Async MPU6050 library

My port of the MPU6050 library samples the chip at 500Hz using Timer. Async I2C is achieved using a custom I2C library, which supports I2C calls from interrupts. Link given below:

Import library MODI2C

Improvements to Olieman's MODI2C library. Supports calls from IRQ.

Difference between this port and the Arduino MPU6050 library

The getMotion6 function only returns a copy of the last obtained readings, which is sampled at a frequency of 500Hz (adjustable). Hence it can be called at any frequency without taxing the I2C.

MPU6050.cpp@7:95e74f827c08, 2013-11-02 (annotated)

Committer:: tyftyftyf
Date:: Sat Nov 02 17:23:43 2013 +0000
Revision:: 7:95e74f827c08
Parent:: 6:40ac13ef7290
Child:: 9:d879deb55ae1

Initial Commit

Who changed what in which revision?

User	Revision	Line number	New contents of line
garfieldsg	0:662207e34fba	1	//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
garfieldsg	0:662207e34fba	2	//written by szymon gaertig (email: szymon@gaertig.com.pl)
garfieldsg	0:662207e34fba	3	//
garfieldsg	0:662207e34fba	4	//Changelog:
garfieldsg	0:662207e34fba	5	//2013-01-08 - first beta release
garfieldsg	0:662207e34fba	6
garfieldsg	0:662207e34fba	7	// I2Cdev library collection - MPU6050 I2C device class
garfieldsg	0:662207e34fba	8	// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
garfieldsg	0:662207e34fba	9	// 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
garfieldsg	0:662207e34fba	10	// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
garfieldsg	0:662207e34fba	11	//
garfieldsg	0:662207e34fba	12	// Changelog:
garfieldsg	0:662207e34fba	13	// ... - ongoing debug release
garfieldsg	0:662207e34fba	14
garfieldsg	0:662207e34fba	15	// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
garfieldsg	0:662207e34fba	16	// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
garfieldsg	0:662207e34fba	17	// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
garfieldsg	0:662207e34fba	18
garfieldsg	0:662207e34fba	19	/* ============================================
garfieldsg	0:662207e34fba	20	I2Cdev device library code is placed under the MIT license
garfieldsg	0:662207e34fba	21	Copyright (c) 2012 Jeff Rowberg
garfieldsg	0:662207e34fba	22
garfieldsg	0:662207e34fba	23	Permission is hereby granted, free of charge, to any person obtaining a copy
garfieldsg	0:662207e34fba	24	of this software and associated documentation files (the "Software"), to deal
garfieldsg	0:662207e34fba	25	in the Software without restriction, including without limitation the rights
garfieldsg	0:662207e34fba	26	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
garfieldsg	0:662207e34fba	27	copies of the Software, and to permit persons to whom the Software is
garfieldsg	0:662207e34fba	28	furnished to do so, subject to the following conditions:
garfieldsg	0:662207e34fba	29
garfieldsg	0:662207e34fba	30	The above copyright notice and this permission notice shall be included in
garfieldsg	0:662207e34fba	31	all copies or substantial portions of the Software.
garfieldsg	0:662207e34fba	32
garfieldsg	0:662207e34fba	33	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
garfieldsg	0:662207e34fba	34	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
garfieldsg	0:662207e34fba	35	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
garfieldsg	0:662207e34fba	36	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
garfieldsg	0:662207e34fba	37	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
garfieldsg	0:662207e34fba	38	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
garfieldsg	0:662207e34fba	39	THE SOFTWARE.
garfieldsg	0:662207e34fba	40	===============================================
garfieldsg	0:662207e34fba	41	*/
garfieldsg	0:662207e34fba	42
garfieldsg	0:662207e34fba	43	#include "MPU6050.h"
garfieldsg	0:662207e34fba	44
pommzorz	3:8a6a7d6b6816	45	//#define useDebugSerial
garfieldsg	0:662207e34fba	46
garfieldsg	0:662207e34fba	47	//instead of using pgmspace.h
garfieldsg	0:662207e34fba	48	typedef const unsigned char prog_uchar;
garfieldsg	0:662207e34fba	49	#define pgm_read_byte_near(x) ((prog_uchar)x)
garfieldsg	0:662207e34fba	50	#define pgm_read_byte(x) ((prog_uchar)x)
garfieldsg	0:662207e34fba	51
garfieldsg	0:662207e34fba	52	/** Default constructor, uses default I2C address.
garfieldsg	0:662207e34fba	53	* @see MPU6050_DEFAULT_ADDRESS
garfieldsg	0:662207e34fba	54	*/
garfieldsg	0:662207e34fba	55	MPU6050::MPU6050() : debugSerial(USBTX, USBRX)
garfieldsg	0:662207e34fba	56	{
garfieldsg	0:662207e34fba	57	devAddr = MPU6050_DEFAULT_ADDRESS;
garfieldsg	0:662207e34fba	58	}
garfieldsg	0:662207e34fba	59
tyftyftyf	7:95e74f827c08	60	MPU6050::MPU6050(I2C i2c) : debugSerial(USBTX, USBRX), i2Cdev(i2c)
tyftyftyf	7:95e74f827c08	61	{
tyftyftyf	7:95e74f827c08	62	devAddr = MPU6050_DEFAULT_ADDRESS;
tyftyftyf	7:95e74f827c08	63	}
tyftyftyf	7:95e74f827c08	64
garfieldsg	0:662207e34fba	65	/** Specific address constructor.
garfieldsg	0:662207e34fba	66	* @param address I2C address
garfieldsg	0:662207e34fba	67	* @see MPU6050_DEFAULT_ADDRESS
garfieldsg	0:662207e34fba	68	* @see MPU6050_ADDRESS_AD0_LOW
garfieldsg	0:662207e34fba	69	* @see MPU6050_ADDRESS_AD0_HIGH
garfieldsg	0:662207e34fba	70	*/
garfieldsg	0:662207e34fba	71	MPU6050::MPU6050(uint8_t address) : debugSerial(USBTX, USBRX)
garfieldsg	0:662207e34fba	72	{
garfieldsg	0:662207e34fba	73	devAddr = address;
garfieldsg	0:662207e34fba	74	}
garfieldsg	0:662207e34fba	75
garfieldsg	0:662207e34fba	76	/** Power on and prepare for general usage.
garfieldsg	0:662207e34fba	77	* This will activate the device and take it out of sleep mode (which must be done
garfieldsg	0:662207e34fba	78	* after start-up). This function also sets both the accelerometer and the gyroscope
garfieldsg	0:662207e34fba	79	* to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
garfieldsg	0:662207e34fba	80	* the clock source to use the X Gyro for reference, which is slightly better than
garfieldsg	0:662207e34fba	81	* the default internal clock source.
garfieldsg	0:662207e34fba	82	*/
garfieldsg	0:662207e34fba	83	void MPU6050::initialize()
garfieldsg	0:662207e34fba	84	{
garfieldsg	0:662207e34fba	85
tyftyftyf	7:95e74f827c08	86	#ifdef useDebugSerial
pommzorz	4:ba1cf80aeef0	87	debugSerial.baud(921600); //uses max serial speed
garfieldsg	0:662207e34fba	88	debugSerial.printf("MPU6050::initialize start\n");
garfieldsg	0:662207e34fba	89	#endif
garfieldsg	0:662207e34fba	90	setClockSource(MPU6050_CLOCK_PLL_XGYRO);
garfieldsg	0:662207e34fba	91	setFullScaleGyroRange(MPU6050_GYRO_FS_250);
garfieldsg	0:662207e34fba	92	setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
garfieldsg	0:662207e34fba	93	setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
garfieldsg	0:662207e34fba	94
garfieldsg	0:662207e34fba	95	#ifdef useDebugSerial
garfieldsg	0:662207e34fba	96	debugSerial.printf("MPU6050::initialize end\n");
garfieldsg	0:662207e34fba	97	#endif
garfieldsg	0:662207e34fba	98	}
garfieldsg	0:662207e34fba	99
garfieldsg	0:662207e34fba	100	/** Verify the I2C connection.
garfieldsg	0:662207e34fba	101	* Make sure the device is connected and responds as expected.
garfieldsg	0:662207e34fba	102	* @return True if connection is valid, false otherwise
garfieldsg	0:662207e34fba	103	*/
garfieldsg	0:662207e34fba	104	bool MPU6050::testConnection()
garfieldsg	0:662207e34fba	105	{
garfieldsg	0:662207e34fba	106	#ifdef useDebugSerial
garfieldsg	0:662207e34fba	107	debugSerial.printf("MPU6050::testConnection start\n");
garfieldsg	0:662207e34fba	108	#endif
garfieldsg	0:662207e34fba	109	uint8_t deviceId = getDeviceID();
garfieldsg	0:662207e34fba	110	#ifdef useDebugSerial
garfieldsg	0:662207e34fba	111	debugSerial.printf("DeviceId = %d\n",deviceId);
garfieldsg	0:662207e34fba	112	#endif
garfieldsg	0:662207e34fba	113	return deviceId == 0x34;
garfieldsg	0:662207e34fba	114	}
garfieldsg	0:662207e34fba	115
garfieldsg	0:662207e34fba	116	// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
garfieldsg	0:662207e34fba	117
garfieldsg	0:662207e34fba	118	/** Get the auxiliary I2C supply voltage level.
garfieldsg	0:662207e34fba	119	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
garfieldsg	0:662207e34fba	120	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
garfieldsg	0:662207e34fba	121	* the MPU-6000, which does not have a VLOGIC pin.
garfieldsg	0:662207e34fba	122	* @return I2C supply voltage level (0=VLOGIC, 1=VDD)
garfieldsg	0:662207e34fba	123	*/
garfieldsg	0:662207e34fba	124	uint8_t MPU6050::getAuxVDDIOLevel()
garfieldsg	0:662207e34fba	125	{
garfieldsg	0:662207e34fba	126	i2Cdev.readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
garfieldsg	0:662207e34fba	127	return buffer[0];
garfieldsg	0:662207e34fba	128	}
garfieldsg	0:662207e34fba	129	/** Set the auxiliary I2C supply voltage level.
garfieldsg	0:662207e34fba	130	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
garfieldsg	0:662207e34fba	131	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
garfieldsg	0:662207e34fba	132	* the MPU-6000, which does not have a VLOGIC pin.
garfieldsg	0:662207e34fba	133	* @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
garfieldsg	0:662207e34fba	134	*/
garfieldsg	0:662207e34fba	135	void MPU6050::setAuxVDDIOLevel(uint8_t level)
garfieldsg	0:662207e34fba	136	{
garfieldsg	0:662207e34fba	137	i2Cdev.writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
garfieldsg	0:662207e34fba	138	}
garfieldsg	0:662207e34fba	139
garfieldsg	0:662207e34fba	140	// SMPLRT_DIV register
garfieldsg	0:662207e34fba	141
garfieldsg	0:662207e34fba	142	/** Get gyroscope output rate divider.
garfieldsg	0:662207e34fba	143	* The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
garfieldsg	0:662207e34fba	144	* Motion detection, and Free Fall detection are all based on the Sample Rate.
garfieldsg	0:662207e34fba	145	* The Sample Rate is generated by dividing the gyroscope output rate by
garfieldsg	0:662207e34fba	146	* SMPLRT_DIV:
garfieldsg	0:662207e34fba	147	*
garfieldsg	0:662207e34fba	148	* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
garfieldsg	0:662207e34fba	149	*
garfieldsg	0:662207e34fba	150	* where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
garfieldsg	0:662207e34fba	151	* 7), and 1kHz when the DLPF is enabled (see Register 26).
garfieldsg	0:662207e34fba	152	*
garfieldsg	0:662207e34fba	153	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
garfieldsg	0:662207e34fba	154	* Rate greater than 1kHz, the same accelerometer sample may be output to the
garfieldsg	0:662207e34fba	155	* FIFO, DMP, and sensor registers more than once.
garfieldsg	0:662207e34fba	156	*
garfieldsg	0:662207e34fba	157	* For a diagram of the gyroscope and accelerometer signal paths, see Section 8
garfieldsg	0:662207e34fba	158	* of the MPU-6000/MPU-6050 Product Specification document.
garfieldsg	0:662207e34fba	159	*
garfieldsg	0:662207e34fba	160	* @return Current sample rate
garfieldsg	0:662207e34fba	161	* @see MPU6050_RA_SMPLRT_DIV
garfieldsg	0:662207e34fba	162	*/
garfieldsg	0:662207e34fba	163	uint8_t MPU6050::getRate()
garfieldsg	0:662207e34fba	164	{
garfieldsg	0:662207e34fba	165	i2Cdev.readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
garfieldsg	0:662207e34fba	166	return buffer[0];
garfieldsg	0:662207e34fba	167	}
garfieldsg	0:662207e34fba	168	/** Set gyroscope sample rate divider.
garfieldsg	0:662207e34fba	169	* @param rate New sample rate divider
garfieldsg	0:662207e34fba	170	* @see getRate()
garfieldsg	0:662207e34fba	171	* @see MPU6050_RA_SMPLRT_DIV
garfieldsg	0:662207e34fba	172	*/
garfieldsg	0:662207e34fba	173	void MPU6050::setRate(uint8_t rate)
garfieldsg	0:662207e34fba	174	{
garfieldsg	0:662207e34fba	175	i2Cdev.writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
garfieldsg	0:662207e34fba	176	}
garfieldsg	0:662207e34fba	177
pommzorz	6:40ac13ef7290	178
garfieldsg	0:662207e34fba	179	// CONFIG register
garfieldsg	0:662207e34fba	180
garfieldsg	0:662207e34fba	181	/** Get external FSYNC configuration.
garfieldsg	0:662207e34fba	182	* Configures the external Frame Synchronization (FSYNC) pin sampling. An
garfieldsg	0:662207e34fba	183	* external signal connected to the FSYNC pin can be sampled by configuring
garfieldsg	0:662207e34fba	184	* EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
garfieldsg	0:662207e34fba	185	* strobes may be captured. The latched FSYNC signal will be sampled at the
garfieldsg	0:662207e34fba	186	* Sampling Rate, as defined in register 25. After sampling, the latch will
garfieldsg	0:662207e34fba	187	* reset to the current FSYNC signal state.
garfieldsg	0:662207e34fba	188	*
garfieldsg	0:662207e34fba	189	* The sampled value will be reported in place of the least significant bit in
garfieldsg	0:662207e34fba	190	* a sensor data register determined by the value of EXT_SYNC_SET according to
garfieldsg	0:662207e34fba	191	* the following table.
garfieldsg	0:662207e34fba	192	*
garfieldsg	0:662207e34fba	193	* <pre>
garfieldsg	0:662207e34fba	194	* EXT_SYNC_SET \| FSYNC Bit Location
garfieldsg	0:662207e34fba	195	* -------------+-------------------
garfieldsg	0:662207e34fba	196	* 0 \| Input disabled
garfieldsg	0:662207e34fba	197	* 1 \| TEMP_OUT_L[0]
garfieldsg	0:662207e34fba	198	* 2 \| GYRO_XOUT_L[0]
garfieldsg	0:662207e34fba	199	* 3 \| GYRO_YOUT_L[0]
garfieldsg	0:662207e34fba	200	* 4 \| GYRO_ZOUT_L[0]
garfieldsg	0:662207e34fba	201	* 5 \| ACCEL_XOUT_L[0]
garfieldsg	0:662207e34fba	202	* 6 \| ACCEL_YOUT_L[0]
garfieldsg	0:662207e34fba	203	* 7 \| ACCEL_ZOUT_L[0]
garfieldsg	0:662207e34fba	204	* </pre>
garfieldsg	0:662207e34fba	205	*
garfieldsg	0:662207e34fba	206	* @return FSYNC configuration value
garfieldsg	0:662207e34fba	207	*/
garfieldsg	0:662207e34fba	208	uint8_t MPU6050::getExternalFrameSync()
garfieldsg	0:662207e34fba	209	{
garfieldsg	0:662207e34fba	210	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
garfieldsg	0:662207e34fba	211	return buffer[0];
garfieldsg	0:662207e34fba	212	}
garfieldsg	0:662207e34fba	213	/** Set external FSYNC configuration.
garfieldsg	0:662207e34fba	214	* @see getExternalFrameSync()
garfieldsg	0:662207e34fba	215	* @see MPU6050_RA_CONFIG
garfieldsg	0:662207e34fba	216	* @param sync New FSYNC configuration value
garfieldsg	0:662207e34fba	217	*/
garfieldsg	0:662207e34fba	218	void MPU6050::setExternalFrameSync(uint8_t sync)
garfieldsg	0:662207e34fba	219	{
garfieldsg	0:662207e34fba	220	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
garfieldsg	0:662207e34fba	221	}
garfieldsg	0:662207e34fba	222	/** Get digital low-pass filter configuration.
garfieldsg	0:662207e34fba	223	* The DLPF_CFG parameter sets the digital low pass filter configuration. It
garfieldsg	0:662207e34fba	224	* also determines the internal sampling rate used by the device as shown in
garfieldsg	0:662207e34fba	225	* the table below.
garfieldsg	0:662207e34fba	226	*
garfieldsg	0:662207e34fba	227	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
garfieldsg	0:662207e34fba	228	* Rate greater than 1kHz, the same accelerometer sample may be output to the
garfieldsg	0:662207e34fba	229	* FIFO, DMP, and sensor registers more than once.
garfieldsg	0:662207e34fba	230	*
garfieldsg	0:662207e34fba	231	* <pre>
garfieldsg	0:662207e34fba	232	* \| ACCELEROMETER \| GYROSCOPE
garfieldsg	0:662207e34fba	233	* DLPF_CFG \| Bandwidth \| Delay \| Bandwidth \| Delay \| Sample Rate
garfieldsg	0:662207e34fba	234	* ---------+-----------+--------+-----------+--------+-------------
garfieldsg	0:662207e34fba	235	* 0 \| 260Hz \| 0ms \| 256Hz \| 0.98ms \| 8kHz
garfieldsg	0:662207e34fba	236	* 1 \| 184Hz \| 2.0ms \| 188Hz \| 1.9ms \| 1kHz
garfieldsg	0:662207e34fba	237	* 2 \| 94Hz \| 3.0ms \| 98Hz \| 2.8ms \| 1kHz
garfieldsg	0:662207e34fba	238	* 3 \| 44Hz \| 4.9ms \| 42Hz \| 4.8ms \| 1kHz
garfieldsg	0:662207e34fba	239	* 4 \| 21Hz \| 8.5ms \| 20Hz \| 8.3ms \| 1kHz
garfieldsg	0:662207e34fba	240	* 5 \| 10Hz \| 13.8ms \| 10Hz \| 13.4ms \| 1kHz
garfieldsg	0:662207e34fba	241	* 6 \| 5Hz \| 19.0ms \| 5Hz \| 18.6ms \| 1kHz
garfieldsg	0:662207e34fba	242	* 7 \| -- Reserved -- \| -- Reserved -- \| Reserved
garfieldsg	0:662207e34fba	243	* </pre>
garfieldsg	0:662207e34fba	244	*
garfieldsg	0:662207e34fba	245	* @return DLFP configuration
garfieldsg	0:662207e34fba	246	* @see MPU6050_RA_CONFIG
garfieldsg	0:662207e34fba	247	* @see MPU6050_CFG_DLPF_CFG_BIT
garfieldsg	0:662207e34fba	248	* @see MPU6050_CFG_DLPF_CFG_LENGTH
garfieldsg	0:662207e34fba	249	*/
garfieldsg	0:662207e34fba	250	uint8_t MPU6050::getDLPFMode()
garfieldsg	0:662207e34fba	251	{
garfieldsg	0:662207e34fba	252	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
garfieldsg	0:662207e34fba	253	return buffer[0];
garfieldsg	0:662207e34fba	254	}
garfieldsg	0:662207e34fba	255	/** Set digital low-pass filter configuration.
garfieldsg	0:662207e34fba	256	* @param mode New DLFP configuration setting
garfieldsg	0:662207e34fba	257	* @see getDLPFBandwidth()
garfieldsg	0:662207e34fba	258	* @see MPU6050_DLPF_BW_256
garfieldsg	0:662207e34fba	259	* @see MPU6050_RA_CONFIG
garfieldsg	0:662207e34fba	260	* @see MPU6050_CFG_DLPF_CFG_BIT
garfieldsg	0:662207e34fba	261	* @see MPU6050_CFG_DLPF_CFG_LENGTH
garfieldsg	0:662207e34fba	262	*/
garfieldsg	0:662207e34fba	263	void MPU6050::setDLPFMode(uint8_t mode)
garfieldsg	0:662207e34fba	264	{
garfieldsg	0:662207e34fba	265	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
garfieldsg	0:662207e34fba	266	}
garfieldsg	0:662207e34fba	267
garfieldsg	0:662207e34fba	268	// GYRO_CONFIG register
garfieldsg	0:662207e34fba	269
garfieldsg	0:662207e34fba	270	/** Get full-scale gyroscope range.
garfieldsg	0:662207e34fba	271	* The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
garfieldsg	0:662207e34fba	272	* as described in the table below.
garfieldsg	0:662207e34fba	273	*
garfieldsg	0:662207e34fba	274	* <pre>
garfieldsg	0:662207e34fba	275	* 0 = +/- 250 degrees/sec
garfieldsg	0:662207e34fba	276	* 1 = +/- 500 degrees/sec
garfieldsg	0:662207e34fba	277	* 2 = +/- 1000 degrees/sec
garfieldsg	0:662207e34fba	278	* 3 = +/- 2000 degrees/sec
garfieldsg	0:662207e34fba	279	* </pre>
garfieldsg	0:662207e34fba	280	*
garfieldsg	0:662207e34fba	281	* @return Current full-scale gyroscope range setting
garfieldsg	0:662207e34fba	282	* @see MPU6050_GYRO_FS_250
garfieldsg	0:662207e34fba	283	* @see MPU6050_RA_GYRO_CONFIG
garfieldsg	0:662207e34fba	284	* @see MPU6050_GCONFIG_FS_SEL_BIT
garfieldsg	0:662207e34fba	285	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
garfieldsg	0:662207e34fba	286	*/
garfieldsg	0:662207e34fba	287	uint8_t MPU6050::getFullScaleGyroRange()
garfieldsg	0:662207e34fba	288	{
garfieldsg	0:662207e34fba	289	i2Cdev.readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
garfieldsg	0:662207e34fba	290	return buffer[0];
garfieldsg	0:662207e34fba	291	}
garfieldsg	0:662207e34fba	292	/** Set full-scale gyroscope range.
garfieldsg	0:662207e34fba	293	* @param range New full-scale gyroscope range value
garfieldsg	0:662207e34fba	294	* @see getFullScaleRange()
garfieldsg	0:662207e34fba	295	* @see MPU6050_GYRO_FS_250
garfieldsg	0:662207e34fba	296	* @see MPU6050_RA_GYRO_CONFIG
garfieldsg	0:662207e34fba	297	* @see MPU6050_GCONFIG_FS_SEL_BIT
garfieldsg	0:662207e34fba	298	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
garfieldsg	0:662207e34fba	299	*/
garfieldsg	0:662207e34fba	300	void MPU6050::setFullScaleGyroRange(uint8_t range)
garfieldsg	0:662207e34fba	301	{
garfieldsg	0:662207e34fba	302	i2Cdev.writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
garfieldsg	0:662207e34fba	303	}
garfieldsg	0:662207e34fba	304
garfieldsg	0:662207e34fba	305	// ACCEL_CONFIG register
garfieldsg	0:662207e34fba	306
garfieldsg	0:662207e34fba	307	/** Get self-test enabled setting for accelerometer X axis.
garfieldsg	0:662207e34fba	308	* @return Self-test enabled value
garfieldsg	0:662207e34fba	309	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	310	*/
garfieldsg	0:662207e34fba	311	bool MPU6050::getAccelXSelfTest()
garfieldsg	0:662207e34fba	312	{
garfieldsg	0:662207e34fba	313	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
garfieldsg	0:662207e34fba	314	return buffer[0];
garfieldsg	0:662207e34fba	315	}
garfieldsg	0:662207e34fba	316	/** Get self-test enabled setting for accelerometer X axis.
garfieldsg	0:662207e34fba	317	* @param enabled Self-test enabled value
garfieldsg	0:662207e34fba	318	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	319	*/
garfieldsg	0:662207e34fba	320	void MPU6050::setAccelXSelfTest(bool enabled)
garfieldsg	0:662207e34fba	321	{
garfieldsg	0:662207e34fba	322	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
garfieldsg	0:662207e34fba	323	}
garfieldsg	0:662207e34fba	324	/** Get self-test enabled value for accelerometer Y axis.
garfieldsg	0:662207e34fba	325	* @return Self-test enabled value
garfieldsg	0:662207e34fba	326	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	327	*/
garfieldsg	0:662207e34fba	328	bool MPU6050::getAccelYSelfTest()
garfieldsg	0:662207e34fba	329	{
garfieldsg	0:662207e34fba	330	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
garfieldsg	0:662207e34fba	331	return buffer[0];
garfieldsg	0:662207e34fba	332	}
garfieldsg	0:662207e34fba	333	/** Get self-test enabled value for accelerometer Y axis.
garfieldsg	0:662207e34fba	334	* @param enabled Self-test enabled value
garfieldsg	0:662207e34fba	335	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	336	*/
garfieldsg	0:662207e34fba	337	void MPU6050::setAccelYSelfTest(bool enabled)
garfieldsg	0:662207e34fba	338	{
garfieldsg	0:662207e34fba	339	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
garfieldsg	0:662207e34fba	340	}
garfieldsg	0:662207e34fba	341	/** Get self-test enabled value for accelerometer Z axis.
garfieldsg	0:662207e34fba	342	* @return Self-test enabled value
garfieldsg	0:662207e34fba	343	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	344	*/
garfieldsg	0:662207e34fba	345	bool MPU6050::getAccelZSelfTest()
garfieldsg	0:662207e34fba	346	{
garfieldsg	0:662207e34fba	347	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
garfieldsg	0:662207e34fba	348	return buffer[0];
garfieldsg	0:662207e34fba	349	}
garfieldsg	0:662207e34fba	350	/** Set self-test enabled value for accelerometer Z axis.
garfieldsg	0:662207e34fba	351	* @param enabled Self-test enabled value
garfieldsg	0:662207e34fba	352	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	353	*/
garfieldsg	0:662207e34fba	354	void MPU6050::setAccelZSelfTest(bool enabled)
garfieldsg	0:662207e34fba	355	{
garfieldsg	0:662207e34fba	356	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
garfieldsg	0:662207e34fba	357	}
garfieldsg	0:662207e34fba	358	/** Get full-scale accelerometer range.
garfieldsg	0:662207e34fba	359	* The FS_SEL parameter allows setting the full-scale range of the accelerometer
garfieldsg	0:662207e34fba	360	* sensors, as described in the table below.
garfieldsg	0:662207e34fba	361	*
garfieldsg	0:662207e34fba	362	* <pre>
garfieldsg	0:662207e34fba	363	* 0 = +/- 2g
garfieldsg	0:662207e34fba	364	* 1 = +/- 4g
garfieldsg	0:662207e34fba	365	* 2 = +/- 8g
garfieldsg	0:662207e34fba	366	* 3 = +/- 16g
garfieldsg	0:662207e34fba	367	* </pre>
garfieldsg	0:662207e34fba	368	*
garfieldsg	0:662207e34fba	369	* @return Current full-scale accelerometer range setting
garfieldsg	0:662207e34fba	370	* @see MPU6050_ACCEL_FS_2
garfieldsg	0:662207e34fba	371	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	372	* @see MPU6050_ACONFIG_AFS_SEL_BIT
garfieldsg	0:662207e34fba	373	* @see MPU6050_ACONFIG_AFS_SEL_LENGTH
garfieldsg	0:662207e34fba	374	*/
garfieldsg	0:662207e34fba	375	uint8_t MPU6050::getFullScaleAccelRange()
garfieldsg	0:662207e34fba	376	{
garfieldsg	0:662207e34fba	377	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
garfieldsg	0:662207e34fba	378	return buffer[0];
garfieldsg	0:662207e34fba	379	}
garfieldsg	0:662207e34fba	380	/** Set full-scale accelerometer range.
garfieldsg	0:662207e34fba	381	* @param range New full-scale accelerometer range setting
garfieldsg	0:662207e34fba	382	* @see getFullScaleAccelRange()
garfieldsg	0:662207e34fba	383	*/
garfieldsg	0:662207e34fba	384	void MPU6050::setFullScaleAccelRange(uint8_t range)
garfieldsg	0:662207e34fba	385	{
garfieldsg	0:662207e34fba	386	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
garfieldsg	0:662207e34fba	387	}
garfieldsg	0:662207e34fba	388	/** Get the high-pass filter configuration.
