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MPU9250

MPU6050.cpp@22:ec9725201195, 2018-04-18 (annotated)

Committer:: tyftyftyf
Date:: Wed Apr 18 20:24:13 2018 +0000
Revision:: 22:ec9725201195
Parent:: 21:ae3ee2d811eb

change to I2C 1

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
tyftyftyf	13:a74f2d622b54	43	#include "mbed.h"
garfieldsg	0:662207e34fba	44	#include "MPU6050.h"
tyftyftyf	9:d879deb55ae1	45	#include "rtos.h"
garfieldsg	0:662207e34fba	46
pommzorz	3:8a6a7d6b6816	47	//#define useDebugSerial
garfieldsg	0:662207e34fba	48
garfieldsg	0:662207e34fba	49	//instead of using pgmspace.h
garfieldsg	0:662207e34fba	50	typedef const unsigned char prog_uchar;
garfieldsg	0:662207e34fba	51	#define pgm_read_byte_near(x) ((prog_uchar)x)
garfieldsg	0:662207e34fba	52	#define pgm_read_byte(x) ((prog_uchar)x)
garfieldsg	0:662207e34fba	53
garfieldsg	0:662207e34fba	54	/** Default constructor, uses default I2C address.
garfieldsg	0:662207e34fba	55	* @see MPU6050_DEFAULT_ADDRESS
garfieldsg	0:662207e34fba	56	*/
tyftyftyf	11:9549be34fa7f	57	MPU6050::MPU6050() : debugSerial(USBTX, USBRX), sampling(false)
garfieldsg	0:662207e34fba	58	{
tyftyftyf	9:d879deb55ae1	59	devAddr = MPU6050_DEFAULT_ADDRESS << 1;
tyftyftyf	9:d879deb55ae1	60	debugSerial.baud(115200);
tyftyftyf	21:ae3ee2d811eb	61
tyftyftyf	21:ae3ee2d811eb	62	tX[0] = 0; tX[1] = 1; tX[2] = 0;
tyftyftyf	21:ae3ee2d811eb	63	tY[0] = 1; tY[1] = 0; tY[2] = 0;
tyftyftyf	21:ae3ee2d811eb	64	tZ[0] = 0; tZ[1] = 0; tZ[2] = -1;
tyftyftyf	7:95e74f827c08	65	}
tyftyftyf	7:95e74f827c08	66
garfieldsg	0:662207e34fba	67	/** Specific address constructor.
garfieldsg	0:662207e34fba	68	* @param address I2C address
garfieldsg	0:662207e34fba	69	* @see MPU6050_DEFAULT_ADDRESS
garfieldsg	0:662207e34fba	70	* @see MPU6050_ADDRESS_AD0_LOW
garfieldsg	0:662207e34fba	71	* @see MPU6050_ADDRESS_AD0_HIGH
garfieldsg	0:662207e34fba	72	*/
tyftyftyf	11:9549be34fa7f	73	MPU6050::MPU6050(uint8_t address) : debugSerial(USBTX, USBRX), sampling(false)
garfieldsg	0:662207e34fba	74	{
tyftyftyf	9:d879deb55ae1	75	devAddr = address << 1;
tyftyftyf	9:d879deb55ae1	76	debugSerial.baud(115200);
tyftyftyf	21:ae3ee2d811eb	77
tyftyftyf	21:ae3ee2d811eb	78	tX[0] = 0; tX[1] = 1; tX[2] = 0;
tyftyftyf	21:ae3ee2d811eb	79	tY[0] = 1; tY[1] = 0; tY[2] = 0;
tyftyftyf	21:ae3ee2d811eb	80	tZ[0] = 0; tZ[1] = 0; tZ[2] = -1;
garfieldsg	0:662207e34fba	81	}
garfieldsg	0:662207e34fba	82
garfieldsg	0:662207e34fba	83	/** Power on and prepare for general usage.
garfieldsg	0:662207e34fba	84	* This will activate the device and take it out of sleep mode (which must be done
garfieldsg	0:662207e34fba	85	* after start-up). This function also sets both the accelerometer and the gyroscope
garfieldsg	0:662207e34fba	86	* to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
garfieldsg	0:662207e34fba	87	* the clock source to use the X Gyro for reference, which is slightly better than
garfieldsg	0:662207e34fba	88	* the default internal clock source.
garfieldsg	0:662207e34fba	89	*/
garfieldsg	0:662207e34fba	90	void MPU6050::initialize()
garfieldsg	0:662207e34fba	91	{
tyftyftyf	7:95e74f827c08	92	#ifdef useDebugSerial
garfieldsg	0:662207e34fba	93	debugSerial.printf("MPU6050::initialize start\n");
garfieldsg	0:662207e34fba	94	#endif
garfieldsg	0:662207e34fba	95	setClockSource(MPU6050_CLOCK_PLL_XGYRO);
garfieldsg	0:662207e34fba	96	setFullScaleGyroRange(MPU6050_GYRO_FS_250);
garfieldsg	0:662207e34fba	97	setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
garfieldsg	0:662207e34fba	98	setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
garfieldsg	0:662207e34fba	99
garfieldsg	0:662207e34fba	100	#ifdef useDebugSerial
garfieldsg	0:662207e34fba	101	debugSerial.printf("MPU6050::initialize end\n");
garfieldsg	0:662207e34fba	102	#endif
garfieldsg	0:662207e34fba	103	}
garfieldsg	0:662207e34fba	104
garfieldsg	0:662207e34fba	105	/** Verify the I2C connection.
garfieldsg	0:662207e34fba	106	* Make sure the device is connected and responds as expected.
garfieldsg	0:662207e34fba	107	* @return True if connection is valid, false otherwise
garfieldsg	0:662207e34fba	108	*/
garfieldsg	0:662207e34fba	109	bool MPU6050::testConnection()
garfieldsg	0:662207e34fba	110	{
garfieldsg	0:662207e34fba	111	#ifdef useDebugSerial
garfieldsg	0:662207e34fba	112	debugSerial.printf("MPU6050::testConnection start\n");
garfieldsg	0:662207e34fba	113	#endif
garfieldsg	0:662207e34fba	114	uint8_t deviceId = getDeviceID();
garfieldsg	0:662207e34fba	115	#ifdef useDebugSerial
garfieldsg	0:662207e34fba	116	debugSerial.printf("DeviceId = %d\n",deviceId);
garfieldsg	0:662207e34fba	117	#endif
garfieldsg	0:662207e34fba	118	return deviceId == 0x34;
garfieldsg	0:662207e34fba	119	}
garfieldsg	0:662207e34fba	120
garfieldsg	0:662207e34fba	121	// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
garfieldsg	0:662207e34fba	122
garfieldsg	0:662207e34fba	123	/** Get the auxiliary I2C supply voltage level.
garfieldsg	0:662207e34fba	124	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
garfieldsg	0:662207e34fba	125	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
garfieldsg	0:662207e34fba	126	* the MPU-6000, which does not have a VLOGIC pin.
garfieldsg	0:662207e34fba	127	* @return I2C supply voltage level (0=VLOGIC, 1=VDD)
garfieldsg	0:662207e34fba	128	*/
garfieldsg	0:662207e34fba	129	uint8_t MPU6050::getAuxVDDIOLevel()
garfieldsg	0:662207e34fba	130	{
garfieldsg	0:662207e34fba	131	i2Cdev.readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
garfieldsg	0:662207e34fba	132	return buffer[0];
garfieldsg	0:662207e34fba	133	}
garfieldsg	0:662207e34fba	134	/** Set the auxiliary I2C supply voltage level.
garfieldsg	0:662207e34fba	135	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
garfieldsg	0:662207e34fba	136	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
garfieldsg	0:662207e34fba	137	* the MPU-6000, which does not have a VLOGIC pin.
garfieldsg	0:662207e34fba	138	* @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
garfieldsg	0:662207e34fba	139	*/
garfieldsg	0:662207e34fba	140	void MPU6050::setAuxVDDIOLevel(uint8_t level)
garfieldsg	0:662207e34fba	141	{
garfieldsg	0:662207e34fba	142	i2Cdev.writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
garfieldsg	0:662207e34fba	143	}
garfieldsg	0:662207e34fba	144
garfieldsg	0:662207e34fba	145	// SMPLRT_DIV register
garfieldsg	0:662207e34fba	146
garfieldsg	0:662207e34fba	147	/** Get gyroscope output rate divider.
garfieldsg	0:662207e34fba	148	* The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
garfieldsg	0:662207e34fba	149	* Motion detection, and Free Fall detection are all based on the Sample Rate.
garfieldsg	0:662207e34fba	150	* The Sample Rate is generated by dividing the gyroscope output rate by
garfieldsg	0:662207e34fba	151	* SMPLRT_DIV:
garfieldsg	0:662207e34fba	152	*
garfieldsg	0:662207e34fba	153	* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
garfieldsg	0:662207e34fba	154	*
garfieldsg	0:662207e34fba	155	* where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
garfieldsg	0:662207e34fba	156	* 7), and 1kHz when the DLPF is enabled (see Register 26).
garfieldsg	0:662207e34fba	157	*
garfieldsg	0:662207e34fba	158	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
garfieldsg	0:662207e34fba	159	* Rate greater than 1kHz, the same accelerometer sample may be output to the
garfieldsg	0:662207e34fba	160	* FIFO, DMP, and sensor registers more than once.
garfieldsg	0:662207e34fba	161	*
garfieldsg	0:662207e34fba	162	* For a diagram of the gyroscope and accelerometer signal paths, see Section 8
garfieldsg	0:662207e34fba	163	* of the MPU-6000/MPU-6050 Product Specification document.
garfieldsg	0:662207e34fba	164	*
garfieldsg	0:662207e34fba	165	* @return Current sample rate
garfieldsg	0:662207e34fba	166	* @see MPU6050_RA_SMPLRT_DIV
garfieldsg	0:662207e34fba	167	*/
garfieldsg	0:662207e34fba	168	uint8_t MPU6050::getRate()
garfieldsg	0:662207e34fba	169	{
garfieldsg	0:662207e34fba	170	i2Cdev.readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
garfieldsg	0:662207e34fba	171	return buffer[0];
garfieldsg	0:662207e34fba	172	}
garfieldsg	0:662207e34fba	173	/** Set gyroscope sample rate divider.
garfieldsg	0:662207e34fba	174	* @param rate New sample rate divider
garfieldsg	0:662207e34fba	175	* @see getRate()
garfieldsg	0:662207e34fba	176	* @see MPU6050_RA_SMPLRT_DIV
garfieldsg	0:662207e34fba	177	*/
garfieldsg	0:662207e34fba	178	void MPU6050::setRate(uint8_t rate)
garfieldsg	0:662207e34fba	179	{
garfieldsg	0:662207e34fba	180	i2Cdev.writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
garfieldsg	0:662207e34fba	181	}
garfieldsg	0:662207e34fba	182
pommzorz	6:40ac13ef7290	183
garfieldsg	0:662207e34fba	184	// CONFIG register
garfieldsg	0:662207e34fba	185
garfieldsg	0:662207e34fba	186	/** Get external FSYNC configuration.
garfieldsg	0:662207e34fba	187	* Configures the external Frame Synchronization (FSYNC) pin sampling. An
garfieldsg	0:662207e34fba	188	* external signal connected to the FSYNC pin can be sampled by configuring
garfieldsg	0:662207e34fba	189	* EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
garfieldsg	0:662207e34fba	190	* strobes may be captured. The latched FSYNC signal will be sampled at the
garfieldsg	0:662207e34fba	191	* Sampling Rate, as defined in register 25. After sampling, the latch will
garfieldsg	0:662207e34fba	192	* reset to the current FSYNC signal state.
garfieldsg	0:662207e34fba	193	*
garfieldsg	0:662207e34fba	194	* The sampled value will be reported in place of the least significant bit in
garfieldsg	0:662207e34fba	195	* a sensor data register determined by the value of EXT_SYNC_SET according to
garfieldsg	0:662207e34fba	196	* the following table.
garfieldsg	0:662207e34fba	197	*
garfieldsg	0:662207e34fba	198	* <pre>
garfieldsg	0:662207e34fba	199	* EXT_SYNC_SET \| FSYNC Bit Location
garfieldsg	0:662207e34fba	200	* -------------+-------------------
garfieldsg	0:662207e34fba	201	* 0 \| Input disabled
garfieldsg	0:662207e34fba	202	* 1 \| TEMP_OUT_L[0]
garfieldsg	0:662207e34fba	203	* 2 \| GYRO_XOUT_L[0]
garfieldsg	0:662207e34fba	204	* 3 \| GYRO_YOUT_L[0]
garfieldsg	0:662207e34fba	205	* 4 \| GYRO_ZOUT_L[0]
garfieldsg	0:662207e34fba	206	* 5 \| ACCEL_XOUT_L[0]
garfieldsg	0:662207e34fba	207	* 6 \| ACCEL_YOUT_L[0]
garfieldsg	0:662207e34fba	208	* 7 \| ACCEL_ZOUT_L[0]
garfieldsg	0:662207e34fba	209	* </pre>
garfieldsg	0:662207e34fba	210	*
garfieldsg	0:662207e34fba	211	* @return FSYNC configuration value
garfieldsg	0:662207e34fba	212	*/
garfieldsg	0:662207e34fba	213	uint8_t MPU6050::getExternalFrameSync()
garfieldsg	0:662207e34fba	214	{
garfieldsg	0:662207e34fba	215	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
garfieldsg	0:662207e34fba	216	return buffer[0];
garfieldsg	0:662207e34fba	217	}
garfieldsg	0:662207e34fba	218	/** Set external FSYNC configuration.
garfieldsg	0:662207e34fba	219	* @see getExternalFrameSync()
garfieldsg	0:662207e34fba	220	* @see MPU6050_RA_CONFIG
garfieldsg	0:662207e34fba	221	* @param sync New FSYNC configuration value
garfieldsg	0:662207e34fba	222	*/
garfieldsg	0:662207e34fba	223	void MPU6050::setExternalFrameSync(uint8_t sync)
garfieldsg	0:662207e34fba	224	{
garfieldsg	0:662207e34fba	225	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
garfieldsg	0:662207e34fba	226	}
garfieldsg	0:662207e34fba	227	/** Get digital low-pass filter configuration.
garfieldsg	0:662207e34fba	228	* The DLPF_CFG parameter sets the digital low pass filter configuration. It
garfieldsg	0:662207e34fba	229	* also determines the internal sampling rate used by the device as shown in
garfieldsg	0:662207e34fba	230	* the table below.
garfieldsg	0:662207e34fba	231	*
garfieldsg	0:662207e34fba	232	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
garfieldsg	0:662207e34fba	233	* Rate greater than 1kHz, the same accelerometer sample may be output to the
garfieldsg	0:662207e34fba	234	* FIFO, DMP, and sensor registers more than once.
garfieldsg	0:662207e34fba	235	*
garfieldsg	0:662207e34fba	236	* <pre>
garfieldsg	0:662207e34fba	237	* \| ACCELEROMETER \| GYROSCOPE
garfieldsg	0:662207e34fba	238	* DLPF_CFG \| Bandwidth \| Delay \| Bandwidth \| Delay \| Sample Rate
garfieldsg	0:662207e34fba	239	* ---------+-----------+--------+-----------+--------+-------------
garfieldsg	0:662207e34fba	240	* 0 \| 260Hz \| 0ms \| 256Hz \| 0.98ms \| 8kHz
garfieldsg	0:662207e34fba	241	* 1 \| 184Hz \| 2.0ms \| 188Hz \| 1.9ms \| 1kHz
garfieldsg	0:662207e34fba	242	* 2 \| 94Hz \| 3.0ms \| 98Hz \| 2.8ms \| 1kHz
garfieldsg	0:662207e34fba	243	* 3 \| 44Hz \| 4.9ms \| 42Hz \| 4.8ms \| 1kHz
garfieldsg	0:662207e34fba	244	* 4 \| 21Hz \| 8.5ms \| 20Hz \| 8.3ms \| 1kHz
garfieldsg	0:662207e34fba	245	* 5 \| 10Hz \| 13.8ms \| 10Hz \| 13.4ms \| 1kHz
garfieldsg	0:662207e34fba	246	* 6 \| 5Hz \| 19.0ms \| 5Hz \| 18.6ms \| 1kHz
garfieldsg	0:662207e34fba	247	* 7 \| -- Reserved -- \| -- Reserved -- \| Reserved
garfieldsg	0:662207e34fba	248	* </pre>
garfieldsg	0:662207e34fba	249	*
garfieldsg	0:662207e34fba	250	* @return DLFP configuration
garfieldsg	0:662207e34fba	251	* @see MPU6050_RA_CONFIG
garfieldsg	0:662207e34fba	252	* @see MPU6050_CFG_DLPF_CFG_BIT
garfieldsg	0:662207e34fba	253	* @see MPU6050_CFG_DLPF_CFG_LENGTH
garfieldsg	0:662207e34fba	254	*/
garfieldsg	0:662207e34fba	255	uint8_t MPU6050::getDLPFMode()
garfieldsg	0:662207e34fba	256	{
garfieldsg	0:662207e34fba	257	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
garfieldsg	0:662207e34fba	258	return buffer[0];
garfieldsg	0:662207e34fba	259	}
garfieldsg	0:662207e34fba	260	/** Set digital low-pass filter configuration.
garfieldsg	0:662207e34fba	261	* @param mode New DLFP configuration setting
garfieldsg	0:662207e34fba	262	* @see getDLPFBandwidth()
garfieldsg	0:662207e34fba	263	* @see MPU6050_DLPF_BW_256
garfieldsg	0:662207e34fba	264	* @see MPU6050_RA_CONFIG
garfieldsg	0:662207e34fba	265	* @see MPU6050_CFG_DLPF_CFG_BIT
garfieldsg	0:662207e34fba	266	* @see MPU6050_CFG_DLPF_CFG_LENGTH
garfieldsg	0:662207e34fba	267	*/
garfieldsg	0:662207e34fba	268	void MPU6050::setDLPFMode(uint8_t mode)
garfieldsg	0:662207e34fba	269	{
garfieldsg	0:662207e34fba	270	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
garfieldsg	0:662207e34fba	271	}
garfieldsg	0:662207e34fba	272
garfieldsg	0:662207e34fba	273	// GYRO_CONFIG register
garfieldsg	0:662207e34fba	274
garfieldsg	0:662207e34fba	275	/** Get full-scale gyroscope range.
garfieldsg	0:662207e34fba	276	* The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
garfieldsg	0:662207e34fba	277	* as described in the table below.
garfieldsg	0:662207e34fba	278	*
garfieldsg	0:662207e34fba	279	* <pre>
garfieldsg	0:662207e34fba	280	* 0 = +/- 250 degrees/sec
garfieldsg	0:662207e34fba	281	* 1 = +/- 500 degrees/sec
garfieldsg	0:662207e34fba	282	* 2 = +/- 1000 degrees/sec
garfieldsg	0:662207e34fba	283	* 3 = +/- 2000 degrees/sec
garfieldsg	0:662207e34fba	284	* </pre>
garfieldsg	0:662207e34fba	285	*
garfieldsg	0:662207e34fba	286	* @return Current full-scale gyroscope range setting
garfieldsg	0:662207e34fba	287	* @see MPU6050_GYRO_FS_250
garfieldsg	0:662207e34fba	288	* @see MPU6050_RA_GYRO_CONFIG
garfieldsg	0:662207e34fba	289	* @see MPU6050_GCONFIG_FS_SEL_BIT
garfieldsg	0:662207e34fba	290	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
garfieldsg	0:662207e34fba	291	*/
garfieldsg	0:662207e34fba	292	uint8_t MPU6050::getFullScaleGyroRange()
garfieldsg	0:662207e34fba	293	{
garfieldsg	0:662207e34fba	294	i2Cdev.readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
garfieldsg	0:662207e34fba	295	return buffer[0];
garfieldsg	0:662207e34fba	296	}
garfieldsg	0:662207e34fba	297	/** Set full-scale gyroscope range.
garfieldsg	0:662207e34fba	298	* @param range New full-scale gyroscope range value
garfieldsg	0:662207e34fba	299	* @see getFullScaleRange()
garfieldsg	0:662207e34fba	300	* @see MPU6050_GYRO_FS_250
garfieldsg	0:662207e34fba	301	* @see MPU6050_RA_GYRO_CONFIG
garfieldsg	0:662207e34fba	302	* @see MPU6050_GCONFIG_FS_SEL_BIT
garfieldsg	0:662207e34fba	303	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
garfieldsg	0:662207e34fba	304	*/
garfieldsg	0:662207e34fba	305	void MPU6050::setFullScaleGyroRange(uint8_t range)
garfieldsg	0:662207e34fba	306	{
garfieldsg	0:662207e34fba	307	i2Cdev.writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
garfieldsg	0:662207e34fba	308	}
garfieldsg	0:662207e34fba	309
garfieldsg	0:662207e34fba	310	// ACCEL_CONFIG register
garfieldsg	0:662207e34fba	311
garfieldsg	0:662207e34fba	312	/** Get self-test enabled setting for accelerometer X axis.
garfieldsg	0:662207e34fba	313	* @return Self-test enabled value
garfieldsg	0:662207e34fba	314	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	315	*/
garfieldsg	0:662207e34fba	316	bool MPU6050::getAccelXSelfTest()
garfieldsg	0:662207e34fba	317	{
garfieldsg	0:662207e34fba	318	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
garfieldsg	0:662207e34fba	319	return buffer[0];
garfieldsg	0:662207e34fba	320	}
garfieldsg	0:662207e34fba	321	/** Get self-test enabled setting for accelerometer X axis.
garfieldsg	0:662207e34fba	322	* @param enabled Self-test enabled value
garfieldsg	0:662207e34fba	323	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	324	*/
garfieldsg	0:662207e34fba	325	void MPU6050::setAccelXSelfTest(bool enabled)
garfieldsg	0:662207e34fba	326	{
garfieldsg	0:662207e34fba	327	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
garfieldsg	0:662207e34fba	328	}
garfieldsg	0:662207e34fba	329	/** Get self-test enabled value for accelerometer Y axis.
garfieldsg	0:662207e34fba	330	* @return Self-test enabled value
garfieldsg	0:662207e34fba	331	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	332	*/
garfieldsg	0:662207e34fba	333	bool MPU6050::getAccelYSelfTest()
garfieldsg	0:662207e34fba	334	{
garfieldsg	0:662207e34fba	335	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
garfieldsg	0:662207e34fba	336	return buffer[0];
garfieldsg	0:662207e34fba	337	}
garfieldsg	0:662207e34fba	338	/** Get self-test enabled value for accelerometer Y axis.
garfieldsg	0:662207e34fba	339	* @param enabled Self-test enabled value
garfieldsg	0:662207e34fba	340	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	341	*/
garfieldsg	0:662207e34fba	342	void MPU6050::setAccelYSelfTest(bool enabled)
garfieldsg	0:662207e34fba	343	{
garfieldsg	0:662207e34fba	344	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
garfieldsg	0:662207e34fba	345	}
garfieldsg	0:662207e34fba	346	/** Get self-test enabled value for accelerometer Z axis.
garfieldsg	0:662207e34fba	347	* @return Self-test enabled value
garfieldsg	0:662207e34fba	348	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	349	*/
garfieldsg	0:662207e34fba	350	bool MPU6050::getAccelZSelfTest()
garfieldsg	0:662207e34fba	351	{
garfieldsg	0:662207e34fba	352	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
garfieldsg	0:662207e34fba	353	return buffer[0];
garfieldsg	0:662207e34fba	354	}
garfieldsg	0:662207e34fba	355	/** Set self-test enabled value for accelerometer Z axis.
garfieldsg	0:662207e34fba	356	* @param enabled Self-test enabled value
garfieldsg	0:662207e34fba	357	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	358	*/
garfieldsg	0:662207e34fba	359	void MPU6050::setAccelZSelfTest(bool enabled)
garfieldsg	0:662207e34fba	360	{
garfieldsg	0:662207e34fba	361	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
garfieldsg	0:662207e34fba	362	}
garfieldsg	0:662207e34fba	363	/** Get full-scale accelerometer range.
garfieldsg	0:662207e34fba	364	* The FS_SEL parameter allows setting the full-scale range of the accelerometer
garfieldsg	0:662207e34fba	365	* sensors, as described in the table below.
garfieldsg	0:662207e34fba	366	*
garfieldsg	0:662207e34fba	367	* <pre>
garfieldsg	0:662207e34fba	368	* 0 = +/- 2g
garfieldsg	0:662207e34fba	369	* 1 = +/- 4g
garfieldsg	0:662207e34fba	370	* 2 = +/- 8g
garfieldsg	0:662207e34fba	371	* 3 = +/- 16g
garfieldsg	0:662207e34fba	372	* </pre>
garfieldsg	0:662207e34fba	373	*
garfieldsg	0:662207e34fba	374	* @return Current full-scale accelerometer range setting
garfieldsg	0:662207e34fba	375	* @see MPU6050_ACCEL_FS_2
garfieldsg	0:662207e34fba	376	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	377	* @see MPU6050_ACONFIG_AFS_SEL_BIT
garfieldsg	0:662207e34fba	378	* @see MPU6050_ACONFIG_AFS_SEL_LENGTH
garfieldsg	0:662207e34fba	379	*/
garfieldsg	0:662207e34fba	380	uint8_t MPU6050::getFullScaleAccelRange()
garfieldsg	0:662207e34fba	381	{
garfieldsg	0:662207e34fba	382	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
garfieldsg	0:662207e34fba	383	return buffer[0];
garfieldsg	0:662207e34fba	384	}
garfieldsg	0:662207e34fba	385	/** Set full-scale accelerometer range.
garfieldsg	0:662207e34fba	386	* @param range New full-scale accelerometer range setting
garfieldsg	0:662207e34fba	387	* @see getFullScaleAccelRange()
garfieldsg	0:662207e34fba	388	*/
garfieldsg	0:662207e34fba	389	void MPU6050::setFullScaleAccelRange(uint8_t range)
garfieldsg	0:662207e34fba	390	{
garfieldsg	0:662207e34fba	391	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
garfieldsg	0:662207e34fba	392	}
garfieldsg	0:662207e34fba	393	/** Get the high-pass filter configuration.
garfieldsg	0:662207e34fba	394	* The DHPF is a filter module in the path leading to motion detectors (Free
garfieldsg	0:662207e34fba	395	* Fall, Motion threshold, and Zero Motion). The high pass filter output is not
garfieldsg	0:662207e34fba	396	* available to the data registers (see Figure in Section 8 of the MPU-6000/
garfieldsg	0:662207e34fba	397	* MPU-6050 Product Specification document).
garfieldsg	0:662207e34fba	398	*
garfieldsg	0:662207e34fba	399	* The high pass filter has three modes:
garfieldsg	0:662207e34fba	400	*
garfieldsg	0:662207e34fba	401	* <pre>
garfieldsg	0:662207e34fba	402	* Reset: The filter output settles to zero within one sample. This
garfieldsg	0:662207e34fba	403	* effectively disables the high pass filter. This mode may be toggled
garfieldsg	0:662207e34fba	404	* to quickly settle the filter.
garfieldsg	0:662207e34fba	405	*
garfieldsg	0:662207e34fba	406	* On: The high pass filter will pass signals above the cut off frequency.
garfieldsg	0:662207e34fba	407	*
garfieldsg	0:662207e34fba	408	* Hold: When triggered, the filter holds the present sample. The filter
garfieldsg	0:662207e34fba	409	* output will be the difference between the input sample and the held
garfieldsg	0:662207e34fba	410	* sample.
garfieldsg	0:662207e34fba	411	* </pre>
garfieldsg	0:662207e34fba	412	*
garfieldsg	0:662207e34fba	413	* <pre>
garfieldsg	0:662207e34fba	414	* ACCEL_HPF \| Filter Mode \| Cut-off Frequency
garfieldsg	0:662207e34fba	415	* ----------+-------------+------------------
garfieldsg	0:662207e34fba	416	* 0 \| Reset \| None
garfieldsg	0:662207e34fba	417	* 1 \| On \| 5Hz
garfieldsg	0:662207e34fba	418	* 2 \| On \| 2.5Hz
garfieldsg	0:662207e34fba	419	* 3 \| On \| 1.25Hz
garfieldsg	0:662207e34fba	420	* 4 \| On \| 0.63Hz
garfieldsg	0:662207e34fba	421	* 7 \| Hold \| None
garfieldsg	0:662207e34fba	422	* </pre>
garfieldsg	0:662207e34fba	423	*
garfieldsg	0:662207e34fba	424	* @return Current high-pass filter configuration
garfieldsg	0:662207e34fba	425	* @see MPU6050_DHPF_RESET
garfieldsg	0:662207e34fba	426	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	427	*/
garfieldsg	0:662207e34fba	428	uint8_t MPU6050::getDHPFMode()
garfieldsg	0:662207e34fba	429	{
garfieldsg	0:662207e34fba	430	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
garfieldsg	0:662207e34fba	431	return buffer[0];
garfieldsg	0:662207e34fba	432	}
garfieldsg	0:662207e34fba	433	/** Set the high-pass filter configuration.
garfieldsg	0:662207e34fba	434	* @param bandwidth New high-pass filter configuration
garfieldsg	0:662207e34fba	435	* @see setDHPFMode()
garfieldsg	0:662207e34fba	436	* @see MPU6050_DHPF_RESET
garfieldsg	0:662207e34fba	437	* @see MPU6050_RA_ACCEL_CONFIG
garfieldsg	0:662207e34fba	438	*/
garfieldsg	0:662207e34fba	439	void MPU6050::setDHPFMode(uint8_t bandwidth)
garfieldsg	0:662207e34fba	440	{
garfieldsg	0:662207e34fba	441	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
garfieldsg	0:662207e34fba	442	}
garfieldsg	0:662207e34fba	443
garfieldsg	0:662207e34fba	444	// FF_THR register
garfieldsg	0:662207e34fba	445
garfieldsg	0:662207e34fba	446	/** Get free-fall event acceleration threshold.
garfieldsg	0:662207e34fba	447	* This register configures the detection threshold for Free Fall event
garfieldsg	0:662207e34fba	448	* detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
garfieldsg	0:662207e34fba	449	* absolute value of the accelerometer measurements for the three axes are each
garfieldsg	0:662207e34fba	450	* less than the detection threshold. This condition increments the Free Fall
garfieldsg	0:662207e34fba	451	* duration counter (Register 30). The Free Fall interrupt is triggered when the
garfieldsg	0:662207e34fba	452	* Free Fall duration counter reaches the time specified in FF_DUR.
garfieldsg	0:662207e34fba	453	*
garfieldsg	0:662207e34fba	454	* For more details on the Free Fall detection interrupt, see Section 8.2 of the
garfieldsg	0:662207e34fba	455	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
garfieldsg	0:662207e34fba	456	* 58 of this document.
garfieldsg	0:662207e34fba	457	*
garfieldsg	0:662207e34fba	458	* @return Current free-fall acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	459	* @see MPU6050_RA_FF_THR
garfieldsg	0:662207e34fba	460	*/
garfieldsg	0:662207e34fba	461	uint8_t MPU6050::getFreefallDetectionThreshold()
garfieldsg	0:662207e34fba	462	{
garfieldsg	0:662207e34fba	463	i2Cdev.readByte(devAddr, MPU6050_RA_FF_THR, buffer);
garfieldsg	0:662207e34fba	464	return buffer[0];
garfieldsg	0:662207e34fba	465	}
garfieldsg	0:662207e34fba	466	/** Get free-fall event acceleration threshold.
garfieldsg	0:662207e34fba	467	* @param threshold New free-fall acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	468	* @see getFreefallDetectionThreshold()
garfieldsg	0:662207e34fba	469	* @see MPU6050_RA_FF_THR
garfieldsg	0:662207e34fba	470	*/
garfieldsg	0:662207e34fba	471	void MPU6050::setFreefallDetectionThreshold(uint8_t threshold)
garfieldsg	0:662207e34fba	472	{
garfieldsg	0:662207e34fba	473	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
garfieldsg	0:662207e34fba	474	}
garfieldsg	0:662207e34fba	475
garfieldsg	0:662207e34fba	476	// FF_DUR register
garfieldsg	0:662207e34fba	477
garfieldsg	0:662207e34fba	478	/** Get free-fall event duration threshold.
garfieldsg	0:662207e34fba	479	* This register configures the duration counter threshold for Free Fall event
garfieldsg	0:662207e34fba	480	* detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
garfieldsg	0:662207e34fba	481	* of 1 LSB = 1 ms.
garfieldsg	0:662207e34fba	482	*
garfieldsg	0:662207e34fba	483	* The Free Fall duration counter increments while the absolute value of the
garfieldsg	0:662207e34fba	484	* accelerometer measurements are each less than the detection threshold
garfieldsg	0:662207e34fba	485	* (Register 29). The Free Fall interrupt is triggered when the Free Fall
garfieldsg	0:662207e34fba	486	* duration counter reaches the time specified in this register.
garfieldsg	0:662207e34fba	487	*
garfieldsg	0:662207e34fba	488	* For more details on the Free Fall detection interrupt, see Section 8.2 of
garfieldsg	0:662207e34fba	489	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
garfieldsg	0:662207e34fba	490	* and 58 of this document.
garfieldsg	0:662207e34fba	491	*
garfieldsg	0:662207e34fba	492	* @return Current free-fall duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	493	* @see MPU6050_RA_FF_DUR
garfieldsg	0:662207e34fba	494	*/
garfieldsg	0:662207e34fba	495	uint8_t MPU6050::getFreefallDetectionDuration()
garfieldsg	0:662207e34fba	496	{
garfieldsg	0:662207e34fba	497	i2Cdev.readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
garfieldsg	0:662207e34fba	498	return buffer[0];
garfieldsg	0:662207e34fba	499	}
garfieldsg	0:662207e34fba	500	/** Get free-fall event duration threshold.
garfieldsg	0:662207e34fba	501	* @param duration New free-fall duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	502	* @see getFreefallDetectionDuration()
garfieldsg	0:662207e34fba	503	* @see MPU6050_RA_FF_DUR
garfieldsg	0:662207e34fba	504	*/
garfieldsg	0:662207e34fba	505	void MPU6050::setFreefallDetectionDuration(uint8_t duration)
garfieldsg	0:662207e34fba	506	{
garfieldsg	0:662207e34fba	507	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
garfieldsg	0:662207e34fba	508	}
garfieldsg	0:662207e34fba	509
garfieldsg	0:662207e34fba	510	// MOT_THR register
garfieldsg	0:662207e34fba	511
garfieldsg	0:662207e34fba	512	/** Get motion detection event acceleration threshold.
garfieldsg	0:662207e34fba	513	* This register configures the detection threshold for Motion interrupt
garfieldsg	0:662207e34fba	514	* generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
garfieldsg	0:662207e34fba	515	* absolute value of any of the accelerometer measurements exceeds this Motion
garfieldsg	0:662207e34fba	516	* detection threshold. This condition increments the Motion detection duration
garfieldsg	0:662207e34fba	517	* counter (Register 32). The Motion detection interrupt is triggered when the
garfieldsg	0:662207e34fba	518	* Motion Detection counter reaches the time count specified in MOT_DUR
garfieldsg	0:662207e34fba	519	* (Register 32).
