MPU6050_Balancing_by_LEDs - Balancimg MPU6050 by LEDs on PWM

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LORDTEK LORDTEK / Mbed 2 deprecated MPU6050_Balancing_by_LEDs

Balancimg MPU6050 by LEDs on PWM

It is possible to observe the MPU6050 data on serial. If serial termimal is not started then still LED application runs.

There are 4 LEDs on LPC1768. So the first 3 LEDs are assign to accelerometer X, Y and Z. The last LED can drive by user. Default it lights a bit. If you want to turn it off then change the value as "190" to "180" on this line: myled4 = cos(190*2.0*3.13/360) * 0.5 + 0.5; If you want to turn it on (full) then change the value as "190" to "0" on above code line.

MPU6050.cpp@0:9a1aae56ed19, 2013-10-13 (annotated)

Committer:: LORDTEK
Date:: Sun Oct 13 12:01:33 2013 +0000
Revision:: 0:9a1aae56ed19

Balancing MPU6050 by LEDs

Who changed what in which revision?

User	Revision	Line number	New contents of line
LORDTEK	0:9a1aae56ed19	1	//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
LORDTEK	0:9a1aae56ed19	2	//written by szymon gaertig (email: szymon@gaertig.com.pl)
LORDTEK	0:9a1aae56ed19	3	//
LORDTEK	0:9a1aae56ed19	4	//Changelog:
LORDTEK	0:9a1aae56ed19	5	//2013-01-08 - first beta release
LORDTEK	0:9a1aae56ed19	6
LORDTEK	0:9a1aae56ed19	7	// I2Cdev library collection - MPU6050 I2C device class
LORDTEK	0:9a1aae56ed19	8	// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
LORDTEK	0:9a1aae56ed19	9	// 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
LORDTEK	0:9a1aae56ed19	10	// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
LORDTEK	0:9a1aae56ed19	11	//
LORDTEK	0:9a1aae56ed19	12	// Changelog:
LORDTEK	0:9a1aae56ed19	13	// ... - ongoing debug release
LORDTEK	0:9a1aae56ed19	14
LORDTEK	0:9a1aae56ed19	15	// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
LORDTEK	0:9a1aae56ed19	16	// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
LORDTEK	0:9a1aae56ed19	17	// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
LORDTEK	0:9a1aae56ed19	18
LORDTEK	0:9a1aae56ed19	19	/* ============================================
LORDTEK	0:9a1aae56ed19	20	I2Cdev device library code is placed under the MIT license
LORDTEK	0:9a1aae56ed19	21	Copyright (c) 2012 Jeff Rowberg
LORDTEK	0:9a1aae56ed19	22
LORDTEK	0:9a1aae56ed19	23	Permission is hereby granted, free of charge, to any person obtaining a copy
LORDTEK	0:9a1aae56ed19	24	of this software and associated documentation files (the "Software"), to deal
LORDTEK	0:9a1aae56ed19	25	in the Software without restriction, including without limitation the rights
LORDTEK	0:9a1aae56ed19	26	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
LORDTEK	0:9a1aae56ed19	27	copies of the Software, and to permit persons to whom the Software is
LORDTEK	0:9a1aae56ed19	28	furnished to do so, subject to the following conditions:
LORDTEK	0:9a1aae56ed19	29
LORDTEK	0:9a1aae56ed19	30	The above copyright notice and this permission notice shall be included in
LORDTEK	0:9a1aae56ed19	31	all copies or substantial portions of the Software.
LORDTEK	0:9a1aae56ed19	32
LORDTEK	0:9a1aae56ed19	33	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
LORDTEK	0:9a1aae56ed19	34	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
LORDTEK	0:9a1aae56ed19	35	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
LORDTEK	0:9a1aae56ed19	36	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LORDTEK	0:9a1aae56ed19	37	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
LORDTEK	0:9a1aae56ed19	38	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
LORDTEK	0:9a1aae56ed19	39	THE SOFTWARE.
LORDTEK	0:9a1aae56ed19	40	===============================================
LORDTEK	0:9a1aae56ed19	41	*/
LORDTEK	0:9a1aae56ed19	42
LORDTEK	0:9a1aae56ed19	43	#include "MPU6050.h"
LORDTEK	0:9a1aae56ed19	44
LORDTEK	0:9a1aae56ed19	45	#define useDebugSerial
LORDTEK	0:9a1aae56ed19	46
LORDTEK	0:9a1aae56ed19	47	//instead of using pgmspace.h
LORDTEK	0:9a1aae56ed19	48	typedef const unsigned char prog_uchar;
LORDTEK	0:9a1aae56ed19	49	#define pgm_read_byte_near(x) ((prog_uchar)x)
LORDTEK	0:9a1aae56ed19	50	#define pgm_read_byte(x) ((prog_uchar)x)
LORDTEK	0:9a1aae56ed19	51
LORDTEK	0:9a1aae56ed19	52	/** Default constructor, uses default I2C address.
LORDTEK	0:9a1aae56ed19	53	* @see MPU6050_DEFAULT_ADDRESS
LORDTEK	0:9a1aae56ed19	54	*/
LORDTEK	0:9a1aae56ed19	55	MPU6050::MPU6050() : debugSerial(USBTX, USBRX)
LORDTEK	0:9a1aae56ed19	56	{
LORDTEK	0:9a1aae56ed19	57	devAddr = MPU6050_DEFAULT_ADDRESS;
LORDTEK	0:9a1aae56ed19	58	}
LORDTEK	0:9a1aae56ed19	59
LORDTEK	0:9a1aae56ed19	60	/** Specific address constructor.
LORDTEK	0:9a1aae56ed19	61	* @param address I2C address
LORDTEK	0:9a1aae56ed19	62	* @see MPU6050_DEFAULT_ADDRESS
LORDTEK	0:9a1aae56ed19	63	* @see MPU6050_ADDRESS_AD0_LOW
LORDTEK	0:9a1aae56ed19	64	* @see MPU6050_ADDRESS_AD0_HIGH
LORDTEK	0:9a1aae56ed19	65	*/
LORDTEK	0:9a1aae56ed19	66	MPU6050::MPU6050(uint8_t address) : debugSerial(USBTX, USBRX)
LORDTEK	0:9a1aae56ed19	67	{
LORDTEK	0:9a1aae56ed19	68	devAddr = address;
LORDTEK	0:9a1aae56ed19	69	}
LORDTEK	0:9a1aae56ed19	70
LORDTEK	0:9a1aae56ed19	71	/** Power on and prepare for general usage.
LORDTEK	0:9a1aae56ed19	72	* This will activate the device and take it out of sleep mode (which must be done
LORDTEK	0:9a1aae56ed19	73	* after start-up). This function also sets both the accelerometer and the gyroscope
LORDTEK	0:9a1aae56ed19	74	* to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
LORDTEK	0:9a1aae56ed19	75	* the clock source to use the X Gyro for reference, which is slightly better than
LORDTEK	0:9a1aae56ed19	76	* the default internal clock source.
LORDTEK	0:9a1aae56ed19	77	*/
LORDTEK	0:9a1aae56ed19	78	void MPU6050::initialize()
LORDTEK	0:9a1aae56ed19	79	{
LORDTEK	0:9a1aae56ed19	80
LORDTEK	0:9a1aae56ed19	81	#ifdef useDebugSerial
LORDTEK	0:9a1aae56ed19	82	debugSerial.printf("MPU6050::initialize start\n");
LORDTEK	0:9a1aae56ed19	83	#endif
LORDTEK	0:9a1aae56ed19	84
LORDTEK	0:9a1aae56ed19	85	setClockSource(MPU6050_CLOCK_PLL_XGYRO);
LORDTEK	0:9a1aae56ed19	86	setFullScaleGyroRange(MPU6050_GYRO_FS_250);
LORDTEK	0:9a1aae56ed19	87	setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
LORDTEK	0:9a1aae56ed19	88	setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
LORDTEK	0:9a1aae56ed19	89
LORDTEK	0:9a1aae56ed19	90	#ifdef useDebugSerial
LORDTEK	0:9a1aae56ed19	91	debugSerial.printf("MPU6050::initialize end\n");
LORDTEK	0:9a1aae56ed19	92	#endif
LORDTEK	0:9a1aae56ed19	93	}
LORDTEK	0:9a1aae56ed19	94
LORDTEK	0:9a1aae56ed19	95	/** Verify the I2C connection.
LORDTEK	0:9a1aae56ed19	96	* Make sure the device is connected and responds as expected.
LORDTEK	0:9a1aae56ed19	97	* @return True if connection is valid, false otherwise
LORDTEK	0:9a1aae56ed19	98	*/
LORDTEK	0:9a1aae56ed19	99	bool MPU6050::testConnection()
LORDTEK	0:9a1aae56ed19	100	{
LORDTEK	0:9a1aae56ed19	101	#ifdef useDebugSerial
LORDTEK	0:9a1aae56ed19	102	debugSerial.printf("MPU6050::testConnection start\n");
LORDTEK	0:9a1aae56ed19	103	#endif
LORDTEK	0:9a1aae56ed19	104	uint8_t deviceId = getDeviceID();
LORDTEK	0:9a1aae56ed19	105	#ifdef useDebugSerial
LORDTEK	0:9a1aae56ed19	106	debugSerial.printf("DeviceId = %d\n",deviceId);
LORDTEK	0:9a1aae56ed19	107	#endif
LORDTEK	0:9a1aae56ed19	108	return deviceId == 0x34;
LORDTEK	0:9a1aae56ed19	109	}
LORDTEK	0:9a1aae56ed19	110
LORDTEK	0:9a1aae56ed19	111	// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
LORDTEK	0:9a1aae56ed19	112
LORDTEK	0:9a1aae56ed19	113	/** Get the auxiliary I2C supply voltage level.
LORDTEK	0:9a1aae56ed19	114	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
LORDTEK	0:9a1aae56ed19	115	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
LORDTEK	0:9a1aae56ed19	116	* the MPU-6000, which does not have a VLOGIC pin.
LORDTEK	0:9a1aae56ed19	117	* @return I2C supply voltage level (0=VLOGIC, 1=VDD)
LORDTEK	0:9a1aae56ed19	118	*/
LORDTEK	0:9a1aae56ed19	119	uint8_t MPU6050::getAuxVDDIOLevel()
LORDTEK	0:9a1aae56ed19	120	{
LORDTEK	0:9a1aae56ed19	121	i2Cdev.readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
LORDTEK	0:9a1aae56ed19	122	return buffer[0];
LORDTEK	0:9a1aae56ed19	123	}
LORDTEK	0:9a1aae56ed19	124	/** Set the auxiliary I2C supply voltage level.
LORDTEK	0:9a1aae56ed19	125	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
LORDTEK	0:9a1aae56ed19	126	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
LORDTEK	0:9a1aae56ed19	127	* the MPU-6000, which does not have a VLOGIC pin.
LORDTEK	0:9a1aae56ed19	128	* @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
LORDTEK	0:9a1aae56ed19	129	*/
LORDTEK	0:9a1aae56ed19	130	void MPU6050::setAuxVDDIOLevel(uint8_t level)
LORDTEK	0:9a1aae56ed19	131	{
LORDTEK	0:9a1aae56ed19	132	i2Cdev.writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
LORDTEK	0:9a1aae56ed19	133	}
LORDTEK	0:9a1aae56ed19	134
LORDTEK	0:9a1aae56ed19	135	// SMPLRT_DIV register
LORDTEK	0:9a1aae56ed19	136
LORDTEK	0:9a1aae56ed19	137	/** Get gyroscope output rate divider.
LORDTEK	0:9a1aae56ed19	138	* The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
LORDTEK	0:9a1aae56ed19	139	* Motion detection, and Free Fall detection are all based on the Sample Rate.
LORDTEK	0:9a1aae56ed19	140	* The Sample Rate is generated by dividing the gyroscope output rate by
LORDTEK	0:9a1aae56ed19	141	* SMPLRT_DIV:
LORDTEK	0:9a1aae56ed19	142	*
LORDTEK	0:9a1aae56ed19	143	* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
LORDTEK	0:9a1aae56ed19	144	*
LORDTEK	0:9a1aae56ed19	145	* where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
LORDTEK	0:9a1aae56ed19	146	* 7), and 1kHz when the DLPF is enabled (see Register 26).
LORDTEK	0:9a1aae56ed19	147	*
LORDTEK	0:9a1aae56ed19	148	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
LORDTEK	0:9a1aae56ed19	149	* Rate greater than 1kHz, the same accelerometer sample may be output to the
LORDTEK	0:9a1aae56ed19	150	* FIFO, DMP, and sensor registers more than once.
LORDTEK	0:9a1aae56ed19	151	*
LORDTEK	0:9a1aae56ed19	152	* For a diagram of the gyroscope and accelerometer signal paths, see Section 8
LORDTEK	0:9a1aae56ed19	153	* of the MPU-6000/MPU-6050 Product Specification document.
LORDTEK	0:9a1aae56ed19	154	*
LORDTEK	0:9a1aae56ed19	155	* @return Current sample rate
LORDTEK	0:9a1aae56ed19	156	* @see MPU6050_RA_SMPLRT_DIV
LORDTEK	0:9a1aae56ed19	157	*/
LORDTEK	0:9a1aae56ed19	158	uint8_t MPU6050::getRate()
LORDTEK	0:9a1aae56ed19	159	{
LORDTEK	0:9a1aae56ed19	160	i2Cdev.readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
LORDTEK	0:9a1aae56ed19	161	return buffer[0];
LORDTEK	0:9a1aae56ed19	162	}
LORDTEK	0:9a1aae56ed19	163	/** Set gyroscope sample rate divider.
LORDTEK	0:9a1aae56ed19	164	* @param rate New sample rate divider
LORDTEK	0:9a1aae56ed19	165	* @see getRate()
LORDTEK	0:9a1aae56ed19	166	* @see MPU6050_RA_SMPLRT_DIV
LORDTEK	0:9a1aae56ed19	167	*/
LORDTEK	0:9a1aae56ed19	168	void MPU6050::setRate(uint8_t rate)
LORDTEK	0:9a1aae56ed19	169	{
LORDTEK	0:9a1aae56ed19	170	i2Cdev.writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
LORDTEK	0:9a1aae56ed19	171	}
LORDTEK	0:9a1aae56ed19	172
LORDTEK	0:9a1aae56ed19	173	// CONFIG register
LORDTEK	0:9a1aae56ed19	174
LORDTEK	0:9a1aae56ed19	175	/** Get external FSYNC configuration.
LORDTEK	0:9a1aae56ed19	176	* Configures the external Frame Synchronization (FSYNC) pin sampling. An
LORDTEK	0:9a1aae56ed19	177	* external signal connected to the FSYNC pin can be sampled by configuring
LORDTEK	0:9a1aae56ed19	178	* EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
LORDTEK	0:9a1aae56ed19	179	* strobes may be captured. The latched FSYNC signal will be sampled at the
LORDTEK	0:9a1aae56ed19	180	* Sampling Rate, as defined in register 25. After sampling, the latch will
LORDTEK	0:9a1aae56ed19	181	* reset to the current FSYNC signal state.
LORDTEK	0:9a1aae56ed19	182	*
LORDTEK	0:9a1aae56ed19	183	* The sampled value will be reported in place of the least significant bit in
LORDTEK	0:9a1aae56ed19	184	* a sensor data register determined by the value of EXT_SYNC_SET according to
LORDTEK	0:9a1aae56ed19	185	* the following table.
LORDTEK	0:9a1aae56ed19	186	*
LORDTEK	0:9a1aae56ed19	187	* <pre>
LORDTEK	0:9a1aae56ed19	188	* EXT_SYNC_SET \| FSYNC Bit Location
LORDTEK	0:9a1aae56ed19	189	* -------------+-------------------
LORDTEK	0:9a1aae56ed19	190	* 0 \| Input disabled
LORDTEK	0:9a1aae56ed19	191	* 1 \| TEMP_OUT_L[0]
LORDTEK	0:9a1aae56ed19	192	* 2 \| GYRO_XOUT_L[0]
LORDTEK	0:9a1aae56ed19	193	* 3 \| GYRO_YOUT_L[0]
LORDTEK	0:9a1aae56ed19	194	* 4 \| GYRO_ZOUT_L[0]
LORDTEK	0:9a1aae56ed19	195	* 5 \| ACCEL_XOUT_L[0]
LORDTEK	0:9a1aae56ed19	196	* 6 \| ACCEL_YOUT_L[0]
LORDTEK	0:9a1aae56ed19	197	* 7 \| ACCEL_ZOUT_L[0]
LORDTEK	0:9a1aae56ed19	198	* </pre>
LORDTEK	0:9a1aae56ed19	199	*
LORDTEK	0:9a1aae56ed19	200	* @return FSYNC configuration value
LORDTEK	0:9a1aae56ed19	201	*/
LORDTEK	0:9a1aae56ed19	202	uint8_t MPU6050::getExternalFrameSync()
LORDTEK	0:9a1aae56ed19	203	{
LORDTEK	0:9a1aae56ed19	204	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
LORDTEK	0:9a1aae56ed19	205	return buffer[0];
LORDTEK	0:9a1aae56ed19	206	}
LORDTEK	0:9a1aae56ed19	207	/** Set external FSYNC configuration.
LORDTEK	0:9a1aae56ed19	208	* @see getExternalFrameSync()
LORDTEK	0:9a1aae56ed19	209	* @see MPU6050_RA_CONFIG
LORDTEK	0:9a1aae56ed19	210	* @param sync New FSYNC configuration value
LORDTEK	0:9a1aae56ed19	211	*/
LORDTEK	0:9a1aae56ed19	212	void MPU6050::setExternalFrameSync(uint8_t sync)
LORDTEK	0:9a1aae56ed19	213	{
LORDTEK	0:9a1aae56ed19	214	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
LORDTEK	0:9a1aae56ed19	215	}
LORDTEK	0:9a1aae56ed19	216	/** Get digital low-pass filter configuration.
LORDTEK	0:9a1aae56ed19	217	* The DLPF_CFG parameter sets the digital low pass filter configuration. It
LORDTEK	0:9a1aae56ed19	218	* also determines the internal sampling rate used by the device as shown in
LORDTEK	0:9a1aae56ed19	219	* the table below.
LORDTEK	0:9a1aae56ed19	220	*
LORDTEK	0:9a1aae56ed19	221	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
LORDTEK	0:9a1aae56ed19	222	* Rate greater than 1kHz, the same accelerometer sample may be output to the
LORDTEK	0:9a1aae56ed19	223	* FIFO, DMP, and sensor registers more than once.
LORDTEK	0:9a1aae56ed19	224	*
LORDTEK	0:9a1aae56ed19	225	* <pre>
LORDTEK	0:9a1aae56ed19	226	* \| ACCELEROMETER \| GYROSCOPE
LORDTEK	0:9a1aae56ed19	227	* DLPF_CFG \| Bandwidth \| Delay \| Bandwidth \| Delay \| Sample Rate
LORDTEK	0:9a1aae56ed19	228	* ---------+-----------+--------+-----------+--------+-------------
LORDTEK	0:9a1aae56ed19	229	* 0 \| 260Hz \| 0ms \| 256Hz \| 0.98ms \| 8kHz
LORDTEK	0:9a1aae56ed19	230	* 1 \| 184Hz \| 2.0ms \| 188Hz \| 1.9ms \| 1kHz
LORDTEK	0:9a1aae56ed19	231	* 2 \| 94Hz \| 3.0ms \| 98Hz \| 2.8ms \| 1kHz
LORDTEK	0:9a1aae56ed19	232	* 3 \| 44Hz \| 4.9ms \| 42Hz \| 4.8ms \| 1kHz
LORDTEK	0:9a1aae56ed19	233	* 4 \| 21Hz \| 8.5ms \| 20Hz \| 8.3ms \| 1kHz
LORDTEK	0:9a1aae56ed19	234	* 5 \| 10Hz \| 13.8ms \| 10Hz \| 13.4ms \| 1kHz
LORDTEK	0:9a1aae56ed19	235	* 6 \| 5Hz \| 19.0ms \| 5Hz \| 18.6ms \| 1kHz
LORDTEK	0:9a1aae56ed19	236	* 7 \| -- Reserved -- \| -- Reserved -- \| Reserved
LORDTEK	0:9a1aae56ed19	237	* </pre>
LORDTEK	0:9a1aae56ed19	238	*
LORDTEK	0:9a1aae56ed19	239	* @return DLFP configuration
LORDTEK	0:9a1aae56ed19	240	* @see MPU6050_RA_CONFIG
LORDTEK	0:9a1aae56ed19	241	* @see MPU6050_CFG_DLPF_CFG_BIT
LORDTEK	0:9a1aae56ed19	242	* @see MPU6050_CFG_DLPF_CFG_LENGTH
LORDTEK	0:9a1aae56ed19	243	*/
LORDTEK	0:9a1aae56ed19	244	uint8_t MPU6050::getDLPFMode()
LORDTEK	0:9a1aae56ed19	245	{
LORDTEK	0:9a1aae56ed19	246	i2Cdev.readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
LORDTEK	0:9a1aae56ed19	247	return buffer[0];
LORDTEK	0:9a1aae56ed19	248	}
LORDTEK	0:9a1aae56ed19	249	/** Set digital low-pass filter configuration.
LORDTEK	0:9a1aae56ed19	250	* @param mode New DLFP configuration setting
LORDTEK	0:9a1aae56ed19	251	* @see getDLPFBandwidth()
LORDTEK	0:9a1aae56ed19	252	* @see MPU6050_DLPF_BW_256
LORDTEK	0:9a1aae56ed19	253	* @see MPU6050_RA_CONFIG
LORDTEK	0:9a1aae56ed19	254	* @see MPU6050_CFG_DLPF_CFG_BIT
LORDTEK	0:9a1aae56ed19	255	* @see MPU6050_CFG_DLPF_CFG_LENGTH
LORDTEK	0:9a1aae56ed19	256	*/
LORDTEK	0:9a1aae56ed19	257	void MPU6050::setDLPFMode(uint8_t mode)
LORDTEK	0:9a1aae56ed19	258	{
LORDTEK	0:9a1aae56ed19	259	i2Cdev.writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
LORDTEK	0:9a1aae56ed19	260	}
LORDTEK	0:9a1aae56ed19	261
LORDTEK	0:9a1aae56ed19	262	// GYRO_CONFIG register
LORDTEK	0:9a1aae56ed19	263
LORDTEK	0:9a1aae56ed19	264	/** Get full-scale gyroscope range.
LORDTEK	0:9a1aae56ed19	265	* The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
LORDTEK	0:9a1aae56ed19	266	* as described in the table below.
LORDTEK	0:9a1aae56ed19	267	*
LORDTEK	0:9a1aae56ed19	268	* <pre>
LORDTEK	0:9a1aae56ed19	269	* 0 = +/- 250 degrees/sec
LORDTEK	0:9a1aae56ed19	270	* 1 = +/- 500 degrees/sec
LORDTEK	0:9a1aae56ed19	271	* 2 = +/- 1000 degrees/sec
LORDTEK	0:9a1aae56ed19	272	* 3 = +/- 2000 degrees/sec
LORDTEK	0:9a1aae56ed19	273	* </pre>
LORDTEK	0:9a1aae56ed19	274	*
LORDTEK	0:9a1aae56ed19	275	* @return Current full-scale gyroscope range setting
LORDTEK	0:9a1aae56ed19	276	* @see MPU6050_GYRO_FS_250
LORDTEK	0:9a1aae56ed19	277	* @see MPU6050_RA_GYRO_CONFIG
LORDTEK	0:9a1aae56ed19	278	* @see MPU6050_GCONFIG_FS_SEL_BIT
LORDTEK	0:9a1aae56ed19	279	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
LORDTEK	0:9a1aae56ed19	280	*/
LORDTEK	0:9a1aae56ed19	281	uint8_t MPU6050::getFullScaleGyroRange()
LORDTEK	0:9a1aae56ed19	282	{
LORDTEK	0:9a1aae56ed19	283	i2Cdev.readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
LORDTEK	0:9a1aae56ed19	284	return buffer[0];
LORDTEK	0:9a1aae56ed19	285	}
LORDTEK	0:9a1aae56ed19	286	/** Set full-scale gyroscope range.
LORDTEK	0:9a1aae56ed19	287	* @param range New full-scale gyroscope range value
LORDTEK	0:9a1aae56ed19	288	* @see getFullScaleRange()
LORDTEK	0:9a1aae56ed19	289	* @see MPU6050_GYRO_FS_250
LORDTEK	0:9a1aae56ed19	290	* @see MPU6050_RA_GYRO_CONFIG
LORDTEK	0:9a1aae56ed19	291	* @see MPU6050_GCONFIG_FS_SEL_BIT
LORDTEK	0:9a1aae56ed19	292	* @see MPU6050_GCONFIG_FS_SEL_LENGTH
LORDTEK	0:9a1aae56ed19	293	*/
LORDTEK	0:9a1aae56ed19	294	void MPU6050::setFullScaleGyroRange(uint8_t range)
LORDTEK	0:9a1aae56ed19	295	{
LORDTEK	0:9a1aae56ed19	296	i2Cdev.writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
LORDTEK	0:9a1aae56ed19	297	}
LORDTEK	0:9a1aae56ed19	298
LORDTEK	0:9a1aae56ed19	299	// ACCEL_CONFIG register
LORDTEK	0:9a1aae56ed19	300
LORDTEK	0:9a1aae56ed19	301	/** Get self-test enabled setting for accelerometer X axis.
LORDTEK	0:9a1aae56ed19	302	* @return Self-test enabled value
LORDTEK	0:9a1aae56ed19	303	* @see MPU6050_RA_ACCEL_CONFIG
LORDTEK	0:9a1aae56ed19	304	*/
LORDTEK	0:9a1aae56ed19	305	bool MPU6050::getAccelXSelfTest()
LORDTEK	0:9a1aae56ed19	306	{
LORDTEK	0:9a1aae56ed19	307	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
LORDTEK	0:9a1aae56ed19	308	return buffer[0];
LORDTEK	0:9a1aae56ed19	309	}
LORDTEK	0:9a1aae56ed19	310	/** Get self-test enabled setting for accelerometer X axis.
LORDTEK	0:9a1aae56ed19	311	* @param enabled Self-test enabled value
LORDTEK	0:9a1aae56ed19	312	* @see MPU6050_RA_ACCEL_CONFIG
LORDTEK	0:9a1aae56ed19	313	*/
LORDTEK	0:9a1aae56ed19	314	void MPU6050::setAccelXSelfTest(bool enabled)
LORDTEK	0:9a1aae56ed19	315	{
LORDTEK	0:9a1aae56ed19	316	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
LORDTEK	0:9a1aae56ed19	317	}
LORDTEK	0:9a1aae56ed19	318	/** Get self-test enabled value for accelerometer Y axis.
LORDTEK	0:9a1aae56ed19	319	* @return Self-test enabled value
LORDTEK	0:9a1aae56ed19	320	* @see MPU6050_RA_ACCEL_CONFIG
LORDTEK	0:9a1aae56ed19	321	*/
LORDTEK	0:9a1aae56ed19	322	bool MPU6050::getAccelYSelfTest()
LORDTEK	0:9a1aae56ed19	323	{
LORDTEK	0:9a1aae56ed19	324	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
LORDTEK	0:9a1aae56ed19	325	return buffer[0];
LORDTEK	0:9a1aae56ed19	326	}
LORDTEK	0:9a1aae56ed19	327	/** Get self-test enabled value for accelerometer Y axis.
LORDTEK	0:9a1aae56ed19	328	* @param enabled Self-test enabled value
LORDTEK	0:9a1aae56ed19	329	* @see MPU6050_RA_ACCEL_CONFIG
LORDTEK	0:9a1aae56ed19	330	*/
LORDTEK	0:9a1aae56ed19	331	void MPU6050::setAccelYSelfTest(bool enabled)
LORDTEK	0:9a1aae56ed19	332	{
LORDTEK	0:9a1aae56ed19	333	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
LORDTEK	0:9a1aae56ed19	334	}
LORDTEK	0:9a1aae56ed19	335	/** Get self-test enabled value for accelerometer Z axis.
LORDTEK	0:9a1aae56ed19	336	* @return Self-test enabled value
LORDTEK	0:9a1aae56ed19	337	* @see MPU6050_RA_ACCEL_CONFIG
LORDTEK	0:9a1aae56ed19	338	*/
LORDTEK	0:9a1aae56ed19	339	bool MPU6050::getAccelZSelfTest()
LORDTEK	0:9a1aae56ed19	340	{
LORDTEK	0:9a1aae56ed19	341	i2Cdev.readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
LORDTEK	0:9a1aae56ed19	342	return buffer[0];
LORDTEK	0:9a1aae56ed19	343	}
LORDTEK	0:9a1aae56ed19	344	/** Set self-test enabled value for accelerometer Z axis.
LORDTEK	0:9a1aae56ed19	345	* @param enabled Self-test enabled value
LORDTEK	0:9a1aae56ed19	346	* @see MPU6050_RA_ACCEL_CONFIG
LORDTEK	0:9a1aae56ed19	347	*/
LORDTEK	0:9a1aae56ed19	348	void MPU6050::setAccelZSelfTest(bool enabled)
LORDTEK	0:9a1aae56ed19	349	{
LORDTEK	0:9a1aae56ed19	350	i2Cdev.writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
LORDTEK	0:9a1aae56ed19	351	}
LORDTEK	0:9a1aae56ed19	352	/** Get full-scale accelerometer range.
LORDTEK	0:9a1aae56ed19	353	* The FS_SEL parameter allows setting the full-scale range of the accelerometer
LORDTEK	0:9a1aae56ed19	354	* sensors, as described in the table below.
LORDTEK	0:9a1aae56ed19	355	*
LORDTEK	0:9a1aae56ed19	356	* <pre>
LORDTEK	0:9a1aae56ed19	357	* 0 = +/- 2g
LORDTEK	0:9a1aae56ed19	358	* 1 = +/- 4g
LORDTEK	0:9a1aae56ed19	359	* 2 = +/- 8g
LORDTEK	0:9a1aae56ed19	360	* 3 = +/- 16g
LORDTEK	0:9a1aae56ed19	361	* </pre>
LORDTEK	0:9a1aae56ed19	362	*
LORDTEK	0:9a1aae56ed19	363	* @return Current full-scale accelerometer range setting
LORDTEK	0:9a1aae56ed19	364	* @see MPU6050_ACCEL_FS_2
LORDTEK	0:9a1aae56ed19	365	* @see MPU6050_RA_ACCEL_CONFIG
LORDTEK	0:9a1aae56ed19	366	* @see MPU6050_ACONFIG_AFS_SEL_BIT
LORDTEK	0:9a1aae56ed19	367	* @see MPU6050_ACONFIG_AFS_SEL_LENGTH
LORDTEK	0:9a1aae56ed19	368	*/
LORDTEK	0:9a1aae56ed19	369	uint8_t MPU6050::getFullScaleAccelRange()
LORDTEK	0:9a1aae56ed19	370	{
LORDTEK	0:9a1aae56ed19	371	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
LORDTEK	0:9a1aae56ed19	372	return buffer[0];
LORDTEK	0:9a1aae56ed19	373	}
LORDTEK	0:9a1aae56ed19	374	/** Set full-scale accelerometer range.
LORDTEK	0:9a1aae56ed19	375	* @param range New full-scale accelerometer range setting
LORDTEK	0:9a1aae56ed19	376	* @see getFullScaleAccelRange()
LORDTEK	0:9a1aae56ed19	377	*/
LORDTEK	0:9a1aae56ed19	378	void MPU6050::setFullScaleAccelRange(uint8_t range)
LORDTEK	0:9a1aae56ed19	379	{
LORDTEK	0:9a1aae56ed19	380	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
LORDTEK	0:9a1aae56ed19	381	}
LORDTEK	0:9a1aae56ed19	382	/** Get the high-pass filter configuration.
LORDTEK	0:9a1aae56ed19	383	* The DHPF is a filter module in the path leading to motion detectors (Free
LORDTEK	0:9a1aae56ed19	384	* Fall, Motion threshold, and Zero Motion). The high pass filter output is not
LORDTEK	0:9a1aae56ed19	385	* available to the data registers (see Figure in Section 8 of the MPU-6000/
LORDTEK	0:9a1aae56ed19	386	* MPU-6050 Product Specification document).
LORDTEK	0:9a1aae56ed19	387	*
LORDTEK	0:9a1aae56ed19	388	* The high pass filter has three modes:
LORDTEK	0:9a1aae56ed19	389	*
LORDTEK	0:9a1aae56ed19	390	* <pre>
LORDTEK	0:9a1aae56ed19	391	* Reset: The filter output settles to zero within one sample. This
LORDTEK	0:9a1aae56ed19	392	* effectively disables the high pass filter. This mode may be toggled
LORDTEK	0:9a1aae56ed19	393	* to quickly settle the filter.
LORDTEK	0:9a1aae56ed19	394	*
LORDTEK	0:9a1aae56ed19	395	* On: The high pass filter will pass signals above the cut off frequency.
LORDTEK	0:9a1aae56ed19	396	*
LORDTEK	0:9a1aae56ed19	397	* Hold: When triggered, the filter holds the present sample. The filter
LORDTEK	0:9a1aae56ed19	398	* output will be the difference between the input sample and the held
LORDTEK	0:9a1aae56ed19	399	* sample.
LORDTEK	0:9a1aae56ed19	400	* </pre>
LORDTEK	0:9a1aae56ed19	401	*
LORDTEK	0:9a1aae56ed19	402	* <pre>
LORDTEK	0:9a1aae56ed19	403	* ACCEL_HPF \| Filter Mode \| Cut-off Frequency
LORDTEK	0:9a1aae56ed19	404	* ----------+-------------+------------------
LORDTEK	0:9a1aae56ed19	405	* 0 \| Reset \| None
LORDTEK	0:9a1aae56ed19	406	* 1 \| On \| 5Hz
LORDTEK	0:9a1aae56ed19	407	* 2 \| On \| 2.5Hz
LORDTEK	0:9a1aae56ed19	408	* 3 \| On \| 1.25Hz
LORDTEK	0:9a1aae56ed19	409	* 4 \| On \| 0.63Hz
LORDTEK	0:9a1aae56ed19	410	* 7 \| Hold \| None
LORDTEK	0:9a1aae56ed19	411	* </pre>
LORDTEK	0:9a1aae56ed19	412	*
LORDTEK	0:9a1aae56ed19	413	* @return Current high-pass filter configuration
LORDTEK	0:9a1aae56ed19	414	* @see MPU6050_DHPF_RESET
LORDTEK	0:9a1aae56ed19	415	* @see MPU6050_RA_ACCEL_CONFIG
LORDTEK	0:9a1aae56ed19	416	*/
LORDTEK	0:9a1aae56ed19	417	uint8_t MPU6050::getDHPFMode()
LORDTEK	0:9a1aae56ed19	418	{
LORDTEK	0:9a1aae56ed19	419	i2Cdev.readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
LORDTEK	0:9a1aae56ed19	420	return buffer[0];
LORDTEK	0:9a1aae56ed19	421	}
LORDTEK	0:9a1aae56ed19	422	/** Set the high-pass filter configuration.
