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MPU60503.cpp@2:85734ad35573, 2017-10-02 (annotated)

Committer:: Gaetios
Date:: Mon Oct 02 16:42:34 2017 +0000
Revision:: 2:85734ad35573

foi alterado para utilizar 4 acelerometros

Who changed what in which revision?

User	Revision	Line number	New contents of line
Gaetios	2:85734ad35573	1	//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
Gaetios	2:85734ad35573	2	//written by szymon gaertig (email: szymon@gaertig.com.pl)
Gaetios	2:85734ad35573	3	//
Gaetios	2:85734ad35573	4	//Changelog:
Gaetios	2:85734ad35573	5	//2013-01-08 - first beta release
Gaetios	2:85734ad35573	6
Gaetios	2:85734ad35573	7	// I2Cdev library collection - MPU6050 I2C device class
Gaetios	2:85734ad35573	8	// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
Gaetios	2:85734ad35573	9	// 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
Gaetios	2:85734ad35573	10	// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
Gaetios	2:85734ad35573	11	//
Gaetios	2:85734ad35573	12	// Changelog:
Gaetios	2:85734ad35573	13	// ... - ongoing debug release
Gaetios	2:85734ad35573	14
Gaetios	2:85734ad35573	15	// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
Gaetios	2:85734ad35573	16	// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
Gaetios	2:85734ad35573	17	// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
Gaetios	2:85734ad35573	18
Gaetios	2:85734ad35573	19	/* ============================================
Gaetios	2:85734ad35573	20	I2Cdev device library code is placed under the MIT license
Gaetios	2:85734ad35573	21	Copyright (c) 2012 Jeff Rowberg
Gaetios	2:85734ad35573	22
Gaetios	2:85734ad35573	23	Permission is hereby granted, free of charge, to any person obtaining a copy
Gaetios	2:85734ad35573	24	of this software and associated documentation files (the "Software"), to deal
Gaetios	2:85734ad35573	25	in the Software without restriction, including without limitation the rights
Gaetios	2:85734ad35573	26	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
Gaetios	2:85734ad35573	27	copies of the Software, and to permit persons to whom the Software is
Gaetios	2:85734ad35573	28	furnished to do so, subject to the following conditions:
Gaetios	2:85734ad35573	29
Gaetios	2:85734ad35573	30	The above copyright notice and this permission notice shall be included in
Gaetios	2:85734ad35573	31	all copies or substantial portions of the Software.
Gaetios	2:85734ad35573	32
Gaetios	2:85734ad35573	33	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
Gaetios	2:85734ad35573	34	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
Gaetios	2:85734ad35573	35	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
Gaetios	2:85734ad35573	36	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
Gaetios	2:85734ad35573	37	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
Gaetios	2:85734ad35573	38	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
Gaetios	2:85734ad35573	39	THE SOFTWARE.
Gaetios	2:85734ad35573	40	===============================================
Gaetios	2:85734ad35573	41	*/
Gaetios	2:85734ad35573	42
Gaetios	2:85734ad35573	43	#include "MPU60503.h"
Gaetios	2:85734ad35573	44
Gaetios	2:85734ad35573	45	#define useDebugSerial
Gaetios	2:85734ad35573	46
Gaetios	2:85734ad35573	47	//instead of using pgmspace.h
Gaetios	2:85734ad35573	48	typedef const unsigned char prog_uchar;
Gaetios	2:85734ad35573	49	#define pgm_read_byte_near(x) ((prog_uchar)x)
Gaetios	2:85734ad35573	50	#define pgm_read_byte(x) ((prog_uchar)x)
Gaetios	2:85734ad35573	51
Gaetios	2:85734ad35573	52	/** Default constructor, uses default I2C address.
Gaetios	2:85734ad35573	53	* @see MPU6050_DEFAULT_ADDRESS
Gaetios	2:85734ad35573	54	*/
Gaetios	2:85734ad35573	55	MPU60503::MPU60503() : debugSerial(USBTX, USBRX)
Gaetios	2:85734ad35573	56	{
Gaetios	2:85734ad35573	57	devAddr = MPU6050_ADDRESS_AD0_HIGH;
Gaetios	2:85734ad35573	58	}
Gaetios	2:85734ad35573	59
Gaetios	2:85734ad35573	60	/** Specific address constructor.
Gaetios	2:85734ad35573	61	* @param address I2C address
Gaetios	2:85734ad35573	62	* @see MPU6050_DEFAULT_ADDRESS
Gaetios	2:85734ad35573	63	* @see MPU6050_ADDRESS_AD0_LOW
Gaetios	2:85734ad35573	64	* @see MPU6050_ADDRESS_AD0_HIGH
Gaetios	2:85734ad35573	65	*/
Gaetios	2:85734ad35573	66	MPU60503::MPU60503(uint8_t address) : debugSerial(USBTX, USBRX)
Gaetios	2:85734ad35573	67	{
Gaetios	2:85734ad35573	68	devAddr = address;
Gaetios	2:85734ad35573	69	}
Gaetios	2:85734ad35573	70
Gaetios	2:85734ad35573	71	/** Power on and prepare for general usage.
Gaetios	2:85734ad35573	72	* This will activate the device and take it out of sleep mode (which must be done
Gaetios	2:85734ad35573	73	* after start-up). This function also sets both the accelerometer and the gyroscope
Gaetios	2:85734ad35573	74	* to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
Gaetios	2:85734ad35573	75	* the clock source to use the X Gyro for reference, which is slightly better than
Gaetios	2:85734ad35573	76	* the default internal clock source.
Gaetios	2:85734ad35573	77	*/
Gaetios	2:85734ad35573	78	void MPU60503::initialize()
Gaetios	2:85734ad35573	79	{
Gaetios	2:85734ad35573	80
Gaetios	2:85734ad35573	81	#ifdef useDebugSerial
Gaetios	2:85734ad35573	82	/// debugSerial.printf("MPU6050::initialize start\n");
Gaetios	2:85734ad35573	83	#endif
Gaetios	2:85734ad35573	84
Gaetios	2:85734ad35573	85	setClockSource(MPU6050_CLOCK_PLL_XGYRO);
Gaetios	2:85734ad35573	86	setFullScaleGyroRange(MPU6050_GYRO_FS_250);
Gaetios	2:85734ad35573	87	setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
Gaetios	2:85734ad35573	88	setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
Gaetios	2:85734ad35573	89
Gaetios	2:85734ad35573	90	#ifdef useDebugSerial
Gaetios	2:85734ad35573	91	// debugSerial.printf("MPU6050::initialize end\n");
Gaetios	2:85734ad35573	92	#endif
Gaetios	2:85734ad35573	93	}
Gaetios	2:85734ad35573	94
Gaetios	2:85734ad35573	95	/** Verify the I2C connection.
Gaetios	2:85734ad35573	96	* Make sure the device is connected and responds as expected.
Gaetios	2:85734ad35573	97	* @return True if connection is valid, false otherwise
Gaetios	2:85734ad35573	98	*/
Gaetios	2:85734ad35573	99	bool MPU60503::testConnection()
Gaetios	2:85734ad35573	100	{
Gaetios	2:85734ad35573	101	#ifdef useDebugSerial
Gaetios	2:85734ad35573	102	debugSerial.printf("MPU6050::testConnection start\n");
Gaetios	2:85734ad35573	103	#endif
Gaetios	2:85734ad35573	104	uint8_t deviceId = getDeviceID();
Gaetios	2:85734ad35573	105	#ifdef useDebugSerial
Gaetios	2:85734ad35573	106	debugSerial.printf("DeviceId = %d\n",deviceId);
Gaetios	2:85734ad35573	107	#endif
Gaetios	2:85734ad35573	108	return deviceId == 0x34;
Gaetios	2:85734ad35573	109	}
Gaetios	2:85734ad35573	110
Gaetios	2:85734ad35573	111	// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
Gaetios	2:85734ad35573	112
Gaetios	2:85734ad35573	113	/** Get the auxiliary I2C supply voltage level.
Gaetios	2:85734ad35573	114	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
Gaetios	2:85734ad35573	115	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
Gaetios	2:85734ad35573	116	* the MPU-6000, which does not have a VLOGIC pin.
Gaetios	2:85734ad35573	117	* @return I2C supply voltage level (0=VLOGIC, 1=VDD)
Gaetios	2:85734ad35573	118	*/
Gaetios	2:85734ad35573	119	uint8_t MPU60503::getAuxVDDIOLevel()
Gaetios	2:85734ad35573	120	{
Gaetios	2:85734ad35573	121	i2Cdev.readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
Gaetios	2:85734ad35573	122	return buffer[0];
Gaetios	2:85734ad35573	123	}
Gaetios	2:85734ad35573	124	/** Set the auxiliary I2C supply voltage level.
Gaetios	2:85734ad35573	125	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
Gaetios	2:85734ad35573	126	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
Gaetios	2:85734ad35573	127	* the MPU-6000, which does not have a VLOGIC pin.
Gaetios	2:85734ad35573	128	* @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
Gaetios	2:85734ad35573	129	*/
Gaetios	2:85734ad35573	130	void MPU60503::setAuxVDDIOLevel(uint8_t level)
Gaetios	2:85734ad35573	131	{
Gaetios	2:85734ad35573	132	i2Cdev.writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
Gaetios	2:85734ad35573	133	}
Gaetios	2:85734ad35573	134
Gaetios	2:85734ad35573	135	// SMPLRT_DIV register
Gaetios	2:85734ad35573	136
Gaetios	2:85734ad35573	137	/** Get gyroscope output rate divider.
Gaetios	2:85734ad35573	138	* The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
Gaetios	2:85734ad35573	139	* Motion detection, and Free Fall detection are all based on the Sample Rate.
Gaetios	2:85734ad35573	140	* The Sample Rate is generated by dividing the gyroscope output rate by
Gaetios	2:85734ad35573	141	* SMPLRT_DIV:
Gaetios	2:85734ad35573	142	*
Gaetios	2:85734ad35573	143	* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
Gaetios	2:85734ad35573	144	*
Gaetios	2:85734ad35573	145	* where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
Gaetios	2:85734ad35573	146	* 7), and 1kHz when the DLPF is enabled (see Register 26).
Gaetios	2:85734ad35573	147	*
Gaetios	2:85734ad35573	148	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
Gaetios	2:85734ad35573	149	* Rate greater than 1kHz, the same accelerometer sample may be output to the
Gaetios	2:85734ad35573	150	* FIFO, DMP, and sensor registers more than once.
Gaetios	2:85734ad35573	151	*
Gaetios	2:85734ad35573	152	* For a diagram of the gyroscope and accelerometer signal paths, see Section 8
Gaetios	2:85734ad35573	153	* of the MPU-6000/MPU-6050 Product Specification document.
Gaetios	2:85734ad35573	154	*
Gaetios	2:85734ad35573	155	* @return Current sample rate
Gaetios	2:85734ad35573	156	* @see MPU6050_RA_SMPLRT_DIV
Gaetios	2:85734ad35573	157	*/
Gaetios	2:85734ad35573	158	uint8_t MPU60503::getRate()
Gaetios	2:85734ad35573	159	{
Gaetios	2:85734ad35573	160	i2Cdev.readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
Gaetios	2:85734ad35573	161	return buffer[0];
Gaetios	2:85734ad35573	162	}
Gaetios	2:85734ad35573	163	/** Set gyroscope sample rate divider.
Gaetios	2:85734ad35573	164	* @param rate New sample rate divider
Gaetios	2:85734ad35573	165	* @see getRate()
Gaetios	2:85734ad35573	166	* @see MPU6050_RA_SMPLRT_DIV
Gaetios	2:85734ad35573	167	*/
Gaetios	2:85734ad35573	168	void MPU60503::setRate(uint8_t rate)
Gaetios	2:85734ad35573	169	{
Gaetios	2:85734ad35573	170	i2Cdev.writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
Gaetios	2:85734ad35573	171	}
Gaetios	2:85734ad35573	172
Gaetios	2:85734ad35573	173	// CONFIG register
Gaetios	2:85734ad35573	174
Gaetios	2:85734ad35573	175	/** Get external FSYNC configuration.
Gaetios	2:85734ad35573	176	* Configures the external Frame Synchronization (FSYNC) pin sampling. An
Gaetios	2:85734ad35573	177	* external signal connected to the FSYNC pin can be sampled by configuring
Gaetios	2:85734ad35573	178	* EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
Gaetios	2:85734ad35573	179	* strobes may be captured. The latched FSYNC signal will be sampled at the
Gaetios	2:85734ad35573	180	* Sampling Rate, as defined in register 25. After sampling, the latch will
Gaetios	2:85734ad35573	181	* reset to the current FSYNC signal state.
Gaetios	2:85734ad35573	182	*
Gaetios	2:85734ad35573	183	* The sampled value will be reported in place of the least significant bit in
Gaetios	2:85734ad35573	184	* a sensor data register determined by the value of EXT_SYNC_SET according to
Gaetios	2:85734ad35573	185	* the following table.
Gaetios	2:85734ad35573	186	*
Gaetios	2:85734ad35573	187	* <pre>
Gaetios	2:85734ad35573	188	* EXT_SYNC_SET \| FSYNC Bit Location
Gaetios	2:85734ad35573	189	* -------------+-------------------
Gaetios	2:85734ad35573	190	* 0 \| Input disabled
Gaetios	2:85734ad35573	191	* 1 \| TEMP_OUT_L[0]
Gaetios	2:85734ad35573	192	* 2 \| GYRO_XOUT_L[0]
Gaetios	2:85734ad35573	193	* 3 \| GYRO_YOUT_L[0]
Gaetios	2:85734ad35573	194	* 4 \| GYRO_ZOUT_L[0]
Gaetios	2:85734ad35573	195	* 5 \| ACCEL_XOUT_L[0]
Gaetios	2:85734ad35573	196	* 6 \| ACCEL_YOUT_L[0]
Gaetios	2:85734ad35573	197	* 7 \| ACCEL_ZOUT_L[0]
Gaetios	2:85734ad35573	198	* </pre>
Gaetios	2:85734ad35573	199	*
Gaetios	2:85734ad35573	200	* @return FSYNC configuration value
Gaetios	2:85734ad35573	201	*/
Gaetios	2:85734ad35573	202	uint8_t MPU60503::getExternalFrameSync()
Gaetios	2:85734ad35573	203	{
Gaetios	2:85734ad35573	204	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
Gaetios	2:85734ad35573	205	return buffer[0];
Gaetios	2:85734ad35573	206	}
Gaetios	2:85734ad35573	207	/** Set external FSYNC configuration.
Gaetios	2:85734ad35573	208	* @see getExternalFrameSync()
Gaetios	2:85734ad35573	209	* @see MPU6050_RA_CONFIG
Gaetios	2:85734ad35573	210	* @param sync New FSYNC configuration value
Gaetios	2:85734ad35573	211	*/
Gaetios	2:85734ad35573	212	void MPU60503::setExternalFrameSync(uint8_t sync)
Gaetios	2:85734ad35573	213	{
Gaetios	2:85734ad35573	214	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
Gaetios	2:85734ad35573	215	}
Gaetios	2:85734ad35573	216	/** Get digital low-pass filter configuration.
Gaetios	2:85734ad35573	217	* The DLPF_CFG parameter sets the digital low pass filter configuration. It
Gaetios	2:85734ad35573	218	* also determines the internal sampling rate used by the device as shown in
Gaetios	2:85734ad35573	219	* the table below.
Gaetios	2:85734ad35573	220	*
Gaetios	2:85734ad35573	221	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
Gaetios	2:85734ad35573	222	* Rate greater than 1kHz, the same accelerometer sample may be output to the
Gaetios	2:85734ad35573	223	* FIFO, DMP, and sensor registers more than once.
Gaetios	2:85734ad35573	224	*
Gaetios	2:85734ad35573	225	* <pre>
Gaetios	2:85734ad35573	226	* \| ACCELEROMETER \| GYROSCOPE
Gaetios	2:85734ad35573	227	* DLPF_CFG \| Bandwidth \| Delay \| Bandwidth \| Delay \| Sample Rate
Gaetios	2:85734ad35573	228	* ---------+-----------+--------+-----------+--------+-------------
Gaetios	2:85734ad35573	229	* 0 \| 260Hz \| 0ms \| 256Hz \| 0.98ms \| 8kHz
Gaetios	2:85734ad35573	230	* 1 \| 184Hz \| 2.0ms \| 188Hz \| 1.9ms \| 1kHz
Gaetios	2:85734ad35573	231	* 2 \| 94Hz \| 3.0ms \| 98Hz \| 2.8ms \| 1kHz
Gaetios	2:85734ad35573	232	* 3 \| 44Hz \| 4.9ms \| 42Hz \| 4.8ms \| 1kHz
Gaetios	2:85734ad35573	233	* 4 \| 21Hz \| 8.5ms \| 20Hz \| 8.3ms \| 1kHz
Gaetios	2:85734ad35573	234	* 5 \| 10Hz \| 13.8ms \| 10Hz \| 13.4ms \| 1kHz
Gaetios	2:85734ad35573	235	* 6 \| 5Hz \| 19.0ms \| 5Hz \| 18.6ms \| 1kHz
Gaetios	2:85734ad35573	236	* 7 \| -- Reserved -- \| -- Reserved -- \| Reserved
Gaetios	2:85734ad35573	237	* </pre>
Gaetios	2:85734ad35573	238	*
Gaetios	2:85734ad35573	239	* @return DLFP configuration
Gaetios	2:85734ad35573	240	* @see MPU6050_RA_CONFIG
Gaetios	2:85734ad35573	241	* @see MPU6050_CFG_DLPF_CFG_BIT
Gaetios	2:85734ad35573	242	* @see MPU6050_CFG_DLPF_CFG_LENGTH
Gaetios	2:85734ad35573	243	*/
Gaetios	2:85734ad35573	244	uint8_t MPU60503::getDLPFMode()
Gaetios	2:85734ad35573	245	{
Gaetios	2:85734ad35573	246	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
Gaetios	2:85734ad35573	247	return buffer[0];
Gaetios	2:85734ad35573	248	}
Gaetios	2:85734ad35573	249	/** Set digital low-pass filter configuration.
Gaetios	2:85734ad35573	250	* @param mode New DLFP configuration setting
Gaetios	2:85734ad35573	251	* @see getDLPFBandwidth()
Gaetios	2:85734ad35573	252	* @see MPU6050_DLPF_BW_256
Gaetios	2:85734ad35573	253	* @see MPU6050_RA_CONFIG
Gaetios	2:85734ad35573	254	* @see MPU6050_CFG_DLPF_CFG_BIT
Gaetios	2:85734ad35573	255	* @see MPU6050_CFG_DLPF_CFG_LENGTH
Gaetios	2:85734ad35573	256	*/
Gaetios	2:85734ad35573	257	void MPU60503::setDLPFMode(uint8_t mode)
Gaetios	2:85734ad35573	258	{
Gaetios	2:85734ad35573	259	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
Gaetios	2:85734ad35573	260	}
Gaetios	2:85734ad35573	261
Gaetios	2:85734ad35573	262	// GYRO_CONFIG register
Gaetios	2:85734ad35573	263
Gaetios	2:85734ad35573	264	/** Get full-scale gyroscope range.
Gaetios	2:85734ad35573	265	* The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
Gaetios	2:85734ad35573	266	* as described in the table below.
Gaetios	2:85734ad35573	267	*
Gaetios	2:85734ad35573	268	* <pre>
Gaetios	2:85734ad35573	269	* 0 = +/- 250 degrees/sec
Gaetios	2:85734ad35573	270	* 1 = +/- 500 degrees/sec
Gaetios	2:85734ad35573	271	* 2 = +/- 1000 degrees/sec
Gaetios	2:85734ad35573	272	* 3 = +/- 2000 degrees/sec
Gaetios	2:85734ad35573	273	* </pre>
Gaetios	2:85734ad35573	274	*
Gaetios	2:85734ad35573	275	* @return Current full-scale gyroscope range setting
Gaetios	2:85734ad35573	276	* @see MPU6050_GYRO_FS_250
Gaetios	2:85734ad35573	277	* @see MPU6050_RA_GYRO_CONFIG
Gaetios	2:85734ad35573	278	* @see MPU6050_GCONFIG_FS_SEL_BIT
Gaetios	2:85734ad35573	279	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
Gaetios	2:85734ad35573	280	*/
Gaetios	2:85734ad35573	281	uint8_t MPU60503::getFullScaleGyroRange()
Gaetios	2:85734ad35573	282	{
Gaetios	2:85734ad35573	283	i2Cdev.readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
Gaetios	2:85734ad35573	284	return buffer[0];
Gaetios	2:85734ad35573	285	}
Gaetios	2:85734ad35573	286	/** Set full-scale gyroscope range.
Gaetios	2:85734ad35573	287	* @param range New full-scale gyroscope range value
Gaetios	2:85734ad35573	288	* @see getFullScaleRange()
Gaetios	2:85734ad35573	289	* @see MPU6050_GYRO_FS_250
Gaetios	2:85734ad35573	290	* @see MPU6050_RA_GYRO_CONFIG
Gaetios	2:85734ad35573	291	* @see MPU6050_GCONFIG_FS_SEL_BIT
Gaetios	2:85734ad35573	292	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
Gaetios	2:85734ad35573	293	*/
Gaetios	2:85734ad35573	294	void MPU60503::setFullScaleGyroRange(uint8_t range)
Gaetios	2:85734ad35573	295	{
Gaetios	2:85734ad35573	296	i2Cdev.writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
Gaetios	2:85734ad35573	297	}
Gaetios	2:85734ad35573	298
Gaetios	2:85734ad35573	299	// ACCEL_CONFIG register
Gaetios	2:85734ad35573	300
Gaetios	2:85734ad35573	301	/** Get self-test enabled setting for accelerometer X axis.
Gaetios	2:85734ad35573	302	* @return Self-test enabled value
Gaetios	2:85734ad35573	303	* @see MPU6050_RA_ACCEL_CONFIG
Gaetios	2:85734ad35573	304	*/
Gaetios	2:85734ad35573	305	bool MPU60503::getAccelXSelfTest()
Gaetios	2:85734ad35573	306	{
Gaetios	2:85734ad35573	307	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
Gaetios	2:85734ad35573	308	return buffer[0];
Gaetios	2:85734ad35573	309	}
Gaetios	2:85734ad35573	310	/** Get self-test enabled setting for accelerometer X axis.
Gaetios	2:85734ad35573	311	* @param enabled Self-test enabled value
Gaetios	2:85734ad35573	312	* @see MPU6050_RA_ACCEL_CONFIG
Gaetios	2:85734ad35573	313	*/
Gaetios	2:85734ad35573	314	void MPU60503::setAccelXSelfTest(bool enabled)
Gaetios	2:85734ad35573	315	{
Gaetios	2:85734ad35573	316	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
Gaetios	2:85734ad35573	317	}
Gaetios	2:85734ad35573	318	/** Get self-test enabled value for accelerometer Y axis.
Gaetios	2:85734ad35573	319	* @return Self-test enabled value
Gaetios	2:85734ad35573	320	* @see MPU6050_RA_ACCEL_CONFIG
Gaetios	2:85734ad35573	321	*/
Gaetios	2:85734ad35573	322	bool MPU60503::getAccelYSelfTest()
Gaetios	2:85734ad35573	323	{
Gaetios	2:85734ad35573	324	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
Gaetios	2:85734ad35573	325	return buffer[0];
Gaetios	2:85734ad35573	326	}
Gaetios	2:85734ad35573	327	/** Get self-test enabled value for accelerometer Y axis.
Gaetios	2:85734ad35573	328	* @param enabled Self-test enabled value
Gaetios	2:85734ad35573	329	* @see MPU6050_RA_ACCEL_CONFIG
Gaetios	2:85734ad35573	330	*/
Gaetios	2:85734ad35573	331	void MPU60503::setAccelYSelfTest(bool enabled)
Gaetios	2:85734ad35573	332	{
Gaetios	2:85734ad35573	333	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
Gaetios	2:85734ad35573	334	}
Gaetios	2:85734ad35573	335	/** Get self-test enabled value for accelerometer Z axis.
Gaetios	2:85734ad35573	336	* @return Self-test enabled value
Gaetios	2:85734ad35573	337	* @see MPU6050_RA_ACCEL_CONFIG
Gaetios	2:85734ad35573	338	*/
Gaetios	2:85734ad35573	339	bool MPU60503::getAccelZSelfTest()
Gaetios	2:85734ad35573	340	{
Gaetios	2:85734ad35573	341	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
Gaetios	2:85734ad35573	342	return buffer[0];
Gaetios	2:85734ad35573	343	}
Gaetios	2:85734ad35573	344	/** Set self-test enabled value for accelerometer Z axis.
Gaetios	2:85734ad35573	345	* @param enabled Self-test enabled value
Gaetios	2:85734ad35573	346	* @see MPU6050_RA_ACCEL_CONFIG
Gaetios	2:85734ad35573	347	*/
Gaetios	2:85734ad35573	348	void MPU60503::setAccelZSelfTest(bool enabled)
Gaetios	2:85734ad35573	349	{
Gaetios	2:85734ad35573	350	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
Gaetios	2:85734ad35573	351	}
Gaetios	2:85734ad35573	352	/** Get full-scale accelerometer range.
Gaetios	2:85734ad35573	353	* The FS_SEL parameter allows setting the full-scale range of the accelerometer
Gaetios	2:85734ad35573	354	* sensors, as described in the table below.
Gaetios	2:85734ad35573	355	*
Gaetios	2:85734ad35573	356	* <pre>
Gaetios	2:85734ad35573	357	* 0 = +/- 2g
Gaetios	2:85734ad35573	358	* 1 = +/- 4g
Gaetios	2:85734ad35573	359	* 2 = +/- 8g
Gaetios	2:85734ad35573	360	* 3 = +/- 16g
Gaetios	2:85734ad35573	361	* </pre>
Gaetios	2:85734ad35573	362	*
Gaetios	2:85734ad35573	363	* @return Current full-scale accelerometer range setting
Gaetios	2:85734ad35573	364	* @see MPU6050_ACCEL_FS_2
Gaetios	2:85734ad35573	365	* @see MPU6050_RA_ACCEL_CONFIG
Gaetios	2:85734ad35573	366	* @see MPU6050_ACONFIG_AFS_SEL_BIT
Gaetios	2:85734ad35573	367	* @see MPU6050_ACONFIG_AFS_SEL_LENGTH
Gaetios	2:85734ad35573	368	*/
Gaetios	2:85734ad35573	369	uint8_t MPU60503::getFullScaleAccelRange()
Gaetios	2:85734ad35573	370	{
Gaetios	2:85734ad35573	371	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
Gaetios	2:85734ad35573	372	return buffer[0];
Gaetios	2:85734ad35573	373	}
Gaetios	2:85734ad35573	374	/** Set full-scale accelerometer range.
Gaetios	2:85734ad35573	375	* @param range New full-scale accelerometer range setting
Gaetios	2:85734ad35573	376	* @see getFullScaleAccelRange()
Gaetios	2:85734ad35573	377	*/
Gaetios	2:85734ad35573	378	void MPU60503::setFullScaleAccelRange(uint8_t range)
Gaetios	2:85734ad35573	379	{
Gaetios	2:85734ad35573	380	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
Gaetios	2:85734ad35573	381	}
Gaetios	2:85734ad35573	382	/** Get the high-pass filter configuration.
Gaetios	2:85734ad35573	383	* The DHPF is a filter module in the path leading to motion detectors (Free
Gaetios	2:85734ad35573	384	* Fall, Motion threshold, and Zero Motion). The high pass filter output is not
Gaetios	2:85734ad35573	385	* available to the data registers (see Figure in Section 8 of the MPU-6000/
Gaetios	2:85734ad35573	386	* MPU-6050 Product Specification document).
Gaetios	2:85734ad35573	387	*
Gaetios	2:85734ad35573	388	* The high pass filter has three modes:
Gaetios	2:85734ad35573	389	*
Gaetios	2:85734ad35573	390	* <pre>
Gaetios	2:85734ad35573	391	* Reset: The filter output settles to zero within one sample. This
Gaetios	2:85734ad35573	392	* effectively disables the high pass filter. This mode may be toggled
Gaetios	2:85734ad35573	393	* to quickly settle the filter.
Gaetios	2:85734ad35573	394	*
Gaetios	2:85734ad35573	395	* On: The high pass filter will pass signals above the cut off frequency.
Gaetios	2:85734ad35573	396	*
Gaetios	2:85734ad35573	397	* Hold: When triggered, the filter holds the present sample. The filter
Gaetios	2:85734ad35573	398	* output will be the difference between the input sample and the held
Gaetios	2:85734ad35573	399	* sample.
Gaetios	2:85734ad35573	400	* </pre>
Gaetios	2:85734ad35573	401	*
Gaetios	2:85734ad35573	402	* <pre>
Gaetios	2:85734ad35573	403	* ACCEL_HPF \| Filter Mode \| Cut-off Frequency
Gaetios	2:85734ad35573	404	* ----------+-------------+------------------
Gaetios	2:85734ad35573	405	* 0 \| Reset \| None
Gaetios	2:85734ad35573	406	* 1 \| On \| 5Hz
Gaetios	2:85734ad35573	407	* 2 \| On \| 2.5Hz
Gaetios	2:85734ad35573	408	* 3 \| On \| 1.25Hz
Gaetios	2:85734ad35573	409	* 4 \| On \| 0.63Hz
Gaetios	2:85734ad35573	410	* 7 \| Hold \| None
Gaetios	2:85734ad35573	411	* </pre>
Gaetios	2:85734ad35573	412	*
Gaetios	2:85734ad35573	413	* @return Current high-pass filter configuration
Gaetios	2:85734ad35573	414	* @see MPU6050_DHPF_RESET
Gaetios	2:85734ad35573	415	* @see MPU6050_RA_ACCEL_CONFIG
Gaetios	2:85734ad35573	416	*/
Gaetios	2:85734ad35573	417	uint8_t MPU60503::getDHPFMode()
Gaetios	2:85734ad35573	418	{
Gaetios	2:85734ad35573	419	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
Gaetios	2:85734ad35573	420	return buffer[0];
Gaetios	2:85734ad35573	421	}
Gaetios	2:85734ad35573	422	/** Set the high-pass filter configuration.
Gaetios	2:85734ad35573	423	* @param bandwidth New high-pass filter configuration
Gaetios	2:85734ad35573	424	* @see setDHPFMode()
Gaetios	2:85734ad35573	425	* @see MPU6050_DHPF_RESET
Gaetios	2:85734ad35573	426	* @see MPU6050_RA_ACCEL_CONFIG
Gaetios	2:85734ad35573	427	*/
Gaetios	2:85734ad35573	428	void MPU60503::setDHPFMode(uint8_t bandwidth)
Gaetios	2:85734ad35573	429	{
Gaetios	2:85734ad35573	430	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
Gaetios	2:85734ad35573	431	}
Gaetios	2:85734ad35573	432
Gaetios	2:85734ad35573	433	// FF_THR register
Gaetios	2:85734ad35573	434
Gaetios	2:85734ad35573	435	/** Get free-fall event acceleration threshold.