garfieldsg	0:662207e34fba	389	* The DHPF is a filter module in the path leading to motion detectors (Free
garfieldsg	0:662207e34fba	390	* Fall, Motion threshold, and Zero Motion). The high pass filter output is not
garfieldsg	0:662207e34fba	391	* available to the data registers (see Figure in Section 8 of the MPU-6000/
garfieldsg	0:662207e34fba	392	* MPU-6050 Product Specification document).
garfieldsg	0:662207e34fba	393	*
garfieldsg	0:662207e34fba	394	* The high pass filter has three modes:
garfieldsg	0:662207e34fba	395	*
garfieldsg	0:662207e34fba	396	* <pre>
garfieldsg	0:662207e34fba	397	* Reset: The filter output settles to zero within one sample. This
garfieldsg	0:662207e34fba	398	* effectively disables the high pass filter. This mode may be toggled
garfieldsg	0:662207e34fba	399	* to quickly settle the filter.
garfieldsg	0:662207e34fba	400	*
garfieldsg	0:662207e34fba	401	* On: The high pass filter will pass signals above the cut off frequency.
garfieldsg	0:662207e34fba	402	*
garfieldsg	0:662207e34fba	403	* Hold: When triggered, the filter holds the present sample. The filter
garfieldsg	0:662207e34fba	404	* output will be the difference between the input sample and the held
garfieldsg	0:662207e34fba	405	* sample.
garfieldsg	0:662207e34fba	406	* </pre>
garfieldsg	0:662207e34fba	407	*
garfieldsg	0:662207e34fba	408	* <pre>
garfieldsg	0:662207e34fba	409	* ACCEL_HPF \| Filter Mode \| Cut-off Frequency
garfieldsg	0:662207e34fba	410	* ----------+-------------+------------------
garfieldsg	0:662207e34fba	411	* 0 \| Reset \| None
garfieldsg	0:662207e34fba	412	* 1 \| On \| 5Hz
garfieldsg	0:662207e34fba	413	* 2 \| On \| 2.5Hz
garfieldsg	0:662207e34fba	414	* 3 \| On \| 1.25Hz
garfieldsg	0:662207e34fba	415	* 4 \| On \| 0.63Hz
garfieldsg	0:662207e34fba	416	* 7 \| Hold \| None
garfieldsg	0:662207e34fba	417	* </pre>
garfieldsg	0:662207e34fba	418	*
garfieldsg	0:662207e34fba	419	* @return Current high-pass filter configuration
garfieldsg	0:662207e34fba	420	* @see MPU6050_DHPF_RESET
garfieldsg	0:662207e34fba	421	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	422	*/
garfieldsg	0:662207e34fba	423	uint8_t MPU6050::getDHPFMode()
garfieldsg	0:662207e34fba	424	{
garfieldsg	0:662207e34fba	425	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
garfieldsg	0:662207e34fba	426	return buffer[0];
garfieldsg	0:662207e34fba	427	}
garfieldsg	0:662207e34fba	428	/** Set the high-pass filter configuration.
garfieldsg	0:662207e34fba	429	* @param bandwidth New high-pass filter configuration
garfieldsg	0:662207e34fba	430	* @see setDHPFMode()
garfieldsg	0:662207e34fba	431	* @see MPU6050_DHPF_RESET
garfieldsg	0:662207e34fba	432	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	433	*/
garfieldsg	0:662207e34fba	434	void MPU6050::setDHPFMode(uint8_t bandwidth)
garfieldsg	0:662207e34fba	435	{
garfieldsg	0:662207e34fba	436	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
garfieldsg	0:662207e34fba	437	}
garfieldsg	0:662207e34fba	438
garfieldsg	0:662207e34fba	439	// FF_THR register
garfieldsg	0:662207e34fba	440
garfieldsg	0:662207e34fba	441	/** Get free-fall event acceleration threshold.
garfieldsg	0:662207e34fba	442	* This register configures the detection threshold for Free Fall event
garfieldsg	0:662207e34fba	443	* detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
garfieldsg	0:662207e34fba	444	* absolute value of the accelerometer measurements for the three axes are each
garfieldsg	0:662207e34fba	445	* less than the detection threshold. This condition increments the Free Fall
garfieldsg	0:662207e34fba	446	* duration counter (Register 30). The Free Fall interrupt is triggered when the
garfieldsg	0:662207e34fba	447	* Free Fall duration counter reaches the time specified in FF_DUR.
garfieldsg	0:662207e34fba	448	*
garfieldsg	0:662207e34fba	449	* For more details on the Free Fall detection interrupt, see Section 8.2 of the
garfieldsg	0:662207e34fba	450	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
garfieldsg	0:662207e34fba	451	* 58 of this document.
garfieldsg	0:662207e34fba	452	*
garfieldsg	0:662207e34fba	453	* @return Current free-fall acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	454	* @see MPU6050_RA_FF_THR
garfieldsg	0:662207e34fba	455	*/
garfieldsg	0:662207e34fba	456	uint8_t MPU6050::getFreefallDetectionThreshold()
garfieldsg	0:662207e34fba	457	{
garfieldsg	0:662207e34fba	458	i2Cdev.readByte(devAddr, MPU6050_RA_FF_THR, buffer);
garfieldsg	0:662207e34fba	459	return buffer[0];
garfieldsg	0:662207e34fba	460	}
garfieldsg	0:662207e34fba	461	/** Get free-fall event acceleration threshold.
garfieldsg	0:662207e34fba	462	* @param threshold New free-fall acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	463	* @see getFreefallDetectionThreshold()
garfieldsg	0:662207e34fba	464	* @see MPU6050_RA_FF_THR
garfieldsg	0:662207e34fba	465	*/
garfieldsg	0:662207e34fba	466	void MPU6050::setFreefallDetectionThreshold(uint8_t threshold)
garfieldsg	0:662207e34fba	467	{
garfieldsg	0:662207e34fba	468	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
garfieldsg	0:662207e34fba	469	}
garfieldsg	0:662207e34fba	470
garfieldsg	0:662207e34fba	471	// FF_DUR register
garfieldsg	0:662207e34fba	472
garfieldsg	0:662207e34fba	473	/** Get free-fall event duration threshold.
garfieldsg	0:662207e34fba	474	* This register configures the duration counter threshold for Free Fall event
garfieldsg	0:662207e34fba	475	* detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
garfieldsg	0:662207e34fba	476	* of 1 LSB = 1 ms.
garfieldsg	0:662207e34fba	477	*
garfieldsg	0:662207e34fba	478	* The Free Fall duration counter increments while the absolute value of the
garfieldsg	0:662207e34fba	479	* accelerometer measurements are each less than the detection threshold
garfieldsg	0:662207e34fba	480	* (Register 29). The Free Fall interrupt is triggered when the Free Fall
garfieldsg	0:662207e34fba	481	* duration counter reaches the time specified in this register.
garfieldsg	0:662207e34fba	482	*
garfieldsg	0:662207e34fba	483	* For more details on the Free Fall detection interrupt, see Section 8.2 of
garfieldsg	0:662207e34fba	484	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
garfieldsg	0:662207e34fba	485	* and 58 of this document.
garfieldsg	0:662207e34fba	486	*
garfieldsg	0:662207e34fba	487	* @return Current free-fall duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	488	* @see MPU6050_RA_FF_DUR
garfieldsg	0:662207e34fba	489	*/
garfieldsg	0:662207e34fba	490	uint8_t MPU6050::getFreefallDetectionDuration()
garfieldsg	0:662207e34fba	491	{
garfieldsg	0:662207e34fba	492	i2Cdev.readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
garfieldsg	0:662207e34fba	493	return buffer[0];
garfieldsg	0:662207e34fba	494	}
garfieldsg	0:662207e34fba	495	/** Get free-fall event duration threshold.
garfieldsg	0:662207e34fba	496	* @param duration New free-fall duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	497	* @see getFreefallDetectionDuration()
garfieldsg	0:662207e34fba	498	* @see MPU6050_RA_FF_DUR
garfieldsg	0:662207e34fba	499	*/
garfieldsg	0:662207e34fba	500	void MPU6050::setFreefallDetectionDuration(uint8_t duration)
garfieldsg	0:662207e34fba	501	{
garfieldsg	0:662207e34fba	502	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
garfieldsg	0:662207e34fba	503	}
garfieldsg	0:662207e34fba	504
garfieldsg	0:662207e34fba	505	// MOT_THR register
garfieldsg	0:662207e34fba	506
garfieldsg	0:662207e34fba	507	/** Get motion detection event acceleration threshold.
garfieldsg	0:662207e34fba	508	* This register configures the detection threshold for Motion interrupt
garfieldsg	0:662207e34fba	509	* generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
garfieldsg	0:662207e34fba	510	* absolute value of any of the accelerometer measurements exceeds this Motion
garfieldsg	0:662207e34fba	511	* detection threshold. This condition increments the Motion detection duration
garfieldsg	0:662207e34fba	512	* counter (Register 32). The Motion detection interrupt is triggered when the
garfieldsg	0:662207e34fba	513	* Motion Detection counter reaches the time count specified in MOT_DUR
garfieldsg	0:662207e34fba	514	* (Register 32).
garfieldsg	0:662207e34fba	515	*
garfieldsg	0:662207e34fba	516	* The Motion interrupt will indicate the axis and polarity of detected motion
garfieldsg	0:662207e34fba	517	* in MOT_DETECT_STATUS (Register 97).
garfieldsg	0:662207e34fba	518	*
garfieldsg	0:662207e34fba	519	* For more details on the Motion detection interrupt, see Section 8.3 of the
garfieldsg	0:662207e34fba	520	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
garfieldsg	0:662207e34fba	521	* 58 of this document.
garfieldsg	0:662207e34fba	522	*
garfieldsg	0:662207e34fba	523	* @return Current motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	524	* @see MPU6050_RA_MOT_THR
garfieldsg	0:662207e34fba	525	*/
garfieldsg	0:662207e34fba	526	uint8_t MPU6050::getMotionDetectionThreshold()
garfieldsg	0:662207e34fba	527	{
garfieldsg	0:662207e34fba	528	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
garfieldsg	0:662207e34fba	529	return buffer[0];
garfieldsg	0:662207e34fba	530	}
garfieldsg	0:662207e34fba	531	/** Set free-fall event acceleration threshold.
garfieldsg	0:662207e34fba	532	* @param threshold New motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	533	* @see getMotionDetectionThreshold()
garfieldsg	0:662207e34fba	534	* @see MPU6050_RA_MOT_THR
garfieldsg	0:662207e34fba	535	*/
garfieldsg	0:662207e34fba	536	void MPU6050::setMotionDetectionThreshold(uint8_t threshold)
garfieldsg	0:662207e34fba	537	{
garfieldsg	0:662207e34fba	538	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
garfieldsg	0:662207e34fba	539	}
garfieldsg	0:662207e34fba	540
garfieldsg	0:662207e34fba	541	// MOT_DUR register
garfieldsg	0:662207e34fba	542
garfieldsg	0:662207e34fba	543	/** Get motion detection event duration threshold.
garfieldsg	0:662207e34fba	544	* This register configures the duration counter threshold for Motion interrupt
garfieldsg	0:662207e34fba	545	* generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
garfieldsg	0:662207e34fba	546	* of 1LSB = 1ms. The Motion detection duration counter increments when the
garfieldsg	0:662207e34fba	547	* absolute value of any of the accelerometer measurements exceeds the Motion
garfieldsg	0:662207e34fba	548	* detection threshold (Register 31). The Motion detection interrupt is
garfieldsg	0:662207e34fba	549	* triggered when the Motion detection counter reaches the time count specified
garfieldsg	0:662207e34fba	550	* in this register.
garfieldsg	0:662207e34fba	551	*
garfieldsg	0:662207e34fba	552	* For more details on the Motion detection interrupt, see Section 8.3 of the
garfieldsg	0:662207e34fba	553	* MPU-6000/MPU-6050 Product Specification document.
garfieldsg	0:662207e34fba	554	*
garfieldsg	0:662207e34fba	555	* @return Current motion detection duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	556	* @see MPU6050_RA_MOT_DUR
garfieldsg	0:662207e34fba	557	*/
garfieldsg	0:662207e34fba	558	uint8_t MPU6050::getMotionDetectionDuration()
garfieldsg	0:662207e34fba	559	{
garfieldsg	0:662207e34fba	560	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
garfieldsg	0:662207e34fba	561	return buffer[0];
garfieldsg	0:662207e34fba	562	}
garfieldsg	0:662207e34fba	563	/** Set motion detection event duration threshold.
garfieldsg	0:662207e34fba	564	* @param duration New motion detection duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	565	* @see getMotionDetectionDuration()
garfieldsg	0:662207e34fba	566	* @see MPU6050_RA_MOT_DUR
garfieldsg	0:662207e34fba	567	*/
garfieldsg	0:662207e34fba	568	void MPU6050::setMotionDetectionDuration(uint8_t duration)
garfieldsg	0:662207e34fba	569	{
garfieldsg	0:662207e34fba	570	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
garfieldsg	0:662207e34fba	571	}
garfieldsg	0:662207e34fba	572
garfieldsg	0:662207e34fba	573	// ZRMOT_THR register
garfieldsg	0:662207e34fba	574
garfieldsg	0:662207e34fba	575	/** Get zero motion detection event acceleration threshold.
garfieldsg	0:662207e34fba	576	* This register configures the detection threshold for Zero Motion interrupt
garfieldsg	0:662207e34fba	577	* generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
garfieldsg	0:662207e34fba	578	* the absolute value of the accelerometer measurements for the 3 axes are each
garfieldsg	0:662207e34fba	579	* less than the detection threshold. This condition increments the Zero Motion
garfieldsg	0:662207e34fba	580	* duration counter (Register 34). The Zero Motion interrupt is triggered when
garfieldsg	0:662207e34fba	581	* the Zero Motion duration counter reaches the time count specified in
garfieldsg	0:662207e34fba	582	* ZRMOT_DUR (Register 34).
garfieldsg	0:662207e34fba	583	*
garfieldsg	0:662207e34fba	584	* Unlike Free Fall or Motion detection, Zero Motion detection triggers an
garfieldsg	0:662207e34fba	585	* interrupt both when Zero Motion is first detected and when Zero Motion is no
garfieldsg	0:662207e34fba	586	* longer detected.
garfieldsg	0:662207e34fba	587	*
garfieldsg	0:662207e34fba	588	* When a zero motion event is detected, a Zero Motion Status will be indicated
garfieldsg	0:662207e34fba	589	* in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
garfieldsg	0:662207e34fba	590	* condition is detected, the status bit is set to 1. When a zero-motion-to-
garfieldsg	0:662207e34fba	591	* motion condition is detected, the status bit is set to 0.
garfieldsg	0:662207e34fba	592	*
garfieldsg	0:662207e34fba	593	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
garfieldsg	0:662207e34fba	594	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
garfieldsg	0:662207e34fba	595	* and 58 of this document.
garfieldsg	0:662207e34fba	596	*
garfieldsg	0:662207e34fba	597	* @return Current zero motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	598	* @see MPU6050_RA_ZRMOT_THR
garfieldsg	0:662207e34fba	599	*/
garfieldsg	0:662207e34fba	600	uint8_t MPU6050::getZeroMotionDetectionThreshold()
garfieldsg	0:662207e34fba	601	{
garfieldsg	0:662207e34fba	602	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
garfieldsg	0:662207e34fba	603	return buffer[0];
garfieldsg	0:662207e34fba	604	}
garfieldsg	0:662207e34fba	605	/** Set zero motion detection event acceleration threshold.
garfieldsg	0:662207e34fba	606	* @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	607	* @see getZeroMotionDetectionThreshold()
garfieldsg	0:662207e34fba	608	* @see MPU6050_RA_ZRMOT_THR
garfieldsg	0:662207e34fba	609	*/
garfieldsg	0:662207e34fba	610	void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold)
garfieldsg	0:662207e34fba	611	{
garfieldsg	0:662207e34fba	612	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
garfieldsg	0:662207e34fba	613	}
garfieldsg	0:662207e34fba	614
garfieldsg	0:662207e34fba	615	// ZRMOT_DUR register
garfieldsg	0:662207e34fba	616
garfieldsg	0:662207e34fba	617	/** Get zero motion detection event duration threshold.
garfieldsg	0:662207e34fba	618	* This register configures the duration counter threshold for Zero Motion
garfieldsg	0:662207e34fba	619	* interrupt generation. The duration counter ticks at 16 Hz, therefore
garfieldsg	0:662207e34fba	620	* ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
garfieldsg	0:662207e34fba	621	* increments while the absolute value of the accelerometer measurements are
garfieldsg	0:662207e34fba	622	* each less than the detection threshold (Register 33). The Zero Motion
garfieldsg	0:662207e34fba	623	* interrupt is triggered when the Zero Motion duration counter reaches the time
garfieldsg	0:662207e34fba	624	* count specified in this register.
garfieldsg	0:662207e34fba	625	*
garfieldsg	0:662207e34fba	626	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
garfieldsg	0:662207e34fba	627	* the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
garfieldsg	0:662207e34fba	628	* and 58 of this document.
garfieldsg	0:662207e34fba	629	*
garfieldsg	0:662207e34fba	630	* @return Current zero motion detection duration threshold value (LSB = 64ms)
garfieldsg	0:662207e34fba	631	* @see MPU6050_RA_ZRMOT_DUR
garfieldsg	0:662207e34fba	632	*/
garfieldsg	0:662207e34fba	633	uint8_t MPU6050::getZeroMotionDetectionDuration()
garfieldsg	0:662207e34fba	634	{
garfieldsg	0:662207e34fba	635	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
garfieldsg	0:662207e34fba	636	return buffer[0];
garfieldsg	0:662207e34fba	637	}
garfieldsg	0:662207e34fba	638	/** Set zero motion detection event duration threshold.
garfieldsg	0:662207e34fba	639	* @param duration New zero motion detection duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	640	* @see getZeroMotionDetectionDuration()
garfieldsg	0:662207e34fba	641	* @see MPU6050_RA_ZRMOT_DUR
garfieldsg	0:662207e34fba	642	*/
garfieldsg	0:662207e34fba	643	void MPU6050::setZeroMotionDetectionDuration(uint8_t duration)
garfieldsg	0:662207e34fba	644	{
garfieldsg	0:662207e34fba	645	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
garfieldsg	0:662207e34fba	646	}
garfieldsg	0:662207e34fba	647
garfieldsg	0:662207e34fba	648	// FIFO_EN register
garfieldsg	0:662207e34fba	649
garfieldsg	0:662207e34fba	650	/** Get temperature FIFO enabled value.
garfieldsg	0:662207e34fba	651	* When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
garfieldsg	0:662207e34fba	652	* 66) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	653	* @return Current temperature FIFO enabled value
garfieldsg	0:662207e34fba	654	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	655	*/
garfieldsg	0:662207e34fba	656	bool MPU6050::getTempFIFOEnabled()
garfieldsg	0:662207e34fba	657	{
garfieldsg	0:662207e34fba	658	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	659	return buffer[0];
garfieldsg	0:662207e34fba	660	}
garfieldsg	0:662207e34fba	661	/** Set temperature FIFO enabled value.
garfieldsg	0:662207e34fba	662	* @param enabled New temperature FIFO enabled value
garfieldsg	0:662207e34fba	663	* @see getTempFIFOEnabled()
garfieldsg	0:662207e34fba	664	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	665	*/
garfieldsg	0:662207e34fba	666	void MPU6050::setTempFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	667	{
garfieldsg	0:662207e34fba	668	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	669	}
garfieldsg	0:662207e34fba	670	/** Get gyroscope X-axis FIFO enabled value.
garfieldsg	0:662207e34fba	671	* When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
garfieldsg	0:662207e34fba	672	* 68) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	673	* @return Current gyroscope X-axis FIFO enabled value
garfieldsg	0:662207e34fba	674	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	675	*/
garfieldsg	0:662207e34fba	676	bool MPU6050::getXGyroFIFOEnabled()
garfieldsg	0:662207e34fba	677	{
garfieldsg	0:662207e34fba	678	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	679	return buffer[0];
garfieldsg	0:662207e34fba	680	}
garfieldsg	0:662207e34fba	681	/** Set gyroscope X-axis FIFO enabled value.
garfieldsg	0:662207e34fba	682	* @param enabled New gyroscope X-axis FIFO enabled value
garfieldsg	0:662207e34fba	683	* @see getXGyroFIFOEnabled()
garfieldsg	0:662207e34fba	684	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	685	*/
garfieldsg	0:662207e34fba	686	void MPU6050::setXGyroFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	687	{
garfieldsg	0:662207e34fba	688	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	689	}
garfieldsg	0:662207e34fba	690	/** Get gyroscope Y-axis FIFO enabled value.
garfieldsg	0:662207e34fba	691	* When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
garfieldsg	0:662207e34fba	692	* 70) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	693	* @return Current gyroscope Y-axis FIFO enabled value
garfieldsg	0:662207e34fba	694	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	695	*/
garfieldsg	0:662207e34fba	696	bool MPU6050::getYGyroFIFOEnabled()
garfieldsg	0:662207e34fba	697	{
garfieldsg	0:662207e34fba	698	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	699	return buffer[0];
garfieldsg	0:662207e34fba	700	}
garfieldsg	0:662207e34fba	701	/** Set gyroscope Y-axis FIFO enabled value.
garfieldsg	0:662207e34fba	702	* @param enabled New gyroscope Y-axis FIFO enabled value
garfieldsg	0:662207e34fba	703	* @see getYGyroFIFOEnabled()
garfieldsg	0:662207e34fba	704	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	705	*/
garfieldsg	0:662207e34fba	706	void MPU6050::setYGyroFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	707	{
garfieldsg	0:662207e34fba	708	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	709	}
garfieldsg	0:662207e34fba	710	/** Get gyroscope Z-axis FIFO enabled value.
garfieldsg	0:662207e34fba	711	* When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
garfieldsg	0:662207e34fba	712	* 72) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	713	* @return Current gyroscope Z-axis FIFO enabled value
garfieldsg	0:662207e34fba	714	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	715	*/
garfieldsg	0:662207e34fba	716	bool MPU6050::getZGyroFIFOEnabled()
garfieldsg	0:662207e34fba	717	{
garfieldsg	0:662207e34fba	718	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	719	return buffer[0];
garfieldsg	0:662207e34fba	720	}
garfieldsg	0:662207e34fba	721	/** Set gyroscope Z-axis FIFO enabled value.
garfieldsg	0:662207e34fba	722	* @param enabled New gyroscope Z-axis FIFO enabled value
garfieldsg	0:662207e34fba	723	* @see getZGyroFIFOEnabled()
garfieldsg	0:662207e34fba	724	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	725	*/
garfieldsg	0:662207e34fba	726	void MPU6050::setZGyroFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	727	{
garfieldsg	0:662207e34fba	728	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	729	}
garfieldsg	0:662207e34fba	730	/** Get accelerometer FIFO enabled value.
garfieldsg	0:662207e34fba	731	* When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
garfieldsg	0:662207e34fba	732	* ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
garfieldsg	0:662207e34fba	733	* written into the FIFO buffer.
garfieldsg	0:662207e34fba	734	* @return Current accelerometer FIFO enabled value
garfieldsg	0:662207e34fba	735	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	736	*/
garfieldsg	0:662207e34fba	737	bool MPU6050::getAccelFIFOEnabled()
garfieldsg	0:662207e34fba	738	{
garfieldsg	0:662207e34fba	739	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	740	return buffer[0];
garfieldsg	0:662207e34fba	741	}
garfieldsg	0:662207e34fba	742	/** Set accelerometer FIFO enabled value.
garfieldsg	0:662207e34fba	743	* @param enabled New accelerometer FIFO enabled value
garfieldsg	0:662207e34fba	744	* @see getAccelFIFOEnabled()
garfieldsg	0:662207e34fba	745	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	746	*/
garfieldsg	0:662207e34fba	747	void MPU6050::setAccelFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	748	{
garfieldsg	0:662207e34fba	749	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	750	}
garfieldsg	0:662207e34fba	751	/** Get Slave 2 FIFO enabled value.
garfieldsg	0:662207e34fba	752	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	753	* associated with Slave 2 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	754	* @return Current Slave 2 FIFO enabled value
garfieldsg	0:662207e34fba	755	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	756	*/
garfieldsg	0:662207e34fba	757	bool MPU6050::getSlave2FIFOEnabled()
garfieldsg	0:662207e34fba	758	{
garfieldsg	0:662207e34fba	759	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	760	return buffer[0];
garfieldsg	0:662207e34fba	761	}
garfieldsg	0:662207e34fba	762	/** Set Slave 2 FIFO enabled value.
garfieldsg	0:662207e34fba	763	* @param enabled New Slave 2 FIFO enabled value
garfieldsg	0:662207e34fba	764	* @see getSlave2FIFOEnabled()
garfieldsg	0:662207e34fba	765	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	766	*/
garfieldsg	0:662207e34fba	767	void MPU6050::setSlave2FIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	768	{
garfieldsg	0:662207e34fba	769	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	770	}
garfieldsg	0:662207e34fba	771	/** Get Slave 1 FIFO enabled value.
garfieldsg	0:662207e34fba	772	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	773	* associated with Slave 1 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	774	* @return Current Slave 1 FIFO enabled value
garfieldsg	0:662207e34fba	775	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	776	*/
garfieldsg	0:662207e34fba	777	bool MPU6050::getSlave1FIFOEnabled()
garfieldsg	0:662207e34fba	778	{
garfieldsg	0:662207e34fba	779	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	780	return buffer[0];
garfieldsg	0:662207e34fba	781	}
garfieldsg	0:662207e34fba	782	/** Set Slave 1 FIFO enabled value.
garfieldsg	0:662207e34fba	783	* @param enabled New Slave 1 FIFO enabled value
garfieldsg	0:662207e34fba	784	* @see getSlave1FIFOEnabled()
garfieldsg	0:662207e34fba	785	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	786	*/
garfieldsg	0:662207e34fba	787	void MPU6050::setSlave1FIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	788	{
garfieldsg	0:662207e34fba	789	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	790	}
garfieldsg	0:662207e34fba	791	/** Get Slave 0 FIFO enabled value.
garfieldsg	0:662207e34fba	792	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	793	* associated with Slave 0 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	794	* @return Current Slave 0 FIFO enabled value
garfieldsg	0:662207e34fba	795	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	796	*/
garfieldsg	0:662207e34fba	797	bool MPU6050::getSlave0FIFOEnabled()
garfieldsg	0:662207e34fba	798	{
garfieldsg	0:662207e34fba	799	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	800	return buffer[0];
garfieldsg	0:662207e34fba	801	}
garfieldsg	0:662207e34fba	802	/** Set Slave 0 FIFO enabled value.
garfieldsg	0:662207e34fba	803	* @param enabled New Slave 0 FIFO enabled value
garfieldsg	0:662207e34fba	804	* @see getSlave0FIFOEnabled()
garfieldsg	0:662207e34fba	805	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	806	*/
garfieldsg	0:662207e34fba	807	void MPU6050::setSlave0FIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	808	{
garfieldsg	0:662207e34fba	809	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	810	}
garfieldsg	0:662207e34fba	811
garfieldsg	0:662207e34fba	812	// I2C_MST_CTRL register
garfieldsg	0:662207e34fba	813
garfieldsg	0:662207e34fba	814	/** Get multi-master enabled value.
garfieldsg	0:662207e34fba	815	* Multi-master capability allows multiple I2C masters to operate on the same
garfieldsg	0:662207e34fba	816	* bus. In circuits where multi-master capability is required, set MULT_MST_EN
garfieldsg	0:662207e34fba	817	* to 1. This will increase current drawn by approximately 30uA.
garfieldsg	0:662207e34fba	818	*
garfieldsg	0:662207e34fba	819	* In circuits where multi-master capability is required, the state of the I2C
garfieldsg	0:662207e34fba	820	* bus must always be monitored by each separate I2C Master. Before an I2C
garfieldsg	0:662207e34fba	821	* Master can assume arbitration of the bus, it must first confirm that no other
garfieldsg	0:662207e34fba	822	* I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
garfieldsg	0:662207e34fba	823	* MPU-60X0's bus arbitration detection logic is turned on, enabling it to
garfieldsg	0:662207e34fba	824	* detect when the bus is available.