LORDTEK	0:9a1aae56ed19	423	* @param bandwidth New high-pass filter configuration
LORDTEK	0:9a1aae56ed19	424	* @see setDHPFMode()
LORDTEK	0:9a1aae56ed19	425	* @see MPU6050_DHPF_RESET
LORDTEK	0:9a1aae56ed19	426	* @see MPU6050_RA_ACCEL_CONFIG
LORDTEK	0:9a1aae56ed19	427	*/
LORDTEK	0:9a1aae56ed19	428	void MPU6050::setDHPFMode(uint8_t bandwidth)
LORDTEK	0:9a1aae56ed19	429	{
LORDTEK	0:9a1aae56ed19	430	i2Cdev.writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
LORDTEK	0:9a1aae56ed19	431	}
LORDTEK	0:9a1aae56ed19	432
LORDTEK	0:9a1aae56ed19	433	// FF_THR register
LORDTEK	0:9a1aae56ed19	434
LORDTEK	0:9a1aae56ed19	435	/** Get free-fall event acceleration threshold.
LORDTEK	0:9a1aae56ed19	436	* This register configures the detection threshold for Free Fall event
LORDTEK	0:9a1aae56ed19	437	* detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
LORDTEK	0:9a1aae56ed19	438	* absolute value of the accelerometer measurements for the three axes are each
LORDTEK	0:9a1aae56ed19	439	* less than the detection threshold. This condition increments the Free Fall
LORDTEK	0:9a1aae56ed19	440	* duration counter (Register 30). The Free Fall interrupt is triggered when the
LORDTEK	0:9a1aae56ed19	441	* Free Fall duration counter reaches the time specified in FF_DUR.
LORDTEK	0:9a1aae56ed19	442	*
LORDTEK	0:9a1aae56ed19	443	* For more details on the Free Fall detection interrupt, see Section 8.2 of the
LORDTEK	0:9a1aae56ed19	444	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
LORDTEK	0:9a1aae56ed19	445	* 58 of this document.
LORDTEK	0:9a1aae56ed19	446	*
LORDTEK	0:9a1aae56ed19	447	* @return Current free-fall acceleration threshold value (LSB = 2mg)
LORDTEK	0:9a1aae56ed19	448	* @see MPU6050_RA_FF_THR
LORDTEK	0:9a1aae56ed19	449	*/
LORDTEK	0:9a1aae56ed19	450	uint8_t MPU6050::getFreefallDetectionThreshold()
LORDTEK	0:9a1aae56ed19	451	{
LORDTEK	0:9a1aae56ed19	452	i2Cdev.readByte(devAddr, MPU6050_RA_FF_THR, buffer);
LORDTEK	0:9a1aae56ed19	453	return buffer[0];
LORDTEK	0:9a1aae56ed19	454	}
LORDTEK	0:9a1aae56ed19	455	/** Get free-fall event acceleration threshold.
LORDTEK	0:9a1aae56ed19	456	* @param threshold New free-fall acceleration threshold value (LSB = 2mg)
LORDTEK	0:9a1aae56ed19	457	* @see getFreefallDetectionThreshold()
LORDTEK	0:9a1aae56ed19	458	* @see MPU6050_RA_FF_THR
LORDTEK	0:9a1aae56ed19	459	*/
LORDTEK	0:9a1aae56ed19	460	void MPU6050::setFreefallDetectionThreshold(uint8_t threshold)
LORDTEK	0:9a1aae56ed19	461	{
LORDTEK	0:9a1aae56ed19	462	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
LORDTEK	0:9a1aae56ed19	463	}
LORDTEK	0:9a1aae56ed19	464
LORDTEK	0:9a1aae56ed19	465	// FF_DUR register
LORDTEK	0:9a1aae56ed19	466
LORDTEK	0:9a1aae56ed19	467	/** Get free-fall event duration threshold.
LORDTEK	0:9a1aae56ed19	468	* This register configures the duration counter threshold for Free Fall event
LORDTEK	0:9a1aae56ed19	469	* detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
LORDTEK	0:9a1aae56ed19	470	* of 1 LSB = 1 ms.
LORDTEK	0:9a1aae56ed19	471	*
LORDTEK	0:9a1aae56ed19	472	* The Free Fall duration counter increments while the absolute value of the
LORDTEK	0:9a1aae56ed19	473	* accelerometer measurements are each less than the detection threshold
LORDTEK	0:9a1aae56ed19	474	* (Register 29). The Free Fall interrupt is triggered when the Free Fall
LORDTEK	0:9a1aae56ed19	475	* duration counter reaches the time specified in this register.
LORDTEK	0:9a1aae56ed19	476	*
LORDTEK	0:9a1aae56ed19	477	* For more details on the Free Fall detection interrupt, see Section 8.2 of
LORDTEK	0:9a1aae56ed19	478	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
LORDTEK	0:9a1aae56ed19	479	* and 58 of this document.
LORDTEK	0:9a1aae56ed19	480	*
LORDTEK	0:9a1aae56ed19	481	* @return Current free-fall duration threshold value (LSB = 1ms)
LORDTEK	0:9a1aae56ed19	482	* @see MPU6050_RA_FF_DUR
LORDTEK	0:9a1aae56ed19	483	*/
LORDTEK	0:9a1aae56ed19	484	uint8_t MPU6050::getFreefallDetectionDuration()
LORDTEK	0:9a1aae56ed19	485	{
LORDTEK	0:9a1aae56ed19	486	i2Cdev.readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
LORDTEK	0:9a1aae56ed19	487	return buffer[0];
LORDTEK	0:9a1aae56ed19	488	}
LORDTEK	0:9a1aae56ed19	489	/** Get free-fall event duration threshold.
LORDTEK	0:9a1aae56ed19	490	* @param duration New free-fall duration threshold value (LSB = 1ms)
LORDTEK	0:9a1aae56ed19	491	* @see getFreefallDetectionDuration()
LORDTEK	0:9a1aae56ed19	492	* @see MPU6050_RA_FF_DUR
LORDTEK	0:9a1aae56ed19	493	*/
LORDTEK	0:9a1aae56ed19	494	void MPU6050::setFreefallDetectionDuration(uint8_t duration)
LORDTEK	0:9a1aae56ed19	495	{
LORDTEK	0:9a1aae56ed19	496	i2Cdev.writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
LORDTEK	0:9a1aae56ed19	497	}
LORDTEK	0:9a1aae56ed19	498
LORDTEK	0:9a1aae56ed19	499	// MOT_THR register
LORDTEK	0:9a1aae56ed19	500
LORDTEK	0:9a1aae56ed19	501	/** Get motion detection event acceleration threshold.
LORDTEK	0:9a1aae56ed19	502	* This register configures the detection threshold for Motion interrupt
LORDTEK	0:9a1aae56ed19	503	* generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
LORDTEK	0:9a1aae56ed19	504	* absolute value of any of the accelerometer measurements exceeds this Motion
LORDTEK	0:9a1aae56ed19	505	* detection threshold. This condition increments the Motion detection duration
LORDTEK	0:9a1aae56ed19	506	* counter (Register 32). The Motion detection interrupt is triggered when the
LORDTEK	0:9a1aae56ed19	507	* Motion Detection counter reaches the time count specified in MOT_DUR
LORDTEK	0:9a1aae56ed19	508	* (Register 32).
LORDTEK	0:9a1aae56ed19	509	*
LORDTEK	0:9a1aae56ed19	510	* The Motion interrupt will indicate the axis and polarity of detected motion
LORDTEK	0:9a1aae56ed19	511	* in MOT_DETECT_STATUS (Register 97).
LORDTEK	0:9a1aae56ed19	512	*
LORDTEK	0:9a1aae56ed19	513	* For more details on the Motion detection interrupt, see Section 8.3 of the
LORDTEK	0:9a1aae56ed19	514	* MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
LORDTEK	0:9a1aae56ed19	515	* 58 of this document.
LORDTEK	0:9a1aae56ed19	516	*
LORDTEK	0:9a1aae56ed19	517	* @return Current motion detection acceleration threshold value (LSB = 2mg)
LORDTEK	0:9a1aae56ed19	518	* @see MPU6050_RA_MOT_THR
LORDTEK	0:9a1aae56ed19	519	*/
LORDTEK	0:9a1aae56ed19	520	uint8_t MPU6050::getMotionDetectionThreshold()
LORDTEK	0:9a1aae56ed19	521	{
LORDTEK	0:9a1aae56ed19	522	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
LORDTEK	0:9a1aae56ed19	523	return buffer[0];
LORDTEK	0:9a1aae56ed19	524	}
LORDTEK	0:9a1aae56ed19	525	/** Set free-fall event acceleration threshold.
LORDTEK	0:9a1aae56ed19	526	* @param threshold New motion detection acceleration threshold value (LSB = 2mg)
LORDTEK	0:9a1aae56ed19	527	* @see getMotionDetectionThreshold()
LORDTEK	0:9a1aae56ed19	528	* @see MPU6050_RA_MOT_THR
LORDTEK	0:9a1aae56ed19	529	*/
LORDTEK	0:9a1aae56ed19	530	void MPU6050::setMotionDetectionThreshold(uint8_t threshold)
LORDTEK	0:9a1aae56ed19	531	{
LORDTEK	0:9a1aae56ed19	532	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
LORDTEK	0:9a1aae56ed19	533	}
LORDTEK	0:9a1aae56ed19	534
LORDTEK	0:9a1aae56ed19	535	// MOT_DUR register
LORDTEK	0:9a1aae56ed19	536
LORDTEK	0:9a1aae56ed19	537	/** Get motion detection event duration threshold.
LORDTEK	0:9a1aae56ed19	538	* This register configures the duration counter threshold for Motion interrupt
LORDTEK	0:9a1aae56ed19	539	* generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
LORDTEK	0:9a1aae56ed19	540	* of 1LSB = 1ms. The Motion detection duration counter increments when the
LORDTEK	0:9a1aae56ed19	541	* absolute value of any of the accelerometer measurements exceeds the Motion
LORDTEK	0:9a1aae56ed19	542	* detection threshold (Register 31). The Motion detection interrupt is
LORDTEK	0:9a1aae56ed19	543	* triggered when the Motion detection counter reaches the time count specified
LORDTEK	0:9a1aae56ed19	544	* in this register.
LORDTEK	0:9a1aae56ed19	545	*
LORDTEK	0:9a1aae56ed19	546	* For more details on the Motion detection interrupt, see Section 8.3 of the
LORDTEK	0:9a1aae56ed19	547	* MPU-6000/MPU-6050 Product Specification document.
LORDTEK	0:9a1aae56ed19	548	*
LORDTEK	0:9a1aae56ed19	549	* @return Current motion detection duration threshold value (LSB = 1ms)
LORDTEK	0:9a1aae56ed19	550	* @see MPU6050_RA_MOT_DUR
LORDTEK	0:9a1aae56ed19	551	*/
LORDTEK	0:9a1aae56ed19	552	uint8_t MPU6050::getMotionDetectionDuration()
LORDTEK	0:9a1aae56ed19	553	{
LORDTEK	0:9a1aae56ed19	554	i2Cdev.readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
LORDTEK	0:9a1aae56ed19	555	return buffer[0];
LORDTEK	0:9a1aae56ed19	556	}
LORDTEK	0:9a1aae56ed19	557	/** Set motion detection event duration threshold.
LORDTEK	0:9a1aae56ed19	558	* @param duration New motion detection duration threshold value (LSB = 1ms)
LORDTEK	0:9a1aae56ed19	559	* @see getMotionDetectionDuration()
LORDTEK	0:9a1aae56ed19	560	* @see MPU6050_RA_MOT_DUR
LORDTEK	0:9a1aae56ed19	561	*/
LORDTEK	0:9a1aae56ed19	562	void MPU6050::setMotionDetectionDuration(uint8_t duration)
LORDTEK	0:9a1aae56ed19	563	{
LORDTEK	0:9a1aae56ed19	564	i2Cdev.writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
LORDTEK	0:9a1aae56ed19	565	}
LORDTEK	0:9a1aae56ed19	566
LORDTEK	0:9a1aae56ed19	567	// ZRMOT_THR register
LORDTEK	0:9a1aae56ed19	568
LORDTEK	0:9a1aae56ed19	569	/** Get zero motion detection event acceleration threshold.
LORDTEK	0:9a1aae56ed19	570	* This register configures the detection threshold for Zero Motion interrupt
LORDTEK	0:9a1aae56ed19	571	* generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
LORDTEK	0:9a1aae56ed19	572	* the absolute value of the accelerometer measurements for the 3 axes are each
LORDTEK	0:9a1aae56ed19	573	* less than the detection threshold. This condition increments the Zero Motion
LORDTEK	0:9a1aae56ed19	574	* duration counter (Register 34). The Zero Motion interrupt is triggered when
LORDTEK	0:9a1aae56ed19	575	* the Zero Motion duration counter reaches the time count specified in
LORDTEK	0:9a1aae56ed19	576	* ZRMOT_DUR (Register 34).
LORDTEK	0:9a1aae56ed19	577	*
LORDTEK	0:9a1aae56ed19	578	* Unlike Free Fall or Motion detection, Zero Motion detection triggers an
LORDTEK	0:9a1aae56ed19	579	* interrupt both when Zero Motion is first detected and when Zero Motion is no
LORDTEK	0:9a1aae56ed19	580	* longer detected.
LORDTEK	0:9a1aae56ed19	581	*
LORDTEK	0:9a1aae56ed19	582	* When a zero motion event is detected, a Zero Motion Status will be indicated
LORDTEK	0:9a1aae56ed19	583	* in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
LORDTEK	0:9a1aae56ed19	584	* condition is detected, the status bit is set to 1. When a zero-motion-to-
LORDTEK	0:9a1aae56ed19	585	* motion condition is detected, the status bit is set to 0.
LORDTEK	0:9a1aae56ed19	586	*
LORDTEK	0:9a1aae56ed19	587	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
LORDTEK	0:9a1aae56ed19	588	* the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
LORDTEK	0:9a1aae56ed19	589	* and 58 of this document.
LORDTEK	0:9a1aae56ed19	590	*
LORDTEK	0:9a1aae56ed19	591	* @return Current zero motion detection acceleration threshold value (LSB = 2mg)
LORDTEK	0:9a1aae56ed19	592	* @see MPU6050_RA_ZRMOT_THR
LORDTEK	0:9a1aae56ed19	593	*/
LORDTEK	0:9a1aae56ed19	594	uint8_t MPU6050::getZeroMotionDetectionThreshold()
LORDTEK	0:9a1aae56ed19	595	{
LORDTEK	0:9a1aae56ed19	596	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
LORDTEK	0:9a1aae56ed19	597	return buffer[0];
LORDTEK	0:9a1aae56ed19	598	}
LORDTEK	0:9a1aae56ed19	599	/** Set zero motion detection event acceleration threshold.
LORDTEK	0:9a1aae56ed19	600	* @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
LORDTEK	0:9a1aae56ed19	601	* @see getZeroMotionDetectionThreshold()
LORDTEK	0:9a1aae56ed19	602	* @see MPU6050_RA_ZRMOT_THR
LORDTEK	0:9a1aae56ed19	603	*/
LORDTEK	0:9a1aae56ed19	604	void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold)
LORDTEK	0:9a1aae56ed19	605	{
LORDTEK	0:9a1aae56ed19	606	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
LORDTEK	0:9a1aae56ed19	607	}
LORDTEK	0:9a1aae56ed19	608
LORDTEK	0:9a1aae56ed19	609	// ZRMOT_DUR register
LORDTEK	0:9a1aae56ed19	610
LORDTEK	0:9a1aae56ed19	611	/** Get zero motion detection event duration threshold.
LORDTEK	0:9a1aae56ed19	612	* This register configures the duration counter threshold for Zero Motion
LORDTEK	0:9a1aae56ed19	613	* interrupt generation. The duration counter ticks at 16 Hz, therefore
LORDTEK	0:9a1aae56ed19	614	* ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
LORDTEK	0:9a1aae56ed19	615	* increments while the absolute value of the accelerometer measurements are
LORDTEK	0:9a1aae56ed19	616	* each less than the detection threshold (Register 33). The Zero Motion
LORDTEK	0:9a1aae56ed19	617	* interrupt is triggered when the Zero Motion duration counter reaches the time
LORDTEK	0:9a1aae56ed19	618	* count specified in this register.
LORDTEK	0:9a1aae56ed19	619	*
LORDTEK	0:9a1aae56ed19	620	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
LORDTEK	0:9a1aae56ed19	621	* the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
LORDTEK	0:9a1aae56ed19	622	* and 58 of this document.
LORDTEK	0:9a1aae56ed19	623	*
LORDTEK	0:9a1aae56ed19	624	* @return Current zero motion detection duration threshold value (LSB = 64ms)
LORDTEK	0:9a1aae56ed19	625	* @see MPU6050_RA_ZRMOT_DUR
LORDTEK	0:9a1aae56ed19	626	*/
LORDTEK	0:9a1aae56ed19	627	uint8_t MPU6050::getZeroMotionDetectionDuration()
LORDTEK	0:9a1aae56ed19	628	{
LORDTEK	0:9a1aae56ed19	629	i2Cdev.readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
LORDTEK	0:9a1aae56ed19	630	return buffer[0];
LORDTEK	0:9a1aae56ed19	631	}
LORDTEK	0:9a1aae56ed19	632	/** Set zero motion detection event duration threshold.
LORDTEK	0:9a1aae56ed19	633	* @param duration New zero motion detection duration threshold value (LSB = 1ms)
LORDTEK	0:9a1aae56ed19	634	* @see getZeroMotionDetectionDuration()
LORDTEK	0:9a1aae56ed19	635	* @see MPU6050_RA_ZRMOT_DUR
LORDTEK	0:9a1aae56ed19	636	*/
LORDTEK	0:9a1aae56ed19	637	void MPU6050::setZeroMotionDetectionDuration(uint8_t duration)
LORDTEK	0:9a1aae56ed19	638	{
LORDTEK	0:9a1aae56ed19	639	i2Cdev.writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
LORDTEK	0:9a1aae56ed19	640	}
LORDTEK	0:9a1aae56ed19	641
LORDTEK	0:9a1aae56ed19	642	// FIFO_EN register
LORDTEK	0:9a1aae56ed19	643
LORDTEK	0:9a1aae56ed19	644	/** Get temperature FIFO enabled value.
LORDTEK	0:9a1aae56ed19	645	* When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
LORDTEK	0:9a1aae56ed19	646	* 66) to be written into the FIFO buffer.
LORDTEK	0:9a1aae56ed19	647	* @return Current temperature FIFO enabled value
LORDTEK	0:9a1aae56ed19	648	* @see MPU6050_RA_FIFO_EN
LORDTEK	0:9a1aae56ed19	649	*/
LORDTEK	0:9a1aae56ed19	650	bool MPU6050::getTempFIFOEnabled()
LORDTEK	0:9a1aae56ed19	651	{
LORDTEK	0:9a1aae56ed19	652	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
LORDTEK	0:9a1aae56ed19	653	return buffer[0];
LORDTEK	0:9a1aae56ed19	654	}
LORDTEK	0:9a1aae56ed19	655	/** Set temperature FIFO enabled value.
LORDTEK	0:9a1aae56ed19	656	* @param enabled New temperature FIFO enabled value
LORDTEK	0:9a1aae56ed19	657	* @see getTempFIFOEnabled()
LORDTEK	0:9a1aae56ed19	658	* @see MPU6050_RA_FIFO_EN
LORDTEK	0:9a1aae56ed19	659	*/
LORDTEK	0:9a1aae56ed19	660	void MPU6050::setTempFIFOEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	661	{
LORDTEK	0:9a1aae56ed19	662	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
LORDTEK	0:9a1aae56ed19	663	}
LORDTEK	0:9a1aae56ed19	664	/** Get gyroscope X-axis FIFO enabled value.
LORDTEK	0:9a1aae56ed19	665	* When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
LORDTEK	0:9a1aae56ed19	666	* 68) to be written into the FIFO buffer.
LORDTEK	0:9a1aae56ed19	667	* @return Current gyroscope X-axis FIFO enabled value
LORDTEK	0:9a1aae56ed19	668	* @see MPU6050_RA_FIFO_EN
LORDTEK	0:9a1aae56ed19	669	*/
LORDTEK	0:9a1aae56ed19	670	bool MPU6050::getXGyroFIFOEnabled()
LORDTEK	0:9a1aae56ed19	671	{
LORDTEK	0:9a1aae56ed19	672	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
LORDTEK	0:9a1aae56ed19	673	return buffer[0];
LORDTEK	0:9a1aae56ed19	674	}
LORDTEK	0:9a1aae56ed19	675	/** Set gyroscope X-axis FIFO enabled value.
LORDTEK	0:9a1aae56ed19	676	* @param enabled New gyroscope X-axis FIFO enabled value
LORDTEK	0:9a1aae56ed19	677	* @see getXGyroFIFOEnabled()
LORDTEK	0:9a1aae56ed19	678	* @see MPU6050_RA_FIFO_EN
LORDTEK	0:9a1aae56ed19	679	*/
LORDTEK	0:9a1aae56ed19	680	void MPU6050::setXGyroFIFOEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	681	{
LORDTEK	0:9a1aae56ed19	682	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
LORDTEK	0:9a1aae56ed19	683	}
LORDTEK	0:9a1aae56ed19	684	/** Get gyroscope Y-axis FIFO enabled value.
LORDTEK	0:9a1aae56ed19	685	* When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
LORDTEK	0:9a1aae56ed19	686	* 70) to be written into the FIFO buffer.
LORDTEK	0:9a1aae56ed19	687	* @return Current gyroscope Y-axis FIFO enabled value
LORDTEK	0:9a1aae56ed19	688	* @see MPU6050_RA_FIFO_EN
LORDTEK	0:9a1aae56ed19	689	*/
LORDTEK	0:9a1aae56ed19	690	bool MPU6050::getYGyroFIFOEnabled()
LORDTEK	0:9a1aae56ed19	691	{
LORDTEK	0:9a1aae56ed19	692	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
LORDTEK	0:9a1aae56ed19	693	return buffer[0];
LORDTEK	0:9a1aae56ed19	694	}
LORDTEK	0:9a1aae56ed19	695	/** Set gyroscope Y-axis FIFO enabled value.
LORDTEK	0:9a1aae56ed19	696	* @param enabled New gyroscope Y-axis FIFO enabled value
LORDTEK	0:9a1aae56ed19	697	* @see getYGyroFIFOEnabled()
LORDTEK	0:9a1aae56ed19	698	* @see MPU6050_RA_FIFO_EN
LORDTEK	0:9a1aae56ed19	699	*/
LORDTEK	0:9a1aae56ed19	700	void MPU6050::setYGyroFIFOEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	701	{
LORDTEK	0:9a1aae56ed19	702	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
LORDTEK	0:9a1aae56ed19	703	}
LORDTEK	0:9a1aae56ed19	704	/** Get gyroscope Z-axis FIFO enabled value.
LORDTEK	0:9a1aae56ed19	705	* When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
LORDTEK	0:9a1aae56ed19	706	* 72) to be written into the FIFO buffer.
LORDTEK	0:9a1aae56ed19	707	* @return Current gyroscope Z-axis FIFO enabled value
LORDTEK	0:9a1aae56ed19	708	* @see MPU6050_RA_FIFO_EN
LORDTEK	0:9a1aae56ed19	709	*/
LORDTEK	0:9a1aae56ed19	710	bool MPU6050::getZGyroFIFOEnabled()
LORDTEK	0:9a1aae56ed19	711	{
LORDTEK	0:9a1aae56ed19	712	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
LORDTEK	0:9a1aae56ed19	713	return buffer[0];
LORDTEK	0:9a1aae56ed19	714	}
LORDTEK	0:9a1aae56ed19	715	/** Set gyroscope Z-axis FIFO enabled value.
LORDTEK	0:9a1aae56ed19	716	* @param enabled New gyroscope Z-axis FIFO enabled value
LORDTEK	0:9a1aae56ed19	717	* @see getZGyroFIFOEnabled()
LORDTEK	0:9a1aae56ed19	718	* @see MPU6050_RA_FIFO_EN
LORDTEK	0:9a1aae56ed19	719	*/
LORDTEK	0:9a1aae56ed19	720	void MPU6050::setZGyroFIFOEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	721	{
LORDTEK	0:9a1aae56ed19	722	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
LORDTEK	0:9a1aae56ed19	723	}
LORDTEK	0:9a1aae56ed19	724	/** Get accelerometer FIFO enabled value.
LORDTEK	0:9a1aae56ed19	725	* When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
LORDTEK	0:9a1aae56ed19	726	* ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
LORDTEK	0:9a1aae56ed19	727	* written into the FIFO buffer.
LORDTEK	0:9a1aae56ed19	728	* @return Current accelerometer FIFO enabled value
LORDTEK	0:9a1aae56ed19	729	* @see MPU6050_RA_FIFO_EN
LORDTEK	0:9a1aae56ed19	730	*/
LORDTEK	0:9a1aae56ed19	731	bool MPU6050::getAccelFIFOEnabled()
LORDTEK	0:9a1aae56ed19	732	{
LORDTEK	0:9a1aae56ed19	733	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
LORDTEK	0:9a1aae56ed19	734	return buffer[0];
LORDTEK	0:9a1aae56ed19	735	}
LORDTEK	0:9a1aae56ed19	736	/** Set accelerometer FIFO enabled value.
LORDTEK	0:9a1aae56ed19	737	* @param enabled New accelerometer FIFO enabled value
LORDTEK	0:9a1aae56ed19	738	* @see getAccelFIFOEnabled()
LORDTEK	0:9a1aae56ed19	739	* @see MPU6050_RA_FIFO_EN
LORDTEK	0:9a1aae56ed19	740	*/
LORDTEK	0:9a1aae56ed19	741	void MPU6050::setAccelFIFOEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	742	{
LORDTEK	0:9a1aae56ed19	743	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
LORDTEK	0:9a1aae56ed19	744	}
LORDTEK	0:9a1aae56ed19	745	/** Get Slave 2 FIFO enabled value.
LORDTEK	0:9a1aae56ed19	746	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
LORDTEK	0:9a1aae56ed19	747	* associated with Slave 2 to be written into the FIFO buffer.
LORDTEK	0:9a1aae56ed19	748	* @return Current Slave 2 FIFO enabled value
LORDTEK	0:9a1aae56ed19	749	* @see MPU6050_RA_FIFO_EN
LORDTEK	0:9a1aae56ed19	750	*/
LORDTEK	0:9a1aae56ed19	751	bool MPU6050::getSlave2FIFOEnabled()
LORDTEK	0:9a1aae56ed19	752	{
LORDTEK	0:9a1aae56ed19	753	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
LORDTEK	0:9a1aae56ed19	754	return buffer[0];
LORDTEK	0:9a1aae56ed19	755	}
LORDTEK	0:9a1aae56ed19	756	/** Set Slave 2 FIFO enabled value.
LORDTEK	0:9a1aae56ed19	757	* @param enabled New Slave 2 FIFO enabled value
LORDTEK	0:9a1aae56ed19	758	* @see getSlave2FIFOEnabled()
LORDTEK	0:9a1aae56ed19	759	* @see MPU6050_RA_FIFO_EN
LORDTEK	0:9a1aae56ed19	760	*/
LORDTEK	0:9a1aae56ed19	761	void MPU6050::setSlave2FIFOEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	762	{
LORDTEK	0:9a1aae56ed19	763	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
LORDTEK	0:9a1aae56ed19	764	}
LORDTEK	0:9a1aae56ed19	765	/** Get Slave 1 FIFO enabled value.
LORDTEK	0:9a1aae56ed19	766	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
LORDTEK	0:9a1aae56ed19	767	* associated with Slave 1 to be written into the FIFO buffer.
LORDTEK	0:9a1aae56ed19	768	* @return Current Slave 1 FIFO enabled value
LORDTEK	0:9a1aae56ed19	769	* @see MPU6050_RA_FIFO_EN
LORDTEK	0:9a1aae56ed19	770	*/
LORDTEK	0:9a1aae56ed19	771	bool MPU6050::getSlave1FIFOEnabled()
LORDTEK	0:9a1aae56ed19	772	{
LORDTEK	0:9a1aae56ed19	773	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
LORDTEK	0:9a1aae56ed19	774	return buffer[0];
LORDTEK	0:9a1aae56ed19	775	}
LORDTEK	0:9a1aae56ed19	776	/** Set Slave 1 FIFO enabled value.
LORDTEK	0:9a1aae56ed19	777	* @param enabled New Slave 1 FIFO enabled value
LORDTEK	0:9a1aae56ed19	778	* @see getSlave1FIFOEnabled()
LORDTEK	0:9a1aae56ed19	779	* @see MPU6050_RA_FIFO_EN
LORDTEK	0:9a1aae56ed19	780	*/
LORDTEK	0:9a1aae56ed19	781	void MPU6050::setSlave1FIFOEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	782	{
LORDTEK	0:9a1aae56ed19	783	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
LORDTEK	0:9a1aae56ed19	784	}
LORDTEK	0:9a1aae56ed19	785	/** Get Slave 0 FIFO enabled value.
LORDTEK	0:9a1aae56ed19	786	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
LORDTEK	0:9a1aae56ed19	787	* associated with Slave 0 to be written into the FIFO buffer.
LORDTEK	0:9a1aae56ed19	788	* @return Current Slave 0 FIFO enabled value
LORDTEK	0:9a1aae56ed19	789	* @see MPU6050_RA_FIFO_EN
LORDTEK	0:9a1aae56ed19	790	*/
LORDTEK	0:9a1aae56ed19	791	bool MPU6050::getSlave0FIFOEnabled()
LORDTEK	0:9a1aae56ed19	792	{
LORDTEK	0:9a1aae56ed19	793	i2Cdev.readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
LORDTEK	0:9a1aae56ed19	794	return buffer[0];
LORDTEK	0:9a1aae56ed19	795	}
LORDTEK	0:9a1aae56ed19	796	/** Set Slave 0 FIFO enabled value.
LORDTEK	0:9a1aae56ed19	797	* @param enabled New Slave 0 FIFO enabled value
LORDTEK	0:9a1aae56ed19	798	* @see getSlave0FIFOEnabled()
LORDTEK	0:9a1aae56ed19	799	* @see MPU6050_RA_FIFO_EN
LORDTEK	0:9a1aae56ed19	800	*/
LORDTEK	0:9a1aae56ed19	801	void MPU6050::setSlave0FIFOEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	802	{
LORDTEK	0:9a1aae56ed19	803	i2Cdev.writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
LORDTEK	0:9a1aae56ed19	804	}
LORDTEK	0:9a1aae56ed19	805
LORDTEK	0:9a1aae56ed19	806	// I2C_MST_CTRL register
LORDTEK	0:9a1aae56ed19	807
LORDTEK	0:9a1aae56ed19	808	/** Get multi-master enabled value.
LORDTEK	0:9a1aae56ed19	809	* Multi-master capability allows multiple I2C masters to operate on the same
LORDTEK	0:9a1aae56ed19	810	* bus. In circuits where multi-master capability is required, set MULT_MST_EN
LORDTEK	0:9a1aae56ed19	811	* to 1. This will increase current drawn by approximately 30uA.
LORDTEK	0:9a1aae56ed19	812	*
LORDTEK	0:9a1aae56ed19	813	* In circuits where multi-master capability is required, the state of the I2C
LORDTEK	0:9a1aae56ed19	814	* bus must always be monitored by each separate I2C Master. Before an I2C
LORDTEK	0:9a1aae56ed19	815	* Master can assume arbitration of the bus, it must first confirm that no other
LORDTEK	0:9a1aae56ed19	816	* I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
LORDTEK	0:9a1aae56ed19	817	* MPU-60X0's bus arbitration detection logic is turned on, enabling it to
LORDTEK	0:9a1aae56ed19	818	* detect when the bus is available.
LORDTEK	0:9a1aae56ed19	819	*
LORDTEK	0:9a1aae56ed19	820	* @return Current multi-master enabled value
LORDTEK	0:9a1aae56ed19	821	* @see MPU6050_RA_I2C_MST_CTRL
LORDTEK	0:9a1aae56ed19	822	*/
LORDTEK	0:9a1aae56ed19	823	bool MPU6050::getMultiMasterEnabled()
LORDTEK	0:9a1aae56ed19	824	{
LORDTEK	0:9a1aae56ed19	825	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
LORDTEK	0:9a1aae56ed19	826	return buffer[0];
LORDTEK	0:9a1aae56ed19	827	}
LORDTEK	0:9a1aae56ed19	828	/** Set multi-master enabled value.
LORDTEK	0:9a1aae56ed19	829	* @param enabled New multi-master enabled value
LORDTEK	0:9a1aae56ed19	830	* @see getMultiMasterEnabled()
LORDTEK	0:9a1aae56ed19	831	* @see MPU6050_RA_I2C_MST_CTRL
LORDTEK	0:9a1aae56ed19	832	*/
LORDTEK	0:9a1aae56ed19	833	void MPU6050::setMultiMasterEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	834	{
LORDTEK	0:9a1aae56ed19	835	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
LORDTEK	0:9a1aae56ed19	836	}
LORDTEK	0:9a1aae56ed19	837	/** Get wait-for-external-sensor-data enabled value.
LORDTEK	0:9a1aae56ed19	838	* When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
LORDTEK	0:9a1aae56ed19	839	* delayed until External Sensor data from the Slave Devices are loaded into the
LORDTEK	0:9a1aae56ed19	840	* EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
LORDTEK	0:9a1aae56ed19	841	* data (i.e. from gyro and accel) and external sensor data have been loaded to
LORDTEK	0:9a1aae56ed19	842	* their respective data registers (i.e. the data is synced) when the Data Ready
LORDTEK	0:9a1aae56ed19	843	* interrupt is triggered.
LORDTEK	0:9a1aae56ed19	844	*
LORDTEK	0:9a1aae56ed19	845	* @return Current wait-for-external-sensor-data enabled value
LORDTEK	0:9a1aae56ed19	846	* @see MPU6050_RA_I2C_MST_CTRL
LORDTEK	0:9a1aae56ed19	847	*/
LORDTEK	0:9a1aae56ed19	848	bool MPU6050::getWaitForExternalSensorEnabled()
LORDTEK	0:9a1aae56ed19	849	{
LORDTEK	0:9a1aae56ed19	850	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
LORDTEK	0:9a1aae56ed19	851	return buffer[0];
LORDTEK	0:9a1aae56ed19	852	}
LORDTEK	0:9a1aae56ed19	853	/** Set wait-for-external-sensor-data enabled value.