Gaetios	2:85734ad35573	436	* This register configures the detection threshold for Free Fall event
Gaetios	2:85734ad35573	437	* detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
Gaetios	2:85734ad35573	438	* absolute value of the accelerometer measurements for the three axes are each
Gaetios	2:85734ad35573	439	* less than the detection threshold. This condition increments the Free Fall
Gaetios	2:85734ad35573	440	* duration counter (Register 30). The Free Fall interrupt is triggered when the
Gaetios	2:85734ad35573	441	* Free Fall duration counter reaches the time specified in FF_DUR.
Gaetios	2:85734ad35573	442	*
Gaetios	2:85734ad35573	443	* For more details on the Free Fall detection interrupt, see Section 8.2 of the
Gaetios	2:85734ad35573	444	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
Gaetios	2:85734ad35573	445	* 58 of this document.
Gaetios	2:85734ad35573	446	*
Gaetios	2:85734ad35573	447	* @return Current free-fall acceleration threshold value (LSB = 2mg)
Gaetios	2:85734ad35573	448	* @see MPU6050_RA_FF_THR
Gaetios	2:85734ad35573	449	*/
Gaetios	2:85734ad35573	450	uint8_t MPU60503::getFreefallDetectionThreshold()
Gaetios	2:85734ad35573	451	{
Gaetios	2:85734ad35573	452	i2Cdev.readByte(devAddr, MPU6050_RA_FF_THR, buffer);
Gaetios	2:85734ad35573	453	return buffer[0];
Gaetios	2:85734ad35573	454	}
Gaetios	2:85734ad35573	455	/** Get free-fall event acceleration threshold.
Gaetios	2:85734ad35573	456	* @param threshold New free-fall acceleration threshold value (LSB = 2mg)
Gaetios	2:85734ad35573	457	* @see getFreefallDetectionThreshold()
Gaetios	2:85734ad35573	458	* @see MPU6050_RA_FF_THR
Gaetios	2:85734ad35573	459	*/
Gaetios	2:85734ad35573	460	void MPU60503::setFreefallDetectionThreshold(uint8_t threshold)
Gaetios	2:85734ad35573	461	{
Gaetios	2:85734ad35573	462	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
Gaetios	2:85734ad35573	463	}
Gaetios	2:85734ad35573	464
Gaetios	2:85734ad35573	465	// FF_DUR register
Gaetios	2:85734ad35573	466
Gaetios	2:85734ad35573	467	/** Get free-fall event duration threshold.
Gaetios	2:85734ad35573	468	* This register configures the duration counter threshold for Free Fall event
Gaetios	2:85734ad35573	469	* detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
Gaetios	2:85734ad35573	470	* of 1 LSB = 1 ms.
Gaetios	2:85734ad35573	471	*
Gaetios	2:85734ad35573	472	* The Free Fall duration counter increments while the absolute value of the
Gaetios	2:85734ad35573	473	* accelerometer measurements are each less than the detection threshold
Gaetios	2:85734ad35573	474	* (Register 29). The Free Fall interrupt is triggered when the Free Fall
Gaetios	2:85734ad35573	475	* duration counter reaches the time specified in this register.
Gaetios	2:85734ad35573	476	*
Gaetios	2:85734ad35573	477	* For more details on the Free Fall detection interrupt, see Section 8.2 of
Gaetios	2:85734ad35573	478	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
Gaetios	2:85734ad35573	479	* and 58 of this document.
Gaetios	2:85734ad35573	480	*
Gaetios	2:85734ad35573	481	* @return Current free-fall duration threshold value (LSB = 1ms)
Gaetios	2:85734ad35573	482	* @see MPU6050_RA_FF_DUR
Gaetios	2:85734ad35573	483	*/
Gaetios	2:85734ad35573	484	uint8_t MPU60503::getFreefallDetectionDuration()
Gaetios	2:85734ad35573	485	{
Gaetios	2:85734ad35573	486	i2Cdev.readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
Gaetios	2:85734ad35573	487	return buffer[0];
Gaetios	2:85734ad35573	488	}
Gaetios	2:85734ad35573	489	/** Get free-fall event duration threshold.
Gaetios	2:85734ad35573	490	* @param duration New free-fall duration threshold value (LSB = 1ms)
Gaetios	2:85734ad35573	491	* @see getFreefallDetectionDuration()
Gaetios	2:85734ad35573	492	* @see MPU6050_RA_FF_DUR
Gaetios	2:85734ad35573	493	*/
Gaetios	2:85734ad35573	494	void MPU60503::setFreefallDetectionDuration(uint8_t duration)
Gaetios	2:85734ad35573	495	{
Gaetios	2:85734ad35573	496	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
Gaetios	2:85734ad35573	497	}
Gaetios	2:85734ad35573	498
Gaetios	2:85734ad35573	499	// MOT_THR register
Gaetios	2:85734ad35573	500
Gaetios	2:85734ad35573	501	/** Get motion detection event acceleration threshold.
Gaetios	2:85734ad35573	502	* This register configures the detection threshold for Motion interrupt
Gaetios	2:85734ad35573	503	* generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
Gaetios	2:85734ad35573	504	* absolute value of any of the accelerometer measurements exceeds this Motion
Gaetios	2:85734ad35573	505	* detection threshold. This condition increments the Motion detection duration
Gaetios	2:85734ad35573	506	* counter (Register 32). The Motion detection interrupt is triggered when the
Gaetios	2:85734ad35573	507	* Motion Detection counter reaches the time count specified in MOT_DUR
Gaetios	2:85734ad35573	508	* (Register 32).
Gaetios	2:85734ad35573	509	*
Gaetios	2:85734ad35573	510	* The Motion interrupt will indicate the axis and polarity of detected motion
Gaetios	2:85734ad35573	511	* in MOT_DETECT_STATUS (Register 97).
Gaetios	2:85734ad35573	512	*
Gaetios	2:85734ad35573	513	* For more details on the Motion detection interrupt, see Section 8.3 of the
Gaetios	2:85734ad35573	514	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
Gaetios	2:85734ad35573	515	* 58 of this document.
Gaetios	2:85734ad35573	516	*
Gaetios	2:85734ad35573	517	* @return Current motion detection acceleration threshold value (LSB = 2mg)
Gaetios	2:85734ad35573	518	* @see MPU6050_RA_MOT_THR
Gaetios	2:85734ad35573	519	*/
Gaetios	2:85734ad35573	520	uint8_t MPU60503::getMotionDetectionThreshold()
Gaetios	2:85734ad35573	521	{
Gaetios	2:85734ad35573	522	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
Gaetios	2:85734ad35573	523	return buffer[0];
Gaetios	2:85734ad35573	524	}
Gaetios	2:85734ad35573	525	/** Set free-fall event acceleration threshold.
Gaetios	2:85734ad35573	526	* @param threshold New motion detection acceleration threshold value (LSB = 2mg)
Gaetios	2:85734ad35573	527	* @see getMotionDetectionThreshold()
Gaetios	2:85734ad35573	528	* @see MPU6050_RA_MOT_THR
Gaetios	2:85734ad35573	529	*/
Gaetios	2:85734ad35573	530	void MPU60503::setMotionDetectionThreshold(uint8_t threshold)
Gaetios	2:85734ad35573	531	{
Gaetios	2:85734ad35573	532	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
Gaetios	2:85734ad35573	533	}
Gaetios	2:85734ad35573	534
Gaetios	2:85734ad35573	535	// MOT_DUR register
Gaetios	2:85734ad35573	536
Gaetios	2:85734ad35573	537	/** Get motion detection event duration threshold.
Gaetios	2:85734ad35573	538	* This register configures the duration counter threshold for Motion interrupt
Gaetios	2:85734ad35573	539	* generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
Gaetios	2:85734ad35573	540	* of 1LSB = 1ms. The Motion detection duration counter increments when the
Gaetios	2:85734ad35573	541	* absolute value of any of the accelerometer measurements exceeds the Motion
Gaetios	2:85734ad35573	542	* detection threshold (Register 31). The Motion detection interrupt is
Gaetios	2:85734ad35573	543	* triggered when the Motion detection counter reaches the time count specified
Gaetios	2:85734ad35573	544	* in this register.
Gaetios	2:85734ad35573	545	*
Gaetios	2:85734ad35573	546	* For more details on the Motion detection interrupt, see Section 8.3 of the
Gaetios	2:85734ad35573	547	* MPU-6000/MPU-6050 Product Specification document.
Gaetios	2:85734ad35573	548	*
Gaetios	2:85734ad35573	549	* @return Current motion detection duration threshold value (LSB = 1ms)
Gaetios	2:85734ad35573	550	* @see MPU6050_RA_MOT_DUR
Gaetios	2:85734ad35573	551	*/
Gaetios	2:85734ad35573	552	uint8_t MPU60503::getMotionDetectionDuration()
Gaetios	2:85734ad35573	553	{
Gaetios	2:85734ad35573	554	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
Gaetios	2:85734ad35573	555	return buffer[0];
Gaetios	2:85734ad35573	556	}
Gaetios	2:85734ad35573	557	/** Set motion detection event duration threshold.
Gaetios	2:85734ad35573	558	* @param duration New motion detection duration threshold value (LSB = 1ms)
Gaetios	2:85734ad35573	559	* @see getMotionDetectionDuration()
Gaetios	2:85734ad35573	560	* @see MPU6050_RA_MOT_DUR
Gaetios	2:85734ad35573	561	*/
Gaetios	2:85734ad35573	562	void MPU60503::setMotionDetectionDuration(uint8_t duration)
Gaetios	2:85734ad35573	563	{
Gaetios	2:85734ad35573	564	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
Gaetios	2:85734ad35573	565	}
Gaetios	2:85734ad35573	566
Gaetios	2:85734ad35573	567	// ZRMOT_THR register
Gaetios	2:85734ad35573	568
Gaetios	2:85734ad35573	569	/** Get zero motion detection event acceleration threshold.
Gaetios	2:85734ad35573	570	* This register configures the detection threshold for Zero Motion interrupt
Gaetios	2:85734ad35573	571	* generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
Gaetios	2:85734ad35573	572	* the absolute value of the accelerometer measurements for the 3 axes are each
Gaetios	2:85734ad35573	573	* less than the detection threshold. This condition increments the Zero Motion
Gaetios	2:85734ad35573	574	* duration counter (Register 34). The Zero Motion interrupt is triggered when
Gaetios	2:85734ad35573	575	* the Zero Motion duration counter reaches the time count specified in
Gaetios	2:85734ad35573	576	* ZRMOT_DUR (Register 34).
Gaetios	2:85734ad35573	577	*
Gaetios	2:85734ad35573	578	* Unlike Free Fall or Motion detection, Zero Motion detection triggers an
Gaetios	2:85734ad35573	579	* interrupt both when Zero Motion is first detected and when Zero Motion is no
Gaetios	2:85734ad35573	580	* longer detected.
Gaetios	2:85734ad35573	581	*
Gaetios	2:85734ad35573	582	* When a zero motion event is detected, a Zero Motion Status will be indicated
Gaetios	2:85734ad35573	583	* in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
Gaetios	2:85734ad35573	584	* condition is detected, the status bit is set to 1. When a zero-motion-to-
Gaetios	2:85734ad35573	585	* motion condition is detected, the status bit is set to 0.
Gaetios	2:85734ad35573	586	*
Gaetios	2:85734ad35573	587	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
Gaetios	2:85734ad35573	588	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
Gaetios	2:85734ad35573	589	* and 58 of this document.
Gaetios	2:85734ad35573	590	*
Gaetios	2:85734ad35573	591	* @return Current zero motion detection acceleration threshold value (LSB = 2mg)
Gaetios	2:85734ad35573	592	* @see MPU6050_RA_ZRMOT_THR
Gaetios	2:85734ad35573	593	*/
Gaetios	2:85734ad35573	594	uint8_t MPU60503::getZeroMotionDetectionThreshold()
Gaetios	2:85734ad35573	595	{
Gaetios	2:85734ad35573	596	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
Gaetios	2:85734ad35573	597	return buffer[0];
Gaetios	2:85734ad35573	598	}
Gaetios	2:85734ad35573	599	/** Set zero motion detection event acceleration threshold.
Gaetios	2:85734ad35573	600	* @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
Gaetios	2:85734ad35573	601	* @see getZeroMotionDetectionThreshold()
Gaetios	2:85734ad35573	602	* @see MPU6050_RA_ZRMOT_THR
Gaetios	2:85734ad35573	603	*/
Gaetios	2:85734ad35573	604	void MPU60503::setZeroMotionDetectionThreshold(uint8_t threshold)
Gaetios	2:85734ad35573	605	{
Gaetios	2:85734ad35573	606	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
Gaetios	2:85734ad35573	607	}
Gaetios	2:85734ad35573	608
Gaetios	2:85734ad35573	609	// ZRMOT_DUR register
Gaetios	2:85734ad35573	610
Gaetios	2:85734ad35573	611	/** Get zero motion detection event duration threshold.
Gaetios	2:85734ad35573	612	* This register configures the duration counter threshold for Zero Motion
Gaetios	2:85734ad35573	613	* interrupt generation. The duration counter ticks at 16 Hz, therefore
Gaetios	2:85734ad35573	614	* ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
Gaetios	2:85734ad35573	615	* increments while the absolute value of the accelerometer measurements are
Gaetios	2:85734ad35573	616	* each less than the detection threshold (Register 33). The Zero Motion
Gaetios	2:85734ad35573	617	* interrupt is triggered when the Zero Motion duration counter reaches the time
Gaetios	2:85734ad35573	618	* count specified in this register.
Gaetios	2:85734ad35573	619	*
Gaetios	2:85734ad35573	620	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
Gaetios	2:85734ad35573	621	* the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
Gaetios	2:85734ad35573	622	* and 58 of this document.
Gaetios	2:85734ad35573	623	*
Gaetios	2:85734ad35573	624	* @return Current zero motion detection duration threshold value (LSB = 64ms)
Gaetios	2:85734ad35573	625	* @see MPU6050_RA_ZRMOT_DUR
Gaetios	2:85734ad35573	626	*/
Gaetios	2:85734ad35573	627	uint8_t MPU60503::getZeroMotionDetectionDuration()
Gaetios	2:85734ad35573	628	{
Gaetios	2:85734ad35573	629	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
Gaetios	2:85734ad35573	630	return buffer[0];
Gaetios	2:85734ad35573	631	}
Gaetios	2:85734ad35573	632	/** Set zero motion detection event duration threshold.
Gaetios	2:85734ad35573	633	* @param duration New zero motion detection duration threshold value (LSB = 1ms)
Gaetios	2:85734ad35573	634	* @see getZeroMotionDetectionDuration()
Gaetios	2:85734ad35573	635	* @see MPU6050_RA_ZRMOT_DUR
Gaetios	2:85734ad35573	636	*/
Gaetios	2:85734ad35573	637	void MPU60503::setZeroMotionDetectionDuration(uint8_t duration)
Gaetios	2:85734ad35573	638	{
Gaetios	2:85734ad35573	639	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
Gaetios	2:85734ad35573	640	}
Gaetios	2:85734ad35573	641
Gaetios	2:85734ad35573	642	// FIFO_EN register
Gaetios	2:85734ad35573	643
Gaetios	2:85734ad35573	644	/** Get temperature FIFO enabled value.
Gaetios	2:85734ad35573	645	* When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
Gaetios	2:85734ad35573	646	* 66) to be written into the FIFO buffer.
Gaetios	2:85734ad35573	647	* @return Current temperature FIFO enabled value
Gaetios	2:85734ad35573	648	* @see MPU6050_RA_FIFO_EN
Gaetios	2:85734ad35573	649	*/
Gaetios	2:85734ad35573	650	bool MPU60503::getTempFIFOEnabled()
Gaetios	2:85734ad35573	651	{
Gaetios	2:85734ad35573	652	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
Gaetios	2:85734ad35573	653	return buffer[0];
Gaetios	2:85734ad35573	654	}
Gaetios	2:85734ad35573	655	/** Set temperature FIFO enabled value.
Gaetios	2:85734ad35573	656	* @param enabled New temperature FIFO enabled value
Gaetios	2:85734ad35573	657	* @see getTempFIFOEnabled()
Gaetios	2:85734ad35573	658	* @see MPU6050_RA_FIFO_EN
Gaetios	2:85734ad35573	659	*/
Gaetios	2:85734ad35573	660	void MPU60503::setTempFIFOEnabled(bool enabled)
Gaetios	2:85734ad35573	661	{
Gaetios	2:85734ad35573	662	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
Gaetios	2:85734ad35573	663	}
Gaetios	2:85734ad35573	664	/** Get gyroscope X-axis FIFO enabled value.
Gaetios	2:85734ad35573	665	* When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
Gaetios	2:85734ad35573	666	* 68) to be written into the FIFO buffer.
Gaetios	2:85734ad35573	667	* @return Current gyroscope X-axis FIFO enabled value
Gaetios	2:85734ad35573	668	* @see MPU6050_RA_FIFO_EN
Gaetios	2:85734ad35573	669	*/
Gaetios	2:85734ad35573	670	bool MPU60503::getXGyroFIFOEnabled()
Gaetios	2:85734ad35573	671	{
Gaetios	2:85734ad35573	672	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
Gaetios	2:85734ad35573	673	return buffer[0];
Gaetios	2:85734ad35573	674	}
Gaetios	2:85734ad35573	675	/** Set gyroscope X-axis FIFO enabled value.
Gaetios	2:85734ad35573	676	* @param enabled New gyroscope X-axis FIFO enabled value
Gaetios	2:85734ad35573	677	* @see getXGyroFIFOEnabled()
Gaetios	2:85734ad35573	678	* @see MPU6050_RA_FIFO_EN
Gaetios	2:85734ad35573	679	*/
Gaetios	2:85734ad35573	680	void MPU60503::setXGyroFIFOEnabled(bool enabled)
Gaetios	2:85734ad35573	681	{
Gaetios	2:85734ad35573	682	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
Gaetios	2:85734ad35573	683	}
Gaetios	2:85734ad35573	684	/** Get gyroscope Y-axis FIFO enabled value.
Gaetios	2:85734ad35573	685	* When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
Gaetios	2:85734ad35573	686	* 70) to be written into the FIFO buffer.
Gaetios	2:85734ad35573	687	* @return Current gyroscope Y-axis FIFO enabled value
Gaetios	2:85734ad35573	688	* @see MPU6050_RA_FIFO_EN
Gaetios	2:85734ad35573	689	*/
Gaetios	2:85734ad35573	690	bool MPU60503::getYGyroFIFOEnabled()
Gaetios	2:85734ad35573	691	{
Gaetios	2:85734ad35573	692	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
Gaetios	2:85734ad35573	693	return buffer[0];
Gaetios	2:85734ad35573	694	}
Gaetios	2:85734ad35573	695	/** Set gyroscope Y-axis FIFO enabled value.
Gaetios	2:85734ad35573	696	* @param enabled New gyroscope Y-axis FIFO enabled value
Gaetios	2:85734ad35573	697	* @see getYGyroFIFOEnabled()
Gaetios	2:85734ad35573	698	* @see MPU6050_RA_FIFO_EN
Gaetios	2:85734ad35573	699	*/
Gaetios	2:85734ad35573	700	void MPU60503::setYGyroFIFOEnabled(bool enabled)
Gaetios	2:85734ad35573	701	{
Gaetios	2:85734ad35573	702	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
Gaetios	2:85734ad35573	703	}
Gaetios	2:85734ad35573	704	/** Get gyroscope Z-axis FIFO enabled value.
Gaetios	2:85734ad35573	705	* When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
Gaetios	2:85734ad35573	706	* 72) to be written into the FIFO buffer.
Gaetios	2:85734ad35573	707	* @return Current gyroscope Z-axis FIFO enabled value
Gaetios	2:85734ad35573	708	* @see MPU6050_RA_FIFO_EN
Gaetios	2:85734ad35573	709	*/
Gaetios	2:85734ad35573	710	bool MPU60503::getZGyroFIFOEnabled()
Gaetios	2:85734ad35573	711	{
Gaetios	2:85734ad35573	712	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
Gaetios	2:85734ad35573	713	return buffer[0];
Gaetios	2:85734ad35573	714	}
Gaetios	2:85734ad35573	715	/** Set gyroscope Z-axis FIFO enabled value.
Gaetios	2:85734ad35573	716	* @param enabled New gyroscope Z-axis FIFO enabled value
Gaetios	2:85734ad35573	717	* @see getZGyroFIFOEnabled()
Gaetios	2:85734ad35573	718	* @see MPU6050_RA_FIFO_EN
Gaetios	2:85734ad35573	719	*/
Gaetios	2:85734ad35573	720	void MPU60503::setZGyroFIFOEnabled(bool enabled)
Gaetios	2:85734ad35573	721	{
Gaetios	2:85734ad35573	722	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
Gaetios	2:85734ad35573	723	}
Gaetios	2:85734ad35573	724	/** Get accelerometer FIFO enabled value.
Gaetios	2:85734ad35573	725	* When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
Gaetios	2:85734ad35573	726	* ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
Gaetios	2:85734ad35573	727	* written into the FIFO buffer.
Gaetios	2:85734ad35573	728	* @return Current accelerometer FIFO enabled value
Gaetios	2:85734ad35573	729	* @see MPU6050_RA_FIFO_EN
Gaetios	2:85734ad35573	730	*/
Gaetios	2:85734ad35573	731	bool MPU60503::getAccelFIFOEnabled()
Gaetios	2:85734ad35573	732	{
Gaetios	2:85734ad35573	733	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
Gaetios	2:85734ad35573	734	return buffer[0];
Gaetios	2:85734ad35573	735	}
Gaetios	2:85734ad35573	736	/** Set accelerometer FIFO enabled value.
Gaetios	2:85734ad35573	737	* @param enabled New accelerometer FIFO enabled value
Gaetios	2:85734ad35573	738	* @see getAccelFIFOEnabled()
Gaetios	2:85734ad35573	739	* @see MPU6050_RA_FIFO_EN
Gaetios	2:85734ad35573	740	*/
Gaetios	2:85734ad35573	741	void MPU60503::setAccelFIFOEnabled(bool enabled)
Gaetios	2:85734ad35573	742	{
Gaetios	2:85734ad35573	743	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
Gaetios	2:85734ad35573	744	}
Gaetios	2:85734ad35573	745	/** Get Slave 2 FIFO enabled value.
Gaetios	2:85734ad35573	746	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
Gaetios	2:85734ad35573	747	* associated with Slave 2 to be written into the FIFO buffer.
Gaetios	2:85734ad35573	748	* @return Current Slave 2 FIFO enabled value
Gaetios	2:85734ad35573	749	* @see MPU6050_RA_FIFO_EN
Gaetios	2:85734ad35573	750	*/
Gaetios	2:85734ad35573	751	bool MPU60503::getSlave2FIFOEnabled()
Gaetios	2:85734ad35573	752	{
Gaetios	2:85734ad35573	753	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
Gaetios	2:85734ad35573	754	return buffer[0];
Gaetios	2:85734ad35573	755	}
Gaetios	2:85734ad35573	756	/** Set Slave 2 FIFO enabled value.
Gaetios	2:85734ad35573	757	* @param enabled New Slave 2 FIFO enabled value
Gaetios	2:85734ad35573	758	* @see getSlave2FIFOEnabled()
Gaetios	2:85734ad35573	759	* @see MPU6050_RA_FIFO_EN
Gaetios	2:85734ad35573	760	*/
Gaetios	2:85734ad35573	761	void MPU60503::setSlave2FIFOEnabled(bool enabled)
Gaetios	2:85734ad35573	762	{
Gaetios	2:85734ad35573	763	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
Gaetios	2:85734ad35573	764	}
Gaetios	2:85734ad35573	765	/** Get Slave 1 FIFO enabled value.
Gaetios	2:85734ad35573	766	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
Gaetios	2:85734ad35573	767	* associated with Slave 1 to be written into the FIFO buffer.
Gaetios	2:85734ad35573	768	* @return Current Slave 1 FIFO enabled value
Gaetios	2:85734ad35573	769	* @see MPU6050_RA_FIFO_EN
Gaetios	2:85734ad35573	770	*/
Gaetios	2:85734ad35573	771	bool MPU60503::getSlave1FIFOEnabled()
Gaetios	2:85734ad35573	772	{
Gaetios	2:85734ad35573	773	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
Gaetios	2:85734ad35573	774	return buffer[0];
Gaetios	2:85734ad35573	775	}
Gaetios	2:85734ad35573	776	/** Set Slave 1 FIFO enabled value.
Gaetios	2:85734ad35573	777	* @param enabled New Slave 1 FIFO enabled value
Gaetios	2:85734ad35573	778	* @see getSlave1FIFOEnabled()
Gaetios	2:85734ad35573	779	* @see MPU6050_RA_FIFO_EN
Gaetios	2:85734ad35573	780	*/
Gaetios	2:85734ad35573	781	void MPU60503::setSlave1FIFOEnabled(bool enabled)
Gaetios	2:85734ad35573	782	{
Gaetios	2:85734ad35573	783	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
Gaetios	2:85734ad35573	784	}
Gaetios	2:85734ad35573	785	/** Get Slave 0 FIFO enabled value.
Gaetios	2:85734ad35573	786	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
Gaetios	2:85734ad35573	787	* associated with Slave 0 to be written into the FIFO buffer.
Gaetios	2:85734ad35573	788	* @return Current Slave 0 FIFO enabled value
Gaetios	2:85734ad35573	789	* @see MPU6050_RA_FIFO_EN
Gaetios	2:85734ad35573	790	*/
Gaetios	2:85734ad35573	791	bool MPU60503::getSlave0FIFOEnabled()
Gaetios	2:85734ad35573	792	{
Gaetios	2:85734ad35573	793	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
Gaetios	2:85734ad35573	794	return buffer[0];
Gaetios	2:85734ad35573	795	}
Gaetios	2:85734ad35573	796	/** Set Slave 0 FIFO enabled value.
Gaetios	2:85734ad35573	797	* @param enabled New Slave 0 FIFO enabled value
Gaetios	2:85734ad35573	798	* @see getSlave0FIFOEnabled()
Gaetios	2:85734ad35573	799	* @see MPU6050_RA_FIFO_EN
Gaetios	2:85734ad35573	800	*/
Gaetios	2:85734ad35573	801	void MPU60503::setSlave0FIFOEnabled(bool enabled)
Gaetios	2:85734ad35573	802	{
Gaetios	2:85734ad35573	803	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
Gaetios	2:85734ad35573	804	}
Gaetios	2:85734ad35573	805
Gaetios	2:85734ad35573	806	// I2C_MST_CTRL register
Gaetios	2:85734ad35573	807
Gaetios	2:85734ad35573	808	/** Get multi-master enabled value.
Gaetios	2:85734ad35573	809	* Multi-master capability allows multiple I2C masters to operate on the same
Gaetios	2:85734ad35573	810	* bus. In circuits where multi-master capability is required, set MULT_MST_EN
Gaetios	2:85734ad35573	811	* to 1. This will increase current drawn by approximately 30uA.
Gaetios	2:85734ad35573	812	*
Gaetios	2:85734ad35573	813	* In circuits where multi-master capability is required, the state of the I2C
Gaetios	2:85734ad35573	814	* bus must always be monitored by each separate I2C Master. Before an I2C
Gaetios	2:85734ad35573	815	* Master can assume arbitration of the bus, it must first confirm that no other
Gaetios	2:85734ad35573	816	* I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
Gaetios	2:85734ad35573	817	* MPU-60X0's bus arbitration detection logic is turned on, enabling it to
Gaetios	2:85734ad35573	818	* detect when the bus is available.
Gaetios	2:85734ad35573	819	*
Gaetios	2:85734ad35573	820	* @return Current multi-master enabled value
Gaetios	2:85734ad35573	821	* @see MPU6050_RA_I2C_MST_CTRL
Gaetios	2:85734ad35573	822	*/
Gaetios	2:85734ad35573	823	bool MPU60503::getMultiMasterEnabled()
Gaetios	2:85734ad35573	824	{
Gaetios	2:85734ad35573	825	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
Gaetios	2:85734ad35573	826	return buffer[0];
Gaetios	2:85734ad35573	827	}
Gaetios	2:85734ad35573	828	/** Set multi-master enabled value.
Gaetios	2:85734ad35573	829	* @param enabled New multi-master enabled value
Gaetios	2:85734ad35573	830	* @see getMultiMasterEnabled()
Gaetios	2:85734ad35573	831	* @see MPU6050_RA_I2C_MST_CTRL
Gaetios	2:85734ad35573	832	*/
Gaetios	2:85734ad35573	833	void MPU60503::setMultiMasterEnabled(bool enabled)
Gaetios	2:85734ad35573	834	{
Gaetios	2:85734ad35573	835	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
Gaetios	2:85734ad35573	836	}
Gaetios	2:85734ad35573	837	/** Get wait-for-external-sensor-data enabled value.
Gaetios	2:85734ad35573	838	* When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
Gaetios	2:85734ad35573	839	* delayed until External Sensor data from the Slave Devices are loaded into the
Gaetios	2:85734ad35573	840	* EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
Gaetios	2:85734ad35573	841	* data (i.e. from gyro and accel) and external sensor data have been loaded to
Gaetios	2:85734ad35573	842	* their respective data registers (i.e. the data is synced) when the Data Ready
Gaetios	2:85734ad35573	843	* interrupt is triggered.
Gaetios	2:85734ad35573	844	*
Gaetios	2:85734ad35573	845	* @return Current wait-for-external-sensor-data enabled value
Gaetios	2:85734ad35573	846	* @see MPU6050_RA_I2C_MST_CTRL
Gaetios	2:85734ad35573	847	*/
Gaetios	2:85734ad35573	848	bool MPU60503::getWaitForExternalSensorEnabled()
Gaetios	2:85734ad35573	849	{
Gaetios	2:85734ad35573	850	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
Gaetios	2:85734ad35573	851	return buffer[0];
Gaetios	2:85734ad35573	852	}
Gaetios	2:85734ad35573	853	/** Set wait-for-external-sensor-data enabled value.
Gaetios	2:85734ad35573	854	* @param enabled New wait-for-external-sensor-data enabled value
Gaetios	2:85734ad35573	855	* @see getWaitForExternalSensorEnabled()
Gaetios	2:85734ad35573	856	* @see MPU6050_RA_I2C_MST_CTRL
Gaetios	2:85734ad35573	857	*/
Gaetios	2:85734ad35573	858	void MPU60503::setWaitForExternalSensorEnabled(bool enabled)
Gaetios	2:85734ad35573	859	{
Gaetios	2:85734ad35573	860	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
Gaetios	2:85734ad35573	861	}
Gaetios	2:85734ad35573	862	/** Get Slave 3 FIFO enabled value.