garfieldsg	0:662207e34fba	825	*
garfieldsg	0:662207e34fba	826	* @return Current multi-master enabled value
garfieldsg	0:662207e34fba	827	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	828	*/
garfieldsg	0:662207e34fba	829	bool MPU6050::getMultiMasterEnabled()
garfieldsg	0:662207e34fba	830	{
garfieldsg	0:662207e34fba	831	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
garfieldsg	0:662207e34fba	832	return buffer[0];
garfieldsg	0:662207e34fba	833	}
garfieldsg	0:662207e34fba	834	/** Set multi-master enabled value.
garfieldsg	0:662207e34fba	835	* @param enabled New multi-master enabled value
garfieldsg	0:662207e34fba	836	* @see getMultiMasterEnabled()
garfieldsg	0:662207e34fba	837	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	838	*/
garfieldsg	0:662207e34fba	839	void MPU6050::setMultiMasterEnabled(bool enabled)
garfieldsg	0:662207e34fba	840	{
garfieldsg	0:662207e34fba	841	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
garfieldsg	0:662207e34fba	842	}
garfieldsg	0:662207e34fba	843	/** Get wait-for-external-sensor-data enabled value.
garfieldsg	0:662207e34fba	844	* When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
garfieldsg	0:662207e34fba	845	* delayed until External Sensor data from the Slave Devices are loaded into the
garfieldsg	0:662207e34fba	846	* EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
garfieldsg	0:662207e34fba	847	* data (i.e. from gyro and accel) and external sensor data have been loaded to
garfieldsg	0:662207e34fba	848	* their respective data registers (i.e. the data is synced) when the Data Ready
garfieldsg	0:662207e34fba	849	* interrupt is triggered.
garfieldsg	0:662207e34fba	850	*
garfieldsg	0:662207e34fba	851	* @return Current wait-for-external-sensor-data enabled value
garfieldsg	0:662207e34fba	852	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	853	*/
garfieldsg	0:662207e34fba	854	bool MPU6050::getWaitForExternalSensorEnabled()
garfieldsg	0:662207e34fba	855	{
garfieldsg	0:662207e34fba	856	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
garfieldsg	0:662207e34fba	857	return buffer[0];
garfieldsg	0:662207e34fba	858	}
garfieldsg	0:662207e34fba	859	/** Set wait-for-external-sensor-data enabled value.
garfieldsg	0:662207e34fba	860	* @param enabled New wait-for-external-sensor-data enabled value
garfieldsg	0:662207e34fba	861	* @see getWaitForExternalSensorEnabled()
garfieldsg	0:662207e34fba	862	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	863	*/
garfieldsg	0:662207e34fba	864	void MPU6050::setWaitForExternalSensorEnabled(bool enabled)
garfieldsg	0:662207e34fba	865	{
garfieldsg	0:662207e34fba	866	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
garfieldsg	0:662207e34fba	867	}
garfieldsg	0:662207e34fba	868	/** Get Slave 3 FIFO enabled value.
garfieldsg	0:662207e34fba	869	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	870	* associated with Slave 3 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	871	* @return Current Slave 3 FIFO enabled value
garfieldsg	0:662207e34fba	872	* @see MPU6050_RA_MST_CTRL
garfieldsg	0:662207e34fba	873	*/
garfieldsg	0:662207e34fba	874	bool MPU6050::getSlave3FIFOEnabled()
garfieldsg	0:662207e34fba	875	{
garfieldsg	0:662207e34fba	876	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	877	return buffer[0];
garfieldsg	0:662207e34fba	878	}
garfieldsg	0:662207e34fba	879	/** Set Slave 3 FIFO enabled value.
garfieldsg	0:662207e34fba	880	* @param enabled New Slave 3 FIFO enabled value
garfieldsg	0:662207e34fba	881	* @see getSlave3FIFOEnabled()
garfieldsg	0:662207e34fba	882	* @see MPU6050_RA_MST_CTRL
garfieldsg	0:662207e34fba	883	*/
garfieldsg	0:662207e34fba	884	void MPU6050::setSlave3FIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	885	{
garfieldsg	0:662207e34fba	886	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	887	}
garfieldsg	0:662207e34fba	888	/** Get slave read/write transition enabled value.
garfieldsg	0:662207e34fba	889	* The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
garfieldsg	0:662207e34fba	890	* read to the next slave read. If the bit equals 0, there will be a restart
garfieldsg	0:662207e34fba	891	* between reads. If the bit equals 1, there will be a stop followed by a start
garfieldsg	0:662207e34fba	892	* of the following read. When a write transaction follows a read transaction,
garfieldsg	0:662207e34fba	893	* the stop followed by a start of the successive write will be always used.
garfieldsg	0:662207e34fba	894	*
garfieldsg	0:662207e34fba	895	* @return Current slave read/write transition enabled value
garfieldsg	0:662207e34fba	896	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	897	*/
garfieldsg	0:662207e34fba	898	bool MPU6050::getSlaveReadWriteTransitionEnabled()
garfieldsg	0:662207e34fba	899	{
garfieldsg	0:662207e34fba	900	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
garfieldsg	0:662207e34fba	901	return buffer[0];
garfieldsg	0:662207e34fba	902	}
garfieldsg	0:662207e34fba	903	/** Set slave read/write transition enabled value.
garfieldsg	0:662207e34fba	904	* @param enabled New slave read/write transition enabled value
garfieldsg	0:662207e34fba	905	* @see getSlaveReadWriteTransitionEnabled()
garfieldsg	0:662207e34fba	906	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	907	*/
garfieldsg	0:662207e34fba	908	void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled)
garfieldsg	0:662207e34fba	909	{
garfieldsg	0:662207e34fba	910	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
garfieldsg	0:662207e34fba	911	}
garfieldsg	0:662207e34fba	912	/** Get I2C master clock speed.
garfieldsg	0:662207e34fba	913	* I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
garfieldsg	0:662207e34fba	914	* MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
garfieldsg	0:662207e34fba	915	* the following table:
garfieldsg	0:662207e34fba	916	*
garfieldsg	0:662207e34fba	917	* <pre>
garfieldsg	0:662207e34fba	918	* I2C_MST_CLK \| I2C Master Clock Speed \| 8MHz Clock Divider
garfieldsg	0:662207e34fba	919	* ------------+------------------------+-------------------
garfieldsg	0:662207e34fba	920	* 0 \| 348kHz \| 23
garfieldsg	0:662207e34fba	921	* 1 \| 333kHz \| 24
garfieldsg	0:662207e34fba	922	* 2 \| 320kHz \| 25
garfieldsg	0:662207e34fba	923	* 3 \| 308kHz \| 26
garfieldsg	0:662207e34fba	924	* 4 \| 296kHz \| 27
garfieldsg	0:662207e34fba	925	* 5 \| 286kHz \| 28
garfieldsg	0:662207e34fba	926	* 6 \| 276kHz \| 29
garfieldsg	0:662207e34fba	927	* 7 \| 267kHz \| 30
garfieldsg	0:662207e34fba	928	* 8 \| 258kHz \| 31
garfieldsg	0:662207e34fba	929	* 9 \| 500kHz \| 16
garfieldsg	0:662207e34fba	930	* 10 \| 471kHz \| 17
garfieldsg	0:662207e34fba	931	* 11 \| 444kHz \| 18
garfieldsg	0:662207e34fba	932	* 12 \| 421kHz \| 19
garfieldsg	0:662207e34fba	933	* 13 \| 400kHz \| 20
garfieldsg	0:662207e34fba	934	* 14 \| 381kHz \| 21
garfieldsg	0:662207e34fba	935	* 15 \| 364kHz \| 22
garfieldsg	0:662207e34fba	936	* </pre>
garfieldsg	0:662207e34fba	937	*
garfieldsg	0:662207e34fba	938	* @return Current I2C master clock speed
garfieldsg	0:662207e34fba	939	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	940	*/
garfieldsg	0:662207e34fba	941	uint8_t MPU6050::getMasterClockSpeed()
garfieldsg	0:662207e34fba	942	{
garfieldsg	0:662207e34fba	943	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
garfieldsg	0:662207e34fba	944	return buffer[0];
garfieldsg	0:662207e34fba	945	}
garfieldsg	0:662207e34fba	946	/** Set I2C master clock speed.
garfieldsg	0:662207e34fba	947	* @reparam speed Current I2C master clock speed
garfieldsg	0:662207e34fba	948	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	949	*/
garfieldsg	0:662207e34fba	950	void MPU6050::setMasterClockSpeed(uint8_t speed)
garfieldsg	0:662207e34fba	951	{
garfieldsg	0:662207e34fba	952	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
garfieldsg	0:662207e34fba	953	}
garfieldsg	0:662207e34fba	954
garfieldsg	0:662207e34fba	955	// I2C_SLV* registers (Slave 0-3)
garfieldsg	0:662207e34fba	956
garfieldsg	0:662207e34fba	957	/** Get the I2C address of the specified slave (0-3).
garfieldsg	0:662207e34fba	958	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
garfieldsg	0:662207e34fba	959	* operation, and if it is cleared, then it's a write operation. The remaining
garfieldsg	0:662207e34fba	960	* bits (6-0) are the 7-bit device address of the slave device.
garfieldsg	0:662207e34fba	961	*
garfieldsg	0:662207e34fba	962	* In read mode, the result of the read is placed in the lowest available
garfieldsg	0:662207e34fba	963	* EXT_SENS_DATA register. For further information regarding the allocation of
garfieldsg	0:662207e34fba	964	* read results, please refer to the EXT_SENS_DATA register description
garfieldsg	0:662207e34fba	965	* (Registers 73 - 96).
garfieldsg	0:662207e34fba	966	*
garfieldsg	0:662207e34fba	967	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
garfieldsg	0:662207e34fba	968	* characteristics, and so it has its own functions (getSlave4* and setSlave4*).
garfieldsg	0:662207e34fba	969	*
garfieldsg	0:662207e34fba	970	* I2C data transactions are performed at the Sample Rate, as defined in
garfieldsg	0:662207e34fba	971	* Register 25. The user is responsible for ensuring that I2C data transactions
garfieldsg	0:662207e34fba	972	* to and from each enabled Slave can be completed within a single period of the
garfieldsg	0:662207e34fba	973	* Sample Rate.
garfieldsg	0:662207e34fba	974	*
garfieldsg	0:662207e34fba	975	* The I2C slave access rate can be reduced relative to the Sample Rate. This
garfieldsg	0:662207e34fba	976	* reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
garfieldsg	0:662207e34fba	977	* slave's access rate is reduced relative to the Sample Rate is determined by
garfieldsg	0:662207e34fba	978	* I2C_MST_DELAY_CTRL (Register 103).
garfieldsg	0:662207e34fba	979	*
garfieldsg	0:662207e34fba	980	* The processing order for the slaves is fixed. The sequence followed for
garfieldsg	0:662207e34fba	981	* processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
garfieldsg	0:662207e34fba	982	* particular Slave is disabled it will be skipped.
garfieldsg	0:662207e34fba	983	*
garfieldsg	0:662207e34fba	984	* Each slave can either be accessed at the sample rate or at a reduced sample
garfieldsg	0:662207e34fba	985	* rate. In a case where some slaves are accessed at the Sample Rate and some
garfieldsg	0:662207e34fba	986	* slaves are accessed at the reduced rate, the sequence of accessing the slaves
garfieldsg	0:662207e34fba	987	* (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
garfieldsg	0:662207e34fba	988	* be skipped if their access rate dictates that they should not be accessed
garfieldsg	0:662207e34fba	989	* during that particular cycle. For further information regarding the reduced
garfieldsg	0:662207e34fba	990	* access rate, please refer to Register 52. Whether a slave is accessed at the
garfieldsg	0:662207e34fba	991	* Sample Rate or at the reduced rate is determined by the Delay Enable bits in
garfieldsg	0:662207e34fba	992	* Register 103.
garfieldsg	0:662207e34fba	993	*
garfieldsg	0:662207e34fba	994	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	995	* @return Current address for specified slave
garfieldsg	0:662207e34fba	996	* @see MPU6050_RA_I2C_SLV0_ADDR
garfieldsg	0:662207e34fba	997	*/
garfieldsg	0:662207e34fba	998	uint8_t MPU6050::getSlaveAddress(uint8_t num)
garfieldsg	0:662207e34fba	999	{
garfieldsg	0:662207e34fba	1000	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1001	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
garfieldsg	0:662207e34fba	1002	return buffer[0];
garfieldsg	0:662207e34fba	1003	}
garfieldsg	0:662207e34fba	1004	/** Set the I2C address of the specified slave (0-3).
garfieldsg	0:662207e34fba	1005	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1006	* @param address New address for specified slave
garfieldsg	0:662207e34fba	1007	* @see getSlaveAddress()
garfieldsg	0:662207e34fba	1008	* @see MPU6050_RA_I2C_SLV0_ADDR
garfieldsg	0:662207e34fba	1009	*/
garfieldsg	0:662207e34fba	1010	void MPU6050::setSlaveAddress(uint8_t num, uint8_t address)
garfieldsg	0:662207e34fba	1011	{
garfieldsg	0:662207e34fba	1012	if (num > 3) return;
garfieldsg	0:662207e34fba	1013	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
garfieldsg	0:662207e34fba	1014	}
garfieldsg	0:662207e34fba	1015	/** Get the active internal register for the specified slave (0-3).
garfieldsg	0:662207e34fba	1016	* Read/write operations for this slave will be done to whatever internal
garfieldsg	0:662207e34fba	1017	* register address is stored in this MPU register.
garfieldsg	0:662207e34fba	1018	*
garfieldsg	0:662207e34fba	1019	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
garfieldsg	0:662207e34fba	1020	* characteristics, and so it has its own functions.
garfieldsg	0:662207e34fba	1021	*
garfieldsg	0:662207e34fba	1022	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1023	* @return Current active register for specified slave
garfieldsg	0:662207e34fba	1024	* @see MPU6050_RA_I2C_SLV0_REG
garfieldsg	0:662207e34fba	1025	*/
garfieldsg	0:662207e34fba	1026	uint8_t MPU6050::getSlaveRegister(uint8_t num)
garfieldsg	0:662207e34fba	1027	{
garfieldsg	0:662207e34fba	1028	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1029	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
garfieldsg	0:662207e34fba	1030	return buffer[0];
garfieldsg	0:662207e34fba	1031	}
garfieldsg	0:662207e34fba	1032	/** Set the active internal register for the specified slave (0-3).
garfieldsg	0:662207e34fba	1033	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1034	* @param reg New active register for specified slave
garfieldsg	0:662207e34fba	1035	* @see getSlaveRegister()
garfieldsg	0:662207e34fba	1036	* @see MPU6050_RA_I2C_SLV0_REG
garfieldsg	0:662207e34fba	1037	*/
garfieldsg	0:662207e34fba	1038	void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg)
garfieldsg	0:662207e34fba	1039	{
garfieldsg	0:662207e34fba	1040	if (num > 3) return;
garfieldsg	0:662207e34fba	1041	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
garfieldsg	0:662207e34fba	1042	}
garfieldsg	0:662207e34fba	1043	/** Get the enabled value for the specified slave (0-3).
garfieldsg	0:662207e34fba	1044	* When set to 1, this bit enables Slave 0 for data transfer operations. When
garfieldsg	0:662207e34fba	1045	* cleared to 0, this bit disables Slave 0 from data transfer operations.
garfieldsg	0:662207e34fba	1046	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1047	* @return Current enabled value for specified slave
garfieldsg	0:662207e34fba	1048	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1049	*/
garfieldsg	0:662207e34fba	1050	bool MPU6050::getSlaveEnabled(uint8_t num)
garfieldsg	0:662207e34fba	1051	{
garfieldsg	0:662207e34fba	1052	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1053	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1054	return buffer[0];
garfieldsg	0:662207e34fba	1055	}
garfieldsg	0:662207e34fba	1056	/** Set the enabled value for the specified slave (0-3).
garfieldsg	0:662207e34fba	1057	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1058	* @param enabled New enabled value for specified slave
garfieldsg	0:662207e34fba	1059	* @see getSlaveEnabled()
garfieldsg	0:662207e34fba	1060	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1061	*/
garfieldsg	0:662207e34fba	1062	void MPU6050::setSlaveEnabled(uint8_t num, bool enabled)
garfieldsg	0:662207e34fba	1063	{
garfieldsg	0:662207e34fba	1064	if (num > 3) return;
garfieldsg	0:662207e34fba	1065	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1066	}
garfieldsg	0:662207e34fba	1067	/** Get word pair byte-swapping enabled for the specified slave (0-3).
garfieldsg	0:662207e34fba	1068	* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
garfieldsg	0:662207e34fba	1069	* the high and low bytes of a word pair are swapped. Please refer to
garfieldsg	0:662207e34fba	1070	* I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
garfieldsg	0:662207e34fba	1071	* bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
garfieldsg	0:662207e34fba	1072	* registers in the order they were transferred.
garfieldsg	0:662207e34fba	1073	*
garfieldsg	0:662207e34fba	1074	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1075	* @return Current word pair byte-swapping enabled value for specified slave
garfieldsg	0:662207e34fba	1076	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1077	*/
garfieldsg	0:662207e34fba	1078	bool MPU6050::getSlaveWordByteSwap(uint8_t num)
garfieldsg	0:662207e34fba	1079	{
garfieldsg	0:662207e34fba	1080	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1081	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
garfieldsg	0:662207e34fba	1082	return buffer[0];
garfieldsg	0:662207e34fba	1083	}
garfieldsg	0:662207e34fba	1084	/** Set word pair byte-swapping enabled for the specified slave (0-3).
garfieldsg	0:662207e34fba	1085	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1086	* @param enabled New word pair byte-swapping enabled value for specified slave
garfieldsg	0:662207e34fba	1087	* @see getSlaveWordByteSwap()
garfieldsg	0:662207e34fba	1088	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1089	*/
garfieldsg	0:662207e34fba	1090	void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled)
garfieldsg	0:662207e34fba	1091	{
garfieldsg	0:662207e34fba	1092	if (num > 3) return;
garfieldsg	0:662207e34fba	1093	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
garfieldsg	0:662207e34fba	1094	}
garfieldsg	0:662207e34fba	1095	/** Get write mode for the specified slave (0-3).
garfieldsg	0:662207e34fba	1096	* When set to 1, the transaction will read or write data only. When cleared to
garfieldsg	0:662207e34fba	1097	* 0, the transaction will write a register address prior to reading or writing
garfieldsg	0:662207e34fba	1098	* data. This should equal 0 when specifying the register address within the
garfieldsg	0:662207e34fba	1099	* Slave device to/from which the ensuing data transaction will take place.
garfieldsg	0:662207e34fba	1100	*
garfieldsg	0:662207e34fba	1101	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1102	* @return Current write mode for specified slave (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	1103	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1104	*/
garfieldsg	0:662207e34fba	1105	bool MPU6050::getSlaveWriteMode(uint8_t num)
garfieldsg	0:662207e34fba	1106	{
garfieldsg	0:662207e34fba	1107	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1108	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
garfieldsg	0:662207e34fba	1109	return buffer[0];
garfieldsg	0:662207e34fba	1110	}
garfieldsg	0:662207e34fba	1111	/** Set write mode for the specified slave (0-3).
garfieldsg	0:662207e34fba	1112	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1113	* @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	1114	* @see getSlaveWriteMode()
garfieldsg	0:662207e34fba	1115	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1116	*/
garfieldsg	0:662207e34fba	1117	void MPU6050::setSlaveWriteMode(uint8_t num, bool mode)
garfieldsg	0:662207e34fba	1118	{
garfieldsg	0:662207e34fba	1119	if (num > 3) return;
garfieldsg	0:662207e34fba	1120	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
garfieldsg	0:662207e34fba	1121	}
garfieldsg	0:662207e34fba	1122	/** Get word pair grouping order offset for the specified slave (0-3).
garfieldsg	0:662207e34fba	1123	* This sets specifies the grouping order of word pairs received from registers.
garfieldsg	0:662207e34fba	1124	* When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
garfieldsg	0:662207e34fba	1125	* then odd register addresses) are paired to form a word. When set to 1, bytes
garfieldsg	0:662207e34fba	1126	* from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
garfieldsg	0:662207e34fba	1127	* register addresses) are paired to form a word.
garfieldsg	0:662207e34fba	1128	*
garfieldsg	0:662207e34fba	1129	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1130	* @return Current word pair grouping order offset for specified slave
garfieldsg	0:662207e34fba	1131	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1132	*/
garfieldsg	0:662207e34fba	1133	bool MPU6050::getSlaveWordGroupOffset(uint8_t num)
garfieldsg	0:662207e34fba	1134	{
garfieldsg	0:662207e34fba	1135	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1136	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
garfieldsg	0:662207e34fba	1137	return buffer[0];
garfieldsg	0:662207e34fba	1138	}
garfieldsg	0:662207e34fba	1139	/** Set word pair grouping order offset for the specified slave (0-3).
garfieldsg	0:662207e34fba	1140	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1141	* @param enabled New word pair grouping order offset for specified slave
garfieldsg	0:662207e34fba	1142	* @see getSlaveWordGroupOffset()
garfieldsg	0:662207e34fba	1143	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1144	*/
garfieldsg	0:662207e34fba	1145	void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled)
garfieldsg	0:662207e34fba	1146	{
garfieldsg	0:662207e34fba	1147	if (num > 3) return;
garfieldsg	0:662207e34fba	1148	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
garfieldsg	0:662207e34fba	1149	}
garfieldsg	0:662207e34fba	1150	/** Get number of bytes to read for the specified slave (0-3).
garfieldsg	0:662207e34fba	1151	* Specifies the number of bytes transferred to and from Slave 0. Clearing this
garfieldsg	0:662207e34fba	1152	* bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
garfieldsg	0:662207e34fba	1153	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1154	* @return Number of bytes to read for specified slave
garfieldsg	0:662207e34fba	1155	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1156	*/
garfieldsg	0:662207e34fba	1157	uint8_t MPU6050::getSlaveDataLength(uint8_t num)
garfieldsg	0:662207e34fba	1158	{
garfieldsg	0:662207e34fba	1159	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1160	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
garfieldsg	0:662207e34fba	1161	return buffer[0];
garfieldsg	0:662207e34fba	1162	}
garfieldsg	0:662207e34fba	1163	/** Set number of bytes to read for the specified slave (0-3).
garfieldsg	0:662207e34fba	1164	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1165	* @param length Number of bytes to read for specified slave
garfieldsg	0:662207e34fba	1166	* @see getSlaveDataLength()
garfieldsg	0:662207e34fba	1167	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1168	*/
garfieldsg	0:662207e34fba	1169	void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length)
garfieldsg	0:662207e34fba	1170	{
garfieldsg	0:662207e34fba	1171	if (num > 3) return;
garfieldsg	0:662207e34fba	1172	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
garfieldsg	0:662207e34fba	1173	}
garfieldsg	0:662207e34fba	1174
garfieldsg	0:662207e34fba	1175	// I2C_SLV* registers (Slave 4)
garfieldsg	0:662207e34fba	1176
garfieldsg	0:662207e34fba	1177	/** Get the I2C address of Slave 4.
garfieldsg	0:662207e34fba	1178	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
garfieldsg	0:662207e34fba	1179	* operation, and if it is cleared, then it's a write operation. The remaining
garfieldsg	0:662207e34fba	1180	* bits (6-0) are the 7-bit device address of the slave device.
garfieldsg	0:662207e34fba	1181	*
garfieldsg	0:662207e34fba	1182	* @return Current address for Slave 4
garfieldsg	0:662207e34fba	1183	* @see getSlaveAddress()
garfieldsg	0:662207e34fba	1184	* @see MPU6050_RA_I2C_SLV4_ADDR
garfieldsg	0:662207e34fba	1185	*/
garfieldsg	0:662207e34fba	1186	uint8_t MPU6050::getSlave4Address()
garfieldsg	0:662207e34fba	1187	{
garfieldsg	0:662207e34fba	1188	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
garfieldsg	0:662207e34fba	1189	return buffer[0];
garfieldsg	0:662207e34fba	1190	}
garfieldsg	0:662207e34fba	1191	/** Set the I2C address of Slave 4.
garfieldsg	0:662207e34fba	1192	* @param address New address for Slave 4
garfieldsg	0:662207e34fba	1193	* @see getSlave4Address()
garfieldsg	0:662207e34fba	1194	* @see MPU6050_RA_I2C_SLV4_ADDR
garfieldsg	0:662207e34fba	1195	*/
garfieldsg	0:662207e34fba	1196	void MPU6050::setSlave4Address(uint8_t address)
garfieldsg	0:662207e34fba	1197	{
garfieldsg	0:662207e34fba	1198	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
garfieldsg	0:662207e34fba	1199	}
garfieldsg	0:662207e34fba	1200	/** Get the active internal register for the Slave 4.
garfieldsg	0:662207e34fba	1201	* Read/write operations for this slave will be done to whatever internal
garfieldsg	0:662207e34fba	1202	* register address is stored in this MPU register.
garfieldsg	0:662207e34fba	1203	*
garfieldsg	0:662207e34fba	1204	* @return Current active register for Slave 4
garfieldsg	0:662207e34fba	1205	* @see MPU6050_RA_I2C_SLV4_REG
garfieldsg	0:662207e34fba	1206	*/
garfieldsg	0:662207e34fba	1207	uint8_t MPU6050::getSlave4Register()
garfieldsg	0:662207e34fba	1208	{
garfieldsg	0:662207e34fba	1209	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
garfieldsg	0:662207e34fba	1210	return buffer[0];
garfieldsg	0:662207e34fba	1211	}
garfieldsg	0:662207e34fba	1212	/** Set the active internal register for Slave 4.
garfieldsg	0:662207e34fba	1213	* @param reg New active register for Slave 4
garfieldsg	0:662207e34fba	1214	* @see getSlave4Register()
garfieldsg	0:662207e34fba	1215	* @see MPU6050_RA_I2C_SLV4_REG
garfieldsg	0:662207e34fba	1216	*/
garfieldsg	0:662207e34fba	1217	void MPU6050::setSlave4Register(uint8_t reg)
garfieldsg	0:662207e34fba	1218	{
garfieldsg	0:662207e34fba	1219	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
garfieldsg	0:662207e34fba	1220	}
garfieldsg	0:662207e34fba	1221	/** Set new byte to write to Slave 4.
garfieldsg	0:662207e34fba	1222	* This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
garfieldsg	0:662207e34fba	1223	* is set 1 (set to read), this register has no effect.
garfieldsg	0:662207e34fba	1224	* @param data New byte to write to Slave 4
garfieldsg	0:662207e34fba	1225	* @see MPU6050_RA_I2C_SLV4_DO
garfieldsg	0:662207e34fba	1226	*/
garfieldsg	0:662207e34fba	1227	void MPU6050::setSlave4OutputByte(uint8_t data)
garfieldsg	0:662207e34fba	1228	{
garfieldsg	0:662207e34fba	1229	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
garfieldsg	0:662207e34fba	1230	}
garfieldsg	0:662207e34fba	1231	/** Get the enabled value for the Slave 4.
garfieldsg	0:662207e34fba	1232	* When set to 1, this bit enables Slave 4 for data transfer operations. When
garfieldsg	0:662207e34fba	1233	* cleared to 0, this bit disables Slave 4 from data transfer operations.
garfieldsg	0:662207e34fba	1234	* @return Current enabled value for Slave 4
garfieldsg	0:662207e34fba	1235	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1236	*/
garfieldsg	0:662207e34fba	1237	bool MPU6050::getSlave4Enabled()
garfieldsg	0:662207e34fba	1238	{
garfieldsg	0:662207e34fba	1239	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1240	return buffer[0];
garfieldsg	0:662207e34fba	1241	}
garfieldsg	0:662207e34fba	1242	/** Set the enabled value for Slave 4.
garfieldsg	0:662207e34fba	1243	* @param enabled New enabled value for Slave 4
garfieldsg	0:662207e34fba	1244	* @see getSlave4Enabled()
garfieldsg	0:662207e34fba	1245	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1246	*/
garfieldsg	0:662207e34fba	1247	void MPU6050::setSlave4Enabled(bool enabled)
garfieldsg	0:662207e34fba	1248	{
garfieldsg	0:662207e34fba	1249	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1250	}
garfieldsg	0:662207e34fba	1251	/** Get the enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1252	* When set to 1, this bit enables the generation of an interrupt signal upon
garfieldsg	0:662207e34fba	1253	* completion of a Slave 4 transaction. When cleared to 0, this bit disables the
garfieldsg	0:662207e34fba	1254	* generation of an interrupt signal upon completion of a Slave 4 transaction.
garfieldsg	0:662207e34fba	1255	* The interrupt status can be observed in Register 54.