LORDTEK	0:9a1aae56ed19	854	* @param enabled New wait-for-external-sensor-data enabled value
LORDTEK	0:9a1aae56ed19	855	* @see getWaitForExternalSensorEnabled()
LORDTEK	0:9a1aae56ed19	856	* @see MPU6050_RA_I2C_MST_CTRL
LORDTEK	0:9a1aae56ed19	857	*/
LORDTEK	0:9a1aae56ed19	858	void MPU6050::setWaitForExternalSensorEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	859	{
LORDTEK	0:9a1aae56ed19	860	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
LORDTEK	0:9a1aae56ed19	861	}
LORDTEK	0:9a1aae56ed19	862	/** Get Slave 3 FIFO enabled value.
LORDTEK	0:9a1aae56ed19	863	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
LORDTEK	0:9a1aae56ed19	864	* associated with Slave 3 to be written into the FIFO buffer.
LORDTEK	0:9a1aae56ed19	865	* @return Current Slave 3 FIFO enabled value
LORDTEK	0:9a1aae56ed19	866	* @see MPU6050_RA_MST_CTRL
LORDTEK	0:9a1aae56ed19	867	*/
LORDTEK	0:9a1aae56ed19	868	bool MPU6050::getSlave3FIFOEnabled()
LORDTEK	0:9a1aae56ed19	869	{
LORDTEK	0:9a1aae56ed19	870	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
LORDTEK	0:9a1aae56ed19	871	return buffer[0];
LORDTEK	0:9a1aae56ed19	872	}
LORDTEK	0:9a1aae56ed19	873	/** Set Slave 3 FIFO enabled value.
LORDTEK	0:9a1aae56ed19	874	* @param enabled New Slave 3 FIFO enabled value
LORDTEK	0:9a1aae56ed19	875	* @see getSlave3FIFOEnabled()
LORDTEK	0:9a1aae56ed19	876	* @see MPU6050_RA_MST_CTRL
LORDTEK	0:9a1aae56ed19	877	*/
LORDTEK	0:9a1aae56ed19	878	void MPU6050::setSlave3FIFOEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	879	{
LORDTEK	0:9a1aae56ed19	880	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
LORDTEK	0:9a1aae56ed19	881	}
LORDTEK	0:9a1aae56ed19	882	/** Get slave read/write transition enabled value.
LORDTEK	0:9a1aae56ed19	883	* The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
LORDTEK	0:9a1aae56ed19	884	* read to the next slave read. If the bit equals 0, there will be a restart
LORDTEK	0:9a1aae56ed19	885	* between reads. If the bit equals 1, there will be a stop followed by a start
LORDTEK	0:9a1aae56ed19	886	* of the following read. When a write transaction follows a read transaction,
LORDTEK	0:9a1aae56ed19	887	* the stop followed by a start of the successive write will be always used.
LORDTEK	0:9a1aae56ed19	888	*
LORDTEK	0:9a1aae56ed19	889	* @return Current slave read/write transition enabled value
LORDTEK	0:9a1aae56ed19	890	* @see MPU6050_RA_I2C_MST_CTRL
LORDTEK	0:9a1aae56ed19	891	*/
LORDTEK	0:9a1aae56ed19	892	bool MPU6050::getSlaveReadWriteTransitionEnabled()
LORDTEK	0:9a1aae56ed19	893	{
LORDTEK	0:9a1aae56ed19	894	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
LORDTEK	0:9a1aae56ed19	895	return buffer[0];
LORDTEK	0:9a1aae56ed19	896	}
LORDTEK	0:9a1aae56ed19	897	/** Set slave read/write transition enabled value.
LORDTEK	0:9a1aae56ed19	898	* @param enabled New slave read/write transition enabled value
LORDTEK	0:9a1aae56ed19	899	* @see getSlaveReadWriteTransitionEnabled()
LORDTEK	0:9a1aae56ed19	900	* @see MPU6050_RA_I2C_MST_CTRL
LORDTEK	0:9a1aae56ed19	901	*/
LORDTEK	0:9a1aae56ed19	902	void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	903	{
LORDTEK	0:9a1aae56ed19	904	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
LORDTEK	0:9a1aae56ed19	905	}
LORDTEK	0:9a1aae56ed19	906	/** Get I2C master clock speed.
LORDTEK	0:9a1aae56ed19	907	* I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
LORDTEK	0:9a1aae56ed19	908	* MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
LORDTEK	0:9a1aae56ed19	909	* the following table:
LORDTEK	0:9a1aae56ed19	910	*
LORDTEK	0:9a1aae56ed19	911	* <pre>
LORDTEK	0:9a1aae56ed19	912	* I2C_MST_CLK \| I2C Master Clock Speed \| 8MHz Clock Divider
LORDTEK	0:9a1aae56ed19	913	* ------------+------------------------+-------------------
LORDTEK	0:9a1aae56ed19	914	* 0 \| 348kHz \| 23
LORDTEK	0:9a1aae56ed19	915	* 1 \| 333kHz \| 24
LORDTEK	0:9a1aae56ed19	916	* 2 \| 320kHz \| 25
LORDTEK	0:9a1aae56ed19	917	* 3 \| 308kHz \| 26
LORDTEK	0:9a1aae56ed19	918	* 4 \| 296kHz \| 27
LORDTEK	0:9a1aae56ed19	919	* 5 \| 286kHz \| 28
LORDTEK	0:9a1aae56ed19	920	* 6 \| 276kHz \| 29
LORDTEK	0:9a1aae56ed19	921	* 7 \| 267kHz \| 30
LORDTEK	0:9a1aae56ed19	922	* 8 \| 258kHz \| 31
LORDTEK	0:9a1aae56ed19	923	* 9 \| 500kHz \| 16
LORDTEK	0:9a1aae56ed19	924	* 10 \| 471kHz \| 17
LORDTEK	0:9a1aae56ed19	925	* 11 \| 444kHz \| 18
LORDTEK	0:9a1aae56ed19	926	* 12 \| 421kHz \| 19
LORDTEK	0:9a1aae56ed19	927	* 13 \| 400kHz \| 20
LORDTEK	0:9a1aae56ed19	928	* 14 \| 381kHz \| 21
LORDTEK	0:9a1aae56ed19	929	* 15 \| 364kHz \| 22
LORDTEK	0:9a1aae56ed19	930	* </pre>
LORDTEK	0:9a1aae56ed19	931	*
LORDTEK	0:9a1aae56ed19	932	* @return Current I2C master clock speed
LORDTEK	0:9a1aae56ed19	933	* @see MPU6050_RA_I2C_MST_CTRL
LORDTEK	0:9a1aae56ed19	934	*/
LORDTEK	0:9a1aae56ed19	935	uint8_t MPU6050::getMasterClockSpeed()
LORDTEK	0:9a1aae56ed19	936	{
LORDTEK	0:9a1aae56ed19	937	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
LORDTEK	0:9a1aae56ed19	938	return buffer[0];
LORDTEK	0:9a1aae56ed19	939	}
LORDTEK	0:9a1aae56ed19	940	/** Set I2C master clock speed.
LORDTEK	0:9a1aae56ed19	941	* @reparam speed Current I2C master clock speed
LORDTEK	0:9a1aae56ed19	942	* @see MPU6050_RA_I2C_MST_CTRL
LORDTEK	0:9a1aae56ed19	943	*/
LORDTEK	0:9a1aae56ed19	944	void MPU6050::setMasterClockSpeed(uint8_t speed)
LORDTEK	0:9a1aae56ed19	945	{
LORDTEK	0:9a1aae56ed19	946	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
LORDTEK	0:9a1aae56ed19	947	}
LORDTEK	0:9a1aae56ed19	948
LORDTEK	0:9a1aae56ed19	949	// I2C_SLV* registers (Slave 0-3)
LORDTEK	0:9a1aae56ed19	950
LORDTEK	0:9a1aae56ed19	951	/** Get the I2C address of the specified slave (0-3).
LORDTEK	0:9a1aae56ed19	952	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
LORDTEK	0:9a1aae56ed19	953	* operation, and if it is cleared, then it's a write operation. The remaining
LORDTEK	0:9a1aae56ed19	954	* bits (6-0) are the 7-bit device address of the slave device.
LORDTEK	0:9a1aae56ed19	955	*
LORDTEK	0:9a1aae56ed19	956	* In read mode, the result of the read is placed in the lowest available
LORDTEK	0:9a1aae56ed19	957	* EXT_SENS_DATA register. For further information regarding the allocation of
LORDTEK	0:9a1aae56ed19	958	* read results, please refer to the EXT_SENS_DATA register description
LORDTEK	0:9a1aae56ed19	959	* (Registers 73 - 96).
LORDTEK	0:9a1aae56ed19	960	*
LORDTEK	0:9a1aae56ed19	961	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
LORDTEK	0:9a1aae56ed19	962	* characteristics, and so it has its own functions (getSlave4* and setSlave4*).
LORDTEK	0:9a1aae56ed19	963	*
LORDTEK	0:9a1aae56ed19	964	* I2C data transactions are performed at the Sample Rate, as defined in
LORDTEK	0:9a1aae56ed19	965	* Register 25. The user is responsible for ensuring that I2C data transactions
LORDTEK	0:9a1aae56ed19	966	* to and from each enabled Slave can be completed within a single period of the
LORDTEK	0:9a1aae56ed19	967	* Sample Rate.
LORDTEK	0:9a1aae56ed19	968	*
LORDTEK	0:9a1aae56ed19	969	* The I2C slave access rate can be reduced relative to the Sample Rate. This
LORDTEK	0:9a1aae56ed19	970	* reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
LORDTEK	0:9a1aae56ed19	971	* slave's access rate is reduced relative to the Sample Rate is determined by
LORDTEK	0:9a1aae56ed19	972	* I2C_MST_DELAY_CTRL (Register 103).
LORDTEK	0:9a1aae56ed19	973	*
LORDTEK	0:9a1aae56ed19	974	* The processing order for the slaves is fixed. The sequence followed for
LORDTEK	0:9a1aae56ed19	975	* processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
LORDTEK	0:9a1aae56ed19	976	* particular Slave is disabled it will be skipped.
LORDTEK	0:9a1aae56ed19	977	*
LORDTEK	0:9a1aae56ed19	978	* Each slave can either be accessed at the sample rate or at a reduced sample
LORDTEK	0:9a1aae56ed19	979	* rate. In a case where some slaves are accessed at the Sample Rate and some
LORDTEK	0:9a1aae56ed19	980	* slaves are accessed at the reduced rate, the sequence of accessing the slaves
LORDTEK	0:9a1aae56ed19	981	* (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
LORDTEK	0:9a1aae56ed19	982	* be skipped if their access rate dictates that they should not be accessed
LORDTEK	0:9a1aae56ed19	983	* during that particular cycle. For further information regarding the reduced
LORDTEK	0:9a1aae56ed19	984	* access rate, please refer to Register 52. Whether a slave is accessed at the
LORDTEK	0:9a1aae56ed19	985	* Sample Rate or at the reduced rate is determined by the Delay Enable bits in
LORDTEK	0:9a1aae56ed19	986	* Register 103.
LORDTEK	0:9a1aae56ed19	987	*
LORDTEK	0:9a1aae56ed19	988	* @param num Slave number (0-3)
LORDTEK	0:9a1aae56ed19	989	* @return Current address for specified slave
LORDTEK	0:9a1aae56ed19	990	* @see MPU6050_RA_I2C_SLV0_ADDR
LORDTEK	0:9a1aae56ed19	991	*/
LORDTEK	0:9a1aae56ed19	992	uint8_t MPU6050::getSlaveAddress(uint8_t num)
LORDTEK	0:9a1aae56ed19	993	{
LORDTEK	0:9a1aae56ed19	994	if (num > 3) return 0;
LORDTEK	0:9a1aae56ed19	995	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
LORDTEK	0:9a1aae56ed19	996	return buffer[0];
LORDTEK	0:9a1aae56ed19	997	}
LORDTEK	0:9a1aae56ed19	998	/** Set the I2C address of the specified slave (0-3).
LORDTEK	0:9a1aae56ed19	999	* @param num Slave number (0-3)
LORDTEK	0:9a1aae56ed19	1000	* @param address New address for specified slave
LORDTEK	0:9a1aae56ed19	1001	* @see getSlaveAddress()
LORDTEK	0:9a1aae56ed19	1002	* @see MPU6050_RA_I2C_SLV0_ADDR
LORDTEK	0:9a1aae56ed19	1003	*/
LORDTEK	0:9a1aae56ed19	1004	void MPU6050::setSlaveAddress(uint8_t num, uint8_t address)
LORDTEK	0:9a1aae56ed19	1005	{
LORDTEK	0:9a1aae56ed19	1006	if (num > 3) return;
LORDTEK	0:9a1aae56ed19	1007	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
LORDTEK	0:9a1aae56ed19	1008	}
LORDTEK	0:9a1aae56ed19	1009	/** Get the active internal register for the specified slave (0-3).
LORDTEK	0:9a1aae56ed19	1010	* Read/write operations for this slave will be done to whatever internal
LORDTEK	0:9a1aae56ed19	1011	* register address is stored in this MPU register.
LORDTEK	0:9a1aae56ed19	1012	*
LORDTEK	0:9a1aae56ed19	1013	* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
LORDTEK	0:9a1aae56ed19	1014	* characteristics, and so it has its own functions.
LORDTEK	0:9a1aae56ed19	1015	*
LORDTEK	0:9a1aae56ed19	1016	* @param num Slave number (0-3)
LORDTEK	0:9a1aae56ed19	1017	* @return Current active register for specified slave
LORDTEK	0:9a1aae56ed19	1018	* @see MPU6050_RA_I2C_SLV0_REG
LORDTEK	0:9a1aae56ed19	1019	*/
LORDTEK	0:9a1aae56ed19	1020	uint8_t MPU6050::getSlaveRegister(uint8_t num)
LORDTEK	0:9a1aae56ed19	1021	{
LORDTEK	0:9a1aae56ed19	1022	if (num > 3) return 0;
LORDTEK	0:9a1aae56ed19	1023	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
LORDTEK	0:9a1aae56ed19	1024	return buffer[0];
LORDTEK	0:9a1aae56ed19	1025	}
LORDTEK	0:9a1aae56ed19	1026	/** Set the active internal register for the specified slave (0-3).
LORDTEK	0:9a1aae56ed19	1027	* @param num Slave number (0-3)
LORDTEK	0:9a1aae56ed19	1028	* @param reg New active register for specified slave
LORDTEK	0:9a1aae56ed19	1029	* @see getSlaveRegister()
LORDTEK	0:9a1aae56ed19	1030	* @see MPU6050_RA_I2C_SLV0_REG
LORDTEK	0:9a1aae56ed19	1031	*/
LORDTEK	0:9a1aae56ed19	1032	void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg)
LORDTEK	0:9a1aae56ed19	1033	{
LORDTEK	0:9a1aae56ed19	1034	if (num > 3) return;
LORDTEK	0:9a1aae56ed19	1035	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
LORDTEK	0:9a1aae56ed19	1036	}
LORDTEK	0:9a1aae56ed19	1037	/** Get the enabled value for the specified slave (0-3).
LORDTEK	0:9a1aae56ed19	1038	* When set to 1, this bit enables Slave 0 for data transfer operations. When
LORDTEK	0:9a1aae56ed19	1039	* cleared to 0, this bit disables Slave 0 from data transfer operations.
LORDTEK	0:9a1aae56ed19	1040	* @param num Slave number (0-3)
LORDTEK	0:9a1aae56ed19	1041	* @return Current enabled value for specified slave
LORDTEK	0:9a1aae56ed19	1042	* @see MPU6050_RA_I2C_SLV0_CTRL
LORDTEK	0:9a1aae56ed19	1043	*/
LORDTEK	0:9a1aae56ed19	1044	bool MPU6050::getSlaveEnabled(uint8_t num)
LORDTEK	0:9a1aae56ed19	1045	{
LORDTEK	0:9a1aae56ed19	1046	if (num > 3) return 0;
LORDTEK	0:9a1aae56ed19	1047	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1048	return buffer[0];
LORDTEK	0:9a1aae56ed19	1049	}
LORDTEK	0:9a1aae56ed19	1050	/** Set the enabled value for the specified slave (0-3).
LORDTEK	0:9a1aae56ed19	1051	* @param num Slave number (0-3)
LORDTEK	0:9a1aae56ed19	1052	* @param enabled New enabled value for specified slave
LORDTEK	0:9a1aae56ed19	1053	* @see getSlaveEnabled()
LORDTEK	0:9a1aae56ed19	1054	* @see MPU6050_RA_I2C_SLV0_CTRL
LORDTEK	0:9a1aae56ed19	1055	*/
LORDTEK	0:9a1aae56ed19	1056	void MPU6050::setSlaveEnabled(uint8_t num, bool enabled)
LORDTEK	0:9a1aae56ed19	1057	{
LORDTEK	0:9a1aae56ed19	1058	if (num > 3) return;
LORDTEK	0:9a1aae56ed19	1059	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
LORDTEK	0:9a1aae56ed19	1060	}
LORDTEK	0:9a1aae56ed19	1061	/** Get word pair byte-swapping enabled for the specified slave (0-3).
LORDTEK	0:9a1aae56ed19	1062	* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
LORDTEK	0:9a1aae56ed19	1063	* the high and low bytes of a word pair are swapped. Please refer to
LORDTEK	0:9a1aae56ed19	1064	* I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
LORDTEK	0:9a1aae56ed19	1065	* bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
LORDTEK	0:9a1aae56ed19	1066	* registers in the order they were transferred.
LORDTEK	0:9a1aae56ed19	1067	*
LORDTEK	0:9a1aae56ed19	1068	* @param num Slave number (0-3)
LORDTEK	0:9a1aae56ed19	1069	* @return Current word pair byte-swapping enabled value for specified slave
LORDTEK	0:9a1aae56ed19	1070	* @see MPU6050_RA_I2C_SLV0_CTRL
LORDTEK	0:9a1aae56ed19	1071	*/
LORDTEK	0:9a1aae56ed19	1072	bool MPU6050::getSlaveWordByteSwap(uint8_t num)
LORDTEK	0:9a1aae56ed19	1073	{
LORDTEK	0:9a1aae56ed19	1074	if (num > 3) return 0;
LORDTEK	0:9a1aae56ed19	1075	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1076	return buffer[0];
LORDTEK	0:9a1aae56ed19	1077	}
LORDTEK	0:9a1aae56ed19	1078	/** Set word pair byte-swapping enabled for the specified slave (0-3).
LORDTEK	0:9a1aae56ed19	1079	* @param num Slave number (0-3)
LORDTEK	0:9a1aae56ed19	1080	* @param enabled New word pair byte-swapping enabled value for specified slave
LORDTEK	0:9a1aae56ed19	1081	* @see getSlaveWordByteSwap()
LORDTEK	0:9a1aae56ed19	1082	* @see MPU6050_RA_I2C_SLV0_CTRL
LORDTEK	0:9a1aae56ed19	1083	*/
LORDTEK	0:9a1aae56ed19	1084	void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled)
LORDTEK	0:9a1aae56ed19	1085	{
LORDTEK	0:9a1aae56ed19	1086	if (num > 3) return;
LORDTEK	0:9a1aae56ed19	1087	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
LORDTEK	0:9a1aae56ed19	1088	}
LORDTEK	0:9a1aae56ed19	1089	/** Get write mode for the specified slave (0-3).
LORDTEK	0:9a1aae56ed19	1090	* When set to 1, the transaction will read or write data only. When cleared to
LORDTEK	0:9a1aae56ed19	1091	* 0, the transaction will write a register address prior to reading or writing
LORDTEK	0:9a1aae56ed19	1092	* data. This should equal 0 when specifying the register address within the
LORDTEK	0:9a1aae56ed19	1093	* Slave device to/from which the ensuing data transaction will take place.
LORDTEK	0:9a1aae56ed19	1094	*
LORDTEK	0:9a1aae56ed19	1095	* @param num Slave number (0-3)
LORDTEK	0:9a1aae56ed19	1096	* @return Current write mode for specified slave (0 = register address + data, 1 = data only)
LORDTEK	0:9a1aae56ed19	1097	* @see MPU6050_RA_I2C_SLV0_CTRL
LORDTEK	0:9a1aae56ed19	1098	*/
LORDTEK	0:9a1aae56ed19	1099	bool MPU6050::getSlaveWriteMode(uint8_t num)
LORDTEK	0:9a1aae56ed19	1100	{
LORDTEK	0:9a1aae56ed19	1101	if (num > 3) return 0;
LORDTEK	0:9a1aae56ed19	1102	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1103	return buffer[0];
LORDTEK	0:9a1aae56ed19	1104	}
LORDTEK	0:9a1aae56ed19	1105	/** Set write mode for the specified slave (0-3).
LORDTEK	0:9a1aae56ed19	1106	* @param num Slave number (0-3)
LORDTEK	0:9a1aae56ed19	1107	* @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
LORDTEK	0:9a1aae56ed19	1108	* @see getSlaveWriteMode()
LORDTEK	0:9a1aae56ed19	1109	* @see MPU6050_RA_I2C_SLV0_CTRL
LORDTEK	0:9a1aae56ed19	1110	*/
LORDTEK	0:9a1aae56ed19	1111	void MPU6050::setSlaveWriteMode(uint8_t num, bool mode)
LORDTEK	0:9a1aae56ed19	1112	{
LORDTEK	0:9a1aae56ed19	1113	if (num > 3) return;
LORDTEK	0:9a1aae56ed19	1114	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
LORDTEK	0:9a1aae56ed19	1115	}
LORDTEK	0:9a1aae56ed19	1116	/** Get word pair grouping order offset for the specified slave (0-3).
LORDTEK	0:9a1aae56ed19	1117	* This sets specifies the grouping order of word pairs received from registers.
LORDTEK	0:9a1aae56ed19	1118	* When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
LORDTEK	0:9a1aae56ed19	1119	* then odd register addresses) are paired to form a word. When set to 1, bytes
LORDTEK	0:9a1aae56ed19	1120	* from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
LORDTEK	0:9a1aae56ed19	1121	* register addresses) are paired to form a word.
LORDTEK	0:9a1aae56ed19	1122	*
LORDTEK	0:9a1aae56ed19	1123	* @param num Slave number (0-3)
LORDTEK	0:9a1aae56ed19	1124	* @return Current word pair grouping order offset for specified slave
LORDTEK	0:9a1aae56ed19	1125	* @see MPU6050_RA_I2C_SLV0_CTRL
LORDTEK	0:9a1aae56ed19	1126	*/
LORDTEK	0:9a1aae56ed19	1127	bool MPU6050::getSlaveWordGroupOffset(uint8_t num)
LORDTEK	0:9a1aae56ed19	1128	{
LORDTEK	0:9a1aae56ed19	1129	if (num > 3) return 0;
LORDTEK	0:9a1aae56ed19	1130	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1131	return buffer[0];
LORDTEK	0:9a1aae56ed19	1132	}
LORDTEK	0:9a1aae56ed19	1133	/** Set word pair grouping order offset for the specified slave (0-3).
LORDTEK	0:9a1aae56ed19	1134	* @param num Slave number (0-3)
LORDTEK	0:9a1aae56ed19	1135	* @param enabled New word pair grouping order offset for specified slave
LORDTEK	0:9a1aae56ed19	1136	* @see getSlaveWordGroupOffset()
LORDTEK	0:9a1aae56ed19	1137	* @see MPU6050_RA_I2C_SLV0_CTRL
LORDTEK	0:9a1aae56ed19	1138	*/
LORDTEK	0:9a1aae56ed19	1139	void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled)
LORDTEK	0:9a1aae56ed19	1140	{
LORDTEK	0:9a1aae56ed19	1141	if (num > 3) return;
LORDTEK	0:9a1aae56ed19	1142	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
LORDTEK	0:9a1aae56ed19	1143	}
LORDTEK	0:9a1aae56ed19	1144	/** Get number of bytes to read for the specified slave (0-3).
LORDTEK	0:9a1aae56ed19	1145	* Specifies the number of bytes transferred to and from Slave 0. Clearing this
LORDTEK	0:9a1aae56ed19	1146	* bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
LORDTEK	0:9a1aae56ed19	1147	* @param num Slave number (0-3)
LORDTEK	0:9a1aae56ed19	1148	* @return Number of bytes to read for specified slave
LORDTEK	0:9a1aae56ed19	1149	* @see MPU6050_RA_I2C_SLV0_CTRL
LORDTEK	0:9a1aae56ed19	1150	*/
LORDTEK	0:9a1aae56ed19	1151	uint8_t MPU6050::getSlaveDataLength(uint8_t num)
LORDTEK	0:9a1aae56ed19	1152	{
LORDTEK	0:9a1aae56ed19	1153	if (num > 3) return 0;
LORDTEK	0:9a1aae56ed19	1154	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
LORDTEK	0:9a1aae56ed19	1155	return buffer[0];
LORDTEK	0:9a1aae56ed19	1156	}
LORDTEK	0:9a1aae56ed19	1157	/** Set number of bytes to read for the specified slave (0-3).
LORDTEK	0:9a1aae56ed19	1158	* @param num Slave number (0-3)
LORDTEK	0:9a1aae56ed19	1159	* @param length Number of bytes to read for specified slave
LORDTEK	0:9a1aae56ed19	1160	* @see getSlaveDataLength()
LORDTEK	0:9a1aae56ed19	1161	* @see MPU6050_RA_I2C_SLV0_CTRL
LORDTEK	0:9a1aae56ed19	1162	*/
LORDTEK	0:9a1aae56ed19	1163	void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length)
LORDTEK	0:9a1aae56ed19	1164	{
LORDTEK	0:9a1aae56ed19	1165	if (num > 3) return;
LORDTEK	0:9a1aae56ed19	1166	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
LORDTEK	0:9a1aae56ed19	1167	}
LORDTEK	0:9a1aae56ed19	1168
LORDTEK	0:9a1aae56ed19	1169	// I2C_SLV* registers (Slave 4)
LORDTEK	0:9a1aae56ed19	1170
LORDTEK	0:9a1aae56ed19	1171	/** Get the I2C address of Slave 4.
LORDTEK	0:9a1aae56ed19	1172	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
LORDTEK	0:9a1aae56ed19	1173	* operation, and if it is cleared, then it's a write operation. The remaining
LORDTEK	0:9a1aae56ed19	1174	* bits (6-0) are the 7-bit device address of the slave device.
LORDTEK	0:9a1aae56ed19	1175	*
LORDTEK	0:9a1aae56ed19	1176	* @return Current address for Slave 4
LORDTEK	0:9a1aae56ed19	1177	* @see getSlaveAddress()
LORDTEK	0:9a1aae56ed19	1178	* @see MPU6050_RA_I2C_SLV4_ADDR
LORDTEK	0:9a1aae56ed19	1179	*/
LORDTEK	0:9a1aae56ed19	1180	uint8_t MPU6050::getSlave4Address()
LORDTEK	0:9a1aae56ed19	1181	{
LORDTEK	0:9a1aae56ed19	1182	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
LORDTEK	0:9a1aae56ed19	1183	return buffer[0];
LORDTEK	0:9a1aae56ed19	1184	}
LORDTEK	0:9a1aae56ed19	1185	/** Set the I2C address of Slave 4.
LORDTEK	0:9a1aae56ed19	1186	* @param address New address for Slave 4
LORDTEK	0:9a1aae56ed19	1187	* @see getSlave4Address()
LORDTEK	0:9a1aae56ed19	1188	* @see MPU6050_RA_I2C_SLV4_ADDR
LORDTEK	0:9a1aae56ed19	1189	*/
LORDTEK	0:9a1aae56ed19	1190	void MPU6050::setSlave4Address(uint8_t address)
LORDTEK	0:9a1aae56ed19	1191	{
LORDTEK	0:9a1aae56ed19	1192	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
LORDTEK	0:9a1aae56ed19	1193	}
LORDTEK	0:9a1aae56ed19	1194	/** Get the active internal register for the Slave 4.
LORDTEK	0:9a1aae56ed19	1195	* Read/write operations for this slave will be done to whatever internal
LORDTEK	0:9a1aae56ed19	1196	* register address is stored in this MPU register.
LORDTEK	0:9a1aae56ed19	1197	*
LORDTEK	0:9a1aae56ed19	1198	* @return Current active register for Slave 4
LORDTEK	0:9a1aae56ed19	1199	* @see MPU6050_RA_I2C_SLV4_REG
LORDTEK	0:9a1aae56ed19	1200	*/
LORDTEK	0:9a1aae56ed19	1201	uint8_t MPU6050::getSlave4Register()
LORDTEK	0:9a1aae56ed19	1202	{
LORDTEK	0:9a1aae56ed19	1203	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
LORDTEK	0:9a1aae56ed19	1204	return buffer[0];
LORDTEK	0:9a1aae56ed19	1205	}
LORDTEK	0:9a1aae56ed19	1206	/** Set the active internal register for Slave 4.
LORDTEK	0:9a1aae56ed19	1207	* @param reg New active register for Slave 4
LORDTEK	0:9a1aae56ed19	1208	* @see getSlave4Register()
LORDTEK	0:9a1aae56ed19	1209	* @see MPU6050_RA_I2C_SLV4_REG
LORDTEK	0:9a1aae56ed19	1210	*/
LORDTEK	0:9a1aae56ed19	1211	void MPU6050::setSlave4Register(uint8_t reg)
LORDTEK	0:9a1aae56ed19	1212	{
LORDTEK	0:9a1aae56ed19	1213	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
LORDTEK	0:9a1aae56ed19	1214	}
LORDTEK	0:9a1aae56ed19	1215	/** Set new byte to write to Slave 4.
LORDTEK	0:9a1aae56ed19	1216	* This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
LORDTEK	0:9a1aae56ed19	1217	* is set 1 (set to read), this register has no effect.
LORDTEK	0:9a1aae56ed19	1218	* @param data New byte to write to Slave 4
LORDTEK	0:9a1aae56ed19	1219	* @see MPU6050_RA_I2C_SLV4_DO
LORDTEK	0:9a1aae56ed19	1220	*/
LORDTEK	0:9a1aae56ed19	1221	void MPU6050::setSlave4OutputByte(uint8_t data)
LORDTEK	0:9a1aae56ed19	1222	{
LORDTEK	0:9a1aae56ed19	1223	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
LORDTEK	0:9a1aae56ed19	1224	}
LORDTEK	0:9a1aae56ed19	1225	/** Get the enabled value for the Slave 4.
LORDTEK	0:9a1aae56ed19	1226	* When set to 1, this bit enables Slave 4 for data transfer operations. When
LORDTEK	0:9a1aae56ed19	1227	* cleared to 0, this bit disables Slave 4 from data transfer operations.
LORDTEK	0:9a1aae56ed19	1228	* @return Current enabled value for Slave 4
LORDTEK	0:9a1aae56ed19	1229	* @see MPU6050_RA_I2C_SLV4_CTRL
LORDTEK	0:9a1aae56ed19	1230	*/
LORDTEK	0:9a1aae56ed19	1231	bool MPU6050::getSlave4Enabled()
LORDTEK	0:9a1aae56ed19	1232	{
LORDTEK	0:9a1aae56ed19	1233	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1234	return buffer[0];
LORDTEK	0:9a1aae56ed19	1235	}
LORDTEK	0:9a1aae56ed19	1236	/** Set the enabled value for Slave 4.
LORDTEK	0:9a1aae56ed19	1237	* @param enabled New enabled value for Slave 4
LORDTEK	0:9a1aae56ed19	1238	* @see getSlave4Enabled()
LORDTEK	0:9a1aae56ed19	1239	* @see MPU6050_RA_I2C_SLV4_CTRL
LORDTEK	0:9a1aae56ed19	1240	*/
LORDTEK	0:9a1aae56ed19	1241	void MPU6050::setSlave4Enabled(bool enabled)
LORDTEK	0:9a1aae56ed19	1242	{
LORDTEK	0:9a1aae56ed19	1243	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
LORDTEK	0:9a1aae56ed19	1244	}
LORDTEK	0:9a1aae56ed19	1245	/** Get the enabled value for Slave 4 transaction interrupts.
LORDTEK	0:9a1aae56ed19	1246	* When set to 1, this bit enables the generation of an interrupt signal upon
LORDTEK	0:9a1aae56ed19	1247	* completion of a Slave 4 transaction. When cleared to 0, this bit disables the
LORDTEK	0:9a1aae56ed19	1248	* generation of an interrupt signal upon completion of a Slave 4 transaction.
LORDTEK	0:9a1aae56ed19	1249	* The interrupt status can be observed in Register 54.
LORDTEK	0:9a1aae56ed19	1250	*
LORDTEK	0:9a1aae56ed19	1251	* @return Current enabled value for Slave 4 transaction interrupts.
LORDTEK	0:9a1aae56ed19	1252	* @see MPU6050_RA_I2C_SLV4_CTRL
LORDTEK	0:9a1aae56ed19	1253	*/
LORDTEK	0:9a1aae56ed19	1254	bool MPU6050::getSlave4InterruptEnabled()
LORDTEK	0:9a1aae56ed19	1255	{
LORDTEK	0:9a1aae56ed19	1256	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1257	return buffer[0];
LORDTEK	0:9a1aae56ed19	1258	}
LORDTEK	0:9a1aae56ed19	1259	/** Set the enabled value for Slave 4 transaction interrupts.
LORDTEK	0:9a1aae56ed19	1260	* @param enabled New enabled value for Slave 4 transaction interrupts.
LORDTEK	0:9a1aae56ed19	1261	* @see getSlave4InterruptEnabled()
LORDTEK	0:9a1aae56ed19	1262	* @see MPU6050_RA_I2C_SLV4_CTRL
LORDTEK	0:9a1aae56ed19	1263	*/
LORDTEK	0:9a1aae56ed19	1264	void MPU6050::setSlave4InterruptEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	1265	{
LORDTEK	0:9a1aae56ed19	1266	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
LORDTEK	0:9a1aae56ed19	1267	}
LORDTEK	0:9a1aae56ed19	1268	/** Get write mode for Slave 4.
LORDTEK	0:9a1aae56ed19	1269	* When set to 1, the transaction will read or write data only. When cleared to
LORDTEK	0:9a1aae56ed19	1270	* 0, the transaction will write a register address prior to reading or writing
LORDTEK	0:9a1aae56ed19	1271	* data. This should equal 0 when specifying the register address within the
LORDTEK	0:9a1aae56ed19	1272	* Slave device to/from which the ensuing data transaction will take place.