Gaetios	2:85734ad35573	863	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
Gaetios	2:85734ad35573	864	* associated with Slave 3 to be written into the FIFO buffer.
Gaetios	2:85734ad35573	865	* @return Current Slave 3 FIFO enabled value
Gaetios	2:85734ad35573	866	* @see MPU6050_RA_MST_CTRL
Gaetios	2:85734ad35573	867	*/
Gaetios	2:85734ad35573	868	bool MPU60503::getSlave3FIFOEnabled()
Gaetios	2:85734ad35573	869	{
Gaetios	2:85734ad35573	870	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
Gaetios	2:85734ad35573	871	return buffer[0];
Gaetios	2:85734ad35573	872	}
Gaetios	2:85734ad35573	873	/** Set Slave 3 FIFO enabled value.
Gaetios	2:85734ad35573	874	* @param enabled New Slave 3 FIFO enabled value
Gaetios	2:85734ad35573	875	* @see getSlave3FIFOEnabled()
Gaetios	2:85734ad35573	876	* @see MPU6050_RA_MST_CTRL
Gaetios	2:85734ad35573	877	*/
Gaetios	2:85734ad35573	878	void MPU60503::setSlave3FIFOEnabled(bool enabled)
Gaetios	2:85734ad35573	879	{
Gaetios	2:85734ad35573	880	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
Gaetios	2:85734ad35573	881	}
Gaetios	2:85734ad35573	882	/** Get slave read/write transition enabled value.
Gaetios	2:85734ad35573	883	* The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
Gaetios	2:85734ad35573	884	* read to the next slave read. If the bit equals 0, there will be a restart
Gaetios	2:85734ad35573	885	* between reads. If the bit equals 1, there will be a stop followed by a start
Gaetios	2:85734ad35573	886	* of the following read. When a write transaction follows a read transaction,
Gaetios	2:85734ad35573	887	* the stop followed by a start of the successive write will be always used.
Gaetios	2:85734ad35573	888	*
Gaetios	2:85734ad35573	889	* @return Current slave read/write transition enabled value
Gaetios	2:85734ad35573	890	* @see MPU6050_RA_I2C_MST_CTRL
Gaetios	2:85734ad35573	891	*/
Gaetios	2:85734ad35573	892	bool MPU60503::getSlaveReadWriteTransitionEnabled()
Gaetios	2:85734ad35573	893	{
Gaetios	2:85734ad35573	894	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
Gaetios	2:85734ad35573	895	return buffer[0];
Gaetios	2:85734ad35573	896	}
Gaetios	2:85734ad35573	897	/** Set slave read/write transition enabled value.
Gaetios	2:85734ad35573	898	* @param enabled New slave read/write transition enabled value
Gaetios	2:85734ad35573	899	* @see getSlaveReadWriteTransitionEnabled()
Gaetios	2:85734ad35573	900	* @see MPU6050_RA_I2C_MST_CTRL
Gaetios	2:85734ad35573	901	*/
Gaetios	2:85734ad35573	902	void MPU60503::setSlaveReadWriteTransitionEnabled(bool enabled)
Gaetios	2:85734ad35573	903	{
Gaetios	2:85734ad35573	904	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
Gaetios	2:85734ad35573	905	}
Gaetios	2:85734ad35573	906	/** Get I2C master clock speed.
Gaetios	2:85734ad35573	907	* I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
Gaetios	2:85734ad35573	908	* MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
Gaetios	2:85734ad35573	909	* the following table:
Gaetios	2:85734ad35573	910	*
Gaetios	2:85734ad35573	911	* <pre>
Gaetios	2:85734ad35573	912	* I2C_MST_CLK \| I2C Master Clock Speed \| 8MHz Clock Divider
Gaetios	2:85734ad35573	913	* ------------+------------------------+-------------------
Gaetios	2:85734ad35573	914	* 0 \| 348kHz \| 23
Gaetios	2:85734ad35573	915	* 1 \| 333kHz \| 24
Gaetios	2:85734ad35573	916	* 2 \| 320kHz \| 25
Gaetios	2:85734ad35573	917	* 3 \| 308kHz \| 26
Gaetios	2:85734ad35573	918	* 4 \| 296kHz \| 27
Gaetios	2:85734ad35573	919	* 5 \| 286kHz \| 28
Gaetios	2:85734ad35573	920	* 6 \| 276kHz \| 29
Gaetios	2:85734ad35573	921	* 7 \| 267kHz \| 30
Gaetios	2:85734ad35573	922	* 8 \| 258kHz \| 31
Gaetios	2:85734ad35573	923	* 9 \| 500kHz \| 16
Gaetios	2:85734ad35573	924	* 10 \| 471kHz \| 17
Gaetios	2:85734ad35573	925	* 11 \| 444kHz \| 18
Gaetios	2:85734ad35573	926	* 12 \| 421kHz \| 19
Gaetios	2:85734ad35573	927	* 13 \| 400kHz \| 20
Gaetios	2:85734ad35573	928	* 14 \| 381kHz \| 21
Gaetios	2:85734ad35573	929	* 15 \| 364kHz \| 22
Gaetios	2:85734ad35573	930	* </pre>
Gaetios	2:85734ad35573	931	*
Gaetios	2:85734ad35573	932	* @return Current I2C master clock speed
Gaetios	2:85734ad35573	933	* @see MPU6050_RA_I2C_MST_CTRL
Gaetios	2:85734ad35573	934	*/
Gaetios	2:85734ad35573	935	uint8_t MPU60503::getMasterClockSpeed()
Gaetios	2:85734ad35573	936	{
Gaetios	2:85734ad35573	937	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
Gaetios	2:85734ad35573	938	return buffer[0];
Gaetios	2:85734ad35573	939	}
Gaetios	2:85734ad35573	940	/** Set I2C master clock speed.
Gaetios	2:85734ad35573	941	* @reparam speed Current I2C master clock speed
Gaetios	2:85734ad35573	942	* @see MPU6050_RA_I2C_MST_CTRL
Gaetios	2:85734ad35573	943	*/
Gaetios	2:85734ad35573	944	void MPU60503::setMasterClockSpeed(uint8_t speed)
Gaetios	2:85734ad35573	945	{
Gaetios	2:85734ad35573	946	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
Gaetios	2:85734ad35573	947	}
Gaetios	2:85734ad35573	948
Gaetios	2:85734ad35573	949	// I2C_SLV* registers (Slave 0-3)
Gaetios	2:85734ad35573	950
Gaetios	2:85734ad35573	951	/** Get the I2C address of the specified slave (0-3).
Gaetios	2:85734ad35573	952	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
Gaetios	2:85734ad35573	953	* operation, and if it is cleared, then it's a write operation. The remaining
Gaetios	2:85734ad35573	954	* bits (6-0) are the 7-bit device address of the slave device.
Gaetios	2:85734ad35573	955	*
Gaetios	2:85734ad35573	956	* In read mode, the result of the read is placed in the lowest available
Gaetios	2:85734ad35573	957	* EXT_SENS_DATA register. For further information regarding the allocation of
Gaetios	2:85734ad35573	958	* read results, please refer to the EXT_SENS_DATA register description
Gaetios	2:85734ad35573	959	* (Registers 73 - 96).
Gaetios	2:85734ad35573	960	*
Gaetios	2:85734ad35573	961	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
Gaetios	2:85734ad35573	962	* characteristics, and so it has its own functions (getSlave4* and setSlave4*).
Gaetios	2:85734ad35573	963	*
Gaetios	2:85734ad35573	964	* I2C data transactions are performed at the Sample Rate, as defined in
Gaetios	2:85734ad35573	965	* Register 25. The user is responsible for ensuring that I2C data transactions
Gaetios	2:85734ad35573	966	* to and from each enabled Slave can be completed within a single period of the
Gaetios	2:85734ad35573	967	* Sample Rate.
Gaetios	2:85734ad35573	968	*
Gaetios	2:85734ad35573	969	* The I2C slave access rate can be reduced relative to the Sample Rate. This
Gaetios	2:85734ad35573	970	* reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
Gaetios	2:85734ad35573	971	* slave's access rate is reduced relative to the Sample Rate is determined by
Gaetios	2:85734ad35573	972	* I2C_MST_DELAY_CTRL (Register 103).
Gaetios	2:85734ad35573	973	*
Gaetios	2:85734ad35573	974	* The processing order for the slaves is fixed. The sequence followed for
Gaetios	2:85734ad35573	975	* processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
Gaetios	2:85734ad35573	976	* particular Slave is disabled it will be skipped.
Gaetios	2:85734ad35573	977	*
Gaetios	2:85734ad35573	978	* Each slave can either be accessed at the sample rate or at a reduced sample
Gaetios	2:85734ad35573	979	* rate. In a case where some slaves are accessed at the Sample Rate and some
Gaetios	2:85734ad35573	980	* slaves are accessed at the reduced rate, the sequence of accessing the slaves
Gaetios	2:85734ad35573	981	* (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
Gaetios	2:85734ad35573	982	* be skipped if their access rate dictates that they should not be accessed
Gaetios	2:85734ad35573	983	* during that particular cycle. For further information regarding the reduced
Gaetios	2:85734ad35573	984	* access rate, please refer to Register 52. Whether a slave is accessed at the
Gaetios	2:85734ad35573	985	* Sample Rate or at the reduced rate is determined by the Delay Enable bits in
Gaetios	2:85734ad35573	986	* Register 103.
Gaetios	2:85734ad35573	987	*
Gaetios	2:85734ad35573	988	* @param num Slave number (0-3)
Gaetios	2:85734ad35573	989	* @return Current address for specified slave
Gaetios	2:85734ad35573	990	* @see MPU6050_RA_I2C_SLV0_ADDR
Gaetios	2:85734ad35573	991	*/
Gaetios	2:85734ad35573	992	uint8_t MPU60503::getSlaveAddress(uint8_t num)
Gaetios	2:85734ad35573	993	{
Gaetios	2:85734ad35573	994	if (num > 3) return 0;
Gaetios	2:85734ad35573	995	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
Gaetios	2:85734ad35573	996	return buffer[0];
Gaetios	2:85734ad35573	997	}
Gaetios	2:85734ad35573	998	/** Set the I2C address of the specified slave (0-3).
Gaetios	2:85734ad35573	999	* @param num Slave number (0-3)
Gaetios	2:85734ad35573	1000	* @param address New address for specified slave
Gaetios	2:85734ad35573	1001	* @see getSlaveAddress()
Gaetios	2:85734ad35573	1002	* @see MPU6050_RA_I2C_SLV0_ADDR
Gaetios	2:85734ad35573	1003	*/
Gaetios	2:85734ad35573	1004	void MPU60503::setSlaveAddress(uint8_t num, uint8_t address)
Gaetios	2:85734ad35573	1005	{
Gaetios	2:85734ad35573	1006	if (num > 3) return;
Gaetios	2:85734ad35573	1007	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
Gaetios	2:85734ad35573	1008	}
Gaetios	2:85734ad35573	1009	/** Get the active internal register for the specified slave (0-3).
Gaetios	2:85734ad35573	1010	* Read/write operations for this slave will be done to whatever internal
Gaetios	2:85734ad35573	1011	* register address is stored in this MPU register.
Gaetios	2:85734ad35573	1012	*
Gaetios	2:85734ad35573	1013	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
Gaetios	2:85734ad35573	1014	* characteristics, and so it has its own functions.
Gaetios	2:85734ad35573	1015	*
Gaetios	2:85734ad35573	1016	* @param num Slave number (0-3)
Gaetios	2:85734ad35573	1017	* @return Current active register for specified slave
Gaetios	2:85734ad35573	1018	* @see MPU6050_RA_I2C_SLV0_REG
Gaetios	2:85734ad35573	1019	*/
Gaetios	2:85734ad35573	1020	uint8_t MPU60503::getSlaveRegister(uint8_t num)
Gaetios	2:85734ad35573	1021	{
Gaetios	2:85734ad35573	1022	if (num > 3) return 0;
Gaetios	2:85734ad35573	1023	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
Gaetios	2:85734ad35573	1024	return buffer[0];
Gaetios	2:85734ad35573	1025	}
Gaetios	2:85734ad35573	1026	/** Set the active internal register for the specified slave (0-3).
Gaetios	2:85734ad35573	1027	* @param num Slave number (0-3)
Gaetios	2:85734ad35573	1028	* @param reg New active register for specified slave
Gaetios	2:85734ad35573	1029	* @see getSlaveRegister()
Gaetios	2:85734ad35573	1030	* @see MPU6050_RA_I2C_SLV0_REG
Gaetios	2:85734ad35573	1031	*/
Gaetios	2:85734ad35573	1032	void MPU60503::setSlaveRegister(uint8_t num, uint8_t reg)
Gaetios	2:85734ad35573	1033	{
Gaetios	2:85734ad35573	1034	if (num > 3) return;
Gaetios	2:85734ad35573	1035	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
Gaetios	2:85734ad35573	1036	}
Gaetios	2:85734ad35573	1037	/** Get the enabled value for the specified slave (0-3).
Gaetios	2:85734ad35573	1038	* When set to 1, this bit enables Slave 0 for data transfer operations. When
Gaetios	2:85734ad35573	1039	* cleared to 0, this bit disables Slave 0 from data transfer operations.
Gaetios	2:85734ad35573	1040	* @param num Slave number (0-3)
Gaetios	2:85734ad35573	1041	* @return Current enabled value for specified slave
Gaetios	2:85734ad35573	1042	* @see MPU6050_RA_I2C_SLV0_CTRL
Gaetios	2:85734ad35573	1043	*/
Gaetios	2:85734ad35573	1044	bool MPU60503::getSlaveEnabled(uint8_t num)
Gaetios	2:85734ad35573	1045	{
Gaetios	2:85734ad35573	1046	if (num > 3) return 0;
Gaetios	2:85734ad35573	1047	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
Gaetios	2:85734ad35573	1048	return buffer[0];
Gaetios	2:85734ad35573	1049	}
Gaetios	2:85734ad35573	1050	/** Set the enabled value for the specified slave (0-3).
Gaetios	2:85734ad35573	1051	* @param num Slave number (0-3)
Gaetios	2:85734ad35573	1052	* @param enabled New enabled value for specified slave
Gaetios	2:85734ad35573	1053	* @see getSlaveEnabled()
Gaetios	2:85734ad35573	1054	* @see MPU6050_RA_I2C_SLV0_CTRL
Gaetios	2:85734ad35573	1055	*/
Gaetios	2:85734ad35573	1056	void MPU60503::setSlaveEnabled(uint8_t num, bool enabled)
Gaetios	2:85734ad35573	1057	{
Gaetios	2:85734ad35573	1058	if (num > 3) return;
Gaetios	2:85734ad35573	1059	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
Gaetios	2:85734ad35573	1060	}
Gaetios	2:85734ad35573	1061	/** Get word pair byte-swapping enabled for the specified slave (0-3).
Gaetios	2:85734ad35573	1062	* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
Gaetios	2:85734ad35573	1063	* the high and low bytes of a word pair are swapped. Please refer to
Gaetios	2:85734ad35573	1064	* I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
Gaetios	2:85734ad35573	1065	* bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
Gaetios	2:85734ad35573	1066	* registers in the order they were transferred.
Gaetios	2:85734ad35573	1067	*
Gaetios	2:85734ad35573	1068	* @param num Slave number (0-3)
Gaetios	2:85734ad35573	1069	* @return Current word pair byte-swapping enabled value for specified slave
Gaetios	2:85734ad35573	1070	* @see MPU6050_RA_I2C_SLV0_CTRL
Gaetios	2:85734ad35573	1071	*/
Gaetios	2:85734ad35573	1072	bool MPU60503::getSlaveWordByteSwap(uint8_t num)
Gaetios	2:85734ad35573	1073	{
Gaetios	2:85734ad35573	1074	if (num > 3) return 0;
Gaetios	2:85734ad35573	1075	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
Gaetios	2:85734ad35573	1076	return buffer[0];
Gaetios	2:85734ad35573	1077	}
Gaetios	2:85734ad35573	1078	/** Set word pair byte-swapping enabled for the specified slave (0-3).
Gaetios	2:85734ad35573	1079	* @param num Slave number (0-3)
Gaetios	2:85734ad35573	1080	* @param enabled New word pair byte-swapping enabled value for specified slave
Gaetios	2:85734ad35573	1081	* @see getSlaveWordByteSwap()
Gaetios	2:85734ad35573	1082	* @see MPU6050_RA_I2C_SLV0_CTRL
Gaetios	2:85734ad35573	1083	*/
Gaetios	2:85734ad35573	1084	void MPU60503::setSlaveWordByteSwap(uint8_t num, bool enabled)
Gaetios	2:85734ad35573	1085	{
Gaetios	2:85734ad35573	1086	if (num > 3) return;
Gaetios	2:85734ad35573	1087	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
Gaetios	2:85734ad35573	1088	}
Gaetios	2:85734ad35573	1089	/** Get write mode for the specified slave (0-3).
Gaetios	2:85734ad35573	1090	* When set to 1, the transaction will read or write data only. When cleared to
Gaetios	2:85734ad35573	1091	* 0, the transaction will write a register address prior to reading or writing
Gaetios	2:85734ad35573	1092	* data. This should equal 0 when specifying the register address within the
Gaetios	2:85734ad35573	1093	* Slave device to/from which the ensuing data transaction will take place.
Gaetios	2:85734ad35573	1094	*
Gaetios	2:85734ad35573	1095	* @param num Slave number (0-3)
Gaetios	2:85734ad35573	1096	* @return Current write mode for specified slave (0 = register address + data, 1 = data only)
Gaetios	2:85734ad35573	1097	* @see MPU6050_RA_I2C_SLV0_CTRL
Gaetios	2:85734ad35573	1098	*/
Gaetios	2:85734ad35573	1099	bool MPU60503::getSlaveWriteMode(uint8_t num)
Gaetios	2:85734ad35573	1100	{
Gaetios	2:85734ad35573	1101	if (num > 3) return 0;
Gaetios	2:85734ad35573	1102	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
Gaetios	2:85734ad35573	1103	return buffer[0];
Gaetios	2:85734ad35573	1104	}
Gaetios	2:85734ad35573	1105	/** Set write mode for the specified slave (0-3).
Gaetios	2:85734ad35573	1106	* @param num Slave number (0-3)
Gaetios	2:85734ad35573	1107	* @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
Gaetios	2:85734ad35573	1108	* @see getSlaveWriteMode()
Gaetios	2:85734ad35573	1109	* @see MPU6050_RA_I2C_SLV0_CTRL
Gaetios	2:85734ad35573	1110	*/
Gaetios	2:85734ad35573	1111	void MPU60503::setSlaveWriteMode(uint8_t num, bool mode)
Gaetios	2:85734ad35573	1112	{
Gaetios	2:85734ad35573	1113	if (num > 3) return;
Gaetios	2:85734ad35573	1114	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
Gaetios	2:85734ad35573	1115	}
Gaetios	2:85734ad35573	1116	/** Get word pair grouping order offset for the specified slave (0-3).
Gaetios	2:85734ad35573	1117	* This sets specifies the grouping order of word pairs received from registers.
Gaetios	2:85734ad35573	1118	* When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
Gaetios	2:85734ad35573	1119	* then odd register addresses) are paired to form a word. When set to 1, bytes
Gaetios	2:85734ad35573	1120	* from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
Gaetios	2:85734ad35573	1121	* register addresses) are paired to form a word.
Gaetios	2:85734ad35573	1122	*
Gaetios	2:85734ad35573	1123	* @param num Slave number (0-3)
Gaetios	2:85734ad35573	1124	* @return Current word pair grouping order offset for specified slave
Gaetios	2:85734ad35573	1125	* @see MPU6050_RA_I2C_SLV0_CTRL
Gaetios	2:85734ad35573	1126	*/
Gaetios	2:85734ad35573	1127	bool MPU60503::getSlaveWordGroupOffset(uint8_t num)
Gaetios	2:85734ad35573	1128	{
Gaetios	2:85734ad35573	1129	if (num > 3) return 0;
Gaetios	2:85734ad35573	1130	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
Gaetios	2:85734ad35573	1131	return buffer[0];
Gaetios	2:85734ad35573	1132	}
Gaetios	2:85734ad35573	1133	/** Set word pair grouping order offset for the specified slave (0-3).
Gaetios	2:85734ad35573	1134	* @param num Slave number (0-3)
Gaetios	2:85734ad35573	1135	* @param enabled New word pair grouping order offset for specified slave
Gaetios	2:85734ad35573	1136	* @see getSlaveWordGroupOffset()
Gaetios	2:85734ad35573	1137	* @see MPU6050_RA_I2C_SLV0_CTRL
Gaetios	2:85734ad35573	1138	*/
Gaetios	2:85734ad35573	1139	void MPU60503::setSlaveWordGroupOffset(uint8_t num, bool enabled)
Gaetios	2:85734ad35573	1140	{
Gaetios	2:85734ad35573	1141	if (num > 3) return;
Gaetios	2:85734ad35573	1142	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
Gaetios	2:85734ad35573	1143	}
Gaetios	2:85734ad35573	1144	/** Get number of bytes to read for the specified slave (0-3).
Gaetios	2:85734ad35573	1145	* Specifies the number of bytes transferred to and from Slave 0. Clearing this
Gaetios	2:85734ad35573	1146	* bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
Gaetios	2:85734ad35573	1147	* @param num Slave number (0-3)
Gaetios	2:85734ad35573	1148	* @return Number of bytes to read for specified slave
Gaetios	2:85734ad35573	1149	* @see MPU6050_RA_I2C_SLV0_CTRL
Gaetios	2:85734ad35573	1150	*/
Gaetios	2:85734ad35573	1151	uint8_t MPU60503::getSlaveDataLength(uint8_t num)
Gaetios	2:85734ad35573	1152	{
Gaetios	2:85734ad35573	1153	if (num > 3) return 0;
Gaetios	2:85734ad35573	1154	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
Gaetios	2:85734ad35573	1155	return buffer[0];
Gaetios	2:85734ad35573	1156	}
Gaetios	2:85734ad35573	1157	/** Set number of bytes to read for the specified slave (0-3).
Gaetios	2:85734ad35573	1158	* @param num Slave number (0-3)
Gaetios	2:85734ad35573	1159	* @param length Number of bytes to read for specified slave
Gaetios	2:85734ad35573	1160	* @see getSlaveDataLength()
Gaetios	2:85734ad35573	1161	* @see MPU6050_RA_I2C_SLV0_CTRL
Gaetios	2:85734ad35573	1162	*/
Gaetios	2:85734ad35573	1163	void MPU60503::setSlaveDataLength(uint8_t num, uint8_t length)
Gaetios	2:85734ad35573	1164	{
Gaetios	2:85734ad35573	1165	if (num > 3) return;
Gaetios	2:85734ad35573	1166	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
Gaetios	2:85734ad35573	1167	}
Gaetios	2:85734ad35573	1168
Gaetios	2:85734ad35573	1169	// I2C_SLV* registers (Slave 4)
Gaetios	2:85734ad35573	1170
Gaetios	2:85734ad35573	1171	/** Get the I2C address of Slave 4.
Gaetios	2:85734ad35573	1172	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
Gaetios	2:85734ad35573	1173	* operation, and if it is cleared, then it's a write operation. The remaining
Gaetios	2:85734ad35573	1174	* bits (6-0) are the 7-bit device address of the slave device.
Gaetios	2:85734ad35573	1175	*
Gaetios	2:85734ad35573	1176	* @return Current address for Slave 4
Gaetios	2:85734ad35573	1177	* @see getSlaveAddress()
Gaetios	2:85734ad35573	1178	* @see MPU6050_RA_I2C_SLV4_ADDR
Gaetios	2:85734ad35573	1179	*/
Gaetios	2:85734ad35573	1180	uint8_t MPU60503::getSlave4Address()
Gaetios	2:85734ad35573	1181	{
Gaetios	2:85734ad35573	1182	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
Gaetios	2:85734ad35573	1183	return buffer[0];
Gaetios	2:85734ad35573	1184	}
Gaetios	2:85734ad35573	1185	/** Set the I2C address of Slave 4.
Gaetios	2:85734ad35573	1186	* @param address New address for Slave 4
Gaetios	2:85734ad35573	1187	* @see getSlave4Address()
Gaetios	2:85734ad35573	1188	* @see MPU6050_RA_I2C_SLV4_ADDR
Gaetios	2:85734ad35573	1189	*/
Gaetios	2:85734ad35573	1190	void MPU60503::setSlave4Address(uint8_t address)
Gaetios	2:85734ad35573	1191	{
Gaetios	2:85734ad35573	1192	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
Gaetios	2:85734ad35573	1193	}
Gaetios	2:85734ad35573	1194	/** Get the active internal register for the Slave 4.
Gaetios	2:85734ad35573	1195	* Read/write operations for this slave will be done to whatever internal
Gaetios	2:85734ad35573	1196	* register address is stored in this MPU register.
Gaetios	2:85734ad35573	1197	*
Gaetios	2:85734ad35573	1198	* @return Current active register for Slave 4
Gaetios	2:85734ad35573	1199	* @see MPU6050_RA_I2C_SLV4_REG
Gaetios	2:85734ad35573	1200	*/
Gaetios	2:85734ad35573	1201	uint8_t MPU60503::getSlave4Register()
Gaetios	2:85734ad35573	1202	{
Gaetios	2:85734ad35573	1203	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
Gaetios	2:85734ad35573	1204	return buffer[0];
Gaetios	2:85734ad35573	1205	}
Gaetios	2:85734ad35573	1206	/** Set the active internal register for Slave 4.
Gaetios	2:85734ad35573	1207	* @param reg New active register for Slave 4
Gaetios	2:85734ad35573	1208	* @see getSlave4Register()
Gaetios	2:85734ad35573	1209	* @see MPU6050_RA_I2C_SLV4_REG
Gaetios	2:85734ad35573	1210	*/
Gaetios	2:85734ad35573	1211	void MPU60503::setSlave4Register(uint8_t reg)
Gaetios	2:85734ad35573	1212	{
Gaetios	2:85734ad35573	1213	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
Gaetios	2:85734ad35573	1214	}
Gaetios	2:85734ad35573	1215	/** Set new byte to write to Slave 4.
Gaetios	2:85734ad35573	1216	* This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
Gaetios	2:85734ad35573	1217	* is set 1 (set to read), this register has no effect.
Gaetios	2:85734ad35573	1218	* @param data New byte to write to Slave 4
Gaetios	2:85734ad35573	1219	* @see MPU6050_RA_I2C_SLV4_DO
Gaetios	2:85734ad35573	1220	*/
Gaetios	2:85734ad35573	1221	void MPU60503::setSlave4OutputByte(uint8_t data)
Gaetios	2:85734ad35573	1222	{
Gaetios	2:85734ad35573	1223	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
Gaetios	2:85734ad35573	1224	}
Gaetios	2:85734ad35573	1225	/** Get the enabled value for the Slave 4.
Gaetios	2:85734ad35573	1226	* When set to 1, this bit enables Slave 4 for data transfer operations. When
Gaetios	2:85734ad35573	1227	* cleared to 0, this bit disables Slave 4 from data transfer operations.
Gaetios	2:85734ad35573	1228	* @return Current enabled value for Slave 4
Gaetios	2:85734ad35573	1229	* @see MPU6050_RA_I2C_SLV4_CTRL
Gaetios	2:85734ad35573	1230	*/
Gaetios	2:85734ad35573	1231	bool MPU60503::getSlave4Enabled()
Gaetios	2:85734ad35573	1232	{
Gaetios	2:85734ad35573	1233	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
Gaetios	2:85734ad35573	1234	return buffer[0];
Gaetios	2:85734ad35573	1235	}
Gaetios	2:85734ad35573	1236	/** Set the enabled value for Slave 4.
Gaetios	2:85734ad35573	1237	* @param enabled New enabled value for Slave 4
Gaetios	2:85734ad35573	1238	* @see getSlave4Enabled()
Gaetios	2:85734ad35573	1239	* @see MPU6050_RA_I2C_SLV4_CTRL
Gaetios	2:85734ad35573	1240	*/
Gaetios	2:85734ad35573	1241	void MPU60503::setSlave4Enabled(bool enabled)
Gaetios	2:85734ad35573	1242	{
Gaetios	2:85734ad35573	1243	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
Gaetios	2:85734ad35573	1244	}
Gaetios	2:85734ad35573	1245	/** Get the enabled value for Slave 4 transaction interrupts.
Gaetios	2:85734ad35573	1246	* When set to 1, this bit enables the generation of an interrupt signal upon
Gaetios	2:85734ad35573	1247	* completion of a Slave 4 transaction. When cleared to 0, this bit disables the
Gaetios	2:85734ad35573	1248	* generation of an interrupt signal upon completion of a Slave 4 transaction.
Gaetios	2:85734ad35573	1249	* The interrupt status can be observed in Register 54.
Gaetios	2:85734ad35573	1250	*
Gaetios	2:85734ad35573	1251	* @return Current enabled value for Slave 4 transaction interrupts.
Gaetios	2:85734ad35573	1252	* @see MPU6050_RA_I2C_SLV4_CTRL
Gaetios	2:85734ad35573	1253	*/
Gaetios	2:85734ad35573	1254	bool MPU60503::getSlave4InterruptEnabled()
Gaetios	2:85734ad35573	1255	{
Gaetios	2:85734ad35573	1256	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
Gaetios	2:85734ad35573	1257	return buffer[0];
Gaetios	2:85734ad35573	1258	}
Gaetios	2:85734ad35573	1259	/** Set the enabled value for Slave 4 transaction interrupts.
Gaetios	2:85734ad35573	1260	* @param enabled New enabled value for Slave 4 transaction interrupts.
Gaetios	2:85734ad35573	1261	* @see getSlave4InterruptEnabled()
Gaetios	2:85734ad35573	1262	* @see MPU6050_RA_I2C_SLV4_CTRL
Gaetios	2:85734ad35573	1263	*/
Gaetios	2:85734ad35573	1264	void MPU60503::setSlave4InterruptEnabled(bool enabled)
Gaetios	2:85734ad35573	1265	{
Gaetios	2:85734ad35573	1266	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
Gaetios	2:85734ad35573	1267	}
Gaetios	2:85734ad35573	1268	/** Get write mode for Slave 4.
Gaetios	2:85734ad35573	1269	* When set to 1, the transaction will read or write data only. When cleared to
Gaetios	2:85734ad35573	1270	* 0, the transaction will write a register address prior to reading or writing
Gaetios	2:85734ad35573	1271	* data. This should equal 0 when specifying the register address within the
Gaetios	2:85734ad35573	1272	* Slave device to/from which the ensuing data transaction will take place.
Gaetios	2:85734ad35573	1273	*
Gaetios	2:85734ad35573	1274	* @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
Gaetios	2:85734ad35573	1275	* @see MPU6050_RA_I2C_SLV4_CTRL
Gaetios	2:85734ad35573	1276	*/
Gaetios	2:85734ad35573	1277	bool MPU60503::getSlave4WriteMode()
Gaetios	2:85734ad35573	1278	{
Gaetios	2:85734ad35573	1279	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
Gaetios	2:85734ad35573	1280	return buffer[0];
Gaetios	2:85734ad35573	1281	}
Gaetios	2:85734ad35573	1282	/** Set write mode for the Slave 4.
