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MPU6050资料与arduino源码

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ID:300968 发表于 2018-4-2 16:47 | 只看该作者 |只看大图 回帖奖励 |倒序浏览 |阅读模式
MPU6050的资料打包：

mpu6050的arduino源程序如下:
  1. // I2Cdev library collection - MPU6050 I2C device class
  2. // Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
  3. // 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
  4. // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
  5. //
  6. // Changelog:
  7. //     ... - ongoing debug release

  9. // NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
  10. // DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
  11. // YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.

  13. /* ============================================
  14. I2Cdev device library code is placed under the MIT license
  15. Copyright (c) 2011 Jeff Rowberg

  17. Permission is hereby granted, free of charge, to any person obtaining a copy
  18. of this software and associated documentation files (the "Software"), to deal
  19. in the Software without restriction, including without limitation the rights
  20. to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  21. copies of the Software, and to permit persons to whom the Software is
  22. furnished to do so, subject to the following conditions:

  24. The above copyright notice and this permission notice shall be included in
  25. all copies or substantial portions of the Software.

  27. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  28. IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  29. FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  30. AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  31. LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  32. OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  33. THE SOFTWARE.
  34. ===============================================
  35. */

  37. #include "MPU6050.h"

  39. /** Default constructor, uses default I2C address.
  40. * @see MPU6050_DEFAULT_ADDRESS
  41. */
  42. MPU6050::MPU6050() {
  43.     devAddr = MPU6050_DEFAULT_ADDRESS;
  44. }

  46. /** Specific address constructor.
  47. * @param address I2C address
  48. * @see MPU6050_DEFAULT_ADDRESS
  49. * @see MPU6050_ADDRESS_AD0_LOW
  50. * @see MPU6050_ADDRESS_AD0_HIGH
  51. */
  52. MPU6050::MPU6050(uint8_t address) {
  53.     devAddr = address;
  54. }

  56. /** Power on and prepare for general usage.
  57. * This will activate the device and take it out of sleep mode (which must be done
  58. * after start-up). This function also sets both the accelerometer and the gyroscope
  59. * to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
  60. * the clock source to use the X Gyro for reference, which is slightly better than
  61. * the default internal clock source.
  62. */
  63. void MPU6050::initialize() {
  64.     setClockSource(MPU6050_CLOCK_PLL_XGYRO);
  65.     setFullScaleGyroRange(MPU6050_GYRO_FS_250);
  66.     setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
  67.     setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
  68. }

  70. /** Verify the I2C connection.
  71. * Make sure the device is connected and responds as expected.
  72. * @return True if connection is valid, false otherwise
  73. */
  74. bool MPU6050::testConnection() {
  75.     return getDeviceID() == 0b110100;
  76. }

  78. // AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)

  80. /** Get the auxiliary I2C supply voltage level.
  81. * When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
  82. * 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
  83. * the MPU-6000, which does not have a VLOGIC pin.
  84. * @return I2C supply voltage level (0=VLOGIC, 1=VDD)
  85. */
  86. uint8_t MPU6050::getAuxVDDIOLevel() {
  87.     I2Cdev::readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
  88.     return buffer[0];
  89. }
  90. /** Set the auxiliary I2C supply voltage level.
  91. * When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
  92. * 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
  93. * the MPU-6000, which does not have a VLOGIC pin.
  94. * @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
  95. */
  96. void MPU6050::setAuxVDDIOLevel(uint8_t level) {
  97.     I2Cdev::writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
  98. }

  100. // SMPLRT_DIV register

  102. /** Get gyroscope output rate divider.
  103. * The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
  104. * Motion detection, and Free Fall detection are all based on the Sample Rate.
  105. * The Sample Rate is generated by dividing the gyroscope output rate by
  106. * SMPLRT_DIV:
  107. *
  108. * Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
  109. *
  110. * where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
  111. * 7), and 1kHz when the DLPF is enabled (see Register 26).
  112. *
  113. * Note: The accelerometer output rate is 1kHz. This means that for a Sample
  114. * Rate greater than 1kHz, the same accelerometer sample may be output to the
  115. * FIFO, DMP, and sensor registers more than once.
  116. *
  117. * For a diagram of the gyroscope and accelerometer signal paths, see Section 8
  118. * of the MPU-6000/MPU-6050 Product Specification document.
  119. *
  120. * @return Current sample rate
  121. * @see MPU6050_RA_SMPLRT_DIV
  122. */
  123. uint8_t MPU6050::getRate() {
  124.     return I2Cdev::readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
  125.     return buffer[0];
  126. }
  127. /** Set gyroscope sample rate divider.
  128. * @param rate New sample rate divider
  129. * @see getRate()
  130. * @see MPU6050_RA_SMPLRT_DIV
  131. */
  132. void MPU6050::setRate(uint8_t rate) {
  133.     I2Cdev::writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
  134. }

  136. // CONFIG register

  138. /** Get external FSYNC configuration.
  139. * Configures the external Frame Synchronization (FSYNC) pin sampling. An
  140. * external signal connected to the FSYNC pin can be sampled by configuring
  141. * EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
  142. * strobes may be captured. The latched FSYNC signal will be sampled at the
  143. * Sampling Rate, as defined in register 25. After sampling, the latch will
  144. * reset to the current FSYNC signal state.
  145. *
  146. * The sampled value will be reported in place of the least significant bit in
  147. * a sensor data register determined by the value of EXT_SYNC_SET according to
  148. * the following table.
  149. *
  150. * <pre>
  151. * EXT_SYNC_SET | FSYNC Bit Location
  152. * -------------+-------------------
  153. * 0            | Input disabled
  154. * 1            | TEMP_OUT_L[0]
  155. * 2            | GYRO_XOUT_L[0]
  156. * 3            | GYRO_YOUT_L[0]
  157. * 4            | GYRO_ZOUT_L[0]
  158. * 5            | ACCEL_XOUT_L[0]
  159. * 6            | ACCEL_YOUT_L[0]
  160. * 7            | ACCEL_ZOUT_L[0]
  161. * </pre>
  162. *
  163. * @return FSYNC configuration value
  164. */
  165. uint8_t MPU6050::getExternalFrameSync() {
  166.     I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
  167.     return buffer[0];
  168. }
  169. /** Set external FSYNC configuration.
  170. * @see getExternalFrameSync()
  171. * @see MPU6050_RA_CONFIG
  172. * @param sync New FSYNC configuration value
  173. */
  174. void MPU6050::setExternalFrameSync(uint8_t sync) {
  175.     I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
  176. }
  177. /** Get digital low-pass filter configuration.
  178. * The DLPF_CFG parameter sets the digital low pass filter configuration. It
  179. * also determines the internal sampling rate used by the device as shown in
  180. * the table below.
  181. *
  182. * Note: The accelerometer output rate is 1kHz. This means that for a Sample
  183. * Rate greater than 1kHz, the same accelerometer sample may be output to the
  184. * FIFO, DMP, and sensor registers more than once.
  185. *
  186. * <pre>
  187. *          |   ACCELEROMETER    |           GYROSCOPE
  188. * DLPF_CFG | Bandwidth | Delay  | Bandwidth | Delay  | Sample Rate
  189. * ---------+-----------+--------+-----------+--------+-------------
  190. * 0        | 260Hz     | 0ms    | 256Hz     | 0.98ms | 8kHz
  191. * 1        | 184Hz     | 2.0ms  | 188Hz     | 1.9ms  | 1kHz
  192. * 2        | 94Hz      | 3.0ms  | 98Hz      | 2.8ms  | 1kHz
  193. * 3        | 44Hz      | 4.9ms  | 42Hz      | 4.8ms  | 1kHz
  194. * 4        | 21Hz      | 8.5ms  | 20Hz      | 8.3ms  | 1kHz
  195. * 5        | 10Hz      | 13.8ms | 10Hz      | 13.4ms | 1kHz
  196. * 6        | 5Hz       | 19.0ms | 5Hz       | 18.6ms | 1kHz
  197. * 7        |   -- Reserved --   |   -- Reserved --   | Reserved
  198. * </pre>
  199. *
  200. * @return DLFP configuration
  201. * @see MPU6050_RA_CONFIG
  202. * @see MPU6050_CFG_DLPF_CFG_BIT
  203. * @see MPU6050_CFG_DLPF_CFG_LENGTH
  204. */
  205. uint8_t MPU6050::getDLPFMode() {
  206.     I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
  207.     return buffer[0];
  208. }
  209. /** Set digital low-pass filter configuration.
  210. * @param mode New DLFP configuration setting
  211. * @see getDLPFBandwidth()
  212. * @see MPU6050_DLPF_BW_256
  213. * @see MPU6050_RA_CONFIG
  214. * @see MPU6050_CFG_DLPF_CFG_BIT
  215. * @see MPU6050_CFG_DLPF_CFG_LENGTH
  216. */
  217. void MPU6050::setDLPFMode(uint8_t mode) {
  218.     I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
  219. }

  221. // GYRO_CONFIG register

  223. /** Get full-scale gyroscope range.
  224. * The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
  225. * as described in the table below.
  226. *
  227. * <pre>
  228. * 0 = +/- 250 degrees/sec
  229. * 1 = +/- 500 degrees/sec
  230. * 2 = +/- 1000 degrees/sec
  231. * 3 = +/- 2000 degrees/sec
  232. * </pre>
  233. *
  234. * @return Current full-scale gyroscope range setting
  235. * @see MPU6050_GYRO_FS_250
  236. * @see MPU6050_RA_GYRO_CONFIG
  237. * @see MPU6050_GCONFIG_FS_SEL_BIT
  238. * @see MPU6050_GCONFIG_FS_SEL_LENGTH
  239. */
  240. uint8_t MPU6050::getFullScaleGyroRange() {
  241.     I2Cdev::readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
  242.     return buffer[0];
  243. }
  244. /** Set full-scale gyroscope range.
  245. * @param range New full-scale gyroscope range value
  246. * @see getFullScaleRange()
  247. * @see MPU6050_GYRO_FS_250
  248. * @see MPU6050_RA_GYRO_CONFIG
  249. * @see MPU6050_GCONFIG_FS_SEL_BIT
  250. * @see MPU6050_GCONFIG_FS_SEL_LENGTH
  251. */
  252. void MPU6050::setFullScaleGyroRange(uint8_t range) {
  253.     I2Cdev::writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
  254. }

