From ad642110571cdb8387060640bb9042a3438536f1 Mon Sep 17 00:00:00 2001
From: Stanley Huang <stanleyhuangyc@gmail.com>
Date: Wed, 25 Jan 2017 23:09:40 +1100
Subject: Remove unneeded libraries
---
libraries/I2Cdev/I2Cdev.cpp | 1373 ------------------
libraries/I2Cdev/I2Cdev.h | 261 ----
libraries/I2Cdev/keywords.txt | 38 -
libraries/MPU6050/MPU6050.cpp | 195 ---
libraries/MPU6050/MPU6050.h | 645 ---------
libraries/MPU9150/MPU9150.cpp | 3173 -----------------------------------------
libraries/MPU9150/MPU9150.h | 1002 -------------
7 files changed, 6687 deletions(-)
delete mode 100644 libraries/I2Cdev/I2Cdev.cpp
delete mode 100644 libraries/I2Cdev/I2Cdev.h
delete mode 100644 libraries/I2Cdev/keywords.txt
delete mode 100644 libraries/MPU6050/MPU6050.cpp
delete mode 100644 libraries/MPU6050/MPU6050.h
delete mode 100644 libraries/MPU9150/MPU9150.cpp
delete mode 100644 libraries/MPU9150/MPU9150.h
diff --git a/libraries/I2Cdev/I2Cdev.cpp b/libraries/I2Cdev/I2Cdev.cpp
deleted file mode 100644
index 92032be..0000000
--- a/libraries/I2Cdev/I2Cdev.cpp
+++ /dev/null
@@ -1,1373 +0,0 @@
-// I2Cdev library collection - Main I2C device class
-// Abstracts bit and byte I2C R/W functions into a convenient class
-// 6/9/2012 by Jeff Rowberg <jeff@rowberg.net>
-//
-// Changelog:
-// 2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire
-// - add compiler warnings when using outdated or IDE or limited I2Cdev implementation
-// 2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums)
-// 2011-10-03 - added automatic Arduino version detection for ease of use
-// 2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications
-// 2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x)
-// 2011-08-03 - added optional timeout parameter to read* methods to easily change from default
-// 2011-08-02 - added support for 16-bit registers
-// - fixed incorrect Doxygen comments on some methods
-// - added timeout value for read operations (thanks mem @ Arduino forums)
-// 2011-07-30 - changed read/write function structures to return success or byte counts
-// - made all methods static for multi-device memory savings
-// 2011-07-28 - initial release
-
-/* ============================================
-I2Cdev device library code is placed under the MIT license
-Copyright (c) 2012 Jeff Rowberg
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-===============================================
-*/
-
-#include "I2Cdev.h"
-
-#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
-
- #ifdef I2CDEV_IMPLEMENTATION_WARNINGS
- #if ARDUINO < 100
- #warning Using outdated Arduino IDE with Wire library is functionally limiting.
- #warning Arduino IDE v1.0.1+ with I2Cdev Fastwire implementation is recommended.
- #warning This I2Cdev implementation does not support:
- #warning - Repeated starts conditions
- #warning - Timeout detection (some Wire requests block forever)
- #elif ARDUINO == 100
- #warning Using outdated Arduino IDE with Wire library is functionally limiting.
- #warning Arduino IDE v1.0.1+ with I2Cdev Fastwire implementation is recommended.
- #warning This I2Cdev implementation does not support:
- #warning - Repeated starts conditions
- #warning - Timeout detection (some Wire requests block forever)
- #elif ARDUINO > 100
- /*
- #warning Using current Arduino IDE with Wire library is functionally limiting.
- #warning Arduino IDE v1.0.1+ with I2CDEV_BUILTIN_FASTWIRE implementation is recommended.
- #warning This I2Cdev implementation does not support:
- #warning - Timeout detection (some Wire requests block forever)
- */
- #endif
- #endif
-
-#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
-
- #error The I2CDEV_BUILTIN_FASTWIRE implementation is known to be broken right now. Patience, Iago!
-
-#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
-
- #ifdef I2CDEV_IMPLEMENTATION_WARNINGS
- #warning Using I2CDEV_BUILTIN_NBWIRE implementation may adversely affect interrupt detection.
- #warning This I2Cdev implementation does not support:
- #warning - Repeated starts conditions
- #endif
-
- // NBWire implementation based heavily on code by Gene Knight <Gene@Telobot.com>
- // Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html
- // Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html
- TwoWire Wire;
-
-#endif
-
-/** Default constructor.
- */
-I2Cdev::I2Cdev() {
-}
-
-/** Read a single bit from an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param bitNum Bit position to read (0-7)
- * @param data Container for single bit value
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (true = success)
- */
-int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout) {
- uint8_t b;
- uint8_t count = readByte(devAddr, regAddr, &b, timeout);
- *data = b & (1 << bitNum);
- return count;
-}
-
-/** Read a single bit from a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param bitNum Bit position to read (0-15)
- * @param data Container for single bit value
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (true = success)
- */
-int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout) {
- uint16_t b;
- uint8_t count = readWord(devAddr, regAddr, &b, timeout);
- *data = b & (1 << bitNum);
- return count;
-}
-
-/** Read multiple bits from an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param bitStart First bit position to read (0-7)
- * @param length Number of bits to read (not more than 8)
- * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (true = success)
- */
-int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout) {
- // 01101001 read byte
- // 76543210 bit numbers
- // xxx args: bitStart=4, length=3
- // 010 masked
- // -> 010 shifted
- uint8_t count, b;
- if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) {
- uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
- b &= mask;
- b >>= (bitStart - length + 1);
- *data = b;
- }
- return count;
-}
-
-/** Read multiple bits from a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param bitStart First bit position to read (0-15)
- * @param length Number of bits to read (not more than 16)
- * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (1 = success, 0 = failure, -1 = timeout)
- */
-int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout) {
- // 1101011001101001 read byte
- // fedcba9876543210 bit numbers
- // xxx args: bitStart=12, length=3
- // 010 masked
- // -> 010 shifted
- uint8_t count;
- uint16_t w;
- if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) {
- uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1);
- w &= mask;
- w >>= (bitStart - length + 1);
- *data = w;
- }
- return count;
-}
-
-/** Read single byte from an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param data Container for byte value read from device
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (true = success)
- */
-int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout) {
- return readBytes(devAddr, regAddr, 1, data, timeout);
-}
-
-/** Read single word from a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param data Container for word value read from device
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (true = success)
- */
-int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout) {
- return readWords(devAddr, regAddr, 1, data, timeout);
-}
-
-/** Read multiple bytes from an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr First register regAddr to read from
- * @param length Number of bytes to read
- * @param data Buffer to store read data in
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Number of bytes read (-1 indicates failure)
- */
-int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout) {
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print("I2C (0x");
- Serial.print(devAddr, HEX);
- Serial.print(") reading ");
- Serial.print(length, DEC);
- Serial.print(" bytes from 0x");
- Serial.print(regAddr, HEX);
- Serial.print("...");
- #endif
-
- int8_t count = 0;
- uint32_t t1 = millis();
-
- #if (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE)
-
- #if (ARDUINO < 100)
- // Arduino v00xx (before v1.0), Wire library
-
- // I2C/TWI subsystem uses internal buffer that breaks with large data requests
- // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
- // smaller chunks instead of all at once
- for (uint8_t k = 0; k < length; k += min(length, BUFFER_LENGTH)) {
- Wire.beginTransmission(devAddr);
- Wire.send(regAddr);
- Wire.endTransmission();
- Wire.beginTransmission(devAddr);
- Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH));
-
- for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) {
- data[count] = Wire.receive();
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print(data[count], HEX);
- if (count + 1 < length) Serial.print(" ");
- #endif
- }
-
- Wire.endTransmission();
- }
- #elif (ARDUINO == 100)
- // Arduino v1.0.0, Wire library
- // Adds standardized write() and read() stream methods instead of send() and receive()
-
- // I2C/TWI subsystem uses internal buffer that breaks with large data requests
- // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
- // smaller chunks instead of all at once
- for (uint8_t k = 0; k < length; k += min(length, BUFFER_LENGTH)) {
- Wire.beginTransmission(devAddr);
- Wire.write(regAddr);
- Wire.endTransmission();
- Wire.beginTransmission(devAddr);
- Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH));
-
- for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) {
- data[count] = Wire.read();
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print(data[count], HEX);
- if (count + 1 < length) Serial.print(" ");
- #endif
- }
-
- Wire.endTransmission();
- }
- #elif (ARDUINO > 100)
- // Arduino v1.0.1+, Wire library
- // Adds official support for repeated start condition, yay!
-
- // I2C/TWI subsystem uses internal buffer that breaks with large data requests
- // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
- // smaller chunks instead of all at once
- for (uint8_t k = 0; k < length; k += min(length, BUFFER_LENGTH)) {
- Wire.beginTransmission(devAddr);
- Wire.write(regAddr);
- Wire.endTransmission();
- Wire.beginTransmission(devAddr);
- Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH));
-
- for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) {
- data[count] = Wire.read();
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print(data[count], HEX);
- if (count + 1 < length) Serial.print(" ");
- #endif
- }
-
- Wire.endTransmission();
- }
- #endif
-
- #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
- // Fastwire library (STILL UNDER DEVELOPMENT, NON-FUNCTIONAL!)
-
- // no loop required for fastwire
- uint8_t status = Fastwire::readBuf(devAddr, regAddr, data, length);
- if (status == 0) {
- count = length; // success
- } else {
- count = -1; // error
- }
-
- #endif
-
- // check for timeout
- if (timeout > 0 && millis() - t1 >= timeout && count < length) count = -1; // timeout
-
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print(". Done (");
- Serial.print(count, DEC);
- Serial.println(" read).");
- #endif
-
- return count;
-}
-
-/** Read multiple words from a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr First register regAddr to read from
- * @param length Number of words to read
- * @param data Buffer to store read data in
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Number of words read (0 indicates failure)
- */
-int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout) {
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print("I2C (0x");
- Serial.print(devAddr, HEX);
- Serial.print(") reading ");
- Serial.print(length, DEC);
- Serial.print(" words from 0x");
- Serial.print(regAddr, HEX);
- Serial.print("...");
- #endif
-
- int8_t count = 0;
- uint32_t t1 = millis();
-
- #if (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE)
-
- #if (ARDUINO < 100)
- // Arduino v00xx (before v1.0), Wire library
-
- // I2C/TWI subsystem uses internal buffer that breaks with large data requests
- // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
- // smaller chunks instead of all at once
- for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) {
- Wire.beginTransmission(devAddr);
- Wire.send(regAddr);
- Wire.endTransmission();
- Wire.beginTransmission(devAddr);
- Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes
-
- bool msb = true; // starts with MSB, then LSB
- for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) {
- if (msb) {
- // first byte is bits 15-8 (MSb=15)
- data[count] = Wire.receive() << 8;
- } else {
- // second byte is bits 7-0 (LSb=0)
- data[count] |= Wire.receive();
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print(data[count], HEX);
- if (count + 1 < length) Serial.print(" ");
- #endif
- count++;
- }
- msb = !msb;
- }
-
- Wire.endTransmission();
- }
- #elif (ARDUINO == 100)
- // Arduino v1.0.0, Wire library
- // Adds standardized write() and read() stream methods instead of send() and receive()
-
- // I2C/TWI subsystem uses internal buffer that breaks with large data requests
- // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
- // smaller chunks instead of all at once
- for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) {
- Wire.beginTransmission(devAddr);
- Wire.write(regAddr);
- Wire.endTransmission();
- Wire.beginTransmission(devAddr);
- Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes
-
- bool msb = true; // starts with MSB, then LSB
- for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) {
- if (msb) {
- // first byte is bits 15-8 (MSb=15)
- data[count] = Wire.read() << 8;
- } else {
- // second byte is bits 7-0 (LSb=0)
- data[count] |= Wire.read();
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print(data[count], HEX);
- if (count + 1 < length) Serial.print(" ");
- #endif
- count++;
- }
- msb = !msb;
- }
-
- Wire.endTransmission();
- }
- #elif (ARDUINO > 100)
- // Arduino v1.0.1+, Wire library
- // Adds official support for repeated start condition, yay!
-
- // I2C/TWI subsystem uses internal buffer that breaks with large data requests
- // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
- // smaller chunks instead of all at once
- for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) {
- Wire.beginTransmission(devAddr);
- Wire.write(regAddr);
- Wire.endTransmission();
- Wire.beginTransmission(devAddr);
- Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes
-
- bool msb = true; // starts with MSB, then LSB
- for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) {
- if (msb) {
- // first byte is bits 15-8 (MSb=15)
- data[count] = Wire.read() << 8;
- } else {
- // second byte is bits 7-0 (LSb=0)
- data[count] |= Wire.read();
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print(data[count], HEX);
- if (count + 1 < length) Serial.print(" ");
- #endif
- count++;
- }
- msb = !msb;
- }
-
- Wire.endTransmission();
- }
- #endif
-
- #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
- // Fastwire library (STILL UNDER DEVELOPMENT, NON-FUNCTIONAL!)
-
- // no loop required for fastwire
- uint16_t intermediate[(uint8_t)length];
- uint8_t status = Fastwire::readBuf(devAddr, regAddr, (uint8_t *)intermediate, (uint8_t)(length * 2));
- if (status == 0) {
- count = length; // success
- for (uint8_t i = 0; i < length; i++) {
- data[i] = (intermediate[2*i] << 8) | intermediate[2*i + 1];
- }
- } else {
- count = -1; // error
- }
-
- #endif
-
- if (timeout > 0 && millis() - t1 >= timeout && count < length) count = -1; // timeout
-
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print(". Done (");
- Serial.print(count, DEC);
- Serial.println(" read).");
- #endif
-
- return count;
-}
-
-/** write a single bit in an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to write to
- * @param bitNum Bit position to write (0-7)
- * @param value New bit value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) {
- uint8_t b;
- readByte(devAddr, regAddr, &b);
- b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
- return writeByte(devAddr, regAddr, b);
-}
-
-/** write a single bit in a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to write to
- * @param bitNum Bit position to write (0-15)
- * @param value New bit value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) {
- uint16_t w;
- readWord(devAddr, regAddr, &w);
- w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum));
- return writeWord(devAddr, regAddr, w);
-}
-
-/** Write multiple bits in an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to write to
- * @param bitStart First bit position to write (0-7)
- * @param length Number of bits to write (not more than 8)
- * @param data Right-aligned value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) {
- // 010 value to write
- // 76543210 bit numbers
- // xxx args: bitStart=4, length=3
- // 00011100 mask byte
- // 10101111 original value (sample)
- // 10100011 original & ~mask
- // 10101011 masked | value
- uint8_t b;
- if (readByte(devAddr, regAddr, &b) != 0) {
- uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
- data <<= (bitStart - length + 1); // shift data into correct position
- data &= mask; // zero all non-important bits in data
- b &= ~(mask); // zero all important bits in existing byte
- b |= data; // combine data with existing byte
- return writeByte(devAddr, regAddr, b);
- } else {
- return false;
- }
-}
-
-/** Write multiple bits in a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to write to
- * @param bitStart First bit position to write (0-15)
- * @param length Number of bits to write (not more than 16)
- * @param data Right-aligned value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) {
- // 010 value to write
- // fedcba9876543210 bit numbers
- // xxx args: bitStart=12, length=3
- // 0001110000000000 mask byte
- // 1010111110010110 original value (sample)
- // 1010001110010110 original & ~mask
- // 1010101110010110 masked | value
- uint16_t w;
- if (readWord(devAddr, regAddr, &w) != 0) {
- uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
- data <<= (bitStart - length + 1); // shift data into correct position
- data &= mask; // zero all non-important bits in data
- w &= ~(mask); // zero all important bits in existing word
- w |= data; // combine data with existing word
- return writeWord(devAddr, regAddr, w);
- } else {
- return false;
- }
-}
-
-/** Write single byte to an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register address to write to
- * @param data New byte value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) {
- return writeBytes(devAddr, regAddr, 1, &data);
-}
-
-/** Write single word to a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register address to write to
- * @param data New word value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) {
- return writeWords(devAddr, regAddr, 1, &data);
-}
-
-/** Write multiple bytes to an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr First register address to write to
- * @param length Number of bytes to write
- * @param data Buffer to copy new data from
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data) {
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print("I2C (0x");
- Serial.print(devAddr, HEX);
- Serial.print(") writing ");
- Serial.print(length, DEC);
- Serial.print(" bytes to 0x");
- Serial.print(regAddr, HEX);
- Serial.print("...");
- #endif
- uint8_t status = 0;
- #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
- Wire.beginTransmission(devAddr);
- Wire.send((uint8_t) regAddr); // send address
- #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
- Wire.beginTransmission(devAddr);
- Wire.write((uint8_t) regAddr); // send address
- #endif
- for (uint8_t i = 0; i < length; i++) {
- #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
- Wire.send((uint8_t) data[i]);
- #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
- Wire.write((uint8_t) data[i]);
- #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
- status = Fastwire::write(devAddr, regAddr, data[i]);
- Serial.println(status);
- #endif
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print(data[i], HEX);
- if (i + 1 < length) Serial.print(" ");
- #endif
- }
- #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
- Wire.endTransmission();
- #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
- status = Wire.endTransmission();
- #endif
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.println(". Done.");
- #endif
- return status == 0;
-}
-
-/** Write multiple words to a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr First register address to write to
- * @param length Number of words to write
- * @param data Buffer to copy new data from
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data) {
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print("I2C (0x");
- Serial.print(devAddr, HEX);
- Serial.print(") writing ");
- Serial.print(length, DEC);
- Serial.print(" words to 0x");
- Serial.print(regAddr, HEX);
- Serial.print("...");
- #endif
- uint8_t status = 0;
- #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
- Wire.beginTransmission(devAddr);
- Wire.send(regAddr); // send address
- #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
- Wire.beginTransmission(devAddr);
- Wire.write(regAddr); // send address
- #endif
- for (uint8_t i = 0; i < length * 2; i++) {
- #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
- Wire.send((uint8_t)(data[i++] >> 8)); // send MSB
- Wire.send((uint8_t)data[i]); // send LSB
- #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
- Wire.write((uint8_t)(data[i++] >> 8)); // send MSB
- Wire.write((uint8_t)data[i]); // send LSB
- #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
- status = Fastwire::write(devAddr, regAddr, (uint8_t)(data[i++] >> 8));
- status = Fastwire::write(devAddr, regAddr + 1, (uint8_t)data[i]);
- #endif
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print(data[i], HEX);
- if (i + 1 < length) Serial.print(" ");
- #endif
- }
- #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
- Wire.endTransmission();
- #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
- status = Wire.endTransmission();
- #endif
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.println(". Done.");
- #endif
- return status == 0;
-}
-
-/** Default timeout value for read operations.
- * Set this to 0 to disable timeout detection.
- */
-uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
-
-#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
- /*
- FastWire 0.2
- This is a library to help faster programs to read I2C devices.
- Copyright(C) 2011 Francesco Ferrara
- occhiobello at gmail dot com
- */
-
- boolean Fastwire::waitInt() {
- int l = 250;
- while (!(TWCR & (1 << TWINT)) && l-- > 0);
- return l > 0;
- }
-
- void Fastwire::setup(int khz, boolean pullup) {
- TWCR = 0;
- #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega8__) || defined(__AVR_ATmega328P__)
- // activate internal pull-ups for twi (PORTC bits 4 & 5)
- // as per note from atmega8 manual pg167
- if (pullup) PORTC |= ((1 << 4) | (1 << 5));
- else PORTC &= ~((1 << 4) | (1 << 5));
- #elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)
- // activate internal pull-ups for twi (PORTC bits 0 & 1)
- if (pullup) PORTC |= ((1 << 0) | (1 << 1));
- else PORTC &= ~((1 << 0) | (1 << 1));
- #else
- // activate internal pull-ups for twi (PORTD bits 0 & 1)
- // as per note from atmega128 manual pg204
- if (pullup) PORTD |= ((1 << 0) | (1 << 1));
- else PORTD &= ~((1 << 0) | (1 << 1));
- #endif
-
- TWSR = 0; // no prescaler => prescaler = 1
- TWBR = ((16000L / khz) - 16) / 2; // change the I2C clock rate
- TWCR = 1 << TWEN; // enable twi module, no interrupt
- }
-
- byte Fastwire::write(byte device, byte address, byte value) {
- byte twst, retry;
-
- retry = 2;
- do {
- TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA);
- if (!waitInt()) return 1;
- twst = TWSR & 0xF8;
- if (twst != TW_START && twst != TW_REP_START) return 2;
-
- TWDR = device & 0xFE; // send device address without read bit (1)
- TWCR = (1 << TWINT) | (1 << TWEN);
- if (!waitInt()) return 3;
- twst = TWSR & 0xF8;
- } while (twst == TW_MT_SLA_NACK && retry-- > 0);
- if (twst != TW_MT_SLA_ACK) return 4;
-
- TWDR = address; // send data to the previously addressed device
- TWCR = (1 << TWINT) | (1 << TWEN);
- if (!waitInt()) return 5;
- twst = TWSR & 0xF8;
- if (twst != TW_MT_DATA_ACK) return 6;
-
- TWDR = value; // send data to the previously addressed device
- TWCR = (1 << TWINT) | (1 << TWEN);
- if (!waitInt()) return 7;
- twst = TWSR & 0xF8;
- if (twst != TW_MT_DATA_ACK) return 8;
-
- return 0;
- }
-
- byte Fastwire::readBuf(byte device, byte address, byte *data, byte num) {
- byte twst, retry;
-
- retry = 2;
- do {
- TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA);
- if (!waitInt()) return 16;
- twst = TWSR & 0xF8;
- if (twst != TW_START && twst != TW_REP_START) return 17;
-
- TWDR = device & 0xfe; // send device address to write
- TWCR = (1 << TWINT) | (1 << TWEN);
- if (!waitInt()) return 18;
- twst = TWSR & 0xF8;
- } while (twst == TW_MT_SLA_NACK && retry-- > 0);
- if (twst != TW_MT_SLA_ACK) return 19;
-
- TWDR = address; // send data to the previously addressed device
- TWCR = (1 << TWINT) | (1 << TWEN);
- if (!waitInt()) return 20;
- twst = TWSR & 0xF8;
- if (twst != TW_MT_DATA_ACK) return 21;
-
- /***/
-
- retry = 2;
- do {
- TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA);
- if (!waitInt()) return 22;
- twst = TWSR & 0xF8;
- if (twst != TW_START && twst != TW_REP_START) return 23;
-
- TWDR = device | 0x01; // send device address with the read bit (1)
- TWCR = (1 << TWINT) | (1 << TWEN);
- if (!waitInt()) return 24;
- twst = TWSR & 0xF8;
- } while (twst == TW_MR_SLA_NACK && retry-- > 0);
- if (twst != TW_MR_SLA_ACK) return 25;
-
- for(uint8_t i = 0; i < num; i++) {
- if (i == num - 1)
- TWCR = (1 << TWINT) | (1 << TWEN);
- else
- TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA);
- if (!waitInt()) return 26;
- twst = TWSR & 0xF8;
- if (twst != TW_MR_DATA_ACK && twst != TW_MR_DATA_NACK) return twst;
- data[i] = TWDR;
- }
-
- return 0;
- }
-#endif
-
-#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
- // NBWire implementation based heavily on code by Gene Knight <Gene@Telobot.com>
- // Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html
- // Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html
-
- /*
- call this version 1.0
-
- Offhand, the only funky part that I can think of is in nbrequestFrom, where the buffer
- length and index are set *before* the data is actually read. The problem is that these
- are variables local to the TwoWire object, and by the time we actually have read the
- data, and know what the length actually is, we have no simple access to the object's
- variables. The actual bytes read *is* given to the callback function, though.
-
- The ISR code for a slave receiver is commented out. I don't have that setup, and can't
- verify it at this time. Save it for 2.0!
-
- The handling of the read and write processes here is much like in the demo sketch code:
- the process is broken down into sequential functions, where each registers the next as a
- callback, essentially.
-
- For example, for the Read process, twi_read00 just returns if TWI is not yet in a
- ready state. When there's another interrupt, and the interface *is* ready, then it
- sets up the read, starts it, and registers twi_read01 as the function to call after
- the *next* interrupt. twi_read01, then, just returns if the interface is still in a
- "reading" state. When the reading is done, it copies the information to the buffer,
- cleans up, and calls the user-requested callback function with the actual number of
- bytes read.
-
- The writing is similar.
-
- Questions, comments and problems can go to Gene@Telobot.com.
-
- Thumbs Up!
- Gene Knight
-
- */
-
- uint8_t TwoWire::rxBuffer[NBWIRE_BUFFER_LENGTH];
- uint8_t TwoWire::rxBufferIndex = 0;
- uint8_t TwoWire::rxBufferLength = 0;
-
- uint8_t TwoWire::txAddress = 0;
- uint8_t TwoWire::txBuffer[NBWIRE_BUFFER_LENGTH];
- uint8_t TwoWire::txBufferIndex = 0;
- uint8_t TwoWire::txBufferLength = 0;
-
- //uint8_t TwoWire::transmitting = 0;
- void (*TwoWire::user_onRequest)(void);
- void (*TwoWire::user_onReceive)(int);
-
- static volatile uint8_t twi_transmitting;
- static volatile uint8_t twi_state;
- static uint8_t twi_slarw;
- static volatile uint8_t twi_error;
- static uint8_t twi_masterBuffer[TWI_BUFFER_LENGTH];
- static volatile uint8_t twi_masterBufferIndex;
- static uint8_t twi_masterBufferLength;
- static uint8_t twi_rxBuffer[TWI_BUFFER_LENGTH];
- static volatile uint8_t twi_rxBufferIndex;
- //static volatile uint8_t twi_Interrupt_Continue_Command;
- static volatile uint8_t twi_Return_Value;
- static volatile uint8_t twi_Done;
- void (*twi_cbendTransmissionDone)(int);
- void (*twi_cbreadFromDone)(int);
-
- void twi_init() {
- // initialize state
- twi_state = TWI_READY;
-
- // activate internal pull-ups for twi
- // as per note from atmega8 manual pg167
- sbi(PORTC, 4);
- sbi(PORTC, 5);
-
- // initialize twi prescaler and bit rate
- cbi(TWSR, TWPS0); // TWI Status Register - Prescaler bits
- cbi(TWSR, TWPS1);
-
- /* twi bit rate formula from atmega128 manual pg 204
- SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR))
- note: TWBR should be 10 or higher for master mode
- It is 72 for a 16mhz Wiring board with 100kHz TWI */
-
- TWBR = ((CPU_FREQ / TWI_FREQ) - 16) / 2; // bitrate register
- // enable twi module, acks, and twi interrupt
-
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA);
-
- /* TWEN - TWI Enable Bit
- TWIE - TWI Interrupt Enable
- TWEA - TWI Enable Acknowledge Bit
- TWINT - TWI Interrupt Flag
- TWSTA - TWI Start Condition
- */
- }
-
- typedef struct {
- uint8_t address;
- uint8_t* data;
- uint8_t length;
- uint8_t wait;
- uint8_t i;
- } twi_Write_Vars;
-
- twi_Write_Vars *ptwv = 0;
- static void (*fNextInterruptFunction)(void) = 0;
-
- void twi_Finish(byte bRetVal) {
- if (ptwv) {
- free(ptwv);
- ptwv = 0;
- }
- twi_Done = 0xFF;
- twi_Return_Value = bRetVal;
- fNextInterruptFunction = 0;
- }
-
- uint8_t twii_WaitForDone(uint16_t timeout) {
- uint32_t endMillis = millis() + timeout;
- while (!twi_Done && (timeout == 0 || millis() < endMillis)) continue;
- return twi_Return_Value;
- }
-
- void twii_SetState(uint8_t ucState) {
- twi_state = ucState;
- }
-
- void twii_SetError(uint8_t ucError) {
- twi_error = ucError ;
- }
-
- void twii_InitBuffer(uint8_t ucPos, uint8_t ucLength) {
- twi_masterBufferIndex = 0;
- twi_masterBufferLength = ucLength;
- }
-
- void twii_CopyToBuf(uint8_t* pData, uint8_t ucLength) {
- uint8_t i;
- for (i = 0; i < ucLength; ++i) {
- twi_masterBuffer[i] = pData[i];
- }
- }
-
- void twii_CopyFromBuf(uint8_t *pData, uint8_t ucLength) {
- uint8_t i;
- for (i = 0; i < ucLength; ++i) {
- pData[i] = twi_masterBuffer[i];
- }
- }
-
- void twii_SetSlaRW(uint8_t ucSlaRW) {
- twi_slarw = ucSlaRW;
- }
-
- void twii_SetStart() {
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA);
- }
-
- void twi_write01() {
- if (TWI_MTX == twi_state) return; // blocking test
- twi_transmitting = 0 ;
- if (twi_error == 0xFF)
- twi_Finish (0); // success
- else if (twi_error == TW_MT_SLA_NACK)
- twi_Finish (2); // error: address send, nack received
- else if (twi_error == TW_MT_DATA_NACK)
- twi_Finish (3); // error: data send, nack received
- else
- twi_Finish (4); // other twi error
- if (twi_cbendTransmissionDone) return twi_cbendTransmissionDone(twi_Return_Value);
- return;
- }
-
-
- void twi_write00() {
- if (TWI_READY != twi_state) return; // blocking test
- if (TWI_BUFFER_LENGTH < ptwv -> length) {
- twi_Finish(1); // end write with error 1
- return;
- }
- twi_Done = 0x00; // show as working
- twii_SetState(TWI_MTX); // to transmitting
- twii_SetError(0xFF); // to No Error
- twii_InitBuffer(0, ptwv -> length); // pointer and length
- twii_CopyToBuf(ptwv -> data, ptwv -> length); // get the data
- twii_SetSlaRW((ptwv -> address << 1) | TW_WRITE); // write command
- twii_SetStart(); // start the cycle
- fNextInterruptFunction = twi_write01; // next routine
- return twi_write01();
- }
-
- void twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait) {
- uint8_t i;
- ptwv = (twi_Write_Vars *)malloc(sizeof(twi_Write_Vars));
- ptwv -> address = address;
- ptwv -> data = data;
- ptwv -> length = length;
- ptwv -> wait = wait;
- fNextInterruptFunction = twi_write00;
- return twi_write00();
- }
-
- void twi_read01() {
- if (TWI_MRX == twi_state) return; // blocking test
- if (twi_masterBufferIndex < ptwv -> length) ptwv -> length = twi_masterBufferIndex;
- twii_CopyFromBuf(ptwv -> data, ptwv -> length);
- twi_Finish(ptwv -> length);
- if (twi_cbreadFromDone) return twi_cbreadFromDone(twi_Return_Value);
- return;
- }
-
- void twi_read00() {
- if (TWI_READY != twi_state) return; // blocking test
- if (TWI_BUFFER_LENGTH < ptwv -> length) twi_Finish(0); // error return
- twi_Done = 0x00; // show as working
- twii_SetState(TWI_MRX); // reading
- twii_SetError(0xFF); // reset error
- twii_InitBuffer(0, ptwv -> length - 1); // init to one less than length
- twii_SetSlaRW((ptwv -> address << 1) | TW_READ); // read command
- twii_SetStart(); // start cycle
- fNextInterruptFunction = twi_read01;
- return twi_read01();
- }
-
- void twi_readFrom(uint8_t address, uint8_t* data, uint8_t length) {
- uint8_t i;
-
- ptwv = (twi_Write_Vars *)malloc(sizeof(twi_Write_Vars));
- ptwv -> address = address;
- ptwv -> data = data;
- ptwv -> length = length;
- fNextInterruptFunction = twi_read00;
- return twi_read00();
- }
-
- void twi_reply(uint8_t ack) {
- // transmit master read ready signal, with or without ack
- if (ack){
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA);
- } else {
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT);
- }
- }
-
- void twi_stop(void) {
- // send stop condition
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO);
-
- // wait for stop condition to be exectued on bus
- // TWINT is not set after a stop condition!