Gaetios	2:85734ad35573	1283	* @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
Gaetios	2:85734ad35573	1284	* @see getSlave4WriteMode()
Gaetios	2:85734ad35573	1285	* @see MPU6050_RA_I2C_SLV4_CTRL
Gaetios	2:85734ad35573	1286	*/
Gaetios	2:85734ad35573	1287	void MPU60503::setSlave4WriteMode(bool mode)
Gaetios	2:85734ad35573	1288	{
Gaetios	2:85734ad35573	1289	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
Gaetios	2:85734ad35573	1290	}
Gaetios	2:85734ad35573	1291	/** Get Slave 4 master delay value.
Gaetios	2:85734ad35573	1292	* This configures the reduced access rate of I2C slaves relative to the Sample
Gaetios	2:85734ad35573	1293	* Rate. When a slave's access rate is decreased relative to the Sample Rate,
Gaetios	2:85734ad35573	1294	* the slave is accessed every:
Gaetios	2:85734ad35573	1295	*
Gaetios	2:85734ad35573	1296	* 1 / (1 + I2C_MST_DLY) samples
Gaetios	2:85734ad35573	1297	*
Gaetios	2:85734ad35573	1298	* This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
Gaetios	2:85734ad35573	1299	* DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
Gaetios	2:85734ad35573	1300	* the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
Gaetios	2:85734ad35573	1301	* further information regarding the Sample Rate, please refer to register 25.
Gaetios	2:85734ad35573	1302	*
Gaetios	2:85734ad35573	1303	* @return Current Slave 4 master delay value
Gaetios	2:85734ad35573	1304	* @see MPU6050_RA_I2C_SLV4_CTRL
Gaetios	2:85734ad35573	1305	*/
Gaetios	2:85734ad35573	1306	uint8_t MPU60503::getSlave4MasterDelay()
Gaetios	2:85734ad35573	1307	{
Gaetios	2:85734ad35573	1308	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
Gaetios	2:85734ad35573	1309	return buffer[0];
Gaetios	2:85734ad35573	1310	}
Gaetios	2:85734ad35573	1311	/** Set Slave 4 master delay value.
Gaetios	2:85734ad35573	1312	* @param delay New Slave 4 master delay value
Gaetios	2:85734ad35573	1313	* @see getSlave4MasterDelay()
Gaetios	2:85734ad35573	1314	* @see MPU6050_RA_I2C_SLV4_CTRL
Gaetios	2:85734ad35573	1315	*/
Gaetios	2:85734ad35573	1316	void MPU60503::setSlave4MasterDelay(uint8_t delay)
Gaetios	2:85734ad35573	1317	{
Gaetios	2:85734ad35573	1318	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
Gaetios	2:85734ad35573	1319	}
Gaetios	2:85734ad35573	1320	/** Get last available byte read from Slave 4.
Gaetios	2:85734ad35573	1321	* This register stores the data read from Slave 4. This field is populated
Gaetios	2:85734ad35573	1322	* after a read transaction.
Gaetios	2:85734ad35573	1323	* @return Last available byte read from to Slave 4
Gaetios	2:85734ad35573	1324	* @see MPU6050_RA_I2C_SLV4_DI
Gaetios	2:85734ad35573	1325	*/
Gaetios	2:85734ad35573	1326	uint8_t MPU60503::getSlate4InputByte()
Gaetios	2:85734ad35573	1327	{
Gaetios	2:85734ad35573	1328	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
Gaetios	2:85734ad35573	1329	return buffer[0];
Gaetios	2:85734ad35573	1330	}
Gaetios	2:85734ad35573	1331
Gaetios	2:85734ad35573	1332	// I2C_MST_STATUS register
Gaetios	2:85734ad35573	1333
Gaetios	2:85734ad35573	1334	/** Get FSYNC interrupt status.
Gaetios	2:85734ad35573	1335	* This bit reflects the status of the FSYNC interrupt from an external device
Gaetios	2:85734ad35573	1336	* into the MPU-60X0. This is used as a way to pass an external interrupt
Gaetios	2:85734ad35573	1337	* through the MPU-60X0 to the host application processor. When set to 1, this
Gaetios	2:85734ad35573	1338	* bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
Gaetios	2:85734ad35573	1339	* (Register 55).
Gaetios	2:85734ad35573	1340	* @return FSYNC interrupt status
Gaetios	2:85734ad35573	1341	* @see MPU6050_RA_I2C_MST_STATUS
Gaetios	2:85734ad35573	1342	*/
Gaetios	2:85734ad35573	1343	bool MPU60503::getPassthroughStatus()
Gaetios	2:85734ad35573	1344	{
Gaetios	2:85734ad35573	1345	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
Gaetios	2:85734ad35573	1346	return buffer[0];
Gaetios	2:85734ad35573	1347	}
Gaetios	2:85734ad35573	1348	/** Get Slave 4 transaction done status.
Gaetios	2:85734ad35573	1349	* Automatically sets to 1 when a Slave 4 transaction has completed. This
Gaetios	2:85734ad35573	1350	* triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
Gaetios	2:85734ad35573	1351	* (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
Gaetios	2:85734ad35573	1352	* I2C_SLV4_CTRL register (Register 52).
Gaetios	2:85734ad35573	1353	* @return Slave 4 transaction done status
Gaetios	2:85734ad35573	1354	* @see MPU6050_RA_I2C_MST_STATUS
Gaetios	2:85734ad35573	1355	*/
Gaetios	2:85734ad35573	1356	bool MPU60503::getSlave4IsDone()
Gaetios	2:85734ad35573	1357	{
Gaetios	2:85734ad35573	1358	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
Gaetios	2:85734ad35573	1359	return buffer[0];
Gaetios	2:85734ad35573	1360	}
Gaetios	2:85734ad35573	1361	/** Get master arbitration lost status.
Gaetios	2:85734ad35573	1362	* This bit automatically sets to 1 when the I2C Master has lost arbitration of
Gaetios	2:85734ad35573	1363	* the auxiliary I2C bus (an error condition). This triggers an interrupt if the
Gaetios	2:85734ad35573	1364	* I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
Gaetios	2:85734ad35573	1365	* @return Master arbitration lost status
Gaetios	2:85734ad35573	1366	* @see MPU6050_RA_I2C_MST_STATUS
Gaetios	2:85734ad35573	1367	*/
Gaetios	2:85734ad35573	1368	bool MPU60503::getLostArbitration()
Gaetios	2:85734ad35573	1369	{
Gaetios	2:85734ad35573	1370	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
Gaetios	2:85734ad35573	1371	return buffer[0];
Gaetios	2:85734ad35573	1372	}
Gaetios	2:85734ad35573	1373	/** Get Slave 4 NACK status.
Gaetios	2:85734ad35573	1374	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
Gaetios	2:85734ad35573	1375	* transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
Gaetios	2:85734ad35573	1376	* bit in the INT_ENABLE register (Register 56) is asserted.
Gaetios	2:85734ad35573	1377	* @return Slave 4 NACK interrupt status
Gaetios	2:85734ad35573	1378	* @see MPU6050_RA_I2C_MST_STATUS
Gaetios	2:85734ad35573	1379	*/
Gaetios	2:85734ad35573	1380	bool MPU60503::getSlave4Nack()
Gaetios	2:85734ad35573	1381	{
Gaetios	2:85734ad35573	1382	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
Gaetios	2:85734ad35573	1383	return buffer[0];
Gaetios	2:85734ad35573	1384	}
Gaetios	2:85734ad35573	1385	/** Get Slave 3 NACK status.
Gaetios	2:85734ad35573	1386	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
Gaetios	2:85734ad35573	1387	* transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
Gaetios	2:85734ad35573	1388	* bit in the INT_ENABLE register (Register 56) is asserted.
Gaetios	2:85734ad35573	1389	* @return Slave 3 NACK interrupt status
Gaetios	2:85734ad35573	1390	* @see MPU6050_RA_I2C_MST_STATUS
Gaetios	2:85734ad35573	1391	*/
Gaetios	2:85734ad35573	1392	bool MPU60503::getSlave3Nack()
Gaetios	2:85734ad35573	1393	{
Gaetios	2:85734ad35573	1394	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
Gaetios	2:85734ad35573	1395	return buffer[0];
Gaetios	2:85734ad35573	1396	}
Gaetios	2:85734ad35573	1397	/** Get Slave 2 NACK status.
Gaetios	2:85734ad35573	1398	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
Gaetios	2:85734ad35573	1399	* transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
Gaetios	2:85734ad35573	1400	* bit in the INT_ENABLE register (Register 56) is asserted.
Gaetios	2:85734ad35573	1401	* @return Slave 2 NACK interrupt status
Gaetios	2:85734ad35573	1402	* @see MPU6050_RA_I2C_MST_STATUS
Gaetios	2:85734ad35573	1403	*/
Gaetios	2:85734ad35573	1404	bool MPU60503::getSlave2Nack()
Gaetios	2:85734ad35573	1405	{
Gaetios	2:85734ad35573	1406	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
Gaetios	2:85734ad35573	1407	return buffer[0];
Gaetios	2:85734ad35573	1408	}
Gaetios	2:85734ad35573	1409	/** Get Slave 1 NACK status.
Gaetios	2:85734ad35573	1410	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
Gaetios	2:85734ad35573	1411	* transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
Gaetios	2:85734ad35573	1412	* bit in the INT_ENABLE register (Register 56) is asserted.
Gaetios	2:85734ad35573	1413	* @return Slave 1 NACK interrupt status
Gaetios	2:85734ad35573	1414	* @see MPU6050_RA_I2C_MST_STATUS
Gaetios	2:85734ad35573	1415	*/
Gaetios	2:85734ad35573	1416	bool MPU60503::getSlave1Nack()
Gaetios	2:85734ad35573	1417	{
Gaetios	2:85734ad35573	1418	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
Gaetios	2:85734ad35573	1419	return buffer[0];
Gaetios	2:85734ad35573	1420	}
Gaetios	2:85734ad35573	1421	/** Get Slave 0 NACK status.
Gaetios	2:85734ad35573	1422	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
Gaetios	2:85734ad35573	1423	* transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
Gaetios	2:85734ad35573	1424	* bit in the INT_ENABLE register (Register 56) is asserted.
Gaetios	2:85734ad35573	1425	* @return Slave 0 NACK interrupt status
Gaetios	2:85734ad35573	1426	* @see MPU6050_RA_I2C_MST_STATUS
Gaetios	2:85734ad35573	1427	*/
Gaetios	2:85734ad35573	1428	bool MPU60503::getSlave0Nack()
Gaetios	2:85734ad35573	1429	{
Gaetios	2:85734ad35573	1430	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
Gaetios	2:85734ad35573	1431	return buffer[0];
Gaetios	2:85734ad35573	1432	}
Gaetios	2:85734ad35573	1433
Gaetios	2:85734ad35573	1434	// INT_PIN_CFG register
Gaetios	2:85734ad35573	1435
Gaetios	2:85734ad35573	1436	/** Get interrupt logic level mode.
Gaetios	2:85734ad35573	1437	* Will be set 0 for active-high, 1 for active-low.
Gaetios	2:85734ad35573	1438	* @return Current interrupt mode (0=active-high, 1=active-low)
Gaetios	2:85734ad35573	1439	* @see MPU6050_RA_INT_PIN_CFG
Gaetios	2:85734ad35573	1440	* @see MPU6050_INTCFG_INT_LEVEL_BIT
Gaetios	2:85734ad35573	1441	*/
Gaetios	2:85734ad35573	1442	bool MPU60503::getInterruptMode()
Gaetios	2:85734ad35573	1443	{
Gaetios	2:85734ad35573	1444	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
Gaetios	2:85734ad35573	1445	return buffer[0];
Gaetios	2:85734ad35573	1446	}
Gaetios	2:85734ad35573	1447	/** Set interrupt logic level mode.
Gaetios	2:85734ad35573	1448	* @param mode New interrupt mode (0=active-high, 1=active-low)
Gaetios	2:85734ad35573	1449	* @see getInterruptMode()
Gaetios	2:85734ad35573	1450	* @see MPU6050_RA_INT_PIN_CFG
Gaetios	2:85734ad35573	1451	* @see MPU6050_INTCFG_INT_LEVEL_BIT
Gaetios	2:85734ad35573	1452	*/
Gaetios	2:85734ad35573	1453	void MPU60503::setInterruptMode(bool mode)
Gaetios	2:85734ad35573	1454	{
Gaetios	2:85734ad35573	1455	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
Gaetios	2:85734ad35573	1456	}
Gaetios	2:85734ad35573	1457	/** Get interrupt drive mode.
Gaetios	2:85734ad35573	1458	* Will be set 0 for push-pull, 1 for open-drain.
Gaetios	2:85734ad35573	1459	* @return Current interrupt drive mode (0=push-pull, 1=open-drain)
Gaetios	2:85734ad35573	1460	* @see MPU6050_RA_INT_PIN_CFG
Gaetios	2:85734ad35573	1461	* @see MPU6050_INTCFG_INT_OPEN_BIT
Gaetios	2:85734ad35573	1462	*/
Gaetios	2:85734ad35573	1463	bool MPU60503::getInterruptDrive()
Gaetios	2:85734ad35573	1464	{
Gaetios	2:85734ad35573	1465	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
Gaetios	2:85734ad35573	1466	return buffer[0];
Gaetios	2:85734ad35573	1467	}
Gaetios	2:85734ad35573	1468	/** Set interrupt drive mode.
Gaetios	2:85734ad35573	1469	* @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
Gaetios	2:85734ad35573	1470	* @see getInterruptDrive()
Gaetios	2:85734ad35573	1471	* @see MPU6050_RA_INT_PIN_CFG
Gaetios	2:85734ad35573	1472	* @see MPU6050_INTCFG_INT_OPEN_BIT
Gaetios	2:85734ad35573	1473	*/
Gaetios	2:85734ad35573	1474	void MPU60503::setInterruptDrive(bool drive)
Gaetios	2:85734ad35573	1475	{
Gaetios	2:85734ad35573	1476	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
Gaetios	2:85734ad35573	1477	}
Gaetios	2:85734ad35573	1478	/** Get interrupt latch mode.
Gaetios	2:85734ad35573	1479	* Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
Gaetios	2:85734ad35573	1480	* @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
Gaetios	2:85734ad35573	1481	* @see MPU6050_RA_INT_PIN_CFG
Gaetios	2:85734ad35573	1482	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
Gaetios	2:85734ad35573	1483	*/
Gaetios	2:85734ad35573	1484	bool MPU60503::getInterruptLatch()
Gaetios	2:85734ad35573	1485	{
Gaetios	2:85734ad35573	1486	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
Gaetios	2:85734ad35573	1487	return buffer[0];
Gaetios	2:85734ad35573	1488	}
Gaetios	2:85734ad35573	1489	/** Set interrupt latch mode.
Gaetios	2:85734ad35573	1490	* @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
Gaetios	2:85734ad35573	1491	* @see getInterruptLatch()
Gaetios	2:85734ad35573	1492	* @see MPU6050_RA_INT_PIN_CFG
Gaetios	2:85734ad35573	1493	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
Gaetios	2:85734ad35573	1494	*/
Gaetios	2:85734ad35573	1495	void MPU60503::setInterruptLatch(bool latch)
Gaetios	2:85734ad35573	1496	{
Gaetios	2:85734ad35573	1497	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
Gaetios	2:85734ad35573	1498	}
Gaetios	2:85734ad35573	1499	/** Get interrupt latch clear mode.
Gaetios	2:85734ad35573	1500	* Will be set 0 for status-read-only, 1 for any-register-read.
Gaetios	2:85734ad35573	1501	* @return Current latch clear mode (0=status-read-only, 1=any-register-read)
Gaetios	2:85734ad35573	1502	* @see MPU6050_RA_INT_PIN_CFG
Gaetios	2:85734ad35573	1503	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
Gaetios	2:85734ad35573	1504	*/
Gaetios	2:85734ad35573	1505	bool MPU60503::getInterruptLatchClear()
Gaetios	2:85734ad35573	1506	{
Gaetios	2:85734ad35573	1507	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
Gaetios	2:85734ad35573	1508	return buffer[0];
Gaetios	2:85734ad35573	1509	}
Gaetios	2:85734ad35573	1510	/** Set interrupt latch clear mode.
Gaetios	2:85734ad35573	1511	* @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
Gaetios	2:85734ad35573	1512	* @see getInterruptLatchClear()
Gaetios	2:85734ad35573	1513	* @see MPU6050_RA_INT_PIN_CFG
Gaetios	2:85734ad35573	1514	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
Gaetios	2:85734ad35573	1515	*/
Gaetios	2:85734ad35573	1516	void MPU60503::setInterruptLatchClear(bool clear)
Gaetios	2:85734ad35573	1517	{
Gaetios	2:85734ad35573	1518	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
Gaetios	2:85734ad35573	1519	}
Gaetios	2:85734ad35573	1520	/** Get FSYNC interrupt logic level mode.
Gaetios	2:85734ad35573	1521	* @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
Gaetios	2:85734ad35573	1522	* @see getFSyncInterruptMode()
Gaetios	2:85734ad35573	1523	* @see MPU6050_RA_INT_PIN_CFG
Gaetios	2:85734ad35573	1524	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
Gaetios	2:85734ad35573	1525	*/
Gaetios	2:85734ad35573	1526	bool MPU60503::getFSyncInterruptLevel()
Gaetios	2:85734ad35573	1527	{
Gaetios	2:85734ad35573	1528	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
Gaetios	2:85734ad35573	1529	return buffer[0];
Gaetios	2:85734ad35573	1530	}
Gaetios	2:85734ad35573	1531	/** Set FSYNC interrupt logic level mode.
Gaetios	2:85734ad35573	1532	* @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
Gaetios	2:85734ad35573	1533	* @see getFSyncInterruptMode()
Gaetios	2:85734ad35573	1534	* @see MPU6050_RA_INT_PIN_CFG
Gaetios	2:85734ad35573	1535	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
Gaetios	2:85734ad35573	1536	*/
Gaetios	2:85734ad35573	1537	void MPU60503::setFSyncInterruptLevel(bool level)
Gaetios	2:85734ad35573	1538	{
Gaetios	2:85734ad35573	1539	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
Gaetios	2:85734ad35573	1540	}
Gaetios	2:85734ad35573	1541	/** Get FSYNC pin interrupt enabled setting.
Gaetios	2:85734ad35573	1542	* Will be set 0 for disabled, 1 for enabled.
Gaetios	2:85734ad35573	1543	* @return Current interrupt enabled setting
Gaetios	2:85734ad35573	1544	* @see MPU6050_RA_INT_PIN_CFG
Gaetios	2:85734ad35573	1545	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
Gaetios	2:85734ad35573	1546	*/
Gaetios	2:85734ad35573	1547	bool MPU60503::getFSyncInterruptEnabled()
Gaetios	2:85734ad35573	1548	{
Gaetios	2:85734ad35573	1549	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
Gaetios	2:85734ad35573	1550	return buffer[0];
Gaetios	2:85734ad35573	1551	}
Gaetios	2:85734ad35573	1552	/** Set FSYNC pin interrupt enabled setting.
Gaetios	2:85734ad35573	1553	* @param enabled New FSYNC pin interrupt enabled setting
Gaetios	2:85734ad35573	1554	* @see getFSyncInterruptEnabled()
Gaetios	2:85734ad35573	1555	* @see MPU6050_RA_INT_PIN_CFG
Gaetios	2:85734ad35573	1556	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
Gaetios	2:85734ad35573	1557	*/
Gaetios	2:85734ad35573	1558	void MPU60503::setFSyncInterruptEnabled(bool enabled)
Gaetios	2:85734ad35573	1559	{
Gaetios	2:85734ad35573	1560	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
Gaetios	2:85734ad35573	1561	}
Gaetios	2:85734ad35573	1562	/** Get I2C bypass enabled status.
Gaetios	2:85734ad35573	1563	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
Gaetios	2:85734ad35573	1564	* 0, the host application processor will be able to directly access the
Gaetios	2:85734ad35573	1565	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
Gaetios	2:85734ad35573	1566	* application processor will not be able to directly access the auxiliary I2C
Gaetios	2:85734ad35573	1567	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
Gaetios	2:85734ad35573	1568	* bit[5]).
Gaetios	2:85734ad35573	1569	* @return Current I2C bypass enabled status
Gaetios	2:85734ad35573	1570	* @see MPU6050_RA_INT_PIN_CFG
Gaetios	2:85734ad35573	1571	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
Gaetios	2:85734ad35573	1572	*/
Gaetios	2:85734ad35573	1573	bool MPU60503::getI2CBypassEnabled()
Gaetios	2:85734ad35573	1574	{
Gaetios	2:85734ad35573	1575	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
Gaetios	2:85734ad35573	1576	return buffer[0];
Gaetios	2:85734ad35573	1577	}
Gaetios	2:85734ad35573	1578	/** Set I2C bypass enabled status.
Gaetios	2:85734ad35573	1579	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
Gaetios	2:85734ad35573	1580	* 0, the host application processor will be able to directly access the
Gaetios	2:85734ad35573	1581	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
Gaetios	2:85734ad35573	1582	* application processor will not be able to directly access the auxiliary I2C
Gaetios	2:85734ad35573	1583	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
Gaetios	2:85734ad35573	1584	* bit[5]).
Gaetios	2:85734ad35573	1585	* @param enabled New I2C bypass enabled status
Gaetios	2:85734ad35573	1586	* @see MPU6050_RA_INT_PIN_CFG
Gaetios	2:85734ad35573	1587	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
Gaetios	2:85734ad35573	1588	*/
Gaetios	2:85734ad35573	1589	void MPU60503::setI2CBypassEnabled(bool enabled)
Gaetios	2:85734ad35573	1590	{
Gaetios	2:85734ad35573	1591	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
Gaetios	2:85734ad35573	1592	}
Gaetios	2:85734ad35573	1593	/** Get reference clock output enabled status.
Gaetios	2:85734ad35573	1594	* When this bit is equal to 1, a reference clock output is provided at the
Gaetios	2:85734ad35573	1595	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
Gaetios	2:85734ad35573	1596	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
Gaetios	2:85734ad35573	1597	* Specification document.
Gaetios	2:85734ad35573	1598	* @return Current reference clock output enabled status
Gaetios	2:85734ad35573	1599	* @see MPU6050_RA_INT_PIN_CFG
Gaetios	2:85734ad35573	1600	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
Gaetios	2:85734ad35573	1601	*/
Gaetios	2:85734ad35573	1602	bool MPU60503::getClockOutputEnabled()
Gaetios	2:85734ad35573	1603	{
Gaetios	2:85734ad35573	1604	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
Gaetios	2:85734ad35573	1605	return buffer[0];
Gaetios	2:85734ad35573	1606	}
Gaetios	2:85734ad35573	1607	/** Set reference clock output enabled status.
Gaetios	2:85734ad35573	1608	* When this bit is equal to 1, a reference clock output is provided at the
Gaetios	2:85734ad35573	1609	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
Gaetios	2:85734ad35573	1610	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
Gaetios	2:85734ad35573	1611	* Specification document.
Gaetios	2:85734ad35573	1612	* @param enabled New reference clock output enabled status
Gaetios	2:85734ad35573	1613	* @see MPU6050_RA_INT_PIN_CFG
Gaetios	2:85734ad35573	1614	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
Gaetios	2:85734ad35573	1615	*/
Gaetios	2:85734ad35573	1616	void MPU60503::setClockOutputEnabled(bool enabled)
Gaetios	2:85734ad35573	1617	{
Gaetios	2:85734ad35573	1618	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
Gaetios	2:85734ad35573	1619	}
Gaetios	2:85734ad35573	1620
Gaetios	2:85734ad35573	1621	// INT_ENABLE register
Gaetios	2:85734ad35573	1622
Gaetios	2:85734ad35573	1623	/** Get full interrupt enabled status.
Gaetios	2:85734ad35573	1624	* Full register byte for all interrupts, for quick reading. Each bit will be
Gaetios	2:85734ad35573	1625	* set 0 for disabled, 1 for enabled.
Gaetios	2:85734ad35573	1626	* @return Current interrupt enabled status
Gaetios	2:85734ad35573	1627	* @see MPU6050_RA_INT_ENABLE
Gaetios	2:85734ad35573	1628	* @see MPU6050_INTERRUPT_FF_BIT
Gaetios	2:85734ad35573	1629	**/
Gaetios	2:85734ad35573	1630	uint8_t MPU60503::getIntEnabled()
Gaetios	2:85734ad35573	1631	{
Gaetios	2:85734ad35573	1632	i2Cdev.readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
Gaetios	2:85734ad35573	1633	return buffer[0];
Gaetios	2:85734ad35573	1634	}
Gaetios	2:85734ad35573	1635	/** Set full interrupt enabled status.
Gaetios	2:85734ad35573	1636	* Full register byte for all interrupts, for quick reading. Each bit should be
Gaetios	2:85734ad35573	1637	* set 0 for disabled, 1 for enabled.
Gaetios	2:85734ad35573	1638	* @param enabled New interrupt enabled status
Gaetios	2:85734ad35573	1639	* @see getIntFreefallEnabled()
Gaetios	2:85734ad35573	1640	* @see MPU6050_RA_INT_ENABLE
Gaetios	2:85734ad35573	1641	* @see MPU6050_INTERRUPT_FF_BIT
Gaetios	2:85734ad35573	1642	**/
Gaetios	2:85734ad35573	1643	void MPU60503::setIntEnabled(uint8_t enabled)
Gaetios	2:85734ad35573	1644	{
Gaetios	2:85734ad35573	1645	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
Gaetios	2:85734ad35573	1646	}
Gaetios	2:85734ad35573	1647	/** Get Free Fall interrupt enabled status.
Gaetios	2:85734ad35573	1648	* Will be set 0 for disabled, 1 for enabled.
Gaetios	2:85734ad35573	1649	* @return Current interrupt enabled status
Gaetios	2:85734ad35573	1650	* @see MPU6050_RA_INT_ENABLE
Gaetios	2:85734ad35573	1651	* @see MPU6050_INTERRUPT_FF_BIT
Gaetios	2:85734ad35573	1652	**/
Gaetios	2:85734ad35573	1653	bool MPU60503::getIntFreefallEnabled()
Gaetios	2:85734ad35573	1654	{
Gaetios	2:85734ad35573	1655	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
Gaetios	2:85734ad35573	1656	return buffer[0];
Gaetios	2:85734ad35573	1657	}
Gaetios	2:85734ad35573	1658	/** Set Free Fall interrupt enabled status.
Gaetios	2:85734ad35573	1659	* @param enabled New interrupt enabled status
Gaetios	2:85734ad35573	1660	* @see getIntFreefallEnabled()
Gaetios	2:85734ad35573	1661	* @see MPU6050_RA_INT_ENABLE
Gaetios	2:85734ad35573	1662	* @see MPU6050_INTERRUPT_FF_BIT
Gaetios	2:85734ad35573	1663	**/
Gaetios	2:85734ad35573	1664	void MPU60503::setIntFreefallEnabled(bool enabled)
Gaetios	2:85734ad35573	1665	{
Gaetios	2:85734ad35573	1666	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
Gaetios	2:85734ad35573	1667	}
Gaetios	2:85734ad35573	1668	/** Get Motion Detection interrupt enabled status.
Gaetios	2:85734ad35573	1669	* Will be set 0 for disabled, 1 for enabled.
Gaetios	2:85734ad35573	1670	* @return Current interrupt enabled status
Gaetios	2:85734ad35573	1671	* @see MPU6050_RA_INT_ENABLE
Gaetios	2:85734ad35573	1672	* @see MPU6050_INTERRUPT_MOT_BIT
Gaetios	2:85734ad35573	1673	**/
Gaetios	2:85734ad35573	1674	bool MPU60503::getIntMotionEnabled()
Gaetios	2:85734ad35573	1675	{
Gaetios	2:85734ad35573	1676	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
Gaetios	2:85734ad35573	1677	return buffer[0];
Gaetios	2:85734ad35573	1678	}
Gaetios	2:85734ad35573	1679	/** Set Motion Detection interrupt enabled status.
Gaetios	2:85734ad35573	1680	* @param enabled New interrupt enabled status
Gaetios	2:85734ad35573	1681	* @see getIntMotionEnabled()
Gaetios	2:85734ad35573	1682	* @see MPU6050_RA_INT_ENABLE
Gaetios	2:85734ad35573	1683	* @see MPU6050_INTERRUPT_MOT_BIT
Gaetios	2:85734ad35573	1684	**/
Gaetios	2:85734ad35573	1685	void MPU60503::setIntMotionEnabled(bool enabled)
Gaetios	2:85734ad35573	1686	{
Gaetios	2:85734ad35573	1687	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
Gaetios	2:85734ad35573	1688	}
Gaetios	2:85734ad35573	1689	/** Get Zero Motion Detection interrupt enabled status.
Gaetios	2:85734ad35573	1690	* Will be set 0 for disabled, 1 for enabled.
Gaetios	2:85734ad35573	1691	* @return Current interrupt enabled status
Gaetios	2:85734ad35573	1692	* @see MPU6050_RA_INT_ENABLE
Gaetios	2:85734ad35573	1693	* @see MPU6050_INTERRUPT_ZMOT_BIT
Gaetios	2:85734ad35573	1694	**/
Gaetios	2:85734ad35573	1695	bool MPU60503::getIntZeroMotionEnabled()
Gaetios	2:85734ad35573	1696	{
Gaetios	2:85734ad35573	1697	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
Gaetios	2:85734ad35573	1698	return buffer[0];
Gaetios	2:85734ad35573	1699	}
Gaetios	2:85734ad35573	1700	/** Set Zero Motion Detection interrupt enabled status.
Gaetios	2:85734ad35573	1701	* @param enabled New interrupt enabled status
Gaetios	2:85734ad35573	1702	* @see getIntZeroMotionEnabled()
Gaetios	2:85734ad35573	1703	* @see MPU6050_RA_INT_ENABLE
Gaetios	2:85734ad35573	1704	* @see MPU6050_INTERRUPT_ZMOT_BIT
Gaetios	2:85734ad35573	1705	**/
Gaetios	2:85734ad35573	1706	void MPU60503::setIntZeroMotionEnabled(bool enabled)
Gaetios	2:85734ad35573	1707	{
Gaetios	2:85734ad35573	1708	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
Gaetios	2:85734ad35573	1709	}
Gaetios	2:85734ad35573	1710	/** Get FIFO Buffer Overflow interrupt enabled status.
Gaetios	2:85734ad35573	1711	* Will be set 0 for disabled, 1 for enabled.