  256. // ACCEL_CONFIG register

  258. /** Get self-test enabled setting for accelerometer X axis.
  259. * @return Self-test enabled value
  260. * @see MPU6050_RA_ACCEL_CONFIG
  261. */
  262. bool MPU6050::getAccelXSelfTest() {
  263.     I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
  264.     return buffer[0];
  265. }
  266. /** Get self-test enabled setting for accelerometer X axis.
  267. * @param enabled Self-test enabled value
  268. * @see MPU6050_RA_ACCEL_CONFIG
  269. */
  270. void MPU6050::setAccelXSelfTest(bool enabled) {
  271.     I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
  272. }
  273. /** Get self-test enabled value for accelerometer Y axis.
  274. * @return Self-test enabled value
  275. * @see MPU6050_RA_ACCEL_CONFIG
  276. */
  277. bool MPU6050::getAccelYSelfTest() {
  278.     I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
  279.     return buffer[0];
  280. }
  281. /** Get self-test enabled value for accelerometer Y axis.
  282. * @param enabled Self-test enabled value
  283. * @see MPU6050_RA_ACCEL_CONFIG
  284. */
  285. void MPU6050::setAccelYSelfTest(bool enabled) {
  286.     I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
  287. }
  288. /** Get self-test enabled value for accelerometer Z axis.
  289. * @return Self-test enabled value
  290. * @see MPU6050_RA_ACCEL_CONFIG
  291. */
  292. bool MPU6050::getAccelZSelfTest() {
  293.     I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
  294.     return buffer[0];
  295. }
  296. /** Set self-test enabled value for accelerometer Z axis.
  297. * @param enabled Self-test enabled value
  298. * @see MPU6050_RA_ACCEL_CONFIG
  299. */
  300. void MPU6050::setAccelZSelfTest(bool enabled) {
  301.     I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
  302. }
  303. /** Get full-scale accelerometer range.
  304. * The FS_SEL parameter allows setting the full-scale range of the accelerometer
  305. * sensors, as described in the table below.
  306. *
  307. * <pre>
  308. * 0 = +/- 2g
  309. * 1 = +/- 4g
  310. * 2 = +/- 8g
  311. * 3 = +/- 16g
  312. * </pre>
  313. *
  314. * @return Current full-scale accelerometer range setting
  315. * @see MPU6050_ACCEL_FS_2
  316. * @see MPU6050_RA_ACCEL_CONFIG
  317. * @see MPU6050_ACONFIG_AFS_SEL_BIT
  318. * @see MPU6050_ACONFIG_AFS_SEL_LENGTH
  319. */
  320. uint8_t MPU6050::getFullScaleAccelRange() {
  321.     I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
  322.     return buffer[0];
  323. }
  324. /** Set full-scale accelerometer range.
  325. * @param range New full-scale accelerometer range setting
  326. * @see getFullScaleAccelRange()
  327. */
  328. void MPU6050::setFullScaleAccelRange(uint8_t range) {
  329.     I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
  330. }
  331. /** Get the high-pass filter configuration.
  332. * The DHPF is a filter module in the path leading to motion detectors (Free
  333. * Fall, Motion threshold, and Zero Motion). The high pass filter output is not
  334. * available to the data registers (see Figure in Section 8 of the MPU-6000/
  335. * MPU-6050 Product Specification document).
  336. *
  337. * The high pass filter has three modes:
  338. *
  339. * <pre>
  340. *    Reset: The filter output settles to zero within one sample. This
  341. *           effectively disables the high pass filter. This mode may be toggled
  342. *           to quickly settle the filter.
  343. *
  344. *    On:    The high pass filter will pass signals above the cut off frequency.
  345. *
  346. *    Hold:  When triggered, the filter holds the present sample. The filter
  347. *           output will be the difference between the input sample and the held
  348. *           sample.
  349. * </pre>
  350. *
  351. * <pre>
  352. * ACCEL_HPF | Filter Mode | Cut-off Frequency
  353. * ----------+-------------+------------------
  354. * 0         | Reset       | None
  355. * 1         | On          | 5Hz
  356. * 2         | On          | 2.5Hz
  357. * 3         | On          | 1.25Hz
  358. * 4         | On          | 0.63Hz
  359. * 7         | Hold        | None
  360. * </pre>
  361. *
  362. * @return Current high-pass filter configuration
  363. * @see MPU6050_DHPF_RESET
  364. * @see MPU6050_RA_ACCEL_CONFIG
  365. */
  366. uint8_t MPU6050::getDHPFMode() {
  367.     I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
  368.     return buffer[0];
  369. }
  370. /** Set the high-pass filter configuration.
  371. * @param bandwidth New high-pass filter configuration
  372. * @see setDHPFMode()
  373. * @see MPU6050_DHPF_RESET
  374. * @see MPU6050_RA_ACCEL_CONFIG
  375. */
  376. void MPU6050::setDHPFMode(uint8_t bandwidth) {
  377.     I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
  378. }

  380. // FF_THR register

  382. /** Get free-fall event acceleration threshold.
  383. * This register configures the detection threshold for Free Fall event
  384. * detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
  385. * absolute value of the accelerometer measurements for the three axes are each
  386. * less than the detection threshold. This condition increments the Free Fall
  387. * duration counter (Register 30). The Free Fall interrupt is triggered when the
  388. * Free Fall duration counter reaches the time specified in FF_DUR.
  389. *
  390. * For more details on the Free Fall detection interrupt, see Section 8.2 of the
  391. * MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
  392. * 58 of this document.
  393. *
  394. * @return Current free-fall acceleration threshold value (LSB = 2mg)
  395. * @see MPU6050_RA_FF_THR
  396. */
  397. uint8_t MPU6050::getFreefallDetectionThreshold() {
  398.     I2Cdev::readByte(devAddr, MPU6050_RA_FF_THR, buffer);
  399.     return buffer[0];
  400. }
  401. /** Get free-fall event acceleration threshold.
  402. * @param threshold New free-fall acceleration threshold value (LSB = 2mg)
  403. * @see getFreefallDetectionThreshold()
  404. * @see MPU6050_RA_FF_THR
  405. */
  406. void MPU6050::setFreefallDetectionThreshold(uint8_t threshold) {
  407.     I2Cdev::writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
  408. }

  410. // FF_DUR register

  412. /** Get free-fall event duration threshold.
  413. * This register configures the duration counter threshold for Free Fall event
  414. * detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
  415. * of 1 LSB = 1 ms.
  416. *
  417. * The Free Fall duration counter increments while the absolute value of the
  418. * accelerometer measurements are each less than the detection threshold
  419. * (Register 29). The Free Fall interrupt is triggered when the Free Fall
  420. * duration counter reaches the time specified in this register.
  421. *
  422. * For more details on the Free Fall detection interrupt, see Section 8.2 of
  423. * the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
  424. * and 58 of this document.
  425. *
  426. * @return Current free-fall duration threshold value (LSB = 1ms)
  427. * @see MPU6050_RA_FF_DUR
  428. */
  429. uint8_t MPU6050::getFreefallDetectionDuration() {
  430.     I2Cdev::readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
  431.     return buffer[0];
  432. }
  433. /** Get free-fall event duration threshold.
  434. * @param duration New free-fall duration threshold value (LSB = 1ms)
  435. * @see getFreefallDetectionDuration()
  436. * @see MPU6050_RA_FF_DUR
  437. */
  438. void MPU6050::setFreefallDetectionDuration(uint8_t duration) {
  439.     I2Cdev::writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
  440. }

  442. // MOT_THR register

  444. /** Get motion detection event acceleration threshold.
  445. * This register configures the detection threshold for Motion interrupt
  446. * generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
  447. * absolute value of any of the accelerometer measurements exceeds this Motion
  448. * detection threshold. This condition increments the Motion detection duration
  449. * counter (Register 32). The Motion detection interrupt is triggered when the
  450. * Motion Detection counter reaches the time count specified in MOT_DUR
  451. * (Register 32).
  452. *
  453. * The Motion interrupt will indicate the axis and polarity of detected motion
  454. * in MOT_DETECT_STATUS (Register 97).
  455. *
  456. * For more details on the Motion detection interrupt, see Section 8.3 of the
  457. * MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
  458. * 58 of this document.
  459. *
  460. * @return Current motion detection acceleration threshold value (LSB = 2mg)
  461. * @see MPU6050_RA_MOT_THR
  462. */
  463. uint8_t MPU6050::getMotionDetectionThreshold() {
  464.     I2Cdev::readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
  465.     return buffer[0];
  466. }
  467. /** Set free-fall event acceleration threshold.
  468. * @param threshold New motion detection acceleration threshold value (LSB = 2mg)
  469. * @see getMotionDetectionThreshold()
  470. * @see MPU6050_RA_MOT_THR
  471. */
  472. void MPU6050::setMotionDetectionThreshold(uint8_t threshold) {
  473.     I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
  474. }

  476. // MOT_DUR register

  478. /** Get motion detection event duration threshold.
  479. * This register configures the duration counter threshold for Motion interrupt
  480. * generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
  481. * of 1LSB = 1ms. The Motion detection duration counter increments when the
  482. * absolute value of any of the accelerometer measurements exceeds the Motion
  483. * detection threshold (Register 31). The Motion detection interrupt is
  484. * triggered when the Motion detection counter reaches the time count specified
  485. * in this register.
  486. *
  487. * For more details on the Motion detection interrupt, see Section 8.3 of the
  488. * MPU-6000/MPU-6050 Product Specification document.
  489. *
  490. * @return Current motion detection duration threshold value (LSB = 1ms)
  491. * @see MPU6050_RA_MOT_DUR
  492. */
  493. uint8_t MPU6050::getMotionDetectionDuration() {
  494.     I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
  495.     return buffer[0];
  496. }
  497. /** Set motion detection event duration threshold.
  498. * @param duration New motion detection duration threshold value (LSB = 1ms)
  499. * @see getMotionDetectionDuration()
  500. * @see MPU6050_RA_MOT_DUR
  501. */
  502. void MPU6050::setMotionDetectionDuration(uint8_t duration) {
  503.     I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
  504. }