garfieldsg	0:662207e34fba	520	*
garfieldsg	0:662207e34fba	521	* The Motion interrupt will indicate the axis and polarity of detected motion
garfieldsg	0:662207e34fba	522	* in MOT_DETECT_STATUS (Register 97).
garfieldsg	0:662207e34fba	523	*
garfieldsg	0:662207e34fba	524	* For more details on the Motion detection interrupt, see Section 8.3 of the
garfieldsg	0:662207e34fba	525	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
garfieldsg	0:662207e34fba	526	* 58 of this document.
garfieldsg	0:662207e34fba	527	*
garfieldsg	0:662207e34fba	528	* @return Current motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	529	* @see MPU6050_RA_MOT_THR
garfieldsg	0:662207e34fba	530	*/
garfieldsg	0:662207e34fba	531	uint8_t MPU6050::getMotionDetectionThreshold()
garfieldsg	0:662207e34fba	532	{
garfieldsg	0:662207e34fba	533	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
garfieldsg	0:662207e34fba	534	return buffer[0];
garfieldsg	0:662207e34fba	535	}
garfieldsg	0:662207e34fba	536	/** Set free-fall event acceleration threshold.
garfieldsg	0:662207e34fba	537	* @param threshold New motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	538	* @see getMotionDetectionThreshold()
garfieldsg	0:662207e34fba	539	* @see MPU6050_RA_MOT_THR
garfieldsg	0:662207e34fba	540	*/
garfieldsg	0:662207e34fba	541	void MPU6050::setMotionDetectionThreshold(uint8_t threshold)
garfieldsg	0:662207e34fba	542	{
garfieldsg	0:662207e34fba	543	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
garfieldsg	0:662207e34fba	544	}
garfieldsg	0:662207e34fba	545
garfieldsg	0:662207e34fba	546	// MOT_DUR register
garfieldsg	0:662207e34fba	547
garfieldsg	0:662207e34fba	548	/** Get motion detection event duration threshold.
garfieldsg	0:662207e34fba	549	* This register configures the duration counter threshold for Motion interrupt
garfieldsg	0:662207e34fba	550	* generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
garfieldsg	0:662207e34fba	551	* of 1LSB = 1ms. The Motion detection duration counter increments when the
garfieldsg	0:662207e34fba	552	* absolute value of any of the accelerometer measurements exceeds the Motion
garfieldsg	0:662207e34fba	553	* detection threshold (Register 31). The Motion detection interrupt is
garfieldsg	0:662207e34fba	554	* triggered when the Motion detection counter reaches the time count specified
garfieldsg	0:662207e34fba	555	* in this register.
garfieldsg	0:662207e34fba	556	*
garfieldsg	0:662207e34fba	557	* For more details on the Motion detection interrupt, see Section 8.3 of the
garfieldsg	0:662207e34fba	558	* MPU-6000/MPU-6050 Product Specification document.
garfieldsg	0:662207e34fba	559	*
garfieldsg	0:662207e34fba	560	* @return Current motion detection duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	561	* @see MPU6050_RA_MOT_DUR
garfieldsg	0:662207e34fba	562	*/
garfieldsg	0:662207e34fba	563	uint8_t MPU6050::getMotionDetectionDuration()
garfieldsg	0:662207e34fba	564	{
garfieldsg	0:662207e34fba	565	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
garfieldsg	0:662207e34fba	566	return buffer[0];
garfieldsg	0:662207e34fba	567	}
garfieldsg	0:662207e34fba	568	/** Set motion detection event duration threshold.
garfieldsg	0:662207e34fba	569	* @param duration New motion detection duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	570	* @see getMotionDetectionDuration()
garfieldsg	0:662207e34fba	571	* @see MPU6050_RA_MOT_DUR
garfieldsg	0:662207e34fba	572	*/
garfieldsg	0:662207e34fba	573	void MPU6050::setMotionDetectionDuration(uint8_t duration)
garfieldsg	0:662207e34fba	574	{
garfieldsg	0:662207e34fba	575	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
garfieldsg	0:662207e34fba	576	}
garfieldsg	0:662207e34fba	577
garfieldsg	0:662207e34fba	578	// ZRMOT_THR register
garfieldsg	0:662207e34fba	579
garfieldsg	0:662207e34fba	580	/** Get zero motion detection event acceleration threshold.
garfieldsg	0:662207e34fba	581	* This register configures the detection threshold for Zero Motion interrupt
garfieldsg	0:662207e34fba	582	* generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
garfieldsg	0:662207e34fba	583	* the absolute value of the accelerometer measurements for the 3 axes are each
garfieldsg	0:662207e34fba	584	* less than the detection threshold. This condition increments the Zero Motion
garfieldsg	0:662207e34fba	585	* duration counter (Register 34). The Zero Motion interrupt is triggered when
garfieldsg	0:662207e34fba	586	* the Zero Motion duration counter reaches the time count specified in
garfieldsg	0:662207e34fba	587	* ZRMOT_DUR (Register 34).
garfieldsg	0:662207e34fba	588	*
garfieldsg	0:662207e34fba	589	* Unlike Free Fall or Motion detection, Zero Motion detection triggers an
garfieldsg	0:662207e34fba	590	* interrupt both when Zero Motion is first detected and when Zero Motion is no
garfieldsg	0:662207e34fba	591	* longer detected.
garfieldsg	0:662207e34fba	592	*
garfieldsg	0:662207e34fba	593	* When a zero motion event is detected, a Zero Motion Status will be indicated
garfieldsg	0:662207e34fba	594	* in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
garfieldsg	0:662207e34fba	595	* condition is detected, the status bit is set to 1. When a zero-motion-to-
garfieldsg	0:662207e34fba	596	* motion condition is detected, the status bit is set to 0.
garfieldsg	0:662207e34fba	597	*
garfieldsg	0:662207e34fba	598	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
garfieldsg	0:662207e34fba	599	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
garfieldsg	0:662207e34fba	600	* and 58 of this document.
garfieldsg	0:662207e34fba	601	*
garfieldsg	0:662207e34fba	602	* @return Current zero motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	603	* @see MPU6050_RA_ZRMOT_THR
garfieldsg	0:662207e34fba	604	*/
garfieldsg	0:662207e34fba	605	uint8_t MPU6050::getZeroMotionDetectionThreshold()
garfieldsg	0:662207e34fba	606	{
garfieldsg	0:662207e34fba	607	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
garfieldsg	0:662207e34fba	608	return buffer[0];
garfieldsg	0:662207e34fba	609	}
garfieldsg	0:662207e34fba	610	/** Set zero motion detection event acceleration threshold.
garfieldsg	0:662207e34fba	611	* @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
garfieldsg	0:662207e34fba	612	* @see getZeroMotionDetectionThreshold()
garfieldsg	0:662207e34fba	613	* @see MPU6050_RA_ZRMOT_THR
garfieldsg	0:662207e34fba	614	*/
garfieldsg	0:662207e34fba	615	void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold)
garfieldsg	0:662207e34fba	616	{
garfieldsg	0:662207e34fba	617	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
garfieldsg	0:662207e34fba	618	}
garfieldsg	0:662207e34fba	619
garfieldsg	0:662207e34fba	620	// ZRMOT_DUR register
garfieldsg	0:662207e34fba	621
garfieldsg	0:662207e34fba	622	/** Get zero motion detection event duration threshold.
garfieldsg	0:662207e34fba	623	* This register configures the duration counter threshold for Zero Motion
garfieldsg	0:662207e34fba	624	* interrupt generation. The duration counter ticks at 16 Hz, therefore
garfieldsg	0:662207e34fba	625	* ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
garfieldsg	0:662207e34fba	626	* increments while the absolute value of the accelerometer measurements are
garfieldsg	0:662207e34fba	627	* each less than the detection threshold (Register 33). The Zero Motion
garfieldsg	0:662207e34fba	628	* interrupt is triggered when the Zero Motion duration counter reaches the time
garfieldsg	0:662207e34fba	629	* count specified in this register.
garfieldsg	0:662207e34fba	630	*
garfieldsg	0:662207e34fba	631	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
garfieldsg	0:662207e34fba	632	* the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
garfieldsg	0:662207e34fba	633	* and 58 of this document.
garfieldsg	0:662207e34fba	634	*
garfieldsg	0:662207e34fba	635	* @return Current zero motion detection duration threshold value (LSB = 64ms)
garfieldsg	0:662207e34fba	636	* @see MPU6050_RA_ZRMOT_DUR
garfieldsg	0:662207e34fba	637	*/
garfieldsg	0:662207e34fba	638	uint8_t MPU6050::getZeroMotionDetectionDuration()
garfieldsg	0:662207e34fba	639	{
garfieldsg	0:662207e34fba	640	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
garfieldsg	0:662207e34fba	641	return buffer[0];
garfieldsg	0:662207e34fba	642	}
garfieldsg	0:662207e34fba	643	/** Set zero motion detection event duration threshold.
garfieldsg	0:662207e34fba	644	* @param duration New zero motion detection duration threshold value (LSB = 1ms)
garfieldsg	0:662207e34fba	645	* @see getZeroMotionDetectionDuration()
garfieldsg	0:662207e34fba	646	* @see MPU6050_RA_ZRMOT_DUR
garfieldsg	0:662207e34fba	647	*/
garfieldsg	0:662207e34fba	648	void MPU6050::setZeroMotionDetectionDuration(uint8_t duration)
garfieldsg	0:662207e34fba	649	{
garfieldsg	0:662207e34fba	650	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
garfieldsg	0:662207e34fba	651	}
garfieldsg	0:662207e34fba	652
garfieldsg	0:662207e34fba	653	// FIFO_EN register
garfieldsg	0:662207e34fba	654
garfieldsg	0:662207e34fba	655	/** Get temperature FIFO enabled value.
garfieldsg	0:662207e34fba	656	* When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
garfieldsg	0:662207e34fba	657	* 66) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	658	* @return Current temperature FIFO enabled value
garfieldsg	0:662207e34fba	659	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	660	*/
garfieldsg	0:662207e34fba	661	bool MPU6050::getTempFIFOEnabled()
garfieldsg	0:662207e34fba	662	{
garfieldsg	0:662207e34fba	663	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	664	return buffer[0];
garfieldsg	0:662207e34fba	665	}
garfieldsg	0:662207e34fba	666	/** Set temperature FIFO enabled value.
garfieldsg	0:662207e34fba	667	* @param enabled New temperature FIFO enabled value
garfieldsg	0:662207e34fba	668	* @see getTempFIFOEnabled()
garfieldsg	0:662207e34fba	669	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	670	*/
garfieldsg	0:662207e34fba	671	void MPU6050::setTempFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	672	{
garfieldsg	0:662207e34fba	673	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	674	}
garfieldsg	0:662207e34fba	675	/** Get gyroscope X-axis FIFO enabled value.
garfieldsg	0:662207e34fba	676	* When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
garfieldsg	0:662207e34fba	677	* 68) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	678	* @return Current gyroscope X-axis FIFO enabled value
garfieldsg	0:662207e34fba	679	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	680	*/
garfieldsg	0:662207e34fba	681	bool MPU6050::getXGyroFIFOEnabled()
garfieldsg	0:662207e34fba	682	{
garfieldsg	0:662207e34fba	683	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	684	return buffer[0];
garfieldsg	0:662207e34fba	685	}
garfieldsg	0:662207e34fba	686	/** Set gyroscope X-axis FIFO enabled value.
garfieldsg	0:662207e34fba	687	* @param enabled New gyroscope X-axis FIFO enabled value
garfieldsg	0:662207e34fba	688	* @see getXGyroFIFOEnabled()
garfieldsg	0:662207e34fba	689	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	690	*/
garfieldsg	0:662207e34fba	691	void MPU6050::setXGyroFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	692	{
garfieldsg	0:662207e34fba	693	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	694	}
garfieldsg	0:662207e34fba	695	/** Get gyroscope Y-axis FIFO enabled value.
garfieldsg	0:662207e34fba	696	* When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
garfieldsg	0:662207e34fba	697	* 70) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	698	* @return Current gyroscope Y-axis FIFO enabled value
garfieldsg	0:662207e34fba	699	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	700	*/
garfieldsg	0:662207e34fba	701	bool MPU6050::getYGyroFIFOEnabled()
garfieldsg	0:662207e34fba	702	{
garfieldsg	0:662207e34fba	703	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	704	return buffer[0];
garfieldsg	0:662207e34fba	705	}
garfieldsg	0:662207e34fba	706	/** Set gyroscope Y-axis FIFO enabled value.
garfieldsg	0:662207e34fba	707	* @param enabled New gyroscope Y-axis FIFO enabled value
garfieldsg	0:662207e34fba	708	* @see getYGyroFIFOEnabled()
garfieldsg	0:662207e34fba	709	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	710	*/
garfieldsg	0:662207e34fba	711	void MPU6050::setYGyroFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	712	{
garfieldsg	0:662207e34fba	713	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	714	}
garfieldsg	0:662207e34fba	715	/** Get gyroscope Z-axis FIFO enabled value.
garfieldsg	0:662207e34fba	716	* When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
garfieldsg	0:662207e34fba	717	* 72) to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	718	* @return Current gyroscope Z-axis FIFO enabled value
garfieldsg	0:662207e34fba	719	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	720	*/
garfieldsg	0:662207e34fba	721	bool MPU6050::getZGyroFIFOEnabled()
garfieldsg	0:662207e34fba	722	{
garfieldsg	0:662207e34fba	723	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	724	return buffer[0];
garfieldsg	0:662207e34fba	725	}
garfieldsg	0:662207e34fba	726	/** Set gyroscope Z-axis FIFO enabled value.
garfieldsg	0:662207e34fba	727	* @param enabled New gyroscope Z-axis FIFO enabled value
garfieldsg	0:662207e34fba	728	* @see getZGyroFIFOEnabled()
garfieldsg	0:662207e34fba	729	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	730	*/
garfieldsg	0:662207e34fba	731	void MPU6050::setZGyroFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	732	{
garfieldsg	0:662207e34fba	733	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	734	}
garfieldsg	0:662207e34fba	735	/** Get accelerometer FIFO enabled value.
garfieldsg	0:662207e34fba	736	* When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
garfieldsg	0:662207e34fba	737	* ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
garfieldsg	0:662207e34fba	738	* written into the FIFO buffer.
garfieldsg	0:662207e34fba	739	* @return Current accelerometer FIFO enabled value
garfieldsg	0:662207e34fba	740	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	741	*/
garfieldsg	0:662207e34fba	742	bool MPU6050::getAccelFIFOEnabled()
garfieldsg	0:662207e34fba	743	{
garfieldsg	0:662207e34fba	744	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	745	return buffer[0];
garfieldsg	0:662207e34fba	746	}
garfieldsg	0:662207e34fba	747	/** Set accelerometer FIFO enabled value.
garfieldsg	0:662207e34fba	748	* @param enabled New accelerometer FIFO enabled value
garfieldsg	0:662207e34fba	749	* @see getAccelFIFOEnabled()
garfieldsg	0:662207e34fba	750	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	751	*/
garfieldsg	0:662207e34fba	752	void MPU6050::setAccelFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	753	{
garfieldsg	0:662207e34fba	754	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	755	}
garfieldsg	0:662207e34fba	756	/** Get Slave 2 FIFO enabled value.
garfieldsg	0:662207e34fba	757	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	758	* associated with Slave 2 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	759	* @return Current Slave 2 FIFO enabled value
garfieldsg	0:662207e34fba	760	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	761	*/
garfieldsg	0:662207e34fba	762	bool MPU6050::getSlave2FIFOEnabled()
garfieldsg	0:662207e34fba	763	{
garfieldsg	0:662207e34fba	764	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	765	return buffer[0];
garfieldsg	0:662207e34fba	766	}
garfieldsg	0:662207e34fba	767	/** Set Slave 2 FIFO enabled value.
garfieldsg	0:662207e34fba	768	* @param enabled New Slave 2 FIFO enabled value
garfieldsg	0:662207e34fba	769	* @see getSlave2FIFOEnabled()
garfieldsg	0:662207e34fba	770	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	771	*/
garfieldsg	0:662207e34fba	772	void MPU6050::setSlave2FIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	773	{
garfieldsg	0:662207e34fba	774	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	775	}
garfieldsg	0:662207e34fba	776	/** Get Slave 1 FIFO enabled value.
garfieldsg	0:662207e34fba	777	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	778	* associated with Slave 1 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	779	* @return Current Slave 1 FIFO enabled value
garfieldsg	0:662207e34fba	780	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	781	*/
garfieldsg	0:662207e34fba	782	bool MPU6050::getSlave1FIFOEnabled()
garfieldsg	0:662207e34fba	783	{
garfieldsg	0:662207e34fba	784	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	785	return buffer[0];
garfieldsg	0:662207e34fba	786	}
garfieldsg	0:662207e34fba	787	/** Set Slave 1 FIFO enabled value.
garfieldsg	0:662207e34fba	788	* @param enabled New Slave 1 FIFO enabled value
garfieldsg	0:662207e34fba	789	* @see getSlave1FIFOEnabled()
garfieldsg	0:662207e34fba	790	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	791	*/
garfieldsg	0:662207e34fba	792	void MPU6050::setSlave1FIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	793	{
garfieldsg	0:662207e34fba	794	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	795	}
garfieldsg	0:662207e34fba	796	/** Get Slave 0 FIFO enabled value.
garfieldsg	0:662207e34fba	797	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	798	* associated with Slave 0 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	799	* @return Current Slave 0 FIFO enabled value
garfieldsg	0:662207e34fba	800	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	801	*/
garfieldsg	0:662207e34fba	802	bool MPU6050::getSlave0FIFOEnabled()
garfieldsg	0:662207e34fba	803	{
garfieldsg	0:662207e34fba	804	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	805	return buffer[0];
garfieldsg	0:662207e34fba	806	}
garfieldsg	0:662207e34fba	807	/** Set Slave 0 FIFO enabled value.
garfieldsg	0:662207e34fba	808	* @param enabled New Slave 0 FIFO enabled value
garfieldsg	0:662207e34fba	809	* @see getSlave0FIFOEnabled()
garfieldsg	0:662207e34fba	810	* @see MPU6050_RA_FIFO_EN
garfieldsg	0:662207e34fba	811	*/
garfieldsg	0:662207e34fba	812	void MPU6050::setSlave0FIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	813	{
garfieldsg	0:662207e34fba	814	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	815	}
garfieldsg	0:662207e34fba	816
garfieldsg	0:662207e34fba	817	// I2C_MST_CTRL register
garfieldsg	0:662207e34fba	818
garfieldsg	0:662207e34fba	819	/** Get multi-master enabled value.
garfieldsg	0:662207e34fba	820	* Multi-master capability allows multiple I2C masters to operate on the same
garfieldsg	0:662207e34fba	821	* bus. In circuits where multi-master capability is required, set MULT_MST_EN
garfieldsg	0:662207e34fba	822	* to 1. This will increase current drawn by approximately 30uA.
garfieldsg	0:662207e34fba	823	*
garfieldsg	0:662207e34fba	824	* In circuits where multi-master capability is required, the state of the I2C
garfieldsg	0:662207e34fba	825	* bus must always be monitored by each separate I2C Master. Before an I2C
garfieldsg	0:662207e34fba	826	* Master can assume arbitration of the bus, it must first confirm that no other
garfieldsg	0:662207e34fba	827	* I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
garfieldsg	0:662207e34fba	828	* MPU-60X0's bus arbitration detection logic is turned on, enabling it to
garfieldsg	0:662207e34fba	829	* detect when the bus is available.
garfieldsg	0:662207e34fba	830	*
garfieldsg	0:662207e34fba	831	* @return Current multi-master enabled value
garfieldsg	0:662207e34fba	832	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	833	*/
garfieldsg	0:662207e34fba	834	bool MPU6050::getMultiMasterEnabled()
garfieldsg	0:662207e34fba	835	{
garfieldsg	0:662207e34fba	836	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
garfieldsg	0:662207e34fba	837	return buffer[0];
garfieldsg	0:662207e34fba	838	}
garfieldsg	0:662207e34fba	839	/** Set multi-master enabled value.
garfieldsg	0:662207e34fba	840	* @param enabled New multi-master enabled value
garfieldsg	0:662207e34fba	841	* @see getMultiMasterEnabled()
garfieldsg	0:662207e34fba	842	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	843	*/
garfieldsg	0:662207e34fba	844	void MPU6050::setMultiMasterEnabled(bool enabled)
garfieldsg	0:662207e34fba	845	{
garfieldsg	0:662207e34fba	846	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
garfieldsg	0:662207e34fba	847	}
garfieldsg	0:662207e34fba	848	/** Get wait-for-external-sensor-data enabled value.
garfieldsg	0:662207e34fba	849	* When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
garfieldsg	0:662207e34fba	850	* delayed until External Sensor data from the Slave Devices are loaded into the
garfieldsg	0:662207e34fba	851	* EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
garfieldsg	0:662207e34fba	852	* data (i.e. from gyro and accel) and external sensor data have been loaded to
garfieldsg	0:662207e34fba	853	* their respective data registers (i.e. the data is synced) when the Data Ready
garfieldsg	0:662207e34fba	854	* interrupt is triggered.
garfieldsg	0:662207e34fba	855	*
garfieldsg	0:662207e34fba	856	* @return Current wait-for-external-sensor-data enabled value
garfieldsg	0:662207e34fba	857	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	858	*/
garfieldsg	0:662207e34fba	859	bool MPU6050::getWaitForExternalSensorEnabled()
garfieldsg	0:662207e34fba	860	{
garfieldsg	0:662207e34fba	861	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
garfieldsg	0:662207e34fba	862	return buffer[0];
garfieldsg	0:662207e34fba	863	}
garfieldsg	0:662207e34fba	864	/** Set wait-for-external-sensor-data enabled value.
garfieldsg	0:662207e34fba	865	* @param enabled New wait-for-external-sensor-data enabled value
garfieldsg	0:662207e34fba	866	* @see getWaitForExternalSensorEnabled()
garfieldsg	0:662207e34fba	867	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	868	*/
garfieldsg	0:662207e34fba	869	void MPU6050::setWaitForExternalSensorEnabled(bool enabled)
garfieldsg	0:662207e34fba	870	{
garfieldsg	0:662207e34fba	871	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
garfieldsg	0:662207e34fba	872	}
garfieldsg	0:662207e34fba	873	/** Get Slave 3 FIFO enabled value.
garfieldsg	0:662207e34fba	874	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
garfieldsg	0:662207e34fba	875	* associated with Slave 3 to be written into the FIFO buffer.
garfieldsg	0:662207e34fba	876	* @return Current Slave 3 FIFO enabled value
garfieldsg	0:662207e34fba	877	* @see MPU6050_RA_MST_CTRL
garfieldsg	0:662207e34fba	878	*/
garfieldsg	0:662207e34fba	879	bool MPU6050::getSlave3FIFOEnabled()
garfieldsg	0:662207e34fba	880	{
garfieldsg	0:662207e34fba	881	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	882	return buffer[0];
garfieldsg	0:662207e34fba	883	}
garfieldsg	0:662207e34fba	884	/** Set Slave 3 FIFO enabled value.
garfieldsg	0:662207e34fba	885	* @param enabled New Slave 3 FIFO enabled value
garfieldsg	0:662207e34fba	886	* @see getSlave3FIFOEnabled()
garfieldsg	0:662207e34fba	887	* @see MPU6050_RA_MST_CTRL
garfieldsg	0:662207e34fba	888	*/
garfieldsg	0:662207e34fba	889	void MPU6050::setSlave3FIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	890	{
garfieldsg	0:662207e34fba	891	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	892	}
garfieldsg	0:662207e34fba	893	/** Get slave read/write transition enabled value.
garfieldsg	0:662207e34fba	894	* The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
garfieldsg	0:662207e34fba	895	* read to the next slave read. If the bit equals 0, there will be a restart
garfieldsg	0:662207e34fba	896	* between reads. If the bit equals 1, there will be a stop followed by a start
garfieldsg	0:662207e34fba	897	* of the following read. When a write transaction follows a read transaction,
garfieldsg	0:662207e34fba	898	* the stop followed by a start of the successive write will be always used.
garfieldsg	0:662207e34fba	899	*
garfieldsg	0:662207e34fba	900	* @return Current slave read/write transition enabled value
garfieldsg	0:662207e34fba	901	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	902	*/
garfieldsg	0:662207e34fba	903	bool MPU6050::getSlaveReadWriteTransitionEnabled()
garfieldsg	0:662207e34fba	904	{
garfieldsg	0:662207e34fba	905	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
garfieldsg	0:662207e34fba	906	return buffer[0];
garfieldsg	0:662207e34fba	907	}
garfieldsg	0:662207e34fba	908	/** Set slave read/write transition enabled value.
garfieldsg	0:662207e34fba	909	* @param enabled New slave read/write transition enabled value
garfieldsg	0:662207e34fba	910	* @see getSlaveReadWriteTransitionEnabled()
garfieldsg	0:662207e34fba	911	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	912	*/
garfieldsg	0:662207e34fba	913	void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled)
garfieldsg	0:662207e34fba	914	{
garfieldsg	0:662207e34fba	915	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
garfieldsg	0:662207e34fba	916	}
garfieldsg	0:662207e34fba	917	/** Get I2C master clock speed.
garfieldsg	0:662207e34fba	918	* I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
garfieldsg	0:662207e34fba	919	* MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
garfieldsg	0:662207e34fba	920	* the following table:
garfieldsg	0:662207e34fba	921	*
garfieldsg	0:662207e34fba	922	* <pre>
garfieldsg	0:662207e34fba	923	* I2C_MST_CLK \| I2C Master Clock Speed \| 8MHz Clock Divider
garfieldsg	0:662207e34fba	924	* ------------+------------------------+-------------------
garfieldsg	0:662207e34fba	925	* 0 \| 348kHz \| 23
garfieldsg	0:662207e34fba	926	* 1 \| 333kHz \| 24
garfieldsg	0:662207e34fba	927	* 2 \| 320kHz \| 25
garfieldsg	0:662207e34fba	928	* 3 \| 308kHz \| 26
garfieldsg	0:662207e34fba	929	* 4 \| 296kHz \| 27
garfieldsg	0:662207e34fba	930	* 5 \| 286kHz \| 28
garfieldsg	0:662207e34fba	931	* 6 \| 276kHz \| 29
garfieldsg	0:662207e34fba	932	* 7 \| 267kHz \| 30
garfieldsg	0:662207e34fba	933	* 8 \| 258kHz \| 31
garfieldsg	0:662207e34fba	934	* 9 \| 500kHz \| 16
garfieldsg	0:662207e34fba	935	* 10 \| 471kHz \| 17
garfieldsg	0:662207e34fba	936	* 11 \| 444kHz \| 18
garfieldsg	0:662207e34fba	937	* 12 \| 421kHz \| 19
garfieldsg	0:662207e34fba	938	* 13 \| 400kHz \| 20
garfieldsg	0:662207e34fba	939	* 14 \| 381kHz \| 21
garfieldsg	0:662207e34fba	940	* 15 \| 364kHz \| 22
garfieldsg	0:662207e34fba	941	* </pre>
garfieldsg	0:662207e34fba	942	*
garfieldsg	0:662207e34fba	943	* @return Current I2C master clock speed
garfieldsg	0:662207e34fba	944	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	945	*/
garfieldsg	0:662207e34fba	946	uint8_t MPU6050::getMasterClockSpeed()
garfieldsg	0:662207e34fba	947	{
garfieldsg	0:662207e34fba	948	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
garfieldsg	0:662207e34fba	949	return buffer[0];
garfieldsg	0:662207e34fba	950	}
garfieldsg	0:662207e34fba	951	/** Set I2C master clock speed.
garfieldsg	0:662207e34fba	952	* @reparam speed Current I2C master clock speed
garfieldsg	0:662207e34fba	953	* @see MPU6050_RA_I2C_MST_CTRL
garfieldsg	0:662207e34fba	954	*/
garfieldsg	0:662207e34fba	955	void MPU6050::setMasterClockSpeed(uint8_t speed)
garfieldsg	0:662207e34fba	956	{
garfieldsg	0:662207e34fba	957	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
garfieldsg	0:662207e34fba	958	}
garfieldsg	0:662207e34fba	959
garfieldsg	0:662207e34fba	960	// I2C_SLV* registers (Slave 0-3)
garfieldsg	0:662207e34fba	961
garfieldsg	0:662207e34fba	962	/** Get the I2C address of the specified slave (0-3).
garfieldsg	0:662207e34fba	963	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
garfieldsg	0:662207e34fba	964	* operation, and if it is cleared, then it's a write operation. The remaining
garfieldsg	0:662207e34fba	965	* bits (6-0) are the 7-bit device address of the slave device.
garfieldsg	0:662207e34fba	966	*
garfieldsg	0:662207e34fba	967	* In read mode, the result of the read is placed in the lowest available
garfieldsg	0:662207e34fba	968	* EXT_SENS_DATA register. For further information regarding the allocation of
garfieldsg	0:662207e34fba	969	* read results, please refer to the EXT_SENS_DATA register description
garfieldsg	0:662207e34fba	970	* (Registers 73 - 96).
garfieldsg	0:662207e34fba	971	*
garfieldsg	0:662207e34fba	972	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
garfieldsg	0:662207e34fba	973	* characteristics, and so it has its own functions (getSlave4* and setSlave4*).
garfieldsg	0:662207e34fba	974	*
garfieldsg	0:662207e34fba	975	* I2C data transactions are performed at the Sample Rate, as defined in
garfieldsg	0:662207e34fba	976	* Register 25. The user is responsible for ensuring that I2C data transactions
garfieldsg	0:662207e34fba	977	* to and from each enabled Slave can be completed within a single period of the
garfieldsg	0:662207e34fba	978	* Sample Rate.
garfieldsg	0:662207e34fba	979	*
garfieldsg	0:662207e34fba	980	* The I2C slave access rate can be reduced relative to the Sample Rate. This
garfieldsg	0:662207e34fba	981	* reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
garfieldsg	0:662207e34fba	982	* slave's access rate is reduced relative to the Sample Rate is determined by
garfieldsg	0:662207e34fba	983	* I2C_MST_DELAY_CTRL (Register 103).
garfieldsg	0:662207e34fba	984	*
garfieldsg	0:662207e34fba	985	* The processing order for the slaves is fixed. The sequence followed for
garfieldsg	0:662207e34fba	986	* processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
garfieldsg	0:662207e34fba	987	* particular Slave is disabled it will be skipped.
garfieldsg	0:662207e34fba	988	*
garfieldsg	0:662207e34fba	989	* Each slave can either be accessed at the sample rate or at a reduced sample
garfieldsg	0:662207e34fba	990	* rate. In a case where some slaves are accessed at the Sample Rate and some
garfieldsg	0:662207e34fba	991	* slaves are accessed at the reduced rate, the sequence of accessing the slaves
garfieldsg	0:662207e34fba	992	* (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
garfieldsg	0:662207e34fba	993	* be skipped if their access rate dictates that they should not be accessed
garfieldsg	0:662207e34fba	994	* during that particular cycle. For further information regarding the reduced
garfieldsg	0:662207e34fba	995	* access rate, please refer to Register 52. Whether a slave is accessed at the
garfieldsg	0:662207e34fba	996	* Sample Rate or at the reduced rate is determined by the Delay Enable bits in
garfieldsg	0:662207e34fba	997	* Register 103.
garfieldsg	0:662207e34fba	998	*
garfieldsg	0:662207e34fba	999	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1000	* @return Current address for specified slave
garfieldsg	0:662207e34fba	1001	* @see MPU6050_RA_I2C_SLV0_ADDR
garfieldsg	0:662207e34fba	1002	*/
garfieldsg	0:662207e34fba	1003	uint8_t MPU6050::getSlaveAddress(uint8_t num)
garfieldsg	0:662207e34fba	1004	{
garfieldsg	0:662207e34fba	1005	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1006	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
garfieldsg	0:662207e34fba	1007	return buffer[0];
garfieldsg	0:662207e34fba	1008	}
garfieldsg	0:662207e34fba	1009	/** Set the I2C address of the specified slave (0-3).
garfieldsg	0:662207e34fba	1010	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1011	* @param address New address for specified slave
garfieldsg	0:662207e34fba	1012	* @see getSlaveAddress()
garfieldsg	0:662207e34fba	1013	* @see MPU6050_RA_I2C_SLV0_ADDR
garfieldsg	0:662207e34fba	1014	*/
garfieldsg	0:662207e34fba	1015	void MPU6050::setSlaveAddress(uint8_t num, uint8_t address)
garfieldsg	0:662207e34fba	1016	{
garfieldsg	0:662207e34fba	1017	if (num > 3) return;
garfieldsg	0:662207e34fba	1018	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
garfieldsg	0:662207e34fba	1019	}
garfieldsg	0:662207e34fba	1020	/** Get the active internal register for the specified slave (0-3).
garfieldsg	0:662207e34fba	1021	* Read/write operations for this slave will be done to whatever internal
garfieldsg	0:662207e34fba	1022	* register address is stored in this MPU register.
garfieldsg	0:662207e34fba	1023	*
garfieldsg	0:662207e34fba	1024	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
garfieldsg	0:662207e34fba	1025	* characteristics, and so it has its own functions.
garfieldsg	0:662207e34fba	1026	*
garfieldsg	0:662207e34fba	1027	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1028	* @return Current active register for specified slave
garfieldsg	0:662207e34fba	1029	* @see MPU6050_RA_I2C_SLV0_REG
garfieldsg	0:662207e34fba	1030	*/
garfieldsg	0:662207e34fba	1031	uint8_t MPU6050::getSlaveRegister(uint8_t num)
garfieldsg	0:662207e34fba	1032	{
garfieldsg	0:662207e34fba	1033	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1034	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
garfieldsg	0:662207e34fba	1035	return buffer[0];
garfieldsg	0:662207e34fba	1036	}
garfieldsg	0:662207e34fba	1037	/** Set the active internal register for the specified slave (0-3).
garfieldsg	0:662207e34fba	1038	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1039	* @param reg New active register for specified slave
garfieldsg	0:662207e34fba	1040	* @see getSlaveRegister()
garfieldsg	0:662207e34fba	1041	* @see MPU6050_RA_I2C_SLV0_REG
garfieldsg	0:662207e34fba	1042	*/
garfieldsg	0:662207e34fba	1043	void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg)
garfieldsg	0:662207e34fba	1044	{
garfieldsg	0:662207e34fba	1045	if (num > 3) return;
garfieldsg	0:662207e34fba	1046	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
garfieldsg	0:662207e34fba	1047	}
garfieldsg	0:662207e34fba	1048	/** Get the enabled value for the specified slave (0-3).