Gaetios	2:85734ad35573	1712	* @return Current interrupt enabled status
Gaetios	2:85734ad35573	1713	* @see MPU6050_RA_INT_ENABLE
Gaetios	2:85734ad35573	1714	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
Gaetios	2:85734ad35573	1715	**/
Gaetios	2:85734ad35573	1716	bool MPU60503::getIntFIFOBufferOverflowEnabled()
Gaetios	2:85734ad35573	1717	{
Gaetios	2:85734ad35573	1718	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
Gaetios	2:85734ad35573	1719	return buffer[0];
Gaetios	2:85734ad35573	1720	}
Gaetios	2:85734ad35573	1721	/** Set FIFO Buffer Overflow interrupt enabled status.
Gaetios	2:85734ad35573	1722	* @param enabled New interrupt enabled status
Gaetios	2:85734ad35573	1723	* @see getIntFIFOBufferOverflowEnabled()
Gaetios	2:85734ad35573	1724	* @see MPU6050_RA_INT_ENABLE
Gaetios	2:85734ad35573	1725	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
Gaetios	2:85734ad35573	1726	**/
Gaetios	2:85734ad35573	1727	void MPU60503::setIntFIFOBufferOverflowEnabled(bool enabled)
Gaetios	2:85734ad35573	1728	{
Gaetios	2:85734ad35573	1729	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
Gaetios	2:85734ad35573	1730	}
Gaetios	2:85734ad35573	1731	/** Get I2C Master interrupt enabled status.
Gaetios	2:85734ad35573	1732	* This enables any of the I2C Master interrupt sources to generate an
Gaetios	2:85734ad35573	1733	* interrupt. Will be set 0 for disabled, 1 for enabled.
Gaetios	2:85734ad35573	1734	* @return Current interrupt enabled status
Gaetios	2:85734ad35573	1735	* @see MPU6050_RA_INT_ENABLE
Gaetios	2:85734ad35573	1736	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
Gaetios	2:85734ad35573	1737	**/
Gaetios	2:85734ad35573	1738	bool MPU60503::getIntI2CMasterEnabled()
Gaetios	2:85734ad35573	1739	{
Gaetios	2:85734ad35573	1740	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
Gaetios	2:85734ad35573	1741	return buffer[0];
Gaetios	2:85734ad35573	1742	}
Gaetios	2:85734ad35573	1743	/** Set I2C Master interrupt enabled status.
Gaetios	2:85734ad35573	1744	* @param enabled New interrupt enabled status
Gaetios	2:85734ad35573	1745	* @see getIntI2CMasterEnabled()
Gaetios	2:85734ad35573	1746	* @see MPU6050_RA_INT_ENABLE
Gaetios	2:85734ad35573	1747	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
Gaetios	2:85734ad35573	1748	**/
Gaetios	2:85734ad35573	1749	void MPU60503::setIntI2CMasterEnabled(bool enabled)
Gaetios	2:85734ad35573	1750	{
Gaetios	2:85734ad35573	1751	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
Gaetios	2:85734ad35573	1752	}
Gaetios	2:85734ad35573	1753	/** Get Data Ready interrupt enabled setting.
Gaetios	2:85734ad35573	1754	* This event occurs each time a write operation to all of the sensor registers
Gaetios	2:85734ad35573	1755	* has been completed. Will be set 0 for disabled, 1 for enabled.
Gaetios	2:85734ad35573	1756	* @return Current interrupt enabled status
Gaetios	2:85734ad35573	1757	* @see MPU6050_RA_INT_ENABLE
Gaetios	2:85734ad35573	1758	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
Gaetios	2:85734ad35573	1759	*/
Gaetios	2:85734ad35573	1760	bool MPU60503::getIntDataReadyEnabled()
Gaetios	2:85734ad35573	1761	{
Gaetios	2:85734ad35573	1762	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
Gaetios	2:85734ad35573	1763	return buffer[0];
Gaetios	2:85734ad35573	1764	}
Gaetios	2:85734ad35573	1765	/** Set Data Ready interrupt enabled status.
Gaetios	2:85734ad35573	1766	* @param enabled New interrupt enabled status
Gaetios	2:85734ad35573	1767	* @see getIntDataReadyEnabled()
Gaetios	2:85734ad35573	1768	* @see MPU6050_RA_INT_CFG
Gaetios	2:85734ad35573	1769	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
Gaetios	2:85734ad35573	1770	*/
Gaetios	2:85734ad35573	1771	void MPU60503::setIntDataReadyEnabled(bool enabled)
Gaetios	2:85734ad35573	1772	{
Gaetios	2:85734ad35573	1773	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
Gaetios	2:85734ad35573	1774	}
Gaetios	2:85734ad35573	1775
Gaetios	2:85734ad35573	1776	// INT_STATUS register
Gaetios	2:85734ad35573	1777
Gaetios	2:85734ad35573	1778	/** Get full set of interrupt status bits.
Gaetios	2:85734ad35573	1779	* These bits clear to 0 after the register has been read. Very useful
Gaetios	2:85734ad35573	1780	* for getting multiple INT statuses, since each single bit read clears
Gaetios	2:85734ad35573	1781	* all of them because it has to read the whole byte.
Gaetios	2:85734ad35573	1782	* @return Current interrupt status
Gaetios	2:85734ad35573	1783	* @see MPU6050_RA_INT_STATUS
Gaetios	2:85734ad35573	1784	*/
Gaetios	2:85734ad35573	1785	uint8_t MPU60503::getIntStatus()
Gaetios	2:85734ad35573	1786	{
Gaetios	2:85734ad35573	1787	i2Cdev.readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
Gaetios	2:85734ad35573	1788	return buffer[0];
Gaetios	2:85734ad35573	1789	}
Gaetios	2:85734ad35573	1790	/** Get Free Fall interrupt status.
Gaetios	2:85734ad35573	1791	* This bit automatically sets to 1 when a Free Fall interrupt has been
Gaetios	2:85734ad35573	1792	* generated. The bit clears to 0 after the register has been read.
Gaetios	2:85734ad35573	1793	* @return Current interrupt status
Gaetios	2:85734ad35573	1794	* @see MPU6050_RA_INT_STATUS
Gaetios	2:85734ad35573	1795	* @see MPU6050_INTERRUPT_FF_BIT
Gaetios	2:85734ad35573	1796	*/
Gaetios	2:85734ad35573	1797	bool MPU60503::getIntFreefallStatus()
Gaetios	2:85734ad35573	1798	{
Gaetios	2:85734ad35573	1799	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
Gaetios	2:85734ad35573	1800	return buffer[0];
Gaetios	2:85734ad35573	1801	}
Gaetios	2:85734ad35573	1802	/** Get Motion Detection interrupt status.
Gaetios	2:85734ad35573	1803	* This bit automatically sets to 1 when a Motion Detection interrupt has been
Gaetios	2:85734ad35573	1804	* generated. The bit clears to 0 after the register has been read.
Gaetios	2:85734ad35573	1805	* @return Current interrupt status
Gaetios	2:85734ad35573	1806	* @see MPU6050_RA_INT_STATUS
Gaetios	2:85734ad35573	1807	* @see MPU6050_INTERRUPT_MOT_BIT
Gaetios	2:85734ad35573	1808	*/
Gaetios	2:85734ad35573	1809	bool MPU60503::getIntMotionStatus()
Gaetios	2:85734ad35573	1810	{
Gaetios	2:85734ad35573	1811	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
Gaetios	2:85734ad35573	1812	return buffer[0];
Gaetios	2:85734ad35573	1813	}
Gaetios	2:85734ad35573	1814	/** Get Zero Motion Detection interrupt status.
Gaetios	2:85734ad35573	1815	* This bit automatically sets to 1 when a Zero Motion Detection interrupt has
Gaetios	2:85734ad35573	1816	* been generated. The bit clears to 0 after the register has been read.
Gaetios	2:85734ad35573	1817	* @return Current interrupt status
Gaetios	2:85734ad35573	1818	* @see MPU6050_RA_INT_STATUS
Gaetios	2:85734ad35573	1819	* @see MPU6050_INTERRUPT_ZMOT_BIT
Gaetios	2:85734ad35573	1820	*/
Gaetios	2:85734ad35573	1821	bool MPU60503::getIntZeroMotionStatus()
Gaetios	2:85734ad35573	1822	{
Gaetios	2:85734ad35573	1823	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
Gaetios	2:85734ad35573	1824	return buffer[0];
Gaetios	2:85734ad35573	1825	}
Gaetios	2:85734ad35573	1826	/** Get FIFO Buffer Overflow interrupt status.
Gaetios	2:85734ad35573	1827	* This bit automatically sets to 1 when a Free Fall interrupt has been
Gaetios	2:85734ad35573	1828	* generated. The bit clears to 0 after the register has been read.
Gaetios	2:85734ad35573	1829	* @return Current interrupt status
Gaetios	2:85734ad35573	1830	* @see MPU6050_RA_INT_STATUS
Gaetios	2:85734ad35573	1831	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
Gaetios	2:85734ad35573	1832	*/
Gaetios	2:85734ad35573	1833	bool MPU60503::getIntFIFOBufferOverflowStatus()
Gaetios	2:85734ad35573	1834	{
Gaetios	2:85734ad35573	1835	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
Gaetios	2:85734ad35573	1836	return buffer[0];
Gaetios	2:85734ad35573	1837	}
Gaetios	2:85734ad35573	1838	/** Get I2C Master interrupt status.
Gaetios	2:85734ad35573	1839	* This bit automatically sets to 1 when an I2C Master interrupt has been
Gaetios	2:85734ad35573	1840	* generated. For a list of I2C Master interrupts, please refer to Register 54.
Gaetios	2:85734ad35573	1841	* The bit clears to 0 after the register has been read.
Gaetios	2:85734ad35573	1842	* @return Current interrupt status
Gaetios	2:85734ad35573	1843	* @see MPU6050_RA_INT_STATUS
Gaetios	2:85734ad35573	1844	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
Gaetios	2:85734ad35573	1845	*/
Gaetios	2:85734ad35573	1846	bool MPU60503::getIntI2CMasterStatus()
Gaetios	2:85734ad35573	1847	{
Gaetios	2:85734ad35573	1848	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
Gaetios	2:85734ad35573	1849	return buffer[0];
Gaetios	2:85734ad35573	1850	}
Gaetios	2:85734ad35573	1851	/** Get Data Ready interrupt status.
Gaetios	2:85734ad35573	1852	* This bit automatically sets to 1 when a Data Ready interrupt has been
Gaetios	2:85734ad35573	1853	* generated. The bit clears to 0 after the register has been read.
Gaetios	2:85734ad35573	1854	* @return Current interrupt status
Gaetios	2:85734ad35573	1855	* @see MPU6050_RA_INT_STATUS
Gaetios	2:85734ad35573	1856	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
Gaetios	2:85734ad35573	1857	*/
Gaetios	2:85734ad35573	1858	bool MPU60503::getIntDataReadyStatus()
Gaetios	2:85734ad35573	1859	{
Gaetios	2:85734ad35573	1860	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
Gaetios	2:85734ad35573	1861	return buffer[0];
Gaetios	2:85734ad35573	1862	}
Gaetios	2:85734ad35573	1863
Gaetios	2:85734ad35573	1864	// ACCEL_OUT_ registers
Gaetios	2:85734ad35573	1865
Gaetios	2:85734ad35573	1866	/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
Gaetios	2:85734ad35573	1867	* FUNCTION NOT FULLY IMPLEMENTED YET.
Gaetios	2:85734ad35573	1868	* @param ax 16-bit signed integer container for accelerometer X-axis value
Gaetios	2:85734ad35573	1869	* @param ay 16-bit signed integer container for accelerometer Y-axis value
Gaetios	2:85734ad35573	1870	* @param az 16-bit signed integer container for accelerometer Z-axis value
Gaetios	2:85734ad35573	1871	* @param gx 16-bit signed integer container for gyroscope X-axis value
Gaetios	2:85734ad35573	1872	* @param gy 16-bit signed integer container for gyroscope Y-axis value
Gaetios	2:85734ad35573	1873	* @param gz 16-bit signed integer container for gyroscope Z-axis value
Gaetios	2:85734ad35573	1874	* @param mx 16-bit signed integer container for magnetometer X-axis value
Gaetios	2:85734ad35573	1875	* @param my 16-bit signed integer container for magnetometer Y-axis value
Gaetios	2:85734ad35573	1876	* @param mz 16-bit signed integer container for magnetometer Z-axis value
Gaetios	2:85734ad35573	1877	* @see getMotion6()
Gaetios	2:85734ad35573	1878	* @see getAcceleration()
Gaetios	2:85734ad35573	1879	* @see getRotation()
Gaetios	2:85734ad35573	1880	* @see MPU6050_RA_ACCEL_XOUT_H
Gaetios	2:85734ad35573	1881	*/
Gaetios	2:85734ad35573	1882	void MPU60503::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)
Gaetios	2:85734ad35573	1883	{
Gaetios	2:85734ad35573	1884	getMotion6(ax, ay, az, gx, gy, gz);
Gaetios	2:85734ad35573	1885	// TODO: magnetometer integration
Gaetios	2:85734ad35573	1886	}
Gaetios	2:85734ad35573	1887	/** Get raw 6-axis motion sensor readings (accel/gyro).
Gaetios	2:85734ad35573	1888	* Retrieves all currently available motion sensor values.
Gaetios	2:85734ad35573	1889	* @param ax 16-bit signed integer container for accelerometer X-axis value
Gaetios	2:85734ad35573	1890	* @param ay 16-bit signed integer container for accelerometer Y-axis value
Gaetios	2:85734ad35573	1891	* @param az 16-bit signed integer container for accelerometer Z-axis value
Gaetios	2:85734ad35573	1892	* @param gx 16-bit signed integer container for gyroscope X-axis value
Gaetios	2:85734ad35573	1893	* @param gy 16-bit signed integer container for gyroscope Y-axis value
Gaetios	2:85734ad35573	1894	* @param gz 16-bit signed integer container for gyroscope Z-axis value
Gaetios	2:85734ad35573	1895	* @see getAcceleration()
Gaetios	2:85734ad35573	1896	* @see getRotation()
Gaetios	2:85734ad35573	1897	* @see MPU6050_RA_ACCEL_XOUT_H
Gaetios	2:85734ad35573	1898	*/
Gaetios	2:85734ad35573	1899	void MPU60503::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
Gaetios	2:85734ad35573	1900	{
Gaetios	2:85734ad35573	1901	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
Gaetios	2:85734ad35573	1902	*ax = (((int16_t)buffer[0]) << 8) \| buffer[1];
Gaetios	2:85734ad35573	1903	*ay = (((int16_t)buffer[2]) << 8) \| buffer[3];
Gaetios	2:85734ad35573	1904	*az = (((int16_t)buffer[4]) << 8) \| buffer[5];
Gaetios	2:85734ad35573	1905	*gx = (((int16_t)buffer[8]) << 8) \| buffer[9];
Gaetios	2:85734ad35573	1906	*gy = (((int16_t)buffer[10]) << 8) \| buffer[11];
Gaetios	2:85734ad35573	1907	*gz = (((int16_t)buffer[12]) << 8) \| buffer[13];
Gaetios	2:85734ad35573	1908	}
Gaetios	2:85734ad35573	1909	/** Get 3-axis accelerometer readings.
Gaetios	2:85734ad35573	1910	* These registers store the most recent accelerometer measurements.
Gaetios	2:85734ad35573	1911	* Accelerometer measurements are written to these registers at the Sample Rate
Gaetios	2:85734ad35573	1912	* as defined in Register 25.
Gaetios	2:85734ad35573	1913	*
Gaetios	2:85734ad35573	1914	* The accelerometer measurement registers, along with the temperature
Gaetios	2:85734ad35573	1915	* measurement registers, gyroscope measurement registers, and external sensor
Gaetios	2:85734ad35573	1916	* data registers, are composed of two sets of registers: an internal register
Gaetios	2:85734ad35573	1917	* set and a user-facing read register set.
Gaetios	2:85734ad35573	1918	*
Gaetios	2:85734ad35573	1919	* The data within the accelerometer sensors' internal register set is always
Gaetios	2:85734ad35573	1920	* updated at the Sample Rate. Meanwhile, the user-facing read register set
Gaetios	2:85734ad35573	1921	* duplicates the internal register set's data values whenever the serial
Gaetios	2:85734ad35573	1922	* interface is idle. This guarantees that a burst read of sensor registers will
Gaetios	2:85734ad35573	1923	* read measurements from the same sampling instant. Note that if burst reads
Gaetios	2:85734ad35573	1924	* are not used, the user is responsible for ensuring a set of single byte reads
Gaetios	2:85734ad35573	1925	* correspond to a single sampling instant by checking the Data Ready interrupt.
Gaetios	2:85734ad35573	1926	*
Gaetios	2:85734ad35573	1927	* Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
Gaetios	2:85734ad35573	1928	* (Register 28). For each full scale setting, the accelerometers' sensitivity
Gaetios	2:85734ad35573	1929	* per LSB in ACCEL_xOUT is shown in the table below:
Gaetios	2:85734ad35573	1930	*
Gaetios	2:85734ad35573	1931	* <pre>
Gaetios	2:85734ad35573	1932	* AFS_SEL \| Full Scale Range \| LSB Sensitivity
Gaetios	2:85734ad35573	1933	* --------+------------------+----------------
Gaetios	2:85734ad35573	1934	* 0 \| +/- 2g \| 8192 LSB/mg
Gaetios	2:85734ad35573	1935	* 1 \| +/- 4g \| 4096 LSB/mg
Gaetios	2:85734ad35573	1936	* 2 \| +/- 8g \| 2048 LSB/mg
Gaetios	2:85734ad35573	1937	* 3 \| +/- 16g \| 1024 LSB/mg
Gaetios	2:85734ad35573	1938	* </pre>
Gaetios	2:85734ad35573	1939	*
Gaetios	2:85734ad35573	1940	* @param x 16-bit signed integer container for X-axis acceleration
Gaetios	2:85734ad35573	1941	* @param y 16-bit signed integer container for Y-axis acceleration
Gaetios	2:85734ad35573	1942	* @param z 16-bit signed integer container for Z-axis acceleration
Gaetios	2:85734ad35573	1943	* @see MPU6050_RA_GYRO_XOUT_H
Gaetios	2:85734ad35573	1944	*/
Gaetios	2:85734ad35573	1945	void MPU60503::getAcceleration(int16_t* x, int16_t* y, int16_t* z)
Gaetios	2:85734ad35573	1946	{
Gaetios	2:85734ad35573	1947	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
Gaetios	2:85734ad35573	1948	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
Gaetios	2:85734ad35573	1949	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
Gaetios	2:85734ad35573	1950	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
Gaetios	2:85734ad35573	1951	}
Gaetios	2:85734ad35573	1952	/** Get X-axis accelerometer reading.
Gaetios	2:85734ad35573	1953	* @return X-axis acceleration measurement in 16-bit 2's complement format
Gaetios	2:85734ad35573	1954	* @see getMotion6()
Gaetios	2:85734ad35573	1955	* @see MPU6050_RA_ACCEL_XOUT_H
Gaetios	2:85734ad35573	1956	*/
Gaetios	2:85734ad35573	1957	int16_t MPU60503::getAccelerationX()
Gaetios	2:85734ad35573	1958	{
Gaetios	2:85734ad35573	1959	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
Gaetios	2:85734ad35573	1960	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gaetios	2:85734ad35573	1961	}
Gaetios	2:85734ad35573	1962	/** Get Y-axis accelerometer reading.
Gaetios	2:85734ad35573	1963	* @return Y-axis acceleration measurement in 16-bit 2's complement format
Gaetios	2:85734ad35573	1964	* @see getMotion6()
Gaetios	2:85734ad35573	1965	* @see MPU6050_RA_ACCEL_YOUT_H
Gaetios	2:85734ad35573	1966	*/
Gaetios	2:85734ad35573	1967	int16_t MPU60503::getAccelerationY()
Gaetios	2:85734ad35573	1968	{
Gaetios	2:85734ad35573	1969	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
Gaetios	2:85734ad35573	1970	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gaetios	2:85734ad35573	1971	}
Gaetios	2:85734ad35573	1972	/** Get Z-axis accelerometer reading.
Gaetios	2:85734ad35573	1973	* @return Z-axis acceleration measurement in 16-bit 2's complement format
Gaetios	2:85734ad35573	1974	* @see getMotion6()
Gaetios	2:85734ad35573	1975	* @see MPU6050_RA_ACCEL_ZOUT_H
Gaetios	2:85734ad35573	1976	*/
Gaetios	2:85734ad35573	1977	int16_t MPU60503::getAccelerationZ()
Gaetios	2:85734ad35573	1978	{
Gaetios	2:85734ad35573	1979	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
Gaetios	2:85734ad35573	1980	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gaetios	2:85734ad35573	1981	}
Gaetios	2:85734ad35573	1982
Gaetios	2:85734ad35573	1983	// TEMP_OUT_* registers
Gaetios	2:85734ad35573	1984
Gaetios	2:85734ad35573	1985	/** Get current internal temperature.
Gaetios	2:85734ad35573	1986	* @return Temperature reading in 16-bit 2's complement format
Gaetios	2:85734ad35573	1987	* @see MPU6050_RA_TEMP_OUT_H
Gaetios	2:85734ad35573	1988	*/
Gaetios	2:85734ad35573	1989	int16_t MPU60503::getTemperature()
Gaetios	2:85734ad35573	1990	{
Gaetios	2:85734ad35573	1991	i2Cdev.readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
Gaetios	2:85734ad35573	1992	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gaetios	2:85734ad35573	1993	}
Gaetios	2:85734ad35573	1994
Gaetios	2:85734ad35573	1995	// GYRO_OUT_ registers
Gaetios	2:85734ad35573	1996
Gaetios	2:85734ad35573	1997	/** Get 3-axis gyroscope readings.
Gaetios	2:85734ad35573	1998	* These gyroscope measurement registers, along with the accelerometer
Gaetios	2:85734ad35573	1999	* measurement registers, temperature measurement registers, and external sensor
Gaetios	2:85734ad35573	2000	* data registers, are composed of two sets of registers: an internal register
Gaetios	2:85734ad35573	2001	* set and a user-facing read register set.
Gaetios	2:85734ad35573	2002	* The data within the gyroscope sensors' internal register set is always
Gaetios	2:85734ad35573	2003	* updated at the Sample Rate. Meanwhile, the user-facing read register set
Gaetios	2:85734ad35573	2004	* duplicates the internal register set's data values whenever the serial
Gaetios	2:85734ad35573	2005	* interface is idle. This guarantees that a burst read of sensor registers will
Gaetios	2:85734ad35573	2006	* read measurements from the same sampling instant. Note that if burst reads
Gaetios	2:85734ad35573	2007	* are not used, the user is responsible for ensuring a set of single byte reads
Gaetios	2:85734ad35573	2008	* correspond to a single sampling instant by checking the Data Ready interrupt.
Gaetios	2:85734ad35573	2009	*
Gaetios	2:85734ad35573	2010	* Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
Gaetios	2:85734ad35573	2011	* (Register 27). For each full scale setting, the gyroscopes' sensitivity per
Gaetios	2:85734ad35573	2012	* LSB in GYRO_xOUT is shown in the table below:
Gaetios	2:85734ad35573	2013	*
Gaetios	2:85734ad35573	2014	* <pre>
Gaetios	2:85734ad35573	2015	* FS_SEL \| Full Scale Range \| LSB Sensitivity
Gaetios	2:85734ad35573	2016	* -------+--------------------+----------------
Gaetios	2:85734ad35573	2017	* 0 \| +/- 250 degrees/s \| 131 LSB/deg/s
Gaetios	2:85734ad35573	2018	* 1 \| +/- 500 degrees/s \| 65.5 LSB/deg/s
Gaetios	2:85734ad35573	2019	* 2 \| +/- 1000 degrees/s \| 32.8 LSB/deg/s
Gaetios	2:85734ad35573	2020	* 3 \| +/- 2000 degrees/s \| 16.4 LSB/deg/s
Gaetios	2:85734ad35573	2021	* </pre>
Gaetios	2:85734ad35573	2022	*
Gaetios	2:85734ad35573	2023	* @param x 16-bit signed integer container for X-axis rotation
Gaetios	2:85734ad35573	2024	* @param y 16-bit signed integer container for Y-axis rotation
Gaetios	2:85734ad35573	2025	* @param z 16-bit signed integer container for Z-axis rotation
Gaetios	2:85734ad35573	2026	* @see getMotion6()
Gaetios	2:85734ad35573	2027	* @see MPU6050_RA_GYRO_XOUT_H
Gaetios	2:85734ad35573	2028	*/
Gaetios	2:85734ad35573	2029	void MPU60503::getRotation(int16_t* x, int16_t* y, int16_t* z)
Gaetios	2:85734ad35573	2030	{
Gaetios	2:85734ad35573	2031	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
Gaetios	2:85734ad35573	2032	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
Gaetios	2:85734ad35573	2033	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
Gaetios	2:85734ad35573	2034	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
Gaetios	2:85734ad35573	2035	}
Gaetios	2:85734ad35573	2036	/** Get X-axis gyroscope reading.
Gaetios	2:85734ad35573	2037	* @return X-axis rotation measurement in 16-bit 2's complement format
Gaetios	2:85734ad35573	2038	* @see getMotion6()
Gaetios	2:85734ad35573	2039	* @see MPU6050_RA_GYRO_XOUT_H
Gaetios	2:85734ad35573	2040	*/
Gaetios	2:85734ad35573	2041	int16_t MPU60503::getRotationX()
Gaetios	2:85734ad35573	2042	{
Gaetios	2:85734ad35573	2043	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
Gaetios	2:85734ad35573	2044	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gaetios	2:85734ad35573	2045	}
Gaetios	2:85734ad35573	2046	/** Get Y-axis gyroscope reading.
Gaetios	2:85734ad35573	2047	* @return Y-axis rotation measurement in 16-bit 2's complement format
Gaetios	2:85734ad35573	2048	* @see getMotion6()
Gaetios	2:85734ad35573	2049	* @see MPU6050_RA_GYRO_YOUT_H
Gaetios	2:85734ad35573	2050	*/
Gaetios	2:85734ad35573	2051	int16_t MPU60503::getRotationY()
Gaetios	2:85734ad35573	2052	{
Gaetios	2:85734ad35573	2053	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
Gaetios	2:85734ad35573	2054	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gaetios	2:85734ad35573	2055	}
Gaetios	2:85734ad35573	2056	/** Get Z-axis gyroscope reading.
Gaetios	2:85734ad35573	2057	* @return Z-axis rotation measurement in 16-bit 2's complement format
Gaetios	2:85734ad35573	2058	* @see getMotion6()
Gaetios	2:85734ad35573	2059	* @see MPU6050_RA_GYRO_ZOUT_H
Gaetios	2:85734ad35573	2060	*/
Gaetios	2:85734ad35573	2061	int16_t MPU60503::getRotationZ()
Gaetios	2:85734ad35573	2062	{
Gaetios	2:85734ad35573	2063	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
Gaetios	2:85734ad35573	2064	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gaetios	2:85734ad35573	2065	}
Gaetios	2:85734ad35573	2066
Gaetios	2:85734ad35573	2067	// EXT_SENS_DATA_* registers
Gaetios	2:85734ad35573	2068
Gaetios	2:85734ad35573	2069	/** Read single byte from external sensor data register.
Gaetios	2:85734ad35573	2070	* These registers store data read from external sensors by the Slave 0, 1, 2,
Gaetios	2:85734ad35573	2071	* and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
Gaetios	2:85734ad35573	2072	* I2C_SLV4_DI (Register 53).
Gaetios	2:85734ad35573	2073	*
Gaetios	2:85734ad35573	2074	* External sensor data is written to these registers at the Sample Rate as
Gaetios	2:85734ad35573	2075	* defined in Register 25. This access rate can be reduced by using the Slave
Gaetios	2:85734ad35573	2076	* Delay Enable registers (Register 103).
Gaetios	2:85734ad35573	2077	*
Gaetios	2:85734ad35573	2078	* External sensor data registers, along with the gyroscope measurement
Gaetios	2:85734ad35573	2079	* registers, accelerometer measurement registers, and temperature measurement
Gaetios	2:85734ad35573	2080	* registers, are composed of two sets of registers: an internal register set
Gaetios	2:85734ad35573	2081	* and a user-facing read register set.
Gaetios	2:85734ad35573	2082	*
Gaetios	2:85734ad35573	2083	* The data within the external sensors' internal register set is always updated
Gaetios	2:85734ad35573	2084	* at the Sample Rate (or the reduced access rate) whenever the serial interface
Gaetios	2:85734ad35573	2085	* is idle. This guarantees that a burst read of sensor registers will read
Gaetios	2:85734ad35573	2086	* measurements from the same sampling instant. Note that if burst reads are not
Gaetios	2:85734ad35573	2087	* used, the user is responsible for ensuring a set of single byte reads
Gaetios	2:85734ad35573	2088	* correspond to a single sampling instant by checking the Data Ready interrupt.
Gaetios	2:85734ad35573	2089	*
Gaetios	2:85734ad35573	2090	* Data is placed in these external sensor data registers according to
Gaetios	2:85734ad35573	2091	* I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
Gaetios	2:85734ad35573	2092	* 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
Gaetios	2:85734ad35573	2093	* an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
Gaetios	2:85734ad35573	2094	* defined in Register 25) or delayed rate (if specified in Register 52 and
Gaetios	2:85734ad35573	2095	* 103). During each Sample cycle, slave reads are performed in order of Slave
Gaetios	2:85734ad35573	2096	* number. If all slaves are enabled with more than zero bytes to be read, the
Gaetios	2:85734ad35573	2097	* order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
Gaetios	2:85734ad35573	2098	*
Gaetios	2:85734ad35573	2099	* Each enabled slave will have EXT_SENS_DATA registers associated with it by
Gaetios	2:85734ad35573	2100	* number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
Gaetios	2:85734ad35573	2101	* EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
Gaetios	2:85734ad35573	2102	* change the higher numbered slaves' associated registers. Furthermore, if
Gaetios	2:85734ad35573	2103	* fewer total bytes are being read from the external sensors as a result of
Gaetios	2:85734ad35573	2104	* such a change, then the data remaining in the registers which no longer have
Gaetios	2:85734ad35573	2105	* an associated slave device (i.e. high numbered registers) will remain in
Gaetios	2:85734ad35573	2106	* these previously allocated registers unless reset.
Gaetios	2:85734ad35573	2107	*
Gaetios	2:85734ad35573	2108	* If the sum of the read lengths of all SLVx transactions exceed the number of
Gaetios	2:85734ad35573	2109	* available EXT_SENS_DATA registers, the excess bytes will be dropped. There
Gaetios	2:85734ad35573	2110	* are 24 EXT_SENS_DATA registers and hence the total read lengths between all
Gaetios	2:85734ad35573	2111	* the slaves cannot be greater than 24 or some bytes will be lost.
Gaetios	2:85734ad35573	2112	*
Gaetios	2:85734ad35573	2113	* Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
Gaetios	2:85734ad35573	2114	* information regarding the characteristics of Slave 4, please refer to
Gaetios	2:85734ad35573	2115	* Registers 49 to 53.