LORDTEK	0:9a1aae56ed19	1273	*
LORDTEK	0:9a1aae56ed19	1274	* @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
LORDTEK	0:9a1aae56ed19	1275	* @see MPU6050_RA_I2C_SLV4_CTRL
LORDTEK	0:9a1aae56ed19	1276	*/
LORDTEK	0:9a1aae56ed19	1277	bool MPU6050::getSlave4WriteMode()
LORDTEK	0:9a1aae56ed19	1278	{
LORDTEK	0:9a1aae56ed19	1279	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1280	return buffer[0];
LORDTEK	0:9a1aae56ed19	1281	}
LORDTEK	0:9a1aae56ed19	1282	/** Set write mode for the Slave 4.
LORDTEK	0:9a1aae56ed19	1283	* @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
LORDTEK	0:9a1aae56ed19	1284	* @see getSlave4WriteMode()
LORDTEK	0:9a1aae56ed19	1285	* @see MPU6050_RA_I2C_SLV4_CTRL
LORDTEK	0:9a1aae56ed19	1286	*/
LORDTEK	0:9a1aae56ed19	1287	void MPU6050::setSlave4WriteMode(bool mode)
LORDTEK	0:9a1aae56ed19	1288	{
LORDTEK	0:9a1aae56ed19	1289	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
LORDTEK	0:9a1aae56ed19	1290	}
LORDTEK	0:9a1aae56ed19	1291	/** Get Slave 4 master delay value.
LORDTEK	0:9a1aae56ed19	1292	* This configures the reduced access rate of I2C slaves relative to the Sample
LORDTEK	0:9a1aae56ed19	1293	* Rate. When a slave's access rate is decreased relative to the Sample Rate,
LORDTEK	0:9a1aae56ed19	1294	* the slave is accessed every:
LORDTEK	0:9a1aae56ed19	1295	*
LORDTEK	0:9a1aae56ed19	1296	* 1 / (1 + I2C_MST_DLY) samples
LORDTEK	0:9a1aae56ed19	1297	*
LORDTEK	0:9a1aae56ed19	1298	* This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
LORDTEK	0:9a1aae56ed19	1299	* DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
LORDTEK	0:9a1aae56ed19	1300	* the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
LORDTEK	0:9a1aae56ed19	1301	* further information regarding the Sample Rate, please refer to register 25.
LORDTEK	0:9a1aae56ed19	1302	*
LORDTEK	0:9a1aae56ed19	1303	* @return Current Slave 4 master delay value
LORDTEK	0:9a1aae56ed19	1304	* @see MPU6050_RA_I2C_SLV4_CTRL
LORDTEK	0:9a1aae56ed19	1305	*/
LORDTEK	0:9a1aae56ed19	1306	uint8_t MPU6050::getSlave4MasterDelay()
LORDTEK	0:9a1aae56ed19	1307	{
LORDTEK	0:9a1aae56ed19	1308	i2Cdev.readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
LORDTEK	0:9a1aae56ed19	1309	return buffer[0];
LORDTEK	0:9a1aae56ed19	1310	}
LORDTEK	0:9a1aae56ed19	1311	/** Set Slave 4 master delay value.
LORDTEK	0:9a1aae56ed19	1312	* @param delay New Slave 4 master delay value
LORDTEK	0:9a1aae56ed19	1313	* @see getSlave4MasterDelay()
LORDTEK	0:9a1aae56ed19	1314	* @see MPU6050_RA_I2C_SLV4_CTRL
LORDTEK	0:9a1aae56ed19	1315	*/
LORDTEK	0:9a1aae56ed19	1316	void MPU6050::setSlave4MasterDelay(uint8_t delay)
LORDTEK	0:9a1aae56ed19	1317	{
LORDTEK	0:9a1aae56ed19	1318	i2Cdev.writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
LORDTEK	0:9a1aae56ed19	1319	}
LORDTEK	0:9a1aae56ed19	1320	/** Get last available byte read from Slave 4.
LORDTEK	0:9a1aae56ed19	1321	* This register stores the data read from Slave 4. This field is populated
LORDTEK	0:9a1aae56ed19	1322	* after a read transaction.
LORDTEK	0:9a1aae56ed19	1323	* @return Last available byte read from to Slave 4
LORDTEK	0:9a1aae56ed19	1324	* @see MPU6050_RA_I2C_SLV4_DI
LORDTEK	0:9a1aae56ed19	1325	*/
LORDTEK	0:9a1aae56ed19	1326	uint8_t MPU6050::getSlate4InputByte()
LORDTEK	0:9a1aae56ed19	1327	{
LORDTEK	0:9a1aae56ed19	1328	i2Cdev.readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
LORDTEK	0:9a1aae56ed19	1329	return buffer[0];
LORDTEK	0:9a1aae56ed19	1330	}
LORDTEK	0:9a1aae56ed19	1331
LORDTEK	0:9a1aae56ed19	1332	// I2C_MST_STATUS register
LORDTEK	0:9a1aae56ed19	1333
LORDTEK	0:9a1aae56ed19	1334	/** Get FSYNC interrupt status.
LORDTEK	0:9a1aae56ed19	1335	* This bit reflects the status of the FSYNC interrupt from an external device
LORDTEK	0:9a1aae56ed19	1336	* into the MPU-60X0. This is used as a way to pass an external interrupt
LORDTEK	0:9a1aae56ed19	1337	* through the MPU-60X0 to the host application processor. When set to 1, this
LORDTEK	0:9a1aae56ed19	1338	* bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
LORDTEK	0:9a1aae56ed19	1339	* (Register 55).
LORDTEK	0:9a1aae56ed19	1340	* @return FSYNC interrupt status
LORDTEK	0:9a1aae56ed19	1341	* @see MPU6050_RA_I2C_MST_STATUS
LORDTEK	0:9a1aae56ed19	1342	*/
LORDTEK	0:9a1aae56ed19	1343	bool MPU6050::getPassthroughStatus()
LORDTEK	0:9a1aae56ed19	1344	{
LORDTEK	0:9a1aae56ed19	1345	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1346	return buffer[0];
LORDTEK	0:9a1aae56ed19	1347	}
LORDTEK	0:9a1aae56ed19	1348	/** Get Slave 4 transaction done status.
LORDTEK	0:9a1aae56ed19	1349	* Automatically sets to 1 when a Slave 4 transaction has completed. This
LORDTEK	0:9a1aae56ed19	1350	* triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
LORDTEK	0:9a1aae56ed19	1351	* (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
LORDTEK	0:9a1aae56ed19	1352	* I2C_SLV4_CTRL register (Register 52).
LORDTEK	0:9a1aae56ed19	1353	* @return Slave 4 transaction done status
LORDTEK	0:9a1aae56ed19	1354	* @see MPU6050_RA_I2C_MST_STATUS
LORDTEK	0:9a1aae56ed19	1355	*/
LORDTEK	0:9a1aae56ed19	1356	bool MPU6050::getSlave4IsDone()
LORDTEK	0:9a1aae56ed19	1357	{
LORDTEK	0:9a1aae56ed19	1358	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1359	return buffer[0];
LORDTEK	0:9a1aae56ed19	1360	}
LORDTEK	0:9a1aae56ed19	1361	/** Get master arbitration lost status.
LORDTEK	0:9a1aae56ed19	1362	* This bit automatically sets to 1 when the I2C Master has lost arbitration of
LORDTEK	0:9a1aae56ed19	1363	* the auxiliary I2C bus (an error condition). This triggers an interrupt if the
LORDTEK	0:9a1aae56ed19	1364	* I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
LORDTEK	0:9a1aae56ed19	1365	* @return Master arbitration lost status
LORDTEK	0:9a1aae56ed19	1366	* @see MPU6050_RA_I2C_MST_STATUS
LORDTEK	0:9a1aae56ed19	1367	*/
LORDTEK	0:9a1aae56ed19	1368	bool MPU6050::getLostArbitration()
LORDTEK	0:9a1aae56ed19	1369	{
LORDTEK	0:9a1aae56ed19	1370	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1371	return buffer[0];
LORDTEK	0:9a1aae56ed19	1372	}
LORDTEK	0:9a1aae56ed19	1373	/** Get Slave 4 NACK status.
LORDTEK	0:9a1aae56ed19	1374	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
LORDTEK	0:9a1aae56ed19	1375	* transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
LORDTEK	0:9a1aae56ed19	1376	* bit in the INT_ENABLE register (Register 56) is asserted.
LORDTEK	0:9a1aae56ed19	1377	* @return Slave 4 NACK interrupt status
LORDTEK	0:9a1aae56ed19	1378	* @see MPU6050_RA_I2C_MST_STATUS
LORDTEK	0:9a1aae56ed19	1379	*/
LORDTEK	0:9a1aae56ed19	1380	bool MPU6050::getSlave4Nack()
LORDTEK	0:9a1aae56ed19	1381	{
LORDTEK	0:9a1aae56ed19	1382	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1383	return buffer[0];
LORDTEK	0:9a1aae56ed19	1384	}
LORDTEK	0:9a1aae56ed19	1385	/** Get Slave 3 NACK status.
LORDTEK	0:9a1aae56ed19	1386	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
LORDTEK	0:9a1aae56ed19	1387	* transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
LORDTEK	0:9a1aae56ed19	1388	* bit in the INT_ENABLE register (Register 56) is asserted.
LORDTEK	0:9a1aae56ed19	1389	* @return Slave 3 NACK interrupt status
LORDTEK	0:9a1aae56ed19	1390	* @see MPU6050_RA_I2C_MST_STATUS
LORDTEK	0:9a1aae56ed19	1391	*/
LORDTEK	0:9a1aae56ed19	1392	bool MPU6050::getSlave3Nack()
LORDTEK	0:9a1aae56ed19	1393	{
LORDTEK	0:9a1aae56ed19	1394	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1395	return buffer[0];
LORDTEK	0:9a1aae56ed19	1396	}
LORDTEK	0:9a1aae56ed19	1397	/** Get Slave 2 NACK status.
LORDTEK	0:9a1aae56ed19	1398	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
LORDTEK	0:9a1aae56ed19	1399	* transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
LORDTEK	0:9a1aae56ed19	1400	* bit in the INT_ENABLE register (Register 56) is asserted.
LORDTEK	0:9a1aae56ed19	1401	* @return Slave 2 NACK interrupt status
LORDTEK	0:9a1aae56ed19	1402	* @see MPU6050_RA_I2C_MST_STATUS
LORDTEK	0:9a1aae56ed19	1403	*/
LORDTEK	0:9a1aae56ed19	1404	bool MPU6050::getSlave2Nack()
LORDTEK	0:9a1aae56ed19	1405	{
LORDTEK	0:9a1aae56ed19	1406	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1407	return buffer[0];
LORDTEK	0:9a1aae56ed19	1408	}
LORDTEK	0:9a1aae56ed19	1409	/** Get Slave 1 NACK status.
LORDTEK	0:9a1aae56ed19	1410	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
LORDTEK	0:9a1aae56ed19	1411	* transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
LORDTEK	0:9a1aae56ed19	1412	* bit in the INT_ENABLE register (Register 56) is asserted.
LORDTEK	0:9a1aae56ed19	1413	* @return Slave 1 NACK interrupt status
LORDTEK	0:9a1aae56ed19	1414	* @see MPU6050_RA_I2C_MST_STATUS
LORDTEK	0:9a1aae56ed19	1415	*/
LORDTEK	0:9a1aae56ed19	1416	bool MPU6050::getSlave1Nack()
LORDTEK	0:9a1aae56ed19	1417	{
LORDTEK	0:9a1aae56ed19	1418	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1419	return buffer[0];
LORDTEK	0:9a1aae56ed19	1420	}
LORDTEK	0:9a1aae56ed19	1421	/** Get Slave 0 NACK status.
LORDTEK	0:9a1aae56ed19	1422	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
LORDTEK	0:9a1aae56ed19	1423	* transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
LORDTEK	0:9a1aae56ed19	1424	* bit in the INT_ENABLE register (Register 56) is asserted.
LORDTEK	0:9a1aae56ed19	1425	* @return Slave 0 NACK interrupt status
LORDTEK	0:9a1aae56ed19	1426	* @see MPU6050_RA_I2C_MST_STATUS
LORDTEK	0:9a1aae56ed19	1427	*/
LORDTEK	0:9a1aae56ed19	1428	bool MPU6050::getSlave0Nack()
LORDTEK	0:9a1aae56ed19	1429	{
LORDTEK	0:9a1aae56ed19	1430	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1431	return buffer[0];
LORDTEK	0:9a1aae56ed19	1432	}
LORDTEK	0:9a1aae56ed19	1433
LORDTEK	0:9a1aae56ed19	1434	// INT_PIN_CFG register
LORDTEK	0:9a1aae56ed19	1435
LORDTEK	0:9a1aae56ed19	1436	/** Get interrupt logic level mode.
LORDTEK	0:9a1aae56ed19	1437	* Will be set 0 for active-high, 1 for active-low.
LORDTEK	0:9a1aae56ed19	1438	* @return Current interrupt mode (0=active-high, 1=active-low)
LORDTEK	0:9a1aae56ed19	1439	* @see MPU6050_RA_INT_PIN_CFG
LORDTEK	0:9a1aae56ed19	1440	* @see MPU6050_INTCFG_INT_LEVEL_BIT
LORDTEK	0:9a1aae56ed19	1441	*/
LORDTEK	0:9a1aae56ed19	1442	bool MPU6050::getInterruptMode()
LORDTEK	0:9a1aae56ed19	1443	{
LORDTEK	0:9a1aae56ed19	1444	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1445	return buffer[0];
LORDTEK	0:9a1aae56ed19	1446	}
LORDTEK	0:9a1aae56ed19	1447	/** Set interrupt logic level mode.
LORDTEK	0:9a1aae56ed19	1448	* @param mode New interrupt mode (0=active-high, 1=active-low)
LORDTEK	0:9a1aae56ed19	1449	* @see getInterruptMode()
LORDTEK	0:9a1aae56ed19	1450	* @see MPU6050_RA_INT_PIN_CFG
LORDTEK	0:9a1aae56ed19	1451	* @see MPU6050_INTCFG_INT_LEVEL_BIT
LORDTEK	0:9a1aae56ed19	1452	*/
LORDTEK	0:9a1aae56ed19	1453	void MPU6050::setInterruptMode(bool mode)
LORDTEK	0:9a1aae56ed19	1454	{
LORDTEK	0:9a1aae56ed19	1455	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
LORDTEK	0:9a1aae56ed19	1456	}
LORDTEK	0:9a1aae56ed19	1457	/** Get interrupt drive mode.
LORDTEK	0:9a1aae56ed19	1458	* Will be set 0 for push-pull, 1 for open-drain.
LORDTEK	0:9a1aae56ed19	1459	* @return Current interrupt drive mode (0=push-pull, 1=open-drain)
LORDTEK	0:9a1aae56ed19	1460	* @see MPU6050_RA_INT_PIN_CFG
LORDTEK	0:9a1aae56ed19	1461	* @see MPU6050_INTCFG_INT_OPEN_BIT
LORDTEK	0:9a1aae56ed19	1462	*/
LORDTEK	0:9a1aae56ed19	1463	bool MPU6050::getInterruptDrive()
LORDTEK	0:9a1aae56ed19	1464	{
LORDTEK	0:9a1aae56ed19	1465	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1466	return buffer[0];
LORDTEK	0:9a1aae56ed19	1467	}
LORDTEK	0:9a1aae56ed19	1468	/** Set interrupt drive mode.
LORDTEK	0:9a1aae56ed19	1469	* @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
LORDTEK	0:9a1aae56ed19	1470	* @see getInterruptDrive()
LORDTEK	0:9a1aae56ed19	1471	* @see MPU6050_RA_INT_PIN_CFG
LORDTEK	0:9a1aae56ed19	1472	* @see MPU6050_INTCFG_INT_OPEN_BIT
LORDTEK	0:9a1aae56ed19	1473	*/
LORDTEK	0:9a1aae56ed19	1474	void MPU6050::setInterruptDrive(bool drive)
LORDTEK	0:9a1aae56ed19	1475	{
LORDTEK	0:9a1aae56ed19	1476	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
LORDTEK	0:9a1aae56ed19	1477	}
LORDTEK	0:9a1aae56ed19	1478	/** Get interrupt latch mode.
LORDTEK	0:9a1aae56ed19	1479	* Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
LORDTEK	0:9a1aae56ed19	1480	* @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
LORDTEK	0:9a1aae56ed19	1481	* @see MPU6050_RA_INT_PIN_CFG
LORDTEK	0:9a1aae56ed19	1482	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
LORDTEK	0:9a1aae56ed19	1483	*/
LORDTEK	0:9a1aae56ed19	1484	bool MPU6050::getInterruptLatch()
LORDTEK	0:9a1aae56ed19	1485	{
LORDTEK	0:9a1aae56ed19	1486	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1487	return buffer[0];
LORDTEK	0:9a1aae56ed19	1488	}
LORDTEK	0:9a1aae56ed19	1489	/** Set interrupt latch mode.
LORDTEK	0:9a1aae56ed19	1490	* @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
LORDTEK	0:9a1aae56ed19	1491	* @see getInterruptLatch()
LORDTEK	0:9a1aae56ed19	1492	* @see MPU6050_RA_INT_PIN_CFG
LORDTEK	0:9a1aae56ed19	1493	* @see MPU6050_INTCFG_LATCH_INT_EN_BIT
LORDTEK	0:9a1aae56ed19	1494	*/
LORDTEK	0:9a1aae56ed19	1495	void MPU6050::setInterruptLatch(bool latch)
LORDTEK	0:9a1aae56ed19	1496	{
LORDTEK	0:9a1aae56ed19	1497	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
LORDTEK	0:9a1aae56ed19	1498	}
LORDTEK	0:9a1aae56ed19	1499	/** Get interrupt latch clear mode.
LORDTEK	0:9a1aae56ed19	1500	* Will be set 0 for status-read-only, 1 for any-register-read.
LORDTEK	0:9a1aae56ed19	1501	* @return Current latch clear mode (0=status-read-only, 1=any-register-read)
LORDTEK	0:9a1aae56ed19	1502	* @see MPU6050_RA_INT_PIN_CFG
LORDTEK	0:9a1aae56ed19	1503	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
LORDTEK	0:9a1aae56ed19	1504	*/
LORDTEK	0:9a1aae56ed19	1505	bool MPU6050::getInterruptLatchClear()
LORDTEK	0:9a1aae56ed19	1506	{
LORDTEK	0:9a1aae56ed19	1507	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1508	return buffer[0];
LORDTEK	0:9a1aae56ed19	1509	}
LORDTEK	0:9a1aae56ed19	1510	/** Set interrupt latch clear mode.
LORDTEK	0:9a1aae56ed19	1511	* @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
LORDTEK	0:9a1aae56ed19	1512	* @see getInterruptLatchClear()
LORDTEK	0:9a1aae56ed19	1513	* @see MPU6050_RA_INT_PIN_CFG
LORDTEK	0:9a1aae56ed19	1514	* @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
LORDTEK	0:9a1aae56ed19	1515	*/
LORDTEK	0:9a1aae56ed19	1516	void MPU6050::setInterruptLatchClear(bool clear)
LORDTEK	0:9a1aae56ed19	1517	{
LORDTEK	0:9a1aae56ed19	1518	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
LORDTEK	0:9a1aae56ed19	1519	}
LORDTEK	0:9a1aae56ed19	1520	/** Get FSYNC interrupt logic level mode.
LORDTEK	0:9a1aae56ed19	1521	* @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
LORDTEK	0:9a1aae56ed19	1522	* @see getFSyncInterruptMode()
LORDTEK	0:9a1aae56ed19	1523	* @see MPU6050_RA_INT_PIN_CFG
LORDTEK	0:9a1aae56ed19	1524	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
LORDTEK	0:9a1aae56ed19	1525	*/
LORDTEK	0:9a1aae56ed19	1526	bool MPU6050::getFSyncInterruptLevel()
LORDTEK	0:9a1aae56ed19	1527	{
LORDTEK	0:9a1aae56ed19	1528	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1529	return buffer[0];
LORDTEK	0:9a1aae56ed19	1530	}
LORDTEK	0:9a1aae56ed19	1531	/** Set FSYNC interrupt logic level mode.
LORDTEK	0:9a1aae56ed19	1532	* @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
LORDTEK	0:9a1aae56ed19	1533	* @see getFSyncInterruptMode()
LORDTEK	0:9a1aae56ed19	1534	* @see MPU6050_RA_INT_PIN_CFG
LORDTEK	0:9a1aae56ed19	1535	* @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
LORDTEK	0:9a1aae56ed19	1536	*/
LORDTEK	0:9a1aae56ed19	1537	void MPU6050::setFSyncInterruptLevel(bool level)
LORDTEK	0:9a1aae56ed19	1538	{
LORDTEK	0:9a1aae56ed19	1539	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
LORDTEK	0:9a1aae56ed19	1540	}
LORDTEK	0:9a1aae56ed19	1541	/** Get FSYNC pin interrupt enabled setting.
LORDTEK	0:9a1aae56ed19	1542	* Will be set 0 for disabled, 1 for enabled.
LORDTEK	0:9a1aae56ed19	1543	* @return Current interrupt enabled setting
LORDTEK	0:9a1aae56ed19	1544	* @see MPU6050_RA_INT_PIN_CFG
LORDTEK	0:9a1aae56ed19	1545	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
LORDTEK	0:9a1aae56ed19	1546	*/
LORDTEK	0:9a1aae56ed19	1547	bool MPU6050::getFSyncInterruptEnabled()
LORDTEK	0:9a1aae56ed19	1548	{
LORDTEK	0:9a1aae56ed19	1549	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1550	return buffer[0];
LORDTEK	0:9a1aae56ed19	1551	}
LORDTEK	0:9a1aae56ed19	1552	/** Set FSYNC pin interrupt enabled setting.
LORDTEK	0:9a1aae56ed19	1553	* @param enabled New FSYNC pin interrupt enabled setting
LORDTEK	0:9a1aae56ed19	1554	* @see getFSyncInterruptEnabled()
LORDTEK	0:9a1aae56ed19	1555	* @see MPU6050_RA_INT_PIN_CFG
LORDTEK	0:9a1aae56ed19	1556	* @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
LORDTEK	0:9a1aae56ed19	1557	*/
LORDTEK	0:9a1aae56ed19	1558	void MPU6050::setFSyncInterruptEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	1559	{
LORDTEK	0:9a1aae56ed19	1560	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
LORDTEK	0:9a1aae56ed19	1561	}
LORDTEK	0:9a1aae56ed19	1562	/** Get I2C bypass enabled status.
LORDTEK	0:9a1aae56ed19	1563	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
LORDTEK	0:9a1aae56ed19	1564	* 0, the host application processor will be able to directly access the
LORDTEK	0:9a1aae56ed19	1565	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
LORDTEK	0:9a1aae56ed19	1566	* application processor will not be able to directly access the auxiliary I2C
LORDTEK	0:9a1aae56ed19	1567	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
LORDTEK	0:9a1aae56ed19	1568	* bit[5]).
LORDTEK	0:9a1aae56ed19	1569	* @return Current I2C bypass enabled status
LORDTEK	0:9a1aae56ed19	1570	* @see MPU6050_RA_INT_PIN_CFG
LORDTEK	0:9a1aae56ed19	1571	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
LORDTEK	0:9a1aae56ed19	1572	*/
LORDTEK	0:9a1aae56ed19	1573	bool MPU6050::getI2CBypassEnabled()
LORDTEK	0:9a1aae56ed19	1574	{
LORDTEK	0:9a1aae56ed19	1575	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1576	return buffer[0];
LORDTEK	0:9a1aae56ed19	1577	}
LORDTEK	0:9a1aae56ed19	1578	/** Set I2C bypass enabled status.
LORDTEK	0:9a1aae56ed19	1579	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
LORDTEK	0:9a1aae56ed19	1580	* 0, the host application processor will be able to directly access the
LORDTEK	0:9a1aae56ed19	1581	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
LORDTEK	0:9a1aae56ed19	1582	* application processor will not be able to directly access the auxiliary I2C
LORDTEK	0:9a1aae56ed19	1583	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
LORDTEK	0:9a1aae56ed19	1584	* bit[5]).
LORDTEK	0:9a1aae56ed19	1585	* @param enabled New I2C bypass enabled status
LORDTEK	0:9a1aae56ed19	1586	* @see MPU6050_RA_INT_PIN_CFG
LORDTEK	0:9a1aae56ed19	1587	* @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
LORDTEK	0:9a1aae56ed19	1588	*/
LORDTEK	0:9a1aae56ed19	1589	void MPU6050::setI2CBypassEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	1590	{
LORDTEK	0:9a1aae56ed19	1591	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
LORDTEK	0:9a1aae56ed19	1592	}
LORDTEK	0:9a1aae56ed19	1593	/** Get reference clock output enabled status.
LORDTEK	0:9a1aae56ed19	1594	* When this bit is equal to 1, a reference clock output is provided at the
LORDTEK	0:9a1aae56ed19	1595	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
LORDTEK	0:9a1aae56ed19	1596	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
LORDTEK	0:9a1aae56ed19	1597	* Specification document.
LORDTEK	0:9a1aae56ed19	1598	* @return Current reference clock output enabled status
LORDTEK	0:9a1aae56ed19	1599	* @see MPU6050_RA_INT_PIN_CFG
LORDTEK	0:9a1aae56ed19	1600	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
LORDTEK	0:9a1aae56ed19	1601	*/
LORDTEK	0:9a1aae56ed19	1602	bool MPU6050::getClockOutputEnabled()
LORDTEK	0:9a1aae56ed19	1603	{
LORDTEK	0:9a1aae56ed19	1604	i2Cdev.readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1605	return buffer[0];
LORDTEK	0:9a1aae56ed19	1606	}
LORDTEK	0:9a1aae56ed19	1607	/** Set reference clock output enabled status.
LORDTEK	0:9a1aae56ed19	1608	* When this bit is equal to 1, a reference clock output is provided at the
LORDTEK	0:9a1aae56ed19	1609	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
LORDTEK	0:9a1aae56ed19	1610	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
LORDTEK	0:9a1aae56ed19	1611	* Specification document.
LORDTEK	0:9a1aae56ed19	1612	* @param enabled New reference clock output enabled status
LORDTEK	0:9a1aae56ed19	1613	* @see MPU6050_RA_INT_PIN_CFG
LORDTEK	0:9a1aae56ed19	1614	* @see MPU6050_INTCFG_CLKOUT_EN_BIT
LORDTEK	0:9a1aae56ed19	1615	*/
LORDTEK	0:9a1aae56ed19	1616	void MPU6050::setClockOutputEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	1617	{
LORDTEK	0:9a1aae56ed19	1618	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
LORDTEK	0:9a1aae56ed19	1619	}
LORDTEK	0:9a1aae56ed19	1620
LORDTEK	0:9a1aae56ed19	1621	// INT_ENABLE register
LORDTEK	0:9a1aae56ed19	1622
LORDTEK	0:9a1aae56ed19	1623	/** Get full interrupt enabled status.
LORDTEK	0:9a1aae56ed19	1624	* Full register byte for all interrupts, for quick reading. Each bit will be
LORDTEK	0:9a1aae56ed19	1625	* set 0 for disabled, 1 for enabled.
LORDTEK	0:9a1aae56ed19	1626	* @return Current interrupt enabled status
LORDTEK	0:9a1aae56ed19	1627	* @see MPU6050_RA_INT_ENABLE
LORDTEK	0:9a1aae56ed19	1628	* @see MPU6050_INTERRUPT_FF_BIT
LORDTEK	0:9a1aae56ed19	1629	**/
LORDTEK	0:9a1aae56ed19	1630	uint8_t MPU6050::getIntEnabled()
LORDTEK	0:9a1aae56ed19	1631	{
LORDTEK	0:9a1aae56ed19	1632	i2Cdev.readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
LORDTEK	0:9a1aae56ed19	1633	return buffer[0];
LORDTEK	0:9a1aae56ed19	1634	}
LORDTEK	0:9a1aae56ed19	1635	/** Set full interrupt enabled status.
LORDTEK	0:9a1aae56ed19	1636	* Full register byte for all interrupts, for quick reading. Each bit should be
LORDTEK	0:9a1aae56ed19	1637	* set 0 for disabled, 1 for enabled.
LORDTEK	0:9a1aae56ed19	1638	* @param enabled New interrupt enabled status
LORDTEK	0:9a1aae56ed19	1639	* @see getIntFreefallEnabled()
LORDTEK	0:9a1aae56ed19	1640	* @see MPU6050_RA_INT_ENABLE
LORDTEK	0:9a1aae56ed19	1641	* @see MPU6050_INTERRUPT_FF_BIT
LORDTEK	0:9a1aae56ed19	1642	**/
LORDTEK	0:9a1aae56ed19	1643	void MPU6050::setIntEnabled(uint8_t enabled)
LORDTEK	0:9a1aae56ed19	1644	{
LORDTEK	0:9a1aae56ed19	1645	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
LORDTEK	0:9a1aae56ed19	1646	}
LORDTEK	0:9a1aae56ed19	1647	/** Get Free Fall interrupt enabled status.
LORDTEK	0:9a1aae56ed19	1648	* Will be set 0 for disabled, 1 for enabled.
LORDTEK	0:9a1aae56ed19	1649	* @return Current interrupt enabled status
LORDTEK	0:9a1aae56ed19	1650	* @see MPU6050_RA_INT_ENABLE
LORDTEK	0:9a1aae56ed19	1651	* @see MPU6050_INTERRUPT_FF_BIT
LORDTEK	0:9a1aae56ed19	1652	**/
LORDTEK	0:9a1aae56ed19	1653	bool MPU6050::getIntFreefallEnabled()
LORDTEK	0:9a1aae56ed19	1654	{
LORDTEK	0:9a1aae56ed19	1655	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1656	return buffer[0];
LORDTEK	0:9a1aae56ed19	1657	}
LORDTEK	0:9a1aae56ed19	1658	/** Set Free Fall interrupt enabled status.
LORDTEK	0:9a1aae56ed19	1659	* @param enabled New interrupt enabled status
LORDTEK	0:9a1aae56ed19	1660	* @see getIntFreefallEnabled()
LORDTEK	0:9a1aae56ed19	1661	* @see MPU6050_RA_INT_ENABLE
LORDTEK	0:9a1aae56ed19	1662	* @see MPU6050_INTERRUPT_FF_BIT
LORDTEK	0:9a1aae56ed19	1663	**/
LORDTEK	0:9a1aae56ed19	1664	void MPU6050::setIntFreefallEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	1665	{
LORDTEK	0:9a1aae56ed19	1666	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
LORDTEK	0:9a1aae56ed19	1667	}
LORDTEK	0:9a1aae56ed19	1668	/** Get Motion Detection interrupt enabled status.
LORDTEK	0:9a1aae56ed19	1669	* Will be set 0 for disabled, 1 for enabled.
LORDTEK	0:9a1aae56ed19	1670	* @return Current interrupt enabled status
LORDTEK	0:9a1aae56ed19	1671	* @see MPU6050_RA_INT_ENABLE
LORDTEK	0:9a1aae56ed19	1672	* @see MPU6050_INTERRUPT_MOT_BIT
LORDTEK	0:9a1aae56ed19	1673	**/
LORDTEK	0:9a1aae56ed19	1674	bool MPU6050::getIntMotionEnabled()
LORDTEK	0:9a1aae56ed19	1675	{
LORDTEK	0:9a1aae56ed19	1676	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1677	return buffer[0];
LORDTEK	0:9a1aae56ed19	1678	}
LORDTEK	0:9a1aae56ed19	1679	/** Set Motion Detection interrupt enabled status.
LORDTEK	0:9a1aae56ed19	1680	* @param enabled New interrupt enabled status
LORDTEK	0:9a1aae56ed19	1681	* @see getIntMotionEnabled()
LORDTEK	0:9a1aae56ed19	1682	* @see MPU6050_RA_INT_ENABLE
LORDTEK	0:9a1aae56ed19	1683	* @see MPU6050_INTERRUPT_MOT_BIT
LORDTEK	0:9a1aae56ed19	1684	**/
LORDTEK	0:9a1aae56ed19	1685	void MPU6050::setIntMotionEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	1686	{
LORDTEK	0:9a1aae56ed19	1687	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
LORDTEK	0:9a1aae56ed19	1688	}
LORDTEK	0:9a1aae56ed19	1689	/** Get Zero Motion Detection interrupt enabled status.
LORDTEK	0:9a1aae56ed19	1690	* Will be set 0 for disabled, 1 for enabled.
LORDTEK	0:9a1aae56ed19	1691	* @return Current interrupt enabled status
LORDTEK	0:9a1aae56ed19	1692	* @see MPU6050_RA_INT_ENABLE
LORDTEK	0:9a1aae56ed19	1693	* @see MPU6050_INTERRUPT_ZMOT_BIT
LORDTEK	0:9a1aae56ed19	1694	**/
LORDTEK	0:9a1aae56ed19	1695	bool MPU6050::getIntZeroMotionEnabled()
LORDTEK	0:9a1aae56ed19	1696	{
LORDTEK	0:9a1aae56ed19	1697	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1698	return buffer[0];
LORDTEK	0:9a1aae56ed19	1699	}
LORDTEK	0:9a1aae56ed19	1700	/** Set Zero Motion Detection interrupt enabled status.
LORDTEK	0:9a1aae56ed19	1701	* @param enabled New interrupt enabled status
LORDTEK	0:9a1aae56ed19	1702	* @see getIntZeroMotionEnabled()
LORDTEK	0:9a1aae56ed19	1703	* @see MPU6050_RA_INT_ENABLE
LORDTEK	0:9a1aae56ed19	1704	* @see MPU6050_INTERRUPT_ZMOT_BIT
LORDTEK	0:9a1aae56ed19	1705	**/
LORDTEK	0:9a1aae56ed19	1706	void MPU6050::setIntZeroMotionEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	1707	{
LORDTEK	0:9a1aae56ed19	1708	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
LORDTEK	0:9a1aae56ed19	1709	}
LORDTEK	0:9a1aae56ed19	1710	/** Get FIFO Buffer Overflow interrupt enabled status.
LORDTEK	0:9a1aae56ed19	1711	* Will be set 0 for disabled, 1 for enabled.
LORDTEK	0:9a1aae56ed19	1712	* @return Current interrupt enabled status
LORDTEK	0:9a1aae56ed19	1713	* @see MPU6050_RA_INT_ENABLE
LORDTEK	0:9a1aae56ed19	1714	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
LORDTEK	0:9a1aae56ed19	1715	**/
LORDTEK	0:9a1aae56ed19	1716	bool MPU6050::getIntFIFOBufferOverflowEnabled()
LORDTEK	0:9a1aae56ed19	1717	{
LORDTEK	0:9a1aae56ed19	1718	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1719	return buffer[0];
LORDTEK	0:9a1aae56ed19	1720	}
LORDTEK	0:9a1aae56ed19	1721	/** Set FIFO Buffer Overflow interrupt enabled status.