- while (TWCR & _BV(TWSTO)) {
- continue;
- }
-
- // update twi state
- twi_state = TWI_READY;
- }
-
- void twi_releaseBus(void) {
- // release bus
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT);
-
- // update twi state
- twi_state = TWI_READY;
- }
-
- SIGNAL(TWI_vect) {
- switch (TW_STATUS) {
- // All Master
- case TW_START: // sent start condition
- case TW_REP_START: // sent repeated start condition
- // copy device address and r/w bit to output register and ack
- TWDR = twi_slarw;
- twi_reply(1);
- break;
-
- // Master Transmitter
- case TW_MT_SLA_ACK: // slave receiver acked address
- case TW_MT_DATA_ACK: // slave receiver acked data
- // if there is data to send, send it, otherwise stop
- if (twi_masterBufferIndex < twi_masterBufferLength) {
- // copy data to output register and ack
- TWDR = twi_masterBuffer[twi_masterBufferIndex++];
- twi_reply(1);
- } else {
- twi_stop();
- }
- break;
-
- case TW_MT_SLA_NACK: // address sent, nack received
- twi_error = TW_MT_SLA_NACK;
- twi_stop();
- break;
-
- case TW_MT_DATA_NACK: // data sent, nack received
- twi_error = TW_MT_DATA_NACK;
- twi_stop();
- break;
-
- case TW_MT_ARB_LOST: // lost bus arbitration
- twi_error = TW_MT_ARB_LOST;
- twi_releaseBus();
- break;
-
- // Master Receiver
- case TW_MR_DATA_ACK: // data received, ack sent
- // put byte into buffer
- twi_masterBuffer[twi_masterBufferIndex++] = TWDR;
-
- case TW_MR_SLA_ACK: // address sent, ack received
- // ack if more bytes are expected, otherwise nack
- if (twi_masterBufferIndex < twi_masterBufferLength) {
- twi_reply(1);
- } else {
- twi_reply(0);
- }
- break;
-
- case TW_MR_DATA_NACK: // data received, nack sent
- // put final byte into buffer
- twi_masterBuffer[twi_masterBufferIndex++] = TWDR;
-
- case TW_MR_SLA_NACK: // address sent, nack received
- twi_stop();
- break;
-
- // TW_MR_ARB_LOST handled by TW_MT_ARB_LOST case
-
- // Slave Receiver (NOT IMPLEMENTED YET)
- /*
- case TW_SR_SLA_ACK: // addressed, returned ack
- case TW_SR_GCALL_ACK: // addressed generally, returned ack
- case TW_SR_ARB_LOST_SLA_ACK: // lost arbitration, returned ack
- case TW_SR_ARB_LOST_GCALL_ACK: // lost arbitration, returned ack
- // enter slave receiver mode
- twi_state = TWI_SRX;
-
- // indicate that rx buffer can be overwritten and ack
- twi_rxBufferIndex = 0;
- twi_reply(1);
- break;
-
- case TW_SR_DATA_ACK: // data received, returned ack
- case TW_SR_GCALL_DATA_ACK: // data received generally, returned ack
- // if there is still room in the rx buffer
- if (twi_rxBufferIndex < TWI_BUFFER_LENGTH) {
- // put byte in buffer and ack
- twi_rxBuffer[twi_rxBufferIndex++] = TWDR;
- twi_reply(1);
- } else {
- // otherwise nack
- twi_reply(0);
- }
- break;
-
- case TW_SR_STOP: // stop or repeated start condition received
- // put a null char after data if there's room
- if (twi_rxBufferIndex < TWI_BUFFER_LENGTH) {
- twi_rxBuffer[twi_rxBufferIndex] = 0;
- }
-
- // sends ack and stops interface for clock stretching
- twi_stop();
-
- // callback to user defined callback
- twi_onSlaveReceive(twi_rxBuffer, twi_rxBufferIndex);
-
- // since we submit rx buffer to "wire" library, we can reset it
- twi_rxBufferIndex = 0;
-
- // ack future responses and leave slave receiver state
- twi_releaseBus();
- break;
-
- case TW_SR_DATA_NACK: // data received, returned nack
- case TW_SR_GCALL_DATA_NACK: // data received generally, returned nack
- // nack back at master
- twi_reply(0);
- break;
-
- // Slave Transmitter
- case TW_ST_SLA_ACK: // addressed, returned ack
- case TW_ST_ARB_LOST_SLA_ACK: // arbitration lost, returned ack
- // enter slave transmitter mode
- twi_state = TWI_STX;
-
- // ready the tx buffer index for iteration
- twi_txBufferIndex = 0;
-
- // set tx buffer length to be zero, to verify if user changes it
- twi_txBufferLength = 0;
-
- // request for txBuffer to be filled and length to be set
- // note: user must call twi_transmit(bytes, length) to do this
- twi_onSlaveTransmit();
-
- // if they didn't change buffer & length, initialize it
- if (0 == twi_txBufferLength) {
- twi_txBufferLength = 1;
- twi_txBuffer[0] = 0x00;
- }
-
- // transmit first byte from buffer, fall through
-
- case TW_ST_DATA_ACK: // byte sent, ack returned
- // copy data to output register
- TWDR = twi_txBuffer[twi_txBufferIndex++];
-
- // if there is more to send, ack, otherwise nack
- if (twi_txBufferIndex < twi_txBufferLength) {
- twi_reply(1);
- } else {
- twi_reply(0);
- }
- break;
-
- case TW_ST_DATA_NACK: // received nack, we are done
- case TW_ST_LAST_DATA: // received ack, but we are done already!
- // ack future responses
- twi_reply(1);
- // leave slave receiver state
- twi_state = TWI_READY;
- break;
- */
-
- // all
- case TW_NO_INFO: // no state information
- break;
-
- case TW_BUS_ERROR: // bus error, illegal stop/start
- twi_error = TW_BUS_ERROR;
- twi_stop();
- break;
- }
-
- if (fNextInterruptFunction) return fNextInterruptFunction();
- }
-
- TwoWire::TwoWire() { }
-
- void TwoWire::begin(void) {
- rxBufferIndex = 0;
- rxBufferLength = 0;
-
- txBufferIndex = 0;
- txBufferLength = 0;
-
- twi_init();
- }
-
- void TwoWire::beginTransmission(uint8_t address) {
- //beginTransmission((uint8_t)address);
-
- // indicate that we are transmitting
- twi_transmitting = 1;
-
- // set address of targeted slave
- txAddress = address;
-
- // reset tx buffer iterator vars
- txBufferIndex = 0;
- txBufferLength = 0;
- }
-
- uint8_t TwoWire::endTransmission(uint16_t timeout) {
- // transmit buffer (blocking)
- //int8_t ret =
- twi_cbendTransmissionDone = NULL;
- twi_writeTo(txAddress, txBuffer, txBufferLength, 1);
- int8_t ret = twii_WaitForDone(timeout);
-
- // reset tx buffer iterator vars
- txBufferIndex = 0;
- txBufferLength = 0;
-
- // indicate that we are done transmitting
- // twi_transmitting = 0;
- return ret;
- }
-
- void TwoWire::nbendTransmission(void (*function)(int)) {
- twi_cbendTransmissionDone = function;
- twi_writeTo(txAddress, txBuffer, txBufferLength, 1);
- return;
- }
-
- void TwoWire::send(uint8_t data) {
- if (twi_transmitting) {
- // in master transmitter mode
- // don't bother if buffer is full
- if (txBufferLength >= NBWIRE_BUFFER_LENGTH) {
- return;
- }
-
- // put byte in tx buffer
- txBuffer[txBufferIndex] = data;
- ++txBufferIndex;
-
- // update amount in buffer
- txBufferLength = txBufferIndex;
- } else {
- // in slave send mode
- // reply to master
- //twi_transmit(&data, 1);
- }
- }
-
- uint8_t TwoWire::receive(void) {
- // default to returning null char
- // for people using with char strings
- uint8_t value = 0;
-
- // get each successive byte on each call
- if (rxBufferIndex < rxBufferLength) {
- value = rxBuffer[rxBufferIndex];
- ++rxBufferIndex;
- }
-
- return value;
- }
-
- uint8_t TwoWire::requestFrom(uint8_t address, int quantity, uint16_t timeout) {
- // clamp to buffer length
- if (quantity > NBWIRE_BUFFER_LENGTH) {
- quantity = NBWIRE_BUFFER_LENGTH;
- }
-
- // perform blocking read into buffer
- twi_cbreadFromDone = NULL;
- twi_readFrom(address, rxBuffer, quantity);
- uint8_t read = twii_WaitForDone(timeout);
-
- // set rx buffer iterator vars
- rxBufferIndex = 0;
- rxBufferLength = read;
-
- return read;
- }
-
- void TwoWire::nbrequestFrom(uint8_t address, int quantity, void (*function)(int)) {
- // clamp to buffer length
- if (quantity > NBWIRE_BUFFER_LENGTH) {
- quantity = NBWIRE_BUFFER_LENGTH;
- }
-
- // perform blocking read into buffer
- twi_cbreadFromDone = function;
- twi_readFrom(address, rxBuffer, quantity);
- //uint8_t read = twii_WaitForDone();
-
- // set rx buffer iterator vars
- //rxBufferIndex = 0;
- //rxBufferLength = read;
-
- rxBufferIndex = 0;
- rxBufferLength = quantity; // this is a hack
-
- return; //read;
- }
-
- uint8_t TwoWire::available(void) {
- return rxBufferLength - rxBufferIndex;
- }
-
-#endif
diff --git a/libraries/I2Cdev/I2Cdev.h b/libraries/I2Cdev/I2Cdev.h
deleted file mode 100644
index 4c6d41f..0000000
--- a/libraries/I2Cdev/I2Cdev.h
+++ /dev/null
@@ -1,261 +0,0 @@
-// I2Cdev library collection - Main I2C device class header file
-// Abstracts bit and byte I2C R/W functions into a convenient class
-// 6/9/2012 by Jeff Rowberg <jeff@rowberg.net>
-//
-// Changelog:
-// 2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire
-// - add compiler warnings when using outdated or IDE or limited I2Cdev implementation
-// 2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums)
-// 2011-10-03 - added automatic Arduino version detection for ease of use
-// 2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications
-// 2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x)
-// 2011-08-03 - added optional timeout parameter to read* methods to easily change from default
-// 2011-08-02 - added support for 16-bit registers
-// - fixed incorrect Doxygen comments on some methods
-// - added timeout value for read operations (thanks mem @ Arduino forums)
-// 2011-07-30 - changed read/write function structures to return success or byte counts
-// - made all methods static for multi-device memory savings
-// 2011-07-28 - initial release
-
-/* ============================================
-I2Cdev device library code is placed under the MIT license
-Copyright (c) 2012 Jeff Rowberg
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-===============================================
-*/
-
-#ifndef _I2CDEV_H_
-#define _I2CDEV_H_
-
-// -----------------------------------------------------------------------------
-// I2C interface implementation setting
-// -----------------------------------------------------------------------------
-#define I2CDEV_IMPLEMENTATION I2CDEV_ARDUINO_WIRE
-
-// comment this out if you are using a non-optimal IDE/implementation setting
-// but want the compiler to shut up about it
-#define I2CDEV_IMPLEMENTATION_WARNINGS
-
-// -----------------------------------------------------------------------------
-// I2C interface implementation options
-// -----------------------------------------------------------------------------
-#define I2CDEV_ARDUINO_WIRE 1 // Wire object from Arduino
-#define I2CDEV_BUILTIN_NBWIRE 2 // Tweaked Wire object from Gene Knight's NBWire project
- // ^^^ NBWire implementation is still buggy w/some interrupts!
-#define I2CDEV_BUILTIN_FASTWIRE 3 // FastWire object from Francesco Ferrara's project
- // ^^^ FastWire implementation in I2Cdev is INCOMPLETE!
-
-// -----------------------------------------------------------------------------
-// Arduino-style "Serial.print" debug constant (uncomment to enable)
-// -----------------------------------------------------------------------------
-//#define I2CDEV_SERIAL_DEBUG
-
-#ifdef ARDUINO
- #if ARDUINO < 100
- #include "WProgram.h"
- #else
- #include "Arduino.h"
- #endif
- #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
- #include <Wire.h>
- #endif
-#else
- #include "ArduinoWrapper.h"
-#endif
-
-// 1000ms default read timeout (modify with "I2Cdev::readTimeout = [ms];")
-#define I2CDEV_DEFAULT_READ_TIMEOUT 1000
-
-class I2Cdev {
- public:
- I2Cdev();
-
- static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
- static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
- static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
- static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
- static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
- static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
- static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
- static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
-
- static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
- static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
- static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
- static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
- static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
- static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
- static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
- static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
-
- static uint16_t readTimeout;
-};
-
-#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
- //////////////////////
- // FastWire 0.2
- // This is a library to help faster programs to read I2C devices.
- // Copyright(C) 2011
- // Francesco Ferrara
- //////////////////////
-
- /* Master */
- #define TW_START 0x08
- #define TW_REP_START 0x10
-
- /* Master Transmitter */
- #define TW_MT_SLA_ACK 0x18
- #define TW_MT_SLA_NACK 0x20
- #define TW_MT_DATA_ACK 0x28
- #define TW_MT_DATA_NACK 0x30
- #define TW_MT_ARB_LOST 0x38
-
- /* Master Receiver */
- #define TW_MR_ARB_LOST 0x38
- #define TW_MR_SLA_ACK 0x40
- #define TW_MR_SLA_NACK 0x48
- #define TW_MR_DATA_ACK 0x50
- #define TW_MR_DATA_NACK 0x58
-
- #define TW_OK 0
- #define TW_ERROR 1
-
- class Fastwire {
- private:
- static boolean waitInt();
-
- public:
- static void setup(int khz, boolean pullup);
- static byte write(byte device, byte address, byte value);
- static byte readBuf(byte device, byte address, byte *data, byte num);
- };
-#endif
-
-#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
- // NBWire implementation based heavily on code by Gene Knight <Gene@Telobot.com>
- // Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html
- // Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html
-
- #define NBWIRE_BUFFER_LENGTH 32
-
- class TwoWire {
- private:
- static uint8_t rxBuffer[];
- static uint8_t rxBufferIndex;
- static uint8_t rxBufferLength;
-
- static uint8_t txAddress;
- static uint8_t txBuffer[];
- static uint8_t txBufferIndex;
- static uint8_t txBufferLength;
-
- // static uint8_t transmitting;
- static void (*user_onRequest)(void);
- static void (*user_onReceive)(int);
- static void onRequestService(void);
- static void onReceiveService(uint8_t*, int);
-
- public:
- TwoWire();
- void begin();
- void begin(uint8_t);
- void begin(int);
- void beginTransmission(uint8_t);
- //void beginTransmission(int);
- uint8_t endTransmission(uint16_t timeout=0);
- void nbendTransmission(void (*function)(int)) ;
- uint8_t requestFrom(uint8_t, int, uint16_t timeout=0);
- //uint8_t requestFrom(int, int);
- void nbrequestFrom(uint8_t, int, void (*function)(int));
- void send(uint8_t);
- void send(uint8_t*, uint8_t);
- //void send(int);
- void send(char*);
- uint8_t available(void);
- uint8_t receive(void);
- void onReceive(void (*)(int));
- void onRequest(void (*)(void));
- };
-
- #define TWI_READY 0
- #define TWI_MRX 1
- #define TWI_MTX 2
- #define TWI_SRX 3
- #define TWI_STX 4
-
- #define TW_WRITE 0
- #define TW_READ 1
-
- #define TW_MT_SLA_NACK 0x20
- #define TW_MT_DATA_NACK 0x30
-
- #define CPU_FREQ 16000000L
- #define TWI_FREQ 100000L
- #define TWI_BUFFER_LENGTH 32
-
- /* TWI Status is in TWSR, in the top 5 bits: TWS7 - TWS3 */
-
- #define TW_STATUS_MASK (_BV(TWS7)|_BV(TWS6)|_BV(TWS5)|_BV(TWS4)|_BV(TWS3))
- #define TW_STATUS (TWSR & TW_STATUS_MASK)
- #define TW_START 0x08
- #define TW_REP_START 0x10
- #define TW_MT_SLA_ACK 0x18
- #define TW_MT_SLA_NACK 0x20
- #define TW_MT_DATA_ACK 0x28
- #define TW_MT_DATA_NACK 0x30
- #define TW_MT_ARB_LOST 0x38
- #define TW_MR_ARB_LOST 0x38
- #define TW_MR_SLA_ACK 0x40
- #define TW_MR_SLA_NACK 0x48
- #define TW_MR_DATA_ACK 0x50
- #define TW_MR_DATA_NACK 0x58
- #define TW_ST_SLA_ACK 0xA8
- #define TW_ST_ARB_LOST_SLA_ACK 0xB0
- #define TW_ST_DATA_ACK 0xB8
- #define TW_ST_DATA_NACK 0xC0
- #define TW_ST_LAST_DATA 0xC8
- #define TW_SR_SLA_ACK 0x60
- #define TW_SR_ARB_LOST_SLA_ACK 0x68
- #define TW_SR_GCALL_ACK 0x70
- #define TW_SR_ARB_LOST_GCALL_ACK 0x78
- #define TW_SR_DATA_ACK 0x80
- #define TW_SR_DATA_NACK 0x88
- #define TW_SR_GCALL_DATA_ACK 0x90
- #define TW_SR_GCALL_DATA_NACK 0x98
- #define TW_SR_STOP 0xA0
- #define TW_NO_INFO 0xF8
- #define TW_BUS_ERROR 0x00
-
- //#define _MMIO_BYTE(mem_addr) (*(volatile uint8_t *)(mem_addr))
- //#define _SFR_BYTE(sfr) _MMIO_BYTE(_SFR_ADDR(sfr))
-
- #ifndef sbi // set bit
- #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
- #endif // sbi
-
- #ifndef cbi // clear bit
- #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
- #endif // cbi
-
- extern TwoWire Wire;
-
-#endif // I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
-
-#endif /* _I2CDEV_H_ */
\ No newline at end of file
diff --git a/libraries/I2Cdev/keywords.txt b/libraries/I2Cdev/keywords.txt
deleted file mode 100644
index 4132a06..0000000
--- a/libraries/I2Cdev/keywords.txt
+++ /dev/null
@@ -1,38 +0,0 @@
-#######################################
-# Syntax Coloring Map For I2Cdev
-#######################################
-
-#######################################
-# Datatypes (KEYWORD1)
-#######################################
-I2Cdev KEYWORD1
-
-#######################################
-# Methods and Functions (KEYWORD2)
-#######################################
-
-readBit KEYWORD2
-readBitW KEYWORD2
-readBits KEYWORD2
-readBitsW KEYWORD2
-readByte KEYWORD2
-readBytes KEYWORD2
-readWord KEYWORD2
-readWords KEYWORD2
-writeBit KEYWORD2
-writeBitW KEYWORD2
-writeBits KEYWORD2
-writeBitsW KEYWORD2
-writeByte KEYWORD2
-writeBytes KEYWORD2
-writeWord KEYWORD2
-writeWords KEYWORD2
-
-#######################################
-# Instances (KEYWORD2)
-#######################################
-
-#######################################
-# Constants (LITERAL1)
-#######################################
-
diff --git a/libraries/MPU6050/MPU6050.cpp b/libraries/MPU6050/MPU6050.cpp
deleted file mode 100644
index 86901d9..0000000
--- a/libraries/MPU6050/MPU6050.cpp
+++ /dev/null
@@ -1,195 +0,0 @@
-// MPU-6050 Accelerometer + Gyro
-// -----------------------------
-//
-// By arduino.cc user "Krodal".
-// June 2012
-// Open Source / Public Domain
-//
-// Using Arduino 1.0.1
-// It will not work with an older version,
-// since Wire.endTransmission() uses a parameter
-// to hold or release the I2C bus.
-//
-// Documentation:
-// - The InvenSense documents:
-// - "MPU-6000 and MPU-6050 Product Specification",
-// PS-MPU-6000A.pdf
-// - "MPU-6000 and MPU-6050 Register Map and Descriptions",
-// RM-MPU-6000A.pdf or RS-MPU-6000A.pdf
-// - "MPU-6000/MPU-6050 9-Axis Evaluation Board User Guide"
-// AN-MPU-6000EVB.pdf
-//
-// The accuracy is 16-bits.
-//
-// Temperature sensor from -40 to +85 degrees Celsius
-// 340 per degrees, -512 at 35 degrees.
-//
-// At power-up, all registers are zero, except these two:
-// Register 0x6B (PWR_MGMT_2) = 0x40 (I read zero).
-// Register 0x75 (WHO_AM_I) = 0x68.
-//
-
-#include <Arduino.h>
-#include "MPU6050.h"
-
-// --------------------------------------------------------
-// MPU6050_read
-//
-// This is a common function to read multiple bytes
-// from an I2C device.
-//
-// It uses the boolean parameter for Wire.endTransMission()
-// to be able to hold or release the I2C-bus.
-// This is implemented in Arduino 1.0.1.
-//
-// Only this function is used to read.
-// There is no function for a single byte.
-//
-int MPU6050_read(int start, uint8_t *buffer, int size)
-{
- int i, n;
-
- Wire.beginTransmission(MPU6050_I2C_ADDRESS);
- n = Wire.write(start);
- if (n != 1)
- return (-10);
-
- n = Wire.endTransmission(false); // hold the I2C-bus
- if (n != 0)
- return (n);
-
- // Third parameter is true: relase I2C-bus after data is read.
- Wire.requestFrom(MPU6050_I2C_ADDRESS, size, true);
- i = 0;
- while(Wire.available() && i<size)
- {
- buffer[i++]=Wire.read();
- }
- if ( i != size)
- return (-11);
-
- return (0); // return : no error
-}
-
-
-// --------------------------------------------------------
-// MPU6050_write
-//
-// This is a common function to write multiple bytes to an I2C device.
-//
-// If only a single register is written,
-// use the function MPU_6050_write_reg().
-//
-// Parameters:
-// start : Start address, use a define for the register
-// pData : A pointer to the data to write.
-// size : The number of bytes to write.
-//
-// If only a single register is written, a pointer
-// to the data has to be used, and the size is
-// a single byte:
-// int data = 0; // the data to write
-// MPU6050_write (MPU6050_PWR_MGMT_1, &c, 1);
-//
-int MPU6050_write(int start, const uint8_t *pData, int size)
-{
- int n, error;
-
- Wire.beginTransmission(MPU6050_I2C_ADDRESS);
- n = Wire.write(start); // write the start address
- if (n != 1)
- return (-20);
-
- n = Wire.write(pData, size); // write data bytes
- if (n != size)
- return (-21);
-
- error = Wire.endTransmission(true); // release the I2C-bus
- if (error != 0)
- return (error);
-
- return (0); // return : no error
-}
-
-// --------------------------------------------------------
-// MPU6050_write_reg
-//
-// An extra function to write a single register.
-// It is just a wrapper around the MPU_6050_write()
-// function, and it is only a convenient function
-// to make it easier to write a single register.
-//
-int MPU6050_write_reg(int reg, uint8_t data)
-{
- int error;
-
- error = MPU6050_write(reg, &data, 1);
-
- return (error);
-}
-
-// --------------------------------------------------------
-// MPU6050_init
-//
-// Initialization
-//
-int MPU6050_init()
-{
- // default at power-up:
- // Gyro at 250 degrees second
- // Acceleration at 2g
- // Clock source at internal 8MHz
- // The device is in sleep mode.
- //
- uint8_t c;
- int error;
- error = MPU6050_read (MPU6050_WHO_AM_I, &c, 1);
- if (error) return error;
-
- // According to the datasheet, the 'sleep' bit
- // should read a '1'. But I read a '0'.
- // That bit has to be cleared, since the sensor
- // is in sleep mode at power-up. Even if the
- // bit reads '0'.
- error = MPU6050_read (MPU6050_PWR_MGMT_2, &c, 1);
- if (error) return error;
-
- // Clear the 'sleep' bit to start the sensor.
- MPU6050_write_reg (MPU6050_PWR_MGMT_1, 0);
- return 0;
-}
-
-// --------------------------------------------------------
-// MPU6050_readout
-//
-// Perform an complete read-out
-//
-
-int MPU6050_readout(accel_t_gyro_union* accel_t_gyro)
-{
- int error;
-
- // Read the raw values.
- // Read 14 bytes at once,
- // containing acceleration, temperature and gyro.
- // With the default settings of the MPU-6050,
- // there is no filter enabled, and the values
- // are not very stable.
- error = MPU6050_read (MPU6050_ACCEL_XOUT_H, (uint8_t *)accel_t_gyro, sizeof(accel_t_gyro_union));
- if (error) return error;
-
- // Swap all high and low bytes.
- // After this, the registers values are swapped,
- // so the structure name like x_accel_l does no
- // longer contain the lower byte.
- uint8_t swap;
- #define SWAP(x,y) swap = x; x = y; y = swap
-
- SWAP (accel_t_gyro->reg.x_accel_h, accel_t_gyro->reg.x_accel_l);
- SWAP (accel_t_gyro->reg.y_accel_h, accel_t_gyro->reg.y_accel_l);
- SWAP (accel_t_gyro->reg.z_accel_h, accel_t_gyro->reg.z_accel_l);
- SWAP (accel_t_gyro->reg.t_h, accel_t_gyro->reg.t_l);
- SWAP (accel_t_gyro->reg.x_gyro_h, accel_t_gyro->reg.x_gyro_l);
- SWAP (accel_t_gyro->reg.y_gyro_h, accel_t_gyro->reg.y_gyro_l);
- SWAP (accel_t_gyro->reg.z_gyro_h, accel_t_gyro->reg.z_gyro_l);
-}
diff --git a/libraries/MPU6050/MPU6050.h b/libraries/MPU6050/MPU6050.h
deleted file mode 100644
index 3cf3296..0000000
--- a/libraries/MPU6050/MPU6050.h
+++ /dev/null
@@ -1,645 +0,0 @@
-#ifndef MPU6050_H_INCLUDED
-#define MPU6050_H_INCLUDED
-
-#include <Wire.h>
-
-// The temperature sensor is -40 to +85 degrees Celsius.
-// It is a signed integer.
-// According to the datasheet:
-// 340 per degrees Celsius, -512 at 35 degrees.
-// At 0 degrees: -512 - (340 * 35) = -12412
-#define MPU6050_GET_TEMPERATURE(t) (( (float)t + 12412.0) / 340.0)
-
-// The name of the sensor is "MPU-6050".
-// For program code, I omit the '-',
-// therefor I use the name "MPU6050....".
-
-
-// Register names according to the datasheet.
-// According to the InvenSense document
-// "MPU-6000 and MPU-6050 Register Map
-// and Descriptions Revision 3.2", there are no registers
-// at 0x02 ... 0x18, but according other information
-// the registers in that unknown area are for gain
-// and offsets.