Gaetios	2:85734ad35573	2116	*
Gaetios	2:85734ad35573	2117	* EXAMPLE:
Gaetios	2:85734ad35573	2118	* Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
Gaetios	2:85734ad35573	2119	* I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
Gaetios	2:85734ad35573	2120	* I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
Gaetios	2:85734ad35573	2121	* through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
Gaetios	2:85734ad35573	2122	* will be associated with Slave 1. If Slave 2 is enabled as well, registers
Gaetios	2:85734ad35573	2123	* starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
Gaetios	2:85734ad35573	2124	*
Gaetios	2:85734ad35573	2125	* If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
Gaetios	2:85734ad35573	2126	* registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
Gaetios	2:85734ad35573	2127	* instead.
Gaetios	2:85734ad35573	2128	*
Gaetios	2:85734ad35573	2129	* REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
Gaetios	2:85734ad35573	2130	* If a slave is disabled at any time, the space initially allocated to the
Gaetios	2:85734ad35573	2131	* slave in the EXT_SENS_DATA register, will remain associated with that slave.
Gaetios	2:85734ad35573	2132	* This is to avoid dynamic adjustment of the register allocation.
Gaetios	2:85734ad35573	2133	*
Gaetios	2:85734ad35573	2134	* The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
Gaetios	2:85734ad35573	2135	* slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
Gaetios	2:85734ad35573	2136	*
Gaetios	2:85734ad35573	2137	* This above is also true if one of the slaves gets NACKed and stops
Gaetios	2:85734ad35573	2138	* functioning.
Gaetios	2:85734ad35573	2139	*
Gaetios	2:85734ad35573	2140	* @param position Starting position (0-23)
Gaetios	2:85734ad35573	2141	* @return Byte read from register
Gaetios	2:85734ad35573	2142	*/
Gaetios	2:85734ad35573	2143	uint8_t MPU60503::getExternalSensorByte(int position)
Gaetios	2:85734ad35573	2144	{
Gaetios	2:85734ad35573	2145	i2Cdev.readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
Gaetios	2:85734ad35573	2146	return buffer[0];
Gaetios	2:85734ad35573	2147	}
Gaetios	2:85734ad35573	2148	/** Read word (2 bytes) from external sensor data registers.
Gaetios	2:85734ad35573	2149	* @param position Starting position (0-21)
Gaetios	2:85734ad35573	2150	* @return Word read from register
Gaetios	2:85734ad35573	2151	* @see getExternalSensorByte()
Gaetios	2:85734ad35573	2152	*/
Gaetios	2:85734ad35573	2153	uint16_t MPU60503::getExternalSensorWord(int position)
Gaetios	2:85734ad35573	2154	{
Gaetios	2:85734ad35573	2155	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
Gaetios	2:85734ad35573	2156	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
Gaetios	2:85734ad35573	2157	}
Gaetios	2:85734ad35573	2158	/** Read double word (4 bytes) from external sensor data registers.
Gaetios	2:85734ad35573	2159	* @param position Starting position (0-20)
Gaetios	2:85734ad35573	2160	* @return Double word read from registers
Gaetios	2:85734ad35573	2161	* @see getExternalSensorByte()
Gaetios	2:85734ad35573	2162	*/
Gaetios	2:85734ad35573	2163	uint32_t MPU60503::getExternalSensorDWord(int position)
Gaetios	2:85734ad35573	2164	{
Gaetios	2:85734ad35573	2165	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
Gaetios	2:85734ad35573	2166	return (((uint32_t)buffer[0]) << 24) \| (((uint32_t)buffer[1]) << 16) \| (((uint16_t)buffer[2]) << 8) \| buffer[3];
Gaetios	2:85734ad35573	2167	}
Gaetios	2:85734ad35573	2168
Gaetios	2:85734ad35573	2169	// MOT_DETECT_STATUS register
Gaetios	2:85734ad35573	2170
Gaetios	2:85734ad35573	2171	/** Get X-axis negative motion detection interrupt status.
Gaetios	2:85734ad35573	2172	* @return Motion detection status
Gaetios	2:85734ad35573	2173	* @see MPU6050_RA_MOT_DETECT_STATUS
Gaetios	2:85734ad35573	2174	* @see MPU6050_MOTION_MOT_XNEG_BIT
Gaetios	2:85734ad35573	2175	*/
Gaetios	2:85734ad35573	2176	bool MPU60503::getXNegMotionDetected()
Gaetios	2:85734ad35573	2177	{
Gaetios	2:85734ad35573	2178	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
Gaetios	2:85734ad35573	2179	return buffer[0];
Gaetios	2:85734ad35573	2180	}
Gaetios	2:85734ad35573	2181	/** Get X-axis positive motion detection interrupt status.
Gaetios	2:85734ad35573	2182	* @return Motion detection status
Gaetios	2:85734ad35573	2183	* @see MPU6050_RA_MOT_DETECT_STATUS
Gaetios	2:85734ad35573	2184	* @see MPU6050_MOTION_MOT_XPOS_BIT
Gaetios	2:85734ad35573	2185	*/
Gaetios	2:85734ad35573	2186	bool MPU60503::getXPosMotionDetected()
Gaetios	2:85734ad35573	2187	{
Gaetios	2:85734ad35573	2188	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
Gaetios	2:85734ad35573	2189	return buffer[0];
Gaetios	2:85734ad35573	2190	}
Gaetios	2:85734ad35573	2191	/** Get Y-axis negative motion detection interrupt status.
Gaetios	2:85734ad35573	2192	* @return Motion detection status
Gaetios	2:85734ad35573	2193	* @see MPU6050_RA_MOT_DETECT_STATUS
Gaetios	2:85734ad35573	2194	* @see MPU6050_MOTION_MOT_YNEG_BIT
Gaetios	2:85734ad35573	2195	*/
Gaetios	2:85734ad35573	2196	bool MPU60503::getYNegMotionDetected()
Gaetios	2:85734ad35573	2197	{
Gaetios	2:85734ad35573	2198	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
Gaetios	2:85734ad35573	2199	return buffer[0];
Gaetios	2:85734ad35573	2200	}
Gaetios	2:85734ad35573	2201	/** Get Y-axis positive motion detection interrupt status.
Gaetios	2:85734ad35573	2202	* @return Motion detection status
Gaetios	2:85734ad35573	2203	* @see MPU6050_RA_MOT_DETECT_STATUS
Gaetios	2:85734ad35573	2204	* @see MPU6050_MOTION_MOT_YPOS_BIT
Gaetios	2:85734ad35573	2205	*/
Gaetios	2:85734ad35573	2206	bool MPU60503::getYPosMotionDetected()
Gaetios	2:85734ad35573	2207	{
Gaetios	2:85734ad35573	2208	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
Gaetios	2:85734ad35573	2209	return buffer[0];
Gaetios	2:85734ad35573	2210	}
Gaetios	2:85734ad35573	2211	/** Get Z-axis negative motion detection interrupt status.
Gaetios	2:85734ad35573	2212	* @return Motion detection status
Gaetios	2:85734ad35573	2213	* @see MPU6050_RA_MOT_DETECT_STATUS
Gaetios	2:85734ad35573	2214	* @see MPU6050_MOTION_MOT_ZNEG_BIT
Gaetios	2:85734ad35573	2215	*/
Gaetios	2:85734ad35573	2216	bool MPU60503::getZNegMotionDetected()
Gaetios	2:85734ad35573	2217	{
Gaetios	2:85734ad35573	2218	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
Gaetios	2:85734ad35573	2219	return buffer[0];
Gaetios	2:85734ad35573	2220	}
Gaetios	2:85734ad35573	2221	/** Get Z-axis positive motion detection interrupt status.
Gaetios	2:85734ad35573	2222	* @return Motion detection status
Gaetios	2:85734ad35573	2223	* @see MPU6050_RA_MOT_DETECT_STATUS
Gaetios	2:85734ad35573	2224	* @see MPU6050_MOTION_MOT_ZPOS_BIT
Gaetios	2:85734ad35573	2225	*/
Gaetios	2:85734ad35573	2226	bool MPU60503::getZPosMotionDetected()
Gaetios	2:85734ad35573	2227	{
Gaetios	2:85734ad35573	2228	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
Gaetios	2:85734ad35573	2229	return buffer[0];
Gaetios	2:85734ad35573	2230	}
Gaetios	2:85734ad35573	2231	/** Get zero motion detection interrupt status.
Gaetios	2:85734ad35573	2232	* @return Motion detection status
Gaetios	2:85734ad35573	2233	* @see MPU6050_RA_MOT_DETECT_STATUS
Gaetios	2:85734ad35573	2234	* @see MPU6050_MOTION_MOT_ZRMOT_BIT
Gaetios	2:85734ad35573	2235	*/
Gaetios	2:85734ad35573	2236	bool MPU60503::getZeroMotionDetected()
Gaetios	2:85734ad35573	2237	{
Gaetios	2:85734ad35573	2238	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
Gaetios	2:85734ad35573	2239	return buffer[0];
Gaetios	2:85734ad35573	2240	}
Gaetios	2:85734ad35573	2241
Gaetios	2:85734ad35573	2242	// I2C_SLV*_DO register
Gaetios	2:85734ad35573	2243
Gaetios	2:85734ad35573	2244	/** Write byte to Data Output container for specified slave.
Gaetios	2:85734ad35573	2245	* This register holds the output data written into Slave when Slave is set to
Gaetios	2:85734ad35573	2246	* write mode. For further information regarding Slave control, please
Gaetios	2:85734ad35573	2247	* refer to Registers 37 to 39 and immediately following.
Gaetios	2:85734ad35573	2248	* @param num Slave number (0-3)
Gaetios	2:85734ad35573	2249	* @param data Byte to write
Gaetios	2:85734ad35573	2250	* @see MPU6050_RA_I2C_SLV0_DO
Gaetios	2:85734ad35573	2251	*/
Gaetios	2:85734ad35573	2252	void MPU60503::setSlaveOutputByte(uint8_t num, uint8_t data)
Gaetios	2:85734ad35573	2253	{
Gaetios	2:85734ad35573	2254	if (num > 3) return;
Gaetios	2:85734ad35573	2255	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
Gaetios	2:85734ad35573	2256	}
Gaetios	2:85734ad35573	2257
Gaetios	2:85734ad35573	2258	// I2C_MST_DELAY_CTRL register
Gaetios	2:85734ad35573	2259
Gaetios	2:85734ad35573	2260	/** Get external data shadow delay enabled status.
Gaetios	2:85734ad35573	2261	* This register is used to specify the timing of external sensor data
Gaetios	2:85734ad35573	2262	* shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
Gaetios	2:85734ad35573	2263	* sensor data is delayed until all data has been received.
Gaetios	2:85734ad35573	2264	* @return Current external data shadow delay enabled status.
Gaetios	2:85734ad35573	2265	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
Gaetios	2:85734ad35573	2266	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
Gaetios	2:85734ad35573	2267	*/
Gaetios	2:85734ad35573	2268	bool MPU60503::getExternalShadowDelayEnabled()
Gaetios	2:85734ad35573	2269	{
Gaetios	2:85734ad35573	2270	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
Gaetios	2:85734ad35573	2271	return buffer[0];
Gaetios	2:85734ad35573	2272	}
Gaetios	2:85734ad35573	2273	/** Set external data shadow delay enabled status.
Gaetios	2:85734ad35573	2274	* @param enabled New external data shadow delay enabled status.
Gaetios	2:85734ad35573	2275	* @see getExternalShadowDelayEnabled()
Gaetios	2:85734ad35573	2276	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
Gaetios	2:85734ad35573	2277	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
Gaetios	2:85734ad35573	2278	*/
Gaetios	2:85734ad35573	2279	void MPU60503::setExternalShadowDelayEnabled(bool enabled)
Gaetios	2:85734ad35573	2280	{
Gaetios	2:85734ad35573	2281	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
Gaetios	2:85734ad35573	2282	}
Gaetios	2:85734ad35573	2283	/** Get slave delay enabled status.
Gaetios	2:85734ad35573	2284	* When a particular slave delay is enabled, the rate of access for the that
Gaetios	2:85734ad35573	2285	* slave device is reduced. When a slave's access rate is decreased relative to
Gaetios	2:85734ad35573	2286	* the Sample Rate, the slave is accessed every:
Gaetios	2:85734ad35573	2287	*
Gaetios	2:85734ad35573	2288	* 1 / (1 + I2C_MST_DLY) Samples
Gaetios	2:85734ad35573	2289	*
Gaetios	2:85734ad35573	2290	* This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25)
Gaetios	2:85734ad35573	2291	* and DLPF_CFG (register 26).
Gaetios	2:85734ad35573	2292	*
Gaetios	2:85734ad35573	2293	* For further information regarding I2C_MST_DLY, please refer to register 52.
Gaetios	2:85734ad35573	2294	* For further information regarding the Sample Rate, please refer to register 25.
Gaetios	2:85734ad35573	2295	*
Gaetios	2:85734ad35573	2296	* @param num Slave number (0-4)
Gaetios	2:85734ad35573	2297	* @return Current slave delay enabled status.
Gaetios	2:85734ad35573	2298	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
Gaetios	2:85734ad35573	2299	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
Gaetios	2:85734ad35573	2300	*/
Gaetios	2:85734ad35573	2301	bool MPU60503::getSlaveDelayEnabled(uint8_t num)
Gaetios	2:85734ad35573	2302	{
Gaetios	2:85734ad35573	2303	// MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
Gaetios	2:85734ad35573	2304	if (num > 4) return 0;
Gaetios	2:85734ad35573	2305	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
Gaetios	2:85734ad35573	2306	return buffer[0];
Gaetios	2:85734ad35573	2307	}
Gaetios	2:85734ad35573	2308	/** Set slave delay enabled status.
Gaetios	2:85734ad35573	2309	* @param num Slave number (0-4)
Gaetios	2:85734ad35573	2310	* @param enabled New slave delay enabled status.
Gaetios	2:85734ad35573	2311	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
Gaetios	2:85734ad35573	2312	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
Gaetios	2:85734ad35573	2313	*/
Gaetios	2:85734ad35573	2314	void MPU60503::setSlaveDelayEnabled(uint8_t num, bool enabled)
Gaetios	2:85734ad35573	2315	{
Gaetios	2:85734ad35573	2316	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
Gaetios	2:85734ad35573	2317	}
Gaetios	2:85734ad35573	2318
Gaetios	2:85734ad35573	2319	// SIGNAL_PATH_RESET register
Gaetios	2:85734ad35573	2320
Gaetios	2:85734ad35573	2321	/** Reset gyroscope signal path.
Gaetios	2:85734ad35573	2322	* The reset will revert the signal path analog to digital converters and
Gaetios	2:85734ad35573	2323	* filters to their power up configurations.
Gaetios	2:85734ad35573	2324	* @see MPU6050_RA_SIGNAL_PATH_RESET
Gaetios	2:85734ad35573	2325	* @see MPU6050_PATHRESET_GYRO_RESET_BIT
Gaetios	2:85734ad35573	2326	*/
Gaetios	2:85734ad35573	2327	void MPU60503::resetGyroscopePath()
Gaetios	2:85734ad35573	2328	{
Gaetios	2:85734ad35573	2329	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
Gaetios	2:85734ad35573	2330	}
Gaetios	2:85734ad35573	2331	/** Reset accelerometer signal path.
Gaetios	2:85734ad35573	2332	* The reset will revert the signal path analog to digital converters and
Gaetios	2:85734ad35573	2333	* filters to their power up configurations.
Gaetios	2:85734ad35573	2334	* @see MPU6050_RA_SIGNAL_PATH_RESET
Gaetios	2:85734ad35573	2335	* @see MPU6050_PATHRESET_ACCEL_RESET_BIT
Gaetios	2:85734ad35573	2336	*/
Gaetios	2:85734ad35573	2337	void MPU60503::resetAccelerometerPath()
Gaetios	2:85734ad35573	2338	{
Gaetios	2:85734ad35573	2339	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
Gaetios	2:85734ad35573	2340	}
Gaetios	2:85734ad35573	2341	/** Reset temperature sensor signal path.
Gaetios	2:85734ad35573	2342	* The reset will revert the signal path analog to digital converters and
Gaetios	2:85734ad35573	2343	* filters to their power up configurations.
Gaetios	2:85734ad35573	2344	* @see MPU6050_RA_SIGNAL_PATH_RESET
Gaetios	2:85734ad35573	2345	* @see MPU6050_PATHRESET_TEMP_RESET_BIT
Gaetios	2:85734ad35573	2346	*/
Gaetios	2:85734ad35573	2347	void MPU60503::resetTemperaturePath()
Gaetios	2:85734ad35573	2348	{
Gaetios	2:85734ad35573	2349	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
Gaetios	2:85734ad35573	2350	}
Gaetios	2:85734ad35573	2351
Gaetios	2:85734ad35573	2352	// MOT_DETECT_CTRL register
Gaetios	2:85734ad35573	2353
Gaetios	2:85734ad35573	2354	/** Get accelerometer power-on delay.
Gaetios	2:85734ad35573	2355	* The accelerometer data path provides samples to the sensor registers, Motion
Gaetios	2:85734ad35573	2356	* detection, Zero Motion detection, and Free Fall detection modules. The
Gaetios	2:85734ad35573	2357	* signal path contains filters which must be flushed on wake-up with new
Gaetios	2:85734ad35573	2358	* samples before the detection modules begin operations. The default wake-up
Gaetios	2:85734ad35573	2359	* delay, of 4ms can be lengthened by up to 3ms. This additional delay is
Gaetios	2:85734ad35573	2360	* specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
Gaetios	2:85734ad35573	2361	* any value above zero unless instructed otherwise by InvenSense. Please refer
Gaetios	2:85734ad35573	2362	* to Section 8 of the MPU-6000/MPU-6050 Product Specification document for
Gaetios	2:85734ad35573	2363	* further information regarding the detection modules.
Gaetios	2:85734ad35573	2364	* @return Current accelerometer power-on delay
Gaetios	2:85734ad35573	2365	* @see MPU6050_RA_MOT_DETECT_CTRL
Gaetios	2:85734ad35573	2366	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
Gaetios	2:85734ad35573	2367	*/
Gaetios	2:85734ad35573	2368	uint8_t MPU60503::getAccelerometerPowerOnDelay()
Gaetios	2:85734ad35573	2369	{
Gaetios	2:85734ad35573	2370	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
Gaetios	2:85734ad35573	2371	return buffer[0];
Gaetios	2:85734ad35573	2372	}
Gaetios	2:85734ad35573	2373	/** Set accelerometer power-on delay.
Gaetios	2:85734ad35573	2374	* @param delay New accelerometer power-on delay (0-3)
Gaetios	2:85734ad35573	2375	* @see getAccelerometerPowerOnDelay()
Gaetios	2:85734ad35573	2376	* @see MPU6050_RA_MOT_DETECT_CTRL
Gaetios	2:85734ad35573	2377	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
Gaetios	2:85734ad35573	2378	*/
Gaetios	2:85734ad35573	2379	void MPU60503::setAccelerometerPowerOnDelay(uint8_t delay)
Gaetios	2:85734ad35573	2380	{
Gaetios	2:85734ad35573	2381	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
Gaetios	2:85734ad35573	2382	}
Gaetios	2:85734ad35573	2383	/** Get Free Fall detection counter decrement configuration.
Gaetios	2:85734ad35573	2384	* Detection is registered by the Free Fall detection module after accelerometer
Gaetios	2:85734ad35573	2385	* measurements meet their respective threshold conditions over a specified
Gaetios	2:85734ad35573	2386	* number of samples. When the threshold conditions are met, the corresponding
Gaetios	2:85734ad35573	2387	* detection counter increments by 1. The user may control the rate at which the
Gaetios	2:85734ad35573	2388	* detection counter decrements when the threshold condition is not met by
Gaetios	2:85734ad35573	2389	* configuring FF_COUNT. The decrement rate can be set according to the
Gaetios	2:85734ad35573	2390	* following table:
Gaetios	2:85734ad35573	2391	*
Gaetios	2:85734ad35573	2392	* <pre>
Gaetios	2:85734ad35573	2393	* FF_COUNT \| Counter Decrement
Gaetios	2:85734ad35573	2394	* ---------+------------------
Gaetios	2:85734ad35573	2395	* 0 \| Reset
Gaetios	2:85734ad35573	2396	* 1 \| 1
Gaetios	2:85734ad35573	2397	* 2 \| 2
Gaetios	2:85734ad35573	2398	* 3 \| 4
Gaetios	2:85734ad35573	2399	* </pre>
Gaetios	2:85734ad35573	2400	*
Gaetios	2:85734ad35573	2401	* When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
Gaetios	2:85734ad35573	2402	* reset the counter to 0. For further information on Free Fall detection,
Gaetios	2:85734ad35573	2403	* please refer to Registers 29 to 32.
Gaetios	2:85734ad35573	2404	*
Gaetios	2:85734ad35573	2405	* @return Current decrement configuration
Gaetios	2:85734ad35573	2406	* @see MPU6050_RA_MOT_DETECT_CTRL
Gaetios	2:85734ad35573	2407	* @see MPU6050_DETECT_FF_COUNT_BIT
Gaetios	2:85734ad35573	2408	*/
Gaetios	2:85734ad35573	2409	uint8_t MPU60503::getFreefallDetectionCounterDecrement()
Gaetios	2:85734ad35573	2410	{
Gaetios	2:85734ad35573	2411	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
Gaetios	2:85734ad35573	2412	return buffer[0];
Gaetios	2:85734ad35573	2413	}
Gaetios	2:85734ad35573	2414	/** Set Free Fall detection counter decrement configuration.
Gaetios	2:85734ad35573	2415	* @param decrement New decrement configuration value
Gaetios	2:85734ad35573	2416	* @see getFreefallDetectionCounterDecrement()
Gaetios	2:85734ad35573	2417	* @see MPU6050_RA_MOT_DETECT_CTRL
Gaetios	2:85734ad35573	2418	* @see MPU6050_DETECT_FF_COUNT_BIT
Gaetios	2:85734ad35573	2419	*/
Gaetios	2:85734ad35573	2420	void MPU60503::setFreefallDetectionCounterDecrement(uint8_t decrement)
Gaetios	2:85734ad35573	2421	{
Gaetios	2:85734ad35573	2422	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
Gaetios	2:85734ad35573	2423	}
Gaetios	2:85734ad35573	2424	/** Get Motion detection counter decrement configuration.
Gaetios	2:85734ad35573	2425	* Detection is registered by the Motion detection module after accelerometer
Gaetios	2:85734ad35573	2426	* measurements meet their respective threshold conditions over a specified
Gaetios	2:85734ad35573	2427	* number of samples. When the threshold conditions are met, the corresponding
Gaetios	2:85734ad35573	2428	* detection counter increments by 1. The user may control the rate at which the
Gaetios	2:85734ad35573	2429	* detection counter decrements when the threshold condition is not met by
Gaetios	2:85734ad35573	2430	* configuring MOT_COUNT. The decrement rate can be set according to the
Gaetios	2:85734ad35573	2431	* following table:
Gaetios	2:85734ad35573	2432	*
Gaetios	2:85734ad35573	2433	* <pre>
Gaetios	2:85734ad35573	2434	* MOT_COUNT \| Counter Decrement
Gaetios	2:85734ad35573	2435	* ----------+------------------
Gaetios	2:85734ad35573	2436	* 0 \| Reset
Gaetios	2:85734ad35573	2437	* 1 \| 1
Gaetios	2:85734ad35573	2438	* 2 \| 2
Gaetios	2:85734ad35573	2439	* 3 \| 4
Gaetios	2:85734ad35573	2440	* </pre>
Gaetios	2:85734ad35573	2441	*
Gaetios	2:85734ad35573	2442	* When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
Gaetios	2:85734ad35573	2443	* reset the counter to 0. For further information on Motion detection,
Gaetios	2:85734ad35573	2444	* please refer to Registers 29 to 32.
Gaetios	2:85734ad35573	2445	*
Gaetios	2:85734ad35573	2446	*/
Gaetios	2:85734ad35573	2447	uint8_t MPU60503::getMotionDetectionCounterDecrement()
Gaetios	2:85734ad35573	2448	{
Gaetios	2:85734ad35573	2449	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
Gaetios	2:85734ad35573	2450	return buffer[0];
Gaetios	2:85734ad35573	2451	}
Gaetios	2:85734ad35573	2452	/** Set Motion detection counter decrement configuration.
Gaetios	2:85734ad35573	2453	* @param decrement New decrement configuration value
Gaetios	2:85734ad35573	2454	* @see getMotionDetectionCounterDecrement()
Gaetios	2:85734ad35573	2455	* @see MPU6050_RA_MOT_DETECT_CTRL
Gaetios	2:85734ad35573	2456	* @see MPU6050_DETECT_MOT_COUNT_BIT
Gaetios	2:85734ad35573	2457	*/
Gaetios	2:85734ad35573	2458	void MPU60503::setMotionDetectionCounterDecrement(uint8_t decrement)
Gaetios	2:85734ad35573	2459	{
Gaetios	2:85734ad35573	2460	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
Gaetios	2:85734ad35573	2461	}
Gaetios	2:85734ad35573	2462
Gaetios	2:85734ad35573	2463	// USER_CTRL register
Gaetios	2:85734ad35573	2464
Gaetios	2:85734ad35573	2465	/** Get FIFO enabled status.
Gaetios	2:85734ad35573	2466	* When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
Gaetios	2:85734ad35573	2467	* cannot be written to or read from while disabled. The FIFO buffer's state
Gaetios	2:85734ad35573	2468	* does not change unless the MPU-60X0 is power cycled.
Gaetios	2:85734ad35573	2469	* @return Current FIFO enabled status
Gaetios	2:85734ad35573	2470	* @see MPU6050_RA_USER_CTRL
Gaetios	2:85734ad35573	2471	* @see MPU6050_USERCTRL_FIFO_EN_BIT
Gaetios	2:85734ad35573	2472	*/
Gaetios	2:85734ad35573	2473	bool MPU60503::getFIFOEnabled()
Gaetios	2:85734ad35573	2474	{
Gaetios	2:85734ad35573	2475	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
Gaetios	2:85734ad35573	2476	return buffer[0];
Gaetios	2:85734ad35573	2477	}
Gaetios	2:85734ad35573	2478	/** Set FIFO enabled status.
Gaetios	2:85734ad35573	2479	* @param enabled New FIFO enabled status
Gaetios	2:85734ad35573	2480	* @see getFIFOEnabled()
Gaetios	2:85734ad35573	2481	* @see MPU6050_RA_USER_CTRL
Gaetios	2:85734ad35573	2482	* @see MPU6050_USERCTRL_FIFO_EN_BIT
Gaetios	2:85734ad35573	2483	*/
Gaetios	2:85734ad35573	2484	void MPU60503::setFIFOEnabled(bool enabled)
Gaetios	2:85734ad35573	2485	{
Gaetios	2:85734ad35573	2486	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
Gaetios	2:85734ad35573	2487	}
Gaetios	2:85734ad35573	2488	/** Get I2C Master Mode enabled status.
Gaetios	2:85734ad35573	2489	* When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
Gaetios	2:85734ad35573	2490	* external sensor slave devices on the auxiliary I2C bus. When this bit is
Gaetios	2:85734ad35573	2491	* cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
Gaetios	2:85734ad35573	2492	* driven by the primary I2C bus (SDA and SCL). This is a precondition to
Gaetios	2:85734ad35573	2493	* enabling Bypass Mode. For further information regarding Bypass Mode, please
Gaetios	2:85734ad35573	2494	* refer to Register 55.
Gaetios	2:85734ad35573	2495	* @return Current I2C Master Mode enabled status
Gaetios	2:85734ad35573	2496	* @see MPU6050_RA_USER_CTRL
Gaetios	2:85734ad35573	2497	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
Gaetios	2:85734ad35573	2498	*/
Gaetios	2:85734ad35573	2499	bool MPU60503::getI2CMasterModeEnabled()
Gaetios	2:85734ad35573	2500	{
Gaetios	2:85734ad35573	2501	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
Gaetios	2:85734ad35573	2502	return buffer[0];
Gaetios	2:85734ad35573	2503	}
Gaetios	2:85734ad35573	2504	/** Set I2C Master Mode enabled status.
Gaetios	2:85734ad35573	2505	* @param enabled New I2C Master Mode enabled status
Gaetios	2:85734ad35573	2506	* @see getI2CMasterModeEnabled()
Gaetios	2:85734ad35573	2507	* @see MPU6050_RA_USER_CTRL
Gaetios	2:85734ad35573	2508	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
Gaetios	2:85734ad35573	2509	*/
Gaetios	2:85734ad35573	2510	void MPU60503::setI2CMasterModeEnabled(bool enabled)
Gaetios	2:85734ad35573	2511	{
Gaetios	2:85734ad35573	2512	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
Gaetios	2:85734ad35573	2513	}
Gaetios	2:85734ad35573	2514	/** Switch from I2C to SPI mode (MPU-6000 only)
Gaetios	2:85734ad35573	2515	* If this is set, the primary SPI interface will be enabled in place of the
Gaetios	2:85734ad35573	2516	* disabled primary I2C interface.
Gaetios	2:85734ad35573	2517	*/
Gaetios	2:85734ad35573	2518	void MPU60503::switchSPIEnabled(bool enabled)
Gaetios	2:85734ad35573	2519	{
Gaetios	2:85734ad35573	2520	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
Gaetios	2:85734ad35573	2521	}
Gaetios	2:85734ad35573	2522	/** Reset the FIFO.
Gaetios	2:85734ad35573	2523	* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
Gaetios	2:85734ad35573	2524	* bit automatically clears to 0 after the reset has been triggered.
Gaetios	2:85734ad35573	2525	* @see MPU6050_RA_USER_CTRL
Gaetios	2:85734ad35573	2526	* @see MPU6050_USERCTRL_FIFO_RESET_BIT
Gaetios	2:85734ad35573	2527	*/
Gaetios	2:85734ad35573	2528	void MPU60503::resetFIFO()
Gaetios	2:85734ad35573	2529	{
Gaetios	2:85734ad35573	2530	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
Gaetios	2:85734ad35573	2531	}
Gaetios	2:85734ad35573	2532	/** Reset the I2C Master.
Gaetios	2:85734ad35573	2533	* This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
Gaetios	2:85734ad35573	2534	* This bit automatically clears to 0 after the reset has been triggered.
Gaetios	2:85734ad35573	2535	* @see MPU6050_RA_USER_CTRL
Gaetios	2:85734ad35573	2536	* @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
Gaetios	2:85734ad35573	2537	*/
Gaetios	2:85734ad35573	2538	void MPU60503::resetI2CMaster()
Gaetios	2:85734ad35573	2539	{
Gaetios	2:85734ad35573	2540	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
Gaetios	2:85734ad35573	2541	}
Gaetios	2:85734ad35573	2542	/** Reset all sensor registers and signal paths.