LORDTEK	0:9a1aae56ed19	1722	* @param enabled New interrupt enabled status
LORDTEK	0:9a1aae56ed19	1723	* @see getIntFIFOBufferOverflowEnabled()
LORDTEK	0:9a1aae56ed19	1724	* @see MPU6050_RA_INT_ENABLE
LORDTEK	0:9a1aae56ed19	1725	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
LORDTEK	0:9a1aae56ed19	1726	**/
LORDTEK	0:9a1aae56ed19	1727	void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	1728	{
LORDTEK	0:9a1aae56ed19	1729	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
LORDTEK	0:9a1aae56ed19	1730	}
LORDTEK	0:9a1aae56ed19	1731	/** Get I2C Master interrupt enabled status.
LORDTEK	0:9a1aae56ed19	1732	* This enables any of the I2C Master interrupt sources to generate an
LORDTEK	0:9a1aae56ed19	1733	* interrupt. Will be set 0 for disabled, 1 for enabled.
LORDTEK	0:9a1aae56ed19	1734	* @return Current interrupt enabled status
LORDTEK	0:9a1aae56ed19	1735	* @see MPU6050_RA_INT_ENABLE
LORDTEK	0:9a1aae56ed19	1736	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
LORDTEK	0:9a1aae56ed19	1737	**/
LORDTEK	0:9a1aae56ed19	1738	bool MPU6050::getIntI2CMasterEnabled()
LORDTEK	0:9a1aae56ed19	1739	{
LORDTEK	0:9a1aae56ed19	1740	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1741	return buffer[0];
LORDTEK	0:9a1aae56ed19	1742	}
LORDTEK	0:9a1aae56ed19	1743	/** Set I2C Master interrupt enabled status.
LORDTEK	0:9a1aae56ed19	1744	* @param enabled New interrupt enabled status
LORDTEK	0:9a1aae56ed19	1745	* @see getIntI2CMasterEnabled()
LORDTEK	0:9a1aae56ed19	1746	* @see MPU6050_RA_INT_ENABLE
LORDTEK	0:9a1aae56ed19	1747	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
LORDTEK	0:9a1aae56ed19	1748	**/
LORDTEK	0:9a1aae56ed19	1749	void MPU6050::setIntI2CMasterEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	1750	{
LORDTEK	0:9a1aae56ed19	1751	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
LORDTEK	0:9a1aae56ed19	1752	}
LORDTEK	0:9a1aae56ed19	1753	/** Get Data Ready interrupt enabled setting.
LORDTEK	0:9a1aae56ed19	1754	* This event occurs each time a write operation to all of the sensor registers
LORDTEK	0:9a1aae56ed19	1755	* has been completed. Will be set 0 for disabled, 1 for enabled.
LORDTEK	0:9a1aae56ed19	1756	* @return Current interrupt enabled status
LORDTEK	0:9a1aae56ed19	1757	* @see MPU6050_RA_INT_ENABLE
LORDTEK	0:9a1aae56ed19	1758	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
LORDTEK	0:9a1aae56ed19	1759	*/
LORDTEK	0:9a1aae56ed19	1760	bool MPU6050::getIntDataReadyEnabled()
LORDTEK	0:9a1aae56ed19	1761	{
LORDTEK	0:9a1aae56ed19	1762	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1763	return buffer[0];
LORDTEK	0:9a1aae56ed19	1764	}
LORDTEK	0:9a1aae56ed19	1765	/** Set Data Ready interrupt enabled status.
LORDTEK	0:9a1aae56ed19	1766	* @param enabled New interrupt enabled status
LORDTEK	0:9a1aae56ed19	1767	* @see getIntDataReadyEnabled()
LORDTEK	0:9a1aae56ed19	1768	* @see MPU6050_RA_INT_CFG
LORDTEK	0:9a1aae56ed19	1769	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
LORDTEK	0:9a1aae56ed19	1770	*/
LORDTEK	0:9a1aae56ed19	1771	void MPU6050::setIntDataReadyEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	1772	{
LORDTEK	0:9a1aae56ed19	1773	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
LORDTEK	0:9a1aae56ed19	1774	}
LORDTEK	0:9a1aae56ed19	1775
LORDTEK	0:9a1aae56ed19	1776	// INT_STATUS register
LORDTEK	0:9a1aae56ed19	1777
LORDTEK	0:9a1aae56ed19	1778	/** Get full set of interrupt status bits.
LORDTEK	0:9a1aae56ed19	1779	* These bits clear to 0 after the register has been read. Very useful
LORDTEK	0:9a1aae56ed19	1780	* for getting multiple INT statuses, since each single bit read clears
LORDTEK	0:9a1aae56ed19	1781	* all of them because it has to read the whole byte.
LORDTEK	0:9a1aae56ed19	1782	* @return Current interrupt status
LORDTEK	0:9a1aae56ed19	1783	* @see MPU6050_RA_INT_STATUS
LORDTEK	0:9a1aae56ed19	1784	*/
LORDTEK	0:9a1aae56ed19	1785	uint8_t MPU6050::getIntStatus()
LORDTEK	0:9a1aae56ed19	1786	{
LORDTEK	0:9a1aae56ed19	1787	i2Cdev.readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
LORDTEK	0:9a1aae56ed19	1788	return buffer[0];
LORDTEK	0:9a1aae56ed19	1789	}
LORDTEK	0:9a1aae56ed19	1790	/** Get Free Fall interrupt status.
LORDTEK	0:9a1aae56ed19	1791	* This bit automatically sets to 1 when a Free Fall interrupt has been
LORDTEK	0:9a1aae56ed19	1792	* generated. The bit clears to 0 after the register has been read.
LORDTEK	0:9a1aae56ed19	1793	* @return Current interrupt status
LORDTEK	0:9a1aae56ed19	1794	* @see MPU6050_RA_INT_STATUS
LORDTEK	0:9a1aae56ed19	1795	* @see MPU6050_INTERRUPT_FF_BIT
LORDTEK	0:9a1aae56ed19	1796	*/
LORDTEK	0:9a1aae56ed19	1797	bool MPU6050::getIntFreefallStatus()
LORDTEK	0:9a1aae56ed19	1798	{
LORDTEK	0:9a1aae56ed19	1799	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1800	return buffer[0];
LORDTEK	0:9a1aae56ed19	1801	}
LORDTEK	0:9a1aae56ed19	1802	/** Get Motion Detection interrupt status.
LORDTEK	0:9a1aae56ed19	1803	* This bit automatically sets to 1 when a Motion Detection interrupt has been
LORDTEK	0:9a1aae56ed19	1804	* generated. The bit clears to 0 after the register has been read.
LORDTEK	0:9a1aae56ed19	1805	* @return Current interrupt status
LORDTEK	0:9a1aae56ed19	1806	* @see MPU6050_RA_INT_STATUS
LORDTEK	0:9a1aae56ed19	1807	* @see MPU6050_INTERRUPT_MOT_BIT
LORDTEK	0:9a1aae56ed19	1808	*/
LORDTEK	0:9a1aae56ed19	1809	bool MPU6050::getIntMotionStatus()
LORDTEK	0:9a1aae56ed19	1810	{
LORDTEK	0:9a1aae56ed19	1811	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1812	return buffer[0];
LORDTEK	0:9a1aae56ed19	1813	}
LORDTEK	0:9a1aae56ed19	1814	/** Get Zero Motion Detection interrupt status.
LORDTEK	0:9a1aae56ed19	1815	* This bit automatically sets to 1 when a Zero Motion Detection interrupt has
LORDTEK	0:9a1aae56ed19	1816	* been generated. The bit clears to 0 after the register has been read.
LORDTEK	0:9a1aae56ed19	1817	* @return Current interrupt status
LORDTEK	0:9a1aae56ed19	1818	* @see MPU6050_RA_INT_STATUS
LORDTEK	0:9a1aae56ed19	1819	* @see MPU6050_INTERRUPT_ZMOT_BIT
LORDTEK	0:9a1aae56ed19	1820	*/
LORDTEK	0:9a1aae56ed19	1821	bool MPU6050::getIntZeroMotionStatus()
LORDTEK	0:9a1aae56ed19	1822	{
LORDTEK	0:9a1aae56ed19	1823	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1824	return buffer[0];
LORDTEK	0:9a1aae56ed19	1825	}
LORDTEK	0:9a1aae56ed19	1826	/** Get FIFO Buffer Overflow interrupt status.
LORDTEK	0:9a1aae56ed19	1827	* This bit automatically sets to 1 when a Free Fall interrupt has been
LORDTEK	0:9a1aae56ed19	1828	* generated. The bit clears to 0 after the register has been read.
LORDTEK	0:9a1aae56ed19	1829	* @return Current interrupt status
LORDTEK	0:9a1aae56ed19	1830	* @see MPU6050_RA_INT_STATUS
LORDTEK	0:9a1aae56ed19	1831	* @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
LORDTEK	0:9a1aae56ed19	1832	*/
LORDTEK	0:9a1aae56ed19	1833	bool MPU6050::getIntFIFOBufferOverflowStatus()
LORDTEK	0:9a1aae56ed19	1834	{
LORDTEK	0:9a1aae56ed19	1835	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1836	return buffer[0];
LORDTEK	0:9a1aae56ed19	1837	}
LORDTEK	0:9a1aae56ed19	1838	/** Get I2C Master interrupt status.
LORDTEK	0:9a1aae56ed19	1839	* This bit automatically sets to 1 when an I2C Master interrupt has been
LORDTEK	0:9a1aae56ed19	1840	* generated. For a list of I2C Master interrupts, please refer to Register 54.
LORDTEK	0:9a1aae56ed19	1841	* The bit clears to 0 after the register has been read.
LORDTEK	0:9a1aae56ed19	1842	* @return Current interrupt status
LORDTEK	0:9a1aae56ed19	1843	* @see MPU6050_RA_INT_STATUS
LORDTEK	0:9a1aae56ed19	1844	* @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
LORDTEK	0:9a1aae56ed19	1845	*/
LORDTEK	0:9a1aae56ed19	1846	bool MPU6050::getIntI2CMasterStatus()
LORDTEK	0:9a1aae56ed19	1847	{
LORDTEK	0:9a1aae56ed19	1848	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1849	return buffer[0];
LORDTEK	0:9a1aae56ed19	1850	}
LORDTEK	0:9a1aae56ed19	1851	/** Get Data Ready interrupt status.
LORDTEK	0:9a1aae56ed19	1852	* This bit automatically sets to 1 when a Data Ready interrupt has been
LORDTEK	0:9a1aae56ed19	1853	* generated. The bit clears to 0 after the register has been read.
LORDTEK	0:9a1aae56ed19	1854	* @return Current interrupt status
LORDTEK	0:9a1aae56ed19	1855	* @see MPU6050_RA_INT_STATUS
LORDTEK	0:9a1aae56ed19	1856	* @see MPU6050_INTERRUPT_DATA_RDY_BIT
LORDTEK	0:9a1aae56ed19	1857	*/
LORDTEK	0:9a1aae56ed19	1858	bool MPU6050::getIntDataReadyStatus()
LORDTEK	0:9a1aae56ed19	1859	{
LORDTEK	0:9a1aae56ed19	1860	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
LORDTEK	0:9a1aae56ed19	1861	return buffer[0];
LORDTEK	0:9a1aae56ed19	1862	}
LORDTEK	0:9a1aae56ed19	1863
LORDTEK	0:9a1aae56ed19	1864	// ACCEL_OUT_ registers
LORDTEK	0:9a1aae56ed19	1865
LORDTEK	0:9a1aae56ed19	1866	/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
LORDTEK	0:9a1aae56ed19	1867	* FUNCTION NOT FULLY IMPLEMENTED YET.
LORDTEK	0:9a1aae56ed19	1868	* @param ax 16-bit signed integer container for accelerometer X-axis value
LORDTEK	0:9a1aae56ed19	1869	* @param ay 16-bit signed integer container for accelerometer Y-axis value
LORDTEK	0:9a1aae56ed19	1870	* @param az 16-bit signed integer container for accelerometer Z-axis value
LORDTEK	0:9a1aae56ed19	1871	* @param gx 16-bit signed integer container for gyroscope X-axis value
LORDTEK	0:9a1aae56ed19	1872	* @param gy 16-bit signed integer container for gyroscope Y-axis value
LORDTEK	0:9a1aae56ed19	1873	* @param gz 16-bit signed integer container for gyroscope Z-axis value
LORDTEK	0:9a1aae56ed19	1874	* @param mx 16-bit signed integer container for magnetometer X-axis value
LORDTEK	0:9a1aae56ed19	1875	* @param my 16-bit signed integer container for magnetometer Y-axis value
LORDTEK	0:9a1aae56ed19	1876	* @param mz 16-bit signed integer container for magnetometer Z-axis value
LORDTEK	0:9a1aae56ed19	1877	* @see getMotion6()
LORDTEK	0:9a1aae56ed19	1878	* @see getAcceleration()
LORDTEK	0:9a1aae56ed19	1879	* @see getRotation()
LORDTEK	0:9a1aae56ed19	1880	* @see MPU6050_RA_ACCEL_XOUT_H
LORDTEK	0:9a1aae56ed19	1881	*/
LORDTEK	0:9a1aae56ed19	1882	void MPU6050::getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz)
LORDTEK	0:9a1aae56ed19	1883	{
LORDTEK	0:9a1aae56ed19	1884	getMotion6(ax, ay, az, gx, gy, gz);
LORDTEK	0:9a1aae56ed19	1885	// TODO: magnetometer integration
LORDTEK	0:9a1aae56ed19	1886	}
LORDTEK	0:9a1aae56ed19	1887	/** Get raw 6-axis motion sensor readings (accel/gyro).
LORDTEK	0:9a1aae56ed19	1888	* Retrieves all currently available motion sensor values.
LORDTEK	0:9a1aae56ed19	1889	* @param ax 16-bit signed integer container for accelerometer X-axis value
LORDTEK	0:9a1aae56ed19	1890	* @param ay 16-bit signed integer container for accelerometer Y-axis value
LORDTEK	0:9a1aae56ed19	1891	* @param az 16-bit signed integer container for accelerometer Z-axis value
LORDTEK	0:9a1aae56ed19	1892	* @param gx 16-bit signed integer container for gyroscope X-axis value
LORDTEK	0:9a1aae56ed19	1893	* @param gy 16-bit signed integer container for gyroscope Y-axis value
LORDTEK	0:9a1aae56ed19	1894	* @param gz 16-bit signed integer container for gyroscope Z-axis value
LORDTEK	0:9a1aae56ed19	1895	* @see getAcceleration()
LORDTEK	0:9a1aae56ed19	1896	* @see getRotation()
LORDTEK	0:9a1aae56ed19	1897	* @see MPU6050_RA_ACCEL_XOUT_H
LORDTEK	0:9a1aae56ed19	1898	*/
LORDTEK	0:9a1aae56ed19	1899	void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
LORDTEK	0:9a1aae56ed19	1900	{
LORDTEK	0:9a1aae56ed19	1901	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
LORDTEK	0:9a1aae56ed19	1902	*ax = (((int16_t)buffer[0]) << 8) \| buffer[1];
LORDTEK	0:9a1aae56ed19	1903	*ay = (((int16_t)buffer[2]) << 8) \| buffer[3];
LORDTEK	0:9a1aae56ed19	1904	*az = (((int16_t)buffer[4]) << 8) \| buffer[5];
LORDTEK	0:9a1aae56ed19	1905	*gx = (((int16_t)buffer[8]) << 8) \| buffer[9];
LORDTEK	0:9a1aae56ed19	1906	*gy = (((int16_t)buffer[10]) << 8) \| buffer[11];
LORDTEK	0:9a1aae56ed19	1907	*gz = (((int16_t)buffer[12]) << 8) \| buffer[13];
LORDTEK	0:9a1aae56ed19	1908	}
LORDTEK	0:9a1aae56ed19	1909	/** Get 3-axis accelerometer readings.
LORDTEK	0:9a1aae56ed19	1910	* These registers store the most recent accelerometer measurements.
LORDTEK	0:9a1aae56ed19	1911	* Accelerometer measurements are written to these registers at the Sample Rate
LORDTEK	0:9a1aae56ed19	1912	* as defined in Register 25.
LORDTEK	0:9a1aae56ed19	1913	*
LORDTEK	0:9a1aae56ed19	1914	* The accelerometer measurement registers, along with the temperature
LORDTEK	0:9a1aae56ed19	1915	* measurement registers, gyroscope measurement registers, and external sensor
LORDTEK	0:9a1aae56ed19	1916	* data registers, are composed of two sets of registers: an internal register
LORDTEK	0:9a1aae56ed19	1917	* set and a user-facing read register set.
LORDTEK	0:9a1aae56ed19	1918	*
LORDTEK	0:9a1aae56ed19	1919	* The data within the accelerometer sensors' internal register set is always
LORDTEK	0:9a1aae56ed19	1920	* updated at the Sample Rate. Meanwhile, the user-facing read register set
LORDTEK	0:9a1aae56ed19	1921	* duplicates the internal register set's data values whenever the serial
LORDTEK	0:9a1aae56ed19	1922	* interface is idle. This guarantees that a burst read of sensor registers will
LORDTEK	0:9a1aae56ed19	1923	* read measurements from the same sampling instant. Note that if burst reads
LORDTEK	0:9a1aae56ed19	1924	* are not used, the user is responsible for ensuring a set of single byte reads
LORDTEK	0:9a1aae56ed19	1925	* correspond to a single sampling instant by checking the Data Ready interrupt.
LORDTEK	0:9a1aae56ed19	1926	*
LORDTEK	0:9a1aae56ed19	1927	* Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
LORDTEK	0:9a1aae56ed19	1928	* (Register 28). For each full scale setting, the accelerometers' sensitivity
LORDTEK	0:9a1aae56ed19	1929	* per LSB in ACCEL_xOUT is shown in the table below:
LORDTEK	0:9a1aae56ed19	1930	*
LORDTEK	0:9a1aae56ed19	1931	* <pre>
LORDTEK	0:9a1aae56ed19	1932	* AFS_SEL \| Full Scale Range \| LSB Sensitivity
LORDTEK	0:9a1aae56ed19	1933	* --------+------------------+----------------
LORDTEK	0:9a1aae56ed19	1934	* 0 \| +/- 2g \| 8192 LSB/mg
LORDTEK	0:9a1aae56ed19	1935	* 1 \| +/- 4g \| 4096 LSB/mg
LORDTEK	0:9a1aae56ed19	1936	* 2 \| +/- 8g \| 2048 LSB/mg
LORDTEK	0:9a1aae56ed19	1937	* 3 \| +/- 16g \| 1024 LSB/mg
LORDTEK	0:9a1aae56ed19	1938	* </pre>
LORDTEK	0:9a1aae56ed19	1939	*
LORDTEK	0:9a1aae56ed19	1940	* @param x 16-bit signed integer container for X-axis acceleration
LORDTEK	0:9a1aae56ed19	1941	* @param y 16-bit signed integer container for Y-axis acceleration
LORDTEK	0:9a1aae56ed19	1942	* @param z 16-bit signed integer container for Z-axis acceleration
LORDTEK	0:9a1aae56ed19	1943	* @see MPU6050_RA_GYRO_XOUT_H
LORDTEK	0:9a1aae56ed19	1944	*/
LORDTEK	0:9a1aae56ed19	1945	void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z)
LORDTEK	0:9a1aae56ed19	1946	{
LORDTEK	0:9a1aae56ed19	1947	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
LORDTEK	0:9a1aae56ed19	1948	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
LORDTEK	0:9a1aae56ed19	1949	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
LORDTEK	0:9a1aae56ed19	1950	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
LORDTEK	0:9a1aae56ed19	1951	}
LORDTEK	0:9a1aae56ed19	1952	/** Get X-axis accelerometer reading.
LORDTEK	0:9a1aae56ed19	1953	* @return X-axis acceleration measurement in 16-bit 2's complement format
LORDTEK	0:9a1aae56ed19	1954	* @see getMotion6()
LORDTEK	0:9a1aae56ed19	1955	* @see MPU6050_RA_ACCEL_XOUT_H
LORDTEK	0:9a1aae56ed19	1956	*/
LORDTEK	0:9a1aae56ed19	1957	int16_t MPU6050::getAccelerationX()
LORDTEK	0:9a1aae56ed19	1958	{
LORDTEK	0:9a1aae56ed19	1959	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
LORDTEK	0:9a1aae56ed19	1960	return (((int16_t)buffer[0]) << 8) \| buffer[1];
LORDTEK	0:9a1aae56ed19	1961	}
LORDTEK	0:9a1aae56ed19	1962	/** Get Y-axis accelerometer reading.
LORDTEK	0:9a1aae56ed19	1963	* @return Y-axis acceleration measurement in 16-bit 2's complement format
LORDTEK	0:9a1aae56ed19	1964	* @see getMotion6()
LORDTEK	0:9a1aae56ed19	1965	* @see MPU6050_RA_ACCEL_YOUT_H
LORDTEK	0:9a1aae56ed19	1966	*/
LORDTEK	0:9a1aae56ed19	1967	int16_t MPU6050::getAccelerationY()
LORDTEK	0:9a1aae56ed19	1968	{
LORDTEK	0:9a1aae56ed19	1969	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
LORDTEK	0:9a1aae56ed19	1970	return (((int16_t)buffer[0]) << 8) \| buffer[1];
LORDTEK	0:9a1aae56ed19	1971	}
LORDTEK	0:9a1aae56ed19	1972	/** Get Z-axis accelerometer reading.
LORDTEK	0:9a1aae56ed19	1973	* @return Z-axis acceleration measurement in 16-bit 2's complement format
LORDTEK	0:9a1aae56ed19	1974	* @see getMotion6()
LORDTEK	0:9a1aae56ed19	1975	* @see MPU6050_RA_ACCEL_ZOUT_H
LORDTEK	0:9a1aae56ed19	1976	*/
LORDTEK	0:9a1aae56ed19	1977	int16_t MPU6050::getAccelerationZ()
LORDTEK	0:9a1aae56ed19	1978	{
LORDTEK	0:9a1aae56ed19	1979	i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
LORDTEK	0:9a1aae56ed19	1980	return (((int16_t)buffer[0]) << 8) \| buffer[1];
LORDTEK	0:9a1aae56ed19	1981	}
LORDTEK	0:9a1aae56ed19	1982
LORDTEK	0:9a1aae56ed19	1983	// TEMP_OUT_* registers
LORDTEK	0:9a1aae56ed19	1984
LORDTEK	0:9a1aae56ed19	1985	/** Get current internal temperature.
LORDTEK	0:9a1aae56ed19	1986	* @return Temperature reading in 16-bit 2's complement format
LORDTEK	0:9a1aae56ed19	1987	* @see MPU6050_RA_TEMP_OUT_H
LORDTEK	0:9a1aae56ed19	1988	*/
LORDTEK	0:9a1aae56ed19	1989	int16_t MPU6050::getTemperature()
LORDTEK	0:9a1aae56ed19	1990	{
LORDTEK	0:9a1aae56ed19	1991	i2Cdev.readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
LORDTEK	0:9a1aae56ed19	1992	return (((int16_t)buffer[0]) << 8) \| buffer[1];
LORDTEK	0:9a1aae56ed19	1993	}
LORDTEK	0:9a1aae56ed19	1994
LORDTEK	0:9a1aae56ed19	1995	// GYRO_OUT_ registers
LORDTEK	0:9a1aae56ed19	1996
LORDTEK	0:9a1aae56ed19	1997	/** Get 3-axis gyroscope readings.
LORDTEK	0:9a1aae56ed19	1998	* These gyroscope measurement registers, along with the accelerometer
LORDTEK	0:9a1aae56ed19	1999	* measurement registers, temperature measurement registers, and external sensor
LORDTEK	0:9a1aae56ed19	2000	* data registers, are composed of two sets of registers: an internal register
LORDTEK	0:9a1aae56ed19	2001	* set and a user-facing read register set.
LORDTEK	0:9a1aae56ed19	2002	* The data within the gyroscope sensors' internal register set is always
LORDTEK	0:9a1aae56ed19	2003	* updated at the Sample Rate. Meanwhile, the user-facing read register set
LORDTEK	0:9a1aae56ed19	2004	* duplicates the internal register set's data values whenever the serial
LORDTEK	0:9a1aae56ed19	2005	* interface is idle. This guarantees that a burst read of sensor registers will
LORDTEK	0:9a1aae56ed19	2006	* read measurements from the same sampling instant. Note that if burst reads
LORDTEK	0:9a1aae56ed19	2007	* are not used, the user is responsible for ensuring a set of single byte reads
LORDTEK	0:9a1aae56ed19	2008	* correspond to a single sampling instant by checking the Data Ready interrupt.
LORDTEK	0:9a1aae56ed19	2009	*
LORDTEK	0:9a1aae56ed19	2010	* Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
LORDTEK	0:9a1aae56ed19	2011	* (Register 27). For each full scale setting, the gyroscopes' sensitivity per
LORDTEK	0:9a1aae56ed19	2012	* LSB in GYRO_xOUT is shown in the table below:
LORDTEK	0:9a1aae56ed19	2013	*
LORDTEK	0:9a1aae56ed19	2014	* <pre>
LORDTEK	0:9a1aae56ed19	2015	* FS_SEL \| Full Scale Range \| LSB Sensitivity
LORDTEK	0:9a1aae56ed19	2016	* -------+--------------------+----------------
LORDTEK	0:9a1aae56ed19	2017	* 0 \| +/- 250 degrees/s \| 131 LSB/deg/s
LORDTEK	0:9a1aae56ed19	2018	* 1 \| +/- 500 degrees/s \| 65.5 LSB/deg/s
LORDTEK	0:9a1aae56ed19	2019	* 2 \| +/- 1000 degrees/s \| 32.8 LSB/deg/s
LORDTEK	0:9a1aae56ed19	2020	* 3 \| +/- 2000 degrees/s \| 16.4 LSB/deg/s
LORDTEK	0:9a1aae56ed19	2021	* </pre>
LORDTEK	0:9a1aae56ed19	2022	*
LORDTEK	0:9a1aae56ed19	2023	* @param x 16-bit signed integer container for X-axis rotation
LORDTEK	0:9a1aae56ed19	2024	* @param y 16-bit signed integer container for Y-axis rotation
LORDTEK	0:9a1aae56ed19	2025	* @param z 16-bit signed integer container for Z-axis rotation
LORDTEK	0:9a1aae56ed19	2026	* @see getMotion6()
LORDTEK	0:9a1aae56ed19	2027	* @see MPU6050_RA_GYRO_XOUT_H
LORDTEK	0:9a1aae56ed19	2028	*/
LORDTEK	0:9a1aae56ed19	2029	void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z)
LORDTEK	0:9a1aae56ed19	2030	{
LORDTEK	0:9a1aae56ed19	2031	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
LORDTEK	0:9a1aae56ed19	2032	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
LORDTEK	0:9a1aae56ed19	2033	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
LORDTEK	0:9a1aae56ed19	2034	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
LORDTEK	0:9a1aae56ed19	2035	}
LORDTEK	0:9a1aae56ed19	2036	/** Get X-axis gyroscope reading.
LORDTEK	0:9a1aae56ed19	2037	* @return X-axis rotation measurement in 16-bit 2's complement format
LORDTEK	0:9a1aae56ed19	2038	* @see getMotion6()
LORDTEK	0:9a1aae56ed19	2039	* @see MPU6050_RA_GYRO_XOUT_H
LORDTEK	0:9a1aae56ed19	2040	*/
LORDTEK	0:9a1aae56ed19	2041	int16_t MPU6050::getRotationX()
LORDTEK	0:9a1aae56ed19	2042	{
LORDTEK	0:9a1aae56ed19	2043	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
LORDTEK	0:9a1aae56ed19	2044	return (((int16_t)buffer[0]) << 8) \| buffer[1];
LORDTEK	0:9a1aae56ed19	2045	}
LORDTEK	0:9a1aae56ed19	2046	/** Get Y-axis gyroscope reading.
LORDTEK	0:9a1aae56ed19	2047	* @return Y-axis rotation measurement in 16-bit 2's complement format
LORDTEK	0:9a1aae56ed19	2048	* @see getMotion6()
LORDTEK	0:9a1aae56ed19	2049	* @see MPU6050_RA_GYRO_YOUT_H
LORDTEK	0:9a1aae56ed19	2050	*/
LORDTEK	0:9a1aae56ed19	2051	int16_t MPU6050::getRotationY()
LORDTEK	0:9a1aae56ed19	2052	{
LORDTEK	0:9a1aae56ed19	2053	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
LORDTEK	0:9a1aae56ed19	2054	return (((int16_t)buffer[0]) << 8) \| buffer[1];
LORDTEK	0:9a1aae56ed19	2055	}
LORDTEK	0:9a1aae56ed19	2056	/** Get Z-axis gyroscope reading.
LORDTEK	0:9a1aae56ed19	2057	* @return Z-axis rotation measurement in 16-bit 2's complement format
LORDTEK	0:9a1aae56ed19	2058	* @see getMotion6()
LORDTEK	0:9a1aae56ed19	2059	* @see MPU6050_RA_GYRO_ZOUT_H
LORDTEK	0:9a1aae56ed19	2060	*/
LORDTEK	0:9a1aae56ed19	2061	int16_t MPU6050::getRotationZ()
LORDTEK	0:9a1aae56ed19	2062	{
LORDTEK	0:9a1aae56ed19	2063	i2Cdev.readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
LORDTEK	0:9a1aae56ed19	2064	return (((int16_t)buffer[0]) << 8) \| buffer[1];
LORDTEK	0:9a1aae56ed19	2065	}
LORDTEK	0:9a1aae56ed19	2066
LORDTEK	0:9a1aae56ed19	2067	// EXT_SENS_DATA_* registers
LORDTEK	0:9a1aae56ed19	2068
LORDTEK	0:9a1aae56ed19	2069	/** Read single byte from external sensor data register.
LORDTEK	0:9a1aae56ed19	2070	* These registers store data read from external sensors by the Slave 0, 1, 2,
LORDTEK	0:9a1aae56ed19	2071	* and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
LORDTEK	0:9a1aae56ed19	2072	* I2C_SLV4_DI (Register 53).
LORDTEK	0:9a1aae56ed19	2073	*
LORDTEK	0:9a1aae56ed19	2074	* External sensor data is written to these registers at the Sample Rate as
LORDTEK	0:9a1aae56ed19	2075	* defined in Register 25. This access rate can be reduced by using the Slave
LORDTEK	0:9a1aae56ed19	2076	* Delay Enable registers (Register 103).
LORDTEK	0:9a1aae56ed19	2077	*
LORDTEK	0:9a1aae56ed19	2078	* External sensor data registers, along with the gyroscope measurement
LORDTEK	0:9a1aae56ed19	2079	* registers, accelerometer measurement registers, and temperature measurement
LORDTEK	0:9a1aae56ed19	2080	* registers, are composed of two sets of registers: an internal register set
LORDTEK	0:9a1aae56ed19	2081	* and a user-facing read register set.
LORDTEK	0:9a1aae56ed19	2082	*
LORDTEK	0:9a1aae56ed19	2083	* The data within the external sensors' internal register set is always updated
LORDTEK	0:9a1aae56ed19	2084	* at the Sample Rate (or the reduced access rate) whenever the serial interface
LORDTEK	0:9a1aae56ed19	2085	* is idle. This guarantees that a burst read of sensor registers will read
LORDTEK	0:9a1aae56ed19	2086	* measurements from the same sampling instant. Note that if burst reads are not
LORDTEK	0:9a1aae56ed19	2087	* used, the user is responsible for ensuring a set of single byte reads
LORDTEK	0:9a1aae56ed19	2088	* correspond to a single sampling instant by checking the Data Ready interrupt.
LORDTEK	0:9a1aae56ed19	2089	*
LORDTEK	0:9a1aae56ed19	2090	* Data is placed in these external sensor data registers according to
LORDTEK	0:9a1aae56ed19	2091	* I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
LORDTEK	0:9a1aae56ed19	2092	* 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
LORDTEK	0:9a1aae56ed19	2093	* an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
LORDTEK	0:9a1aae56ed19	2094	* defined in Register 25) or delayed rate (if specified in Register 52 and
LORDTEK	0:9a1aae56ed19	2095	* 103). During each Sample cycle, slave reads are performed in order of Slave
LORDTEK	0:9a1aae56ed19	2096	* number. If all slaves are enabled with more than zero bytes to be read, the
LORDTEK	0:9a1aae56ed19	2097	* order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
LORDTEK	0:9a1aae56ed19	2098	*
LORDTEK	0:9a1aae56ed19	2099	* Each enabled slave will have EXT_SENS_DATA registers associated with it by
LORDTEK	0:9a1aae56ed19	2100	* number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
LORDTEK	0:9a1aae56ed19	2101	* EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
LORDTEK	0:9a1aae56ed19	2102	* change the higher numbered slaves' associated registers. Furthermore, if
LORDTEK	0:9a1aae56ed19	2103	* fewer total bytes are being read from the external sensors as a result of
LORDTEK	0:9a1aae56ed19	2104	* such a change, then the data remaining in the registers which no longer have
LORDTEK	0:9a1aae56ed19	2105	* an associated slave device (i.e. high numbered registers) will remain in
LORDTEK	0:9a1aae56ed19	2106	* these previously allocated registers unless reset.
LORDTEK	0:9a1aae56ed19	2107	*
LORDTEK	0:9a1aae56ed19	2108	* If the sum of the read lengths of all SLVx transactions exceed the number of
LORDTEK	0:9a1aae56ed19	2109	* available EXT_SENS_DATA registers, the excess bytes will be dropped. There
LORDTEK	0:9a1aae56ed19	2110	* are 24 EXT_SENS_DATA registers and hence the total read lengths between all
LORDTEK	0:9a1aae56ed19	2111	* the slaves cannot be greater than 24 or some bytes will be lost.
LORDTEK	0:9a1aae56ed19	2112	*
LORDTEK	0:9a1aae56ed19	2113	* Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
LORDTEK	0:9a1aae56ed19	2114	* information regarding the characteristics of Slave 4, please refer to
LORDTEK	0:9a1aae56ed19	2115	* Registers 49 to 53.
LORDTEK	0:9a1aae56ed19	2116	*
LORDTEK	0:9a1aae56ed19	2117	* EXAMPLE:
LORDTEK	0:9a1aae56ed19	2118	* Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
LORDTEK	0:9a1aae56ed19	2119	* I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
LORDTEK	0:9a1aae56ed19	2120	* I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
LORDTEK	0:9a1aae56ed19	2121	* through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
LORDTEK	0:9a1aae56ed19	2122	* will be associated with Slave 1. If Slave 2 is enabled as well, registers
LORDTEK	0:9a1aae56ed19	2123	* starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
LORDTEK	0:9a1aae56ed19	2124	*
LORDTEK	0:9a1aae56ed19	2125	* If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
LORDTEK	0:9a1aae56ed19	2126	* registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
LORDTEK	0:9a1aae56ed19	2127	* instead.