garfieldsg	0:662207e34fba	1256	*
garfieldsg	0:662207e34fba	1257	* @return Current enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1258	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1259	*/
garfieldsg	0:662207e34fba	1260	bool MPU6050::getSlave4InterruptEnabled()
garfieldsg	0:662207e34fba	1261	{
garfieldsg	0:662207e34fba	1262	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1263	return buffer[0];
garfieldsg	0:662207e34fba	1264	}
garfieldsg	0:662207e34fba	1265	/** Set the enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1266	* @param enabled New enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1267	* @see getSlave4InterruptEnabled()
garfieldsg	0:662207e34fba	1268	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1269	*/
garfieldsg	0:662207e34fba	1270	void MPU6050::setSlave4InterruptEnabled(bool enabled)
garfieldsg	0:662207e34fba	1271	{
garfieldsg	0:662207e34fba	1272	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1273	}
garfieldsg	0:662207e34fba	1274	/** Get write mode for Slave 4.
garfieldsg	0:662207e34fba	1275	* When set to 1, the transaction will read or write data only. When cleared to
garfieldsg	0:662207e34fba	1276	* 0, the transaction will write a register address prior to reading or writing
garfieldsg	0:662207e34fba	1277	* data. This should equal 0 when specifying the register address within the
garfieldsg	0:662207e34fba	1278	* Slave device to/from which the ensuing data transaction will take place.
garfieldsg	0:662207e34fba	1279	*
garfieldsg	0:662207e34fba	1280	* @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	1281	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1282	*/
garfieldsg	0:662207e34fba	1283	bool MPU6050::getSlave4WriteMode()
garfieldsg	0:662207e34fba	1284	{
garfieldsg	0:662207e34fba	1285	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
garfieldsg	0:662207e34fba	1286	return buffer[0];
garfieldsg	0:662207e34fba	1287	}
garfieldsg	0:662207e34fba	1288	/** Set write mode for the Slave 4.
garfieldsg	0:662207e34fba	1289	* @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	1290	* @see getSlave4WriteMode()
garfieldsg	0:662207e34fba	1291	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1292	*/
garfieldsg	0:662207e34fba	1293	void MPU6050::setSlave4WriteMode(bool mode)
garfieldsg	0:662207e34fba	1294	{
garfieldsg	0:662207e34fba	1295	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
garfieldsg	0:662207e34fba	1296	}
garfieldsg	0:662207e34fba	1297	/** Get Slave 4 master delay value.
garfieldsg	0:662207e34fba	1298	* This configures the reduced access rate of I2C slaves relative to the Sample
garfieldsg	0:662207e34fba	1299	* Rate. When a slave's access rate is decreased relative to the Sample Rate,
garfieldsg	0:662207e34fba	1300	* the slave is accessed every:
garfieldsg	0:662207e34fba	1301	*
garfieldsg	0:662207e34fba	1302	* 1 / (1 + I2C_MST_DLY) samples
garfieldsg	0:662207e34fba	1303	*
garfieldsg	0:662207e34fba	1304	* This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
garfieldsg	0:662207e34fba	1305	* DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
garfieldsg	0:662207e34fba	1306	* the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
garfieldsg	0:662207e34fba	1307	* further information regarding the Sample Rate, please refer to register 25.
garfieldsg	0:662207e34fba	1308	*
garfieldsg	0:662207e34fba	1309	* @return Current Slave 4 master delay value
garfieldsg	0:662207e34fba	1310	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1311	*/
garfieldsg	0:662207e34fba	1312	uint8_t MPU6050::getSlave4MasterDelay()
garfieldsg	0:662207e34fba	1313	{
garfieldsg	0:662207e34fba	1314	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
garfieldsg	0:662207e34fba	1315	return buffer[0];
garfieldsg	0:662207e34fba	1316	}
garfieldsg	0:662207e34fba	1317	/** Set Slave 4 master delay value.
garfieldsg	0:662207e34fba	1318	* @param delay New Slave 4 master delay value
garfieldsg	0:662207e34fba	1319	* @see getSlave4MasterDelay()
garfieldsg	0:662207e34fba	1320	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1321	*/
garfieldsg	0:662207e34fba	1322	void MPU6050::setSlave4MasterDelay(uint8_t delay)
garfieldsg	0:662207e34fba	1323	{
garfieldsg	0:662207e34fba	1324	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
garfieldsg	0:662207e34fba	1325	}
garfieldsg	0:662207e34fba	1326	/** Get last available byte read from Slave 4.
garfieldsg	0:662207e34fba	1327	* This register stores the data read from Slave 4. This field is populated
garfieldsg	0:662207e34fba	1328	* after a read transaction.
garfieldsg	0:662207e34fba	1329	* @return Last available byte read from to Slave 4
garfieldsg	0:662207e34fba	1330	* @see MPU6050_RA_I2C_SLV4_DI
garfieldsg	0:662207e34fba	1331	*/
garfieldsg	0:662207e34fba	1332	uint8_t MPU6050::getSlate4InputByte()
garfieldsg	0:662207e34fba	1333	{
garfieldsg	0:662207e34fba	1334	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
garfieldsg	0:662207e34fba	1335	return buffer[0];
garfieldsg	0:662207e34fba	1336	}
garfieldsg	0:662207e34fba	1337
garfieldsg	0:662207e34fba	1338	// I2C_MST_STATUS register
garfieldsg	0:662207e34fba	1339
garfieldsg	0:662207e34fba	1340	/** Get FSYNC interrupt status.
garfieldsg	0:662207e34fba	1341	* This bit reflects the status of the FSYNC interrupt from an external device
garfieldsg	0:662207e34fba	1342	* into the MPU-60X0. This is used as a way to pass an external interrupt
garfieldsg	0:662207e34fba	1343	* through the MPU-60X0 to the host application processor. When set to 1, this
garfieldsg	0:662207e34fba	1344	* bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
garfieldsg	0:662207e34fba	1345	* (Register 55).
garfieldsg	0:662207e34fba	1346	* @return FSYNC interrupt status
garfieldsg	0:662207e34fba	1347	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1348	*/
garfieldsg	0:662207e34fba	1349	bool MPU6050::getPassthroughStatus()
garfieldsg	0:662207e34fba	1350	{
garfieldsg	0:662207e34fba	1351	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
garfieldsg	0:662207e34fba	1352	return buffer[0];
garfieldsg	0:662207e34fba	1353	}
garfieldsg	0:662207e34fba	1354	/** Get Slave 4 transaction done status.
garfieldsg	0:662207e34fba	1355	* Automatically sets to 1 when a Slave 4 transaction has completed. This
garfieldsg	0:662207e34fba	1356	* triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
garfieldsg	0:662207e34fba	1357	* (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
garfieldsg	0:662207e34fba	1358	* I2C_SLV4_CTRL register (Register 52).
garfieldsg	0:662207e34fba	1359	* @return Slave 4 transaction done status
garfieldsg	0:662207e34fba	1360	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1361	*/
garfieldsg	0:662207e34fba	1362	bool MPU6050::getSlave4IsDone()
garfieldsg	0:662207e34fba	1363	{
garfieldsg	0:662207e34fba	1364	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
garfieldsg	0:662207e34fba	1365	return buffer[0];
garfieldsg	0:662207e34fba	1366	}
garfieldsg	0:662207e34fba	1367	/** Get master arbitration lost status.
garfieldsg	0:662207e34fba	1368	* This bit automatically sets to 1 when the I2C Master has lost arbitration of
garfieldsg	0:662207e34fba	1369	* the auxiliary I2C bus (an error condition). This triggers an interrupt if the
garfieldsg	0:662207e34fba	1370	* I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1371	* @return Master arbitration lost status
garfieldsg	0:662207e34fba	1372	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1373	*/
garfieldsg	0:662207e34fba	1374	bool MPU6050::getLostArbitration()
garfieldsg	0:662207e34fba	1375	{
garfieldsg	0:662207e34fba	1376	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
garfieldsg	0:662207e34fba	1377	return buffer[0];
garfieldsg	0:662207e34fba	1378	}
garfieldsg	0:662207e34fba	1379	/** Get Slave 4 NACK status.
garfieldsg	0:662207e34fba	1380	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1381	* transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1382	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1383	* @return Slave 4 NACK interrupt status
garfieldsg	0:662207e34fba	1384	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1385	*/
garfieldsg	0:662207e34fba	1386	bool MPU6050::getSlave4Nack()
garfieldsg	0:662207e34fba	1387	{
garfieldsg	0:662207e34fba	1388	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1389	return buffer[0];
garfieldsg	0:662207e34fba	1390	}
garfieldsg	0:662207e34fba	1391	/** Get Slave 3 NACK status.
garfieldsg	0:662207e34fba	1392	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1393	* transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1394	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1395	* @return Slave 3 NACK interrupt status
garfieldsg	0:662207e34fba	1396	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1397	*/
garfieldsg	0:662207e34fba	1398	bool MPU6050::getSlave3Nack()
garfieldsg	0:662207e34fba	1399	{
garfieldsg	0:662207e34fba	1400	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1401	return buffer[0];
garfieldsg	0:662207e34fba	1402	}
garfieldsg	0:662207e34fba	1403	/** Get Slave 2 NACK status.
garfieldsg	0:662207e34fba	1404	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1405	* transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1406	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1407	* @return Slave 2 NACK interrupt status
garfieldsg	0:662207e34fba	1408	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1409	*/
garfieldsg	0:662207e34fba	1410	bool MPU6050::getSlave2Nack()
garfieldsg	0:662207e34fba	1411	{
garfieldsg	0:662207e34fba	1412	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1413	return buffer[0];
garfieldsg	0:662207e34fba	1414	}
garfieldsg	0:662207e34fba	1415	/** Get Slave 1 NACK status.
garfieldsg	0:662207e34fba	1416	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1417	* transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1418	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1419	* @return Slave 1 NACK interrupt status
garfieldsg	0:662207e34fba	1420	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1421	*/
garfieldsg	0:662207e34fba	1422	bool MPU6050::getSlave1Nack()
garfieldsg	0:662207e34fba	1423	{
garfieldsg	0:662207e34fba	1424	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1425	return buffer[0];
garfieldsg	0:662207e34fba	1426	}
garfieldsg	0:662207e34fba	1427	/** Get Slave 0 NACK status.
garfieldsg	0:662207e34fba	1428	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1429	* transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1430	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1431	* @return Slave 0 NACK interrupt status
garfieldsg	0:662207e34fba	1432	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1433	*/
garfieldsg	0:662207e34fba	1434	bool MPU6050::getSlave0Nack()
garfieldsg	0:662207e34fba	1435	{
garfieldsg	0:662207e34fba	1436	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1437	return buffer[0];
garfieldsg	0:662207e34fba	1438	}
garfieldsg	0:662207e34fba	1439
garfieldsg	0:662207e34fba	1440	// INT_PIN_CFG register
garfieldsg	0:662207e34fba	1441
garfieldsg	0:662207e34fba	1442	/** Get interrupt logic level mode.
garfieldsg	0:662207e34fba	1443	* Will be set 0 for active-high, 1 for active-low.
garfieldsg	0:662207e34fba	1444	* @return Current interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1445	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1446	* @see MPU6050_INTCFG_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1447	*/
garfieldsg	0:662207e34fba	1448	bool MPU6050::getInterruptMode()
garfieldsg	0:662207e34fba	1449	{
garfieldsg	0:662207e34fba	1450	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
garfieldsg	0:662207e34fba	1451	return buffer[0];
garfieldsg	0:662207e34fba	1452	}
garfieldsg	0:662207e34fba	1453	/** Set interrupt logic level mode.
garfieldsg	0:662207e34fba	1454	* @param mode New interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1455	* @see getInterruptMode()
garfieldsg	0:662207e34fba	1456	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1457	* @see MPU6050_INTCFG_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1458	*/
garfieldsg	0:662207e34fba	1459	void MPU6050::setInterruptMode(bool mode)
garfieldsg	0:662207e34fba	1460	{
garfieldsg	0:662207e34fba	1461	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
garfieldsg	0:662207e34fba	1462	}
garfieldsg	0:662207e34fba	1463	/** Get interrupt drive mode.
garfieldsg	0:662207e34fba	1464	* Will be set 0 for push-pull, 1 for open-drain.
garfieldsg	0:662207e34fba	1465	* @return Current interrupt drive mode (0=push-pull, 1=open-drain)
garfieldsg	0:662207e34fba	1466	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1467	* @see MPU6050_INTCFG_INT_OPEN_BIT
garfieldsg	0:662207e34fba	1468	*/
garfieldsg	0:662207e34fba	1469	bool MPU6050::getInterruptDrive()
garfieldsg	0:662207e34fba	1470	{
garfieldsg	0:662207e34fba	1471	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
garfieldsg	0:662207e34fba	1472	return buffer[0];
garfieldsg	0:662207e34fba	1473	}
garfieldsg	0:662207e34fba	1474	/** Set interrupt drive mode.
garfieldsg	0:662207e34fba	1475	* @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
garfieldsg	0:662207e34fba	1476	* @see getInterruptDrive()
garfieldsg	0:662207e34fba	1477	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1478	* @see MPU6050_INTCFG_INT_OPEN_BIT
garfieldsg	0:662207e34fba	1479	*/
garfieldsg	0:662207e34fba	1480	void MPU6050::setInterruptDrive(bool drive)
garfieldsg	0:662207e34fba	1481	{
garfieldsg	0:662207e34fba	1482	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
garfieldsg	0:662207e34fba	1483	}
garfieldsg	0:662207e34fba	1484	/** Get interrupt latch mode.
garfieldsg	0:662207e34fba	1485	* Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
garfieldsg	0:662207e34fba	1486	* @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
garfieldsg	0:662207e34fba	1487	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1488	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
garfieldsg	0:662207e34fba	1489	*/
garfieldsg	0:662207e34fba	1490	bool MPU6050::getInterruptLatch()
garfieldsg	0:662207e34fba	1491	{
garfieldsg	0:662207e34fba	1492	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1493	return buffer[0];
garfieldsg	0:662207e34fba	1494	}
garfieldsg	0:662207e34fba	1495	/** Set interrupt latch mode.
garfieldsg	0:662207e34fba	1496	* @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
garfieldsg	0:662207e34fba	1497	* @see getInterruptLatch()
garfieldsg	0:662207e34fba	1498	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1499	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
garfieldsg	0:662207e34fba	1500	*/
garfieldsg	0:662207e34fba	1501	void MPU6050::setInterruptLatch(bool latch)
garfieldsg	0:662207e34fba	1502	{
garfieldsg	0:662207e34fba	1503	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
garfieldsg	0:662207e34fba	1504	}
garfieldsg	0:662207e34fba	1505	/** Get interrupt latch clear mode.
garfieldsg	0:662207e34fba	1506	* Will be set 0 for status-read-only, 1 for any-register-read.
garfieldsg	0:662207e34fba	1507	* @return Current latch clear mode (0=status-read-only, 1=any-register-read)
garfieldsg	0:662207e34fba	1508	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1509	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
garfieldsg	0:662207e34fba	1510	*/
garfieldsg	0:662207e34fba	1511	bool MPU6050::getInterruptLatchClear()
garfieldsg	0:662207e34fba	1512	{
garfieldsg	0:662207e34fba	1513	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
garfieldsg	0:662207e34fba	1514	return buffer[0];
garfieldsg	0:662207e34fba	1515	}
garfieldsg	0:662207e34fba	1516	/** Set interrupt latch clear mode.
garfieldsg	0:662207e34fba	1517	* @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
garfieldsg	0:662207e34fba	1518	* @see getInterruptLatchClear()
garfieldsg	0:662207e34fba	1519	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1520	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
garfieldsg	0:662207e34fba	1521	*/
garfieldsg	0:662207e34fba	1522	void MPU6050::setInterruptLatchClear(bool clear)
garfieldsg	0:662207e34fba	1523	{
garfieldsg	0:662207e34fba	1524	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
garfieldsg	0:662207e34fba	1525	}
garfieldsg	0:662207e34fba	1526	/** Get FSYNC interrupt logic level mode.
garfieldsg	0:662207e34fba	1527	* @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1528	* @see getFSyncInterruptMode()
garfieldsg	0:662207e34fba	1529	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1530	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1531	*/
garfieldsg	0:662207e34fba	1532	bool MPU6050::getFSyncInterruptLevel()
garfieldsg	0:662207e34fba	1533	{
garfieldsg	0:662207e34fba	1534	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
garfieldsg	0:662207e34fba	1535	return buffer[0];
garfieldsg	0:662207e34fba	1536	}
garfieldsg	0:662207e34fba	1537	/** Set FSYNC interrupt logic level mode.
garfieldsg	0:662207e34fba	1538	* @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1539	* @see getFSyncInterruptMode()
garfieldsg	0:662207e34fba	1540	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1541	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1542	*/
garfieldsg	0:662207e34fba	1543	void MPU6050::setFSyncInterruptLevel(bool level)
garfieldsg	0:662207e34fba	1544	{
garfieldsg	0:662207e34fba	1545	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
garfieldsg	0:662207e34fba	1546	}
garfieldsg	0:662207e34fba	1547	/** Get FSYNC pin interrupt enabled setting.
garfieldsg	0:662207e34fba	1548	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1549	* @return Current interrupt enabled setting
garfieldsg	0:662207e34fba	1550	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1551	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
garfieldsg	0:662207e34fba	1552	*/
garfieldsg	0:662207e34fba	1553	bool MPU6050::getFSyncInterruptEnabled()
garfieldsg	0:662207e34fba	1554	{
garfieldsg	0:662207e34fba	1555	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1556	return buffer[0];
garfieldsg	0:662207e34fba	1557	}
garfieldsg	0:662207e34fba	1558	/** Set FSYNC pin interrupt enabled setting.
garfieldsg	0:662207e34fba	1559	* @param enabled New FSYNC pin interrupt enabled setting
garfieldsg	0:662207e34fba	1560	* @see getFSyncInterruptEnabled()
garfieldsg	0:662207e34fba	1561	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1562	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
garfieldsg	0:662207e34fba	1563	*/
garfieldsg	0:662207e34fba	1564	void MPU6050::setFSyncInterruptEnabled(bool enabled)
garfieldsg	0:662207e34fba	1565	{
garfieldsg	0:662207e34fba	1566	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1567	}
garfieldsg	0:662207e34fba	1568	/** Get I2C bypass enabled status.
garfieldsg	0:662207e34fba	1569	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
garfieldsg	0:662207e34fba	1570	* 0, the host application processor will be able to directly access the
garfieldsg	0:662207e34fba	1571	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
garfieldsg	0:662207e34fba	1572	* application processor will not be able to directly access the auxiliary I2C
garfieldsg	0:662207e34fba	1573	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
garfieldsg	0:662207e34fba	1574	* bit[5]).
garfieldsg	0:662207e34fba	1575	* @return Current I2C bypass enabled status
garfieldsg	0:662207e34fba	1576	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1577	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
garfieldsg	0:662207e34fba	1578	*/
garfieldsg	0:662207e34fba	1579	bool MPU6050::getI2CBypassEnabled()
garfieldsg	0:662207e34fba	1580	{
garfieldsg	0:662207e34fba	1581	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1582	return buffer[0];
garfieldsg	0:662207e34fba	1583	}
garfieldsg	0:662207e34fba	1584	/** Set I2C bypass enabled status.
garfieldsg	0:662207e34fba	1585	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
garfieldsg	0:662207e34fba	1586	* 0, the host application processor will be able to directly access the
garfieldsg	0:662207e34fba	1587	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
garfieldsg	0:662207e34fba	1588	* application processor will not be able to directly access the auxiliary I2C
garfieldsg	0:662207e34fba	1589	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
garfieldsg	0:662207e34fba	1590	* bit[5]).
garfieldsg	0:662207e34fba	1591	* @param enabled New I2C bypass enabled status
garfieldsg	0:662207e34fba	1592	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1593	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
garfieldsg	0:662207e34fba	1594	*/
garfieldsg	0:662207e34fba	1595	void MPU6050::setI2CBypassEnabled(bool enabled)
garfieldsg	0:662207e34fba	1596	{
garfieldsg	0:662207e34fba	1597	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1598	}
garfieldsg	0:662207e34fba	1599	/** Get reference clock output enabled status.
garfieldsg	0:662207e34fba	1600	* When this bit is equal to 1, a reference clock output is provided at the
garfieldsg	0:662207e34fba	1601	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
garfieldsg	0:662207e34fba	1602	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
garfieldsg	0:662207e34fba	1603	* Specification document.
garfieldsg	0:662207e34fba	1604	* @return Current reference clock output enabled status
garfieldsg	0:662207e34fba	1605	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1606	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
garfieldsg	0:662207e34fba	1607	*/
garfieldsg	0:662207e34fba	1608	bool MPU6050::getClockOutputEnabled()
garfieldsg	0:662207e34fba	1609	{
garfieldsg	0:662207e34fba	1610	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1611	return buffer[0];
garfieldsg	0:662207e34fba	1612	}
garfieldsg	0:662207e34fba	1613	/** Set reference clock output enabled status.
garfieldsg	0:662207e34fba	1614	* When this bit is equal to 1, a reference clock output is provided at the
garfieldsg	0:662207e34fba	1615	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
garfieldsg	0:662207e34fba	1616	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
garfieldsg	0:662207e34fba	1617	* Specification document.
garfieldsg	0:662207e34fba	1618	* @param enabled New reference clock output enabled status
garfieldsg	0:662207e34fba	1619	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1620	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
garfieldsg	0:662207e34fba	1621	*/
garfieldsg	0:662207e34fba	1622	void MPU6050::setClockOutputEnabled(bool enabled)
garfieldsg	0:662207e34fba	1623	{
garfieldsg	0:662207e34fba	1624	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1625	}
garfieldsg	0:662207e34fba	1626
garfieldsg	0:662207e34fba	1627	// INT_ENABLE register
garfieldsg	0:662207e34fba	1628
garfieldsg	0:662207e34fba	1629	/** Get full interrupt enabled status.
garfieldsg	0:662207e34fba	1630	* Full register byte for all interrupts, for quick reading. Each bit will be
garfieldsg	0:662207e34fba	1631	* set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1632	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1633	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1634	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1635	**/
garfieldsg	0:662207e34fba	1636	uint8_t MPU6050::getIntEnabled()
garfieldsg	0:662207e34fba	1637	{
garfieldsg	0:662207e34fba	1638	i2Cdev.readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
garfieldsg	0:662207e34fba	1639	return buffer[0];
garfieldsg	0:662207e34fba	1640	}
garfieldsg	0:662207e34fba	1641	/** Set full interrupt enabled status.
garfieldsg	0:662207e34fba	1642	* Full register byte for all interrupts, for quick reading. Each bit should be
garfieldsg	0:662207e34fba	1643	* set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1644	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1645	* @see getIntFreefallEnabled()
garfieldsg	0:662207e34fba	1646	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1647	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1648	**/
garfieldsg	0:662207e34fba	1649	void MPU6050::setIntEnabled(uint8_t enabled)
garfieldsg	0:662207e34fba	1650	{
garfieldsg	0:662207e34fba	1651	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
garfieldsg	0:662207e34fba	1652	}
garfieldsg	0:662207e34fba	1653	/** Get Free Fall interrupt enabled status.
garfieldsg	0:662207e34fba	1654	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1655	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1656	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1657	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1658	**/
garfieldsg	0:662207e34fba	1659	bool MPU6050::getIntFreefallEnabled()
garfieldsg	0:662207e34fba	1660	{
garfieldsg	0:662207e34fba	1661	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
garfieldsg	0:662207e34fba	1662	return buffer[0];
garfieldsg	0:662207e34fba	1663	}
garfieldsg	0:662207e34fba	1664	/** Set Free Fall interrupt enabled status.
garfieldsg	0:662207e34fba	1665	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1666	* @see getIntFreefallEnabled()
garfieldsg	0:662207e34fba	1667	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1668	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1669	**/
garfieldsg	0:662207e34fba	1670	void MPU6050::setIntFreefallEnabled(bool enabled)
garfieldsg	0:662207e34fba	1671	{
garfieldsg	0:662207e34fba	1672	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
garfieldsg	0:662207e34fba	1673	}
garfieldsg	0:662207e34fba	1674	/** Get Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1675	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1676	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1677	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1678	* @see MPU6050_INTERRUPT_MOT_BIT
garfieldsg	0:662207e34fba	1679	**/
garfieldsg	0:662207e34fba	1680	bool MPU6050::getIntMotionEnabled()
garfieldsg	0:662207e34fba	1681	{
garfieldsg	0:662207e34fba	1682	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
garfieldsg	0:662207e34fba	1683	return buffer[0];
garfieldsg	0:662207e34fba	1684	}
garfieldsg	0:662207e34fba	1685	/** Set Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1686	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1687	* @see getIntMotionEnabled()
garfieldsg	0:662207e34fba	1688	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1689	* @see MPU6050_INTERRUPT_MOT_BIT
garfieldsg	0:662207e34fba	1690	**/
garfieldsg	0:662207e34fba	1691	void MPU6050::setIntMotionEnabled(bool enabled)
garfieldsg	0:662207e34fba	1692	{
garfieldsg	0:662207e34fba	1693	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
garfieldsg	0:662207e34fba	1694	}
garfieldsg	0:662207e34fba	1695	/** Get Zero Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1696	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1697	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1698	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1699	* @see MPU6050_INTERRUPT_ZMOT_BIT
garfieldsg	0:662207e34fba	1700	**/
garfieldsg	0:662207e34fba	1701	bool MPU6050::getIntZeroMotionEnabled()
garfieldsg	0:662207e34fba	1702	{
garfieldsg	0:662207e34fba	1703	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
garfieldsg	0:662207e34fba	1704	return buffer[0];
garfieldsg	0:662207e34fba	1705	}
garfieldsg	0:662207e34fba	1706	/** Set Zero Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1707	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1708	* @see getIntZeroMotionEnabled()
garfieldsg	0:662207e34fba	1709	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1710	* @see MPU6050_INTERRUPT_ZMOT_BIT
garfieldsg	0:662207e34fba	1711	**/
garfieldsg	0:662207e34fba	1712	void MPU6050::setIntZeroMotionEnabled(bool enabled)
garfieldsg	0:662207e34fba	1713	{
garfieldsg	0:662207e34fba	1714	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
garfieldsg	0:662207e34fba	1715	}
garfieldsg	0:662207e34fba	1716	/** Get FIFO Buffer Overflow interrupt enabled status.
garfieldsg	0:662207e34fba	1717	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1718	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1719	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1720	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
garfieldsg	0:662207e34fba	1721	**/
garfieldsg	0:662207e34fba	1722	bool MPU6050::getIntFIFOBufferOverflowEnabled()
garfieldsg	0:662207e34fba	1723	{
garfieldsg	0:662207e34fba	1724	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
garfieldsg	0:662207e34fba	1725	return buffer[0];
garfieldsg	0:662207e34fba	1726	}
garfieldsg	0:662207e34fba	1727	/** Set FIFO Buffer Overflow interrupt enabled status.
garfieldsg	0:662207e34fba	1728	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1729	* @see getIntFIFOBufferOverflowEnabled()
garfieldsg	0:662207e34fba	1730	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1731	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
garfieldsg	0:662207e34fba	1732	**/
garfieldsg	0:662207e34fba	1733	void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled)
garfieldsg	0:662207e34fba	1734	{
garfieldsg	0:662207e34fba	1735	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
garfieldsg	0:662207e34fba	1736	}
garfieldsg	0:662207e34fba	1737	/** Get I2C Master interrupt enabled status.
garfieldsg	0:662207e34fba	1738	* This enables any of the I2C Master interrupt sources to generate an
garfieldsg	0:662207e34fba	1739	* interrupt. Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1740	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1741	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1742	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
garfieldsg	0:662207e34fba	1743	**/
garfieldsg	0:662207e34fba	1744	bool MPU6050::getIntI2CMasterEnabled()
garfieldsg	0:662207e34fba	1745	{
garfieldsg	0:662207e34fba	1746	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
garfieldsg	0:662207e34fba	1747	return buffer[0];
garfieldsg	0:662207e34fba	1748	}
garfieldsg	0:662207e34fba	1749	/** Set I2C Master interrupt enabled status.
garfieldsg	0:662207e34fba	1750	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1751	* @see getIntI2CMasterEnabled()
garfieldsg	0:662207e34fba	1752	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1753	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
garfieldsg	0:662207e34fba	1754	**/
garfieldsg	0:662207e34fba	1755	void MPU6050::setIntI2CMasterEnabled(bool enabled)
garfieldsg	0:662207e34fba	1756	{
garfieldsg	0:662207e34fba	1757	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
garfieldsg	0:662207e34fba	1758	}
garfieldsg	0:662207e34fba	1759	/** Get Data Ready interrupt enabled setting.