-//
-//#define MPU6050_AUX_VDDIO 0x01 // R/W
-#define MPU6050_SMPLRT_DIV 0x19 // R/W
-#define MPU6050_CONFIG 0x1A // R/W
-#define MPU6050_GYRO_CONFIG 0x1B // R/W
-#define MPU6050_ACCEL_CONFIG 0x1C // R/W
-#define MPU6050_FF_THR 0x1D // R/W
-#define MPU6050_FF_DUR 0x1E // R/W
-#define MPU6050_MOT_THR 0x1F // R/W
-#define MPU6050_MOT_DUR 0x20 // R/W
-#define MPU6050_ZRMOT_THR 0x21 // R/W
-#define MPU6050_ZRMOT_DUR 0x22 // R/W
-//#define MPU6050_FIFO_EN 0x23 // R/W
-#define MPU6050_I2C_MST_CTRL 0x24 // R/W
-#define MPU6050_I2C_SLV0_ADDR 0x25 // R/W
-#define MPU6050_I2C_SLV0_REG 0x26 // R/W
-#define MPU6050_I2C_SLV0_CTRL 0x27 // R/W
-#define MPU6050_I2C_SLV1_ADDR 0x28 // R/W
-#define MPU6050_I2C_SLV1_REG 0x29 // R/W
-#define MPU6050_I2C_SLV1_CTRL 0x2A // R/W
-#define MPU6050_I2C_SLV2_ADDR 0x2B // R/W
-#define MPU6050_I2C_SLV2_REG 0x2C // R/W
-#define MPU6050_I2C_SLV2_CTRL 0x2D // R/W
-#define MPU6050_I2C_SLV3_ADDR 0x2E // R/W
-#define MPU6050_I2C_SLV3_REG 0x2F // R/W
-#define MPU6050_I2C_SLV3_CTRL 0x30 // R/W
-#define MPU6050_I2C_SLV4_ADDR 0x31 // R/W
-#define MPU6050_I2C_SLV4_REG 0x32 // R/W
-#define MPU6050_I2C_SLV4_DO 0x33 // R/W
-#define MPU6050_I2C_SLV4_CTRL 0x34 // R/W
-#define MPU6050_I2C_SLV4_DI 0x35 // R
-#define MPU6050_I2C_MST_STATUS 0x36 // R
-#define MPU6050_INT_PIN_CFG 0x37 // R/W
-#define MPU6050_INT_ENABLE 0x38 // R/W
-#define MPU6050_INT_STATUS 0x3A // R
-#define MPU6050_ACCEL_XOUT_H 0x3B // R
-#define MPU6050_ACCEL_XOUT_L 0x3C // R
-#define MPU6050_ACCEL_YOUT_H 0x3D // R
-#define MPU6050_ACCEL_YOUT_L 0x3E // R
-#define MPU6050_ACCEL_ZOUT_H 0x3F // R
-#define MPU6050_ACCEL_ZOUT_L 0x40 // R
-#define MPU6050_TEMP_OUT_H 0x41 // R
-#define MPU6050_TEMP_OUT_L 0x42 // R
-#define MPU6050_GYRO_XOUT_H 0x43 // R
-#define MPU6050_GYRO_XOUT_L 0x44 // R
-#define MPU6050_GYRO_YOUT_H 0x45 // R
-#define MPU6050_GYRO_YOUT_L 0x46 // R
-#define MPU6050_GYRO_ZOUT_H 0x47 // R
-#define MPU6050_GYRO_ZOUT_L 0x48 // R
-#define MPU6050_EXT_SENS_DATA_00 0x49 // R
-#define MPU6050_EXT_SENS_DATA_01 0x4A // R
-#define MPU6050_EXT_SENS_DATA_02 0x4B // R
-#define MPU6050_EXT_SENS_DATA_03 0x4C // R
-#define MPU6050_EXT_SENS_DATA_04 0x4D // R
-#define MPU6050_EXT_SENS_DATA_05 0x4E // R
-#define MPU6050_EXT_SENS_DATA_06 0x4F // R
-#define MPU6050_EXT_SENS_DATA_07 0x50 // R
-#define MPU6050_EXT_SENS_DATA_08 0x51 // R
-#define MPU6050_EXT_SENS_DATA_09 0x52 // R
-#define MPU6050_EXT_SENS_DATA_10 0x53 // R
-#define MPU6050_EXT_SENS_DATA_11 0x54 // R
-#define MPU6050_EXT_SENS_DATA_12 0x55 // R
-#define MPU6050_EXT_SENS_DATA_13 0x56 // R
-#define MPU6050_EXT_SENS_DATA_14 0x57 // R
-#define MPU6050_EXT_SENS_DATA_15 0x58 // R
-#define MPU6050_EXT_SENS_DATA_16 0x59 // R
-#define MPU6050_EXT_SENS_DATA_17 0x5A // R
-#define MPU6050_EXT_SENS_DATA_18 0x5B // R
-#define MPU6050_EXT_SENS_DATA_19 0x5C // R
-#define MPU6050_EXT_SENS_DATA_20 0x5D // R
-#define MPU6050_EXT_SENS_DATA_21 0x5E // R
-#define MPU6050_EXT_SENS_DATA_22 0x5F // R
-#define MPU6050_EXT_SENS_DATA_23 0x60 // R
-#define MPU6050_MOT_DETECT_STATUS 0x61 // R
-#define MPU6050_I2C_SLV0_DO 0x63 // R/W
-#define MPU6050_I2C_SLV1_DO 0x64 // R/W
-#define MPU6050_I2C_SLV2_DO 0x65 // R/W
-#define MPU6050_I2C_SLV3_DO 0x66 // R/W
-#define MPU6050_I2C_MST_DELAY_CTRL 0x67 // R/W
-#define MPU6050_SIGNAL_PATH_RESET 0x68 // R/W
-#define MPU6050_MOT_DETECT_CTRL 0x69 // R/W
-#define MPU6050_USER_CTRL 0x6A // R/W
-#define MPU6050_PWR_MGMT_1 0x6B // R/W
-#define MPU6050_PWR_MGMT_2 0x6C // R/W
-#define MPU6050_FIFO_COUNTH 0x72 // R/W
-#define MPU6050_FIFO_COUNTL 0x73 // R/W
-#define MPU6050_FIFO_R_W 0x74 // R/W
-#define MPU6050_WHO_AM_I 0x75 // R
-
-
-// Defines for the bits, to be able to change
-// between bit number and binary definition.
-// By using the bit number, programming the sensor
-// is like programming the AVR microcontroller.
-// But instead of using "(1<<X)", or "_BV(X)",
-// the Arduino "bit(X)" is used.
-#define MPU6050_D0 0
-#define MPU6050_D1 1
-#define MPU6050_D2 2
-#define MPU6050_D3 3
-#define MPU6050_D4 4
-#define MPU6050_D5 5
-#define MPU6050_D6 6
-#define MPU6050_D7 7
-
-// AUX_VDDIO Register
-#define MPU6050_AUX_VDDIO MPU6050_D7 // I2C high: 1=VDD, 0=VLOGIC
-
-// CONFIG Register
-// DLPF is Digital Low Pass Filter for both gyro and accelerometers.
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_DLPF_CFG0 MPU6050_D0
-#define MPU6050_DLPF_CFG1 MPU6050_D1
-#define MPU6050_DLPF_CFG2 MPU6050_D2
-#define MPU6050_EXT_SYNC_SET0 MPU6050_D3
-#define MPU6050_EXT_SYNC_SET1 MPU6050_D4
-#define MPU6050_EXT_SYNC_SET2 MPU6050_D5
-
-// Combined definitions for the EXT_SYNC_SET values
-#define MPU6050_EXT_SYNC_SET_0 (0)
-#define MPU6050_EXT_SYNC_SET_1 (bit(MPU6050_EXT_SYNC_SET0))
-#define MPU6050_EXT_SYNC_SET_2 (bit(MPU6050_EXT_SYNC_SET1))
-#define MPU6050_EXT_SYNC_SET_3 (bit(MPU6050_EXT_SYNC_SET1)|bit(MPU6050_EXT_SYNC_SET0))
-#define MPU6050_EXT_SYNC_SET_4 (bit(MPU6050_EXT_SYNC_SET2))
-#define MPU6050_EXT_SYNC_SET_5 (bit(MPU6050_EXT_SYNC_SET2)|bit(MPU6050_EXT_SYNC_SET0))
-#define MPU6050_EXT_SYNC_SET_6 (bit(MPU6050_EXT_SYNC_SET2)|bit(MPU6050_EXT_SYNC_SET1))
-#define MPU6050_EXT_SYNC_SET_7 (bit(MPU6050_EXT_SYNC_SET2)|bit(MPU6050_EXT_SYNC_SET1)|bit(MPU6050_EXT_SYNC_SET0))
-
-// Alternative names for the combined definitions.
-#define MPU6050_EXT_SYNC_DISABLED MPU6050_EXT_SYNC_SET_0
-#define MPU6050_EXT_SYNC_TEMP_OUT_L MPU6050_EXT_SYNC_SET_1
-#define MPU6050_EXT_SYNC_GYRO_XOUT_L MPU6050_EXT_SYNC_SET_2
-#define MPU6050_EXT_SYNC_GYRO_YOUT_L MPU6050_EXT_SYNC_SET_3
-#define MPU6050_EXT_SYNC_GYRO_ZOUT_L MPU6050_EXT_SYNC_SET_4
-#define MPU6050_EXT_SYNC_ACCEL_XOUT_L MPU6050_EXT_SYNC_SET_5
-#define MPU6050_EXT_SYNC_ACCEL_YOUT_L MPU6050_EXT_SYNC_SET_6
-#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L MPU6050_EXT_SYNC_SET_7
-
-// Combined definitions for the DLPF_CFG values
-#define MPU6050_DLPF_CFG_0 (0)
-#define MPU6050_DLPF_CFG_1 (bit(MPU6050_DLPF_CFG0))
-#define MPU6050_DLPF_CFG_2 (bit(MPU6050_DLPF_CFG1))
-#define MPU6050_DLPF_CFG_3 (bit(MPU6050_DLPF_CFG1)|bit(MPU6050_DLPF_CFG0))
-#define MPU6050_DLPF_CFG_4 (bit(MPU6050_DLPF_CFG2))
-#define MPU6050_DLPF_CFG_5 (bit(MPU6050_DLPF_CFG2)|bit(MPU6050_DLPF_CFG0))
-#define MPU6050_DLPF_CFG_6 (bit(MPU6050_DLPF_CFG2)|bit(MPU6050_DLPF_CFG1))
-#define MPU6050_DLPF_CFG_7 (bit(MPU6050_DLPF_CFG2)|bit(MPU6050_DLPF_CFG1)|bit(MPU6050_DLPF_CFG0))
-
-// Alternative names for the combined definitions
-// This name uses the bandwidth (Hz) for the accelometer,
-// for the gyro the bandwidth is almost the same.
-#define MPU6050_DLPF_260HZ MPU6050_DLPF_CFG_0
-#define MPU6050_DLPF_184HZ MPU6050_DLPF_CFG_1
-#define MPU6050_DLPF_94HZ MPU6050_DLPF_CFG_2
-#define MPU6050_DLPF_44HZ MPU6050_DLPF_CFG_3
-#define MPU6050_DLPF_21HZ MPU6050_DLPF_CFG_4
-#define MPU6050_DLPF_10HZ MPU6050_DLPF_CFG_5
-#define MPU6050_DLPF_5HZ MPU6050_DLPF_CFG_6
-#define MPU6050_DLPF_RESERVED MPU6050_DLPF_CFG_7
-
-// GYRO_CONFIG Register
-// The XG_ST, YG_ST, ZG_ST are bits for selftest.
-// The FS_SEL sets the range for the gyro.
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_FS_SEL0 MPU6050_D3
-#define MPU6050_FS_SEL1 MPU6050_D4
-#define MPU6050_ZG_ST MPU6050_D5
-#define MPU6050_YG_ST MPU6050_D6
-#define MPU6050_XG_ST MPU6050_D7
-
-// Combined definitions for the FS_SEL values
-#define MPU6050_FS_SEL_0 (0)
-#define MPU6050_FS_SEL_1 (bit(MPU6050_FS_SEL0))
-#define MPU6050_FS_SEL_2 (bit(MPU6050_FS_SEL1))
-#define MPU6050_FS_SEL_3 (bit(MPU6050_FS_SEL1)|bit(MPU6050_FS_SEL0))
-
-// Alternative names for the combined definitions
-// The name uses the range in degrees per second.
-#define MPU6050_FS_SEL_250 MPU6050_FS_SEL_0
-#define MPU6050_FS_SEL_500 MPU6050_FS_SEL_1
-#define MPU6050_FS_SEL_1000 MPU6050_FS_SEL_2
-#define MPU6050_FS_SEL_2000 MPU6050_FS_SEL_3
-
-// ACCEL_CONFIG Register
-// The XA_ST, YA_ST, ZA_ST are bits for selftest.
-// The AFS_SEL sets the range for the accelerometer.
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_ACCEL_HPF0 MPU6050_D0
-#define MPU6050_ACCEL_HPF1 MPU6050_D1
-#define MPU6050_ACCEL_HPF2 MPU6050_D2
-#define MPU6050_AFS_SEL0 MPU6050_D3
-#define MPU6050_AFS_SEL1 MPU6050_D4
-#define MPU6050_ZA_ST MPU6050_D5
-#define MPU6050_YA_ST MPU6050_D6
-#define MPU6050_XA_ST MPU6050_D7
-
-// Combined definitions for the ACCEL_HPF values
-#define MPU6050_ACCEL_HPF_0 (0)
-#define MPU6050_ACCEL_HPF_1 (bit(MPU6050_ACCEL_HPF0))
-#define MPU6050_ACCEL_HPF_2 (bit(MPU6050_ACCEL_HPF1))
-#define MPU6050_ACCEL_HPF_3 (bit(MPU6050_ACCEL_HPF1)|bit(MPU6050_ACCEL_HPF0))
-#define MPU6050_ACCEL_HPF_4 (bit(MPU6050_ACCEL_HPF2))
-#define MPU6050_ACCEL_HPF_7 (bit(MPU6050_ACCEL_HPF2)|bit(MPU6050_ACCEL_HPF1)|bit(MPU6050_ACCEL_HPF0))
-
-// Alternative names for the combined definitions
-// The name uses the Cut-off frequency.
-#define MPU6050_ACCEL_HPF_RESET MPU6050_ACCEL_HPF_0
-#define MPU6050_ACCEL_HPF_5HZ MPU6050_ACCEL_HPF_1
-#define MPU6050_ACCEL_HPF_2_5HZ MPU6050_ACCEL_HPF_2
-#define MPU6050_ACCEL_HPF_1_25HZ MPU6050_ACCEL_HPF_3
-#define MPU6050_ACCEL_HPF_0_63HZ MPU6050_ACCEL_HPF_4
-#define MPU6050_ACCEL_HPF_HOLD MPU6050_ACCEL_HPF_7
-
-// Combined definitions for the AFS_SEL values
-#define MPU6050_AFS_SEL_0 (0)
-#define MPU6050_AFS_SEL_1 (bit(MPU6050_AFS_SEL0))
-#define MPU6050_AFS_SEL_2 (bit(MPU6050_AFS_SEL1))
-#define MPU6050_AFS_SEL_3 (bit(MPU6050_AFS_SEL1)|bit(MPU6050_AFS_SEL0))
-
-// Alternative names for the combined definitions
-// The name uses the full scale range for the accelerometer.
-#define MPU6050_AFS_SEL_2G MPU6050_AFS_SEL_0
-#define MPU6050_AFS_SEL_4G MPU6050_AFS_SEL_1
-#define MPU6050_AFS_SEL_8G MPU6050_AFS_SEL_2
-#define MPU6050_AFS_SEL_16G MPU6050_AFS_SEL_3
-
-// FIFO_EN Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_SLV0_FIFO_EN MPU6050_D0
-#define MPU6050_SLV1_FIFO_EN MPU6050_D1
-#define MPU6050_SLV2_FIFO_EN MPU6050_D2
-#define MPU6050_ACCEL_FIFO_EN MPU6050_D3
-#define MPU6050_ZG_FIFO_EN MPU6050_D4
-#define MPU6050_YG_FIFO_EN MPU6050_D5
-#define MPU6050_XG_FIFO_EN MPU6050_D6
-#define MPU6050_TEMP_FIFO_EN MPU6050_D7
-
-// I2C_MST_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_MST_CLK0 MPU6050_D0
-#define MPU6050_I2C_MST_CLK1 MPU6050_D1
-#define MPU6050_I2C_MST_CLK2 MPU6050_D2
-#define MPU6050_I2C_MST_CLK3 MPU6050_D3
-#define MPU6050_I2C_MST_P_NSR MPU6050_D4
-#define MPU6050_SLV_3_FIFO_EN MPU6050_D5
-#define MPU6050_WAIT_FOR_ES MPU6050_D6
-#define MPU6050_MULT_MST_EN MPU6050_D7
-
-// Combined definitions for the I2C_MST_CLK
-#define MPU6050_I2C_MST_CLK_0 (0)
-#define MPU6050_I2C_MST_CLK_1 (bit(MPU6050_I2C_MST_CLK0))
-#define MPU6050_I2C_MST_CLK_2 (bit(MPU6050_I2C_MST_CLK1))
-#define MPU6050_I2C_MST_CLK_3 (bit(MPU6050_I2C_MST_CLK1)|bit(MPU6050_I2C_MST_CLK0))
-#define MPU6050_I2C_MST_CLK_4 (bit(MPU6050_I2C_MST_CLK2))
-#define MPU6050_I2C_MST_CLK_5 (bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK0))
-#define MPU6050_I2C_MST_CLK_6 (bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK1))
-#define MPU6050_I2C_MST_CLK_7 (bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK1)|bit(MPU6050_I2C_MST_CLK0))
-#define MPU6050_I2C_MST_CLK_8 (bit(MPU6050_I2C_MST_CLK3))
-#define MPU6050_I2C_MST_CLK_9 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK0))
-#define MPU6050_I2C_MST_CLK_10 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK1))
-#define MPU6050_I2C_MST_CLK_11 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK1)|bit(MPU6050_I2C_MST_CLK0))
-#define MPU6050_I2C_MST_CLK_12 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK2))
-#define MPU6050_I2C_MST_CLK_13 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK0))
-#define MPU6050_I2C_MST_CLK_14 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK1))
-#define MPU6050_I2C_MST_CLK_15 (bit(MPU6050_I2C_MST_CLK3)|bit(MPU6050_I2C_MST_CLK2)|bit(MPU6050_I2C_MST_CLK1)|bit(MPU6050_I2C_MST_CLK0))
-
-// Alternative names for the combined definitions
-// The names uses I2C Master Clock Speed in kHz.
-#define MPU6050_I2C_MST_CLK_348KHZ MPU6050_I2C_MST_CLK_0
-#define MPU6050_I2C_MST_CLK_333KHZ MPU6050_I2C_MST_CLK_1
-#define MPU6050_I2C_MST_CLK_320KHZ MPU6050_I2C_MST_CLK_2
-#define MPU6050_I2C_MST_CLK_308KHZ MPU6050_I2C_MST_CLK_3
-#define MPU6050_I2C_MST_CLK_296KHZ MPU6050_I2C_MST_CLK_4
-#define MPU6050_I2C_MST_CLK_286KHZ MPU6050_I2C_MST_CLK_5
-#define MPU6050_I2C_MST_CLK_276KHZ MPU6050_I2C_MST_CLK_6
-#define MPU6050_I2C_MST_CLK_267KHZ MPU6050_I2C_MST_CLK_7
-#define MPU6050_I2C_MST_CLK_258KHZ MPU6050_I2C_MST_CLK_8
-#define MPU6050_I2C_MST_CLK_500KHZ MPU6050_I2C_MST_CLK_9
-#define MPU6050_I2C_MST_CLK_471KHZ MPU6050_I2C_MST_CLK_10
-#define MPU6050_I2C_MST_CLK_444KHZ MPU6050_I2C_MST_CLK_11
-#define MPU6050_I2C_MST_CLK_421KHZ MPU6050_I2C_MST_CLK_12
-#define MPU6050_I2C_MST_CLK_400KHZ MPU6050_I2C_MST_CLK_13
-#define MPU6050_I2C_MST_CLK_381KHZ MPU6050_I2C_MST_CLK_14
-#define MPU6050_I2C_MST_CLK_364KHZ MPU6050_I2C_MST_CLK_15
-
-// I2C_SLV0_ADDR Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV0_RW MPU6050_D7
-
-// I2C_SLV0_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV0_LEN0 MPU6050_D0
-#define MPU6050_I2C_SLV0_LEN1 MPU6050_D1
-#define MPU6050_I2C_SLV0_LEN2 MPU6050_D2
-#define MPU6050_I2C_SLV0_LEN3 MPU6050_D3
-#define MPU6050_I2C_SLV0_GRP MPU6050_D4
-#define MPU6050_I2C_SLV0_REG_DIS MPU6050_D5
-#define MPU6050_I2C_SLV0_BYTE_SW MPU6050_D6
-#define MPU6050_I2C_SLV0_EN MPU6050_D7
-
-// A mask for the length
-#define MPU6050_I2C_SLV0_LEN_MASK 0x0F
-
-// I2C_SLV1_ADDR Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV1_RW MPU6050_D7
-
-// I2C_SLV1_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV1_LEN0 MPU6050_D0
-#define MPU6050_I2C_SLV1_LEN1 MPU6050_D1
-#define MPU6050_I2C_SLV1_LEN2 MPU6050_D2
-#define MPU6050_I2C_SLV1_LEN3 MPU6050_D3
-#define MPU6050_I2C_SLV1_GRP MPU6050_D4
-#define MPU6050_I2C_SLV1_REG_DIS MPU6050_D5
-#define MPU6050_I2C_SLV1_BYTE_SW MPU6050_D6
-#define MPU6050_I2C_SLV1_EN MPU6050_D7
-
-// A mask for the length
-#define MPU6050_I2C_SLV1_LEN_MASK 0x0F
-
-// I2C_SLV2_ADDR Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV2_RW MPU6050_D7
-
-// I2C_SLV2_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV2_LEN0 MPU6050_D0
-#define MPU6050_I2C_SLV2_LEN1 MPU6050_D1
-#define MPU6050_I2C_SLV2_LEN2 MPU6050_D2
-#define MPU6050_I2C_SLV2_LEN3 MPU6050_D3
-#define MPU6050_I2C_SLV2_GRP MPU6050_D4
-#define MPU6050_I2C_SLV2_REG_DIS MPU6050_D5
-#define MPU6050_I2C_SLV2_BYTE_SW MPU6050_D6
-#define MPU6050_I2C_SLV2_EN MPU6050_D7
-
-// A mask for the length
-#define MPU6050_I2C_SLV2_LEN_MASK 0x0F
-
-// I2C_SLV3_ADDR Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV3_RW MPU6050_D7
-
-// I2C_SLV3_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV3_LEN0 MPU6050_D0
-#define MPU6050_I2C_SLV3_LEN1 MPU6050_D1
-#define MPU6050_I2C_SLV3_LEN2 MPU6050_D2
-#define MPU6050_I2C_SLV3_LEN3 MPU6050_D3
-#define MPU6050_I2C_SLV3_GRP MPU6050_D4
-#define MPU6050_I2C_SLV3_REG_DIS MPU6050_D5
-#define MPU6050_I2C_SLV3_BYTE_SW MPU6050_D6
-#define MPU6050_I2C_SLV3_EN MPU6050_D7
-
-// A mask for the length
-#define MPU6050_I2C_SLV3_LEN_MASK 0x0F
-
-// I2C_SLV4_ADDR Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV4_RW MPU6050_D7
-
-// I2C_SLV4_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_MST_DLY0 MPU6050_D0
-#define MPU6050_I2C_MST_DLY1 MPU6050_D1
-#define MPU6050_I2C_MST_DLY2 MPU6050_D2
-#define MPU6050_I2C_MST_DLY3 MPU6050_D3
-#define MPU6050_I2C_MST_DLY4 MPU6050_D4
-#define MPU6050_I2C_SLV4_REG_DIS MPU6050_D5
-#define MPU6050_I2C_SLV4_INT_EN MPU6050_D6
-#define MPU6050_I2C_SLV4_EN MPU6050_D7
-
-// A mask for the delay
-#define MPU6050_I2C_MST_DLY_MASK 0x1F
-
-// I2C_MST_STATUS Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV0_NACK MPU6050_D0
-#define MPU6050_I2C_SLV1_NACK MPU6050_D1
-#define MPU6050_I2C_SLV2_NACK MPU6050_D2
-#define MPU6050_I2C_SLV3_NACK MPU6050_D3
-#define MPU6050_I2C_SLV4_NACK MPU6050_D4
-#define MPU6050_I2C_LOST_ARB MPU6050_D5
-#define MPU6050_I2C_SLV4_DONE MPU6050_D6
-#define MPU6050_PASS_THROUGH MPU6050_D7
-
-// I2C_PIN_CFG Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_CLKOUT_EN MPU6050_D0
-#define MPU6050_I2C_BYPASS_EN MPU6050_D1
-#define MPU6050_FSYNC_INT_EN MPU6050_D2
-#define MPU6050_FSYNC_INT_LEVEL MPU6050_D3
-#define MPU6050_INT_RD_CLEAR MPU6050_D4
-#define MPU6050_LATCH_INT_EN MPU6050_D5
-#define MPU6050_INT_OPEN MPU6050_D6
-#define MPU6050_INT_LEVEL MPU6050_D7
-
-// INT_ENABLE Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_DATA_RDY_EN MPU6050_D0
-#define MPU6050_I2C_MST_INT_EN MPU6050_D3
-#define MPU6050_FIFO_OFLOW_EN MPU6050_D4
-#define MPU6050_ZMOT_EN MPU6050_D5
-#define MPU6050_MOT_EN MPU6050_D6
-#define MPU6050_FF_EN MPU6050_D7
-
-// INT_STATUS Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_DATA_RDY_INT MPU6050_D0
-#define MPU6050_I2C_MST_INT MPU6050_D3
-#define MPU6050_FIFO_OFLOW_INT MPU6050_D4
-#define MPU6050_ZMOT_INT MPU6050_D5
-#define MPU6050_MOT_INT MPU6050_D6
-#define MPU6050_FF_INT MPU6050_D7
-
-// MOT_DETECT_STATUS Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_MOT_ZRMOT MPU6050_D0
-#define MPU6050_MOT_ZPOS MPU6050_D2
-#define MPU6050_MOT_ZNEG MPU6050_D3
-#define MPU6050_MOT_YPOS MPU6050_D4
-#define MPU6050_MOT_YNEG MPU6050_D5
-#define MPU6050_MOT_XPOS MPU6050_D6
-#define MPU6050_MOT_XNEG MPU6050_D7
-
-// IC2_MST_DELAY_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_I2C_SLV0_DLY_EN MPU6050_D0
-#define MPU6050_I2C_SLV1_DLY_EN MPU6050_D1
-#define MPU6050_I2C_SLV2_DLY_EN MPU6050_D2
-#define MPU6050_I2C_SLV3_DLY_EN MPU6050_D3
-#define MPU6050_I2C_SLV4_DLY_EN MPU6050_D4
-#define MPU6050_DELAY_ES_SHADOW MPU6050_D7
-
-// SIGNAL_PATH_RESET Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_TEMP_RESET MPU6050_D0
-#define MPU6050_ACCEL_RESET MPU6050_D1
-#define MPU6050_GYRO_RESET MPU6050_D2
-
-// MOT_DETECT_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_MOT_COUNT0 MPU6050_D0
-#define MPU6050_MOT_COUNT1 MPU6050_D1
-#define MPU6050_FF_COUNT0 MPU6050_D2
-#define MPU6050_FF_COUNT1 MPU6050_D3
-#define MPU6050_ACCEL_ON_DELAY0 MPU6050_D4
-#define MPU6050_ACCEL_ON_DELAY1 MPU6050_D5
-
-// Combined definitions for the MOT_COUNT
-#define MPU6050_MOT_COUNT_0 (0)
-#define MPU6050_MOT_COUNT_1 (bit(MPU6050_MOT_COUNT0))
-#define MPU6050_MOT_COUNT_2 (bit(MPU6050_MOT_COUNT1))
-#define MPU6050_MOT_COUNT_3 (bit(MPU6050_MOT_COUNT1)|bit(MPU6050_MOT_COUNT0))
-
-// Alternative names for the combined definitions
-#define MPU6050_MOT_COUNT_RESET MPU6050_MOT_COUNT_0
-
-// Combined definitions for the FF_COUNT
-#define MPU6050_FF_COUNT_0 (0)
-#define MPU6050_FF_COUNT_1 (bit(MPU6050_FF_COUNT0))
-#define MPU6050_FF_COUNT_2 (bit(MPU6050_FF_COUNT1))
-#define MPU6050_FF_COUNT_3 (bit(MPU6050_FF_COUNT1)|bit(MPU6050_FF_COUNT0))
-
-// Alternative names for the combined definitions
-#define MPU6050_FF_COUNT_RESET MPU6050_FF_COUNT_0
-
-// Combined definitions for the ACCEL_ON_DELAY
-#define MPU6050_ACCEL_ON_DELAY_0 (0)
-#define MPU6050_ACCEL_ON_DELAY_1 (bit(MPU6050_ACCEL_ON_DELAY0))
-#define MPU6050_ACCEL_ON_DELAY_2 (bit(MPU6050_ACCEL_ON_DELAY1))
-#define MPU6050_ACCEL_ON_DELAY_3 (bit(MPU6050_ACCEL_ON_DELAY1)|bit(MPU6050_ACCEL_ON_DELAY0))
-
-// Alternative names for the ACCEL_ON_DELAY
-#define MPU6050_ACCEL_ON_DELAY_0MS MPU6050_ACCEL_ON_DELAY_0
-#define MPU6050_ACCEL_ON_DELAY_1MS MPU6050_ACCEL_ON_DELAY_1
-#define MPU6050_ACCEL_ON_DELAY_2MS MPU6050_ACCEL_ON_DELAY_2
-#define MPU6050_ACCEL_ON_DELAY_3MS MPU6050_ACCEL_ON_DELAY_3
-
-// USER_CTRL Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_SIG_COND_RESET MPU6050_D0
-#define MPU6050_I2C_MST_RESET MPU6050_D1
-#define MPU6050_FIFO_RESET MPU6050_D2
-#define MPU6050_I2C_IF_DIS MPU6050_D4 // must be 0 for MPU-6050
-#define MPU6050_I2C_MST_EN MPU6050_D5
-#define MPU6050_FIFO_EN MPU6050_D6
-
-// PWR_MGMT_1 Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_CLKSEL0 MPU6050_D0
-#define MPU6050_CLKSEL1 MPU6050_D1
-#define MPU6050_CLKSEL2 MPU6050_D2
-#define MPU6050_TEMP_DIS MPU6050_D3 // 1: disable temperature sensor
-#define MPU6050_CYCLE MPU6050_D5 // 1: sample and sleep
-#define MPU6050_SLEEP MPU6050_D6 // 1: sleep mode
-#define MPU6050_DEVICE_RESET MPU6050_D7 // 1: reset to default values
-
-// Combined definitions for the CLKSEL
-#define MPU6050_CLKSEL_0 (0)
-#define MPU6050_CLKSEL_1 (bit(MPU6050_CLKSEL0))
-#define MPU6050_CLKSEL_2 (bit(MPU6050_CLKSEL1))
-#define MPU6050_CLKSEL_3 (bit(MPU6050_CLKSEL1)|bit(MPU6050_CLKSEL0))
-#define MPU6050_CLKSEL_4 (bit(MPU6050_CLKSEL2))
-#define MPU6050_CLKSEL_5 (bit(MPU6050_CLKSEL2)|bit(MPU6050_CLKSEL0))
-#define MPU6050_CLKSEL_6 (bit(MPU6050_CLKSEL2)|bit(MPU6050_CLKSEL1))
-#define MPU6050_CLKSEL_7 (bit(MPU6050_CLKSEL2)|bit(MPU6050_CLKSEL1)|bit(MPU6050_CLKSEL0))
-
-// Alternative names for the combined definitions
-#define MPU6050_CLKSEL_INTERNAL MPU6050_CLKSEL_0
-#define MPU6050_CLKSEL_X MPU6050_CLKSEL_1
-#define MPU6050_CLKSEL_Y MPU6050_CLKSEL_2
-#define MPU6050_CLKSEL_Z MPU6050_CLKSEL_3
-#define MPU6050_CLKSEL_EXT_32KHZ MPU6050_CLKSEL_4
-#define MPU6050_CLKSEL_EXT_19_2MHZ MPU6050_CLKSEL_5
-#define MPU6050_CLKSEL_RESERVED MPU6050_CLKSEL_6
-#define MPU6050_CLKSEL_STOP MPU6050_CLKSEL_7
-
-// PWR_MGMT_2 Register
-// These are the names for the bits.
