0:662207e34fba	2939	}
syundo0730	6:f38dfe62d74c	2940	void MPU6050::writeMemoryByte(uint8_t data) {
syundo0730	6:f38dfe62d74c	2941	i2cdev.writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
garfieldsg	0:662207e34fba	2942	}
syundo0730	6:f38dfe62d74c	2943	void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address) {
garfieldsg	0:662207e34fba	2944	setMemoryBank(bank);
garfieldsg	0:662207e34fba	2945	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	2946	uint8_t chunkSize;
garfieldsg	0:662207e34fba	2947	for (uint16_t i = 0; i < dataSize;) {
garfieldsg	0:662207e34fba	2948	// determine correct chunk size according to bank position and data size
garfieldsg	0:662207e34fba	2949	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
garfieldsg	0:662207e34fba	2950
garfieldsg	0:662207e34fba	2951	// make sure we don't go past the data size
garfieldsg	0:662207e34fba	2952	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
garfieldsg	0:662207e34fba	2953
garfieldsg	0:662207e34fba	2954	// make sure this chunk doesn't go past the bank boundary (256 bytes)
garfieldsg	0:662207e34fba	2955	if (chunkSize > 256 - address) chunkSize = 256 - address;
garfieldsg	0:662207e34fba	2956
garfieldsg	0:662207e34fba	2957	// read the chunk of data as specified
syundo0730	6:f38dfe62d74c	2958	i2cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
syundo0730	6:f38dfe62d74c	2959
garfieldsg	0:662207e34fba	2960	// increase byte index by [chunkSize]
garfieldsg	0:662207e34fba	2961	i += chunkSize;
garfieldsg	0:662207e34fba	2962
garfieldsg	0:662207e34fba	2963	// uint8_t automatically wraps to 0 at 256
garfieldsg	0:662207e34fba	2964	address += chunkSize;
garfieldsg	0:662207e34fba	2965
garfieldsg	0:662207e34fba	2966	// if we aren't done, update bank (if necessary) and address
garfieldsg	0:662207e34fba	2967	if (i < dataSize) {
garfieldsg	0:662207e34fba	2968	if (address == 0) bank++;
garfieldsg	0:662207e34fba	2969	setMemoryBank(bank);
garfieldsg	0:662207e34fba	2970	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	2971	}
garfieldsg	0:662207e34fba	2972	}
garfieldsg	0:662207e34fba	2973	}
syundo0730	6:f38dfe62d74c	2974	bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem) {
garfieldsg	0:662207e34fba	2975	setMemoryBank(bank);
garfieldsg	0:662207e34fba	2976	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	2977	uint8_t chunkSize;
syundo0730	6:f38dfe62d74c	2978	uint8_t *verifyBuffer;
syundo0730	6:f38dfe62d74c	2979	uint8_t *progBuffer;
garfieldsg	0:662207e34fba	2980	uint16_t i;
garfieldsg	0:662207e34fba	2981	uint8_t j;
garfieldsg	0:662207e34fba	2982	if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
garfieldsg	0:662207e34fba	2983	if (useProgMem) progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
garfieldsg	0:662207e34fba	2984	for (i = 0; i < dataSize;) {
garfieldsg	0:662207e34fba	2985	// determine correct chunk size according to bank position and data size
garfieldsg	0:662207e34fba	2986	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
garfieldsg	0:662207e34fba	2987
garfieldsg	0:662207e34fba	2988	// make sure we don't go past the data size
garfieldsg	0:662207e34fba	2989	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
garfieldsg	0:662207e34fba	2990
garfieldsg	0:662207e34fba	2991	// make sure this chunk doesn't go past the bank boundary (256 bytes)
garfieldsg	0:662207e34fba	2992	if (chunkSize > 256 - address) chunkSize = 256 - address;
syundo0730	6:f38dfe62d74c	2993
garfieldsg	0:662207e34fba	2994	if (useProgMem) {
garfieldsg	0:662207e34fba	2995	// write the chunk of data as specified
garfieldsg	0:662207e34fba	2996	for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
garfieldsg	0:662207e34fba	2997	} else {
garfieldsg	0:662207e34fba	2998	// write the chunk of data as specified
garfieldsg	0:662207e34fba	2999	progBuffer = (uint8_t *)data + i;
garfieldsg	0:662207e34fba	3000	}
garfieldsg	0:662207e34fba	3001
syundo0730	6:f38dfe62d74c	3002	i2cdev.writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
garfieldsg	0:662207e34fba	3003
garfieldsg	0:662207e34fba	3004	// verify data if needed
garfieldsg	0:662207e34fba	3005	if (verify && verifyBuffer) {
garfieldsg	0:662207e34fba	3006	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3007	setMemoryStartAddress(address);
syundo0730	6:f38dfe62d74c	3008	i2cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
garfieldsg	0:662207e34fba	3009	if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
garfieldsg	0:662207e34fba	3010	/*Serial.print("Block write verification error, bank ");
garfieldsg	0:662207e34fba	3011	Serial.print(bank, DEC);
garfieldsg	0:662207e34fba	3012	Serial.print(", address ");
garfieldsg	0:662207e34fba	3013	Serial.print(address, DEC);
garfieldsg	0:662207e34fba	3014	Serial.print("!\nExpected:");
garfieldsg	0:662207e34fba	3015	for (j = 0; j < chunkSize; j++) {