garfieldsg	0:662207e34fba	1760	* This event occurs each time a write operation to all of the sensor registers
garfieldsg	0:662207e34fba	1761	* has been completed. Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1762	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1763	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1764	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
garfieldsg	0:662207e34fba	1765	*/
garfieldsg	0:662207e34fba	1766	bool MPU6050::getIntDataReadyEnabled()
garfieldsg	0:662207e34fba	1767	{
garfieldsg	0:662207e34fba	1768	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
garfieldsg	0:662207e34fba	1769	return buffer[0];
garfieldsg	0:662207e34fba	1770	}
garfieldsg	0:662207e34fba	1771	/** Set Data Ready interrupt enabled status.
garfieldsg	0:662207e34fba	1772	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1773	* @see getIntDataReadyEnabled()
garfieldsg	0:662207e34fba	1774	* @see MPU6050_RA_INT_CFG
garfieldsg	0:662207e34fba	1775	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
garfieldsg	0:662207e34fba	1776	*/
garfieldsg	0:662207e34fba	1777	void MPU6050::setIntDataReadyEnabled(bool enabled)
garfieldsg	0:662207e34fba	1778	{
garfieldsg	0:662207e34fba	1779	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
garfieldsg	0:662207e34fba	1780	}
garfieldsg	0:662207e34fba	1781
garfieldsg	0:662207e34fba	1782	// INT_STATUS register
garfieldsg	0:662207e34fba	1783
garfieldsg	0:662207e34fba	1784	/** Get full set of interrupt status bits.
garfieldsg	0:662207e34fba	1785	* These bits clear to 0 after the register has been read. Very useful
garfieldsg	0:662207e34fba	1786	* for getting multiple INT statuses, since each single bit read clears
garfieldsg	0:662207e34fba	1787	* all of them because it has to read the whole byte.
garfieldsg	0:662207e34fba	1788	* @return Current interrupt status
garfieldsg	0:662207e34fba	1789	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1790	*/
garfieldsg	0:662207e34fba	1791	uint8_t MPU6050::getIntStatus()
garfieldsg	0:662207e34fba	1792	{
garfieldsg	0:662207e34fba	1793	i2Cdev.readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
garfieldsg	0:662207e34fba	1794	return buffer[0];
garfieldsg	0:662207e34fba	1795	}
garfieldsg	0:662207e34fba	1796	/** Get Free Fall interrupt status.
garfieldsg	0:662207e34fba	1797	* This bit automatically sets to 1 when a Free Fall interrupt has been
garfieldsg	0:662207e34fba	1798	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1799	* @return Current interrupt status
garfieldsg	0:662207e34fba	1800	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1801	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1802	*/
garfieldsg	0:662207e34fba	1803	bool MPU6050::getIntFreefallStatus()
garfieldsg	0:662207e34fba	1804	{
garfieldsg	0:662207e34fba	1805	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
garfieldsg	0:662207e34fba	1806	return buffer[0];
garfieldsg	0:662207e34fba	1807	}
garfieldsg	0:662207e34fba	1808	/** Get Motion Detection interrupt status.
garfieldsg	0:662207e34fba	1809	* This bit automatically sets to 1 when a Motion Detection interrupt has been
garfieldsg	0:662207e34fba	1810	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1811	* @return Current interrupt status
garfieldsg	0:662207e34fba	1812	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1813	* @see MPU6050_INTERRUPT_MOT_BIT
garfieldsg	0:662207e34fba	1814	*/
garfieldsg	0:662207e34fba	1815	bool MPU6050::getIntMotionStatus()
garfieldsg	0:662207e34fba	1816	{
garfieldsg	0:662207e34fba	1817	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
garfieldsg	0:662207e34fba	1818	return buffer[0];
garfieldsg	0:662207e34fba	1819	}
garfieldsg	0:662207e34fba	1820	/** Get Zero Motion Detection interrupt status.
garfieldsg	0:662207e34fba	1821	* This bit automatically sets to 1 when a Zero Motion Detection interrupt has
garfieldsg	0:662207e34fba	1822	* been generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1823	* @return Current interrupt status
garfieldsg	0:662207e34fba	1824	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1825	* @see MPU6050_INTERRUPT_ZMOT_BIT
garfieldsg	0:662207e34fba	1826	*/
garfieldsg	0:662207e34fba	1827	bool MPU6050::getIntZeroMotionStatus()
garfieldsg	0:662207e34fba	1828	{
garfieldsg	0:662207e34fba	1829	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
garfieldsg	0:662207e34fba	1830	return buffer[0];
garfieldsg	0:662207e34fba	1831	}
garfieldsg	0:662207e34fba	1832	/** Get FIFO Buffer Overflow interrupt status.
garfieldsg	0:662207e34fba	1833	* This bit automatically sets to 1 when a Free Fall interrupt has been
garfieldsg	0:662207e34fba	1834	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1835	* @return Current interrupt status
garfieldsg	0:662207e34fba	1836	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1837	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
garfieldsg	0:662207e34fba	1838	*/
garfieldsg	0:662207e34fba	1839	bool MPU6050::getIntFIFOBufferOverflowStatus()
garfieldsg	0:662207e34fba	1840	{
garfieldsg	0:662207e34fba	1841	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
garfieldsg	0:662207e34fba	1842	return buffer[0];
garfieldsg	0:662207e34fba	1843	}
garfieldsg	0:662207e34fba	1844	/** Get I2C Master interrupt status.
garfieldsg	0:662207e34fba	1845	* This bit automatically sets to 1 when an I2C Master interrupt has been
garfieldsg	0:662207e34fba	1846	* generated. For a list of I2C Master interrupts, please refer to Register 54.
garfieldsg	0:662207e34fba	1847	* The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1848	* @return Current interrupt status
garfieldsg	0:662207e34fba	1849	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1850	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
garfieldsg	0:662207e34fba	1851	*/
garfieldsg	0:662207e34fba	1852	bool MPU6050::getIntI2CMasterStatus()
garfieldsg	0:662207e34fba	1853	{
garfieldsg	0:662207e34fba	1854	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
garfieldsg	0:662207e34fba	1855	return buffer[0];
garfieldsg	0:662207e34fba	1856	}
garfieldsg	0:662207e34fba	1857	/** Get Data Ready interrupt status.
garfieldsg	0:662207e34fba	1858	* This bit automatically sets to 1 when a Data Ready interrupt has been
garfieldsg	0:662207e34fba	1859	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1860	* @return Current interrupt status
garfieldsg	0:662207e34fba	1861	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1862	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
garfieldsg	0:662207e34fba	1863	*/
garfieldsg	0:662207e34fba	1864	bool MPU6050::getIntDataReadyStatus()
garfieldsg	0:662207e34fba	1865	{
garfieldsg	0:662207e34fba	1866	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
garfieldsg	0:662207e34fba	1867	return buffer[0];
garfieldsg	0:662207e34fba	1868	}
garfieldsg	0:662207e34fba	1869
garfieldsg	0:662207e34fba	1870	// ACCEL_OUT_ registers
garfieldsg	0:662207e34fba	1871
garfieldsg	0:662207e34fba	1872	/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
garfieldsg	0:662207e34fba	1873	* FUNCTION NOT FULLY IMPLEMENTED YET.
garfieldsg	0:662207e34fba	1874	* @param ax 16-bit signed integer container for accelerometer X-axis value
garfieldsg	0:662207e34fba	1875	* @param ay 16-bit signed integer container for accelerometer Y-axis value
garfieldsg	0:662207e34fba	1876	* @param az 16-bit signed integer container for accelerometer Z-axis value
garfieldsg	0:662207e34fba	1877	* @param gx 16-bit signed integer container for gyroscope X-axis value
garfieldsg	0:662207e34fba	1878	* @param gy 16-bit signed integer container for gyroscope Y-axis value
garfieldsg	0:662207e34fba	1879	* @param gz 16-bit signed integer container for gyroscope Z-axis value
garfieldsg	0:662207e34fba	1880	* @param mx 16-bit signed integer container for magnetometer X-axis value
garfieldsg	0:662207e34fba	1881	* @param my 16-bit signed integer container for magnetometer Y-axis value
garfieldsg	0:662207e34fba	1882	* @param mz 16-bit signed integer container for magnetometer Z-axis value
garfieldsg	0:662207e34fba	1883	* @see getMotion6()
garfieldsg	0:662207e34fba	1884	* @see getAcceleration()
garfieldsg	0:662207e34fba	1885	* @see getRotation()
garfieldsg	0:662207e34fba	1886	* @see MPU6050_RA_ACCEL_XOUT_H
garfieldsg	0:662207e34fba	1887	*/
garfieldsg	0:662207e34fba	1888	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	1889	{
garfieldsg	0:662207e34fba	1890	getMotion6(ax, ay, az, gx, gy, gz);
garfieldsg	0:662207e34fba	1891	// TODO: magnetometer integration
garfieldsg	0:662207e34fba	1892	}
garfieldsg	0:662207e34fba	1893	/** Get raw 6-axis motion sensor readings (accel/gyro).
garfieldsg	0:662207e34fba	1894	* Retrieves all currently available motion sensor values.
garfieldsg	0:662207e34fba	1895	* @param ax 16-bit signed integer container for accelerometer X-axis value
garfieldsg	0:662207e34fba	1896	* @param ay 16-bit signed integer container for accelerometer Y-axis value
garfieldsg	0:662207e34fba	1897	* @param az 16-bit signed integer container for accelerometer Z-axis value
garfieldsg	0:662207e34fba	1898	* @param gx 16-bit signed integer container for gyroscope X-axis value
garfieldsg	0:662207e34fba	1899	* @param gy 16-bit signed integer container for gyroscope Y-axis value
garfieldsg	0:662207e34fba	1900	* @param gz 16-bit signed integer container for gyroscope Z-axis value
garfieldsg	0:662207e34fba	1901	* @see getAcceleration()
garfieldsg	0:662207e34fba	1902	* @see getRotation()
garfieldsg	0:662207e34fba	1903	* @see MPU6050_RA_ACCEL_XOUT_H
garfieldsg	0:662207e34fba	1904	*/
garfieldsg	0:662207e34fba	1905	void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
garfieldsg	0:662207e34fba	1906	{
garfieldsg	0:662207e34fba	1907	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
garfieldsg	0:662207e34fba	1908	*ax = (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	1909	*ay = (((int16_t)buffer[2]) << 8) \| buffer[3];
garfieldsg	0:662207e34fba	1910	*az = (((int16_t)buffer[4]) << 8) \| buffer[5];
garfieldsg	0:662207e34fba	1911	*gx = (((int16_t)buffer[8]) << 8) \| buffer[9];
garfieldsg	0:662207e34fba	1912	*gy = (((int16_t)buffer[10]) << 8) \| buffer[11];
garfieldsg	0:662207e34fba	1913	*gz = (((int16_t)buffer[12]) << 8) \| buffer[13];
garfieldsg	0:662207e34fba	1914	}
garfieldsg	0:662207e34fba	1915	/** Get 3-axis accelerometer readings.
garfieldsg	0:662207e34fba	1916	* These registers store the most recent accelerometer measurements.
garfieldsg	0:662207e34fba	1917	* Accelerometer measurements are written to these registers at the Sample Rate
garfieldsg	0:662207e34fba	1918	* as defined in Register 25.
garfieldsg	0:662207e34fba	1919	*
garfieldsg	0:662207e34fba	1920	* The accelerometer measurement registers, along with the temperature
garfieldsg	0:662207e34fba	1921	* measurement registers, gyroscope measurement registers, and external sensor
garfieldsg	0:662207e34fba	1922	* data registers, are composed of two sets of registers: an internal register
garfieldsg	0:662207e34fba	1923	* set and a user-facing read register set.
garfieldsg	0:662207e34fba	1924	*
garfieldsg	0:662207e34fba	1925	* The data within the accelerometer sensors' internal register set is always
garfieldsg	0:662207e34fba	1926	* updated at the Sample Rate. Meanwhile, the user-facing read register set
garfieldsg	0:662207e34fba	1927	* duplicates the internal register set's data values whenever the serial
garfieldsg	0:662207e34fba	1928	* interface is idle. This guarantees that a burst read of sensor registers will
garfieldsg	0:662207e34fba	1929	* read measurements from the same sampling instant. Note that if burst reads
garfieldsg	0:662207e34fba	1930	* are not used, the user is responsible for ensuring a set of single byte reads
garfieldsg	0:662207e34fba	1931	* correspond to a single sampling instant by checking the Data Ready interrupt.
garfieldsg	0:662207e34fba	1932	*
garfieldsg	0:662207e34fba	1933	* Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
garfieldsg	0:662207e34fba	1934	* (Register 28). For each full scale setting, the accelerometers' sensitivity
garfieldsg	0:662207e34fba	1935	* per LSB in ACCEL_xOUT is shown in the table below:
garfieldsg	0:662207e34fba	1936	*
garfieldsg	0:662207e34fba	1937	* <pre>
garfieldsg	0:662207e34fba	1938	* AFS_SEL \| Full Scale Range \| LSB Sensitivity
garfieldsg	0:662207e34fba	1939	* --------+------------------+----------------
garfieldsg	0:662207e34fba	1940	* 0 \| +/- 2g \| 8192 LSB/mg
garfieldsg	0:662207e34fba	1941	* 1 \| +/- 4g \| 4096 LSB/mg
garfieldsg	0:662207e34fba	1942	* 2 \| +/- 8g \| 2048 LSB/mg
garfieldsg	0:662207e34fba	1943	* 3 \| +/- 16g \| 1024 LSB/mg
garfieldsg	0:662207e34fba	1944	* </pre>
garfieldsg	0:662207e34fba	1945	*
garfieldsg	0:662207e34fba	1946	* @param x 16-bit signed integer container for X-axis acceleration
garfieldsg	0:662207e34fba	1947	* @param y 16-bit signed integer container for Y-axis acceleration
garfieldsg	0:662207e34fba	1948	* @param z 16-bit signed integer container for Z-axis acceleration
garfieldsg	0:662207e34fba	1949	* @see MPU6050_RA_GYRO_XOUT_H
garfieldsg	0:662207e34fba	1950	*/
garfieldsg	0:662207e34fba	1951	void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z)
garfieldsg	0:662207e34fba	1952	{
garfieldsg	0:662207e34fba	1953	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
garfieldsg	0:662207e34fba	1954	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	1955	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
garfieldsg	0:662207e34fba	1956	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
garfieldsg	0:662207e34fba	1957	}
garfieldsg	0:662207e34fba	1958	/** Get X-axis accelerometer reading.
garfieldsg	0:662207e34fba	1959	* @return X-axis acceleration measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	1960	* @see getMotion6()
garfieldsg	0:662207e34fba	1961	* @see MPU6050_RA_ACCEL_XOUT_H
garfieldsg	0:662207e34fba	1962	*/
garfieldsg	0:662207e34fba	1963	int16_t MPU6050::getAccelerationX()
garfieldsg	0:662207e34fba	1964	{
garfieldsg	0:662207e34fba	1965	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	1966	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	1967	}
garfieldsg	0:662207e34fba	1968	/** Get Y-axis accelerometer reading.
garfieldsg	0:662207e34fba	1969	* @return Y-axis acceleration measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	1970	* @see getMotion6()
garfieldsg	0:662207e34fba	1971	* @see MPU6050_RA_ACCEL_YOUT_H
garfieldsg	0:662207e34fba	1972	*/
garfieldsg	0:662207e34fba	1973	int16_t MPU6050::getAccelerationY()
garfieldsg	0:662207e34fba	1974	{
garfieldsg	0:662207e34fba	1975	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	1976	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	1977	}
garfieldsg	0:662207e34fba	1978	/** Get Z-axis accelerometer reading.
garfieldsg	0:662207e34fba	1979	* @return Z-axis acceleration measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	1980	* @see getMotion6()
garfieldsg	0:662207e34fba	1981	* @see MPU6050_RA_ACCEL_ZOUT_H
garfieldsg	0:662207e34fba	1982	*/
garfieldsg	0:662207e34fba	1983	int16_t MPU6050::getAccelerationZ()
garfieldsg	0:662207e34fba	1984	{
garfieldsg	0:662207e34fba	1985	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	1986	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	1987	}
garfieldsg	0:662207e34fba	1988
garfieldsg	0:662207e34fba	1989	// TEMP_OUT_* registers
garfieldsg	0:662207e34fba	1990
garfieldsg	0:662207e34fba	1991	/** Get current internal temperature.
garfieldsg	0:662207e34fba	1992	* @return Temperature reading in 16-bit 2's complement format
garfieldsg	0:662207e34fba	1993	* @see MPU6050_RA_TEMP_OUT_H
garfieldsg	0:662207e34fba	1994	*/
garfieldsg	0:662207e34fba	1995	int16_t MPU6050::getTemperature()
garfieldsg	0:662207e34fba	1996	{
garfieldsg	0:662207e34fba	1997	i2Cdev.readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
garfieldsg	0:662207e34fba	1998	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	1999	}
garfieldsg	0:662207e34fba	2000
garfieldsg	0:662207e34fba	2001	// GYRO_OUT_ registers
garfieldsg	0:662207e34fba	2002
garfieldsg	0:662207e34fba	2003	/** Get 3-axis gyroscope readings.
garfieldsg	0:662207e34fba	2004	* These gyroscope measurement registers, along with the accelerometer
garfieldsg	0:662207e34fba	2005	* measurement registers, temperature measurement registers, and external sensor
garfieldsg	0:662207e34fba	2006	* data registers, are composed of two sets of registers: an internal register
garfieldsg	0:662207e34fba	2007	* set and a user-facing read register set.
garfieldsg	0:662207e34fba	2008	* The data within the gyroscope sensors' internal register set is always
garfieldsg	0:662207e34fba	2009	* updated at the Sample Rate. Meanwhile, the user-facing read register set
garfieldsg	0:662207e34fba	2010	* duplicates the internal register set's data values whenever the serial
garfieldsg	0:662207e34fba	2011	* interface is idle. This guarantees that a burst read of sensor registers will
garfieldsg	0:662207e34fba	2012	* read measurements from the same sampling instant. Note that if burst reads
garfieldsg	0:662207e34fba	2013	* are not used, the user is responsible for ensuring a set of single byte reads
garfieldsg	0:662207e34fba	2014	* correspond to a single sampling instant by checking the Data Ready interrupt.
garfieldsg	0:662207e34fba	2015	*
garfieldsg	0:662207e34fba	2016	* Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
garfieldsg	0:662207e34fba	2017	* (Register 27). For each full scale setting, the gyroscopes' sensitivity per
garfieldsg	0:662207e34fba	2018	* LSB in GYRO_xOUT is shown in the table below:
garfieldsg	0:662207e34fba	2019	*
garfieldsg	0:662207e34fba	2020	* <pre>
garfieldsg	0:662207e34fba	2021	* FS_SEL \| Full Scale Range \| LSB Sensitivity
garfieldsg	0:662207e34fba	2022	* -------+--------------------+----------------
garfieldsg	0:662207e34fba	2023	* 0 \| +/- 250 degrees/s \| 131 LSB/deg/s
garfieldsg	0:662207e34fba	2024	* 1 \| +/- 500 degrees/s \| 65.5 LSB/deg/s
garfieldsg	0:662207e34fba	2025	* 2 \| +/- 1000 degrees/s \| 32.8 LSB/deg/s
garfieldsg	0:662207e34fba	2026	* 3 \| +/- 2000 degrees/s \| 16.4 LSB/deg/s
garfieldsg	0:662207e34fba	2027	* </pre>
garfieldsg	0:662207e34fba	2028	*
garfieldsg	0:662207e34fba	2029	* @param x 16-bit signed integer container for X-axis rotation
garfieldsg	0:662207e34fba	2030	* @param y 16-bit signed integer container for Y-axis rotation
garfieldsg	0:662207e34fba	2031	* @param z 16-bit signed integer container for Z-axis rotation
garfieldsg	0:662207e34fba	2032	* @see getMotion6()
garfieldsg	0:662207e34fba	2033	* @see MPU6050_RA_GYRO_XOUT_H
garfieldsg	0:662207e34fba	2034	*/
garfieldsg	0:662207e34fba	2035	void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z)
garfieldsg	0:662207e34fba	2036	{
garfieldsg	0:662207e34fba	2037	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
garfieldsg	0:662207e34fba	2038	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2039	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
garfieldsg	0:662207e34fba	2040	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
garfieldsg	0:662207e34fba	2041	}
garfieldsg	0:662207e34fba	2042	/** Get X-axis gyroscope reading.
garfieldsg	0:662207e34fba	2043	* @return X-axis rotation measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2044	* @see getMotion6()
garfieldsg	0:662207e34fba	2045	* @see MPU6050_RA_GYRO_XOUT_H
garfieldsg	0:662207e34fba	2046	*/
garfieldsg	0:662207e34fba	2047	int16_t MPU6050::getRotationX()
garfieldsg	0:662207e34fba	2048	{
garfieldsg	0:662207e34fba	2049	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2050	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2051	}
garfieldsg	0:662207e34fba	2052	/** Get Y-axis gyroscope reading.
garfieldsg	0:662207e34fba	2053	* @return Y-axis rotation measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2054	* @see getMotion6()
garfieldsg	0:662207e34fba	2055	* @see MPU6050_RA_GYRO_YOUT_H
garfieldsg	0:662207e34fba	2056	*/
garfieldsg	0:662207e34fba	2057	int16_t MPU6050::getRotationY()
garfieldsg	0:662207e34fba	2058	{
garfieldsg	0:662207e34fba	2059	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2060	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2061	}
garfieldsg	0:662207e34fba	2062	/** Get Z-axis gyroscope reading.
garfieldsg	0:662207e34fba	2063	* @return Z-axis rotation measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2064	* @see getMotion6()
garfieldsg	0:662207e34fba	2065	* @see MPU6050_RA_GYRO_ZOUT_H
garfieldsg	0:662207e34fba	2066	*/
garfieldsg	0:662207e34fba	2067	int16_t MPU6050::getRotationZ()
garfieldsg	0:662207e34fba	2068	{
garfieldsg	0:662207e34fba	2069	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2070	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2071	}
garfieldsg	0:662207e34fba	2072
garfieldsg	0:662207e34fba	2073	// EXT_SENS_DATA_* registers
garfieldsg	0:662207e34fba	2074
garfieldsg	0:662207e34fba	2075	/** Read single byte from external sensor data register.
garfieldsg	0:662207e34fba	2076	* These registers store data read from external sensors by the Slave 0, 1, 2,
garfieldsg	0:662207e34fba	2077	* and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
garfieldsg	0:662207e34fba	2078	* I2C_SLV4_DI (Register 53).
garfieldsg	0:662207e34fba	2079	*
garfieldsg	0:662207e34fba	2080	* External sensor data is written to these registers at the Sample Rate as
garfieldsg	0:662207e34fba	2081	* defined in Register 25. This access rate can be reduced by using the Slave
garfieldsg	0:662207e34fba	2082	* Delay Enable registers (Register 103).
garfieldsg	0:662207e34fba	2083	*
garfieldsg	0:662207e34fba	2084	* External sensor data registers, along with the gyroscope measurement
garfieldsg	0:662207e34fba	2085	* registers, accelerometer measurement registers, and temperature measurement
garfieldsg	0:662207e34fba	2086	* registers, are composed of two sets of registers: an internal register set
garfieldsg	0:662207e34fba	2087	* and a user-facing read register set.
garfieldsg	0:662207e34fba	2088	*
garfieldsg	0:662207e34fba	2089	* The data within the external sensors' internal register set is always updated
garfieldsg	0:662207e34fba	2090	* at the Sample Rate (or the reduced access rate) whenever the serial interface
garfieldsg	0:662207e34fba	2091	* is idle. This guarantees that a burst read of sensor registers will read
garfieldsg	0:662207e34fba	2092	* measurements from the same sampling instant. Note that if burst reads are not
garfieldsg	0:662207e34fba	2093	* used, the user is responsible for ensuring a set of single byte reads
garfieldsg	0:662207e34fba	2094	* correspond to a single sampling instant by checking the Data Ready interrupt.
garfieldsg	0:662207e34fba	2095	*
garfieldsg	0:662207e34fba	2096	* Data is placed in these external sensor data registers according to
garfieldsg	0:662207e34fba	2097	* I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
garfieldsg	0:662207e34fba	2098	* 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
garfieldsg	0:662207e34fba	2099	* an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
garfieldsg	0:662207e34fba	2100	* defined in Register 25) or delayed rate (if specified in Register 52 and
garfieldsg	0:662207e34fba	2101	* 103). During each Sample cycle, slave reads are performed in order of Slave
garfieldsg	0:662207e34fba	2102	* number. If all slaves are enabled with more than zero bytes to be read, the
garfieldsg	0:662207e34fba	2103	* order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
garfieldsg	0:662207e34fba	2104	*
garfieldsg	0:662207e34fba	2105	* Each enabled slave will have EXT_SENS_DATA registers associated with it by
garfieldsg	0:662207e34fba	2106	* number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
garfieldsg	0:662207e34fba	2107	* EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
garfieldsg	0:662207e34fba	2108	* change the higher numbered slaves' associated registers. Furthermore, if
garfieldsg	0:662207e34fba	2109	* fewer total bytes are being read from the external sensors as a result of
garfieldsg	0:662207e34fba	2110	* such a change, then the data remaining in the registers which no longer have
garfieldsg	0:662207e34fba	2111	* an associated slave device (i.e. high numbered registers) will remain in
garfieldsg	0:662207e34fba	2112	* these previously allocated registers unless reset.
garfieldsg	0:662207e34fba	2113	*
garfieldsg	0:662207e34fba	2114	* If the sum of the read lengths of all SLVx transactions exceed the number of
garfieldsg	0:662207e34fba	2115	* available EXT_SENS_DATA registers, the excess bytes will be dropped. There
garfieldsg	0:662207e34fba	2116	* are 24 EXT_SENS_DATA registers and hence the total read lengths between all
garfieldsg	0:662207e34fba	2117	* the slaves cannot be greater than 24 or some bytes will be lost.
garfieldsg	0:662207e34fba	2118	*
garfieldsg	0:662207e34fba	2119	* Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
garfieldsg	0:662207e34fba	2120	* information regarding the characteristics of Slave 4, please refer to
garfieldsg	0:662207e34fba	2121	* Registers 49 to 53.
garfieldsg	0:662207e34fba	2122	*
garfieldsg	0:662207e34fba	2123	* EXAMPLE:
garfieldsg	0:662207e34fba	2124	* Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
garfieldsg	0:662207e34fba	2125	* I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
garfieldsg	0:662207e34fba	2126	* I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
garfieldsg	0:662207e34fba	2127	* through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
garfieldsg	0:662207e34fba	2128	* will be associated with Slave 1. If Slave 2 is enabled as well, registers
garfieldsg	0:662207e34fba	2129	* starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
garfieldsg	0:662207e34fba	2130	*
garfieldsg	0:662207e34fba	2131	* If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
garfieldsg	0:662207e34fba	2132	* registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
garfieldsg	0:662207e34fba	2133	* instead.
garfieldsg	0:662207e34fba	2134	*
garfieldsg	0:662207e34fba	2135	* REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
garfieldsg	0:662207e34fba	2136	* If a slave is disabled at any time, the space initially allocated to the
garfieldsg	0:662207e34fba	2137	* slave in the EXT_SENS_DATA register, will remain associated with that slave.
garfieldsg	0:662207e34fba	2138	* This is to avoid dynamic adjustment of the register allocation.
garfieldsg	0:662207e34fba	2139	*
garfieldsg	0:662207e34fba	2140	* The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
garfieldsg	0:662207e34fba	2141	* slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
garfieldsg	0:662207e34fba	2142	*
garfieldsg	0:662207e34fba	2143	* This above is also true if one of the slaves gets NACKed and stops
garfieldsg	0:662207e34fba	2144	* functioning.
garfieldsg	0:662207e34fba	2145	*
garfieldsg	0:662207e34fba	2146	* @param position Starting position (0-23)
garfieldsg	0:662207e34fba	2147	* @return Byte read from register
garfieldsg	0:662207e34fba	2148	*/
garfieldsg	0:662207e34fba	2149	uint8_t MPU6050::getExternalSensorByte(int position)
garfieldsg	0:662207e34fba	2150	{
garfieldsg	0:662207e34fba	2151	i2Cdev.readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
garfieldsg	0:662207e34fba	2152	return buffer[0];
garfieldsg	0:662207e34fba	2153	}
garfieldsg	0:662207e34fba	2154	/** Read word (2 bytes) from external sensor data registers.