  506. // ZRMOT_THR register

  508. /** Get zero motion detection event acceleration threshold.
  509. * This register configures the detection threshold for Zero Motion interrupt
  510. * generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
  511. * the absolute value of the accelerometer measurements for the 3 axes are each
  512. * less than the detection threshold. This condition increments the Zero Motion
  513. * duration counter (Register 34). The Zero Motion interrupt is triggered when
  514. * the Zero Motion duration counter reaches the time count specified in
  515. * ZRMOT_DUR (Register 34).
  516. *
  517. * Unlike Free Fall or Motion detection, Zero Motion detection triggers an
  518. * interrupt both when Zero Motion is first detected and when Zero Motion is no
  519. * longer detected.
  520. *
  521. * When a zero motion event is detected, a Zero Motion Status will be indicated
  522. * in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
  523. * condition is detected, the status bit is set to 1. When a zero-motion-to-
  524. * motion condition is detected, the status bit is set to 0.
  525. *
  526. * For more details on the Zero Motion detection interrupt, see Section 8.4 of
  527. * the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
  528. * and 58 of this document.
  529. *
  530. * @return Current zero motion detection acceleration threshold value (LSB = 2mg)
  531. * @see MPU6050_RA_ZRMOT_THR
  532. */
  533. uint8_t MPU6050::getZeroMotionDetectionThreshold() {
  534.     I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
  535.     return buffer[0];
  536. }
  537. /** Set zero motion detection event acceleration threshold.
  538. * @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
  539. * @see getZeroMotionDetectionThreshold()
  540. * @see MPU6050_RA_ZRMOT_THR
  541. */
  542. void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold) {
  543.     I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
  544. }

  546. // ZRMOT_DUR register

  548. /** Get zero motion detection event duration threshold.
  549. * This register configures the duration counter threshold for Zero Motion
  550. * interrupt generation. The duration counter ticks at 16 Hz, therefore
  551. * ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
  552. * increments while the absolute value of the accelerometer measurements are
  553. * each less than the detection threshold (Register 33). The Zero Motion
  554. * interrupt is triggered when the Zero Motion duration counter reaches the time
  555. * count specified in this register.
  556. *
  557. * For more details on the Zero Motion detection interrupt, see Section 8.4 of
  558. * the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
  559. * and 58 of this document.
  560. *
  561. * @return Current zero motion detection duration threshold value (LSB = 64ms)
  562. * @see MPU6050_RA_ZRMOT_DUR
  563. */
  564. uint8_t MPU6050::getZeroMotionDetectionDuration() {
  565.     I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
  566.     return buffer[0];
  567. }
  568. /** Set zero motion detection event duration threshold.
  569. * @param duration New zero motion detection duration threshold value (LSB = 1ms)
  570. * @see getZeroMotionDetectionDuration()
  571. * @see MPU6050_RA_ZRMOT_DUR
  572. */
  573. void MPU6050::setZeroMotionDetectionDuration(uint8_t duration) {
  574.     I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
  575. }

  577. // FIFO_EN register

  579. /** Get temperature FIFO enabled value.
  580. * When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
  581. * 66) to be written into the FIFO buffer.
  582. * @return Current temperature FIFO enabled value
  583. * @see MPU6050_RA_FIFO_EN
  584. */
  585. bool MPU6050::getTempFIFOEnabled() {
  586.     I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
  587.     return buffer[0];
  588. }
  589. /** Set temperature FIFO enabled value.
  590. * @param enabled New temperature FIFO enabled value
  591. * @see getTempFIFOEnabled()
  592. * @see MPU6050_RA_FIFO_EN
  593. */
  594. void MPU6050::setTempFIFOEnabled(bool enabled) {
  595.     I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
  596. }
  597. /** Get gyroscope X-axis FIFO enabled value.
  598. * When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
  599. * 68) to be written into the FIFO buffer.
  600. * @return Current gyroscope X-axis FIFO enabled value
  601. * @see MPU6050_RA_FIFO_EN
  602. */
  603. bool MPU6050::getXGyroFIFOEnabled() {
  604.     I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
  605.     return buffer[0];
  606. }
  607. /** Set gyroscope X-axis FIFO enabled value.
  608. * @param enabled New gyroscope X-axis FIFO enabled value
  609. * @see getXGyroFIFOEnabled()
  610. * @see MPU6050_RA_FIFO_EN
  611. */
  612. void MPU6050::setXGyroFIFOEnabled(bool enabled) {
  613.     I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
  614. }
  615. /** Get gyroscope Y-axis FIFO enabled value.
  616. * When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
  617. * 70) to be written into the FIFO buffer.
  618. * @return Current gyroscope Y-axis FIFO enabled value
  619. * @see MPU6050_RA_FIFO_EN
  620. */
  621. bool MPU6050::getYGyroFIFOEnabled() {
  622.     I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
  623.     return buffer[0];
  624. }
  625. /** Set gyroscope Y-axis FIFO enabled value.
  626. * @param enabled New gyroscope Y-axis FIFO enabled value
  627. * @see getYGyroFIFOEnabled()
  628. * @see MPU6050_RA_FIFO_EN
  629. */
  630. void MPU6050::setYGyroFIFOEnabled(bool enabled) {
  631.     I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
  632. }
  633. /** Get gyroscope Z-axis FIFO enabled value.
  634. * When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
  635. * 72) to be written into the FIFO buffer.
  636. * @return Current gyroscope Z-axis FIFO enabled value
  637. * @see MPU6050_RA_FIFO_EN
  638. */
  639. bool MPU6050::getZGyroFIFOEnabled() {
  640.     I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
  641.     return buffer[0];
  642. }
  643. /** Set gyroscope Z-axis FIFO enabled value.
  644. * @param enabled New gyroscope Z-axis FIFO enabled value
  645. * @see getZGyroFIFOEnabled()
  646. * @see MPU6050_RA_FIFO_EN
  647. */
  648. void MPU6050::setZGyroFIFOEnabled(bool enabled) {
  649.     I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
  650. }
  651. /** Get accelerometer FIFO enabled value.
  652. * When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
  653. * ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
  654. * written into the FIFO buffer.
  655. * @return Current accelerometer FIFO enabled value
  656. * @see MPU6050_RA_FIFO_EN
  657. */
  658. bool MPU6050::getAccelFIFOEnabled() {
  659.     I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
  660.     return buffer[0];
  661. }
  662. /** Set accelerometer FIFO enabled value.
  663. * @param enabled New accelerometer FIFO enabled value
  664. * @see getAccelFIFOEnabled()
  665. * @see MPU6050_RA_FIFO_EN
  666. */
  667. void MPU6050::setAccelFIFOEnabled(bool enabled) {
  668.     I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
  669. }
  670. /** Get Slave 2 FIFO enabled value.
  671. * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
  672. * associated with Slave 2 to be written into the FIFO buffer.
  673. * @return Current Slave 2 FIFO enabled value
  674. * @see MPU6050_RA_FIFO_EN
  675. */
  676. bool MPU6050::getSlave2FIFOEnabled() {
  677.     I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
  678.     return buffer[0];
  679. }
  680. /** Set Slave 2 FIFO enabled value.
  681. * @param enabled New Slave 2 FIFO enabled value
  682. * @see getSlave2FIFOEnabled()
  683. * @see MPU6050_RA_FIFO_EN
  684. */
  685. void MPU6050::setSlave2FIFOEnabled(bool enabled) {
  686.     I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
  687. }
  688. /** Get Slave 1 FIFO enabled value.
  689. * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
  690. * associated with Slave 1 to be written into the FIFO buffer.
  691. * @return Current Slave 1 FIFO enabled value
  692. * @see MPU6050_RA_FIFO_EN
  693. */
  694. bool MPU6050::getSlave1FIFOEnabled() {
  695.     I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
  696.     return buffer[0];
  697. }
  698. /** Set Slave 1 FIFO enabled value.
  699. * @param enabled New Slave 1 FIFO enabled value
  700. * @see getSlave1FIFOEnabled()
  701. * @see MPU6050_RA_FIFO_EN
  702. */
  703. void MPU6050::setSlave1FIFOEnabled(bool enabled) {
  704.     I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
  705. }
  706. /** Get Slave 0 FIFO enabled value.
  707. * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
  708. * associated with Slave 0 to be written into the FIFO buffer.
  709. * @return Current Slave 0 FIFO enabled value
  710. * @see MPU6050_RA_FIFO_EN
  711. */
  712. bool MPU6050::getSlave0FIFOEnabled() {
  713.     I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
  714.     return buffer[0];
  715. }
  716. /** Set Slave 0 FIFO enabled value.
  717. * @param enabled New Slave 0 FIFO enabled value
  718. * @see getSlave0FIFOEnabled()
  719. * @see MPU6050_RA_FIFO_EN
  720. */
  721. void MPU6050::setSlave0FIFOEnabled(bool enabled) {
  722.     I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
  723. }