garfieldsg	0:662207e34fba	3016	Serial.print(" 0x");
garfieldsg	0:662207e34fba	3017	if (progBuffer[j] < 16) Serial.print("0");
garfieldsg	0:662207e34fba	3018	Serial.print(progBuffer[j], HEX);
garfieldsg	0:662207e34fba	3019	}
garfieldsg	0:662207e34fba	3020	Serial.print("\nReceived:");
garfieldsg	0:662207e34fba	3021	for (uint8_t j = 0; j < chunkSize; j++) {
garfieldsg	0:662207e34fba	3022	Serial.print(" 0x");
garfieldsg	0:662207e34fba	3023	if (verifyBuffer[i + j] < 16) Serial.print("0");
garfieldsg	0:662207e34fba	3024	Serial.print(verifyBuffer[i + j], HEX);
garfieldsg	0:662207e34fba	3025	}
garfieldsg	0:662207e34fba	3026	Serial.print("\n");*/
garfieldsg	0:662207e34fba	3027	free(verifyBuffer);
garfieldsg	0:662207e34fba	3028	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3029	return false; // uh oh.
garfieldsg	0:662207e34fba	3030	}
garfieldsg	0:662207e34fba	3031	}
garfieldsg	0:662207e34fba	3032
garfieldsg	0:662207e34fba	3033	// increase byte index by [chunkSize]
garfieldsg	0:662207e34fba	3034	i += chunkSize;
garfieldsg	0:662207e34fba	3035
garfieldsg	0:662207e34fba	3036	// uint8_t automatically wraps to 0 at 256
garfieldsg	0:662207e34fba	3037	address += chunkSize;
garfieldsg	0:662207e34fba	3038
garfieldsg	0:662207e34fba	3039	// if we aren't done, update bank (if necessary) and address
garfieldsg	0:662207e34fba	3040	if (i < dataSize) {
garfieldsg	0:662207e34fba	3041	if (address == 0) bank++;
garfieldsg	0:662207e34fba	3042	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3043	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3044	}
garfieldsg	0:662207e34fba	3045	}
garfieldsg	0:662207e34fba	3046	if (verify) free(verifyBuffer);
garfieldsg	0:662207e34fba	3047	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3048	return true;
garfieldsg	0:662207e34fba	3049	}
syundo0730	6:f38dfe62d74c	3050	bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify) {
garfieldsg	0:662207e34fba	3051	return writeMemoryBlock(data, dataSize, bank, address, verify, true);
garfieldsg	0:662207e34fba	3052	}
syundo0730	6:f38dfe62d74c	3053	bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem) {
syundo0730	6:f38dfe62d74c	3054	uint8_t *progBuffer, success, special;
garfieldsg	0:662207e34fba	3055	uint16_t i, j;
garfieldsg	0:662207e34fba	3056	if (useProgMem) {
garfieldsg	0:662207e34fba	3057	progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
garfieldsg	0:662207e34fba	3058	}
garfieldsg	0:662207e34fba	3059
garfieldsg	0:662207e34fba	3060	// config set data is a long string of blocks with the following structure:
garfieldsg	0:662207e34fba	3061	// [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
garfieldsg	0:662207e34fba	3062	uint8_t bank, offset, length;
garfieldsg	0:662207e34fba	3063	for (i = 0; i < dataSize;) {
garfieldsg	0:662207e34fba	3064	if (useProgMem) {
garfieldsg	0:662207e34fba	3065	bank = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3066	offset = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3067	length = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3068	} else {
garfieldsg	0:662207e34fba	3069	bank = data[i++];
garfieldsg	0:662207e34fba	3070	offset = data[i++];
garfieldsg	0:662207e34fba	3071	length = data[i++];
garfieldsg	0:662207e34fba	3072	}
garfieldsg	0:662207e34fba	3073
garfieldsg	0:662207e34fba	3074	// write data or perform special action
garfieldsg	0:662207e34fba	3075	if (length > 0) {
garfieldsg	0:662207e34fba	3076	// regular block of data to write
garfieldsg	0:662207e34fba	3077	/*Serial.print("Writing config block to bank ");
garfieldsg	0:662207e34fba	3078	Serial.print(bank);
garfieldsg	0:662207e34fba	3079	Serial.print(", offset ");
garfieldsg	0:662207e34fba	3080	Serial.print(offset);
garfieldsg	0:662207e34fba	3081	Serial.print(", length=");
garfieldsg	0:662207e34fba	3082	Serial.println(length);*/
garfieldsg	0:662207e34fba	3083	if (useProgMem) {
garfieldsg	0:662207e34fba	3084	if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length);
garfieldsg	0:662207e34fba	3085	for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j);
garfieldsg	0:662207e34fba	3086	} else {
garfieldsg	0:662207e34fba	3087	progBuffer = (uint8_t *)data + i;
garfieldsg	0:662207e34fba	3088	}
garfieldsg	0:662207e34fba	3089	success = writeMemoryBlock(progBuffer, length, bank, offset, true);
garfieldsg	0:662207e34fba	3090	i += length;
garfieldsg	0:662207e34fba	3091	} else {
garfieldsg	0:662207e34fba	3092	// special instruction
garfieldsg	0:662207e34fba	3093	// NOTE: this kind of behavior (what and when to do certain things)
garfieldsg	0:662207e34fba	3094	// is totally undocumented. This code is in here based on observed
garfieldsg	0:662207e34fba	3095	// behavior only, and exactly why (or even whether) it has to be here
garfieldsg	0:662207e34fba	3096	// is anybody's guess for now.