garfieldsg	0:662207e34fba	2155	* @param position Starting position (0-21)
garfieldsg	0:662207e34fba	2156	* @return Word read from register
garfieldsg	0:662207e34fba	2157	* @see getExternalSensorByte()
garfieldsg	0:662207e34fba	2158	*/
garfieldsg	0:662207e34fba	2159	uint16_t MPU6050::getExternalSensorWord(int position)
garfieldsg	0:662207e34fba	2160	{
garfieldsg	0:662207e34fba	2161	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
garfieldsg	0:662207e34fba	2162	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2163	}
garfieldsg	0:662207e34fba	2164	/** Read double word (4 bytes) from external sensor data registers.
garfieldsg	0:662207e34fba	2165	* @param position Starting position (0-20)
garfieldsg	0:662207e34fba	2166	* @return Double word read from registers
garfieldsg	0:662207e34fba	2167	* @see getExternalSensorByte()
garfieldsg	0:662207e34fba	2168	*/
garfieldsg	0:662207e34fba	2169	uint32_t MPU6050::getExternalSensorDWord(int position)
garfieldsg	0:662207e34fba	2170	{
garfieldsg	0:662207e34fba	2171	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
garfieldsg	0:662207e34fba	2172	return (((uint32_t)buffer[0]) << 24) \| (((uint32_t)buffer[1]) << 16) \| (((uint16_t)buffer[2]) << 8) \| buffer[3];
garfieldsg	0:662207e34fba	2173	}
garfieldsg	0:662207e34fba	2174
garfieldsg	0:662207e34fba	2175	// MOT_DETECT_STATUS register
garfieldsg	0:662207e34fba	2176
garfieldsg	0:662207e34fba	2177	/** Get X-axis negative motion detection interrupt status.
garfieldsg	0:662207e34fba	2178	* @return Motion detection status
garfieldsg	0:662207e34fba	2179	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2180	* @see MPU6050_MOTION_MOT_XNEG_BIT
garfieldsg	0:662207e34fba	2181	*/
garfieldsg	0:662207e34fba	2182	bool MPU6050::getXNegMotionDetected()
garfieldsg	0:662207e34fba	2183	{
garfieldsg	0:662207e34fba	2184	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
garfieldsg	0:662207e34fba	2185	return buffer[0];
garfieldsg	0:662207e34fba	2186	}
garfieldsg	0:662207e34fba	2187	/** Get X-axis positive motion detection interrupt status.
garfieldsg	0:662207e34fba	2188	* @return Motion detection status
garfieldsg	0:662207e34fba	2189	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2190	* @see MPU6050_MOTION_MOT_XPOS_BIT
garfieldsg	0:662207e34fba	2191	*/
garfieldsg	0:662207e34fba	2192	bool MPU6050::getXPosMotionDetected()
garfieldsg	0:662207e34fba	2193	{
garfieldsg	0:662207e34fba	2194	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
garfieldsg	0:662207e34fba	2195	return buffer[0];
garfieldsg	0:662207e34fba	2196	}
garfieldsg	0:662207e34fba	2197	/** Get Y-axis negative motion detection interrupt status.
garfieldsg	0:662207e34fba	2198	* @return Motion detection status
garfieldsg	0:662207e34fba	2199	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2200	* @see MPU6050_MOTION_MOT_YNEG_BIT
garfieldsg	0:662207e34fba	2201	*/
garfieldsg	0:662207e34fba	2202	bool MPU6050::getYNegMotionDetected()
garfieldsg	0:662207e34fba	2203	{
garfieldsg	0:662207e34fba	2204	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
garfieldsg	0:662207e34fba	2205	return buffer[0];
garfieldsg	0:662207e34fba	2206	}
garfieldsg	0:662207e34fba	2207	/** Get Y-axis positive motion detection interrupt status.
garfieldsg	0:662207e34fba	2208	* @return Motion detection status
garfieldsg	0:662207e34fba	2209	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2210	* @see MPU6050_MOTION_MOT_YPOS_BIT
garfieldsg	0:662207e34fba	2211	*/
garfieldsg	0:662207e34fba	2212	bool MPU6050::getYPosMotionDetected()
garfieldsg	0:662207e34fba	2213	{
garfieldsg	0:662207e34fba	2214	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
garfieldsg	0:662207e34fba	2215	return buffer[0];
garfieldsg	0:662207e34fba	2216	}
garfieldsg	0:662207e34fba	2217	/** Get Z-axis negative motion detection interrupt status.
garfieldsg	0:662207e34fba	2218	* @return Motion detection status
garfieldsg	0:662207e34fba	2219	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2220	* @see MPU6050_MOTION_MOT_ZNEG_BIT
garfieldsg	0:662207e34fba	2221	*/
garfieldsg	0:662207e34fba	2222	bool MPU6050::getZNegMotionDetected()
garfieldsg	0:662207e34fba	2223	{
garfieldsg	0:662207e34fba	2224	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
garfieldsg	0:662207e34fba	2225	return buffer[0];
garfieldsg	0:662207e34fba	2226	}
garfieldsg	0:662207e34fba	2227	/** Get Z-axis positive motion detection interrupt status.
garfieldsg	0:662207e34fba	2228	* @return Motion detection status
garfieldsg	0:662207e34fba	2229	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2230	* @see MPU6050_MOTION_MOT_ZPOS_BIT
garfieldsg	0:662207e34fba	2231	*/
garfieldsg	0:662207e34fba	2232	bool MPU6050::getZPosMotionDetected()
garfieldsg	0:662207e34fba	2233	{
garfieldsg	0:662207e34fba	2234	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
garfieldsg	0:662207e34fba	2235	return buffer[0];
garfieldsg	0:662207e34fba	2236	}
garfieldsg	0:662207e34fba	2237	/** Get zero motion detection interrupt status.
garfieldsg	0:662207e34fba	2238	* @return Motion detection status
garfieldsg	0:662207e34fba	2239	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2240	* @see MPU6050_MOTION_MOT_ZRMOT_BIT
garfieldsg	0:662207e34fba	2241	*/
garfieldsg	0:662207e34fba	2242	bool MPU6050::getZeroMotionDetected()
garfieldsg	0:662207e34fba	2243	{
garfieldsg	0:662207e34fba	2244	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
garfieldsg	0:662207e34fba	2245	return buffer[0];
garfieldsg	0:662207e34fba	2246	}
garfieldsg	0:662207e34fba	2247
garfieldsg	0:662207e34fba	2248	// I2C_SLV*_DO register
garfieldsg	0:662207e34fba	2249
garfieldsg	0:662207e34fba	2250	/** Write byte to Data Output container for specified slave.
garfieldsg	0:662207e34fba	2251	* This register holds the output data written into Slave when Slave is set to
garfieldsg	0:662207e34fba	2252	* write mode. For further information regarding Slave control, please
garfieldsg	0:662207e34fba	2253	* refer to Registers 37 to 39 and immediately following.
garfieldsg	0:662207e34fba	2254	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	2255	* @param data Byte to write
garfieldsg	0:662207e34fba	2256	* @see MPU6050_RA_I2C_SLV0_DO
garfieldsg	0:662207e34fba	2257	*/
garfieldsg	0:662207e34fba	2258	void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data)
garfieldsg	0:662207e34fba	2259	{
garfieldsg	0:662207e34fba	2260	if (num > 3) return;
garfieldsg	0:662207e34fba	2261	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
garfieldsg	0:662207e34fba	2262	}
garfieldsg	0:662207e34fba	2263
garfieldsg	0:662207e34fba	2264	// I2C_MST_DELAY_CTRL register
garfieldsg	0:662207e34fba	2265
garfieldsg	0:662207e34fba	2266	/** Get external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2267	* This register is used to specify the timing of external sensor data
garfieldsg	0:662207e34fba	2268	* shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
garfieldsg	0:662207e34fba	2269	* sensor data is delayed until all data has been received.
garfieldsg	0:662207e34fba	2270	* @return Current external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2271	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2272	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
garfieldsg	0:662207e34fba	2273	*/
garfieldsg	0:662207e34fba	2274	bool MPU6050::getExternalShadowDelayEnabled()
garfieldsg	0:662207e34fba	2275	{
garfieldsg	0:662207e34fba	2276	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
garfieldsg	0:662207e34fba	2277	return buffer[0];
garfieldsg	0:662207e34fba	2278	}
garfieldsg	0:662207e34fba	2279	/** Set external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2280	* @param enabled New external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2281	* @see getExternalShadowDelayEnabled()
garfieldsg	0:662207e34fba	2282	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2283	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
garfieldsg	0:662207e34fba	2284	*/
garfieldsg	0:662207e34fba	2285	void MPU6050::setExternalShadowDelayEnabled(bool enabled)
garfieldsg	0:662207e34fba	2286	{
garfieldsg	0:662207e34fba	2287	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
garfieldsg	0:662207e34fba	2288	}
garfieldsg	0:662207e34fba	2289	/** Get slave delay enabled status.
garfieldsg	0:662207e34fba	2290	* When a particular slave delay is enabled, the rate of access for the that
garfieldsg	0:662207e34fba	2291	* slave device is reduced. When a slave's access rate is decreased relative to
garfieldsg	0:662207e34fba	2292	* the Sample Rate, the slave is accessed every:
garfieldsg	0:662207e34fba	2293	*
garfieldsg	0:662207e34fba	2294	* 1 / (1 + I2C_MST_DLY) Samples
garfieldsg	0:662207e34fba	2295	*
garfieldsg	0:662207e34fba	2296	* This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25)
garfieldsg	0:662207e34fba	2297	* and DLPF_CFG (register 26).
garfieldsg	0:662207e34fba	2298	*
garfieldsg	0:662207e34fba	2299	* For further information regarding I2C_MST_DLY, please refer to register 52.
garfieldsg	0:662207e34fba	2300	* For further information regarding the Sample Rate, please refer to register 25.
garfieldsg	0:662207e34fba	2301	*
garfieldsg	0:662207e34fba	2302	* @param num Slave number (0-4)
garfieldsg	0:662207e34fba	2303	* @return Current slave delay enabled status.
garfieldsg	0:662207e34fba	2304	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2305	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
garfieldsg	0:662207e34fba	2306	*/
garfieldsg	0:662207e34fba	2307	bool MPU6050::getSlaveDelayEnabled(uint8_t num)
garfieldsg	0:662207e34fba	2308	{
garfieldsg	0:662207e34fba	2309	// MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
garfieldsg	0:662207e34fba	2310	if (num > 4) return 0;
garfieldsg	0:662207e34fba	2311	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
garfieldsg	0:662207e34fba	2312	return buffer[0];
garfieldsg	0:662207e34fba	2313	}
garfieldsg	0:662207e34fba	2314	/** Set slave delay enabled status.
garfieldsg	0:662207e34fba	2315	* @param num Slave number (0-4)
garfieldsg	0:662207e34fba	2316	* @param enabled New slave delay enabled status.
garfieldsg	0:662207e34fba	2317	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2318	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
garfieldsg	0:662207e34fba	2319	*/
garfieldsg	0:662207e34fba	2320	void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled)
garfieldsg	0:662207e34fba	2321	{
garfieldsg	0:662207e34fba	2322	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
garfieldsg	0:662207e34fba	2323	}
garfieldsg	0:662207e34fba	2324
garfieldsg	0:662207e34fba	2325	// SIGNAL_PATH_RESET register
garfieldsg	0:662207e34fba	2326
garfieldsg	0:662207e34fba	2327	/** Reset gyroscope signal path.
garfieldsg	0:662207e34fba	2328	* The reset will revert the signal path analog to digital converters and
garfieldsg	0:662207e34fba	2329	* filters to their power up configurations.
garfieldsg	0:662207e34fba	2330	* @see MPU6050_RA_SIGNAL_PATH_RESET
garfieldsg	0:662207e34fba	2331	* @see MPU6050_PATHRESET_GYRO_RESET_BIT
garfieldsg	0:662207e34fba	2332	*/
garfieldsg	0:662207e34fba	2333	void MPU6050::resetGyroscopePath()
garfieldsg	0:662207e34fba	2334	{
garfieldsg	0:662207e34fba	2335	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
garfieldsg	0:662207e34fba	2336	}
garfieldsg	0:662207e34fba	2337	/** Reset accelerometer signal path.
garfieldsg	0:662207e34fba	2338	* The reset will revert the signal path analog to digital converters and
garfieldsg	0:662207e34fba	2339	* filters to their power up configurations.
garfieldsg	0:662207e34fba	2340	* @see MPU6050_RA_SIGNAL_PATH_RESET
garfieldsg	0:662207e34fba	2341	* @see MPU6050_PATHRESET_ACCEL_RESET_BIT
garfieldsg	0:662207e34fba	2342	*/
garfieldsg	0:662207e34fba	2343	void MPU6050::resetAccelerometerPath()
garfieldsg	0:662207e34fba	2344	{
garfieldsg	0:662207e34fba	2345	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
garfieldsg	0:662207e34fba	2346	}
garfieldsg	0:662207e34fba	2347	/** Reset temperature sensor signal path.
garfieldsg	0:662207e34fba	2348	* The reset will revert the signal path analog to digital converters and
garfieldsg	0:662207e34fba	2349	* filters to their power up configurations.
garfieldsg	0:662207e34fba	2350	* @see MPU6050_RA_SIGNAL_PATH_RESET
garfieldsg	0:662207e34fba	2351	* @see MPU6050_PATHRESET_TEMP_RESET_BIT
garfieldsg	0:662207e34fba	2352	*/
garfieldsg	0:662207e34fba	2353	void MPU6050::resetTemperaturePath()
garfieldsg	0:662207e34fba	2354	{
garfieldsg	0:662207e34fba	2355	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
garfieldsg	0:662207e34fba	2356	}
garfieldsg	0:662207e34fba	2357
garfieldsg	0:662207e34fba	2358	// MOT_DETECT_CTRL register
garfieldsg	0:662207e34fba	2359
garfieldsg	0:662207e34fba	2360	/** Get accelerometer power-on delay.
garfieldsg	0:662207e34fba	2361	* The accelerometer data path provides samples to the sensor registers, Motion
garfieldsg	0:662207e34fba	2362	* detection, Zero Motion detection, and Free Fall detection modules. The
garfieldsg	0:662207e34fba	2363	* signal path contains filters which must be flushed on wake-up with new
garfieldsg	0:662207e34fba	2364	* samples before the detection modules begin operations. The default wake-up
garfieldsg	0:662207e34fba	2365	* delay, of 4ms can be lengthened by up to 3ms. This additional delay is
garfieldsg	0:662207e34fba	2366	* specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
garfieldsg	0:662207e34fba	2367	* any value above zero unless instructed otherwise by InvenSense. Please refer
garfieldsg	0:662207e34fba	2368	* to Section 8 of the MPU-6000/MPU-6050 Product Specification document for
garfieldsg	0:662207e34fba	2369	* further information regarding the detection modules.
garfieldsg	0:662207e34fba	2370	* @return Current accelerometer power-on delay
garfieldsg	0:662207e34fba	2371	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2372	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
garfieldsg	0:662207e34fba	2373	*/
garfieldsg	0:662207e34fba	2374	uint8_t MPU6050::getAccelerometerPowerOnDelay()
garfieldsg	0:662207e34fba	2375	{
garfieldsg	0:662207e34fba	2376	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
garfieldsg	0:662207e34fba	2377	return buffer[0];
garfieldsg	0:662207e34fba	2378	}
garfieldsg	0:662207e34fba	2379	/** Set accelerometer power-on delay.
garfieldsg	0:662207e34fba	2380	* @param delay New accelerometer power-on delay (0-3)
garfieldsg	0:662207e34fba	2381	* @see getAccelerometerPowerOnDelay()
garfieldsg	0:662207e34fba	2382	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2383	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
garfieldsg	0:662207e34fba	2384	*/
garfieldsg	0:662207e34fba	2385	void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay)
garfieldsg	0:662207e34fba	2386	{
garfieldsg	0:662207e34fba	2387	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
garfieldsg	0:662207e34fba	2388	}
garfieldsg	0:662207e34fba	2389	/** Get Free Fall detection counter decrement configuration.
garfieldsg	0:662207e34fba	2390	* Detection is registered by the Free Fall detection module after accelerometer
garfieldsg	0:662207e34fba	2391	* measurements meet their respective threshold conditions over a specified
garfieldsg	0:662207e34fba	2392	* number of samples. When the threshold conditions are met, the corresponding
garfieldsg	0:662207e34fba	2393	* detection counter increments by 1. The user may control the rate at which the
garfieldsg	0:662207e34fba	2394	* detection counter decrements when the threshold condition is not met by
garfieldsg	0:662207e34fba	2395	* configuring FF_COUNT. The decrement rate can be set according to the
garfieldsg	0:662207e34fba	2396	* following table:
garfieldsg	0:662207e34fba	2397	*
garfieldsg	0:662207e34fba	2398	* <pre>
garfieldsg	0:662207e34fba	2399	* FF_COUNT \| Counter Decrement
garfieldsg	0:662207e34fba	2400	* ---------+------------------
garfieldsg	0:662207e34fba	2401	* 0 \| Reset
garfieldsg	0:662207e34fba	2402	* 1 \| 1
garfieldsg	0:662207e34fba	2403	* 2 \| 2
garfieldsg	0:662207e34fba	2404	* 3 \| 4
garfieldsg	0:662207e34fba	2405	* </pre>
garfieldsg	0:662207e34fba	2406	*
garfieldsg	0:662207e34fba	2407	* When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
garfieldsg	0:662207e34fba	2408	* reset the counter to 0. For further information on Free Fall detection,
garfieldsg	0:662207e34fba	2409	* please refer to Registers 29 to 32.
garfieldsg	0:662207e34fba	2410	*
garfieldsg	0:662207e34fba	2411	* @return Current decrement configuration
garfieldsg	0:662207e34fba	2412	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2413	* @see MPU6050_DETECT_FF_COUNT_BIT
garfieldsg	0:662207e34fba	2414	*/
garfieldsg	0:662207e34fba	2415	uint8_t MPU6050::getFreefallDetectionCounterDecrement()
garfieldsg	0:662207e34fba	2416	{
garfieldsg	0:662207e34fba	2417	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
garfieldsg	0:662207e34fba	2418	return buffer[0];
garfieldsg	0:662207e34fba	2419	}
garfieldsg	0:662207e34fba	2420	/** Set Free Fall detection counter decrement configuration.
garfieldsg	0:662207e34fba	2421	* @param decrement New decrement configuration value
garfieldsg	0:662207e34fba	2422	* @see getFreefallDetectionCounterDecrement()
garfieldsg	0:662207e34fba	2423	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2424	* @see MPU6050_DETECT_FF_COUNT_BIT
garfieldsg	0:662207e34fba	2425	*/
garfieldsg	0:662207e34fba	2426	void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement)
garfieldsg	0:662207e34fba	2427	{
garfieldsg	0:662207e34fba	2428	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
garfieldsg	0:662207e34fba	2429	}
garfieldsg	0:662207e34fba	2430	/** Get Motion detection counter decrement configuration.
garfieldsg	0:662207e34fba	2431	* Detection is registered by the Motion detection module after accelerometer
garfieldsg	0:662207e34fba	2432	* measurements meet their respective threshold conditions over a specified
garfieldsg	0:662207e34fba	2433	* number of samples. When the threshold conditions are met, the corresponding
garfieldsg	0:662207e34fba	2434	* detection counter increments by 1. The user may control the rate at which the
garfieldsg	0:662207e34fba	2435	* detection counter decrements when the threshold condition is not met by
garfieldsg	0:662207e34fba	2436	* configuring MOT_COUNT. The decrement rate can be set according to the
garfieldsg	0:662207e34fba	2437	* following table:
garfieldsg	0:662207e34fba	2438	*
garfieldsg	0:662207e34fba	2439	* <pre>
garfieldsg	0:662207e34fba	2440	* MOT_COUNT \| Counter Decrement
garfieldsg	0:662207e34fba	2441	* ----------+------------------
garfieldsg	0:662207e34fba	2442	* 0 \| Reset
garfieldsg	0:662207e34fba	2443	* 1 \| 1
garfieldsg	0:662207e34fba	2444	* 2 \| 2
garfieldsg	0:662207e34fba	2445	* 3 \| 4
garfieldsg	0:662207e34fba	2446	* </pre>
garfieldsg	0:662207e34fba	2447	*
garfieldsg	0:662207e34fba	2448	* When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
garfieldsg	0:662207e34fba	2449	* reset the counter to 0. For further information on Motion detection,
garfieldsg	0:662207e34fba	2450	* please refer to Registers 29 to 32.
garfieldsg	0:662207e34fba	2451	*
garfieldsg	0:662207e34fba	2452	*/
garfieldsg	0:662207e34fba	2453	uint8_t MPU6050::getMotionDetectionCounterDecrement()
garfieldsg	0:662207e34fba	2454	{
garfieldsg	0:662207e34fba	2455	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
garfieldsg	0:662207e34fba	2456	return buffer[0];
garfieldsg	0:662207e34fba	2457	}
garfieldsg	0:662207e34fba	2458	/** Set Motion detection counter decrement configuration.
garfieldsg	0:662207e34fba	2459	* @param decrement New decrement configuration value
garfieldsg	0:662207e34fba	2460	* @see getMotionDetectionCounterDecrement()
garfieldsg	0:662207e34fba	2461	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2462	* @see MPU6050_DETECT_MOT_COUNT_BIT
garfieldsg	0:662207e34fba	2463	*/
garfieldsg	0:662207e34fba	2464	void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement)
garfieldsg	0:662207e34fba	2465	{
garfieldsg	0:662207e34fba	2466	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
garfieldsg	0:662207e34fba	2467	}
garfieldsg	0:662207e34fba	2468
garfieldsg	0:662207e34fba	2469	// USER_CTRL register
garfieldsg	0:662207e34fba	2470
garfieldsg	0:662207e34fba	2471	/** Get FIFO enabled status.
garfieldsg	0:662207e34fba	2472	* When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
garfieldsg	0:662207e34fba	2473	* cannot be written to or read from while disabled. The FIFO buffer's state
garfieldsg	0:662207e34fba	2474	* does not change unless the MPU-60X0 is power cycled.
garfieldsg	0:662207e34fba	2475	* @return Current FIFO enabled status
garfieldsg	0:662207e34fba	2476	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2477	* @see MPU6050_USERCTRL_FIFO_EN_BIT
garfieldsg	0:662207e34fba	2478	*/
garfieldsg	0:662207e34fba	2479	bool MPU6050::getFIFOEnabled()
garfieldsg	0:662207e34fba	2480	{
garfieldsg	0:662207e34fba	2481	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	2482	return buffer[0];
garfieldsg	0:662207e34fba	2483	}
garfieldsg	0:662207e34fba	2484	/** Set FIFO enabled status.
garfieldsg	0:662207e34fba	2485	* @param enabled New FIFO enabled status
garfieldsg	0:662207e34fba	2486	* @see getFIFOEnabled()
garfieldsg	0:662207e34fba	2487	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2488	* @see MPU6050_USERCTRL_FIFO_EN_BIT
garfieldsg	0:662207e34fba	2489	*/
garfieldsg	0:662207e34fba	2490	void MPU6050::setFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	2491	{
garfieldsg	0:662207e34fba	2492	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	2493	}
garfieldsg	0:662207e34fba	2494	/** Get I2C Master Mode enabled status.
garfieldsg	0:662207e34fba	2495	* When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
garfieldsg	0:662207e34fba	2496	* external sensor slave devices on the auxiliary I2C bus. When this bit is
garfieldsg	0:662207e34fba	2497	* cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
garfieldsg	0:662207e34fba	2498	* driven by the primary I2C bus (SDA and SCL). This is a precondition to
garfieldsg	0:662207e34fba	2499	* enabling Bypass Mode. For further information regarding Bypass Mode, please
garfieldsg	0:662207e34fba	2500	* refer to Register 55.
garfieldsg	0:662207e34fba	2501	* @return Current I2C Master Mode enabled status
garfieldsg	0:662207e34fba	2502	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2503	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
garfieldsg	0:662207e34fba	2504	*/
garfieldsg	0:662207e34fba	2505	bool MPU6050::getI2CMasterModeEnabled()
garfieldsg	0:662207e34fba	2506	{
garfieldsg	0:662207e34fba	2507	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
garfieldsg	0:662207e34fba	2508	return buffer[0];
garfieldsg	0:662207e34fba	2509	}
garfieldsg	0:662207e34fba	2510	/** Set I2C Master Mode enabled status.
garfieldsg	0:662207e34fba	2511	* @param enabled New I2C Master Mode enabled status
garfieldsg	0:662207e34fba	2512	* @see getI2CMasterModeEnabled()
garfieldsg	0:662207e34fba	2513	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2514	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
garfieldsg	0:662207e34fba	2515	*/
garfieldsg	0:662207e34fba	2516	void MPU6050::setI2CMasterModeEnabled(bool enabled)
garfieldsg	0:662207e34fba	2517	{
garfieldsg	0:662207e34fba	2518	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
garfieldsg	0:662207e34fba	2519	}
garfieldsg	0:662207e34fba	2520	/** Switch from I2C to SPI mode (MPU-6000 only)
garfieldsg	0:662207e34fba	2521	* If this is set, the primary SPI interface will be enabled in place of the
garfieldsg	0:662207e34fba	2522	* disabled primary I2C interface.
garfieldsg	0:662207e34fba	2523	*/
garfieldsg	0:662207e34fba	2524	void MPU6050::switchSPIEnabled(bool enabled)
garfieldsg	0:662207e34fba	2525	{
garfieldsg	0:662207e34fba	2526	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
garfieldsg	0:662207e34fba	2527	}
garfieldsg	0:662207e34fba	2528	/** Reset the FIFO.
garfieldsg	0:662207e34fba	2529	* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
garfieldsg	0:662207e34fba	2530	* bit automatically clears to 0 after the reset has been triggered.
garfieldsg	0:662207e34fba	2531	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2532	* @see MPU6050_USERCTRL_FIFO_RESET_BIT
garfieldsg	0:662207e34fba	2533	*/
garfieldsg	0:662207e34fba	2534	void MPU6050::resetFIFO()
garfieldsg	0:662207e34fba	2535	{
garfieldsg	0:662207e34fba	2536	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
garfieldsg	0:662207e34fba	2537	}
garfieldsg	0:662207e34fba	2538	/** Reset the I2C Master.
garfieldsg	0:662207e34fba	2539	* This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
garfieldsg	0:662207e34fba	2540	* This bit automatically clears to 0 after the reset has been triggered.
garfieldsg	0:662207e34fba	2541	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2542	* @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
garfieldsg	0:662207e34fba	2543	*/
garfieldsg	0:662207e34fba	2544	void MPU6050::resetI2CMaster()
garfieldsg	0:662207e34fba	2545	{
garfieldsg	0:662207e34fba	2546	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
garfieldsg	0:662207e34fba	2547	}
garfieldsg	0:662207e34fba	2548	/** Reset all sensor registers and signal paths.
garfieldsg	0:662207e34fba	2549	* When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
garfieldsg	0:662207e34fba	2550	* accelerometers, and temperature sensor). This operation will also clear the
garfieldsg	0:662207e34fba	2551	* sensor registers. This bit automatically clears to 0 after the reset has been
garfieldsg	0:662207e34fba	2552	* triggered.
garfieldsg	0:662207e34fba	2553	*
garfieldsg	0:662207e34fba	2554	* When resetting only the signal path (and not the sensor registers), please
garfieldsg	0:662207e34fba	2555	* use Register 104, SIGNAL_PATH_RESET.
garfieldsg	0:662207e34fba	2556	*
garfieldsg	0:662207e34fba	2557	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2558	* @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
garfieldsg	0:662207e34fba	2559	*/
garfieldsg	0:662207e34fba	2560	void MPU6050::resetSensors()
garfieldsg	0:662207e34fba	2561	{
garfieldsg	0:662207e34fba	2562	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
garfieldsg	0:662207e34fba	2563	}
garfieldsg	0:662207e34fba	2564
garfieldsg	0:662207e34fba	2565	// PWR_MGMT_1 register
garfieldsg	0:662207e34fba	2566
garfieldsg	0:662207e34fba	2567	/** Trigger a full device reset.
garfieldsg	0:662207e34fba	2568	* A small delay of ~50ms may be desirable after triggering a reset.