  725. // I2C_MST_CTRL register

  727. /** Get multi-master enabled value.
  728. * Multi-master capability allows multiple I2C masters to operate on the same
  729. * bus. In circuits where multi-master capability is required, set MULT_MST_EN
  730. * to 1. This will increase current drawn by approximately 30uA.
  731. *
  732. * In circuits where multi-master capability is required, the state of the I2C
  733. * bus must always be monitored by each separate I2C Master. Before an I2C
  734. * Master can assume arbitration of the bus, it must first confirm that no other
  735. * I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
  736. * MPU-60X0's bus arbitration detection logic is turned on, enabling it to
  737. * detect when the bus is available.
  738. *
  739. * @return Current multi-master enabled value
  740. * @see MPU6050_RA_I2C_MST_CTRL
  741. */
  742. bool MPU6050::getMultiMasterEnabled() {
  743.     I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
  744.     return buffer[0];
  745. }
  746. /** Set multi-master enabled value.
  747. * @param enabled New multi-master enabled value
  748. * @see getMultiMasterEnabled()
  749. * @see MPU6050_RA_I2C_MST_CTRL
  750. */
  751. void MPU6050::setMultiMasterEnabled(bool enabled) {
  752.     I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
  753. }
  754. /** Get wait-for-external-sensor-data enabled value.
  755. * When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
  756. * delayed until External Sensor data from the Slave Devices are loaded into the
  757. * EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
  758. * data (i.e. from gyro and accel) and external sensor data have been loaded to
  759. * their respective data registers (i.e. the data is synced) when the Data Ready
  760. * interrupt is triggered.
  761. *
  762. * @return Current wait-for-external-sensor-data enabled value
  763. * @see MPU6050_RA_I2C_MST_CTRL
  764. */
  765. bool MPU6050::getWaitForExternalSensorEnabled() {
  766.     I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
  767.     return buffer[0];
  768. }
  769. /** Set wait-for-external-sensor-data enabled value.
  770. * @param enabled New wait-for-external-sensor-data enabled value
  771. * @see getWaitForExternalSensorEnabled()
  772. * @see MPU6050_RA_I2C_MST_CTRL
  773. */
  774. void MPU6050::setWaitForExternalSensorEnabled(bool enabled) {
  775.     I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
  776. }
  777. /** Get Slave 3 FIFO enabled value.
  778. * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
  779. * associated with Slave 3 to be written into the FIFO buffer.
  780. * @return Current Slave 3 FIFO enabled value
  781. * @see MPU6050_RA_MST_CTRL
  782. */
  783. bool MPU6050::getSlave3FIFOEnabled() {
  784.     I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
  785.     return buffer[0];
  786. }
  787. /** Set Slave 3 FIFO enabled value.
  788. * @param enabled New Slave 3 FIFO enabled value
  789. * @see getSlave3FIFOEnabled()
  790. * @see MPU6050_RA_MST_CTRL
  791. */
  792. void MPU6050::setSlave3FIFOEnabled(bool enabled) {
  793.     I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
  794. }
  795. /** Get slave read/write transition enabled value.
  796. * The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
  797. * read to the next slave read. If the bit equals 0, there will be a restart
  798. * between reads. If the bit equals 1, there will be a stop followed by a start
  799. * of the following read. When a write transaction follows a read transaction,
  800. * the stop followed by a start of the successive write will be always used.
  801. *
  802. * @return Current slave read/write transition enabled value
  803. * @see MPU6050_RA_I2C_MST_CTRL
  804. */
  805. bool MPU6050::getSlaveReadWriteTransitionEnabled() {
  806.     I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
  807.     return buffer[0];
  808. }
  809. /** Set slave read/write transition enabled value.
  810. * @param enabled New slave read/write transition enabled value
  811. * @see getSlaveReadWriteTransitionEnabled()
  812. * @see MPU6050_RA_I2C_MST_CTRL
  813. */
  814. void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled) {
  815.     I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
  816. }
  817. /** Get I2C master clock speed.
  818. * I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
  819. * MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
  820. * the following table:
  821. *
  822. * <pre>
  823. * I2C_MST_CLK | I2C Master Clock Speed | 8MHz Clock Divider
  824. * ------------+------------------------+-------------------
  825. * 0           | 348kHz                 | 23
  826. * 1           | 333kHz                 | 24
  827. * 2           | 320kHz                 | 25
  828. * 3           | 308kHz                 | 26
  829. * 4           | 296kHz                 | 27
  830. * 5           | 286kHz                 | 28
  831. * 6           | 276kHz                 | 29
  832. * 7           | 267kHz                 | 30
  833. * 8           | 258kHz                 | 31
  834. * 9           | 500kHz                 | 16
  835. * 10          | 471kHz                 | 17
  836. * 11          | 444kHz                 | 18
  837. * 12          | 421kHz                 | 19
  838. * 13          | 400kHz                 | 20
  839. * 14          | 381kHz                 | 21
  840. * 15          | 364kHz                 | 22
  841. * </pre>
  842. *
  843. * @return Current I2C master clock speed
  844. * @see MPU6050_RA_I2C_MST_CTRL
  845. */
  846. uint8_t MPU6050::getMasterClockSpeed() {
  847.     I2Cdev::readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
  848.     return buffer[0];
  849. }
  850. /** Set I2C master clock speed.
  851. * @reparam speed Current I2C master clock speed
  852. * @see MPU6050_RA_I2C_MST_CTRL
  853. */
  854. void MPU6050::setMasterClockSpeed(uint8_t speed) {
  855.     I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
  856. }

  858. // I2C_SLV* registers (Slave 0-3)

  860. /** Get the I2C address of the specified slave (0-3).
  861. * Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
  862. * operation, and if it is cleared, then it's a write operation. The remaining
  863. * bits (6-0) are the 7-bit device address of the slave device.
  864. *
  865. * In read mode, the result of the read is placed in the lowest available
  866. * EXT_SENS_DATA register. For further information regarding the allocation of
  867. * read results, please refer to the EXT_SENS_DATA register description
  868. * (Registers 73 ?96).
  869. *
  870. * The MPU-6050 supports a total of five slaves, but Slave 4 has unique
  871. * characteristics, and so it has its own functions (getSlave4* and setSlave4*).
  872. *
  873. * I2C data transactions are performed at the Sample Rate, as defined in
  874. * Register 25. The user is responsible for ensuring that I2C data transactions
  875. * to and from each enabled Slave can be completed within a single period of the
  876. * Sample Rate.
  877. *
  878. * The I2C slave access rate can be reduced relative to the Sample Rate. This
  879. * reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
  880. * slave's access rate is reduced relative to the Sample Rate is determined by
  881. * I2C_MST_DELAY_CTRL (Register 103).
  882. *
  883. * The processing order for the slaves is fixed. The sequence followed for
  884. * processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
  885. * particular Slave is disabled it will be skipped.
  886. *
  887. * Each slave can either be accessed at the sample rate or at a reduced sample
  888. * rate. In a case where some slaves are accessed at the Sample Rate and some
  889. * slaves are accessed at the reduced rate, the sequence of accessing the slaves
  890. * (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
  891. * be skipped if their access rate dictates that they should not be accessed
  892. * during that particular cycle. For further information regarding the reduced
  893. * access rate, please refer to Register 52. Whether a slave is accessed at the
  894. * Sample Rate or at the reduced rate is determined by the Delay Enable bits in
  895. * Register 103.
  896. *
  897. * @param num Slave number (0-3)
  898. * @return Current address for specified slave
  899. * @see MPU6050_RA_I2C_SLV0_ADDR
  900. */
  901. uint8_t MPU6050::getSlaveAddress(uint8_t num) {
  902.     if (num > 3) return 0;
  903.     I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
  904.     return buffer[0];
  905. }
  906. /** Set the I2C address of the specified slave (0-3).
  907. * @param num Slave number (0-3)
  908. * @param address New address for specified slave
  909. * @see getSlaveAddress()
  910. * @see MPU6050_RA_I2C_SLV0_ADDR
  911. */
  912. void MPU6050::setSlaveAddress(uint8_t num, uint8_t address) {
  913.     if (num > 3) return;
  914.     I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
  915. }
  916. /** Get the active internal register for the specified slave (0-3).
  917. * Read/write operations for this slave will be done to whatever internal
  918. * register address is stored in this MPU register.
  919. *
  920. * The MPU-6050 supports a total of five slaves, but Slave 4 has unique
  921. * characteristics, and so it has its own functions.
  922. *
  923. * @param num Slave number (0-3)
  924. * @return Current active register for specified slave
  925. * @see MPU6050_RA_I2C_SLV0_REG
  926. */
  927. uint8_t MPU6050::getSlaveRegister(uint8_t num) {
  928.     if (num > 3) return 0;
  929.     I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
  930.     return buffer[0];
  931. }
  932. /** Set the active internal register for the specified slave (0-3).
  933. * @param num Slave number (0-3)
  934. * @param reg New active register for specified slave
  935. * @see getSlaveRegister()
  936. * @see MPU6050_RA_I2C_SLV0_REG
  937. */
  938. void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg) {
  939.     if (num > 3) return;
  940.     I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
  941. }
  942. /** Get the enabled value for the specified slave (0-3).
  943. * When set to 1, this bit enables Slave 0 for data transfer operations. When
  944. * cleared to 0, this bit disables Slave 0 from data transfer operations.
  945. * @param num Slave number (0-3)
  946. * @return Current enabled value for specified slave
  947. * @see MPU6050_RA_I2C_SLV0_CTRL
  948. */
  949. bool MPU6050::getSlaveEnabled(uint8_t num) {
  950.     if (num > 3) return 0;
  951.     I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
  952.     return buffer[0];
  953. }
  954. /** Set the enabled value for the specified slave (0-3).
  955. * @param num Slave number (0-3)
  956. * @param enabled New enabled value for specified slave
  957. * @see getSlaveEnabled()
  958. * @see MPU6050_RA_I2C_SLV0_CTRL
  959. */
  960. void MPU6050::setSlaveEnabled(uint8_t num, bool enabled) {
  961.     if (num > 3) return;
  962.     I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
  963. }
  964. /** Get word pair byte-swapping enabled for the specified slave (0-3).
  965. * When set to 1, this bit enables byte swapping. When byte swapping is enabled,
  966. * the high and low bytes of a word pair are swapped. Please refer to
  967. * I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
  968. * bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
  969. * registers in the order they were transferred.
  970. *
  971. * @param num Slave number (0-3)
  972. * @return Current word pair byte-swapping enabled value for specified slave
  973. * @see MPU6050_RA_I2C_SLV0_CTRL
  974. */
  975. bool MPU6050::getSlaveWordByteSwap(uint8_t num) {
  976.     if (num > 3) return 0;
  977.     I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
  978.     return buffer[0];
  979. }
  980. /** Set word pair byte-swapping enabled for the specified slave (0-3).
  981. * @param num Slave number (0-3)
  982. * @param enabled New word pair byte-swapping enabled value for specified slave
  983. * @see getSlaveWordByteSwap()
  984. * @see MPU6050_RA_I2C_SLV0_CTRL
  985. */
  986. void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled) {
  987.     if (num > 3) return;
  988.     I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
  989. }
  990. /** Get write mode for the specified slave (0-3).
  991. * When set to 1, the transaction will read or write data only. When cleared to
  992. * 0, the transaction will write a register address prior to reading or writing
  993. * data. This should equal 0 when specifying the register address within the
  994. * Slave device to/from which the ensuing data transaction will take place.
  995. *
  996. * @param num Slave number (0-3)
  997. * @return Current write mode for specified slave (0 = register address + data, 1 = data only)
  998. * @see MPU6050_RA_I2C_SLV0_CTRL
  999. */
  1000. bool MPU6050::getSlaveWriteMode(uint8_t num) {
  1001.     if (num > 3) return 0;
  1002.     I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
  1003.     return buffer[0];
  1004. }
  1005. /** Set write mode for the specified slave (0-3).
  1006. * @param num Slave number (0-3)
  1007. * @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
  1008. * @see getSlaveWriteMode()
  1009. * @see MPU6050_RA_I2C_SLV0_CTRL
  1010. */
  1011. void MPU6050::setSlaveWriteMode(uint8_t num, bool mode) {
  1012.     if (num > 3) return;
  1013.     I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
  1014. }
  1015. /** Get word pair grouping order offset for the specified slave (0-3).
  1016. * This sets specifies the grouping order of word pairs received from registers.
  1017. * When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
  1018. * then odd register addresses) are paired to form a word. When set to 1, bytes
  1019. * from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
  1020. * register addresses) are paired to form a word.
  1021. *
  1022. * @param num Slave number (0-3)
  1023. * @return Current word pair grouping order offset for specified slave
  1024. * @see MPU6050_RA_I2C_SLV0_CTRL
  1025. */
  1026. bool MPU6050::getSlaveWordGroupOffset(uint8_t num) {
  1027.     if (num > 3) return 0;
  1028.     I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
  1029.     return buffer[0];
  1030. }
  1031. /** Set word pair grouping order offset for the specified slave (0-3).
  1032. * @param num Slave number (0-3)
  1033. * @param enabled New word pair grouping order offset for specified slave
  1034. * @see getSlaveWordGroupOffset()
  1035. * @see MPU6050_RA_I2C_SLV0_CTRL
  1036. */
  1037. void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled) {
  1038.     if (num > 3) return;
  1039.     I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
  1040. }
  1041. /** Get number of bytes to read for the specified slave (0-3).
  1042. * Specifies the number of bytes transferred to and from Slave 0. Clearing this
  1043. * bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
  1044. * @param num Slave number (0-3)
  1045. * @return Number of bytes to read for specified slave
  1046. * @see MPU6050_RA_I2C_SLV0_CTRL
  1047. */
  1048. uint8_t MPU6050::getSlaveDataLength(uint8_t num) {
  1049.     if (num > 3) return 0;
  1050.     I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
  1051.     return buffer[0];
  1052. }
  1053. /** Set number of bytes to read for the specified slave (0-3).
  1054. * @param num Slave number (0-3)
  1055. * @param length Number of bytes to read for specified slave
  1056. * @see getSlaveDataLength()
  1057. * @see MPU6050_RA_I2C_SLV0_CTRL
  1058. */
  1059. void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length) {
  1060.     if (num > 3) return;
  1061.     I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
  1062. }