garfieldsg	0:662207e34fba	1049	* When set to 1, this bit enables Slave 0 for data transfer operations. When
garfieldsg	0:662207e34fba	1050	* cleared to 0, this bit disables Slave 0 from data transfer operations.
garfieldsg	0:662207e34fba	1051	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1052	* @return Current enabled value for specified slave
garfieldsg	0:662207e34fba	1053	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1054	*/
garfieldsg	0:662207e34fba	1055	bool MPU6050::getSlaveEnabled(uint8_t num)
garfieldsg	0:662207e34fba	1056	{
garfieldsg	0:662207e34fba	1057	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1058	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1059	return buffer[0];
garfieldsg	0:662207e34fba	1060	}
garfieldsg	0:662207e34fba	1061	/** Set the enabled value for the specified slave (0-3).
garfieldsg	0:662207e34fba	1062	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1063	* @param enabled New enabled value for specified slave
garfieldsg	0:662207e34fba	1064	* @see getSlaveEnabled()
garfieldsg	0:662207e34fba	1065	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1066	*/
garfieldsg	0:662207e34fba	1067	void MPU6050::setSlaveEnabled(uint8_t num, bool enabled)
garfieldsg	0:662207e34fba	1068	{
garfieldsg	0:662207e34fba	1069	if (num > 3) return;
garfieldsg	0:662207e34fba	1070	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1071	}
garfieldsg	0:662207e34fba	1072	/** Get word pair byte-swapping enabled for the specified slave (0-3).
garfieldsg	0:662207e34fba	1073	* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
garfieldsg	0:662207e34fba	1074	* the high and low bytes of a word pair are swapped. Please refer to
garfieldsg	0:662207e34fba	1075	* I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
garfieldsg	0:662207e34fba	1076	* bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
garfieldsg	0:662207e34fba	1077	* registers in the order they were transferred.
garfieldsg	0:662207e34fba	1078	*
garfieldsg	0:662207e34fba	1079	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1080	* @return Current word pair byte-swapping enabled value for specified slave
garfieldsg	0:662207e34fba	1081	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1082	*/
garfieldsg	0:662207e34fba	1083	bool MPU6050::getSlaveWordByteSwap(uint8_t num)
garfieldsg	0:662207e34fba	1084	{
garfieldsg	0:662207e34fba	1085	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1086	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
garfieldsg	0:662207e34fba	1087	return buffer[0];
garfieldsg	0:662207e34fba	1088	}
garfieldsg	0:662207e34fba	1089	/** Set word pair byte-swapping enabled for the specified slave (0-3).
garfieldsg	0:662207e34fba	1090	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1091	* @param enabled New word pair byte-swapping enabled value for specified slave
garfieldsg	0:662207e34fba	1092	* @see getSlaveWordByteSwap()
garfieldsg	0:662207e34fba	1093	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1094	*/
garfieldsg	0:662207e34fba	1095	void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled)
garfieldsg	0:662207e34fba	1096	{
garfieldsg	0:662207e34fba	1097	if (num > 3) return;
garfieldsg	0:662207e34fba	1098	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
garfieldsg	0:662207e34fba	1099	}
garfieldsg	0:662207e34fba	1100	/** Get write mode for the specified slave (0-3).
garfieldsg	0:662207e34fba	1101	* When set to 1, the transaction will read or write data only. When cleared to
garfieldsg	0:662207e34fba	1102	* 0, the transaction will write a register address prior to reading or writing
garfieldsg	0:662207e34fba	1103	* data. This should equal 0 when specifying the register address within the
garfieldsg	0:662207e34fba	1104	* Slave device to/from which the ensuing data transaction will take place.
garfieldsg	0:662207e34fba	1105	*
garfieldsg	0:662207e34fba	1106	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1107	* @return Current write mode for specified slave (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	1108	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1109	*/
garfieldsg	0:662207e34fba	1110	bool MPU6050::getSlaveWriteMode(uint8_t num)
garfieldsg	0:662207e34fba	1111	{
garfieldsg	0:662207e34fba	1112	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1113	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
garfieldsg	0:662207e34fba	1114	return buffer[0];
garfieldsg	0:662207e34fba	1115	}
garfieldsg	0:662207e34fba	1116	/** Set write mode for the specified slave (0-3).
garfieldsg	0:662207e34fba	1117	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1118	* @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	1119	* @see getSlaveWriteMode()
garfieldsg	0:662207e34fba	1120	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1121	*/
garfieldsg	0:662207e34fba	1122	void MPU6050::setSlaveWriteMode(uint8_t num, bool mode)
garfieldsg	0:662207e34fba	1123	{
garfieldsg	0:662207e34fba	1124	if (num > 3) return;
garfieldsg	0:662207e34fba	1125	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
garfieldsg	0:662207e34fba	1126	}
garfieldsg	0:662207e34fba	1127	/** Get word pair grouping order offset for the specified slave (0-3).
garfieldsg	0:662207e34fba	1128	* This sets specifies the grouping order of word pairs received from registers.
garfieldsg	0:662207e34fba	1129	* When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
garfieldsg	0:662207e34fba	1130	* then odd register addresses) are paired to form a word. When set to 1, bytes
garfieldsg	0:662207e34fba	1131	* from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
garfieldsg	0:662207e34fba	1132	* register addresses) are paired to form a word.
garfieldsg	0:662207e34fba	1133	*
garfieldsg	0:662207e34fba	1134	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1135	* @return Current word pair grouping order offset for specified slave
garfieldsg	0:662207e34fba	1136	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1137	*/
garfieldsg	0:662207e34fba	1138	bool MPU6050::getSlaveWordGroupOffset(uint8_t num)
garfieldsg	0:662207e34fba	1139	{
garfieldsg	0:662207e34fba	1140	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1141	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
garfieldsg	0:662207e34fba	1142	return buffer[0];
garfieldsg	0:662207e34fba	1143	}
garfieldsg	0:662207e34fba	1144	/** Set word pair grouping order offset for the specified slave (0-3).
garfieldsg	0:662207e34fba	1145	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1146	* @param enabled New word pair grouping order offset for specified slave
garfieldsg	0:662207e34fba	1147	* @see getSlaveWordGroupOffset()
garfieldsg	0:662207e34fba	1148	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1149	*/
garfieldsg	0:662207e34fba	1150	void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled)
garfieldsg	0:662207e34fba	1151	{
garfieldsg	0:662207e34fba	1152	if (num > 3) return;
garfieldsg	0:662207e34fba	1153	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
garfieldsg	0:662207e34fba	1154	}
garfieldsg	0:662207e34fba	1155	/** Get number of bytes to read for the specified slave (0-3).
garfieldsg	0:662207e34fba	1156	* Specifies the number of bytes transferred to and from Slave 0. Clearing this
garfieldsg	0:662207e34fba	1157	* bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
garfieldsg	0:662207e34fba	1158	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1159	* @return Number of bytes to read for specified slave
garfieldsg	0:662207e34fba	1160	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1161	*/
garfieldsg	0:662207e34fba	1162	uint8_t MPU6050::getSlaveDataLength(uint8_t num)
garfieldsg	0:662207e34fba	1163	{
garfieldsg	0:662207e34fba	1164	if (num > 3) return 0;
garfieldsg	0:662207e34fba	1165	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
garfieldsg	0:662207e34fba	1166	return buffer[0];
garfieldsg	0:662207e34fba	1167	}
garfieldsg	0:662207e34fba	1168	/** Set number of bytes to read for the specified slave (0-3).
garfieldsg	0:662207e34fba	1169	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	1170	* @param length Number of bytes to read for specified slave
garfieldsg	0:662207e34fba	1171	* @see getSlaveDataLength()
garfieldsg	0:662207e34fba	1172	* @see MPU6050_RA_I2C_SLV0_CTRL
garfieldsg	0:662207e34fba	1173	*/
garfieldsg	0:662207e34fba	1174	void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length)
garfieldsg	0:662207e34fba	1175	{
garfieldsg	0:662207e34fba	1176	if (num > 3) return;
garfieldsg	0:662207e34fba	1177	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
garfieldsg	0:662207e34fba	1178	}
garfieldsg	0:662207e34fba	1179
garfieldsg	0:662207e34fba	1180	// I2C_SLV* registers (Slave 4)
garfieldsg	0:662207e34fba	1181
garfieldsg	0:662207e34fba	1182	/** Get the I2C address of Slave 4.
garfieldsg	0:662207e34fba	1183	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
garfieldsg	0:662207e34fba	1184	* operation, and if it is cleared, then it's a write operation. The remaining
garfieldsg	0:662207e34fba	1185	* bits (6-0) are the 7-bit device address of the slave device.
garfieldsg	0:662207e34fba	1186	*
garfieldsg	0:662207e34fba	1187	* @return Current address for Slave 4
garfieldsg	0:662207e34fba	1188	* @see getSlaveAddress()
garfieldsg	0:662207e34fba	1189	* @see MPU6050_RA_I2C_SLV4_ADDR
garfieldsg	0:662207e34fba	1190	*/
garfieldsg	0:662207e34fba	1191	uint8_t MPU6050::getSlave4Address()
garfieldsg	0:662207e34fba	1192	{
garfieldsg	0:662207e34fba	1193	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
garfieldsg	0:662207e34fba	1194	return buffer[0];
garfieldsg	0:662207e34fba	1195	}
garfieldsg	0:662207e34fba	1196	/** Set the I2C address of Slave 4.
garfieldsg	0:662207e34fba	1197	* @param address New address for Slave 4
garfieldsg	0:662207e34fba	1198	* @see getSlave4Address()
garfieldsg	0:662207e34fba	1199	* @see MPU6050_RA_I2C_SLV4_ADDR
garfieldsg	0:662207e34fba	1200	*/
garfieldsg	0:662207e34fba	1201	void MPU6050::setSlave4Address(uint8_t address)
garfieldsg	0:662207e34fba	1202	{
garfieldsg	0:662207e34fba	1203	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
garfieldsg	0:662207e34fba	1204	}
garfieldsg	0:662207e34fba	1205	/** Get the active internal register for the Slave 4.
garfieldsg	0:662207e34fba	1206	* Read/write operations for this slave will be done to whatever internal
garfieldsg	0:662207e34fba	1207	* register address is stored in this MPU register.
garfieldsg	0:662207e34fba	1208	*
garfieldsg	0:662207e34fba	1209	* @return Current active register for Slave 4
garfieldsg	0:662207e34fba	1210	* @see MPU6050_RA_I2C_SLV4_REG
garfieldsg	0:662207e34fba	1211	*/
garfieldsg	0:662207e34fba	1212	uint8_t MPU6050::getSlave4Register()
garfieldsg	0:662207e34fba	1213	{
garfieldsg	0:662207e34fba	1214	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
garfieldsg	0:662207e34fba	1215	return buffer[0];
garfieldsg	0:662207e34fba	1216	}
garfieldsg	0:662207e34fba	1217	/** Set the active internal register for Slave 4.
garfieldsg	0:662207e34fba	1218	* @param reg New active register for Slave 4
garfieldsg	0:662207e34fba	1219	* @see getSlave4Register()
garfieldsg	0:662207e34fba	1220	* @see MPU6050_RA_I2C_SLV4_REG
garfieldsg	0:662207e34fba	1221	*/
garfieldsg	0:662207e34fba	1222	void MPU6050::setSlave4Register(uint8_t reg)
garfieldsg	0:662207e34fba	1223	{
garfieldsg	0:662207e34fba	1224	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
garfieldsg	0:662207e34fba	1225	}
garfieldsg	0:662207e34fba	1226	/** Set new byte to write to Slave 4.
garfieldsg	0:662207e34fba	1227	* This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
garfieldsg	0:662207e34fba	1228	* is set 1 (set to read), this register has no effect.
garfieldsg	0:662207e34fba	1229	* @param data New byte to write to Slave 4
garfieldsg	0:662207e34fba	1230	* @see MPU6050_RA_I2C_SLV4_DO
garfieldsg	0:662207e34fba	1231	*/
garfieldsg	0:662207e34fba	1232	void MPU6050::setSlave4OutputByte(uint8_t data)
garfieldsg	0:662207e34fba	1233	{
garfieldsg	0:662207e34fba	1234	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
garfieldsg	0:662207e34fba	1235	}
garfieldsg	0:662207e34fba	1236	/** Get the enabled value for the Slave 4.
garfieldsg	0:662207e34fba	1237	* When set to 1, this bit enables Slave 4 for data transfer operations. When
garfieldsg	0:662207e34fba	1238	* cleared to 0, this bit disables Slave 4 from data transfer operations.
garfieldsg	0:662207e34fba	1239	* @return Current enabled value for Slave 4
garfieldsg	0:662207e34fba	1240	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1241	*/
garfieldsg	0:662207e34fba	1242	bool MPU6050::getSlave4Enabled()
garfieldsg	0:662207e34fba	1243	{
garfieldsg	0:662207e34fba	1244	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1245	return buffer[0];
garfieldsg	0:662207e34fba	1246	}
garfieldsg	0:662207e34fba	1247	/** Set the enabled value for Slave 4.
garfieldsg	0:662207e34fba	1248	* @param enabled New enabled value for Slave 4
garfieldsg	0:662207e34fba	1249	* @see getSlave4Enabled()
garfieldsg	0:662207e34fba	1250	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1251	*/
garfieldsg	0:662207e34fba	1252	void MPU6050::setSlave4Enabled(bool enabled)
garfieldsg	0:662207e34fba	1253	{
garfieldsg	0:662207e34fba	1254	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1255	}
garfieldsg	0:662207e34fba	1256	/** Get the enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1257	* When set to 1, this bit enables the generation of an interrupt signal upon
garfieldsg	0:662207e34fba	1258	* completion of a Slave 4 transaction. When cleared to 0, this bit disables the
garfieldsg	0:662207e34fba	1259	* generation of an interrupt signal upon completion of a Slave 4 transaction.
garfieldsg	0:662207e34fba	1260	* The interrupt status can be observed in Register 54.
garfieldsg	0:662207e34fba	1261	*
garfieldsg	0:662207e34fba	1262	* @return Current enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1263	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1264	*/
garfieldsg	0:662207e34fba	1265	bool MPU6050::getSlave4InterruptEnabled()
garfieldsg	0:662207e34fba	1266	{
garfieldsg	0:662207e34fba	1267	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1268	return buffer[0];
garfieldsg	0:662207e34fba	1269	}
garfieldsg	0:662207e34fba	1270	/** Set the enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1271	* @param enabled New enabled value for Slave 4 transaction interrupts.
garfieldsg	0:662207e34fba	1272	* @see getSlave4InterruptEnabled()
garfieldsg	0:662207e34fba	1273	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1274	*/
garfieldsg	0:662207e34fba	1275	void MPU6050::setSlave4InterruptEnabled(bool enabled)
garfieldsg	0:662207e34fba	1276	{
garfieldsg	0:662207e34fba	1277	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1278	}
garfieldsg	0:662207e34fba	1279	/** Get write mode for Slave 4.
garfieldsg	0:662207e34fba	1280	* When set to 1, the transaction will read or write data only. When cleared to
garfieldsg	0:662207e34fba	1281	* 0, the transaction will write a register address prior to reading or writing
garfieldsg	0:662207e34fba	1282	* data. This should equal 0 when specifying the register address within the
garfieldsg	0:662207e34fba	1283	* Slave device to/from which the ensuing data transaction will take place.
garfieldsg	0:662207e34fba	1284	*
garfieldsg	0:662207e34fba	1285	* @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	1286	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1287	*/
garfieldsg	0:662207e34fba	1288	bool MPU6050::getSlave4WriteMode()
garfieldsg	0:662207e34fba	1289	{
garfieldsg	0:662207e34fba	1290	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
garfieldsg	0:662207e34fba	1291	return buffer[0];
garfieldsg	0:662207e34fba	1292	}
garfieldsg	0:662207e34fba	1293	/** Set write mode for the Slave 4.
garfieldsg	0:662207e34fba	1294	* @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
garfieldsg	0:662207e34fba	1295	* @see getSlave4WriteMode()
garfieldsg	0:662207e34fba	1296	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1297	*/
garfieldsg	0:662207e34fba	1298	void MPU6050::setSlave4WriteMode(bool mode)
garfieldsg	0:662207e34fba	1299	{
garfieldsg	0:662207e34fba	1300	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
garfieldsg	0:662207e34fba	1301	}
garfieldsg	0:662207e34fba	1302	/** Get Slave 4 master delay value.
garfieldsg	0:662207e34fba	1303	* This configures the reduced access rate of I2C slaves relative to the Sample
garfieldsg	0:662207e34fba	1304	* Rate. When a slave's access rate is decreased relative to the Sample Rate,
garfieldsg	0:662207e34fba	1305	* the slave is accessed every:
garfieldsg	0:662207e34fba	1306	*
garfieldsg	0:662207e34fba	1307	* 1 / (1 + I2C_MST_DLY) samples
garfieldsg	0:662207e34fba	1308	*
garfieldsg	0:662207e34fba	1309	* This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
garfieldsg	0:662207e34fba	1310	* DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
garfieldsg	0:662207e34fba	1311	* the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
garfieldsg	0:662207e34fba	1312	* further information regarding the Sample Rate, please refer to register 25.
garfieldsg	0:662207e34fba	1313	*
garfieldsg	0:662207e34fba	1314	* @return Current Slave 4 master delay value
garfieldsg	0:662207e34fba	1315	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1316	*/
garfieldsg	0:662207e34fba	1317	uint8_t MPU6050::getSlave4MasterDelay()
garfieldsg	0:662207e34fba	1318	{
garfieldsg	0:662207e34fba	1319	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
garfieldsg	0:662207e34fba	1320	return buffer[0];
garfieldsg	0:662207e34fba	1321	}
garfieldsg	0:662207e34fba	1322	/** Set Slave 4 master delay value.
garfieldsg	0:662207e34fba	1323	* @param delay New Slave 4 master delay value
garfieldsg	0:662207e34fba	1324	* @see getSlave4MasterDelay()
garfieldsg	0:662207e34fba	1325	* @see MPU6050_RA_I2C_SLV4_CTRL
garfieldsg	0:662207e34fba	1326	*/
garfieldsg	0:662207e34fba	1327	void MPU6050::setSlave4MasterDelay(uint8_t delay)
garfieldsg	0:662207e34fba	1328	{
garfieldsg	0:662207e34fba	1329	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
garfieldsg	0:662207e34fba	1330	}
garfieldsg	0:662207e34fba	1331	/** Get last available byte read from Slave 4.
garfieldsg	0:662207e34fba	1332	* This register stores the data read from Slave 4. This field is populated
garfieldsg	0:662207e34fba	1333	* after a read transaction.
garfieldsg	0:662207e34fba	1334	* @return Last available byte read from to Slave 4
garfieldsg	0:662207e34fba	1335	* @see MPU6050_RA_I2C_SLV4_DI
garfieldsg	0:662207e34fba	1336	*/
garfieldsg	0:662207e34fba	1337	uint8_t MPU6050::getSlate4InputByte()
garfieldsg	0:662207e34fba	1338	{
garfieldsg	0:662207e34fba	1339	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
garfieldsg	0:662207e34fba	1340	return buffer[0];
garfieldsg	0:662207e34fba	1341	}
garfieldsg	0:662207e34fba	1342
garfieldsg	0:662207e34fba	1343	// I2C_MST_STATUS register
garfieldsg	0:662207e34fba	1344
garfieldsg	0:662207e34fba	1345	/** Get FSYNC interrupt status.
garfieldsg	0:662207e34fba	1346	* This bit reflects the status of the FSYNC interrupt from an external device
garfieldsg	0:662207e34fba	1347	* into the MPU-60X0. This is used as a way to pass an external interrupt
garfieldsg	0:662207e34fba	1348	* through the MPU-60X0 to the host application processor. When set to 1, this
garfieldsg	0:662207e34fba	1349	* bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
garfieldsg	0:662207e34fba	1350	* (Register 55).
garfieldsg	0:662207e34fba	1351	* @return FSYNC interrupt status
garfieldsg	0:662207e34fba	1352	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1353	*/
garfieldsg	0:662207e34fba	1354	bool MPU6050::getPassthroughStatus()
garfieldsg	0:662207e34fba	1355	{
garfieldsg	0:662207e34fba	1356	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
garfieldsg	0:662207e34fba	1357	return buffer[0];
garfieldsg	0:662207e34fba	1358	}
garfieldsg	0:662207e34fba	1359	/** Get Slave 4 transaction done status.
garfieldsg	0:662207e34fba	1360	* Automatically sets to 1 when a Slave 4 transaction has completed. This
garfieldsg	0:662207e34fba	1361	* triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
garfieldsg	0:662207e34fba	1362	* (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
garfieldsg	0:662207e34fba	1363	* I2C_SLV4_CTRL register (Register 52).
garfieldsg	0:662207e34fba	1364	* @return Slave 4 transaction done status
garfieldsg	0:662207e34fba	1365	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1366	*/
garfieldsg	0:662207e34fba	1367	bool MPU6050::getSlave4IsDone()
garfieldsg	0:662207e34fba	1368	{
garfieldsg	0:662207e34fba	1369	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
garfieldsg	0:662207e34fba	1370	return buffer[0];
garfieldsg	0:662207e34fba	1371	}
garfieldsg	0:662207e34fba	1372	/** Get master arbitration lost status.
garfieldsg	0:662207e34fba	1373	* This bit automatically sets to 1 when the I2C Master has lost arbitration of
garfieldsg	0:662207e34fba	1374	* the auxiliary I2C bus (an error condition). This triggers an interrupt if the
garfieldsg	0:662207e34fba	1375	* I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1376	* @return Master arbitration lost status
garfieldsg	0:662207e34fba	1377	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1378	*/
garfieldsg	0:662207e34fba	1379	bool MPU6050::getLostArbitration()
garfieldsg	0:662207e34fba	1380	{
garfieldsg	0:662207e34fba	1381	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
garfieldsg	0:662207e34fba	1382	return buffer[0];
garfieldsg	0:662207e34fba	1383	}
garfieldsg	0:662207e34fba	1384	/** Get Slave 4 NACK status.
garfieldsg	0:662207e34fba	1385	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1386	* transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1387	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1388	* @return Slave 4 NACK interrupt status
garfieldsg	0:662207e34fba	1389	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1390	*/
garfieldsg	0:662207e34fba	1391	bool MPU6050::getSlave4Nack()
garfieldsg	0:662207e34fba	1392	{
garfieldsg	0:662207e34fba	1393	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1394	return buffer[0];
garfieldsg	0:662207e34fba	1395	}
garfieldsg	0:662207e34fba	1396	/** Get Slave 3 NACK status.
garfieldsg	0:662207e34fba	1397	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1398	* transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1399	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1400	* @return Slave 3 NACK interrupt status
garfieldsg	0:662207e34fba	1401	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1402	*/
garfieldsg	0:662207e34fba	1403	bool MPU6050::getSlave3Nack()
garfieldsg	0:662207e34fba	1404	{
garfieldsg	0:662207e34fba	1405	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1406	return buffer[0];
garfieldsg	0:662207e34fba	1407	}
garfieldsg	0:662207e34fba	1408	/** Get Slave 2 NACK status.
garfieldsg	0:662207e34fba	1409	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1410	* transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1411	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1412	* @return Slave 2 NACK interrupt status
garfieldsg	0:662207e34fba	1413	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1414	*/
garfieldsg	0:662207e34fba	1415	bool MPU6050::getSlave2Nack()
garfieldsg	0:662207e34fba	1416	{
garfieldsg	0:662207e34fba	1417	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1418	return buffer[0];
garfieldsg	0:662207e34fba	1419	}
garfieldsg	0:662207e34fba	1420	/** Get Slave 1 NACK status.
garfieldsg	0:662207e34fba	1421	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1422	* transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1423	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1424	* @return Slave 1 NACK interrupt status
garfieldsg	0:662207e34fba	1425	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1426	*/
garfieldsg	0:662207e34fba	1427	bool MPU6050::getSlave1Nack()
garfieldsg	0:662207e34fba	1428	{
garfieldsg	0:662207e34fba	1429	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1430	return buffer[0];
garfieldsg	0:662207e34fba	1431	}
garfieldsg	0:662207e34fba	1432	/** Get Slave 0 NACK status.
garfieldsg	0:662207e34fba	1433	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
garfieldsg	0:662207e34fba	1434	* transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
garfieldsg	0:662207e34fba	1435	* bit in the INT_ENABLE register (Register 56) is asserted.
garfieldsg	0:662207e34fba	1436	* @return Slave 0 NACK interrupt status
garfieldsg	0:662207e34fba	1437	* @see MPU6050_RA_I2C_MST_STATUS
garfieldsg	0:662207e34fba	1438	*/
garfieldsg	0:662207e34fba	1439	bool MPU6050::getSlave0Nack()
garfieldsg	0:662207e34fba	1440	{
garfieldsg	0:662207e34fba	1441	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
garfieldsg	0:662207e34fba	1442	return buffer[0];
garfieldsg	0:662207e34fba	1443	}
garfieldsg	0:662207e34fba	1444
garfieldsg	0:662207e34fba	1445	// INT_PIN_CFG register
garfieldsg	0:662207e34fba	1446
garfieldsg	0:662207e34fba	1447	/** Get interrupt logic level mode.
garfieldsg	0:662207e34fba	1448	* Will be set 0 for active-high, 1 for active-low.
garfieldsg	0:662207e34fba	1449	* @return Current interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1450	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1451	* @see MPU6050_INTCFG_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1452	*/
garfieldsg	0:662207e34fba	1453	bool MPU6050::getInterruptMode()
garfieldsg	0:662207e34fba	1454	{
garfieldsg	0:662207e34fba	1455	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
garfieldsg	0:662207e34fba	1456	return buffer[0];
garfieldsg	0:662207e34fba	1457	}
garfieldsg	0:662207e34fba	1458	/** Set interrupt logic level mode.
garfieldsg	0:662207e34fba	1459	* @param mode New interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1460	* @see getInterruptMode()
garfieldsg	0:662207e34fba	1461	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1462	* @see MPU6050_INTCFG_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1463	*/
garfieldsg	0:662207e34fba	1464	void MPU6050::setInterruptMode(bool mode)
garfieldsg	0:662207e34fba	1465	{
garfieldsg	0:662207e34fba	1466	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
garfieldsg	0:662207e34fba	1467	}
garfieldsg	0:662207e34fba	1468	/** Get interrupt drive mode.
garfieldsg	0:662207e34fba	1469	* Will be set 0 for push-pull, 1 for open-drain.
garfieldsg	0:662207e34fba	1470	* @return Current interrupt drive mode (0=push-pull, 1=open-drain)
garfieldsg	0:662207e34fba	1471	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1472	* @see MPU6050_INTCFG_INT_OPEN_BIT
garfieldsg	0:662207e34fba	1473	*/
garfieldsg	0:662207e34fba	1474	bool MPU6050::getInterruptDrive()
garfieldsg	0:662207e34fba	1475	{
garfieldsg	0:662207e34fba	1476	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
garfieldsg	0:662207e34fba	1477	return buffer[0];
garfieldsg	0:662207e34fba	1478	}
garfieldsg	0:662207e34fba	1479	/** Set interrupt drive mode.
garfieldsg	0:662207e34fba	1480	* @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
garfieldsg	0:662207e34fba	1481	* @see getInterruptDrive()
garfieldsg	0:662207e34fba	1482	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1483	* @see MPU6050_INTCFG_INT_OPEN_BIT
garfieldsg	0:662207e34fba	1484	*/
garfieldsg	0:662207e34fba	1485	void MPU6050::setInterruptDrive(bool drive)
garfieldsg	0:662207e34fba	1486	{
garfieldsg	0:662207e34fba	1487	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
garfieldsg	0:662207e34fba	1488	}
garfieldsg	0:662207e34fba	1489	/** Get interrupt latch mode.
garfieldsg	0:662207e34fba	1490	* Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
garfieldsg	0:662207e34fba	1491	* @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
garfieldsg	0:662207e34fba	1492	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1493	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
garfieldsg	0:662207e34fba	1494	*/
garfieldsg	0:662207e34fba	1495	bool MPU6050::getInterruptLatch()
garfieldsg	0:662207e34fba	1496	{
garfieldsg	0:662207e34fba	1497	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1498	return buffer[0];
garfieldsg	0:662207e34fba	1499	}
garfieldsg	0:662207e34fba	1500	/** Set interrupt latch mode.
garfieldsg	0:662207e34fba	1501	* @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
garfieldsg	0:662207e34fba	1502	* @see getInterruptLatch()
garfieldsg	0:662207e34fba	1503	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1504	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
garfieldsg	0:662207e34fba	1505	*/
garfieldsg	0:662207e34fba	1506	void MPU6050::setInterruptLatch(bool latch)
garfieldsg	0:662207e34fba	1507	{
garfieldsg	0:662207e34fba	1508	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
garfieldsg	0:662207e34fba	1509	}
garfieldsg	0:662207e34fba	1510	/** Get interrupt latch clear mode.
garfieldsg	0:662207e34fba	1511	* Will be set 0 for status-read-only, 1 for any-register-read.
garfieldsg	0:662207e34fba	1512	* @return Current latch clear mode (0=status-read-only, 1=any-register-read)
garfieldsg	0:662207e34fba	1513	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1514	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
garfieldsg	0:662207e34fba	1515	*/
garfieldsg	0:662207e34fba	1516	bool MPU6050::getInterruptLatchClear()
garfieldsg	0:662207e34fba	1517	{
garfieldsg	0:662207e34fba	1518	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
garfieldsg	0:662207e34fba	1519	return buffer[0];
garfieldsg	0:662207e34fba	1520	}
garfieldsg	0:662207e34fba	1521	/** Set interrupt latch clear mode.
garfieldsg	0:662207e34fba	1522	* @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
garfieldsg	0:662207e34fba	1523	* @see getInterruptLatchClear()
garfieldsg	0:662207e34fba	1524	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1525	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
garfieldsg	0:662207e34fba	1526	*/
garfieldsg	0:662207e34fba	1527	void MPU6050::setInterruptLatchClear(bool clear)
garfieldsg	0:662207e34fba	1528	{
garfieldsg	0:662207e34fba	1529	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
garfieldsg	0:662207e34fba	1530	}
garfieldsg	0:662207e34fba	1531	/** Get FSYNC interrupt logic level mode.
garfieldsg	0:662207e34fba	1532	* @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1533	* @see getFSyncInterruptMode()
garfieldsg	0:662207e34fba	1534	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1535	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1536	*/
garfieldsg	0:662207e34fba	1537	bool MPU6050::getFSyncInterruptLevel()
garfieldsg	0:662207e34fba	1538	{
garfieldsg	0:662207e34fba	1539	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
garfieldsg	0:662207e34fba	1540	return buffer[0];
garfieldsg	0:662207e34fba	1541	}
garfieldsg	0:662207e34fba	1542	/** Set FSYNC interrupt logic level mode.
garfieldsg	0:662207e34fba	1543	* @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
garfieldsg	0:662207e34fba	1544	* @see getFSyncInterruptMode()
garfieldsg	0:662207e34fba	1545	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1546	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
garfieldsg	0:662207e34fba	1547	*/
garfieldsg	0:662207e34fba	1548	void MPU6050::setFSyncInterruptLevel(bool level)
garfieldsg	0:662207e34fba	1549	{
garfieldsg	0:662207e34fba	1550	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
garfieldsg	0:662207e34fba	1551	}
garfieldsg	0:662207e34fba	1552	/** Get FSYNC pin interrupt enabled setting.
garfieldsg	0:662207e34fba	1553	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1554	* @return Current interrupt enabled setting
garfieldsg	0:662207e34fba	1555	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1556	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
garfieldsg	0:662207e34fba	1557	*/
garfieldsg	0:662207e34fba	1558	bool MPU6050::getFSyncInterruptEnabled()
garfieldsg	0:662207e34fba	1559	{
garfieldsg	0:662207e34fba	1560	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1561	return buffer[0];
garfieldsg	0:662207e34fba	1562	}
garfieldsg	0:662207e34fba	1563	/** Set FSYNC pin interrupt enabled setting.
garfieldsg	0:662207e34fba	1564	* @param enabled New FSYNC pin interrupt enabled setting
garfieldsg	0:662207e34fba	1565	* @see getFSyncInterruptEnabled()
garfieldsg	0:662207e34fba	1566	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1567	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
garfieldsg	0:662207e34fba	1568	*/
garfieldsg	0:662207e34fba	1569	void MPU6050::setFSyncInterruptEnabled(bool enabled)
garfieldsg	0:662207e34fba	1570	{
garfieldsg	0:662207e34fba	1571	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1572	}
garfieldsg	0:662207e34fba	1573	/** Get I2C bypass enabled status.
garfieldsg	0:662207e34fba	1574	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
garfieldsg	0:662207e34fba	1575	* 0, the host application processor will be able to directly access the
garfieldsg	0:662207e34fba	1576	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
garfieldsg	0:662207e34fba	1577	* application processor will not be able to directly access the auxiliary I2C
garfieldsg	0:662207e34fba	1578	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
garfieldsg	0:662207e34fba	1579	* bit[5]).
garfieldsg	0:662207e34fba	1580	* @return Current I2C bypass enabled status
garfieldsg	0:662207e34fba	1581	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1582	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
garfieldsg	0:662207e34fba	1583	*/
garfieldsg	0:662207e34fba	1584	bool MPU6050::getI2CBypassEnabled()
garfieldsg	0:662207e34fba	1585	{
garfieldsg	0:662207e34fba	1586	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1587	return buffer[0];
garfieldsg	0:662207e34fba	1588	}
garfieldsg	0:662207e34fba	1589	/** Set I2C bypass enabled status.
garfieldsg	0:662207e34fba	1590	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
garfieldsg	0:662207e34fba	1591	* 0, the host application processor will be able to directly access the
garfieldsg	0:662207e34fba	1592	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
garfieldsg	0:662207e34fba	1593	* application processor will not be able to directly access the auxiliary I2C
garfieldsg	0:662207e34fba	1594	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
garfieldsg	0:662207e34fba	1595	* bit[5]).
garfieldsg	0:662207e34fba	1596	* @param enabled New I2C bypass enabled status
garfieldsg	0:662207e34fba	1597	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1598	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
garfieldsg	0:662207e34fba	1599	*/
garfieldsg	0:662207e34fba	1600	void MPU6050::setI2CBypassEnabled(bool enabled)
garfieldsg	0:662207e34fba	1601	{
garfieldsg	0:662207e34fba	1602	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1603	}
garfieldsg	0:662207e34fba	1604	/** Get reference clock output enabled status.
garfieldsg	0:662207e34fba	1605	* When this bit is equal to 1, a reference clock output is provided at the
garfieldsg	0:662207e34fba	1606	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
garfieldsg	0:662207e34fba	1607	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
garfieldsg	0:662207e34fba	1608	* Specification document.