-// Use these only with the bit() macro.
-#define MPU6050_STBY_ZG MPU6050_D0
-#define MPU6050_STBY_YG MPU6050_D1
-#define MPU6050_STBY_XG MPU6050_D2
-#define MPU6050_STBY_ZA MPU6050_D3
-#define MPU6050_STBY_YA MPU6050_D4
-#define MPU6050_STBY_XA MPU6050_D5
-#define MPU6050_LP_WAKE_CTRL0 MPU6050_D6
-#define MPU6050_LP_WAKE_CTRL1 MPU6050_D7
-
-// Combined definitions for the LP_WAKE_CTRL
-#define MPU6050_LP_WAKE_CTRL_0 (0)
-#define MPU6050_LP_WAKE_CTRL_1 (bit(MPU6050_LP_WAKE_CTRL0))
-#define MPU6050_LP_WAKE_CTRL_2 (bit(MPU6050_LP_WAKE_CTRL1))
-#define MPU6050_LP_WAKE_CTRL_3 (bit(MPU6050_LP_WAKE_CTRL1)|bit(MPU6050_LP_WAKE_CTRL0))
-
-// Alternative names for the combined definitions
-// The names uses the Wake-up Frequency.
-#define MPU6050_LP_WAKE_1_25HZ MPU6050_LP_WAKE_CTRL_0
-#define MPU6050_LP_WAKE_2_5HZ MPU6050_LP_WAKE_CTRL_1
-#define MPU6050_LP_WAKE_5HZ MPU6050_LP_WAKE_CTRL_2
-#define MPU6050_LP_WAKE_10HZ MPU6050_LP_WAKE_CTRL_3
-
-
-// Default I2C address for the MPU-6050 is 0x68.
-// But only if the AD0 pin is low.
-// Some sensor boards have AD0 high, and the
-// I2C address thus becomes 0x69.
-#define MPU6050_I2C_ADDRESS 0x68
-
-
-// Declaring an union for the registers and the axis values.
-// The byte order does not match the byte order of
-// the compiler and AVR chip.
-// The AVR chip (on the Arduino board) has the Low Byte
-// at the lower address.
-// But the MPU-6050 has a different order: High Byte at
-// lower address, so that has to be corrected.
-// The register part "reg" is only used internally,
-// and are swapped in code.
-typedef union accel_t_gyro_union
-{
- struct
- {
- uint8_t x_accel_h;
- uint8_t x_accel_l;
- uint8_t y_accel_h;
- uint8_t y_accel_l;
- uint8_t z_accel_h;
- uint8_t z_accel_l;
- uint8_t t_h;
- uint8_t t_l;
- uint8_t x_gyro_h;
- uint8_t x_gyro_l;
- uint8_t y_gyro_h;
- uint8_t y_gyro_l;
- uint8_t z_gyro_h;
- uint8_t z_gyro_l;
- } reg;
- struct
- {
- int x_accel;
- int y_accel;
- int z_accel;
- int temperature;
- int x_gyro;
- int y_gyro;
- int z_gyro;
- } value;
-};
-
-int MPU6050_init();
-int MPU6050_readout(accel_t_gyro_union* accel_t_gyro);
-int MPU6050_read(int start, uint8_t *buffer, int size);
-
-#endif // MPU6050_H_INCLUDED
diff --git a/libraries/MPU9150/MPU9150.cpp b/libraries/MPU9150/MPU9150.cpp
deleted file mode 100644
index caed93d..0000000
--- a/libraries/MPU9150/MPU9150.cpp
+++ /dev/null
@@ -1,3173 +0,0 @@
-// I2Cdev library collection - MPU6050 I2C device class
-// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
-// 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
-// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
-//
-// Changelog:
-// ... - ongoing debug release
-
-// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
-// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
-// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
-
-/* ============================================
-I2Cdev device library code is placed under the MIT license
-Copyright (c) 2012 Jeff Rowberg
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-===============================================
-*/
-
-#include "MPU9150.h"
-
-/** Default constructor, uses default I2C address.
- * @see MPU6050_DEFAULT_ADDRESS
- */
-MPU6050::MPU6050() {
- devAddr = MPU6050_DEFAULT_ADDRESS;
-}
-
-/** Specific address constructor.
- * @param address I2C address
- * @see MPU6050_DEFAULT_ADDRESS
- * @see MPU6050_ADDRESS_AD0_LOW
- * @see MPU6050_ADDRESS_AD0_HIGH
- */
-MPU6050::MPU6050(uint8_t address) {
- devAddr = address;
-}
-
-/** Power on and prepare for general usage.
- * This will activate the device and take it out of sleep mode (which must be done
- * after start-up). This function also sets both the accelerometer and the gyroscope
- * to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
- * the clock source to use the X Gyro for reference, which is slightly better than
- * the default internal clock source.
- */
-void MPU6050::initialize() {
- setClockSource(MPU6050_CLOCK_PLL_XGYRO);
- setFullScaleGyroRange(MPU6050_GYRO_FS_250);
- setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
- setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
-}
-
-/** Verify the I2C connection.
- * Make sure the device is connected and responds as expected.
- * @return True if connection is valid, false otherwise
- */
-bool MPU6050::testConnection() {
- return getDeviceID() == 0x34;
-}
-
-// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
-
-/** Get the auxiliary I2C supply voltage level.
- * When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
- * 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
- * the MPU-6000, which does not have a VLOGIC pin.
- * @return I2C supply voltage level (0=VLOGIC, 1=VDD)
- */
-uint8_t MPU6050::getAuxVDDIOLevel() {
- I2Cdev::readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
- return buffer[0];
-}
-/** Set the auxiliary I2C supply voltage level.
- * When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
- * 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
- * the MPU-6000, which does not have a VLOGIC pin.
- * @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
- */
-void MPU6050::setAuxVDDIOLevel(uint8_t level) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
-}
-
-// SMPLRT_DIV register
-
-/** Get gyroscope output rate divider.
- * The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
- * Motion detection, and Free Fall detection are all based on the Sample Rate.
- * The Sample Rate is generated by dividing the gyroscope output rate by
- * SMPLRT_DIV:
- *
- * Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
- *
- * where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
- * 7), and 1kHz when the DLPF is enabled (see Register 26).
- *
- * Note: The accelerometer output rate is 1kHz. This means that for a Sample
- * Rate greater than 1kHz, the same accelerometer sample may be output to the
- * FIFO, DMP, and sensor registers more than once.
- *
- * For a diagram of the gyroscope and accelerometer signal paths, see Section 8
- * of the MPU-6000/MPU-6050 Product Specification document.
- *
- * @return Current sample rate
- * @see MPU6050_RA_SMPLRT_DIV
- */
-uint8_t MPU6050::getRate() {
- I2Cdev::readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
- return buffer[0];
-}
-
-uint8_t MPU6050::checkMagStatus() {
- I2Cdev::readByte(MPU9150_RA_MAG_ADDRESS, 0x02, buffer);
- return buffer[0];
-}
-
-
-/** Set gyroscope sample rate divider.
- * @param rate New sample rate divider
- * @see getRate()
- * @see MPU6050_RA_SMPLRT_DIV
- */
-void MPU6050::setRate(uint8_t rate) {
- I2Cdev::writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
-}
-
-// CONFIG register
-
-/** Get external FSYNC configuration.
- * Configures the external Frame Synchronization (FSYNC) pin sampling. An
- * external signal connected to the FSYNC pin can be sampled by configuring
- * EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
- * strobes may be captured. The latched FSYNC signal will be sampled at the
- * Sampling Rate, as defined in register 25. After sampling, the latch will
- * reset to the current FSYNC signal state.
- *
- * The sampled value will be reported in place of the least significant bit in
- * a sensor data register determined by the value of EXT_SYNC_SET according to
- * the following table.
- *
- * <pre>
- * EXT_SYNC_SET | FSYNC Bit Location
- * -------------+-------------------
- * 0 | Input disabled
- * 1 | TEMP_OUT_L[0]
- * 2 | GYRO_XOUT_L[0]
- * 3 | GYRO_YOUT_L[0]
- * 4 | GYRO_ZOUT_L[0]
- * 5 | ACCEL_XOUT_L[0]
- * 6 | ACCEL_YOUT_L[0]
- * 7 | ACCEL_ZOUT_L[0]
- * </pre>
- *
- * @return FSYNC configuration value
- */
-uint8_t MPU6050::getExternalFrameSync() {
- I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
- return buffer[0];
-}
-/** Set external FSYNC configuration.
- * @see getExternalFrameSync()
- * @see MPU6050_RA_CONFIG
- * @param sync New FSYNC configuration value
- */
-void MPU6050::setExternalFrameSync(uint8_t sync) {
- I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
-}
-/** Get digital low-pass filter configuration.
- * The DLPF_CFG parameter sets the digital low pass filter configuration. It
- * also determines the internal sampling rate used by the device as shown in
- * the table below.
- *
- * Note: The accelerometer output rate is 1kHz. This means that for a Sample
- * Rate greater than 1kHz, the same accelerometer sample may be output to the
- * FIFO, DMP, and sensor registers more than once.
- *
- * <pre>
- * | ACCELEROMETER | GYROSCOPE
- * DLPF_CFG | Bandwidth | Delay | Bandwidth | Delay | Sample Rate
- * ---------+-----------+--------+-----------+--------+-------------
- * 0 | 260Hz | 0ms | 256Hz | 0.98ms | 8kHz
- * 1 | 184Hz | 2.0ms | 188Hz | 1.9ms | 1kHz
- * 2 | 94Hz | 3.0ms | 98Hz | 2.8ms | 1kHz
- * 3 | 44Hz | 4.9ms | 42Hz | 4.8ms | 1kHz
- * 4 | 21Hz | 8.5ms | 20Hz | 8.3ms | 1kHz
- * 5 | 10Hz | 13.8ms | 10Hz | 13.4ms | 1kHz
- * 6 | 5Hz | 19.0ms | 5Hz | 18.6ms | 1kHz
- * 7 | -- Reserved -- | -- Reserved -- | Reserved
- * </pre>
- *
- * @return DLFP configuration
- * @see MPU6050_RA_CONFIG
- * @see MPU6050_CFG_DLPF_CFG_BIT
- * @see MPU6050_CFG_DLPF_CFG_LENGTH
- */
-uint8_t MPU6050::getDLPFMode() {
- I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
- return buffer[0];
-}
-/** Set digital low-pass filter configuration.
- * @param mode New DLFP configuration setting
- * @see getDLPFBandwidth()
- * @see MPU6050_DLPF_BW_256
- * @see MPU6050_RA_CONFIG
- * @see MPU6050_CFG_DLPF_CFG_BIT
- * @see MPU6050_CFG_DLPF_CFG_LENGTH
- */
-void MPU6050::setDLPFMode(uint8_t mode) {
- I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
-}
-
-// GYRO_CONFIG register
-
-/** Get full-scale gyroscope range.
- * The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
- * as described in the table below.
- *
- * <pre>
- * 0 = +/- 250 degrees/sec
- * 1 = +/- 500 degrees/sec
- * 2 = +/- 1000 degrees/sec
- * 3 = +/- 2000 degrees/sec
- * </pre>
- *
- * @return Current full-scale gyroscope range setting
- * @see MPU6050_GYRO_FS_250
- * @see MPU6050_RA_GYRO_CONFIG
- * @see MPU6050_GCONFIG_FS_SEL_BIT
- * @see MPU6050_GCONFIG_FS_SEL_LENGTH
- */
-uint8_t MPU6050::getFullScaleGyroRange() {
- I2Cdev::readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
- return buffer[0];
-}
-/** Set full-scale gyroscope range.
- * @param range New full-scale gyroscope range value
- * @see getFullScaleRange()
- * @see MPU6050_GYRO_FS_250
- * @see MPU6050_RA_GYRO_CONFIG
- * @see MPU6050_GCONFIG_FS_SEL_BIT
- * @see MPU6050_GCONFIG_FS_SEL_LENGTH
- */
-void MPU6050::setFullScaleGyroRange(uint8_t range) {
- I2Cdev::writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
-}
-
-// ACCEL_CONFIG register
-
-/** Get self-test enabled setting for accelerometer X axis.
- * @return Self-test enabled value
- * @see MPU6050_RA_ACCEL_CONFIG
- */
-bool MPU6050::getAccelXSelfTest() {
- I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
- return buffer[0];
-}
-/** Get self-test enabled setting for accelerometer X axis.
- * @param enabled Self-test enabled value
- * @see MPU6050_RA_ACCEL_CONFIG
- */
-void MPU6050::setAccelXSelfTest(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
-}
-/** Get self-test enabled value for accelerometer Y axis.
- * @return Self-test enabled value
- * @see MPU6050_RA_ACCEL_CONFIG
- */
-bool MPU6050::getAccelYSelfTest() {
- I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
- return buffer[0];
-}
-/** Get self-test enabled value for accelerometer Y axis.
- * @param enabled Self-test enabled value
- * @see MPU6050_RA_ACCEL_CONFIG
- */
-void MPU6050::setAccelYSelfTest(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
-}
-/** Get self-test enabled value for accelerometer Z axis.
- * @return Self-test enabled value
- * @see MPU6050_RA_ACCEL_CONFIG
- */
-bool MPU6050::getAccelZSelfTest() {
- I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
- return buffer[0];
-}
-/** Set self-test enabled value for accelerometer Z axis.
- * @param enabled Self-test enabled value
- * @see MPU6050_RA_ACCEL_CONFIG
- */
-void MPU6050::setAccelZSelfTest(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
-}
-/** Get full-scale accelerometer range.
- * The FS_SEL parameter allows setting the full-scale range of the accelerometer
- * sensors, as described in the table below.
- *
- * <pre>
- * 0 = +/- 2g
- * 1 = +/- 4g
- * 2 = +/- 8g
- * 3 = +/- 16g
- * </pre>
- *
- * @return Current full-scale accelerometer range setting
- * @see MPU6050_ACCEL_FS_2
- * @see MPU6050_RA_ACCEL_CONFIG
- * @see MPU6050_ACONFIG_AFS_SEL_BIT
- * @see MPU6050_ACONFIG_AFS_SEL_LENGTH
- */
-uint8_t MPU6050::getFullScaleAccelRange() {
- I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
- return buffer[0];
-}
-/** Set full-scale accelerometer range.
- * @param range New full-scale accelerometer range setting
- * @see getFullScaleAccelRange()
- */
-void MPU6050::setFullScaleAccelRange(uint8_t range) {
- I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
-}
-/** Get the high-pass filter configuration.
- * The DHPF is a filter module in the path leading to motion detectors (Free
- * Fall, Motion threshold, and Zero Motion). The high pass filter output is not
- * available to the data registers (see Figure in Section 8 of the MPU-6000/
- * MPU-6050 Product Specification document).
- *
- * The high pass filter has three modes:
- *
- * <pre>
- * Reset: The filter output settles to zero within one sample. This
- * effectively disables the high pass filter. This mode may be toggled
- * to quickly settle the filter.
- *
- * On: The high pass filter will pass signals above the cut off frequency.
- *
- * Hold: When triggered, the filter holds the present sample. The filter
- * output will be the difference between the input sample and the held
- * sample.
- * </pre>
- *
- * <pre>
- * ACCEL_HPF | Filter Mode | Cut-off Frequency
- * ----------+-------------+------------------
- * 0 | Reset | None
- * 1 | On | 5Hz
- * 2 | On | 2.5Hz
- * 3 | On | 1.25Hz
- * 4 | On | 0.63Hz
- * 7 | Hold | None
- * </pre>
- *
- * @return Current high-pass filter configuration
- * @see MPU6050_DHPF_RESET
- * @see MPU6050_RA_ACCEL_CONFIG
- */
-uint8_t MPU6050::getDHPFMode() {
- I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
- return buffer[0];
-}
-/** Set the high-pass filter configuration.
- * @param bandwidth New high-pass filter configuration
- * @see setDHPFMode()
- * @see MPU6050_DHPF_RESET
- * @see MPU6050_RA_ACCEL_CONFIG
- */
-void MPU6050::setDHPFMode(uint8_t bandwidth) {
- I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
-}
-
-// FF_THR register
-
-/** Get free-fall event acceleration threshold.
- * This register configures the detection threshold for Free Fall event
- * detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
- * absolute value of the accelerometer measurements for the three axes are each
- * less than the detection threshold. This condition increments the Free Fall
- * duration counter (Register 30). The Free Fall interrupt is triggered when the
- * Free Fall duration counter reaches the time specified in FF_DUR.
- *
- * For more details on the Free Fall detection interrupt, see Section 8.2 of the
- * MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
- * 58 of this document.
- *
- * @return Current free-fall acceleration threshold value (LSB = 2mg)
- * @see MPU6050_RA_FF_THR
- */
-uint8_t MPU6050::getFreefallDetectionThreshold() {
- I2Cdev::readByte(devAddr, MPU6050_RA_FF_THR, buffer);
- return buffer[0];
-}
-/** Get free-fall event acceleration threshold.
- * @param threshold New free-fall acceleration threshold value (LSB = 2mg)
- * @see getFreefallDetectionThreshold()
- * @see MPU6050_RA_FF_THR
- */
-void MPU6050::setFreefallDetectionThreshold(uint8_t threshold) {
- I2Cdev::writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
-}
-
-// FF_DUR register
-
-/** Get free-fall event duration threshold.
- * This register configures the duration counter threshold for Free Fall event
- * detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
- * of 1 LSB = 1 ms.
- *
- * The Free Fall duration counter increments while the absolute value of the
- * accelerometer measurements are each less than the detection threshold
- * (Register 29). The Free Fall interrupt is triggered when the Free Fall
- * duration counter reaches the time specified in this register.
- *
- * For more details on the Free Fall detection interrupt, see Section 8.2 of
- * the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
- * and 58 of this document.
- *
- * @return Current free-fall duration threshold value (LSB = 1ms)
- * @see MPU6050_RA_FF_DUR
- */
-uint8_t MPU6050::getFreefallDetectionDuration() {
- I2Cdev::readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
- return buffer[0];
-}
-/** Get free-fall event duration threshold.
- * @param duration New free-fall duration threshold value (LSB = 1ms)
- * @see getFreefallDetectionDuration()
- * @see MPU6050_RA_FF_DUR
- */
-void MPU6050::setFreefallDetectionDuration(uint8_t duration) {
- I2Cdev::writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
-}
-
-// MOT_THR register
-
-/** Get motion detection event acceleration threshold.
- * This register configures the detection threshold for Motion interrupt
- * generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
- * absolute value of any of the accelerometer measurements exceeds this Motion
- * detection threshold. This condition increments the Motion detection duration
- * counter (Register 32). The Motion detection interrupt is triggered when the
- * Motion Detection counter reaches the time count specified in MOT_DUR
- * (Register 32).
- *
- * The Motion interrupt will indicate the axis and polarity of detected motion
- * in MOT_DETECT_STATUS (Register 97).
- *
- * For more details on the Motion detection interrupt, see Section 8.3 of the
- * MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
- * 58 of this document.
- *
- * @return Current motion detection acceleration threshold value (LSB = 2mg)
- * @see MPU6050_RA_MOT_THR
- */
-uint8_t MPU6050::getMotionDetectionThreshold() {
- I2Cdev::readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
- return buffer[0];
-}
-/** Set free-fall event acceleration threshold.
- * @param threshold New motion detection acceleration threshold value (LSB = 2mg)
- * @see getMotionDetectionThreshold()
- * @see MPU6050_RA_MOT_THR
- */
-void MPU6050::setMotionDetectionThreshold(uint8_t threshold) {
- I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
-}
-
-// MOT_DUR register
-
-/** Get motion detection event duration threshold.
- * This register configures the duration counter threshold for Motion interrupt
- * generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
- * of 1LSB = 1ms. The Motion detection duration counter increments when the
- * absolute value of any of the accelerometer measurements exceeds the Motion
- * detection threshold (Register 31). The Motion detection interrupt is
- * triggered when the Motion detection counter reaches the time count specified
- * in this register.
- *
- * For more details on the Motion detection interrupt, see Section 8.3 of the
- * MPU-6000/MPU-6050 Product Specification document.
- *
- * @return Current motion detection duration threshold value (LSB = 1ms)
- * @see MPU6050_RA_MOT_DUR
- */
-uint8_t MPU6050::getMotionDetectionDuration() {
- I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
- return buffer[0];
-}
-/** Set motion detection event duration threshold.
- * @param duration New motion detection duration threshold value (LSB = 1ms)
- * @see getMotionDetectionDuration()
- * @see MPU6050_RA_MOT_DUR
- */
-void MPU6050::setMotionDetectionDuration(uint8_t duration) {
- I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
-}
-
-// ZRMOT_THR register
-
-/** Get zero motion detection event acceleration threshold.
- * This register configures the detection threshold for Zero Motion interrupt
- * generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
- * the absolute value of the accelerometer measurements for the 3 axes are each
- * less than the detection threshold. This condition increments the Zero Motion
- * duration counter (Register 34). The Zero Motion interrupt is triggered when
- * the Zero Motion duration counter reaches the time count specified in
- * ZRMOT_DUR (Register 34).
- *
- * Unlike Free Fall or Motion detection, Zero Motion detection triggers an
- * interrupt both when Zero Motion is first detected and when Zero Motion is no
- * longer detected.
- *
- * When a zero motion event is detected, a Zero Motion Status will be indicated
- * in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
- * condition is detected, the status bit is set to 1. When a zero-motion-to-
- * motion condition is detected, the status bit is set to 0.
- *
- * For more details on the Zero Motion detection interrupt, see Section 8.4 of
- * the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
- * and 58 of this document.
- *
- * @return Current zero motion detection acceleration threshold value (LSB = 2mg)
- * @see MPU6050_RA_ZRMOT_THR
- */
-uint8_t MPU6050::getZeroMotionDetectionThreshold() {
- I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
- return buffer[0];
-}
-/** Set zero motion detection event acceleration threshold.
- * @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
- * @see getZeroMotionDetectionThreshold()
- * @see MPU6050_RA_ZRMOT_THR
- */
-void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold) {
- I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
-}
-
-// ZRMOT_DUR register
-
-/** Get zero motion detection event duration threshold.
- * This register configures the duration counter threshold for Zero Motion
- * interrupt generation. The duration counter ticks at 16 Hz, therefore
- * ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
- * increments while the absolute value of the accelerometer measurements are
- * each less than the detection threshold (Register 33). The Zero Motion
- * interrupt is triggered when the Zero Motion duration counter reaches the time
- * count specified in this register.
- *
- * For more details on the Zero Motion detection interrupt, see Section 8.4 of
- * the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
- * and 58 of this document.
- *
- * @return Current zero motion detection duration threshold value (LSB = 64ms)
- * @see MPU6050_RA_ZRMOT_DUR
- */
-uint8_t MPU6050::getZeroMotionDetectionDuration() {
- I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
- return buffer[0];
-}
-/** Set zero motion detection event duration threshold.
- * @param duration New zero motion detection duration threshold value (LSB = 1ms)
- * @see getZeroMotionDetectionDuration()
- * @see MPU6050_RA_ZRMOT_DUR
- */
-void MPU6050::setZeroMotionDetectionDuration(uint8_t duration) {
- I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
-}
-
-// FIFO_EN register
-
-/** Get temperature FIFO enabled value.
- * When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
- * 66) to be written into the FIFO buffer.
- * @return Current temperature FIFO enabled value
- * @see MPU6050_RA_FIFO_EN
- */
-bool MPU6050::getTempFIFOEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
- return buffer[0];
-}
-/** Set temperature FIFO enabled value.
- * @param enabled New temperature FIFO enabled value
- * @see getTempFIFOEnabled()
- * @see MPU6050_RA_FIFO_EN
- */
-void MPU6050::setTempFIFOEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
-}
-/** Get gyroscope X-axis FIFO enabled value.
- * When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
- * 68) to be written into the FIFO buffer.
- * @return Current gyroscope X-axis FIFO enabled value
- * @see MPU6050_RA_FIFO_EN
- */
-bool MPU6050::getXGyroFIFOEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
- return buffer[0];
-}
-/** Set gyroscope X-axis FIFO enabled value.
- * @param enabled New gyroscope X-axis FIFO enabled value
- * @see getXGyroFIFOEnabled()
- * @see MPU6050_RA_FIFO_EN
- */
-void MPU6050::setXGyroFIFOEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
-}
-/** Get gyroscope Y-axis FIFO enabled value.
- * When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
- * 70) to be written into the FIFO buffer.
- * @return Current gyroscope Y-axis FIFO enabled value
- * @see MPU6050_RA_FIFO_EN
- */
-bool MPU6050::getYGyroFIFOEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
- return buffer[0];
-}
-/** Set gyroscope Y-axis FIFO enabled value.
- * @param enabled New gyroscope Y-axis FIFO enabled value
- * @see getYGyroFIFOEnabled()
- * @see MPU6050_RA_FIFO_EN
- */
-void MPU6050::setYGyroFIFOEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
-}
-/** Get gyroscope Z-axis FIFO enabled value.
- * When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
- * 72) to be written into the FIFO buffer.
- * @return Current gyroscope Z-axis FIFO enabled value
- * @see MPU6050_RA_FIFO_EN
- */
-bool MPU6050::getZGyroFIFOEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
- return buffer[0];
-}
-/** Set gyroscope Z-axis FIFO enabled value.
- * @param enabled New gyroscope Z-axis FIFO enabled value
- * @see getZGyroFIFOEnabled()
- * @see MPU6050_RA_FIFO_EN
- */
-void MPU6050::setZGyroFIFOEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
-}
-/** Get accelerometer FIFO enabled value.
- * When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
- * ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
- * written into the FIFO buffer.
- * @return Current accelerometer FIFO enabled value
- * @see MPU6050_RA_FIFO_EN
- */
-bool MPU6050::getAccelFIFOEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
- return buffer[0];
-}
-/** Set accelerometer FIFO enabled value.
- * @param enabled New accelerometer FIFO enabled value
- * @see getAccelFIFOEnabled()
- * @see MPU6050_RA_FIFO_EN
- */
-void MPU6050::setAccelFIFOEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
-}
-/** Get Slave 2 FIFO enabled value.
- * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
- * associated with Slave 2 to be written into the FIFO buffer.
- * @return Current Slave 2 FIFO enabled value
- * @see MPU6050_RA_FIFO_EN
- */
-bool MPU6050::getSlave2FIFOEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
- return buffer[0];
-}
-/** Set Slave 2 FIFO enabled value.
- * @param enabled New Slave 2 FIFO enabled value
- * @see getSlave2FIFOEnabled()
- * @see MPU6050_RA_FIFO_EN
- */
-void MPU6050::setSlave2FIFOEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
-}
-/** Get Slave 1 FIFO enabled value.
- * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
- * associated with Slave 1 to be written into the FIFO buffer.
- * @return Current Slave 1 FIFO enabled value
- * @see MPU6050_RA_FIFO_EN
- */
-bool MPU6050::getSlave1FIFOEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
- return buffer[0];
-}
-/** Set Slave 1 FIFO enabled value.
- * @param enabled New Slave 1 FIFO enabled value
- * @see getSlave1FIFOEnabled()
- * @see MPU6050_RA_FIFO_EN
- */
-void MPU6050::setSlave1FIFOEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
-}
-/** Get Slave 0 FIFO enabled value.
- * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
- * associated with Slave 0 to be written into the FIFO buffer.
- * @return Current Slave 0 FIFO enabled value
- * @see MPU6050_RA_FIFO_EN
- */
-bool MPU6050::getSlave0FIFOEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
- return buffer[0];
-}
-/** Set Slave 0 FIFO enabled value.
- * @param enabled New Slave 0 FIFO enabled value
- * @see getSlave0FIFOEnabled()
- * @see MPU6050_RA_FIFO_EN
- */
-void MPU6050::setSlave0FIFOEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
-}
-
-// I2C_MST_CTRL register
-
-/** Get multi-master enabled value.
- * Multi-master capability allows multiple I2C masters to operate on the same
- * bus. In circuits where multi-master capability is required, set MULT_MST_EN
- * to 1. This will increase current drawn by approximately 30uA.
- *
- * In circuits where multi-master capability is required, the state of the I2C
- * bus must always be monitored by each separate I2C Master. Before an I2C
- * Master can assume arbitration of the bus, it must first confirm that no other
- * I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
- * MPU-60X0's bus arbitration detection logic is turned on, enabling it to
- * detect when the bus is available.
- *
- * @return Current multi-master enabled value
- * @see MPU6050_RA_I2C_MST_CTRL
- */
-bool MPU6050::getMultiMasterEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
- return buffer[0];
-}
-/** Set multi-master enabled value.
- * @param enabled New multi-master enabled value
- * @see getMultiMasterEnabled()
- * @see MPU6050_RA_I2C_MST_CTRL
- */
-void MPU6050::setMultiMasterEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
-}
-/** Get wait-for-external-sensor-data enabled value.
- * When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
- * delayed until External Sensor data from the Slave Devices are loaded into the
- * EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
- * data (i.e. from gyro and accel) and external sensor data have been loaded to
- * their respective data registers (i.e. the data is synced) when the Data Ready
- * interrupt is triggered.
- *
- * @return Current wait-for-external-sensor-data enabled value
- * @see MPU6050_RA_I2C_MST_CTRL
- */
-bool MPU6050::getWaitForExternalSensorEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
- return buffer[0];
-}
-/** Set wait-for-external-sensor-data enabled value.
- * @param enabled New wait-for-external-sensor-data enabled value
- * @see getWaitForExternalSensorEnabled()
- * @see MPU6050_RA_I2C_MST_CTRL
- */
-void MPU6050::setWaitForExternalSensorEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
-}
-/** Get Slave 3 FIFO enabled value.
- * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
- * associated with Slave 3 to be written into the FIFO buffer.
- * @return Current Slave 3 FIFO enabled value
- * @see MPU6050_RA_MST_CTRL
- */
-bool MPU6050::getSlave3FIFOEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
- return buffer[0];
-}
-/** Set Slave 3 FIFO enabled value.
- * @param enabled New Slave 3 FIFO enabled value
- * @see getSlave3FIFOEnabled()
- * @see MPU6050_RA_MST_CTRL
- */
-void MPU6050::setSlave3FIFOEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
-}
-/** Get slave read/write transition enabled value.
- * The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
- * read to the next slave read. If the bit equals 0, there will be a restart
- * between reads. If the bit equals 1, there will be a stop followed by a start
- * of the following read. When a write transaction follows a read transaction,
- * the stop followed by a start of the successive write will be always used.
- *
- * @return Current slave read/write transition enabled value
- * @see MPU6050_RA_I2C_MST_CTRL
- */
-bool MPU6050::getSlaveReadWriteTransitionEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
- return buffer[0];
-}
-/** Set slave read/write transition enabled value.
- * @param enabled New slave read/write transition enabled value
- * @see getSlaveReadWriteTransitionEnabled()
- * @see MPU6050_RA_I2C_MST_CTRL
- */
-void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
-}
-/** Get I2C master clock speed.
- * I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
- * MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
- * the following table:
- *
- * <pre>
- * I2C_MST_CLK | I2C Master Clock Speed | 8MHz Clock Divider
- * ------------+------------------------+-------------------
- * 0 | 348kHz | 23
- * 1 | 333kHz | 24
- * 2 | 320kHz | 25
- * 3 | 308kHz | 26
- * 4 | 296kHz | 27
- * 5 | 286kHz | 28
- * 6 | 276kHz | 29
- * 7 | 267kHz | 30
- * 8 | 258kHz | 31
- * 9 | 500kHz | 16
- * 10 | 471kHz | 17
- * 11 | 444kHz | 18
- * 12 | 421kHz | 19
- * 13 | 400kHz | 20
- * 14 | 381kHz | 21
- * 15 | 364kHz | 22
- * </pre>
- *
- * @return Current I2C master clock speed
- * @see MPU6050_RA_I2C_MST_CTRL
- */
-uint8_t MPU6050::getMasterClockSpeed() {
- I2Cdev::readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
- return buffer[0];
-}
-/** Set I2C master clock speed.
- * @reparam speed Current I2C master clock speed
- * @see MPU6050_RA_I2C_MST_CTRL
- */
-void MPU6050::setMasterClockSpeed(uint8_t speed) {
- I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
-}
-
-// I2C_SLV* registers (Slave 0-3)
-
-/** Get the I2C address of the specified slave (0-3).
- * Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
- * operation, and if it is cleared, then it's a write operation. The remaining
- * bits (6-0) are the 7-bit device address of the slave device.
- *
- * In read mode, the result of the read is placed in the lowest available
- * EXT_SENS_DATA register. For further information regarding the allocation of
- * read results, please refer to the EXT_SENS_DATA register description
- * (Registers 73 - 96).
- *
- * The MPU-6050 supports a total of five slaves, but Slave 4 has unique
- * characteristics, and so it has its own functions (getSlave4* and setSlave4*).
- *
- * I2C data transactions are performed at the Sample Rate, as defined in
- * Register 25. The user is responsible for ensuring that I2C data transactions
- * to and from each enabled Slave can be completed within a single period of the
- * Sample Rate.
- *
- * The I2C slave access rate can be reduced relative to the Sample Rate. This
- * reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
- * slave's access rate is reduced relative to the Sample Rate is determined by
- * I2C_MST_DELAY_CTRL (Register 103).
- *
- * The processing order for the slaves is fixed. The sequence followed for
- * processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
- * particular Slave is disabled it will be skipped.
- *
- * Each slave can either be accessed at the sample rate or at a reduced sample
- * rate. In a case where some slaves are accessed at the Sample Rate and some
- * slaves are accessed at the reduced rate, the sequence of accessing the slaves
- * (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
- * be skipped if their access rate dictates that they should not be accessed
- * during that particular cycle. For further information regarding the reduced
- * access rate, please refer to Register 52. Whether a slave is accessed at the
- * Sample Rate or at the reduced rate is determined by the Delay Enable bits in
- * Register 103.
- *
- * @param num Slave number (0-3)
- * @return Current address for specified slave
- * @see MPU6050_RA_I2C_SLV0_ADDR
- */
-uint8_t MPU6050::getSlaveAddress(uint8_t num) {
- if (num > 3) return 0;
- I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer);
- return buffer[0];
-}
-/** Set the I2C address of the specified slave (0-3).
- * @param num Slave number (0-3)
- * @param address New address for specified slave
- * @see getSlaveAddress()
- * @see MPU6050_RA_I2C_SLV0_ADDR
- */
-void MPU6050::setSlaveAddress(uint8_t num, uint8_t address) {
- if (num > 3) return;
- I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address);
-}
-/** Get the active internal register for the specified slave (0-3).
- * Read/write operations for this slave will be done to whatever internal
- * register address is stored in this MPU register.
- *
- * The MPU-6050 supports a total of five slaves, but Slave 4 has unique
- * characteristics, and so it has its own functions.
- *
- * @param num Slave number (0-3)
- * @return Current active register for specified slave
- * @see MPU6050_RA_I2C_SLV0_REG
- */
-uint8_t MPU6050::getSlaveRegister(uint8_t num) {
- if (num > 3) return 0;
- I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer);
- return buffer[0];
-}
-/** Set the active internal register for the specified slave (0-3).
- * @param num Slave number (0-3)
- * @param reg New active register for specified slave
- * @see getSlaveRegister()
- * @see MPU6050_RA_I2C_SLV0_REG
- */
-void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg) {
- if (num > 3) return;
- I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg);
-}
-/** Get the enabled value for the specified slave (0-3).
- * When set to 1, this bit enables Slave 0 for data transfer operations. When
- * cleared to 0, this bit disables Slave 0 from data transfer operations.
- * @param num Slave number (0-3)
- * @return Current enabled value for specified slave
- * @see MPU6050_RA_I2C_SLV0_CTRL
- */
-bool MPU6050::getSlaveEnabled(uint8_t num) {
- if (num > 3) return 0;
- I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer);
- return buffer[0];
-}
-/** Set the enabled value for the specified slave (0-3).
- * @param num Slave number (0-3)
- * @param enabled New enabled value for specified slave
- * @see getSlaveEnabled()
- * @see MPU6050_RA_I2C_SLV0_CTRL
- */
-void MPU6050::setSlaveEnabled(uint8_t num, bool enabled) {
- if (num > 3) return;
- I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled);
-}
-/** Get word pair byte-swapping enabled for the specified slave (0-3).
- * When set to 1, this bit enables byte swapping. When byte swapping is enabled,
- * the high and low bytes of a word pair are swapped. Please refer to
- * I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
- * bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
- * registers in the order they were transferred.
- *
- * @param num Slave number (0-3)
- * @return Current word pair byte-swapping enabled value for specified slave
- * @see MPU6050_RA_I2C_SLV0_CTRL
- */
-bool MPU6050::getSlaveWordByteSwap(uint8_t num) {
- if (num > 3) return 0;
- I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
- return buffer[0];
-}
-/** Set word pair byte-swapping enabled for the specified slave (0-3).
- * @param num Slave number (0-3)
- * @param enabled New word pair byte-swapping enabled value for specified slave
- * @see getSlaveWordByteSwap()
- * @see MPU6050_RA_I2C_SLV0_CTRL
- */
-void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled) {
- if (num > 3) return;
- I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
-}
-/** Get write mode for the specified slave (0-3).
- * When set to 1, the transaction will read or write data only. When cleared to
- * 0, the transaction will write a register address prior to reading or writing
- * data. This should equal 0 when specifying the register address within the
- * Slave device to/from which the ensuing data transaction will take place.
- *
- * @param num Slave number (0-3)
- * @return Current write mode for specified slave (0 = register address + data, 1 = data only)
- * @see MPU6050_RA_I2C_SLV0_CTRL
- */
-bool MPU6050::getSlaveWriteMode(uint8_t num) {
- if (num > 3) return 0;
- I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
- return buffer[0];
-}
-/** Set write mode for the specified slave (0-3).
- * @param num Slave number (0-3)
- * @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
- * @see getSlaveWriteMode()
- * @see MPU6050_RA_I2C_SLV0_CTRL
- */
-void MPU6050::setSlaveWriteMode(uint8_t num, bool mode) {
- if (num > 3) return;
- I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
-}
-/** Get word pair grouping order offset for the specified slave (0-3).
- * This sets specifies the grouping order of word pairs received from registers.
- * When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
- * then odd register addresses) are paired to form a word. When set to 1, bytes
- * from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
- * register addresses) are paired to form a word.
- *
- * @param num Slave number (0-3)
- * @return Current word pair grouping order offset for specified slave
- * @see MPU6050_RA_I2C_SLV0_CTRL
- */
-bool MPU6050::getSlaveWordGroupOffset(uint8_t num) {
- if (num > 3) return 0;
- I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer);
- return buffer[0];
-}
-/** Set word pair grouping order offset for the specified slave (0-3).
- * @param num Slave number (0-3)
- * @param enabled New word pair grouping order offset for specified slave
- * @see getSlaveWordGroupOffset()
- * @see MPU6050_RA_I2C_SLV0_CTRL
- */
-void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled) {
- if (num > 3) return;
- I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled);
-}
-/** Get number of bytes to read for the specified slave (0-3).
- * Specifies the number of bytes transferred to and from Slave 0. Clearing this
- * bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
- * @param num Slave number (0-3)
- * @return Number of bytes to read for specified slave
- * @see MPU6050_RA_I2C_SLV0_CTRL
- */
-uint8_t MPU6050::getSlaveDataLength(uint8_t num) {
- if (num > 3) return 0;
- I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer);
- return buffer[0];
-}
-/** Set number of bytes to read for the specified slave (0-3).
- * @param num Slave number (0-3)
- * @param length Number of bytes to read for specified slave
- * @see getSlaveDataLength()
- * @see MPU6050_RA_I2C_SLV0_CTRL
- */
-void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length) {
- if (num > 3) return;
- I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length);
-}
-
-// I2C_SLV* registers (Slave 4)
-
-/** Get the I2C address of Slave 4.
- * Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
- * operation, and if it is cleared, then it's a write operation. The remaining
- * bits (6-0) are the 7-bit device address of the slave device.
- *
- * @return Current address for Slave 4
- * @see getSlaveAddress()
- * @see MPU6050_RA_I2C_SLV4_ADDR
- */
-uint8_t MPU6050::getSlave4Address() {
- I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
- return buffer[0];
-}
-/** Set the I2C address of Slave 4.
- * @param address New address for Slave 4
- * @see getSlave4Address()
- * @see MPU6050_RA_I2C_SLV4_ADDR
- */
-void MPU6050::setSlave4Address(uint8_t address) {
- I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
-}
-/** Get the active internal register for the Slave 4.
- * Read/write operations for this slave will be done to whatever internal
- * register address is stored in this MPU register.
- *
- * @return Current active register for Slave 4
- * @see MPU6050_RA_I2C_SLV4_REG
- */
-uint8_t MPU6050::getSlave4Register() {
- I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
- return buffer[0];
-}
-/** Set the active internal register for Slave 4.
- * @param reg New active register for Slave 4
- * @see getSlave4Register()
- * @see MPU6050_RA_I2C_SLV4_REG
- */
-void MPU6050::setSlave4Register(uint8_t reg) {
- I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
-}
-/** Set new byte to write to Slave 4.
- * This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
- * is set 1 (set to read), this register has no effect.
- * @param data New byte to write to Slave 4
- * @see MPU6050_RA_I2C_SLV4_DO
- */
-void MPU6050::setSlave4OutputByte(uint8_t data) {
- I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
-}
-/** Get the enabled value for the Slave 4.
- * When set to 1, this bit enables Slave 4 for data transfer operations. When
- * cleared to 0, this bit disables Slave 4 from data transfer operations.
- * @return Current enabled value for Slave 4
- * @see MPU6050_RA_I2C_SLV4_CTRL
- */
-bool MPU6050::getSlave4Enabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
- return buffer[0];
-}
-/** Set the enabled value for Slave 4.
- * @param enabled New enabled value for Slave 4
- * @see getSlave4Enabled()
- * @see MPU6050_RA_I2C_SLV4_CTRL
- */
-void MPU6050::setSlave4Enabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
-}
-/** Get the enabled value for Slave 4 transaction interrupts.
- * When set to 1, this bit enables the generation of an interrupt signal upon
- * completion of a Slave 4 transaction. When cleared to 0, this bit disables the
- * generation of an interrupt signal upon completion of a Slave 4 transaction.
- * The interrupt status can be observed in Register 54.
- *
- * @return Current enabled value for Slave 4 transaction interrupts.
- * @see MPU6050_RA_I2C_SLV4_CTRL
- */
-bool MPU6050::getSlave4InterruptEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
- return buffer[0];
-}
-/** Set the enabled value for Slave 4 transaction interrupts.
- * @param enabled New enabled value for Slave 4 transaction interrupts.
- * @see getSlave4InterruptEnabled()
- * @see MPU6050_RA_I2C_SLV4_CTRL
- */
-void MPU6050::setSlave4InterruptEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
-}
-/** Get write mode for Slave 4.
- * When set to 1, the transaction will read or write data only. When cleared to
- * 0, the transaction will write a register address prior to reading or writing
- * data. This should equal 0 when specifying the register address within the
- * Slave device to/from which the ensuing data transaction will take place.
- *
- * @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
- * @see MPU6050_RA_I2C_SLV4_CTRL
- */
-bool MPU6050::getSlave4WriteMode() {
- I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
- return buffer[0];
-}
-/** Set write mode for the Slave 4.
- * @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
- * @see getSlave4WriteMode()
- * @see MPU6050_RA_I2C_SLV4_CTRL
- */
-void MPU6050::setSlave4WriteMode(bool mode) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
-}
-/** Get Slave 4 master delay value.
- * This configures the reduced access rate of I2C slaves relative to the Sample
- * Rate. When a slave's access rate is decreased relative to the Sample Rate,
- * the slave is accessed every:
- *
- * 1 / (1 + I2C_MST_DLY) samples
- *
- * This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
- * DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
- * the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
- * further information regarding the Sample Rate, please refer to register 25.
- *
- * @return Current Slave 4 master delay value
- * @see MPU6050_RA_I2C_SLV4_CTRL
- */
-uint8_t MPU6050::getSlave4MasterDelay() {
- I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
- return buffer[0];
-}
-/** Set Slave 4 master delay value.
- * @param delay New Slave 4 master delay value
- * @see getSlave4MasterDelay()
- * @see MPU6050_RA_I2C_SLV4_CTRL
- */
-void MPU6050::setSlave4MasterDelay(uint8_t delay) {
- I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
-}
-/** Get last available byte read from Slave 4.
- * This register stores the data read from Slave 4. This field is populated
- * after a read transaction.
- * @return Last available byte read from to Slave 4
- * @see MPU6050_RA_I2C_SLV4_DI
- */
-uint8_t MPU6050::getSlate4InputByte() {
- I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
- return buffer[0];
-}
-
-// I2C_MST_STATUS register
-
-/** Get FSYNC interrupt status.
- * This bit reflects the status of the FSYNC interrupt from an external device
- * into the MPU-60X0. This is used as a way to pass an external interrupt
- * through the MPU-60X0 to the host application processor. When set to 1, this
- * bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
- * (Register 55).
- * @return FSYNC interrupt status
- * @see MPU6050_RA_I2C_MST_STATUS
- */
-bool MPU6050::getPassthroughStatus() {
- I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
- return buffer[0];
-}
-/** Get Slave 4 transaction done status.
- * Automatically sets to 1 when a Slave 4 transaction has completed. This
- * triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
- * (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
- * I2C_SLV4_CTRL register (Register 52).
- * @return Slave 4 transaction done status
- * @see MPU6050_RA_I2C_MST_STATUS
- */
-bool MPU6050::getSlave4IsDone() {
- I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
- return buffer[0];
-}
-/** Get master arbitration lost status.
- * This bit automatically sets to 1 when the I2C Master has lost arbitration of
- * the auxiliary I2C bus (an error condition). This triggers an interrupt if the
- * I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
- * @return Master arbitration lost status
- * @see MPU6050_RA_I2C_MST_STATUS
- */
-bool MPU6050::getLostArbitration() {
- I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
- return buffer[0];
-}
-/** Get Slave 4 NACK status.
- * This bit automatically sets to 1 when the I2C Master receives a NACK in a
- * transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
- * bit in the INT_ENABLE register (Register 56) is asserted.
- * @return Slave 4 NACK interrupt status
- * @see MPU6050_RA_I2C_MST_STATUS
- */
-bool MPU6050::getSlave4Nack() {
- I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
- return buffer[0];
-}
-/** Get Slave 3 NACK status.
- * This bit automatically sets to 1 when the I2C Master receives a NACK in a
- * transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
- * bit in the INT_ENABLE register (Register 56) is asserted.
- * @return Slave 3 NACK interrupt status
- * @see MPU6050_RA_I2C_MST_STATUS
- */
-bool MPU6050::getSlave3Nack() {
- I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
- return buffer[0];
-}
-/** Get Slave 2 NACK status.
- * This bit automatically sets to 1 when the I2C Master receives a NACK in a
- * transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
- * bit in the INT_ENABLE register (Register 56) is asserted.
- * @return Slave 2 NACK interrupt status
- * @see MPU6050_RA_I2C_MST_STATUS
- */
-bool MPU6050::getSlave2Nack() {
- I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
- return buffer[0];
-}
-/** Get Slave 1 NACK status.
- * This bit automatically sets to 1 when the I2C Master receives a NACK in a
- * transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
- * bit in the INT_ENABLE register (Register 56) is asserted.
- * @return Slave 1 NACK interrupt status
- * @see MPU6050_RA_I2C_MST_STATUS
- */
-bool MPU6050::getSlave1Nack() {
- I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
- return buffer[0];
-}
-/** Get Slave 0 NACK status.
- * This bit automatically sets to 1 when the I2C Master receives a NACK in a
- * transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
- * bit in the INT_ENABLE register (Register 56) is asserted.
- * @return Slave 0 NACK interrupt status
- * @see MPU6050_RA_I2C_MST_STATUS
- */
-bool MPU6050::getSlave0Nack() {
- I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
- return buffer[0];
-}
-
-// INT_PIN_CFG register
-
-/** Get interrupt logic level mode.
- * Will be set 0 for active-high, 1 for active-low.
- * @return Current interrupt mode (0=active-high, 1=active-low)
- * @see MPU6050_RA_INT_PIN_CFG
- * @see MPU6050_INTCFG_INT_LEVEL_BIT
- */
-bool MPU6050::getInterruptMode() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
- return buffer[0];
-}
-/** Set interrupt logic level mode.
- * @param mode New interrupt mode (0=active-high, 1=active-low)
- * @see getInterruptMode()
- * @see MPU6050_RA_INT_PIN_CFG
- * @see MPU6050_INTCFG_INT_LEVEL_BIT
- */
-void MPU6050::setInterruptMode(bool mode) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
-}
-/** Get interrupt drive mode.
- * Will be set 0 for push-pull, 1 for open-drain.
- * @return Current interrupt drive mode (0=push-pull, 1=open-drain)
- * @see MPU6050_RA_INT_PIN_CFG
- * @see MPU6050_INTCFG_INT_OPEN_BIT
- */
-bool MPU6050::getInterruptDrive() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
- return buffer[0];
-}
-/** Set interrupt drive mode.
- * @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
- * @see getInterruptDrive()
- * @see MPU6050_RA_INT_PIN_CFG
- * @see MPU6050_INTCFG_INT_OPEN_BIT
- */
-void MPU6050::setInterruptDrive(bool drive) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
-}
-/** Get interrupt latch mode.
- * Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
- * @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
- * @see MPU6050_RA_INT_PIN_CFG
- * @see MPU6050_INTCFG_LATCH_INT_EN_BIT
- */
-bool MPU6050::getInterruptLatch() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
- return buffer[0];
-}
-/** Set interrupt latch mode.
- * @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
- * @see getInterruptLatch()
- * @see MPU6050_RA_INT_PIN_CFG
- * @see MPU6050_INTCFG_LATCH_INT_EN_BIT
- */
-void MPU6050::setInterruptLatch(bool latch) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
-}
-/** Get interrupt latch clear mode.
- * Will be set 0 for status-read-only, 1 for any-register-read.
- * @return Current latch clear mode (0=status-read-only, 1=any-register-read)
- * @see MPU6050_RA_INT_PIN_CFG
- * @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
- */
-bool MPU6050::getInterruptLatchClear() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
- return buffer[0];
-}
-/** Set interrupt latch clear mode.
- * @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
- * @see getInterruptLatchClear()
- * @see MPU6050_RA_INT_PIN_CFG
- * @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
- */
-void MPU6050::setInterruptLatchClear(bool clear) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
-}
-/** Get FSYNC interrupt logic level mode.
- * @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
- * @see getFSyncInterruptMode()
- * @see MPU6050_RA_INT_PIN_CFG
- * @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
- */
-bool MPU6050::getFSyncInterruptLevel() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
- return buffer[0];
-}
-/** Set FSYNC interrupt logic level mode.
- * @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
- * @see getFSyncInterruptMode()
- * @see MPU6050_RA_INT_PIN_CFG
- * @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
- */
-void MPU6050::setFSyncInterruptLevel(bool level) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
-}
-/** Get FSYNC pin interrupt enabled setting.
- * Will be set 0 for disabled, 1 for enabled.
- * @return Current interrupt enabled setting
- * @see MPU6050_RA_INT_PIN_CFG
- * @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
- */
-bool MPU6050::getFSyncInterruptEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
- return buffer[0];
-}
-/** Set FSYNC pin interrupt enabled setting.
- * @param enabled New FSYNC pin interrupt enabled setting
- * @see getFSyncInterruptEnabled()
- * @see MPU6050_RA_INT_PIN_CFG
- * @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
- */
-void MPU6050::setFSyncInterruptEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
-}
-/** Get I2C bypass enabled status.
- * When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
- * 0, the host application processor will be able to directly access the
- * auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
- * application processor will not be able to directly access the auxiliary I2C
- * bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
- * bit[5]).
- * @return Current I2C bypass enabled status
- * @see MPU6050_RA_INT_PIN_CFG
- * @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
- */
-bool MPU6050::getI2CBypassEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
- return buffer[0];
-}
-/** Set I2C bypass enabled status.
- * When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
- * 0, the host application processor will be able to directly access the
- * auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
- * application processor will not be able to directly access the auxiliary I2C
- * bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
- * bit[5]).
- * @param enabled New I2C bypass enabled status
- * @see MPU6050_RA_INT_PIN_CFG
- * @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
- */
-void MPU6050::setI2CBypassEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
-}
-/** Get reference clock output enabled status.
- * When this bit is equal to 1, a reference clock output is provided at the
- * CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
- * further information regarding CLKOUT, please refer to the MPU-60X0 Product
- * Specification document.
- * @return Current reference clock output enabled status
- * @see MPU6050_RA_INT_PIN_CFG
- * @see MPU6050_INTCFG_CLKOUT_EN_BIT
- */
-bool MPU6050::getClockOutputEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
- return buffer[0];
-}
-/** Set reference clock output enabled status.
- * When this bit is equal to 1, a reference clock output is provided at the
- * CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
- * further information regarding CLKOUT, please refer to the MPU-60X0 Product
- * Specification document.
- * @param enabled New reference clock output enabled status
- * @see MPU6050_RA_INT_PIN_CFG
- * @see MPU6050_INTCFG_CLKOUT_EN_BIT
- */
-void MPU6050::setClockOutputEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
-}
-
-// INT_ENABLE register
-
-/** Get full interrupt enabled status.
- * Full register byte for all interrupts, for quick reading. Each bit will be
- * set 0 for disabled, 1 for enabled.
- * @return Current interrupt enabled status
- * @see MPU6050_RA_INT_ENABLE
- * @see MPU6050_INTERRUPT_FF_BIT
- **/
-uint8_t MPU6050::getIntEnabled() {
- I2Cdev::readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
- return buffer[0];
-}
-/** Set full interrupt enabled status.
- * Full register byte for all interrupts, for quick reading. Each bit should be
- * set 0 for disabled, 1 for enabled.
- * @param enabled New interrupt enabled status
- * @see getIntFreefallEnabled()
- * @see MPU6050_RA_INT_ENABLE
- * @see MPU6050_INTERRUPT_FF_BIT
- **/
-void MPU6050::setIntEnabled(uint8_t enabled) {
- I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
-}
-/** Get Free Fall interrupt enabled status.
- * Will be set 0 for disabled, 1 for enabled.
- * @return Current interrupt enabled status
- * @see MPU6050_RA_INT_ENABLE
- * @see MPU6050_INTERRUPT_FF_BIT
- **/
-bool MPU6050::getIntFreefallEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
- return buffer[0];
-}
-/** Set Free Fall interrupt enabled status.
- * @param enabled New interrupt enabled status
- * @see getIntFreefallEnabled()
- * @see MPU6050_RA_INT_ENABLE
- * @see MPU6050_INTERRUPT_FF_BIT
- **/
-void MPU6050::setIntFreefallEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
-}
-/** Get Motion Detection interrupt enabled status.
- * Will be set 0 for disabled, 1 for enabled.
- * @return Current interrupt enabled status
- * @see MPU6050_RA_INT_ENABLE
- * @see MPU6050_INTERRUPT_MOT_BIT
- **/
-bool MPU6050::getIntMotionEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
- return buffer[0];
-}
-/** Set Motion Detection interrupt enabled status.
- * @param enabled New interrupt enabled status
- * @see getIntMotionEnabled()
- * @see MPU6050_RA_INT_ENABLE
- * @see MPU6050_INTERRUPT_MOT_BIT
- **/
-void MPU6050::setIntMotionEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
-}
-/** Get Zero Motion Detection interrupt enabled status.
- * Will be set 0 for disabled, 1 for enabled.
- * @return Current interrupt enabled status
- * @see MPU6050_RA_INT_ENABLE
- * @see MPU6050_INTERRUPT_ZMOT_BIT
- **/
-bool MPU6050::getIntZeroMotionEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
- return buffer[0];
-}
-/** Set Zero Motion Detection interrupt enabled status.