garfieldsg	0:662207e34fba	3097	if (useProgMem) {
garfieldsg	0:662207e34fba	3098	special = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3099	} else {
garfieldsg	0:662207e34fba	3100	special = data[i++];
garfieldsg	0:662207e34fba	3101	}
garfieldsg	0:662207e34fba	3102	/*Serial.print("Special command code ");
garfieldsg	0:662207e34fba	3103	Serial.print(special, HEX);
garfieldsg	0:662207e34fba	3104	Serial.println(" found...");*/
garfieldsg	0:662207e34fba	3105	if (special == 0x01) {
garfieldsg	0:662207e34fba	3106	// enable DMP-related interrupts
syundo0730	6:f38dfe62d74c	3107
garfieldsg	0:662207e34fba	3108	//setIntZeroMotionEnabled(true);
garfieldsg	0:662207e34fba	3109	//setIntFIFOBufferOverflowEnabled(true);
garfieldsg	0:662207e34fba	3110	//setIntDMPEnabled(true);
syundo0730	6:f38dfe62d74c	3111	i2cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
garfieldsg	0:662207e34fba	3112
garfieldsg	0:662207e34fba	3113	success = true;
garfieldsg	0:662207e34fba	3114	} else {
garfieldsg	0:662207e34fba	3115	// unknown special command
garfieldsg	0:662207e34fba	3116	success = false;
garfieldsg	0:662207e34fba	3117	}
garfieldsg	0:662207e34fba	3118	}
syundo0730	6:f38dfe62d74c	3119
garfieldsg	0:662207e34fba	3120	if (!success) {
garfieldsg	0:662207e34fba	3121	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3122	return false; // uh oh
garfieldsg	0:662207e34fba	3123	}
garfieldsg	0:662207e34fba	3124	}
garfieldsg	0:662207e34fba	3125	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3126	return true;
garfieldsg	0:662207e34fba	3127	}
syundo0730	6:f38dfe62d74c	3128	bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize) {
syundo0730	6:f38dfe62d74c	3129	return writeDMPConfigurationSet(data, dataSize, true);
garfieldsg	0:662207e34fba	3130	}
garfieldsg	0:662207e34fba	3131
garfieldsg	0:662207e34fba	3132	// DMP_CFG_1 register
garfieldsg	0:662207e34fba	3133
syundo0730	6:f38dfe62d74c	3134	uint8_t MPU6050::getDMPConfig1() {
syundo0730	6:f38dfe62d74c	3135	i2cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
garfieldsg	0:662207e34fba	3136	return buffer[0];
garfieldsg	0:662207e34fba	3137	}
syundo0730	6:f38dfe62d74c	3138	void MPU6050::setDMPConfig1(uint8_t config) {
syundo0730	6:f38dfe62d74c	3139	i2cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
garfieldsg	0:662207e34fba	3140	}
garfieldsg	0:662207e34fba	3141
garfieldsg	0:662207e34fba	3142	// DMP_CFG_2 register
garfieldsg	0:662207e34fba	3143
syundo0730	6:f38dfe62d74c	3144	uint8_t MPU6050::getDMPConfig2() {
syundo0730	6:f38dfe62d74c	3145	i2cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
garfieldsg	0:662207e34fba	3146	return buffer[0];
garfieldsg	0:662207e34fba	3147	}
syundo0730	6:f38dfe62d74c	3148	void MPU6050::setDMPConfig2(uint8_t config) {
syundo0730	6:f38dfe62d74c	3149	i2cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
syundo0730	6:f38dfe62d74c	3150	}

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Type:	Library
Created:	19 Nov 2013
Imports:	426
Forks:	8
Commits:	9
Dependents:	1
Dependencies:	2
Followers:	9

The code in this repository is MIT licensed.

MPU6050.cpp@6:f38dfe62d74c, 2016-01-30 (annotated)

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