garfieldsg	0:662207e34fba	1609	* @return Current reference clock output enabled status
garfieldsg	0:662207e34fba	1610	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1611	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
garfieldsg	0:662207e34fba	1612	*/
garfieldsg	0:662207e34fba	1613	bool MPU6050::getClockOutputEnabled()
garfieldsg	0:662207e34fba	1614	{
garfieldsg	0:662207e34fba	1615	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
garfieldsg	0:662207e34fba	1616	return buffer[0];
garfieldsg	0:662207e34fba	1617	}
garfieldsg	0:662207e34fba	1618	/** Set reference clock output enabled status.
garfieldsg	0:662207e34fba	1619	* When this bit is equal to 1, a reference clock output is provided at the
garfieldsg	0:662207e34fba	1620	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
garfieldsg	0:662207e34fba	1621	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
garfieldsg	0:662207e34fba	1622	* Specification document.
garfieldsg	0:662207e34fba	1623	* @param enabled New reference clock output enabled status
garfieldsg	0:662207e34fba	1624	* @see MPU6050_RA_INT_PIN_CFG
garfieldsg	0:662207e34fba	1625	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
garfieldsg	0:662207e34fba	1626	*/
garfieldsg	0:662207e34fba	1627	void MPU6050::setClockOutputEnabled(bool enabled)
garfieldsg	0:662207e34fba	1628	{
garfieldsg	0:662207e34fba	1629	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
garfieldsg	0:662207e34fba	1630	}
garfieldsg	0:662207e34fba	1631
garfieldsg	0:662207e34fba	1632	// INT_ENABLE register
garfieldsg	0:662207e34fba	1633
garfieldsg	0:662207e34fba	1634	/** Get full interrupt enabled status.
garfieldsg	0:662207e34fba	1635	* Full register byte for all interrupts, for quick reading. Each bit will be
garfieldsg	0:662207e34fba	1636	* set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1637	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1638	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1639	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1640	**/
garfieldsg	0:662207e34fba	1641	uint8_t MPU6050::getIntEnabled()
garfieldsg	0:662207e34fba	1642	{
garfieldsg	0:662207e34fba	1643	i2Cdev.readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
garfieldsg	0:662207e34fba	1644	return buffer[0];
garfieldsg	0:662207e34fba	1645	}
garfieldsg	0:662207e34fba	1646	/** Set full interrupt enabled status.
garfieldsg	0:662207e34fba	1647	* Full register byte for all interrupts, for quick reading. Each bit should be
garfieldsg	0:662207e34fba	1648	* set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1649	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1650	* @see getIntFreefallEnabled()
garfieldsg	0:662207e34fba	1651	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1652	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1653	**/
garfieldsg	0:662207e34fba	1654	void MPU6050::setIntEnabled(uint8_t enabled)
garfieldsg	0:662207e34fba	1655	{
garfieldsg	0:662207e34fba	1656	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
garfieldsg	0:662207e34fba	1657	}
garfieldsg	0:662207e34fba	1658	/** Get Free Fall interrupt enabled status.
garfieldsg	0:662207e34fba	1659	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1660	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1661	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1662	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1663	**/
garfieldsg	0:662207e34fba	1664	bool MPU6050::getIntFreefallEnabled()
garfieldsg	0:662207e34fba	1665	{
garfieldsg	0:662207e34fba	1666	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
garfieldsg	0:662207e34fba	1667	return buffer[0];
garfieldsg	0:662207e34fba	1668	}
garfieldsg	0:662207e34fba	1669	/** Set Free Fall interrupt enabled status.
garfieldsg	0:662207e34fba	1670	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1671	* @see getIntFreefallEnabled()
garfieldsg	0:662207e34fba	1672	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1673	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1674	**/
garfieldsg	0:662207e34fba	1675	void MPU6050::setIntFreefallEnabled(bool enabled)
garfieldsg	0:662207e34fba	1676	{
garfieldsg	0:662207e34fba	1677	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
garfieldsg	0:662207e34fba	1678	}
garfieldsg	0:662207e34fba	1679	/** Get Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1680	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1681	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1682	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1683	* @see MPU6050_INTERRUPT_MOT_BIT
garfieldsg	0:662207e34fba	1684	**/
garfieldsg	0:662207e34fba	1685	bool MPU6050::getIntMotionEnabled()
garfieldsg	0:662207e34fba	1686	{
garfieldsg	0:662207e34fba	1687	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
garfieldsg	0:662207e34fba	1688	return buffer[0];
garfieldsg	0:662207e34fba	1689	}
garfieldsg	0:662207e34fba	1690	/** Set Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1691	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1692	* @see getIntMotionEnabled()
garfieldsg	0:662207e34fba	1693	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1694	* @see MPU6050_INTERRUPT_MOT_BIT
garfieldsg	0:662207e34fba	1695	**/
garfieldsg	0:662207e34fba	1696	void MPU6050::setIntMotionEnabled(bool enabled)
garfieldsg	0:662207e34fba	1697	{
garfieldsg	0:662207e34fba	1698	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
garfieldsg	0:662207e34fba	1699	}
garfieldsg	0:662207e34fba	1700	/** Get Zero Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1701	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1702	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1703	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1704	* @see MPU6050_INTERRUPT_ZMOT_BIT
garfieldsg	0:662207e34fba	1705	**/
garfieldsg	0:662207e34fba	1706	bool MPU6050::getIntZeroMotionEnabled()
garfieldsg	0:662207e34fba	1707	{
garfieldsg	0:662207e34fba	1708	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
garfieldsg	0:662207e34fba	1709	return buffer[0];
garfieldsg	0:662207e34fba	1710	}
garfieldsg	0:662207e34fba	1711	/** Set Zero Motion Detection interrupt enabled status.
garfieldsg	0:662207e34fba	1712	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1713	* @see getIntZeroMotionEnabled()
garfieldsg	0:662207e34fba	1714	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1715	* @see MPU6050_INTERRUPT_ZMOT_BIT
garfieldsg	0:662207e34fba	1716	**/
garfieldsg	0:662207e34fba	1717	void MPU6050::setIntZeroMotionEnabled(bool enabled)
garfieldsg	0:662207e34fba	1718	{
garfieldsg	0:662207e34fba	1719	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
garfieldsg	0:662207e34fba	1720	}
garfieldsg	0:662207e34fba	1721	/** Get FIFO Buffer Overflow interrupt enabled status.
garfieldsg	0:662207e34fba	1722	* Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1723	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1724	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1725	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
garfieldsg	0:662207e34fba	1726	**/
garfieldsg	0:662207e34fba	1727	bool MPU6050::getIntFIFOBufferOverflowEnabled()
garfieldsg	0:662207e34fba	1728	{
garfieldsg	0:662207e34fba	1729	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
garfieldsg	0:662207e34fba	1730	return buffer[0];
garfieldsg	0:662207e34fba	1731	}
garfieldsg	0:662207e34fba	1732	/** Set FIFO Buffer Overflow interrupt enabled status.
garfieldsg	0:662207e34fba	1733	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1734	* @see getIntFIFOBufferOverflowEnabled()
garfieldsg	0:662207e34fba	1735	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1736	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
garfieldsg	0:662207e34fba	1737	**/
garfieldsg	0:662207e34fba	1738	void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled)
garfieldsg	0:662207e34fba	1739	{
garfieldsg	0:662207e34fba	1740	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
garfieldsg	0:662207e34fba	1741	}
garfieldsg	0:662207e34fba	1742	/** Get I2C Master interrupt enabled status.
garfieldsg	0:662207e34fba	1743	* This enables any of the I2C Master interrupt sources to generate an
garfieldsg	0:662207e34fba	1744	* interrupt. Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1745	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1746	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1747	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
garfieldsg	0:662207e34fba	1748	**/
garfieldsg	0:662207e34fba	1749	bool MPU6050::getIntI2CMasterEnabled()
garfieldsg	0:662207e34fba	1750	{
garfieldsg	0:662207e34fba	1751	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
garfieldsg	0:662207e34fba	1752	return buffer[0];
garfieldsg	0:662207e34fba	1753	}
garfieldsg	0:662207e34fba	1754	/** Set I2C Master interrupt enabled status.
garfieldsg	0:662207e34fba	1755	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1756	* @see getIntI2CMasterEnabled()
garfieldsg	0:662207e34fba	1757	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1758	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
garfieldsg	0:662207e34fba	1759	**/
garfieldsg	0:662207e34fba	1760	void MPU6050::setIntI2CMasterEnabled(bool enabled)
garfieldsg	0:662207e34fba	1761	{
garfieldsg	0:662207e34fba	1762	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
garfieldsg	0:662207e34fba	1763	}
garfieldsg	0:662207e34fba	1764	/** Get Data Ready interrupt enabled setting.
garfieldsg	0:662207e34fba	1765	* This event occurs each time a write operation to all of the sensor registers
garfieldsg	0:662207e34fba	1766	* has been completed. Will be set 0 for disabled, 1 for enabled.
garfieldsg	0:662207e34fba	1767	* @return Current interrupt enabled status
garfieldsg	0:662207e34fba	1768	* @see MPU6050_RA_INT_ENABLE
garfieldsg	0:662207e34fba	1769	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
garfieldsg	0:662207e34fba	1770	*/
garfieldsg	0:662207e34fba	1771	bool MPU6050::getIntDataReadyEnabled()
garfieldsg	0:662207e34fba	1772	{
garfieldsg	0:662207e34fba	1773	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
garfieldsg	0:662207e34fba	1774	return buffer[0];
garfieldsg	0:662207e34fba	1775	}
garfieldsg	0:662207e34fba	1776	/** Set Data Ready interrupt enabled status.
garfieldsg	0:662207e34fba	1777	* @param enabled New interrupt enabled status
garfieldsg	0:662207e34fba	1778	* @see getIntDataReadyEnabled()
garfieldsg	0:662207e34fba	1779	* @see MPU6050_RA_INT_CFG
garfieldsg	0:662207e34fba	1780	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
garfieldsg	0:662207e34fba	1781	*/
garfieldsg	0:662207e34fba	1782	void MPU6050::setIntDataReadyEnabled(bool enabled)
garfieldsg	0:662207e34fba	1783	{
garfieldsg	0:662207e34fba	1784	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
garfieldsg	0:662207e34fba	1785	}
garfieldsg	0:662207e34fba	1786
garfieldsg	0:662207e34fba	1787	// INT_STATUS register
garfieldsg	0:662207e34fba	1788
garfieldsg	0:662207e34fba	1789	/** Get full set of interrupt status bits.
garfieldsg	0:662207e34fba	1790	* These bits clear to 0 after the register has been read. Very useful
garfieldsg	0:662207e34fba	1791	* for getting multiple INT statuses, since each single bit read clears
garfieldsg	0:662207e34fba	1792	* all of them because it has to read the whole byte.
garfieldsg	0:662207e34fba	1793	* @return Current interrupt status
garfieldsg	0:662207e34fba	1794	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1795	*/
garfieldsg	0:662207e34fba	1796	uint8_t MPU6050::getIntStatus()
garfieldsg	0:662207e34fba	1797	{
garfieldsg	0:662207e34fba	1798	i2Cdev.readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
garfieldsg	0:662207e34fba	1799	return buffer[0];
garfieldsg	0:662207e34fba	1800	}
garfieldsg	0:662207e34fba	1801	/** Get Free Fall interrupt status.
garfieldsg	0:662207e34fba	1802	* This bit automatically sets to 1 when a Free Fall interrupt has been
garfieldsg	0:662207e34fba	1803	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1804	* @return Current interrupt status
garfieldsg	0:662207e34fba	1805	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1806	* @see MPU6050_INTERRUPT_FF_BIT
garfieldsg	0:662207e34fba	1807	*/
garfieldsg	0:662207e34fba	1808	bool MPU6050::getIntFreefallStatus()
garfieldsg	0:662207e34fba	1809	{
garfieldsg	0:662207e34fba	1810	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
garfieldsg	0:662207e34fba	1811	return buffer[0];
garfieldsg	0:662207e34fba	1812	}
garfieldsg	0:662207e34fba	1813	/** Get Motion Detection interrupt status.
garfieldsg	0:662207e34fba	1814	* This bit automatically sets to 1 when a Motion Detection interrupt has been
garfieldsg	0:662207e34fba	1815	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1816	* @return Current interrupt status
garfieldsg	0:662207e34fba	1817	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1818	* @see MPU6050_INTERRUPT_MOT_BIT
garfieldsg	0:662207e34fba	1819	*/
garfieldsg	0:662207e34fba	1820	bool MPU6050::getIntMotionStatus()
garfieldsg	0:662207e34fba	1821	{
garfieldsg	0:662207e34fba	1822	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
garfieldsg	0:662207e34fba	1823	return buffer[0];
garfieldsg	0:662207e34fba	1824	}
garfieldsg	0:662207e34fba	1825	/** Get Zero Motion Detection interrupt status.
garfieldsg	0:662207e34fba	1826	* This bit automatically sets to 1 when a Zero Motion Detection interrupt has
garfieldsg	0:662207e34fba	1827	* been generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1828	* @return Current interrupt status
garfieldsg	0:662207e34fba	1829	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1830	* @see MPU6050_INTERRUPT_ZMOT_BIT
garfieldsg	0:662207e34fba	1831	*/
garfieldsg	0:662207e34fba	1832	bool MPU6050::getIntZeroMotionStatus()
garfieldsg	0:662207e34fba	1833	{
garfieldsg	0:662207e34fba	1834	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
garfieldsg	0:662207e34fba	1835	return buffer[0];
garfieldsg	0:662207e34fba	1836	}
garfieldsg	0:662207e34fba	1837	/** Get FIFO Buffer Overflow interrupt status.
garfieldsg	0:662207e34fba	1838	* This bit automatically sets to 1 when a Free Fall interrupt has been
garfieldsg	0:662207e34fba	1839	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1840	* @return Current interrupt status
garfieldsg	0:662207e34fba	1841	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1842	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
garfieldsg	0:662207e34fba	1843	*/
garfieldsg	0:662207e34fba	1844	bool MPU6050::getIntFIFOBufferOverflowStatus()
garfieldsg	0:662207e34fba	1845	{
garfieldsg	0:662207e34fba	1846	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
garfieldsg	0:662207e34fba	1847	return buffer[0];
garfieldsg	0:662207e34fba	1848	}
garfieldsg	0:662207e34fba	1849	/** Get I2C Master interrupt status.
garfieldsg	0:662207e34fba	1850	* This bit automatically sets to 1 when an I2C Master interrupt has been
garfieldsg	0:662207e34fba	1851	* generated. For a list of I2C Master interrupts, please refer to Register 54.
garfieldsg	0:662207e34fba	1852	* The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1853	* @return Current interrupt status
garfieldsg	0:662207e34fba	1854	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1855	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
garfieldsg	0:662207e34fba	1856	*/
garfieldsg	0:662207e34fba	1857	bool MPU6050::getIntI2CMasterStatus()
garfieldsg	0:662207e34fba	1858	{
garfieldsg	0:662207e34fba	1859	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
garfieldsg	0:662207e34fba	1860	return buffer[0];
garfieldsg	0:662207e34fba	1861	}
garfieldsg	0:662207e34fba	1862	/** Get Data Ready interrupt status.
garfieldsg	0:662207e34fba	1863	* This bit automatically sets to 1 when a Data Ready interrupt has been
garfieldsg	0:662207e34fba	1864	* generated. The bit clears to 0 after the register has been read.
garfieldsg	0:662207e34fba	1865	* @return Current interrupt status
garfieldsg	0:662207e34fba	1866	* @see MPU6050_RA_INT_STATUS
garfieldsg	0:662207e34fba	1867	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
garfieldsg	0:662207e34fba	1868	*/
garfieldsg	0:662207e34fba	1869	bool MPU6050::getIntDataReadyStatus()
garfieldsg	0:662207e34fba	1870	{
garfieldsg	0:662207e34fba	1871	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
garfieldsg	0:662207e34fba	1872	return buffer[0];
garfieldsg	0:662207e34fba	1873	}
garfieldsg	0:662207e34fba	1874
garfieldsg	0:662207e34fba	1875	// ACCEL_OUT_ registers
garfieldsg	0:662207e34fba	1876
garfieldsg	0:662207e34fba	1877	/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
garfieldsg	0:662207e34fba	1878	* FUNCTION NOT FULLY IMPLEMENTED YET.
garfieldsg	0:662207e34fba	1879	* @param ax 16-bit signed integer container for accelerometer X-axis value
garfieldsg	0:662207e34fba	1880	* @param ay 16-bit signed integer container for accelerometer Y-axis value
garfieldsg	0:662207e34fba	1881	* @param az 16-bit signed integer container for accelerometer Z-axis value
garfieldsg	0:662207e34fba	1882	* @param gx 16-bit signed integer container for gyroscope X-axis value
garfieldsg	0:662207e34fba	1883	* @param gy 16-bit signed integer container for gyroscope Y-axis value
garfieldsg	0:662207e34fba	1884	* @param gz 16-bit signed integer container for gyroscope Z-axis value
garfieldsg	0:662207e34fba	1885	* @param mx 16-bit signed integer container for magnetometer X-axis value
garfieldsg	0:662207e34fba	1886	* @param my 16-bit signed integer container for magnetometer Y-axis value
garfieldsg	0:662207e34fba	1887	* @param mz 16-bit signed integer container for magnetometer Z-axis value
garfieldsg	0:662207e34fba	1888	* @see getMotion6()
garfieldsg	0:662207e34fba	1889	* @see getAcceleration()
garfieldsg	0:662207e34fba	1890	* @see getRotation()
garfieldsg	0:662207e34fba	1891	* @see MPU6050_RA_ACCEL_XOUT_H
garfieldsg	0:662207e34fba	1892	*/
garfieldsg	0:662207e34fba	1893	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	1894	{
tyftyftyf	17:902d1491455f	1895	#ifdef MPU9250
tyftyftyf	17:902d1491455f	1896	get9250Motion9Counts(ax, ay, az, gx, gy, gz, mx, my, mz);
tyftyftyf	17:902d1491455f	1897	#else
garfieldsg	0:662207e34fba	1898	getMotion6(ax, ay, az, gx, gy, gz);
garfieldsg	0:662207e34fba	1899	// TODO: magnetometer integration
tyftyftyf	17:902d1491455f	1900	#endif
garfieldsg	0:662207e34fba	1901	}
tyftyftyf	9:d879deb55ae1	1902
garfieldsg	0:662207e34fba	1903	/** Get raw 6-axis motion sensor readings (accel/gyro).
garfieldsg	0:662207e34fba	1904	* Retrieves all currently available motion sensor values.
garfieldsg	0:662207e34fba	1905	* @param ax 16-bit signed integer container for accelerometer X-axis value
garfieldsg	0:662207e34fba	1906	* @param ay 16-bit signed integer container for accelerometer Y-axis value
garfieldsg	0:662207e34fba	1907	* @param az 16-bit signed integer container for accelerometer Z-axis value
garfieldsg	0:662207e34fba	1908	* @param gx 16-bit signed integer container for gyroscope X-axis value
garfieldsg	0:662207e34fba	1909	* @param gy 16-bit signed integer container for gyroscope Y-axis value
garfieldsg	0:662207e34fba	1910	* @param gz 16-bit signed integer container for gyroscope Z-axis value
garfieldsg	0:662207e34fba	1911	* @see getAcceleration()
garfieldsg	0:662207e34fba	1912	* @see getRotation()
garfieldsg	0:662207e34fba	1913	* @see MPU6050_RA_ACCEL_XOUT_H
garfieldsg	0:662207e34fba	1914	*/
garfieldsg	0:662207e34fba	1915	void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
garfieldsg	0:662207e34fba	1916	{
tyftyftyf	9:d879deb55ae1	1917	*ax = ax_cache;
tyftyftyf	9:d879deb55ae1	1918	*ay = ay_cache;
tyftyftyf	9:d879deb55ae1	1919	*az = az_cache;
tyftyftyf	9:d879deb55ae1	1920	*gx = gx_cache;
tyftyftyf	9:d879deb55ae1	1921	*gy = gy_cache;
tyftyftyf	9:d879deb55ae1	1922	*gz = gz_cache;
garfieldsg	0:662207e34fba	1923	}
tyftyftyf	9:d879deb55ae1	1924
tyftyftyf	11:9549be34fa7f	1925	/*
tyftyftyf	11:9549be34fa7f	1926	* Populate readings cache when finished reading from I2C
tyftyftyf	11:9549be34fa7f	1927	*/
tyftyftyf	9:d879deb55ae1	1928	uint32_t mpureadfin(uint32_t param){
tyftyftyf	9:d879deb55ae1	1929	MPU6050* ins = (MPU6050*)param;
tyftyftyf	13:a74f2d622b54	1930	#ifdef MPU9250
tyftyftyf	9:d879deb55ae1	1931	ins->ax_cache = (((int16_t)ins->mpu_buffer[0]) << 8) \| ins->mpu_buffer[1];
tyftyftyf	9:d879deb55ae1	1932	ins->ay_cache = (((int16_t)ins->mpu_buffer[2]) << 8) \| ins->mpu_buffer[3];
tyftyftyf	9:d879deb55ae1	1933	ins->az_cache = (((int16_t)ins->mpu_buffer[4]) << 8) \| ins->mpu_buffer[5];
tyftyftyf	9:d879deb55ae1	1934	ins->gx_cache = (((int16_t)ins->mpu_buffer[8]) << 8) \| ins->mpu_buffer[9];
tyftyftyf	9:d879deb55ae1	1935	ins->gy_cache = (((int16_t)ins->mpu_buffer[10]) << 8) \| ins->mpu_buffer[11];
tyftyftyf	9:d879deb55ae1	1936	ins->gz_cache = (((int16_t)ins->mpu_buffer[12]) << 8) \| ins->mpu_buffer[13];
tyftyftyf	13:a74f2d622b54	1937	ins->hx_cache = (((int16_t)ins->mpu_buffer[15]) << 8) \| ins->mpu_buffer[14];
tyftyftyf	13:a74f2d622b54	1938	ins->hy_cache = (((int16_t)ins->mpu_buffer[17]) << 8) \| ins->mpu_buffer[16];
tyftyftyf	13:a74f2d622b54	1939	ins->hz_cache = (((int16_t)ins->mpu_buffer[19]) << 8) \| ins->mpu_buffer[18];
tyftyftyf	13:a74f2d622b54	1940	#else
tyftyftyf	13:a74f2d622b54	1941	ins->ax_cache = (((int16_t)ins->mpu_buffer[0]) << 8) \| ins->mpu_buffer[1];
tyftyftyf	13:a74f2d622b54	1942	ins->ay_cache = (((int16_t)ins->mpu_buffer[2]) << 8) \| ins->mpu_buffer[3];
tyftyftyf	13:a74f2d622b54	1943	ins->az_cache = (((int16_t)ins->mpu_buffer[4]) << 8) \| ins->mpu_buffer[5];
tyftyftyf	13:a74f2d622b54	1944	ins->gx_cache = (((int16_t)ins->mpu_buffer[8]) << 8) \| ins->mpu_buffer[9];
tyftyftyf	13:a74f2d622b54	1945	ins->gy_cache = (((int16_t)ins->mpu_buffer[10]) << 8) \| ins->mpu_buffer[11];
tyftyftyf	13:a74f2d622b54	1946	ins->gz_cache = (((int16_t)ins->mpu_buffer[12]) << 8) \| ins->mpu_buffer[13];
tyftyftyf	13:a74f2d622b54	1947	#endif
tyftyftyf	9:d879deb55ae1	1948	return 0;
tyftyftyf	9:d879deb55ae1	1949	}
tyftyftyf	9:d879deb55ae1	1950
tyftyftyf	11:9549be34fa7f	1951	void MPU6050::sample(bool on){
tyftyftyf	11:9549be34fa7f	1952	if (sampling && !on)
tyftyftyf	11:9549be34fa7f	1953	mpu_sampling.detach();
tyftyftyf	11:9549be34fa7f	1954	if (!sampling && on)
tyftyftyf	11:9549be34fa7f	1955	start_sampling();
tyftyftyf	11:9549be34fa7f	1956	sampling = on;
tyftyftyf	11:9549be34fa7f	1957	}
tyftyftyf	11:9549be34fa7f	1958
tyftyftyf	21:ae3ee2d811eb	1959	#ifdef MPU9250
tyftyftyf	21:ae3ee2d811eb	1960	volatile bool magn_valid_9250 = false;
tyftyftyf	21:ae3ee2d811eb	1961	#endif
tyftyftyf	21:ae3ee2d811eb	1962
tyftyftyf	21:ae3ee2d811eb	1963	void MPU6050::mpu_sample_func(){
tyftyftyf	13:a74f2d622b54	1964	#ifdef MPU9250
tyftyftyf	13:a74f2d622b54	1965	i2Cdev.readBytes_nb(devAddr, &mpu_cmd, 21, (uint8_t*)mpu_buffer, &mpureadfin, this);
tyftyftyf	21:ae3ee2d811eb	1966	static uint32_t counter = 0;
tyftyftyf	21:ae3ee2d811eb	1967	counter += 1;
tyftyftyf	21:ae3ee2d811eb	1968	if (counter % 5 == 0) {
tyftyftyf	21:ae3ee2d811eb	1969	magn_valid_9250 = true;
tyftyftyf	21:ae3ee2d811eb	1970	}
tyftyftyf	13:a74f2d622b54	1971	#else
tyftyftyf	9:d879deb55ae1	1972	i2Cdev.readBytes_nb(devAddr, &mpu_cmd, 14, (uint8_t*)mpu_buffer, &mpureadfin, this);
tyftyftyf	13:a74f2d622b54	1973	#endif
tyftyftyf	9:d879deb55ae1	1974	}
tyftyftyf	9:d879deb55ae1	1975
tyftyftyf	9:d879deb55ae1	1976	void MPU6050::start_sampling(){
tyftyftyf	11:9549be34fa7f	1977	sampling = true;
tyftyftyf	9:d879deb55ae1	1978	mpu_cmd = MPU6050_RA_ACCEL_XOUT_H;
tyftyftyf	21:ae3ee2d811eb	1979	// sample at 500hz
tyftyftyf	9:d879deb55ae1	1980	mpu_sampling.attach_us(this, &MPU6050::mpu_sample_func, 2000);
tyftyftyf	9:d879deb55ae1	1981	}
tyftyftyf	9:d879deb55ae1	1982
garfieldsg	0:662207e34fba	1983	/** Get 3-axis accelerometer readings.
garfieldsg	0:662207e34fba	1984	* These registers store the most recent accelerometer measurements.
garfieldsg	0:662207e34fba	1985	* Accelerometer measurements are written to these registers at the Sample Rate
garfieldsg	0:662207e34fba	1986	* as defined in Register 25.
garfieldsg	0:662207e34fba	1987	*
garfieldsg	0:662207e34fba	1988	* The accelerometer measurement registers, along with the temperature
garfieldsg	0:662207e34fba	1989	* measurement registers, gyroscope measurement registers, and external sensor
garfieldsg	0:662207e34fba	1990	* data registers, are composed of two sets of registers: an internal register
garfieldsg	0:662207e34fba	1991	* set and a user-facing read register set.
garfieldsg	0:662207e34fba	1992	*
garfieldsg	0:662207e34fba	1993	* The data within the accelerometer sensors' internal register set is always
garfieldsg	0:662207e34fba	1994	* updated at the Sample Rate. Meanwhile, the user-facing read register set
garfieldsg	0:662207e34fba	1995	* duplicates the internal register set's data values whenever the serial
garfieldsg	0:662207e34fba	1996	* interface is idle. This guarantees that a burst read of sensor registers will
garfieldsg	0:662207e34fba	1997	* read measurements from the same sampling instant. Note that if burst reads
garfieldsg	0:662207e34fba	1998	* are not used, the user is responsible for ensuring a set of single byte reads
garfieldsg	0:662207e34fba	1999	* correspond to a single sampling instant by checking the Data Ready interrupt.
garfieldsg	0:662207e34fba	2000	*
garfieldsg	0:662207e34fba	2001	* Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
garfieldsg	0:662207e34fba	2002	* (Register 28). For each full scale setting, the accelerometers' sensitivity
garfieldsg	0:662207e34fba	2003	* per LSB in ACCEL_xOUT is shown in the table below:
garfieldsg	0:662207e34fba	2004	*
garfieldsg	0:662207e34fba	2005	* <pre>
garfieldsg	0:662207e34fba	2006	* AFS_SEL \| Full Scale Range \| LSB Sensitivity
garfieldsg	0:662207e34fba	2007	* --------+------------------+----------------
garfieldsg	0:662207e34fba	2008	* 0 \| +/- 2g \| 8192 LSB/mg
garfieldsg	0:662207e34fba	2009	* 1 \| +/- 4g \| 4096 LSB/mg
garfieldsg	0:662207e34fba	2010	* 2 \| +/- 8g \| 2048 LSB/mg
garfieldsg	0:662207e34fba	2011	* 3 \| +/- 16g \| 1024 LSB/mg
garfieldsg	0:662207e34fba	2012	* </pre>
garfieldsg	0:662207e34fba	2013	*
garfieldsg	0:662207e34fba	2014	* @param x 16-bit signed integer container for X-axis acceleration
garfieldsg	0:662207e34fba	2015	* @param y 16-bit signed integer container for Y-axis acceleration
garfieldsg	0:662207e34fba	2016	* @param z 16-bit signed integer container for Z-axis acceleration
garfieldsg	0:662207e34fba	2017	* @see MPU6050_RA_GYRO_XOUT_H
garfieldsg	0:662207e34fba	2018	*/
garfieldsg	0:662207e34fba	2019	void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z)
garfieldsg	0:662207e34fba	2020	{
garfieldsg	0:662207e34fba	2021	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
garfieldsg	0:662207e34fba	2022	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2023	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
garfieldsg	0:662207e34fba	2024	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
garfieldsg	0:662207e34fba	2025	}
garfieldsg	0:662207e34fba	2026	/** Get X-axis accelerometer reading.
garfieldsg	0:662207e34fba	2027	* @return X-axis acceleration measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2028	* @see getMotion6()
garfieldsg	0:662207e34fba	2029	* @see MPU6050_RA_ACCEL_XOUT_H
garfieldsg	0:662207e34fba	2030	*/
garfieldsg	0:662207e34fba	2031	int16_t MPU6050::getAccelerationX()
garfieldsg	0:662207e34fba	2032	{
garfieldsg	0:662207e34fba	2033	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2034	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2035	}
garfieldsg	0:662207e34fba	2036	/** Get Y-axis accelerometer reading.
garfieldsg	0:662207e34fba	2037	* @return Y-axis acceleration measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2038	* @see getMotion6()
garfieldsg	0:662207e34fba	2039	* @see MPU6050_RA_ACCEL_YOUT_H
garfieldsg	0:662207e34fba	2040	*/
garfieldsg	0:662207e34fba	2041	int16_t MPU6050::getAccelerationY()
garfieldsg	0:662207e34fba	2042	{
garfieldsg	0:662207e34fba	2043	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2044	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2045	}
garfieldsg	0:662207e34fba	2046	/** Get Z-axis accelerometer reading.
garfieldsg	0:662207e34fba	2047	* @return Z-axis acceleration measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2048	* @see getMotion6()
garfieldsg	0:662207e34fba	2049	* @see MPU6050_RA_ACCEL_ZOUT_H
garfieldsg	0:662207e34fba	2050	*/
garfieldsg	0:662207e34fba	2051	int16_t MPU6050::getAccelerationZ()
garfieldsg	0:662207e34fba	2052	{
garfieldsg	0:662207e34fba	2053	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2054	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2055	}
garfieldsg	0:662207e34fba	2056
garfieldsg	0:662207e34fba	2057	// TEMP_OUT_* registers
garfieldsg	0:662207e34fba	2058
garfieldsg	0:662207e34fba	2059	/** Get current internal temperature.
garfieldsg	0:662207e34fba	2060	* @return Temperature reading in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2061	* @see MPU6050_RA_TEMP_OUT_H
garfieldsg	0:662207e34fba	2062	*/
garfieldsg	0:662207e34fba	2063	int16_t MPU6050::getTemperature()
garfieldsg	0:662207e34fba	2064	{
garfieldsg	0:662207e34fba	2065	i2Cdev.readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2066	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2067	}
garfieldsg	0:662207e34fba	2068
garfieldsg	0:662207e34fba	2069	// GYRO_OUT_ registers
garfieldsg	0:662207e34fba	2070
garfieldsg	0:662207e34fba	2071	/** Get 3-axis gyroscope readings.
garfieldsg	0:662207e34fba	2072	* These gyroscope measurement registers, along with the accelerometer
garfieldsg	0:662207e34fba	2073	* measurement registers, temperature measurement registers, and external sensor
garfieldsg	0:662207e34fba	2074	* data registers, are composed of two sets of registers: an internal register
garfieldsg	0:662207e34fba	2075	* set and a user-facing read register set.
garfieldsg	0:662207e34fba	2076	* The data within the gyroscope sensors' internal register set is always
garfieldsg	0:662207e34fba	2077	* updated at the Sample Rate. Meanwhile, the user-facing read register set
garfieldsg	0:662207e34fba	2078	* duplicates the internal register set's data values whenever the serial
garfieldsg	0:662207e34fba	2079	* interface is idle. This guarantees that a burst read of sensor registers will
garfieldsg	0:662207e34fba	2080	* read measurements from the same sampling instant. Note that if burst reads
garfieldsg	0:662207e34fba	2081	* are not used, the user is responsible for ensuring a set of single byte reads
garfieldsg	0:662207e34fba	2082	* correspond to a single sampling instant by checking the Data Ready interrupt.
garfieldsg	0:662207e34fba	2083	*
garfieldsg	0:662207e34fba	2084	* Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
garfieldsg	0:662207e34fba	2085	* (Register 27). For each full scale setting, the gyroscopes' sensitivity per
garfieldsg	0:662207e34fba	2086	* LSB in GYRO_xOUT is shown in the table below:
garfieldsg	0:662207e34fba	2087	*
garfieldsg	0:662207e34fba	2088	* <pre>
garfieldsg	0:662207e34fba	2089	* FS_SEL \| Full Scale Range \| LSB Sensitivity
garfieldsg	0:662207e34fba	2090	* -------+--------------------+----------------
garfieldsg	0:662207e34fba	2091	* 0 \| +/- 250 degrees/s \| 131 LSB/deg/s
garfieldsg	0:662207e34fba	2092	* 1 \| +/- 500 degrees/s \| 65.5 LSB/deg/s
garfieldsg	0:662207e34fba	2093	* 2 \| +/- 1000 degrees/s \| 32.8 LSB/deg/s
garfieldsg	0:662207e34fba	2094	* 3 \| +/- 2000 degrees/s \| 16.4 LSB/deg/s
garfieldsg	0:662207e34fba	2095	* </pre>
garfieldsg	0:662207e34fba	2096	*
garfieldsg	0:662207e34fba	2097	* @param x 16-bit signed integer container for X-axis rotation
garfieldsg	0:662207e34fba	2098	* @param y 16-bit signed integer container for Y-axis rotation
garfieldsg	0:662207e34fba	2099	* @param z 16-bit signed integer container for Z-axis rotation
garfieldsg	0:662207e34fba	2100	* @see getMotion6()
garfieldsg	0:662207e34fba	2101	* @see MPU6050_RA_GYRO_XOUT_H
garfieldsg	0:662207e34fba	2102	*/
garfieldsg	0:662207e34fba	2103	void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z)
garfieldsg	0:662207e34fba	2104	{
garfieldsg	0:662207e34fba	2105	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
garfieldsg	0:662207e34fba	2106	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2107	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
garfieldsg	0:662207e34fba	2108	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
garfieldsg	0:662207e34fba	2109	}
garfieldsg	0:662207e34fba	2110	/** Get X-axis gyroscope reading.