- * @param enabled New interrupt enabled status
- * @see getIntZeroMotionEnabled()
- * @see MPU6050_RA_INT_ENABLE
- * @see MPU6050_INTERRUPT_ZMOT_BIT
- **/
-void MPU6050::setIntZeroMotionEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
-}
-/** Get FIFO Buffer Overflow interrupt enabled status.
- * Will be set 0 for disabled, 1 for enabled.
- * @return Current interrupt enabled status
- * @see MPU6050_RA_INT_ENABLE
- * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
- **/
-bool MPU6050::getIntFIFOBufferOverflowEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
- return buffer[0];
-}
-/** Set FIFO Buffer Overflow interrupt enabled status.
- * @param enabled New interrupt enabled status
- * @see getIntFIFOBufferOverflowEnabled()
- * @see MPU6050_RA_INT_ENABLE
- * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
- **/
-void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
-}
-/** Get I2C Master interrupt enabled status.
- * This enables any of the I2C Master interrupt sources to generate an
- * interrupt. Will be set 0 for disabled, 1 for enabled.
- * @return Current interrupt enabled status
- * @see MPU6050_RA_INT_ENABLE
- * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
- **/
-bool MPU6050::getIntI2CMasterEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
- return buffer[0];
-}
-/** Set I2C Master interrupt enabled status.
- * @param enabled New interrupt enabled status
- * @see getIntI2CMasterEnabled()
- * @see MPU6050_RA_INT_ENABLE
- * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
- **/
-void MPU6050::setIntI2CMasterEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
-}
-/** Get Data Ready interrupt enabled setting.
- * This event occurs each time a write operation to all of the sensor registers
- * has been completed. Will be set 0 for disabled, 1 for enabled.
- * @return Current interrupt enabled status
- * @see MPU6050_RA_INT_ENABLE
- * @see MPU6050_INTERRUPT_DATA_RDY_BIT
- */
-bool MPU6050::getIntDataReadyEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
- return buffer[0];
-}
-/** Set Data Ready interrupt enabled status.
- * @param enabled New interrupt enabled status
- * @see getIntDataReadyEnabled()
- * @see MPU6050_RA_INT_CFG
- * @see MPU6050_INTERRUPT_DATA_RDY_BIT
- */
-void MPU6050::setIntDataReadyEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
-}
-
-// INT_STATUS register
-
-/** Get full set of interrupt status bits.
- * These bits clear to 0 after the register has been read. Very useful
- * for getting multiple INT statuses, since each single bit read clears
- * all of them because it has to read the whole byte.
- * @return Current interrupt status
- * @see MPU6050_RA_INT_STATUS
- */
-uint8_t MPU6050::getIntStatus() {
- I2Cdev::readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
- return buffer[0];
-}
-/** Get Free Fall interrupt status.
- * This bit automatically sets to 1 when a Free Fall interrupt has been
- * generated. The bit clears to 0 after the register has been read.
- * @return Current interrupt status
- * @see MPU6050_RA_INT_STATUS
- * @see MPU6050_INTERRUPT_FF_BIT
- */
-bool MPU6050::getIntFreefallStatus() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
- return buffer[0];
-}
-/** Get Motion Detection interrupt status.
- * This bit automatically sets to 1 when a Motion Detection interrupt has been
- * generated. The bit clears to 0 after the register has been read.
- * @return Current interrupt status
- * @see MPU6050_RA_INT_STATUS
- * @see MPU6050_INTERRUPT_MOT_BIT
- */
-bool MPU6050::getIntMotionStatus() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
- return buffer[0];
-}
-/** Get Zero Motion Detection interrupt status.
- * This bit automatically sets to 1 when a Zero Motion Detection interrupt has
- * been generated. The bit clears to 0 after the register has been read.
- * @return Current interrupt status
- * @see MPU6050_RA_INT_STATUS
- * @see MPU6050_INTERRUPT_ZMOT_BIT
- */
-bool MPU6050::getIntZeroMotionStatus() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
- return buffer[0];
-}
-/** Get FIFO Buffer Overflow interrupt status.
- * This bit automatically sets to 1 when a Free Fall interrupt has been
- * generated. The bit clears to 0 after the register has been read.
- * @return Current interrupt status
- * @see MPU6050_RA_INT_STATUS
- * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
- */
-bool MPU6050::getIntFIFOBufferOverflowStatus() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
- return buffer[0];
-}
-/** Get I2C Master interrupt status.
- * This bit automatically sets to 1 when an I2C Master interrupt has been
- * generated. For a list of I2C Master interrupts, please refer to Register 54.
- * The bit clears to 0 after the register has been read.
- * @return Current interrupt status
- * @see MPU6050_RA_INT_STATUS
- * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
- */
-bool MPU6050::getIntI2CMasterStatus() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
- return buffer[0];
-}
-/** Get Data Ready interrupt status.
- * This bit automatically sets to 1 when a Data Ready interrupt has been
- * generated. The bit clears to 0 after the register has been read.
- * @return Current interrupt status
- * @see MPU6050_RA_INT_STATUS
- * @see MPU6050_INTERRUPT_DATA_RDY_BIT
- */
-bool MPU6050::getIntDataReadyStatus() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
- return buffer[0];
-}
-
-// ACCEL_*OUT_* registers
-
-/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
- * FUNCTION NOT FULLY IMPLEMENTED YET.
- * @param ax 16-bit signed integer container for accelerometer X-axis value
- * @param ay 16-bit signed integer container for accelerometer Y-axis value
- * @param az 16-bit signed integer container for accelerometer Z-axis value
- * @param gx 16-bit signed integer container for gyroscope X-axis value
- * @param gy 16-bit signed integer container for gyroscope Y-axis value
- * @param gz 16-bit signed integer container for gyroscope Z-axis value
- * @param mx 16-bit signed integer container for magnetometer X-axis value
- * @param my 16-bit signed integer container for magnetometer Y-axis value
- * @param mz 16-bit signed integer container for magnetometer Z-axis value
- * @see getMotion6()
- * @see getAcceleration()
- * @see getRotation()
- * @see MPU6050_RA_ACCEL_XOUT_H
- */
-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) {
-
- //get accel and gyro
- getMotion6(ax, ay, az, gx, gy, gz);
-
- //read mag
- I2Cdev::writeByte(devAddr, MPU6050_RA_INT_PIN_CFG, 0x02); //set i2c bypass enable pin to true to access magnetometer
- delay(10);
- I2Cdev::writeByte(MPU9150_RA_MAG_ADDRESS, 0x0A, 0x01); //enable the magnetometer
- delay(10);
- I2Cdev::readBytes(MPU9150_RA_MAG_ADDRESS, MPU9150_RA_MAG_XOUT_L, 6, buffer);
- *mx = (((int16_t)buffer[1]) << 8) | buffer[0];
- *my = (((int16_t)buffer[3]) << 8) | buffer[2];
- *mz = (((int16_t)buffer[5]) << 8) | buffer[4];
-}
-
-void MPU6050::getMag(int16_t* mx, int16_t* my, int16_t* mz) {
-
- //read mag
- I2Cdev::writeByte(devAddr, MPU6050_RA_INT_PIN_CFG, 0x02); //set i2c bypass enable pin to true to access magnetometer
- delay(10);
- I2Cdev::writeByte(MPU9150_RA_MAG_ADDRESS, 0x0A, 0x01); //enable the magnetometer
- delay(10);
- I2Cdev::readBytes(MPU9150_RA_MAG_ADDRESS, MPU9150_RA_MAG_XOUT_L, 6, buffer);
- *mx = (((int16_t)buffer[1]) << 8) | buffer[0];
- *my = (((int16_t)buffer[3]) << 8) | buffer[2];
- *mz = (((int16_t)buffer[5]) << 8) | buffer[4];
-}
-/** Get raw 6-axis motion sensor readings (accel/gyro).
- * Retrieves all currently available motion sensor values.
- * @param ax 16-bit signed integer container for accelerometer X-axis value
- * @param ay 16-bit signed integer container for accelerometer Y-axis value
- * @param az 16-bit signed integer container for accelerometer Z-axis value
- * @param gx 16-bit signed integer container for gyroscope X-axis value
- * @param gy 16-bit signed integer container for gyroscope Y-axis value
- * @param gz 16-bit signed integer container for gyroscope Z-axis value
- * @see getAcceleration()
- * @see getRotation()
- * @see MPU6050_RA_ACCEL_XOUT_H
- */
-void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz) {
- I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
- *ax = (((int16_t)buffer[0]) << 8) | buffer[1];
- *ay = (((int16_t)buffer[2]) << 8) | buffer[3];
- *az = (((int16_t)buffer[4]) << 8) | buffer[5];
- *gx = (((int16_t)buffer[8]) << 8) | buffer[9];
- *gy = (((int16_t)buffer[10]) << 8) | buffer[11];
- *gz = (((int16_t)buffer[12]) << 8) | buffer[13];
-}
-/** Get 3-axis accelerometer readings.
- * These registers store the most recent accelerometer measurements.
- * Accelerometer measurements are written to these registers at the Sample Rate
- * as defined in Register 25.
- *
- * The accelerometer measurement registers, along with the temperature
- * measurement registers, gyroscope measurement registers, and external sensor
- * data registers, are composed of two sets of registers: an internal register
- * set and a user-facing read register set.
- *
- * The data within the accelerometer sensors' internal register set is always
- * updated at the Sample Rate. Meanwhile, the user-facing read register set
- * duplicates the internal register set's data values whenever the serial
- * interface is idle. This guarantees that a burst read of sensor registers will
- * read measurements from the same sampling instant. Note that if burst reads
- * are not used, the user is responsible for ensuring a set of single byte reads
- * correspond to a single sampling instant by checking the Data Ready interrupt.
- *
- * Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
- * (Register 28). For each full scale setting, the accelerometers' sensitivity
- * per LSB in ACCEL_xOUT is shown in the table below:
- *
- * <pre>
- * AFS_SEL | Full Scale Range | LSB Sensitivity
- * --------+------------------+----------------
- * 0 | +/- 2g | 8192 LSB/mg
- * 1 | +/- 4g | 4096 LSB/mg
- * 2 | +/- 8g | 2048 LSB/mg
- * 3 | +/- 16g | 1024 LSB/mg
- * </pre>
- *
- * @param x 16-bit signed integer container for X-axis acceleration
- * @param y 16-bit signed integer container for Y-axis acceleration
- * @param z 16-bit signed integer container for Z-axis acceleration
- * @see MPU6050_RA_GYRO_XOUT_H
- */
-void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z) {
- I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
- *x = (((int16_t)buffer[0]) << 8) | buffer[1];
- *y = (((int16_t)buffer[2]) << 8) | buffer[3];
- *z = (((int16_t)buffer[4]) << 8) | buffer[5];
-}
-/** Get X-axis accelerometer reading.
- * @return X-axis acceleration measurement in 16-bit 2's complement format
- * @see getMotion6()
- * @see MPU6050_RA_ACCEL_XOUT_H
- */
-int16_t MPU6050::getAccelerationX() {
- I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
- return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-/** Get Y-axis accelerometer reading.
- * @return Y-axis acceleration measurement in 16-bit 2's complement format
- * @see getMotion6()
- * @see MPU6050_RA_ACCEL_YOUT_H
- */
-int16_t MPU6050::getAccelerationY() {
- I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
- return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-/** Get Z-axis accelerometer reading.
- * @return Z-axis acceleration measurement in 16-bit 2's complement format
- * @see getMotion6()
- * @see MPU6050_RA_ACCEL_ZOUT_H
- */
-int16_t MPU6050::getAccelerationZ() {
- I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
- return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-
-// TEMP_OUT_* registers
-
-/** Get current internal temperature.
- * @return Temperature reading in 16-bit 2's complement format
- * @see MPU6050_RA_TEMP_OUT_H
- */
-int16_t MPU6050::getTemperature() {
- I2Cdev::readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
- return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-
-// GYRO_*OUT_* registers
-
-/** Get 3-axis gyroscope readings.
- * These gyroscope measurement registers, along with the accelerometer
- * measurement registers, temperature measurement registers, and external sensor
- * data registers, are composed of two sets of registers: an internal register
- * set and a user-facing read register set.
- * The data within the gyroscope sensors' internal register set is always
- * updated at the Sample Rate. Meanwhile, the user-facing read register set
- * duplicates the internal register set's data values whenever the serial
- * interface is idle. This guarantees that a burst read of sensor registers will
- * read measurements from the same sampling instant. Note that if burst reads
- * are not used, the user is responsible for ensuring a set of single byte reads
- * correspond to a single sampling instant by checking the Data Ready interrupt.
- *
- * Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
- * (Register 27). For each full scale setting, the gyroscopes' sensitivity per
- * LSB in GYRO_xOUT is shown in the table below:
- *
- * <pre>
- * FS_SEL | Full Scale Range | LSB Sensitivity
- * -------+--------------------+----------------
- * 0 | +/- 250 degrees/s | 131 LSB/deg/s
- * 1 | +/- 500 degrees/s | 65.5 LSB/deg/s
- * 2 | +/- 1000 degrees/s | 32.8 LSB/deg/s
- * 3 | +/- 2000 degrees/s | 16.4 LSB/deg/s
- * </pre>
- *
- * @param x 16-bit signed integer container for X-axis rotation
- * @param y 16-bit signed integer container for Y-axis rotation
- * @param z 16-bit signed integer container for Z-axis rotation
- * @see getMotion6()
- * @see MPU6050_RA_GYRO_XOUT_H
- */
-void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z) {
- I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
- *x = (((int16_t)buffer[0]) << 8) | buffer[1];
- *y = (((int16_t)buffer[2]) << 8) | buffer[3];
- *z = (((int16_t)buffer[4]) << 8) | buffer[5];
-}
-/** Get X-axis gyroscope reading.
- * @return X-axis rotation measurement in 16-bit 2's complement format
- * @see getMotion6()
- * @see MPU6050_RA_GYRO_XOUT_H
- */
-int16_t MPU6050::getRotationX() {
- I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
- return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-/** Get Y-axis gyroscope reading.
- * @return Y-axis rotation measurement in 16-bit 2's complement format
- * @see getMotion6()
- * @see MPU6050_RA_GYRO_YOUT_H
- */
-int16_t MPU6050::getRotationY() {
- I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
- return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-/** Get Z-axis gyroscope reading.
- * @return Z-axis rotation measurement in 16-bit 2's complement format
- * @see getMotion6()
- * @see MPU6050_RA_GYRO_ZOUT_H
- */
-int16_t MPU6050::getRotationZ() {
- I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
- return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-
-// EXT_SENS_DATA_* registers
-
-/** Read single byte from external sensor data register.
- * These registers store data read from external sensors by the Slave 0, 1, 2,
- * and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
- * I2C_SLV4_DI (Register 53).
- *
- * External sensor data is written to these registers at the Sample Rate as
- * defined in Register 25. This access rate can be reduced by using the Slave
- * Delay Enable registers (Register 103).
- *
- * External sensor data registers, along with the gyroscope measurement
- * registers, accelerometer measurement registers, and temperature measurement
- * registers, are composed of two sets of registers: an internal register set
- * and a user-facing read register set.
- *
- * The data within the external sensors' internal register set is always updated
- * at the Sample Rate (or the reduced access rate) whenever the serial interface
- * is idle. This guarantees that a burst read of sensor registers will read
- * measurements from the same sampling instant. Note that if burst reads are not
- * used, the user is responsible for ensuring a set of single byte reads
- * correspond to a single sampling instant by checking the Data Ready interrupt.
- *
- * Data is placed in these external sensor data registers according to
- * I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
- * 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
- * an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
- * defined in Register 25) or delayed rate (if specified in Register 52 and
- * 103). During each Sample cycle, slave reads are performed in order of Slave
- * number. If all slaves are enabled with more than zero bytes to be read, the
- * order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
- *
- * Each enabled slave will have EXT_SENS_DATA registers associated with it by
- * number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
- * EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
- * change the higher numbered slaves' associated registers. Furthermore, if
- * fewer total bytes are being read from the external sensors as a result of
- * such a change, then the data remaining in the registers which no longer have
- * an associated slave device (i.e. high numbered registers) will remain in
- * these previously allocated registers unless reset.
- *
- * If the sum of the read lengths of all SLVx transactions exceed the number of
- * available EXT_SENS_DATA registers, the excess bytes will be dropped. There
- * are 24 EXT_SENS_DATA registers and hence the total read lengths between all
- * the slaves cannot be greater than 24 or some bytes will be lost.
- *
- * Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
- * information regarding the characteristics of Slave 4, please refer to
- * Registers 49 to 53.
- *
- * EXAMPLE:
- * Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
- * I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
- * I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
- * through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
- * will be associated with Slave 1. If Slave 2 is enabled as well, registers
- * starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
- *
- * If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
- * registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
- * instead.
- *
- * REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
- * If a slave is disabled at any time, the space initially allocated to the
- * slave in the EXT_SENS_DATA register, will remain associated with that slave.
- * This is to avoid dynamic adjustment of the register allocation.
- *
- * The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
- * slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
- *
- * This above is also true if one of the slaves gets NACKed and stops
- * functioning.
- *
- * @param position Starting position (0-23)
- * @return Byte read from register
- */
-uint8_t MPU6050::getExternalSensorByte(int position) {
- I2Cdev::readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
- return buffer[0];
-}
-/** Read word (2 bytes) from external sensor data registers.
- * @param position Starting position (0-21)
- * @return Word read from register
- * @see getExternalSensorByte()
- */
-uint16_t MPU6050::getExternalSensorWord(int position) {
- I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
- return (((uint16_t)buffer[0]) << 8) | buffer[1];
-}
-/** Read double word (4 bytes) from external sensor data registers.
- * @param position Starting position (0-20)
- * @return Double word read from registers
- * @see getExternalSensorByte()
- */
-uint32_t MPU6050::getExternalSensorDWord(int position) {
- I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
- return (((uint32_t)buffer[0]) << 24) | (((uint32_t)buffer[1]) << 16) | (((uint16_t)buffer[2]) << 8) | buffer[3];
-}
-
-// MOT_DETECT_STATUS register
-
-/** Get X-axis negative motion detection interrupt status.
- * @return Motion detection status
- * @see MPU6050_RA_MOT_DETECT_STATUS
- * @see MPU6050_MOTION_MOT_XNEG_BIT
- */
-bool MPU6050::getXNegMotionDetected() {
- I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
- return buffer[0];
-}
-/** Get X-axis positive motion detection interrupt status.
- * @return Motion detection status
- * @see MPU6050_RA_MOT_DETECT_STATUS
- * @see MPU6050_MOTION_MOT_XPOS_BIT
- */
-bool MPU6050::getXPosMotionDetected() {
- I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
- return buffer[0];
-}
-/** Get Y-axis negative motion detection interrupt status.
- * @return Motion detection status
- * @see MPU6050_RA_MOT_DETECT_STATUS
- * @see MPU6050_MOTION_MOT_YNEG_BIT
- */
-bool MPU6050::getYNegMotionDetected() {
- I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
- return buffer[0];
-}
-/** Get Y-axis positive motion detection interrupt status.
- * @return Motion detection status
- * @see MPU6050_RA_MOT_DETECT_STATUS
- * @see MPU6050_MOTION_MOT_YPOS_BIT
- */
-bool MPU6050::getYPosMotionDetected() {
- I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
- return buffer[0];
-}
-/** Get Z-axis negative motion detection interrupt status.
- * @return Motion detection status
- * @see MPU6050_RA_MOT_DETECT_STATUS
- * @see MPU6050_MOTION_MOT_ZNEG_BIT
- */
-bool MPU6050::getZNegMotionDetected() {
- I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
- return buffer[0];
-}
-/** Get Z-axis positive motion detection interrupt status.
- * @return Motion detection status
- * @see MPU6050_RA_MOT_DETECT_STATUS
- * @see MPU6050_MOTION_MOT_ZPOS_BIT
- */
-bool MPU6050::getZPosMotionDetected() {
- I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
- return buffer[0];
-}
-/** Get zero motion detection interrupt status.
- * @return Motion detection status
- * @see MPU6050_RA_MOT_DETECT_STATUS
- * @see MPU6050_MOTION_MOT_ZRMOT_BIT
- */
-bool MPU6050::getZeroMotionDetected() {
- I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
- return buffer[0];
-}
-
-// I2C_SLV*_DO register
-
-/** Write byte to Data Output container for specified slave.
- * This register holds the output data written into Slave when Slave is set to
- * write mode. For further information regarding Slave control, please
- * refer to Registers 37 to 39 and immediately following.
- * @param num Slave number (0-3)
- * @param data Byte to write
- * @see MPU6050_RA_I2C_SLV0_DO
- */
-void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data) {
- if (num > 3) return;
- I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
-}
-
-// I2C_MST_DELAY_CTRL register
-
-/** Get external data shadow delay enabled status.
- * This register is used to specify the timing of external sensor data
- * shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
- * sensor data is delayed until all data has been received.
- * @return Current external data shadow delay enabled status.
- * @see MPU6050_RA_I2C_MST_DELAY_CTRL
- * @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
- */
-bool MPU6050::getExternalShadowDelayEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
- return buffer[0];
-}
-/** Set external data shadow delay enabled status.
- * @param enabled New external data shadow delay enabled status.
- * @see getExternalShadowDelayEnabled()
- * @see MPU6050_RA_I2C_MST_DELAY_CTRL
- * @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
- */
-void MPU6050::setExternalShadowDelayEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
-}
-/** Get slave delay enabled status.
- * When a particular slave delay is enabled, the rate of access for the that
- * slave device is reduced. When a slave's access rate is decreased relative to
- * the Sample Rate, the slave is accessed every:
- *
- * 1 / (1 + I2C_MST_DLY) Samples
- *
- * This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25)
- * and DLPF_CFG (register 26).
- *
- * For further information regarding I2C_MST_DLY, please refer to register 52.
- * For further information regarding the Sample Rate, please refer to register 25.
- *
- * @param num Slave number (0-4)
- * @return Current slave delay enabled status.
- * @see MPU6050_RA_I2C_MST_DELAY_CTRL
- * @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
- */
-bool MPU6050::getSlaveDelayEnabled(uint8_t num) {
- // MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
- if (num > 4) return 0;
- I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
- return buffer[0];
-}
-/** Set slave delay enabled status.
- * @param num Slave number (0-4)
- * @param enabled New slave delay enabled status.
- * @see MPU6050_RA_I2C_MST_DELAY_CTRL
- * @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
- */
-void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
-}
-
-// SIGNAL_PATH_RESET register
-
-/** Reset gyroscope signal path.
- * The reset will revert the signal path analog to digital converters and
- * filters to their power up configurations.
- * @see MPU6050_RA_SIGNAL_PATH_RESET
- * @see MPU6050_PATHRESET_GYRO_RESET_BIT
- */
-void MPU6050::resetGyroscopePath() {
- I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
-}
-/** Reset accelerometer signal path.
- * The reset will revert the signal path analog to digital converters and
- * filters to their power up configurations.
- * @see MPU6050_RA_SIGNAL_PATH_RESET
- * @see MPU6050_PATHRESET_ACCEL_RESET_BIT
- */
-void MPU6050::resetAccelerometerPath() {
- I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
-}
-/** Reset temperature sensor signal path.
- * The reset will revert the signal path analog to digital converters and
- * filters to their power up configurations.
- * @see MPU6050_RA_SIGNAL_PATH_RESET
- * @see MPU6050_PATHRESET_TEMP_RESET_BIT
- */
-void MPU6050::resetTemperaturePath() {
- I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
-}
-
-// MOT_DETECT_CTRL register
-
-/** Get accelerometer power-on delay.
- * The accelerometer data path provides samples to the sensor registers, Motion
- * detection, Zero Motion detection, and Free Fall detection modules. The
- * signal path contains filters which must be flushed on wake-up with new
- * samples before the detection modules begin operations. The default wake-up
- * delay, of 4ms can be lengthened by up to 3ms. This additional delay is
- * specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
- * any value above zero unless instructed otherwise by InvenSense. Please refer
- * to Section 8 of the MPU-6000/MPU-6050 Product Specification document for
- * further information regarding the detection modules.
- * @return Current accelerometer power-on delay
- * @see MPU6050_RA_MOT_DETECT_CTRL
- * @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
- */
-uint8_t MPU6050::getAccelerometerPowerOnDelay() {
- I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
- return buffer[0];
-}
-/** Set accelerometer power-on delay.
- * @param delay New accelerometer power-on delay (0-3)
- * @see getAccelerometerPowerOnDelay()
- * @see MPU6050_RA_MOT_DETECT_CTRL
- * @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
- */
-void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay) {
- I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
-}
-/** Get Free Fall detection counter decrement configuration.
- * Detection is registered by the Free Fall detection module after accelerometer
- * measurements meet their respective threshold conditions over a specified
- * number of samples. When the threshold conditions are met, the corresponding
- * detection counter increments by 1. The user may control the rate at which the
- * detection counter decrements when the threshold condition is not met by
- * configuring FF_COUNT. The decrement rate can be set according to the
- * following table:
- *
- * <pre>
- * FF_COUNT | Counter Decrement
- * ---------+------------------
- * 0 | Reset
- * 1 | 1
- * 2 | 2
- * 3 | 4
- * </pre>
- *
- * When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
- * reset the counter to 0. For further information on Free Fall detection,
- * please refer to Registers 29 to 32.
- *
- * @return Current decrement configuration
- * @see MPU6050_RA_MOT_DETECT_CTRL
- * @see MPU6050_DETECT_FF_COUNT_BIT
- */
-uint8_t MPU6050::getFreefallDetectionCounterDecrement() {
- I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
- return buffer[0];
-}
-/** Set Free Fall detection counter decrement configuration.
- * @param decrement New decrement configuration value
- * @see getFreefallDetectionCounterDecrement()
- * @see MPU6050_RA_MOT_DETECT_CTRL
- * @see MPU6050_DETECT_FF_COUNT_BIT
- */
-void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement) {
- I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
-}
-/** Get Motion detection counter decrement configuration.
- * Detection is registered by the Motion detection module after accelerometer
- * measurements meet their respective threshold conditions over a specified
- * number of samples. When the threshold conditions are met, the corresponding
- * detection counter increments by 1. The user may control the rate at which the
- * detection counter decrements when the threshold condition is not met by
- * configuring MOT_COUNT. The decrement rate can be set according to the
- * following table:
- *
- * <pre>
- * MOT_COUNT | Counter Decrement
- * ----------+------------------
- * 0 | Reset
- * 1 | 1
- * 2 | 2
- * 3 | 4
- * </pre>
- *
- * When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
- * reset the counter to 0. For further information on Motion detection,
- * please refer to Registers 29 to 32.
- *
- */
-uint8_t MPU6050::getMotionDetectionCounterDecrement() {
- I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
- return buffer[0];
-}
-/** Set Motion detection counter decrement configuration.
- * @param decrement New decrement configuration value
- * @see getMotionDetectionCounterDecrement()
- * @see MPU6050_RA_MOT_DETECT_CTRL
- * @see MPU6050_DETECT_MOT_COUNT_BIT
- */
-void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement) {
- I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
-}
-
-// USER_CTRL register
-
-/** Get FIFO enabled status.
- * When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
- * cannot be written to or read from while disabled. The FIFO buffer's state
- * does not change unless the MPU-60X0 is power cycled.
- * @return Current FIFO enabled status
- * @see MPU6050_RA_USER_CTRL
- * @see MPU6050_USERCTRL_FIFO_EN_BIT
- */
-bool MPU6050::getFIFOEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
- return buffer[0];
-}
-/** Set FIFO enabled status.
- * @param enabled New FIFO enabled status
- * @see getFIFOEnabled()
- * @see MPU6050_RA_USER_CTRL
- * @see MPU6050_USERCTRL_FIFO_EN_BIT
- */
-void MPU6050::setFIFOEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
-}
-/** Get I2C Master Mode enabled status.
- * When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
- * external sensor slave devices on the auxiliary I2C bus. When this bit is
- * cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
- * driven by the primary I2C bus (SDA and SCL). This is a precondition to
- * enabling Bypass Mode. For further information regarding Bypass Mode, please
- * refer to Register 55.
- * @return Current I2C Master Mode enabled status
- * @see MPU6050_RA_USER_CTRL
- * @see MPU6050_USERCTRL_I2C_MST_EN_BIT
- */
-bool MPU6050::getI2CMasterModeEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
- return buffer[0];
-}
-/** Set I2C Master Mode enabled status.
- * @param enabled New I2C Master Mode enabled status
- * @see getI2CMasterModeEnabled()
- * @see MPU6050_RA_USER_CTRL
- * @see MPU6050_USERCTRL_I2C_MST_EN_BIT
- */
-void MPU6050::setI2CMasterModeEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
-}
-/** Switch from I2C to SPI mode (MPU-6000 only)
- * If this is set, the primary SPI interface will be enabled in place of the
- * disabled primary I2C interface.
- */
-void MPU6050::switchSPIEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
-}
-/** Reset the FIFO.
- * This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
- * bit automatically clears to 0 after the reset has been triggered.
- * @see MPU6050_RA_USER_CTRL
- * @see MPU6050_USERCTRL_FIFO_RESET_BIT
- */
-void MPU6050::resetFIFO() {
- I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
-}
-/** Reset the I2C Master.
- * This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
- * This bit automatically clears to 0 after the reset has been triggered.
- * @see MPU6050_RA_USER_CTRL
- * @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
- */
-void MPU6050::resetI2CMaster() {
- I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
-}
-/** Reset all sensor registers and signal paths.
- * When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
- * accelerometers, and temperature sensor). This operation will also clear the
- * sensor registers. This bit automatically clears to 0 after the reset has been
- * triggered.
- *
- * When resetting only the signal path (and not the sensor registers), please
- * use Register 104, SIGNAL_PATH_RESET.