LORDTEK	0:9a1aae56ed19	2128	*
LORDTEK	0:9a1aae56ed19	2129	* REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
LORDTEK	0:9a1aae56ed19	2130	* If a slave is disabled at any time, the space initially allocated to the
LORDTEK	0:9a1aae56ed19	2131	* slave in the EXT_SENS_DATA register, will remain associated with that slave.
LORDTEK	0:9a1aae56ed19	2132	* This is to avoid dynamic adjustment of the register allocation.
LORDTEK	0:9a1aae56ed19	2133	*
LORDTEK	0:9a1aae56ed19	2134	* The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
LORDTEK	0:9a1aae56ed19	2135	* slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
LORDTEK	0:9a1aae56ed19	2136	*
LORDTEK	0:9a1aae56ed19	2137	* This above is also true if one of the slaves gets NACKed and stops
LORDTEK	0:9a1aae56ed19	2138	* functioning.
LORDTEK	0:9a1aae56ed19	2139	*
LORDTEK	0:9a1aae56ed19	2140	* @param position Starting position (0-23)
LORDTEK	0:9a1aae56ed19	2141	* @return Byte read from register
LORDTEK	0:9a1aae56ed19	2142	*/
LORDTEK	0:9a1aae56ed19	2143	uint8_t MPU6050::getExternalSensorByte(int position)
LORDTEK	0:9a1aae56ed19	2144	{
LORDTEK	0:9a1aae56ed19	2145	i2Cdev.readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
LORDTEK	0:9a1aae56ed19	2146	return buffer[0];
LORDTEK	0:9a1aae56ed19	2147	}
LORDTEK	0:9a1aae56ed19	2148	/** Read word (2 bytes) from external sensor data registers.
LORDTEK	0:9a1aae56ed19	2149	* @param position Starting position (0-21)
LORDTEK	0:9a1aae56ed19	2150	* @return Word read from register
LORDTEK	0:9a1aae56ed19	2151	* @see getExternalSensorByte()
LORDTEK	0:9a1aae56ed19	2152	*/
LORDTEK	0:9a1aae56ed19	2153	uint16_t MPU6050::getExternalSensorWord(int position)
LORDTEK	0:9a1aae56ed19	2154	{
LORDTEK	0:9a1aae56ed19	2155	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
LORDTEK	0:9a1aae56ed19	2156	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
LORDTEK	0:9a1aae56ed19	2157	}
LORDTEK	0:9a1aae56ed19	2158	/** Read double word (4 bytes) from external sensor data registers.
LORDTEK	0:9a1aae56ed19	2159	* @param position Starting position (0-20)
LORDTEK	0:9a1aae56ed19	2160	* @return Double word read from registers
LORDTEK	0:9a1aae56ed19	2161	* @see getExternalSensorByte()
LORDTEK	0:9a1aae56ed19	2162	*/
LORDTEK	0:9a1aae56ed19	2163	uint32_t MPU6050::getExternalSensorDWord(int position)
LORDTEK	0:9a1aae56ed19	2164	{
LORDTEK	0:9a1aae56ed19	2165	i2Cdev.readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
LORDTEK	0:9a1aae56ed19	2166	return (((uint32_t)buffer[0]) << 24) \| (((uint32_t)buffer[1]) << 16) \| (((uint16_t)buffer[2]) << 8) \| buffer[3];
LORDTEK	0:9a1aae56ed19	2167	}
LORDTEK	0:9a1aae56ed19	2168
LORDTEK	0:9a1aae56ed19	2169	// MOT_DETECT_STATUS register
LORDTEK	0:9a1aae56ed19	2170
LORDTEK	0:9a1aae56ed19	2171	/** Get X-axis negative motion detection interrupt status.
LORDTEK	0:9a1aae56ed19	2172	* @return Motion detection status
LORDTEK	0:9a1aae56ed19	2173	* @see MPU6050_RA_MOT_DETECT_STATUS
LORDTEK	0:9a1aae56ed19	2174	* @see MPU6050_MOTION_MOT_XNEG_BIT
LORDTEK	0:9a1aae56ed19	2175	*/
LORDTEK	0:9a1aae56ed19	2176	bool MPU6050::getXNegMotionDetected()
LORDTEK	0:9a1aae56ed19	2177	{
LORDTEK	0:9a1aae56ed19	2178	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
LORDTEK	0:9a1aae56ed19	2179	return buffer[0];
LORDTEK	0:9a1aae56ed19	2180	}
LORDTEK	0:9a1aae56ed19	2181	/** Get X-axis positive motion detection interrupt status.
LORDTEK	0:9a1aae56ed19	2182	* @return Motion detection status
LORDTEK	0:9a1aae56ed19	2183	* @see MPU6050_RA_MOT_DETECT_STATUS
LORDTEK	0:9a1aae56ed19	2184	* @see MPU6050_MOTION_MOT_XPOS_BIT
LORDTEK	0:9a1aae56ed19	2185	*/
LORDTEK	0:9a1aae56ed19	2186	bool MPU6050::getXPosMotionDetected()
LORDTEK	0:9a1aae56ed19	2187	{
LORDTEK	0:9a1aae56ed19	2188	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
LORDTEK	0:9a1aae56ed19	2189	return buffer[0];
LORDTEK	0:9a1aae56ed19	2190	}
LORDTEK	0:9a1aae56ed19	2191	/** Get Y-axis negative motion detection interrupt status.
LORDTEK	0:9a1aae56ed19	2192	* @return Motion detection status
LORDTEK	0:9a1aae56ed19	2193	* @see MPU6050_RA_MOT_DETECT_STATUS
LORDTEK	0:9a1aae56ed19	2194	* @see MPU6050_MOTION_MOT_YNEG_BIT
LORDTEK	0:9a1aae56ed19	2195	*/
LORDTEK	0:9a1aae56ed19	2196	bool MPU6050::getYNegMotionDetected()
LORDTEK	0:9a1aae56ed19	2197	{
LORDTEK	0:9a1aae56ed19	2198	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
LORDTEK	0:9a1aae56ed19	2199	return buffer[0];
LORDTEK	0:9a1aae56ed19	2200	}
LORDTEK	0:9a1aae56ed19	2201	/** Get Y-axis positive motion detection interrupt status.
LORDTEK	0:9a1aae56ed19	2202	* @return Motion detection status
LORDTEK	0:9a1aae56ed19	2203	* @see MPU6050_RA_MOT_DETECT_STATUS
LORDTEK	0:9a1aae56ed19	2204	* @see MPU6050_MOTION_MOT_YPOS_BIT
LORDTEK	0:9a1aae56ed19	2205	*/
LORDTEK	0:9a1aae56ed19	2206	bool MPU6050::getYPosMotionDetected()
LORDTEK	0:9a1aae56ed19	2207	{
LORDTEK	0:9a1aae56ed19	2208	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
LORDTEK	0:9a1aae56ed19	2209	return buffer[0];
LORDTEK	0:9a1aae56ed19	2210	}
LORDTEK	0:9a1aae56ed19	2211	/** Get Z-axis negative motion detection interrupt status.
LORDTEK	0:9a1aae56ed19	2212	* @return Motion detection status
LORDTEK	0:9a1aae56ed19	2213	* @see MPU6050_RA_MOT_DETECT_STATUS
LORDTEK	0:9a1aae56ed19	2214	* @see MPU6050_MOTION_MOT_ZNEG_BIT
LORDTEK	0:9a1aae56ed19	2215	*/
LORDTEK	0:9a1aae56ed19	2216	bool MPU6050::getZNegMotionDetected()
LORDTEK	0:9a1aae56ed19	2217	{
LORDTEK	0:9a1aae56ed19	2218	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
LORDTEK	0:9a1aae56ed19	2219	return buffer[0];
LORDTEK	0:9a1aae56ed19	2220	}
LORDTEK	0:9a1aae56ed19	2221	/** Get Z-axis positive motion detection interrupt status.
LORDTEK	0:9a1aae56ed19	2222	* @return Motion detection status
LORDTEK	0:9a1aae56ed19	2223	* @see MPU6050_RA_MOT_DETECT_STATUS
LORDTEK	0:9a1aae56ed19	2224	* @see MPU6050_MOTION_MOT_ZPOS_BIT
LORDTEK	0:9a1aae56ed19	2225	*/
LORDTEK	0:9a1aae56ed19	2226	bool MPU6050::getZPosMotionDetected()
LORDTEK	0:9a1aae56ed19	2227	{
LORDTEK	0:9a1aae56ed19	2228	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
LORDTEK	0:9a1aae56ed19	2229	return buffer[0];
LORDTEK	0:9a1aae56ed19	2230	}
LORDTEK	0:9a1aae56ed19	2231	/** Get zero motion detection interrupt status.
LORDTEK	0:9a1aae56ed19	2232	* @return Motion detection status
LORDTEK	0:9a1aae56ed19	2233	* @see MPU6050_RA_MOT_DETECT_STATUS
LORDTEK	0:9a1aae56ed19	2234	* @see MPU6050_MOTION_MOT_ZRMOT_BIT
LORDTEK	0:9a1aae56ed19	2235	*/
LORDTEK	0:9a1aae56ed19	2236	bool MPU6050::getZeroMotionDetected()
LORDTEK	0:9a1aae56ed19	2237	{
LORDTEK	0:9a1aae56ed19	2238	i2Cdev.readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
LORDTEK	0:9a1aae56ed19	2239	return buffer[0];
LORDTEK	0:9a1aae56ed19	2240	}
LORDTEK	0:9a1aae56ed19	2241
LORDTEK	0:9a1aae56ed19	2242	// I2C_SLV*_DO register
LORDTEK	0:9a1aae56ed19	2243
LORDTEK	0:9a1aae56ed19	2244	/** Write byte to Data Output container for specified slave.
LORDTEK	0:9a1aae56ed19	2245	* This register holds the output data written into Slave when Slave is set to
LORDTEK	0:9a1aae56ed19	2246	* write mode. For further information regarding Slave control, please
LORDTEK	0:9a1aae56ed19	2247	* refer to Registers 37 to 39 and immediately following.
LORDTEK	0:9a1aae56ed19	2248	* @param num Slave number (0-3)
LORDTEK	0:9a1aae56ed19	2249	* @param data Byte to write
LORDTEK	0:9a1aae56ed19	2250	* @see MPU6050_RA_I2C_SLV0_DO
LORDTEK	0:9a1aae56ed19	2251	*/
LORDTEK	0:9a1aae56ed19	2252	void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data)
LORDTEK	0:9a1aae56ed19	2253	{
LORDTEK	0:9a1aae56ed19	2254	if (num > 3) return;
LORDTEK	0:9a1aae56ed19	2255	i2Cdev.writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
LORDTEK	0:9a1aae56ed19	2256	}
LORDTEK	0:9a1aae56ed19	2257
LORDTEK	0:9a1aae56ed19	2258	// I2C_MST_DELAY_CTRL register
LORDTEK	0:9a1aae56ed19	2259
LORDTEK	0:9a1aae56ed19	2260	/** Get external data shadow delay enabled status.
LORDTEK	0:9a1aae56ed19	2261	* This register is used to specify the timing of external sensor data
LORDTEK	0:9a1aae56ed19	2262	* shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
LORDTEK	0:9a1aae56ed19	2263	* sensor data is delayed until all data has been received.
LORDTEK	0:9a1aae56ed19	2264	* @return Current external data shadow delay enabled status.
LORDTEK	0:9a1aae56ed19	2265	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
LORDTEK	0:9a1aae56ed19	2266	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
LORDTEK	0:9a1aae56ed19	2267	*/
LORDTEK	0:9a1aae56ed19	2268	bool MPU6050::getExternalShadowDelayEnabled()
LORDTEK	0:9a1aae56ed19	2269	{
LORDTEK	0:9a1aae56ed19	2270	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
LORDTEK	0:9a1aae56ed19	2271	return buffer[0];
LORDTEK	0:9a1aae56ed19	2272	}
LORDTEK	0:9a1aae56ed19	2273	/** Set external data shadow delay enabled status.
LORDTEK	0:9a1aae56ed19	2274	* @param enabled New external data shadow delay enabled status.
LORDTEK	0:9a1aae56ed19	2275	* @see getExternalShadowDelayEnabled()
LORDTEK	0:9a1aae56ed19	2276	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
LORDTEK	0:9a1aae56ed19	2277	* @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
LORDTEK	0:9a1aae56ed19	2278	*/
LORDTEK	0:9a1aae56ed19	2279	void MPU6050::setExternalShadowDelayEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	2280	{
LORDTEK	0:9a1aae56ed19	2281	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
LORDTEK	0:9a1aae56ed19	2282	}
LORDTEK	0:9a1aae56ed19	2283	/** Get slave delay enabled status.
LORDTEK	0:9a1aae56ed19	2284	* When a particular slave delay is enabled, the rate of access for the that
LORDTEK	0:9a1aae56ed19	2285	* slave device is reduced. When a slave's access rate is decreased relative to
LORDTEK	0:9a1aae56ed19	2286	* the Sample Rate, the slave is accessed every:
LORDTEK	0:9a1aae56ed19	2287	*
LORDTEK	0:9a1aae56ed19	2288	* 1 / (1 + I2C_MST_DLY) Samples
LORDTEK	0:9a1aae56ed19	2289	*
LORDTEK	0:9a1aae56ed19	2290	* This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25)
LORDTEK	0:9a1aae56ed19	2291	* and DLPF_CFG (register 26).
LORDTEK	0:9a1aae56ed19	2292	*
LORDTEK	0:9a1aae56ed19	2293	* For further information regarding I2C_MST_DLY, please refer to register 52.
LORDTEK	0:9a1aae56ed19	2294	* For further information regarding the Sample Rate, please refer to register 25.
LORDTEK	0:9a1aae56ed19	2295	*
LORDTEK	0:9a1aae56ed19	2296	* @param num Slave number (0-4)
LORDTEK	0:9a1aae56ed19	2297	* @return Current slave delay enabled status.
LORDTEK	0:9a1aae56ed19	2298	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
LORDTEK	0:9a1aae56ed19	2299	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
LORDTEK	0:9a1aae56ed19	2300	*/
LORDTEK	0:9a1aae56ed19	2301	bool MPU6050::getSlaveDelayEnabled(uint8_t num)
LORDTEK	0:9a1aae56ed19	2302	{
LORDTEK	0:9a1aae56ed19	2303	// MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
LORDTEK	0:9a1aae56ed19	2304	if (num > 4) return 0;
LORDTEK	0:9a1aae56ed19	2305	i2Cdev.readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
LORDTEK	0:9a1aae56ed19	2306	return buffer[0];
LORDTEK	0:9a1aae56ed19	2307	}
LORDTEK	0:9a1aae56ed19	2308	/** Set slave delay enabled status.
LORDTEK	0:9a1aae56ed19	2309	* @param num Slave number (0-4)
LORDTEK	0:9a1aae56ed19	2310	* @param enabled New slave delay enabled status.
LORDTEK	0:9a1aae56ed19	2311	* @see MPU6050_RA_I2C_MST_DELAY_CTRL
LORDTEK	0:9a1aae56ed19	2312	* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
LORDTEK	0:9a1aae56ed19	2313	*/
LORDTEK	0:9a1aae56ed19	2314	void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled)
LORDTEK	0:9a1aae56ed19	2315	{
LORDTEK	0:9a1aae56ed19	2316	i2Cdev.writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
LORDTEK	0:9a1aae56ed19	2317	}
LORDTEK	0:9a1aae56ed19	2318
LORDTEK	0:9a1aae56ed19	2319	// SIGNAL_PATH_RESET register
LORDTEK	0:9a1aae56ed19	2320
LORDTEK	0:9a1aae56ed19	2321	/** Reset gyroscope signal path.
LORDTEK	0:9a1aae56ed19	2322	* The reset will revert the signal path analog to digital converters and
LORDTEK	0:9a1aae56ed19	2323	* filters to their power up configurations.
LORDTEK	0:9a1aae56ed19	2324	* @see MPU6050_RA_SIGNAL_PATH_RESET
LORDTEK	0:9a1aae56ed19	2325	* @see MPU6050_PATHRESET_GYRO_RESET_BIT
LORDTEK	0:9a1aae56ed19	2326	*/
LORDTEK	0:9a1aae56ed19	2327	void MPU6050::resetGyroscopePath()
LORDTEK	0:9a1aae56ed19	2328	{
LORDTEK	0:9a1aae56ed19	2329	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
LORDTEK	0:9a1aae56ed19	2330	}
LORDTEK	0:9a1aae56ed19	2331	/** Reset accelerometer signal path.
LORDTEK	0:9a1aae56ed19	2332	* The reset will revert the signal path analog to digital converters and
LORDTEK	0:9a1aae56ed19	2333	* filters to their power up configurations.
LORDTEK	0:9a1aae56ed19	2334	* @see MPU6050_RA_SIGNAL_PATH_RESET
LORDTEK	0:9a1aae56ed19	2335	* @see MPU6050_PATHRESET_ACCEL_RESET_BIT
LORDTEK	0:9a1aae56ed19	2336	*/
LORDTEK	0:9a1aae56ed19	2337	void MPU6050::resetAccelerometerPath()
LORDTEK	0:9a1aae56ed19	2338	{
LORDTEK	0:9a1aae56ed19	2339	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
LORDTEK	0:9a1aae56ed19	2340	}
LORDTEK	0:9a1aae56ed19	2341	/** Reset temperature sensor signal path.
LORDTEK	0:9a1aae56ed19	2342	* The reset will revert the signal path analog to digital converters and
LORDTEK	0:9a1aae56ed19	2343	* filters to their power up configurations.
LORDTEK	0:9a1aae56ed19	2344	* @see MPU6050_RA_SIGNAL_PATH_RESET
LORDTEK	0:9a1aae56ed19	2345	* @see MPU6050_PATHRESET_TEMP_RESET_BIT
LORDTEK	0:9a1aae56ed19	2346	*/
LORDTEK	0:9a1aae56ed19	2347	void MPU6050::resetTemperaturePath()
LORDTEK	0:9a1aae56ed19	2348	{
LORDTEK	0:9a1aae56ed19	2349	i2Cdev.writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
LORDTEK	0:9a1aae56ed19	2350	}
LORDTEK	0:9a1aae56ed19	2351
LORDTEK	0:9a1aae56ed19	2352	// MOT_DETECT_CTRL register
LORDTEK	0:9a1aae56ed19	2353
LORDTEK	0:9a1aae56ed19	2354	/** Get accelerometer power-on delay.
LORDTEK	0:9a1aae56ed19	2355	* The accelerometer data path provides samples to the sensor registers, Motion
LORDTEK	0:9a1aae56ed19	2356	* detection, Zero Motion detection, and Free Fall detection modules. The
LORDTEK	0:9a1aae56ed19	2357	* signal path contains filters which must be flushed on wake-up with new
LORDTEK	0:9a1aae56ed19	2358	* samples before the detection modules begin operations. The default wake-up
LORDTEK	0:9a1aae56ed19	2359	* delay, of 4ms can be lengthened by up to 3ms. This additional delay is
LORDTEK	0:9a1aae56ed19	2360	* specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
LORDTEK	0:9a1aae56ed19	2361	* any value above zero unless instructed otherwise by InvenSense. Please refer
LORDTEK	0:9a1aae56ed19	2362	* to Section 8 of the MPU-6000/MPU-6050 Product Specification document for
LORDTEK	0:9a1aae56ed19	2363	* further information regarding the detection modules.
LORDTEK	0:9a1aae56ed19	2364	* @return Current accelerometer power-on delay
LORDTEK	0:9a1aae56ed19	2365	* @see MPU6050_RA_MOT_DETECT_CTRL
LORDTEK	0:9a1aae56ed19	2366	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
LORDTEK	0:9a1aae56ed19	2367	*/
LORDTEK	0:9a1aae56ed19	2368	uint8_t MPU6050::getAccelerometerPowerOnDelay()
LORDTEK	0:9a1aae56ed19	2369	{
LORDTEK	0:9a1aae56ed19	2370	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
LORDTEK	0:9a1aae56ed19	2371	return buffer[0];
LORDTEK	0:9a1aae56ed19	2372	}
LORDTEK	0:9a1aae56ed19	2373	/** Set accelerometer power-on delay.
LORDTEK	0:9a1aae56ed19	2374	* @param delay New accelerometer power-on delay (0-3)
LORDTEK	0:9a1aae56ed19	2375	* @see getAccelerometerPowerOnDelay()
LORDTEK	0:9a1aae56ed19	2376	* @see MPU6050_RA_MOT_DETECT_CTRL
LORDTEK	0:9a1aae56ed19	2377	* @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
LORDTEK	0:9a1aae56ed19	2378	*/
LORDTEK	0:9a1aae56ed19	2379	void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay)
LORDTEK	0:9a1aae56ed19	2380	{
LORDTEK	0:9a1aae56ed19	2381	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
LORDTEK	0:9a1aae56ed19	2382	}
LORDTEK	0:9a1aae56ed19	2383	/** Get Free Fall detection counter decrement configuration.
LORDTEK	0:9a1aae56ed19	2384	* Detection is registered by the Free Fall detection module after accelerometer
LORDTEK	0:9a1aae56ed19	2385	* measurements meet their respective threshold conditions over a specified
LORDTEK	0:9a1aae56ed19	2386	* number of samples. When the threshold conditions are met, the corresponding
LORDTEK	0:9a1aae56ed19	2387	* detection counter increments by 1. The user may control the rate at which the
LORDTEK	0:9a1aae56ed19	2388	* detection counter decrements when the threshold condition is not met by
LORDTEK	0:9a1aae56ed19	2389	* configuring FF_COUNT. The decrement rate can be set according to the
LORDTEK	0:9a1aae56ed19	2390	* following table:
LORDTEK	0:9a1aae56ed19	2391	*
LORDTEK	0:9a1aae56ed19	2392	* <pre>
LORDTEK	0:9a1aae56ed19	2393	* FF_COUNT \| Counter Decrement
LORDTEK	0:9a1aae56ed19	2394	* ---------+------------------
LORDTEK	0:9a1aae56ed19	2395	* 0 \| Reset
LORDTEK	0:9a1aae56ed19	2396	* 1 \| 1
LORDTEK	0:9a1aae56ed19	2397	* 2 \| 2
LORDTEK	0:9a1aae56ed19	2398	* 3 \| 4
LORDTEK	0:9a1aae56ed19	2399	* </pre>
LORDTEK	0:9a1aae56ed19	2400	*
LORDTEK	0:9a1aae56ed19	2401	* When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
LORDTEK	0:9a1aae56ed19	2402	* reset the counter to 0. For further information on Free Fall detection,
LORDTEK	0:9a1aae56ed19	2403	* please refer to Registers 29 to 32.
LORDTEK	0:9a1aae56ed19	2404	*
LORDTEK	0:9a1aae56ed19	2405	* @return Current decrement configuration
LORDTEK	0:9a1aae56ed19	2406	* @see MPU6050_RA_MOT_DETECT_CTRL
LORDTEK	0:9a1aae56ed19	2407	* @see MPU6050_DETECT_FF_COUNT_BIT
LORDTEK	0:9a1aae56ed19	2408	*/
LORDTEK	0:9a1aae56ed19	2409	uint8_t MPU6050::getFreefallDetectionCounterDecrement()
LORDTEK	0:9a1aae56ed19	2410	{
LORDTEK	0:9a1aae56ed19	2411	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
LORDTEK	0:9a1aae56ed19	2412	return buffer[0];
LORDTEK	0:9a1aae56ed19	2413	}
LORDTEK	0:9a1aae56ed19	2414	/** Set Free Fall detection counter decrement configuration.
LORDTEK	0:9a1aae56ed19	2415	* @param decrement New decrement configuration value
LORDTEK	0:9a1aae56ed19	2416	* @see getFreefallDetectionCounterDecrement()
LORDTEK	0:9a1aae56ed19	2417	* @see MPU6050_RA_MOT_DETECT_CTRL
LORDTEK	0:9a1aae56ed19	2418	* @see MPU6050_DETECT_FF_COUNT_BIT
LORDTEK	0:9a1aae56ed19	2419	*/
LORDTEK	0:9a1aae56ed19	2420	void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement)
LORDTEK	0:9a1aae56ed19	2421	{
LORDTEK	0:9a1aae56ed19	2422	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
LORDTEK	0:9a1aae56ed19	2423	}
LORDTEK	0:9a1aae56ed19	2424	/** Get Motion detection counter decrement configuration.
LORDTEK	0:9a1aae56ed19	2425	* Detection is registered by the Motion detection module after accelerometer
LORDTEK	0:9a1aae56ed19	2426	* measurements meet their respective threshold conditions over a specified
LORDTEK	0:9a1aae56ed19	2427	* number of samples. When the threshold conditions are met, the corresponding
LORDTEK	0:9a1aae56ed19	2428	* detection counter increments by 1. The user may control the rate at which the
LORDTEK	0:9a1aae56ed19	2429	* detection counter decrements when the threshold condition is not met by
LORDTEK	0:9a1aae56ed19	2430	* configuring MOT_COUNT. The decrement rate can be set according to the
LORDTEK	0:9a1aae56ed19	2431	* following table:
LORDTEK	0:9a1aae56ed19	2432	*
LORDTEK	0:9a1aae56ed19	2433	* <pre>
LORDTEK	0:9a1aae56ed19	2434	* MOT_COUNT \| Counter Decrement
LORDTEK	0:9a1aae56ed19	2435	* ----------+------------------
LORDTEK	0:9a1aae56ed19	2436	* 0 \| Reset
LORDTEK	0:9a1aae56ed19	2437	* 1 \| 1
LORDTEK	0:9a1aae56ed19	2438	* 2 \| 2
LORDTEK	0:9a1aae56ed19	2439	* 3 \| 4
LORDTEK	0:9a1aae56ed19	2440	* </pre>
LORDTEK	0:9a1aae56ed19	2441	*
LORDTEK	0:9a1aae56ed19	2442	* When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
LORDTEK	0:9a1aae56ed19	2443	* reset the counter to 0. For further information on Motion detection,
LORDTEK	0:9a1aae56ed19	2444	* please refer to Registers 29 to 32.
LORDTEK	0:9a1aae56ed19	2445	*
LORDTEK	0:9a1aae56ed19	2446	*/
LORDTEK	0:9a1aae56ed19	2447	uint8_t MPU6050::getMotionDetectionCounterDecrement()
LORDTEK	0:9a1aae56ed19	2448	{
LORDTEK	0:9a1aae56ed19	2449	i2Cdev.readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
LORDTEK	0:9a1aae56ed19	2450	return buffer[0];
LORDTEK	0:9a1aae56ed19	2451	}
LORDTEK	0:9a1aae56ed19	2452	/** Set Motion detection counter decrement configuration.
LORDTEK	0:9a1aae56ed19	2453	* @param decrement New decrement configuration value
LORDTEK	0:9a1aae56ed19	2454	* @see getMotionDetectionCounterDecrement()
LORDTEK	0:9a1aae56ed19	2455	* @see MPU6050_RA_MOT_DETECT_CTRL
LORDTEK	0:9a1aae56ed19	2456	* @see MPU6050_DETECT_MOT_COUNT_BIT
LORDTEK	0:9a1aae56ed19	2457	*/
LORDTEK	0:9a1aae56ed19	2458	void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement)
LORDTEK	0:9a1aae56ed19	2459	{
LORDTEK	0:9a1aae56ed19	2460	i2Cdev.writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
LORDTEK	0:9a1aae56ed19	2461	}
LORDTEK	0:9a1aae56ed19	2462
LORDTEK	0:9a1aae56ed19	2463	// USER_CTRL register
LORDTEK	0:9a1aae56ed19	2464
LORDTEK	0:9a1aae56ed19	2465	/** Get FIFO enabled status.
LORDTEK	0:9a1aae56ed19	2466	* When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
LORDTEK	0:9a1aae56ed19	2467	* cannot be written to or read from while disabled. The FIFO buffer's state
LORDTEK	0:9a1aae56ed19	2468	* does not change unless the MPU-60X0 is power cycled.
LORDTEK	0:9a1aae56ed19	2469	* @return Current FIFO enabled status
LORDTEK	0:9a1aae56ed19	2470	* @see MPU6050_RA_USER_CTRL
LORDTEK	0:9a1aae56ed19	2471	* @see MPU6050_USERCTRL_FIFO_EN_BIT
LORDTEK	0:9a1aae56ed19	2472	*/
LORDTEK	0:9a1aae56ed19	2473	bool MPU6050::getFIFOEnabled()
LORDTEK	0:9a1aae56ed19	2474	{
LORDTEK	0:9a1aae56ed19	2475	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
LORDTEK	0:9a1aae56ed19	2476	return buffer[0];
LORDTEK	0:9a1aae56ed19	2477	}
LORDTEK	0:9a1aae56ed19	2478	/** Set FIFO enabled status.
LORDTEK	0:9a1aae56ed19	2479	* @param enabled New FIFO enabled status
LORDTEK	0:9a1aae56ed19	2480	* @see getFIFOEnabled()
LORDTEK	0:9a1aae56ed19	2481	* @see MPU6050_RA_USER_CTRL
LORDTEK	0:9a1aae56ed19	2482	* @see MPU6050_USERCTRL_FIFO_EN_BIT
LORDTEK	0:9a1aae56ed19	2483	*/
LORDTEK	0:9a1aae56ed19	2484	void MPU6050::setFIFOEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	2485	{
LORDTEK	0:9a1aae56ed19	2486	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
LORDTEK	0:9a1aae56ed19	2487	}
LORDTEK	0:9a1aae56ed19	2488	/** Get I2C Master Mode enabled status.
LORDTEK	0:9a1aae56ed19	2489	* When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
LORDTEK	0:9a1aae56ed19	2490	* external sensor slave devices on the auxiliary I2C bus. When this bit is
LORDTEK	0:9a1aae56ed19	2491	* cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
LORDTEK	0:9a1aae56ed19	2492	* driven by the primary I2C bus (SDA and SCL). This is a precondition to
LORDTEK	0:9a1aae56ed19	2493	* enabling Bypass Mode. For further information regarding Bypass Mode, please
LORDTEK	0:9a1aae56ed19	2494	* refer to Register 55.
LORDTEK	0:9a1aae56ed19	2495	* @return Current I2C Master Mode enabled status
LORDTEK	0:9a1aae56ed19	2496	* @see MPU6050_RA_USER_CTRL
LORDTEK	0:9a1aae56ed19	2497	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
LORDTEK	0:9a1aae56ed19	2498	*/
LORDTEK	0:9a1aae56ed19	2499	bool MPU6050::getI2CMasterModeEnabled()
LORDTEK	0:9a1aae56ed19	2500	{
LORDTEK	0:9a1aae56ed19	2501	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
LORDTEK	0:9a1aae56ed19	2502	return buffer[0];
LORDTEK	0:9a1aae56ed19	2503	}
LORDTEK	0:9a1aae56ed19	2504	/** Set I2C Master Mode enabled status.
LORDTEK	0:9a1aae56ed19	2505	* @param enabled New I2C Master Mode enabled status
LORDTEK	0:9a1aae56ed19	2506	* @see getI2CMasterModeEnabled()
LORDTEK	0:9a1aae56ed19	2507	* @see MPU6050_RA_USER_CTRL
LORDTEK	0:9a1aae56ed19	2508	* @see MPU6050_USERCTRL_I2C_MST_EN_BIT
LORDTEK	0:9a1aae56ed19	2509	*/
LORDTEK	0:9a1aae56ed19	2510	void MPU6050::setI2CMasterModeEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	2511	{
LORDTEK	0:9a1aae56ed19	2512	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
LORDTEK	0:9a1aae56ed19	2513	}
LORDTEK	0:9a1aae56ed19	2514	/** Switch from I2C to SPI mode (MPU-6000 only)
LORDTEK	0:9a1aae56ed19	2515	* If this is set, the primary SPI interface will be enabled in place of the
LORDTEK	0:9a1aae56ed19	2516	* disabled primary I2C interface.
LORDTEK	0:9a1aae56ed19	2517	*/
LORDTEK	0:9a1aae56ed19	2518	void MPU6050::switchSPIEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	2519	{
LORDTEK	0:9a1aae56ed19	2520	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
LORDTEK	0:9a1aae56ed19	2521	}
LORDTEK	0:9a1aae56ed19	2522	/** Reset the FIFO.
LORDTEK	0:9a1aae56ed19	2523	* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
LORDTEK	0:9a1aae56ed19	2524	* bit automatically clears to 0 after the reset has been triggered.
LORDTEK	0:9a1aae56ed19	2525	* @see MPU6050_RA_USER_CTRL
LORDTEK	0:9a1aae56ed19	2526	* @see MPU6050_USERCTRL_FIFO_RESET_BIT
LORDTEK	0:9a1aae56ed19	2527	*/
LORDTEK	0:9a1aae56ed19	2528	void MPU6050::resetFIFO()
LORDTEK	0:9a1aae56ed19	2529	{
LORDTEK	0:9a1aae56ed19	2530	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
LORDTEK	0:9a1aae56ed19	2531	}
LORDTEK	0:9a1aae56ed19	2532	/** Reset the I2C Master.
LORDTEK	0:9a1aae56ed19	2533	* This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
LORDTEK	0:9a1aae56ed19	2534	* This bit automatically clears to 0 after the reset has been triggered.
LORDTEK	0:9a1aae56ed19	2535	* @see MPU6050_RA_USER_CTRL
LORDTEK	0:9a1aae56ed19	2536	* @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
LORDTEK	0:9a1aae56ed19	2537	*/
LORDTEK	0:9a1aae56ed19	2538	void MPU6050::resetI2CMaster()
LORDTEK	0:9a1aae56ed19	2539	{
LORDTEK	0:9a1aae56ed19	2540	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
LORDTEK	0:9a1aae56ed19	2541	}
LORDTEK	0:9a1aae56ed19	2542	/** Reset all sensor registers and signal paths.
LORDTEK	0:9a1aae56ed19	2543	* When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
LORDTEK	0:9a1aae56ed19	2544	* accelerometers, and temperature sensor). This operation will also clear the
LORDTEK	0:9a1aae56ed19	2545	* sensor registers. This bit automatically clears to 0 after the reset has been
LORDTEK	0:9a1aae56ed19	2546	* triggered.
LORDTEK	0:9a1aae56ed19	2547	*
LORDTEK	0:9a1aae56ed19	2548	* When resetting only the signal path (and not the sensor registers), please
LORDTEK	0:9a1aae56ed19	2549	* use Register 104, SIGNAL_PATH_RESET.