garfieldsg	0:662207e34fba	2111	* @return X-axis rotation measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2112	* @see getMotion6()
garfieldsg	0:662207e34fba	2113	* @see MPU6050_RA_GYRO_XOUT_H
garfieldsg	0:662207e34fba	2114	*/
garfieldsg	0:662207e34fba	2115	int16_t MPU6050::getRotationX()
garfieldsg	0:662207e34fba	2116	{
garfieldsg	0:662207e34fba	2117	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2118	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2119	}
garfieldsg	0:662207e34fba	2120	/** Get Y-axis gyroscope reading.
garfieldsg	0:662207e34fba	2121	* @return Y-axis rotation measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2122	* @see getMotion6()
garfieldsg	0:662207e34fba	2123	* @see MPU6050_RA_GYRO_YOUT_H
garfieldsg	0:662207e34fba	2124	*/
garfieldsg	0:662207e34fba	2125	int16_t MPU6050::getRotationY()
garfieldsg	0:662207e34fba	2126	{
garfieldsg	0:662207e34fba	2127	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2128	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2129	}
garfieldsg	0:662207e34fba	2130	/** Get Z-axis gyroscope reading.
garfieldsg	0:662207e34fba	2131	* @return Z-axis rotation measurement in 16-bit 2's complement format
garfieldsg	0:662207e34fba	2132	* @see getMotion6()
garfieldsg	0:662207e34fba	2133	* @see MPU6050_RA_GYRO_ZOUT_H
garfieldsg	0:662207e34fba	2134	*/
garfieldsg	0:662207e34fba	2135	int16_t MPU6050::getRotationZ()
garfieldsg	0:662207e34fba	2136	{
garfieldsg	0:662207e34fba	2137	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
garfieldsg	0:662207e34fba	2138	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2139	}
garfieldsg	0:662207e34fba	2140
garfieldsg	0:662207e34fba	2141	// EXT_SENS_DATA_* registers
garfieldsg	0:662207e34fba	2142
garfieldsg	0:662207e34fba	2143	/** Read single byte from external sensor data register.
garfieldsg	0:662207e34fba	2144	* These registers store data read from external sensors by the Slave 0, 1, 2,
garfieldsg	0:662207e34fba	2145	* and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
garfieldsg	0:662207e34fba	2146	* I2C_SLV4_DI (Register 53).
garfieldsg	0:662207e34fba	2147	*
garfieldsg	0:662207e34fba	2148	* External sensor data is written to these registers at the Sample Rate as
garfieldsg	0:662207e34fba	2149	* defined in Register 25. This access rate can be reduced by using the Slave
garfieldsg	0:662207e34fba	2150	* Delay Enable registers (Register 103).
garfieldsg	0:662207e34fba	2151	*
garfieldsg	0:662207e34fba	2152	* External sensor data registers, along with the gyroscope measurement
garfieldsg	0:662207e34fba	2153	* registers, accelerometer measurement registers, and temperature measurement
garfieldsg	0:662207e34fba	2154	* registers, are composed of two sets of registers: an internal register set
garfieldsg	0:662207e34fba	2155	* and a user-facing read register set.
garfieldsg	0:662207e34fba	2156	*
garfieldsg	0:662207e34fba	2157	* The data within the external sensors' internal register set is always updated
garfieldsg	0:662207e34fba	2158	* at the Sample Rate (or the reduced access rate) whenever the serial interface
garfieldsg	0:662207e34fba	2159	* is idle. This guarantees that a burst read of sensor registers will read
garfieldsg	0:662207e34fba	2160	* measurements from the same sampling instant. Note that if burst reads are not
garfieldsg	0:662207e34fba	2161	* used, the user is responsible for ensuring a set of single byte reads
garfieldsg	0:662207e34fba	2162	* correspond to a single sampling instant by checking the Data Ready interrupt.
garfieldsg	0:662207e34fba	2163	*
garfieldsg	0:662207e34fba	2164	* Data is placed in these external sensor data registers according to
garfieldsg	0:662207e34fba	2165	* I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
garfieldsg	0:662207e34fba	2166	* 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
garfieldsg	0:662207e34fba	2167	* an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
garfieldsg	0:662207e34fba	2168	* defined in Register 25) or delayed rate (if specified in Register 52 and
garfieldsg	0:662207e34fba	2169	* 103). During each Sample cycle, slave reads are performed in order of Slave
garfieldsg	0:662207e34fba	2170	* number. If all slaves are enabled with more than zero bytes to be read, the
garfieldsg	0:662207e34fba	2171	* order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
garfieldsg	0:662207e34fba	2172	*
garfieldsg	0:662207e34fba	2173	* Each enabled slave will have EXT_SENS_DATA registers associated with it by
garfieldsg	0:662207e34fba	2174	* number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
garfieldsg	0:662207e34fba	2175	* EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
garfieldsg	0:662207e34fba	2176	* change the higher numbered slaves' associated registers. Furthermore, if
garfieldsg	0:662207e34fba	2177	* fewer total bytes are being read from the external sensors as a result of
garfieldsg	0:662207e34fba	2178	* such a change, then the data remaining in the registers which no longer have
garfieldsg	0:662207e34fba	2179	* an associated slave device (i.e. high numbered registers) will remain in
garfieldsg	0:662207e34fba	2180	* these previously allocated registers unless reset.
garfieldsg	0:662207e34fba	2181	*
garfieldsg	0:662207e34fba	2182	* If the sum of the read lengths of all SLVx transactions exceed the number of
garfieldsg	0:662207e34fba	2183	* available EXT_SENS_DATA registers, the excess bytes will be dropped. There
garfieldsg	0:662207e34fba	2184	* are 24 EXT_SENS_DATA registers and hence the total read lengths between all
garfieldsg	0:662207e34fba	2185	* the slaves cannot be greater than 24 or some bytes will be lost.
garfieldsg	0:662207e34fba	2186	*
garfieldsg	0:662207e34fba	2187	* Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
garfieldsg	0:662207e34fba	2188	* information regarding the characteristics of Slave 4, please refer to
garfieldsg	0:662207e34fba	2189	* Registers 49 to 53.
garfieldsg	0:662207e34fba	2190	*
garfieldsg	0:662207e34fba	2191	* EXAMPLE:
garfieldsg	0:662207e34fba	2192	* Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
garfieldsg	0:662207e34fba	2193	* I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
garfieldsg	0:662207e34fba	2194	* I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
garfieldsg	0:662207e34fba	2195	* through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
garfieldsg	0:662207e34fba	2196	* will be associated with Slave 1. If Slave 2 is enabled as well, registers
garfieldsg	0:662207e34fba	2197	* starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
garfieldsg	0:662207e34fba	2198	*
garfieldsg	0:662207e34fba	2199	* If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
garfieldsg	0:662207e34fba	2200	* registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
garfieldsg	0:662207e34fba	2201	* instead.
garfieldsg	0:662207e34fba	2202	*
garfieldsg	0:662207e34fba	2203	* REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
garfieldsg	0:662207e34fba	2204	* If a slave is disabled at any time, the space initially allocated to the
garfieldsg	0:662207e34fba	2205	* slave in the EXT_SENS_DATA register, will remain associated with that slave.
garfieldsg	0:662207e34fba	2206	* This is to avoid dynamic adjustment of the register allocation.
garfieldsg	0:662207e34fba	2207	*
garfieldsg	0:662207e34fba	2208	* The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
garfieldsg	0:662207e34fba	2209	* slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
garfieldsg	0:662207e34fba	2210	*
garfieldsg	0:662207e34fba	2211	* This above is also true if one of the slaves gets NACKed and stops
garfieldsg	0:662207e34fba	2212	* functioning.
garfieldsg	0:662207e34fba	2213	*
garfieldsg	0:662207e34fba	2214	* @param position Starting position (0-23)
garfieldsg	0:662207e34fba	2215	* @return Byte read from register
garfieldsg	0:662207e34fba	2216	*/
garfieldsg	0:662207e34fba	2217	uint8_t MPU6050::getExternalSensorByte(int position)
garfieldsg	0:662207e34fba	2218	{
garfieldsg	0:662207e34fba	2219	i2Cdev.readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
garfieldsg	0:662207e34fba	2220	return buffer[0];
garfieldsg	0:662207e34fba	2221	}
garfieldsg	0:662207e34fba	2222	/** Read word (2 bytes) from external sensor data registers.
garfieldsg	0:662207e34fba	2223	* @param position Starting position (0-21)
garfieldsg	0:662207e34fba	2224	* @return Word read from register
garfieldsg	0:662207e34fba	2225	* @see getExternalSensorByte()
garfieldsg	0:662207e34fba	2226	*/
garfieldsg	0:662207e34fba	2227	uint16_t MPU6050::getExternalSensorWord(int position)
garfieldsg	0:662207e34fba	2228	{
garfieldsg	0:662207e34fba	2229	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
garfieldsg	0:662207e34fba	2230	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2231	}
garfieldsg	0:662207e34fba	2232	/** Read double word (4 bytes) from external sensor data registers.
garfieldsg	0:662207e34fba	2233	* @param position Starting position (0-20)
garfieldsg	0:662207e34fba	2234	* @return Double word read from registers
garfieldsg	0:662207e34fba	2235	* @see getExternalSensorByte()
garfieldsg	0:662207e34fba	2236	*/
garfieldsg	0:662207e34fba	2237	uint32_t MPU6050::getExternalSensorDWord(int position)
garfieldsg	0:662207e34fba	2238	{
garfieldsg	0:662207e34fba	2239	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
garfieldsg	0:662207e34fba	2240	return (((uint32_t)buffer[0]) << 24) \| (((uint32_t)buffer[1]) << 16) \| (((uint16_t)buffer[2]) << 8) \| buffer[3];
garfieldsg	0:662207e34fba	2241	}
garfieldsg	0:662207e34fba	2242
garfieldsg	0:662207e34fba	2243	// MOT_DETECT_STATUS register
garfieldsg	0:662207e34fba	2244
garfieldsg	0:662207e34fba	2245	/** Get X-axis negative motion detection interrupt status.
garfieldsg	0:662207e34fba	2246	* @return Motion detection status
garfieldsg	0:662207e34fba	2247	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2248	* @see MPU6050_MOTION_MOT_XNEG_BIT
garfieldsg	0:662207e34fba	2249	*/
garfieldsg	0:662207e34fba	2250	bool MPU6050::getXNegMotionDetected()
garfieldsg	0:662207e34fba	2251	{
garfieldsg	0:662207e34fba	2252	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
garfieldsg	0:662207e34fba	2253	return buffer[0];
garfieldsg	0:662207e34fba	2254	}
garfieldsg	0:662207e34fba	2255	/** Get X-axis positive motion detection interrupt status.
garfieldsg	0:662207e34fba	2256	* @return Motion detection status
garfieldsg	0:662207e34fba	2257	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2258	* @see MPU6050_MOTION_MOT_XPOS_BIT
garfieldsg	0:662207e34fba	2259	*/
garfieldsg	0:662207e34fba	2260	bool MPU6050::getXPosMotionDetected()
garfieldsg	0:662207e34fba	2261	{
garfieldsg	0:662207e34fba	2262	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
garfieldsg	0:662207e34fba	2263	return buffer[0];
garfieldsg	0:662207e34fba	2264	}
garfieldsg	0:662207e34fba	2265	/** Get Y-axis negative motion detection interrupt status.
garfieldsg	0:662207e34fba	2266	* @return Motion detection status
garfieldsg	0:662207e34fba	2267	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2268	* @see MPU6050_MOTION_MOT_YNEG_BIT
garfieldsg	0:662207e34fba	2269	*/
garfieldsg	0:662207e34fba	2270	bool MPU6050::getYNegMotionDetected()
garfieldsg	0:662207e34fba	2271	{
garfieldsg	0:662207e34fba	2272	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
garfieldsg	0:662207e34fba	2273	return buffer[0];
garfieldsg	0:662207e34fba	2274	}
garfieldsg	0:662207e34fba	2275	/** Get Y-axis positive motion detection interrupt status.
garfieldsg	0:662207e34fba	2276	* @return Motion detection status
garfieldsg	0:662207e34fba	2277	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2278	* @see MPU6050_MOTION_MOT_YPOS_BIT
garfieldsg	0:662207e34fba	2279	*/
garfieldsg	0:662207e34fba	2280	bool MPU6050::getYPosMotionDetected()
garfieldsg	0:662207e34fba	2281	{
garfieldsg	0:662207e34fba	2282	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
garfieldsg	0:662207e34fba	2283	return buffer[0];
garfieldsg	0:662207e34fba	2284	}
garfieldsg	0:662207e34fba	2285	/** Get Z-axis negative motion detection interrupt status.
garfieldsg	0:662207e34fba	2286	* @return Motion detection status
garfieldsg	0:662207e34fba	2287	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2288	* @see MPU6050_MOTION_MOT_ZNEG_BIT
garfieldsg	0:662207e34fba	2289	*/
garfieldsg	0:662207e34fba	2290	bool MPU6050::getZNegMotionDetected()
garfieldsg	0:662207e34fba	2291	{
garfieldsg	0:662207e34fba	2292	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
garfieldsg	0:662207e34fba	2293	return buffer[0];
garfieldsg	0:662207e34fba	2294	}
garfieldsg	0:662207e34fba	2295	/** Get Z-axis positive motion detection interrupt status.
garfieldsg	0:662207e34fba	2296	* @return Motion detection status
garfieldsg	0:662207e34fba	2297	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2298	* @see MPU6050_MOTION_MOT_ZPOS_BIT
garfieldsg	0:662207e34fba	2299	*/
garfieldsg	0:662207e34fba	2300	bool MPU6050::getZPosMotionDetected()
garfieldsg	0:662207e34fba	2301	{
garfieldsg	0:662207e34fba	2302	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
garfieldsg	0:662207e34fba	2303	return buffer[0];
garfieldsg	0:662207e34fba	2304	}
garfieldsg	0:662207e34fba	2305	/** Get zero motion detection interrupt status.
garfieldsg	0:662207e34fba	2306	* @return Motion detection status
garfieldsg	0:662207e34fba	2307	* @see MPU6050_RA_MOT_DETECT_STATUS
garfieldsg	0:662207e34fba	2308	* @see MPU6050_MOTION_MOT_ZRMOT_BIT
garfieldsg	0:662207e34fba	2309	*/
garfieldsg	0:662207e34fba	2310	bool MPU6050::getZeroMotionDetected()
garfieldsg	0:662207e34fba	2311	{
garfieldsg	0:662207e34fba	2312	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
garfieldsg	0:662207e34fba	2313	return buffer[0];
garfieldsg	0:662207e34fba	2314	}
garfieldsg	0:662207e34fba	2315
garfieldsg	0:662207e34fba	2316	// I2C_SLV*_DO register
garfieldsg	0:662207e34fba	2317
garfieldsg	0:662207e34fba	2318	/** Write byte to Data Output container for specified slave.
garfieldsg	0:662207e34fba	2319	* This register holds the output data written into Slave when Slave is set to
garfieldsg	0:662207e34fba	2320	* write mode. For further information regarding Slave control, please
garfieldsg	0:662207e34fba	2321	* refer to Registers 37 to 39 and immediately following.
garfieldsg	0:662207e34fba	2322	* @param num Slave number (0-3)
garfieldsg	0:662207e34fba	2323	* @param data Byte to write
garfieldsg	0:662207e34fba	2324	* @see MPU6050_RA_I2C_SLV0_DO
garfieldsg	0:662207e34fba	2325	*/
garfieldsg	0:662207e34fba	2326	void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data)
garfieldsg	0:662207e34fba	2327	{
garfieldsg	0:662207e34fba	2328	if (num > 3) return;
garfieldsg	0:662207e34fba	2329	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
garfieldsg	0:662207e34fba	2330	}
garfieldsg	0:662207e34fba	2331
garfieldsg	0:662207e34fba	2332	// I2C_MST_DELAY_CTRL register
garfieldsg	0:662207e34fba	2333
garfieldsg	0:662207e34fba	2334	/** Get external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2335	* This register is used to specify the timing of external sensor data
garfieldsg	0:662207e34fba	2336	* shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
garfieldsg	0:662207e34fba	2337	* sensor data is delayed until all data has been received.
garfieldsg	0:662207e34fba	2338	* @return Current external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2339	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2340	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
garfieldsg	0:662207e34fba	2341	*/
garfieldsg	0:662207e34fba	2342	bool MPU6050::getExternalShadowDelayEnabled()
garfieldsg	0:662207e34fba	2343	{
garfieldsg	0:662207e34fba	2344	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
garfieldsg	0:662207e34fba	2345	return buffer[0];
garfieldsg	0:662207e34fba	2346	}
garfieldsg	0:662207e34fba	2347	/** Set external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2348	* @param enabled New external data shadow delay enabled status.
garfieldsg	0:662207e34fba	2349	* @see getExternalShadowDelayEnabled()
garfieldsg	0:662207e34fba	2350	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2351	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
garfieldsg	0:662207e34fba	2352	*/
garfieldsg	0:662207e34fba	2353	void MPU6050::setExternalShadowDelayEnabled(bool enabled)
garfieldsg	0:662207e34fba	2354	{
garfieldsg	0:662207e34fba	2355	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
garfieldsg	0:662207e34fba	2356	}
garfieldsg	0:662207e34fba	2357	/** Get slave delay enabled status.
garfieldsg	0:662207e34fba	2358	* When a particular slave delay is enabled, the rate of access for the that
garfieldsg	0:662207e34fba	2359	* slave device is reduced. When a slave's access rate is decreased relative to
garfieldsg	0:662207e34fba	2360	* the Sample Rate, the slave is accessed every:
garfieldsg	0:662207e34fba	2361	*
garfieldsg	0:662207e34fba	2362	* 1 / (1 + I2C_MST_DLY) Samples
garfieldsg	0:662207e34fba	2363	*
garfieldsg	0:662207e34fba	2364	* This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25)
garfieldsg	0:662207e34fba	2365	* and DLPF_CFG (register 26).
garfieldsg	0:662207e34fba	2366	*
garfieldsg	0:662207e34fba	2367	* For further information regarding I2C_MST_DLY, please refer to register 52.
garfieldsg	0:662207e34fba	2368	* For further information regarding the Sample Rate, please refer to register 25.
garfieldsg	0:662207e34fba	2369	*
garfieldsg	0:662207e34fba	2370	* @param num Slave number (0-4)
garfieldsg	0:662207e34fba	2371	* @return Current slave delay enabled status.
garfieldsg	0:662207e34fba	2372	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2373	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
garfieldsg	0:662207e34fba	2374	*/
garfieldsg	0:662207e34fba	2375	bool MPU6050::getSlaveDelayEnabled(uint8_t num)
garfieldsg	0:662207e34fba	2376	{
garfieldsg	0:662207e34fba	2377	// MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
garfieldsg	0:662207e34fba	2378	if (num > 4) return 0;
garfieldsg	0:662207e34fba	2379	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
garfieldsg	0:662207e34fba	2380	return buffer[0];
garfieldsg	0:662207e34fba	2381	}
garfieldsg	0:662207e34fba	2382	/** Set slave delay enabled status.
garfieldsg	0:662207e34fba	2383	* @param num Slave number (0-4)
garfieldsg	0:662207e34fba	2384	* @param enabled New slave delay enabled status.
garfieldsg	0:662207e34fba	2385	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
garfieldsg	0:662207e34fba	2386	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
garfieldsg	0:662207e34fba	2387	*/
garfieldsg	0:662207e34fba	2388	void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled)
garfieldsg	0:662207e34fba	2389	{
garfieldsg	0:662207e34fba	2390	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
garfieldsg	0:662207e34fba	2391	}
garfieldsg	0:662207e34fba	2392
garfieldsg	0:662207e34fba	2393	// SIGNAL_PATH_RESET register
garfieldsg	0:662207e34fba	2394
garfieldsg	0:662207e34fba	2395	/** Reset gyroscope signal path.
garfieldsg	0:662207e34fba	2396	* The reset will revert the signal path analog to digital converters and
garfieldsg	0:662207e34fba	2397	* filters to their power up configurations.
garfieldsg	0:662207e34fba	2398	* @see MPU6050_RA_SIGNAL_PATH_RESET
garfieldsg	0:662207e34fba	2399	* @see MPU6050_PATHRESET_GYRO_RESET_BIT
garfieldsg	0:662207e34fba	2400	*/
garfieldsg	0:662207e34fba	2401	void MPU6050::resetGyroscopePath()
garfieldsg	0:662207e34fba	2402	{
garfieldsg	0:662207e34fba	2403	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
garfieldsg	0:662207e34fba	2404	}
garfieldsg	0:662207e34fba	2405	/** Reset accelerometer signal path.
garfieldsg	0:662207e34fba	2406	* The reset will revert the signal path analog to digital converters and
garfieldsg	0:662207e34fba	2407	* filters to their power up configurations.
garfieldsg	0:662207e34fba	2408	* @see MPU6050_RA_SIGNAL_PATH_RESET
garfieldsg	0:662207e34fba	2409	* @see MPU6050_PATHRESET_ACCEL_RESET_BIT
garfieldsg	0:662207e34fba	2410	*/
garfieldsg	0:662207e34fba	2411	void MPU6050::resetAccelerometerPath()
garfieldsg	0:662207e34fba	2412	{
garfieldsg	0:662207e34fba	2413	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
garfieldsg	0:662207e34fba	2414	}
garfieldsg	0:662207e34fba	2415	/** Reset temperature sensor signal path.
garfieldsg	0:662207e34fba	2416	* The reset will revert the signal path analog to digital converters and
garfieldsg	0:662207e34fba	2417	* filters to their power up configurations.
garfieldsg	0:662207e34fba	2418	* @see MPU6050_RA_SIGNAL_PATH_RESET
garfieldsg	0:662207e34fba	2419	* @see MPU6050_PATHRESET_TEMP_RESET_BIT
garfieldsg	0:662207e34fba	2420	*/
garfieldsg	0:662207e34fba	2421	void MPU6050::resetTemperaturePath()
garfieldsg	0:662207e34fba	2422	{
garfieldsg	0:662207e34fba	2423	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
garfieldsg	0:662207e34fba	2424	}
garfieldsg	0:662207e34fba	2425
garfieldsg	0:662207e34fba	2426	// MOT_DETECT_CTRL register
garfieldsg	0:662207e34fba	2427
garfieldsg	0:662207e34fba	2428	/** Get accelerometer power-on delay.
garfieldsg	0:662207e34fba	2429	* The accelerometer data path provides samples to the sensor registers, Motion
garfieldsg	0:662207e34fba	2430	* detection, Zero Motion detection, and Free Fall detection modules. The
garfieldsg	0:662207e34fba	2431	* signal path contains filters which must be flushed on wake-up with new
garfieldsg	0:662207e34fba	2432	* samples before the detection modules begin operations. The default wake-up
garfieldsg	0:662207e34fba	2433	* delay, of 4ms can be lengthened by up to 3ms. This additional delay is
garfieldsg	0:662207e34fba	2434	* specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
garfieldsg	0:662207e34fba	2435	* any value above zero unless instructed otherwise by InvenSense. Please refer
garfieldsg	0:662207e34fba	2436	* to Section 8 of the MPU-6000/MPU-6050 Product Specification document for
garfieldsg	0:662207e34fba	2437	* further information regarding the detection modules.
garfieldsg	0:662207e34fba	2438	* @return Current accelerometer power-on delay
garfieldsg	0:662207e34fba	2439	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2440	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
garfieldsg	0:662207e34fba	2441	*/
garfieldsg	0:662207e34fba	2442	uint8_t MPU6050::getAccelerometerPowerOnDelay()
garfieldsg	0:662207e34fba	2443	{
garfieldsg	0:662207e34fba	2444	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
garfieldsg	0:662207e34fba	2445	return buffer[0];
garfieldsg	0:662207e34fba	2446	}
garfieldsg	0:662207e34fba	2447	/** Set accelerometer power-on delay.
garfieldsg	0:662207e34fba	2448	* @param delay New accelerometer power-on delay (0-3)
garfieldsg	0:662207e34fba	2449	* @see getAccelerometerPowerOnDelay()
garfieldsg	0:662207e34fba	2450	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2451	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
garfieldsg	0:662207e34fba	2452	*/
garfieldsg	0:662207e34fba	2453	void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay)
garfieldsg	0:662207e34fba	2454	{
garfieldsg	0:662207e34fba	2455	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
garfieldsg	0:662207e34fba	2456	}
garfieldsg	0:662207e34fba	2457	/** Get Free Fall detection counter decrement configuration.
garfieldsg	0:662207e34fba	2458	* Detection is registered by the Free Fall detection module after accelerometer
garfieldsg	0:662207e34fba	2459	* measurements meet their respective threshold conditions over a specified
garfieldsg	0:662207e34fba	2460	* number of samples. When the threshold conditions are met, the corresponding
garfieldsg	0:662207e34fba	2461	* detection counter increments by 1. The user may control the rate at which the
garfieldsg	0:662207e34fba	2462	* detection counter decrements when the threshold condition is not met by
garfieldsg	0:662207e34fba	2463	* configuring FF_COUNT. The decrement rate can be set according to the
garfieldsg	0:662207e34fba	2464	* following table:
garfieldsg	0:662207e34fba	2465	*
garfieldsg	0:662207e34fba	2466	* <pre>
garfieldsg	0:662207e34fba	2467	* FF_COUNT \| Counter Decrement
garfieldsg	0:662207e34fba	2468	* ---------+------------------
garfieldsg	0:662207e34fba	2469	* 0 \| Reset
garfieldsg	0:662207e34fba	2470	* 1 \| 1
garfieldsg	0:662207e34fba	2471	* 2 \| 2
garfieldsg	0:662207e34fba	2472	* 3 \| 4
garfieldsg	0:662207e34fba	2473	* </pre>
garfieldsg	0:662207e34fba	2474	*
garfieldsg	0:662207e34fba	2475	* When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
garfieldsg	0:662207e34fba	2476	* reset the counter to 0. For further information on Free Fall detection,
garfieldsg	0:662207e34fba	2477	* please refer to Registers 29 to 32.
garfieldsg	0:662207e34fba	2478	*
garfieldsg	0:662207e34fba	2479	* @return Current decrement configuration
garfieldsg	0:662207e34fba	2480	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2481	* @see MPU6050_DETECT_FF_COUNT_BIT
garfieldsg	0:662207e34fba	2482	*/
garfieldsg	0:662207e34fba	2483	uint8_t MPU6050::getFreefallDetectionCounterDecrement()
garfieldsg	0:662207e34fba	2484	{
garfieldsg	0:662207e34fba	2485	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
garfieldsg	0:662207e34fba	2486	return buffer[0];
garfieldsg	0:662207e34fba	2487	}
garfieldsg	0:662207e34fba	2488	/** Set Free Fall detection counter decrement configuration.
garfieldsg	0:662207e34fba	2489	* @param decrement New decrement configuration value
garfieldsg	0:662207e34fba	2490	* @see getFreefallDetectionCounterDecrement()
garfieldsg	0:662207e34fba	2491	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2492	* @see MPU6050_DETECT_FF_COUNT_BIT
garfieldsg	0:662207e34fba	2493	*/
garfieldsg	0:662207e34fba	2494	void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement)
garfieldsg	0:662207e34fba	2495	{
garfieldsg	0:662207e34fba	2496	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
garfieldsg	0:662207e34fba	2497	}
garfieldsg	0:662207e34fba	2498	/** Get Motion detection counter decrement configuration.
garfieldsg	0:662207e34fba	2499	* Detection is registered by the Motion detection module after accelerometer
garfieldsg	0:662207e34fba	2500	* measurements meet their respective threshold conditions over a specified
garfieldsg	0:662207e34fba	2501	* number of samples. When the threshold conditions are met, the corresponding
garfieldsg	0:662207e34fba	2502	* detection counter increments by 1. The user may control the rate at which the
garfieldsg	0:662207e34fba	2503	* detection counter decrements when the threshold condition is not met by
garfieldsg	0:662207e34fba	2504	* configuring MOT_COUNT. The decrement rate can be set according to the
garfieldsg	0:662207e34fba	2505	* following table:
garfieldsg	0:662207e34fba	2506	*
garfieldsg	0:662207e34fba	2507	* <pre>
garfieldsg	0:662207e34fba	2508	* MOT_COUNT \| Counter Decrement
garfieldsg	0:662207e34fba	2509	* ----------+------------------
garfieldsg	0:662207e34fba	2510	* 0 \| Reset
garfieldsg	0:662207e34fba	2511	* 1 \| 1
garfieldsg	0:662207e34fba	2512	* 2 \| 2
garfieldsg	0:662207e34fba	2513	* 3 \| 4
garfieldsg	0:662207e34fba	2514	* </pre>
garfieldsg	0:662207e34fba	2515	*
garfieldsg	0:662207e34fba	2516	* When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
garfieldsg	0:662207e34fba	2517	* reset the counter to 0. For further information on Motion detection,
garfieldsg	0:662207e34fba	2518	* please refer to Registers 29 to 32.
garfieldsg	0:662207e34fba	2519	*
garfieldsg	0:662207e34fba	2520	*/
garfieldsg	0:662207e34fba	2521	uint8_t MPU6050::getMotionDetectionCounterDecrement()
garfieldsg	0:662207e34fba	2522	{
garfieldsg	0:662207e34fba	2523	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
garfieldsg	0:662207e34fba	2524	return buffer[0];
garfieldsg	0:662207e34fba	2525	}
garfieldsg	0:662207e34fba	2526	/** Set Motion detection counter decrement configuration.
garfieldsg	0:662207e34fba	2527	* @param decrement New decrement configuration value
garfieldsg	0:662207e34fba	2528	* @see getMotionDetectionCounterDecrement()
garfieldsg	0:662207e34fba	2529	* @see MPU6050_RA_MOT_DETECT_CTRL
garfieldsg	0:662207e34fba	2530	* @see MPU6050_DETECT_MOT_COUNT_BIT
garfieldsg	0:662207e34fba	2531	*/
garfieldsg	0:662207e34fba	2532	void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement)
garfieldsg	0:662207e34fba	2533	{
garfieldsg	0:662207e34fba	2534	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
garfieldsg	0:662207e34fba	2535	}
garfieldsg	0:662207e34fba	2536
garfieldsg	0:662207e34fba	2537	// USER_CTRL register
garfieldsg	0:662207e34fba	2538
garfieldsg	0:662207e34fba	2539	/** Get FIFO enabled status.
garfieldsg	0:662207e34fba	2540	* When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
garfieldsg	0:662207e34fba	2541	* cannot be written to or read from while disabled. The FIFO buffer's state
garfieldsg	0:662207e34fba	2542	* does not change unless the MPU-60X0 is power cycled.
garfieldsg	0:662207e34fba	2543	* @return Current FIFO enabled status
garfieldsg	0:662207e34fba	2544	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2545	* @see MPU6050_USERCTRL_FIFO_EN_BIT
garfieldsg	0:662207e34fba	2546	*/
garfieldsg	0:662207e34fba	2547	bool MPU6050::getFIFOEnabled()
garfieldsg	0:662207e34fba	2548	{
garfieldsg	0:662207e34fba	2549	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
garfieldsg	0:662207e34fba	2550	return buffer[0];
garfieldsg	0:662207e34fba	2551	}
garfieldsg	0:662207e34fba	2552	/** Set FIFO enabled status.
garfieldsg	0:662207e34fba	2553	* @param enabled New FIFO enabled status
garfieldsg	0:662207e34fba	2554	* @see getFIFOEnabled()
garfieldsg	0:662207e34fba	2555	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2556	* @see MPU6050_USERCTRL_FIFO_EN_BIT
garfieldsg	0:662207e34fba	2557	*/
garfieldsg	0:662207e34fba	2558	void MPU6050::setFIFOEnabled(bool enabled)
garfieldsg	0:662207e34fba	2559	{
garfieldsg	0:662207e34fba	2560	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
garfieldsg	0:662207e34fba	2561	}
garfieldsg	0:662207e34fba	2562	/** Get I2C Master Mode enabled status.
garfieldsg	0:662207e34fba	2563	* When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
garfieldsg	0:662207e34fba	2564	* external sensor slave devices on the auxiliary I2C bus. When this bit is
garfieldsg	0:662207e34fba	2565	* cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
garfieldsg	0:662207e34fba	2566	* driven by the primary I2C bus (SDA and SCL). This is a precondition to
garfieldsg	0:662207e34fba	2567	* enabling Bypass Mode. For further information regarding Bypass Mode, please
garfieldsg	0:662207e34fba	2568	* refer to Register 55.
garfieldsg	0:662207e34fba	2569	* @return Current I2C Master Mode enabled status
garfieldsg	0:662207e34fba	2570	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2571	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
garfieldsg	0:662207e34fba	2572	*/
garfieldsg	0:662207e34fba	2573	bool MPU6050::getI2CMasterModeEnabled()
garfieldsg	0:662207e34fba	2574	{
garfieldsg	0:662207e34fba	2575	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
garfieldsg	0:662207e34fba	2576	return buffer[0];
garfieldsg	0:662207e34fba	2577	}
garfieldsg	0:662207e34fba	2578	/** Set I2C Master Mode enabled status.
garfieldsg	0:662207e34fba	2579	* @param enabled New I2C Master Mode enabled status
garfieldsg	0:662207e34fba	2580	* @see getI2CMasterModeEnabled()
garfieldsg	0:662207e34fba	2581	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2582	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
garfieldsg	0:662207e34fba	2583	*/
garfieldsg	0:662207e34fba	2584	void MPU6050::setI2CMasterModeEnabled(bool enabled)
garfieldsg	0:662207e34fba	2585	{
garfieldsg	0:662207e34fba	2586	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
garfieldsg	0:662207e34fba	2587	}
garfieldsg	0:662207e34fba	2588	/** Switch from I2C to SPI mode (MPU-6000 only)
garfieldsg	0:662207e34fba	2589	* If this is set, the primary SPI interface will be enabled in place of the
garfieldsg	0:662207e34fba	2590	* disabled primary I2C interface.
garfieldsg	0:662207e34fba	2591	*/
garfieldsg	0:662207e34fba	2592	void MPU6050::switchSPIEnabled(bool enabled)
garfieldsg	0:662207e34fba	2593	{
garfieldsg	0:662207e34fba	2594	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
garfieldsg	0:662207e34fba	2595	}
garfieldsg	0:662207e34fba	2596	/** Reset the FIFO.