Gaetios	2:85734ad35573	2543	* When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
Gaetios	2:85734ad35573	2544	* accelerometers, and temperature sensor). This operation will also clear the
Gaetios	2:85734ad35573	2545	* sensor registers. This bit automatically clears to 0 after the reset has been
Gaetios	2:85734ad35573	2546	* triggered.
Gaetios	2:85734ad35573	2547	*
Gaetios	2:85734ad35573	2548	* When resetting only the signal path (and not the sensor registers), please
Gaetios	2:85734ad35573	2549	* use Register 104, SIGNAL_PATH_RESET.
Gaetios	2:85734ad35573	2550	*
Gaetios	2:85734ad35573	2551	* @see MPU6050_RA_USER_CTRL
Gaetios	2:85734ad35573	2552	* @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
Gaetios	2:85734ad35573	2553	*/
Gaetios	2:85734ad35573	2554	void MPU60503::resetSensors()
Gaetios	2:85734ad35573	2555	{
Gaetios	2:85734ad35573	2556	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
Gaetios	2:85734ad35573	2557	}
Gaetios	2:85734ad35573	2558
Gaetios	2:85734ad35573	2559	// PWR_MGMT_1 register
Gaetios	2:85734ad35573	2560
Gaetios	2:85734ad35573	2561	/** Trigger a full device reset.
Gaetios	2:85734ad35573	2562	* A small delay of ~50ms may be desirable after triggering a reset.
Gaetios	2:85734ad35573	2563	* @see MPU6050_RA_PWR_MGMT_1
Gaetios	2:85734ad35573	2564	* @see MPU6050_PWR1_DEVICE_RESET_BIT
Gaetios	2:85734ad35573	2565	*/
Gaetios	2:85734ad35573	2566	void MPU60503::reset()
Gaetios	2:85734ad35573	2567	{
Gaetios	2:85734ad35573	2568	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
Gaetios	2:85734ad35573	2569	}
Gaetios	2:85734ad35573	2570	/** Get sleep mode status.
Gaetios	2:85734ad35573	2571	* Setting the SLEEP bit in the register puts the device into very low power
Gaetios	2:85734ad35573	2572	* sleep mode. In this mode, only the serial interface and internal registers
Gaetios	2:85734ad35573	2573	* remain active, allowing for a very low standby current. Clearing this bit
Gaetios	2:85734ad35573	2574	* puts the device back into normal mode. To save power, the individual standby
Gaetios	2:85734ad35573	2575	* selections for each of the gyros should be used if any gyro axis is not used
Gaetios	2:85734ad35573	2576	* by the application.
Gaetios	2:85734ad35573	2577	* @return Current sleep mode enabled status
Gaetios	2:85734ad35573	2578	* @see MPU6050_RA_PWR_MGMT_1
Gaetios	2:85734ad35573	2579	* @see MPU6050_PWR1_SLEEP_BIT
Gaetios	2:85734ad35573	2580	*/
Gaetios	2:85734ad35573	2581	bool MPU60503::getSleepEnabled()
Gaetios	2:85734ad35573	2582	{
Gaetios	2:85734ad35573	2583	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
Gaetios	2:85734ad35573	2584	return buffer[0];
Gaetios	2:85734ad35573	2585	}
Gaetios	2:85734ad35573	2586	/** Set sleep mode status.
Gaetios	2:85734ad35573	2587	* @param enabled New sleep mode enabled status
Gaetios	2:85734ad35573	2588	* @see getSleepEnabled()
Gaetios	2:85734ad35573	2589	* @see MPU6050_RA_PWR_MGMT_1
Gaetios	2:85734ad35573	2590	* @see MPU6050_PWR1_SLEEP_BIT
Gaetios	2:85734ad35573	2591	*/
Gaetios	2:85734ad35573	2592	void MPU60503::setSleepEnabled(bool enabled)
Gaetios	2:85734ad35573	2593	{
Gaetios	2:85734ad35573	2594	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
Gaetios	2:85734ad35573	2595	}
Gaetios	2:85734ad35573	2596	/** Get wake cycle enabled status.
Gaetios	2:85734ad35573	2597	* When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
Gaetios	2:85734ad35573	2598	* between sleep mode and waking up to take a single sample of data from active
Gaetios	2:85734ad35573	2599	* sensors at a rate determined by LP_WAKE_CTRL (register 108).
Gaetios	2:85734ad35573	2600	* @return Current sleep mode enabled status
Gaetios	2:85734ad35573	2601	* @see MPU6050_RA_PWR_MGMT_1
Gaetios	2:85734ad35573	2602	* @see MPU6050_PWR1_CYCLE_BIT
Gaetios	2:85734ad35573	2603	*/
Gaetios	2:85734ad35573	2604	bool MPU60503::getWakeCycleEnabled()
Gaetios	2:85734ad35573	2605	{
Gaetios	2:85734ad35573	2606	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
Gaetios	2:85734ad35573	2607	return buffer[0];
Gaetios	2:85734ad35573	2608	}
Gaetios	2:85734ad35573	2609	/** Set wake cycle enabled status.
Gaetios	2:85734ad35573	2610	* @param enabled New sleep mode enabled status
Gaetios	2:85734ad35573	2611	* @see getWakeCycleEnabled()
Gaetios	2:85734ad35573	2612	* @see MPU6050_RA_PWR_MGMT_1
Gaetios	2:85734ad35573	2613	* @see MPU6050_PWR1_CYCLE_BIT
Gaetios	2:85734ad35573	2614	*/
Gaetios	2:85734ad35573	2615	void MPU60503::setWakeCycleEnabled(bool enabled)
Gaetios	2:85734ad35573	2616	{
Gaetios	2:85734ad35573	2617	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
Gaetios	2:85734ad35573	2618	}
Gaetios	2:85734ad35573	2619	/** Get temperature sensor enabled status.
Gaetios	2:85734ad35573	2620	* Control the usage of the internal temperature sensor.
Gaetios	2:85734ad35573	2621	*
Gaetios	2:85734ad35573	2622	* Note: this register stores the disabled value, but for consistency with the
Gaetios	2:85734ad35573	2623	* rest of the code, the function is named and used with standard true/false
Gaetios	2:85734ad35573	2624	* values to indicate whether the sensor is enabled or disabled, respectively.
Gaetios	2:85734ad35573	2625	*
Gaetios	2:85734ad35573	2626	* @return Current temperature sensor enabled status
Gaetios	2:85734ad35573	2627	* @see MPU6050_RA_PWR_MGMT_1
Gaetios	2:85734ad35573	2628	* @see MPU6050_PWR1_TEMP_DIS_BIT
Gaetios	2:85734ad35573	2629	*/
Gaetios	2:85734ad35573	2630	bool MPU60503::getTempSensorEnabled()
Gaetios	2:85734ad35573	2631	{
Gaetios	2:85734ad35573	2632	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
Gaetios	2:85734ad35573	2633	return buffer[0] == 0; // 1 is actually disabled here
Gaetios	2:85734ad35573	2634	}
Gaetios	2:85734ad35573	2635	/** Set temperature sensor enabled status.
Gaetios	2:85734ad35573	2636	* Note: this register stores the disabled value, but for consistency with the
Gaetios	2:85734ad35573	2637	* rest of the code, the function is named and used with standard true/false
Gaetios	2:85734ad35573	2638	* values to indicate whether the sensor is enabled or disabled, respectively.
Gaetios	2:85734ad35573	2639	*
Gaetios	2:85734ad35573	2640	* @param enabled New temperature sensor enabled status
Gaetios	2:85734ad35573	2641	* @see getTempSensorEnabled()
Gaetios	2:85734ad35573	2642	* @see MPU6050_RA_PWR_MGMT_1
Gaetios	2:85734ad35573	2643	* @see MPU6050_PWR1_TEMP_DIS_BIT
Gaetios	2:85734ad35573	2644	*/
Gaetios	2:85734ad35573	2645	void MPU60503::setTempSensorEnabled(bool enabled)
Gaetios	2:85734ad35573	2646	{
Gaetios	2:85734ad35573	2647	// 1 is actually disabled here
Gaetios	2:85734ad35573	2648	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
Gaetios	2:85734ad35573	2649	}
Gaetios	2:85734ad35573	2650	/** Get clock source setting.
Gaetios	2:85734ad35573	2651	* @return Current clock source setting
Gaetios	2:85734ad35573	2652	* @see MPU6050_RA_PWR_MGMT_1
Gaetios	2:85734ad35573	2653	* @see MPU6050_PWR1_CLKSEL_BIT
Gaetios	2:85734ad35573	2654	* @see MPU6050_PWR1_CLKSEL_LENGTH
Gaetios	2:85734ad35573	2655	*/
Gaetios	2:85734ad35573	2656	uint8_t MPU60503::getClockSource()
Gaetios	2:85734ad35573	2657	{
Gaetios	2:85734ad35573	2658	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
Gaetios	2:85734ad35573	2659	return buffer[0];
Gaetios	2:85734ad35573	2660	}
Gaetios	2:85734ad35573	2661	/** Set clock source setting.
Gaetios	2:85734ad35573	2662	* An internal 8MHz oscillator, gyroscope based clock, or external sources can
Gaetios	2:85734ad35573	2663	* be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
Gaetios	2:85734ad35573	2664	* or an external source is chosen as the clock source, the MPU-60X0 can operate
Gaetios	2:85734ad35573	2665	* in low power modes with the gyroscopes disabled.
Gaetios	2:85734ad35573	2666	*
Gaetios	2:85734ad35573	2667	* Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
Gaetios	2:85734ad35573	2668	* However, it is highly recommended that the device be configured to use one of
Gaetios	2:85734ad35573	2669	* the gyroscopes (or an external clock source) as the clock reference for
Gaetios	2:85734ad35573	2670	* improved stability. The clock source can be selected according to the following table:
Gaetios	2:85734ad35573	2671	*
Gaetios	2:85734ad35573	2672	* <pre>
Gaetios	2:85734ad35573	2673	* CLK_SEL \| Clock Source
Gaetios	2:85734ad35573	2674	* --------+--------------------------------------
Gaetios	2:85734ad35573	2675	* 0 \| Internal oscillator
Gaetios	2:85734ad35573	2676	* 1 \| PLL with X Gyro reference
Gaetios	2:85734ad35573	2677	* 2 \| PLL with Y Gyro reference
Gaetios	2:85734ad35573	2678	* 3 \| PLL with Z Gyro reference
Gaetios	2:85734ad35573	2679	* 4 \| PLL with external 32.768kHz reference
Gaetios	2:85734ad35573	2680	* 5 \| PLL with external 19.2MHz reference
Gaetios	2:85734ad35573	2681	* 6 \| Reserved
Gaetios	2:85734ad35573	2682	* 7 \| Stops the clock and keeps the timing generator in reset
Gaetios	2:85734ad35573	2683	* </pre>
Gaetios	2:85734ad35573	2684	*
Gaetios	2:85734ad35573	2685	* @param source New clock source setting
Gaetios	2:85734ad35573	2686	* @see getClockSource()
Gaetios	2:85734ad35573	2687	* @see MPU6050_RA_PWR_MGMT_1
Gaetios	2:85734ad35573	2688	* @see MPU6050_PWR1_CLKSEL_BIT
Gaetios	2:85734ad35573	2689	* @see MPU6050_PWR1_CLKSEL_LENGTH
Gaetios	2:85734ad35573	2690	*/
Gaetios	2:85734ad35573	2691	void MPU60503::setClockSource(uint8_t source)
Gaetios	2:85734ad35573	2692	{
Gaetios	2:85734ad35573	2693	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
Gaetios	2:85734ad35573	2694	}
Gaetios	2:85734ad35573	2695
Gaetios	2:85734ad35573	2696	// PWR_MGMT_2 register
Gaetios	2:85734ad35573	2697
Gaetios	2:85734ad35573	2698	/** Get wake frequency in Accel-Only Low Power Mode.
Gaetios	2:85734ad35573	2699	* The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
Gaetios	2:85734ad35573	2700	* PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
Gaetios	2:85734ad35573	2701	* the device will power off all devices except for the primary I2C interface,
Gaetios	2:85734ad35573	2702	* waking only the accelerometer at fixed intervals to take a single
Gaetios	2:85734ad35573	2703	* measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
Gaetios	2:85734ad35573	2704	* as shown below:
Gaetios	2:85734ad35573	2705	*
Gaetios	2:85734ad35573	2706	* <pre>
Gaetios	2:85734ad35573	2707	* LP_WAKE_CTRL \| Wake-up Frequency
Gaetios	2:85734ad35573	2708	* -------------+------------------
Gaetios	2:85734ad35573	2709	* 0 \| 1.25 Hz
Gaetios	2:85734ad35573	2710	* 1 \| 2.5 Hz
Gaetios	2:85734ad35573	2711	* 2 \| 5 Hz
Gaetios	2:85734ad35573	2712	* 3 \| 10 Hz
Gaetios	2:85734ad35573	2713	* <pre>
Gaetios	2:85734ad35573	2714	*
Gaetios	2:85734ad35573	2715	* For further information regarding the MPU-60X0's power modes, please refer to
Gaetios	2:85734ad35573	2716	* Register 107.
Gaetios	2:85734ad35573	2717	*
Gaetios	2:85734ad35573	2718	* @return Current wake frequency
Gaetios	2:85734ad35573	2719	* @see MPU6050_RA_PWR_MGMT_2
Gaetios	2:85734ad35573	2720	*/
Gaetios	2:85734ad35573	2721	uint8_t MPU60503::getWakeFrequency()
Gaetios	2:85734ad35573	2722	{
Gaetios	2:85734ad35573	2723	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
Gaetios	2:85734ad35573	2724	return buffer[0];
Gaetios	2:85734ad35573	2725	}
Gaetios	2:85734ad35573	2726	/** Set wake frequency in Accel-Only Low Power Mode.
Gaetios	2:85734ad35573	2727	* @param frequency New wake frequency
Gaetios	2:85734ad35573	2728	* @see MPU6050_RA_PWR_MGMT_2
Gaetios	2:85734ad35573	2729	*/
Gaetios	2:85734ad35573	2730	void MPU60503::setWakeFrequency(uint8_t frequency)
Gaetios	2:85734ad35573	2731	{
Gaetios	2:85734ad35573	2732	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
Gaetios	2:85734ad35573	2733	}
Gaetios	2:85734ad35573	2734
Gaetios	2:85734ad35573	2735	/** Get X-axis accelerometer standby enabled status.
Gaetios	2:85734ad35573	2736	* If enabled, the X-axis will not gather or report data (or use power).
Gaetios	2:85734ad35573	2737	* @return Current X-axis standby enabled status
Gaetios	2:85734ad35573	2738	* @see MPU6050_RA_PWR_MGMT_2
Gaetios	2:85734ad35573	2739	* @see MPU6050_PWR2_STBY_XA_BIT
Gaetios	2:85734ad35573	2740	*/
Gaetios	2:85734ad35573	2741	bool MPU60503::getStandbyXAccelEnabled()
Gaetios	2:85734ad35573	2742	{
Gaetios	2:85734ad35573	2743	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
Gaetios	2:85734ad35573	2744	return buffer[0];
Gaetios	2:85734ad35573	2745	}
Gaetios	2:85734ad35573	2746	/** Set X-axis accelerometer standby enabled status.
Gaetios	2:85734ad35573	2747	* @param New X-axis standby enabled status
Gaetios	2:85734ad35573	2748	* @see getStandbyXAccelEnabled()
Gaetios	2:85734ad35573	2749	* @see MPU6050_RA_PWR_MGMT_2
Gaetios	2:85734ad35573	2750	* @see MPU6050_PWR2_STBY_XA_BIT
Gaetios	2:85734ad35573	2751	*/
Gaetios	2:85734ad35573	2752	void MPU60503::setStandbyXAccelEnabled(bool enabled)
Gaetios	2:85734ad35573	2753	{
Gaetios	2:85734ad35573	2754	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
Gaetios	2:85734ad35573	2755	}
Gaetios	2:85734ad35573	2756	/** Get Y-axis accelerometer standby enabled status.
Gaetios	2:85734ad35573	2757	* If enabled, the Y-axis will not gather or report data (or use power).
Gaetios	2:85734ad35573	2758	* @return Current Y-axis standby enabled status
Gaetios	2:85734ad35573	2759	* @see MPU6050_RA_PWR_MGMT_2
Gaetios	2:85734ad35573	2760	* @see MPU6050_PWR2_STBY_YA_BIT
Gaetios	2:85734ad35573	2761	*/
Gaetios	2:85734ad35573	2762	bool MPU60503::getStandbyYAccelEnabled()
Gaetios	2:85734ad35573	2763	{
Gaetios	2:85734ad35573	2764	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
Gaetios	2:85734ad35573	2765	return buffer[0];
Gaetios	2:85734ad35573	2766	}
Gaetios	2:85734ad35573	2767	/** Set Y-axis accelerometer standby enabled status.
Gaetios	2:85734ad35573	2768	* @param New Y-axis standby enabled status
Gaetios	2:85734ad35573	2769	* @see getStandbyYAccelEnabled()
Gaetios	2:85734ad35573	2770	* @see MPU6050_RA_PWR_MGMT_2
Gaetios	2:85734ad35573	2771	* @see MPU6050_PWR2_STBY_YA_BIT
Gaetios	2:85734ad35573	2772	*/
Gaetios	2:85734ad35573	2773	void MPU60503::setStandbyYAccelEnabled(bool enabled)
Gaetios	2:85734ad35573	2774	{
Gaetios	2:85734ad35573	2775	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
Gaetios	2:85734ad35573	2776	}
Gaetios	2:85734ad35573	2777	/** Get Z-axis accelerometer standby enabled status.
Gaetios	2:85734ad35573	2778	* If enabled, the Z-axis will not gather or report data (or use power).
Gaetios	2:85734ad35573	2779	* @return Current Z-axis standby enabled status
Gaetios	2:85734ad35573	2780	* @see MPU6050_RA_PWR_MGMT_2
Gaetios	2:85734ad35573	2781	* @see MPU6050_PWR2_STBY_ZA_BIT
Gaetios	2:85734ad35573	2782	*/
Gaetios	2:85734ad35573	2783	bool MPU60503::getStandbyZAccelEnabled()
Gaetios	2:85734ad35573	2784	{
Gaetios	2:85734ad35573	2785	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
Gaetios	2:85734ad35573	2786	return buffer[0];
Gaetios	2:85734ad35573	2787	}
Gaetios	2:85734ad35573	2788	/** Set Z-axis accelerometer standby enabled status.
Gaetios	2:85734ad35573	2789	* @param New Z-axis standby enabled status
Gaetios	2:85734ad35573	2790	* @see getStandbyZAccelEnabled()
Gaetios	2:85734ad35573	2791	* @see MPU6050_RA_PWR_MGMT_2
Gaetios	2:85734ad35573	2792	* @see MPU6050_PWR2_STBY_ZA_BIT
Gaetios	2:85734ad35573	2793	*/
Gaetios	2:85734ad35573	2794	void MPU60503::setStandbyZAccelEnabled(bool enabled)
Gaetios	2:85734ad35573	2795	{
Gaetios	2:85734ad35573	2796	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
Gaetios	2:85734ad35573	2797	}
Gaetios	2:85734ad35573	2798	/** Get X-axis gyroscope standby enabled status.
Gaetios	2:85734ad35573	2799	* If enabled, the X-axis will not gather or report data (or use power).
Gaetios	2:85734ad35573	2800	* @return Current X-axis standby enabled status
Gaetios	2:85734ad35573	2801	* @see MPU6050_RA_PWR_MGMT_2
Gaetios	2:85734ad35573	2802	* @see MPU6050_PWR2_STBY_XG_BIT
Gaetios	2:85734ad35573	2803	*/
Gaetios	2:85734ad35573	2804	bool MPU60503::getStandbyXGyroEnabled()
Gaetios	2:85734ad35573	2805	{
Gaetios	2:85734ad35573	2806	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
Gaetios	2:85734ad35573	2807	return buffer[0];
Gaetios	2:85734ad35573	2808	}
Gaetios	2:85734ad35573	2809	/** Set X-axis gyroscope standby enabled status.
Gaetios	2:85734ad35573	2810	* @param New X-axis standby enabled status
Gaetios	2:85734ad35573	2811	* @see getStandbyXGyroEnabled()
Gaetios	2:85734ad35573	2812	* @see MPU6050_RA_PWR_MGMT_2
Gaetios	2:85734ad35573	2813	* @see MPU6050_PWR2_STBY_XG_BIT
Gaetios	2:85734ad35573	2814	*/
Gaetios	2:85734ad35573	2815	void MPU60503::setStandbyXGyroEnabled(bool enabled)
Gaetios	2:85734ad35573	2816	{
Gaetios	2:85734ad35573	2817	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
Gaetios	2:85734ad35573	2818	}
Gaetios	2:85734ad35573	2819	/** Get Y-axis gyroscope standby enabled status.
Gaetios	2:85734ad35573	2820	* If enabled, the Y-axis will not gather or report data (or use power).
Gaetios	2:85734ad35573	2821	* @return Current Y-axis standby enabled status
Gaetios	2:85734ad35573	2822	* @see MPU6050_RA_PWR_MGMT_2
Gaetios	2:85734ad35573	2823	* @see MPU6050_PWR2_STBY_YG_BIT
Gaetios	2:85734ad35573	2824	*/
Gaetios	2:85734ad35573	2825	bool MPU60503::getStandbyYGyroEnabled()
Gaetios	2:85734ad35573	2826	{
Gaetios	2:85734ad35573	2827	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
Gaetios	2:85734ad35573	2828	return buffer[0];
Gaetios	2:85734ad35573	2829	}
Gaetios	2:85734ad35573	2830	/** Set Y-axis gyroscope standby enabled status.
Gaetios	2:85734ad35573	2831	* @param New Y-axis standby enabled status
Gaetios	2:85734ad35573	2832	* @see getStandbyYGyroEnabled()
Gaetios	2:85734ad35573	2833	* @see MPU6050_RA_PWR_MGMT_2
Gaetios	2:85734ad35573	2834	* @see MPU6050_PWR2_STBY_YG_BIT
Gaetios	2:85734ad35573	2835	*/
Gaetios	2:85734ad35573	2836	void MPU60503::setStandbyYGyroEnabled(bool enabled)
Gaetios	2:85734ad35573	2837	{
Gaetios	2:85734ad35573	2838	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
Gaetios	2:85734ad35573	2839	}
Gaetios	2:85734ad35573	2840	/** Get Z-axis gyroscope standby enabled status.
Gaetios	2:85734ad35573	2841	* If enabled, the Z-axis will not gather or report data (or use power).
Gaetios	2:85734ad35573	2842	* @return Current Z-axis standby enabled status
Gaetios	2:85734ad35573	2843	* @see MPU6050_RA_PWR_MGMT_2
Gaetios	2:85734ad35573	2844	* @see MPU6050_PWR2_STBY_ZG_BIT
Gaetios	2:85734ad35573	2845	*/
Gaetios	2:85734ad35573	2846	bool MPU60503::getStandbyZGyroEnabled()
Gaetios	2:85734ad35573	2847	{
Gaetios	2:85734ad35573	2848	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
Gaetios	2:85734ad35573	2849	return buffer[0];
Gaetios	2:85734ad35573	2850	}
Gaetios	2:85734ad35573	2851	/** Set Z-axis gyroscope standby enabled status.
Gaetios	2:85734ad35573	2852	* @param New Z-axis standby enabled status
Gaetios	2:85734ad35573	2853	* @see getStandbyZGyroEnabled()
Gaetios	2:85734ad35573	2854	* @see MPU6050_RA_PWR_MGMT_2
Gaetios	2:85734ad35573	2855	* @see MPU6050_PWR2_STBY_ZG_BIT
Gaetios	2:85734ad35573	2856	*/
Gaetios	2:85734ad35573	2857	void MPU60503::setStandbyZGyroEnabled(bool enabled)
Gaetios	2:85734ad35573	2858	{
Gaetios	2:85734ad35573	2859	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
Gaetios	2:85734ad35573	2860	}
Gaetios	2:85734ad35573	2861
Gaetios	2:85734ad35573	2862	// FIFO_COUNT* registers
Gaetios	2:85734ad35573	2863
Gaetios	2:85734ad35573	2864	/** Get current FIFO buffer size.
Gaetios	2:85734ad35573	2865	* This value indicates the number of bytes stored in the FIFO buffer. This
Gaetios	2:85734ad35573	2866	* number is in turn the number of bytes that can be read from the FIFO buffer
Gaetios	2:85734ad35573	2867	* and it is directly proportional to the number of samples available given the
Gaetios	2:85734ad35573	2868	* set of sensor data bound to be stored in the FIFO (register 35 and 36).
Gaetios	2:85734ad35573	2869	* @return Current FIFO buffer size
Gaetios	2:85734ad35573	2870	*/
Gaetios	2:85734ad35573	2871	uint16_t MPU60503::getFIFOCount()
Gaetios	2:85734ad35573	2872	{
Gaetios	2:85734ad35573	2873	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
Gaetios	2:85734ad35573	2874	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
Gaetios	2:85734ad35573	2875	}
Gaetios	2:85734ad35573	2876
Gaetios	2:85734ad35573	2877	// FIFO_R_W register
Gaetios	2:85734ad35573	2878
Gaetios	2:85734ad35573	2879	/** Get byte from FIFO buffer.
Gaetios	2:85734ad35573	2880	* This register is used to read and write data from the FIFO buffer. Data is
Gaetios	2:85734ad35573	2881	* written to the FIFO in order of register number (from lowest to highest). If
Gaetios	2:85734ad35573	2882	* all the FIFO enable flags (see below) are enabled and all External Sensor
Gaetios	2:85734ad35573	2883	* Data registers (Registers 73 to 96) are associated with a Slave device, the
Gaetios	2:85734ad35573	2884	* contents of registers 59 through 96 will be written in order at the Sample
Gaetios	2:85734ad35573	2885	* Rate.
Gaetios	2:85734ad35573	2886	*
Gaetios	2:85734ad35573	2887	* The contents of the sensor data registers (Registers 59 to 96) are written
Gaetios	2:85734ad35573	2888	* into the FIFO buffer when their corresponding FIFO enable flags are set to 1
Gaetios	2:85734ad35573	2889	* in FIFO_EN (Register 35). An additional flag for the sensor data registers
Gaetios	2:85734ad35573	2890	* associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
Gaetios	2:85734ad35573	2891	*
Gaetios	2:85734ad35573	2892	* If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
Gaetios	2:85734ad35573	2893	* automatically set to 1. This bit is located in INT_STATUS (Register 58).
Gaetios	2:85734ad35573	2894	* When the FIFO buffer has overflowed, the oldest data will be lost and new
Gaetios	2:85734ad35573	2895	* data will be written to the FIFO.
Gaetios	2:85734ad35573	2896	*
Gaetios	2:85734ad35573	2897	* If the FIFO buffer is empty, reading this register will return the last byte
Gaetios	2:85734ad35573	2898	* that was previously read from the FIFO until new data is available. The user
Gaetios	2:85734ad35573	2899	* should check FIFO_COUNT to ensure that the FIFO buffer is not read when
Gaetios	2:85734ad35573	2900	* empty.
Gaetios	2:85734ad35573	2901	*
Gaetios	2:85734ad35573	2902	* @return Byte from FIFO buffer
Gaetios	2:85734ad35573	2903	*/
Gaetios	2:85734ad35573	2904	uint8_t MPU60503::getFIFOByte()
Gaetios	2:85734ad35573	2905	{
Gaetios	2:85734ad35573	2906	i2Cdev.readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
Gaetios	2:85734ad35573	2907	return buffer[0];
Gaetios	2:85734ad35573	2908	}
Gaetios	2:85734ad35573	2909	void MPU60503::getFIFOBytes(uint8_t *data, uint8_t length)
Gaetios	2:85734ad35573	2910	{
Gaetios	2:85734ad35573	2911	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
Gaetios	2:85734ad35573	2912	}
Gaetios	2:85734ad35573	2913	/** Write byte to FIFO buffer.
Gaetios	2:85734ad35573	2914	* @see getFIFOByte()
Gaetios	2:85734ad35573	2915	* @see MPU6050_RA_FIFO_R_W
Gaetios	2:85734ad35573	2916	*/
Gaetios	2:85734ad35573	2917	void MPU60503::setFIFOByte(uint8_t data)
Gaetios	2:85734ad35573	2918	{
Gaetios	2:85734ad35573	2919	i2Cdev.writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
Gaetios	2:85734ad35573	2920	}
Gaetios	2:85734ad35573	2921
Gaetios	2:85734ad35573	2922	// WHO_AM_I register
Gaetios	2:85734ad35573	2923
Gaetios	2:85734ad35573	2924	/** Get Device ID.
Gaetios	2:85734ad35573	2925	* This register is used to verify the identity of the device (0b110100, 0x34).
Gaetios	2:85734ad35573	2926	* @return Device ID (6 bits only! should be 0x34)
Gaetios	2:85734ad35573	2927	* @see MPU6050_RA_WHO_AM_I
Gaetios	2:85734ad35573	2928	* @see MPU6050_WHO_AM_I_BIT
Gaetios	2:85734ad35573	2929	* @see MPU6050_WHO_AM_I_LENGTH
Gaetios	2:85734ad35573	2930	*/
Gaetios	2:85734ad35573	2931	uint8_t MPU60503::getDeviceID()
Gaetios	2:85734ad35573	2932	{
Gaetios	2:85734ad35573	2933	i2Cdev.readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
Gaetios	2:85734ad35573	2934	return buffer[0];
Gaetios	2:85734ad35573	2935	}
Gaetios	2:85734ad35573	2936	/** Set Device ID.
Gaetios	2:85734ad35573	2937	* Write a new ID into the WHO_AM_I register (no idea why this should ever be
Gaetios	2:85734ad35573	2938	* necessary though).
Gaetios	2:85734ad35573	2939	* @param id New device ID to set.