LORDTEK	0:9a1aae56ed19	2550	*
LORDTEK	0:9a1aae56ed19	2551	* @see MPU6050_RA_USER_CTRL
LORDTEK	0:9a1aae56ed19	2552	* @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
LORDTEK	0:9a1aae56ed19	2553	*/
LORDTEK	0:9a1aae56ed19	2554	void MPU6050::resetSensors()
LORDTEK	0:9a1aae56ed19	2555	{
LORDTEK	0:9a1aae56ed19	2556	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
LORDTEK	0:9a1aae56ed19	2557	}
LORDTEK	0:9a1aae56ed19	2558
LORDTEK	0:9a1aae56ed19	2559	// PWR_MGMT_1 register
LORDTEK	0:9a1aae56ed19	2560
LORDTEK	0:9a1aae56ed19	2561	/** Trigger a full device reset.
LORDTEK	0:9a1aae56ed19	2562	* A small delay of ~50ms may be desirable after triggering a reset.
LORDTEK	0:9a1aae56ed19	2563	* @see MPU6050_RA_PWR_MGMT_1
LORDTEK	0:9a1aae56ed19	2564	* @see MPU6050_PWR1_DEVICE_RESET_BIT
LORDTEK	0:9a1aae56ed19	2565	*/
LORDTEK	0:9a1aae56ed19	2566	void MPU6050::reset()
LORDTEK	0:9a1aae56ed19	2567	{
LORDTEK	0:9a1aae56ed19	2568	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
LORDTEK	0:9a1aae56ed19	2569	}
LORDTEK	0:9a1aae56ed19	2570	/** Get sleep mode status.
LORDTEK	0:9a1aae56ed19	2571	* Setting the SLEEP bit in the register puts the device into very low power
LORDTEK	0:9a1aae56ed19	2572	* sleep mode. In this mode, only the serial interface and internal registers
LORDTEK	0:9a1aae56ed19	2573	* remain active, allowing for a very low standby current. Clearing this bit
LORDTEK	0:9a1aae56ed19	2574	* puts the device back into normal mode. To save power, the individual standby
LORDTEK	0:9a1aae56ed19	2575	* selections for each of the gyros should be used if any gyro axis is not used
LORDTEK	0:9a1aae56ed19	2576	* by the application.
LORDTEK	0:9a1aae56ed19	2577	* @return Current sleep mode enabled status
LORDTEK	0:9a1aae56ed19	2578	* @see MPU6050_RA_PWR_MGMT_1
LORDTEK	0:9a1aae56ed19	2579	* @see MPU6050_PWR1_SLEEP_BIT
LORDTEK	0:9a1aae56ed19	2580	*/
LORDTEK	0:9a1aae56ed19	2581	bool MPU6050::getSleepEnabled()
LORDTEK	0:9a1aae56ed19	2582	{
LORDTEK	0:9a1aae56ed19	2583	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
LORDTEK	0:9a1aae56ed19	2584	return buffer[0];
LORDTEK	0:9a1aae56ed19	2585	}
LORDTEK	0:9a1aae56ed19	2586	/** Set sleep mode status.
LORDTEK	0:9a1aae56ed19	2587	* @param enabled New sleep mode enabled status
LORDTEK	0:9a1aae56ed19	2588	* @see getSleepEnabled()
LORDTEK	0:9a1aae56ed19	2589	* @see MPU6050_RA_PWR_MGMT_1
LORDTEK	0:9a1aae56ed19	2590	* @see MPU6050_PWR1_SLEEP_BIT
LORDTEK	0:9a1aae56ed19	2591	*/
LORDTEK	0:9a1aae56ed19	2592	void MPU6050::setSleepEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	2593	{
LORDTEK	0:9a1aae56ed19	2594	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
LORDTEK	0:9a1aae56ed19	2595	}
LORDTEK	0:9a1aae56ed19	2596	/** Get wake cycle enabled status.
LORDTEK	0:9a1aae56ed19	2597	* When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
LORDTEK	0:9a1aae56ed19	2598	* between sleep mode and waking up to take a single sample of data from active
LORDTEK	0:9a1aae56ed19	2599	* sensors at a rate determined by LP_WAKE_CTRL (register 108).
LORDTEK	0:9a1aae56ed19	2600	* @return Current sleep mode enabled status
LORDTEK	0:9a1aae56ed19	2601	* @see MPU6050_RA_PWR_MGMT_1
LORDTEK	0:9a1aae56ed19	2602	* @see MPU6050_PWR1_CYCLE_BIT
LORDTEK	0:9a1aae56ed19	2603	*/
LORDTEK	0:9a1aae56ed19	2604	bool MPU6050::getWakeCycleEnabled()
LORDTEK	0:9a1aae56ed19	2605	{
LORDTEK	0:9a1aae56ed19	2606	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
LORDTEK	0:9a1aae56ed19	2607	return buffer[0];
LORDTEK	0:9a1aae56ed19	2608	}
LORDTEK	0:9a1aae56ed19	2609	/** Set wake cycle enabled status.
LORDTEK	0:9a1aae56ed19	2610	* @param enabled New sleep mode enabled status
LORDTEK	0:9a1aae56ed19	2611	* @see getWakeCycleEnabled()
LORDTEK	0:9a1aae56ed19	2612	* @see MPU6050_RA_PWR_MGMT_1
LORDTEK	0:9a1aae56ed19	2613	* @see MPU6050_PWR1_CYCLE_BIT
LORDTEK	0:9a1aae56ed19	2614	*/
LORDTEK	0:9a1aae56ed19	2615	void MPU6050::setWakeCycleEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	2616	{
LORDTEK	0:9a1aae56ed19	2617	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
LORDTEK	0:9a1aae56ed19	2618	}
LORDTEK	0:9a1aae56ed19	2619	/** Get temperature sensor enabled status.
LORDTEK	0:9a1aae56ed19	2620	* Control the usage of the internal temperature sensor.
LORDTEK	0:9a1aae56ed19	2621	*
LORDTEK	0:9a1aae56ed19	2622	* Note: this register stores the disabled value, but for consistency with the
LORDTEK	0:9a1aae56ed19	2623	* rest of the code, the function is named and used with standard true/false
LORDTEK	0:9a1aae56ed19	2624	* values to indicate whether the sensor is enabled or disabled, respectively.
LORDTEK	0:9a1aae56ed19	2625	*
LORDTEK	0:9a1aae56ed19	2626	* @return Current temperature sensor enabled status
LORDTEK	0:9a1aae56ed19	2627	* @see MPU6050_RA_PWR_MGMT_1
LORDTEK	0:9a1aae56ed19	2628	* @see MPU6050_PWR1_TEMP_DIS_BIT
LORDTEK	0:9a1aae56ed19	2629	*/
LORDTEK	0:9a1aae56ed19	2630	bool MPU6050::getTempSensorEnabled()
LORDTEK	0:9a1aae56ed19	2631	{
LORDTEK	0:9a1aae56ed19	2632	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
LORDTEK	0:9a1aae56ed19	2633	return buffer[0] == 0; // 1 is actually disabled here
LORDTEK	0:9a1aae56ed19	2634	}
LORDTEK	0:9a1aae56ed19	2635	/** Set temperature sensor enabled status.
LORDTEK	0:9a1aae56ed19	2636	* Note: this register stores the disabled value, but for consistency with the
LORDTEK	0:9a1aae56ed19	2637	* rest of the code, the function is named and used with standard true/false
LORDTEK	0:9a1aae56ed19	2638	* values to indicate whether the sensor is enabled or disabled, respectively.
LORDTEK	0:9a1aae56ed19	2639	*
LORDTEK	0:9a1aae56ed19	2640	* @param enabled New temperature sensor enabled status
LORDTEK	0:9a1aae56ed19	2641	* @see getTempSensorEnabled()
LORDTEK	0:9a1aae56ed19	2642	* @see MPU6050_RA_PWR_MGMT_1
LORDTEK	0:9a1aae56ed19	2643	* @see MPU6050_PWR1_TEMP_DIS_BIT
LORDTEK	0:9a1aae56ed19	2644	*/
LORDTEK	0:9a1aae56ed19	2645	void MPU6050::setTempSensorEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	2646	{
LORDTEK	0:9a1aae56ed19	2647	// 1 is actually disabled here
LORDTEK	0:9a1aae56ed19	2648	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
LORDTEK	0:9a1aae56ed19	2649	}
LORDTEK	0:9a1aae56ed19	2650	/** Get clock source setting.
LORDTEK	0:9a1aae56ed19	2651	* @return Current clock source setting
LORDTEK	0:9a1aae56ed19	2652	* @see MPU6050_RA_PWR_MGMT_1
LORDTEK	0:9a1aae56ed19	2653	* @see MPU6050_PWR1_CLKSEL_BIT
LORDTEK	0:9a1aae56ed19	2654	* @see MPU6050_PWR1_CLKSEL_LENGTH
LORDTEK	0:9a1aae56ed19	2655	*/
LORDTEK	0:9a1aae56ed19	2656	uint8_t MPU6050::getClockSource()
LORDTEK	0:9a1aae56ed19	2657	{
LORDTEK	0:9a1aae56ed19	2658	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
LORDTEK	0:9a1aae56ed19	2659	return buffer[0];
LORDTEK	0:9a1aae56ed19	2660	}
LORDTEK	0:9a1aae56ed19	2661	/** Set clock source setting.
LORDTEK	0:9a1aae56ed19	2662	* An internal 8MHz oscillator, gyroscope based clock, or external sources can
LORDTEK	0:9a1aae56ed19	2663	* be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
LORDTEK	0:9a1aae56ed19	2664	* or an external source is chosen as the clock source, the MPU-60X0 can operate
LORDTEK	0:9a1aae56ed19	2665	* in low power modes with the gyroscopes disabled.
LORDTEK	0:9a1aae56ed19	2666	*
LORDTEK	0:9a1aae56ed19	2667	* Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
LORDTEK	0:9a1aae56ed19	2668	* However, it is highly recommended that the device be configured to use one of
LORDTEK	0:9a1aae56ed19	2669	* the gyroscopes (or an external clock source) as the clock reference for
LORDTEK	0:9a1aae56ed19	2670	* improved stability. The clock source can be selected according to the following table:
LORDTEK	0:9a1aae56ed19	2671	*
LORDTEK	0:9a1aae56ed19	2672	* <pre>
LORDTEK	0:9a1aae56ed19	2673	* CLK_SEL \| Clock Source
LORDTEK	0:9a1aae56ed19	2674	* --------+--------------------------------------
LORDTEK	0:9a1aae56ed19	2675	* 0 \| Internal oscillator
LORDTEK	0:9a1aae56ed19	2676	* 1 \| PLL with X Gyro reference
LORDTEK	0:9a1aae56ed19	2677	* 2 \| PLL with Y Gyro reference
LORDTEK	0:9a1aae56ed19	2678	* 3 \| PLL with Z Gyro reference
LORDTEK	0:9a1aae56ed19	2679	* 4 \| PLL with external 32.768kHz reference
LORDTEK	0:9a1aae56ed19	2680	* 5 \| PLL with external 19.2MHz reference
LORDTEK	0:9a1aae56ed19	2681	* 6 \| Reserved
LORDTEK	0:9a1aae56ed19	2682	* 7 \| Stops the clock and keeps the timing generator in reset
LORDTEK	0:9a1aae56ed19	2683	* </pre>
LORDTEK	0:9a1aae56ed19	2684	*
LORDTEK	0:9a1aae56ed19	2685	* @param source New clock source setting
LORDTEK	0:9a1aae56ed19	2686	* @see getClockSource()
LORDTEK	0:9a1aae56ed19	2687	* @see MPU6050_RA_PWR_MGMT_1
LORDTEK	0:9a1aae56ed19	2688	* @see MPU6050_PWR1_CLKSEL_BIT
LORDTEK	0:9a1aae56ed19	2689	* @see MPU6050_PWR1_CLKSEL_LENGTH
LORDTEK	0:9a1aae56ed19	2690	*/
LORDTEK	0:9a1aae56ed19	2691	void MPU6050::setClockSource(uint8_t source)
LORDTEK	0:9a1aae56ed19	2692	{
LORDTEK	0:9a1aae56ed19	2693	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
LORDTEK	0:9a1aae56ed19	2694	}
LORDTEK	0:9a1aae56ed19	2695
LORDTEK	0:9a1aae56ed19	2696	// PWR_MGMT_2 register
LORDTEK	0:9a1aae56ed19	2697
LORDTEK	0:9a1aae56ed19	2698	/** Get wake frequency in Accel-Only Low Power Mode.
LORDTEK	0:9a1aae56ed19	2699	* The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
LORDTEK	0:9a1aae56ed19	2700	* PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
LORDTEK	0:9a1aae56ed19	2701	* the device will power off all devices except for the primary I2C interface,
LORDTEK	0:9a1aae56ed19	2702	* waking only the accelerometer at fixed intervals to take a single
LORDTEK	0:9a1aae56ed19	2703	* measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
LORDTEK	0:9a1aae56ed19	2704	* as shown below:
LORDTEK	0:9a1aae56ed19	2705	*
LORDTEK	0:9a1aae56ed19	2706	* <pre>
LORDTEK	0:9a1aae56ed19	2707	* LP_WAKE_CTRL \| Wake-up Frequency
LORDTEK	0:9a1aae56ed19	2708	* -------------+------------------
LORDTEK	0:9a1aae56ed19	2709	* 0 \| 1.25 Hz
LORDTEK	0:9a1aae56ed19	2710	* 1 \| 2.5 Hz
LORDTEK	0:9a1aae56ed19	2711	* 2 \| 5 Hz
LORDTEK	0:9a1aae56ed19	2712	* 3 \| 10 Hz
LORDTEK	0:9a1aae56ed19	2713	* <pre>
LORDTEK	0:9a1aae56ed19	2714	*
LORDTEK	0:9a1aae56ed19	2715	* For further information regarding the MPU-60X0's power modes, please refer to
LORDTEK	0:9a1aae56ed19	2716	* Register 107.
LORDTEK	0:9a1aae56ed19	2717	*
LORDTEK	0:9a1aae56ed19	2718	* @return Current wake frequency
LORDTEK	0:9a1aae56ed19	2719	* @see MPU6050_RA_PWR_MGMT_2
LORDTEK	0:9a1aae56ed19	2720	*/
LORDTEK	0:9a1aae56ed19	2721	uint8_t MPU6050::getWakeFrequency()
LORDTEK	0:9a1aae56ed19	2722	{
LORDTEK	0:9a1aae56ed19	2723	i2Cdev.readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
LORDTEK	0:9a1aae56ed19	2724	return buffer[0];
LORDTEK	0:9a1aae56ed19	2725	}
LORDTEK	0:9a1aae56ed19	2726	/** Set wake frequency in Accel-Only Low Power Mode.
LORDTEK	0:9a1aae56ed19	2727	* @param frequency New wake frequency
LORDTEK	0:9a1aae56ed19	2728	* @see MPU6050_RA_PWR_MGMT_2
LORDTEK	0:9a1aae56ed19	2729	*/
LORDTEK	0:9a1aae56ed19	2730	void MPU6050::setWakeFrequency(uint8_t frequency)
LORDTEK	0:9a1aae56ed19	2731	{
LORDTEK	0:9a1aae56ed19	2732	i2Cdev.writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
LORDTEK	0:9a1aae56ed19	2733	}
LORDTEK	0:9a1aae56ed19	2734
LORDTEK	0:9a1aae56ed19	2735	/** Get X-axis accelerometer standby enabled status.
LORDTEK	0:9a1aae56ed19	2736	* If enabled, the X-axis will not gather or report data (or use power).
LORDTEK	0:9a1aae56ed19	2737	* @return Current X-axis standby enabled status
LORDTEK	0:9a1aae56ed19	2738	* @see MPU6050_RA_PWR_MGMT_2
LORDTEK	0:9a1aae56ed19	2739	* @see MPU6050_PWR2_STBY_XA_BIT
LORDTEK	0:9a1aae56ed19	2740	*/
LORDTEK	0:9a1aae56ed19	2741	bool MPU6050::getStandbyXAccelEnabled()
LORDTEK	0:9a1aae56ed19	2742	{
LORDTEK	0:9a1aae56ed19	2743	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
LORDTEK	0:9a1aae56ed19	2744	return buffer[0];
LORDTEK	0:9a1aae56ed19	2745	}
LORDTEK	0:9a1aae56ed19	2746	/** Set X-axis accelerometer standby enabled status.
LORDTEK	0:9a1aae56ed19	2747	* @param New X-axis standby enabled status
LORDTEK	0:9a1aae56ed19	2748	* @see getStandbyXAccelEnabled()
LORDTEK	0:9a1aae56ed19	2749	* @see MPU6050_RA_PWR_MGMT_2
LORDTEK	0:9a1aae56ed19	2750	* @see MPU6050_PWR2_STBY_XA_BIT
LORDTEK	0:9a1aae56ed19	2751	*/
LORDTEK	0:9a1aae56ed19	2752	void MPU6050::setStandbyXAccelEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	2753	{
LORDTEK	0:9a1aae56ed19	2754	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
LORDTEK	0:9a1aae56ed19	2755	}
LORDTEK	0:9a1aae56ed19	2756	/** Get Y-axis accelerometer standby enabled status.
LORDTEK	0:9a1aae56ed19	2757	* If enabled, the Y-axis will not gather or report data (or use power).
LORDTEK	0:9a1aae56ed19	2758	* @return Current Y-axis standby enabled status
LORDTEK	0:9a1aae56ed19	2759	* @see MPU6050_RA_PWR_MGMT_2
LORDTEK	0:9a1aae56ed19	2760	* @see MPU6050_PWR2_STBY_YA_BIT
LORDTEK	0:9a1aae56ed19	2761	*/
LORDTEK	0:9a1aae56ed19	2762	bool MPU6050::getStandbyYAccelEnabled()
LORDTEK	0:9a1aae56ed19	2763	{
LORDTEK	0:9a1aae56ed19	2764	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
LORDTEK	0:9a1aae56ed19	2765	return buffer[0];
LORDTEK	0:9a1aae56ed19	2766	}
LORDTEK	0:9a1aae56ed19	2767	/** Set Y-axis accelerometer standby enabled status.
LORDTEK	0:9a1aae56ed19	2768	* @param New Y-axis standby enabled status
LORDTEK	0:9a1aae56ed19	2769	* @see getStandbyYAccelEnabled()
LORDTEK	0:9a1aae56ed19	2770	* @see MPU6050_RA_PWR_MGMT_2
LORDTEK	0:9a1aae56ed19	2771	* @see MPU6050_PWR2_STBY_YA_BIT
LORDTEK	0:9a1aae56ed19	2772	*/
LORDTEK	0:9a1aae56ed19	2773	void MPU6050::setStandbyYAccelEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	2774	{
LORDTEK	0:9a1aae56ed19	2775	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
LORDTEK	0:9a1aae56ed19	2776	}
LORDTEK	0:9a1aae56ed19	2777	/** Get Z-axis accelerometer standby enabled status.
LORDTEK	0:9a1aae56ed19	2778	* If enabled, the Z-axis will not gather or report data (or use power).
LORDTEK	0:9a1aae56ed19	2779	* @return Current Z-axis standby enabled status
LORDTEK	0:9a1aae56ed19	2780	* @see MPU6050_RA_PWR_MGMT_2
LORDTEK	0:9a1aae56ed19	2781	* @see MPU6050_PWR2_STBY_ZA_BIT
LORDTEK	0:9a1aae56ed19	2782	*/
LORDTEK	0:9a1aae56ed19	2783	bool MPU6050::getStandbyZAccelEnabled()
LORDTEK	0:9a1aae56ed19	2784	{
LORDTEK	0:9a1aae56ed19	2785	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
LORDTEK	0:9a1aae56ed19	2786	return buffer[0];
LORDTEK	0:9a1aae56ed19	2787	}
LORDTEK	0:9a1aae56ed19	2788	/** Set Z-axis accelerometer standby enabled status.
LORDTEK	0:9a1aae56ed19	2789	* @param New Z-axis standby enabled status
LORDTEK	0:9a1aae56ed19	2790	* @see getStandbyZAccelEnabled()
LORDTEK	0:9a1aae56ed19	2791	* @see MPU6050_RA_PWR_MGMT_2
LORDTEK	0:9a1aae56ed19	2792	* @see MPU6050_PWR2_STBY_ZA_BIT
LORDTEK	0:9a1aae56ed19	2793	*/
LORDTEK	0:9a1aae56ed19	2794	void MPU6050::setStandbyZAccelEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	2795	{
LORDTEK	0:9a1aae56ed19	2796	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
LORDTEK	0:9a1aae56ed19	2797	}
LORDTEK	0:9a1aae56ed19	2798	/** Get X-axis gyroscope standby enabled status.
LORDTEK	0:9a1aae56ed19	2799	* If enabled, the X-axis will not gather or report data (or use power).
LORDTEK	0:9a1aae56ed19	2800	* @return Current X-axis standby enabled status
LORDTEK	0:9a1aae56ed19	2801	* @see MPU6050_RA_PWR_MGMT_2
LORDTEK	0:9a1aae56ed19	2802	* @see MPU6050_PWR2_STBY_XG_BIT
LORDTEK	0:9a1aae56ed19	2803	*/
LORDTEK	0:9a1aae56ed19	2804	bool MPU6050::getStandbyXGyroEnabled()
LORDTEK	0:9a1aae56ed19	2805	{
LORDTEK	0:9a1aae56ed19	2806	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
LORDTEK	0:9a1aae56ed19	2807	return buffer[0];
LORDTEK	0:9a1aae56ed19	2808	}
LORDTEK	0:9a1aae56ed19	2809	/** Set X-axis gyroscope standby enabled status.
LORDTEK	0:9a1aae56ed19	2810	* @param New X-axis standby enabled status
LORDTEK	0:9a1aae56ed19	2811	* @see getStandbyXGyroEnabled()
LORDTEK	0:9a1aae56ed19	2812	* @see MPU6050_RA_PWR_MGMT_2
LORDTEK	0:9a1aae56ed19	2813	* @see MPU6050_PWR2_STBY_XG_BIT
LORDTEK	0:9a1aae56ed19	2814	*/
LORDTEK	0:9a1aae56ed19	2815	void MPU6050::setStandbyXGyroEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	2816	{
LORDTEK	0:9a1aae56ed19	2817	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
LORDTEK	0:9a1aae56ed19	2818	}
LORDTEK	0:9a1aae56ed19	2819	/** Get Y-axis gyroscope standby enabled status.
LORDTEK	0:9a1aae56ed19	2820	* If enabled, the Y-axis will not gather or report data (or use power).
LORDTEK	0:9a1aae56ed19	2821	* @return Current Y-axis standby enabled status
LORDTEK	0:9a1aae56ed19	2822	* @see MPU6050_RA_PWR_MGMT_2
LORDTEK	0:9a1aae56ed19	2823	* @see MPU6050_PWR2_STBY_YG_BIT
LORDTEK	0:9a1aae56ed19	2824	*/
LORDTEK	0:9a1aae56ed19	2825	bool MPU6050::getStandbyYGyroEnabled()
LORDTEK	0:9a1aae56ed19	2826	{
LORDTEK	0:9a1aae56ed19	2827	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
LORDTEK	0:9a1aae56ed19	2828	return buffer[0];
LORDTEK	0:9a1aae56ed19	2829	}
LORDTEK	0:9a1aae56ed19	2830	/** Set Y-axis gyroscope standby enabled status.
LORDTEK	0:9a1aae56ed19	2831	* @param New Y-axis standby enabled status
LORDTEK	0:9a1aae56ed19	2832	* @see getStandbyYGyroEnabled()
LORDTEK	0:9a1aae56ed19	2833	* @see MPU6050_RA_PWR_MGMT_2
LORDTEK	0:9a1aae56ed19	2834	* @see MPU6050_PWR2_STBY_YG_BIT
LORDTEK	0:9a1aae56ed19	2835	*/
LORDTEK	0:9a1aae56ed19	2836	void MPU6050::setStandbyYGyroEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	2837	{
LORDTEK	0:9a1aae56ed19	2838	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
LORDTEK	0:9a1aae56ed19	2839	}
LORDTEK	0:9a1aae56ed19	2840	/** Get Z-axis gyroscope standby enabled status.
LORDTEK	0:9a1aae56ed19	2841	* If enabled, the Z-axis will not gather or report data (or use power).
LORDTEK	0:9a1aae56ed19	2842	* @return Current Z-axis standby enabled status
LORDTEK	0:9a1aae56ed19	2843	* @see MPU6050_RA_PWR_MGMT_2
LORDTEK	0:9a1aae56ed19	2844	* @see MPU6050_PWR2_STBY_ZG_BIT
LORDTEK	0:9a1aae56ed19	2845	*/
LORDTEK	0:9a1aae56ed19	2846	bool MPU6050::getStandbyZGyroEnabled()
LORDTEK	0:9a1aae56ed19	2847	{
LORDTEK	0:9a1aae56ed19	2848	i2Cdev.readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
LORDTEK	0:9a1aae56ed19	2849	return buffer[0];
LORDTEK	0:9a1aae56ed19	2850	}
LORDTEK	0:9a1aae56ed19	2851	/** Set Z-axis gyroscope standby enabled status.
LORDTEK	0:9a1aae56ed19	2852	* @param New Z-axis standby enabled status
LORDTEK	0:9a1aae56ed19	2853	* @see getStandbyZGyroEnabled()
LORDTEK	0:9a1aae56ed19	2854	* @see MPU6050_RA_PWR_MGMT_2
LORDTEK	0:9a1aae56ed19	2855	* @see MPU6050_PWR2_STBY_ZG_BIT
LORDTEK	0:9a1aae56ed19	2856	*/
LORDTEK	0:9a1aae56ed19	2857	void MPU6050::setStandbyZGyroEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	2858	{
LORDTEK	0:9a1aae56ed19	2859	i2Cdev.writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
LORDTEK	0:9a1aae56ed19	2860	}
LORDTEK	0:9a1aae56ed19	2861
LORDTEK	0:9a1aae56ed19	2862	// FIFO_COUNT* registers
LORDTEK	0:9a1aae56ed19	2863
LORDTEK	0:9a1aae56ed19	2864	/** Get current FIFO buffer size.
LORDTEK	0:9a1aae56ed19	2865	* This value indicates the number of bytes stored in the FIFO buffer. This
LORDTEK	0:9a1aae56ed19	2866	* number is in turn the number of bytes that can be read from the FIFO buffer
LORDTEK	0:9a1aae56ed19	2867	* and it is directly proportional to the number of samples available given the
LORDTEK	0:9a1aae56ed19	2868	* set of sensor data bound to be stored in the FIFO (register 35 and 36).
LORDTEK	0:9a1aae56ed19	2869	* @return Current FIFO buffer size
LORDTEK	0:9a1aae56ed19	2870	*/
LORDTEK	0:9a1aae56ed19	2871	uint16_t MPU6050::getFIFOCount()
LORDTEK	0:9a1aae56ed19	2872	{
LORDTEK	0:9a1aae56ed19	2873	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
LORDTEK	0:9a1aae56ed19	2874	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
LORDTEK	0:9a1aae56ed19	2875	}
LORDTEK	0:9a1aae56ed19	2876
LORDTEK	0:9a1aae56ed19	2877	// FIFO_R_W register
LORDTEK	0:9a1aae56ed19	2878
LORDTEK	0:9a1aae56ed19	2879	/** Get byte from FIFO buffer.
LORDTEK	0:9a1aae56ed19	2880	* This register is used to read and write data from the FIFO buffer. Data is
LORDTEK	0:9a1aae56ed19	2881	* written to the FIFO in order of register number (from lowest to highest). If
LORDTEK	0:9a1aae56ed19	2882	* all the FIFO enable flags (see below) are enabled and all External Sensor
LORDTEK	0:9a1aae56ed19	2883	* Data registers (Registers 73 to 96) are associated with a Slave device, the
LORDTEK	0:9a1aae56ed19	2884	* contents of registers 59 through 96 will be written in order at the Sample
LORDTEK	0:9a1aae56ed19	2885	* Rate.
LORDTEK	0:9a1aae56ed19	2886	*
LORDTEK	0:9a1aae56ed19	2887	* The contents of the sensor data registers (Registers 59 to 96) are written
LORDTEK	0:9a1aae56ed19	2888	* into the FIFO buffer when their corresponding FIFO enable flags are set to 1
LORDTEK	0:9a1aae56ed19	2889	* in FIFO_EN (Register 35). An additional flag for the sensor data registers
LORDTEK	0:9a1aae56ed19	2890	* associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
LORDTEK	0:9a1aae56ed19	2891	*
LORDTEK	0:9a1aae56ed19	2892	* If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
LORDTEK	0:9a1aae56ed19	2893	* automatically set to 1. This bit is located in INT_STATUS (Register 58).
LORDTEK	0:9a1aae56ed19	2894	* When the FIFO buffer has overflowed, the oldest data will be lost and new
LORDTEK	0:9a1aae56ed19	2895	* data will be written to the FIFO.
LORDTEK	0:9a1aae56ed19	2896	*
LORDTEK	0:9a1aae56ed19	2897	* If the FIFO buffer is empty, reading this register will return the last byte
LORDTEK	0:9a1aae56ed19	2898	* that was previously read from the FIFO until new data is available. The user
LORDTEK	0:9a1aae56ed19	2899	* should check FIFO_COUNT to ensure that the FIFO buffer is not read when
LORDTEK	0:9a1aae56ed19	2900	* empty.
LORDTEK	0:9a1aae56ed19	2901	*
LORDTEK	0:9a1aae56ed19	2902	* @return Byte from FIFO buffer
LORDTEK	0:9a1aae56ed19	2903	*/
LORDTEK	0:9a1aae56ed19	2904	uint8_t MPU6050::getFIFOByte()
LORDTEK	0:9a1aae56ed19	2905	{
LORDTEK	0:9a1aae56ed19	2906	i2Cdev.readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
LORDTEK	0:9a1aae56ed19	2907	return buffer[0];
LORDTEK	0:9a1aae56ed19	2908	}
LORDTEK	0:9a1aae56ed19	2909	void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length)
LORDTEK	0:9a1aae56ed19	2910	{
LORDTEK	0:9a1aae56ed19	2911	i2Cdev.readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
LORDTEK	0:9a1aae56ed19	2912	}
LORDTEK	0:9a1aae56ed19	2913	/** Write byte to FIFO buffer.
LORDTEK	0:9a1aae56ed19	2914	* @see getFIFOByte()
LORDTEK	0:9a1aae56ed19	2915	* @see MPU6050_RA_FIFO_R_W
LORDTEK	0:9a1aae56ed19	2916	*/
LORDTEK	0:9a1aae56ed19	2917	void MPU6050::setFIFOByte(uint8_t data)
LORDTEK	0:9a1aae56ed19	2918	{
LORDTEK	0:9a1aae56ed19	2919	i2Cdev.writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
LORDTEK	0:9a1aae56ed19	2920	}
LORDTEK	0:9a1aae56ed19	2921
LORDTEK	0:9a1aae56ed19	2922	// WHO_AM_I register
LORDTEK	0:9a1aae56ed19	2923
LORDTEK	0:9a1aae56ed19	2924	/** Get Device ID.
LORDTEK	0:9a1aae56ed19	2925	* This register is used to verify the identity of the device (0b110100, 0x34).
LORDTEK	0:9a1aae56ed19	2926	* @return Device ID (6 bits only! should be 0x34)
LORDTEK	0:9a1aae56ed19	2927	* @see MPU6050_RA_WHO_AM_I
LORDTEK	0:9a1aae56ed19	2928	* @see MPU6050_WHO_AM_I_BIT
LORDTEK	0:9a1aae56ed19	2929	* @see MPU6050_WHO_AM_I_LENGTH
LORDTEK	0:9a1aae56ed19	2930	*/
LORDTEK	0:9a1aae56ed19	2931	uint8_t MPU6050::getDeviceID()
LORDTEK	0:9a1aae56ed19	2932	{
LORDTEK	0:9a1aae56ed19	2933	i2Cdev.readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
LORDTEK	0:9a1aae56ed19	2934	return buffer[0];
LORDTEK	0:9a1aae56ed19	2935	}
LORDTEK	0:9a1aae56ed19	2936	/** Set Device ID.
LORDTEK	0:9a1aae56ed19	2937	* Write a new ID into the WHO_AM_I register (no idea why this should ever be
LORDTEK	0:9a1aae56ed19	2938	* necessary though).
LORDTEK	0:9a1aae56ed19	2939	* @param id New device ID to set.