garfieldsg	0:662207e34fba	2597	* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
garfieldsg	0:662207e34fba	2598	* bit automatically clears to 0 after the reset has been triggered.
garfieldsg	0:662207e34fba	2599	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2600	* @see MPU6050_USERCTRL_FIFO_RESET_BIT
garfieldsg	0:662207e34fba	2601	*/
garfieldsg	0:662207e34fba	2602	void MPU6050::resetFIFO()
garfieldsg	0:662207e34fba	2603	{
garfieldsg	0:662207e34fba	2604	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
garfieldsg	0:662207e34fba	2605	}
garfieldsg	0:662207e34fba	2606	/** Reset the I2C Master.
garfieldsg	0:662207e34fba	2607	* This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
garfieldsg	0:662207e34fba	2608	* This bit automatically clears to 0 after the reset has been triggered.
garfieldsg	0:662207e34fba	2609	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2610	* @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
garfieldsg	0:662207e34fba	2611	*/
garfieldsg	0:662207e34fba	2612	void MPU6050::resetI2CMaster()
garfieldsg	0:662207e34fba	2613	{
garfieldsg	0:662207e34fba	2614	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
garfieldsg	0:662207e34fba	2615	}
garfieldsg	0:662207e34fba	2616	/** Reset all sensor registers and signal paths.
garfieldsg	0:662207e34fba	2617	* When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
garfieldsg	0:662207e34fba	2618	* accelerometers, and temperature sensor). This operation will also clear the
garfieldsg	0:662207e34fba	2619	* sensor registers. This bit automatically clears to 0 after the reset has been
garfieldsg	0:662207e34fba	2620	* triggered.
garfieldsg	0:662207e34fba	2621	*
garfieldsg	0:662207e34fba	2622	* When resetting only the signal path (and not the sensor registers), please
garfieldsg	0:662207e34fba	2623	* use Register 104, SIGNAL_PATH_RESET.
garfieldsg	0:662207e34fba	2624	*
garfieldsg	0:662207e34fba	2625	* @see MPU6050_RA_USER_CTRL
garfieldsg	0:662207e34fba	2626	* @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
garfieldsg	0:662207e34fba	2627	*/
garfieldsg	0:662207e34fba	2628	void MPU6050::resetSensors()
garfieldsg	0:662207e34fba	2629	{
garfieldsg	0:662207e34fba	2630	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
garfieldsg	0:662207e34fba	2631	}
garfieldsg	0:662207e34fba	2632
garfieldsg	0:662207e34fba	2633	// PWR_MGMT_1 register
garfieldsg	0:662207e34fba	2634
garfieldsg	0:662207e34fba	2635	/** Trigger a full device reset.
garfieldsg	0:662207e34fba	2636	* A small delay of ~50ms may be desirable after triggering a reset.
garfieldsg	0:662207e34fba	2637	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2638	* @see MPU6050_PWR1_DEVICE_RESET_BIT
garfieldsg	0:662207e34fba	2639	*/
garfieldsg	0:662207e34fba	2640	void MPU6050::reset()
garfieldsg	0:662207e34fba	2641	{
garfieldsg	0:662207e34fba	2642	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
garfieldsg	0:662207e34fba	2643	}
garfieldsg	0:662207e34fba	2644	/** Get sleep mode status.
garfieldsg	0:662207e34fba	2645	* Setting the SLEEP bit in the register puts the device into very low power
garfieldsg	0:662207e34fba	2646	* sleep mode. In this mode, only the serial interface and internal registers
garfieldsg	0:662207e34fba	2647	* remain active, allowing for a very low standby current. Clearing this bit
garfieldsg	0:662207e34fba	2648	* puts the device back into normal mode. To save power, the individual standby
garfieldsg	0:662207e34fba	2649	* selections for each of the gyros should be used if any gyro axis is not used
garfieldsg	0:662207e34fba	2650	* by the application.
garfieldsg	0:662207e34fba	2651	* @return Current sleep mode enabled status
garfieldsg	0:662207e34fba	2652	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2653	* @see MPU6050_PWR1_SLEEP_BIT
garfieldsg	0:662207e34fba	2654	*/
garfieldsg	0:662207e34fba	2655	bool MPU6050::getSleepEnabled()
garfieldsg	0:662207e34fba	2656	{
garfieldsg	0:662207e34fba	2657	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
garfieldsg	0:662207e34fba	2658	return buffer[0];
garfieldsg	0:662207e34fba	2659	}
garfieldsg	0:662207e34fba	2660	/** Set sleep mode status.
garfieldsg	0:662207e34fba	2661	* @param enabled New sleep mode enabled status
garfieldsg	0:662207e34fba	2662	* @see getSleepEnabled()
garfieldsg	0:662207e34fba	2663	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2664	* @see MPU6050_PWR1_SLEEP_BIT
garfieldsg	0:662207e34fba	2665	*/
garfieldsg	0:662207e34fba	2666	void MPU6050::setSleepEnabled(bool enabled)
garfieldsg	0:662207e34fba	2667	{
garfieldsg	0:662207e34fba	2668	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
garfieldsg	0:662207e34fba	2669	}
garfieldsg	0:662207e34fba	2670	/** Get wake cycle enabled status.
garfieldsg	0:662207e34fba	2671	* When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
garfieldsg	0:662207e34fba	2672	* between sleep mode and waking up to take a single sample of data from active
garfieldsg	0:662207e34fba	2673	* sensors at a rate determined by LP_WAKE_CTRL (register 108).
garfieldsg	0:662207e34fba	2674	* @return Current sleep mode enabled status
garfieldsg	0:662207e34fba	2675	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2676	* @see MPU6050_PWR1_CYCLE_BIT
garfieldsg	0:662207e34fba	2677	*/
garfieldsg	0:662207e34fba	2678	bool MPU6050::getWakeCycleEnabled()
garfieldsg	0:662207e34fba	2679	{
garfieldsg	0:662207e34fba	2680	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
garfieldsg	0:662207e34fba	2681	return buffer[0];
garfieldsg	0:662207e34fba	2682	}
garfieldsg	0:662207e34fba	2683	/** Set wake cycle enabled status.
garfieldsg	0:662207e34fba	2684	* @param enabled New sleep mode enabled status
garfieldsg	0:662207e34fba	2685	* @see getWakeCycleEnabled()
garfieldsg	0:662207e34fba	2686	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2687	* @see MPU6050_PWR1_CYCLE_BIT
garfieldsg	0:662207e34fba	2688	*/
garfieldsg	0:662207e34fba	2689	void MPU6050::setWakeCycleEnabled(bool enabled)
garfieldsg	0:662207e34fba	2690	{
garfieldsg	0:662207e34fba	2691	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
garfieldsg	0:662207e34fba	2692	}
garfieldsg	0:662207e34fba	2693	/** Get temperature sensor enabled status.
garfieldsg	0:662207e34fba	2694	* Control the usage of the internal temperature sensor.
garfieldsg	0:662207e34fba	2695	*
garfieldsg	0:662207e34fba	2696	* Note: this register stores the disabled value, but for consistency with the
garfieldsg	0:662207e34fba	2697	* rest of the code, the function is named and used with standard true/false
garfieldsg	0:662207e34fba	2698	* values to indicate whether the sensor is enabled or disabled, respectively.
garfieldsg	0:662207e34fba	2699	*
garfieldsg	0:662207e34fba	2700	* @return Current temperature sensor enabled status
garfieldsg	0:662207e34fba	2701	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2702	* @see MPU6050_PWR1_TEMP_DIS_BIT
garfieldsg	0:662207e34fba	2703	*/
garfieldsg	0:662207e34fba	2704	bool MPU6050::getTempSensorEnabled()
garfieldsg	0:662207e34fba	2705	{
garfieldsg	0:662207e34fba	2706	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
garfieldsg	0:662207e34fba	2707	return buffer[0] == 0; // 1 is actually disabled here
garfieldsg	0:662207e34fba	2708	}
garfieldsg	0:662207e34fba	2709	/** Set temperature sensor enabled status.
garfieldsg	0:662207e34fba	2710	* Note: this register stores the disabled value, but for consistency with the
garfieldsg	0:662207e34fba	2711	* rest of the code, the function is named and used with standard true/false
garfieldsg	0:662207e34fba	2712	* values to indicate whether the sensor is enabled or disabled, respectively.
garfieldsg	0:662207e34fba	2713	*
garfieldsg	0:662207e34fba	2714	* @param enabled New temperature sensor enabled status
garfieldsg	0:662207e34fba	2715	* @see getTempSensorEnabled()
garfieldsg	0:662207e34fba	2716	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2717	* @see MPU6050_PWR1_TEMP_DIS_BIT
garfieldsg	0:662207e34fba	2718	*/
garfieldsg	0:662207e34fba	2719	void MPU6050::setTempSensorEnabled(bool enabled)
garfieldsg	0:662207e34fba	2720	{
garfieldsg	0:662207e34fba	2721	// 1 is actually disabled here
garfieldsg	0:662207e34fba	2722	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
garfieldsg	0:662207e34fba	2723	}
garfieldsg	0:662207e34fba	2724	/** Get clock source setting.
garfieldsg	0:662207e34fba	2725	* @return Current clock source setting
garfieldsg	0:662207e34fba	2726	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2727	* @see MPU6050_PWR1_CLKSEL_BIT
garfieldsg	0:662207e34fba	2728	* @see MPU6050_PWR1_CLKSEL_LENGTH
garfieldsg	0:662207e34fba	2729	*/
garfieldsg	0:662207e34fba	2730	uint8_t MPU6050::getClockSource()
garfieldsg	0:662207e34fba	2731	{
garfieldsg	0:662207e34fba	2732	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
garfieldsg	0:662207e34fba	2733	return buffer[0];
garfieldsg	0:662207e34fba	2734	}
garfieldsg	0:662207e34fba	2735	/** Set clock source setting.
garfieldsg	0:662207e34fba	2736	* An internal 8MHz oscillator, gyroscope based clock, or external sources can
garfieldsg	0:662207e34fba	2737	* be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
garfieldsg	0:662207e34fba	2738	* or an external source is chosen as the clock source, the MPU-60X0 can operate
garfieldsg	0:662207e34fba	2739	* in low power modes with the gyroscopes disabled.
garfieldsg	0:662207e34fba	2740	*
garfieldsg	0:662207e34fba	2741	* Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
garfieldsg	0:662207e34fba	2742	* However, it is highly recommended that the device be configured to use one of
garfieldsg	0:662207e34fba	2743	* the gyroscopes (or an external clock source) as the clock reference for
garfieldsg	0:662207e34fba	2744	* improved stability. The clock source can be selected according to the following table:
garfieldsg	0:662207e34fba	2745	*
garfieldsg	0:662207e34fba	2746	* <pre>
garfieldsg	0:662207e34fba	2747	* CLK_SEL \| Clock Source
garfieldsg	0:662207e34fba	2748	* --------+--------------------------------------
garfieldsg	0:662207e34fba	2749	* 0 \| Internal oscillator
garfieldsg	0:662207e34fba	2750	* 1 \| PLL with X Gyro reference
garfieldsg	0:662207e34fba	2751	* 2 \| PLL with Y Gyro reference
garfieldsg	0:662207e34fba	2752	* 3 \| PLL with Z Gyro reference
garfieldsg	0:662207e34fba	2753	* 4 \| PLL with external 32.768kHz reference
garfieldsg	0:662207e34fba	2754	* 5 \| PLL with external 19.2MHz reference
garfieldsg	0:662207e34fba	2755	* 6 \| Reserved
garfieldsg	0:662207e34fba	2756	* 7 \| Stops the clock and keeps the timing generator in reset
garfieldsg	0:662207e34fba	2757	* </pre>
garfieldsg	0:662207e34fba	2758	*
garfieldsg	0:662207e34fba	2759	* @param source New clock source setting
garfieldsg	0:662207e34fba	2760	* @see getClockSource()
garfieldsg	0:662207e34fba	2761	* @see MPU6050_RA_PWR_MGMT_1
garfieldsg	0:662207e34fba	2762	* @see MPU6050_PWR1_CLKSEL_BIT
garfieldsg	0:662207e34fba	2763	* @see MPU6050_PWR1_CLKSEL_LENGTH
garfieldsg	0:662207e34fba	2764	*/
garfieldsg	0:662207e34fba	2765	void MPU6050::setClockSource(uint8_t source)
garfieldsg	0:662207e34fba	2766	{
garfieldsg	0:662207e34fba	2767	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
garfieldsg	0:662207e34fba	2768	}
garfieldsg	0:662207e34fba	2769
garfieldsg	0:662207e34fba	2770	// PWR_MGMT_2 register
garfieldsg	0:662207e34fba	2771
garfieldsg	0:662207e34fba	2772	/** Get wake frequency in Accel-Only Low Power Mode.
garfieldsg	0:662207e34fba	2773	* The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
garfieldsg	0:662207e34fba	2774	* PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
garfieldsg	0:662207e34fba	2775	* the device will power off all devices except for the primary I2C interface,
garfieldsg	0:662207e34fba	2776	* waking only the accelerometer at fixed intervals to take a single
garfieldsg	0:662207e34fba	2777	* measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
garfieldsg	0:662207e34fba	2778	* as shown below:
garfieldsg	0:662207e34fba	2779	*
garfieldsg	0:662207e34fba	2780	* <pre>
garfieldsg	0:662207e34fba	2781	* LP_WAKE_CTRL \| Wake-up Frequency
garfieldsg	0:662207e34fba	2782	* -------------+------------------
garfieldsg	0:662207e34fba	2783	* 0 \| 1.25 Hz
garfieldsg	0:662207e34fba	2784	* 1 \| 2.5 Hz
garfieldsg	0:662207e34fba	2785	* 2 \| 5 Hz
garfieldsg	0:662207e34fba	2786	* 3 \| 10 Hz
garfieldsg	0:662207e34fba	2787	* <pre>
garfieldsg	0:662207e34fba	2788	*
garfieldsg	0:662207e34fba	2789	* For further information regarding the MPU-60X0's power modes, please refer to
garfieldsg	0:662207e34fba	2790	* Register 107.
garfieldsg	0:662207e34fba	2791	*
garfieldsg	0:662207e34fba	2792	* @return Current wake frequency
garfieldsg	0:662207e34fba	2793	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2794	*/
garfieldsg	0:662207e34fba	2795	uint8_t MPU6050::getWakeFrequency()
garfieldsg	0:662207e34fba	2796	{
garfieldsg	0:662207e34fba	2797	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
garfieldsg	0:662207e34fba	2798	return buffer[0];
garfieldsg	0:662207e34fba	2799	}
garfieldsg	0:662207e34fba	2800	/** Set wake frequency in Accel-Only Low Power Mode.
garfieldsg	0:662207e34fba	2801	* @param frequency New wake frequency
garfieldsg	0:662207e34fba	2802	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2803	*/
garfieldsg	0:662207e34fba	2804	void MPU6050::setWakeFrequency(uint8_t frequency)
garfieldsg	0:662207e34fba	2805	{
garfieldsg	0:662207e34fba	2806	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
garfieldsg	0:662207e34fba	2807	}
garfieldsg	0:662207e34fba	2808
garfieldsg	0:662207e34fba	2809	/** Get X-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2810	* If enabled, the X-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2811	* @return Current X-axis standby enabled status
garfieldsg	0:662207e34fba	2812	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2813	* @see MPU6050_PWR2_STBY_XA_BIT
garfieldsg	0:662207e34fba	2814	*/
garfieldsg	0:662207e34fba	2815	bool MPU6050::getStandbyXAccelEnabled()
garfieldsg	0:662207e34fba	2816	{
garfieldsg	0:662207e34fba	2817	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
garfieldsg	0:662207e34fba	2818	return buffer[0];
garfieldsg	0:662207e34fba	2819	}
garfieldsg	0:662207e34fba	2820	/** Set X-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2821	* @param New X-axis standby enabled status
garfieldsg	0:662207e34fba	2822	* @see getStandbyXAccelEnabled()
garfieldsg	0:662207e34fba	2823	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2824	* @see MPU6050_PWR2_STBY_XA_BIT
garfieldsg	0:662207e34fba	2825	*/
garfieldsg	0:662207e34fba	2826	void MPU6050::setStandbyXAccelEnabled(bool enabled)
garfieldsg	0:662207e34fba	2827	{
garfieldsg	0:662207e34fba	2828	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
garfieldsg	0:662207e34fba	2829	}
garfieldsg	0:662207e34fba	2830	/** Get Y-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2831	* If enabled, the Y-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2832	* @return Current Y-axis standby enabled status
garfieldsg	0:662207e34fba	2833	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2834	* @see MPU6050_PWR2_STBY_YA_BIT
garfieldsg	0:662207e34fba	2835	*/
garfieldsg	0:662207e34fba	2836	bool MPU6050::getStandbyYAccelEnabled()
garfieldsg	0:662207e34fba	2837	{
garfieldsg	0:662207e34fba	2838	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
garfieldsg	0:662207e34fba	2839	return buffer[0];
garfieldsg	0:662207e34fba	2840	}
garfieldsg	0:662207e34fba	2841	/** Set Y-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2842	* @param New Y-axis standby enabled status
garfieldsg	0:662207e34fba	2843	* @see getStandbyYAccelEnabled()
garfieldsg	0:662207e34fba	2844	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2845	* @see MPU6050_PWR2_STBY_YA_BIT
garfieldsg	0:662207e34fba	2846	*/
garfieldsg	0:662207e34fba	2847	void MPU6050::setStandbyYAccelEnabled(bool enabled)
garfieldsg	0:662207e34fba	2848	{
garfieldsg	0:662207e34fba	2849	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
garfieldsg	0:662207e34fba	2850	}
garfieldsg	0:662207e34fba	2851	/** Get Z-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2852	* If enabled, the Z-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2853	* @return Current Z-axis standby enabled status
garfieldsg	0:662207e34fba	2854	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2855	* @see MPU6050_PWR2_STBY_ZA_BIT
garfieldsg	0:662207e34fba	2856	*/
garfieldsg	0:662207e34fba	2857	bool MPU6050::getStandbyZAccelEnabled()
garfieldsg	0:662207e34fba	2858	{
garfieldsg	0:662207e34fba	2859	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
garfieldsg	0:662207e34fba	2860	return buffer[0];
garfieldsg	0:662207e34fba	2861	}
garfieldsg	0:662207e34fba	2862	/** Set Z-axis accelerometer standby enabled status.
garfieldsg	0:662207e34fba	2863	* @param New Z-axis standby enabled status
garfieldsg	0:662207e34fba	2864	* @see getStandbyZAccelEnabled()
garfieldsg	0:662207e34fba	2865	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2866	* @see MPU6050_PWR2_STBY_ZA_BIT
garfieldsg	0:662207e34fba	2867	*/
garfieldsg	0:662207e34fba	2868	void MPU6050::setStandbyZAccelEnabled(bool enabled)
garfieldsg	0:662207e34fba	2869	{
garfieldsg	0:662207e34fba	2870	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
garfieldsg	0:662207e34fba	2871	}
garfieldsg	0:662207e34fba	2872	/** Get X-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2873	* If enabled, the X-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2874	* @return Current X-axis standby enabled status
garfieldsg	0:662207e34fba	2875	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2876	* @see MPU6050_PWR2_STBY_XG_BIT
garfieldsg	0:662207e34fba	2877	*/
garfieldsg	0:662207e34fba	2878	bool MPU6050::getStandbyXGyroEnabled()
garfieldsg	0:662207e34fba	2879	{
garfieldsg	0:662207e34fba	2880	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
garfieldsg	0:662207e34fba	2881	return buffer[0];
garfieldsg	0:662207e34fba	2882	}
garfieldsg	0:662207e34fba	2883	/** Set X-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2884	* @param New X-axis standby enabled status
garfieldsg	0:662207e34fba	2885	* @see getStandbyXGyroEnabled()
garfieldsg	0:662207e34fba	2886	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2887	* @see MPU6050_PWR2_STBY_XG_BIT
garfieldsg	0:662207e34fba	2888	*/
garfieldsg	0:662207e34fba	2889	void MPU6050::setStandbyXGyroEnabled(bool enabled)
garfieldsg	0:662207e34fba	2890	{
garfieldsg	0:662207e34fba	2891	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
garfieldsg	0:662207e34fba	2892	}
garfieldsg	0:662207e34fba	2893	/** Get Y-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2894	* If enabled, the Y-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2895	* @return Current Y-axis standby enabled status
garfieldsg	0:662207e34fba	2896	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2897	* @see MPU6050_PWR2_STBY_YG_BIT
garfieldsg	0:662207e34fba	2898	*/
garfieldsg	0:662207e34fba	2899	bool MPU6050::getStandbyYGyroEnabled()
garfieldsg	0:662207e34fba	2900	{
garfieldsg	0:662207e34fba	2901	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
garfieldsg	0:662207e34fba	2902	return buffer[0];
garfieldsg	0:662207e34fba	2903	}
garfieldsg	0:662207e34fba	2904	/** Set Y-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2905	* @param New Y-axis standby enabled status
garfieldsg	0:662207e34fba	2906	* @see getStandbyYGyroEnabled()
garfieldsg	0:662207e34fba	2907	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2908	* @see MPU6050_PWR2_STBY_YG_BIT
garfieldsg	0:662207e34fba	2909	*/
garfieldsg	0:662207e34fba	2910	void MPU6050::setStandbyYGyroEnabled(bool enabled)
garfieldsg	0:662207e34fba	2911	{
garfieldsg	0:662207e34fba	2912	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
garfieldsg	0:662207e34fba	2913	}
garfieldsg	0:662207e34fba	2914	/** Get Z-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2915	* If enabled, the Z-axis will not gather or report data (or use power).
garfieldsg	0:662207e34fba	2916	* @return Current Z-axis standby enabled status
garfieldsg	0:662207e34fba	2917	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2918	* @see MPU6050_PWR2_STBY_ZG_BIT
garfieldsg	0:662207e34fba	2919	*/
garfieldsg	0:662207e34fba	2920	bool MPU6050::getStandbyZGyroEnabled()
garfieldsg	0:662207e34fba	2921	{
garfieldsg	0:662207e34fba	2922	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
garfieldsg	0:662207e34fba	2923	return buffer[0];
garfieldsg	0:662207e34fba	2924	}
garfieldsg	0:662207e34fba	2925	/** Set Z-axis gyroscope standby enabled status.
garfieldsg	0:662207e34fba	2926	* @param New Z-axis standby enabled status
garfieldsg	0:662207e34fba	2927	* @see getStandbyZGyroEnabled()
garfieldsg	0:662207e34fba	2928	* @see MPU6050_RA_PWR_MGMT_2
garfieldsg	0:662207e34fba	2929	* @see MPU6050_PWR2_STBY_ZG_BIT
garfieldsg	0:662207e34fba	2930	*/
garfieldsg	0:662207e34fba	2931	void MPU6050::setStandbyZGyroEnabled(bool enabled)
garfieldsg	0:662207e34fba	2932	{
garfieldsg	0:662207e34fba	2933	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
garfieldsg	0:662207e34fba	2934	}
garfieldsg	0:662207e34fba	2935
garfieldsg	0:662207e34fba	2936	// FIFO_COUNT* registers
garfieldsg	0:662207e34fba	2937
garfieldsg	0:662207e34fba	2938	/** Get current FIFO buffer size.
garfieldsg	0:662207e34fba	2939	* This value indicates the number of bytes stored in the FIFO buffer. This
garfieldsg	0:662207e34fba	2940	* number is in turn the number of bytes that can be read from the FIFO buffer
garfieldsg	0:662207e34fba	2941	* and it is directly proportional to the number of samples available given the
garfieldsg	0:662207e34fba	2942	* set of sensor data bound to be stored in the FIFO (register 35 and 36).
garfieldsg	0:662207e34fba	2943	* @return Current FIFO buffer size
garfieldsg	0:662207e34fba	2944	*/
garfieldsg	0:662207e34fba	2945	uint16_t MPU6050::getFIFOCount()
garfieldsg	0:662207e34fba	2946	{
garfieldsg	0:662207e34fba	2947	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
garfieldsg	0:662207e34fba	2948	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	2949	}
garfieldsg	0:662207e34fba	2950
garfieldsg	0:662207e34fba	2951	// FIFO_R_W register
garfieldsg	0:662207e34fba	2952
garfieldsg	0:662207e34fba	2953	/** Get byte from FIFO buffer.
garfieldsg	0:662207e34fba	2954	* This register is used to read and write data from the FIFO buffer. Data is
garfieldsg	0:662207e34fba	2955	* written to the FIFO in order of register number (from lowest to highest). If
garfieldsg	0:662207e34fba	2956	* all the FIFO enable flags (see below) are enabled and all External Sensor
garfieldsg	0:662207e34fba	2957	* Data registers (Registers 73 to 96) are associated with a Slave device, the
garfieldsg	0:662207e34fba	2958	* contents of registers 59 through 96 will be written in order at the Sample
garfieldsg	0:662207e34fba	2959	* Rate.
garfieldsg	0:662207e34fba	2960	*
garfieldsg	0:662207e34fba	2961	* The contents of the sensor data registers (Registers 59 to 96) are written
garfieldsg	0:662207e34fba	2962	* into the FIFO buffer when their corresponding FIFO enable flags are set to 1
garfieldsg	0:662207e34fba	2963	* in FIFO_EN (Register 35). An additional flag for the sensor data registers
garfieldsg	0:662207e34fba	2964	* associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
garfieldsg	0:662207e34fba	2965	*
garfieldsg	0:662207e34fba	2966	* If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
garfieldsg	0:662207e34fba	2967	* automatically set to 1. This bit is located in INT_STATUS (Register 58).
garfieldsg	0:662207e34fba	2968	* When the FIFO buffer has overflowed, the oldest data will be lost and new
garfieldsg	0:662207e34fba	2969	* data will be written to the FIFO.
garfieldsg	0:662207e34fba	2970	*
garfieldsg	0:662207e34fba	2971	* If the FIFO buffer is empty, reading this register will return the last byte
garfieldsg	0:662207e34fba	2972	* that was previously read from the FIFO until new data is available. The user
garfieldsg	0:662207e34fba	2973	* should check FIFO_COUNT to ensure that the FIFO buffer is not read when
garfieldsg	0:662207e34fba	2974	* empty.
garfieldsg	0:662207e34fba	2975	*
garfieldsg	0:662207e34fba	2976	* @return Byte from FIFO buffer
garfieldsg	0:662207e34fba	2977	*/
garfieldsg	0:662207e34fba	2978	uint8_t MPU6050::getFIFOByte()
garfieldsg	0:662207e34fba	2979	{
garfieldsg	0:662207e34fba	2980	i2Cdev.readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
garfieldsg	0:662207e34fba	2981	return buffer[0];
garfieldsg	0:662207e34fba	2982	}
garfieldsg	0:662207e34fba	2983	void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length)
garfieldsg	0:662207e34fba	2984	{
garfieldsg	0:662207e34fba	2985	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
garfieldsg	0:662207e34fba	2986	}
garfieldsg	0:662207e34fba	2987	/** Write byte to FIFO buffer.
garfieldsg	0:662207e34fba	2988	* @see getFIFOByte()
garfieldsg	0:662207e34fba	2989	* @see MPU6050_RA_FIFO_R_W
garfieldsg	0:662207e34fba	2990	*/
garfieldsg	0:662207e34fba	2991	void MPU6050::setFIFOByte(uint8_t data)
garfieldsg	0:662207e34fba	2992	{
garfieldsg	0:662207e34fba	2993	i2Cdev.writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
garfieldsg	0:662207e34fba	2994	}
garfieldsg	0:662207e34fba	2995
garfieldsg	0:662207e34fba	2996	// WHO_AM_I register
garfieldsg	0:662207e34fba	2997
garfieldsg	0:662207e34fba	2998	/** Get Device ID.
garfieldsg	0:662207e34fba	2999	* This register is used to verify the identity of the device (0b110100, 0x34).
garfieldsg	0:662207e34fba	3000	* @return Device ID (6 bits only! should be 0x34)
garfieldsg	0:662207e34fba	3001	* @see MPU6050_RA_WHO_AM_I
garfieldsg	0:662207e34fba	3002	* @see MPU6050_WHO_AM_I_BIT
garfieldsg	0:662207e34fba	3003	* @see MPU6050_WHO_AM_I_LENGTH
garfieldsg	0:662207e34fba	3004	*/
garfieldsg	0:662207e34fba	3005	uint8_t MPU6050::getDeviceID()
garfieldsg	0:662207e34fba	3006	{
garfieldsg	0:662207e34fba	3007	i2Cdev.readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
garfieldsg	0:662207e34fba	3008	return buffer[0];
garfieldsg	0:662207e34fba	3009	}
garfieldsg	0:662207e34fba	3010	/** Set Device ID.
garfieldsg	0:662207e34fba	3011	* Write a new ID into the WHO_AM_I register (no idea why this should ever be
garfieldsg	0:662207e34fba	3012	* necessary though).
garfieldsg	0:662207e34fba	3013	* @param id New device ID to set.