- *
- * @see MPU6050_RA_USER_CTRL
- * @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
- */
-void MPU6050::resetSensors() {
- I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
-}
-
-// PWR_MGMT_1 register
-
-/** Trigger a full device reset.
- * A small delay of ~50ms may be desirable after triggering a reset.
- * @see MPU6050_RA_PWR_MGMT_1
- * @see MPU6050_PWR1_DEVICE_RESET_BIT
- */
-void MPU6050::reset() {
- I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
-}
-/** Get sleep mode status.
- * Setting the SLEEP bit in the register puts the device into very low power
- * sleep mode. In this mode, only the serial interface and internal registers
- * remain active, allowing for a very low standby current. Clearing this bit
- * puts the device back into normal mode. To save power, the individual standby
- * selections for each of the gyros should be used if any gyro axis is not used
- * by the application.
- * @return Current sleep mode enabled status
- * @see MPU6050_RA_PWR_MGMT_1
- * @see MPU6050_PWR1_SLEEP_BIT
- */
-bool MPU6050::getSleepEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
- return buffer[0];
-}
-/** Set sleep mode status.
- * @param enabled New sleep mode enabled status
- * @see getSleepEnabled()
- * @see MPU6050_RA_PWR_MGMT_1
- * @see MPU6050_PWR1_SLEEP_BIT
- */
-void MPU6050::setSleepEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
-}
-/** Get wake cycle enabled status.
- * When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
- * between sleep mode and waking up to take a single sample of data from active
- * sensors at a rate determined by LP_WAKE_CTRL (register 108).
- * @return Current sleep mode enabled status
- * @see MPU6050_RA_PWR_MGMT_1
- * @see MPU6050_PWR1_CYCLE_BIT
- */
-bool MPU6050::getWakeCycleEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
- return buffer[0];
-}
-/** Set wake cycle enabled status.
- * @param enabled New sleep mode enabled status
- * @see getWakeCycleEnabled()
- * @see MPU6050_RA_PWR_MGMT_1
- * @see MPU6050_PWR1_CYCLE_BIT
- */
-void MPU6050::setWakeCycleEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
-}
-/** Get temperature sensor enabled status.
- * Control the usage of the internal temperature sensor.
- *
- * Note: this register stores the *disabled* value, but for consistency with the
- * rest of the code, the function is named and used with standard true/false
- * values to indicate whether the sensor is enabled or disabled, respectively.
- *
- * @return Current temperature sensor enabled status
- * @see MPU6050_RA_PWR_MGMT_1
- * @see MPU6050_PWR1_TEMP_DIS_BIT
- */
-bool MPU6050::getTempSensorEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
- return buffer[0] == 0; // 1 is actually disabled here
-}
-/** Set temperature sensor enabled status.
- * Note: this register stores the *disabled* value, but for consistency with the
- * rest of the code, the function is named and used with standard true/false
- * values to indicate whether the sensor is enabled or disabled, respectively.
- *
- * @param enabled New temperature sensor enabled status
- * @see getTempSensorEnabled()
- * @see MPU6050_RA_PWR_MGMT_1
- * @see MPU6050_PWR1_TEMP_DIS_BIT
- */
-void MPU6050::setTempSensorEnabled(bool enabled) {
- // 1 is actually disabled here
- I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
-}
-/** Get clock source setting.
- * @return Current clock source setting
- * @see MPU6050_RA_PWR_MGMT_1
- * @see MPU6050_PWR1_CLKSEL_BIT
- * @see MPU6050_PWR1_CLKSEL_LENGTH
- */
-uint8_t MPU6050::getClockSource() {
- I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
- return buffer[0];
-}
-/** Set clock source setting.
- * An internal 8MHz oscillator, gyroscope based clock, or external sources can
- * be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
- * or an external source is chosen as the clock source, the MPU-60X0 can operate
- * in low power modes with the gyroscopes disabled.
- *
- * Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
- * However, it is highly recommended that the device be configured to use one of
- * the gyroscopes (or an external clock source) as the clock reference for
- * improved stability. The clock source can be selected according to the following table:
- *
- * <pre>
- * CLK_SEL | Clock Source
- * --------+--------------------------------------
- * 0 | Internal oscillator
- * 1 | PLL with X Gyro reference
- * 2 | PLL with Y Gyro reference
- * 3 | PLL with Z Gyro reference
- * 4 | PLL with external 32.768kHz reference
- * 5 | PLL with external 19.2MHz reference
- * 6 | Reserved
- * 7 | Stops the clock and keeps the timing generator in reset
- * </pre>
- *
- * @param source New clock source setting
- * @see getClockSource()
- * @see MPU6050_RA_PWR_MGMT_1
- * @see MPU6050_PWR1_CLKSEL_BIT
- * @see MPU6050_PWR1_CLKSEL_LENGTH
- */
-void MPU6050::setClockSource(uint8_t source) {
- I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
-}
-
-// PWR_MGMT_2 register
-
-/** Get wake frequency in Accel-Only Low Power Mode.
- * The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
- * PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
- * the device will power off all devices except for the primary I2C interface,
- * waking only the accelerometer at fixed intervals to take a single
- * measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
- * as shown below:
- *
- * <pre>
- * LP_WAKE_CTRL | Wake-up Frequency
- * -------------+------------------
- * 0 | 1.25 Hz
- * 1 | 2.5 Hz
- * 2 | 5 Hz
- * 3 | 10 Hz
- * <pre>
- *
- * For further information regarding the MPU-60X0's power modes, please refer to
- * Register 107.
- *
- * @return Current wake frequency
- * @see MPU6050_RA_PWR_MGMT_2
- */
-uint8_t MPU6050::getWakeFrequency() {
- I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
- return buffer[0];
-}
-/** Set wake frequency in Accel-Only Low Power Mode.
- * @param frequency New wake frequency
- * @see MPU6050_RA_PWR_MGMT_2
- */
-void MPU6050::setWakeFrequency(uint8_t frequency) {
- I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
-}
-
-/** Get X-axis accelerometer standby enabled status.
- * If enabled, the X-axis will not gather or report data (or use power).
- * @return Current X-axis standby enabled status
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_XA_BIT
- */
-bool MPU6050::getStandbyXAccelEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
- return buffer[0];
-}
-/** Set X-axis accelerometer standby enabled status.
- * @param New X-axis standby enabled status
- * @see getStandbyXAccelEnabled()
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_XA_BIT
- */
-void MPU6050::setStandbyXAccelEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
-}
-/** Get Y-axis accelerometer standby enabled status.
- * If enabled, the Y-axis will not gather or report data (or use power).
- * @return Current Y-axis standby enabled status
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_YA_BIT
- */
-bool MPU6050::getStandbyYAccelEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
- return buffer[0];
-}
-/** Set Y-axis accelerometer standby enabled status.
- * @param New Y-axis standby enabled status
- * @see getStandbyYAccelEnabled()
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_YA_BIT
- */
-void MPU6050::setStandbyYAccelEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
-}
-/** Get Z-axis accelerometer standby enabled status.
- * If enabled, the Z-axis will not gather or report data (or use power).
- * @return Current Z-axis standby enabled status
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_ZA_BIT
- */
-bool MPU6050::getStandbyZAccelEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
- return buffer[0];
-}
-/** Set Z-axis accelerometer standby enabled status.
- * @param New Z-axis standby enabled status
- * @see getStandbyZAccelEnabled()
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_ZA_BIT
- */
-void MPU6050::setStandbyZAccelEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
-}
-/** Get X-axis gyroscope standby enabled status.
- * If enabled, the X-axis will not gather or report data (or use power).
- * @return Current X-axis standby enabled status
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_XG_BIT
- */
-bool MPU6050::getStandbyXGyroEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
- return buffer[0];
-}
-/** Set X-axis gyroscope standby enabled status.
- * @param New X-axis standby enabled status
- * @see getStandbyXGyroEnabled()
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_XG_BIT
- */
-void MPU6050::setStandbyXGyroEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
-}
-/** Get Y-axis gyroscope standby enabled status.
- * If enabled, the Y-axis will not gather or report data (or use power).
- * @return Current Y-axis standby enabled status
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_YG_BIT
- */
-bool MPU6050::getStandbyYGyroEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
- return buffer[0];
-}
-/** Set Y-axis gyroscope standby enabled status.
- * @param New Y-axis standby enabled status
- * @see getStandbyYGyroEnabled()
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_YG_BIT
- */
-void MPU6050::setStandbyYGyroEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
-}
-/** Get Z-axis gyroscope standby enabled status.
- * If enabled, the Z-axis will not gather or report data (or use power).
- * @return Current Z-axis standby enabled status
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_ZG_BIT
- */
-bool MPU6050::getStandbyZGyroEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
- return buffer[0];
-}
-/** Set Z-axis gyroscope standby enabled status.
- * @param New Z-axis standby enabled status
- * @see getStandbyZGyroEnabled()
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_ZG_BIT
- */
-void MPU6050::setStandbyZGyroEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
-}
-
-// FIFO_COUNT* registers
-
-/** Get current FIFO buffer size.
- * This value indicates the number of bytes stored in the FIFO buffer. This
- * number is in turn the number of bytes that can be read from the FIFO buffer
- * and it is directly proportional to the number of samples available given the
- * set of sensor data bound to be stored in the FIFO (register 35 and 36).
- * @return Current FIFO buffer size
- */
-uint16_t MPU6050::getFIFOCount() {
- I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
- return (((uint16_t)buffer[0]) << 8) | buffer[1];
-}
-
-// FIFO_R_W register
-
-/** Get byte from FIFO buffer.
- * This register is used to read and write data from the FIFO buffer. Data is
- * written to the FIFO in order of register number (from lowest to highest). If
- * all the FIFO enable flags (see below) are enabled and all External Sensor
- * Data registers (Registers 73 to 96) are associated with a Slave device, the
- * contents of registers 59 through 96 will be written in order at the Sample
- * Rate.
- *
- * The contents of the sensor data registers (Registers 59 to 96) are written
- * into the FIFO buffer when their corresponding FIFO enable flags are set to 1
- * in FIFO_EN (Register 35). An additional flag for the sensor data registers
- * associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
- *
- * If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
- * automatically set to 1. This bit is located in INT_STATUS (Register 58).
- * When the FIFO buffer has overflowed, the oldest data will be lost and new
- * data will be written to the FIFO.
- *
- * If the FIFO buffer is empty, reading this register will return the last byte
- * that was previously read from the FIFO until new data is available. The user
- * should check FIFO_COUNT to ensure that the FIFO buffer is not read when
- * empty.
- *
- * @return Byte from FIFO buffer
- */
-uint8_t MPU6050::getFIFOByte() {
- I2Cdev::readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
- return buffer[0];
-}
-void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) {
- I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
-}
-/** Write byte to FIFO buffer.
- * @see getFIFOByte()
- * @see MPU6050_RA_FIFO_R_W
- */
-void MPU6050::setFIFOByte(uint8_t data) {
- I2Cdev::writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
-}
-
-// WHO_AM_I register
-
-/** Get Device ID.
- * This register is used to verify the identity of the device (0b110100, 0x34).
- * @return Device ID (6 bits only! should be 0x34)
- * @see MPU6050_RA_WHO_AM_I
- * @see MPU6050_WHO_AM_I_BIT
- * @see MPU6050_WHO_AM_I_LENGTH
- */
-uint8_t MPU6050::getDeviceID() {
- I2Cdev::readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
- return buffer[0];
-}
-/** Set Device ID.
- * Write a new ID into the WHO_AM_I register (no idea why this should ever be
- * necessary though).
- * @param id New device ID to set.
- * @see getDeviceID()
- * @see MPU6050_RA_WHO_AM_I
- * @see MPU6050_WHO_AM_I_BIT
- * @see MPU6050_WHO_AM_I_LENGTH
- */
-void MPU6050::setDeviceID(uint8_t id) {
- I2Cdev::writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
-}
-
-// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
-
-// XG_OFFS_TC register
-
-uint8_t MPU6050::getOTPBankValid() {
- I2Cdev::readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
- return buffer[0];
-}
-void MPU6050::setOTPBankValid(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
-}
-int8_t MPU6050::getXGyroOffset() {
- I2Cdev::readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
- return buffer[0];
-}
-void MPU6050::setXGyroOffset(int8_t offset) {
- I2Cdev::writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
-}
-
-// YG_OFFS_TC register
-
-int8_t MPU6050::getYGyroOffset() {
- I2Cdev::readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
- return buffer[0];
-}
-void MPU6050::setYGyroOffset(int8_t offset) {
- I2Cdev::writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
-}
-
-// ZG_OFFS_TC register
-
-int8_t MPU6050::getZGyroOffset() {
- I2Cdev::readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
- return buffer[0];
-}
-void MPU6050::setZGyroOffset(int8_t offset) {
- I2Cdev::writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
-}
-
-// X_FINE_GAIN register
-
-int8_t MPU6050::getXFineGain() {
- I2Cdev::readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
- return buffer[0];
-}
-void MPU6050::setXFineGain(int8_t gain) {
- I2Cdev::writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
-}
-
-// Y_FINE_GAIN register
-
-int8_t MPU6050::getYFineGain() {
- I2Cdev::readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
- return buffer[0];
-}
-void MPU6050::setYFineGain(int8_t gain) {
- I2Cdev::writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
-}
-
-// Z_FINE_GAIN register
-
-int8_t MPU6050::getZFineGain() {
- I2Cdev::readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
- return buffer[0];
-}
-void MPU6050::setZFineGain(int8_t gain) {
- I2Cdev::writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
-}
-
-// XA_OFFS_* registers
-
-int16_t MPU6050::getXAccelOffset() {
- I2Cdev::readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
- return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-void MPU6050::setXAccelOffset(int16_t offset) {
- I2Cdev::writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
-}
-
-// YA_OFFS_* register
-
-int16_t MPU6050::getYAccelOffset() {
- I2Cdev::readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
- return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-void MPU6050::setYAccelOffset(int16_t offset) {
- I2Cdev::writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
-}
-
-// ZA_OFFS_* register
-
-int16_t MPU6050::getZAccelOffset() {
- I2Cdev::readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
- return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-void MPU6050::setZAccelOffset(int16_t offset) {
- I2Cdev::writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
-}
-
-// XG_OFFS_USR* registers
-
-int16_t MPU6050::getXGyroOffsetUser() {
- I2Cdev::readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
- return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-void MPU6050::setXGyroOffsetUser(int16_t offset) {
- I2Cdev::writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
-}
-
-// YG_OFFS_USR* register
-
-int16_t MPU6050::getYGyroOffsetUser() {
- I2Cdev::readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
- return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-void MPU6050::setYGyroOffsetUser(int16_t offset) {
- I2Cdev::writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
-}
-
-// ZG_OFFS_USR* register
-
-int16_t MPU6050::getZGyroOffsetUser() {
- I2Cdev::readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
- return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-void MPU6050::setZGyroOffsetUser(int16_t offset) {
- I2Cdev::writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
-}
-
-// INT_ENABLE register (DMP functions)
-
-bool MPU6050::getIntPLLReadyEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
- return buffer[0];
-}
-void MPU6050::setIntPLLReadyEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
-}
-bool MPU6050::getIntDMPEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
- return buffer[0];
-}
-void MPU6050::setIntDMPEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
-}
-
-// DMP_INT_STATUS
-
-bool MPU6050::getDMPInt5Status() {
- I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
- return buffer[0];
-}
-bool MPU6050::getDMPInt4Status() {
- I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
- return buffer[0];
-}
-bool MPU6050::getDMPInt3Status() {
- I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
- return buffer[0];
-}
-bool MPU6050::getDMPInt2Status() {
- I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
- return buffer[0];
-}
-bool MPU6050::getDMPInt1Status() {
- I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
- return buffer[0];
-}
-bool MPU6050::getDMPInt0Status() {
- I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
- return buffer[0];
-}
-
-// INT_STATUS register (DMP functions)
-
-bool MPU6050::getIntPLLReadyStatus() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
- return buffer[0];
-}
-bool MPU6050::getIntDMPStatus() {
- I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
- return buffer[0];
-}
-
-// USER_CTRL register (DMP functions)
-
-bool MPU6050::getDMPEnabled() {
- I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
- return buffer[0];
-}
-void MPU6050::setDMPEnabled(bool enabled) {
- I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
-}
-void MPU6050::resetDMP() {
- I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
-}
-
-// BANK_SEL register
-
-void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank) {
- bank &= 0x1F;
- if (userBank) bank |= 0x20;
- if (prefetchEnabled) bank |= 0x40;
- I2Cdev::writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
-}
-
-// MEM_START_ADDR register
-
-void MPU6050::setMemoryStartAddress(uint8_t address) {
- I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
-}
-
-// MEM_R_W register
-
-uint8_t MPU6050::readMemoryByte() {
- I2Cdev::readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
- return buffer[0];
-}
-void MPU6050::writeMemoryByte(uint8_t data) {
- I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
-}
-void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address) {
- setMemoryBank(bank);
- setMemoryStartAddress(address);
- uint8_t chunkSize;
- for (uint16_t i = 0; i < dataSize;) {
- // determine correct chunk size according to bank position and data size
- chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
-
- // make sure we don't go past the data size
- if (i + chunkSize > dataSize) chunkSize = dataSize - i;
-
- // make sure this chunk doesn't go past the bank boundary (256 bytes)
- if (chunkSize > 256 - address) chunkSize = 256 - address;
-
- // read the chunk of data as specified
- I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
-
- // increase byte index by [chunkSize]
- i += chunkSize;
-
- // uint8_t automatically wraps to 0 at 256
- address += chunkSize;
-
- // if we aren't done, update bank (if necessary) and address
- if (i < dataSize) {
- if (address == 0) bank++;
- setMemoryBank(bank);
- setMemoryStartAddress(address);
- }
- }
-}
-bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem) {
- setMemoryBank(bank);
- setMemoryStartAddress(address);
- uint8_t chunkSize;
- uint8_t *verifyBuffer;
- uint8_t *progBuffer;
- uint16_t i;
- uint8_t j;
- if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
- if (useProgMem) progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
- for (i = 0; i < dataSize;) {
- // determine correct chunk size according to bank position and data size
- chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
-
- // make sure we don't go past the data size
- if (i + chunkSize > dataSize) chunkSize = dataSize - i;
-
- // make sure this chunk doesn't go past the bank boundary (256 bytes)
- if (chunkSize > 256 - address) chunkSize = 256 - address;
-
- if (useProgMem) {
- // write the chunk of data as specified
- for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
- } else {
- // write the chunk of data as specified
- progBuffer = (uint8_t *)data + i;
- }
-
- I2Cdev::writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
-
- // verify data if needed
- if (verify && verifyBuffer) {
- setMemoryBank(bank);
- setMemoryStartAddress(address);
- I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
- if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
- /*Serial.print("Block write verification error, bank ");
- Serial.print(bank, DEC);
- Serial.print(", address ");
- Serial.print(address, DEC);
- Serial.print("!\nExpected:");
- for (j = 0; j < chunkSize; j++) {
- Serial.print(" 0x");
- if (progBuffer[j] < 16) Serial.print("0");
- Serial.print(progBuffer[j], HEX);
- }
- Serial.print("\nReceived:");
- for (uint8_t j = 0; j < chunkSize; j++) {
- Serial.print(" 0x");
- if (verifyBuffer[i + j] < 16) Serial.print("0");
- Serial.print(verifyBuffer[i + j], HEX);
- }
- Serial.print("\n");*/
- free(verifyBuffer);
- if (useProgMem) free(progBuffer);
- return false; // uh oh.
- }
- }
-
- // increase byte index by [chunkSize]
- i += chunkSize;
-
- // uint8_t automatically wraps to 0 at 256
- address += chunkSize;
-
- // if we aren't done, update bank (if necessary) and address
- if (i < dataSize) {
- if (address == 0) bank++;
- setMemoryBank(bank);
- setMemoryStartAddress(address);
- }
- }
- if (verify) free(verifyBuffer);
- if (useProgMem) free(progBuffer);
- return true;
-}
-bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify) {
- return writeMemoryBlock(data, dataSize, bank, address, verify, true);
-}
-bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem) {
- uint8_t *progBuffer, success, special;
- uint16_t i, j;
- if (useProgMem) {
- progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
- }
-
- // config set data is a long string of blocks with the following structure:
- // [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
- uint8_t bank, offset, length;
- for (i = 0; i < dataSize;) {
- if (useProgMem) {
- bank = pgm_read_byte(data + i++);
- offset = pgm_read_byte(data + i++);
- length = pgm_read_byte(data + i++);
- } else {
- bank = data[i++];
- offset = data[i++];
- length = data[i++];
- }
-
- // write data or perform special action
- if (length > 0) {
- // regular block of data to write
- /*Serial.print("Writing config block to bank ");
- Serial.print(bank);
- Serial.print(", offset ");
- Serial.print(offset);
- Serial.print(", length=");
- Serial.println(length);*/
- if (useProgMem) {
- if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length);
- for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j);
- } else {
- progBuffer = (uint8_t *)data + i;
- }
- success = writeMemoryBlock(progBuffer, length, bank, offset, true);
- i += length;
- } else {
- // special instruction
- // NOTE: this kind of behavior (what and when to do certain things)
- // is totally undocumented. This code is in here based on observed
- // behavior only, and exactly why (or even whether) it has to be here
- // is anybody's guess for now.