LORDTEK	0:9a1aae56ed19	2940	* @see getDeviceID()
LORDTEK	0:9a1aae56ed19	2941	* @see MPU6050_RA_WHO_AM_I
LORDTEK	0:9a1aae56ed19	2942	* @see MPU6050_WHO_AM_I_BIT
LORDTEK	0:9a1aae56ed19	2943	* @see MPU6050_WHO_AM_I_LENGTH
LORDTEK	0:9a1aae56ed19	2944	*/
LORDTEK	0:9a1aae56ed19	2945	void MPU6050::setDeviceID(uint8_t id)
LORDTEK	0:9a1aae56ed19	2946	{
LORDTEK	0:9a1aae56ed19	2947	i2Cdev.writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
LORDTEK	0:9a1aae56ed19	2948	}
LORDTEK	0:9a1aae56ed19	2949
LORDTEK	0:9a1aae56ed19	2950	// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
LORDTEK	0:9a1aae56ed19	2951
LORDTEK	0:9a1aae56ed19	2952	// XG_OFFS_TC register
LORDTEK	0:9a1aae56ed19	2953
LORDTEK	0:9a1aae56ed19	2954	uint8_t MPU6050::getOTPBankValid()
LORDTEK	0:9a1aae56ed19	2955	{
LORDTEK	0:9a1aae56ed19	2956	i2Cdev.readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
LORDTEK	0:9a1aae56ed19	2957	return buffer[0];
LORDTEK	0:9a1aae56ed19	2958	}
LORDTEK	0:9a1aae56ed19	2959	void MPU6050::setOTPBankValid(bool enabled)
LORDTEK	0:9a1aae56ed19	2960	{
LORDTEK	0:9a1aae56ed19	2961	i2Cdev.writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
LORDTEK	0:9a1aae56ed19	2962	}
LORDTEK	0:9a1aae56ed19	2963	int8_t MPU6050::getXGyroOffset()
LORDTEK	0:9a1aae56ed19	2964	{
LORDTEK	0:9a1aae56ed19	2965	i2Cdev.readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
LORDTEK	0:9a1aae56ed19	2966	return buffer[0];
LORDTEK	0:9a1aae56ed19	2967	}
LORDTEK	0:9a1aae56ed19	2968	void MPU6050::setXGyroOffset(int8_t offset)
LORDTEK	0:9a1aae56ed19	2969	{
LORDTEK	0:9a1aae56ed19	2970	i2Cdev.writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
LORDTEK	0:9a1aae56ed19	2971	}
LORDTEK	0:9a1aae56ed19	2972
LORDTEK	0:9a1aae56ed19	2973	// YG_OFFS_TC register
LORDTEK	0:9a1aae56ed19	2974
LORDTEK	0:9a1aae56ed19	2975	int8_t MPU6050::getYGyroOffset()
LORDTEK	0:9a1aae56ed19	2976	{
LORDTEK	0:9a1aae56ed19	2977	i2Cdev.readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
LORDTEK	0:9a1aae56ed19	2978	return buffer[0];
LORDTEK	0:9a1aae56ed19	2979	}
LORDTEK	0:9a1aae56ed19	2980	void MPU6050::setYGyroOffset(int8_t offset)
LORDTEK	0:9a1aae56ed19	2981	{
LORDTEK	0:9a1aae56ed19	2982	i2Cdev.writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
LORDTEK	0:9a1aae56ed19	2983	}
LORDTEK	0:9a1aae56ed19	2984
LORDTEK	0:9a1aae56ed19	2985	// ZG_OFFS_TC register
LORDTEK	0:9a1aae56ed19	2986
LORDTEK	0:9a1aae56ed19	2987	int8_t MPU6050::getZGyroOffset()
LORDTEK	0:9a1aae56ed19	2988	{
LORDTEK	0:9a1aae56ed19	2989	i2Cdev.readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
LORDTEK	0:9a1aae56ed19	2990	return buffer[0];
LORDTEK	0:9a1aae56ed19	2991	}
LORDTEK	0:9a1aae56ed19	2992	void MPU6050::setZGyroOffset(int8_t offset)
LORDTEK	0:9a1aae56ed19	2993	{
LORDTEK	0:9a1aae56ed19	2994	i2Cdev.writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
LORDTEK	0:9a1aae56ed19	2995	}
LORDTEK	0:9a1aae56ed19	2996
LORDTEK	0:9a1aae56ed19	2997	// X_FINE_GAIN register
LORDTEK	0:9a1aae56ed19	2998
LORDTEK	0:9a1aae56ed19	2999	int8_t MPU6050::getXFineGain()
LORDTEK	0:9a1aae56ed19	3000	{
LORDTEK	0:9a1aae56ed19	3001	i2Cdev.readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
LORDTEK	0:9a1aae56ed19	3002	return buffer[0];
LORDTEK	0:9a1aae56ed19	3003	}
LORDTEK	0:9a1aae56ed19	3004	void MPU6050::setXFineGain(int8_t gain)
LORDTEK	0:9a1aae56ed19	3005	{
LORDTEK	0:9a1aae56ed19	3006	i2Cdev.writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
LORDTEK	0:9a1aae56ed19	3007	}
LORDTEK	0:9a1aae56ed19	3008
LORDTEK	0:9a1aae56ed19	3009	// Y_FINE_GAIN register
LORDTEK	0:9a1aae56ed19	3010
LORDTEK	0:9a1aae56ed19	3011	int8_t MPU6050::getYFineGain()
LORDTEK	0:9a1aae56ed19	3012	{
LORDTEK	0:9a1aae56ed19	3013	i2Cdev.readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
LORDTEK	0:9a1aae56ed19	3014	return buffer[0];
LORDTEK	0:9a1aae56ed19	3015	}
LORDTEK	0:9a1aae56ed19	3016	void MPU6050::setYFineGain(int8_t gain)
LORDTEK	0:9a1aae56ed19	3017	{
LORDTEK	0:9a1aae56ed19	3018	i2Cdev.writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
LORDTEK	0:9a1aae56ed19	3019	}
LORDTEK	0:9a1aae56ed19	3020
LORDTEK	0:9a1aae56ed19	3021	// Z_FINE_GAIN register
LORDTEK	0:9a1aae56ed19	3022
LORDTEK	0:9a1aae56ed19	3023	int8_t MPU6050::getZFineGain()
LORDTEK	0:9a1aae56ed19	3024	{
LORDTEK	0:9a1aae56ed19	3025	i2Cdev.readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
LORDTEK	0:9a1aae56ed19	3026	return buffer[0];
LORDTEK	0:9a1aae56ed19	3027	}
LORDTEK	0:9a1aae56ed19	3028	void MPU6050::setZFineGain(int8_t gain)
LORDTEK	0:9a1aae56ed19	3029	{
LORDTEK	0:9a1aae56ed19	3030	i2Cdev.writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
LORDTEK	0:9a1aae56ed19	3031	}
LORDTEK	0:9a1aae56ed19	3032
LORDTEK	0:9a1aae56ed19	3033	// XA_OFFS_* registers
LORDTEK	0:9a1aae56ed19	3034
LORDTEK	0:9a1aae56ed19	3035	int16_t MPU6050::getXAccelOffset()
LORDTEK	0:9a1aae56ed19	3036	{
LORDTEK	0:9a1aae56ed19	3037	i2Cdev.readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
LORDTEK	0:9a1aae56ed19	3038	return (((int16_t)buffer[0]) << 8) \| buffer[1];
LORDTEK	0:9a1aae56ed19	3039	}
LORDTEK	0:9a1aae56ed19	3040	void MPU6050::setXAccelOffset(int16_t offset)
LORDTEK	0:9a1aae56ed19	3041	{
LORDTEK	0:9a1aae56ed19	3042	i2Cdev.writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
LORDTEK	0:9a1aae56ed19	3043	}
LORDTEK	0:9a1aae56ed19	3044
LORDTEK	0:9a1aae56ed19	3045	// YA_OFFS_* register
LORDTEK	0:9a1aae56ed19	3046
LORDTEK	0:9a1aae56ed19	3047	int16_t MPU6050::getYAccelOffset()
LORDTEK	0:9a1aae56ed19	3048	{
LORDTEK	0:9a1aae56ed19	3049	i2Cdev.readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
LORDTEK	0:9a1aae56ed19	3050	return (((int16_t)buffer[0]) << 8) \| buffer[1];
LORDTEK	0:9a1aae56ed19	3051	}
LORDTEK	0:9a1aae56ed19	3052	void MPU6050::setYAccelOffset(int16_t offset)
LORDTEK	0:9a1aae56ed19	3053	{
LORDTEK	0:9a1aae56ed19	3054	i2Cdev.writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
LORDTEK	0:9a1aae56ed19	3055	}
LORDTEK	0:9a1aae56ed19	3056
LORDTEK	0:9a1aae56ed19	3057	// ZA_OFFS_* register
LORDTEK	0:9a1aae56ed19	3058
LORDTEK	0:9a1aae56ed19	3059	int16_t MPU6050::getZAccelOffset()
LORDTEK	0:9a1aae56ed19	3060	{
LORDTEK	0:9a1aae56ed19	3061	i2Cdev.readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
LORDTEK	0:9a1aae56ed19	3062	return (((int16_t)buffer[0]) << 8) \| buffer[1];
LORDTEK	0:9a1aae56ed19	3063	}
LORDTEK	0:9a1aae56ed19	3064	void MPU6050::setZAccelOffset(int16_t offset)
LORDTEK	0:9a1aae56ed19	3065	{
LORDTEK	0:9a1aae56ed19	3066	i2Cdev.writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
LORDTEK	0:9a1aae56ed19	3067	}
LORDTEK	0:9a1aae56ed19	3068
LORDTEK	0:9a1aae56ed19	3069	// XG_OFFS_USR* registers
LORDTEK	0:9a1aae56ed19	3070
LORDTEK	0:9a1aae56ed19	3071	int16_t MPU6050::getXGyroOffsetUser()
LORDTEK	0:9a1aae56ed19	3072	{
LORDTEK	0:9a1aae56ed19	3073	i2Cdev.readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
LORDTEK	0:9a1aae56ed19	3074	return (((int16_t)buffer[0]) << 8) \| buffer[1];
LORDTEK	0:9a1aae56ed19	3075	}
LORDTEK	0:9a1aae56ed19	3076	void MPU6050::setXGyroOffsetUser(int16_t offset)
LORDTEK	0:9a1aae56ed19	3077	{
LORDTEK	0:9a1aae56ed19	3078	i2Cdev.writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
LORDTEK	0:9a1aae56ed19	3079	}
LORDTEK	0:9a1aae56ed19	3080
LORDTEK	0:9a1aae56ed19	3081	// YG_OFFS_USR* register
LORDTEK	0:9a1aae56ed19	3082
LORDTEK	0:9a1aae56ed19	3083	int16_t MPU6050::getYGyroOffsetUser()
LORDTEK	0:9a1aae56ed19	3084	{
LORDTEK	0:9a1aae56ed19	3085	i2Cdev.readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
LORDTEK	0:9a1aae56ed19	3086	return (((int16_t)buffer[0]) << 8) \| buffer[1];
LORDTEK	0:9a1aae56ed19	3087	}
LORDTEK	0:9a1aae56ed19	3088	void MPU6050::setYGyroOffsetUser(int16_t offset)
LORDTEK	0:9a1aae56ed19	3089	{
LORDTEK	0:9a1aae56ed19	3090	i2Cdev.writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
LORDTEK	0:9a1aae56ed19	3091	}
LORDTEK	0:9a1aae56ed19	3092
LORDTEK	0:9a1aae56ed19	3093	// ZG_OFFS_USR* register
LORDTEK	0:9a1aae56ed19	3094
LORDTEK	0:9a1aae56ed19	3095	int16_t MPU6050::getZGyroOffsetUser()
LORDTEK	0:9a1aae56ed19	3096	{
LORDTEK	0:9a1aae56ed19	3097	i2Cdev.readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
LORDTEK	0:9a1aae56ed19	3098	return (((int16_t)buffer[0]) << 8) \| buffer[1];
LORDTEK	0:9a1aae56ed19	3099	}
LORDTEK	0:9a1aae56ed19	3100	void MPU6050::setZGyroOffsetUser(int16_t offset)
LORDTEK	0:9a1aae56ed19	3101	{
LORDTEK	0:9a1aae56ed19	3102	i2Cdev.writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
LORDTEK	0:9a1aae56ed19	3103	}
LORDTEK	0:9a1aae56ed19	3104
LORDTEK	0:9a1aae56ed19	3105	// INT_ENABLE register (DMP functions)
LORDTEK	0:9a1aae56ed19	3106
LORDTEK	0:9a1aae56ed19	3107	bool MPU6050::getIntPLLReadyEnabled()
LORDTEK	0:9a1aae56ed19	3108	{
LORDTEK	0:9a1aae56ed19	3109	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
LORDTEK	0:9a1aae56ed19	3110	return buffer[0];
LORDTEK	0:9a1aae56ed19	3111	}
LORDTEK	0:9a1aae56ed19	3112	void MPU6050::setIntPLLReadyEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	3113	{
LORDTEK	0:9a1aae56ed19	3114	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
LORDTEK	0:9a1aae56ed19	3115	}
LORDTEK	0:9a1aae56ed19	3116	bool MPU6050::getIntDMPEnabled()
LORDTEK	0:9a1aae56ed19	3117	{
LORDTEK	0:9a1aae56ed19	3118	i2Cdev.readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
LORDTEK	0:9a1aae56ed19	3119	return buffer[0];
LORDTEK	0:9a1aae56ed19	3120	}
LORDTEK	0:9a1aae56ed19	3121	void MPU6050::setIntDMPEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	3122	{
LORDTEK	0:9a1aae56ed19	3123	i2Cdev.writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
LORDTEK	0:9a1aae56ed19	3124	}
LORDTEK	0:9a1aae56ed19	3125
LORDTEK	0:9a1aae56ed19	3126	// DMP_INT_STATUS
LORDTEK	0:9a1aae56ed19	3127
LORDTEK	0:9a1aae56ed19	3128	bool MPU6050::getDMPInt5Status()
LORDTEK	0:9a1aae56ed19	3129	{
LORDTEK	0:9a1aae56ed19	3130	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
LORDTEK	0:9a1aae56ed19	3131	return buffer[0];
LORDTEK	0:9a1aae56ed19	3132	}
LORDTEK	0:9a1aae56ed19	3133	bool MPU6050::getDMPInt4Status()
LORDTEK	0:9a1aae56ed19	3134	{
LORDTEK	0:9a1aae56ed19	3135	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
LORDTEK	0:9a1aae56ed19	3136	return buffer[0];
LORDTEK	0:9a1aae56ed19	3137	}
LORDTEK	0:9a1aae56ed19	3138	bool MPU6050::getDMPInt3Status()
LORDTEK	0:9a1aae56ed19	3139	{
LORDTEK	0:9a1aae56ed19	3140	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
LORDTEK	0:9a1aae56ed19	3141	return buffer[0];
LORDTEK	0:9a1aae56ed19	3142	}
LORDTEK	0:9a1aae56ed19	3143	bool MPU6050::getDMPInt2Status()
LORDTEK	0:9a1aae56ed19	3144	{
LORDTEK	0:9a1aae56ed19	3145	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
LORDTEK	0:9a1aae56ed19	3146	return buffer[0];
LORDTEK	0:9a1aae56ed19	3147	}
LORDTEK	0:9a1aae56ed19	3148	bool MPU6050::getDMPInt1Status()
LORDTEK	0:9a1aae56ed19	3149	{
LORDTEK	0:9a1aae56ed19	3150	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
LORDTEK	0:9a1aae56ed19	3151	return buffer[0];
LORDTEK	0:9a1aae56ed19	3152	}
LORDTEK	0:9a1aae56ed19	3153	bool MPU6050::getDMPInt0Status()
LORDTEK	0:9a1aae56ed19	3154	{
LORDTEK	0:9a1aae56ed19	3155	i2Cdev.readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
LORDTEK	0:9a1aae56ed19	3156	return buffer[0];
LORDTEK	0:9a1aae56ed19	3157	}
LORDTEK	0:9a1aae56ed19	3158
LORDTEK	0:9a1aae56ed19	3159	// INT_STATUS register (DMP functions)
LORDTEK	0:9a1aae56ed19	3160
LORDTEK	0:9a1aae56ed19	3161	bool MPU6050::getIntPLLReadyStatus()
LORDTEK	0:9a1aae56ed19	3162	{
LORDTEK	0:9a1aae56ed19	3163	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
LORDTEK	0:9a1aae56ed19	3164	return buffer[0];
LORDTEK	0:9a1aae56ed19	3165	}
LORDTEK	0:9a1aae56ed19	3166	bool MPU6050::getIntDMPStatus()
LORDTEK	0:9a1aae56ed19	3167	{
LORDTEK	0:9a1aae56ed19	3168	i2Cdev.readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
LORDTEK	0:9a1aae56ed19	3169	return buffer[0];
LORDTEK	0:9a1aae56ed19	3170	}
LORDTEK	0:9a1aae56ed19	3171
LORDTEK	0:9a1aae56ed19	3172	// USER_CTRL register (DMP functions)
LORDTEK	0:9a1aae56ed19	3173
LORDTEK	0:9a1aae56ed19	3174	bool MPU6050::getDMPEnabled()
LORDTEK	0:9a1aae56ed19	3175	{
LORDTEK	0:9a1aae56ed19	3176	i2Cdev.readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
LORDTEK	0:9a1aae56ed19	3177	return buffer[0];
LORDTEK	0:9a1aae56ed19	3178	}
LORDTEK	0:9a1aae56ed19	3179	void MPU6050::setDMPEnabled(bool enabled)
LORDTEK	0:9a1aae56ed19	3180	{
LORDTEK	0:9a1aae56ed19	3181	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
LORDTEK	0:9a1aae56ed19	3182	}
LORDTEK	0:9a1aae56ed19	3183	void MPU6050::resetDMP()
LORDTEK	0:9a1aae56ed19	3184	{
LORDTEK	0:9a1aae56ed19	3185	i2Cdev.writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
LORDTEK	0:9a1aae56ed19	3186	}
LORDTEK	0:9a1aae56ed19	3187
LORDTEK	0:9a1aae56ed19	3188	// BANK_SEL register
LORDTEK	0:9a1aae56ed19	3189
LORDTEK	0:9a1aae56ed19	3190	void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank)
LORDTEK	0:9a1aae56ed19	3191	{
LORDTEK	0:9a1aae56ed19	3192	bank &= 0x1F;
LORDTEK	0:9a1aae56ed19	3193	if (userBank) bank \|= 0x20;
LORDTEK	0:9a1aae56ed19	3194	if (prefetchEnabled) bank \|= 0x40;
LORDTEK	0:9a1aae56ed19	3195	i2Cdev.writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
LORDTEK	0:9a1aae56ed19	3196	}
LORDTEK	0:9a1aae56ed19	3197
LORDTEK	0:9a1aae56ed19	3198	// MEM_START_ADDR register
LORDTEK	0:9a1aae56ed19	3199
LORDTEK	0:9a1aae56ed19	3200	void MPU6050::setMemoryStartAddress(uint8_t address)
LORDTEK	0:9a1aae56ed19	3201	{
LORDTEK	0:9a1aae56ed19	3202	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
LORDTEK	0:9a1aae56ed19	3203	}
LORDTEK	0:9a1aae56ed19	3204
LORDTEK	0:9a1aae56ed19	3205	// MEM_R_W register
LORDTEK	0:9a1aae56ed19	3206
LORDTEK	0:9a1aae56ed19	3207	uint8_t MPU6050::readMemoryByte()
LORDTEK	0:9a1aae56ed19	3208	{
LORDTEK	0:9a1aae56ed19	3209	i2Cdev.readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
LORDTEK	0:9a1aae56ed19	3210	return buffer[0];
LORDTEK	0:9a1aae56ed19	3211	}
LORDTEK	0:9a1aae56ed19	3212	void MPU6050::writeMemoryByte(uint8_t data)
LORDTEK	0:9a1aae56ed19	3213	{
LORDTEK	0:9a1aae56ed19	3214	i2Cdev.writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
LORDTEK	0:9a1aae56ed19	3215	}
LORDTEK	0:9a1aae56ed19	3216	void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address)
LORDTEK	0:9a1aae56ed19	3217	{
LORDTEK	0:9a1aae56ed19	3218	setMemoryBank(bank);
LORDTEK	0:9a1aae56ed19	3219	setMemoryStartAddress(address);
LORDTEK	0:9a1aae56ed19	3220	uint8_t chunkSize;
LORDTEK	0:9a1aae56ed19	3221	for (uint16_t i = 0; i < dataSize;) {
LORDTEK	0:9a1aae56ed19	3222	// determine correct chunk size according to bank position and data size
LORDTEK	0:9a1aae56ed19	3223	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
LORDTEK	0:9a1aae56ed19	3224
LORDTEK	0:9a1aae56ed19	3225	// make sure we don't go past the data size
LORDTEK	0:9a1aae56ed19	3226	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
LORDTEK	0:9a1aae56ed19	3227
LORDTEK	0:9a1aae56ed19	3228	// make sure this chunk doesn't go past the bank boundary (256 bytes)
LORDTEK	0:9a1aae56ed19	3229	if (chunkSize > 256 - address) chunkSize = 256 - address;
LORDTEK	0:9a1aae56ed19	3230
LORDTEK	0:9a1aae56ed19	3231	// read the chunk of data as specified
LORDTEK	0:9a1aae56ed19	3232	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
LORDTEK	0:9a1aae56ed19	3233
LORDTEK	0:9a1aae56ed19	3234	// increase byte index by [chunkSize]
LORDTEK	0:9a1aae56ed19	3235	i += chunkSize;
LORDTEK	0:9a1aae56ed19	3236
LORDTEK	0:9a1aae56ed19	3237	// uint8_t automatically wraps to 0 at 256
LORDTEK	0:9a1aae56ed19	3238	address += chunkSize;
LORDTEK	0:9a1aae56ed19	3239
LORDTEK	0:9a1aae56ed19	3240	// if we aren't done, update bank (if necessary) and address
LORDTEK	0:9a1aae56ed19	3241	if (i < dataSize) {
LORDTEK	0:9a1aae56ed19	3242	if (address == 0) bank++;
LORDTEK	0:9a1aae56ed19	3243	setMemoryBank(bank);
LORDTEK	0:9a1aae56ed19	3244	setMemoryStartAddress(address);
LORDTEK	0:9a1aae56ed19	3245	}
LORDTEK	0:9a1aae56ed19	3246	}
LORDTEK	0:9a1aae56ed19	3247	}
LORDTEK	0:9a1aae56ed19	3248	bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem)
LORDTEK	0:9a1aae56ed19	3249	{
LORDTEK	0:9a1aae56ed19	3250	setMemoryBank(bank);
LORDTEK	0:9a1aae56ed19	3251	setMemoryStartAddress(address);
LORDTEK	0:9a1aae56ed19	3252	uint8_t chunkSize;
LORDTEK	0:9a1aae56ed19	3253	uint8_t *verifyBuffer;
LORDTEK	0:9a1aae56ed19	3254	uint8_t *progBuffer;
LORDTEK	0:9a1aae56ed19	3255	uint16_t i;
LORDTEK	0:9a1aae56ed19	3256	uint8_t j;
LORDTEK	0:9a1aae56ed19	3257	if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
LORDTEK	0:9a1aae56ed19	3258	if (useProgMem) progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
LORDTEK	0:9a1aae56ed19	3259	for (i = 0; i < dataSize;) {
LORDTEK	0:9a1aae56ed19	3260	// determine correct chunk size according to bank position and data size
LORDTEK	0:9a1aae56ed19	3261	chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
LORDTEK	0:9a1aae56ed19	3262
LORDTEK	0:9a1aae56ed19	3263	// make sure we don't go past the data size
LORDTEK	0:9a1aae56ed19	3264	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
LORDTEK	0:9a1aae56ed19	3265
LORDTEK	0:9a1aae56ed19	3266	// make sure this chunk doesn't go past the bank boundary (256 bytes)
LORDTEK	0:9a1aae56ed19	3267	if (chunkSize > 256 - address) chunkSize = 256 - address;
LORDTEK	0:9a1aae56ed19	3268
LORDTEK	0:9a1aae56ed19	3269	if (useProgMem) {
LORDTEK	0:9a1aae56ed19	3270	// write the chunk of data as specified
LORDTEK	0:9a1aae56ed19	3271	for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
LORDTEK	0:9a1aae56ed19	3272	} else {
LORDTEK	0:9a1aae56ed19	3273	// write the chunk of data as specified
LORDTEK	0:9a1aae56ed19	3274	progBuffer = (uint8_t *)data + i;
LORDTEK	0:9a1aae56ed19	3275	}
LORDTEK	0:9a1aae56ed19	3276
LORDTEK	0:9a1aae56ed19	3277	i2Cdev.writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
LORDTEK	0:9a1aae56ed19	3278
LORDTEK	0:9a1aae56ed19	3279	// verify data if needed
LORDTEK	0:9a1aae56ed19	3280	if (verify && verifyBuffer) {
LORDTEK	0:9a1aae56ed19	3281	setMemoryBank(bank);
LORDTEK	0:9a1aae56ed19	3282	setMemoryStartAddress(address);
LORDTEK	0:9a1aae56ed19	3283	i2Cdev.readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
LORDTEK	0:9a1aae56ed19	3284	if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
LORDTEK	0:9a1aae56ed19	3285	/*Serial.print("Block write verification error, bank ");
LORDTEK	0:9a1aae56ed19	3286	Serial.print(bank, DEC);
LORDTEK	0:9a1aae56ed19	3287	Serial.print(", address ");
LORDTEK	0:9a1aae56ed19	3288	Serial.print(address, DEC);
LORDTEK	0:9a1aae56ed19	3289	Serial.print("!\nExpected:");
LORDTEK	0:9a1aae56ed19	3290	for (j = 0; j < chunkSize; j++) {
LORDTEK	0:9a1aae56ed19	3291	Serial.print(" 0x");
LORDTEK	0:9a1aae56ed19	3292	if (progBuffer[j] < 16) Serial.print("0");
LORDTEK	0:9a1aae56ed19	3293	Serial.print(progBuffer[j], HEX);
LORDTEK	0:9a1aae56ed19	3294	}
LORDTEK	0:9a1aae56ed19	3295	Serial.print("\nReceived:");
LORDTEK	0:9a1aae56ed19	3296	for (uint8_t j = 0; j < chunkSize; j++) {
LORDTEK	0:9a1aae56ed19	3297	Serial.print(" 0x");
LORDTEK	0:9a1aae56ed19	3298	if (verifyBuffer[i + j] < 16) Serial.print("0");
LORDTEK	0:9a1aae56ed19	3299	Serial.print(verifyBuffer[i + j], HEX);
LORDTEK	0:9a1aae56ed19	3300	}
LORDTEK	0:9a1aae56ed19	3301	Serial.print("\n");*/
LORDTEK	0:9a1aae56ed19	3302	free(verifyBuffer);
LORDTEK	0:9a1aae56ed19	3303	if (useProgMem) free(progBuffer);
LORDTEK	0:9a1aae56ed19	3304	return false; // uh oh.
LORDTEK	0:9a1aae56ed19	3305	}
LORDTEK	0:9a1aae56ed19	3306	}
LORDTEK	0:9a1aae56ed19	3307
LORDTEK	0:9a1aae56ed19	3308	// increase byte index by [chunkSize]
LORDTEK	0:9a1aae56ed19	3309	i += chunkSize;
LORDTEK	0:9a1aae56ed19	3310
LORDTEK	0:9a1aae56ed19	3311	// uint8_t automatically wraps to 0 at 256
LORDTEK	0:9a1aae56ed19	3312	address += chunkSize;
LORDTEK	0:9a1aae56ed19	3313
LORDTEK	0:9a1aae56ed19	3314	// if we aren't done, update bank (if necessary) and address
LORDTEK	0:9a1aae56ed19	3315	if (i < dataSize) {
LORDTEK	0:9a1aae56ed19	3316	if (address == 0) bank++;
LORDTEK	0:9a1aae56ed19	3317	setMemoryBank(bank);
LORDTEK	0:9a1aae56ed19	3318	setMemoryStartAddress(address);
LORDTEK	0:9a1aae56ed19	3319	}
LORDTEK	0:9a1aae56ed19	3320	}
LORDTEK	0:9a1aae56ed19	3321	if (verify) free(verifyBuffer);
LORDTEK	0:9a1aae56ed19	3322	if (useProgMem) free(progBuffer);
LORDTEK	0:9a1aae56ed19	3323	return true;
LORDTEK	0:9a1aae56ed19	3324	}
LORDTEK	0:9a1aae56ed19	3325	bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify)
LORDTEK	0:9a1aae56ed19	3326	{
LORDTEK	0:9a1aae56ed19	3327	return writeMemoryBlock(data, dataSize, bank, address, verify, true);
LORDTEK	0:9a1aae56ed19	3328	}
LORDTEK	0:9a1aae56ed19	3329	bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem)
LORDTEK	0:9a1aae56ed19	3330	{
LORDTEK	0:9a1aae56ed19	3331	uint8_t *progBuffer, success, special;
LORDTEK	0:9a1aae56ed19	3332	uint16_t i, j;
LORDTEK	0:9a1aae56ed19	3333	if (useProgMem) {
LORDTEK	0:9a1aae56ed19	3334	progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
LORDTEK	0:9a1aae56ed19	3335	}
LORDTEK	0:9a1aae56ed19	3336
LORDTEK	0:9a1aae56ed19	3337	// config set data is a long string of blocks with the following structure:
LORDTEK	0:9a1aae56ed19	3338	// [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
LORDTEK	0:9a1aae56ed19	3339	uint8_t bank, offset, length;
LORDTEK	0:9a1aae56ed19	3340	for (i = 0; i < dataSize;) {
LORDTEK	0:9a1aae56ed19	3341	if (useProgMem) {
LORDTEK	0:9a1aae56ed19	3342	bank = pgm_read_byte(data + i++);
LORDTEK	0:9a1aae56ed19	3343	offset = pgm_read_byte(data + i++);
LORDTEK	0:9a1aae56ed19	3344	length = pgm_read_byte(data + i++);
LORDTEK	0:9a1aae56ed19	3345	} else {
LORDTEK	0:9a1aae56ed19	3346	bank = data[i++];
LORDTEK	0:9a1aae56ed19	3347	offset = data[i++];
LORDTEK	0:9a1aae56ed19	3348	length = data[i++];
LORDTEK	0:9a1aae56ed19	3349	}
LORDTEK	0:9a1aae56ed19	3350
LORDTEK	0:9a1aae56ed19	3351	// write data or perform special action
LORDTEK	0:9a1aae56ed19	3352	if (length > 0) {
LORDTEK	0:9a1aae56ed19	3353	// regular block of data to write
LORDTEK	0:9a1aae56ed19	3354	/*Serial.print("Writing config block to bank ");
LORDTEK	0:9a1aae56ed19	3355	Serial.print(bank);
LORDTEK	0:9a1aae56ed19	3356	Serial.print(", offset ");
LORDTEK	0:9a1aae56ed19	3357	Serial.print(offset);
LORDTEK	0:9a1aae56ed19	3358	Serial.print(", length=");
LORDTEK	0:9a1aae56ed19	3359	Serial.println(length);*/
LORDTEK	0:9a1aae56ed19	3360	if (useProgMem) {
LORDTEK	0:9a1aae56ed19	3361	if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length);
LORDTEK	0:9a1aae56ed19	3362	for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j);
LORDTEK	0:9a1aae56ed19	3363	} else {
LORDTEK	0:9a1aae56ed19	3364	progBuffer = (uint8_t *)data + i;
LORDTEK	0:9a1aae56ed19	3365	}
LORDTEK	0:9a1aae56ed19	3366	success = writeMemoryBlock(progBuffer, length, bank, offset, true);
LORDTEK	0:9a1aae56ed19	3367	i += length;
LORDTEK	0:9a1aae56ed19	3368	} else {
LORDTEK	0:9a1aae56ed19	3369	// special instruction
LORDTEK	0:9a1aae56ed19	3370	// NOTE: this kind of behavior (what and when to do certain things)
LORDTEK	0:9a1aae56ed19	3371	// is totally undocumented. This code is in here based on observed
LORDTEK	0:9a1aae56ed19	3372	// behavior only, and exactly why (or even whether) it has to be here
LORDTEK	0:9a1aae56ed19	3373	// is anybody's guess for now.
LORDTEK	0:9a1aae56ed19	3374	if (useProgMem) {
LORDTEK	0:9a1aae56ed19	3375	special = pgm_read_byte(data + i++);
LORDTEK	0:9a1aae56ed19	3376	} else {
LORDTEK	0:9a1aae56ed19	3377	special = data[i++];
LORDTEK	0:9a1aae56ed19	3378	}
LORDTEK	0:9a1aae56ed19	3379	/*Serial.print("Special command code ");
LORDTEK	0:9a1aae56ed19	3380	Serial.print(special, HEX);
LORDTEK	0:9a1aae56ed19	3381	Serial.println(" found...");*/
LORDTEK	0:9a1aae56ed19	3382	if (special == 0x01) {
LORDTEK	0:9a1aae56ed19	3383	// enable DMP-related interrupts
LORDTEK	0:9a1aae56ed19	3384
LORDTEK	0:9a1aae56ed19	3385	//setIntZeroMotionEnabled(true);
LORDTEK	0:9a1aae56ed19	3386	//setIntFIFOBufferOverflowEnabled(true);
LORDTEK	0:9a1aae56ed19	3387	//setIntDMPEnabled(true);
LORDTEK	0:9a1aae56ed19	3388	i2Cdev.writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
LORDTEK	0:9a1aae56ed19	3389
LORDTEK	0:9a1aae56ed19	3390	success = true;
LORDTEK	0:9a1aae56ed19	3391	} else {
LORDTEK	0:9a1aae56ed19	3392	// unknown special command
LORDTEK	0:9a1aae56ed19	3393	success = false;
LORDTEK	0:9a1aae56ed19	3394	}
LORDTEK	0:9a1aae56ed19	3395	}
LORDTEK	0:9a1aae56ed19	3396
LORDTEK	0:9a1aae56ed19	3397	if (!success) {
LORDTEK	0:9a1aae56ed19	3398	if (useProgMem) free(progBuffer);
LORDTEK	0:9a1aae56ed19	3399	return false; // uh oh
LORDTEK	0:9a1aae56ed19	3400	}
LORDTEK	0:9a1aae56ed19	3401	}
LORDTEK	0:9a1aae56ed19	3402	if (useProgMem) free(progBuffer);
LORDTEK	0:9a1aae56ed19	3403	return true;
LORDTEK	0:9a1aae56ed19	3404	}
LORDTEK	0:9a1aae56ed19	3405	bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
LORDTEK	0:9a1aae56ed19	3406	{
LORDTEK	0:9a1aae56ed19	3407	return writeDMPConfigurationSet(data, dataSize, false);
LORDTEK	0:9a1aae56ed19	3408	}
LORDTEK	0:9a1aae56ed19	3409
LORDTEK	0:9a1aae56ed19	3410	// DMP_CFG_1 register
LORDTEK	0:9a1aae56ed19	3411
LORDTEK	0:9a1aae56ed19	3412	uint8_t MPU6050::getDMPConfig1()
LORDTEK	0:9a1aae56ed19	3413	{
LORDTEK	0:9a1aae56ed19	3414	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
LORDTEK	0:9a1aae56ed19	3415	return buffer[0];
LORDTEK	0:9a1aae56ed19	3416	}
LORDTEK	0:9a1aae56ed19	3417	void MPU6050::setDMPConfig1(uint8_t config)
LORDTEK	0:9a1aae56ed19	3418	{
LORDTEK	0:9a1aae56ed19	3419	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
LORDTEK	0:9a1aae56ed19	3420	}
LORDTEK	0:9a1aae56ed19	3421
LORDTEK	0:9a1aae56ed19	3422	// DMP_CFG_2 register
LORDTEK	0:9a1aae56ed19	3423
LORDTEK	0:9a1aae56ed19	3424	uint8_t MPU6050::getDMPConfig2()
LORDTEK	0:9a1aae56ed19	3425	{
LORDTEK	0:9a1aae56ed19	3426	i2Cdev.readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
LORDTEK	0:9a1aae56ed19	3427	return buffer[0];
LORDTEK	0:9a1aae56ed19	3428	}
LORDTEK	0:9a1aae56ed19	3429	void MPU6050::setDMPConfig2(uint8_t config)
LORDTEK	0:9a1aae56ed19	3430	{
LORDTEK	0:9a1aae56ed19	3431	i2Cdev.writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
LORDTEK	0:9a1aae56ed19	3432	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	13 Oct 2013
Imports:	204
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	1
Followers:	6
Issues:	0

The code in this repository is MIT licensed.

The code in this repository is Apache licensed.

MPU6050.cpp@0:9a1aae56ed19, 2013-10-13 (annotated)

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