  1064. // I2C_SLV* registers (Slave 4)

  1066. /** Get the I2C address of Slave 4.
  1067. * Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
  1068. * operation, and if it is cleared, then it's a write operation. The remaining
  1069. * bits (6-0) are the 7-bit device address of the slave device.
  1070. *
  1071. * @return Current address for Slave 4
  1072. * @see getSlaveAddress()
  1073. * @see MPU6050_RA_I2C_SLV4_ADDR
  1074. */
  1075. uint8_t MPU6050::getSlave4Address() {
  1076.     I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
  1077.     return buffer[0];
  1078. }
  1079. /** Set the I2C address of Slave 4.
  1080. * @param address New address for Slave 4
  1081. * @see getSlave4Address()
  1082. * @see MPU6050_RA_I2C_SLV4_ADDR
  1083. */
  1084. void MPU6050::setSlave4Address(uint8_t address) {
  1085.     I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
  1086. }
  1087. /** Get the active internal register for the Slave 4.
  1088. * Read/write operations for this slave will be done to whatever internal
  1089. * register address is stored in this MPU register.
  1090. *
  1091. * @return Current active register for Slave 4
  1092. * @see MPU6050_RA_I2C_SLV4_REG
  1093. */
  1094. uint8_t MPU6050::getSlave4Register() {
  1095.     I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
  1096.     return buffer[0];
  1097. }
  1098. /** Set the active internal register for Slave 4.
  1099. * @param reg New active register for Slave 4
  1100. * @see getSlave4Register()
  1101. * @see MPU6050_RA_I2C_SLV4_REG
  1102. */
  1103. void MPU6050::setSlave4Register(uint8_t reg) {
  1104.     I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
  1105. }
  1106. /** Set new byte to write to Slave 4.
  1107. * This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
  1108. * is set 1 (set to read), this register has no effect.
  1109. * @param data New byte to write to Slave 4
  1110. * @see MPU6050_RA_I2C_SLV4_DO
  1111. */
  1112. void MPU6050::setSlave4OutputByte(uint8_t data) {
  1113.     I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
  1114. }
  1115. /** Get the enabled value for the Slave 4.
  1116. * When set to 1, this bit enables Slave 4 for data transfer operations. When
  1117. * cleared to 0, this bit disables Slave 4 from data transfer operations.
  1118. * @return Current enabled value for Slave 4
  1119. * @see MPU6050_RA_I2C_SLV4_CTRL
  1120. */
  1121. bool MPU6050::getSlave4Enabled() {
  1122.     I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
  1123.     return buffer[0];
  1124. }
  1125. /** Set the enabled value for Slave 4.
  1126. * @param enabled New enabled value for Slave 4
  1127. * @see getSlave4Enabled()
  1128. * @see MPU6050_RA_I2C_SLV4_CTRL
  1129. */
  1130. void MPU6050::setSlave4Enabled(bool enabled) {
  1131.     I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
  1132. }
  1133. /** Get the enabled value for Slave 4 transaction interrupts.
  1134. * When set to 1, this bit enables the generation of an interrupt signal upon
  1135. * completion of a Slave 4 transaction. When cleared to 0, this bit disables the
  1136. * generation of an interrupt signal upon completion of a Slave 4 transaction.
  1137. * The interrupt status can be observed in Register 54.
  1138. *
  1139. * @return Current enabled value for Slave 4 transaction interrupts.
  1140. * @see MPU6050_RA_I2C_SLV4_CTRL
  1141. */
  1142. bool MPU6050::getSlave4InterruptEnabled() {
  1143.     I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
  1144.     return buffer[0];
  1145. }
  1146. /** Set the enabled value for Slave 4 transaction interrupts.
  1147. * @param enabled New enabled value for Slave 4 transaction interrupts.
  1148. * @see getSlave4InterruptEnabled()
  1149. * @see MPU6050_RA_I2C_SLV4_CTRL
  1150. */
  1151. void MPU6050::setSlave4InterruptEnabled(bool enabled) {
  1152.     I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
  1153. }
  1154. /** Get write mode for Slave 4.
  1155. * When set to 1, the transaction will read or write data only. When cleared to
  1156. * 0, the transaction will write a register address prior to reading or writing
  1157. * data. This should equal 0 when specifying the register address within the
  1158. * Slave device to/from which the ensuing data transaction will take place.
  1159. *
  1160. * @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
  1161. * @see MPU6050_RA_I2C_SLV4_CTRL
  1162. */
  1163. bool MPU6050::getSlave4WriteMode() {
  1164.     I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
  1165.     return buffer[0];
  1166. }
  1167. /** Set write mode for the Slave 4.
  1168. * @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
  1169. * @see getSlave4WriteMode()
  1170. * @see MPU6050_RA_I2C_SLV4_CTRL
  1171. */
  1172. void MPU6050::setSlave4WriteMode(bool mode) {
  1173.     I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
  1174. }
  1175. /** Get Slave 4 master delay value.
  1176. * This configures the reduced access rate of I2C slaves relative to the Sample
  1177. * Rate. When a slave's access rate is decreased relative to the Sample Rate,
  1178. * the slave is accessed every:
  1179. *
  1180. *     1 / (1 + I2C_MST_DLY) samples
  1181. *
  1182. * This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
  1183. * DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
  1184. * the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
  1185. * further information regarding the Sample Rate, please refer to register 25.
  1186. *
  1187. * @return Current Slave 4 master delay value
  1188. * @see MPU6050_RA_I2C_SLV4_CTRL
  1189. */
  1190. uint8_t MPU6050::getSlave4MasterDelay() {
  1191.     I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
  1192.     return buffer[0];
  1193. }
  1194. /** Set Slave 4 master delay value.
  1195. * @param delay New Slave 4 master delay value
  1196. * @see getSlave4MasterDelay()
  1197. * @see MPU6050_RA_I2C_SLV4_CTRL
  1198. */
  1199. void MPU6050::setSlave4MasterDelay(uint8_t delay) {
  1200.     I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
  1201. }
  1202. /** Get last available byte read from Slave 4.
  1203. * This register stores the data read from Slave 4. This field is populated
  1204. * after a read transaction.
  1205. * @return Last available byte read from to Slave 4
  1206. * @see MPU6050_RA_I2C_SLV4_DI
  1207. */
  1208. uint8_t MPU6050::getSlate4InputByte() {
  1209.     I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
  1210.     return buffer[0];
  1211. }

  1213. // I2C_MST_STATUS register

  1215. /** Get FSYNC interrupt status.
  1216. * This bit reflects the status of the FSYNC interrupt from an external device
  1217. * into the MPU-60X0. This is used as a way to pass an external interrupt
  1218. * through the MPU-60X0 to the host application processor. When set to 1, this
  1219. * bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
  1220. * (Register 55).
  1221. * @return FSYNC interrupt status
  1222. * @see MPU6050_RA_I2C_MST_STATUS
  1223. */
  1224. bool MPU6050::getPassthroughStatus() {
  1225.     I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
  1226.     return buffer[0];
  1227. }
  1228. /** Get Slave 4 transaction done status.
  1229. * Automatically sets to 1 when a Slave 4 transaction has completed. This
  1230. * triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
  1231. * (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
  1232. * I2C_SLV4_CTRL register (Register 52).
  1233. * @return Slave 4 transaction done status
  1234. * @see MPU6050_RA_I2C_MST_STATUS
  1235. */
  1236. bool MPU6050::getSlave4IsDone() {
  1237.     I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
  1238.     return buffer[0];
  1239. }
  1240. /** Get master arbitration lost status.
  1241. * This bit automatically sets to 1 when the I2C Master has lost arbitration of
  1242. * the auxiliary I2C bus (an error condition). This triggers an interrupt if the
  1243. * I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
  1244. * @return Master arbitration lost status
  1245. * @see MPU6050_RA_I2C_MST_STATUS
  1246. */
  1247. bool MPU6050::getLostArbitration() {
  1248.     I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
  1249.     return buffer[0];
  1250. }
  1251. /** Get Slave 4 NACK status.
  1252. * This bit automatically sets to 1 when the I2C Master receives a NACK in a
  1253. * transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
  1254. * bit in the INT_ENABLE register (Register 56) is asserted.
  1255. * @return Slave 4 NACK interrupt status
  1256. * @see MPU6050_RA_I2C_MST_STATUS
  1257. */
  1258. bool MPU6050::getSlave4Nack() {
  1259.     I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
  1260.     return buffer[0];
  1261. }
  1262. /** Get Slave 3 NACK status.
  1263. * This bit automatically sets to 1 when the I2C Master receives a NACK in a
  1264. * transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
  1265. * bit in the INT_ENABLE register (Register 56) is asserted.
  1266. * @return Slave 3 NACK interrupt status
  1267. * @see MPU6050_RA_I2C_MST_STATUS
  1268. */
  1269. bool MPU6050::getSlave3Nack() {
  1270.     I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
  1271.     return buffer[0];
  1272. }
  1273. /** Get Slave 2 NACK status.
  1274. * This bit automatically sets to 1 when the I2C Master receives a NACK in a
  1275. * transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
  1276. * bit in the INT_ENABLE register (Register 56) is asserted.
  1277. * @return Slave 2 NACK interrupt status
  1278. * @see MPU6050_RA_I2C_MST_STATUS
  1279. */
  1280. bool MPU6050::getSlave2Nack() {
  1281.     I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
  1282.     return buffer[0];
  1283. }
  1284. /** Get Slave 1 NACK status.
  1285. * This bit automatically sets to 1 when the I2C Master receives a NACK in a
  1286. * transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
  1287. * bit in the INT_ENABLE register (Register 56) is asserted.
  1288. * @return Slave 1 NACK interrupt status
  1289. * @see MPU6050_RA_I2C_MST_STATUS
  1290. */
  1291. bool MPU6050::getSlave1Nack() {
  1292.     I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
  1293.     return buffer[0];
  1294. }
  1295. /** Get Slave 0 NACK status.
  1296. * This bit automatically sets to 1 when the I2C Master receives a NACK in a
  1297. * transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
  1298. * bit in the INT_ENABLE register (Register 56) is asserted.
  1299. * @return Slave 0 NACK interrupt status
  1300. * @see MPU6050_RA_I2C_MST_STATUS
  1301. */
  1302. bool MPU6050::getSlave0Nack() {
  1303.     I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
  1304.     return buffer[0];
  1305. }