garfieldsg	0:662207e34fba	3014	* @see getDeviceID()
garfieldsg	0:662207e34fba	3015	* @see MPU6050_RA_WHO_AM_I
garfieldsg	0:662207e34fba	3016	* @see MPU6050_WHO_AM_I_BIT
garfieldsg	0:662207e34fba	3017	* @see MPU6050_WHO_AM_I_LENGTH
garfieldsg	0:662207e34fba	3018	*/
garfieldsg	0:662207e34fba	3019	void MPU6050::setDeviceID(uint8_t id)
garfieldsg	0:662207e34fba	3020	{
garfieldsg	0:662207e34fba	3021	i2Cdev.writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
garfieldsg	0:662207e34fba	3022	}
garfieldsg	0:662207e34fba	3023
garfieldsg	0:662207e34fba	3024	// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
garfieldsg	0:662207e34fba	3025
garfieldsg	0:662207e34fba	3026	// XG_OFFS_TC register
garfieldsg	0:662207e34fba	3027
garfieldsg	0:662207e34fba	3028	uint8_t MPU6050::getOTPBankValid()
garfieldsg	0:662207e34fba	3029	{
garfieldsg	0:662207e34fba	3030	i2Cdev.readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
garfieldsg	0:662207e34fba	3031	return buffer[0];
garfieldsg	0:662207e34fba	3032	}
garfieldsg	0:662207e34fba	3033	void MPU6050::setOTPBankValid(bool enabled)
garfieldsg	0:662207e34fba	3034	{
garfieldsg	0:662207e34fba	3035	i2Cdev.writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
garfieldsg	0:662207e34fba	3036	}
garfieldsg	0:662207e34fba	3037	int8_t MPU6050::getXGyroOffset()
garfieldsg	0:662207e34fba	3038	{
garfieldsg	0:662207e34fba	3039	i2Cdev.readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
garfieldsg	0:662207e34fba	3040	return buffer[0];
garfieldsg	0:662207e34fba	3041	}
garfieldsg	0:662207e34fba	3042	void MPU6050::setXGyroOffset(int8_t offset)
garfieldsg	0:662207e34fba	3043	{
garfieldsg	0:662207e34fba	3044	i2Cdev.writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
garfieldsg	0:662207e34fba	3045	}
garfieldsg	0:662207e34fba	3046
garfieldsg	0:662207e34fba	3047	// YG_OFFS_TC register
garfieldsg	0:662207e34fba	3048
garfieldsg	0:662207e34fba	3049	int8_t MPU6050::getYGyroOffset()
garfieldsg	0:662207e34fba	3050	{
garfieldsg	0:662207e34fba	3051	i2Cdev.readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
garfieldsg	0:662207e34fba	3052	return buffer[0];
garfieldsg	0:662207e34fba	3053	}
garfieldsg	0:662207e34fba	3054	void MPU6050::setYGyroOffset(int8_t offset)
garfieldsg	0:662207e34fba	3055	{
garfieldsg	0:662207e34fba	3056	i2Cdev.writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
garfieldsg	0:662207e34fba	3057	}
garfieldsg	0:662207e34fba	3058
garfieldsg	0:662207e34fba	3059	// ZG_OFFS_TC register
garfieldsg	0:662207e34fba	3060
garfieldsg	0:662207e34fba	3061	int8_t MPU6050::getZGyroOffset()
garfieldsg	0:662207e34fba	3062	{
garfieldsg	0:662207e34fba	3063	i2Cdev.readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
garfieldsg	0:662207e34fba	3064	return buffer[0];
garfieldsg	0:662207e34fba	3065	}
garfieldsg	0:662207e34fba	3066	void MPU6050::setZGyroOffset(int8_t offset)
garfieldsg	0:662207e34fba	3067	{
garfieldsg	0:662207e34fba	3068	i2Cdev.writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
garfieldsg	0:662207e34fba	3069	}
garfieldsg	0:662207e34fba	3070
garfieldsg	0:662207e34fba	3071	// X_FINE_GAIN register
garfieldsg	0:662207e34fba	3072
garfieldsg	0:662207e34fba	3073	int8_t MPU6050::getXFineGain()
garfieldsg	0:662207e34fba	3074	{
garfieldsg	0:662207e34fba	3075	i2Cdev.readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
garfieldsg	0:662207e34fba	3076	return buffer[0];
garfieldsg	0:662207e34fba	3077	}
garfieldsg	0:662207e34fba	3078	void MPU6050::setXFineGain(int8_t gain)
garfieldsg	0:662207e34fba	3079	{
garfieldsg	0:662207e34fba	3080	i2Cdev.writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
garfieldsg	0:662207e34fba	3081	}
garfieldsg	0:662207e34fba	3082
garfieldsg	0:662207e34fba	3083	// Y_FINE_GAIN register
garfieldsg	0:662207e34fba	3084
garfieldsg	0:662207e34fba	3085	int8_t MPU6050::getYFineGain()
garfieldsg	0:662207e34fba	3086	{
garfieldsg	0:662207e34fba	3087	i2Cdev.readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
garfieldsg	0:662207e34fba	3088	return buffer[0];
garfieldsg	0:662207e34fba	3089	}
garfieldsg	0:662207e34fba	3090	void MPU6050::setYFineGain(int8_t gain)
garfieldsg	0:662207e34fba	3091	{
garfieldsg	0:662207e34fba	3092	i2Cdev.writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
garfieldsg	0:662207e34fba	3093	}
garfieldsg	0:662207e34fba	3094
garfieldsg	0:662207e34fba	3095	// Z_FINE_GAIN register
garfieldsg	0:662207e34fba	3096
garfieldsg	0:662207e34fba	3097	int8_t MPU6050::getZFineGain()
garfieldsg	0:662207e34fba	3098	{
garfieldsg	0:662207e34fba	3099	i2Cdev.readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
garfieldsg	0:662207e34fba	3100	return buffer[0];
garfieldsg	0:662207e34fba	3101	}
garfieldsg	0:662207e34fba	3102	void MPU6050::setZFineGain(int8_t gain)
garfieldsg	0:662207e34fba	3103	{
garfieldsg	0:662207e34fba	3104	i2Cdev.writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
garfieldsg	0:662207e34fba	3105	}
garfieldsg	0:662207e34fba	3106
garfieldsg	0:662207e34fba	3107	// XA_OFFS_* registers
garfieldsg	0:662207e34fba	3108
garfieldsg	0:662207e34fba	3109	int16_t MPU6050::getXAccelOffset()
garfieldsg	0:662207e34fba	3110	{
garfieldsg	0:662207e34fba	3111	i2Cdev.readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
garfieldsg	0:662207e34fba	3112	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3113	}
garfieldsg	0:662207e34fba	3114	void MPU6050::setXAccelOffset(int16_t offset)
garfieldsg	0:662207e34fba	3115	{
garfieldsg	0:662207e34fba	3116	i2Cdev.writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
garfieldsg	0:662207e34fba	3117	}
garfieldsg	0:662207e34fba	3118
garfieldsg	0:662207e34fba	3119	// YA_OFFS_* register
garfieldsg	0:662207e34fba	3120
garfieldsg	0:662207e34fba	3121	int16_t MPU6050::getYAccelOffset()
garfieldsg	0:662207e34fba	3122	{
garfieldsg	0:662207e34fba	3123	i2Cdev.readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
garfieldsg	0:662207e34fba	3124	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3125	}
garfieldsg	0:662207e34fba	3126	void MPU6050::setYAccelOffset(int16_t offset)
garfieldsg	0:662207e34fba	3127	{
garfieldsg	0:662207e34fba	3128	i2Cdev.writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
garfieldsg	0:662207e34fba	3129	}
garfieldsg	0:662207e34fba	3130
garfieldsg	0:662207e34fba	3131	// ZA_OFFS_* register
garfieldsg	0:662207e34fba	3132
garfieldsg	0:662207e34fba	3133	int16_t MPU6050::getZAccelOffset()
garfieldsg	0:662207e34fba	3134	{
garfieldsg	0:662207e34fba	3135	i2Cdev.readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
garfieldsg	0:662207e34fba	3136	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3137	}
garfieldsg	0:662207e34fba	3138	void MPU6050::setZAccelOffset(int16_t offset)
garfieldsg	0:662207e34fba	3139	{
garfieldsg	0:662207e34fba	3140	i2Cdev.writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
garfieldsg	0:662207e34fba	3141	}
garfieldsg	0:662207e34fba	3142
garfieldsg	0:662207e34fba	3143	// XG_OFFS_USR* registers
garfieldsg	0:662207e34fba	3144
garfieldsg	0:662207e34fba	3145	int16_t MPU6050::getXGyroOffsetUser()
garfieldsg	0:662207e34fba	3146	{
garfieldsg	0:662207e34fba	3147	i2Cdev.readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
garfieldsg	0:662207e34fba	3148	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3149	}
garfieldsg	0:662207e34fba	3150	void MPU6050::setXGyroOffsetUser(int16_t offset)
garfieldsg	0:662207e34fba	3151	{
garfieldsg	0:662207e34fba	3152	i2Cdev.writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
garfieldsg	0:662207e34fba	3153	}
garfieldsg	0:662207e34fba	3154
garfieldsg	0:662207e34fba	3155	// YG_OFFS_USR* register
garfieldsg	0:662207e34fba	3156
garfieldsg	0:662207e34fba	3157	int16_t MPU6050::getYGyroOffsetUser()
garfieldsg	0:662207e34fba	3158	{
garfieldsg	0:662207e34fba	3159	i2Cdev.readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
garfieldsg	0:662207e34fba	3160	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3161	}
garfieldsg	0:662207e34fba	3162	void MPU6050::setYGyroOffsetUser(int16_t offset)
garfieldsg	0:662207e34fba	3163	{
garfieldsg	0:662207e34fba	3164	i2Cdev.writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
garfieldsg	0:662207e34fba	3165	}
garfieldsg	0:662207e34fba	3166
garfieldsg	0:662207e34fba	3167	// ZG_OFFS_USR* register
garfieldsg	0:662207e34fba	3168
garfieldsg	0:662207e34fba	3169	int16_t MPU6050::getZGyroOffsetUser()
garfieldsg	0:662207e34fba	3170	{
garfieldsg	0:662207e34fba	3171	i2Cdev.readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
garfieldsg	0:662207e34fba	3172	return (((int16_t)buffer[0]) << 8) \| buffer[1];
garfieldsg	0:662207e34fba	3173	}
garfieldsg	0:662207e34fba	3174	void MPU6050::setZGyroOffsetUser(int16_t offset)
garfieldsg	0:662207e34fba	3175	{
garfieldsg	0:662207e34fba	3176	i2Cdev.writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
garfieldsg	0:662207e34fba	3177	}
garfieldsg	0:662207e34fba	3178
garfieldsg	0:662207e34fba	3179	// INT_ENABLE register (DMP functions)
garfieldsg	0:662207e34fba	3180
garfieldsg	0:662207e34fba	3181	bool MPU6050::getIntPLLReadyEnabled()
garfieldsg	0:662207e34fba	3182	{
garfieldsg	0:662207e34fba	3183	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
garfieldsg	0:662207e34fba	3184	return buffer[0];
garfieldsg	0:662207e34fba	3185	}
garfieldsg	0:662207e34fba	3186	void MPU6050::setIntPLLReadyEnabled(bool enabled)
garfieldsg	0:662207e34fba	3187	{
garfieldsg	0:662207e34fba	3188	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
garfieldsg	0:662207e34fba	3189	}
garfieldsg	0:662207e34fba	3190	bool MPU6050::getIntDMPEnabled()
garfieldsg	0:662207e34fba	3191	{
garfieldsg	0:662207e34fba	3192	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
garfieldsg	0:662207e34fba	3193	return buffer[0];
garfieldsg	0:662207e34fba	3194	}
garfieldsg	0:662207e34fba	3195	void MPU6050::setIntDMPEnabled(bool enabled)
garfieldsg	0:662207e34fba	3196	{
garfieldsg	0:662207e34fba	3197	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
garfieldsg	0:662207e34fba	3198	}
garfieldsg	0:662207e34fba	3199
garfieldsg	0:662207e34fba	3200	// DMP_INT_STATUS
garfieldsg	0:662207e34fba	3201
garfieldsg	0:662207e34fba	3202	bool MPU6050::getDMPInt5Status()
garfieldsg	0:662207e34fba	3203	{
garfieldsg	0:662207e34fba	3204	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
garfieldsg	0:662207e34fba	3205	return buffer[0];
garfieldsg	0:662207e34fba	3206	}
garfieldsg	0:662207e34fba	3207	bool MPU6050::getDMPInt4Status()
garfieldsg	0:662207e34fba	3208	{
garfieldsg	0:662207e34fba	3209	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
garfieldsg	0:662207e34fba	3210	return buffer[0];
garfieldsg	0:662207e34fba	3211	}
garfieldsg	0:662207e34fba	3212	bool MPU6050::getDMPInt3Status()
garfieldsg	0:662207e34fba	3213	{
garfieldsg	0:662207e34fba	3214	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
garfieldsg	0:662207e34fba	3215	return buffer[0];
garfieldsg	0:662207e34fba	3216	}
garfieldsg	0:662207e34fba	3217	bool MPU6050::getDMPInt2Status()
garfieldsg	0:662207e34fba	3218	{
garfieldsg	0:662207e34fba	3219	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
garfieldsg	0:662207e34fba	3220	return buffer[0];
garfieldsg	0:662207e34fba	3221	}
garfieldsg	0:662207e34fba	3222	bool MPU6050::getDMPInt1Status()
garfieldsg	0:662207e34fba	3223	{
garfieldsg	0:662207e34fba	3224	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
garfieldsg	0:662207e34fba	3225	return buffer[0];
garfieldsg	0:662207e34fba	3226	}
garfieldsg	0:662207e34fba	3227	bool MPU6050::getDMPInt0Status()
garfieldsg	0:662207e34fba	3228	{
garfieldsg	0:662207e34fba	3229	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
garfieldsg	0:662207e34fba	3230	return buffer[0];
garfieldsg	0:662207e34fba	3231	}
garfieldsg	0:662207e34fba	3232
garfieldsg	0:662207e34fba	3233	// INT_STATUS register (DMP functions)
garfieldsg	0:662207e34fba	3234
garfieldsg	0:662207e34fba	3235	bool MPU6050::getIntPLLReadyStatus()
garfieldsg	0:662207e34fba	3236	{
garfieldsg	0:662207e34fba	3237	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
garfieldsg	0:662207e34fba	3238	return buffer[0];
garfieldsg	0:662207e34fba	3239	}
garfieldsg	0:662207e34fba	3240	bool MPU6050::getIntDMPStatus()
garfieldsg	0:662207e34fba	3241	{
garfieldsg	0:662207e34fba	3242	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
garfieldsg	0:662207e34fba	3243	return buffer[0];
garfieldsg	0:662207e34fba	3244	}
garfieldsg	0:662207e34fba	3245
garfieldsg	0:662207e34fba	3246	// USER_CTRL register (DMP functions)
garfieldsg	0:662207e34fba	3247
garfieldsg	0:662207e34fba	3248	bool MPU6050::getDMPEnabled()
garfieldsg	0:662207e34fba	3249	{
garfieldsg	0:662207e34fba	3250	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
garfieldsg	0:662207e34fba	3251	return buffer[0];
garfieldsg	0:662207e34fba	3252	}
garfieldsg	0:662207e34fba	3253	void MPU6050::setDMPEnabled(bool enabled)
garfieldsg	0:662207e34fba	3254	{
garfieldsg	0:662207e34fba	3255	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
garfieldsg	0:662207e34fba	3256	}
garfieldsg	0:662207e34fba	3257	void MPU6050::resetDMP()
garfieldsg	0:662207e34fba	3258	{
garfieldsg	0:662207e34fba	3259	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
garfieldsg	0:662207e34fba	3260	}
garfieldsg	0:662207e34fba	3261
garfieldsg	0:662207e34fba	3262	// BANK_SEL register
garfieldsg	0:662207e34fba	3263
garfieldsg	0:662207e34fba	3264	void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank)
garfieldsg	0:662207e34fba	3265	{
garfieldsg	0:662207e34fba	3266	bank &= 0x1F;
garfieldsg	0:662207e34fba	3267	if (userBank) bank \|= 0x20;
garfieldsg	0:662207e34fba	3268	if (prefetchEnabled) bank \|= 0x40;
garfieldsg	0:662207e34fba	3269	i2Cdev.writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
garfieldsg	0:662207e34fba	3270	}
garfieldsg	0:662207e34fba	3271
garfieldsg	0:662207e34fba	3272	// MEM_START_ADDR register
garfieldsg	0:662207e34fba	3273
garfieldsg	0:662207e34fba	3274	void MPU6050::setMemoryStartAddress(uint8_t address)
garfieldsg	0:662207e34fba	3275	{
garfieldsg	0:662207e34fba	3276	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
garfieldsg	0:662207e34fba	3277	}
garfieldsg	0:662207e34fba	3278
garfieldsg	0:662207e34fba	3279	// MEM_R_W register
garfieldsg	0:662207e34fba	3280
garfieldsg	0:662207e34fba	3281	uint8_t MPU6050::readMemoryByte()
garfieldsg	0:662207e34fba	3282	{
garfieldsg	0:662207e34fba	3283	i2Cdev.readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
garfieldsg	0:662207e34fba	3284	return buffer[0];
garfieldsg	0:662207e34fba	3285	}
garfieldsg	0:662207e34fba	3286	void MPU6050::writeMemoryByte(uint8_t data)
garfieldsg	0:662207e34fba	3287	{
garfieldsg	0:662207e34fba	3288	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
garfieldsg	0:662207e34fba	3289	}
garfieldsg	0:662207e34fba	3290	void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address)
garfieldsg	0:662207e34fba	3291	{
garfieldsg	0:662207e34fba	3292	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3293	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3294	uint8_t chunkSize;
garfieldsg	0:662207e34fba	3295	for (uint16_t i = 0; i < dataSize;) {
garfieldsg	0:662207e34fba	3296	// determine correct chunk size according to bank position and data size
garfieldsg	0:662207e34fba	3297	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
garfieldsg	0:662207e34fba	3298
garfieldsg	0:662207e34fba	3299	// make sure we don't go past the data size
garfieldsg	0:662207e34fba	3300	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
garfieldsg	0:662207e34fba	3301
garfieldsg	0:662207e34fba	3302	// make sure this chunk doesn't go past the bank boundary (256 bytes)
garfieldsg	0:662207e34fba	3303	if (chunkSize > 256 - address) chunkSize = 256 - address;
garfieldsg	0:662207e34fba	3304
garfieldsg	0:662207e34fba	3305	// read the chunk of data as specified
garfieldsg	0:662207e34fba	3306	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
garfieldsg	0:662207e34fba	3307
garfieldsg	0:662207e34fba	3308	// increase byte index by [chunkSize]
garfieldsg	0:662207e34fba	3309	i += chunkSize;
garfieldsg	0:662207e34fba	3310
garfieldsg	0:662207e34fba	3311	// uint8_t automatically wraps to 0 at 256
garfieldsg	0:662207e34fba	3312	address += chunkSize;
garfieldsg	0:662207e34fba	3313
garfieldsg	0:662207e34fba	3314	// if we aren't done, update bank (if necessary) and address
garfieldsg	0:662207e34fba	3315	if (i < dataSize) {
garfieldsg	0:662207e34fba	3316	if (address == 0) bank++;
garfieldsg	0:662207e34fba	3317	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3318	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3319	}
garfieldsg	0:662207e34fba	3320	}
garfieldsg	0:662207e34fba	3321	}
garfieldsg	0:662207e34fba	3322	bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem)
garfieldsg	0:662207e34fba	3323	{
garfieldsg	0:662207e34fba	3324	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3325	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3326	uint8_t chunkSize;
garfieldsg	0:662207e34fba	3327	uint8_t *verifyBuffer;
garfieldsg	0:662207e34fba	3328	uint8_t *progBuffer;
garfieldsg	0:662207e34fba	3329	uint16_t i;
garfieldsg	0:662207e34fba	3330	uint8_t j;
garfieldsg	0:662207e34fba	3331	if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
garfieldsg	0:662207e34fba	3332	if (useProgMem) progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
garfieldsg	0:662207e34fba	3333	for (i = 0; i < dataSize;) {
garfieldsg	0:662207e34fba	3334	// determine correct chunk size according to bank position and data size
garfieldsg	0:662207e34fba	3335	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
garfieldsg	0:662207e34fba	3336
garfieldsg	0:662207e34fba	3337	// make sure we don't go past the data size
garfieldsg	0:662207e34fba	3338	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
garfieldsg	0:662207e34fba	3339
garfieldsg	0:662207e34fba	3340	// make sure this chunk doesn't go past the bank boundary (256 bytes)
garfieldsg	0:662207e34fba	3341	if (chunkSize > 256 - address) chunkSize = 256 - address;
garfieldsg	0:662207e34fba	3342
garfieldsg	0:662207e34fba	3343	if (useProgMem) {
garfieldsg	0:662207e34fba	3344	// write the chunk of data as specified
garfieldsg	0:662207e34fba	3345	for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
garfieldsg	0:662207e34fba	3346	} else {
garfieldsg	0:662207e34fba	3347	// write the chunk of data as specified
garfieldsg	0:662207e34fba	3348	progBuffer = (uint8_t *)data + i;
garfieldsg	0:662207e34fba	3349	}
garfieldsg	0:662207e34fba	3350
garfieldsg	0:662207e34fba	3351	i2Cdev.writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
garfieldsg	0:662207e34fba	3352
garfieldsg	0:662207e34fba	3353	// verify data if needed
garfieldsg	0:662207e34fba	3354	if (verify && verifyBuffer) {
garfieldsg	0:662207e34fba	3355	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3356	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3357	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
garfieldsg	0:662207e34fba	3358	if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
garfieldsg	0:662207e34fba	3359	/*Serial.print("Block write verification error, bank ");
garfieldsg	0:662207e34fba	3360	Serial.print(bank, DEC);
garfieldsg	0:662207e34fba	3361	Serial.print(", address ");
garfieldsg	0:662207e34fba	3362	Serial.print(address, DEC);
garfieldsg	0:662207e34fba	3363	Serial.print("!\nExpected:");
garfieldsg	0:662207e34fba	3364	for (j = 0; j < chunkSize; j++) {
garfieldsg	0:662207e34fba	3365	Serial.print(" 0x");
garfieldsg	0:662207e34fba	3366	if (progBuffer[j] < 16) Serial.print("0");
garfieldsg	0:662207e34fba	3367	Serial.print(progBuffer[j], HEX);
garfieldsg	0:662207e34fba	3368	}
garfieldsg	0:662207e34fba	3369	Serial.print("\nReceived:");
garfieldsg	0:662207e34fba	3370	for (uint8_t j = 0; j < chunkSize; j++) {
garfieldsg	0:662207e34fba	3371	Serial.print(" 0x");
garfieldsg	0:662207e34fba	3372	if (verifyBuffer[i + j] < 16) Serial.print("0");
garfieldsg	0:662207e34fba	3373	Serial.print(verifyBuffer[i + j], HEX);
garfieldsg	0:662207e34fba	3374	}
garfieldsg	0:662207e34fba	3375	Serial.print("\n");*/
garfieldsg	0:662207e34fba	3376	free(verifyBuffer);
garfieldsg	0:662207e34fba	3377	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3378	return false; // uh oh.
garfieldsg	0:662207e34fba	3379	}
garfieldsg	0:662207e34fba	3380	}
garfieldsg	0:662207e34fba	3381
garfieldsg	0:662207e34fba	3382	// increase byte index by [chunkSize]
garfieldsg	0:662207e34fba	3383	i += chunkSize;
garfieldsg	0:662207e34fba	3384
garfieldsg	0:662207e34fba	3385	// uint8_t automatically wraps to 0 at 256
garfieldsg	0:662207e34fba	3386	address += chunkSize;
garfieldsg	0:662207e34fba	3387
garfieldsg	0:662207e34fba	3388	// if we aren't done, update bank (if necessary) and address
garfieldsg	0:662207e34fba	3389	if (i < dataSize) {
garfieldsg	0:662207e34fba	3390	if (address == 0) bank++;
garfieldsg	0:662207e34fba	3391	setMemoryBank(bank);
garfieldsg	0:662207e34fba	3392	setMemoryStartAddress(address);
garfieldsg	0:662207e34fba	3393	}
garfieldsg	0:662207e34fba	3394	}
garfieldsg	0:662207e34fba	3395	if (verify) free(verifyBuffer);
garfieldsg	0:662207e34fba	3396	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3397	return true;
garfieldsg	0:662207e34fba	3398	}
garfieldsg	0:662207e34fba	3399	bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify)
garfieldsg	0:662207e34fba	3400	{
garfieldsg	0:662207e34fba	3401	return writeMemoryBlock(data, dataSize, bank, address, verify, true);
garfieldsg	0:662207e34fba	3402	}
garfieldsg	0:662207e34fba	3403	bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem)
garfieldsg	0:662207e34fba	3404	{
garfieldsg	0:662207e34fba	3405	uint8_t *progBuffer, success, special;
garfieldsg	0:662207e34fba	3406	uint16_t i, j;
garfieldsg	0:662207e34fba	3407	if (useProgMem) {
garfieldsg	0:662207e34fba	3408	progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
garfieldsg	0:662207e34fba	3409	}
garfieldsg	0:662207e34fba	3410
garfieldsg	0:662207e34fba	3411	// config set data is a long string of blocks with the following structure:
garfieldsg	0:662207e34fba	3412	// [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
garfieldsg	0:662207e34fba	3413	uint8_t bank, offset, length;
garfieldsg	0:662207e34fba	3414	for (i = 0; i < dataSize;) {
garfieldsg	0:662207e34fba	3415	if (useProgMem) {
garfieldsg	0:662207e34fba	3416	bank = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3417	offset = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3418	length = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3419	} else {
garfieldsg	0:662207e34fba	3420	bank = data[i++];
garfieldsg	0:662207e34fba	3421	offset = data[i++];
garfieldsg	0:662207e34fba	3422	length = data[i++];
garfieldsg	0:662207e34fba	3423	}
garfieldsg	0:662207e34fba	3424
garfieldsg	0:662207e34fba	3425	// write data or perform special action
garfieldsg	0:662207e34fba	3426	if (length > 0) {
garfieldsg	0:662207e34fba	3427	// regular block of data to write
garfieldsg	0:662207e34fba	3428	/*Serial.print("Writing config block to bank ");
garfieldsg	0:662207e34fba	3429	Serial.print(bank);
garfieldsg	0:662207e34fba	3430	Serial.print(", offset ");
garfieldsg	0:662207e34fba	3431	Serial.print(offset);
garfieldsg	0:662207e34fba	3432	Serial.print(", length=");
garfieldsg	0:662207e34fba	3433	Serial.println(length);*/
garfieldsg	0:662207e34fba	3434	if (useProgMem) {
garfieldsg	0:662207e34fba	3435	if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length);
garfieldsg	0:662207e34fba	3436	for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j);
garfieldsg	0:662207e34fba	3437	} else {
garfieldsg	0:662207e34fba	3438	progBuffer = (uint8_t *)data + i;
garfieldsg	0:662207e34fba	3439	}
garfieldsg	0:662207e34fba	3440	success = writeMemoryBlock(progBuffer, length, bank, offset, true);
garfieldsg	0:662207e34fba	3441	i += length;
garfieldsg	0:662207e34fba	3442	} else {
garfieldsg	0:662207e34fba	3443	// special instruction
garfieldsg	0:662207e34fba	3444	// NOTE: this kind of behavior (what and when to do certain things)
garfieldsg	0:662207e34fba	3445	// is totally undocumented. This code is in here based on observed
garfieldsg	0:662207e34fba	3446	// behavior only, and exactly why (or even whether) it has to be here
garfieldsg	0:662207e34fba	3447	// is anybody's guess for now.
garfieldsg	0:662207e34fba	3448	if (useProgMem) {
garfieldsg	0:662207e34fba	3449	special = pgm_read_byte(data + i++);
garfieldsg	0:662207e34fba	3450	} else {
garfieldsg	0:662207e34fba	3451	special = data[i++];
garfieldsg	0:662207e34fba	3452	}
garfieldsg	0:662207e34fba	3453	/*Serial.print("Special command code ");
garfieldsg	0:662207e34fba	3454	Serial.print(special, HEX);
garfieldsg	0:662207e34fba	3455	Serial.println(" found...");*/
garfieldsg	0:662207e34fba	3456	if (special == 0x01) {
garfieldsg	0:662207e34fba	3457	// enable DMP-related interrupts
garfieldsg	0:662207e34fba	3458
garfieldsg	0:662207e34fba	3459	//setIntZeroMotionEnabled(true);
garfieldsg	0:662207e34fba	3460	//setIntFIFOBufferOverflowEnabled(true);
garfieldsg	0:662207e34fba	3461	//setIntDMPEnabled(true);
garfieldsg	0:662207e34fba	3462	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
garfieldsg	0:662207e34fba	3463
garfieldsg	0:662207e34fba	3464	success = true;
garfieldsg	0:662207e34fba	3465	} else {
garfieldsg	0:662207e34fba	3466	// unknown special command
garfieldsg	0:662207e34fba	3467	success = false;
garfieldsg	0:662207e34fba	3468	}
garfieldsg	0:662207e34fba	3469	}
garfieldsg	0:662207e34fba	3470
garfieldsg	0:662207e34fba	3471	if (!success) {
garfieldsg	0:662207e34fba	3472	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3473	return false; // uh oh
garfieldsg	0:662207e34fba	3474	}
garfieldsg	0:662207e34fba	3475	}
garfieldsg	0:662207e34fba	3476	if (useProgMem) free(progBuffer);
garfieldsg	0:662207e34fba	3477	return true;
garfieldsg	0:662207e34fba	3478	}
garfieldsg	0:662207e34fba	3479	bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
garfieldsg	0:662207e34fba	3480	{
garfieldsg	0:662207e34fba	3481	return writeDMPConfigurationSet(data, dataSize, false);
garfieldsg	0:662207e34fba	3482	}
garfieldsg	0:662207e34fba	3483
garfieldsg	0:662207e34fba	3484	// DMP_CFG_1 register
garfieldsg	0:662207e34fba	3485
garfieldsg	0:662207e34fba	3486	uint8_t MPU6050::getDMPConfig1()
garfieldsg	0:662207e34fba	3487	{
garfieldsg	0:662207e34fba	3488	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
garfieldsg	0:662207e34fba	3489	return buffer[0];
garfieldsg	0:662207e34fba	3490	}
garfieldsg	0:662207e34fba	3491	void MPU6050::setDMPConfig1(uint8_t config)
garfieldsg	0:662207e34fba	3492	{
garfieldsg	0:662207e34fba	3493	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
garfieldsg	0:662207e34fba	3494	}
garfieldsg	0:662207e34fba	3495
garfieldsg	0:662207e34fba	3496	// DMP_CFG_2 register
garfieldsg	0:662207e34fba	3497
garfieldsg	0:662207e34fba	3498	uint8_t MPU6050::getDMPConfig2()
garfieldsg	0:662207e34fba	3499	{
garfieldsg	0:662207e34fba	3500	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
garfieldsg	0:662207e34fba	3501	return buffer[0];
garfieldsg	0:662207e34fba	3502	}
garfieldsg	0:662207e34fba	3503	void MPU6050::setDMPConfig2(uint8_t config)
garfieldsg	0:662207e34fba	3504	{
garfieldsg	0:662207e34fba	3505	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
tyftyftyf	12:e32a6beb0a41	3506	}
tyftyftyf	12:e32a6beb0a41	3507
tyftyftyf	12:e32a6beb0a41	3508	// =============================================================================
tyftyftyf	12:e32a6beb0a41	3509	// =============================================================================
tyftyftyf	12:e32a6beb0a41	3510	// =============================================================================
tyftyftyf	12:e32a6beb0a41	3511	// =============================================================================
tyftyftyf	12:e32a6beb0a41	3512	// =============================================================================
tyftyftyf	12:e32a6beb0a41	3513	// =============================================================================
tyftyftyf	12:e32a6beb0a41	3514	// ============================== MPU 9250 parts ===============================
tyftyftyf	12:e32a6beb0a41	3515	// =============================================================================
tyftyftyf	12:e32a6beb0a41	3516	// =============================================================================
tyftyftyf	12:e32a6beb0a41	3517	// =============================================================================
tyftyftyf	12:e32a6beb0a41	3518	// =============================================================================
tyftyftyf	12:e32a6beb0a41	3519	// =============================================================================
tyftyftyf	12:e32a6beb0a41	3520
tyftyftyf	13:a74f2d622b54	3521	#ifdef MPU9250
tyftyftyf	12:e32a6beb0a41	3522
tyftyftyf	12:e32a6beb0a41	3523	/** initialize 9250.