- if (useProgMem) {
- special = pgm_read_byte(data + i++);
- } else {
- special = data[i++];
- }
- /*Serial.print("Special command code ");
- Serial.print(special, HEX);
- Serial.println(" found...");*/
- if (special == 0x01) {
- // enable DMP-related interrupts
-
- //setIntZeroMotionEnabled(true);
- //setIntFIFOBufferOverflowEnabled(true);
- //setIntDMPEnabled(true);
- I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
-
- success = true;
- } else {
- // unknown special command
- success = false;
- }
- }
-
- if (!success) {
- if (useProgMem) free(progBuffer);
- return false; // uh oh
- }
- }
- if (useProgMem) free(progBuffer);
- return true;
-}
-bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize) {
- return writeDMPConfigurationSet(data, dataSize, true);
-}
-
-// DMP_CFG_1 register
-
-uint8_t MPU6050::getDMPConfig1() {
- I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
- return buffer[0];
-}
-void MPU6050::setDMPConfig1(uint8_t config) {
- I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
-}
-
-// DMP_CFG_2 register
-
-uint8_t MPU6050::getDMPConfig2() {
- I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
- return buffer[0];
-}
-void MPU6050::setDMPConfig2(uint8_t config) {
- I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
-}
diff --git a/libraries/MPU9150/MPU9150.h b/libraries/MPU9150/MPU9150.h
deleted file mode 100644
index e0d015f..0000000
--- a/libraries/MPU9150/MPU9150.h
+++ /dev/null
@@ -1,1002 +0,0 @@
-// I2Cdev library collection - MPU6050 I2C device class
-// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
-// 10/3/2011 by Jeff Rowberg <jeff@rowberg.net>
-// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
-//
-// Changelog:
-// ... - ongoing debug release
-
-// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
-// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
-// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
-
-/* ============================================
-I2Cdev device library code is placed under the MIT license
-Copyright (c) 2012 Jeff Rowberg
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-===============================================
-*/
-
-#ifndef _MPU6050_H_
-#define _MPU6050_H_
-
-#include "I2Cdev.h"
-#include <avr/pgmspace.h>
-
-//Magnetometer Registers
-#define MPU9150_RA_MAG_ADDRESS 0x0C
-#define MPU9150_RA_MAG_XOUT_L 0x03
-#define MPU9150_RA_MAG_XOUT_H 0x04
-#define MPU9150_RA_MAG_YOUT_L 0x05
-#define MPU9150_RA_MAG_YOUT_H 0x06
-#define MPU9150_RA_MAG_ZOUT_L 0x07
-#define MPU9150_RA_MAG_ZOUT_H 0x08
-
-#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
-#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC)
-#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW
-
-#define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
-#define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
-#define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
-#define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
-#define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
-#define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
-#define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
-#define MPU6050_RA_XA_OFFS_L_TC 0x07
-#define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
-#define MPU6050_RA_YA_OFFS_L_TC 0x09
-#define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
-#define MPU6050_RA_ZA_OFFS_L_TC 0x0B
-#define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
-#define MPU6050_RA_XG_OFFS_USRL 0x14
-#define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
-#define MPU6050_RA_YG_OFFS_USRL 0x16
-#define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
-#define MPU6050_RA_ZG_OFFS_USRL 0x18
-#define MPU6050_RA_SMPLRT_DIV 0x19
-#define MPU6050_RA_CONFIG 0x1A
-#define MPU6050_RA_GYRO_CONFIG 0x1B
-#define MPU6050_RA_ACCEL_CONFIG 0x1C
-#define MPU6050_RA_FF_THR 0x1D
-#define MPU6050_RA_FF_DUR 0x1E
-#define MPU6050_RA_MOT_THR 0x1F
-#define MPU6050_RA_MOT_DUR 0x20
-#define MPU6050_RA_ZRMOT_THR 0x21
-#define MPU6050_RA_ZRMOT_DUR 0x22
-#define MPU6050_RA_FIFO_EN 0x23
-#define MPU6050_RA_I2C_MST_CTRL 0x24
-#define MPU6050_RA_I2C_SLV0_ADDR 0x25
-#define MPU6050_RA_I2C_SLV0_REG 0x26
-#define MPU6050_RA_I2C_SLV0_CTRL 0x27
-#define MPU6050_RA_I2C_SLV1_ADDR 0x28
-#define MPU6050_RA_I2C_SLV1_REG 0x29
-#define MPU6050_RA_I2C_SLV1_CTRL 0x2A
-#define MPU6050_RA_I2C_SLV2_ADDR 0x2B
-#define MPU6050_RA_I2C_SLV2_REG 0x2C
-#define MPU6050_RA_I2C_SLV2_CTRL 0x2D
-#define MPU6050_RA_I2C_SLV3_ADDR 0x2E
-#define MPU6050_RA_I2C_SLV3_REG 0x2F
-#define MPU6050_RA_I2C_SLV3_CTRL 0x30
-#define MPU6050_RA_I2C_SLV4_ADDR 0x31
-#define MPU6050_RA_I2C_SLV4_REG 0x32
-#define MPU6050_RA_I2C_SLV4_DO 0x33
-#define MPU6050_RA_I2C_SLV4_CTRL 0x34
-#define MPU6050_RA_I2C_SLV4_DI 0x35
-#define MPU6050_RA_I2C_MST_STATUS 0x36
-#define MPU6050_RA_INT_PIN_CFG 0x37
-#define MPU6050_RA_INT_ENABLE 0x38
-#define MPU6050_RA_DMP_INT_STATUS 0x39
-#define MPU6050_RA_INT_STATUS 0x3A
-#define MPU6050_RA_ACCEL_XOUT_H 0x3B
-#define MPU6050_RA_ACCEL_XOUT_L 0x3C
-#define MPU6050_RA_ACCEL_YOUT_H 0x3D
-#define MPU6050_RA_ACCEL_YOUT_L 0x3E
-#define MPU6050_RA_ACCEL_ZOUT_H 0x3F
-#define MPU6050_RA_ACCEL_ZOUT_L 0x40
-#define MPU6050_RA_TEMP_OUT_H 0x41
-#define MPU6050_RA_TEMP_OUT_L 0x42
-#define MPU6050_RA_GYRO_XOUT_H 0x43
-#define MPU6050_RA_GYRO_XOUT_L 0x44
-#define MPU6050_RA_GYRO_YOUT_H 0x45
-#define MPU6050_RA_GYRO_YOUT_L 0x46
-#define MPU6050_RA_GYRO_ZOUT_H 0x47
-#define MPU6050_RA_GYRO_ZOUT_L 0x48
-#define MPU6050_RA_EXT_SENS_DATA_00 0x49
-#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
-#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
-#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
-#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
-#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
-#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
-#define MPU6050_RA_EXT_SENS_DATA_07 0x50
-#define MPU6050_RA_EXT_SENS_DATA_08 0x51
-#define MPU6050_RA_EXT_SENS_DATA_09 0x52
-#define MPU6050_RA_EXT_SENS_DATA_10 0x53
-#define MPU6050_RA_EXT_SENS_DATA_11 0x54
-#define MPU6050_RA_EXT_SENS_DATA_12 0x55
-#define MPU6050_RA_EXT_SENS_DATA_13 0x56
-#define MPU6050_RA_EXT_SENS_DATA_14 0x57
-#define MPU6050_RA_EXT_SENS_DATA_15 0x58
-#define MPU6050_RA_EXT_SENS_DATA_16 0x59
-#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
-#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
-#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
-#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
-#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
-#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
-#define MPU6050_RA_EXT_SENS_DATA_23 0x60
-#define MPU6050_RA_MOT_DETECT_STATUS 0x61
-#define MPU6050_RA_I2C_SLV0_DO 0x63
-#define MPU6050_RA_I2C_SLV1_DO 0x64
-#define MPU6050_RA_I2C_SLV2_DO 0x65
-#define MPU6050_RA_I2C_SLV3_DO 0x66
-#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67
-#define MPU6050_RA_SIGNAL_PATH_RESET 0x68
-#define MPU6050_RA_MOT_DETECT_CTRL 0x69
-#define MPU6050_RA_USER_CTRL 0x6A
-#define MPU6050_RA_PWR_MGMT_1 0x6B
-#define MPU6050_RA_PWR_MGMT_2 0x6C
-#define MPU6050_RA_BANK_SEL 0x6D
-#define MPU6050_RA_MEM_START_ADDR 0x6E
-#define MPU6050_RA_MEM_R_W 0x6F
-#define MPU6050_RA_DMP_CFG_1 0x70
-#define MPU6050_RA_DMP_CFG_2 0x71
-#define MPU6050_RA_FIFO_COUNTH 0x72
-#define MPU6050_RA_FIFO_COUNTL 0x73
-#define MPU6050_RA_FIFO_R_W 0x74
-#define MPU6050_RA_WHO_AM_I 0x75
-
-#define MPU6050_TC_PWR_MODE_BIT 7
-#define MPU6050_TC_OFFSET_BIT 6
-#define MPU6050_TC_OFFSET_LENGTH 6
-#define MPU6050_TC_OTP_BNK_VLD_BIT 0
-
-#define MPU6050_VDDIO_LEVEL_VLOGIC 0
-#define MPU6050_VDDIO_LEVEL_VDD 1
-
-#define MPU6050_CFG_EXT_SYNC_SET_BIT 5
-#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
-#define MPU6050_CFG_DLPF_CFG_BIT 2
-#define MPU6050_CFG_DLPF_CFG_LENGTH 3
-
-#define MPU6050_EXT_SYNC_DISABLED 0x0
-#define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1
-#define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2
-#define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3
-#define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4
-#define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5
-#define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6
-#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7
-
-#define MPU6050_DLPF_BW_256 0x00
-#define MPU6050_DLPF_BW_188 0x01
-#define MPU6050_DLPF_BW_98 0x02
-#define MPU6050_DLPF_BW_42 0x03
-#define MPU6050_DLPF_BW_20 0x04
-#define MPU6050_DLPF_BW_10 0x05
-#define MPU6050_DLPF_BW_5 0x06
-
-#define MPU6050_GCONFIG_FS_SEL_BIT 4
-#define MPU6050_GCONFIG_FS_SEL_LENGTH 2
-
-#define MPU6050_GYRO_FS_250 0x00
-#define MPU6050_GYRO_FS_500 0x01
-#define MPU6050_GYRO_FS_1000 0x02
-#define MPU6050_GYRO_FS_2000 0x03
-
-#define MPU6050_ACONFIG_XA_ST_BIT 7
-#define MPU6050_ACONFIG_YA_ST_BIT 6
-#define MPU6050_ACONFIG_ZA_ST_BIT 5
-#define MPU6050_ACONFIG_AFS_SEL_BIT 4
-#define MPU6050_ACONFIG_AFS_SEL_LENGTH 2
-#define MPU6050_ACONFIG_ACCEL_HPF_BIT 2
-#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3
-
-#define MPU6050_ACCEL_FS_2 0x00
-#define MPU6050_ACCEL_FS_4 0x01
-#define MPU6050_ACCEL_FS_8 0x02
-#define MPU6050_ACCEL_FS_16 0x03
-
-#define MPU6050_DHPF_RESET 0x00
-#define MPU6050_DHPF_5 0x01
-#define MPU6050_DHPF_2P5 0x02
-#define MPU6050_DHPF_1P25 0x03
-#define MPU6050_DHPF_0P63 0x04
-#define MPU6050_DHPF_HOLD 0x07
-
-#define MPU6050_TEMP_FIFO_EN_BIT 7
-#define MPU6050_XG_FIFO_EN_BIT 6
-#define MPU6050_YG_FIFO_EN_BIT 5
-#define MPU6050_ZG_FIFO_EN_BIT 4
-#define MPU6050_ACCEL_FIFO_EN_BIT 3
-#define MPU6050_SLV2_FIFO_EN_BIT 2
-#define MPU6050_SLV1_FIFO_EN_BIT 1
-#define MPU6050_SLV0_FIFO_EN_BIT 0
-
-#define MPU6050_MULT_MST_EN_BIT 7
-#define MPU6050_WAIT_FOR_ES_BIT 6
-#define MPU6050_SLV_3_FIFO_EN_BIT 5
-#define MPU6050_I2C_MST_P_NSR_BIT 4
-#define MPU6050_I2C_MST_CLK_BIT 3
-#define MPU6050_I2C_MST_CLK_LENGTH 4
-
-#define MPU6050_CLOCK_DIV_348 0x0
-#define MPU6050_CLOCK_DIV_333 0x1
-#define MPU6050_CLOCK_DIV_320 0x2
-#define MPU6050_CLOCK_DIV_308 0x3
-#define MPU6050_CLOCK_DIV_296 0x4
-#define MPU6050_CLOCK_DIV_286 0x5
-#define MPU6050_CLOCK_DIV_276 0x6
-#define MPU6050_CLOCK_DIV_267 0x7
-#define MPU6050_CLOCK_DIV_258 0x8
-#define MPU6050_CLOCK_DIV_500 0x9
-#define MPU6050_CLOCK_DIV_471 0xA
-#define MPU6050_CLOCK_DIV_444 0xB
-#define MPU6050_CLOCK_DIV_421 0xC
-#define MPU6050_CLOCK_DIV_400 0xD
-#define MPU6050_CLOCK_DIV_381 0xE
-#define MPU6050_CLOCK_DIV_364 0xF
-
-#define MPU6050_I2C_SLV_RW_BIT 7
-#define MPU6050_I2C_SLV_ADDR_BIT 6
-#define MPU6050_I2C_SLV_ADDR_LENGTH 7
-#define MPU6050_I2C_SLV_EN_BIT 7
-#define MPU6050_I2C_SLV_BYTE_SW_BIT 6
-#define MPU6050_I2C_SLV_REG_DIS_BIT 5
-#define MPU6050_I2C_SLV_GRP_BIT 4
-#define MPU6050_I2C_SLV_LEN_BIT 3
-#define MPU6050_I2C_SLV_LEN_LENGTH 4
-
-#define MPU6050_I2C_SLV4_RW_BIT 7
-#define MPU6050_I2C_SLV4_ADDR_BIT 6
-#define MPU6050_I2C_SLV4_ADDR_LENGTH 7
-#define MPU6050_I2C_SLV4_EN_BIT 7
-#define MPU6050_I2C_SLV4_INT_EN_BIT 6
-#define MPU6050_I2C_SLV4_REG_DIS_BIT 5
-#define MPU6050_I2C_SLV4_MST_DLY_BIT 4
-#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
-
-#define MPU6050_MST_PASS_THROUGH_BIT 7
-#define MPU6050_MST_I2C_SLV4_DONE_BIT 6
-#define MPU6050_MST_I2C_LOST_ARB_BIT 5
-#define MPU6050_MST_I2C_SLV4_NACK_BIT 4
-#define MPU6050_MST_I2C_SLV3_NACK_BIT 3
-#define MPU6050_MST_I2C_SLV2_NACK_BIT 2
-#define MPU6050_MST_I2C_SLV1_NACK_BIT 1
-#define MPU6050_MST_I2C_SLV0_NACK_BIT 0
-
-#define MPU6050_INTCFG_INT_LEVEL_BIT 7
-#define MPU6050_INTCFG_INT_OPEN_BIT 6
-#define MPU6050_INTCFG_LATCH_INT_EN_BIT 5
-#define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4
-#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3
-#define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2
-#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1
-#define MPU6050_INTCFG_CLKOUT_EN_BIT 0
-
-#define MPU6050_INTMODE_ACTIVEHIGH 0x00
-#define MPU6050_INTMODE_ACTIVELOW 0x01
-
-#define MPU6050_INTDRV_PUSHPULL 0x00
-#define MPU6050_INTDRV_OPENDRAIN 0x01
-
-#define MPU6050_INTLATCH_50USPULSE 0x00
-#define MPU6050_INTLATCH_WAITCLEAR 0x01
-
-#define MPU6050_INTCLEAR_STATUSREAD 0x00
-#define MPU6050_INTCLEAR_ANYREAD 0x01
-
-#define MPU6050_INTERRUPT_FF_BIT 7
-#define MPU6050_INTERRUPT_MOT_BIT 6
-#define MPU6050_INTERRUPT_ZMOT_BIT 5
-#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4
-#define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3
-#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2
-#define MPU6050_INTERRUPT_DMP_INT_BIT 1
-#define MPU6050_INTERRUPT_DATA_RDY_BIT 0
-
-// TODO: figure out what these actually do
-// UMPL source code is not very obivous
-#define MPU6050_DMPINT_5_BIT 5
-#define MPU6050_DMPINT_4_BIT 4
-#define MPU6050_DMPINT_3_BIT 3
-#define MPU6050_DMPINT_2_BIT 2
-#define MPU6050_DMPINT_1_BIT 1
-#define MPU6050_DMPINT_0_BIT 0
-
-#define MPU6050_MOTION_MOT_XNEG_BIT 7
-#define MPU6050_MOTION_MOT_XPOS_BIT 6
-#define MPU6050_MOTION_MOT_YNEG_BIT 5
-#define MPU6050_MOTION_MOT_YPOS_BIT 4
-#define MPU6050_MOTION_MOT_ZNEG_BIT 3
-#define MPU6050_MOTION_MOT_ZPOS_BIT 2
-#define MPU6050_MOTION_MOT_ZRMOT_BIT 0
-
-#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7
-#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4
-#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3
-#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2
-#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1
-#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0
-
-#define MPU6050_PATHRESET_GYRO_RESET_BIT 2
-#define MPU6050_PATHRESET_ACCEL_RESET_BIT 1
-#define MPU6050_PATHRESET_TEMP_RESET_BIT 0
-
-#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5
-#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2
-#define MPU6050_DETECT_FF_COUNT_BIT 3
-#define MPU6050_DETECT_FF_COUNT_LENGTH 2
-#define MPU6050_DETECT_MOT_COUNT_BIT 1
-#define MPU6050_DETECT_MOT_COUNT_LENGTH 2
-
-#define MPU6050_DETECT_DECREMENT_RESET 0x0
-#define MPU6050_DETECT_DECREMENT_1 0x1
-#define MPU6050_DETECT_DECREMENT_2 0x2
-#define MPU6050_DETECT_DECREMENT_4 0x3
-
-#define MPU6050_USERCTRL_DMP_EN_BIT 7
-#define MPU6050_USERCTRL_FIFO_EN_BIT 6
-#define MPU6050_USERCTRL_I2C_MST_EN_BIT 5
-#define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4
-#define MPU6050_USERCTRL_DMP_RESET_BIT 3
-#define MPU6050_USERCTRL_FIFO_RESET_BIT 2
-#define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1
-#define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0
-
-#define MPU6050_PWR1_DEVICE_RESET_BIT 7
-#define MPU6050_PWR1_SLEEP_BIT 6
-#define MPU6050_PWR1_CYCLE_BIT 5
-#define MPU6050_PWR1_TEMP_DIS_BIT 3
-#define MPU6050_PWR1_CLKSEL_BIT 2
-#define MPU6050_PWR1_CLKSEL_LENGTH 3
-
-#define MPU6050_CLOCK_INTERNAL 0x00
-#define MPU6050_CLOCK_PLL_XGYRO 0x01
-#define MPU6050_CLOCK_PLL_YGYRO 0x02
-#define MPU6050_CLOCK_PLL_ZGYRO 0x03
-#define MPU6050_CLOCK_PLL_EXT32K 0x04
-#define MPU6050_CLOCK_PLL_EXT19M 0x05
-#define MPU6050_CLOCK_KEEP_RESET 0x07
-
-#define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7
-#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2
-#define MPU6050_PWR2_STBY_XA_BIT 5
-#define MPU6050_PWR2_STBY_YA_BIT 4
-#define MPU6050_PWR2_STBY_ZA_BIT 3
-#define MPU6050_PWR2_STBY_XG_BIT 2
-#define MPU6050_PWR2_STBY_YG_BIT 1
-#define MPU6050_PWR2_STBY_ZG_BIT 0
-
-#define MPU6050_WAKE_FREQ_1P25 0x0
-#define MPU6050_WAKE_FREQ_2P5 0x1
-#define MPU6050_WAKE_FREQ_5 0x2
-#define MPU6050_WAKE_FREQ_10 0x3
-
-#define MPU6050_BANKSEL_PRFTCH_EN_BIT 6
-#define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5
-#define MPU6050_BANKSEL_MEM_SEL_BIT 4
-#define MPU6050_BANKSEL_MEM_SEL_LENGTH 5
-
-#define MPU6050_WHO_AM_I_BIT 6
-#define MPU6050_WHO_AM_I_LENGTH 6
-
-#define MPU6050_DMP_MEMORY_BANKS 8
-#define MPU6050_DMP_MEMORY_BANK_SIZE 256
-#define MPU6050_DMP_MEMORY_CHUNK_SIZE 16
-
-// note: DMP code memory blocks defined at end of header file
-
-class MPU6050 {
- public:
- MPU6050();
- MPU6050(uint8_t address);
-
- void initialize();
- bool testConnection();
-
- // AUX_VDDIO register
- uint8_t getAuxVDDIOLevel();
- void setAuxVDDIOLevel(uint8_t level);
-
- // SMPLRT_DIV register
- uint8_t getRate();
- void setRate(uint8_t rate);
-
- uint8_t checkMagStatus();
-
- // CONFIG register
- uint8_t getExternalFrameSync();
- void setExternalFrameSync(uint8_t sync);
- uint8_t getDLPFMode();
- void setDLPFMode(uint8_t bandwidth);
-
- // GYRO_CONFIG register
- uint8_t getFullScaleGyroRange();
- void setFullScaleGyroRange(uint8_t range);
-
- // ACCEL_CONFIG register
- bool getAccelXSelfTest();
- void setAccelXSelfTest(bool enabled);
- bool getAccelYSelfTest();
- void setAccelYSelfTest(bool enabled);
- bool getAccelZSelfTest();
- void setAccelZSelfTest(bool enabled);
- uint8_t getFullScaleAccelRange();
- void setFullScaleAccelRange(uint8_t range);
- uint8_t getDHPFMode();
- void setDHPFMode(uint8_t mode);
-
- // FF_THR register
- uint8_t getFreefallDetectionThreshold();
- void setFreefallDetectionThreshold(uint8_t threshold);
-
- // FF_DUR register
- uint8_t getFreefallDetectionDuration();
- void setFreefallDetectionDuration(uint8_t duration);
-
- // MOT_THR register
- uint8_t getMotionDetectionThreshold();
- void setMotionDetectionThreshold(uint8_t threshold);
-
- // MOT_DUR register
- uint8_t getMotionDetectionDuration();
- void setMotionDetectionDuration(uint8_t duration);
-
- // ZRMOT_THR register
- uint8_t getZeroMotionDetectionThreshold();
- void setZeroMotionDetectionThreshold(uint8_t threshold);
-
- // ZRMOT_DUR register
- uint8_t getZeroMotionDetectionDuration();
- void setZeroMotionDetectionDuration(uint8_t duration);
-
- // FIFO_EN register
- bool getTempFIFOEnabled();
- void setTempFIFOEnabled(bool enabled);
- bool getXGyroFIFOEnabled();
- void setXGyroFIFOEnabled(bool enabled);
- bool getYGyroFIFOEnabled();
- void setYGyroFIFOEnabled(bool enabled);
- bool getZGyroFIFOEnabled();
- void setZGyroFIFOEnabled(bool enabled);
- bool getAccelFIFOEnabled();
- void setAccelFIFOEnabled(bool enabled);
- bool getSlave2FIFOEnabled();
- void setSlave2FIFOEnabled(bool enabled);
- bool getSlave1FIFOEnabled();
- void setSlave1FIFOEnabled(bool enabled);
- bool getSlave0FIFOEnabled();
- void setSlave0FIFOEnabled(bool enabled);
-
- // I2C_MST_CTRL register
- bool getMultiMasterEnabled();
- void setMultiMasterEnabled(bool enabled);
- bool getWaitForExternalSensorEnabled();
- void setWaitForExternalSensorEnabled(bool enabled);
- bool getSlave3FIFOEnabled();
- void setSlave3FIFOEnabled(bool enabled);
- bool getSlaveReadWriteTransitionEnabled();
- void setSlaveReadWriteTransitionEnabled(bool enabled);
- uint8_t getMasterClockSpeed();
- void setMasterClockSpeed(uint8_t speed);
-
- // I2C_SLV* registers (Slave 0-3)
- uint8_t getSlaveAddress(uint8_t num);
- void setSlaveAddress(uint8_t num, uint8_t address);
- uint8_t getSlaveRegister(uint8_t num);
- void setSlaveRegister(uint8_t num, uint8_t reg);
- bool getSlaveEnabled(uint8_t num);
- void setSlaveEnabled(uint8_t num, bool enabled);
- bool getSlaveWordByteSwap(uint8_t num);
- void setSlaveWordByteSwap(uint8_t num, bool enabled);
- bool getSlaveWriteMode(uint8_t num);
- void setSlaveWriteMode(uint8_t num, bool mode);
- bool getSlaveWordGroupOffset(uint8_t num);
- void setSlaveWordGroupOffset(uint8_t num, bool enabled);
- uint8_t getSlaveDataLength(uint8_t num);
- void setSlaveDataLength(uint8_t num, uint8_t length);
-
- // I2C_SLV* registers (Slave 4)
- uint8_t getSlave4Address();
- void setSlave4Address(uint8_t address);
- uint8_t getSlave4Register();
- void setSlave4Register(uint8_t reg);
- void setSlave4OutputByte(uint8_t data);
- bool getSlave4Enabled();
- void setSlave4Enabled(bool enabled);
- bool getSlave4InterruptEnabled();
- void setSlave4InterruptEnabled(bool enabled);
- bool getSlave4WriteMode();
- void setSlave4WriteMode(bool mode);
- uint8_t getSlave4MasterDelay();
- void setSlave4MasterDelay(uint8_t delay);
- uint8_t getSlate4InputByte();
-
- // I2C_MST_STATUS register
- bool getPassthroughStatus();
- bool getSlave4IsDone();
- bool getLostArbitration();
- bool getSlave4Nack();
- bool getSlave3Nack();
- bool getSlave2Nack();
- bool getSlave1Nack();
- bool getSlave0Nack();
-
- // INT_PIN_CFG register
- bool getInterruptMode();
- void setInterruptMode(bool mode);
- bool getInterruptDrive();
- void setInterruptDrive(bool drive);
- bool getInterruptLatch();
- void setInterruptLatch(bool latch);
- bool getInterruptLatchClear();
- void setInterruptLatchClear(bool clear);
- bool getFSyncInterruptLevel();
- void setFSyncInterruptLevel(bool level);
- bool getFSyncInterruptEnabled();
- void setFSyncInterruptEnabled(bool enabled);
- bool getI2CBypassEnabled();
- void setI2CBypassEnabled(bool enabled);
- bool getClockOutputEnabled();
- void setClockOutputEnabled(bool enabled);
-
- // INT_ENABLE register
- uint8_t getIntEnabled();
- void setIntEnabled(uint8_t enabled);
- bool getIntFreefallEnabled();
- void setIntFreefallEnabled(bool enabled);
- bool getIntMotionEnabled();
- void setIntMotionEnabled(bool enabled);
- bool getIntZeroMotionEnabled();
- void setIntZeroMotionEnabled(bool enabled);
- bool getIntFIFOBufferOverflowEnabled();
- void setIntFIFOBufferOverflowEnabled(bool enabled);
- bool getIntI2CMasterEnabled();
- void setIntI2CMasterEnabled(bool enabled);
- bool getIntDataReadyEnabled();
- void setIntDataReadyEnabled(bool enabled);
-
- // INT_STATUS register
- uint8_t getIntStatus();
- bool getIntFreefallStatus();
- bool getIntMotionStatus();
- bool getIntZeroMotionStatus();
- bool getIntFIFOBufferOverflowStatus();
- bool getIntI2CMasterStatus();
- bool getIntDataReadyStatus();
-
- // ACCEL_*OUT_* registers
- void 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);
- void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
- void getAcceleration(int16_t* x, int16_t* y, int16_t* z);
- int16_t getAccelerationX();
- int16_t getAccelerationY();
- int16_t getAccelerationZ();
-
- // TEMP_OUT_* registers
- int16_t getTemperature();
-
- // GYRO_*OUT_* registers
- void getRotation(int16_t* x, int16_t* y, int16_t* z);
- int16_t getRotationX();
- int16_t getRotationY();
- int16_t getRotationZ();
-
- // MAG_*OUT_* registers
- void getMag(int16_t* x, int16_t* y, int16_t* z);
-
- // EXT_SENS_DATA_* registers
- uint8_t getExternalSensorByte(int position);
- uint16_t getExternalSensorWord(int position);
- uint32_t getExternalSensorDWord(int position);
-
- // MOT_DETECT_STATUS register
- bool getXNegMotionDetected();
- bool getXPosMotionDetected();
- bool getYNegMotionDetected();
- bool getYPosMotionDetected();
- bool getZNegMotionDetected();
- bool getZPosMotionDetected();
- bool getZeroMotionDetected();
-
- // I2C_SLV*_DO register
- void setSlaveOutputByte(uint8_t num, uint8_t data);
-
- // I2C_MST_DELAY_CTRL register
- bool getExternalShadowDelayEnabled();
- void setExternalShadowDelayEnabled(bool enabled);
- bool getSlaveDelayEnabled(uint8_t num);
- void setSlaveDelayEnabled(uint8_t num, bool enabled);
-
- // SIGNAL_PATH_RESET register
- void resetGyroscopePath();
- void resetAccelerometerPath();
- void resetTemperaturePath();
-
- // MOT_DETECT_CTRL register
- uint8_t getAccelerometerPowerOnDelay();
- void setAccelerometerPowerOnDelay(uint8_t delay);
- uint8_t getFreefallDetectionCounterDecrement();
- void setFreefallDetectionCounterDecrement(uint8_t decrement);
- uint8_t getMotionDetectionCounterDecrement();
- void setMotionDetectionCounterDecrement(uint8_t decrement);
-
- // USER_CTRL register
- bool getFIFOEnabled();
- void setFIFOEnabled(bool enabled);
- bool getI2CMasterModeEnabled();
- void setI2CMasterModeEnabled(bool enabled);
- void switchSPIEnabled(bool enabled);
- void resetFIFO();
- void resetI2CMaster();
- void resetSensors();
-
- // PWR_MGMT_1 register
- void reset();
- bool getSleepEnabled();
- void setSleepEnabled(bool enabled);
- bool getWakeCycleEnabled();
- void setWakeCycleEnabled(bool enabled);
- bool getTempSensorEnabled();
- void setTempSensorEnabled(bool enabled);
- uint8_t getClockSource();
- void setClockSource(uint8_t source);
-
- // PWR_MGMT_2 register
- uint8_t getWakeFrequency();
- void setWakeFrequency(uint8_t frequency);
- bool getStandbyXAccelEnabled();
- void setStandbyXAccelEnabled(bool enabled);
- bool getStandbyYAccelEnabled();
- void setStandbyYAccelEnabled(bool enabled);
- bool getStandbyZAccelEnabled();
- void setStandbyZAccelEnabled(bool enabled);
- bool getStandbyXGyroEnabled();
- void setStandbyXGyroEnabled(bool enabled);
- bool getStandbyYGyroEnabled();
- void setStandbyYGyroEnabled(bool enabled);
- bool getStandbyZGyroEnabled();
- void setStandbyZGyroEnabled(bool enabled);
-
- // FIFO_COUNT_* registers
- uint16_t getFIFOCount();
-
- // FIFO_R_W register
- uint8_t getFIFOByte();
- void setFIFOByte(uint8_t data);
- void getFIFOBytes(uint8_t *data, uint8_t length);
-
- // WHO_AM_I register
- uint8_t getDeviceID();
- void setDeviceID(uint8_t id);
-
- // ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
-
- // XG_OFFS_TC register
- uint8_t getOTPBankValid();
- void setOTPBankValid(bool enabled);
- int8_t getXGyroOffset();
- void setXGyroOffset(int8_t offset);
-
- // YG_OFFS_TC register
- int8_t getYGyroOffset();
- void setYGyroOffset(int8_t offset);
-
- // ZG_OFFS_TC register
- int8_t getZGyroOffset();
- void setZGyroOffset(int8_t offset);
-
- // X_FINE_GAIN register
- int8_t getXFineGain();
- void setXFineGain(int8_t gain);
-
- // Y_FINE_GAIN register
- int8_t getYFineGain();
- void setYFineGain(int8_t gain);
-
- // Z_FINE_GAIN register
- int8_t getZFineGain();
- void setZFineGain(int8_t gain);
-
- // XA_OFFS_* registers
- int16_t getXAccelOffset();
- void setXAccelOffset(int16_t offset);
-
- // YA_OFFS_* register
- int16_t getYAccelOffset();
- void setYAccelOffset(int16_t offset);
-
- // ZA_OFFS_* register
- int16_t getZAccelOffset();
- void setZAccelOffset(int16_t offset);
-
- // XG_OFFS_USR* registers
- int16_t getXGyroOffsetUser();
- void setXGyroOffsetUser(int16_t offset);
-
- // YG_OFFS_USR* register
- int16_t getYGyroOffsetUser();
- void setYGyroOffsetUser(int16_t offset);
-
- // ZG_OFFS_USR* register
- int16_t getZGyroOffsetUser();
- void setZGyroOffsetUser(int16_t offset);
-
- // INT_ENABLE register (DMP functions)
- bool getIntPLLReadyEnabled();
- void setIntPLLReadyEnabled(bool enabled);
- bool getIntDMPEnabled();
- void setIntDMPEnabled(bool enabled);
-
- // DMP_INT_STATUS
- bool getDMPInt5Status();
- bool getDMPInt4Status();
- bool getDMPInt3Status();
- bool getDMPInt2Status();
- bool getDMPInt1Status();
- bool getDMPInt0Status();
-
- // INT_STATUS register (DMP functions)
- bool getIntPLLReadyStatus();
- bool getIntDMPStatus();
-
- // USER_CTRL register (DMP functions)
- bool getDMPEnabled();
- void setDMPEnabled(bool enabled);
- void resetDMP();
-
- // BANK_SEL register
- void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false);
-
- // MEM_START_ADDR register
- void setMemoryStartAddress(uint8_t address);
-
- // MEM_R_W register
- uint8_t readMemoryByte();
- void writeMemoryByte(uint8_t data);
- void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0);
- bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false);
- bool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true);
-
- bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem=false);
- bool writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize);
-
- // DMP_CFG_1 register
- uint8_t getDMPConfig1();
- void setDMPConfig1(uint8_t config);
-
- // DMP_CFG_2 register
- uint8_t getDMPConfig2();
- void setDMPConfig2(uint8_t config);
-
- // special methods for MotionApps 2.0 implementation
- #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20
- uint8_t *dmpPacketBuffer;
- uint16_t dmpPacketSize;
-
- uint8_t dmpInitialize();
- bool dmpPacketAvailable();
-
- uint8_t dmpSetFIFORate(uint8_t fifoRate);
- uint8_t dmpGetFIFORate();
- uint8_t dmpGetSampleStepSizeMS();
- uint8_t dmpGetSampleFrequency();
- int32_t dmpDecodeTemperature(int8_t tempReg);
-
- // Register callbacks after a packet of FIFO data is processed
- //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
- //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
- uint8_t dmpRunFIFORateProcesses();
-
- // Setup FIFO for various output
- uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
- uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
- uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
-
- // Get Fixed Point data from FIFO
- uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
- uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
- uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
- uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetMag (VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
- uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
- uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
- uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
- uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
- uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
- uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
-
- uint8_t dmpGetEuler(float *data, Quaternion *q);
- uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
-
- // Get Floating Point data from FIFO
- uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
- uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
-
- uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
- uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
-
- uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
-
- uint8_t dmpInitFIFOParam();
- uint8_t dmpCloseFIFO();
- uint8_t dmpSetGyroDataSource(uint8_t source);
- uint8_t dmpDecodeQuantizedAccel();
- uint32_t dmpGetGyroSumOfSquare();
- uint32_t dmpGetAccelSumOfSquare();
- void dmpOverrideQuaternion(long *q);
- uint16_t dmpGetFIFOPacketSize();
- #endif
-
- // special methods for MotionApps 4.1 implementation
- #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41
- uint8_t *dmpPacketBuffer;
- uint16_t dmpPacketSize;
-
- uint8_t dmpInitialize();
- bool dmpPacketAvailable();
-
- uint8_t dmpSetFIFORate(uint8_t fifoRate);
- uint8_t dmpGetFIFORate();
- uint8_t dmpGetSampleStepSizeMS();
- uint8_t dmpGetSampleFrequency();
- int32_t dmpDecodeTemperature(int8_t tempReg);
-
- // Register callbacks after a packet of FIFO data is processed
- //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
- //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
- uint8_t dmpRunFIFORateProcesses();
-
- // Setup FIFO for various output
- uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
- uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
- uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
- uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
-
- // Get Fixed Point data from FIFO
- uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
- uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
- uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
- uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetMag(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetMag(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
- uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
- uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
- uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
- uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
- uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
- uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
- uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
- uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
- uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
-
- uint8_t dmpGetEuler(float *data, Quaternion *q);
- uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
-
- // Get Floating Point data from FIFO
- uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
- uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
-
- uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
- uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
-
- uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
-
- uint8_t dmpInitFIFOParam();
- uint8_t dmpCloseFIFO();
- uint8_t dmpSetGyroDataSource(uint8_t source);
- uint8_t dmpDecodeQuantizedAccel();
- uint32_t dmpGetGyroSumOfSquare();
- uint32_t dmpGetAccelSumOfSquare();
- void dmpOverrideQuaternion(long *q);
- uint16_t dmpGetFIFOPacketSize();
- #endif
-
- private:
- uint8_t devAddr;
- uint8_t buffer[14];
-};
-
-#endif /* _MPU6050_H_ */
-
--
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