  1307. // INT_PIN_CFG register

  1309. /** Get interrupt logic level mode.
  1310. * Will be set 0 for active-high, 1 for active-low.
  1311. * @return Current interrupt mode (0=active-high, 1=active-low)
  1312. * @see MPU6050_RA_INT_PIN_CFG
  1313. * @see MPU6050_INTCFG_INT_LEVEL_BIT
  1314. */
  1315. bool MPU6050::getInterruptMode() {
  1316.     I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
  1317.     return buffer[0];
  1318. }
  1319. /** Set interrupt logic level mode.
  1320. * @param mode New interrupt mode (0=active-high, 1=active-low)
  1321. * @see getInterruptMode()
  1322. * @see MPU6050_RA_INT_PIN_CFG
  1323. * @see MPU6050_INTCFG_INT_LEVEL_BIT
  1324. */
  1325. void MPU6050::setInterruptMode(bool mode) {
  1326.    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
  1327. }
  1328. /** Get interrupt drive mode.
  1329. * Will be set 0 for push-pull, 1 for open-drain.
  1330. * @return Current interrupt drive mode (0=push-pull, 1=open-drain)
  1331. * @see MPU6050_RA_INT_PIN_CFG
  1332. * @see MPU6050_INTCFG_INT_OPEN_BIT
  1333. */
  1334. bool MPU6050::getInterruptDrive() {
  1335.     I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
  1336.     return buffer[0];
  1337. }
  1338. /** Set interrupt drive mode.
  1339. * @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
  1340. * @see getInterruptDrive()
  1341. * @see MPU6050_RA_INT_PIN_CFG
  1342. * @see MPU6050_INTCFG_INT_OPEN_BIT
  1343. */
  1344. void MPU6050::setInterruptDrive(bool drive) {
  1345.     I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
  1346. }
  1347. /** Get interrupt latch mode.
  1348. * Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
  1349. * @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
  1350. * @see MPU6050_RA_INT_PIN_CFG
  1351. * @see MPU6050_INTCFG_LATCH_INT_EN_BIT
  1352. */
  1353. bool MPU6050::getInterruptLatch() {
  1354.     I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
  1355.     return buffer[0];
  1356. }
  1357. /** Set interrupt latch mode.
  1358. * @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
  1359. * @see getInterruptLatch()
  1360. * @see MPU6050_RA_INT_PIN_CFG
  1361. * @see MPU6050_INTCFG_LATCH_INT_EN_BIT
  1362. */
  1363. void MPU6050::setInterruptLatch(bool latch) {
  1364.     I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
  1365. }
  1366. /** Get interrupt latch clear mode.
  1367. * Will be set 0 for status-read-only, 1 for any-register-read.
  1368. * @return Current latch clear mode (0=status-read-only, 1=any-register-read)
  1369. * @see MPU6050_RA_INT_PIN_CFG
  1370. * @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
  1371. */
  1372. bool MPU6050::getInterruptLatchClear() {
  1373.     I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
  1374.     return buffer[0];
  1375. }
  1376. /** Set interrupt latch clear mode.
  1377. * @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
  1378. * @see getInterruptLatchClear()
  1379. * @see MPU6050_RA_INT_PIN_CFG
  1380. * @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
  1381. */
  1382. void MPU6050::setInterruptLatchClear(bool clear) {
  1383.     I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
  1384. }
  1385. /** Get FSYNC interrupt logic level mode.
  1386. * @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
  1387. * @see getFSyncInterruptMode()
  1388. * @see MPU6050_RA_INT_PIN_CFG
  1389. * @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
  1390. */
  1391. bool MPU6050::getFSyncInterruptLevel() {
  1392.     I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
  1393.     return buffer[0];
  1394. }
  1395. /** Set FSYNC interrupt logic level mode.
  1396. * @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
  1397. * @see getFSyncInterruptMode()
  1398. * @see MPU6050_RA_INT_PIN_CFG
  1399. * @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
  1400. */
  1401. void MPU6050::setFSyncInterruptLevel(bool level) {
  1402.     I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
  1403. }
  1404. /** Get FSYNC pin interrupt enabled setting.
  1405. * Will be set 0 for disabled, 1 for enabled.
  1406. * @return Current interrupt enabled setting
  1407. * @see MPU6050_RA_INT_PIN_CFG
  1408. * @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
  1409. */
  1410. bool MPU6050::getFSyncInterruptEnabled() {
  1411.     I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
  1412.     return buffer[0];
  1413. }
  1414. /** Set FSYNC pin interrupt enabled setting.
  1415. * @param enabled New FSYNC pin interrupt enabled setting
  1416. * @see getFSyncInterruptEnabled()
  1417. * @see MPU6050_RA_INT_PIN_CFG
  1418. * @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
  1419. */
  1420. void MPU6050::setFSyncInterruptEnabled(bool enabled) {
  1421.     I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
  1422. }
  1423. /** Get I2C bypass enabled status.
  1424. * When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
  1425. * 0, the host application processor will be able to directly access the
  1426. * auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
  1427. * application processor will not be able to directly access the auxiliary I2C
  1428. * bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
  1429. * bit[5]).
  1430. * @return Current I2C bypass enabled status
  1431. * @see MPU6050_RA_INT_PIN_CFG
  1432. * @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
  1433. */
  1434. bool MPU6050::getI2CBypassEnabled() {
  1435.     I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
  1436.     return buffer[0];
  1437. }
  1438. /** Set I2C bypass enabled status.
  1439. * When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
  1440. * 0, the host application processor will be able to directly access the
  1441. * auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
  1442. * application processor will not be able to directly access the auxiliary I2C
  1443. * bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
  1444. * bit[5]).
  1445. * @param enabled New I2C bypass enabled status
  1446. * @see MPU6050_RA_INT_PIN_CFG
  1447. * @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
  1448. */
  1449. void MPU6050::setI2CBypassEnabled(bool enabled) {
  1450.     I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
  1451. }
  1452. /** Get reference clock output enabled status.
  1453. * When this bit is equal to 1, a reference clock output is provided at the
  1454. * CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
  1455. * further information regarding CLKOUT, please refer to the MPU-60X0 Product
  1456. * Specification document.
  1457. * @return Current reference clock output enabled status
  1458. * @see MPU6050_RA_INT_PIN_CFG
  1459. * @see MPU6050_INTCFG_CLKOUT_EN_BIT
  1460. */
  1461. bool MPU6050::getClockOutputEnabled() {
  1462.     I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
  1463.     return buffer[0];
  1464. }
  1465. /** Set reference clock output enabled status.
  1466. * When this bit is equal to 1, a reference clock output is provided at the
  1467. * CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
  1468. * further information regarding CLKOUT, please refer to the MPU-60X0 Product
  1469. * Specification document.
  1470. * @param enabled New reference clock output enabled status
  1471. * @see MPU6050_RA_INT_PIN_CFG
  1472. * @see MPU6050_INTCFG_CLKOUT_EN_BIT
  1473. */
  1474. void MPU6050::setClockOutputEnabled(bool enabled) {
  1475.     I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
  1476. }