tyftyftyf	12:e32a6beb0a41	3524	*
tyftyftyf	12:e32a6beb0a41	3525	*/
tyftyftyf	12:e32a6beb0a41	3526	void MPU6050::initialize9250() {
tyftyftyf	12:e32a6beb0a41	3527	reset();
tyftyftyf	12:e32a6beb0a41	3528	Thread::wait(50);
tyftyftyf	12:e32a6beb0a41	3529	setStandbyDisable();
tyftyftyf	12:e32a6beb0a41	3530	setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
tyftyftyf	12:e32a6beb0a41	3531	setClockSource(MPU60X0_CLOCK_PLL_XGYRO);
tyftyftyf	12:e32a6beb0a41	3532	setFullScaleGyroRange(MPU60X0_GYRO_FS_2000);
tyftyftyf	12:e32a6beb0a41	3533	setFullScaleAccelRange(MPU60X0_ACCEL_FS_2);
tyftyftyf	12:e32a6beb0a41	3534
tyftyftyf	12:e32a6beb0a41	3535	//data = 1000 / rate - 1;
tyftyftyf	12:e32a6beb0a41	3536	//setRate(data);
tyftyftyf	12:e32a6beb0a41	3537	}
tyftyftyf	12:e32a6beb0a41	3538
tyftyftyf	15:09f072efa71e	3539	/** Disable MPU-6050 standby mode. Really only used for MPU-9250
tyftyftyf	15:09f072efa71e	3540	* @param
tyftyftyf	15:09f072efa71e	3541	* @see
tyftyftyf	15:09f072efa71e	3542	* @see MPU60X0_RA_PWR_MGMT_2
tyftyftyf	15:09f072efa71e	3543	* @see
tyftyftyf	15:09f072efa71e	3544	*/
tyftyftyf	15:09f072efa71e	3545	void MPU6050::setStandbyDisable() {
tyftyftyf	15:09f072efa71e	3546	i2Cdev.writeByte(devAddr, MPU60X0_RA_PWR_MGMT_2, 0x00);
tyftyftyf	15:09f072efa71e	3547	}
tyftyftyf	15:09f072efa71e	3548
tyftyftyf	16:6be55d010301	3549	void MPU6050::initialize9250MasterMode() {
tyftyftyf	12:e32a6beb0a41	3550
tyftyftyf	12:e32a6beb0a41	3551	uint8_t buff[3];
tyftyftyf	12:e32a6beb0a41	3552	uint8_t data[7];
tyftyftyf	12:e32a6beb0a41	3553	float _magScaleX, _magScaleY, _magScaleZ;
tyftyftyf	12:e32a6beb0a41	3554
tyftyftyf	12:e32a6beb0a41	3555	//set dev address for magnetometer
tyftyftyf	12:e32a6beb0a41	3556	magDevAddr = AK8963_DEFAULT_ADDRESS;
tyftyftyf	12:e32a6beb0a41	3557
tyftyftyf	12:e32a6beb0a41	3558	Thread::wait(50);
tyftyftyf	12:e32a6beb0a41	3559	reset();
tyftyftyf	12:e32a6beb0a41	3560
tyftyftyf	12:e32a6beb0a41	3561	setStandbyDisable();
tyftyftyf	12:e32a6beb0a41	3562	setSleepEnabled(false);
tyftyftyf	12:e32a6beb0a41	3563
tyftyftyf	12:e32a6beb0a41	3564	// select clock source to gyro
tyftyftyf	12:e32a6beb0a41	3565	if( !writeRegister(MPU60X0_RA_PWR_MGMT_1, MPU60X0_CLOCK_PLL_XGYRO) ){
tyftyftyf	12:e32a6beb0a41	3566	debugSerial.printf("Clock Source Not Set\n");
tyftyftyf	12:e32a6beb0a41	3567	}
tyftyftyf	12:e32a6beb0a41	3568
tyftyftyf	12:e32a6beb0a41	3569	// enable I2C master mode
tyftyftyf	12:e32a6beb0a41	3570	if( !writeRegister(MPU60X0_RA_USER_CTRL,I2C_MST_EN) ){
tyftyftyf	12:e32a6beb0a41	3571	debugSerial.printf("Master Mode Not Set\n");
tyftyftyf	12:e32a6beb0a41	3572	}
tyftyftyf	12:e32a6beb0a41	3573
tyftyftyf	12:e32a6beb0a41	3574	// set the I2C bus speed to 400 kHz
tyftyftyf	12:e32a6beb0a41	3575	if( !writeRegister(MPU60X0_RA_I2C_MST_CTRL,I2C_MST_CLK) ){
tyftyftyf	12:e32a6beb0a41	3576	debugSerial.printf("I2C Bus Speed Not Set\n");
tyftyftyf	12:e32a6beb0a41	3577	}
tyftyftyf	12:e32a6beb0a41	3578
tyftyftyf	12:e32a6beb0a41	3579	// set AK8963 to Power Down
tyftyftyf	12:e32a6beb0a41	3580	if( !writeAKRegister(AK8963_RA_CNTL1, AK8963_MODE_POWERDOWN) ){
tyftyftyf	12:e32a6beb0a41	3581	debugSerial.printf("AK Not Powered Down\n");
tyftyftyf	12:e32a6beb0a41	3582	}
tyftyftyf	12:e32a6beb0a41	3583
tyftyftyf	12:e32a6beb0a41	3584	// reset the MPU9250
tyftyftyf	12:e32a6beb0a41	3585	writeRegister(MPU60X0_RA_PWR_MGMT_1, PWR_RESET);
tyftyftyf	12:e32a6beb0a41	3586
tyftyftyf	12:e32a6beb0a41	3587	// wait for MPU-9250 to come back up
tyftyftyf	16:6be55d010301	3588	Thread::wait(2);
tyftyftyf	12:e32a6beb0a41	3589
tyftyftyf	12:e32a6beb0a41	3590	// reset the AK8963
tyftyftyf	12:e32a6beb0a41	3591	writeAKRegister(AK8963_RA_CNTL2, PWR_RESET);
tyftyftyf	12:e32a6beb0a41	3592
tyftyftyf	12:e32a6beb0a41	3593	// select clock source to gyro
tyftyftyf	12:e32a6beb0a41	3594	if( !writeRegister(MPU60X0_RA_PWR_MGMT_1, MPU60X0_CLOCK_PLL_XGYRO) ){
tyftyftyf	12:e32a6beb0a41	3595	debugSerial.printf("Clock Source Not Set\n");
tyftyftyf	12:e32a6beb0a41	3596	}
tyftyftyf	12:e32a6beb0a41	3597
tyftyftyf	12:e32a6beb0a41	3598	// check the WHO AM I byte, expected value is 0x71 (decimal 113)
tyftyftyf	12:e32a6beb0a41	3599	readRegister(MPU60X0_RA_WHO_AM_I, 1,&buff[0]);
tyftyftyf	12:e32a6beb0a41	3600	if( buff[0] != 113 ){
tyftyftyf	12:e32a6beb0a41	3601	debugSerial.printf("9250 Not Recognized\n");
tyftyftyf	12:e32a6beb0a41	3602	}
tyftyftyf	12:e32a6beb0a41	3603
tyftyftyf	12:e32a6beb0a41	3604	// enable accelerometer and gyro
tyftyftyf	12:e32a6beb0a41	3605	if( !writeRegister(MPU60X0_RA_PWR_MGMT_2, SEN_ENABLE) ){
tyftyftyf	12:e32a6beb0a41	3606	debugSerial.printf("Accel and Gyro not Enabled\n");
tyftyftyf	12:e32a6beb0a41	3607	}
tyftyftyf	12:e32a6beb0a41	3608
tyftyftyf	12:e32a6beb0a41	3609	/* setup the accel and gyro ranges */
tyftyftyf	12:e32a6beb0a41	3610	setFullScaleGyroRange(MPU60X0_GYRO_FS_2000); // set gyro range to +/- 250 deg/second
tyftyftyf	12:e32a6beb0a41	3611	setFullScaleAccelRange(MPU60X0_ACCEL_FS_2); // set accel range to +- 2g
tyftyftyf	12:e32a6beb0a41	3612	//setFilt9250(DLPF_BANDWIDTH_92HZ, 4);
tyftyftyf	12:e32a6beb0a41	3613
tyftyftyf	12:e32a6beb0a41	3614	// enable I2C master mode
tyftyftyf	12:e32a6beb0a41	3615	if( !writeRegister(MPU60X0_RA_USER_CTRL,I2C_MST_EN) ){
tyftyftyf	12:e32a6beb0a41	3616	debugSerial.printf("Master Mode Set\n");
tyftyftyf	12:e32a6beb0a41	3617	}
tyftyftyf	12:e32a6beb0a41	3618
tyftyftyf	12:e32a6beb0a41	3619	// set the I2C bus speed to 400 kHz
tyftyftyf	12:e32a6beb0a41	3620	if( !writeRegister(MPU60X0_RA_I2C_MST_CTRL,MPU60X0_CLOCK_PLL_XGYRO) ){
tyftyftyf	12:e32a6beb0a41	3621	debugSerial.printf("I2C Bus Set\n");
tyftyftyf	12:e32a6beb0a41	3622	}
tyftyftyf	12:e32a6beb0a41	3623
tyftyftyf	12:e32a6beb0a41	3624	// check AK8963 WHO AM I register, expected value is 0x48 (decimal 72)
tyftyftyf	12:e32a6beb0a41	3625	readAKRegisters(AK8963_RA_WIA, sizeof(buff), &buff[0]);
tyftyftyf	12:e32a6beb0a41	3626	if( buff[0] != 72 ){
tyftyftyf	12:e32a6beb0a41	3627	debugSerial.printf("%d", buff[0]);
tyftyftyf	12:e32a6beb0a41	3628	debugSerial.printf(", ");
tyftyftyf	15:09f072efa71e	3629	debugSerial.printf("AK does not match\n");
tyftyftyf	12:e32a6beb0a41	3630	}
tyftyftyf	12:e32a6beb0a41	3631
tyftyftyf	12:e32a6beb0a41	3632	/* get the magnetometer calibration */
tyftyftyf	12:e32a6beb0a41	3633
tyftyftyf	12:e32a6beb0a41	3634	// set AK8963 to Power Down
tyftyftyf	12:e32a6beb0a41	3635	if( !writeAKRegister(AK8963_RA_CNTL1, AK8963_MODE_POWERDOWN) ){
tyftyftyf	12:e32a6beb0a41	3636	debugSerial.printf("AK Not Powered Down\n");
tyftyftyf	12:e32a6beb0a41	3637	}
tyftyftyf	12:e32a6beb0a41	3638	Thread::wait(100); // long wait between AK8963 mode changes
tyftyftyf	12:e32a6beb0a41	3639
tyftyftyf	12:e32a6beb0a41	3640	// set AK8963 to FUSE ROM access
tyftyftyf	12:e32a6beb0a41	3641	if( !writeAKRegister(AK8963_RA_CNTL1, AK8963_MODE_FUSEROM)){
tyftyftyf	12:e32a6beb0a41	3642	debugSerial.printf("FUSE ROM Access Not set\n");
tyftyftyf	12:e32a6beb0a41	3643	}
tyftyftyf	12:e32a6beb0a41	3644
tyftyftyf	12:e32a6beb0a41	3645	Thread::wait(100); // long wait between AK8963 mode changes
tyftyftyf	12:e32a6beb0a41	3646
tyftyftyf	12:e32a6beb0a41	3647	// read the AK8963 ASA registers and compute magnetometer scale factors
tyftyftyf	12:e32a6beb0a41	3648	readAKRegisters(AK8963_RA_ASAX, sizeof(buff), &buff[0]);
tyftyftyf	12:e32a6beb0a41	3649	//_magScaleX = ((((float)buff[0]) - 128.0f)/(256.0f) + 1.0f) * 4912.0f / 32760.0f; // micro Tesla
tyftyftyf	12:e32a6beb0a41	3650	//_magScaleY = ((((float)buff[1]) - 128.0f)/(256.0f) + 1.0f) * 4912.0f / 32760.0f; // micro Tesla
tyftyftyf	12:e32a6beb0a41	3651	//_magScaleZ = ((((float)buff[2]) - 128.0f)/(256.0f) + 1.0f) * 4912.0f / 32760.0f; // micro Tesla
tyftyftyf	12:e32a6beb0a41	3652	_magScaleX = buff[0];
tyftyftyf	12:e32a6beb0a41	3653	_magScaleY = buff[1];
tyftyftyf	12:e32a6beb0a41	3654	_magScaleZ = buff[2];
tyftyftyf	12:e32a6beb0a41	3655	//Serial.print(_magScaleX); Serial.print(", "); Serial.print(_magScaleY);
tyftyftyf	12:e32a6beb0a41	3656	//Serial.print(", "); Serial.println(_magScaleZ);
tyftyftyf	12:e32a6beb0a41	3657
tyftyftyf	12:e32a6beb0a41	3658	// set AK8963 to Power Down
tyftyftyf	12:e32a6beb0a41	3659	if( !writeAKRegister(AK8963_RA_CNTL1, AK8963_MODE_POWERDOWN) ){
tyftyftyf	12:e32a6beb0a41	3660	debugSerial.printf("AK Not Powered Down\n");
tyftyftyf	12:e32a6beb0a41	3661	}
tyftyftyf	12:e32a6beb0a41	3662	Thread::wait(100); // long wait between AK8963 mode changes
tyftyftyf	12:e32a6beb0a41	3663
tyftyftyf	12:e32a6beb0a41	3664	// set AK8963 to 16 bit resolution, 100 Hz update rate
tyftyftyf	12:e32a6beb0a41	3665	if( !writeAKRegister(AK8963_RA_CNTL1, 0x16) ){
tyftyftyf	12:e32a6beb0a41	3666	debugSerial.printf("Res Not Set\n");
tyftyftyf	12:e32a6beb0a41	3667	}
tyftyftyf	12:e32a6beb0a41	3668	Thread::wait(100); // long wait between AK8963 mode changes
tyftyftyf	12:e32a6beb0a41	3669
tyftyftyf	12:e32a6beb0a41	3670	// select clock source to gyro
tyftyftyf	12:e32a6beb0a41	3671	if( !writeRegister(MPU60X0_RA_PWR_MGMT_1, MPU60X0_CLOCK_PLL_XGYRO) ){
tyftyftyf	12:e32a6beb0a41	3672	debugSerial.printf("Clock Source Not Set\n");
tyftyftyf	12:e32a6beb0a41	3673	}
tyftyftyf	12:e32a6beb0a41	3674
tyftyftyf	12:e32a6beb0a41	3675	// instruct the MPU9250 to get 7 bytes of data from the AK8963 at the sample rate
tyftyftyf	12:e32a6beb0a41	3676	readAKRegisters(AK8963_RA_HXL,sizeof(data),&data[0]);
tyftyftyf	12:e32a6beb0a41	3677	//Serial.println((((int16_t)data[1]) << 8) \| data[0]);
tyftyftyf	12:e32a6beb0a41	3678	//Serial.println((((int16_t)data[3]) << 8) \| data[2]);
tyftyftyf	12:e32a6beb0a41	3679	//Serial.println((((int16_t)data[5]) << 8) \| data[4]);
tyftyftyf	12:e32a6beb0a41	3680
tyftyftyf	12:e32a6beb0a41	3681	// successful init, return 0
tyftyftyf	17:902d1491455f	3682	// debugSerial.printf("FINISHED\n");
tyftyftyf	12:e32a6beb0a41	3683	}
tyftyftyf	12:e32a6beb0a41	3684
tyftyftyf	12:e32a6beb0a41	3685
tyftyftyf	12:e32a6beb0a41	3686	/* sets the DLPF and interrupt settings */
tyftyftyf	12:e32a6beb0a41	3687	int MPU6050::setFilt9250(mpu9250_dlpf_bandwidth bandwidth, uint8_t SRD){
tyftyftyf	12:e32a6beb0a41	3688	uint8_t data[7];
tyftyftyf	12:e32a6beb0a41	3689
tyftyftyf	12:e32a6beb0a41	3690	switch(bandwidth) {
tyftyftyf	12:e32a6beb0a41	3691	case DLPF_BANDWIDTH_184HZ:
tyftyftyf	12:e32a6beb0a41	3692	if( !writeRegister(MPU9250_RA_ACCEL_CONFIG2, MPU60X0_DLPF_BW_184) ){ // setting accel bandwidth to 184Hz
tyftyftyf	12:e32a6beb0a41	3693	return -1;
tyftyftyf	12:e32a6beb0a41	3694	}
tyftyftyf	12:e32a6beb0a41	3695	if( !writeRegister(MPU60X0_RA_GYRO_CONFIG, MPU60X0_DLPF_BW_184) ){ // setting gyro bandwidth to 184Hz
tyftyftyf	12:e32a6beb0a41	3696	return -1;
tyftyftyf	12:e32a6beb0a41	3697	}
tyftyftyf	12:e32a6beb0a41	3698	break;
tyftyftyf	12:e32a6beb0a41	3699
tyftyftyf	12:e32a6beb0a41	3700	case DLPF_BANDWIDTH_92HZ:
tyftyftyf	12:e32a6beb0a41	3701	if( !writeRegister(MPU9250_RA_ACCEL_CONFIG2, MPU60X0_DLPF_BW_98) ){ // setting accel bandwidth to 92Hz
tyftyftyf	12:e32a6beb0a41	3702	return -1;
tyftyftyf	12:e32a6beb0a41	3703	}
tyftyftyf	12:e32a6beb0a41	3704	if( !writeRegister(MPU60X0_RA_GYRO_CONFIG, MPU60X0_DLPF_BW_98) ){ // setting gyro bandwidth to 92Hz
tyftyftyf	12:e32a6beb0a41	3705	return -1;
tyftyftyf	12:e32a6beb0a41	3706	}
tyftyftyf	12:e32a6beb0a41	3707	break;
tyftyftyf	12:e32a6beb0a41	3708
tyftyftyf	12:e32a6beb0a41	3709	case DLPF_BANDWIDTH_41HZ:
tyftyftyf	12:e32a6beb0a41	3710	if( !writeRegister(MPU9250_RA_ACCEL_CONFIG2, MPU60X0_DLPF_BW_42) ){ // setting accel bandwidth to 41Hz
tyftyftyf	12:e32a6beb0a41	3711	return -1;
tyftyftyf	12:e32a6beb0a41	3712	}
tyftyftyf	12:e32a6beb0a41	3713	if( !writeRegister(MPU60X0_RA_GYRO_CONFIG, MPU60X0_DLPF_BW_42) ){ // setting gyro bandwidth to 41Hz
tyftyftyf	12:e32a6beb0a41	3714	return -1;
tyftyftyf	12:e32a6beb0a41	3715	}
tyftyftyf	12:e32a6beb0a41	3716	break;
tyftyftyf	12:e32a6beb0a41	3717
tyftyftyf	12:e32a6beb0a41	3718	case DLPF_BANDWIDTH_20HZ:
tyftyftyf	12:e32a6beb0a41	3719	if( !writeRegister(MPU9250_RA_ACCEL_CONFIG2, MPU60X0_DLPF_BW_20) ){ // setting accel bandwidth to 20Hz
tyftyftyf	12:e32a6beb0a41	3720	return -1;
tyftyftyf	12:e32a6beb0a41	3721	}
tyftyftyf	12:e32a6beb0a41	3722	if( !writeRegister(MPU60X0_RA_GYRO_CONFIG, MPU60X0_DLPF_BW_20) ){ // setting gyro bandwidth to 20Hz
tyftyftyf	12:e32a6beb0a41	3723	return -1;
tyftyftyf	12:e32a6beb0a41	3724	}
tyftyftyf	12:e32a6beb0a41	3725	break;
tyftyftyf	12:e32a6beb0a41	3726
tyftyftyf	12:e32a6beb0a41	3727	case DLPF_BANDWIDTH_10HZ:
tyftyftyf	12:e32a6beb0a41	3728	if( !writeRegister(MPU9250_RA_ACCEL_CONFIG2,MPU60X0_DLPF_BW_10) ){ // setting accel bandwidth to 10Hz
tyftyftyf	12:e32a6beb0a41	3729	return -1;
tyftyftyf	12:e32a6beb0a41	3730	}
tyftyftyf	12:e32a6beb0a41	3731	if( !writeRegister(MPU60X0_RA_GYRO_CONFIG,MPU60X0_DLPF_BW_10) ){ // setting gyro bandwidth to 10Hz
tyftyftyf	12:e32a6beb0a41	3732	return -1;
tyftyftyf	12:e32a6beb0a41	3733	}
tyftyftyf	12:e32a6beb0a41	3734	break;
tyftyftyf	12:e32a6beb0a41	3735
tyftyftyf	12:e32a6beb0a41	3736	case DLPF_BANDWIDTH_5HZ:
tyftyftyf	12:e32a6beb0a41	3737	if( !writeRegister(MPU9250_RA_ACCEL_CONFIG2,MPU60X0_DLPF_BW_5) ){ // setting accel bandwidth to 5Hz
tyftyftyf	12:e32a6beb0a41	3738	return -1;
tyftyftyf	12:e32a6beb0a41	3739	}
tyftyftyf	12:e32a6beb0a41	3740	if( !writeRegister(MPU60X0_RA_GYRO_CONFIG,MPU60X0_DLPF_BW_5) ){ // setting gyro bandwidth to 5Hz
tyftyftyf	12:e32a6beb0a41	3741	return -1;
tyftyftyf	12:e32a6beb0a41	3742	}
tyftyftyf	12:e32a6beb0a41	3743	break;
tyftyftyf	12:e32a6beb0a41	3744	}
tyftyftyf	12:e32a6beb0a41	3745
tyftyftyf	12:e32a6beb0a41	3746	/* setting the sample rate divider */
tyftyftyf	12:e32a6beb0a41	3747	if( !writeRegister(MPU60X0_RA_SMPLRT_DIV,SRD) ){ // setting the sample rate divider
tyftyftyf	12:e32a6beb0a41	3748	return -1;
tyftyftyf	12:e32a6beb0a41	3749	}
tyftyftyf	12:e32a6beb0a41	3750
tyftyftyf	12:e32a6beb0a41	3751	if(SRD > 9){
tyftyftyf	12:e32a6beb0a41	3752
tyftyftyf	12:e32a6beb0a41	3753	// set AK8963 to Power Down
tyftyftyf	12:e32a6beb0a41	3754	if( !writeAKRegister(AK8963_RA_CNTL1, AK8963_MODE_POWERDOWN) ){
tyftyftyf	12:e32a6beb0a41	3755	return -1;
tyftyftyf	12:e32a6beb0a41	3756	}
tyftyftyf	15:09f072efa71e	3757	Thread::wait(100); // long wait between AK8963 mode changes
tyftyftyf	12:e32a6beb0a41	3758
tyftyftyf	12:e32a6beb0a41	3759	// set AK8963 to 16 bit resolution, 8 Hz update rate
tyftyftyf	21:ae3ee2d811eb	3760	if( !writeAKRegister(AK8963_RA_CNTL1, 0x12) ){
tyftyftyf	12:e32a6beb0a41	3761	return -1;
tyftyftyf	12:e32a6beb0a41	3762	}
tyftyftyf	15:09f072efa71e	3763	Thread::wait(100); // long wait between AK8963 mode changes
tyftyftyf	12:e32a6beb0a41	3764
tyftyftyf	12:e32a6beb0a41	3765	// instruct the MPU9250 to get 7 bytes of data from the AK8963 at the sample rate
tyftyftyf	12:e32a6beb0a41	3766	readAKRegisters(AK8963_RA_HXL,sizeof(data),&data[0]);
tyftyftyf	12:e32a6beb0a41	3767	}
tyftyftyf	12:e32a6beb0a41	3768
tyftyftyf	12:e32a6beb0a41	3769	/* setting the interrupt */
tyftyftyf	12:e32a6beb0a41	3770	if( !writeRegister(MPU60X0_RA_INT_PIN_CFG,INT_PULSE_50US) ){ // setup interrupt, 50 us pulse
tyftyftyf	12:e32a6beb0a41	3771	return -1;
tyftyftyf	12:e32a6beb0a41	3772	}
tyftyftyf	12:e32a6beb0a41	3773	if( !writeRegister(MPU60X0_RA_INT_ENABLE,INT_RAW_RDY_EN) ){ // set to data ready
tyftyftyf	12:e32a6beb0a41	3774	return -1;
tyftyftyf	12:e32a6beb0a41	3775	}
tyftyftyf	12:e32a6beb0a41	3776
tyftyftyf	12:e32a6beb0a41	3777	// successful filter setup, return 0
tyftyftyf	12:e32a6beb0a41	3778	return 0;
tyftyftyf	12:e32a6beb0a41	3779	}
tyftyftyf	12:e32a6beb0a41	3780
tyftyftyf	12:e32a6beb0a41	3781	/* enables and disables the interrupt */
tyftyftyf	12:e32a6beb0a41	3782	int MPU6050::enableInt9250(bool enable){
tyftyftyf	12:e32a6beb0a41	3783
tyftyftyf	12:e32a6beb0a41	3784	if(enable){
tyftyftyf	12:e32a6beb0a41	3785	/* setting the interrupt */
tyftyftyf	12:e32a6beb0a41	3786	if( !writeRegister(MPU60X0_RA_INT_PIN_CFG,INT_PULSE_50US) ){ // setup interrupt, 50 us pulse
tyftyftyf	12:e32a6beb0a41	3787	return -1;
tyftyftyf	12:e32a6beb0a41	3788	}
tyftyftyf	12:e32a6beb0a41	3789	if( !writeRegister(MPU60X0_RA_INT_ENABLE,INT_RAW_RDY_EN) ){ // set to data ready
tyftyftyf	12:e32a6beb0a41	3790	return -1;
tyftyftyf	12:e32a6beb0a41	3791	}
tyftyftyf	12:e32a6beb0a41	3792	}
tyftyftyf	12:e32a6beb0a41	3793	else{
tyftyftyf	12:e32a6beb0a41	3794	if( !writeRegister(MPU60X0_RA_INT_ENABLE,INT_DISABLE) ){ // disable interrupt
tyftyftyf	12:e32a6beb0a41	3795	return -1;
tyftyftyf	12:e32a6beb0a41	3796	}
tyftyftyf	12:e32a6beb0a41	3797	}
tyftyftyf	12:e32a6beb0a41	3798
tyftyftyf	12:e32a6beb0a41	3799	// successful interrupt setup, return 0
tyftyftyf	12:e32a6beb0a41	3800	return 0;
tyftyftyf	12:e32a6beb0a41	3801	}
tyftyftyf	12:e32a6beb0a41	3802
tyftyftyf	12:e32a6beb0a41	3803
tyftyftyf	12:e32a6beb0a41	3804
tyftyftyf	12:e32a6beb0a41	3805
tyftyftyf	12:e32a6beb0a41	3806	/* get accelerometer data given pointers to store the three values, return data as counts */
tyftyftyf	12:e32a6beb0a41	3807	void MPU6050::get9250AccelCounts(int16_t* ax, int16_t* ay, int16_t* az){
tyftyftyf	12:e32a6beb0a41	3808	uint8_t buff[6];
tyftyftyf	12:e32a6beb0a41	3809	int16_t axx, ayy, azz;
tyftyftyf	12:e32a6beb0a41	3810
tyftyftyf	12:e32a6beb0a41	3811	readRegister(MPU60X0_RA_ACCEL_XOUT_H, sizeof(buff), &buff[0]); // grab the data from the MPU9250
tyftyftyf	12:e32a6beb0a41	3812
tyftyftyf	12:e32a6beb0a41	3813	axx = (((int16_t)buff[0]) << 8) \| buff[1]; // combine into 16 bit values
tyftyftyf	12:e32a6beb0a41	3814	ayy = (((int16_t)buff[2]) << 8) \| buff[3];
tyftyftyf	12:e32a6beb0a41	3815	azz = (((int16_t)buff[4]) << 8) \| buff[5];
tyftyftyf	12:e32a6beb0a41	3816
tyftyftyf	12:e32a6beb0a41	3817	ax = tX[0]axx + tX[1]ayy + tX[2]azz; // transform axes
tyftyftyf	12:e32a6beb0a41	3818	ay = tY[0]axx + tY[1]ayy + tY[2]azz;
tyftyftyf	12:e32a6beb0a41	3819	az = tZ[0]axx + tZ[1]ayy + tZ[2]azz;
tyftyftyf	12:e32a6beb0a41	3820	}
tyftyftyf	12:e32a6beb0a41	3821
tyftyftyf	12:e32a6beb0a41	3822
tyftyftyf	12:e32a6beb0a41	3823	/* get gyro data given pointers to store the three values, return data as counts */
tyftyftyf	12:e32a6beb0a41	3824	void MPU6050::get9250GyroCounts(int16_t* gx, int16_t* gy, int16_t* gz){
tyftyftyf	12:e32a6beb0a41	3825	uint8_t buff[6];
tyftyftyf	12:e32a6beb0a41	3826	int16_t gxx, gyy, gzz;
tyftyftyf	12:e32a6beb0a41	3827
tyftyftyf	12:e32a6beb0a41	3828	readRegister(MPU60X0_RA_GYRO_XOUT_H, sizeof(buff), &buff[0]); // grab the data from the MPU9250
tyftyftyf	12:e32a6beb0a41	3829
tyftyftyf	12:e32a6beb0a41	3830	gxx = (((int16_t)buff[0]) << 8) \| buff[1]; // combine into 16 bit values
tyftyftyf	12:e32a6beb0a41	3831	gyy = (((int16_t)buff[2]) << 8) \| buff[3];
tyftyftyf	12:e32a6beb0a41	3832	gzz = (((int16_t)buff[4]) << 8) \| buff[5];
tyftyftyf	12:e32a6beb0a41	3833
tyftyftyf	12:e32a6beb0a41	3834	gx = tX[0]gxx + tX[1]gyy + tX[2]gzz; // transform axes
tyftyftyf	12:e32a6beb0a41	3835	gy = tY[0]gxx + tY[1]gyy + tY[2]gzz;
tyftyftyf	12:e32a6beb0a41	3836	gz = tZ[0]gxx + tZ[1]gyy + tZ[2]gzz;
tyftyftyf	12:e32a6beb0a41	3837	}
tyftyftyf	12:e32a6beb0a41	3838
tyftyftyf	12:e32a6beb0a41	3839	/* get magnetometer data given pointers to store the three values, return data as counts */
tyftyftyf	12:e32a6beb0a41	3840	void MPU6050::get9250MagCounts(int16_t* hx, int16_t* hy, int16_t* hz){
tyftyftyf	12:e32a6beb0a41	3841	uint8_t buff[7];
tyftyftyf	12:e32a6beb0a41	3842	// read the magnetometer data off the external sensor buffer
tyftyftyf	12:e32a6beb0a41	3843	readRegister(MPU60X0_RA_EXT_SENS_DATA_00,sizeof(buff),&buff[0]);
tyftyftyf	12:e32a6beb0a41	3844
tyftyftyf	12:e32a6beb0a41	3845	if( buff[6] == 0x10 ) { // check for overflow
tyftyftyf	12:e32a6beb0a41	3846	*hx = (((int16_t)buff[1]) << 8) \| buff[0]; // combine into 16 bit values
tyftyftyf	12:e32a6beb0a41	3847	*hy = (((int16_t)buff[3]) << 8) \| buff[2];
tyftyftyf	12:e32a6beb0a41	3848	*hz = (((int16_t)buff[5]) << 8) \| buff[4];
tyftyftyf	12:e32a6beb0a41	3849	}
tyftyftyf	12:e32a6beb0a41	3850	else{
tyftyftyf	12:e32a6beb0a41	3851	*hx = 0;
tyftyftyf	12:e32a6beb0a41	3852	*hy = 0;
tyftyftyf	12:e32a6beb0a41	3853	*hz = 0;
tyftyftyf	12:e32a6beb0a41	3854	}
tyftyftyf	12:e32a6beb0a41	3855	}
tyftyftyf	12:e32a6beb0a41	3856
tyftyftyf	12:e32a6beb0a41	3857	/* get temperature data given pointer to store the value, return data as counts */
tyftyftyf	12:e32a6beb0a41	3858	void MPU6050::get9250TempCounts(int16_t* t){
tyftyftyf	12:e32a6beb0a41	3859	uint8_t buff[2];
tyftyftyf	12:e32a6beb0a41	3860
tyftyftyf	12:e32a6beb0a41	3861	readRegister(MPU60X0_RA_TEMP_OUT_H, sizeof(buff), &buff[0]); // grab the data from the MPU9250
tyftyftyf	12:e32a6beb0a41	3862
tyftyftyf	12:e32a6beb0a41	3863	*t = (((int16_t)buff[0]) << 8) \| buff[1]; // combine into 16 bit value and return
tyftyftyf	12:e32a6beb0a41	3864	}
tyftyftyf	12:e32a6beb0a41	3865
tyftyftyf	12:e32a6beb0a41	3866	void MPU6050::get9250Motion9Counts(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* hx, int16_t* hy, int16_t* hz)
tyftyftyf	12:e32a6beb0a41	3867	{
tyftyftyf	12:e32a6beb0a41	3868	int16_t axx, ayy, azz, gxx, gyy, gzz;
tyftyftyf	12:e32a6beb0a41	3869
tyftyftyf	13:a74f2d622b54	3870	axx = ax_cache;
tyftyftyf	13:a74f2d622b54	3871	ayy = ay_cache;
tyftyftyf	13:a74f2d622b54	3872	azz = az_cache;
tyftyftyf	13:a74f2d622b54	3873	gxx = gx_cache;
tyftyftyf	13:a74f2d622b54	3874	gyy = gy_cache;
tyftyftyf	13:a74f2d622b54	3875	gzz = gz_cache;
tyftyftyf	13:a74f2d622b54	3876	*hx = hx_cache;
tyftyftyf	13:a74f2d622b54	3877	*hy = hy_cache;
tyftyftyf	13:a74f2d622b54	3878	*hz = hz_cache;
tyftyftyf	12:e32a6beb0a41	3879
tyftyftyf	20:0172ae63dd9e	3880	ax = tX[0]axx + tX[1]ayy + tX[2]azz; // transform axes
tyftyftyf	12:e32a6beb0a41	3881	ay = tY[0]axx + tY[1]ayy + tY[2]azz;
tyftyftyf	12:e32a6beb0a41	3882	az = tZ[0]axx + tZ[1]ayy + tZ[2]azz;
tyftyftyf	12:e32a6beb0a41	3883
tyftyftyf	12:e32a6beb0a41	3884	gx = tX[0]gxx + tX[1]gyy + tX[2]gzz;
tyftyftyf	12:e32a6beb0a41	3885	gy = tY[0]gxx + tY[1]gyy + tY[2]gzz;
tyftyftyf	20:0172ae63dd9e	3886	gz = tZ[0]gxx + tZ[1]gyy + tZ[2]gzz;
tyftyftyf	12:e32a6beb0a41	3887	}
tyftyftyf	12:e32a6beb0a41	3888
tyftyftyf	12:e32a6beb0a41	3889	/* get accelerometer, gyro, and magnetometer data given pointers to store values */
tyftyftyf	12:e32a6beb0a41	3890	void MPU6050::get9250Motion9(float* ax, float* ay, float* az, float* gx, float* gy, float* gz, float* hx, float* hy, float* hz){
tyftyftyf	12:e32a6beb0a41	3891	int16_t accel[3];
tyftyftyf	12:e32a6beb0a41	3892	int16_t gyro[3];
tyftyftyf	12:e32a6beb0a41	3893	int16_t mag[3];
tyftyftyf	12:e32a6beb0a41	3894
tyftyftyf	12:e32a6beb0a41	3895	get9250Motion9Counts(&accel[0], &accel[1], &accel[2], &gyro[0], &gyro[1], &gyro[2], &mag[0], &mag[1], &mag[2]);
tyftyftyf	12:e32a6beb0a41	3896
tyftyftyf	12:e32a6beb0a41	3897	*ax = ((float) accel[0]); // typecast and scale to values
tyftyftyf	12:e32a6beb0a41	3898	*ay = ((float) accel[1]);
tyftyftyf	12:e32a6beb0a41	3899	*az = ((float) accel[2]);
tyftyftyf	12:e32a6beb0a41	3900
tyftyftyf	12:e32a6beb0a41	3901	*gx = ((float) gyro[0]);
tyftyftyf	12:e32a6beb0a41	3902	*gy = ((float) gyro[1]);
tyftyftyf	12:e32a6beb0a41	3903	*gz = ((float) gyro[2]);
tyftyftyf	12:e32a6beb0a41	3904
tyftyftyf	12:e32a6beb0a41	3905	*hx = ((float) mag[0]);
tyftyftyf	12:e32a6beb0a41	3906	*hy = ((float) mag[1]);
tyftyftyf	12:e32a6beb0a41	3907	*hz = ((float) mag[2]);
tyftyftyf	12:e32a6beb0a41	3908
tyftyftyf	12:e32a6beb0a41	3909	}
tyftyftyf	12:e32a6beb0a41	3910
tyftyftyf	15:09f072efa71e	3911	void MPU6050::readRegister(uint8_t subAddress, uint8_t count, uint8_t* dest) {
tyftyftyf	12:e32a6beb0a41	3912	i2Cdev.readBytes(devAddr, subAddress, count, dest);
tyftyftyf	12:e32a6beb0a41	3913	}
tyftyftyf	12:e32a6beb0a41	3914
tyftyftyf	12:e32a6beb0a41	3915	/* writes a register to the AK8963 given a register address and data */
tyftyftyf	15:09f072efa71e	3916	bool MPU6050::writeAKRegister(uint8_t subAddress, uint8_t data) {
tyftyftyf	12:e32a6beb0a41	3917	uint8_t count = 1;
tyftyftyf	12:e32a6beb0a41	3918	uint8_t buff[1];
tyftyftyf	12:e32a6beb0a41	3919
tyftyftyf	12:e32a6beb0a41	3920	writeRegister(MPU60X0_RA_I2C_SLV0_ADDR, magDevAddr); // set slave 0 to the AK8963 and set for write
tyftyftyf	12:e32a6beb0a41	3921	writeRegister(MPU60X0_RA_I2C_SLV0_REG,subAddress); // set the register to the desired AK8963 sub address
tyftyftyf	12:e32a6beb0a41	3922	writeRegister(MPU60X0_RA_I2C_SLV0_DO, data); // store the data for write
tyftyftyf	12:e32a6beb0a41	3923	writeRegister(MPU60X0_RA_I2C_SLV0_CTRL, I2C_SLV0_EN \| count); // enable I2C and send 1 byte
tyftyftyf	12:e32a6beb0a41	3924
tyftyftyf	12:e32a6beb0a41	3925	// read the register and confirm
tyftyftyf	12:e32a6beb0a41	3926	readAKRegisters(subAddress, sizeof(buff), &buff[0]);
tyftyftyf	12:e32a6beb0a41	3927
tyftyftyf	12:e32a6beb0a41	3928	if (buff[0] == data) {
tyftyftyf	12:e32a6beb0a41	3929	return true;
tyftyftyf	12:e32a6beb0a41	3930	} else {
tyftyftyf	12:e32a6beb0a41	3931	return false;
tyftyftyf	12:e32a6beb0a41	3932	}
tyftyftyf	12:e32a6beb0a41	3933	}
tyftyftyf	12:e32a6beb0a41	3934
tyftyftyf	12:e32a6beb0a41	3935
tyftyftyf	12:e32a6beb0a41	3936	/* reads registers from the AK8963 */
tyftyftyf	15:09f072efa71e	3937	void MPU6050::readAKRegisters(uint8_t subAddress, uint8_t count, uint8_t* dest) {
tyftyftyf	12:e32a6beb0a41	3938
tyftyftyf	12:e32a6beb0a41	3939	writeRegister(MPU60X0_RA_I2C_SLV0_ADDR, magDevAddr \| I2C_READ_FLAG); // set slave 0 to the AK8963 and set for read
tyftyftyf	12:e32a6beb0a41	3940	writeRegister(MPU60X0_RA_I2C_SLV0_REG, subAddress); // set the register to the desired AK8963 sub address
tyftyftyf	12:e32a6beb0a41	3941	writeRegister(MPU60X0_RA_I2C_SLV0_CTRL, I2C_SLV0_EN \| count); // enable I2C and request the bytes
tyftyftyf	12:e32a6beb0a41	3942	Thread::wait(1); // takes some time for these registers to fill
tyftyftyf	12:e32a6beb0a41	3943	readRegister(MPU60X0_RA_EXT_SENS_DATA_00, count, dest); // read the bytes off the MPU9250 EXT_SENS_DATA registers
tyftyftyf	12:e32a6beb0a41	3944
tyftyftyf	12:e32a6beb0a41	3945	}
tyftyftyf	12:e32a6beb0a41	3946
tyftyftyf	15:09f072efa71e	3947	bool MPU6050::writeRegister(uint8_t subAddress, uint8_t data) {
tyftyftyf	12:e32a6beb0a41	3948	uint8_t buff[1];
tyftyftyf	12:e32a6beb0a41	3949
tyftyftyf	12:e32a6beb0a41	3950	i2Cdev.writeByte(devAddr, subAddress, data);
tyftyftyf	12:e32a6beb0a41	3951
tyftyftyf	12:e32a6beb0a41	3952	Thread::wait(10); // need to slow down how fast I write to MPU9250
tyftyftyf	12:e32a6beb0a41	3953
tyftyftyf	12:e32a6beb0a41	3954	/* read back the register */
tyftyftyf	12:e32a6beb0a41	3955	readRegister(subAddress,sizeof(buff),&buff[0]);
tyftyftyf	12:e32a6beb0a41	3956
tyftyftyf	12:e32a6beb0a41	3957	/* check the read back register against the written register */
tyftyftyf	12:e32a6beb0a41	3958	if (buff[0] == data) {
tyftyftyf	12:e32a6beb0a41	3959	return true;
tyftyftyf	12:e32a6beb0a41	3960	} else {
tyftyftyf	12:e32a6beb0a41	3961	return false;
tyftyftyf	12:e32a6beb0a41	3962	}
tyftyftyf	12:e32a6beb0a41	3963
tyftyftyf	12:e32a6beb0a41	3964	}
tyftyftyf	12:e32a6beb0a41	3965
tyftyftyf	13:a74f2d622b54	3966	#endif // MPU9250
tyftyftyf	12:e32a6beb0a41	3967
tyftyftyf	12:e32a6beb0a41	3968
tyftyftyf	12:e32a6beb0a41	3969
tyftyftyf	12:e32a6beb0a41	3970

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Type:	Library
Created:	28 Mar 2018
Imports:	7
Forks:	0
Commits:	23
Dependents:	1
Dependencies:	0
Followers:	2

MPU6050.cpp@22:ec9725201195, 2018-04-18 (annotated)

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