garfieldsg	0:662207e34fba	2569	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2570	* @see MPU6050_PWR1_DEVICE_RESET_BIT
garfieldsg	0:662207e34fba	2571	*/
garfieldsg	0:662207e34fba	2572	void MPU6050::reset()
garfieldsg	0:662207e34fba	2573	{
garfieldsg	0:662207e34fba	2574	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
garfieldsg	0:662207e34fba	2575	}
garfieldsg	0:662207e34fba	2576	/** Get sleep mode status.
garfieldsg	0:662207e34fba	2577	* Setting the SLEEP bit in the register puts the device into very low power
garfieldsg	0:662207e34fba	2578	* sleep mode. In this mode, only the serial interface and internal registers
garfieldsg	0:662207e34fba	2579	* remain active, allowing for a very low standby current. Clearing this bit
garfieldsg	0:662207e34fba	2580	* puts the device back into normal mode. To save power, the individual standby
garfieldsg	0:662207e34fba	2581	* selections for each of the gyros should be used if any gyro axis is not used
garfieldsg	0:662207e34fba	2582	* by the application.
garfieldsg	0:662207e34fba	2583	* @return Current sleep mode enabled status
garfieldsg	0:662207e34fba	2584	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2585	* @see MPU6050_PWR1_SLEEP_BIT
garfieldsg	0:662207e34fba	2586	*/
garfieldsg	0:662207e34fba	2587	bool MPU6050::getSleepEnabled()
garfieldsg	0:662207e34fba	2588	{
garfieldsg	0:662207e34fba	2589	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
garfieldsg	0:662207e34fba	2590	return buffer[0];
garfieldsg	0:662207e34fba	2591	}
garfieldsg	0:662207e34fba	2592	/** Set sleep mode status.
garfieldsg	0:662207e34fba	2593	* @param enabled New sleep mode enabled status
garfieldsg	0:662207e34fba	2594	* @see getSleepEnabled()
garfieldsg	0:662207e34fba	2595	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2596	* @see MPU6050_PWR1_SLEEP_BIT
garfieldsg	0:662207e34fba	2597	*/
garfieldsg	0:662207e34fba	2598	void MPU6050::setSleepEnabled(bool enabled)
garfieldsg	0:662207e34fba	2599	{
garfieldsg	0:662207e34fba	2600	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
garfieldsg	0:662207e34fba	2601	}
garfieldsg	0:662207e34fba	2602	/** Get wake cycle enabled status.
garfieldsg	0:662207e34fba	2603	* When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
garfieldsg	0:662207e34fba	2604	* between sleep mode and waking up to take a single sample of data from active
garfieldsg	0:662207e34fba	2605	* sensors at a rate determined by LP_WAKE_CTRL (register 108).
garfieldsg	0:662207e34fba	2606	* @return Current sleep mode enabled status
garfieldsg	0:662207e34fba	2607	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2608	* @see MPU6050_PWR1_CYCLE_BIT
garfieldsg	0:662207e34fba	2609	*/
garfieldsg	0:662207e34fba	2610	bool MPU6050::getWakeCycleEnabled()
garfieldsg	0:662207e34fba	2611	{
garfieldsg	0:662207e34fba	2612	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
garfieldsg	0:662207e34fba	2613	return buffer[0];
garfieldsg	0:662207e34fba	2614	}
garfieldsg	0:662207e34fba	2615	/** Set wake cycle enabled status.
garfieldsg	0:662207e34fba	2616	* @param enabled New sleep mode enabled status
garfieldsg	0:662207e34fba	2617	* @see getWakeCycleEnabled()
garfieldsg	0:662207e34fba	2618	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2619	* @see MPU6050_PWR1_CYCLE_BIT
garfieldsg	0:662207e34fba	2620	*/
garfieldsg	0:662207e34fba	2621	void MPU6050::setWakeCycleEnabled(bool enabled)
garfieldsg	0:662207e34fba	2622	{
garfieldsg	0:662207e34fba	2623	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
garfieldsg	0:662207e34fba	2624	}
garfieldsg	0:662207e34fba	2625	/** Get temperature sensor enabled status.
garfieldsg	0:662207e34fba	2626	* Control the usage of the internal temperature sensor.
garfieldsg	0:662207e34fba	2627	*
garfieldsg	0:662207e34fba	2628	* Note: this register stores the disabled value, but for consistency with the
garfieldsg	0:662207e34fba	2629	* rest of the code, the function is named and used with standard true/false
garfieldsg	0:662207e34fba	2630	* values to indicate whether the sensor is enabled or disabled, respectively.
garfieldsg	0:662207e34fba	2631	*
garfieldsg	0:662207e34fba	2632	* @return Current temperature sensor enabled status
garfieldsg	0:662207e34fba	2633	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2634	* @see MPU6050_PWR1_TEMP_DIS_BIT
garfieldsg	0:662207e34fba	2635	*/
garfieldsg	0:662207e34fba	2636	bool MPU6050::getTempSensorEnabled()
garfieldsg	0:662207e34fba	2637	{
garfieldsg	0:662207e34fba	2638	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
garfieldsg	0:662207e34fba	2639	return buffer[0] == 0; // 1 is actually disabled here
garfieldsg	0:662207e34fba	2640	}
garfieldsg	0:662207e34fba	2641	/** Set temperature sensor enabled status.
garfieldsg	0:662207e34fba	2642	* Note: this register stores the disabled value, but for consistency with the
garfieldsg	0:662207e34fba	2643	* rest of the code, the function is named and used with standard true/false
garfieldsg	0:662207e34fba	2644	* values to indicate whether the sensor is enabled or disabled, respectively.
garfieldsg	0:662207e34fba	2645	*
garfieldsg	0:662207e34fba	2646	* @param enabled New temperature sensor enabled status
garfieldsg	0:662207e34fba	2647	* @see getTempSensorEnabled()
garfieldsg	0:662207e34fba	2648	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2649	* @see MPU6050_PWR1_TEMP_DIS_BIT
garfieldsg	0:662207e34fba	2650	*/
garfieldsg	0:662207e34fba	2651	void MPU6050::setTempSensorEnabled(bool enabled)
garfieldsg	0:662207e34fba	2652	{
garfieldsg	0:662207e34fba	2653	// 1 is actually disabled here
garfieldsg	0:662207e34fba	2654	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
garfieldsg	0:662207e34fba	2655	}
garfieldsg	0:662207e34fba	2656	/** Get clock source setting.
garfieldsg	0:662207e34fba	2657	* @return Current clock source setting
garfieldsg	0:662207e34fba	2658	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2659	* @see MPU6050_PWR1_CLKSEL_BIT
garfieldsg	0:662207e34fba	2660	* @see MPU6050_PWR1_CLKSEL_LENGTH
garfieldsg	0:662207e34fba	2661	*/
garfieldsg	0:662207e34fba	2662	uint8_t MPU6050::getClockSource()
garfieldsg	0:662207e34fba	2663	{
garfieldsg	0:662207e34fba	2664	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
garfieldsg	0:662207e34fba	2665	return buffer[0];
garfieldsg	0:662207e34fba	2666	}
garfieldsg	0:662207e34fba	2667	/** Set clock source setting.
garfieldsg	0:662207e34fba	2668	* An internal 8MHz oscillator, gyroscope based clock, or external sources can
garfieldsg	0:662207e34fba	2669	* be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
garfieldsg	0:662207e34fba	2670	* or an external source is chosen as the clock source, the MPU-60X0 can operate
garfieldsg	0:662207e34fba	2671	* in low power modes with the gyroscopes disabled.
garfieldsg	0:662207e34fba	2672	*
garfieldsg	0:662207e34fba	2673	* Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
garfieldsg	0:662207e34fba	2674	* However, it is highly recommended that the device be configured to use one of
garfieldsg	0:662207e34fba	2675	* the gyroscopes (or an external clock source) as the clock reference for
garfieldsg	0:662207e34fba	2676	* improved stability. The clock source can be selected according to the following table:
garfieldsg	0:662207e34fba	2677	*
garfieldsg	0:662207e34fba	2678	* <pre>
garfieldsg	0:662207e34fba	2679	* CLK_SEL \| Clock Source
garfieldsg	0:662207e34fba	2680	* --------+--------------------------------------
garfieldsg	0:662207e34fba	2681	* 0 \| Internal oscillator
garfieldsg	0:662207e34fba	2682	* 1 \| PLL with X Gyro reference
garfieldsg	0:662207e34fba	2683	* 2 \| PLL with Y Gyro reference
garfieldsg	0:662207e34fba	2684	* 3 \| PLL with Z Gyro reference
garfieldsg	0:662207e34fba	2685	* 4 \| PLL with external 32.768kHz reference
garfieldsg	0:662207e34fba	2686	* 5 \| PLL with external 19.2MHz reference
garfieldsg	0:662207e34fba	2687	* 6 \| Reserved
garfieldsg	0:662207e34fba	2688	* 7 \| Stops the clock and keeps the timing generator in reset
garfieldsg	0:662207e34fba	2689	* </pre>
garfieldsg	0:662207e34fba	2690	*
garfieldsg	0:662207e34fba	2691	* @param source New clock source setting
garfieldsg	0:662207e34fba	2692	* @see getClockSource()
garfieldsg	0:662207e34fba	2693	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2694	* @see MPU6050_PWR1_CLKSEL_BIT
garfieldsg	0:662207e34fba	2695	* @see MPU6050_PWR1_CLKSEL_LENGTH
garfieldsg	0:662207e34fba	2696	*/
garfieldsg	0:662207e34fba	2697	void MPU6050::setClockSource(uint8_t source)
garfieldsg	0:662207e34fba	2698	{
garfieldsg	0:662207e34fba	2699	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
garfieldsg	0:662207e34fba	2700	}
garfieldsg	0:662207e34fba	2701
garfieldsg	0:662207e34fba	2702	// PWR_MGMT_2 register
garfieldsg	0:662207e34fba	2703
garfieldsg	0:662207e34fba	2704	/** Get wake frequency in Accel-Only Low Power Mode.
garfieldsg	0:662207e34fba	2705	* The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
garfieldsg	0:662207e34fba	2706	* PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
garfieldsg	0:662207e34fba	2707	* the device will power off all devices except for the primary I2C interface,
garfieldsg	0:662207e34fba	2708	* waking only the accelerometer at fixed intervals to take a single
garfieldsg	0:662207e34fba	2709	* measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
garfieldsg	0:662207e34fba	2710	* as shown below:
garfieldsg	0:662207e34fba	2711	*
garfieldsg	0:662207e34fba	2712	* <pre>
garfieldsg	0:662207e34fba	2713	* LP_WAKE_CTRL \| Wake-up Frequency
garfieldsg	0:662207e34fba	2714	* -------------+------------------
garfieldsg	0:662207e34fba	2715	* 0 \| 1.25 Hz
garfieldsg	0:662207e34fba	2716	* 1 \| 2.5 Hz
garfieldsg	0:662207e34fba	2717	* 2 \| 5 Hz
garfieldsg	0:662207e34fba	2718	* 3 \| 10 Hz
garfieldsg	0:662207e34fba	2719	* <pre>
garfieldsg	0:662207e34fba	2720	*
garfieldsg	0:662207e34fba	2721	* For further information regarding the MPU-60X0's power modes, please refer to
garfieldsg	0:662207e34fba	2722	* Register 107.
garfieldsg	0:662207e34fba	2723	*
garfieldsg	0:662207e34fba	2724	* @return Current wake frequency
garfieldsg	0:662207e34fba	2725	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2726	*/
garfieldsg	0:662207e34fba	2727	uint8_t MPU6050::getWakeFrequency()
garfieldsg	0:662207e34fba	2728	{
garfieldsg	0:662207e34fba	2729	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
garfieldsg	0:662207e34fba	2730	return buffer[0];
garfieldsg	0:662207e34fba	2731	}
garfieldsg	0:662207e34fba	2732	/** Set wake frequency in Accel-Only Low Power Mode.
garfieldsg	0:662207e34fba	2733	* @param frequency New wake frequency
garfieldsg	0:662207e34fba	2734	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2735	*/
garfieldsg	0:662207e34fba	2736	void MPU6050::setWakeFrequency(uint8_t frequency)
garfieldsg	0:662207e34fba	2737	{
garfieldsg	0:662207e34fba	2738	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
garfieldsg	0:662207e34fba	2739	}
garfieldsg	0:662207e34fba	2740
garfieldsg	0:662207e34fba	2741	/** Get X-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2742	* If enabled, the X-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2743	* @return Current X-axis standby enabled status
garfieldsg	0:662207e34fba	2744	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2745	* @see MPU6050_PWR2_STBY_XA_BIT
garfieldsg	0:662207e34fba	2746	*/
garfieldsg	0:662207e34fba	2747	bool MPU6050::getStandbyXAccelEnabled()
garfieldsg	0:662207e34fba	2748	{
garfieldsg	0:662207e34fba	2749	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
garfieldsg	0:662207e34fba	2750	return buffer[0];
garfieldsg	0:662207e34fba	2751	}
garfieldsg	0:662207e34fba	2752	/** Set X-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2753	* @param New X-axis standby enabled status
garfieldsg	0:662207e34fba	2754	* @see getStandbyXAccelEnabled()
garfieldsg	0:662207e34fba	2755	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2756	* @see MPU6050_PWR2_STBY_XA_BIT
garfieldsg	0:662207e34fba	2757	*/
garfieldsg	0:662207e34fba	2758	void MPU6050::setStandbyXAccelEnabled(bool enabled)
garfieldsg	0:662207e34fba	2759	{
garfieldsg	0:662207e34fba	2760	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
garfieldsg	0:662207e34fba	2761	}
garfieldsg	0:662207e34fba	2762	/** Get Y-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2763	* If enabled, the Y-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2764	* @return Current Y-axis standby enabled status
garfieldsg	0:662207e34fba	2765	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2766	* @see MPU6050_PWR2_STBY_YA_BIT
garfieldsg	0:662207e34fba	2767	*/
garfieldsg	0:662207e34fba	2768	bool MPU6050::getStandbyYAccelEnabled()
garfieldsg	0:662207e34fba	2769	{
garfieldsg	0:662207e34fba	2770	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
garfieldsg	0:662207e34fba	2771	return buffer[0];
garfieldsg	0:662207e34fba	2772	}
garfieldsg	0:662207e34fba	2773	/** Set Y-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2774	* @param New Y-axis standby enabled status
garfieldsg	0:662207e34fba	2775	* @see getStandbyYAccelEnabled()
garfieldsg	0:662207e34fba	2776	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2777	* @see MPU6050_PWR2_STBY_YA_BIT
garfieldsg	0:662207e34fba	2778	*/
garfieldsg	0:662207e34fba	2779	void MPU6050::setStandbyYAccelEnabled(bool enabled)
garfieldsg	0:662207e34fba	2780	{
garfieldsg	0:662207e34fba	2781	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
garfieldsg	0:662207e34fba	2782	}
garfieldsg	0:662207e34fba	2783	/** Get Z-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2784	* If enabled, the Z-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2785	* @return Current Z-axis standby enabled status
garfieldsg	0:662207e34fba	2786	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2787	* @see MPU6050_PWR2_STBY_ZA_BIT
garfieldsg	0:662207e34fba	2788	*/
garfieldsg	0:662207e34fba	2789	bool MPU6050::getStandbyZAccelEnabled()
garfieldsg	0:662207e34fba	2790	{
garfieldsg	0:662207e34fba	2791	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
garfieldsg	0:662207e34fba	2792	return buffer[0];
garfieldsg	0:662207e34fba	2793	}
garfieldsg	0:662207e34fba	2794	/** Set Z-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2795	* @param New Z-axis standby enabled status
garfieldsg	0:662207e34fba	2796	* @see getStandbyZAccelEnabled()
garfieldsg	0:662207e34fba	2797	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2798	* @see MPU6050_PWR2_STBY_ZA_BIT
garfieldsg	0:662207e34fba	2799	*/
garfieldsg	0:662207e34fba	2800	void MPU6050::setStandbyZAccelEnabled(bool enabled)
garfieldsg	0:662207e34fba	2801	{
garfieldsg	0:662207e34fba	2802	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
garfieldsg	0:662207e34fba	2803	}
garfieldsg	0:662207e34fba	2804	/** Get X-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2805	* If enabled, the X-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2806	* @return Current X-axis standby enabled status
garfieldsg	0:662207e34fba	2807	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2808	* @see MPU6050_PWR2_STBY_XG_BIT
garfieldsg	0:662207e34fba	2809	*/
garfieldsg	0:662207e34fba	2810	bool MPU6050::getStandbyXGyroEnabled()
garfieldsg	0:662207e34fba	2811	{
garfieldsg	0:662207e34fba	2812	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
garfieldsg	0:662207e34fba	2813	return buffer[0];
garfieldsg	0:662207e34fba	2814	}
garfieldsg	0:662207e34fba	2815	/** Set X-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2816	* @param New X-axis standby enabled status
garfieldsg	0:662207e34fba	2817	* @see getStandbyXGyroEnabled()
garfieldsg	0:662207e34fba	2818	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2819	* @see MPU6050_PWR2_STBY_XG_BIT
garfieldsg	0:662207e34fba	2820	*/
garfieldsg	0:662207e34fba	2821	void MPU6050::setStandbyXGyroEnabled(bool enabled)
garfieldsg	0:662207e34fba	2822	{
garfieldsg	0:662207e34fba	2823	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
garfieldsg	0:662207e34fba	2824	}
garfieldsg	0:662207e34fba	2825	/** Get Y-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2826	* If enabled, the Y-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2827	* @return Current Y-axis standby enabled status
garfieldsg	0:662207e34fba	2828	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2829	* @see MPU6050_PWR2_STBY_YG_BIT
garfieldsg	0:662207e34fba	2830	*/
garfieldsg	0:662207e34fba	2831	bool MPU6050::getStandbyYGyroEnabled()
garfieldsg	0:662207e34fba	2832	{
garfieldsg	0:662207e34fba	2833	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
garfieldsg	0:662207e34fba	2834	return buffer[0];
garfieldsg	0:662207e34fba	2835	}
garfieldsg	0:662207e34fba	2836	/** Set Y-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2837	* @param New Y-axis standby enabled status
garfieldsg	0:662207e34fba	2838	* @see getStandbyYGyroEnabled()
garfieldsg	0:662207e34fba	2839	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2840	* @see MPU6050_PWR2_STBY_YG_BIT
garfieldsg	0:662207e34fba	2841	*/
garfieldsg	0:662207e34fba	2842	void MPU6050::setStandbyYGyroEnabled(bool enabled)
garfieldsg	0:662207e34fba	2843	{
garfieldsg	0:662207e34fba	2844	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
garfieldsg	0:662207e34fba	2845	}
garfieldsg	0:662207e34fba	2846	/** Get Z-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2847	* If enabled, the Z-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2848	* @return Current Z-axis standby enabled status
garfieldsg	0:662207e34fba	2849	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2850	* @see MPU6050_PWR2_STBY_ZG_BIT
garfieldsg	0:662207e34fba	2851	*/
garfieldsg	0:662207e34fba	2852	bool MPU6050::getStandbyZGyroEnabled()
garfieldsg	0:662207e34fba	2853	{
garfieldsg	0:662207e34fba	2854	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
garfieldsg	0:662207e34fba	2855	return buffer[0];
garfieldsg	0:662207e34fba	2856	}
garfieldsg	0:662207e34fba	2857	/** Set Z-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2858	* @param New Z-axis standby enabled status
garfieldsg	0:662207e34fba	2859	* @see getStandbyZGyroEnabled()
garfieldsg	0:662207e34fba	2860	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2861	* @see MPU6050_PWR2_STBY_ZG_BIT
garfieldsg	0:662207e34fba	2862	*/
garfieldsg	0:662207e34fba	2863	void MPU6050::setStandbyZGyroEnabled(bool enabled)
garfieldsg	0:662207e34fba	2864	{
garfieldsg	0:662207e34fba	2865	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
garfieldsg	0:662207e34fba	2866	}
garfieldsg	0:662207e34fba	2867
garfieldsg	0:662207e34fba	2868	// FIFO_COUNT* registers
garfieldsg	0:662207e34fba	2869
garfieldsg	0:662207e34fba	2870	/** Get current FIFO buffer size.
garfieldsg	0:662207e34fba	2871	* This value indicates the number of bytes stored in the FIFO buffer. This
garfieldsg	0:662207e34fba	2872	* number is in turn the number of bytes that can be read from the FIFO buffer
garfieldsg	0:662207e34fba	2873	* and it is directly proportional to the number of samples available given the
garfieldsg	0:662207e34fba	2874	* set of sensor data bound to be stored in the FIFO (register 35 and 36).
garfieldsg	0:662207e34fba	2875	* @return Current FIFO buffer size
garfieldsg	0:662207e34fba	2876	*/
garfieldsg	0:662207e34fba	2877	uint16_t MPU6050::getFIFOCount()
garfieldsg	0:662207e34fba	2878	{
garfieldsg	0:662207e34fba	2879	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
garfieldsg	0:662207e34fba	2880	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2881	}
garfieldsg	0:662207e34fba	2882
garfieldsg	0:662207e34fba	2883	// FIFO_R_W register
garfieldsg	0:662207e34fba	2884
garfieldsg	0:662207e34fba	2885	/** Get byte from FIFO buffer.
garfieldsg	0:662207e34fba	2886	* This register is used to read and write data from the FIFO buffer. Data is
garfieldsg	0:662207e34fba	2887	* written to the FIFO in order of register number (from lowest to highest). If
garfieldsg	0:662207e34fba	2888	* all the FIFO enable flags (see below) are enabled and all External Sensor
garfieldsg	0:662207e34fba	2889	* Data registers (Registers 73 to 96) are associated with a Slave device, the
garfieldsg	0:662207e34fba	2890	* contents of registers 59 through 96 will be written in order at the Sample
garfieldsg	0:662207e34fba	2891	* Rate.
garfieldsg	0:662207e34fba	2892	*
garfieldsg	0:662207e34fba	2893	* The contents of the sensor data registers (Registers 59 to 96) are written
garfieldsg	0:662207e34fba	2894	* into the FIFO buffer when their corresponding FIFO enable flags are set to 1
garfieldsg	0:662207e34fba	2895	* in FIFO_EN (Register 35). An additional flag for the sensor data registers
garfieldsg	0:662207e34fba	2896	* associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
garfieldsg	0:662207e34fba	2897	*
garfieldsg	0:662207e34fba	2898	* If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
garfieldsg	0:662207e34fba	2899	* automatically set to 1. This bit is located in INT_STATUS (Register 58).
garfieldsg	0:662207e34fba	2900	* When the FIFO buffer has overflowed, the oldest data will be lost and new
garfieldsg	0:662207e34fba	2901	* data will be written to the FIFO.
garfieldsg	0:662207e34fba	2902	*
garfieldsg	0:662207e34fba	2903	* If the FIFO buffer is empty, reading this register will return the last byte
garfieldsg	0:662207e34fba	2904	* that was previously read from the FIFO until new data is available. The user
garfieldsg	0:662207e34fba	2905	* should check FIFO_COUNT to ensure that the FIFO buffer is not read when
garfieldsg	0:662207e34fba	2906	* empty.
garfieldsg	0:662207e34fba	2907	*
garfieldsg	0:662207e34fba	2908	* @return Byte from FIFO buffer
garfieldsg	0:662207e34fba	2909	*/
garfieldsg	0:662207e34fba	2910	uint8_t MPU6050::getFIFOByte()
garfieldsg	0:662207e34fba	2911	{
garfieldsg	0:662207e34fba	2912	i2Cdev.readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
garfieldsg	0:662207e34fba	2913	return buffer[0];
garfieldsg	0:662207e34fba	2914	}
garfieldsg	0:662207e34fba	2915	void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length)
garfieldsg	0:662207e34fba	2916	{
garfieldsg	0:662207e34fba	2917	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
garfieldsg	0:662207e34fba	2918	}
garfieldsg	0:662207e34fba	2919	/** Write byte to FIFO buffer.
garfieldsg	0:662207e34fba	2920	* @see getFIFOByte()
garfieldsg	0:662207e34fba	2921	* @see MPU6050_RA_FIFO_R_W
garfieldsg	0:662207e34fba	2922	*/
garfieldsg	0:662207e34fba	2923	void MPU6050::setFIFOByte(uint8_t data)
garfieldsg	0:662207e34fba	2924	{
garfieldsg	0:662207e34fba	2925	i2Cdev.writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
garfieldsg	0:662207e34fba	2926	}
garfieldsg	0:662207e34fba	2927
garfieldsg	0:662207e34fba	2928	// WHO_AM_I register
garfieldsg	0:662207e34fba	2929
garfieldsg	0:662207e34fba	2930	/** Get Device ID.
garfieldsg	0:662207e34fba	2931	* This register is used to verify the identity of the device (0b110100, 0x34).
garfieldsg	0:662207e34fba	2932	* @return Device ID (6 bits only! should be 0x34)
garfieldsg	0:662207e34fba	2933	* @see MPU6050_RA_WHO_AM_I
garfieldsg	0:662207e34fba	2934	* @see MPU6050_WHO_AM_I_BIT
garfieldsg	0:662207e34fba	2935	* @see MPU6050_WHO_AM_I_LENGTH
garfieldsg	0:662207e34fba	2936	*/
garfieldsg	0:662207e34fba	2937	uint8_t MPU6050::getDeviceID()
garfieldsg	0:662207e34fba	2938	{
garfieldsg	0:662207e34fba	2939	i2Cdev.readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
garfieldsg	0:662207e34fba	2940	return buffer[0];
garfieldsg	0:662207e34fba	2941	}
garfieldsg	0:662207e34fba	2942	/** Set Device ID.
garfieldsg	0:662207e34fba	2943	* Write a new ID into the WHO_AM_I register (no idea why this should ever be
garfieldsg	0:662207e34fba	2944	* necessary though).
garfieldsg	0:662207e34fba	2945	* @param id New device ID to set.