  1478. // INT_ENABLE register

  1480. /** Get Free Fall interrupt enabled status.
  1481. * Will be set 0 for disabled, 1 for enabled.
  1482. * @return Current interrupt enabled status
  1483. * @see MPU6050_RA_INT_ENABLE
  1484. * @see MPU6050_INTERRUPT_FF_BIT
  1485. **/
  1486. bool MPU6050::getIntFreefallEnabled() {
  1487.     I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
  1488.     return buffer[0];
  1489. }
  1490. /** Set Free Fall interrupt enabled status.
  1491. * @param enabled New interrupt enabled status
  1492. * @see getIntFreefallEnabled()
  1493. * @see MPU6050_RA_INT_ENABLE
  1494. * @see MPU6050_INTERRUPT_FF_BIT
  1495. **/
  1496. void MPU6050::setIntFreefallEnabled(bool enabled) {
  1497.     I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
  1498. }
  1499. /** Get Motion Detection interrupt enabled status.
  1500. * Will be set 0 for disabled, 1 for enabled.
  1501. * @return Current interrupt enabled status
  1502. * @see MPU6050_RA_INT_ENABLE
  1503. * @see MPU6050_INTERRUPT_MOT_BIT
  1504. **/
  1505. bool MPU6050::getIntMotionEnabled() {
  1506.     I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
  1507.     return buffer[0];
  1508. }
  1509. /** Set Motion Detection interrupt enabled status.
  1510. * @param enabled New interrupt enabled status
  1511. * @see getIntMotionEnabled()
  1512. * @see MPU6050_RA_INT_ENABLE
  1513. * @see MPU6050_INTERRUPT_MOT_BIT
  1514. **/
  1515. void MPU6050::setIntMotionEnabled(bool enabled) {
  1516.     I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
  1517. }
  1518. /** Get Zero Motion Detection interrupt enabled status.
  1519. * Will be set 0 for disabled, 1 for enabled.
  1520. * @return Current interrupt enabled status
  1521. * @see MPU6050_RA_INT_ENABLE
  1522. * @see MPU6050_INTERRUPT_ZMOT_BIT
  1523. **/
  1524. bool MPU6050::getIntZeroMotionEnabled() {
  1525.     I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
  1526.     return buffer[0];
  1527. }
  1528. /** Set Zero Motion Detection interrupt enabled status.
  1529. * @param enabled New interrupt enabled status
  1530. * @see getIntZeroMotionEnabled()
  1531. * @see MPU6050_RA_INT_ENABLE
  1532. * @see MPU6050_INTERRUPT_ZMOT_BIT
  1533. **/
  1534. void MPU6050::setIntZeroMotionEnabled(bool enabled) {
  1535.     I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
  1536. }
  1537. /** Get FIFO Buffer Overflow interrupt enabled status.
  1538. * Will be set 0 for disabled, 1 for enabled.
  1539. * @return Current interrupt enabled status
  1540. * @see MPU6050_RA_INT_ENABLE
  1541. * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
  1542. **/
  1543. bool MPU6050::getIntFIFOBufferOverflowEnabled() {
  1544.     I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
  1545.     return buffer[0];
  1546. }
  1547. /** Set FIFO Buffer Overflow interrupt enabled status.
  1548. * @param enabled New interrupt enabled status
  1549. * @see getIntFIFOBufferOverflowEnabled()
  1550. * @see MPU6050_RA_INT_ENABLE
  1551. * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
  1552. **/
  1553. void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled) {
  1554.     I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
  1555. }
  1556. /** Get I2C Master interrupt enabled status.
  1557. * This enables any of the I2C Master interrupt sources to generate an
  1558. * interrupt. Will be set 0 for disabled, 1 for enabled.
  1559. * @return Current interrupt enabled status
  1560. * @see MPU6050_RA_INT_ENABLE
  1561. * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
  1562. **/
  1563. bool MPU6050::getIntI2CMasterEnabled() {
  1564.     I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
  1565.     return buffer[0];
  1566. }
  1567. /** Set I2C Master interrupt enabled status.
  1568. * @param enabled New interrupt enabled status
  1569. * @see getIntI2CMasterEnabled()
  1570. * @see MPU6050_RA_INT_ENABLE
  1571. * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
  1572. **/
  1573. void MPU6050::setIntI2CMasterEnabled(bool enabled) {
  1574.     I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
  1575. }
  1576. /** Get Data Ready interrupt enabled setting.
  1577. * This event occurs each time a write operation to all of the sensor registers
  1578. * has been completed. Will be set 0 for disabled, 1 for enabled.
  1579. * @return Current interrupt enabled status
  1580. * @see MPU6050_RA_INT_ENABLE
  1581. * @see MPU6050_INTERRUPT_DATA_RDY_BIT
  1582. */
  1583. bool MPU6050::getIntDataReadyEnabled() {
  1584.     I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
  1585.     return buffer[0];
  1586. }
  1587. /** Set Data Ready interrupt enabled status.
  1588. * @param enabled New interrupt enabled status
  1589. * @see getIntDataReadyEnabled()
  1590. * @see MPU6050_RA_INT_CFG
  1591. * @see MPU6050_INTERRUPT_DATA_RDY_BIT
  1592. */
  1593. void MPU6050::setIntDataReadyEnabled(bool enabled) {
  1594.     I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
  1595. }

  1597. // INT_STATUS register

  1599. /** Get Free Fall interrupt status.
  1600. * This bit automatically sets to 1 when a Free Fall interrupt has been
  1601. * generated. The bit clears to 0 after the register has been read.
  1602. * @return Current interrupt status
  1603. * @see MPU6050_RA_INT_STATUS
  1604. * @see MPU6050_INTERRUPT_FF_BIT
  1605. */
  1606. bool MPU6050::getIntFreefallStatus() {
  1607.     I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
  1608.     return buffer[0];
  1609. }
  1610. /** Get Motion Detection interrupt status.
  1611. * This bit automatically sets to 1 when a Motion Detection interrupt has been
  1612. * generated. The bit clears to 0 after the register has been read.
  1613. * @return Current interrupt status
  1614. * @see MPU6050_RA_INT_STATUS
  1615. * @see MPU6050_INTERRUPT_MOT_BIT
  1616. */
  1617. bool MPU6050::getIntMotionStatus() {
  1618.     I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
  1619.     return buffer[0];
  1620. }
  1621. /** Get Zero Motion Detection interrupt status.
  1622. * This bit automatically sets to 1 when a Zero Motion Detection interrupt has
  1623. * been generated. The bit clears to 0 after the register has been read.
  1624. * @return Current interrupt status
  1625. * @see MPU6050_RA_INT_STATUS
  1626. * @see MPU6050_INTERRUPT_ZMOT_BIT
  1627. */
  1628. bool MPU6050::getIntZeroMotionStatus() {
  1629.     I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
  1630.     return buffer[0];
  1631. }
  1632. /** Get FIFO Buffer Overflow interrupt status.
  1633. * This bit automatically sets to 1 when a Free Fall interrupt has been
  1634. * generated. The bit clears to 0 after the register has been read.
  1635. * @return Current interrupt status
  1636. * @see MPU6050_RA_INT_STATUS
  1637. * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
  1638. */
  1639. bool MPU6050::getIntFIFOBufferOverflowStatus() {
  1640.     I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
  1641.     return buffer[0];
  1642. }
  1643. /** Get I2C Master interrupt status.
  1644. * This bit automatically sets to 1 when an I2C Master interrupt has been
  1645. * generated. For a list of I2C Master interrupts, please refer to Register 54.
  1646. * The bit clears to 0 after the register has been read.
  1647. * @return Current interrupt status
  1648. * @see MPU6050_RA_INT_STATUS
  1649. * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
  1650. */
  1651. bool MPU6050::getIntI2CMasterStatus() {
  1652.     I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
  1653.     return buffer[0];
  1654. }
  1655. /** Get Data Ready interrupt status.
  1656. * This bit automatically sets to 1 when a Data Ready interrupt has been
  1657. * generated. The bit clears to 0 after the register has been read.
  1658. * @return Current interrupt status
  1659. * @see MPU6050_RA_INT_STATUS
  1660. * @see MPU6050_INTERRUPT_DATA_RDY_BIT
  1661. */
  1662. bool MPU6050::getIntDataReadyStatus() {
  1663.     I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
  1664.     return buffer[0];
  1665. }

  1667. // ACCEL_*OUT_* registers

  1669. /** Get raw 9-axis motion sensor readings (accel/gyro/compass).
  1670. * FUNCTION NOT FULLY IMPLEMENTED YET.
  1671. * @param ax 16-bit signed integer container for accelerometer X-axis value
  1672. * @param ay 16-bit signed integer container for accelerometer Y-axis value
  1673. * @param az 16-bit signed integer container for accelerometer Z-axis value
  1674. * @param gx 16-bit signed integer container for gyroscope X-axis value
  1675. * @param gy 16-bit signed integer container for gyroscope Y-axis value
  1676. * @param gz 16-bit signed integer container for gyroscope Z-axis value
  1677. * @param mx 16-bit signed integer container for magnetometer X-axis value
  1678. * @param my 16-bit signed integer container for magnetometer Y-axis value
  1679. * @param mz 16-bit signed integer container for magnetometer Z-axis value
  1680. * @see getMotion6()
  1681. * @see getAcceleration()
  1682. * @see getRotation()
  1683. * @see MPU6050_RA_ACCEL_XOUT_H
  1684. */
  1685. 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) {
  1686.     getMotion6(ax, ay, az, gx, gy, gz);
  1687.     // TODO: magnetometer integration
  1688. }
  1689. /** Get raw 6-axis motion sensor readings (accel/gyro).
  1690. * Retrieves all currently available motion sensor values.
  1691. * @param ax 16-bit signed integer container for accelerometer X-axis value
  1692. * @param ay 16-bit signed integer container for accelerometer Y-axis value
  1693. * @param az 16-bit signed integer container for accelerometer Z-axis value
  1694. * @param gx 16-bit signed integer container for gyroscope X-axis value
  1695. * @param gy 16-bit signed integer container for gyroscope Y-axis value
  1696. * @param gz 16-bit signed integer container for gyroscope Z-axis value
  1697. * @see getAcceleration()
  1698. * @see getRotation()
  1699. * @see MPU6050_RA_ACCEL_XOUT_H
  1700. */
  1701. void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz) {
  1702.     I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
  1703.     *ax = (((int16_t)buffer[0]) << 8) | buffer[1];
  1704.     *ay = (((int16_t)buffer[2]) << 8) | buffer[3];
  1705.     *az = (((int16_t)buffer[4]) << 8) | buffer[5];
  1706.     *gx = (((int16_t)buffer[8]) << 8) | buffer[9];
  1707.     *gy = (((int16_t)buffer[10]) << 8) | buffer[11];
  1708.     *gz = (((int16_t)buffer[12]) << 8) | buffer[13];
  1709. }
  1710. /** Get 3-axis accelerometer readings.
  1711. * These registers store the most recent accelerometer measurements.
  1712. * Accelerometer measurements are written to these registers at the Sample Rate
  1713. * as defined in Register 25.
  1714. *
  1715. * The accelerometer measurement registers, along with the temperature
  1716. * measurement registers, gyroscope measurement registers, and external sensor
  1717. * data registers, are composed of two sets of registers: an internal register
  1718. * set and a user-facing read register set.
  1719. *
  1720. * The data within the accelerometer sensors' internal register set is always
  1721. * updated at the Sample Rate. Meanwhile, the user-facing read register set
  1722. * duplicates the internal register set's data values whenever the serial
  1723. * interface is idle. This guarantees that a burst read of sensor registers will
  1724. * read measurements from the same sampling instant. Note that if burst reads
  1725. * are not used, the user is responsible for ensuring a set of single byte reads
  1726. * correspond to a single sampling instant by checking the Data Ready interrupt.
  1727. *
  1728. * Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
  1729. * (Register 28). For each full scale setting, the accelerometers' sensitivity
  1730. * per LSB in ACCEL_xOUT is shown in the table below:
  1731. *
  1732. * <pre>
  1733. * AFS_SEL | Full Scale Range | LSB Sensitivity
  1734. * --------+------------------+----------------
  1735. * 0       | +/- 2g           | 8192 LSB/mg
  1736. * 1       | +/- 4g           | 4096 LSB/mg
  1737. * 2       | +/- 8g           | 2048 LSB/mg
  1738. * 3       | +/- 16g          | 1024 LSB/mg
  1739. * </pre>
  1740. *
  1741. * @param x 16-bit signed integer container for X-axis acceleration
  1742. * @param y 16-bit signed integer container for Y-axis acceleration
  1743. * @param z 16-bit signed integer container for Z-axis acceleration
  1744. * @see MPU6050_RA_GYRO_XOUT_H
  1745. */
  1746. void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z) {
  1747.     I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
  1748.     *x = (((int16_t)buffer[0]) << 8) | buffer[1];
  1749.     *y = (((int16_t)buffer[2]) << 8) | buffer[3];
  1750.     *z = (((int16_t)buffer[4]) << 8) | buffer[5];
  1751. }
  1752. /** Get X-axis accelerometer reading.
  1753. * @return X-axis acceleration measurement in 16-bit 2's complement format
  1754. * @see getMotion6()
  1755. * @see MPU6050_RA_ACCEL_XOUT_H
  1756. */
  1757. int16_t MPU6050::getAccelerationX() {
  1758.     I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
  1759.     return (((int16_t)buffer[0]) << 8) | buffer[1];
  1760. }
  1761. /** Get Y-axis accelerometer reading.
  1762. * @return Y-axis acceleration measurement in 16-bit 2's complement format
  1763. * @see getMotion6()
  1764. * @see MPU6050_RA_ACCEL_YOUT_H
  1765. */
  1766. int16_t MPU6050::getAccelerationY() {
  1767.     I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
  1768.     return (((int16_t)buffer[0]) << 8) | buffer[1];
  1769. }
  1770. /** Get Z-axis accelerometer reading.
  1771. * @return Z-axis acceleration measurement in 16-bit 2's complement format
  1772. * @see getMotion6()
  1773. * @see MPU6050_RA_ACCEL_ZOUT_H
  1774. */
  1775. int16_t MPU6050::getAccelerationZ() {
  1776.     I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
  1777.     return (((int16_t)buffer[0]) << 8) | buffer[1];
  1778. }