Gaetios	2:85734ad35573	2940	* @see getDeviceID()
Gaetios	2:85734ad35573	2941	* @see MPU6050_RA_WHO_AM_I
Gaetios	2:85734ad35573	2942	* @see MPU6050_WHO_AM_I_BIT
Gaetios	2:85734ad35573	2943	* @see MPU6050_WHO_AM_I_LENGTH
Gaetios	2:85734ad35573	2944	*/
Gaetios	2:85734ad35573	2945	void MPU60503::setDeviceID(uint8_t id)
Gaetios	2:85734ad35573	2946	{
Gaetios	2:85734ad35573	2947	i2Cdev.writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
Gaetios	2:85734ad35573	2948	}
Gaetios	2:85734ad35573	2949
Gaetios	2:85734ad35573	2950	// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
Gaetios	2:85734ad35573	2951
Gaetios	2:85734ad35573	2952	// XG_OFFS_TC register
Gaetios	2:85734ad35573	2953
Gaetios	2:85734ad35573	2954	uint8_t MPU60503::getOTPBankValid()
Gaetios	2:85734ad35573	2955	{
Gaetios	2:85734ad35573	2956	i2Cdev.readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
Gaetios	2:85734ad35573	2957	return buffer[0];
Gaetios	2:85734ad35573	2958	}
Gaetios	2:85734ad35573	2959	void MPU60503::setOTPBankValid(bool enabled)
Gaetios	2:85734ad35573	2960	{
Gaetios	2:85734ad35573	2961	i2Cdev.writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
Gaetios	2:85734ad35573	2962	}
Gaetios	2:85734ad35573	2963	int8_t MPU60503::getXGyroOffset()
Gaetios	2:85734ad35573	2964	{
Gaetios	2:85734ad35573	2965	i2Cdev.readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
Gaetios	2:85734ad35573	2966	return buffer[0];
Gaetios	2:85734ad35573	2967	}
Gaetios	2:85734ad35573	2968	void MPU60503::setXGyroOffset(int8_t offset)
Gaetios	2:85734ad35573	2969	{
Gaetios	2:85734ad35573	2970	i2Cdev.writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
Gaetios	2:85734ad35573	2971	}
Gaetios	2:85734ad35573	2972
Gaetios	2:85734ad35573	2973	// YG_OFFS_TC register
Gaetios	2:85734ad35573	2974
Gaetios	2:85734ad35573	2975	int8_t MPU60503::getYGyroOffset()
Gaetios	2:85734ad35573	2976	{
Gaetios	2:85734ad35573	2977	i2Cdev.readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
Gaetios	2:85734ad35573	2978	return buffer[0];
Gaetios	2:85734ad35573	2979	}
Gaetios	2:85734ad35573	2980	void MPU60503::setYGyroOffset(int8_t offset)
Gaetios	2:85734ad35573	2981	{
Gaetios	2:85734ad35573	2982	i2Cdev.writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
Gaetios	2:85734ad35573	2983	}
Gaetios	2:85734ad35573	2984
Gaetios	2:85734ad35573	2985	// ZG_OFFS_TC register
Gaetios	2:85734ad35573	2986
Gaetios	2:85734ad35573	2987	int8_t MPU60503::getZGyroOffset()
Gaetios	2:85734ad35573	2988	{
Gaetios	2:85734ad35573	2989	i2Cdev.readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
Gaetios	2:85734ad35573	2990	return buffer[0];
Gaetios	2:85734ad35573	2991	}
Gaetios	2:85734ad35573	2992	void MPU60503::setZGyroOffset(int8_t offset)
Gaetios	2:85734ad35573	2993	{
Gaetios	2:85734ad35573	2994	i2Cdev.writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
Gaetios	2:85734ad35573	2995	}
Gaetios	2:85734ad35573	2996
Gaetios	2:85734ad35573	2997	// X_FINE_GAIN register
Gaetios	2:85734ad35573	2998
Gaetios	2:85734ad35573	2999	int8_t MPU60503::getXFineGain()
Gaetios	2:85734ad35573	3000	{
Gaetios	2:85734ad35573	3001	i2Cdev.readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
Gaetios	2:85734ad35573	3002	return buffer[0];
Gaetios	2:85734ad35573	3003	}
Gaetios	2:85734ad35573	3004	void MPU60503::setXFineGain(int8_t gain)
Gaetios	2:85734ad35573	3005	{
Gaetios	2:85734ad35573	3006	i2Cdev.writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
Gaetios	2:85734ad35573	3007	}
Gaetios	2:85734ad35573	3008
Gaetios	2:85734ad35573	3009	// Y_FINE_GAIN register
Gaetios	2:85734ad35573	3010
Gaetios	2:85734ad35573	3011	int8_t MPU60503::getYFineGain()
Gaetios	2:85734ad35573	3012	{
Gaetios	2:85734ad35573	3013	i2Cdev.readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
Gaetios	2:85734ad35573	3014	return buffer[0];
Gaetios	2:85734ad35573	3015	}
Gaetios	2:85734ad35573	3016	void MPU60503::setYFineGain(int8_t gain)
Gaetios	2:85734ad35573	3017	{
Gaetios	2:85734ad35573	3018	i2Cdev.writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
Gaetios	2:85734ad35573	3019	}
Gaetios	2:85734ad35573	3020
Gaetios	2:85734ad35573	3021	// Z_FINE_GAIN register
Gaetios	2:85734ad35573	3022
Gaetios	2:85734ad35573	3023	int8_t MPU60503::getZFineGain()
Gaetios	2:85734ad35573	3024	{
Gaetios	2:85734ad35573	3025	i2Cdev.readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
Gaetios	2:85734ad35573	3026	return buffer[0];
Gaetios	2:85734ad35573	3027	}
Gaetios	2:85734ad35573	3028	void MPU60503::setZFineGain(int8_t gain)
Gaetios	2:85734ad35573	3029	{
Gaetios	2:85734ad35573	3030	i2Cdev.writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
Gaetios	2:85734ad35573	3031	}
Gaetios	2:85734ad35573	3032
Gaetios	2:85734ad35573	3033	// XA_OFFS_* registers
Gaetios	2:85734ad35573	3034
Gaetios	2:85734ad35573	3035	int16_t MPU60503::getXAccelOffset()
Gaetios	2:85734ad35573	3036	{
Gaetios	2:85734ad35573	3037	i2Cdev.readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
Gaetios	2:85734ad35573	3038	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gaetios	2:85734ad35573	3039	}
Gaetios	2:85734ad35573	3040	void MPU60503::setXAccelOffset(int16_t offset)
Gaetios	2:85734ad35573	3041	{
Gaetios	2:85734ad35573	3042	i2Cdev.writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
Gaetios	2:85734ad35573	3043	}
Gaetios	2:85734ad35573	3044
Gaetios	2:85734ad35573	3045	// YA_OFFS_* register
Gaetios	2:85734ad35573	3046
Gaetios	2:85734ad35573	3047	int16_t MPU60503::getYAccelOffset()
Gaetios	2:85734ad35573	3048	{
Gaetios	2:85734ad35573	3049	i2Cdev.readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
Gaetios	2:85734ad35573	3050	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gaetios	2:85734ad35573	3051	}
Gaetios	2:85734ad35573	3052	void MPU60503::setYAccelOffset(int16_t offset)
Gaetios	2:85734ad35573	3053	{
Gaetios	2:85734ad35573	3054	i2Cdev.writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
Gaetios	2:85734ad35573	3055	}
Gaetios	2:85734ad35573	3056
Gaetios	2:85734ad35573	3057	// ZA_OFFS_* register
Gaetios	2:85734ad35573	3058
Gaetios	2:85734ad35573	3059	int16_t MPU60503::getZAccelOffset()
Gaetios	2:85734ad35573	3060	{
Gaetios	2:85734ad35573	3061	i2Cdev.readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
Gaetios	2:85734ad35573	3062	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gaetios	2:85734ad35573	3063	}
Gaetios	2:85734ad35573	3064	void MPU60503::setZAccelOffset(int16_t offset)
Gaetios	2:85734ad35573	3065	{
Gaetios	2:85734ad35573	3066	i2Cdev.writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
Gaetios	2:85734ad35573	3067	}
Gaetios	2:85734ad35573	3068
Gaetios	2:85734ad35573	3069	// XG_OFFS_USR* registers
Gaetios	2:85734ad35573	3070
Gaetios	2:85734ad35573	3071	int16_t MPU60503::getXGyroOffsetUser()
Gaetios	2:85734ad35573	3072	{
Gaetios	2:85734ad35573	3073	i2Cdev.readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
Gaetios	2:85734ad35573	3074	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gaetios	2:85734ad35573	3075	}
Gaetios	2:85734ad35573	3076	void MPU60503::setXGyroOffsetUser(int16_t offset)
Gaetios	2:85734ad35573	3077	{
Gaetios	2:85734ad35573	3078	i2Cdev.writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
Gaetios	2:85734ad35573	3079	}
Gaetios	2:85734ad35573	3080
Gaetios	2:85734ad35573	3081	// YG_OFFS_USR* register
Gaetios	2:85734ad35573	3082
Gaetios	2:85734ad35573	3083	int16_t MPU60503::getYGyroOffsetUser()
Gaetios	2:85734ad35573	3084	{
Gaetios	2:85734ad35573	3085	i2Cdev.readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
Gaetios	2:85734ad35573	3086	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gaetios	2:85734ad35573	3087	}
Gaetios	2:85734ad35573	3088	void MPU60503::setYGyroOffsetUser(int16_t offset)
Gaetios	2:85734ad35573	3089	{
Gaetios	2:85734ad35573	3090	i2Cdev.writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
Gaetios	2:85734ad35573	3091	}
Gaetios	2:85734ad35573	3092
Gaetios	2:85734ad35573	3093	// ZG_OFFS_USR* register
Gaetios	2:85734ad35573	3094
Gaetios	2:85734ad35573	3095	int16_t MPU60503::getZGyroOffsetUser()
Gaetios	2:85734ad35573	3096	{
Gaetios	2:85734ad35573	3097	i2Cdev.readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
Gaetios	2:85734ad35573	3098	return (((int16_t)buffer[0]) << 8) \| buffer[1];
Gaetios	2:85734ad35573	3099	}
Gaetios	2:85734ad35573	3100	void MPU60503::setZGyroOffsetUser(int16_t offset)
Gaetios	2:85734ad35573	3101	{
Gaetios	2:85734ad35573	3102	i2Cdev.writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
Gaetios	2:85734ad35573	3103	}
Gaetios	2:85734ad35573	3104
Gaetios	2:85734ad35573	3105	// INT_ENABLE register (DMP functions)
Gaetios	2:85734ad35573	3106
Gaetios	2:85734ad35573	3107	bool MPU60503::getIntPLLReadyEnabled()
Gaetios	2:85734ad35573	3108	{
Gaetios	2:85734ad35573	3109	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
Gaetios	2:85734ad35573	3110	return buffer[0];
Gaetios	2:85734ad35573	3111	}
Gaetios	2:85734ad35573	3112	void MPU60503::setIntPLLReadyEnabled(bool enabled)
Gaetios	2:85734ad35573	3113	{
Gaetios	2:85734ad35573	3114	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
Gaetios	2:85734ad35573	3115	}
Gaetios	2:85734ad35573	3116	bool MPU60503::getIntDMPEnabled()
Gaetios	2:85734ad35573	3117	{
Gaetios	2:85734ad35573	3118	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
Gaetios	2:85734ad35573	3119	return buffer[0];
Gaetios	2:85734ad35573	3120	}
Gaetios	2:85734ad35573	3121	void MPU60503::setIntDMPEnabled(bool enabled)
Gaetios	2:85734ad35573	3122	{
Gaetios	2:85734ad35573	3123	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
Gaetios	2:85734ad35573	3124	}
Gaetios	2:85734ad35573	3125
Gaetios	2:85734ad35573	3126	// DMP_INT_STATUS
Gaetios	2:85734ad35573	3127
Gaetios	2:85734ad35573	3128	bool MPU60503::getDMPInt5Status()
Gaetios	2:85734ad35573	3129	{
Gaetios	2:85734ad35573	3130	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
Gaetios	2:85734ad35573	3131	return buffer[0];
Gaetios	2:85734ad35573	3132	}
Gaetios	2:85734ad35573	3133	bool MPU60503::getDMPInt4Status()
Gaetios	2:85734ad35573	3134	{
Gaetios	2:85734ad35573	3135	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
Gaetios	2:85734ad35573	3136	return buffer[0];
Gaetios	2:85734ad35573	3137	}
Gaetios	2:85734ad35573	3138	bool MPU60503::getDMPInt3Status()
Gaetios	2:85734ad35573	3139	{
Gaetios	2:85734ad35573	3140	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
Gaetios	2:85734ad35573	3141	return buffer[0];
Gaetios	2:85734ad35573	3142	}
Gaetios	2:85734ad35573	3143	bool MPU60503::getDMPInt2Status()
Gaetios	2:85734ad35573	3144	{
Gaetios	2:85734ad35573	3145	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
Gaetios	2:85734ad35573	3146	return buffer[0];
Gaetios	2:85734ad35573	3147	}
Gaetios	2:85734ad35573	3148	bool MPU60503::getDMPInt1Status()
Gaetios	2:85734ad35573	3149	{
Gaetios	2:85734ad35573	3150	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
Gaetios	2:85734ad35573	3151	return buffer[0];
Gaetios	2:85734ad35573	3152	}
Gaetios	2:85734ad35573	3153	bool MPU60503::getDMPInt0Status()
Gaetios	2:85734ad35573	3154	{
Gaetios	2:85734ad35573	3155	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
Gaetios	2:85734ad35573	3156	return buffer[0];
Gaetios	2:85734ad35573	3157	}
Gaetios	2:85734ad35573	3158
Gaetios	2:85734ad35573	3159	// INT_STATUS register (DMP functions)
Gaetios	2:85734ad35573	3160
Gaetios	2:85734ad35573	3161	bool MPU60503::getIntPLLReadyStatus()
Gaetios	2:85734ad35573	3162	{
Gaetios	2:85734ad35573	3163	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
Gaetios	2:85734ad35573	3164	return buffer[0];
Gaetios	2:85734ad35573	3165	}
Gaetios	2:85734ad35573	3166	bool MPU60503::getIntDMPStatus()
Gaetios	2:85734ad35573	3167	{
Gaetios	2:85734ad35573	3168	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
Gaetios	2:85734ad35573	3169	return buffer[0];
Gaetios	2:85734ad35573	3170	}
Gaetios	2:85734ad35573	3171
Gaetios	2:85734ad35573	3172	// USER_CTRL register (DMP functions)
Gaetios	2:85734ad35573	3173
Gaetios	2:85734ad35573	3174	bool MPU60503::getDMPEnabled()
Gaetios	2:85734ad35573	3175	{
Gaetios	2:85734ad35573	3176	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
Gaetios	2:85734ad35573	3177	return buffer[0];
Gaetios	2:85734ad35573	3178	}
Gaetios	2:85734ad35573	3179	void MPU60503::setDMPEnabled(bool enabled)
Gaetios	2:85734ad35573	3180	{
Gaetios	2:85734ad35573	3181	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
Gaetios	2:85734ad35573	3182	}
Gaetios	2:85734ad35573	3183	void MPU60503::resetDMP()
Gaetios	2:85734ad35573	3184	{
Gaetios	2:85734ad35573	3185	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
Gaetios	2:85734ad35573	3186	}
Gaetios	2:85734ad35573	3187
Gaetios	2:85734ad35573	3188	// BANK_SEL register
Gaetios	2:85734ad35573	3189
Gaetios	2:85734ad35573	3190	void MPU60503::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank)
Gaetios	2:85734ad35573	3191	{
Gaetios	2:85734ad35573	3192	bank &= 0x1F;
Gaetios	2:85734ad35573	3193	if (userBank) bank \|= 0x20;
Gaetios	2:85734ad35573	3194	if (prefetchEnabled) bank \|= 0x40;
Gaetios	2:85734ad35573	3195	i2Cdev.writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
Gaetios	2:85734ad35573	3196	}
Gaetios	2:85734ad35573	3197
Gaetios	2:85734ad35573	3198	// MEM_START_ADDR register
Gaetios	2:85734ad35573	3199
Gaetios	2:85734ad35573	3200	void MPU60503::setMemoryStartAddress(uint8_t address)
Gaetios	2:85734ad35573	3201	{
Gaetios	2:85734ad35573	3202	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
Gaetios	2:85734ad35573	3203	}
Gaetios	2:85734ad35573	3204
Gaetios	2:85734ad35573	3205	// MEM_R_W register
Gaetios	2:85734ad35573	3206
Gaetios	2:85734ad35573	3207	uint8_t MPU60503::readMemoryByte()
Gaetios	2:85734ad35573	3208	{
Gaetios	2:85734ad35573	3209	i2Cdev.readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
Gaetios	2:85734ad35573	3210	return buffer[0];
Gaetios	2:85734ad35573	3211	}
Gaetios	2:85734ad35573	3212	void MPU60503::writeMemoryByte(uint8_t data)
Gaetios	2:85734ad35573	3213	{
Gaetios	2:85734ad35573	3214	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
Gaetios	2:85734ad35573	3215	}
Gaetios	2:85734ad35573	3216	void MPU60503::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address)
Gaetios	2:85734ad35573	3217	{
Gaetios	2:85734ad35573	3218	setMemoryBank(bank);
Gaetios	2:85734ad35573	3219	setMemoryStartAddress(address);
Gaetios	2:85734ad35573	3220	uint8_t chunkSize;
Gaetios	2:85734ad35573	3221	for (uint16_t i = 0; i < dataSize;) {
Gaetios	2:85734ad35573	3222	// determine correct chunk size according to bank position and data size
Gaetios	2:85734ad35573	3223	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
Gaetios	2:85734ad35573	3224
Gaetios	2:85734ad35573	3225	// make sure we don't go past the data size
Gaetios	2:85734ad35573	3226	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
Gaetios	2:85734ad35573	3227
Gaetios	2:85734ad35573	3228	// make sure this chunk doesn't go past the bank boundary (256 bytes)
Gaetios	2:85734ad35573	3229	if (chunkSize > 256 - address) chunkSize = 256 - address;
Gaetios	2:85734ad35573	3230
Gaetios	2:85734ad35573	3231	// read the chunk of data as specified
Gaetios	2:85734ad35573	3232	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
Gaetios	2:85734ad35573	3233
Gaetios	2:85734ad35573	3234	// increase byte index by [chunkSize]
Gaetios	2:85734ad35573	3235	i += chunkSize;
Gaetios	2:85734ad35573	3236
Gaetios	2:85734ad35573	3237	// uint8_t automatically wraps to 0 at 256
Gaetios	2:85734ad35573	3238	address += chunkSize;
Gaetios	2:85734ad35573	3239
Gaetios	2:85734ad35573	3240	// if we aren't done, update bank (if necessary) and address
Gaetios	2:85734ad35573	3241	if (i < dataSize) {
Gaetios	2:85734ad35573	3242	if (address == 0) bank++;
Gaetios	2:85734ad35573	3243	setMemoryBank(bank);
Gaetios	2:85734ad35573	3244	setMemoryStartAddress(address);
Gaetios	2:85734ad35573	3245	}
Gaetios	2:85734ad35573	3246	}
Gaetios	2:85734ad35573	3247	}
Gaetios	2:85734ad35573	3248	bool MPU60503::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem)
Gaetios	2:85734ad35573	3249	{
Gaetios	2:85734ad35573	3250	setMemoryBank(bank);
Gaetios	2:85734ad35573	3251	setMemoryStartAddress(address);
Gaetios	2:85734ad35573	3252	uint8_t chunkSize;
Gaetios	2:85734ad35573	3253	uint8_t *verifyBuffer;
Gaetios	2:85734ad35573	3254	uint8_t *progBuffer;
Gaetios	2:85734ad35573	3255	uint16_t i;
Gaetios	2:85734ad35573	3256	uint8_t j;
Gaetios	2:85734ad35573	3257	if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
Gaetios	2:85734ad35573	3258	if (useProgMem) progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
Gaetios	2:85734ad35573	3259	for (i = 0; i < dataSize;) {
Gaetios	2:85734ad35573	3260	// determine correct chunk size according to bank position and data size
Gaetios	2:85734ad35573	3261	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
Gaetios	2:85734ad35573	3262
Gaetios	2:85734ad35573	3263	// make sure we don't go past the data size
Gaetios	2:85734ad35573	3264	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
Gaetios	2:85734ad35573	3265
Gaetios	2:85734ad35573	3266	// make sure this chunk doesn't go past the bank boundary (256 bytes)
Gaetios	2:85734ad35573	3267	if (chunkSize > 256 - address) chunkSize = 256 - address;
Gaetios	2:85734ad35573	3268
Gaetios	2:85734ad35573	3269	if (useProgMem) {
Gaetios	2:85734ad35573	3270	// write the chunk of data as specified
Gaetios	2:85734ad35573	3271	for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
Gaetios	2:85734ad35573	3272	} else {
Gaetios	2:85734ad35573	3273	// write the chunk of data as specified
Gaetios	2:85734ad35573	3274	progBuffer = (uint8_t *)data + i;
Gaetios	2:85734ad35573	3275	}
Gaetios	2:85734ad35573	3276
Gaetios	2:85734ad35573	3277	i2Cdev.writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
Gaetios	2:85734ad35573	3278
Gaetios	2:85734ad35573	3279	// verify data if needed
Gaetios	2:85734ad35573	3280	if (verify && verifyBuffer) {
Gaetios	2:85734ad35573	3281	setMemoryBank(bank);
Gaetios	2:85734ad35573	3282	setMemoryStartAddress(address);
Gaetios	2:85734ad35573	3283	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
Gaetios	2:85734ad35573	3284	if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
Gaetios	2:85734ad35573	3285	/*Serial.print("Block write verification error, bank ");
Gaetios	2:85734ad35573	3286	Serial.print(bank, DEC);
Gaetios	2:85734ad35573	3287	Serial.print(", address ");
Gaetios	2:85734ad35573	3288	Serial.print(address, DEC);
Gaetios	2:85734ad35573	3289	Serial.print("!\nExpected:");
Gaetios	2:85734ad35573	3290	for (j = 0; j < chunkSize; j++) {
Gaetios	2:85734ad35573	3291	Serial.print(" 0x");
Gaetios	2:85734ad35573	3292	if (progBuffer[j] < 16) Serial.print("0");
Gaetios	2:85734ad35573	3293	Serial.print(progBuffer[j], HEX);
Gaetios	2:85734ad35573	3294	}
Gaetios	2:85734ad35573	3295	Serial.print("\nReceived:");
Gaetios	2:85734ad35573	3296	for (uint8_t j = 0; j < chunkSize; j++) {
Gaetios	2:85734ad35573	3297	Serial.print(" 0x");
Gaetios	2:85734ad35573	3298	if (verifyBuffer[i + j] < 16) Serial.print("0");
Gaetios	2:85734ad35573	3299	Serial.print(verifyBuffer[i + j], HEX);
Gaetios	2:85734ad35573	3300	}
Gaetios	2:85734ad35573	3301	Serial.print("\n");*/
Gaetios	2:85734ad35573	3302	free(verifyBuffer);
Gaetios	2:85734ad35573	3303	if (useProgMem) free(progBuffer);
Gaetios	2:85734ad35573	3304	return false; // uh oh.
Gaetios	2:85734ad35573	3305	}
Gaetios	2:85734ad35573	3306	}
Gaetios	2:85734ad35573	3307
Gaetios	2:85734ad35573	3308	// increase byte index by [chunkSize]
Gaetios	2:85734ad35573	3309	i += chunkSize;
Gaetios	2:85734ad35573	3310
Gaetios	2:85734ad35573	3311	// uint8_t automatically wraps to 0 at 256
Gaetios	2:85734ad35573	3312	address += chunkSize;
Gaetios	2:85734ad35573	3313
Gaetios	2:85734ad35573	3314	// if we aren't done, update bank (if necessary) and address
Gaetios	2:85734ad35573	3315	if (i < dataSize) {
Gaetios	2:85734ad35573	3316	if (address == 0) bank++;
Gaetios	2:85734ad35573	3317	setMemoryBank(bank);
Gaetios	2:85734ad35573	3318	setMemoryStartAddress(address);
Gaetios	2:85734ad35573	3319	}
Gaetios	2:85734ad35573	3320	}
Gaetios	2:85734ad35573	3321	if (verify) free(verifyBuffer);
Gaetios	2:85734ad35573	3322	if (useProgMem) free(progBuffer);
Gaetios	2:85734ad35573	3323	return true;
Gaetios	2:85734ad35573	3324	}
Gaetios	2:85734ad35573	3325	bool MPU60503::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify)
Gaetios	2:85734ad35573	3326	{
Gaetios	2:85734ad35573	3327	return writeMemoryBlock(data, dataSize, bank, address, verify, true);
Gaetios	2:85734ad35573	3328	}
Gaetios	2:85734ad35573	3329	bool MPU60503::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem)
Gaetios	2:85734ad35573	3330	{
Gaetios	2:85734ad35573	3331	uint8_t *progBuffer, success, special;
Gaetios	2:85734ad35573	3332	uint16_t i, j;
Gaetios	2:85734ad35573	3333	if (useProgMem) {
Gaetios	2:85734ad35573	3334	progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
Gaetios	2:85734ad35573	3335	}
Gaetios	2:85734ad35573	3336
Gaetios	2:85734ad35573	3337	// config set data is a long string of blocks with the following structure:
Gaetios	2:85734ad35573	3338	// [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
Gaetios	2:85734ad35573	3339	uint8_t bank, offset, length;
Gaetios	2:85734ad35573	3340	for (i = 0; i < dataSize;) {
Gaetios	2:85734ad35573	3341	if (useProgMem) {
Gaetios	2:85734ad35573	3342	bank = pgm_read_byte(data + i++);
Gaetios	2:85734ad35573	3343	offset = pgm_read_byte(data + i++);
Gaetios	2:85734ad35573	3344	length = pgm_read_byte(data + i++);
Gaetios	2:85734ad35573	3345	} else {
Gaetios	2:85734ad35573	3346	bank = data[i++];
Gaetios	2:85734ad35573	3347	offset = data[i++];
Gaetios	2:85734ad35573	3348	length = data[i++];
Gaetios	2:85734ad35573	3349	}
Gaetios	2:85734ad35573	3350
Gaetios	2:85734ad35573	3351	// write data or perform special action
Gaetios	2:85734ad35573	3352	if (length > 0) {
Gaetios	2:85734ad35573	3353	// regular block of data to write
Gaetios	2:85734ad35573	3354	/*Serial.print("Writing config block to bank ");
Gaetios	2:85734ad35573	3355	Serial.print(bank);
Gaetios	2:85734ad35573	3356	Serial.print(", offset ");
Gaetios	2:85734ad35573	3357	Serial.print(offset);
Gaetios	2:85734ad35573	3358	Serial.print(", length=");
Gaetios	2:85734ad35573	3359	Serial.println(length);*/
Gaetios	2:85734ad35573	3360	if (useProgMem) {
Gaetios	2:85734ad35573	3361	if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length);
Gaetios	2:85734ad35573	3362	for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j);
Gaetios	2:85734ad35573	3363	} else {
Gaetios	2:85734ad35573	3364	progBuffer = (uint8_t *)data + i;
Gaetios	2:85734ad35573	3365	}
Gaetios	2:85734ad35573	3366	success = writeMemoryBlock(progBuffer, length, bank, offset, true);
Gaetios	2:85734ad35573	3367	i += length;
Gaetios	2:85734ad35573	3368	} else {
Gaetios	2:85734ad35573	3369	// special instruction
Gaetios	2:85734ad35573	3370	// NOTE: this kind of behavior (what and when to do certain things)
Gaetios	2:85734ad35573	3371	// is totally undocumented. This code is in here based on observed
Gaetios	2:85734ad35573	3372	// behavior only, and exactly why (or even whether) it has to be here
Gaetios	2:85734ad35573	3373	// is anybody's guess for now.
Gaetios	2:85734ad35573	3374	if (useProgMem) {
Gaetios	2:85734ad35573	3375	special = pgm_read_byte(data + i++);
Gaetios	2:85734ad35573	3376	} else {
Gaetios	2:85734ad35573	3377	special = data[i++];
Gaetios	2:85734ad35573	3378	}
Gaetios	2:85734ad35573	3379	/*Serial.print("Special command code ");
Gaetios	2:85734ad35573	3380	Serial.print(special, HEX);
Gaetios	2:85734ad35573	3381	Serial.println(" found...");*/
Gaetios	2:85734ad35573	3382	if (special == 0x01) {
Gaetios	2:85734ad35573	3383	// enable DMP-related interrupts
Gaetios	2:85734ad35573	3384
Gaetios	2:85734ad35573	3385	//setIntZeroMotionEnabled(true);
Gaetios	2:85734ad35573	3386	//setIntFIFOBufferOverflowEnabled(true);
Gaetios	2:85734ad35573	3387	//setIntDMPEnabled(true);
Gaetios	2:85734ad35573	3388	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
Gaetios	2:85734ad35573	3389
Gaetios	2:85734ad35573	3390	success = true;
Gaetios	2:85734ad35573	3391	} else {
Gaetios	2:85734ad35573	3392	// unknown special command
Gaetios	2:85734ad35573	3393	success = false;
Gaetios	2:85734ad35573	3394	}
Gaetios	2:85734ad35573	3395	}
Gaetios	2:85734ad35573	3396
Gaetios	2:85734ad35573	3397	if (!success) {
Gaetios	2:85734ad35573	3398	if (useProgMem) free(progBuffer);
Gaetios	2:85734ad35573	3399	return false; // uh oh
Gaetios	2:85734ad35573	3400	}
Gaetios	2:85734ad35573	3401	}
Gaetios	2:85734ad35573	3402	if (useProgMem) free(progBuffer);
Gaetios	2:85734ad35573	3403	return true;
Gaetios	2:85734ad35573	3404	}
Gaetios	2:85734ad35573	3405	bool MPU60503::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
Gaetios	2:85734ad35573	3406	{
Gaetios	2:85734ad35573	3407	return writeDMPConfigurationSet(data, dataSize, false);
Gaetios	2:85734ad35573	3408	}
Gaetios	2:85734ad35573	3409
Gaetios	2:85734ad35573	3410	// DMP_CFG_1 register
Gaetios	2:85734ad35573	3411
Gaetios	2:85734ad35573	3412	uint8_t MPU60503::getDMPConfig1()
Gaetios	2:85734ad35573	3413	{
Gaetios	2:85734ad35573	3414	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
Gaetios	2:85734ad35573	3415	return buffer[0];
Gaetios	2:85734ad35573	3416	}
Gaetios	2:85734ad35573	3417	void MPU60503::setDMPConfig1(uint8_t config)
Gaetios	2:85734ad35573	3418	{
Gaetios	2:85734ad35573	3419	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
Gaetios	2:85734ad35573	3420	}
Gaetios	2:85734ad35573	3421
Gaetios	2:85734ad35573	3422	// DMP_CFG_2 register
Gaetios	2:85734ad35573	3423
Gaetios	2:85734ad35573	3424	uint8_t MPU60503::getDMPConfig2()
Gaetios	2:85734ad35573	3425	{
Gaetios	2:85734ad35573	3426	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
Gaetios	2:85734ad35573	3427	return buffer[0];
Gaetios	2:85734ad35573	3428	}
Gaetios	2:85734ad35573	3429	void MPU60503::setDMPConfig2(uint8_t config)
Gaetios	2:85734ad35573	3430	{
Gaetios	2:85734ad35573	3431	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
Gaetios	2:85734ad35573	3432	}

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Type:	Library
Created:	02 Oct 2017
Imports:	0
Forks:	0
Commits:	3
Dependents:	0
Dependencies:	0
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MPU60503.cpp@2:85734ad35573, 2017-10-02 (annotated)

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