garfieldsg	0:662207e34fba	2946	* @see getDeviceID()
garfieldsg	0:662207e34fba	2947	* @see MPU6050_RA_WHO_AM_I
garfieldsg	0:662207e34fba	2948	* @see MPU6050_WHO_AM_I_BIT
garfieldsg	0:662207e34fba	2949	* @see MPU6050_WHO_AM_I_LENGTH
garfieldsg	0:662207e34fba	2950	*/
garfieldsg	0:662207e34fba	2951	void MPU6050::setDeviceID(uint8_t id)
garfieldsg	0:662207e34fba	2952	{
garfieldsg	0:662207e34fba	2953	i2Cdev.writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
garfieldsg	0:662207e34fba	2954	}
garfieldsg	0:662207e34fba	2955
garfieldsg	0:662207e34fba	2956	// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
garfieldsg	0:662207e34fba	2957
garfieldsg	0:662207e34fba	2958	// XG_OFFS_TC register
garfieldsg	0:662207e34fba	2959
garfieldsg	0:662207e34fba	2960	uint8_t MPU6050::getOTPBankValid()
garfieldsg	0:662207e34fba	2961	{
garfieldsg	0:662207e34fba	2962	i2Cdev.readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
garfieldsg	0:662207e34fba	2963	return buffer[0];
garfieldsg	0:662207e34fba	2964	}
garfieldsg	0:662207e34fba	2965	void MPU6050::setOTPBankValid(bool enabled)
garfieldsg	0:662207e34fba	2966	{
garfieldsg	0:662207e34fba	2967	i2Cdev.writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
garfieldsg	0:662207e34fba	2968	}
garfieldsg	0:662207e34fba	2969	int8_t MPU6050::getXGyroOffset()
garfieldsg	0:662207e34fba	2970	{
garfieldsg	0:662207e34fba	2971	i2Cdev.readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
garfieldsg	0:662207e34fba	2972	return buffer[0];
garfieldsg	0:662207e34fba	2973	}
garfieldsg	0:662207e34fba	2974	void MPU6050::setXGyroOffset(int8_t offset)
garfieldsg	0:662207e34fba	2975	{
garfieldsg	0:662207e34fba	2976	i2Cdev.writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
garfieldsg	0:662207e34fba	2977	}
garfieldsg	0:662207e34fba	2978
garfieldsg	0:662207e34fba	2979	// YG_OFFS_TC register
garfieldsg	0:662207e34fba	2980
garfieldsg	0:662207e34fba	2981	int8_t MPU6050::getYGyroOffset()
garfieldsg	0:662207e34fba	2982	{
garfieldsg	0:662207e34fba	2983	i2Cdev.readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
garfieldsg	0:662207e34fba	2984	return buffer[0];
garfieldsg	0:662207e34fba	2985	}
garfieldsg	0:662207e34fba	2986	void MPU6050::setYGyroOffset(int8_t offset)
garfieldsg	0:662207e34fba	2987	{
garfieldsg	0:662207e34fba	2988	i2Cdev.writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
garfieldsg	0:662207e34fba	2989	}
garfieldsg	0:662207e34fba	2990
garfieldsg	0:662207e34fba	2991	// ZG_OFFS_TC register
garfieldsg	0:662207e34fba	2992
garfieldsg	0:662207e34fba	2993	int8_t MPU6050::getZGyroOffset()
garfieldsg	0:662207e34fba	2994	{
garfieldsg	0:662207e34fba	2995	i2Cdev.readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
garfieldsg	0:662207e34fba	2996	return buffer[0];
garfieldsg	0:662207e34fba	2997	}
garfieldsg	0:662207e34fba	2998	void MPU6050::setZGyroOffset(int8_t offset)
garfieldsg	0:662207e34fba	2999	{
garfieldsg	0:662207e34fba	3000	i2Cdev.writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
garfieldsg	0:662207e34fba	3001	}
garfieldsg	0:662207e34fba	3002
garfieldsg	0:662207e34fba	3003	// X_FINE_GAIN register
garfieldsg	0:662207e34fba	3004
garfieldsg	0:662207e34fba	3005	int8_t MPU6050::getXFineGain()
garfieldsg	0:662207e34fba	3006	{
garfieldsg	0:662207e34fba	3007	i2Cdev.readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
garfieldsg	0:662207e34fba	3008	return buffer[0];
garfieldsg	0:662207e34fba	3009	}
garfieldsg	0:662207e34fba	3010	void MPU6050::setXFineGain(int8_t gain)
garfieldsg	0:662207e34fba	3011	{
garfieldsg	0:662207e34fba	3012	i2Cdev.writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
garfieldsg	0:662207e34fba	3013	}
garfieldsg	0:662207e34fba	3014
garfieldsg	0:662207e34fba	3015	// Y_FINE_GAIN register
garfieldsg	0:662207e34fba	3016
garfieldsg	0:662207e34fba	3017	int8_t MPU6050::getYFineGain()
garfieldsg	0:662207e34fba	3018	{
garfieldsg	0:662207e34fba	3019	i2Cdev.readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
garfieldsg	0:662207e34fba	3020	return buffer[0];
garfieldsg	0:662207e34fba	3021	}
garfieldsg	0:662207e34fba	3022	void MPU6050::setYFineGain(int8_t gain)
garfieldsg	0:662207e34fba	3023	{
garfieldsg	0:662207e34fba	3024	i2Cdev.writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
garfieldsg	0:662207e34fba	3025	}
garfieldsg	0:662207e34fba	3026
garfieldsg	0:662207e34fba	3027	// Z_FINE_GAIN register
garfieldsg	0:662207e34fba	3028
garfieldsg	0:662207e34fba	3029	int8_t MPU6050::getZFineGain()
garfieldsg	0:662207e34fba	3030	{
garfieldsg	0:662207e34fba	3031	i2Cdev.readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
garfieldsg	0:662207e34fba	3032	return buffer[0];
garfieldsg	0:662207e34fba	3033	}
garfieldsg	0:662207e34fba	3034	void MPU6050::setZFineGain(int8_t gain)
garfieldsg	0:662207e34fba	3035	{
garfieldsg	0:662207e34fba	3036	i2Cdev.writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
garfieldsg	0:662207e34fba	3037	}
garfieldsg	0:662207e34fba	3038
garfieldsg	0:662207e34fba	3039	// XA_OFFS_* registers
garfieldsg	0:662207e34fba	3040
garfieldsg	0:662207e34fba	3041	int16_t MPU6050::getXAccelOffset()
garfieldsg	0:662207e34fba	3042	{
garfieldsg	0:662207e34fba	3043	i2Cdev.readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
garfieldsg	0:662207e34fba	3044	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3045	}
garfieldsg	0:662207e34fba	3046	void MPU6050::setXAccelOffset(int16_t offset)
garfieldsg	0:662207e34fba	3047	{
garfieldsg	0:662207e34fba	3048	i2Cdev.writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
garfieldsg	0:662207e34fba	3049	}
garfieldsg	0:662207e34fba	3050
garfieldsg	0:662207e34fba	3051	// YA_OFFS_* register
garfieldsg	0:662207e34fba	3052
garfieldsg	0:662207e34fba	3053	int16_t MPU6050::getYAccelOffset()
garfieldsg	0:662207e34fba	3054	{
garfieldsg	0:662207e34fba	3055	i2Cdev.readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
garfieldsg	0:662207e34fba	3056	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3057	}
garfieldsg	0:662207e34fba	3058	void MPU6050::setYAccelOffset(int16_t offset)
garfieldsg	0:662207e34fba	3059	{
garfieldsg	0:662207e34fba	3060	i2Cdev.writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
garfieldsg	0:662207e34fba	3061	}
garfieldsg	0:662207e34fba	3062
garfieldsg	0:662207e34fba	3063	// ZA_OFFS_* register
garfieldsg	0:662207e34fba	3064
garfieldsg	0:662207e34fba	3065	int16_t MPU6050::getZAccelOffset()
garfieldsg	0:662207e34fba	3066	{
garfieldsg	0:662207e34fba	3067	i2Cdev.readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
garfieldsg	0:662207e34fba	3068	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3069	}
garfieldsg	0:662207e34fba	3070	void MPU6050::setZAccelOffset(int16_t offset)
garfieldsg	0:662207e34fba	3071	{
garfieldsg	0:662207e34fba	3072	i2Cdev.writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
garfieldsg	0:662207e34fba	3073	}
garfieldsg	0:662207e34fba	3074
garfieldsg	0:662207e34fba	3075	// XG_OFFS_USR* registers
garfieldsg	0:662207e34fba	3076
garfieldsg	0:662207e34fba	3077	int16_t MPU6050::getXGyroOffsetUser()
garfieldsg	0:662207e34fba	3078	{
garfieldsg	0:662207e34fba	3079	i2Cdev.readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
garfieldsg	0:662207e34fba	3080	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3081	}
garfieldsg	0:662207e34fba	3082	void MPU6050::setXGyroOffsetUser(int16_t offset)
garfieldsg	0:662207e34fba	3083	{
garfieldsg	0:662207e34fba	3084	i2Cdev.writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
garfieldsg	0:662207e34fba	3085	}
garfieldsg	0:662207e34fba	3086
garfieldsg	0:662207e34fba	3087	// YG_OFFS_USR* register
garfieldsg	0:662207e34fba	3088
garfieldsg	0:662207e34fba	3089	int16_t MPU6050::getYGyroOffsetUser()
garfieldsg	0:662207e34fba	3090	{
garfieldsg	0:662207e34fba	3091	i2Cdev.readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
garfieldsg	0:662207e34fba	3092	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3093	}
garfieldsg	0:662207e34fba	3094	void MPU6050::setYGyroOffsetUser(int16_t offset)
garfieldsg	0:662207e34fba	3095	{
garfieldsg	0:662207e34fba	3096	i2Cdev.writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
garfieldsg	0:662207e34fba	3097	}
garfieldsg	0:662207e34fba	3098
garfieldsg	0:662207e34fba	3099	// ZG_OFFS_USR* register
garfieldsg	0:662207e34fba	3100
garfieldsg	0:662207e34fba	3101	int16_t MPU6050::getZGyroOffsetUser()
garfieldsg	0:662207e34fba	3102	{
garfieldsg	0:662207e34fba	3103	i2Cdev.readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
garfieldsg	0:662207e34fba	3104	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3105	}
garfieldsg	0:662207e34fba	3106	void MPU6050::setZGyroOffsetUser(int16_t offset)
garfieldsg	0:662207e34fba	3107	{
garfieldsg	0:662207e34fba	3108	i2Cdev.writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
garfieldsg	0:662207e34fba	3109	}
garfieldsg	0:662207e34fba	3110
garfieldsg	0:662207e34fba	3111	// INT_ENABLE register (DMP functions)
garfieldsg	0:662207e34fba	3112
garfieldsg	0:662207e34fba	3113	bool MPU6050::getIntPLLReadyEnabled()
garfieldsg	0:662207e34fba	3114	{
garfieldsg	0:662207e34fba	3115	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
garfieldsg	0:662207e34fba	3116	return buffer[0];
garfieldsg	0:662207e34fba	3117	}
garfieldsg	0:662207e34fba	3118	void MPU6050::setIntPLLReadyEnabled(bool enabled)
garfieldsg	0:662207e34fba	3119	{
garfieldsg	0:662207e34fba	3120	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
garfieldsg	0:662207e34fba	3121	}
garfieldsg	0:662207e34fba	3122	bool MPU6050::getIntDMPEnabled()
garfieldsg	0:662207e34fba	3123	{
garfieldsg	0:662207e34fba	3124	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
garfieldsg	0:662207e34fba	3125	return buffer[0];
garfieldsg	0:662207e34fba	3126	}
garfieldsg	0:662207e34fba	3127	void MPU6050::setIntDMPEnabled(bool enabled)
garfieldsg	0:662207e34fba	3128	{
garfieldsg	0:662207e34fba	3129	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
garfieldsg	0:662207e34fba	3130	}
garfieldsg	0:662207e34fba	3131
garfieldsg	0:662207e34fba	3132	// DMP_INT_STATUS
garfieldsg	0:662207e34fba	3133
garfieldsg	0:662207e34fba	3134	bool MPU6050::getDMPInt5Status()
garfieldsg	0:662207e34fba	3135	{
garfieldsg	0:662207e34fba	3136	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
garfieldsg	0:662207e34fba	3137	return buffer[0];
garfieldsg	0:662207e34fba	3138	}
garfieldsg	0:662207e34fba	3139	bool MPU6050::getDMPInt4Status()
garfieldsg	0:662207e34fba	3140	{
garfieldsg	0:662207e34fba	3141	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
garfieldsg	0:662207e34fba	3142	return buffer[0];
garfieldsg	0:662207e34fba	3143	}
garfieldsg	0:662207e34fba	3144	bool MPU6050::getDMPInt3Status()
garfieldsg	0:662207e34fba	3145	{
garfieldsg	0:662207e34fba	3146	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
garfieldsg	0:662207e34fba	3147	return buffer[0];
garfieldsg	0:662207e34fba	3148	}
garfieldsg	0:662207e34fba	3149	bool MPU6050::getDMPInt2Status()
garfieldsg	0:662207e34fba	3150	{
garfieldsg	0:662207e34fba	3151	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
garfieldsg	0:662207e34fba	3152	return buffer[0];
garfieldsg	0:662207e34fba	3153	}
garfieldsg	0:662207e34fba	3154	bool MPU6050::getDMPInt1Status()
garfieldsg	0:662207e34fba	3155	{
garfieldsg	0:662207e34fba	3156	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
garfieldsg	0:662207e34fba	3157	return buffer[0];
garfieldsg	0:662207e34fba	3158	}
garfieldsg	0:662207e34fba	3159	bool MPU6050::getDMPInt0Status()
garfieldsg	0:662207e34fba	3160	{
garfieldsg	0:662207e34fba	3161	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
garfieldsg	0:662207e34fba	3162	return buffer[0];
garfieldsg	0:662207e34fba	3163	}
garfieldsg	0:662207e34fba	3164
garfieldsg	0:662207e34fba	3165	// INT_STATUS register (DMP functions)
garfieldsg	0:662207e34fba	3166
garfieldsg	0:662207e34fba	3167	bool MPU6050::getIntPLLReadyStatus()
garfieldsg	0:662207e34fba	3168	{
garfieldsg	0:662207e34fba	3169	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
garfieldsg	0:662207e34fba	3170	return buffer[0];
garfieldsg	0:662207e34fba	3171	}
garfieldsg	0:662207e34fba	3172	bool MPU6050::getIntDMPStatus()
garfieldsg	0:662207e34fba	3173	{
garfieldsg	0:662207e34fba	3174	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
garfieldsg	0:662207e34fba	3175	return buffer[0];
garfieldsg	0:662207e34fba	3176	}
garfieldsg	0:662207e34fba	3177
garfieldsg	0:662207e34fba	3178	// USER_CTRL register (DMP functions)
garfieldsg	0:662207e34fba	3179
garfieldsg	0:662207e34fba	3180	bool MPU6050::getDMPEnabled()
garfieldsg	0:662207e34fba	3181	{
garfieldsg	0:662207e34fba	3182	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
garfieldsg	0:662207e34fba	3183	return buffer[0];
garfieldsg	0:662207e34fba	3184	}
garfieldsg	0:662207e34fba	3185	void MPU6050::setDMPEnabled(bool enabled)
garfieldsg	0:662207e34fba	3186	{
garfieldsg	0:662207e34fba	3187	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
garfieldsg	0:662207e34fba	3188	}
garfieldsg	0:662207e34fba	3189	void MPU6050::resetDMP()
garfieldsg	0:662207e34fba	3190	{
garfieldsg	0:662207e34fba	3191	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
garfieldsg	0:662207e34fba	3192	}
garfieldsg	0:662207e34fba	3193
garfieldsg	0:662207e34fba	3194	// BANK_SEL register
garfieldsg	0:662207e34fba	3195
garfieldsg	0:662207e34fba	3196	void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank)
garfieldsg	0:662207e34fba	3197	{
garfieldsg	0:662207e34fba	3198	bank &= 0x1F;
garfieldsg	0:662207e34fba	3199	if (userBank) bank \|= 0x20;
garfieldsg	0:662207e34fba	3200	if (prefetchEnabled) bank \|= 0x40;
garfieldsg	0:662207e34fba	3201	i2Cdev.writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
garfieldsg	0:662207e34fba	3202	}
garfieldsg	0:662207e34fba	3203
garfieldsg	0:662207e34fba	3204	// MEM_START_ADDR register
garfieldsg	0:662207e34fba	3205
garfieldsg	0:662207e34fba	3206	void MPU6050::setMemoryStartAddress(uint8_t address)
garfieldsg	0:662207e34fba	3207	{
garfieldsg	0:662207e34fba	3208	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
garfieldsg	0:662207e34fba	3209	}
garfieldsg	0:662207e34fba	3210
garfieldsg	0:662207e34fba	3211	// MEM_R_W register
garfieldsg	0:662207e34fba	3212
garfieldsg	0:662207e34fba	3213	uint8_t MPU6050::readMemoryByte()
garfieldsg	0:662207e34fba	3214	{
garfieldsg	0:662207e34fba	3215	i2Cdev.readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
garfieldsg	0:662207e34fba	3216	return buffer[0];
garfieldsg	0:662207e34fba	3217	}
garfieldsg	0:662207e34fba	3218	void MPU6050::writeMemoryByte(uint8_t data)
garfieldsg	0:662207e34fba	3219	{
garfieldsg	0:662207e34fba	3220	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
garfieldsg	0:662207e34fba	3221	}
garfieldsg	0:662207e34fba	3222	void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address)
garfieldsg	0:662207e34fba	3223	{
garfieldsg	0:662207e34fba	3224	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3225	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3226	uint8_t chunkSize;
garfieldsg	0:662207e34fba	3227	for (uint16_t i = 0; i < dataSize;) {
garfieldsg	0:662207e34fba	3228	// determine correct chunk size according to bank position and data size
garfieldsg	0:662207e34fba	3229	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
garfieldsg	0:662207e34fba	3230
garfieldsg	0:662207e34fba	3231	// make sure we don't go past the data size
garfieldsg	0:662207e34fba	3232	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
garfieldsg	0:662207e34fba	3233
garfieldsg	0:662207e34fba	3234	// make sure this chunk doesn't go past the bank boundary (256 bytes)
garfieldsg	0:662207e34fba	3235	if (chunkSize > 256 - address) chunkSize = 256 - address;
garfieldsg	0:662207e34fba	3236
garfieldsg	0:662207e34fba	3237	// read the chunk of data as specified
garfieldsg	0:662207e34fba	3238	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
garfieldsg	0:662207e34fba	3239
garfieldsg	0:662207e34fba	3240	// increase byte index by [chunkSize]
garfieldsg	0:662207e34fba	3241	i += chunkSize;
garfieldsg	0:662207e34fba	3242
garfieldsg	0:662207e34fba	3243	// uint8_t automatically wraps to 0 at 256
garfieldsg	0:662207e34fba	3244	address += chunkSize;
garfieldsg	0:662207e34fba	3245
garfieldsg	0:662207e34fba	3246	// if we aren't done, update bank (if necessary) and address
garfieldsg	0:662207e34fba	3247	if (i < dataSize) {
garfieldsg	0:662207e34fba	3248	if (address == 0) bank++;
garfieldsg	0:662207e34fba	3249	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3250	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3251	}
garfieldsg	0:662207e34fba	3252	}
garfieldsg	0:662207e34fba	3253	}
garfieldsg	0:662207e34fba	3254	bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem)
garfieldsg	0:662207e34fba	3255	{
garfieldsg	0:662207e34fba	3256	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3257	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3258	uint8_t chunkSize;
garfieldsg	0:662207e34fba	3259	uint8_t *verifyBuffer;
garfieldsg	0:662207e34fba	3260	uint8_t *progBuffer;
garfieldsg	0:662207e34fba	3261	uint16_t i;
garfieldsg	0:662207e34fba	3262	uint8_t j;
garfieldsg	0:662207e34fba	3263	if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
garfieldsg	0:662207e34fba	3264	if (useProgMem) progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
garfieldsg	0:662207e34fba	3265	for (i = 0; i < dataSize;) {
garfieldsg	0:662207e34fba	3266	// determine correct chunk size according to bank position and data size
garfieldsg	0:662207e34fba	3267	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
garfieldsg	0:662207e34fba	3268
garfieldsg	0:662207e34fba	3269	// make sure we don't go past the data size
garfieldsg	0:662207e34fba	3270	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
garfieldsg	0:662207e34fba	3271
garfieldsg	0:662207e34fba	3272	// make sure this chunk doesn't go past the bank boundary (256 bytes)
garfieldsg	0:662207e34fba	3273	if (chunkSize > 256 - address) chunkSize = 256 - address;
garfieldsg	0:662207e34fba	3274
garfieldsg	0:662207e34fba	3275	if (useProgMem) {
garfieldsg	0:662207e34fba	3276	// write the chunk of data as specified
garfieldsg	0:662207e34fba	3277	for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
garfieldsg	0:662207e34fba	3278	} else {
garfieldsg	0:662207e34fba	3279	// write the chunk of data as specified
garfieldsg	0:662207e34fba	3280	progBuffer = (uint8_t *)data + i;
garfieldsg	0:662207e34fba	3281	}
garfieldsg	0:662207e34fba	3282
garfieldsg	0:662207e34fba	3283	i2Cdev.writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
garfieldsg	0:662207e34fba	3284
garfieldsg	0:662207e34fba	3285	// verify data if needed
garfieldsg	0:662207e34fba	3286	if (verify && verifyBuffer) {
garfieldsg	0:662207e34fba	3287	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3288	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3289	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
garfieldsg	0:662207e34fba	3290	if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
garfieldsg	0:662207e34fba	3291	/*Serial.print("Block write verification error, bank ");
garfieldsg	0:662207e34fba	3292	Serial.print(bank, DEC);
garfieldsg	0:662207e34fba	3293	Serial.print(", address ");
garfieldsg	0:662207e34fba	3294	Serial.print(address, DEC);
garfieldsg	0:662207e34fba	3295	Serial.print("!\nExpected:");
garfieldsg	0:662207e34fba	3296	for (j = 0; j < chunkSize; j++) {
garfieldsg	0:662207e34fba	3297	Serial.print(" 0x");
garfieldsg	0:662207e34fba	3298	if (progBuffer[j] < 16) Serial.print("0");
garfieldsg	0:662207e34fba	3299	Serial.print(progBuffer[j], HEX);
garfieldsg	0:662207e34fba	3300	}
garfieldsg	0:662207e34fba	3301	Serial.print("\nReceived:");
garfieldsg	0:662207e34fba	3302	for (uint8_t j = 0; j < chunkSize; j++) {
garfieldsg	0:662207e34fba	3303	Serial.print(" 0x");
garfieldsg	0:662207e34fba	3304	if (verifyBuffer[i + j] < 16) Serial.print("0");
garfieldsg	0:662207e34fba	3305	Serial.print(verifyBuffer[i + j], HEX);
garfieldsg	0:662207e34fba	3306	}
garfieldsg	0:662207e34fba	3307	Serial.print("\n");*/
garfieldsg	0:662207e34fba	3308	free(verifyBuffer);
garfieldsg	0:662207e34fba	3309	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3310	return false; // uh oh.
garfieldsg	0:662207e34fba	3311	}
garfieldsg	0:662207e34fba	3312	}
garfieldsg	0:662207e34fba	3313
garfieldsg	0:662207e34fba	3314	// increase byte index by [chunkSize]
garfieldsg	0:662207e34fba	3315	i += chunkSize;
garfieldsg	0:662207e34fba	3316
garfieldsg	0:662207e34fba	3317	// uint8_t automatically wraps to 0 at 256
garfieldsg	0:662207e34fba	3318	address += chunkSize;
garfieldsg	0:662207e34fba	3319
garfieldsg	0:662207e34fba	3320	// if we aren't done, update bank (if necessary) and address
garfieldsg	0:662207e34fba	3321	if (i < dataSize) {
garfieldsg	0:662207e34fba	3322	if (address == 0) bank++;
garfieldsg	0:662207e34fba	3323	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3324	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3325	}
garfieldsg	0:662207e34fba	3326	}
garfieldsg	0:662207e34fba	3327	if (verify) free(verifyBuffer);
garfieldsg	0:662207e34fba	3328	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3329	return true;
garfieldsg	0:662207e34fba	3330	}
garfieldsg	0:662207e34fba	3331	bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify)
garfieldsg	0:662207e34fba	3332	{
garfieldsg	0:662207e34fba	3333	return writeMemoryBlock(data, dataSize, bank, address, verify, true);
garfieldsg	0:662207e34fba	3334	}
garfieldsg	0:662207e34fba	3335	bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem)
garfieldsg	0:662207e34fba	3336	{
garfieldsg	0:662207e34fba	3337	uint8_t *progBuffer, success, special;
garfieldsg	0:662207e34fba	3338	uint16_t i, j;
garfieldsg	0:662207e34fba	3339	if (useProgMem) {
garfieldsg	0:662207e34fba	3340	progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
garfieldsg	0:662207e34fba	3341	}
garfieldsg	0:662207e34fba	3342
garfieldsg	0:662207e34fba	3343	// config set data is a long string of blocks with the following structure:
garfieldsg	0:662207e34fba	3344	// [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
garfieldsg	0:662207e34fba	3345	uint8_t bank, offset, length;
garfieldsg	0:662207e34fba	3346	for (i = 0; i < dataSize;) {
garfieldsg	0:662207e34fba	3347	if (useProgMem) {
garfieldsg	0:662207e34fba	3348	bank = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3349	offset = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3350	length = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3351	} else {
garfieldsg	0:662207e34fba	3352	bank = data[i++];
garfieldsg	0:662207e34fba	3353	offset = data[i++];
garfieldsg	0:662207e34fba	3354	length = data[i++];
garfieldsg	0:662207e34fba	3355	}
garfieldsg	0:662207e34fba	3356
garfieldsg	0:662207e34fba	3357	// write data or perform special action
garfieldsg	0:662207e34fba	3358	if (length > 0) {
garfieldsg	0:662207e34fba	3359	// regular block of data to write
garfieldsg	0:662207e34fba	3360	/*Serial.print("Writing config block to bank ");
garfieldsg	0:662207e34fba	3361	Serial.print(bank);
garfieldsg	0:662207e34fba	3362	Serial.print(", offset ");
garfieldsg	0:662207e34fba	3363	Serial.print(offset);
garfieldsg	0:662207e34fba	3364	Serial.print(", length=");
garfieldsg	0:662207e34fba	3365	Serial.println(length);*/
garfieldsg	0:662207e34fba	3366	if (useProgMem) {
garfieldsg	0:662207e34fba	3367	if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length);
garfieldsg	0:662207e34fba	3368	for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j);
garfieldsg	0:662207e34fba	3369	} else {
garfieldsg	0:662207e34fba	3370	progBuffer = (uint8_t *)data + i;
garfieldsg	0:662207e34fba	3371	}
garfieldsg	0:662207e34fba	3372	success = writeMemoryBlock(progBuffer, length, bank, offset, true);
garfieldsg	0:662207e34fba	3373	i += length;
garfieldsg	0:662207e34fba	3374	} else {
garfieldsg	0:662207e34fba	3375	// special instruction
garfieldsg	0:662207e34fba	3376	// NOTE: this kind of behavior (what and when to do certain things)
garfieldsg	0:662207e34fba	3377	// is totally undocumented. This code is in here based on observed
garfieldsg	0:662207e34fba	3378	// behavior only, and exactly why (or even whether) it has to be here
garfieldsg	0:662207e34fba	3379	// is anybody's guess for now.
garfieldsg	0:662207e34fba	3380	if (useProgMem) {
garfieldsg	0:662207e34fba	3381	special = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3382	} else {
garfieldsg	0:662207e34fba	3383	special = data[i++];
garfieldsg	0:662207e34fba	3384	}
garfieldsg	0:662207e34fba	3385	/*Serial.print("Special command code ");
garfieldsg	0:662207e34fba	3386	Serial.print(special, HEX);
garfieldsg	0:662207e34fba	3387	Serial.println(" found...");*/
garfieldsg	0:662207e34fba	3388	if (special == 0x01) {
garfieldsg	0:662207e34fba	3389	// enable DMP-related interrupts
garfieldsg	0:662207e34fba	3390
garfieldsg	0:662207e34fba	3391	//setIntZeroMotionEnabled(true);
garfieldsg	0:662207e34fba	3392	//setIntFIFOBufferOverflowEnabled(true);
garfieldsg	0:662207e34fba	3393	//setIntDMPEnabled(true);
garfieldsg	0:662207e34fba	3394	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
garfieldsg	0:662207e34fba	3395
garfieldsg	0:662207e34fba	3396	success = true;
garfieldsg	0:662207e34fba	3397	} else {
garfieldsg	0:662207e34fba	3398	// unknown special command
garfieldsg	0:662207e34fba	3399	success = false;
garfieldsg	0:662207e34fba	3400	}
garfieldsg	0:662207e34fba	3401	}
garfieldsg	0:662207e34fba	3402
garfieldsg	0:662207e34fba	3403	if (!success) {
garfieldsg	0:662207e34fba	3404	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3405	return false; // uh oh
garfieldsg	0:662207e34fba	3406	}
garfieldsg	0:662207e34fba	3407	}
garfieldsg	0:662207e34fba	3408	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3409	return true;
garfieldsg	0:662207e34fba	3410	}
garfieldsg	0:662207e34fba	3411	bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
garfieldsg	0:662207e34fba	3412	{
garfieldsg	0:662207e34fba	3413	return writeDMPConfigurationSet(data, dataSize, false);
garfieldsg	0:662207e34fba	3414	}
garfieldsg	0:662207e34fba	3415
garfieldsg	0:662207e34fba	3416	// DMP_CFG_1 register
garfieldsg	0:662207e34fba	3417
garfieldsg	0:662207e34fba	3418	uint8_t MPU6050::getDMPConfig1()
garfieldsg	0:662207e34fba	3419	{
garfieldsg	0:662207e34fba	3420	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
garfieldsg	0:662207e34fba	3421	return buffer[0];
garfieldsg	0:662207e34fba	3422	}
garfieldsg	0:662207e34fba	3423	void MPU6050::setDMPConfig1(uint8_t config)
garfieldsg	0:662207e34fba	3424	{
garfieldsg	0:662207e34fba	3425	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
garfieldsg	0:662207e34fba	3426	}
garfieldsg	0:662207e34fba	3427
garfieldsg	0:662207e34fba	3428	// DMP_CFG_2 register
garfieldsg	0:662207e34fba	3429
garfieldsg	0:662207e34fba	3430	uint8_t MPU6050::getDMPConfig2()
garfieldsg	0:662207e34fba	3431	{
garfieldsg	0:662207e34fba	3432	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
garfieldsg	0:662207e34fba	3433	return buffer[0];
garfieldsg	0:662207e34fba	3434	}
garfieldsg	0:662207e34fba	3435	void MPU6050::setDMPConfig2(uint8_t config)
garfieldsg	0:662207e34fba	3436	{
garfieldsg	0:662207e34fba	3437	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
garfieldsg	0:662207e34fba	3438	}

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Type:	Library
Created:	02 Nov 2013
Imports:	71
Forks:	1
Commits:	12
Dependents:	2
Dependencies:	0
Followers:	2