  1780. // TEMP_OUT_* registers

  1782. /** Get current internal temperature.
  1783. * @return Temperature reading in 16-bit 2's complement format
  1784. * @see MPU6050_RA_TEMP_OUT_H
  1785. */
  1786. int16_t MPU6050::getTemperature() {
  1787.     I2Cdev::readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
  1788.     return (((int16_t)buffer[0]) << 8) | buffer[1];
  1789. }

  1791. // GYRO_*OUT_* registers

  1793. /** Get 3-axis gyroscope readings.
  1794. * These gyroscope measurement registers, along with the accelerometer
  1795. * measurement registers, temperature measurement registers, and external sensor
  1796. * data registers, are composed of two sets of registers: an internal register
  1797. * set and a user-facing read register set.
  1798. * The data within the gyroscope sensors' internal register set is always
  1799. * updated at the Sample Rate. Meanwhile, the user-facing read register set
  1800. * duplicates the internal register set's data values whenever the serial
  1801. * interface is idle. This guarantees that a burst read of sensor registers will
  1802. * read measurements from the same sampling instant. Note that if burst reads
  1803. * are not used, the user is responsible for ensuring a set of single byte reads
  1804. * correspond to a single sampling instant by checking the Data Ready interrupt.
  1805. *
  1806. * Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
  1807. * (Register 27). For each full scale setting, the gyroscopes' sensitivity per
  1808. * LSB in GYRO_xOUT is shown in the table below:
  1809. *
  1810. * <pre>
  1811. * FS_SEL | Full Scale Range   | LSB Sensitivity
  1812. * -------+--------------------+----------------
  1813. * 0      | +/- 250 degrees/s  | 131 LSB/deg/s
  1814. * 1      | +/- 500 degrees/s  | 65.5 LSB/deg/s
  1815. * 2      | +/- 1000 degrees/s | 32.8 LSB/deg/s
  1816. * 3      | +/- 2000 degrees/s | 16.4 LSB/deg/s
  1817. * </pre>
  1818. *
  1819. * @param x 16-bit signed integer container for X-axis rotation
  1820. * @param y 16-bit signed integer container for Y-axis rotation
  1821. * @param z 16-bit signed integer container for Z-axis rotation
  1822. * @see getMotion6()
  1823. * @see MPU6050_RA_GYRO_XOUT_H
  1824. */
  1825. void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z) {
  1826.     I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
  1827.     *x = (((int16_t)buffer[0]) << 8) | buffer[1];
  1828.     *y = (((int16_t)buffer[2]) << 8) | buffer[3];
  1829.     *z = (((int16_t)buffer[4]) << 8) | buffer[5];
  1830. }
  1831. /** Get X-axis gyroscope reading.
  1832. * @return X-axis rotation measurement in 16-bit 2's complement format
  1833. * @see getMotion6()
  1834. * @see MPU6050_RA_GYRO_XOUT_H
  1835. */
  1836. int16_t MPU6050::getRotationX() {
  1837.     I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
  1838.     return (((int16_t)buffer[0]) << 8) | buffer[1];
  1839. }
  1840. /** Get Y-axis gyroscope reading.
  1841. * @return Y-axis rotation measurement in 16-bit 2's complement format
  1842. * @see getMotion6()
  1843. * @see MPU6050_RA_GYRO_YOUT_H
  1844. */
  1845. int16_t MPU6050::getRotationY() {
  1846.     I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
  1847.     return (((int16_t)buffer[0]) << 8) | buffer[1];
  1848. }
  1849. /** Get Z-axis gyroscope reading.
  1850. * @return Z-axis rotation measurement in 16-bit 2's complement format
  1851. * @see getMotion6()
  1852. * @see MPU6050_RA_GYRO_ZOUT_H
  1853. */
  1854. int16_t MPU6050::getRotationZ() {
  1855.     I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
  1856.     return (((int16_t)buffer[0]) << 8) | buffer[1];
  1857. }

  1859. // EXT_SENS_DATA_* registers

  1861. /** Read single byte from external sensor data register.
  1862. * These registers store data read from external sensors by the Slave 0, 1, 2,
  1863. * and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
  1864. * I2C_SLV4_DI (Register 53).
  1865. *
  1866. * External sensor data is written to these registers at the Sample Rate as
  1867. * defined in Register 25. This access rate can be reduced by using the Slave
  1868. * Delay Enable registers (Register 103).
  1869. *
  1870. * External sensor data registers, along with the gyroscope measurement
  1871. * registers, accelerometer measurement registers, and temperature measurement
  1872. * registers, are composed of two sets of registers: an internal register set
  1873. * and a user-facing read register set.
  1874. *
  1875. * The data within the external sensors' internal register set is always updated
  1876. * at the Sample Rate (or the reduced access rate) whenever the serial interface
  1877. * is idle. This guarantees that a burst read of sensor registers will read
  1878. * measurements from the same sampling instant. Note that if burst reads are not
  1879. * used, the user is responsible for ensuring a set of single byte reads
  1880. * correspond to a single sampling instant by checking the Data Ready interrupt.
  1881. *
  1882. * Data is placed in these external sensor data registers according to
  1883. * I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
  1884. * 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
  1885. * an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
  1886. * defined in Register 25) or delayed rate (if specified in Register 52 and
  1887. * 103). During each Sample cycle, slave reads are performed in order of Slave
  1888. * number. If all slaves are enabled with more than zero bytes to be read, the
  1889. * order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
  1890. *
  1891. * Each enabled slave will have EXT_SENS_DATA registers associated with it by
  1892. * number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
  1893. * EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
  1894. * change the higher numbered slaves' associated registers. Furthermore, if
  1895. * fewer total bytes are being read from the external sensors as a result of
  1896. * such a change, then the data remaining in the registers which no longer have
  1897. * an associated slave device (i.e. high numbered registers) will remain in
  1898. * these previously allocated registers unless reset.
  1899. *
  1900. * If the sum of the read lengths of all SLVx transactions exceed the number of
  1901. * available EXT_SENS_DATA registers, the excess bytes will be dropped. There
  1902. * are 24 EXT_SENS_DATA registers and hence the total read lengths between all
  1903. * the slaves cannot be greater than 24 or some bytes will be lost.
  1904. *
  1905. * Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
  1906. * information regarding the characteristics of Slave 4, please refer to
  1907. * Registers 49 to 53.
  1908. *
  1909. * EXAMPLE:
  1910. * Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
  1911. * I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
  1912. * I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
  1913. * through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
  1914. * will be associated with Slave 1. If Slave 2 is enabled as well, registers
  1915. * starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
  1916. *
  1917. * If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
  1918. * registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
  1919. * instead.
  1920. *
  1921. * REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
  1922. * If a slave is disabled at any time, the space initially allocated to the
  1923. * slave in the EXT_SENS_DATA register, will remain associated with that slave.
  1924. * This is to avoid dynamic adjustment of the register allocation.
  1925. *
  1926. * The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
  1927. * slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
  1928. *
  1929. * This above is also true if one of the slaves gets NACKed and stops
  1930. * functioning.
  1931. *
  1932. * @param position Starting position (0-23)
  1933. * @return Byte read from register
  1934. */
  1935. uint8_t MPU6050::getExternalSensorByte(int position) {
  1936.     I2Cdev::readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
  1937.     return buffer[0];
  1938. }
  1939. /** Read word (2 bytes) from external sensor data registers.
  1940. * @param position Starting position (0-21)
  1941. * @return Word read from register
  1942. * @see getExternalSensorByte()
  1943. */
  1944. uint16_t MPU6050::getExternalSensorWord(int position) {
  1945.     I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
  1946.     return (((uint16_t)buffer[0]) << 8) | buffer[1];
  1947. }
  1948. /** Read double word (4 bytes) from external sensor data registers.
  1949. * @param position Starting position (0-20)
  1950. * @return Double word read from registers
  1951. * @see getExternalSensorByte()
  1952. */
  1953. uint32_t MPU6050::getExternalSensorDWord(int position) {
  1954.     I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
  1955.     return (((uint32_t)buffer[0]) << 24) | (((uint32_t)buffer[1]) << 16) | (((uint16_t)buffer[2]) << 8) | buffer[3];
  1956. }

  1958. // MOT_DETECT_STATUS register

  1960. /** Get X-axis negative motion detection interrupt status.
  1961. * @return Motion detection status
  1962. * @see MPU6050_RA_MOT_DETECT_STATUS
  1963. * @see MPU6050_MOTION_MOT_XNEG_BIT
  1964. */
  1965. bool MPU6050::getXNegMotionDetected() {
  1966.     I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
  1967.     return buffer[0];
  1968. }
  1969. /** Get X-axis positive motion detection interrupt status.
  1970. * @return Motion detection status
  1971. * @see MPU6050_RA_MOT_DETECT_STATUS
  1972. * @see MPU6050_MOTION_MOT_XPOS_BIT
  1973. */
  1974. bool MPU6050::getXPosMotionDetected() {
  1975.     I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
  1976.     return buffer[0];
  1977. }
  1978. /** Get Y-axis negative motion detection interrupt status.
  1979. * @return Motion detection status
  1980. * @see MPU6050_RA_MOT_DETECT_STATUS
  1981. * @see MPU6050_MOTION_MOT_YNEG_BIT
  1982. */

  1984. ……………………

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ID:304003 发表于 2018-4-9 08:51 | 只看该作者
有电路图的没有啊？
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